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Commit dc05986e 由 几米阳光
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添加Mark点配置

1 个父辈 0b585148
内嵌 并排
正在显示 13 个修改的文件 包含 131 行增加 和 27 行删除
Common/Setting_Init.cs
...@@ -46,6 +46,10 @@ namespace URSoldering.Common ...@@ -46,6 +46,10 @@ namespace URSoldering.Common
public static string BOARD_IMAGE_DEFAULT = "BOARD_IMAGE_DEFAULT"; public static string BOARD_IMAGE_DEFAULT = "BOARD_IMAGE_DEFAULT";
/// <summary> /// <summary>
/// 坐标偏移的Mark点
/// </summary>
public static string Soldering_MarkPoint = "Soldering_MarkPoint";
/// <summary>
/// 焊接机器人待机点 /// 焊接机器人待机点
/// </summary> /// </summary>
public static string Soldering_HomePoint = "Soldering_HomePoint"; public static string Soldering_HomePoint = "Soldering_HomePoint";
......
DeviceLibrary/Robot/soldering/WeldRobotBean.cs
...@@ -24,6 +24,8 @@ namespace URSoldering.DeviceLibrary ...@@ -24,6 +24,8 @@ namespace URSoldering.DeviceLibrary
public static URPointValue RobotMin = new URPointValue(); public static URPointValue RobotMin = new URPointValue();
public static URPointValue RobotMax = new URPointValue(); public static URPointValue RobotMax = new URPointValue();
public static URPointValue MarkPoint = new URPointValue();
public static double ZUpLiftValue = (double)ConfigAppSettings.GetNumValue(Setting_Init.ZUpLiftValue); public static double ZUpLiftValue = (double)ConfigAppSettings.GetNumValue(Setting_Init.ZUpLiftValue);
//休眠的秒数，<=0不需要休眠 //休眠的秒数，<=0不需要休眠
...@@ -71,6 +73,7 @@ namespace URSoldering.DeviceLibrary ...@@ -71,6 +73,7 @@ namespace URSoldering.DeviceLibrary
HomePoint = LoadPoint(Setting_Init.Soldering_HomePoint); HomePoint = LoadPoint(Setting_Init.Soldering_HomePoint);
RobotMin = LoadPoint(Setting_Init.Soldering_RobotMin); RobotMin = LoadPoint(Setting_Init.Soldering_RobotMin);
RobotMax = LoadPoint(Setting_Init.Soldering_RobotMax); RobotMax = LoadPoint(Setting_Init.Soldering_RobotMax);
MarkPoint = LoadPoint(Setting_Init.Soldering_MarkPoint);
} }
private static URPointValue LoadPoint(string configStr) private static URPointValue LoadPoint(string configStr)
...@@ -313,7 +316,6 @@ namespace URSoldering.DeviceLibrary ...@@ -313,7 +316,6 @@ namespace URSoldering.DeviceLibrary
WarnMsg = "机械臂连接断开"; WarnMsg = "机械臂连接断开";
LogUtil.error("检测到" + WarnMsg); LogUtil.error("检测到" + WarnMsg);
Alarm(AlarmType.RobotError); Alarm(AlarmType.RobotError);
} }
} }
else else
...@@ -655,6 +657,12 @@ namespace URSoldering.DeviceLibrary ...@@ -655,6 +657,12 @@ namespace URSoldering.DeviceLibrary
string str = point.ToJosonStr(); string str = point.ToJosonStr();
ConfigAppSettings.SaveValue(Setting_Init.Soldering_Clear2Point, str); ConfigAppSettings.SaveValue(Setting_Init.Soldering_Clear2Point, str);
} }
public static void UpdateMarkPoint(URPointValue point)
{
WeldRobotBean.MarkPoint = point;
string str = point.ToJosonStr();
ConfigAppSettings.SaveValue(Setting_Init.Soldering_MarkPoint,str);
}
/// <summary> /// <summary>
/// 验证机器人是否超出活动范围 /// 验证机器人是否超出活动范围
/// </summary> /// </summary>
......
DeviceLibrary/bean/BoardInfo.cs
...@@ -265,10 +265,14 @@ namespace URSoldering.DeviceLibrary ...@@ -265,10 +265,14 @@ namespace URSoldering.DeviceLibrary
{ {
return "拖焊焊点"; return "拖焊焊点";
} }
else else if(pointType.Equals(1))
{ {
return "中间点"; return "中间点";
}else if (pointType.Equals(3))
{
return "拍照点";
} }
return "未知类型";
} set } set
{ {
} }
......
URSolderingClient/App.config
...@@ -54,6 +54,7 @@ ...@@ -54,6 +54,7 @@
<add key="Soldering_HomePoint" value="{&quot;UpdateTime&quot;:&quot;2018-07-31T11:07:51.9477967+08:00&quot;,&quot;X&quot;:-116.01,&quot;Y&quot;:-386.34,&quot;Z&quot;:367.11,&quot;RX&quot;:1.2962,&quot;RY&quot;:-2.4233,&quot;RZ&quot;:0.2117}" /> <add key="Soldering_HomePoint" value="{&quot;UpdateTime&quot;:&quot;2018-07-31T11:07:51.9477967+08:00&quot;,&quot;X&quot;:-116.01,&quot;Y&quot;:-386.34,&quot;Z&quot;:367.11,&quot;RX&quot;:1.2962,&quot;RY&quot;:-2.4233,&quot;RZ&quot;:0.2117}" />
<add key="Soldering_RobotMin" value="{&quot;UpdateTime&quot;:&quot;2018-07-28T14:37:09.4700739+08:00&quot;,&quot;X&quot;:0.0,&quot;Y&quot;:0.0,&quot;Z&quot;:0.0,&quot;RX&quot;:0.0,&quot;RY&quot;:0.0,&quot;RZ&quot;:0.0}" /> <add key="Soldering_RobotMin" value="{&quot;UpdateTime&quot;:&quot;2018-07-28T14:37:09.4700739+08:00&quot;,&quot;X&quot;:0.0,&quot;Y&quot;:0.0,&quot;Z&quot;:0.0,&quot;RX&quot;:0.0,&quot;RY&quot;:0.0,&quot;RZ&quot;:0.0}" />
<add key="Soldering_RobotMax" value="{&quot;UpdateTime&quot;:&quot;2018-07-28T14:37:09.4700739+08:00&quot;,&quot;X&quot;:0.0,&quot;Y&quot;:0.0,&quot;Z&quot;:0.0,&quot;RX&quot;:0.0,&quot;RY&quot;:0.0,&quot;RZ&quot;:0.0}" /> <add key="Soldering_RobotMax" value="{&quot;UpdateTime&quot;:&quot;2018-07-28T14:37:09.4700739+08:00&quot;,&quot;X&quot;:0.0,&quot;Y&quot;:0.0,&quot;Z&quot;:0.0,&quot;RX&quot;:0.0,&quot;RY&quot;:0.0,&quot;RZ&quot;:0.0}" />
<add key="Soldering_MarkPoint" value="{&quot;UpdateTime&quot;:&quot;2018-07-28T14:37:09.4700739+08:00&quot;,&quot;X&quot;:0.0,&quot;Y&quot;:0.0,&quot;Z&quot;:0.0,&quot;RX&quot;:0.0,&quot;RY&quot;:0.0,&quot;RZ&quot;:0.0}" />
<add key="Config_Pwd" value="123456" /> <add key="Config_Pwd" value="123456" />
</appSettings> </appSettings>
<log4net> <log4net>
......
URSolderingClient/FrmBoardInfo.cs
...@@ -160,6 +160,7 @@ namespace URSoldering.Client ...@@ -160,6 +160,7 @@ namespace URSoldering.Client
npoint.Add(new WeldPointInfo(0)); npoint.Add(new WeldPointInfo(0));
npoint.Add(new WeldPointInfo(1)); npoint.Add(new WeldPointInfo(1));
npoint.Add(new WeldPointInfo(2)); npoint.Add(new WeldPointInfo(2));
npoint.Add(new WeldPointInfo(3));
this.Column_pointType.DataSource = npoint; this.Column_pointType.DataSource = npoint;
this.Column_pointType.ValueMember = "pointType"; this.Column_pointType.ValueMember = "pointType";
this.Column_pointType.DisplayMember = "TypeValue"; this.Column_pointType.DisplayMember = "TypeValue";
......
URSolderingClient/FrmBoardInfo.resx
...@@ -379,6 +379,30 @@ ...@@ -379,6 +379,30 @@
AeLDoohrNFdzAAAAAElFTkSuQmCC AeLDoohrNFdzAAAAAElFTkSuQmCC
</value> </value>
</data> </data>
<metadata name="dataGridViewTextBoxColumn2.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<metadata name="dataGridViewTextBoxColumn3.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<metadata name="dataGridViewTextBoxColumn4.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<metadata name="dataGridViewTextBoxColumn5.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<metadata name="dataGridViewTextBoxColumn6.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<metadata name="dataGridViewTextBoxColumn7.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<metadata name="dataGridViewTextBoxColumn8.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<metadata name="dataGridViewLinkColumn1.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value>
</metadata>
<metadata name="Column_pointNum.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089"> <metadata name="Column_pointNum.UserAddedColumn" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>True</value> <value>True</value>
</metadata> </metadata>
......
URSolderingClient/FrmOrgConfig.Designer.cs
...@@ -32,6 +32,7 @@ ...@@ -32,6 +32,7 @@
this.dataGridViewImageColumn1 = new System.Windows.Forms.DataGridViewImageColumn(); this.dataGridViewImageColumn1 = new System.Windows.Forms.DataGridViewImageColumn();
this.dataGridViewImageColumn2 = new System.Windows.Forms.DataGridViewImageColumn(); this.dataGridViewImageColumn2 = new System.Windows.Forms.DataGridViewImageColumn();
this.panel1 = new System.Windows.Forms.Panel(); this.panel1 = new System.Windows.Forms.Panel();
this.btnSetMark = new System.Windows.Forms.Button();
this.lblMsg = new System.Windows.Forms.Label(); this.lblMsg = new System.Windows.Forms.Label();
this.btnMore = new System.Windows.Forms.Button(); this.btnMore = new System.Windows.Forms.Button();
this.btnBack = new System.Windows.Forms.Button(); this.btnBack = new System.Windows.Forms.Button();
...@@ -39,7 +40,6 @@ ...@@ -39,7 +40,6 @@
this.btnSetClear1 = new System.Windows.Forms.Button(); this.btnSetClear1 = new System.Windows.Forms.Button();
this.groupBox2 = new System.Windows.Forms.GroupBox(); this.groupBox2 = new System.Windows.Forms.GroupBox();
this.urRobotSControl1 = new UserFromControl.URRobotSControl(); this.urRobotSControl1 = new UserFromControl.URRobotSControl();
this.btnSetOrigin = new System.Windows.Forms.Button();
this.btnSaveHome = new System.Windows.Forms.Button(); this.btnSaveHome = new System.Windows.Forms.Button();
this.btnSStop = new System.Windows.Forms.Button(); this.btnSStop = new System.Windows.Forms.Button();
this.btnWStop = new System.Windows.Forms.Button(); this.btnWStop = new System.Windows.Forms.Button();
...@@ -67,13 +67,13 @@ ...@@ -67,13 +67,13 @@
// panel1 // panel1
// //
this.panel1.AutoScroll = true; this.panel1.AutoScroll = true;
this.panel1.Controls.Add(this.btnSetMark);
this.panel1.Controls.Add(this.lblMsg); this.panel1.Controls.Add(this.lblMsg);
this.panel1.Controls.Add(this.btnMore); this.panel1.Controls.Add(this.btnMore);
this.panel1.Controls.Add(this.btnBack); this.panel1.Controls.Add(this.btnBack);
this.panel1.Controls.Add(this.btnSetClear2); this.panel1.Controls.Add(this.btnSetClear2);
this.panel1.Controls.Add(this.btnSetClear1); this.panel1.Controls.Add(this.btnSetClear1);
this.panel1.Controls.Add(this.groupBox2); this.panel1.Controls.Add(this.groupBox2);
this.panel1.Controls.Add(this.btnSetOrigin);
this.panel1.Controls.Add(this.btnSaveHome); this.panel1.Controls.Add(this.btnSaveHome);
this.panel1.Dock = System.Windows.Forms.DockStyle.Fill; this.panel1.Dock = System.Windows.Forms.DockStyle.Fill;
this.panel1.Location = new System.Drawing.Point(0, 0); this.panel1.Location = new System.Drawing.Point(0, 0);
...@@ -81,6 +81,17 @@ ...@@ -81,6 +81,17 @@
this.panel1.Size = new System.Drawing.Size(545, 347); this.panel1.Size = new System.Drawing.Size(545, 347);
this.panel1.TabIndex = 0; this.panel1.TabIndex = 0;
// //
// btnSetMark
//
this.btnSetMark.FlatAppearance.BorderSize = 0;
this.btnSetMark.Location = new System.Drawing.Point(359, 194);
this.btnSetMark.Name = "btnSetMark";
this.btnSetMark.Size = new System.Drawing.Size(159, 38);
this.btnSetMark.TabIndex = 263;
this.btnSetMark.Text = "重置为Mark点";
this.btnSetMark.UseVisualStyleBackColor = true;
this.btnSetMark.Click += new System.EventHandler(this.btnSetMark_Click);
//
// lblMsg // lblMsg
// //
this.lblMsg.AutoSize = true; this.lblMsg.AutoSize = true;
...@@ -115,7 +126,7 @@ ...@@ -115,7 +126,7 @@
// btnSetClear2 // btnSetClear2
// //
this.btnSetClear2.FlatAppearance.BorderSize = 0; this.btnSetClear2.FlatAppearance.BorderSize = 0;
this.btnSetClear2.Location = new System.Drawing.Point(359, 188); this.btnSetClear2.Location = new System.Drawing.Point(359, 147);
this.btnSetClear2.Name = "btnSetClear2"; this.btnSetClear2.Name = "btnSetClear2";
this.btnSetClear2.Size = new System.Drawing.Size(159, 38); this.btnSetClear2.Size = new System.Drawing.Size(159, 38);
this.btnSetClear2.TabIndex = 38; this.btnSetClear2.TabIndex = 38;
...@@ -126,7 +137,7 @@ ...@@ -126,7 +137,7 @@
// btnSetClear1 // btnSetClear1
// //
this.btnSetClear1.FlatAppearance.BorderSize = 0; this.btnSetClear1.FlatAppearance.BorderSize = 0;
this.btnSetClear1.Location = new System.Drawing.Point(359, 126); this.btnSetClear1.Location = new System.Drawing.Point(359, 100);
this.btnSetClear1.Name = "btnSetClear1"; this.btnSetClear1.Name = "btnSetClear1";
this.btnSetClear1.Size = new System.Drawing.Size(159, 38); this.btnSetClear1.Size = new System.Drawing.Size(159, 38);
this.btnSetClear1.TabIndex = 37; this.btnSetClear1.TabIndex = 37;
...@@ -155,22 +166,10 @@ ...@@ -155,22 +166,10 @@
this.urRobotSControl1.Size = new System.Drawing.Size(271, 157); this.urRobotSControl1.Size = new System.Drawing.Size(271, 157);
this.urRobotSControl1.TabIndex = 0; this.urRobotSControl1.TabIndex = 0;
// //
// btnSetOrigin
//
this.btnSetOrigin.FlatAppearance.BorderSize = 0;
this.btnSetOrigin.Location = new System.Drawing.Point(359, 9);
this.btnSetOrigin.Name = "btnSetOrigin";
this.btnSetOrigin.Size = new System.Drawing.Size(159, 38);
this.btnSetOrigin.TabIndex = 32;
this.btnSetOrigin.Text = "重置为电路板固定点";
this.btnSetOrigin.UseVisualStyleBackColor = true;
this.btnSetOrigin.Visible = false;
this.btnSetOrigin.Click += new System.EventHandler(this.btnSetOrigin_Click);
//
// btnSaveHome // btnSaveHome
// //
this.btnSaveHome.FlatAppearance.BorderSize = 0; this.btnSaveHome.FlatAppearance.BorderSize = 0;
this.btnSaveHome.Location = new System.Drawing.Point(359, 66); this.btnSaveHome.Location = new System.Drawing.Point(359, 53);
this.btnSaveHome.Name = "btnSaveHome"; this.btnSaveHome.Name = "btnSaveHome";
this.btnSaveHome.Size = new System.Drawing.Size(159, 38); this.btnSaveHome.Size = new System.Drawing.Size(159, 38);
this.btnSaveHome.TabIndex = 36; this.btnSaveHome.TabIndex = 36;
...@@ -237,7 +236,6 @@ ...@@ -237,7 +236,6 @@
private System.Windows.Forms.Panel panel1; private System.Windows.Forms.Panel panel1;
private System.Windows.Forms.Button btnWStop; private System.Windows.Forms.Button btnWStop;
private System.Windows.Forms.Button btnSStop; private System.Windows.Forms.Button btnSStop;
private System.Windows.Forms.Button btnSetOrigin;
private System.Windows.Forms.Label label14; private System.Windows.Forms.Label label14;
private System.Windows.Forms.Button btnSaveHome; private System.Windows.Forms.Button btnSaveHome;
...@@ -250,5 +248,6 @@ ...@@ -250,5 +248,6 @@
private System.Windows.Forms.Button btnMore; private System.Windows.Forms.Button btnMore;
private UserFromControl.URRobotSControl urRobotSControl1; private UserFromControl.URRobotSControl urRobotSControl1;
private System.Windows.Forms.Label lblMsg; private System.Windows.Forms.Label lblMsg;
private System.Windows.Forms.Button btnSetMark;
} }
} }
\ No newline at end of file \ No newline at end of file
URSolderingClient/FrmOrgConfig.cs
...@@ -147,5 +147,16 @@ namespace URSoldering.Client ...@@ -147,5 +147,16 @@ namespace URSoldering.Client
frmOrgConfig.ShowDialog(); frmOrgConfig.ShowDialog();
this.Visible = true; this.Visible = true;
} }
private void btnSetMark_Click(object sender, EventArgs e)
{
URPointValue point = GetCurrRobotPoint();
DialogResult result = ShowConfire(point, "坐标偏移Mark点");
if (result.Equals(DialogResult.Yes))
{
WeldRobotBean.UpdateMarkPoint(point);
MessageBox.Show("保存清洗点2成功！");
}
}
} }
} }
URSolderingClient/FrmPointInfo.Designer.cs
...@@ -182,7 +182,8 @@ ...@@ -182,7 +182,8 @@
this.cmbPointType.Items.AddRange(new object[] { this.cmbPointType.Items.AddRange(new object[] {
"普通焊点", "普通焊点",
"中间点", "中间点",
"拖焊焊点"}); "拖焊焊点",
"拍照点"});
this.cmbPointType.Location = new System.Drawing.Point(92, 65); this.cmbPointType.Location = new System.Drawing.Point(92, 65);
this.cmbPointType.Name = "cmbPointType"; this.cmbPointType.Name = "cmbPointType";
this.cmbPointType.Size = new System.Drawing.Size(103, 25); this.cmbPointType.Size = new System.Drawing.Size(103, 25);
......
URSolderingClient/FrmPointInfo.cs
...@@ -309,6 +309,11 @@ namespace URSoldering.Client ...@@ -309,6 +309,11 @@ namespace URSoldering.Client
lblMsg.Text = "拖焊焊点，机械臂不抬起直接移动至焊点"; lblMsg.Text = "拖焊焊点，机械臂不抬起直接移动至焊点";
gbIron.Enabled = true; gbIron.Enabled = true;
gbWireFeeding.Enabled = true; gbWireFeeding.Enabled = true;
}else if (cmbPointType.SelectedIndex.Equals(3))
{
lblMsg.Text = "拍照点，用于坐标检测偏移";
gbIron.Enabled = false;
gbWireFeeding.Enabled = false;
} }
} }
} }
......
URSolderingClient/FrmSetting.Designer.cs
...@@ -49,21 +49,24 @@ ...@@ -49,21 +49,24 @@
this.groupBox5 = new System.Windows.Forms.GroupBox(); this.groupBox5 = new System.Windows.Forms.GroupBox();
this.maxControl = new UserFromControl.URRobotMControl(); this.maxControl = new UserFromControl.URRobotMControl();
this.minControl = new UserFromControl.URRobotMControl(); this.minControl = new UserFromControl.URRobotMControl();
this.groupBox6 = new System.Windows.Forms.GroupBox();
this.markControl = new UserFromControl.URRobotMControl();
this.groupBox3.SuspendLayout(); this.groupBox3.SuspendLayout();
this.groupBox2.SuspendLayout(); this.groupBox2.SuspendLayout();
this.groupBox4.SuspendLayout(); this.groupBox4.SuspendLayout();
this.groupBox1.SuspendLayout(); this.groupBox1.SuspendLayout();
this.gbEpsonSetting.SuspendLayout(); this.gbEpsonSetting.SuspendLayout();
this.groupBox5.SuspendLayout(); this.groupBox5.SuspendLayout();
this.groupBox6.SuspendLayout();
this.SuspendLayout(); this.SuspendLayout();
// //
// groupBox3 // groupBox3
// //
this.groupBox3.Controls.Add(this.clear2Control); this.groupBox3.Controls.Add(this.clear2Control);
this.groupBox3.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.groupBox3.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.groupBox3.Location = new System.Drawing.Point(499, 12); this.groupBox3.Location = new System.Drawing.Point(447, 12);
this.groupBox3.Name = "groupBox3"; this.groupBox3.Name = "groupBox3";
this.groupBox3.Size = new System.Drawing.Size(217, 265); this.groupBox3.Size = new System.Drawing.Size(197, 265);
this.groupBox3.TabIndex = 40; this.groupBox3.TabIndex = 40;
this.groupBox3.TabStop = false; this.groupBox3.TabStop = false;
this.groupBox3.Text = "焊接清洗点2配置"; this.groupBox3.Text = "焊接清洗点2配置";
...@@ -80,9 +83,9 @@ ...@@ -80,9 +83,9 @@
// //
this.groupBox2.Controls.Add(this.clear1Control); this.groupBox2.Controls.Add(this.clear1Control);
this.groupBox2.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.groupBox2.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.groupBox2.Location = new System.Drawing.Point(260, 12); this.groupBox2.Location = new System.Drawing.Point(234, 12);
this.groupBox2.Name = "groupBox2"; this.groupBox2.Name = "groupBox2";
this.groupBox2.Size = new System.Drawing.Size(217, 265); this.groupBox2.Size = new System.Drawing.Size(197, 265);
this.groupBox2.TabIndex = 12; this.groupBox2.TabIndex = 12;
this.groupBox2.TabStop = false; this.groupBox2.TabStop = false;
this.groupBox2.Text = "焊接清洗点1配置"; this.groupBox2.Text = "焊接清洗点1配置";
...@@ -169,7 +172,7 @@ ...@@ -169,7 +172,7 @@
this.groupBox1.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134))); this.groupBox1.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.groupBox1.Location = new System.Drawing.Point(21, 12); this.groupBox1.Location = new System.Drawing.Point(21, 12);
this.groupBox1.Name = "groupBox1"; this.groupBox1.Name = "groupBox1";
this.groupBox1.Size = new System.Drawing.Size(217, 265); this.groupBox1.Size = new System.Drawing.Size(197, 265);
this.groupBox1.TabIndex = 8; this.groupBox1.TabIndex = 8;
this.groupBox1.TabStop = false; this.groupBox1.TabStop = false;
this.groupBox1.Text = "机器人待机点配置"; this.groupBox1.Text = "机器人待机点配置";
...@@ -260,11 +263,31 @@ ...@@ -260,11 +263,31 @@
this.minControl.Size = new System.Drawing.Size(168, 226); this.minControl.Size = new System.Drawing.Size(168, 226);
this.minControl.TabIndex = 2; this.minControl.TabIndex = 2;
// //
// groupBox6
//
this.groupBox6.Controls.Add(this.markControl);
this.groupBox6.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.groupBox6.Location = new System.Drawing.Point(660, 12);
this.groupBox6.Name = "groupBox6";
this.groupBox6.Size = new System.Drawing.Size(197, 265);
this.groupBox6.TabIndex = 43;
this.groupBox6.TabStop = false;
this.groupBox6.Text = "坐标偏移Mark点配置";
//
// markControl
//
this.markControl.Location = new System.Drawing.Point(24, 20);
this.markControl.Margin = new System.Windows.Forms.Padding(3, 6, 3, 6);
this.markControl.Name = "markControl";
this.markControl.Size = new System.Drawing.Size(168, 236);
this.markControl.TabIndex = 2;
//
// FrmSetting // FrmSetting
// //
this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 17F); this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 17F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(750, 555); this.ClientSize = new System.Drawing.Size(871, 555);
this.Controls.Add(this.groupBox6);
this.Controls.Add(this.groupBox5); this.Controls.Add(this.groupBox5);
this.Controls.Add(this.groupBox3); this.Controls.Add(this.groupBox3);
this.Controls.Add(this.groupBox2); this.Controls.Add(this.groupBox2);
...@@ -284,6 +307,7 @@ ...@@ -284,6 +307,7 @@
this.gbEpsonSetting.ResumeLayout(false); this.gbEpsonSetting.ResumeLayout(false);
this.gbEpsonSetting.PerformLayout(); this.gbEpsonSetting.PerformLayout();
this.groupBox5.ResumeLayout(false); this.groupBox5.ResumeLayout(false);
this.groupBox6.ResumeLayout(false);
this.ResumeLayout(false); this.ResumeLayout(false);
} }
...@@ -310,5 +334,7 @@ ...@@ -310,5 +334,7 @@
private UserFromControl.URRobotMControl homeControl; private UserFromControl.URRobotMControl homeControl;
private UserFromControl.URRobotMControl maxControl; private UserFromControl.URRobotMControl maxControl;
private UserFromControl.URRobotMControl minControl; private UserFromControl.URRobotMControl minControl;
private System.Windows.Forms.GroupBox groupBox6;
private UserFromControl.URRobotMControl markControl;
} }
} }
\ No newline at end of file \ No newline at end of file
URSolderingClient/FrmSetting.cs
...@@ -37,6 +37,7 @@ namespace URSoldering.Client ...@@ -37,6 +37,7 @@ namespace URSoldering.Client
clear2Control.ShowPoint(WeldRobotBean.Clear2Point); clear2Control.ShowPoint(WeldRobotBean.Clear2Point);
clear1Control.ShowPoint(WeldRobotBean.Clear1Point); clear1Control.ShowPoint(WeldRobotBean.Clear1Point);
homeControl.ShowPoint(WeldRobotBean.HomePoint); homeControl.ShowPoint(WeldRobotBean.HomePoint);
markControl.ShowPoint(WeldRobotBean.MarkPoint);
} }
private void saveValue() private void saveValue()
...@@ -148,6 +149,10 @@ namespace URSoldering.Client ...@@ -148,6 +149,10 @@ namespace URSoldering.Client
ConfigAppSettings.SaveValue(Setting_Init.Soldering_RobotMin, minP.ToJosonStr()); ConfigAppSettings.SaveValue(Setting_Init.Soldering_RobotMin, minP.ToJosonStr());
ConfigAppSettings.SaveValue(Setting_Init.Soldering_RobotMax, maxP.ToJosonStr()); ConfigAppSettings.SaveValue(Setting_Init.Soldering_RobotMax, maxP.ToJosonStr());
URPointValue markPoint = markControl.GetPoint();
WeldRobotBean.MarkPoint = markPoint;
ConfigAppSettings.SaveValue(Setting_Init.Soldering_MarkPoint, markPoint.ToJosonStr());
MessageBox.Show("保存成功，需要重启之后才能生效！"); MessageBox.Show("保存成功，需要重启之后才能生效！");
this.Close(); this.Close();
} }
......
URSolderingClient/记录.txt
...@@ -33,3 +33,18 @@ UR机器人是否到位判断条件修改：只判断X.Y.Z坐标是否一致 ...@@ -33,3 +33,18 @@ UR机器人是否到位判断条件修改：只判断X.Y.Z坐标是否一致
AOI检测NG时，红灯亮，等到下次开始焊接时清理红灯。 AOI检测NG时，红灯亮，等到下次开始焊接时清理红灯。
机器人移动movep改为movel 机器人移动movep改为movel
20181022
需要修改内容：
坐标偏移功能
1.增加一个整体的mark点，保存机械臂坐标
2.每个电路板需要配置拍照点
3.流程修改：焊接之前，先去拍照点，拍照识别，取出坐标后进行整体坐标偏移，然后再焊接。
图片上自动编程功能：
图片上要显示四个点：ABCD
需要配置AC点或者BD点作为固定点
点击图片，直接增加焊点，可以自动算出XY坐标
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