坐标误差改为0.05

DeviceLibrary/Robot/soldering/WeldRobotBean_Partial.cs

@@ -43,7 +43,7 @@ namespace URSoldering.DeviceLibrary
             //记录焊接板子数量
             //记录焊接板子数量
             WeldCount++;
             WeldCount++;
 
 
-            //LogUtil.info(RobotName + "开始【" + BoardManager.CurrBoard.boardName + "】的焊接 ");
+            LogUtil.info(RobotName + "开始【" + BoardManager.CurrBoard.boardName + "】的焊接 ,WeldCount="+WeldCount);
             if (!WeldMoveStep.NewWeld(MoveType.Weld, BoardManager.CurrBoard, type))
             if (!WeldMoveStep.NewWeld(MoveType.Weld, BoardManager.CurrBoard, type))
             {
             {
                 return "没有找到需要焊接的焊点，启动焊接失败！";
                 return "没有找到需要焊接的焊点，启动焊接失败！";

DeviceLibrary/deviceLibrary/urRobot/URRobotControl.cs

@@ -521,7 +521,7 @@ namespace URSoldering.DeviceLibrary
             double rxCha = Math.Abs(p1.RX - p2.RX);
             double rxCha = Math.Abs(p1.RX - p2.RX);
             double ryCha = Math.Abs(p1.RY - p2.RY);
             double ryCha = Math.Abs(p1.RY - p2.RY);
             double rzCha = Math.Abs(p1.RZ - p2.RZ);
             double rzCha = Math.Abs(p1.RZ - p2.RZ);
-            if (xCha < 1 && yCha < 1 && zCha < 1 && rxCha < 0.02 && ryCha < 0.02 && rzCha < 0.02)
+            if (xCha < 1 && yCha < 1 && zCha < 1 && rxCha < 0.02 && ryCha < 0.05 && rzCha < 0.05)
             {
             {
                 return true;
                 return true;
             }
             }

URSolderingClient/FrmWork.cs

@@ -454,6 +454,7 @@ namespace URSoldering.Client
                 }
                 }
                else  if (WeldRobotBean.WeldMoveStep.moveType.Equals(MoveType.GoHome))
                else  if (WeldRobotBean.WeldMoveStep.moveType.Equals(MoveType.GoHome))
                 {
                 {
+                    btnWeld.Enabled = false;
                     lblMsg.ForeColor = Color.Green;
                     lblMsg.ForeColor = Color.Green;
                     lblMsg.Text = "复位中";
                     lblMsg.Text = "复位中";
                     this.listPoint.Items.Clear();
                     this.listPoint.Items.Clear();
@@ -461,6 +462,7 @@ namespace URSoldering.Client
                 }
                 }
                 else if (WeldRobotBean.WeldMoveStep.moveType.Equals(MoveType.Weld))
                 else if (WeldRobotBean.WeldMoveStep.moveType.Equals(MoveType.Weld))
                 {
                 {
+                    btnWeld.Enabled = false;
                     lblMsg.ForeColor = Color.Green;
                     lblMsg.ForeColor = Color.Green;
                     lblMsg.Text = "程序【" + WeldRobotBean.WeldMoveStep.currBoard.boardName + "】焊接中";
                     lblMsg.Text = "程序【" + WeldRobotBean.WeldMoveStep.currBoard.boardName + "】焊接中";
                     LoadPoint(WeldRobotBean.WeldMoveStep.currBoard, WeldRobotBean.WeldMoveStep.CurrPointIndex);
                     LoadPoint(WeldRobotBean.WeldMoveStep.currBoard, WeldRobotBean.WeldMoveStep.CurrPointIndex);
@@ -468,11 +470,13 @@ namespace URSoldering.Client
                     this.lblWeldTime.Text = FormUtil.GetSpanStr(sapn);
                     this.lblWeldTime.Text = FormUtil.GetSpanStr(sapn);
                 }else if (WeldRobotBean.WeldMoveStep.moveType.Equals(MoveType.None))
                 }else if (WeldRobotBean.WeldMoveStep.moveType.Equals(MoveType.None))
                 {
                 {
-                    //LoadPoint(WeldRobotBean.WeldMoveStep.currBoard, -1);
+                    btnWeld.Enabled = true ;
+                    LoadPoint(WeldRobotBean.WeldMoveStep.currBoard, -1);
                     lblMsg.ForeColor = Color.Green;
                     lblMsg.ForeColor = Color.Green;
                     lblMsg.Text = "当前未焊接";
                     lblMsg.Text = "当前未焊接";
                 }else
                 }else
                 {
                 {
+                    btnWeld.Enabled = false;
                     //LoadPoint(WeldRobotBean.WeldMoveStep.currBoard, -1);
                     //LoadPoint(WeldRobotBean.WeldMoveStep.currBoard, -1);
                     this.listPoint.Items.Clear();
                     this.listPoint.Items.Clear();
                     lblMsg.ForeColor = Color.Green;
                     lblMsg.ForeColor = Color.Green;