private void GetRobotAxisLimits(ITxRobot robot)
{
lowerLimits = new ArrayList();
upperLimits = new ArrayList();
if (robot as TxRobot is ITxDevice robotAsDevice)
{
foreach (TxJoint joint in robotAsDevice.DrivingJoints)
{
if (joint.HardLimits is TxJointConstantHardLimits constantLimits)
{
lowerLimits.Add(constantLimits.LowerLimit);
upperLimits.Add(constantLimits.UpperLimit);
}
else if (joint.HardLimits is TxJointVariableHardLimits variableLimits)
{
lowerLimits.Add(variableLimits.LimitsData.Limits[0].JointLowerLimitValue);
upperLimits.Add(variableLimits.LimitsData.Limits[0].JointUpperLimitValue);
}
else
{
lowerLimits.Add(joint.LowerSoftLimit);
upperLimits.Add(joint.UpperSoftLimit);
}
}
}
}
private void CheckA23Singularity(ITxRobot irobot)
{
TxRobot robot = irobot as TxRobot;
if (robot != null)
{
double?jointA3HomeValue = null;
foreach (TxPose pose in robot.PoseList)
{
if (pose.Name.Equals("HOME"))
{
TxPoseData poseDataHome = pose.PoseData;
robot.CurrentPose = poseDataHome;
jointA3HomeValue = (double)pose.Device.CurrentPose.JointValues[2];
break;
}
}
if (jointA3HomeValue != null)
{
double a3SingularityValue = RwMathUtilities.Rad2Deg((double)jointA3HomeValue) - 90.0;
double a3CurrentValue = RwMathUtilities.Rad2Deg((double)currentJointValues[2]);
if (RwMathUtilities.Abs(a3CurrentValue - a3SingularityValue) < deltaA23Singularity)
{
AxisLimitsResult = string.IsNullOrEmpty(AxisLimitsResult)
? $"A23 Singularity: {a3CurrentValue:F1}"
: string.Join("; ", AxisLimitsResult, $"A23 Singularity: {a3CurrentValue:F1}");
}
}
}
}
/// <summary>
/// Get the directory of a selected robot in the RobotsMachineDataFiles directory
/// </summary>
/// <param name="robot">The robot</param>
/// <returns>The path to the robot machine data directory</returns>
public static string GetMachineDataDirectory(this ITxRobot robot)
{
string path = string.Empty;
string systemRoot = TxApplication.SystemRootDirectory;
if (robot is ITxProcessModelObject processModelObject)
{
path = RwFileAndDirectoryUtilities.CombinePathSegments(systemRoot.TrimEnd('\\'), "RobotsMachineDataFiles", processModelObject.ProcessModelId.ExternalId);
}
return(path);
}
/// <summary>
/// Get the joint values of the robot assigned to a location
/// </summary>
/// <param name="location">The location from which to get the joint values</param>
/// <returns>The joint values</returns>
private ArrayList GetRobotPoseDataFromLocation(ITxRoboticLocationOperation location)
{
ITxRobot robot = location.ParentRoboticOperation.Robot;
if (robot != null)
{
TxPoseData pose = robot.GetPoseAtLocation(location);
if (pose != null)
{
return(pose.JointValues);
}
}
return(null);
}
private void CheckA1Singularity(ITxRobot irobot)
{
TxTransformation currentWorkingFrame = TxApplication.ActiveDocument.WorkingFrame;
TxRobot robot = irobot as TxRobot;
if (robot != null)
{
if (location is ITxLocatableObject locateableLocation)
{
TxApplication.ActiveDocument.WorkingFrame = robot.AbsoluteLocation;
double locationXvalue = locateableLocation.LocationRelativeToWorkingFrame.Translation.X;
double locationYvalue = locateableLocation.LocationRelativeToWorkingFrame.Translation.Y;
double xyValue = RwMathUtilities.Length(locationXvalue, locationYvalue, 0.0);
if (RwMathUtilities.Abs(xyValue) < deltaA1Singularity)
{
AxisLimitsResult = string.IsNullOrEmpty(AxisLimitsResult)
? $"A1 Singularity: {xyValue:F1}"
: string.Join("; ", AxisLimitsResult, $"A1 Singularity: {xyValue:F1}");
}
TxApplication.ActiveDocument.WorkingFrame = currentWorkingFrame;
}
}
}
public override void Execute(object cmdParams)
{
////遍历获取所有机器人列表
//TxObjectList rolist = TxApplication.ActiveDocument.PhysicalRoot.GetAllDescendants(new TxTypeFilter(typeof(TxRobot)));
//拾取机器人
TxObjectList rolist = TxApplication.ActiveSelection.GetFilteredItems(new TxTypeFilter(typeof(TxRobot)));
foreach (TxRobot robot in rolist)
{
//创建机器人program
ITxRoboticProgram RobotProgram = TxApplication.ActiveDocument.RoboticProgramRoot.CreateProgram(new TxRoboticProgramCreationData(robot));
RobotProgram.Name = robot.Name + "_Program";
//将机器人program加载到path editor中
TxApplication.ViewersManager.PathEditorViewer.SetRoboticProgram(RobotProgram);
//将机器人的所有op添加到robot program中
//TxObjectList rplist = robot.GetAllDescendants(new TxTypeFilter(typeof(ITxRoboticOperation)));
TxObjectList rplist = robot.SimulatingOperations;
foreach (ITxRoboticOperation item in rplist)
{
ITxRoboticProgramElement txRoboticProgramElement = item as ITxRoboticProgramElement;
RobotProgram.AddElement(txRoboticProgramElement);
if (txRoboticProgramElement.Name.ToUpper() == "MAIN" | txRoboticProgramElement.Name.ToUpper() == "CELL")
{
RobotProgram.SetElementNumber(txRoboticProgramElement, 125);
}
}
//将当前robot program设置为default program，即下载当前program到PS robot中
ITxRobot txRobot = robot as ITxRobot;
TxRoboticProgram txRoboticProgram = RobotProgram as TxRoboticProgram;
txRobot.DefaultProgram = txRoboticProgram;
}
}
private void CheckSingularities(ITxRobot robot)
{
CheckA1Singularity(robot);
CheckA23Singularity(robot);
CheckA5Singularity();
}
