private void buttonDeploy_Click(object sender, EventArgs e)
{
int p1 = Int32.Parse(textP1.Text);
int p2 = Int32.Parse(textP2.Text);
int p3 = Int32.Parse(textP3.Text);
//deploy 後要等待 deployed|ok 訊息回傳後才能執行 pm_run(botnana, program);
bot.ClearProgram();
bot.AddProgramLine("pp 1 1 op-mode!");
bot.AddProgramLine("until-no-requests");
//program_line_dll(program, " begin -1 while"); // 如果要p1->p2->p3->p1...運動,就移除此行註解
bot.AddProgramLine(p1.ToString() + " 1 1 target-p!");
bot.AddProgramLine(" 1 1 go 1 1 until-target-reached");
bot.AddProgramLine(p2.ToString() + " 1 1 target-p!");
bot.AddProgramLine(" 1 1 go 1 1 until-target-reached");
bot.AddProgramLine(p3.ToString() + " 1 1 target-p!");
bot.AddProgramLine(" 1 1 go 1 1 until-target-reached");
//program_line_dll(program, " repeat"); // 如果要p1->p2->p3->p1...運動,就移除此行註解
bot.EvaluateScript("-work marker -work"); // 清除先前定義的program
bot.DeployProgram();
buttonPMAbort.Enabled = true;
buttonRun.Enabled = true;
}
// 送出 NC 程式到 Botnana Control
private void btnSend_Click(object sender, EventArgs e)
{
if (motionState == 3)
{
new Thread(() => System.Windows.Forms.MessageBox.Show("Motion in Machining !!")).Start();
}
else if (ncSuspended == 1)
{
new Thread(() => System.Windows.Forms.MessageBox.Show("Machining Feed Hold!!")).Start();
}
else if (hasProgram)
{
new Thread(() => System.Windows.Forms.MessageBox.Show("Has program !!")).Start();
}
else
{
//deploy 後要等待 deployed|ok 訊息回傳後才能執行 pm_run(botnana, program);
bot.ClearProgram();
// 判斷 G92
if (ncProgram[2, 0].Value == null || ncProgram[3, 0].Value == null || ncProgram[4, 0].Value == null)
{
new Thread(() => System.Windows.Forms.MessageBox.Show("Invalid G92")).Start();
}
else
{
double[] positions = new double[3];
double[] next_positions = new double[3];
double feedrate = 0.015;
positions[0] = double.Parse(ncProgram[2, 0].Value.ToString());
positions[1] = double.Parse(ncProgram[3, 0].Value.ToString());
positions[2] = double.Parse(ncProgram[4, 0].Value.ToString());
// 清除先前定義的program
bot.EvaluateScript("-nc marker -nc");
// 切換到 Group 1，清除先前路徑
bot.AddProgramLine("1 group! 0path ");
// 設定 path id 與 mode
bot.AddProgramLine("1 path-id! 92 path-mode!");
// G92 對應的指令
bot.AddProgramLine(positions[0].ToString("F5") + "e mm " + positions[1].ToString("F5") + "e mm " + positions[2].ToString("F5") + "e mm move3d");
for (int i = 1; i < 10; i++)
{
// 從表格取得目標位置
for (int j = 0; j < 3; j++)
{
next_positions[j] = positions[j];
if (ncProgram[2 + j, i].Value != null)
{
next_positions[j] = double.Parse(ncProgram[2 + j, i].Value.ToString());
}
}
// 從表格取得 feedrate
if (ncProgram[5, i].Value != null)
{
feedrate = double.Parse(ncProgram[5, i].Value.ToString());
bot.AddProgramLine("1 group! " + feedrate.ToString("F2") + "e mm/min feedrate!");
}
// 如果是新的目標位置，就插入直線路徑
// 如果需要圓弧就要使用 `helix3d` 指令
if (next_positions[0] != positions[0] ||
next_positions[1] != positions[1] ||
next_positions[2] != positions[2])
{
// 取得路徑上的運動模式 (例如:加工或是非加工)
int mode = Int32.Parse(ncProgram[1, i].Value.ToString());
positions[0] = next_positions[0];
positions[1] = next_positions[1];
positions[2] = next_positions[2];
bot.AddProgramLine("1 group! ");
// 設定 path id and mode
bot.AddProgramLine(i.ToString() + @" path-id! " + mode.ToString() + @" path-mode!");
// 插入直線路徑
bot.AddProgramLine(positions[0].ToString("F5") + "e mm " + positions[1].ToString("F5") + "e mm " + positions[2].ToString("F5") + "e mm line3d");
}
}
// 等待 Group 1 走到路徑終點
bot.AddProgramLine("begin 1 group! gend? not while pause repeat");
// 通知 machining state NC 程式執行完畢
bot.AddProgramLine("true machining-finished !");
// 送到 NC Task 編譯
bot.DeployProgram();
}
}
}
