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Commit 9a750da5 由 几米阳光
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去掉硕科送丝器代码，改为JBC送丝器

1 个父辈 2384bcdd
内嵌 并排
正在显示 16 个修改的文件 包含 257 行增加 和 277 行删除
DeviceLibrary/DeviceLibrary.csproj
......@@ -93,7 +93,6 @@
<Compile Include="deviceLibrary\halcon\UsbCameraHDevelop.cs" />
<Compile Include="deviceLibrary\jbc\SendWireManager.cs" />
<Compile Include="deviceLibrary\jbc\SolderingManager.cs" />
<Compile Include="deviceLibrary\shuoke\ShuoKeControls.cs" />
<Compile Include="deviceLibrary\urRobot\URRobotControl.cs" />
<Compile Include="deviceLibrary\urRobot\URRobotManager.cs" />
<Compile Include="Robot\MoveType.cs" />
......
DeviceLibrary/Robot/LineSolderingRobot.cs
......@@ -34,22 +34,7 @@ namespace URSoldering.DeviceLibrary
{
return RobotReset();
}
public void InitLineSpeed()
{
//设置速度
ShuoKeControls.SetSpeed(Config.Line_Slv, ShuoKeCMD.SetAddSpeed, Config.Line_AddSpeed);
Thread.Sleep(100);
ShuoKeControls.SetSpeed(Config.Line_Slv, ShuoKeCMD.SetDelSpeed, Config.Line_DelSpeed);
Thread.Sleep(100);
ShuoKeControls.SetSpeed(Config.Line_Slv, ShuoKeCMD.SetEndSpeed, Config.Line_EndSpeed);
Thread.Sleep(100);
ShuoKeControls.SetSpeed(Config.Line_Slv, ShuoKeCMD.SetHomeSpeed, Config.Line_HomeSpeed);
Thread.Sleep(100);
ShuoKeControls.SetSpeed(Config.Line_Slv, ShuoKeCMD.SetMaxSpeed, Config.Line_MaxSpeed);
Thread.Sleep(100);
ShuoKeControls.SetSpeed(Config.Line_Slv, ShuoKeCMD.SetStartSpeed, Config.Line_StartSpeed);
}
public bool RobotReset()
{
......@@ -96,7 +81,7 @@ namespace URSoldering.DeviceLibrary
KNDIOMove(IO_Type.AlarmSingle, IO_VALUE.LOW);
KNDIOMove(IO_Type.WaitSingle, IO_VALUE.LOW);
KNDIOMove(IO_Type.DeviceRunON, IO_VALUE.LOW);
InitLineSpeed();
//InitLineSpeed();
//阻挡气缸上升
StopCylinderUp();
......@@ -247,7 +232,7 @@ namespace URSoldering.DeviceLibrary
LineLog("流水线转动：阻挡气缸上升到位，转动流水线");
LineStep.NextMoveStep(MoveStep.L01_StartLineMove);
LineStep.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineWeldCheck, IO_VALUE.HIGH));
LineStartMove();
//LineStartMove();
}
else if (LineStep.moveStep.Equals(MoveStep.L01_StartLineMove))
{
......@@ -259,7 +244,7 @@ namespace URSoldering.DeviceLibrary
}
else if (LineStep.moveStep.Equals(MoveStep.L02_GetWeldSingle))
{
LineStopMove();
//LineStopMove();
LineStep.NextMoveStep(MoveStep.L03_GetCode);
LineStep.WaitList.Add(WaitResultInfo.WaitTime(500));
......@@ -335,7 +320,7 @@ namespace URSoldering.DeviceLibrary
//IsWaitCheck = false;
//WaitScanResult = false;
//CanScan = false;
LineStopMove();
//LineStopMove();
KNDIOMove(IO_Type.DeviceRunON, IO_VALUE.LOW);
//HDevelopExport.CloseAllCamera();
WeldRobotBean.StopMove();
......
DeviceLibrary/Robot/LineSolderingRobot_Partial.cs
......@@ -25,89 +25,89 @@ namespace URSoldering.DeviceLibrary
}
private void BusyProcess()
{
if (LineStep.IsInWait)
{
CheckWait();
}
if(LineStep.IsInWait)
{
return;
}
if (LineStep.moveStep.Equals(MoveStep.BUSY01_Weld))
{
//if (WeldRobotBean.WeldMoveStep.moveType.Equals(MoveType.None))
if (WeldRobotBean.IsInWeld.Equals(false))
{
LastEndWeldTime = DateTime.Now;
TimeSpan span = LastEndWeldTime - LastStartWeldTime;
if (BoardManager.CurrBoard.WeldTime.TotalSeconds <= 0)
{
BoardManager.CurrBoard.WeldTime = span;
}
else
{
BoardManager.CurrBoard.WeldTime = new TimeSpan(0, 0, (int)(BoardManager.CurrBoard.WeldTime.TotalSeconds + span.TotalSeconds) / 2);
}
BoardManager.Update(BoardManager.CurrBoard);
LogUtil.info("Busy处理：" + "焊接结束，焊接耗时"+FormUtil.GetSpanStr(span)+ "，累积平均耗时" + FormUtil.GetSpanStr(BoardManager.CurrBoard.WeldTime) + "，阻挡气缸下降");
LineStep.NextMoveStep(MoveStep.BUSY03_CylinderDown);
StopCylinderDownAndWait();
}
}
//焊接完成，流水线继续转动，直到出料口检测到信号
else if (LineStep.moveStep.Equals(MoveStep.BUSY03_CylinderDown))
{
LineLog("Busy处理：" + "流水线转动，等待出料口信号");
LineStep.NextMoveStep(MoveStep.BUSY04_LineMove);
LineStartMove();
LineStep.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineOutCheck, IO_VALUE.HIGH));
}
else if (LineStep.moveStep.Equals(MoveStep.BUSY04_LineMove))
{
LineStopMove();
if (IsAutoRun)
{
LineLog("Busy处理：" + "等待3秒钟后流水线倒转");
LineStep.NextMoveStep(MoveStep.BUSY05_Wait);
LineStep.WaitList.Add(WaitResultInfo.WaitTime(2000));
}
else
{
LineLog("Busy处理：" + "停止转动");
StopCylinderUp();
Status = RobotStatus.Runing;
}
}
else if (LineStep.moveStep.Equals(MoveStep.BUSY05_Wait))
{
LineLog("Busy处理：" + "流水线转动，等待出料口信号");
LineStep.NextMoveStep(MoveStep.BUSY06_WaitInSingle);
LineBackMove();
LineStep.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineInCheck, IO_VALUE.HIGH));
}
else if (LineStep.moveStep.Equals(MoveStep.BUSY06_WaitInSingle))
{
LineLog("Busy处理：" + "板子到达入料口，停止转动");
LineStopMove();
StopCylinderUp();
Status = RobotStatus.Runing;
}
}
private void LineBackMove()
{
ShuoKeControls.VolMove(Config.Line_Slv, Config.Line_EndSpeed);
KNDIOMove(IO_Type.LineStart, IO_VALUE.HIGH);
}
private void LineStartMove()
{
ShuoKeControls.VolMove(Config.Line_Slv, 0- Config.Line_EndSpeed);
KNDIOMove(IO_Type.LineStart, IO_VALUE.HIGH);
}
private void LineStopMove()
{
ShuoKeControls.SuddownStop(Config.Line_Slv);
KNDIOMove(IO_Type.LineStart, IO_VALUE.LOW);
//if (LineStep.IsInWait)
//{
// CheckWait();
//}
//if(LineStep.IsInWait)
//{
// return;
//}
//if (LineStep.moveStep.Equals(MoveStep.BUSY01_Weld))
//{
// //if (WeldRobotBean.WeldMoveStep.moveType.Equals(MoveType.None))
// if (WeldRobotBean.IsInWeld.Equals(false))
// {
// LastEndWeldTime = DateTime.Now;
// TimeSpan span = LastEndWeldTime - LastStartWeldTime;
// if (BoardManager.CurrBoard.WeldTime.TotalSeconds <= 0)
// {
// BoardManager.CurrBoard.WeldTime = span;
// }
// else
// {
// BoardManager.CurrBoard.WeldTime = new TimeSpan(0, 0, (int)(BoardManager.CurrBoard.WeldTime.TotalSeconds + span.TotalSeconds) / 2);
// }
// BoardManager.Update(BoardManager.CurrBoard);
// LogUtil.info("Busy处理：" + "焊接结束，焊接耗时"+FormUtil.GetSpanStr(span)+ "，累积平均耗时" + FormUtil.GetSpanStr(BoardManager.CurrBoard.WeldTime) + "，阻挡气缸下降");
// LineStep.NextMoveStep(MoveStep.BUSY03_CylinderDown);
// StopCylinderDownAndWait();
// }
//}
////焊接完成，流水线继续转动，直到出料口检测到信号
//else if (LineStep.moveStep.Equals(MoveStep.BUSY03_CylinderDown))
//{
// LineLog("Busy处理：" + "流水线转动，等待出料口信号");
// LineStep.NextMoveStep(MoveStep.BUSY04_LineMove);
// LineStartMove();
// LineStep.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineOutCheck, IO_VALUE.HIGH));
//}
//else if (LineStep.moveStep.Equals(MoveStep.BUSY04_LineMove))
//{
// LineStopMove();
// if (IsAutoRun)
// {
// LineLog("Busy处理：" + "等待3秒钟后流水线倒转");
// LineStep.NextMoveStep(MoveStep.BUSY05_Wait);
// LineStep.WaitList.Add(WaitResultInfo.WaitTime(2000));
// }
// else
// {
// LineLog("Busy处理：" + "停止转动");
// StopCylinderUp();
// Status = RobotStatus.Runing;
// }
//}
//else if (LineStep.moveStep.Equals(MoveStep.BUSY05_Wait))
//{
// LineLog("Busy处理：" + "流水线转动，等待出料口信号");
// LineStep.NextMoveStep(MoveStep.BUSY06_WaitInSingle);
// LineBackMove();
// LineStep.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineInCheck, IO_VALUE.HIGH));
//}
//else if (LineStep.moveStep.Equals(MoveStep.BUSY06_WaitInSingle))
//{
// LineLog("Busy处理：" + "板子到达入料口，停止转动");
// LineStopMove();
// StopCylinderUp();
// Status = RobotStatus.Runing;
//}
}
//private void LineBackMove()
//{
// ShuoKeControls.VolMove(Config.Line_Slv, Config.Line_EndSpeed);
// KNDIOMove(IO_Type.LineStart, IO_VALUE.HIGH);
//}
//private void LineStartMove()
//{
// ShuoKeControls.VolMove(Config.Line_Slv, 0- Config.Line_EndSpeed);
// KNDIOMove(IO_Type.LineStart, IO_VALUE.HIGH);
//}
//private void LineStopMove()
//{
// ShuoKeControls.SuddownStop(Config.Line_Slv);
// KNDIOMove(IO_Type.LineStart, IO_VALUE.LOW);
//}
/// <summary>
/// 判断是否还有未完成的工作
......@@ -212,7 +212,7 @@ namespace URSoldering.DeviceLibrary
KNDIOMove(IO_Type.AlarmSingle, IO_VALUE.HIGH);
WarnMsg = "收到急停信号";
WeldRobotBean.Alarm(AlarmType.SuddenStop);
ShuoKeControls.ClosePort();
SendWireManager.Release();
StopMove();
}
}
......
DeviceLibrary/Robot/soldering/WeldRobotBean.cs
......@@ -105,7 +105,7 @@ namespace URSoldering.DeviceLibrary
});
//SendWireManager.Init();
SolderingManager.Init(RobotConfig.JBC_SerialPort, RobotConfig.JBC_EquipmentPort);
ShuoKeControls.InitPort();
SendWireManager.Init(RobotConfig.JBC_SendWire_Port);
isInit = true;
}
......@@ -121,7 +121,7 @@ namespace URSoldering.DeviceLibrary
WarnMsg = warnMsg;
});
}
ShuoKeControls.InitPort();
SendWireManager.Init(RobotConfig.JBC_SendWire_Port);
SolderingManager.Init(RobotConfig.JBC_SerialPort, RobotConfig.JBC_EquipmentPort);
}
/// <summary>
......@@ -161,10 +161,10 @@ namespace URSoldering.DeviceLibrary
return "烙铁没有连接上！";
}
}
if (!ShuoKeControls.isRun)
if (!SendWireManager.IsRun)
{
LogUtil.info(RobotName + "开始启动:送丝步进驱动器没有连接上");
return "送丝步进驱动器没有连接上！";
LogUtil.info(RobotName + "开始启动:JBC送丝器没有连接上");
return "JBC送丝器没有连接上！";
}
if (EpsonDevice.IsRun)
{
......@@ -188,7 +188,7 @@ namespace URSoldering.DeviceLibrary
//锁定轴
EpsonDevice.LockAxis();
InitSendWireSpeed();
//InitSendWireSpeed();
//烙铁温度=0， 送丝上升，机器复位
RobotBean.KNDIOMove(IO_Type.SendWire_Up, IO_VALUE.HIGH);
......@@ -200,21 +200,21 @@ namespace URSoldering.DeviceLibrary
}
public static void InitSendWireSpeed()
{
//设置速度
ShuoKeControls.SetSpeed(RobotConfig.SendWire_Slv, ShuoKeCMD.SetAddSpeed, RobotConfig.SendWire_AddSpeed);
Thread.Sleep(100);
ShuoKeControls.SetSpeed(RobotConfig.SendWire_Slv, ShuoKeCMD.SetDelSpeed, RobotConfig.SendWire_DelSpeed);
Thread.Sleep(100);
ShuoKeControls.SetSpeed(RobotConfig.SendWire_Slv, ShuoKeCMD.SetEndSpeed, RobotConfig.SendWire_EndSpeed);
Thread.Sleep(100);
ShuoKeControls.SetSpeed(RobotConfig.SendWire_Slv, ShuoKeCMD.SetHomeSpeed, RobotConfig.SendWire_HomeSpeed);
Thread.Sleep(100);
ShuoKeControls.SetSpeed(RobotConfig.SendWire_Slv, ShuoKeCMD.SetMaxSpeed, RobotConfig.SendWire_MaxSpeed);
Thread.Sleep(100);
ShuoKeControls.SetSpeed(RobotConfig.SendWire_Slv, ShuoKeCMD.SetStartSpeed, RobotConfig.SendWire_StartSpeed);
}
//public static void InitSendWireSpeed()
//{
// //设置速度
// SendWireManager.SetSpeed(RobotConfig.SendWire_Slv, ShuoKeCMD.SetAddSpeed, RobotConfig.SendWire_AddSpeed);
// Thread.Sleep(100);
// SendWireManager.SetSpeed(RobotConfig.SendWire_Slv, ShuoKeCMD.SetDelSpeed, RobotConfig.SendWire_DelSpeed);
// Thread.Sleep(100);
// SendWireManager.SetSpeed(RobotConfig.SendWire_Slv, ShuoKeCMD.SetEndSpeed, RobotConfig.SendWire_EndSpeed);
// Thread.Sleep(100);
// SendWireManager.SetSpeed(RobotConfig.SendWire_Slv, ShuoKeCMD.SetHomeSpeed, RobotConfig.SendWire_HomeSpeed);
// Thread.Sleep(100);
// SendWireManager.SetSpeed(RobotConfig.SendWire_Slv, ShuoKeCMD.SetMaxSpeed, RobotConfig.SendWire_MaxSpeed);
// Thread.Sleep(100);
// SendWireManager.SetSpeed(RobotConfig.SendWire_Slv, ShuoKeCMD.SetStartSpeed, RobotConfig.SendWire_StartSpeed);
//}
public static void StopWeld()
{
......@@ -232,9 +232,9 @@ namespace URSoldering.DeviceLibrary
//烙铁温度=0，烙铁上升，送丝上升，机器复位
RobotBean.KNDIOMove(IO_Type.SendWire_Up, IO_VALUE.HIGH);
RobotBean.KNDIOMove(IO_Type.SendWire_Down, IO_VALUE.LOW);
RobotBean.KNDIOMove(IO_Type.ClearWeldingSQL, IO_VALUE.LOW);
RobotBean.KNDIOMove(IO_Type.ClearWeldingSQL, IO_VALUE.LOW);
//硕科 停止
ShuoKeControls.DStoop(RobotConfig.SendWire_Slv);
SendWireManager.StopSend();
SolderingManager.Release();
}
/// <summary>
......@@ -329,44 +329,44 @@ namespace URSoldering.DeviceLibrary
/// </summary>
private static void CheckSendWireAlarm()
{
preCheckSendWireTime = DateTime.Now;
//如果休眠了不需要处理
if (RobotBean.KNDIOValue(IO_Type.SendWireLock).Equals(IO_VALUE.HIGH))
{
//停止送丝器
ShuoKeControls.SuddownStop(RobotConfig.SendWire_Slv);
WarnMsg = "送丝报警：卡丝";
Alarm(AlarmType.SendWireAlarm);
LogUtil.error(RobotName + WarnMsg);
ISAlarmAndOk = false;
}
else if (RobotBean.KNDIOValue(IO_Type.SendWireNoWire).Equals(IO_VALUE.HIGH))
{
//停止送丝器
ShuoKeControls.SuddownStop(RobotConfig.SendWire_Slv);
WarnMsg = "送丝报警：没有锡丝";
Alarm(AlarmType.SendWireAlarm);
LogUtil.error(RobotName + WarnMsg);
ISAlarmAndOk = false;
}
else
{
if (alarmType.Equals(AlarmType.SendWireAlarm) && IsInSudden.Equals(false) && IsNoAir.Equals(false))
{
if (ISAlarmAndOk)
{
TimeSpan span = DateTime.Now - lastSendWireOkTime;
int needSeconds=ConfigAppSettings.GetIntValue(Setting_Init.SendWireRecoverSeconds);
if (span.TotalSeconds > needSeconds)
{
WarnMsg = "";
alarmType = AlarmType.None;
WarnMsg = "";
LogUtil.info(RobotName + "送丝器已恢复超过【" + needSeconds + "】秒，消除送丝器报警！");
}
}
}
}
//preCheckSendWireTime = DateTime.Now;
////如果休眠了不需要处理
//if (RobotBean.KNDIOValue(IO_Type.SendWireLock).Equals(IO_VALUE.HIGH))
//{
// //停止送丝器
// SendWireManager.SuddownStop(RobotConfig.SendWire_Slv);
// WarnMsg = "送丝报警：卡丝";
// Alarm(AlarmType.SendWireAlarm);
// LogUtil.error(RobotName + WarnMsg);
// ISAlarmAndOk = false;
//}
//else if (RobotBean.KNDIOValue(IO_Type.SendWireNoWire).Equals(IO_VALUE.HIGH))
//{
// //停止送丝器
// SendWireManager.SuddownStop(RobotConfig.SendWire_Slv);
// WarnMsg = "送丝报警：没有锡丝";
// Alarm(AlarmType.SendWireAlarm);
// LogUtil.error(RobotName + WarnMsg);
// ISAlarmAndOk = false;
//}
//else
//{
// if (alarmType.Equals(AlarmType.SendWireAlarm) && IsInSudden.Equals(false) && IsNoAir.Equals(false))
// {
// if (ISAlarmAndOk)
// {
// TimeSpan span = DateTime.Now - lastSendWireOkTime;
// int needSeconds=ConfigAppSettings.GetIntValue(Setting_Init.SendWireRecoverSeconds);
// if (span.TotalSeconds > needSeconds)
// {
// WarnMsg = "";
// alarmType = AlarmType.None;
// WarnMsg = "";
// LogUtil.info(RobotName + "送丝器已恢复超过【" + needSeconds + "】秒，消除送丝器报警！");
// }
// }
// }
//}
}
/// <summary>
/// 卡丝恢复功能，只有手动点了才会继续
......
DeviceLibrary/Robot/soldering/WeldRobotBean_Partial.cs
......@@ -313,7 +313,7 @@ namespace URSoldering.DeviceLibrary
{
int speed = (int)WeldMoveStep.CurrPoint.startSendWireSpeed * SendWireXiShu;
WeldLog(" 慢速送丝，速度：" + speed + " ：" + time.ToString() + "秒");
ShuoKeControls.SendWire(RobotConfig.SendWire_Slv, time, speed);
SendWireManager.SendWire( time, speed);
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitShuoKe(RobotConfig.SendWire_Slv, false));
}
else
......@@ -329,7 +329,7 @@ namespace URSoldering.DeviceLibrary
WeldLog(" 送丝，速度：" + speed + " ：" + time.ToString() + "秒");
if (time > 0)
{
ShuoKeControls.SendWire(RobotConfig.SendWire_Slv, time, speed);
SendWireManager.SendWire( time, speed);
//硕科步进驱动走对应的相对位置
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitShuoKe(RobotConfig.SendWire_Slv, false));
}
......@@ -461,14 +461,14 @@ namespace URSoldering.DeviceLibrary
if (RobotBean.KNDIOValue(IO_Type.SendWireLock).Equals(IO_VALUE.HIGH))
{
//停止送丝器
ShuoKeControls.SuddownStop(RobotConfig.SendWire_Slv);
SendWireManager.StopSend();
msg = " 卡丝";
isAlarm = true;
}
else if (RobotBean.KNDIOValue(IO_Type.SendWireNoWire).Equals(IO_VALUE.HIGH))
{
//停止送丝器
ShuoKeControls.SuddownStop(RobotConfig.SendWire_Slv);
SendWireManager.StopSend();
msg = "没有锡丝";
isAlarm = true;
}
......@@ -487,22 +487,22 @@ namespace URSoldering.DeviceLibrary
else
{
LogUtil.error("焊接中第【" + WeldMoveStep.ResetCount + "】次 检测到" + msg + "， 开始反向送丝，速度【" + speed + "】时间【" + times + "】");
WeldMoveStep.LastSetpTime = DateTime.Now;
WeldMoveStep.WaitList.Clear();
//设置速度
ShuoKeControls.SetMoveSpeed(RobotConfig.SendWire_Slv, speed);
//WeldMoveStep.LastSetpTime = DateTime.Now;
//WeldMoveStep.WaitList.Clear();
////设置速度
//SendWireManager.SetMoveSpeed(RobotConfig.SendWire_Slv, speed);
int shuokeRel = (int)times * speed;
if (shuokeRel < 0)
{
shuokeRel = 0 - shuokeRel;
}
//int shuokeRel = (int)times * speed;
//if (shuokeRel < 0)
//{
// shuokeRel = 0 - shuokeRel;
//}
ShuoKeControls.RelativeMove(RobotConfig.SendWire_Slv, shuokeRel);
//硕科步进驱动走对应的相对位置
WeldMoveStep.WaitList.Add(WaitResultInfo.WaitShuoKe(RobotConfig.SendWire_Slv, true));
Thread.Sleep(100);
ShuoKeControls.GetStatus(RobotConfig.SendWire_Slv);
//SendWireManager.RelativeMove(RobotConfig.SendWire_Slv, shuokeRel);
////硕科步进驱动走对应的相对位置
//WeldMoveStep.WaitList.Add(WaitResultInfo.WaitShuoKe(RobotConfig.SendWire_Slv, true));
//Thread.Sleep(100);
//SendWireManager.GetStatus(RobotConfig.SendWire_Slv);
isOk = false;
}
}
......@@ -511,15 +511,15 @@ namespace URSoldering.DeviceLibrary
if (wait.ShuoKeISReverse.Equals(false) && isAlarm.Equals(false))
{
if (!ShuoKeControls.IsMoveEnd(wait.SlvAddr, WeldMoveStep.LastSetpTime))
{
NotOkMsg = "送丝结束";
isOk = false;
ShuoKeControls.GetStatus(wait.SlvAddr);
//if (!SendWireManager.IsMoveEnd(wait.SlvAddr, WeldMoveStep.LastSetpTime))
//{
// NotOkMsg = "送丝结束";
// isOk = false;
// SendWireManager.GetStatus(wait.SlvAddr);
break;
}
else if (WeldMoveStep.OneWaitOk)
// break;
//}
//else if (WeldMoveStep.OneWaitOk)
{
isOk = true;
break;
......@@ -527,25 +527,25 @@ namespace URSoldering.DeviceLibrary
}
else if (wait.ShuoKeISReverse.Equals(true) && isAlarm.Equals(false))
{
if (!ShuoKeControls.IsMoveEnd(wait.SlvAddr, WeldMoveStep.LastSetpTime))
{
NotOkMsg = "送丝反转";
isOk = false;
//TimeSpan getStatusSpan = DateTime.Now - preGetStatusTime;
//if (getStatusSpan.TotalSeconds >= 1)
//{
// preGetStatusTime = DateTime.Now;
ShuoKeControls.GetStatus(wait.SlvAddr);
//}
break;
}
else
{
//反转已经停止，直接重新运行次步骤
//MoveStep step = (MoveStep)((int)WeldMoveStep.moveStep - 1);
LogUtil.info(RobotName + " 送丝反转结束，重新开始当前焊点焊接");
WeldMoveStep.NextMoveStep(MoveStep.Wait);
}
//if (!SendWireManager.IsMoveEnd(wait.SlvAddr, WeldMoveStep.LastSetpTime))
//{
// NotOkMsg = "送丝反转";
// isOk = false;
// //TimeSpan getStatusSpan = DateTime.Now - preGetStatusTime;
// //if (getStatusSpan.TotalSeconds >= 1)
// //{
// // preGetStatusTime = DateTime.Now;
// //SendWireManager.GetStatus(wait.SlvAddr);
// //}
// break;
//}
//else
//{
// //反转已经停止，直接重新运行次步骤
// //MoveStep step = (MoveStep)((int)WeldMoveStep.moveStep - 1);
// LogUtil.info(RobotName + " 送丝反转结束，重新开始当前焊点焊接");
// WeldMoveStep.NextMoveStep(MoveStep.Wait);
//}
}
}
else if (wait.WaitType == 6)
......
DeviceLibrary/RobotConfig/solderingConfig/SolderingRobotConfig.csv
......@@ -12,9 +12,9 @@ DI,烙铁气缸下降端,Soldering_Down,207,192.168.200.11,0,烙铁气缸下降端,X08,DI-08,0
,,,210,192.168.200.11,0,,X11,DI-11,0
,,,211,192.168.200.11,0,,X12,DI-12,0
,,,212,192.168.200.11,0,,X13,DI-13,0
DI,,,213,192.168.200.11,0,,X14,DI-14,0
DI,,,214,192.168.200.11,0,,X15,DI-15,0
DI,,,215,192.168.200.11,0,,X16,DI-16,0
,,,213,192.168.200.11,0,,X14,DI-14,0
,,,214,192.168.200.11,0,,X15,DI-15,0
,,,215,192.168.200.11,0,,X16,DI-16,0
DO,自动夹具夹紧SOL,Fixture_Clamp,100,192.168.200.11,0,自动夹具夹紧SOL,Y01,DO-01,0
DO,自动夹具放松SOL,Fixture_Relax,101,192.168.200.11,0,自动夹具放松SOL,Y02,DO-02,0
DO,送丝气缸工作SOL,SendWire_Work,102,192.168.200.11,0,送丝气缸工作SOL,Y03,DO-03,0
......@@ -28,9 +28,9 @@ DO,送丝电机启动,SendWireStart,106,192.168.200.11,0,送丝电机启动,Y07,DO-07,0
,,,110,192.168.200.11,0,,Y11,DO-11,0
,,,111,192.168.200.11,0,,Y12,DO-12,0
,,,112,192.168.200.11,0,,Y13,DO-13,0
DO,自动指示灯（绿色）,AutoRunSingle,113,192.168.200.11,0,自动指示灯（绿色）,Y14,DO-14,0
DO,待机指示灯（黄色）,WaitSingle,114,192.168.200.11,0,待机指示灯（黄色）,Y15,DO-15,0
DO,故障指示灯（红色）,AlarmSingle,115,192.168.200.11,0,故障指示灯（红色）,Y16,DO-16,0
,自动指示灯（绿色）,AutoRunSingle,113,192.168.200.11,0,自动指示灯（绿色）,Y14,DO-14,0
,待机指示灯（黄色）,WaitSingle,114,192.168.200.11,0,待机指示灯（黄色）,Y15,DO-15,0
,故障指示灯（红色）,AlarmSingle,115,192.168.200.11,0,故障指示灯（红色）,Y16,DO-16,0
,,,,,,,,,
PRO,EMSIP地址,EMS_IP,192.168.200.4,,,,,,
PRO,EMS端口号,EMS_Port,12345,,,,,,
......
DeviceLibrary/deviceLibrary/epson/EpsonRobotDevice.cs
......@@ -22,11 +22,7 @@ namespace URSoldering.DeviceLibrary
private static string MoveOK = "point ok";
private static string FreeOK = "free ok";
private static string LockOK = "lock ok";
internal static void Init(object epson_IP)
{
throw new NotImplementedException();
}
//最后一次从机械臂读取到的坐标位置
public static PointValue LastPoint = new PointValue(0, 0, 0, 0, 0);
......
DeviceLibrary/deviceLibrary/jbc/SendWireManager.cs
......@@ -18,13 +18,13 @@ namespace URSoldering.DeviceLibrary
{
public static readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
public static bool IsRun = false;
public static string serialPort = ConfigAppSettings.GetValue(Setting_Init.ShuoKe_Control_SerialPort);//串口号
public static string serialPort = "";
private static int bautRate = 19200;//波特率
private static Parity parity = Parity.None;//校验位
private static int dataBits = 8;//数据位
private static StopBits stopBits = StopBits.One; //停止位
private static SerialBean sb = new SerialBean(serialPort, bautRate, parity, dataBits, stopBits);
private static SerialBean sb = null;
private static string CMD_WriteMode = "WMOD00002";
private static string CMD_SetSpeed = "WSPD";
......@@ -35,8 +35,7 @@ namespace URSoldering.DeviceLibrary
private static string CMD_StartForwardSend = "WSFD00001";
private static string CMD_StartBackSend = "WSFD00000";
private static string CMD_StopSend = "WSSD00000";
private static string CMD_Reset = "WCTP00000";
public static bool isRun;
private static string CMD_Reset = "WCTP00000";
//private static string CMD_WriteMode = "02 57 4D 4F 44 30 30 30 30 32 03 22";
//private static string CMD_SetSpeed = "02 57 53 50 44 30 30 31 31 30 03 21";
......@@ -50,8 +49,13 @@ namespace URSoldering.DeviceLibrary
/// 初始化
/// </summary>
/// <returns></returns>
public static bool Init()
public static bool Init(string port)
{
if (sb == null)
{
serialPort = port;
new SerialBean(serialPort, bautRate, parity, dataBits, stopBits);
}
try
{
if (sb.openPort())
......@@ -141,7 +145,12 @@ namespace URSoldering.DeviceLibrary
}
return tem;
}
public static void SendWire(double time, int speed)
{
setSpeed(speed);
setLength(time * speed);
StartFSend();
}
public static bool setSpeed(double speed)
{
bool isOk = false;
......@@ -270,5 +279,6 @@ namespace URSoldering.DeviceLibrary
return errMsg;
}
}
}
LoadCVSLibrary/robotConfig/config/SolderingRobotConfig.cs
......@@ -65,57 +65,57 @@ namespace URSoldering.LoadCSVLibrary
/// <summary>
/// PRO 硕科 端口号 ShuoKe_PortName COM1
/// </summary>
[ConfigProAttribute("ShuoKe_PortName")]
[ConfigProAttribute("ShuoKe_PortName",false)]
public string ShuoKe_PortName { get; set; }
/// <summary>
/// PRO 硕科 波特率 ShuoKe_PortBaudrate 9600
/// </summary>
[ConfigProAttribute("ShuoKe_PortBaudrate")]
[ConfigProAttribute("ShuoKe_PortBaudrate",false)]
public int ShuoKe_PortBaudrate { get; set; }
/// <summary>
/// PRO 硕科 奇偶校验 ShuoKe_PortParity 0
/// </summary>
[ConfigProAttribute("ShuoKe_PortParity")]
[ConfigProAttribute("ShuoKe_PortParity",false)]
public int ShuoKe_PortParity { get; set; }
/// <summary>
/// PRO 硕科 停止位 ShuoKe_StopBits 1
/// </summary>
[ConfigProAttribute("ShuoKe_StopBits")]
[ConfigProAttribute("ShuoKe_StopBits",false)]
public int ShuoKe_StopBits { get; set; }
/// <summary>
/// PRO 硕科送丝器 初速度 SendWire_StartSpeed 50000
/// </summary>
[ConfigProAttribute("SendWire_StartSpeed")]
[ConfigProAttribute("SendWire_StartSpeed",false)]
public int SendWire_StartSpeed { get; set; }
/// <summary>
/// PRO 硕科送丝器 最大速度 SendWire_MaxSpeed 200000
/// </summary>
[ConfigProAttribute("SendWire_MaxSpeed")]
[ConfigProAttribute("SendWire_MaxSpeed",false)]
public int SendWire_MaxSpeed { get; set; }
/// <summary>
/// PRO 硕科送丝器 末速度 SendWire_EndSpeed 70000
/// </summary>
[ConfigProAttribute("SendWire_EndSpeed")]
[ConfigProAttribute("SendWire_EndSpeed",false)]
public int SendWire_EndSpeed { get; set; }
/// <summary>
/// PRO 硕科送丝器 加速度 SendWire_AddSpeed 50000
/// </summary>
[ConfigProAttribute("SendWire_AddSpeed")]
[ConfigProAttribute("SendWire_AddSpeed",false)]
public int SendWire_AddSpeed { get; set; }
/// <summary>
/// PRO 硕科送丝器 减速度 SendWire_DelSpeed 50000
/// </summary>
[ConfigProAttribute("SendWire_DelSpeed")]
[ConfigProAttribute("SendWire_DelSpeed",false)]
public int SendWire_DelSpeed { get; set; }
/// <summary>
/// PRO 硕科送丝器 归零速度 SendWire_HomeSpeed 50000
/// </summary>
[ConfigProAttribute("SendWire_HomeSpeed")]
[ConfigProAttribute("SendWire_HomeSpeed",false)]
public int SendWire_HomeSpeed { get; set; }
/// <summary>
/// PRO 硕科送丝器 电机地址 SendWire_Slv 1
/// </summary>
[ConfigProAttribute("SendWire_Slv")]
[ConfigProAttribute("SendWire_Slv",false)]
public int SendWire_Slv { get; set; }
......@@ -124,41 +124,41 @@ namespace URSoldering.LoadCSVLibrary
/// <summary>
/// PRO 硕科流水线 初速度 Line_StartSpeed 50000
/// </summary>
[ConfigProAttribute("Line_StartSpeed")]
[ConfigProAttribute("Line_StartSpeed",false)]
public int Line_StartSpeed { get; set; }
/// <summary>
/// PRO 硕科流水线 最大速度 Line_MaxSpeed 200000
/// </summary>
[ConfigProAttribute("Line_MaxSpeed")]
[ConfigProAttribute("Line_MaxSpeed",false)]
public int Line_MaxSpeed { get; set; }
/// <summary>
/// PRO 硕科流水线 末速度 Line_EndSpeed 70000
/// </summary>
[ConfigProAttribute("Line_EndSpeed")]
[ConfigProAttribute("Line_EndSpeed",false)]
public int Line_EndSpeed { get; set; }
/// <summary>
/// PRO 硕科流水线 加速度 Line_AddSpeed 50000
/// </summary>
[ConfigProAttribute("Line_AddSpeed")]
[ConfigProAttribute("Line_AddSpeed",false)]
public int Line_AddSpeed { get; set; }
/// <summary>
/// PRO 硕科流水线 减速度 Line_DelSpeed 50000
/// </summary>
[ConfigProAttribute("Line_DelSpeed")]
[ConfigProAttribute("Line_DelSpeed",false)]
public int Line_DelSpeed { get; set; }
/// <summary>
/// PRO 硕科流水线 归零速度 Line_HomeSpeed 50000
/// </summary>
[ConfigProAttribute("Line_HomeSpeed")]
[ConfigProAttribute("Line_HomeSpeed",false)]
public int Line_HomeSpeed { get; set; }
/// <summary>
/// PRO 硕科流水线 电机地址 Line_Slv 1
/// </summary>
[ConfigProAttribute("Line_Slv")]
[ConfigProAttribute("Line_Slv",false)]
public int Line_Slv { get; set; }
public string JBC_EquipmentPort { get; set; }
public string JBC_SerialPort { get; set; }
public object Epson_IP { get; set; }
public string JBC_EquipmentPort = "";
public string JBC_SerialPort = "";
public string Epson_IP = "";
protected override void initMustHavePro()
{
......
URSolderingClient/FrmAutoAddBoard.cs
......@@ -109,12 +109,12 @@ namespace URSoldering.Client
this.btnWUp.Enabled = true;
}
if (!ShuoKeControls.isRun)
if (!SendWireManager.IsRun)
{
ShuoKeControls.InitPort();
SendWireManager.Init(WeldRobotBean.RobotConfig.JBC_SendWire_Port);
}
if (ShuoKeControls.isRun)
if (SendWireManager.IsRun)
{
btnSendWire.Enabled = true;
btnStopSend.Enabled = true;
......@@ -1305,12 +1305,12 @@ namespace URSoldering.Client
{
//匀速运动
int speed = FormUtil.GetIntValue(txtSpeed) * WeldRobotBean.SendWireXiShu;
ShuoKeControls.VolMove(WeldRobotBean.RobotConfig.SendWire_Slv, speed);
//SendWireManager.VolMove(WeldRobotBean.RobotConfig.SendWire_Slv, speed);
}
private void btnStopSend_Click(object sender, EventArgs e)
{
ShuoKeControls.SuddownStop(WeldRobotBean.RobotConfig.SendWire_Slv);
SendWireManager.StopSend();
}
private void btnWUp_Click(object sender, EventArgs e)
......
URSolderingClient/FrmBoardInfo.cs
......@@ -122,13 +122,12 @@ namespace URSoldering.Client
this.btnWUp.Enabled = true;
}
if (!ShuoKeControls.isRun)
if (!SendWireManager.IsRun)
{
ShuoKeControls.InitPort();
SendWireManager.Init(WeldRobotBean.RobotConfig.JBC_SendWire_Port);
}
if (ShuoKeControls.isRun)
{
if (SendWireManager.IsRun) {
btnSendWire.Enabled = true;
btnStopSend.Enabled = true;
}
......@@ -1581,12 +1580,12 @@ namespace URSoldering.Client
{
//匀速运动
int speed = FormUtil.GetIntValue(txtSpeed) * WeldRobotBean.SendWireXiShu;
ShuoKeControls.VolMove(WeldRobotBean.RobotConfig.SendWire_Slv, speed);
//SendWireManager.VolMove(WeldRobotBean.RobotConfig.SendWire_Slv, speed);
}
private void btnStopSend_Click(object sender, EventArgs e)
{
ShuoKeControls.SuddownStop(WeldRobotBean.RobotConfig.SendWire_Slv);
SendWireManager.StopSend();
}
private void btnWUp_Click(object sender, EventArgs e)
......
URSolderingClient/FrmDebugMenu.cs
......@@ -41,10 +41,10 @@ namespace URSoldering.Client
private void btnSendWireDebug_Click(object sender, EventArgs e)
{
FrmShuoKeDebug shuoke = new FrmShuoKeDebug();
this.Visible = false;
shuoke.ShowDialog();
this.Visible = true;
//FrmShuoKeDebug shuoke = new FrmShuoKeDebug();
//this.Visible = false;
//shuoke.ShowDialog();
//this.Visible = true;
}
private void btnConfig_Click(object sender, EventArgs e)
......
URSolderingClient/FrmIoManager.cs
......@@ -226,12 +226,12 @@ namespace URSoldering.Client
{
//匀速运动
int speed = FormUtil.GetIntValue(txtSpeed) * WeldRobotBean.SendWireXiShu;
ShuoKeControls.VolMove(WeldRobotBean.RobotConfig.SendWire_Slv, speed);
//SendWireManager.VolMove(WeldRobotBean.RobotConfig.SendWire_Slv, speed);
}
private void btnStopSend_Click(object sender, EventArgs e)
{
ShuoKeControls.SuddownStop(WeldRobotBean.RobotConfig.SendWire_Slv);
SendWireManager.StopSend();
}
protected override void OnVisibleChanged(EventArgs e)
{
......@@ -244,7 +244,7 @@ namespace URSoldering.Client
private void btnTestSend_Click(object sender, EventArgs e)
{
int position = FormUtil.GetIntValue(txtSendWirePosition) * WeldRobotBean.SendWireXiShu;
ShuoKeControls.RelativeMove(WeldRobotBean.RobotConfig.SendWire_Slv, position);
//SendWireManager.RelativeMove(WeldRobotBean.RobotConfig.SendWire_Slv, position);
}
......
URSolderingClient/FrmMenu.cs
......@@ -89,7 +89,7 @@ namespace URSoldering.Client
KNDManager.CloseAllDO();
KNDManager.CloseAllConnection();
SolderingManager.Release();
ShuoKeControls.ClosePort();
SendWireManager.Release();
Application.Exit();
}
private void FrmMenu_SizeChanged(object sender, EventArgs e)
......
URSolderingClient/FrmSoldDebug.cs
......@@ -43,7 +43,7 @@ namespace URSoldering.Client
private void btnStopSend_Click(object sender, EventArgs e)
{
ShuoKeControls.SuddownStop(WeldRobotBean.RobotConfig.SendWire_Slv);
SendWireManager.StopSend();
}
protected override void OnVisibleChanged(EventArgs e)
{
......
URSolderingClient/URSolderingClient.csproj
......@@ -151,12 +151,6 @@
<Compile Include="FrmPwd.Designer.cs">
<DependentUpon>FrmPwd.cs</DependentUpon>
</Compile>
<Compile Include="FrmShuoKeDebug.cs">
<SubType>Form</SubType>
</Compile>
<Compile Include="FrmShuoKeDebug.Designer.cs">
<DependentUpon>FrmShuoKeDebug.cs</DependentUpon>
</Compile>
<Compile Include="FrmSolderingSetting.cs">
<SubType>Form</SubType>
</Compile>
......@@ -222,9 +216,6 @@
<EmbeddedResource Include="FrmPwd.resx">
<DependentUpon>FrmPwd.cs</DependentUpon>
</EmbeddedResource>
<EmbeddedResource Include="FrmShuoKeDebug.resx">
<DependentUpon>FrmShuoKeDebug.cs</DependentUpon>
</EmbeddedResource>
<EmbeddedResource Include="FrmSolderingSetting.resx">
<DependentUpon>FrmSolderingSetting.cs</DependentUpon>
</EmbeddedResource>
......
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