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This commit is contained in:
17860779768 2023-04-06 12:06:25 +08:00
parent fd04fc4ea0
commit 8a92dd3eea
3 changed files with 167 additions and 167 deletions
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57
src/BRS.Process.A020/A020Process_Operation.cs
View File

@ -31,7 +31,7 @@ namespace BRS.Process.A020
int ShiJiaoVecCountFlag1 = 0;// 相机的示教点索引
float Distance_DisD = 0;//拧紧轴推进距离100
DeviceModel AModeTypeRun = new DeviceModel();//相机机械臂全局配置（务必要有）
private void StopMachineClosing(PLCBase MelsecPlc, TCPSeverBase TcpSeverBase1)
@ -274,11 +274,11 @@ namespace BRS.Process.A020
/// </summary>
/// <param name="image"></需要定位螺丝的图像>
/// <param name="ResultPoint"></结果 螺丝中心坐标>
public void GetScrew(Mat image, List<MyPoint> ResultPoint)
public void GetScrew(Mat image, List<MyPoint> ResultPoint)
{
Mat SrcImage = image.Clone();
// 固定路径的模板图像
Mat Image = Cv2.ImRead(@"D:\MelsecPLCReadWrite\Bk\Image\1.png");
Mat Image = Cv2.ImRead(@"D:\MelsecPLCReadWrite\Bk\20230330\1.png");
Mat TempleteImage = Image.Clone();
// Point[][] contours1 = new Point[][] { };
@ -313,7 +313,7 @@ namespace BRS.Process.A020
ResultPoint.Add(Mypoints);
}
}
}
void genCalibratePts1()
{
@ -466,29 +466,30 @@ namespace BRS.Process.A020
Stopwatch stopWatch = new Stopwatch();
stopWatch.Restart();
Mat Image = Cv2.ImRead(@"D:\MelsecPLCReadWrite\Bk\Image\1.png");
#if true
genCalibratePts1();
stopWatch2.Stop();
Console.WriteLine(DateTime.Now + "==========配置=================" + stopWatch2.ElapsedMilliseconds + "===========================");
//MyPoint ssw = new MyPoint();
Mat Image = Cv2.ImRead(@"D:\MelsecPLCReadWrite\Bk\Image\1.png");
List<MyPoint> resultPoint = new List<MyPoint>();
Mat _mat = dd.Clone();
string ss = "D:\\QT1\\" + DateTime.Now.ToString("HHmmssfff") + ".jpg";
string ss = "D:\\QT\\" + DateTime.Now.ToString("HHmmssfff") + ".jpg";
Cv2.ImWrite(ss, _mat);
GetScrew(Image, resultPoint);
MyPoint ssw3 = resultPoint[0];
Mat _mat2 = AloghitomMat(_mat, ref ssw3);//根据拍摄的白纸定标图片确定二维到三维转换的关系
//Mat _mat2 = AloghitomMat(_mat, ref ssw3);//根据拍摄的白纸定标图片确定二维到三维转换的关系
ssw1 = Interpolation(VP, VR, ssw3, true);//实际坐标值
string ss2 = "D:\\QT\\" + DateTime.Now.ToString("HHmmssfff") + ".jpg";
Cv2.ImWrite(ss2, _mat2);
//Cv2.ImWrite(ss2, _mat2);
stopWatch.Stop();
Console.WriteLine(DateTime.Now + "==========标定算法=================" + stopWatch.ElapsedMilliseconds + "===========================");
@ -527,7 +528,7 @@ namespace BRS.Process.A020
return new ProcessResponse(false);
}
LogAsync(DateTime.Now, LogLevel.Information, "流程启动中，请稍候...");
PrepareBatchNO();
ProcessStatus = ProcessStatus.Unknown;
var MelsecPLC = DeviceCollection.FirstOrDefault(u => u is PLCBase) as PLCBase;
@ -574,14 +575,14 @@ namespace BRS.Process.A020
//等待光电触发来电信号
foreach (var sgepin in A020Config.ProcessInitialOps)
{
// foreach (var sp in sgepin.ShePinConfig)
// foreach (var sp in sgepin.ShePinConfig)
{
// if (sp.ShePinConfig == ALLShePinChar)
// {
// if (sp.ShePinConfig == ALLShePinChar)
// {
AModeTypeRun = sgepin;//模型型号匹配
// }
AModeTypeRun = sgepin;//模型型号匹配
// }
}
}
if (RobotsStatus.Release == RobotsStatus)//机器人复位，初始状态
@ -726,7 +727,7 @@ namespace BRS.Process.A020
ShaftOperateOnce(MelsecPLC, "D57", 500);//自动拧紧螺丝标志位先置1，0.5s后置0
Thread.Sleep(20);
}
}
else
{
@ -764,7 +765,7 @@ namespace BRS.Process.A020
LogAsync(DateTime.Now, LogLevel.Detail, "设备已启动，请勿其他操作！！");
IsShaftOpen = true;
RobotsStatus = RobotsStatus.Runing;
// DownCirce = DownCirce.DownCirce;
// DownCirce = DownCirce.DownCirce;
}
//while (true)
//{
@ -851,7 +852,7 @@ namespace BRS.Process.A020
{
LogAsync(DateTime.Now, LogLevel.Information, "已完成");
//ProcessWriteInt(MelsecPLC, "D171", "int", "0");
if (MinAngleValue <= resValue2 && resValue2 <= MaxAngleValue)
{
@ -885,13 +886,15 @@ namespace BRS.Process.A020
while (true)
{
if ("0" == ProcessReadInt(MelsecPLC, "D65", "int"))
{
ShaftOperateOnce(MelsecPLC, "D57", 500);//自动拧紧螺丝标志位先置1，0.5s后置0
ProcessWriteInt(MelsecPLC, "D171", "int", "200");
ProcessWriteInt(MelsecPLC, "D167", "int", "50000");
break;
}
else
Thread.Sleep(10);
}
ShaftOperateOnce(MelsecPLC, "D57", 500);//自动拧紧螺丝标志位先置1，0.5s后置0
ProcessWriteInt(MelsecPLC, "D171", "int", "200");
ProcessWriteInt(MelsecPLC, "D167", "int", "50000");
Thread.Sleep(1000);
@ -931,7 +934,6 @@ namespace BRS.Process.A020
}
Thread.Sleep(3000);
ProcessStatus = ProcessStatus.Init;
}
break;
case ProcessStatus.Warning:
@ -944,11 +946,8 @@ namespace BRS.Process.A020
Thread.Sleep(20);
}
});
Task.Run(() =>
{
});
LogAsync(DateTime.Now, LogLevel.Action, "流程启动完成！");
PubSubCenter.GetInstance().Publish(PubSubCenterMessageType.IsProcessOpened.ToString(), true, null);
return new ProcessResponse(true);

272
src/BRS.Process.A020/UI/ContorlShaft.Designer.cs generated
View File

@ -71,14 +71,24 @@ namespace BRS.Process.A020.UI
this.label8 = new System.Windows.Forms.Label();
this.LightSeries = new Sunny.UI.UIPanel();
this.label15 = new System.Windows.Forms.Label();
this.RobotAStatus = new BRS.Process.A020.UI.CircleButton();
this.label12 = new System.Windows.Forms.Label();
this.label11 = new System.Windows.Forms.Label();
this.ManualLight = new BRS.Process.A020.UI.CircleButton();
this.AutoLight = new BRS.Process.A020.UI.CircleButton();
this.MoveStateLight1 = new BRS.Process.A020.UI.CircleButton();
this.StopStateLight1 = new BRS.Process.A020.UI.CircleButton();
this.ToughLight1 = new BRS.Process.A020.UI.CircleButton();
this.LoosenLight1 = new BRS.Process.A020.UI.CircleButton();
this.label1 = new System.Windows.Forms.Label();
this.label2 = new System.Windows.Forms.Label();
this.label3 = new System.Windows.Forms.Label();
this.label4 = new System.Windows.Forms.Label();
this.uiPanel2 = new Sunny.UI.UIPanel();
this.label14 = new System.Windows.Forms.Label();
this.AutoBtn1 = new BRS.Process.A020.UI.CircleButton();
this.ManualBtn1 = new BRS.Process.A020.UI.CircleButton();
this.ESBtn = new BRS.Process.A020.UI.CircleButton();
this.TestBtn = new Sunny.UI.UIButton();
this.AutoLoosenBtn = new Sunny.UI.UIButton();
this.AutoToughBtn = new Sunny.UI.UIButton();
@ -88,16 +98,6 @@ namespace BRS.Process.A020.UI
this.chart1 = new System.Windows.Forms.DataVisualization.Charting.Chart();
this.uiButton1 = new Sunny.UI.UIButton();
this.timer2 = new System.Windows.Forms.Timer(this.components);
this.RobotAStatus = new BRS.Process.A020.UI.CircleButton();
this.ManualLight = new BRS.Process.A020.UI.CircleButton();
this.AutoLight = new BRS.Process.A020.UI.CircleButton();
this.MoveStateLight1 = new BRS.Process.A020.UI.CircleButton();
this.StopStateLight1 = new BRS.Process.A020.UI.CircleButton();
this.ToughLight1 = new BRS.Process.A020.UI.CircleButton();
this.LoosenLight1 = new BRS.Process.A020.UI.CircleButton();
this.AutoBtn1 = new BRS.Process.A020.UI.CircleButton();
this.ManualBtn1 = new BRS.Process.A020.UI.CircleButton();
this.ESBtn = new BRS.Process.A020.UI.CircleButton();
((System.ComponentModel.ISupportInitialize)(this.chart2)).BeginInit();
this.uiPanel1.SuspendLayout();
this.uiPanel3.SuspendLayout();
@ -236,6 +236,7 @@ namespace BRS.Process.A020.UI
//
this.uiPanel1.Controls.Add(this.uiPanel3);
this.uiPanel1.Controls.Add(this.BtnSeries);
this.uiPanel1.Controls.Add(this.ESBtn);
this.uiPanel1.Controls.Add(this.ParameterSetting);
this.uiPanel1.Controls.Add(this.LightSeries);
this.uiPanel1.Controls.Add(this.uiPanel2);
@ -306,11 +307,11 @@ namespace BRS.Process.A020.UI
this.BtnSeries.Controls.Add(this.AutoLoosenBtn1);
this.BtnSeries.Controls.Add(this.ManualToughBtn);
this.BtnSeries.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.BtnSeries.Location = new System.Drawing.Point(352, 152);
this.BtnSeries.Location = new System.Drawing.Point(526, 180);
this.BtnSeries.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.BtnSeries.MinimumSize = new System.Drawing.Size(1, 1);
this.BtnSeries.Name = "BtnSeries";
this.BtnSeries.Size = new System.Drawing.Size(367, 394);
this.BtnSeries.Size = new System.Drawing.Size(363, 366);
this.BtnSeries.TabIndex = 40;
this.BtnSeries.Text = null;
this.BtnSeries.TextAlignment = System.Drawing.ContentAlignment.MiddleCenter;
@ -323,7 +324,7 @@ namespace BRS.Process.A020.UI
this.label13.Font = new System.Drawing.Font("宋体", 18F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.label13.Location = new System.Drawing.Point(0, 0);
this.label13.Name = "label13";
this.label13.Size = new System.Drawing.Size(367, 47);
this.label13.Size = new System.Drawing.Size(363, 47);
this.label13.TabIndex = 37;
this.label13.Text = "操作按钮";
this.label13.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@ -347,7 +348,7 @@ namespace BRS.Process.A020.UI
//
this.AutoToughBtn1.Cursor = System.Windows.Forms.Cursors.Hand;
this.AutoToughBtn1.Font = new System.Drawing.Font("微软雅黑", 18F);
this.AutoToughBtn1.Location = new System.Drawing.Point(192, 85);
this.AutoToughBtn1.Location = new System.Drawing.Point(183, 85);
this.AutoToughBtn1.MinimumSize = new System.Drawing.Size(1, 1);
this.AutoToughBtn1.Name = "AutoToughBtn1";
this.AutoToughBtn1.Size = new System.Drawing.Size(170, 110);
@ -361,7 +362,7 @@ namespace BRS.Process.A020.UI
//
this.AutoLoosenBtn1.Cursor = System.Windows.Forms.Cursors.Hand;
this.AutoLoosenBtn1.Font = new System.Drawing.Font("微软雅黑", 18F);
this.AutoLoosenBtn1.Location = new System.Drawing.Point(192, 223);
this.AutoLoosenBtn1.Location = new System.Drawing.Point(183, 223);
this.AutoLoosenBtn1.MinimumSize = new System.Drawing.Size(1, 1);
this.AutoLoosenBtn1.Name = "AutoLoosenBtn1";
this.AutoLoosenBtn1.Size = new System.Drawing.Size(170, 110);
@ -402,11 +403,11 @@ namespace BRS.Process.A020.UI
this.ParameterSetting.Controls.Add(this.textBox3);
this.ParameterSetting.Controls.Add(this.label8);
this.ParameterSetting.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.ParameterSetting.Location = new System.Drawing.Point(12, 152);
this.ParameterSetting.Location = new System.Drawing.Point(227, 180);
this.ParameterSetting.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.ParameterSetting.MinimumSize = new System.Drawing.Size(1, 1);
this.ParameterSetting.Name = "ParameterSetting";
this.ParameterSetting.Size = new System.Drawing.Size(338, 394);
this.ParameterSetting.Size = new System.Drawing.Size(292, 366);
this.ParameterSetting.TabIndex = 39;
this.ParameterSetting.Text = null;
this.ParameterSetting.TextAlignment = System.Drawing.ContentAlignment.MiddleCenter;
@ -419,7 +420,7 @@ namespace BRS.Process.A020.UI
this.label10.Font = new System.Drawing.Font("宋体", 18F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.label10.Location = new System.Drawing.Point(0, 0);
this.label10.Name = "label10";
this.label10.Size = new System.Drawing.Size(338, 47);
this.label10.Size = new System.Drawing.Size(292, 47);
this.label10.TabIndex = 36;
this.label10.Text = "参数设置";
this.label10.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@ -428,7 +429,7 @@ namespace BRS.Process.A020.UI
//
this.OKBtn.Cursor = System.Windows.Forms.Cursors.Hand;
this.OKBtn.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.OKBtn.Location = new System.Drawing.Point(263, 324);
this.OKBtn.Location = new System.Drawing.Point(213, 323);
this.OKBtn.MinimumSize = new System.Drawing.Size(1, 1);
this.OKBtn.Name = "OKBtn";
this.OKBtn.Size = new System.Drawing.Size(70, 31);
@ -440,7 +441,7 @@ namespace BRS.Process.A020.UI
//
// textBox1
//
this.textBox1.Location = new System.Drawing.Point(162, 78);
this.textBox1.Location = new System.Drawing.Point(149, 78);
this.textBox1.Multiline = true;
this.textBox1.Name = "textBox1";
this.textBox1.Size = new System.Drawing.Size(134, 30);
@ -463,7 +464,7 @@ namespace BRS.Process.A020.UI
//
this.ResettingBtn.Cursor = System.Windows.Forms.Cursors.Hand;
this.ResettingBtn.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.ResettingBtn.Location = new System.Drawing.Point(187, 324);
this.ResettingBtn.Location = new System.Drawing.Point(137, 323);
this.ResettingBtn.MinimumSize = new System.Drawing.Size(1, 1);
this.ResettingBtn.Name = "ResettingBtn";
this.ResettingBtn.Size = new System.Drawing.Size(70, 31);
@ -486,7 +487,7 @@ namespace BRS.Process.A020.UI
//
// textBox5
//
this.textBox5.Location = new System.Drawing.Point(162, 260);
this.textBox5.Location = new System.Drawing.Point(149, 260);
this.textBox5.Multiline = true;
this.textBox5.Name = "textBox5";
this.textBox5.Size = new System.Drawing.Size(134, 30);
@ -496,7 +497,7 @@ namespace BRS.Process.A020.UI
//
// textBox2
//
this.textBox2.Location = new System.Drawing.Point(162, 127);
this.textBox2.Location = new System.Drawing.Point(149, 127);
this.textBox2.Multiline = true;
this.textBox2.Name = "textBox2";
this.textBox2.Size = new System.Drawing.Size(134, 30);
@ -528,7 +529,7 @@ namespace BRS.Process.A020.UI
//
// textBox4
//
this.textBox4.Location = new System.Drawing.Point(162, 217);
this.textBox4.Location = new System.Drawing.Point(149, 217);
this.textBox4.Multiline = true;
this.textBox4.Name = "textBox4";
this.textBox4.Size = new System.Drawing.Size(134, 30);
@ -538,7 +539,7 @@ namespace BRS.Process.A020.UI
//
// textBox3
//
this.textBox3.Location = new System.Drawing.Point(162, 172);
this.textBox3.Location = new System.Drawing.Point(149, 172);
this.textBox3.Multiline = true;
this.textBox3.Name = "textBox3";
this.textBox3.Size = new System.Drawing.Size(134, 30);
@ -574,11 +575,11 @@ namespace BRS.Process.A020.UI
this.LightSeries.Controls.Add(this.label3);
this.LightSeries.Controls.Add(this.label4);
this.LightSeries.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.LightSeries.Location = new System.Drawing.Point(219, 0);
this.LightSeries.Location = new System.Drawing.Point(225, 0);
this.LightSeries.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.LightSeries.MinimumSize = new System.Drawing.Size(1, 1);
this.LightSeries.Name = "LightSeries";
this.LightSeries.Size = new System.Drawing.Size(819, 153);
this.LightSeries.Size = new System.Drawing.Size(813, 153);
this.LightSeries.TabIndex = 38;
this.LightSeries.Text = null;
this.LightSeries.TextAlignment = System.Drawing.ContentAlignment.MiddleCenter;
@ -595,6 +596,17 @@ namespace BRS.Process.A020.UI
this.label15.Text = "机械臂\r\n连接状态";
this.label15.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
//
// RobotAStatus
//
this.RobotAStatus.BackColor = System.Drawing.Color.Gray;
this.RobotAStatus.Cursor = System.Windows.Forms.Cursors.Hand;
this.RobotAStatus.Enabled = false;
this.RobotAStatus.Location = new System.Drawing.Point(706, 7);
this.RobotAStatus.Name = "RobotAStatus";
this.RobotAStatus.Size = new System.Drawing.Size(90, 90);
this.RobotAStatus.TabIndex = 28;
this.RobotAStatus.UseVisualStyleBackColor = false;
//
// label12
//
this.label12.AutoSize = true;
@ -617,6 +629,64 @@ namespace BRS.Process.A020.UI
this.label11.Text = "自动拧紧状态\r\n指示灯";
this.label11.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
//
// ManualLight
//
this.ManualLight.BackColor = System.Drawing.Color.Gray;
this.ManualLight.Cursor = System.Windows.Forms.Cursors.Hand;
this.ManualLight.Enabled = false;
this.ManualLight.Location = new System.Drawing.Point(549, 7);
this.ManualLight.Name = "ManualLight";
this.ManualLight.Size = new System.Drawing.Size(90, 90);
this.ManualLight.TabIndex = 25;
this.ManualLight.UseVisualStyleBackColor = false;
//
// AutoLight
//
this.AutoLight.BackColor = System.Drawing.Color.Gray;
this.AutoLight.Cursor = System.Windows.Forms.Cursors.Hand;
this.AutoLight.Enabled = false;
this.AutoLight.Location = new System.Drawing.Point(437, 7);
this.AutoLight.Name = "AutoLight";
this.AutoLight.Size = new System.Drawing.Size(90, 90);
this.AutoLight.TabIndex = 24;
this.AutoLight.UseVisualStyleBackColor = false;
//
// MoveStateLight1
//
this.MoveStateLight1.BackColor = System.Drawing.Color.Gray;
this.MoveStateLight1.Location = new System.Drawing.Point(17, 7);
this.MoveStateLight1.Name = "MoveStateLight1";
this.MoveStateLight1.Size = new System.Drawing.Size(90, 90);
this.MoveStateLight1.TabIndex = 3;
this.MoveStateLight1.UseVisualStyleBackColor = false;
//
// StopStateLight1
//
this.StopStateLight1.BackColor = System.Drawing.Color.Gray;
this.StopStateLight1.Location = new System.Drawing.Point(117, 7);
this.StopStateLight1.Name = "StopStateLight1";
this.StopStateLight1.Size = new System.Drawing.Size(90, 90);
this.StopStateLight1.TabIndex = 15;
this.StopStateLight1.UseVisualStyleBackColor = false;
//
// ToughLight1
//
this.ToughLight1.BackColor = System.Drawing.Color.Gray;
this.ToughLight1.Location = new System.Drawing.Point(217, 7);
this.ToughLight1.Name = "ToughLight1";
this.ToughLight1.Size = new System.Drawing.Size(90, 90);
this.ToughLight1.TabIndex = 16;
this.ToughLight1.UseVisualStyleBackColor = false;
//
// LoosenLight1
//
this.LoosenLight1.BackColor = System.Drawing.Color.Gray;
this.LoosenLight1.Location = new System.Drawing.Point(326, 7);
this.LoosenLight1.Name = "LoosenLight1";
this.LoosenLight1.Size = new System.Drawing.Size(90, 90);
this.LoosenLight1.TabIndex = 17;
this.LoosenLight1.UseVisualStyleBackColor = false;
//
// label1
//
this.label1.AutoSize = true;
@ -666,13 +736,12 @@ namespace BRS.Process.A020.UI
this.uiPanel2.Controls.Add(this.label14);
this.uiPanel2.Controls.Add(this.AutoBtn1);
this.uiPanel2.Controls.Add(this.ManualBtn1);
this.uiPanel2.Controls.Add(this.ESBtn);
this.uiPanel2.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.uiPanel2.Location = new System.Drawing.Point(721, 152);
this.uiPanel2.Location = new System.Drawing.Point(896, 180);
this.uiPanel2.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.uiPanel2.MinimumSize = new System.Drawing.Size(1, 1);
this.uiPanel2.Name = "uiPanel2";
this.uiPanel2.Size = new System.Drawing.Size(317, 394);
this.uiPanel2.Size = new System.Drawing.Size(142, 366);
this.uiPanel2.TabIndex = 37;
this.uiPanel2.Text = null;
this.uiPanel2.TextAlignment = System.Drawing.ContentAlignment.MiddleCenter;
@ -685,11 +754,47 @@ namespace BRS.Process.A020.UI
this.label14.Font = new System.Drawing.Font("宋体", 18F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
this.label14.Location = new System.Drawing.Point(0, 0);
this.label14.Name = "label14";
this.label14.Size = new System.Drawing.Size(317, 47);
this.label14.Size = new System.Drawing.Size(142, 47);
this.label14.TabIndex = 38;
this.label14.Text = "操作按钮";
this.label14.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
//
// AutoBtn1
//
this.AutoBtn1.BackColor = System.Drawing.Color.Gray;
this.AutoBtn1.Cursor = System.Windows.Forms.Cursors.Hand;
this.AutoBtn1.Location = new System.Drawing.Point(15, 85);
this.AutoBtn1.Name = "AutoBtn1";
this.AutoBtn1.Size = new System.Drawing.Size(112, 112);
this.AutoBtn1.TabIndex = 18;
this.AutoBtn1.Text = "自动按钮";
this.AutoBtn1.UseVisualStyleBackColor = false;
this.AutoBtn1.Click += new System.EventHandler(this.AutoBtn1_Click);
//
// ManualBtn1
//
this.ManualBtn1.BackColor = System.Drawing.Color.Gray;
this.ManualBtn1.Cursor = System.Windows.Forms.Cursors.Hand;
this.ManualBtn1.Location = new System.Drawing.Point(15, 223);
this.ManualBtn1.Name = "ManualBtn1";
this.ManualBtn1.Size = new System.Drawing.Size(112, 112);
this.ManualBtn1.TabIndex = 19;
this.ManualBtn1.Text = "手动按钮";
this.ManualBtn1.UseVisualStyleBackColor = false;
this.ManualBtn1.Click += new System.EventHandler(this.ManualBtn1_Click);
//
// ESBtn
//
this.ESBtn.BackColor = System.Drawing.Color.Red;
this.ESBtn.Cursor = System.Windows.Forms.Cursors.Hand;
this.ESBtn.Location = new System.Drawing.Point(3, 180);
this.ESBtn.Name = "ESBtn";
this.ESBtn.Size = new System.Drawing.Size(219, 219);
this.ESBtn.TabIndex = 0;
this.ESBtn.Text = "急停";
this.ESBtn.UseVisualStyleBackColor = false;
this.ESBtn.Click += new System.EventHandler(this.ESBtn_Click);
//
// TestBtn
//
this.TestBtn.Cursor = System.Windows.Forms.Cursors.Hand;
@ -794,111 +899,6 @@ namespace BRS.Process.A020.UI
this.timer2.Interval = 1000;
this.timer2.Tick += new System.EventHandler(this.timer2_Tick);
//
// RobotAStatus
//
this.RobotAStatus.BackColor = System.Drawing.Color.Gray;
this.RobotAStatus.Cursor = System.Windows.Forms.Cursors.Hand;
this.RobotAStatus.Enabled = false;
this.RobotAStatus.Location = new System.Drawing.Point(706, 7);
this.RobotAStatus.Name = "RobotAStatus";
this.RobotAStatus.Size = new System.Drawing.Size(90, 90);
this.RobotAStatus.TabIndex = 28;
this.RobotAStatus.UseVisualStyleBackColor = false;
//
// ManualLight
//
this.ManualLight.BackColor = System.Drawing.Color.Gray;
this.ManualLight.Cursor = System.Windows.Forms.Cursors.Hand;
this.ManualLight.Enabled = false;
this.ManualLight.Location = new System.Drawing.Point(549, 7);
this.ManualLight.Name = "ManualLight";
this.ManualLight.Size = new System.Drawing.Size(90, 90);
this.ManualLight.TabIndex = 25;
this.ManualLight.UseVisualStyleBackColor = false;
//
// AutoLight
//
this.AutoLight.BackColor = System.Drawing.Color.Gray;
this.AutoLight.Cursor = System.Windows.Forms.Cursors.Hand;
this.AutoLight.Enabled = false;
this.AutoLight.Location = new System.Drawing.Point(437, 7);
this.AutoLight.Name = "AutoLight";
this.AutoLight.Size = new System.Drawing.Size(90, 90);
this.AutoLight.TabIndex = 24;
this.AutoLight.UseVisualStyleBackColor = false;
//
// MoveStateLight1
//
this.MoveStateLight1.BackColor = System.Drawing.Color.Gray;
this.MoveStateLight1.Location = new System.Drawing.Point(17, 7);
this.MoveStateLight1.Name = "MoveStateLight1";
this.MoveStateLight1.Size = new System.Drawing.Size(90, 90);
this.MoveStateLight1.TabIndex = 3;
this.MoveStateLight1.UseVisualStyleBackColor = false;
//
// StopStateLight1
//
this.StopStateLight1.BackColor = System.Drawing.Color.Gray;
this.StopStateLight1.Location = new System.Drawing.Point(117, 7);
this.StopStateLight1.Name = "StopStateLight1";
this.StopStateLight1.Size = new System.Drawing.Size(90, 90);
this.StopStateLight1.TabIndex = 15;
this.StopStateLight1.UseVisualStyleBackColor = false;
//
// ToughLight1
//
this.ToughLight1.BackColor = System.Drawing.Color.Gray;
this.ToughLight1.Location = new System.Drawing.Point(217, 7);
this.ToughLight1.Name = "ToughLight1";
this.ToughLight1.Size = new System.Drawing.Size(90, 90);
this.ToughLight1.TabIndex = 16;
this.ToughLight1.UseVisualStyleBackColor = false;
//
// LoosenLight1
//
this.LoosenLight1.BackColor = System.Drawing.Color.Gray;
this.LoosenLight1.Location = new System.Drawing.Point(326, 7);
this.LoosenLight1.Name = "LoosenLight1";
this.LoosenLight1.Size = new System.Drawing.Size(90, 90);
this.LoosenLight1.TabIndex = 17;
this.LoosenLight1.UseVisualStyleBackColor = false;
//
// AutoBtn1
//
this.AutoBtn1.BackColor = System.Drawing.Color.Gray;
this.AutoBtn1.Cursor = System.Windows.Forms.Cursors.Hand;
this.AutoBtn1.Location = new System.Drawing.Point(5, 85);
this.AutoBtn1.Name = "AutoBtn1";
this.AutoBtn1.Size = new System.Drawing.Size(112, 112);
this.AutoBtn1.TabIndex = 18;
this.AutoBtn1.Text = "自动按钮";
this.AutoBtn1.UseVisualStyleBackColor = false;
this.AutoBtn1.Click += new System.EventHandler(this.AutoBtn1_Click);
//
// ManualBtn1
//
this.ManualBtn1.BackColor = System.Drawing.Color.Gray;
this.ManualBtn1.Cursor = System.Windows.Forms.Cursors.Hand;
this.ManualBtn1.Location = new System.Drawing.Point(5, 221);
this.ManualBtn1.Name = "ManualBtn1";
this.ManualBtn1.Size = new System.Drawing.Size(112, 112);
this.ManualBtn1.TabIndex = 19;
this.ManualBtn1.Text = "手动按钮";
this.ManualBtn1.UseVisualStyleBackColor = false;
this.ManualBtn1.Click += new System.EventHandler(this.ManualBtn1_Click);
//
// ESBtn
//
this.ESBtn.BackColor = System.Drawing.Color.Red;
this.ESBtn.Cursor = System.Windows.Forms.Cursors.Hand;
this.ESBtn.Location = new System.Drawing.Point(157, 144);
this.ESBtn.Name = "ESBtn";
this.ESBtn.Size = new System.Drawing.Size(137, 137);
this.ESBtn.TabIndex = 0;
this.ESBtn.Text = "急停";
this.ESBtn.UseVisualStyleBackColor = false;
this.ESBtn.Click += new System.EventHandler(this.ESBtn_Click);
//
// 扭矩轴控制
//
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);

5
src/BRS.Process.A020/UI/ContorlShaft.cs
View File

@ -35,7 +35,6 @@ namespace BRS.Process.A020.UI
//private bool isSingleStepOperating = false;
public 扭矩轴控制()
{
InitializeComponent();
@ -66,7 +65,7 @@ namespace BRS.Process.A020.UI
//ProcessA020.OnBitmapChanged -= BitMapTest;
//ProcessA020.OnBitmapChanged += BitMapTest;
pLCBase = ProcessA020.DeviceCollection.FirstOrDefault(u => u is PLCBase) as PLCBase;
TcpListerWrapBase1 = ProcessA020.DeviceCollection.Find(d => d is TCPSeverBase && d.InitialConfig.Name == "ListenerA") as TCPSeverBase;
TcpListerWrapBase1 = ProcessA020.DeviceCollection.Find(d => d is TCPSeverBase && d.InitialConfig.Name == "123") as TCPSeverBase;
if (TcpListerWrapBase1 != null)
{
TcpListerWrapBase1.OnTcpDataReceived -= NbtRobotDriver_OnDataReceived;
@ -1000,6 +999,8 @@ namespace BRS.Process.A020.UI
//ProcessWriteInt(MelsecPLC, "D55", "int", "0");
ProcessWriteInt(MelsecPLC, "D171", "int", "0");
TcpListerWrapBase1.SendMessage("PowerOFF_");//机械臂下电
shaftState = ShaftMachineState.Emergency;
this.StopStateLight1.BackColor = Color.Red;