增加夹具夹紧处理

DeviceLibrary/Robot/LineSolderingRobot.cs

@@ -40,6 +40,11 @@ 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)
@@ -65,9 +70,6 @@ namespace URSoldering.DeviceLibrary
             return true;
         }
         
-        /// <summary>
-        /// 急停 处理
-        /// </summary>
         private void SuddendownProcess()
         {
             WarnMsg = "收到急停信号，设备急停"; 
@@ -75,7 +77,13 @@ namespace URSoldering.DeviceLibrary
             IsInSuddendown = true;
             Alarm(AlarmType.SuddenStop); 
         }
-
+        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()
         {
 
@@ -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

@@ -264,15 +264,18 @@ namespace URSoldering.Client
             {
                 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;
                 }
-                if (!URRobotControl.IsRun&&isRun.Equals(false))
+                if (!URRobotControl.IsRun && isRun.Equals(false))
                 {
                     isRun = true;
                     Task.Factory.StartNew(delegate ()
@@ -289,13 +292,14 @@ namespace URSoldering.Client
                     });
 
                 }
-                else
+
+            }
+            if (URRobotControl.IsRun)
             {
                 RobotStatus(true);
                 UpdateRobotPosition();
             }
         }
-        }
 
         private void FrmBoardInfo_FormClosing(object sender, FormClosingEventArgs e)
         {

URSolderingClient/FrmIoManager.cs

@@ -180,7 +180,15 @@ namespace URSoldering.Client
                 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
@@ -290,13 +298,20 @@ namespace URSoldering.Client
 
         private void btnFixtureReleax_Click(object sender, EventArgs e)
         {
+            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)
+        { 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
             {