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Commit 52a58a0b 由 张东亮
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光栅暂停功能添加

1 个父辈 ffd8084d
内嵌 并排
正在显示 7 个修改的文件 包含 113 行增加 和 148 行删除
source/CarriageClient/robotForm/FrmRobotEquip.Designer.cs
......@@ -68,7 +68,7 @@
this.btnOpenRobotService = new System.Windows.Forms.Button();
this.ucRobot1 = new JAKA.UCRobot();
this.panBase = new System.Windows.Forms.Panel();
this.chbMoveStop = new System.Windows.Forms.CheckBox();
this.btnMoveStop = new System.Windows.Forms.Button();
this.lblName = new System.Windows.Forms.Label();
this.chbDebug = new System.Windows.Forms.CheckBox();
this.lblStoreStatus = new System.Windows.Forms.Label();
......@@ -133,7 +133,7 @@
this.txtDOIndex.Location = new System.Drawing.Point(436, 25);
this.txtDOIndex.MaxLength = 10;
this.txtDOIndex.Name = "txtDOIndex";
this.txtDOIndex.Size = new System.Drawing.Size(40, 23);
this.txtDOIndex.Size = new System.Drawing.Size(40, 27);
this.txtDOIndex.TabIndex = 276;
this.txtDOIndex.Text = "0";
this.txtDOIndex.Visible = false;
......@@ -145,7 +145,7 @@
this.txtDoName.Location = new System.Drawing.Point(410, 25);
this.txtDoName.MaxLength = 10;
this.txtDoName.Name = "txtDoName";
this.txtDoName.Size = new System.Drawing.Size(27, 23);
this.txtDoName.Size = new System.Drawing.Size(27, 27);
this.txtDoName.TabIndex = 275;
this.txtDoName.Text = "0";
this.txtDoName.Visible = false;
......@@ -157,7 +157,7 @@
this.lblAddr.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
this.lblAddr.Location = new System.Drawing.Point(286, 28);
this.lblAddr.Name = "lblAddr";
this.lblAddr.Size = new System.Drawing.Size(35, 17);
this.lblAddr.Size = new System.Drawing.Size(43, 20);
this.lblAddr.TabIndex = 274;
this.lblAddr.Text = "设备:";
this.lblAddr.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
......@@ -194,7 +194,7 @@
this.txtWriteTime.Location = new System.Drawing.Point(84, 69);
this.txtWriteTime.MaxLength = 10;
this.txtWriteTime.Name = "txtWriteTime";
this.txtWriteTime.Size = new System.Drawing.Size(58, 23);
this.txtWriteTime.Size = new System.Drawing.Size(58, 27);
this.txtWriteTime.TabIndex = 271;
this.txtWriteTime.Text = "0";
//
......@@ -205,7 +205,7 @@
this.label5.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
this.label5.Location = new System.Drawing.Point(18, 72);
this.label5.Name = "label5";
this.label5.Size = new System.Drawing.Size(60, 17);
this.label5.Size = new System.Drawing.Size(74, 20);
this.label5.TabIndex = 270;
this.label5.Text = "定时(ms):";
this.label5.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
......@@ -216,7 +216,7 @@
this.txtSlaveId.Location = new System.Drawing.Point(492, 25);
this.txtSlaveId.MaxLength = 10;
this.txtSlaveId.Name = "txtSlaveId";
this.txtSlaveId.Size = new System.Drawing.Size(18, 23);
this.txtSlaveId.Size = new System.Drawing.Size(18, 27);
this.txtSlaveId.TabIndex = 255;
this.txtSlaveId.Text = "0";
this.txtSlaveId.Visible = false;
......@@ -312,9 +312,9 @@
// tabPage3
//
this.tabPage3.Controls.Add(this.groupBox6);
this.tabPage3.Location = new System.Drawing.Point(4, 26);
this.tabPage3.Location = new System.Drawing.Point(4, 29);
this.tabPage3.Name = "tabPage3";
this.tabPage3.Size = new System.Drawing.Size(985, 521);
this.tabPage3.Size = new System.Drawing.Size(985, 518);
this.tabPage3.TabIndex = 2;
this.tabPage3.Text = " 设备状态 ";
this.tabPage3.UseVisualStyleBackColor = true;
......@@ -363,7 +363,7 @@
this.lblMoveInfo.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
this.lblMoveInfo.Location = new System.Drawing.Point(5, 44);
this.lblMoveInfo.Name = "lblMoveInfo";
this.lblMoveInfo.Size = new System.Drawing.Size(68, 17);
this.lblMoveInfo.Size = new System.Drawing.Size(84, 20);
this.lblMoveInfo.TabIndex = 280;
this.lblMoveInfo.Text = "运动信息：";
//
......@@ -399,9 +399,9 @@
this.tabPage5.Controls.Add(this.groupBox2);
this.tabPage5.Controls.Add(this.checkBoxEdit);
this.tabPage5.Controls.Add(this.axisMoveControl1);
this.tabPage5.Location = new System.Drawing.Point(4, 26);
this.tabPage5.Location = new System.Drawing.Point(4, 29);
this.tabPage5.Name = "tabPage5";
this.tabPage5.Size = new System.Drawing.Size(985, 521);
this.tabPage5.Size = new System.Drawing.Size(985, 518);
this.tabPage5.TabIndex = 5;
this.tabPage5.Text = "伺服信息";
this.tabPage5.UseVisualStyleBackColor = true;
......@@ -624,7 +624,7 @@
this.checkBoxEdit.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.checkBoxEdit.Location = new System.Drawing.Point(666, 370);
this.checkBoxEdit.Name = "checkBoxEdit";
this.checkBoxEdit.Size = new System.Drawing.Size(93, 26);
this.checkBoxEdit.Size = new System.Drawing.Size(114, 31);
this.checkBoxEdit.TabIndex = 3;
this.checkBoxEdit.Text = "启用编辑";
this.checkBoxEdit.UseVisualStyleBackColor = true;
......@@ -642,10 +642,10 @@
this.tabPage1.Controls.Add(this.groupBox1);
this.tabPage1.Controls.Add(this.groupBox3);
this.tabPage1.Controls.Add(this.groupBox4);
this.tabPage1.Location = new System.Drawing.Point(4, 26);
this.tabPage1.Location = new System.Drawing.Point(4, 29);
this.tabPage1.Name = "tabPage1";
this.tabPage1.Padding = new System.Windows.Forms.Padding(3);
this.tabPage1.Size = new System.Drawing.Size(985, 521);
this.tabPage1.Size = new System.Drawing.Size(985, 518);
this.tabPage1.TabIndex = 0;
this.tabPage1.Text = " IO列表 ";
this.tabPage1.UseVisualStyleBackColor = true;
......@@ -656,9 +656,9 @@
this.tabPage4.Controls.Add(this.btnColseRobotService);
this.tabPage4.Controls.Add(this.btnOpenRobotService);
this.tabPage4.Controls.Add(this.ucRobot1);
this.tabPage4.Location = new System.Drawing.Point(4, 26);
this.tabPage4.Location = new System.Drawing.Point(4, 29);
this.tabPage4.Name = "tabPage4";
this.tabPage4.Size = new System.Drawing.Size(985, 521);
this.tabPage4.Size = new System.Drawing.Size(985, 518);
this.tabPage4.TabIndex = 4;
this.tabPage4.Text = "机器人";
this.tabPage4.UseVisualStyleBackColor = true;
......@@ -669,7 +669,7 @@
this.chkManualRobot.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.chkManualRobot.Location = new System.Drawing.Point(758, 160);
this.chkManualRobot.Name = "chkManualRobot";
this.chkManualRobot.Size = new System.Drawing.Size(141, 26);
this.chkManualRobot.Size = new System.Drawing.Size(174, 31);
this.chkManualRobot.TabIndex = 3;
this.chkManualRobot.Text = "手动操作机器人";
this.chkManualRobot.UseVisualStyleBackColor = true;
......@@ -700,7 +700,7 @@
// ucRobot1
//
this.ucRobot1.Location = new System.Drawing.Point(4, 13);
this.ucRobot1.Margin = new System.Windows.Forms.Padding(4);
this.ucRobot1.Margin = new System.Windows.Forms.Padding(4, 4, 4, 4);
this.ucRobot1.Name = "ucRobot1";
this.ucRobot1.Size = new System.Drawing.Size(550, 428);
this.ucRobot1.TabIndex = 0;
......@@ -710,7 +710,7 @@
this.panBase.Anchor = ((System.Windows.Forms.AnchorStyles)(((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Left)
| System.Windows.Forms.AnchorStyles.Right)));
this.panBase.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
this.panBase.Controls.Add(this.chbMoveStop);
this.panBase.Controls.Add(this.btnMoveStop);
this.panBase.Controls.Add(this.lblName);
this.panBase.Controls.Add(this.chbDebug);
this.panBase.Controls.Add(this.lblStoreStatus);
......@@ -721,17 +721,18 @@
this.panBase.Size = new System.Drawing.Size(997, 50);
this.panBase.TabIndex = 260;
//
// chbMoveStop
// btnMoveStop
//
this.chbMoveStop.AutoSize = true;
this.chbMoveStop.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.chbMoveStop.Location = new System.Drawing.Point(597, 14);
this.chbMoveStop.Name = "chbMoveStop";
this.chbMoveStop.Size = new System.Drawing.Size(84, 24);
this.chbMoveStop.TabIndex = 262;
this.chbMoveStop.Text = "暂停运动";
this.chbMoveStop.UseVisualStyleBackColor = true;
this.chbMoveStop.Click += new System.EventHandler(this.chbMoveStop_CheckedChanged);
this.btnMoveStop.BackColor = System.Drawing.Color.Yellow;
this.btnMoveStop.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
this.btnMoveStop.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.btnMoveStop.Location = new System.Drawing.Point(414, 3);
this.btnMoveStop.Name = "btnMoveStop";
this.btnMoveStop.Size = new System.Drawing.Size(105, 40);
this.btnMoveStop.TabIndex = 263;
this.btnMoveStop.Text = "暂停运动";
this.btnMoveStop.UseVisualStyleBackColor = false;
this.btnMoveStop.Click += new System.EventHandler(this.btnMoveStop_Click);
//
// lblName
//
......@@ -749,9 +750,9 @@
//
this.chbDebug.AutoSize = true;
this.chbDebug.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.chbDebug.Location = new System.Drawing.Point(496, 14);
this.chbDebug.Location = new System.Drawing.Point(561, 12);
this.chbDebug.Name = "chbDebug";
this.chbDebug.Size = new System.Drawing.Size(84, 24);
this.chbDebug.Size = new System.Drawing.Size(104, 28);
this.chbDebug.TabIndex = 247;
this.chbDebug.Text = "调试状态";
this.chbDebug.UseVisualStyleBackColor = true;
......@@ -765,7 +766,7 @@
this.lblStoreStatus.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
this.lblStoreStatus.Location = new System.Drawing.Point(701, 15);
this.lblStoreStatus.Name = "lblStoreStatus";
this.lblStoreStatus.Size = new System.Drawing.Size(65, 20);
this.lblStoreStatus.Size = new System.Drawing.Size(82, 24);
this.lblStoreStatus.TabIndex = 245;
this.lblStoreStatus.Text = "等待启动";
this.lblStoreStatus.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
......@@ -798,7 +799,7 @@
//
// FrmRobotEquip
//
this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 17F);
this.AutoScaleDimensions = new System.Drawing.SizeF(9F, 20F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(1004, 611);
this.Controls.Add(this.panBase);
......@@ -853,7 +854,6 @@
private System.Windows.Forms.Label label5;
private System.Windows.Forms.TextBox txtSlaveId;
protected System.Windows.Forms.Panel panBase;
protected System.Windows.Forms.CheckBox chbMoveStop;
protected System.Windows.Forms.Label lblName;
protected System.Windows.Forms.CheckBox chbDebug;
protected System.Windows.Forms.Label lblStoreStatus;
......@@ -891,6 +891,7 @@
private System.Windows.Forms.CheckBox checkBoxEdit;
private System.Windows.Forms.CheckBox chkManualRobot;
private System.Windows.Forms.Label lblrobotTaskInfo;
protected System.Windows.Forms.Button btnMoveStop;
}
}
source/CarriageClient/robotForm/FrmRobotEquip.cs
......@@ -37,7 +37,6 @@ namespace OnlineStore.CarriageClient
}
private void FrmStoreIOStatus_Load(object sender, EventArgs e)
{
chbMoveStop.Checked = robotEquip.MoveStop;
lblStoreStatus.Text = DeviceBase.GetRunStr(robotEquip.runStatus);
lblThisSta.Text = robotEquip.WarnMsg;
......@@ -203,10 +202,6 @@ namespace OnlineStore.CarriageClient
{
try
{
if (!this.Visible)
{
return;
}
ReadIOList();
//ReadBtnDO();
// clampJawControl1.UpdateSta();
......@@ -217,6 +212,16 @@ namespace OnlineStore.CarriageClient
{
FormStatus(true);
}
if (robotEquip.MoveStop)
{
btnMoveStop.Text = "恢复运动";
btnMoveStop.BackColor = Color.Green;
}
else
{
btnMoveStop.Text = "暂停运动";
btnMoveStop.BackColor = Color.Yellow;
}
}
else
{
......@@ -240,7 +245,7 @@ namespace OnlineStore.CarriageClient
{
lblInoutInfo.Text = "";
}
lblrobotTaskInfo.Text =$"{SServerManager.RobotTaskInfo}\r\n{SServerManager.BoxDoorStatus}" ;
lblrobotTaskInfo.Text = $"{SServerManager.RobotTaskInfo}\r\n{SServerManager.BoxDoorStatus}";
lblMoveInfo.Text = robotEquip.GetMoveStr();//+ "料仓类型：" + (boxBean.Config.IsBigTray.Equals(1) ? "大料盘" : "小料盘");
//string canOut = boxBean.CanOutStore(boxBean.DeviceID) ? "可出库" : "不可出库";
lblStoreStatus.Text = DeviceBase.GetRunStr(robotEquip.runStatus);// + "(" + canOut + ")";
......@@ -492,17 +497,6 @@ namespace OnlineStore.CarriageClient
tabcon.Controls.Add(lineTabPage);
}
private void chbMoveStop_CheckedChanged(object sender, EventArgs e)
{
if (!IsLoad)
{
return;
}
robotEquip.MoveStop = chbMoveStop.Checked;
LogUtil.info(robotEquip.Name + "用户切换是否暂停： " + robotEquip.MoveStop);
}
private void btnCloseAll_Click(object sender, EventArgs e)
{
......@@ -577,9 +571,28 @@ namespace OnlineStore.CarriageClient
ucRobot1.Update(jAKABean.RobotData);
}
}
catch(Exception ex)
catch (Exception ex)
{
LogUtil.error("chkManualRobot_CheckedChanged", ex);
}
}
private void btnMoveStop_Click(object sender, EventArgs e)
{
if (robotEquip.runStatus <= RunStatus.Wait)
{
MessageBox.Show(robotEquip.Name + "请先启动设备", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
}
if (robotEquip.MoveStop)
{
robotEquip.Resume();
LogUtil.info($"用户点击恢复运动按钮");
}
else
{
LogUtil.error("chkManualRobot_CheckedChanged",ex);
robotEquip.Pause();
LogUtil.info($"用户点击暂停运动按钮");
}
}
......
source/DeviceLibrary/Config/Config_Client.csv
......@@ -63,6 +63,7 @@ DI,1,13寸料盘顶升下降端,Inlet_13InchJackDownSig,9,HC,X09,,,,,,,,,,,,
DI,3,NG料暂存区料盘检测,NGBox_TrayCheck,10,HC,X10,,,,,,,,,,,,
DI,3,机械臂料盘检测,RobotArm_TrayCheck,11,HC,X11,,,,,,,,,,,,
DI,3,机械臂夹紧检测,RobotArm_ClampingSig,12,HC,X12,,,,,,,,,,,,
DI,3,安全光栅,SafetyLightGrids,18,HC,X18,,,,,,,,,,,,
DI,2,出料线体顶升上升端,Outlet_JackUpSig,13,HC,X13,,,,,,,,,,,,
DI,2,出料线体顶升下降端,Outlet_JackDownSig,14,HC,X14,,,,,,,,,,,,
DI,2,出料线体料盘检测1,Outlet_TrayCheck1,15,HC,X15,,,,,,,,,,,,
......
source/DeviceLibrary/clientEquip/EquipBase.cs
......@@ -75,7 +75,6 @@ namespace OnlineStore.DeviceLibrary
return;
}
if (MoveInfo.MoveType.Equals(MoveType.RHome))
{
ResetProcess();
......
source/DeviceLibrary/clientEquip/robotEquip/RobotEquip.cs
......@@ -470,54 +470,21 @@ namespace OnlineStore.DeviceLibrary
}
}
#endregion
#region 门禁
//门禁状态：0正常。1=安全门禁打开，已停止运动
private int CurrSecurityAccess = 0;
#region 门禁光栅
protected void SecurityAccessProcess()
{
try
{
//if (!baseConfig.DIList.ContainsKey(IO_Type.LeftDoor_Limit))
//{
// return;
//}
//if (!baseConfig.DIList.ContainsKey(IO_Type.RightDoor_Limit))
//{
// return;
//}
//if (!baseConfig.DIList.ContainsKey(IO_Type.BackDoor_Limit))
//{
// return;
//}
if (CurrSecurityAccess.Equals(0))
{
//if (StoreManager.DisBoxSecurityAccess)
//{
//}
//else if (IOValue(IO_Type.LeftDoor_Limit).Equals(IO_VALUE.LOW))
//{
// SecurityAccessStop("左前门门禁");
//}
//else if (IOValue(IO_Type.RightDoor_Limit).Equals(IO_VALUE.LOW))
//{
// SecurityAccessStop("右前门门禁");
//}
//else if (IOValue(IO_Type.BackDoor_Limit).Equals(IO_VALUE.LOW))
//{
// SecurityAccessStop("后门门禁");
//}
}
else if (CurrSecurityAccess.Equals(1))
{
//if (IOValue(IO_Type.LeftDoor_Limit).Equals(IO_VALUE.HIGH) &&
// IOValue(IO_Type.RightDoor_Limit).Equals(IO_VALUE.HIGH) &&
// IOValue(IO_Type.BackDoor_Limit).Equals(IO_VALUE.HIGH))
//{
// SecurityAccessReset();
//}
if(!MoveStop)
{
if (IOValue(IO_Type.SafetyLightGrids).Equals(IO_VALUE.LOW))
{
Pause();
LogUtil.info("安全光栅触发，停止行走机构和机器人运动");
}
}
}
catch (Exception ex)
{
......@@ -525,56 +492,19 @@ namespace OnlineStore.DeviceLibrary
}
}
//private void SecurityAccessStop(string doorname)
//{
// if (!baseConfig.DIList.ContainsKey(IO_Type.LeftDoor_Limit))
// {
// return;
// }
// if (!baseConfig.DIList.ContainsKey(IO_Type.RightDoor_Limit))
// {
// return;
// }
// if (!baseConfig.DIList.ContainsKey(IO_Type.BackDoor_Limit))
// {
// return;
// }
// CurrSecurityAccess = 1;
// if (alarmType > (AlarmType.IoSingleTimeOut))
// {
// return;
// }
// LogUtil.info($"{Name} {doorname}被打开，停止当前运动{MoveInfo.MoveType},MoveStop={MoveStop}，报警急停");
// SetWarnMsg($"{doorname}被打开，报警急停");
// Alarm(AlarmType.SuddenStop);
//}
//private void SecurityAccessReset()
//{
// if (!baseConfig.DIList.ContainsKey(IO_Type.LeftDoor_Limit))
// {
// return;
// }
// if (!baseConfig.DIList.ContainsKey(IO_Type.RightDoor_Limit))
// {
// return;
// }
// if (!baseConfig.DIList.ContainsKey(IO_Type.BackDoor_Limit))
// {
// return;
// }
// CurrSecurityAccess = 0;
// MoveStop = false;
// if (alarmType > (AlarmType.IoSingleTimeOut))
// {
// return;
// }
// //光栅恢复处理
//}
public void Pause()
{
MoveStop = true;
CompressAxis.SuddenStop();
MoveAxis.SuddenStop();
RobotPause();
MoveInfo.CanWhileCount = 5;
}
public void Resume()
{
MoveStop = false;
RobotResume();
}
#endregion
......
source/DeviceLibrary/clientEquip/robotEquip/RobotEquip_Partial.cs
using CodeLibrary;
using log4net.Util;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
......@@ -343,6 +344,23 @@ namespace OnlineStore.DeviceLibrary
bean.MotionAbort();
}
}
public bool RobotPause()
{
if (GetRobotInfo(out JAKA.JAKABean bean))
{
return bean.Pause();
}
return false;
}
public bool RobotResume()
{
if (GetRobotInfo(out JAKA.JAKABean bean))
{
return bean.Resume();
}
return false;
}
#endregion
#region 行走机构
......
source/LoadCVSLibrary/clientConfig/config/IO_Type.cs
......@@ -101,7 +101,10 @@ namespace OnlineStore.LoadCSVLibrary
/// DI,2,出料线体允许送料,Outlet_AllowFeedSig,17,HC,X17,,,,,,,,,,,,
/// </summary>
public static string Outlet_AllowFeedSig = "Outlet_AllowFeedSig";
/// <summary>
/// DI,3,安全光栅,SafetyLightGrids,18,HC,X18,,,,,,,,,,,,
/// </summary>
public static string SafetyLightGrids = "SafetyLightGrids";
/// <summary>
/// DO,1,自动绿色指示灯,RunSign_HddLed,0,HC,Y00,,,,,,,,,,,,
/// </summary>
......
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