/// <summary>
/// 两轴圆弧插补相对轨迹移动
/// </summary>
/// <param name="first">起点</param>
/// <param name="second">经过点</param>
/// <param name="end">终点</param>
/// <param name="velocityCurveParams">速度参数</param>
public void MoveArc2Relative(Point <double> first, Point <double> second, Point <double> end, VelocityCurve velocityCurveParams)
{
ArcParam <double> Arc = Calculate.ArcCalculate(first, second, end);
ApsController.MoveArc2(_axis1.NoId, _axis2.NoId, Arc.X, Arc.Y, end.X, end.Y, (short)Arc.DIR, velocityCurveParams,
(Int32)APS_Define.OPT_RELATIVE | (Int32)APS_Define.ITP_OPT_BUFFERED);
}
private Point <double> pp(ArcParam <double> arc)
{
Point <double> pos = new Point <double>();
pos.X = arc.X;
pos.Y = arc.Y;
return(pos);
}
/// <summary>
/// 拍照模拟(标定板)
/// </summary>
public ArcParam <double> getMarkSenter4(double x, double y)
{
ArcParam <double> arcParam = new ArcParam <double>();
arcParam.X = 100 * Config.Instance.PhotoConverMM[3].XX;
arcParam.Y = 100 * Config.Instance.PhotoConverMM[3].YY;
arcParam.R = 10;
return(arcParam);
}
/// <summary>
/// 拍照模拟(屏幕)
/// </summary>
public ArcParam <double> GetPmMark3(double x, double y)
{
ArcParam <double> arcParam = new ArcParam <double>();
arcParam.X = 100 * Config.Instance.PhotoConverMM[2].XX;
arcParam.Y = 100 * Config.Instance.PhotoConverMM[2].YY;
arcParam.R = 10;
return(arcParam);
}
/// <summary>
/// 标定开始
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnInhaleCalib_Click(object sender, System.EventArgs e)
{
if (MessageBox.Show(string.Format("产品标定"), "确认", MessageBoxButtons.OKCancel) == DialogResult.Cancel)
{
return;
}
stuts(1);
Global.IsLocating = true;
ArcParam <double> pos4 = new ArcParam <double>();
ArcParam <double> pos1 = new ArcParam <double>();
ArcParam <double> pos2 = new ArcParam <double>();
ArcParam <double> pos3 = new ArcParam <double>();
Point <double> posd1 = new Point <double>();
Point <double> posd2 = new Point <double>();
Task.Factory.StartNew(() =>
{
try
{
int step = 0;
while (true)
{
Thread.Sleep(10);
if (mYAMAHA.Alarm)
{
Global.IsLocating = false;
return(-4);
}
switch (step)
{
case 0: //去待机位
pt[0] = Position.Instance.RootPostion[0].X;
pt[1] = Position.Instance.RootPostion[0].Y;
pt[2] = Position.Instance.RootPostion[0].Z;
pt[3] = Position.Instance.RootPostion[0].R;
pt[4] = 0;
pt[5] = 0;
pt[6] = (int)(tbrJogSpeed.Value);
mYAMAHA.MovP(pt);
Station1.YaxisServo.MoveTo(Position.Instance.YaxisPostion[0].pos);
Station1.ZaxisServo.MoveTo(Position.Instance.ZaxisPostion[0].pos);
if (rdbLeftCalib.Checked)
{
Station1.LFXaxisServo.MoveTo(Position.Instance.LPhotoOriPostion.LFXPhoto);
Station1.LFYaxisServo.MoveTo(Position.Instance.LPhotoOriPostion.LFYPhoto);
Station1.LRXaxisServo.MoveTo(Position.Instance.LPhotoOriPostion.LRXPhoto);
Station1.LRYaxisServo.MoveTo(Position.Instance.LPhotoOriPostion.LRYPhoto);
Station1.RYaxisServo.MoveTo(Position.Instance.LPhotoOriPostion.RYPhoto);
Station1.XaxisServo.MoveTo(Position.Instance.LPhotoOriPostion.XPhoto);
Station1.SwichCylinder.Reset();
}
if (rdbRightCalib.Checked)
{
Station1.LFXaxisServo.MoveTo(Position.Instance.RPhotoOriPostion.LFXPhoto);
Station1.LFYaxisServo.MoveTo(Position.Instance.RPhotoOriPostion.LFYPhoto);
Station1.LRXaxisServo.MoveTo(Position.Instance.RPhotoOriPostion.LRXPhoto);
Station1.LRYaxisServo.MoveTo(Position.Instance.RPhotoOriPostion.LRYPhoto);
Station1.RYaxisServo.MoveTo(Position.Instance.RPhotoOriPostion.RYPhoto);
Station1.XaxisServo.MoveTo(Position.Instance.RPhotoOriPostion.XPhoto);
Station1.SwichCylinder.Set();
}
step = 10;
break;
case 10: //判断是否在待机位
if (rdbLeftCalib.Checked)
{
if (mYAMAHA.CurrentPosX == Position.Instance.RootPostion[0].X &&
mYAMAHA.CurrentPosY == Position.Instance.RootPostion[0].Y &&
mYAMAHA.CurrentPosZ == Position.Instance.RootPostion[0].Z &&
mYAMAHA.CurrentPosR == Position.Instance.RootPostion[0].R &&
Station1.YaxisServo.IsInPosition(Position.Instance.YaxisPostion[0].pos) &&
Station1.ZaxisServo.IsInPosition(Position.Instance.ZaxisPostion[0].pos) &&
Station1.LFXaxisServo.IsInPosition(Position.Instance.LPhotoOriPostion.LFXPhoto) &&
Station1.LFYaxisServo.IsInPosition(Position.Instance.LPhotoOriPostion.LFYPhoto) &&
Station1.LRXaxisServo.IsInPosition(Position.Instance.LPhotoOriPostion.LRXPhoto) &&
Station1.LRYaxisServo.IsInPosition(Position.Instance.LPhotoOriPostion.LRYPhoto) &&
Station1.RYaxisServo.IsInPosition(Position.Instance.LPhotoOriPostion.RYPhoto) &&
Station1.XaxisServo.IsInPosition(Position.Instance.LPhotoOriPostion.XPhoto) &&
Station1.SwichCylinder.OutMoveStatus)
{
step = 20;
}
}
if (rdbRightCalib.Checked)
{
if (mYAMAHA.CurrentPosX == Position.Instance.RootPostion[0].X &&
mYAMAHA.CurrentPosY == Position.Instance.RootPostion[0].Y &&
mYAMAHA.CurrentPosZ == Position.Instance.RootPostion[0].Z &&
mYAMAHA.CurrentPosR == Position.Instance.RootPostion[0].R &&
Station1.YaxisServo.IsInPosition(Position.Instance.YaxisPostion[0].pos) &&
Station1.ZaxisServo.IsInPosition(Position.Instance.ZaxisPostion[0].pos) &&
Station1.LFXaxisServo.IsInPosition(Position.Instance.LPhotoOriPostion.LFXPhoto) &&
Station1.LFYaxisServo.IsInPosition(Position.Instance.LPhotoOriPostion.LFYPhoto) &&
Station1.LRXaxisServo.IsInPosition(Position.Instance.LPhotoOriPostion.LRXPhoto) &&
Station1.LRYaxisServo.IsInPosition(Position.Instance.LPhotoOriPostion.LRYPhoto) &&
Station1.RYaxisServo.IsInPosition(Position.Instance.LPhotoOriPostion.RYPhoto) &&
Station1.XaxisServo.IsInPosition(Position.Instance.LPhotoOriPostion.XPhoto) &&
Station1.SwichCylinder.OutOriginStatus)
{
step = 20;
}
}
break;
case 20: //机械手去前安全位
if (rdbLeftCalib.Checked)
{
pt[0] = Position.Instance.RootPostion[1].X;
pt[1] = Position.Instance.RootPostion[1].Y;
pt[2] = Position.Instance.RootPostion[1].Z;
pt[3] = Position.Instance.RootPostion[1].R;
pt[4] = 0;
pt[5] = 0;
pt[6] = (int)(tbrJogSpeed.Value);
mYAMAHA.MovP(pt);
Station1.ZaxisServo.MoveTo(Position.Instance.ZaxisPostion[1].pos);
}
if (rdbRightCalib.Checked)
{
pt[0] = Position.Instance.RootPostion[2].X;
pt[1] = Position.Instance.RootPostion[2].Y;
pt[2] = Position.Instance.RootPostion[2].Z;
pt[3] = Position.Instance.RootPostion[2].R;
pt[4] = 0;
pt[5] = 0;
pt[6] = (int)(tbrJogSpeed.Value);
mYAMAHA.MovP(pt);
Station1.ZaxisServo.MoveTo(Position.Instance.ZaxisPostion[2].pos);
}
step = 30;
break;
case 30: //机械手到位
if (mYAMAHA.CurrentPosX == Position.Instance.RootPostion[1].X &&
mYAMAHA.CurrentPosY == Position.Instance.RootPostion[1].Y &&
mYAMAHA.CurrentPosZ == Position.Instance.RootPostion[1].Z &&
mYAMAHA.CurrentPosR == Position.Instance.RootPostion[1].R &&
Station1.ZaxisServo.IsInPosition(Position.Instance.ZaxisPostion[1].pos) && rdbLeftCalib.Checked)
{
step = 40;
}
if (mYAMAHA.CurrentPosX == Position.Instance.RootPostion[2].X &&
mYAMAHA.CurrentPosY == Position.Instance.RootPostion[2].Y &&
mYAMAHA.CurrentPosZ == Position.Instance.RootPostion[2].Z &&
mYAMAHA.CurrentPosR == Position.Instance.RootPostion[2].R &&
Station1.ZaxisServo.IsInPosition(Position.Instance.ZaxisPostion[2].pos) && rdbRightCalib.Checked)
{
step = 40;
}
break;
case 40: //拍照（DK）
stuts(2);
pos1 = Station1.GetDkMark1(10, 10);
pos2 = Station1.GetDkMark2(10, 10);
pos3 = Station1.GetDkMark3(10, 10);
pos4 = Station1.GetDkMark4(10, 10);
step = 50;
break;
case 50: //拍照完成，取结果
Point <double> p1 = pp(pos1);
Point <double> p2 = pp(pos2);
Point <double> p3 = pp(pos3);
Point <double> p4 = pp(pos4);
posd1 = Calib.ConventToPos(p1, p2, p3, p4, Config.Instance.PhotoAngleOffice[0], Config.Instance.PhotoAngleOffice[1],
Config.Instance.PhotoAngleOffice[2], Config.Instance.PhotoAngleOffice[3]);
step = 60;
break;
case 60: //Z轴取屏位置，机械手去上方安全位置
stuts(3);
if (rdbLeftCalib.Checked)
{
pt[0] = Position.Instance.RootPostion[3].X;
pt[1] = Position.Instance.RootPostion[3].Y;
pt[2] = Position.Instance.RootPostion[3].Z;
pt[3] = Position.Instance.RootPostion[3].R;
pt[4] = 0;
pt[5] = 0;
pt[6] = (int)(tbrJogSpeed.Value);
mYAMAHA.MovP(pt);
Station1.ZaxisServo.MoveTo(Position.Instance.ZaxisPostion[3].pos);
}
if (rdbRightCalib.Checked)
{
pt[0] = Position.Instance.RootPostion[4].X;
pt[1] = Position.Instance.RootPostion[4].Y;
pt[2] = Position.Instance.RootPostion[4].Z;
pt[3] = Position.Instance.RootPostion[4].R;
pt[4] = 0;
pt[5] = 0;
pt[6] = (int)(tbrJogSpeed.Value);
mYAMAHA.MovP(pt);
Station1.ZaxisServo.MoveTo(Position.Instance.ZaxisPostion[4].pos);
}
step = 70;
break;
case 70: //机械手到位去组装位置
if (mYAMAHA.CurrentPosX == Position.Instance.RootPostion[3].X &&
mYAMAHA.CurrentPosY == Position.Instance.RootPostion[3].Y &&
mYAMAHA.CurrentPosZ == Position.Instance.RootPostion[3].Z &&
mYAMAHA.CurrentPosR == Position.Instance.RootPostion[3].R &&
Station1.ZaxisServo.IsInPosition(Position.Instance.ZaxisPostion[3].pos) && rdbLeftCalib.Checked)
{
pt[0] = Position.Instance.RootPostion[11].X;
pt[1] = Position.Instance.RootPostion[11].Y;
pt[2] = Position.Instance.RootPostion[11].Z;
pt[3] = Position.Instance.RootPostion[11].R;
pt[4] = 0;
pt[5] = 0;
pt[6] = (int)(tbrJogSpeed.Value);
mYAMAHA.MovP(pt);
Station1.LeftVacuum.Set();
step = 80;
}
if (mYAMAHA.CurrentPosX == Position.Instance.RootPostion[4].X &&
mYAMAHA.CurrentPosY == Position.Instance.RootPostion[4].Y &&
mYAMAHA.CurrentPosZ == Position.Instance.RootPostion[4].Z &&
mYAMAHA.CurrentPosR == Position.Instance.RootPostion[4].R &&
Station1.ZaxisServo.IsInPosition(Position.Instance.ZaxisPostion[4].pos) && rdbRightCalib.Checked)
{
pt[0] = Position.Instance.RootPostion[12].X;
pt[1] = Position.Instance.RootPostion[12].Y;
pt[2] = Position.Instance.RootPostion[12].Z;
pt[3] = Position.Instance.RootPostion[12].R;
pt[4] = 0;
pt[5] = 0;
pt[6] = (int)(tbrJogSpeed.Value);
mYAMAHA.MovP(pt);
Station1.RightVacuum.Set();
step = 80;
}
break;
case 80: //到吸产品位置
stuts(4);
if (mYAMAHA.CurrentPosX == Position.Instance.RootPostion[11].X &&
mYAMAHA.CurrentPosY == Position.Instance.RootPostion[11].Y &&
mYAMAHA.CurrentPosZ == Position.Instance.RootPostion[11].Z &&
mYAMAHA.CurrentPosR == Position.Instance.RootPostion[11].R &&
Station1.LeftVacuum.OutMoveStatus && rdbLeftCalib.Checked)
{
Thread.Sleep(50);
Station1.ZaxisServo.MoveTo(Position.Instance.ZaxisPostion[0].pos);
step = 90;
}
if (mYAMAHA.CurrentPosX == Position.Instance.RootPostion[12].X &&
mYAMAHA.CurrentPosY == Position.Instance.RootPostion[12].Y &&
mYAMAHA.CurrentPosZ == Position.Instance.RootPostion[12].Z &&
mYAMAHA.CurrentPosR == Position.Instance.RootPostion[12].R &&
Station1.RightVacuum.OutMoveStatus && rdbRightCalib.Checked)
{
Thread.Sleep(50);
Station1.ZaxisServo.MoveTo(Position.Instance.ZaxisPostion[0].pos);
step = 90;
}
break;
case 90: //Z轴到位，机器人去拍照位置
if (Station1.ZaxisServo.IsInPosition(Position.Instance.ZaxisPostion[0].pos) &&
rdbLeftCalib.Checked)
{
pt[0] = Position.Instance.RootPostion[5].X;
pt[1] = Position.Instance.RootPostion[5].Y;
pt[2] = Position.Instance.RootPostion[5].Z;
pt[3] = Position.Instance.RootPostion[5].R;
pt[4] = 0;
pt[5] = 0;
pt[6] = (int)(tbrJogSpeed.Value);
mYAMAHA.MovP(pt);
step = 100;
}
if (Station1.ZaxisServo.IsInPosition(Position.Instance.ZaxisPostion[0].pos) &&
rdbLeftCalib.Checked)
{
pt[0] = Position.Instance.RootPostion[6].X;
pt[1] = Position.Instance.RootPostion[6].Y;
pt[2] = Position.Instance.RootPostion[6].Z;
pt[3] = Position.Instance.RootPostion[6].R;
pt[4] = 0;
pt[5] = 0;
pt[6] = (int)(tbrJogSpeed.Value);
mYAMAHA.MovP(pt);
step = 100;
}
break;
case 100: //机械手去拍照位置
stuts(5);
if (mYAMAHA.CurrentPosX == Position.Instance.RootPostion[5].X &&
mYAMAHA.CurrentPosY == Position.Instance.RootPostion[5].Y &&
mYAMAHA.CurrentPosZ == Position.Instance.RootPostion[5].Z &&
mYAMAHA.CurrentPosR == Position.Instance.RootPostion[5].R &&
rdbLeftCalib.Checked)
{
step = 110;
}
if (mYAMAHA.CurrentPosX == Position.Instance.RootPostion[6].X &&
mYAMAHA.CurrentPosY == Position.Instance.RootPostion[6].Y &&
mYAMAHA.CurrentPosZ == Position.Instance.RootPostion[6].Z &&
mYAMAHA.CurrentPosR == Position.Instance.RootPostion[6].R &&
rdbRightCalib.Checked)
{
step = 110;
}
break;
case 110: //拍照
stuts(6);
pos1 = Station1.GetPmMark1(10, 10);
pos2 = Station1.GetPmMark2(10, 10);
pos3 = Station1.GetPmMark3(10, 10);
pos4 = Station1.GetPmMark4(10, 10);
step = 120;
break;
case 120: //拍照完计算
Point <double> p11 = pp(pos1);
Point <double> p12 = pp(pos2);
Point <double> p13 = pp(pos3);
Point <double> p14 = pp(pos4);
posd2 = Calib.ConventToPos(p11, p12, p13, p14, Config.Instance.PhotoAngleOffice[0], Config.Instance.PhotoAngleOffice[1],
Config.Instance.PhotoAngleOffice[2], Config.Instance.PhotoAngleOffice[3]);
step = 130;
break;
case 130: //
stuts(7);
if (rdbLeftCalib.Checked)
{
Config.Instance.OfficePhoto[0].X = posd2.X + posd1.X;
Config.Instance.OfficePhoto[0].Y = posd2.Y + posd1.Y;
}
if (rdbRightCalib.Checked)
{
Config.Instance.OfficePhoto[1].X = posd2.X + posd1.X;
Config.Instance.OfficePhoto[1].Y = posd2.Y + posd1.Y;
}
step = 140;
break;
case 140: //标定完成
MessageBox.Show("标定完成");
step = 150;
break;
default:
stuts(0);
Global.IsLocating = false;
return(0);
}
}
}
catch (System.Exception ex)
{
Global.IsLocating = false;
LogHelper.Error("设备驱动程序异常" + ex);
return(-2);
}
}, TaskCreationOptions.AttachedToParent | TaskCreationOptions.LongRunning);
Global.IsLocating = false;
}