增加夹具夹紧处理

DeviceLibrary/Robot/LineSolderingRobot.cs

@@ -39,7 +39,12 @@ namespace URSoldering.DeviceLibrary
             {
                 WarnMsg = "急停未开";
                 return false;
-            } 
+            }
+            if (!IsFixtureClamp())
+            {
+                WarnMsg = "夹具未夹紧";
+                return false;
+            }
             //焊接机器人复位
             string solderingStr = "";
             if (Status > RobotStatus.Wait)
@@ -64,10 +69,7 @@ namespace URSoldering.DeviceLibrary
             mainTimer.Enabled = true;
             return true;
         }
-       
-        /// <summary>
-        /// 急停 处理
-        /// </summary>
+        
         private void SuddendownProcess()
         {
             WarnMsg = "收到急停信号，设备急停"; 
@@ -75,8 +77,14 @@ namespace URSoldering.DeviceLibrary
             IsInSuddendown = true;
             Alarm(AlarmType.SuddenStop); 
         }
-
-       public string StartWeld()
+        private void FixtureRelaxProcess()
+        {
+            WarnMsg = "夹具未夹紧，设备急停";
+            LogUtil.error(RobotName + WarnMsg);
+            IsInSuddendown = true;
+            Alarm(AlarmType.SuddenStop);
+        }
+        public string StartWeld()
         {
 
             string msg = "";
@@ -111,9 +119,16 @@ namespace URSoldering.DeviceLibrary
                     {
                         SuddendownProcess();
                     }
+
                 }
                 else if (IsInSuddendown)
                 {
+                }else if (IsFixtureClamp().Equals(false))
+                {
+                    if (alarmType.Equals(AlarmType.None))
+                    {
+                        FixtureRelaxProcess();
+                    }
                 }
                 else
                 {

DeviceLibrary/bean/RobotBean.cs

@@ -125,11 +125,26 @@ namespace URSoldering.DeviceLibrary
                     System.Threading.Thread.Sleep(100);
                 }
             }
+            FixtureClamp();
+        }
+        public static void FixtureClamp()
+        {
             //连接上IO模块后，夹具夹紧
-            //KNDIOMove(IO_Type.Fixture_Clamp, IO_VALUE.HIGH);
-            //KNDIOMove(IO_Type.Fixture_Relax, IO_VALUE.LOW);
+            KNDIOMove(IO_Type.Fixture_Clamp, IO_VALUE.HIGH);
+            KNDIOMove(IO_Type.Fixture_Relax, IO_VALUE.LOW);
+        }
+        public static bool IsFixtureClamp()
+        {
+            if (KNDIOValue(IO_Type.Fixture_Clamp).Equals(IO_VALUE.HIGH) && KNDIOValue(IO_Type.Fixture_Relax).Equals(IO_VALUE.LOW))
+            {
+                return true;
+            }
+            else
+            {
+                LogUtil.error("夹具夹紧信号不到位");
+                return false;
+            }
         }
-
         public static bool ShuddenOK()
         { 
             if (!baseConfig.RobotDIList.ContainsKey(IO_Type.SuddenStop_Single))

URSolderingClient/FrmBoardInfo.cs

@@ -262,38 +262,42 @@ namespace URSoldering.Client
             //判断是否开急停
             if (RobotBean.ShuddenOK().Equals(false))
             {
-                lblMsg.Text = "急停未开"; 
+                lblMsg.Text = "急停未开";
+            }
+            else if (RobotBean.IsFixtureClamp().Equals(false))
+            {
+                lblMsg.Text = "夹具未夹紧";
             }
             else
             {
                 lblMsg.Text = "";
                 if (this.btnWUp.Enabled == false)
-                { 
-                    //this.btnWDown.Enabled = true;
-                    this.btnWUp.Enabled = true; 
+                {
+                    this.btnWUp.Enabled = true;
                 }
-                if (!URRobotControl.IsRun&&isRun.Equals(false))
+                if (!URRobotControl.IsRun && isRun.Equals(false))
                 {
                     isRun = true;
                     Task.Factory.StartNew(delegate ()
                     {
                         bool result = URRobotControl.StartRobot();
                         if (!result)
-                        { 
+                        {
                             LogUtil.info("连接失败：" + result);
                         }
                         else
                         {
-                            URRobotControl.FreeAxis();  
+                            URRobotControl.FreeAxis();
                         }
                     });
-                  
-                }
-                else
-                {
-                    RobotStatus(true); 
-                    UpdateRobotPosition();
+
                 }
+
+            }
+            if (URRobotControl.IsRun)
+            {
+                RobotStatus(true);
+                UpdateRobotPosition();
             }
         }
 

URSolderingClient/FrmIoManager.cs

@@ -179,8 +179,16 @@ namespace URSoldering.Client
                 lblMsg.Text = "急停未开";
                 if (this.btnSendWireStop.Enabled)
                 {
+                    FormStatus(false); 
+                }
+            }
+            else if (RobotBean.IsFixtureClamp().Equals(false))
+            {
+
+                lblMsg.Text = "夹具未夹紧";
+                if (this.btnSendWireStop.Enabled)
+                {
                     FormStatus(false);
-           
                 }
             }
             else
@@ -290,12 +298,19 @@ namespace URSoldering.Client
 
         private void btnFixtureReleax_Click(object sender, EventArgs e)
         {
-            FixtureCylinderMove(IO_VALUE.LOW, IO_VALUE.HIGH);
+            DialogResult result = MessageBox.Show("确定执行夹具放松操作？","提示",MessageBoxButtons.OKCancel);
+            if (result.Equals(DialogResult.OK))
+            {
+                FixtureCylinderMove(IO_VALUE.LOW, IO_VALUE.HIGH);
+            }
         }
 
         private void btnFixtureStop_Click(object sender, EventArgs e)
-        {
-            FixtureCylinderMove(IO_VALUE.LOW, IO_VALUE.LOW);
+        { DialogResult result = MessageBox.Show("确定执行夹具停止输出操作？", "提示", MessageBoxButtons.OKCancel);
+            if (result.Equals(DialogResult.OK))
+            {
+                FixtureCylinderMove(IO_VALUE.LOW, IO_VALUE.LOW);
+            }
         }
 
         private void btnWireWork_Click(object sender, EventArgs e)

URSolderingClient/FrmSoldDebug.cs

@@ -107,6 +107,10 @@ namespace URSoldering.Client
             {
                 lblMsg.Text = "急停未开";
                 
+            }else if (RobotBean.IsFixtureClamp().Equals(false))
+            {
+
+                lblMsg.Text = "夹具未夹紧";
             }
             else
             {