Merge pull request #11 from njustchenhao/Test

Test
jacky-ch93 · May 22, 2017 · ab99ff0 · ab99ff0
2 parents ee4ecf2 + 1518c56
commit ab99ff0
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Showing 80 changed files with 17 additions and 113,058 deletions.
diff --git a/TC_Robot_Contro_System/POUs/MAIN.TcPOU b/TC_Robot_Contro_System/POUs/MAIN.TcPOU
@@ -234,9 +234,12 @@ END_IF]]></ST>
 // ====================机器人驱动重置=========================
 IF Robot_Reset THEN
 	IF Reset_Execute THEN
-		Axis_Reset[Axis_Number] := TRUE;
 		FOR Axis_Number := 1 TO 18 {BY 1} DO
-			Axis_Robot[Axis_Number].Reset(Drive_Reset:= Axis_Reset[Axis_Number]);
+			Axis_Robot[Axis_Number].Reset(Drive_Reset:= TRUE);
+		END_FOR
+	ELSE
+		FOR Axis_Number := 1 TO 18 {BY 1} DO
+			Axis_Robot[Axis_Number].Reset(Drive_Reset:= FALSE);
 		END_FOR
 	END_IF
 END_IF	
@@ -480,7 +483,10 @@ Current_Turque_Filter := Filter_Current.stOutput.Current_Monitor;]]></ST>
       <LineId Id="1" Count="0" />
     </LineIds>
     <LineIds Name="MAIN.Robot_Action">
-      <LineId Id="2" Count="21" />
+      <LineId Id="2" Count="4" />
+      <LineId Id="8" Count="2" />
+      <LineId Id="115" Count="3" />
+      <LineId Id="11" Count="12" />
       <LineId Id="31" Count="2" />
       <LineId Id="90" Count="0" />
       <LineId Id="92" Count="0" />