/// <summary>
/// 移动到X轴终点
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnAxisXGoTo2_Click(object sender, EventArgs e)
{
double diff = double.Parse(this.txtXEndY.Text) - double.Parse(this.txtXStartY.Text);
if (Math.Abs(diff) > 5)
{
MessageBox.Show("示教时请确保设备Y轴固定", "", MessageBoxButtons.OKCancel);
return;
}
Task.Factory.StartNew(() => {
Result res = Result.OK;
res = Machine.Instance.Robot.MovePosZAndReply(double.Parse(this.txtPosZ1.Text));
if (!res.IsOk)
{
return;
}
AxisXCPK cpk = CPKMgr.Instance.FindByName(typeof(AxisXCPK).Name) as AxisXCPK;
if (cpk != null)
{
PointD p = cpk.calPoint();
res = CpkMove.MoveToPosHigh(p.X, p.Y);
if (!res.IsOk)
{
return;
}
res = CpkMove.MoveToPosSlowly(double.Parse(this.txtXEndX.Text), double.Parse(this.txtXEndY.Text));
if (!res.IsOk)
{
return;
}
}
});
}
public void Initial()
{
WorkBook workBook = new WorkBook();
workBook.AddSheet(SheetName.Valve1Weight.ToString());
workBook.AddSheet(SheetName.Valve2Weight.ToString());
workBook.AddSheet(SheetName.X轴.ToString());
workBook.AddSheet(SheetName.Y轴.ToString());
workBook.AddSheet(SheetName.XY轴联动.ToString());
workBook.AddSheet(SheetName.Z轴.ToString());
ICPKable cpk;
cpk = new Valve1WeightCPK(workBook.FindSheetByName(SheetName.Valve1Weight.ToString()), this.Prm);
this.cpkDicAdd(typeof(Valve1WeightCPK).Name, cpk);
cpk = new Valve2WeightCPK(workBook.FindSheetByName(SheetName.Valve2Weight.ToString()), this.Prm);
this.cpkDicAdd(typeof(Valve2WeightCPK).Name, cpk);
cpk = new AxisXCPK(workBook.FindSheetByName(SheetName.X轴.ToString()), this.Prm);
this.cpkDicAdd(typeof(AxisXCPK).Name, cpk);
cpk = new AxisYCPK(workBook.FindSheetByName(SheetName.Y轴.ToString()), this.Prm);
this.cpkDicAdd(typeof(AxisYCPK).Name, cpk);
cpk = new AxisXYCPK(workBook.FindSheetByName(SheetName.XY轴联动.ToString()), this.Prm);
this.cpkDicAdd(typeof(AxisXYCPK).Name, cpk);
cpk = new AxisZCPK(workBook.FindSheetByName(SheetName.Z轴.ToString()), this.Prm);
this.cpkDicAdd(typeof(AxisZCPK).Name, cpk);
}
/// <summary>
/// X轴起点示教
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnAxisXTeach1_Click(object sender, EventArgs e)
{
this.txtXStartX.Text = Machine.Instance.Robot.PosX.ToString("F3");
this.txtXStartY.Text = Machine.Instance.Robot.PosY.ToString("F3");
AxisXCPK cpk = CPKMgr.Instance.FindByName(typeof(AxisXCPK).Name) as AxisXCPK;
if (cpk != null)
{
cpk.Start = new PointD(double.Parse(this.txtXStartX.Text), double.Parse(this.txtXStartY.Text));
}
}
/// <summary>
/// 移动到X轴起点
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnAxisXGoTo1_Click(object sender, EventArgs e)
{
Task.Factory.StartNew(() =>
{
Result res = Result.OK;
res = Machine.Instance.Robot.MovePosZAndReply(double.Parse(this.txtPosZ1.Text));
if (!res.IsOk)
{
return;
}
AxisXCPK cpk = CPKMgr.Instance.FindByName(typeof(AxisXCPK).Name) as AxisXCPK;
if (cpk != null)
{
res = CpkMove.MoveToPosHigh(double.Parse(this.txtXStartX.Text), double.Parse(this.txtXStartY.Text));
if (!res.IsOk)
{
return;
}
}
});
}
