/// <summary> /// Y轴终点再现 /// </summary> /// <param name="sender"></param> /// <param name="e"></param> private void btnAxisYGoTo2_Click(object sender, EventArgs e) { double diff = double.Parse(this.txtYEndX.Text) - double.Parse(this.txtYStartX.Text); if (Math.Abs(diff) > 5) { MessageBox.Show("示教时请确保设备X轴固定", "", MessageBoxButtons.OKCancel); return; } Result res = Result.OK; res = Machine.Instance.Robot.MovePosZAndReply(double.Parse(this.txtPosZ2.Text)); if (!res.IsOk) { return; } AxisYCPK cpk = CPKMgr.Instance.FindByName(typeof(AxisYCPK).Name) as AxisYCPK; if (cpk != null) { PointD p = cpk.calPoint(); res = CpkMove.MoveToPosHigh(p.X, p.Y); if (!res.IsOk) { return; } res = CpkMove.MoveToPosSlowly(double.Parse(this.txtYEndX.Text), double.Parse(this.txtYEndY.Text)); if (!res.IsOk) { return; } } //CpkMove.moveToPosDown(double.Parse(this.txtYEndX.Text), double.Parse(this.txtYEndY.Text), double.Parse(this.txtPosZ2.Text)); }
private void DoAxisYCPK() { if (!this.cbUseASV.Checked) { this.checkGage(); } Result res = Result.OK; res = Machine.Instance.Robot.MovePosZAndReply(double.Parse(this.txtPosZ2.Text)); if (!res.IsOk) { return; } res = CpkMove.MoveToPosHigh(double.Parse(this.txtYStartX.Text), double.Parse(this.txtYStartY.Text)); if (!res.IsOk) { return; } double diff = double.Parse(this.txtYEndX.Text) - double.Parse(this.txtYStartX.Text); if (Math.Abs(diff) > 5) { MessageBox.Show("示教时请确保设备X轴固定", "", MessageBoxButtons.OKCancel); return; } CPKMgr.Instance.ExecuteOne(typeof(AxisYCPK).Name); }
private void moveAndRead() { Result res = Result.OK; double height; this.isStop = false; dataInput.Clear(); for (int i = 0; i < this.CpkPrm.YPointsNum; i++) { res = CpkMove.MoveToPosHigh(Start.X, Start.Y); if (!res.IsOk) { return; } if (this.isStop) { this.isStop = false; break; } if (this.CpkMeasureType == 1) // 相机定位 { res = CpkMove.MoveToPosSlowly(End.X, End.Y); if (!res.IsOk) { return; } double posInCamera; bool result = this.CaptruePos(out posInCamera); if (!result) { return; } height = height = Machine.Instance.Robot.PosY + posInCamera; } else // 通信千分表 { res = CpkMove.MoveToPosHigh(pointTrans.X, pointTrans.Y); if (!res.IsOk) { return; } res = CpkMove.MoveToPosSlowly(End.X, End.Y); if (!res.IsOk) { return; } Thread.Sleep(3000); //读取高度 int retCode = Machine.Instance.DigitalGage.DigitalGagable.ReadHeight(out height); if (retCode != 0) { return; } } dataInput.Add(height); } }
private void DoAxisXYCPK() { Result res = Result.OK; res = Machine.Instance.Robot.MovePosZAndReply(double.Parse(this.txtPosZ3.Text)); if (!res.IsOk) { return; } res = CpkMove.MoveToPosHigh(double.Parse(this.txtXYStartX.Text), double.Parse(this.txtXYStartY.Text)); if (!res.IsOk) { return; } CPKMgr.Instance.ExecuteOne(typeof(AxisXYCPK).Name); }
private void btnAxisXYGoTo1_Click(object sender, EventArgs e) { Result res = Result.OK; res = Machine.Instance.Robot.MovePosZAndReply(double.Parse(this.txtPosZ3.Text)); if (!res.IsOk) { return; } AxisXYCPK cpk = CPKMgr.Instance.FindByName(typeof(AxisXYCPK).Name) as AxisXYCPK; if (cpk != null) { res = CpkMove.MoveToPosHigh(double.Parse(this.txtXYStartX.Text), double.Parse(this.txtXYStartY.Text)); if (!res.IsOk) { return; } } }
private void moveAndRead() { Result res = Result.OK; double height, height2; dataInput.Clear(); dataInput2.Clear(); this.isStop = false; for (int i = 0; i < this.CpkPrm.XYPointsNum; i++) { res = CpkMove.MoveToPosHigh(Start.X, Start.Y); if (!res.IsOk) { return; } if (this.isStop) { this.isStop = false; break; } res = CpkMove.MoveToPosSlowly(End.X, End.Y); if (!res.IsOk) { return; } double posInCameraX, posInCameraY; bool result = this.CaptruePos(out posInCameraX, out posInCameraY); if (!result) { return; } height = Machine.Instance.Robot.PosX + posInCameraX; height2 = Machine.Instance.Robot.PosY + posInCameraY; dataInput.Add(height); dataInput2.Add(height2); } }