public NozzleCheck(NozzleCheckCmd nozzleCheckCmd, CoordinateCorrector coordinateCorrector)
{
this.NozzleCheckCmd = nozzleCheckCmd;
Log.Dprint("nozzle check dot position : " + nozzleCheckCmd.Position + ", real : " + position);
this.position = coordinateCorrector.Correct(nozzleCheckCmd.RunnableModule,
nozzleCheckCmd.Position, Executor.Instance.Program.ExecutantOriginOffset);
this.ModelFindPrm = nozzleCheckCmd.ModelFindPrm;
this.GrayCheckPrm = nozzleCheckCmd.GrayCheckPrm;
this.CheckThm = nozzleCheckCmd.CheckThm;
this.IsOkAlarm = nozzleCheckCmd.IsOkAlarm;
this.param = nozzleCheckCmd.RunnableModule.CommandsModule.Program.ProgramSettings.GetDotParam(nozzleCheckCmd.DotStyle);
this.isWeightControl = nozzleCheckCmd.IsWeightControl;
this.weight = nozzleCheckCmd.Weight;
this.isGlobal = nozzleCheckCmd.isGlobal;
this.nozzleStyle = nozzleCheckCmd.NozzleStyle;
this.RunnableModule = nozzleCheckCmd.RunnableModule;
Program = nozzleCheckCmd.RunnableModule.CommandsModule.Program;
if (nozzleCheckCmd.AssociatedMeasureHeightCmd != null)
{
curMeasureHeightValue = nozzleCheckCmd.AssociatedMeasureHeightCmd.RealHtValue;
}
else
{
curMeasureHeightValue = this.RunnableModule.MeasuredHt;
}
}
private void Init()
{
this.valveControl1.Setup(2);
for (int i = 0; i < 10; i++)
{
this.cbxDotStyle.Items.Add("Type " + (i + 1));
}
this.cbxDotStyle.SelectedIndex = 0;
this.dotStyle = DotStyle.TYPE_1;
this.dotParam = FluidProgram.CurrentOrDefault().ProgramSettings.GetDotParam(this.dotStyle);
if (DataSetting.Default.selectDispenseMode)
{
this.rdoDispenseMode.Checked = true;
}
else
{
this.rdoPlasticineMode.Checked = true;
}
switch (DataSetting.Default.selectCorrectionAxis)
{
case CorrectionAxis.A轴校正:
this.rdoAxisA.Checked = true;
break;
case CorrectionAxis.B轴校正:
this.rdoAxisB.Checked = true;
break;
case CorrectionAxis.A轴和B轴同时校正:
this.rdoAxisAandB.Checked = true;
break;
}
}
public Dot(DotCmd dotCmd, CoordinateCorrector coordinateCorrector)
{
//this.Valve = dotCmd.Valve;
this.RunnableModule = dotCmd.RunnableModule;
if (this.RunnableModule.Mode == ModuleMode.AssignMode1 || this.RunnableModule.Mode == ModuleMode.MainMode)
{
this.Valve = ValveType.Valve1;
}
else if (this.RunnableModule.Mode == ModuleMode.DualFallow)
{
this.Valve = ValveType.Both;
}
else
{
this.Valve = ValveType.Valve2;
}
position = coordinateCorrector.Correct(dotCmd.RunnableModule, dotCmd.Position, Executor.Instance.Program.ExecutantOriginOffset);
Log.Dprint("Dot position : " + dotCmd.Position + ", real : " + position);
param = dotCmd.RunnableModule.CommandsModule.Program.ProgramSettings.GetDotParam(dotCmd.DotStyle);
isWeightControl = dotCmd.IsWeightControl;
weight = dotCmd.Weight;
this.isAssign = dotCmd.IsAssign;
this.numShots = dotCmd.NumShots;
Program = dotCmd.RunnableModule.CommandsModule.Program;
if (dotCmd.AssociatedMeasureHeightCmd != null)
{
curMeasureHeightValue = dotCmd.AssociatedMeasureHeightCmd.RealHtValue;
}
else
{
curMeasureHeightValue = this.RunnableModule.MeasuredHt;
}
this.Tilt = dotCmd.Tilt;
}
public Dot(DotCmd dotCmd)
{
//this.Valve = dotCmd.Valve;
this.RunnableModule = dotCmd.RunnableModule;
if (this.RunnableModule.Mode == ModuleMode.AssignMode1 || this.RunnableModule.Mode == ModuleMode.MainMode)
{
this.Valve = ValveType.Valve1;
}
else if (this.RunnableModule.Mode == ModuleMode.DualFallow)
{
this.Valve = ValveType.Both;
}
else
{
this.Valve = ValveType.Valve2;
}
position = dotCmd.Position;
param = dotCmd.RunnableModule.CommandsModule.Program.ProgramSettings.GetDotParam(dotCmd.DotStyle);
isWeightControl = dotCmd.IsWeightControl;
weight = dotCmd.Weight;
this.isAssign = dotCmd.IsAssign;
this.numShots = dotCmd.NumShots;
Program = dotCmd.RunnableModule.CommandsModule.Program;
if (dotCmd.AssociatedMeasureHeightCmd != null)
{
curMeasureHeightValue = dotCmd.AssociatedMeasureHeightCmd.RealHtValue;
}
else
{
curMeasureHeightValue = this.RunnableModule.MeasuredHt;
}
}
public CalculateTheNeedleXYOffset(int valveNo)
{
this.valveNo = valveNo;
InitializeComponent();
this.valveControl1.Setup(valveNo);
if (this.valveNo == 1)
{
this.picDiagram.Image = Properties.Resources.CalculateTheNeedleXYOffset;
}
else
{
this.picDiagram.Image = Properties.Resources.CalculateTheNeedle2XYOffset;
}
UpdateByFlag();
for (int i = 0; i < 10; i++)
{
cbxDotStyle.Items.Add("Type " + (i + 1));
}
cbxDotStyle.SelectedIndex = 9;
dotParam = FluidProgram.CurrentOrDefault().ProgramSettings.GetDotParam(dotStyle);
this.ReadLanguageResources();
this.FormClosed += CalculateTheNeedleXYOffset_FormClosed;
}
public void Setup(object[] objs)
{
dotParam = FluidProgram.CurrentOrDefault().ProgramSettings.GetDotParam(dotStyle);
this.tileType = (TiltType)objs[0];
this.valveAngle = (double)objs[1];
this.valveCameraOffset = (PointD)objs[2];
this.standardZ = (double)objs[3];
}
private void DispensingPot()
{
this.btnPrev.Enabled = false;
this.btnNext.Enabled = false;
this.grpVavelParam.Enabled = false;
this.lblTitle.Text = this.lblTip[3];
this.dotStyle = (DotStyle)this.cbxDotStyle.SelectedIndex;
this.dotParam = FluidProgram.CurrentOrDefault().ProgramSettings.GetDotParam(this.dotStyle);
Task.Factory.StartNew(new Action(() =>
{
Machine.Instance.Robot.MoveSafeZAndReply();
Result result;
double dot1Z;//, dot2Z, dot3Z;
result = this.HeightMeasure(out dot1Z);
if (!result.IsOk)
{
this.btnPrev.Enabled = true;
return;
}
result = Machine.Instance.Valve2.DoPurgeAndPrime();
if (!result.IsOk)
{
this.btnPrev.Enabled = true;
return;
}
this.ContinueDot(dot1Z);
this.BeginInvoke(new Action(() =>
{
this.btnPrev.Enabled = true;
this.btnNext.Enabled = true;
}));
}));
}
private void UpdateByIndex()
{
switch (index)
{
case 0:
this.txtMsg.Text = "用相机寻找到打胶中心，按 [下一步]，将会在距离寻找到的中心半径5mm的四个方向打胶";
this.btnNext.Enabled = true;
break;
case 1:
this.dispensePos = Machine.Instance.Robot.PosXY;
this.dotStyle = (DotStyle)this.cbxDotStyle.SelectedIndex;
this.dotParam = FluidProgram.CurrentOrDefault().ProgramSettings.GetDotParam(dotStyle);
this.gap = this.dotParam.DispenseGap;
Task.Factory.StartNew(new Action(() =>
{
bool b = this.MeasureHeightAndDot();
this.BeginInvoke(new Action(() =>
{
if (b)
{
this.txtMsg.Text = "点胶结束,按 [下一步]，将会移动到第一个点胶位置";
}
else
{
this.txtMsg.Text = "点胶失败";
this.btnNext.Enabled = false;
}
}));
}));
break;
case 2:
this.txtMsg.Text = "找到第一个胶点的中心位置，按 [下一步]";
Machine.Instance.Robot.MoveSafeZAndReply();
//移动到点1附近
PointD p1 = new PointD(this.dispensePos.X - 5, this.dispensePos.Y + 5);
Machine.Instance.Robot.ManualMovePosXY(p1);
this.txtDot2Offset.BackColor = Color.White;
this.txtDot3Offset.BackColor = Color.White;
this.txtDot4Offset.BackColor = Color.White;
break;
case 3:
//计算实际点胶中心和胶阀中心的差值
this.dotValveOffset = new PointD(Machine.Instance.Robot.PosX - (this.dispensePos.X - 5), Machine.Instance.Robot.PosY - (this.dispensePos.Y + 5));
this.txtMsg.Text = "找到第二个胶点的中心位置，按 [下一步]";
PointD p2 = new PointD(this.dispensePos.X + 5, this.dispensePos.Y + 5);
Machine.Instance.Robot.ManualMovePosXY(p2);
break;
case 4:
//计算修正后,在点2时实际点胶中心和胶阀中心的差值
PointD dot2Offset = new PointD();
dot2Offset.X = Machine.Instance.Robot.PosX - (this.dispensePos.X + 5 + this.dotValveOffset.X);
dot2Offset.Y = Machine.Instance.Robot.PosY - (this.dispensePos.Y + 5 + this.dotValveOffset.Y);
this.dot2TotalOffset = Math.Sqrt(Math.Pow(dot2Offset.X, 2) + Math.Pow(dot2Offset.Y, 2));
this.txtDot2Offset.Text = dot2TotalOffset.ToString();
this.txtMsg.Text = "找到第三个胶点的中心位置，按 [下一步]";
Machine.Instance.Robot.MoveSafeZAndReply();
PointD p3 = new PointD(this.dispensePos.X - 5, this.dispensePos.Y - 5);
Machine.Instance.Robot.ManualMovePosXY(p3);
break;
case 5:
//计算修正后,在点2时实际点胶中心和胶阀中心的差值
PointD dot3Offset = new PointD();
dot3Offset.X = Machine.Instance.Robot.PosX - (this.dispensePos.X - 5 + this.dotValveOffset.X);
dot3Offset.Y = Machine.Instance.Robot.PosY - (this.dispensePos.Y - 5 + this.dotValveOffset.Y);
this.dot3TotalOffset = Math.Sqrt(Math.Pow(dot3Offset.X, 2) + Math.Pow(dot3Offset.Y, 2));
this.txtDot3Offset.Text = dot3TotalOffset.ToString();
this.txtMsg.Text = "找到第四个胶点的中心位置，按 [下一步]";
Machine.Instance.Robot.MoveSafeZAndReply();
PointD p4 = new PointD(this.dispensePos.X + 5, this.dispensePos.Y - 5);
Machine.Instance.Robot.ManualMovePosXY(p4);
break;
case 6:
//计算修正后,在点2时实际点胶中心和胶阀中心的差值
PointD dot4Offset = new PointD();
dot4Offset.X = Machine.Instance.Robot.PosX - (this.dispensePos.X + 5 + this.dotValveOffset.X);
dot4Offset.Y = Machine.Instance.Robot.PosY - (this.dispensePos.Y - 5 + this.dotValveOffset.Y);
this.dot4TotalOffset = Math.Sqrt(Math.Pow(dot4Offset.X, 2) + Math.Pow(dot4Offset.Y, 2));
this.txtDot4Offset.Text = dot4TotalOffset.ToString();
if (this.dot2TotalOffset > Convert.ToDouble(this.txtTolerance.Text))
{
this.rdoFail.Checked = true;
this.rdoFail.Enabled = true;
this.txtDot2Offset.BackColor = Color.DarkRed;
}
if (dot3TotalOffset > Convert.ToDouble(this.txtTolerance.Text))
{
this.rdoFail.Checked = true;
this.rdoFail.Enabled = true;
this.txtDot3Offset.BackColor = Color.DarkRed;
}
if (dot4TotalOffset > Convert.ToDouble(this.txtTolerance.Text))
{
this.rdoFail.Checked = true;
this.rdoFail.Enabled = true;
this.txtDot4Offset.BackColor = Color.DarkRed;
}
if ((dot2TotalOffset <= Convert.ToDouble(this.txtTolerance.Text)) &&
(dot3TotalOffset <= Convert.ToDouble(this.txtTolerance.Text)) &&
(dot4TotalOffset <= Convert.ToDouble(this.txtTolerance.Text)))
{
this.rdoOK.Checked = true;
this.rdoOK.Enabled = true;
this.txtDot2Offset.BackColor = Color.White;
this.txtDot3Offset.BackColor = Color.White;
this.txtDot4Offset.BackColor = Color.White;
}
this.txtMsg.Text = "四点校正完成";
break;
}
}
private void UpdateByFlag()
{
switch (flag)
{
case 0:
this.pnlDisplay.Controls.Clear();
this.pnlDisplay.Controls.Add(this.picDiagram);
this.picDiagram.Show();
this.btnPrev.Enabled = false;
this.btnNext.Enabled = true;
this.btnTeach.Enabled = false;
this.btnDone.Enabled = false;
this.lblTitle.Text = this.lblTip[0];
break;
case 1:
Task.Factory.StartNew(new Action(() =>
{
//抬起到SafeZ
Machine.Instance.Robot.MoveSafeZAndReply();
//移动到默认平台中心点
Machine.Instance.Robot.ManualMovePosXYAndReply(DataSetting.Default.SubstrateCenter);
if (Machine.Instance.Laser.Laserable.Vendor == Laser.Vendor.Disable)
{
Machine.Instance.Robot.MovePosZAndReply(DataSetting.Default.NeedleJetZ);
MessageBox.Show("此时的Z轴高度为打胶时的参考高度");
}
}));
case2IsDone = false;
//
this.pnlDisplay.Controls.Clear();
this.pnlDisplay.Controls.Add(this.cameraControl);
this.cameraControl.Dock = DockStyle.Fill;
this.cameraControl.Show();
this.btnPrev.Enabled = true;
this.btnNext.Enabled = false;
this.btnTeach.Enabled = true;
this.btnDone.Enabled = false;
this.lblTitle.Text = this.lblTip[1];
break;
case 2:
if (case2IsDone == false)
{
//重新赋值平台中心点
DataSetting.Default.SubstrateCenter = new PointD(Machine.Instance.Robot.PosX, Machine.Instance.Robot.PosY);
if (Machine.Instance.Laser.Laserable.Vendor == Laser.Vendor.Disable)
{
DataSetting.Default.NeedleJetZ = Machine.Instance.Robot.PosZ;
}
}
else
{
}
this.btnPrev.Enabled = false;
this.btnNext.Enabled = false;
this.btnTeach.Enabled = false;
this.btnDone.Enabled = false;
this.btnEditDot.Enabled = false;
this.cbxDotStyle.Enabled = false;
this.dotStyle = (DotStyle)this.cbxDotStyle.SelectedIndex;
this.dotParam = FluidProgram.CurrentOrDefault().ProgramSettings.GetDotParam(dotStyle);
Task.Factory.StartNew(() =>
{
double z1 = 0;
double z2 = 0;
double z3 = 0;
double z4 = 0;
if (Machine.Instance.Laser.Laserable.Vendor != Laser.Vendor.Disable)
{
int rst;
//关闭光源
Machine.Instance.Light.None();
Machine.Instance.MeasureHeightBefore();
//去点1处测高
Machine.Instance.Robot.ManualMovePosXYAndReply(
DataSetting.Default.SubstrateCenter.X - 5 + Machine.Instance.Robot.CalibPrm.HeightCamera.X,
DataSetting.Default.SubstrateCenter.Y + 5 + Machine.Instance.Robot.CalibPrm.HeightCamera.Y);
double height1;
rst = Machine.Instance.Laser.Laserable.ReadValue(new TimeSpan(0, 0, 1), out height1);
if (rst != 0)
{
MessageBox.Show(this.lblTip[2]);
return;
}
z1 = Machine.Instance.Robot.CalibPrm.StandardZ + (height1 - Machine.Instance.Robot.CalibPrm.StandardHeight);
//去点2处测高
Machine.Instance.Robot.ManualMovePosXYAndReply(
DataSetting.Default.SubstrateCenter.X + 5 + Machine.Instance.Robot.CalibPrm.HeightCamera.X,
DataSetting.Default.SubstrateCenter.Y + 5 + Machine.Instance.Robot.CalibPrm.HeightCamera.Y);
double height2;
rst = Machine.Instance.Laser.Laserable.ReadValue(new TimeSpan(0, 0, 1), out height2);
if (rst != 0)
{
MessageBox.Show(this.lblTip[2]);
return;
}
z2 = Machine.Instance.Robot.CalibPrm.StandardZ + (height2 - Machine.Instance.Robot.CalibPrm.StandardHeight);
//去点3处测高
Machine.Instance.Robot.ManualMovePosXYAndReply(
DataSetting.Default.SubstrateCenter.X + 5 + Machine.Instance.Robot.CalibPrm.HeightCamera.X,
DataSetting.Default.SubstrateCenter.Y - 5 + Machine.Instance.Robot.CalibPrm.HeightCamera.Y);
double height3;
rst = Machine.Instance.Laser.Laserable.ReadValue(new TimeSpan(0, 0, 1), out height3);
if (rst != 0)
{
MessageBox.Show(this.lblTip[2]);
return;
}
z3 = Machine.Instance.Robot.CalibPrm.StandardZ + (height3 - Machine.Instance.Robot.CalibPrm.StandardHeight);
//去点4处测高
Machine.Instance.Robot.ManualMovePosXYAndReply(
DataSetting.Default.SubstrateCenter.X - 5 + Machine.Instance.Robot.CalibPrm.HeightCamera.X,
DataSetting.Default.SubstrateCenter.Y - 5 + Machine.Instance.Robot.CalibPrm.HeightCamera.Y);
double height4;
rst = Machine.Instance.Laser.Laserable.ReadValue(new TimeSpan(0, 0, 1), out height4);
if (rst != 0)
{
MessageBox.Show(this.lblTip[2]);
return;
}
z4 = Machine.Instance.Robot.CalibPrm.StandardZ + (height4 - Machine.Instance.Robot.CalibPrm.StandardHeight);
//打开光源
Machine.Instance.Light.ResetToLast();
Machine.Instance.MeasureHeightAfter();
}
else
{
z1 = DataSetting.Default.NeedleJetZ;
}
//去清洗位置洗喷嘴
Result result;
Machine.Instance.Robot.MoveSafeZAndReply();
if (this.valveNo == 1)
{
result = Machine.Instance.Valve1.DoPurgeAndPrime();
}
else
{
result = Machine.Instance.Valve2.DoPurgeAndPrime();
}
if (!result.IsOk)
{
MessageBox.Show(lblTip[13]);
return;
}
this.BeginInvoke(new Action(() =>
{
//到点胶位置1点胶
this.lblTitle.Text = this.lblTip[3];
}));
//抬起到SafeZ
Machine.Instance.Robot.MoveSafeZAndReply();
if (this.valveNo == 1)
{
//移动到点胶位置1
PointD p1 = (DataSetting.Default.SubstrateCenter + new PointD(-5, 5)).ByNeedleCamera(ValveType.Valve1);
Machine.Instance.Robot.ManualMovePosXYAndReply(p1);
//点胶
this.DotByParam(1, z1);
}
else
{
//移动到点胶位置1
Machine.Instance.Robot.ManualMovePosXYAndReply(
DataSetting.Default.SubstrateCenter.X - 5 + Machine.Instance.Robot.CalibPrm.NeedleCamera2.X,
DataSetting.Default.SubstrateCenter.Y + 5 + Machine.Instance.Robot.CalibPrm.NeedleCamera2.Y);
//点胶
this.DotByParam(2, z1);
}
//到点胶位置2点胶
this.BeginInvoke(new Action(() =>
{
this.lblTitle.Text = this.lblTip[4];
}));
//抬起到SafeZ
Machine.Instance.Robot.MoveSafeZAndReply();
if (this.valveNo == 1)
{
//移动到点胶位置2
PointD p2 = (DataSetting.Default.SubstrateCenter + new PointD(5, 5)).ByNeedleCamera(Drive.ValveSystem.ValveType.Valve1);
Machine.Instance.Robot.ManualMovePosXYAndReply(p2);
//点胶
this.DotByParam(1, z1);
}
else
{
//移动到点胶位置2
Machine.Instance.Robot.ManualMovePosXYAndReply(
DataSetting.Default.SubstrateCenter.X + 5 + Machine.Instance.Robot.CalibPrm.NeedleCamera2.X,
DataSetting.Default.SubstrateCenter.Y + 5 + Machine.Instance.Robot.CalibPrm.NeedleCamera2.Y);
//点胶
this.DotByParam(2, z1);
}
//到点胶位置3点胶
this.BeginInvoke(new Action(() =>
{
this.lblTitle.Text = this.lblTip[5];
}));
//抬起到SafeZ
Machine.Instance.Robot.MoveSafeZAndReply();
if (this.valveNo == 1)
{
//移动到点胶位置3
PointD p3 = (DataSetting.Default.SubstrateCenter + new PointD(-5, -5)).ByNeedleCamera(Drive.ValveSystem.ValveType.Valve1);
Machine.Instance.Robot.ManualMovePosXYAndReply(p3);
//点胶
this.DotByParam(1, z1);
}
else
{
//移动到点胶位置3
Machine.Instance.Robot.ManualMovePosXYAndReply(
DataSetting.Default.SubstrateCenter.X - 5 + Machine.Instance.Robot.CalibPrm.NeedleCamera2.X,
DataSetting.Default.SubstrateCenter.Y - 5 + Machine.Instance.Robot.CalibPrm.NeedleCamera2.Y);
//点胶
this.DotByParam(2, z1);
}
//到点胶位置4点胶
this.BeginInvoke(new Action(() =>
{
this.lblTitle.Text = this.lblTip[6];
}));
//抬起到SafeZ
Machine.Instance.Robot.MoveSafeZAndReply();
if (this.valveNo == 1)
{
//移动到点胶位置4
PointD p4 = (DataSetting.Default.SubstrateCenter + new PointD(5, -5)).ByNeedleCamera(Drive.ValveSystem.ValveType.Valve1);
Machine.Instance.Robot.ManualMovePosXYAndReply(p4);
//点胶
this.DotByParam(1, z1);
}
else
{
//移动到点胶位置4
Machine.Instance.Robot.ManualMovePosXYAndReply(
DataSetting.Default.SubstrateCenter.X + 5 + Machine.Instance.Robot.CalibPrm.NeedleCamera2.X,
DataSetting.Default.SubstrateCenter.Y - 5 + Machine.Instance.Robot.CalibPrm.NeedleCamera2.Y);
//点胶
this.DotByParam(2, z1);
}
//四点点胶完成
this.BeginInvoke(new Action(() =>
{
this.lblTitle.Text = this.lblTip[7];
this.btnPrev.Enabled = true;
this.btnNext.Enabled = true;
this.btnTeach.Enabled = false;
this.btnDone.Enabled = false;
this.btnEditDot.Enabled = true;
this.cbxDotStyle.Enabled = true;
}));
});
break;
case 3:
case2IsDone = true;
//抬起到SafeZ
Machine.Instance.Robot.MoveSafeZAndReply();
//移动到点1附近
PointD p = (DataSetting.Default.SubstrateCenter + new PointD(-5, 5)).ByNeedleJet(Drive.ValveSystem.ValveType.Valve1);
Machine.Instance.Robot.ManualMovePosXY(p);
this.lblTitle.Text = this.lblTip[8];
this.btnPrev.Enabled = true;
this.btnNext.Enabled = false;
this.btnTeach.Enabled = true;
this.btnDone.Enabled = false;
this.txtDot2Offset.BackColor = Color.White;
this.txtDot3Offset.BackColor = Color.White;
this.txtDot4Offset.BackColor = Color.White;
break;
case 4:
//计算点胶阀中心和真实点胶中心的差值
if (this.valveNo == 1)
{
Machine.Instance.Robot.CalibPrm.NeedleJet1 =
(Machine.Instance.Robot.PosXY.ToSystem() - (DataSetting.Default.SubstrateCenter + new PointD(-5, 5)).ToSystem()).ToPoint();
}
else
{
Machine.Instance.Robot.CalibPrm.NeedleJet2 = new PointD(
Machine.Instance.Robot.PosX - (DataSetting.Default.SubstrateCenter.X - 5),
Machine.Instance.Robot.PosY - (DataSetting.Default.SubstrateCenter.Y + 5));
}
//抬起到SafeZ
Machine.Instance.Robot.MoveSafeZAndReply();
//移动到点2附近
p = (DataSetting.Default.SubstrateCenter + new PointD(5, 5)).ByNeedleJet(Drive.ValveSystem.ValveType.Valve1);
Machine.Instance.Robot.ManualMovePosXY(p);
this.lblTitle.Text = this.lblTip[9];
this.btnPrev.Enabled = true;
this.btnNext.Enabled = false;
this.btnTeach.Enabled = true;
this.btnDone.Enabled = false;
break;
case 5:
//计算修正后，在点2时点胶阀中心和实际点胶中心的差值
PointD dot2Offset = new PointD();
if (this.valveNo == 1)
{
dot2Offset = (Machine.Instance.Robot.PosXY.ToSystem() - ((DataSetting.Default.SubstrateCenter + new PointD(5, 5)).ToSystem() + Machine.Instance.Robot.CalibPrm.NeedleJet1)).ToPoint();
}
else
{
dot2Offset.X = Machine.Instance.Robot.PosX - (DataSetting.Default.SubstrateCenter.X + 5 + Machine.Instance.Robot.CalibPrm.NeedleJet2.X);
dot2Offset.Y = Machine.Instance.Robot.PosY - (DataSetting.Default.SubstrateCenter.Y + 5 + Machine.Instance.Robot.CalibPrm.NeedleJet2.Y);
}
dot2TotalOffset = Math.Sqrt(Math.Pow(dot2Offset.X, 2) + Math.Pow(dot2Offset.Y, 2));
this.txtDot2Offset.Text = dot2TotalOffset.ToString();
//抬起到SafeZ
Machine.Instance.Robot.MoveSafeZAndReply();
//移动到点3附近
p = (DataSetting.Default.SubstrateCenter + new PointD(-5, -5)).ByNeedleJet(Drive.ValveSystem.ValveType.Valve1);
Machine.Instance.Robot.ManualMovePosXY(p);
this.lblTitle.Text = this.lblTip[10];
this.btnPrev.Enabled = true;
this.btnNext.Enabled = false;
this.btnTeach.Enabled = true;
this.btnDone.Enabled = false;
break;
case 6:
//计算修正后，在点3时点胶阀中心和实际点胶中心的差值
PointD dot3Offset = new PointD();
if (this.valveNo == 1)
{
dot3Offset = (Machine.Instance.Robot.PosXY.ToSystem() - ((DataSetting.Default.SubstrateCenter + new PointD(-5, -5)).ToSystem() + Machine.Instance.Robot.CalibPrm.NeedleJet1)).ToPoint();
}
else
{
dot3Offset.X = Machine.Instance.Robot.PosX - (DataSetting.Default.SubstrateCenter.X - 5 + Machine.Instance.Robot.CalibPrm.NeedleJet2.X);
dot3Offset.Y = Machine.Instance.Robot.PosY - (DataSetting.Default.SubstrateCenter.Y - 5 + Machine.Instance.Robot.CalibPrm.NeedleJet2.Y);
}
dot3TotalOffset = Math.Pow((Math.Pow(dot3Offset.X, 2) + Math.Pow(dot3Offset.Y, 2)), 0.5);
this.txtDot3Offset.Text = dot3TotalOffset.ToString();
//抬起到SafeZ
Machine.Instance.Robot.MoveSafeZAndReply();
//移动到点4附近
p = (DataSetting.Default.SubstrateCenter + new PointD(5, -5)).ByNeedleJet(Drive.ValveSystem.ValveType.Valve1);
Machine.Instance.Robot.ManualMovePosXY(p);
this.lblTitle.Text = this.lblTip[11];
this.btnPrev.Enabled = true;
this.btnNext.Enabled = false;
this.btnTeach.Enabled = true;
this.btnDone.Enabled = false;
this.rdoOK.Checked = false;
this.rdoFail.Checked = false;
this.rdoOK.Enabled = false;
this.rdoFail.Enabled = false;
break;
case 7:
//抬起到SafeZ
Machine.Instance.Robot.MoveSafeZAndReply();
//计算修正后，在点4时点胶阀中心和实际点胶中心的差值
PointD dot4Offset = new PointD();
if (this.valveNo == 1)
{
dot4Offset = (Machine.Instance.Robot.PosXY.ToSystem() - ((DataSetting.Default.SubstrateCenter + new PointD(5, -5)).ToSystem() + Machine.Instance.Robot.CalibPrm.NeedleJet1)).ToPoint();
}
else
{
dot4Offset.X = Machine.Instance.Robot.PosX - (DataSetting.Default.SubstrateCenter.X + 5 + Machine.Instance.Robot.CalibPrm.NeedleJet2.X);
dot4Offset.Y = Machine.Instance.Robot.PosY - (DataSetting.Default.SubstrateCenter.Y - 5 + Machine.Instance.Robot.CalibPrm.NeedleJet2.Y);
}
dot4TotalOffset = Math.Pow((Math.Pow(dot4Offset.X, 2) + Math.Pow(dot4Offset.Y, 2)), 0.5);
this.txtDot4Offset.Text = dot4TotalOffset.ToString();
if (dot2TotalOffset > Convert.ToDouble(this.txtTolerance.Text))
{
this.rdoFail.Checked = true;
this.rdoFail.Enabled = true;
this.txtDot2Offset.BackColor = Color.DarkRed;
}
if (dot3TotalOffset > Convert.ToDouble(this.txtTolerance.Text))
{
this.rdoFail.Checked = true;
this.rdoFail.Enabled = true;
this.txtDot3Offset.BackColor = Color.DarkRed;
}
if (dot4TotalOffset > Convert.ToDouble(this.txtTolerance.Text))
{
this.rdoFail.Checked = true;
this.rdoFail.Enabled = true;
this.txtDot4Offset.BackColor = Color.DarkRed;
}
if ((dot2TotalOffset <= Convert.ToDouble(this.txtTolerance.Text)) &&
(dot3TotalOffset <= Convert.ToDouble(this.txtTolerance.Text)) &&
(dot4TotalOffset <= Convert.ToDouble(this.txtTolerance.Text)))
{
this.rdoOK.Checked = true;
this.rdoOK.Enabled = true;
this.txtDot2Offset.BackColor = Color.White;
this.txtDot3Offset.BackColor = Color.White;
this.txtDot4Offset.BackColor = Color.White;
}
this.lblTitle.Text = this.lblTip[12];
this.btnPrev.Enabled = true;
this.btnNext.Enabled = false;
this.btnTeach.Enabled = false;
this.btnDone.Enabled = true;
break;
}
}
private void btnAutoDispense_Click(object sender, EventArgs e)
{
Machine.Instance.Light.None();
PointD p = this.pattern.SystemRel(tbLocationX.Value, tbLocationY.Value);
Machine.Instance.Robot.MoveSafeZAndReply();
PointD pos = (pattern.GetOriginSys() + p).ToMachine();
DotParam param = FluidProgram.Current.ProgramSettings.DotParamList[comboBoxDotType.SelectedIndex];
Result ret = Result.OK;
double targZ;
if (Machine.Instance.Laser.Laserable.Vendor == Drive.Sensors.HeightMeasure.Laser.Vendor.Disable)
{
targZ = FluidProgram.Current.RuntimeSettings.BoardZValue + param.DispenseGap;
}
else
{
double curMeasureHeightValue = 0;
//到对应点位测高
//ret = Machine.Instance.Robot.MovePosXYAndReply(pos.ToLaser());
ret = Machine.Instance.Robot.ManualMovePosXYAndReply(pos.ToLaser());
if (!ret.IsOk)
{
return;
}
//if (Machine.Instance.Setting.MachineSelect == MachineSelection.RTV)
//{
// DoType.测高阀.Set(true);
//}
Machine.Instance.MeasureHeightBefore();
////激光尺读数
Machine.Instance.Laser.Laserable.ReadValue(new TimeSpan(0, 0, 2), out curMeasureHeightValue);
//if (Machine.Instance.Setting.MachineSelect == MachineSelection.RTV)
//{
// DoType.测高阀.Set(false);
//}
//Result res = Machine.Instance.MeasureHeight(out curMeasureHeightValue);
Machine.Instance.MeasureHeightAfter();
if (curMeasureHeightValue == 0)
{
return;
}
targZ = Converter.NeedleBoard2Z(param.DispenseGap, curMeasureHeightValue);
}
// 喷嘴移动到指定位置
//ret = Machine.Instance.Robot.MovePosXYAndReply(pos.ToNeedle(Drive.ValveSystem.ValveType.Valve1));
ret = Machine.Instance.Robot.ManualMovePosXYAndReply(pos.ToNeedle(Drive.ValveSystem.ValveType.Valve1));
if (!ret.IsOk)
{
return;
}
// 下降z轴
ret = Machine.Instance.Robot.MovePosZByToleranceAndReply(targZ, param.DownSpeed, param.DownAccel);
if (!ret.IsOk)
{
return;
}
// 开胶
Machine.Instance.Valve1.SprayOneAndWait((int)this.nudSprayTime.Value);
//回到安全高度
Machine.Instance.Robot.MoveSafeZAndReply();
if (!ret.IsOk)
{
return;
}
//相机到点胶位置
//ret = Machine.Instance.Robot.MovePosXYAndReply(pos);
ret = Machine.Instance.Robot.ManualMovePosXYAndReply(pos);
if (!ret.IsOk)
{
return;
}
Machine.Instance.Light.ResetToLast();
}
