/// <summary>選用的 Device 選項變動</summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void CmbBoxDeviceName_SelectedIndexChanged(object sender, EventArgs e)
{
try
{
// Display Position File I
this.DisplayCurrentPathFileItems();
// Display Device IP
this.DisplayCurrentDeviceInfoIP();
#if NO_DEVICE
#else
groupBox1.Enabled = false;
ldd = new MvFanucRobotLdd();
this.ldd.RobotIp = this.RobotPathFileConfigSet.GetCurrentConfig(CmbBoxDeviceName.Text).DeviceIP;
if (ldd.ConnectIfNo() != 0)
{
throw new Exception("無法連接裝置");
}
ldd.ExecutePNS("PNS0101");
groupBox1.Enabled = true;
#endif
}
catch (Exception ex)
{
MessageBox.Show(ex.Message + " (尚未完初始化,無法繼續操作)");
}
// NumUdpSn.Value = this.GetPositionInstancesNextSn();
// this.Enabled = true;
this.PositionInstances = new List <PositionInfo>();
RefreshPositionInfoList();
TxtBxDevicePath.Text = string.Empty;
NumUdpSn.Value = this.GetPositionInstancesNextSn();
}
public void TestMethod1()
{
using (var robot = new MvFanucRobotLdd())
{
robot.RobotIp = "192.168.0.50";
robot.ConnectIfNo();
robot.SystemRecoverAuto();
robot.AlarmReset();
robot.ExecutePNS("PNS0101");
Array target = new float[] { 0, 0, 5, 0, 0, 0 };
robot.MoveStraightSync(target, 0, 0, 1, 20);
}
}
public void TestPosReg()
{
using (var ldd = new MvFanucRobotLdd())
{
ldd.RobotIp = "192.168.0.51";
if (ldd.ConnectIfNo() != 0)
{
Console.WriteLine("Connection Fail");
}
var robotInfo = ldd.ReadPosReg(1);
robotInfo.x += 1;
ldd.SetPosRegXyzWpr(1, robotInfo);
robotInfo = ldd.ReadPosReg(1);
Console.WriteLine(robotInfo.x);
}
}