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Commit 85436596 由 几米阳光
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断开连接时清理上次的命令

1 个父辈 07b72b9c
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内嵌 并排
正在显示 5 个修改的文件 包含 26 行增加 和 25 行删除
DeviceLibrary/Robot/soldering/WeldRobotBean_Partial.cs
......@@ -152,11 +152,7 @@ namespace URSoldering.DeviceLibrary
{
WeldLog("焊接结束，等待AOI检测");
WeldMoveStep.NextMoveStep(MoveStep.W14_AOICheck);
int AOIWaitSeconds = ConfigAppSettings.GetIntValue(Setting_Init.AOIWaitSeconds);
if (AOIWaitSeconds <= 0)
{
AOIWaitSeconds = 4000;
}
int AOIWaitSeconds = ConfigAppSettings.GetIntValue(Setting_Init.AOIWaitSeconds);
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitTime(AOIWaitSeconds));
}
else if (WeldMoveStep.moveStep.Equals(MoveStep.W14_AOICheck))
......
DeviceLibrary/deviceLibrary/urRobot/URRobotControl.cs
......@@ -157,6 +157,7 @@ namespace URSoldering.DeviceLibrary
}
WarnMsg = "";
IsRun = false;
ClearPreCMD();
LogUtil.info("" + LogName + "开始连接");
PreStartTime = DateTime.Now;
startCount++;
......@@ -330,7 +331,6 @@ namespace URSoldering.DeviceLibrary
{
WarnMsg = "机器人状态[" + msg + "]，启动超时";
StopRobot();
IsRun = false;
}
}
}
......@@ -370,7 +370,6 @@ namespace URSoldering.DeviceLibrary
{
WarnMsg = "机器人急停中[" + msg + "]，启动超时";
StopRobot();
IsRun = false;
}
}
else
......@@ -430,6 +429,7 @@ namespace URSoldering.DeviceLibrary
{
try
{
ClearPreCMD();
IsStartConnect = false;
reconnectTimer.Enabled = false;
URRobotClient.StopListen();
......@@ -481,19 +481,20 @@ namespace URSoldering.DeviceLibrary
{
moveCmd = "movep(p[" + x + spiltStr + y + spiltStr + z + spiltStr + point.RX + spiltStr + point.RY + spiltStr + point.RZ + "],a=1.0, v=1.0, r=0)";
}
ClearPreCMD();
URRobotClient.LastMoveCMD = moveCmd;
LastSendPoint = point;
}
public static void ClearPreCMD()
{
if (!URRobotClient.LastMoveCMD.Equals(""))
{
LogUtil.info(LogName+ ",清除上次未发送指令：【" + URRobotClient.LastMoveCMD + "】" + "新坐标" + point.ToShowStr());
LogUtil.info(LogName + ",清除上次未发送指令：【" + URRobotClient.LastMoveCMD + "】" );
URRobotClient.LastMoveCMD = "";
}
else
{
//LogUtil.info(LogName + "试图移动到：" + point.ToShowStr());
}
URRobotClient.LastMoveCMD = moveCmd;
LastSendPoint = point;
}
public static void MoveTo(URPointValue point)
public static void MoveTo(URPointValue point)
{
MoveTo(point, false);
}
......
URSolderingClient/App.config
......@@ -14,7 +14,7 @@
<add key="VideoCameraName" value="[0] Integrated Camera" />
<add key="AOIFileConfig" value="\RobotConfig\AOIConfig\AOIProgram.vscf" />
<add key="AOICheckPointFile" value="\RobotConfig\AOIConfig\AOIPointProgram.vscf" />
<add key="AOIWaitSeconds" value="4000" />
<add key="AOIWaitSeconds" value="1000" />
<!--送丝器消除报警需要持续的秒数-->
<add key="SendWireRecoverSeconds" value="5" />
<!--空闲多久需要休眠，=0表示不需要休眠，>0表示休眠秒数-->
......
URSolderingClient/FrmWeldPointInfo.Designer.cs
......@@ -128,48 +128,52 @@
// label17
//
this.label17.AutoSize = true;
this.label17.Location = new System.Drawing.Point(219, 58);
this.label17.Location = new System.Drawing.Point(219, 68);
this.label17.Name = "label17";
this.label17.Size = new System.Drawing.Size(32, 17);
this.label17.Size = new System.Drawing.Size(92, 17);
this.label17.TabIndex = 66;
this.label17.Text = "说明";
this.label17.Text = "正常焊接的焊点";
this.label17.Visible = false;
//
// label16
//
this.label16.AutoSize = true;
this.label16.Location = new System.Drawing.Point(215, 93);
this.label16.Location = new System.Drawing.Point(215, 98);
this.label16.Name = "label16";
this.label16.Size = new System.Drawing.Size(68, 17);
this.label16.TabIndex = 65;
this.label16.Text = "清洗时间：";
this.label16.Visible = false;
//
// txtClearTime
//
this.txtClearTime.Enabled = false;
this.txtClearTime.Location = new System.Drawing.Point(286, 90);
this.txtClearTime.Location = new System.Drawing.Point(286, 95);
this.txtClearTime.Name = "txtClearTime";
this.txtClearTime.Size = new System.Drawing.Size(66, 23);
this.txtClearTime.TabIndex = 64;
this.txtClearTime.Visible = false;
//
// label15
//
this.label15.AutoSize = true;
this.label15.Location = new System.Drawing.Point(358, 93);
this.label15.Location = new System.Drawing.Point(358, 98);
this.label15.Name = "label15";
this.label15.Size = new System.Drawing.Size(25, 17);
this.label15.TabIndex = 63;
this.label15.Text = "ms";
this.label15.Visible = false;
//
// chbClear
//
this.chbClear.AutoSize = true;
this.chbClear.Location = new System.Drawing.Point(92, 91);
this.chbClear.Location = new System.Drawing.Point(92, 96);
this.chbClear.Name = "chbClear";
this.chbClear.Size = new System.Drawing.Size(87, 21);
this.chbClear.TabIndex = 62;
this.chbClear.Text = "清洗烙铁头";
this.chbClear.UseVisualStyleBackColor = true;
this.chbClear.Visible = false;
this.chbClear.CheckedChanged += new System.EventHandler(this.chbClear_CheckedChanged);
//
// cmbPointType
......@@ -178,7 +182,7 @@
this.cmbPointType.FormattingEnabled = true;
this.cmbPointType.Items.AddRange(new object[] {
"普通焊点"});
this.cmbPointType.Location = new System.Drawing.Point(92, 55);
this.cmbPointType.Location = new System.Drawing.Point(92, 65);
this.cmbPointType.Name = "cmbPointType";
this.cmbPointType.Size = new System.Drawing.Size(121, 25);
this.cmbPointType.TabIndex = 61;
......@@ -186,7 +190,7 @@
// label2
//
this.label2.AutoSize = true;
this.label2.Location = new System.Drawing.Point(43, 58);
this.label2.Location = new System.Drawing.Point(43, 68);
this.label2.Name = "label2";
this.label2.Size = new System.Drawing.Size(44, 17);
this.label2.TabIndex = 60;
......
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