/// <summary>
/// Old Name: TCP_AutoSetting
/// </summary>
/// <param name="X"></param>
/// <param name="Y"></param>
/// <param name="Z"></param>
/// <param name="W"></param>
/// <param name="P"></param>
/// <param name="R"></param>
/// <param name="ToolSelected"></param>
public void Pns0101SettingToolFrame(float X, float Y, float Z, float W, float P, float R, int ToolSelected)
{
try
{
var CurRobotInfo = this.GetCurrRobotInfo();
int UT_Selected = ToolSelected;
int[] intValues = new int[1];
bool a;
Array xyzwprArray = new float[9];
Array ConfigArray = new short[7];
Array JointArray = new float[9];
xyzwprArray.SetValue(X, 0); //X_distance
xyzwprArray.SetValue(Y, 1); //Y_distance
xyzwprArray.SetValue(Z, 2); //Z_distance
xyzwprArray.SetValue(W, 3); //W_orientation
xyzwprArray.SetValue(P, 4); //P_orientation
xyzwprArray.SetValue(R, 5); //R_orientation
//ConfigArray.SetValue((short)0, 0); //for Index 0
//ConfigArray.SetValue((short)0, 1); //for Index 0
//ConfigArray.SetValue((short)0, 2);
//ConfigArray.SetValue((short)0, 3);
//ConfigArray.SetValue((short)0, 4); //for Index 0
//ConfigArray.SetValue((short)0, 5);
//ConfigArray.SetValue((short)0, 6);
this.SetPosRegXyzWpr(1, CurRobotInfo.PosReg, 9, (short)UT_Selected); //Write to PR[1]
this.SetRegIntValue(11, UT_Selected); //Set R[11]. Selects TCP number
this.SetRegIntValue(10, 1); //Set R[10]. R[10] set to 1 to setting TCP then back to LBL[1]
for (int i = 0; i < 1; i++)
{
intValues[i] = 1;
}
mobjNumReg.SetValues(1, intValues, 1); //Start to trigger TPE
}
catch (Exception)
{
//Log.GetInstance().Write(ex);
}
}
public void WriteRegValues(int index, int[] vals)
{
lock (this)
mobjNumReg.SetValues(index, vals, vals.Length);
}
public void TCP_AutoSetting(float X, float Y, float Z, float W, float P, float R, int ToolSelected)
{
try
{
#region code
int UT_Selected = ToolSelected;
int[] intValues = new int[1];
bool a;
Array xyzwprArray = new float[9];
Array ConfigArray = new short[7];
Array JointArray = new float[9];
xyzwprArray.SetValue(X, 0); //X_distance
xyzwprArray.SetValue(Y, 1); //Y_distance
xyzwprArray.SetValue(Z, 2); //Z_distance
xyzwprArray.SetValue(W, 3); //W_orientation
xyzwprArray.SetValue(P, 4); //P_orientation
xyzwprArray.SetValue(R, 5); //R_orientation
//ConfigArray.SetValue((short)0, 0); //for Index 0
//ConfigArray.SetValue((short)0, 1); //for Index 0
//ConfigArray.SetValue((short)0, 2);
//ConfigArray.SetValue((short)0, 3);
//ConfigArray.SetValue((short)0, 4); //for Index 0
//ConfigArray.SetValue((short)0, 5);
//ConfigArray.SetValue((short)0, 6);
a = mobjPosReg.SetValueXyzwpr(1, ref xyzwprArray, ref CurRobotInfo.configArray, 9, (short)UT_Selected); //Write to PR[1]
for (int i = 0; i < 1; i++)
{
intValues[i] = UT_Selected;
}
mobjNumReg.SetValues(11, intValues, 1); //Set R[11]. Selects TCP number
for (int i = 0; i < 1; i++)
{
intValues[i] = 1;
}
mobjNumReg.SetValues(10, intValues, 1); //Set R[10]. R[10] set to 1 to setting TCP then back to LBL[1]
for (int i = 0; i < 1; i++)
{
intValues[i] = 1;
}
mobjNumReg.SetValues(1, intValues, 1); //Start to trigger TPE
#endregion code
}
catch (Exception)
{
//Log.GetInstance().Write(ex);
}
}
