/// <summary>
/// Z轴终点再现
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnAxisZGoTo2_Click(object sender, EventArgs e)
{
Result res = Result.OK;
//res = Machine.Instance.Robot.MovePosXYAndReply(double.Parse(this.txtZPosX.Text), double.Parse(this.txtZPosY.Text));
res = Machine.Instance.Robot.ManualMovePosXYAndReply(double.Parse(this.txtZPosX.Text), double.Parse(this.txtZPosY.Text));
if (res != Result.OK)
{
return;
}
AxisZCPK cpk = CPKMgr.Instance.FindByName(typeof(AxisZCPK).Name) as AxisZCPK;
if (cpk != null)
{
double z = cpk.calPoint();
res = CpkMove.MoveZHigh(z);
if (!res.IsOk)
{
return;
}
res = CpkMove.MoveZSlowly(double.Parse(this.txtZEnd.Text));
if (!res.IsOk)
{
return;
}
}
//this.move4CpkZ(double.Parse(this.txtZPosX.Text), double.Parse(this.txtZPosY.Text), double.Parse(this.txtZEnd.Text));
}
private void moveAndRead()
{
Result res = Result.OK;
double height;
this.isStop = false;
dataInput.Clear();
for (int i = 0; i < this.CpkPrm.ZPointsNum; i++)
{
res = CpkMove.MoveZHigh(ZStart);
if (res != Result.OK)
{
return;
}
if (this.isStop)
{
this.isStop = false;
break;
}
res = CpkMove.MoveZHigh(pointTrans);
if (!res.IsOk)
{
return;
}
res = CpkMove.MoveZSlowly(ZEnd);
if (!res.IsOk)
{
return;
}
Thread.Sleep(3000);
if (this.CpkMeasureType == 1)
{
//读取高度
Result result = Machine.Instance.MeasureHeight(out height);
if (!result.IsOk)
{
return;
}
}
else
{
//读取高度
int retCode = Machine.Instance.DigitalGage.DigitalGagable.ReadHeight(out height);
if (retCode != 0)
{
return;
}
}
dataInput.Add(height);
}
}