v0.2.0.2(2024/07/26)

1. [main: current.py]
   - 修正堵转电流无法正确写入结果文件的问题
2. [main: do_brake.py]
   - 初始速度采集等待时间设置为可通过configs.xlsx配置文件调整的
   - 初次速度采集停止逻辑修改为tasks.stop指令（未验证）
   - 急停信号触发前，pending时间设置为固定值10s
   - 实现正负方向速度采集逻辑
   - 工程名变更逻辑实现修改为通配符，方便后续根据机型保存文件
   - 增加超差后写诊断的逻辑，并可以通过configs.xlsx配置文件调整
   - 程序输出中增加时间戳，方便调试定位日志时间
3. [main: do_current.py]
   - 工程名变更逻辑实现修改为通配符，方便后续根据机型保存文件
4. 为工程文件添加更详细的注释
5. 补充了do_current/do_brake的流程图
6. [main: openapi.py]
   - ½«modbus motor_on/offµÄµÏ·½·¨¸Äª¸ߵç³崥·¢
7. configs.xlsx配置表新增write_diagnosis/get_init_speed两个参数

aio/code/automatic_test/do_brake.py

@@ -1,5 +1,4 @@
-from random import randint
-from time import sleep, time
+from time import sleep, time, strftime, localtime
 from sys import argv
 from os import scandir, mkdir
 from os.path import exists
@@ -9,12 +8,13 @@ from openpyxl import load_workbook
 import pandas
 
 RADIAN = 57.3  # 180 / 3.1415926
+tab_name = 'Automatic Test'
 
 
 def traversal_files(path, w2t):
     if not exists(path):
         msg = f'数据文件夹{path}不存在，请确认后重试......'
-        w2t(msg, 0, 1, 'red', tab_name='Automatic Test')
+        w2t(msg, 0, 1, 'red', tab_name)
     else:
         dirs = []
         files = []
@@ -29,8 +29,8 @@ def traversal_files(path, w2t):
 
 def check_files(path, loadsel, data_dirs, data_files, w2t):
     if len(data_dirs) != 0 or len(data_files) != 5:
-        w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
-        w2t('    1. configs.xlsx\n    2. reach33/reach66/reach100_xxxx.xlsx\n    3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
+        w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name)
+        w2t('    1. configs.xlsx\n    2. reach33/reach66/reach100_xxxx.xlsx\n    3. xxxx.zip', 0, 1, 'red', tab_name)
 
     config_file = reach33 = reach66 = reach100 = prj_file = None
     for data_file in data_files:
@@ -46,8 +46,8 @@ def check_files(path, loadsel, data_dirs, data_files, w2t):
         elif filename.endswith('.zip'):
             prj_file = data_file
         else:
-            w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
-            w2t('    1. configs.xlsx\n    2. reach33/reach66/reach100_xxxx.xlsx\n    3. xxxx.zip', 0, 2, 'red', tab_name='Automatic Test')
+            w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name)
+            w2t('    1. configs.xlsx\n    2. reach33/reach66/reach100_xxxx.xlsx\n    3. xxxx.zip', 0, 2, 'red', tab_name)
 
     if config_file and reach33 and reach66 and reach100 and prj_file:
         result_dirs = []
@@ -65,11 +65,11 @@ def check_files(path, loadsel, data_dirs, data_files, w2t):
                     if _reach == 'reach100':
                         mkdir(f"{path}\\j3\\{dir_name}")
 
-        w2t("数据目录合规性检查结束，未发现问题......", tab_name='Automatic Test')
+        w2t("数据目录合规性检查结束，未发现问题......", 0, 0, 'blue', tab_name)
         return config_file, reach33, reach66, reach100, prj_file, result_dirs
     else:
-        w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name='Automatic Test')
-        w2t('    1. configs.xlsx\n    2. reach33/reach66/reach100_xxxx.xlsx\n    3. xxxx.zip', 0, 1, 'red', tab_name='Automatic Test')
+        w2t('初始路径下不允许有文件夹，且初始路径下只能存在如下五个文件，确认后重新运行！', 0, 0, 'red', tab_name)
+        w2t('    1. configs.xlsx\n    2. reach33/reach66/reach100_xxxx.xlsx\n    3. xxxx.zip', 0, 1, 'red', tab_name)
 
 
 def prj_to_xcore(prj_file):
@@ -90,9 +90,9 @@ def prj_to_xcore(prj_file):
     print(stdout.read().decode())  # 必须得输出一下stdout，才能正确执行sudo
     print(stderr.read().decode())  # 顺便也执行以下stderr
 
-    _prj_name = prj_file.split('\\')[-1].removesuffix('.zip')
+    # _prj_name = prj_file.split('\\')[-1].removesuffix('.zip')
     cmd = 'cd /home/luoshi/bin/controller/; '
-    cmd += f'sudo mv projects/target/_build/{_prj_name}.prj projects/target/_build/target.prj'
+    cmd += f'sudo mv projects/target/_build/*.prj projects/target/_build/target.prj'
     stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
     stdin.write('luoshi2019' + '\n')
     stdin.flush()
@@ -105,11 +105,11 @@ def execution(cmd, hr, w2t, **kwargs):
     _id = hr.execution(cmd, **kwargs)
     _msg = hr.get_from_id(_id)
     if not _msg:
-        w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name='Automatic Test')
+        w2t(f"无法获取{_id}请求的响应信息", 0, 6, 'red', tab_name)
     else:
         _response = loads(_msg)
         if not _response:
-            w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name='Automatic Test')
+            w2t(f"无法获取{id}请求的响应信息", 0, 1, 'red', tab_name)
         return _response
 
 
@@ -119,7 +119,6 @@ def gen_result_file(path, curve_data, axis, _reach, _load, _speed, count):
     _d2d_stop = {'device_safety_estop': []}
     for data in curve_data:
         dict_results = data['data']
-        # dict_results.reverse()
         for item in dict_results:
             item['value'].reverse()
             if item.get('channel', None) == axis-1 and item.get('name', None) == 'hw_joint_vel_feedback':
@@ -137,9 +136,8 @@ def gen_result_file(path, curve_data, axis, _reach, _load, _speed, count):
     df.to_csv(_filename, sep='\t', index=False)
 
 
-def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
+def run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t):
     _count = 0
-    speed_max = 0
     display_pdo_params = [
         {"name": "hw_joint_vel_feedback", "channel": 0},
         {"name": "hw_joint_vel_feedback", "channel": 1},
@@ -157,82 +155,94 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
     ]
     wb = load_workbook(config_file, read_only=True)
     ws = wb['Target']
+    write_diagnosis = float(ws.cell(row=3, column=10).value)
+    get_init_speed = float(ws.cell(row=4, column=10).value)
     if ws.cell(row=1, column=1).value == 'positive':
-        md.write_pon(True)
+        md.write_pon(1)
     elif ws.cell(row=1, column=1).value == 'negative':
-        md.write_pon(False)
+        md.write_pon(0)
     else:
-        w2t("configs.xlsx中Target页面A1单元格填写不正确，检查后重新运行...", 0, 111, 'red', 'Automatic Test')
+        w2t("configs.xlsx中Target页面A1单元格填写不正确，检查后重新运行...", 0, 111, 'red', tab_name)
 
     for condition in result_dirs:
         _reach = condition.split('_')[0].removeprefix('reach')
         _load = condition.split('_')[1].removeprefix('load')
         _speed = condition.split('_')[2].removeprefix('speed')
-
+        # if _speed != '100' or _reach != '100':
+        #     continue
         for axis in range(1, 4):
             md.write_axis(axis)
             speed_max = 0
             if axis == 3 and _reach != '100':
                 continue
+
+            w2t(f"-"*90, 0, 0, 'purple', tab_name)
+
             for count in range(1, 4):
                 _count += 1
-                w2t(f"[{_count}/63-{count}] 正在执行{axis}轴{condition}的制动测试......", 0, 0, 'purple', 'Automatic Test')
+                this_time = strftime("%Y-%m-%d %H:%M:%S", localtime(time()))
+                prj_path = 'target/_build/target.prj'
+                w2t(f"[{this_time} | {_count}/63] 正在执行 {axis} 轴 {condition} 的第 {count} 次制动测试...", 0, 0, 'purple', tab_name)
 
                 # 1. 关闭诊断曲线，触发软急停，并解除，目的是让可能正在运行着的机器停下来，切手动模式并下电
                 md.trigger_estop()
                 md.reset_estop()
-                md.write_act(False)
+                md.clear_alarm()
+                md.write_act(0)
+                _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
+                sleep(write_diagnosis)  # 软急停超差后，等待写诊断时间，可通过configs.xlsx配置
                 _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
-                sleep(1)  # 让曲线彻底关闭
-                _response = execution('state.switch_manual', hr, w2t)
-                _response = execution('state.switch_motor_off', hr, w2t)
 
-                # 2. 修改未要执行的场景
-                ssh = SSHClient()
-                ssh.set_missing_host_key_policy(AutoAddPolicy())
-                ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
-                if ws.cell(row=1, column=1).value == 'positive':
-                    _rl_cmd = f"brake_E(j{axis}_{_reach}_p, j{axis}_{_reach}_n, p_speed, p_tool)"
-                elif ws.cell(row=1, column=1).value == 'negative':
-                    _rl_cmd = f"brake_E(j{axis}_{_reach}_n, j{axis}_{_reach}_p, p_speed, p_tool)"
-                else:
-                    w2t("configs.xlsx中Target页面A1单元格填写不正确，检查后重新运行...", 0, 111, 'red', 'Automatic Test')
-                _rl_speed = f"VelSet {_speed}"
-                cmd = 'cd /home/luoshi/bin/controller/; '
-                cmd += 'sudo sed -i "/brake_E/d" projects/target/_build/brake/main.mod; '
-                cmd += f'sudo sed -i "/DONOTDELETE/i {_rl_cmd}" projects/target/_build/brake/main.mod; '
-                cmd += 'sudo sed -i "/VelSet/d" projects/target/_build/brake/main.mod; '
-                cmd += f'sudo sed -i "/MoveAbsJ/i {_rl_speed}" projects/target/_build/brake/main.mod'
-                stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
-                stdin.write('luoshi2019' + '\n')
-                stdin.flush()
-                print(stdout.read().decode())  # 必须得输出一下stdout，才能正确执行sudo
-                print(stderr.read().decode())  # 顺便也执行以下stderr
-
-                # 3. reload工程后，pp2main，并且自动模式和上电，最后运行程序
-                prj_path = 'target/_build/target.prj'
-                _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['brake', 'stop0_related'])
-                _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['brake', 'stop0_related'])
-                _response = execution('state.switch_auto', hr, w2t)
-                _response = execution('state.switch_motor_on', hr, w2t)
-                _response = execution('rl_task.run', hr, w2t, tasks=['brake', 'stop0_related'])
-                _t_start = time()
-                while True:
-                    if md.read_ready_to_go() == 1:
-                        md.write_act(True)
-                        break
+                while count == 1:
+                    # 2. 修改未要执行的场景
+                    ssh = SSHClient()
+                    ssh.set_missing_host_key_policy(AutoAddPolicy())
+                    ssh.connect('192.168.0.160', 22, username='luoshi', password='luoshi2019')
+                    if ws.cell(row=1, column=1).value == 'positive':
+                        _rl_cmd = f"brake_E(j{axis}_{_reach}_p, j{axis}_{_reach}_n, p_speed, p_tool)"
+                    elif ws.cell(row=1, column=1).value == 'negative':
+                        _rl_cmd = f"brake_E(j{axis}_{_reach}_n, j{axis}_{_reach}_p, p_speed, p_tool)"
                     else:
-                        if (time() - _t_start) // 20 > 1:
-                            w2t("20s内未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test')
+                        w2t("configs.xlsx中Target页面A1单元格填写不正确，检查后重新运行...", 0, 111, 'red', tab_name)
+                    _rl_speed = f"VelSet {_speed}"
+                    _rl_tool = f"tool p_tool = tool{loadsel.removeprefix('tool')}"
+                    cmd = 'cd /home/luoshi/bin/controller/; '
+                    cmd += 'sudo sed -i "/brake_E/d" projects/target/_build/brake/main.mod; '
+                    cmd += f'sudo sed -i "/DONOTDELETE/i {_rl_cmd}" projects/target/_build/brake/main.mod; '
+                    cmd += 'sudo sed -i "/VelSet/d" projects/target/_build/brake/main.mod; '
+                    cmd += f'sudo sed -i "/MoveAbsJ/i {_rl_speed}" projects/target/_build/brake/main.mod; '
+                    cmd += 'sudo sed -i "/tool p_tool/d" projects/target/_build/brake/main.mod; '
+                    cmd += f'sudo sed -i "/VelSet/i {_rl_tool}" projects/target/_build/brake/main.mod; '
+                    stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
+                    stdin.write('luoshi2019' + '\n')
+                    stdin.flush()
+                    print(stdout.read().decode())  # 必须得输出一下stdout，才能正确执行sudo
+                    print(stderr.read().decode())  # 顺便也执行以下stderr
+
+                    # 3. reload工程后，pp2main，并且自动模式和上电，最后运行程序
+                    _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['brake', 'stop0_related'])
+                    _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['brake', 'stop0_related'])
+                    _response = execution('state.switch_auto', hr, w2t)
+                    _response = execution('state.switch_motor_on', hr, w2t)
+                    _response = execution('rl_task.run', hr, w2t, tasks=['brake', 'stop0_related'])
+                    _t_start = time()
+                    while True:
+                        if md.read_ready_to_go() == 1:
+                            md.write_act(True)
+                            break
                         else:
-                            sleep(1)
-                # 4. 第一次打开诊断曲线，并执行采集8s，之后触发软急停，关闭曲线采集，找出最大速度，传递给RL程序，最后清除相关记录
-                if count == 1:
+                            if (time() - _t_start) // 20 > 1:
+                                w2t("20s内未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', tab_name)
+                            else:
+                                sleep(1)
+                # 4. 打开诊断曲线，并执行采集，之后触发软急停，关闭曲线采集，找出最大速度，传递给RL程序，最后清除相关记录
                     _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
                     _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
-                    sleep(10)  # 前10秒获取实际最大速度
-
-                    md.trigger_estop()
+                    sleep(get_init_speed)  # 获取实际最大速度，可通过configs.xlsx配置
+                    _response = execution('rl_task.stop', hr, w2t, tasks=['brake'])
+                    sleep(1)
+                    _response = execution('state.switch_motor_off', hr, w2t)
+                    _response = execution('state.switch_manual', hr, w2t)
                     _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
                     # 找出最大速度
                     for _msg in hr.c_msg:
@@ -240,11 +250,16 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
                             dict_results = loads(_msg)['data']
                             for item in dict_results:
                                 if item.get('channel', None) == axis-1 and item.get('name', None) == 'hw_joint_vel_feedback':
-                                    _ = abs(RADIAN*sum(item['value'])/len(item['value']))
-                                    speed_max = max(_, speed_max)
+                                    _ = RADIAN * sum(item['value']) / len(item['value'])
+                                    if ws.cell(row=1, column=1).value == 'positive':
+                                        speed_max = max(_, speed_max)
+                                    elif ws.cell(row=1, column=1).value == 'negative':
+                                        speed_max = min(_, speed_max)
+                    print(f"speed max = {speed_max}")
+                    speed_max = abs(speed_max)
                     speed_target = float(ws.cell(row=3, column=axis+1).value) * float(_speed) / 100
                     if speed_max < speed_target*0.95 or speed_max > speed_target*1.05:
-                        w2t(f"Axis: {axis}-{count} | Speed: {speed_max} | Shouldbe: {speed_target}", 0, 0, 'indigo', 'Automatic Test')
+                        w2t(f"Axis: {axis}-{count} | Speed: {speed_max} | Shouldbe: {speed_target}", 0, 0, 'indigo', tab_name)
 
                     md.write_speed_max(speed_max)
                     sleep(1)
@@ -256,8 +271,17 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
                             hr.c_msg_xs.clear()
                             break
 
+                    if speed_max < 10:
+                        md.clear_alarm()
+                        w2t("未获取到正确的速度，即将重新获取...", 0, 0, 'red', tab_name)
+                        continue
+                    else:
+                        break
+
                 # 5. 清除软急停，重新运行程序，并打开曲线发送继续运动信号，当速度达到最大值时，通过DO触发急停
-                md.reset_estop()
+                md.reset_estop()  # 其实没必要
+                md.clear_alarm()
+
                 _response = execution('overview.reload', hr, w2t, prj_path=prj_path, tasks=['brake', 'stop0_related'])
                 _response = execution('rl_task.pp_to_main', hr, w2t, tasks=['brake', 'stop0_related'])
                 _response = execution('state.switch_auto', hr, w2t)
@@ -265,31 +289,29 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
                 _response = execution('rl_task.run', hr, w2t, tasks=['brake', 'stop0_related'])
                 for i in range(3):
                     if md.read_ready_to_go() == 1:
-                        md.write_act(True)
+                        md.write_act(1)
                         break
                     else:
                         sleep(1)
                 else:
-                    w2t("未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', 'Automatic Test')
+                    w2t("未收到机器人的运行信号，需要确认RL程序编写正确并正常执行...", 0, 111, 'red', tab_name)
 
                 _response = execution('diagnosis.open', hr, w2t, open=True, display_open=True)
                 _response = execution('diagnosis.set_params', hr, w2t, display_pdo_params=display_pdo_params)
-                sleep(randint(3, 6))
-                md.write_probe(True)
+                sleep(10)  # 排除从其他位姿到零点位姿，再到轴极限位姿的时间
+                md.write_probe(1)
                 _t_start = time()
                 while True:
                     if md.read_brake_done() == 1:
-                        sleep(1)  # 保证所有数据均已返回
-                        md.write_probe(False)
+                        sleep(1)  # 保证速度归零
+                        md.write_probe(0)
                         _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
-                        sleep(1)  # 保证所有数据均已返回
                         break
                     else:
                         if (time() - _t_start) > 30:
-                            w2t(f"30s内未触发急停，该条数据无效，需要确认RL/Python程序编写正确并正常执行，或者判别是否是机器本体问题...", 0, 0, 'red', 'Automatic Test')
-                            md.write_probe(False)
+                            w2t(f"30s内未触发急停，该条数据无效，需要确认RL/Python程序编写正确并正常执行，或者判别是否是机器本体问题，比如正负方向速度是否一致...", 0, 0, 'red', tab_name)
+                            md.write_probe(0)
                             _response = execution('diagnosis.open', hr, w2t, open=False, display_open=False)
-                            sleep(1)  # 保证所有数据均已返回
                             break
                         else:
                             sleep(1)
@@ -308,7 +330,7 @@ def run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t):
                             break
                     gen_result_file(path, curve_data, axis, _reach, _load, _speed, count)
     else:
-        w2t(f"\n{loadsel.removeprefix('tool')}%负载的制动性能测试执行完毕，如需采集其他负载，须切换负载类型，并更换其他负载，重新执行。", 0, 0, 'green', 'Automatic Test')
+        w2t(f"\n{loadsel.removeprefix('tool')}%负载的制动性能测试执行完毕，如需采集其他负载，须切换负载类型，并更换其他负载，重新执行。", 0, 0, 'green', tab_name)
 
 
 def main(path, hr, md, loadsel, w2t):
@@ -316,10 +338,10 @@ def main(path, hr, md, loadsel, w2t):
     data_dirs, data_files = traversal_files(path, w2t)
     config_file, reach33, reach66, reach100, prj_file, result_dirs = check_files(path, loadsel, data_dirs, data_files, w2t)
     prj_to_xcore(prj_file)
-    run_rl(path, loadsel, hr, md, config_file, prj_file, result_dirs, w2t)
+    run_rl(path, loadsel, hr, md, config_file, result_dirs, w2t)
     _e_time = time()
     time_total = _e_time - _s_time
-    w2t(f"处理总时长：{time_total // 3600:02.0f} h {time_total % 3600 // 60:02.0f} m {time_total % 60:02.0f} s", 0, 0, 'green', 'Automatic Test')
+    w2t(f"处理总时长：{time_total // 3600:02.0f} h {time_total % 3600 // 60:02.0f} m {time_total % 60:02.0f} s", 0, 0, 'green', tab_name)
 
 
 if __name__ == '__main__':

aio/code/automatic_test/do_current.py

@@ -75,9 +75,9 @@ def prj_to_xcore(prj_file):
     print(stdout.read().decode())  # 必须得输出一下stdout，才能正确执行sudo
     print(stderr.read().decode())  # 顺便也执行以下stderr
 
-    _prj_name = prj_file.split('\\')[-1].removesuffix('.zip')
+    # _prj_name = prj_file.split('\\')[-1].removesuffix('.zip')
     cmd = 'cd /home/luoshi/bin/controller/; '
-    cmd += f'sudo mv projects/target/_build/{_prj_name}.prj projects/target/_build/target.prj'
+    cmd += f'sudo mv projects/target/_build/*.prj projects/target/_build/target.prj'
     stdin, stdout, stderr = ssh.exec_command(cmd, get_pty=True)
     stdin.write('luoshi2019' + '\n')
     stdin.flush()

aio/code/data_process/current.py

@@ -189,7 +189,7 @@ def current_cycle(dur, data_files, rcs, rrs, vel, trq, trqh, rpms, w2t):
         for axis, cur_value in avg.items():
             try:
                 shtname = f"J{axis}"
-                wb[shtname]["J4"].value = float(cur_value)
+                wb[shtname]["J4"].value = float(cur_value[0])
             except:
                 pass
 

aio/code/openapi.py

@@ -21,18 +21,27 @@ class ModbusRequest(object):
         self.tab_name = 'openapi'
         self.host = '192.168.0.160'
         self.port = 502
+        self.interval = 0.3
         self.c = ModbusTcpClient(self.host, self.port)
         self.c.connect()
 
     def motor_off(self):
         try:
+            self.c.write_register(40002, 0)
+            sleep(self.interval)
             self.c.write_register(40002, 1)
+            sleep(self.interval)
+            self.c.write_register(40002, 0)
         except Exception as Err:
             self.w2t(f"{Err}\n无法正常下电，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
 
     def motor_on(self):
         try:
+            self.c.write_register(40003, 0)
+            sleep(self.interval)
             self.c.write_register(40003, 1)
+            sleep(self.interval)
+            self.c.write_register(40003, 0)
         except Exception as Err:
             self.w2t(f"{Err}\n无法正常上电，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)
 
@@ -45,11 +54,11 @@ class ModbusRequest(object):
     def reset_estop(self):
         try:
             self.c.write_register(40012, 1)
-            sleep(0.2)
+            sleep(self.interval)
             self.c.write_register(40001, 0)
-            sleep(0.2)
+            sleep(self.interval)
             self.c.write_register(40001, 1)
-            sleep(0.2)
+            sleep(self.interval)
             self.c.write_register(40001, 0)
         except Exception as Err:
             self.w2t(f"{Err}\n无法重置软急停，连接Modbus失败，需要确认网络是否通畅，或是未正确导入寄存器文件...", 0, 100, 'red', self.tab_name)