移动到高位，调试状态增加判断

DeviceLibrary/Robot/soldering/WeldRobotBean_Partial.cs

@@ -198,16 +198,21 @@ namespace URSoldering.DeviceLibrary
             }
             }
             if (WeldMoveStep.CurrPoint.pointType.Equals(0))
             if (WeldMoveStep.CurrPoint.pointType.Equals(0))
             {
             {
+                if (ZUpLiftValue>0)
+                {
                     //普通焊点先移动至高位
                     //普通焊点先移动至高位
                     WeldMoveStep.NextMoveStep(MoveStep.W01_RobotToHighPoint);
                     WeldMoveStep.NextMoveStep(MoveStep.W01_RobotToHighPoint);
                     LogUtil.info(" 新" + WeldMoveStep.CurrPoint.TypeValue + "【" + WeldMoveStep.CurrPoint.pointName + "】移动至焊点高处");
                     LogUtil.info(" 新" + WeldMoveStep.CurrPoint.TypeValue + "【" + WeldMoveStep.CurrPoint.pointName + "】移动至焊点高处");
-                MoveToHighPoint(WeldMoveStep.CurrPoint );
+                    MoveToHighPoint(WeldMoveStep.CurrPoint);
+                }
+                else
+                {
+                    LogUtil.info(" 新" + WeldMoveStep.CurrPoint.TypeValue + "【" + WeldMoveStep.CurrPoint.pointName + "】预热" + WeldMoveStep.CurrPoint.preheatTemperature + "度，送丝下降，移动机械臂");
+                    MoveToPoint(WeldMoveStep.CurrPoint); 
+                    WeldMoveStep.IsSlowSendWire = true;
+                    SlowSendWire();
+                } 
                 WorkCountManager.AddWeldPint();
                 WorkCountManager.AddWeldPint();
-                //LogUtil.info(" 新" + WeldMoveStep.CurrPoint.TypeValue + "【" + WeldMoveStep.CurrPoint.pointName + "】预热" + WeldMoveStep.CurrPoint.preheatTemperature + "度，送丝下降，移动机械臂");
-                //MoveToPoint(WeldMoveStep.CurrPoint, false);
-                //WorkCountManager.AddWeldPint();
-                //WeldMoveStep.IsSlowSendWire = true;
-                //SlowSendWire();
             }
             }
             else if (WeldMoveStep.CurrPoint.pointType.Equals(2))
             else if (WeldMoveStep.CurrPoint.pointType.Equals(2))
             {
             {

DeviceLibrary/bean/RobotBean.cs

@@ -135,7 +135,10 @@ namespace URSoldering.DeviceLibrary
         }
         }
         public static bool IsFixtureClamp()
         public static bool IsFixtureClamp()
         {
         {
+            if (ConfigAppSettings.GetBoolValue(Setting_Init.ISDebug))
+            {
                 return true;
                 return true;
+            }
             if (KNDIOValue(IO_Type.Fixture_Clamp).Equals(IO_VALUE.HIGH) && KNDIOValue(IO_Type.Fixture_Relax).Equals(IO_VALUE.LOW))
             if (KNDIOValue(IO_Type.Fixture_Clamp).Equals(IO_VALUE.HIGH) && KNDIOValue(IO_Type.Fixture_Relax).Equals(IO_VALUE.LOW))
             {
             {
                 return true;
                 return true;
@@ -148,7 +151,10 @@ namespace URSoldering.DeviceLibrary
         }
         }
         public static bool ShuddenOK()
         public static bool ShuddenOK()
         {
         {
+            if (ConfigAppSettings.GetBoolValue(Setting_Init.ISDebug))
+            {
                 return true;
                 return true;
+            }
             if (!baseConfig.RobotDIList.ContainsKey(IO_Type.SuddenStop_Single))
             if (!baseConfig.RobotDIList.ContainsKey(IO_Type.SuddenStop_Single))
             {
             {
                 return false;
                 return false;

DeviceLibrary/deviceLibrary/urRobot/URRobotControl.cs

@@ -502,6 +502,11 @@ namespace URSoldering.DeviceLibrary
             {
             {
                 moveCmd = "movep(p[" + x + spiltStr + y + spiltStr + z + spiltStr + point.RX + spiltStr + point.RY + spiltStr + point.RZ + "],a=1.0, v=1.0,  r=0)";
                 moveCmd = "movep(p[" + x + spiltStr + y + spiltStr + z + spiltStr + point.RX + spiltStr + point.RY + spiltStr + point.RZ + "],a=1.0, v=1.0,  r=0)";
             }
             }
+            //string moveCmd = "movel(p[" + x + spiltStr + y + spiltStr + z + spiltStr + point.RX + spiltStr + point.RY + spiltStr + point.RZ + "],a=0.1, v=0.1,t=0,  r=0)";
+            //if (isHigh)
+            //{
+            //    moveCmd = "movel(p[" + x + spiltStr + y + spiltStr + z + spiltStr + point.RX + spiltStr + point.RY + spiltStr + point.RZ + "],a=1.0, v=1.0,t=0,  r=0)";
+            //}
             ClearPreCMD();
             ClearPreCMD();
 
 
             URRobotClient.LastMoveCMD = moveCmd;
             URRobotClient.LastMoveCMD = moveCmd;