Example #1
0
        private void btnHome_Click(object sender, EventArgs e)
        {
            // JointTarget jCurPos = this.controller.MotionSystem.ActiveMechanicalUnit.GetPosition();
            JointTarget jCurPos = new JointTarget();

            jCurPos.FillFromString2("[[0,0,0,0,90,0],[9E9,9E9,9E9,9E9,9E9,9E9]]");

            try
            {
                using (this.master = Mastership.Request(controller.Rapid))
                {
                    RapidData rd = controller.Rapid.GetRapidData("T_ROB1", "Module1", "jTarget");
                    controller.Rapid.GetTask("T_ROB1").SetProgramPointer("Module1", "moveJoint");
                    rd.Value = jCurPos;
                    controller.Rapid.Start();
                }
                if (this.controller.Rapid.ExecutionStatus != ExecutionStatus.Running)
                {
                    master.Release();
                }
            }
            catch (System.InvalidOperationException ex)
            {
                MessageBox.Show("Mastership is held by another client." + ex.Message);
                master.Release();
                master = Mastership.Request(controller);
            }
            catch (System.Exception ex)
            {
                MessageBox.Show("Unexpected error occurred: " + ex.Message);
            }
        }
Example #2
0
        private void Jogging(string joint, float OffsJointValue)
        {
            JointTarget jCurPos = this.controller.MotionSystem.ActiveMechanicalUnit.GetPosition();

            switch (joint)
            {
            case "J1":
                jCurPos.RobAx.Rax_1 += OffsJointValue;
                break;

            case "J2":
                jCurPos.RobAx.Rax_2 += OffsJointValue;
                break;

            case "J3":
                jCurPos.RobAx.Rax_3 += OffsJointValue;
                break;

            case "J4":
                jCurPos.RobAx.Rax_4 += OffsJointValue;
                break;

            case "J5":
                jCurPos.RobAx.Rax_5 += OffsJointValue;
                break;

            case "J6":
                jCurPos.RobAx.Rax_6 += OffsJointValue;
                break;
            }
            try
            {
                using (this.master = Mastership.Request(controller.Rapid))
                {
                    RapidData rd = controller.Rapid.GetRapidData("T_ROB1", "Module1", "jTarget");
                    controller.Rapid.GetTask("T_ROB1").SetProgramPointer("Module1", "moveJoint");
                    rd.Value = jCurPos;
                    controller.Rapid.Start();
                }
                if (this.controller.Rapid.ExecutionStatus != ExecutionStatus.Running)
                {
                    master.Release();
                }
            }
            catch (System.InvalidOperationException ex)
            {
                MessageBox.Show("Mastership is held by another client." + ex.Message);
                master.Release();
                master = Mastership.Request(controller);
            }
            catch (System.Exception ex)
            {
                MessageBox.Show("Unexpected error occurred: " + ex.Message);
            }
        }
        /// <summary>
        ///  //重置Task程序指针
        /// </summary>
        /// <param name="controller">控制器</param>
        /// <param name="taskname">任务名称</param>
        /// <returns>返回值</returns>
        private int RAPID_ProgramReset(Controller controller, string taskname)
        {
            controller.Logon(ABB.Robotics.Controllers.UserInfo.DefaultUser); //登录

            if (controller.OperatingMode != ControllerOperatingMode.Auto)    //自动模式
            {
                return(-1);
            }
            if (!controller.AuthenticationSystem.CheckDemandGrant(Grant.ExecuteRapid))//可执行
            {
                controller.AuthenticationSystem.DemandGrant(Grant.ExecuteRapid);
            }
            try
            {
                using (Mastership m = Mastership.Request(controller.Rapid))   //写权限
                {
                    controller.Rapid.GetTask(taskname).ResetProgramPointer(); //复位程序指针
                    m.Release();
                }
            }
            catch (Exception)
            {
            }
            return(0);
        }
Example #4
0
        /// <summary>
        /// Method to run the program and returns the action message.
        /// </summary>
        /// <returns> The action message / status. </returns>
        private string StartCommand()
        {
            // Check the mode of the controller
            if (_controller.OperatingMode != ControllerOperatingMode.Auto)
            {
                return("Controller not set in automatic.");
            }

            // Check if the motors are enabled
            if (_controller.State != ControllerState.MotorsOn)
            {
                return("Motors not on.");
            }

            // Execute the program
            using (Mastership master = Mastership.Request(_controller))
            {
                _controller.Rapid.Start(RegainMode.Continue, ExecutionMode.Continuous, ExecutionCycle.Once, StartCheck.CallChain);

                // Give back the mastership
                master.Release();
            }

            // Return status message
            return("Program started.");
        }
 /// <summary>
 /// 开始程序
 /// </summary>
 /// <param name="controller">控制器</param>
 /// <returns></returns>
 public int RAPID_ProgramStart(Controller controller)
 {
     controller.Logon(ABB.Robotics.Controllers.UserInfo.DefaultUser); //登录
     if (controller.OperatingMode != ControllerOperatingMode.Auto)    //自动模式
     {
         return(-1);
     }
     if (controller.State != ControllerState.MotorsOn)//已经上电
     {
         return(-1);
     }
     if (!controller.AuthenticationSystem.CheckDemandGrant(Grant.ExecuteRapid))//可执行
     {
         controller.AuthenticationSystem.DemandGrant(Grant.ExecuteRapid);
     }
     try
     {
         using (Mastership m = Mastership.Request(controller.Rapid))                //写权限
         {
             controller.Rapid.Start(RegainMode.Continue, ExecutionMode.Continuous); //开始继续运行
             m.Release();
         }
     }
     catch (Exception ex)
     {
         return(-1);
     }
     return(0);
 }
 /// <summary>
 /// 单点传输
 /// </summary>
 /// <param name="pq"></param>
 internal void writePosQuat(Pose pq)
 {
     using (Mastership m = Mastership.Request(AbbCtrl.Rapid))
     {
         abbController.DstPosQuat.Value = pq;
         m.Release();
     }
 }
 private int RAPID_ProgramStart(Controller c, out List <string> result)
 {
     result = new List <string>();
     c.Logon(ABB.Robotics.Controllers.UserInfo.DefaultUser);
     try
     {
         if (c.OperatingMode != ControllerOperatingMode.Auto)
         {
             result.Add("[error]    Need Auto Mode");
             return(-1);
         }
         if (c.State != ControllerState.MotorsOn)
         {
             result.Add("[error]  Motor need ON");
             return(-1);
         }
         if (!c.AuthenticationSystem.CheckDemandGrant(Grant.ExecuteRapid))
         {
             c.AuthenticationSystem.DemandGrant(Grant.ExecuteRapid);
         }
         using (Mastership m = Mastership.Request(c.Rapid))
         {
             try
             {
                 c.Rapid.Start();
                 m.Release();
                 result.Add("[msg]    Program Start");
             }
             catch (Exception ex)
             {
                 result.Add("[error]" + ex.ToString());
                 m.Release();
                 return(-1);
             }
         }
         return(0);
     }
     catch (Exception ex)
     {
         result.Add("[error]" + ex.ToString());
         return(-1);
     }
 }
 public int RestoreSys(Controller c, out List <string> result, string RestoreDir)
 {
     result = new List <string>();
     c.Logon(ABB.Robotics.Controllers.UserInfo.DefaultUser);
     try
     {
         if (c.OperatingMode != ControllerOperatingMode.Auto)
         {
             result.Add("[error]    Need Auto Mode");
             return(-1);
         }
         if (!c.AuthenticationSystem.CheckDemandGrant(Grant.ExecuteRapid))
         {
             c.AuthenticationSystem.DemandGrant(Grant.ExecuteRapid);
         }
         using (Mastership mc = Mastership.Request(c.Configuration),
                mr = Mastership.Request(c.Rapid)
                )
         {
             try
             {
                 c.Restore(RestoreDir, RestoreIncludes.All, RestoreIgnores.All);
                 mc.Release();
                 mr.Release();
                 result.Add("[msg]    Restore System");
             }
             catch (Exception ex)
             {
                 result.Add("[error]" + ex.ToString());
                 mc.Release();
                 mr.Release();
                 return(-1);
             }
         }
         return(0);
     }
     catch (Exception ex)
     {
         result.Add("[error]" + ex.ToString());
         return(-1);
     }
 }
        private int RAPID_ProgramReset(Controller c, out List <string> result, string taskname)
        //private int RAPID_ProgramReset(Controller c, out List<string> result, string taskname = "T_ROB1")
        {
            result = new List <string>();
            c.Logon(ABB.Robotics.Controllers.UserInfo.DefaultUser);
            try
            {
                if (c.OperatingMode != ControllerOperatingMode.Auto)
                {
                    result.Add("[error]    Need Auto Mode");
                    return(-1);
                }

                if (!c.AuthenticationSystem.CheckDemandGrant(Grant.ExecuteRapid))
                {
                    c.AuthenticationSystem.DemandGrant(Grant.ExecuteRapid);
                }
                using (Mastership m = Mastership.Request(c.Rapid))
                {
                    try
                    {
                        c.Rapid.GetTask(taskname).ResetProgramPointer();
                        result.Add("[msg]    Program Reset");

                        m.Release();
                    }
                    catch (Exception ex)
                    {
                        result.Add("[error]" + ex.ToString());
                        m.Release();
                        return(-1);
                    }
                }
                return(0);
            }
            catch (Exception ex)
            {
                result.Add("[error]" + ex.ToString());
                return(-1);
            }
        }
 public int BackUpSys(Controller c, out List <string> result, string backupDir)
 {
     result = new List <string>();
     c.Logon(ABB.Robotics.Controllers.UserInfo.DefaultUser);
     try
     {
         if (c.OperatingMode != ControllerOperatingMode.Auto)
         {
             result.Add("[error]    Need Auto Mode");
             return(-1);
         }
         if (!c.AuthenticationSystem.CheckDemandGrant(Grant.ExecuteRapid))
         {
             c.AuthenticationSystem.DemandGrant(Grant.ExecuteRapid);
         }
         using (Mastership m = Mastership.Request(c.Rapid))
         {
             try
             {
                 c.Backup(backupDir);
                 m.Release();
                 result.Add("[msg]    Back Up System");
             }
             catch (Exception ex)
             {
                 result.Add("[error]" + ex.ToString());
                 m.Release();
                 return(-1);
             }
         }
         return(0);
     }
     catch (Exception ex)
     {
         result.Add("[error]" + ex.ToString());
         return(-1);
     }
 }
Example #11
0
 /// <summary>
 ///  //重置Task程序指针
 /// </summary>
 /// <param name="controller">控制器</param>
 /// <param name="taskname">任务名称</param>
 /// <returns>返回值</returns>
 public static void  RAPID_ProgramReset(Controller controller, string taskname)
 {
     try
     {
         using (Mastership m = Mastership.Request(controller))         //写权限
         {
             controller.Rapid.GetTask(taskname).ResetProgramPointer(); //复位程序指针
             m.Release();
         }
     }
     catch (Exception ex)
     {
         MessageBox.Show(ex.Message, "错误");
     }
 }
        /// <summary>
        /// 执行例行程序之一: 直接执行Rapid中写好的例行程序,不带参数
        /// </summary>
        /// <param name="controller"> 控制器名称</param>
        /// <param name="moduleName"> Rapid 程序中模块名称 </param>
        /// <param name="routineName"> Rapid 程序中例行程序名称 </param>
        /// <param name="result"> 日志 </param>
        /// <returns>成功状态</returns>
        public int StartRoutine(Controller controller, string moduleName, string routineName)
        {
            ABB.Robotics.Controllers.RapidDomain.Task[] tasks = null;

            try
            {
                tasks = controller.Rapid.GetTasks();
                if (controller.OperatingMode == ControllerOperatingMode.Auto)
                {
                    //检查任务执行状态,若任务使用中报错:  error "SYS_E_EXEC_LEVEL: Operation is illegal at current execution level"
                    if (tasks[0].ExecutionStatus == TaskExecutionStatus.Running)
                    {
                        return(-1);
                    }
                    else
                    {
                        if (tasks[0].ExecutionStatus == TaskExecutionStatus.Ready || tasks[0].ExecutionStatus == TaskExecutionStatus.Stopped)
                        {
                            using (Mastership master = Mastership.Request(controller.Rapid))
                            {
                                controller.Rapid.Stop(StopMode.Immediate);           //立即停止
                                tasks[0].SetProgramPointer(moduleName, routineName); //设置程序指针
                                controller.Rapid.Start(true);                        //开始程序
                                master.Release();
                            }
                            return(0);
                        }
                    }
                }
                else
                {
                    return(-1);
                }
                return(-1);
            }
            catch (System.InvalidOperationException ex)
            {
                return(-1);
            }
            catch (System.Exception ex)
            {
                return(-1);
            }
            finally
            {
            }
        }
Example #13
0
 private void button_saveModule_Click(object sender, EventArgs e)
 {
     try
     {
         using (Mastership m = Mastership.Request(controller))
         {
             Module module = (Module)listBox_moduleList.SelectedItem;
             module.SaveToFile(controller.FileSystem.RemoteDirectory);
             //   tRob1.SaveProgramToFile(controller.FileSystem.LocalDirectory);
             // + @"\" + textBox_fileName.Text +".mod"
             ShowNewMessage("保存完毕啦···目录:" + controller.FileSystem.RemoteDirectory);
             m.Release();
             button1_Click(null, null); // refresh
         }
     }
     catch (Exception ex)
     {
         MessageBox.Show(ex.Message, "保存发生错误");
     }
 }
Example #14
0
        /// <summary>
        /// Method to stop the program and returns the action message.
        /// </summary>
        /// <returns> The action message / status. </returns>
        private string StopCommand()
        {
            // Check the mode of the controller
            if (_controller.OperatingMode != ControllerOperatingMode.Auto)
            {
                return("Controller not set in automatic mode.");
            }

            // Stop the program
            using (Mastership master = Mastership.Request(_controller))
            {
                _controller.Rapid.Stop(StopMode.Instruction);

                // Give back the mastership
                master.Release();
            }

            // Return status message
            return("Program stopped.");
        }
 /// <summary>
 /// 停止当前Rapid程序
 /// </summary>
 /// <param name="controller">控制器</param>
 public void RAPID_ProgramStop(Controller controller)
 {
     controller.Logon(ABB.Robotics.Controllers.UserInfo.DefaultUser);
     if (controller.OperatingMode != ControllerOperatingMode.Auto)
     {
     }
     if (!controller.AuthenticationSystem.CheckDemandGrant(Grant.ExecuteRapid))
     {
         controller.AuthenticationSystem.DemandGrant(Grant.ExecuteRapid);
     }
     try
     {
         using (Mastership m = Mastership.Request(controller.Rapid))
         {
             controller.Rapid.Stop(StopMode.Immediate);
             m.Release();
         }
     }
     catch (Exception ex)
     {
     }
 }
        /// <summary>
        /// 开启主线程
        /// </summary>
        private void mainThread()
        {
            int Match_timers         = 0;   //匹配计数
            int Start_Glue_Wait_time = 0;   //开始喷胶等待的回合
            int Stop_Glue_Wait_time  = 0;   //停止喷胶等待的回合

            GLB.Camera_index = 0;           //先从垛区拍照
            bool   isFinishPutDown = false; //是否完成覆合
            Pose   mypq            = new Pose();
            Point3 cls             = new Point3();

            double[] myQQ = cls.ABC2Q(0, Math.PI, 0);//欧拉角转四元数
            //#######################################home#######################################
            abbController.StartRoutine(AbbCtrl, "MainModule", "goHome");
            WaitForRoutineFinish();//等待Rapid程序执行结束

            while (ProgramStart)
            {
                //#######################################喷胶#######################################
                if (GLB.run_mode == 1 && IsStart == true)
                {
                    if (IO_IN_11 == false && isFinishPutDown == false)//滚筒上有海绵,未完成覆合
                    {
                        if (ForwardCylinder == "0")
                        {
                            ForwardCylinder = abbController.SetIOStatus(AbbCtrl, "Local_IO_0_DO12");                        //前挡
                        }
                        if (BackwardCylinder == "0")
                        {
                            BackwardCylinder = abbController.SetIOStatus(AbbCtrl, "Local_IO_0_DO14"); //后挡阻挡
                        }
                        MotorStatus = abbController.ResetIOStatus(AbbCtrl, "Local_IO_0_DO1");         //停止正转
                        Thread.Sleep(200);
                        abbController.SetIOStatus(AbbCtrl, "Local_IO_0_DO13");                        //侧推
                        Thread.Sleep(1000);
                        abbController.ResetIOStatus(AbbCtrl, "Local_IO_0_DO13");                      //侧推收回
                        GLB.run_mode     = 2;                                                         //进入下一工作模式
                        GLB.Camera_index = 0;
                        Thread.Sleep(300);
                    }
                    else if (IO_IN_11 == false && isFinishPutDown == true)                         //滚筒上有海绵,完成覆合
                    {
                        ForwardCylinder = abbController.ResetIOStatus(AbbCtrl, "Local_IO_0_DO12"); //前挡收回
                        if (BackwardCylinder == "1")
                        {
                            BackwardCylinder = abbController.ResetIOStatus(AbbCtrl, "Local_IO_0_DO14"); //后挡收回
                        }
                        while (IO_IN_11 != true)                                                        //直到海绵离开
                        {
                            if (IsStart == true && MotorStatus != "1")
                            {
                                MotorStatus = abbController.SetIOStatus(AbbCtrl, "Local_IO_0_DO1");                                       //正转
                            }
                            else if (IsStart == false && MotorStatus == "1")
                            {
                                MotorStatus = abbController.ResetIOStatus(AbbCtrl, "Local_IO_0_DO1");                                             //停止正转
                            }
                            else
                            {
                                Thread.Sleep(30);
                            }
                        }
                        isFinishPutDown = false; //清除标志
                        Thread.Sleep(50);        //直到棉完全通过
                    }
                    else
                    {
                        if (ForwardCylinder != "1")
                        {
                            ForwardCylinder = abbController.SetIOStatus(AbbCtrl, "Local_IO_0_DO12");                        //前挡
                        }
                        if (MotorStatus != "1")
                        {
                            MotorStatus = abbController.SetIOStatus(AbbCtrl, "Local_IO_0_DO1");         //正转:
                        }
                        if (Start_Glue_Wait_time == 0 && BackwardCylinder == "1")                       //后档首次放行
                        {
                            BackwardCylinder = abbController.ResetIOStatus(AbbCtrl, "Local_IO_0_DO14"); //后挡放行
                        }
                        if (IO_IN_10 == false)                                                          //检测到有棉
                        {
                            if (Start_Glue_Wait_time < 40)                                              //延时开始喷胶
                            {
                                Start_Glue_Wait_time++;
                                Thread.Sleep(10);
                            }
                            else
                            {
                                Stop_Glue_Wait_time = 0;//清除停止喷胶延时次数
                                if (BackwardCylinder == "0")
                                {
                                    BackwardCylinder = abbController.SetIOStatus(AbbCtrl, "Local_IO_0_DO14");                         //后挡阻挡
                                }
                                if (Gun1_6 == "0" && GLB.produceSampleList[GLB.produce_index].axisShort > 900)
                                {
                                    Gun1_6 = abbController.SetIOStatus(AbbCtrl, "Local_IO_0_DO9");//喷胶1.6
                                }
                                if (Gun2_3 == "0")
                                {
                                    Gun2_3 = abbController.SetIOStatus(AbbCtrl, "Local_IO_0_DO10");               //喷胶2.3
                                }
                                if (Gun4_5 == "0")
                                {
                                    Gun4_5 = abbController.SetIOStatus(AbbCtrl, "Local_IO_0_DO11");               //喷胶4.5
                                }
                            }
                        }
                        else
                        {
                            if (Stop_Glue_Wait_time < 40) //延时停止喷胶
                            {
                                Stop_Glue_Wait_time++;
                                Thread.Sleep(10);
                            }
                            else
                            {
                                Start_Glue_Wait_time = 0;//清除开始喷胶延时次数
                                if (Gun1_6 == "1")
                                {
                                    Gun1_6 = abbController.ResetIOStatus(AbbCtrl, "Local_IO_0_DO9");               //停止喷胶
                                }
                                if (Gun2_3 == "1")
                                {
                                    Gun2_3 = abbController.ResetIOStatus(AbbCtrl, "Local_IO_0_DO10");
                                }
                                if (Gun4_5 == "1")
                                {
                                    Gun4_5 = abbController.ResetIOStatus(AbbCtrl, "Local_IO_0_DO11");
                                }
                            }
                        }
                    }
                }
                else if (GLB.run_mode == 1 && IsStart == false)//中途暂停
                {
                    Thread.Sleep(5);
                    if (MotorStatus == "1")
                    {
                        MotorStatus = abbController.ResetIOStatus(AbbCtrl, "Local_IO_0_DO1");                    //停止正转
                    }
                    if (Gun1_6 == "1")
                    {
                        Gun1_6 = abbController.ResetIOStatus(AbbCtrl, "Local_IO_0_DO9");               //停止喷胶
                    }
                    if (Gun2_3 == "1")
                    {
                        Gun2_3 = abbController.ResetIOStatus(AbbCtrl, "Local_IO_0_DO10");
                    }
                    if (Gun4_5 == "1")
                    {
                        Gun4_5 = abbController.ResetIOStatus(AbbCtrl, "Local_IO_0_DO11");
                    }
                }
                //#######################################图漾相机抓取乳胶棉#######################################
                if (GLB.run_mode == 2 && GLB.Match_success == true && IsStart == true) //图漾匹配成功 并且没有暂停
                {
                    GLB.avgAngle.Clear();                                              //旋转角清空队列
                    GLB.avgCameraPoint3.Clear();                                       //相机坐标队列清空
                    Match_timers      = 0;                                             //计数清零
                    GLB.Camera_index  = -1;                                            //停止拍照
                    GLB.Match_success = false;                                         //清除标志位


                    //**************乳胶棉目标点**************
                    myQQ = cls.ABC2Q(-Math.PI / 2 - GLB.device_angl, Math.PI, 0);
                    mypq.FillFromString2("[[" + GLB.robot_device_point.X + "," + GLB.robot_device_point.Y + "," + GLB.robot_device_point.Z + "]," +
                                         "[" + myQQ[0] + "," + myQQ[1] + "," + myQQ[2] + "," + myQQ[3] + "]]");

                    writePosQuat(mypq);//传输坐标
                    Thread.Sleep(50);
                    abbController.StartRoutine(AbbCtrl, "MainModule", "TakeUpFromZoneToDesk");
                    WaitForRoutineFinish();    //等待Rapid程序执行结束

                    GLB.Match_success = false; //清除标志位
                    GLB.Camera_index  = 1;     //切换相机
                    GLB.run_mode      = 3;
                    Thread.Sleep(200);
                }
                else if (GLB.run_mode == 2 && GLB.Match_success == false && IsStart == true)
                {
                    Match_timers += 1;
                    if (Match_timers > 20)//二十次匹配不到,暂停
                    {
                        this.BeginInvoke(new Action(() =>
                        {
                            StartBtn.PerformClick();//点击暂停
                            Emergency_Stop_Alarm = true;
                            Thread.Sleep(60);
                            MessageBox.Show("垛区无法识别到乳胶棉,或者数量过少");
                            Match_timers = 0;
                        }));
                    }
                    Thread.Sleep(300);
                }
                ////#######################################映美金二次抓取乳胶棉#######################################
                if (GLB.run_mode == 3 && GLB.Match_success == true && IsStart == true) //图漾匹配成功 并且没有暂停
                {
                    Match_timers      = 0;                                             //计数清零
                    GLB.Camera_index  = -1;                                            //停止拍照
                    GLB.Match_success = false;                                         //清除标志位


                    //**************平台乳胶棉目标点**************
                    myQQ = cls.ABC2Q(-GLB.device_angl, Math.PI, 0);
                    mypq.FillFromString2("[[" + GLB.robot_device_point.X + "," + GLB.robot_device_point.Y + "," + GLB.robot_device_point.Z + "]," +
                                         "[" + myQQ[0] + "," + myQQ[1] + "," + myQQ[2] + "," + myQQ[3] + "]]");

                    writePosQuat(mypq);//传输坐标
                    //产品类型--放置点
                    abbController.producetypeLocal.FillFromString2(GLB.produce_index.ToString());
                    using (Mastership m = Mastership.Request(AbbCtrl.Rapid))
                    {
                        abbController.produceTypeRobot.Value = abbController.producetypeLocal;
                        m.Release();
                    }
                    Thread.Sleep(50);
                    abbController.StartRoutine(AbbCtrl, "MainModule", "TakeUpFromDeskToTansLine");
                    WaitForRoutineFinish();  //等待Rapid程序执行结束

                    isFinishPutDown  = true; //完成覆合
                    GLB.Camera_index = 0;    //切换相机
                    GLB.run_mode     = 1;
                    Thread.Sleep(200);
                }
                else if (GLB.run_mode == 3 && GLB.Match_success == false && IsStart == true)
                {
                    Thread.Sleep(500);
                    abbController.SetIOStatus(AbbCtrl, "Local_IO_0_DO3");//触发相机
                    Thread.Sleep(50);
                    abbController.ResetIOStatus(AbbCtrl, "Local_IO_0_DO3");
                    Match_timers += 1;
                    if (Match_timers > 10)//十次匹配不到,暂停
                    {
                        this.BeginInvoke(new Action(() =>
                        {
                            StartBtn.PerformClick();//点击暂停
                            Thread.Sleep(60);
                            Emergency_Stop_Alarm = true;
                            MessageBox.Show("平台上无法识别到乳胶棉");
                            Match_timers = 0;
                        }));
                    }
                    Thread.Sleep(500);
                }
                else
                {
                    Thread.Sleep(20);
                }
            }
        }
Example #17
0
        /// <summary>
        /// This is the method that actually does the work.
        /// </summary>
        /// <param name="DA">The DA object is used to retrieve from inputs and store in outputs.</param>
        protected override void SolveInstance(IGH_DataAccess DA)
        {
            // Input variables
            GH_Controller controllerGoo = null;
            bool          connect       = false;
            bool          upload        = false;
            bool          run           = false;
            bool          stop          = false;
            List <string> programCode   = new List <string>();
            List <string> systemCode    = new List <string>();

            // Catch input data
            if (!DA.GetData(0, ref controllerGoo))
            {
                return;
            }
            if (!DA.GetData(1, ref connect))
            {
                return;
            }
            if (!DA.GetData(2, ref upload))
            {
                return;
            }
            if (!DA.GetData(3, ref run))
            {
                return;
            }
            if (!DA.GetData(4, ref stop))
            {
                return;
            }
            if (!DA.GetDataList(5, programCode))
            {
                programCode = new List <string>()
                {
                };
            }
            if (!DA.GetDataList(6, systemCode))
            {
                systemCode = new List <string>()
                {
                };
            }
            base.DestroyIconCache();

            // Get controller value
            _controller = controllerGoo.Value;

            // Connect
            if (connect)
            {
                // Setup the connection
                Connect();

                // Run the program when toggled
                if (run)
                {
                    Run();
                }

                // Stop the program when toggled
                if (stop)
                {
                    Stop();
                }

                // Upload the code when toggled
                if (upload)
                {
                    // Reset program pointer warning
                    _programPointerWarning = false;

                    // First stop the current program
                    Stop();

                    // Get path for temporary saving of the module files on the local harddrive of the user
                    // NOTE: This is not a path on the controller, but on the pc of the user
                    string localDirectory = Path.Combine(DocumentsFolderPath(), "RobotComponents", "temp");

                    // Check if the directory already exists
                    if (Directory.Exists(localDirectory))
                    {
                        // Delete if it already exists
                        Directory.Delete(localDirectory, true);
                    }

                    // Create new directory
                    Directory.CreateDirectory(localDirectory);

                    // Save the RAPID code to the created directory / local folder
                    SaveModulesToFile(localDirectory, programCode, systemCode);

                    // Directory to save the modules on the controller
                    string controllerDirectory = Path.Combine(_controller.FileSystem.RemoteDirectory, "RAPID");

                    // Module file paths
                    string filePathProgram;
                    string filePathSystem;
                    string directory;

                    // Upload to the real physical controller
                    if (_controller.IsVirtual == false)
                    {
                        _controller.AuthenticationSystem.DemandGrant(Grant.WriteFtp);
                        _controller.FileSystem.PutDirectory(localDirectory, "RAPID", true);
                        directory = controllerDirectory;
                    }
                    // Upload to a virtual controller
                    else
                    {
                        directory = localDirectory;
                    }

                    // The real upload
                    using (Mastership master = Mastership.Request(_controller))
                    {
                        // Get task
                        Task[] tasks = _controller.Rapid.GetTasks();
                        Task   task  = tasks[0];

                        // TODO: Make a pick task form? As for pick controller?
                        // TODO: This can be a solution for multi move with multiple tasks
                        // Task task = controller.Rapid.GetTask(tasks[0].Name) // Get task with specified name

                        // Grant acces
                        _controller.AuthenticationSystem.DemandGrant(Grant.LoadRapidProgram);

                        // Load the new program from the created file
                        for (int i = 0; i < systemCode.Count; i++)
                        {
                            filePathSystem = Path.Combine(directory, "SystemModule_" + i.ToString() + ".sys");
                            task.LoadModuleFromFile(filePathSystem, RapidLoadMode.Replace);
                        }
                        for (int i = 0; i < programCode.Count; i++)
                        {
                            filePathProgram = Path.Combine(directory, "ProgramModule_" + i.ToString() + ".mod");
                            task.LoadModuleFromFile(filePathProgram, RapidLoadMode.Replace);
                        }

                        // Resets the program pointer of this task to the main entry point.
                        if (_controller.OperatingMode == ControllerOperatingMode.Auto)
                        {
                            _controller.AuthenticationSystem.DemandGrant(Grant.ExecuteRapid);

                            try
                            {
                                task.ResetProgramPointer(); // Requires auto mode and execute rapid
                                _programPointerWarning = false;
                            }
                            catch
                            {
                                _programPointerWarning = true;
                            }
                        }

                        // Update action status message
                        if (programCode != null || systemCode != null)
                        {
                            _uStatus = "The RAPID code is succesfully uploaded.";
                        }
                        else
                        {
                            _uStatus = "The RAPID is not uploaded since there is no code defined.";
                        }

                        // Give back the mastership
                        master.Release();
                    }

                    // Delete the temporary files
                    if (Directory.Exists(localDirectory))
                    {
                        Directory.Delete(localDirectory, true);
                    }
                }
            }

            // Disconnect
            else
            {
                // Disconnect
                Disconnect();

                // Update the satus message when a command wants to be executed without having a connection.
                if (run || stop || upload)
                {
                    _uStatus = "Please connect first.";
                }
            }

            // Output message
            _msg = $"The remote connection status:\n\nController: {_cStatus}\nActions: {_uStatus}";

            if (_programPointerWarning == true)
            {
                AddRuntimeMessage(GH_RuntimeMessageLevel.Warning, "The program pointer could not be reset. Check the program modules that are defined" +
                                  " in your controller. Probably you defined two main functions or there are other errors in your RAPID code.");
            }

            // Output
            DA.SetData(0, _msg);
        }
Example #18
0
        private void LinearJogging(string Direction, float OffsJointValue)
        {
            RobTarget CurrentCartesianPoint = this.controller.MotionSystem.ActiveMechanicalUnit.GetPosition(ABB.Robotics.Controllers.MotionDomain.CoordinateSystemType.World);
            double    q0, q1, q2, q3;

            //double Rz, Ry, Rx;
            q0 = CurrentCartesianPoint.Rot.Q1;
            q1 = CurrentCartesianPoint.Rot.Q2;
            q2 = CurrentCartesianPoint.Rot.Q3;
            q3 = CurrentCartesianPoint.Rot.Q4;
            //Rz = Math.Atan(2 * (q1 * q2 - q0 * q3) / (q0 * q0 + q1 * q1 - q2 * q2 - q3 * q3));
            //Ry = Math.Asin(-2 * (q0 * q2 + q1 * q3));
            //Rx = Math.Atan(2 * (q2 * q3 - q0 * q1) / (q0 * q0 - q1 * q1 - q2 * q2 + q3 * q3));

            switch (Direction)
            {
            case "X":
                CurrentCartesianPoint.Trans.X += OffsJointValue;
                break;

            case "Y":
                CurrentCartesianPoint.Trans.Y += OffsJointValue;
                break;

            case "Z":
                CurrentCartesianPoint.Trans.Z += OffsJointValue;
                break;

            case "Q1":
                CurrentCartesianPoint.Rot.Q1 += OffsJointValue;
                break;

            case "Q2":
                CurrentCartesianPoint.Rot.Q2 += OffsJointValue;
                break;

            case "Q3":
                CurrentCartesianPoint.Rot.Q3 += OffsJointValue;
                break;

            case "Q4":
                CurrentCartesianPoint.Rot.Q4 += OffsJointValue;
                break;
                //case "Rx":
                //    Rx += OffsJointValue;
                //    break;
                //case "Ry":
                //    Ry += OffsJointValue;
                //    break;
                //case "Rz":
                //    Rz += OffsJointValue;
                //    break;
            }

            //CurrentCartesianPoint.Rot.Q1 = Math.Cos(Rz / 2) * Math.Cos(Ry / 2) * Math.Cos(Rx / 2) - Math.Sin(Rz / 2) * Math.Sin(Ry / 2) * Math.Sin(Rx / 2);
            //CurrentCartesianPoint.Rot.Q2 = Math.Cos(Rz / 2) * Math.Cos(Ry / 2) * Math.Sin(Rx / 2) + Math.Sin(Rz / 2) * Math.Sin(Ry / 2) * Math.Cos(Rx / 2);
            //CurrentCartesianPoint.Rot.Q3 = Math.Cos(Rz / 2) * Math.Sin(Ry / 2) * Math.Cos(Rx / 2) - Math.Sin(Rz / 2) * Math.Cos(Ry / 2) * Math.Sin(Rx / 2);
            //CurrentCartesianPoint.Rot.Q4 = Math.Sin(Rz / 2) * Math.Cos(Ry / 2) * Math.Cos(Rx / 2) + Math.Cos(Rz / 2) * Math.Sin(Ry / 2) * Math.Sin(Rx / 2);

            try
            {
                using (this.master = Mastership.Request(controller.Rapid))
                {
                    RapidData rd = controller.Rapid.GetRapidData("T_ROB1", "Module1", "pTarget");
                    controller.Rapid.GetTask("T_ROB1").SetProgramPointer("Module1", "MoveLinear");
                    rd.Value = CurrentCartesianPoint;
                    controller.Rapid.Start();
                }
                if (this.controller.Rapid.ExecutionStatus != ExecutionStatus.Running)
                {
                    master.Release();
                }
            }
            catch (System.InvalidOperationException ex)
            {
                MessageBox.Show("Mastership is held by another client." + ex.Message);
                master.Release();
                master = Mastership.Request(controller);
            }
            catch (System.Exception ex)
            {
                MessageBox.Show("Unexpected error occurred: " + ex.Message);
            }
        }