private void Form1_Load(object sender, EventArgs e)
{
if (!yamaha.Connect("10.219.177.32", 23))//yamaha.Connect("192.168.0.2", 23);
{
MessageBox.Show("机械手连接失败!");
//Application.Exit();
}
}
private void frmMain_Load(object sender, EventArgs e)
{
UserLevelChangeEvent += UserLevelChange;
Global.userLevel = UserLevel.操作员;
OnUserLevelChange(Global.userLevel);
new Thread(new ThreadStart(() =>
{
frmStarting loading = new frmStarting(8);
LoadingMessage += new Action <string>(loading.ShowMessage);
loading.ShowDialog();
})).Start();
Thread.Sleep(500);
Config.Instance = SerializerManager <Config> .Instance.Load(AppConfig.ConfigIntrinsicProductPathdName);
AxisParameter.Instance = SerializerManager <AxisParameter> .Instance.Load(AppConfig.ConfigIntrinsicParamAxisCardName);
#region 加载板卡
LoadingMessage("加载板卡信息");
try
{
IoPoints.ApsController.Initialize();
if (!IoPoints.ApsController.LoadParamFromFile(AppConfig.ConfigAxisCardName("Param0.cfg")))
{
AppendText("配置文件失败:请将轴卡的配置文件" + ".cfg " + "拷贝到当前型号的路径下" + AppConfig.ConfigAxisCardName("Param0.cfg"));
}
}
catch (Exception ex)
{
LogHelper.Error(ex.Message);
AppendText("板卡初始化失败！请检查硬件！");
timer1.Enabled = false;
}
#endregion
#region 气缸信息
LoadingMessage("加载气缸资源");
var SwichCylinder = new DoubleCylinder(IoPoints.S15, IoPoints.S16, IoPoints.Y13, IoPoints.Y14)
{
Name = "切换气缸",
Delay = Delay.Instance.SwitchCylinderDelay,
Condition = new CylinderCondition(() => { return(true); }, () => { return(true); })
{
External = m_External
}
};
var LeftCylinder = new DoubleCylinder(IoPoints.S15, IoPoints.S16, IoPoints.Y13, IoPoints.Y14)
{
Name = "左负压",
Delay = Delay.Instance.LeftCylinderDelay,
Condition = new CylinderCondition(() => { return(true); }, () => { return(true); })
{
External = m_External
}
};
var RightCylinder = new DoubleCylinder(IoPoints.S15, IoPoints.S16, IoPoints.Y13, IoPoints.Y14)
{
Name = "右负压",
Delay = Delay.Instance.RightCylinderDelay,
Condition = new CylinderCondition(() => { return(true); }, () => { return(true); })
{
External = m_External
}
};
#endregion
DM50S = new DM50S()
{
Name = "扫描枪"
};
try
{
DM50S.SetConnectionParam(Config.Instance.ReadCodePortConnectParam);
DM50S.DeviceDataReceiveCompelete += new DataReceiveCompleteEventHandler(DealWithScrewDeviceReceiveData);
DM50S.DeviceOpen();
}
catch (Exception ex)
{
MessageBox.Show(string.Format("{0}连接失败：{1}", DM50S.Name, ex.Message));
}
#region 轴信息
LoadingMessage("加载轴控制资源");
var XaxisServo = new StepAxis(IoPoints.ApsController)
{
NoId = 0,
Transmission = AxisParameter.Instance.XTransParams,
VelocityCurveHome = AxisParameter.Instance.HomeXVelocityCurve,
VelocityCurveRun = AxisParameter.Instance.XVelocityCurve,
Speed = 11,
Name = "相机X轴"
};
XaxisServo._condition = new Func <bool>(() =>
{
return(true);
});
var YaxisServo = new StepAxis(IoPoints.ApsController)
{
NoId = 1,
Transmission = AxisParameter.Instance.YTransParams,
VelocityCurveHome = AxisParameter.Instance.HomeYVelocityCurve,
VelocityCurveRun = AxisParameter.Instance.YVelocityCurve,
Speed = 11,
Name = "治具Y轴"
};
YaxisServo._condition = new Func <bool>(() => { return(true); });
var ZaxisServo = new StepAxis(IoPoints.ApsController)
{
NoId = 2,
Transmission = AxisParameter.Instance.ZTransParams,
VelocityCurveHome = AxisParameter.Instance.HomeZVelocityCurve,
VelocityCurveRun = AxisParameter.Instance.ZVelocityCurve,
Speed = 11,
Name = "升降Z轴"
};
ZaxisServo._condition = new Func <bool>(() => { return(true); });
var LFXaxisServo = new StepAxis(IoPoints.ApsController)
{
NoId = 3,
Transmission = AxisParameter.Instance.LFXTransParams,
VelocityCurveHome = AxisParameter.Instance.HomeLFXVelocityCurve,
VelocityCurveRun = AxisParameter.Instance.LFXVelocityCurve,
Speed = 11,
Name = "相机左前X轴"
};
LFXaxisServo._condition = new Func <bool>(() => { return(true); });
var LFYaxisServo = new StepAxis(IoPoints.ApsController)
{
NoId = 4,
Transmission = AxisParameter.Instance.LFYTransParams,
VelocityCurveHome = AxisParameter.Instance.HomeLFYVelocityCurve,
VelocityCurveRun = AxisParameter.Instance.LFYVelocityCurve,
Speed = 11,
Name = "相机左前Y轴"
};
LFYaxisServo._condition = new Func <bool>(() => { return(true); });
var LRXaxisServo = new StepAxis(IoPoints.ApsController)
{
NoId = 5,
Transmission = AxisParameter.Instance.LRXTransParams,
VelocityCurveHome = AxisParameter.Instance.HomeLRXVelocityCurve,
VelocityCurveRun = AxisParameter.Instance.LRXVelocityCurve,
Speed = 11,
Name = "相机左后X轴"
};
LRXaxisServo._condition = new Func <bool>(() => { return(true); });
var LRYaxisServo = new StepAxis(IoPoints.ApsController)
{
NoId = 6,
Transmission = AxisParameter.Instance.LRYTransParams,
VelocityCurveHome = AxisParameter.Instance.HomeLRYVelocityCurve,
VelocityCurveRun = AxisParameter.Instance.LRYVelocityCurve,
Speed = 11,
Name = "相机左后Y轴"
};
LRYaxisServo._condition = new Func <bool>(() => { return(true); });
var RYaxisServo = new StepAxis(IoPoints.ApsController)
{
NoId = 7,
Transmission = AxisParameter.Instance.RYTransParams,
VelocityCurveHome = AxisParameter.Instance.HomeRYVelocityCurve,
VelocityCurveRun = AxisParameter.Instance.RYVelocityCurve,
Speed = 11,
Name = "相机右Y轴"
};
RYaxisServo._condition = new Func <bool>(() => { return(true); });
#endregion
#region 工站模组操作
LoadingMessage("加载模组操作资源");
var Station1Initialize = new StationInitialize(
() => { return(!ManualAutoMode); },
() => { return(Station1IsAlarm.IsAlarm); });
var Station1Operate = new StationOperate(
() => { return(Station1Initialize.InitializeDone); },
() => { return(Station1IsAlarm.IsAlarm); });
MachineOperation = new MachineOperate(() =>
{
return(Station1Initialize.InitializeDone);
}, () =>
{
return(Station1IsAlarm.IsAlarm | MachineIsAlarm.IsAlarm);
});
#endregion
#region 雅马哈机器人
yamaha = new Yamaha();
if (!yamaha.Connect(Config.Instance.YamahaIP, Config.Instance.Port))
{
AppendText("机器人连接失败！");
}
#endregion
#region 模组信息加载、启动
LoadingMessage("加载模组信息");
m_station1 = new Station1(m_External, Station1Initialize, Station1Operate)
{
mAlarmManage = mAlarmManage,
XaxisServo = XaxisServo,
YaxisServo = YaxisServo,
ZaxisServo = ZaxisServo,
LFXaxisServo = LFXaxisServo,
LFYaxisServo = LFYaxisServo,
LRXaxisServo = LRXaxisServo,
LRYaxisServo = LRYaxisServo,
RYaxisServo = RYaxisServo,
YAMAHA = yamaha,
SwichCylinder = SwichCylinder,
LeftVacuum = LeftCylinder,
RightVacuum = RightCylinder
};
m_station1.AddPart();
m_station1.Run(RunningModes.Online);
#endregion
LoadingMessage("加载MES资源");
#region 加载信号灯资源
StartButton = new LightButton(IoPoints.S1, IoPoints.Y1);
ResetButton = new LightButton(IoPoints.S2, IoPoints.Y10);
PauseButton = new LightButton(IoPoints.S5, IoPoints.Y11);
EstopButton = new EventButton(IoPoints.S3);
StopButton = new LightButton(IoPoints.S4, IoPoints.Y12);
layerLight = new LayerLight(IoPoints.Y11, IoPoints.Y10, IoPoints.Y9, IoPoints.Y12);
StartButton.Pressed += btnStart_MouseDown;
StartButton.Released += btnStart_MouseUp;
PauseButton.Pressed += btnPause_MouseDown;
PauseButton.Released += btnPause_MouseUp;
ResetButton.Pressed += btnReset_MouseDown;
ResetButton.Released += btnReset_MouseUp;
MachineOperation.StartButton = StartButton;
MachineOperation.PauseButton = PauseButton;
MachineOperation.StopButton = StopButton;
MachineOperation.ResetButton = ResetButton;
MachineOperation.EstopButton = EstopButton;
#endregion
ManualAutoMode = false;
LoadingMessage("加载线程资源");
SerialStart();
timer1.Enabled = true;
}