private void menuItem_Apply_Click(object sender, EventArgs e)
{
try
{
ABB.Robotics.Controllers.RapidDomain.RapidData boolBlocksiFr1ArcStable = rwSystem.Controller.Rapid.GetRapidData("T_ROB1", "GlobalDataModule", "boolBlocksiFr1ArcStable");
ABB.Robotics.Controllers.RapidDomain.Bool bBlocksiFr1ArcStable = new ABB.Robotics.Controllers.RapidDomain.Bool(this.checkBox_boolBlocksiFr1ArcStable.Checked);
boolBlocksiFr1ArcStable.Value = bBlocksiFr1ArcStable;
boolBlocksiFr1ArcStable.Dispose();
ABB.Robotics.Controllers.RapidDomain.RapidData numBlocksiArcStableLength = rwSystem.Controller.Rapid.GetRapidData("T_ROB1", "GlobalDataModule", "numBlocksiArcStableLength");
ABB.Robotics.Controllers.RapidDomain.Num nBlocksiArcStableLength = new ABB.Robotics.Controllers.RapidDomain.Num(Convert.ToDouble(this.numEditor_numBlocksiArcStableLength.Value));
numBlocksiArcStableLength.Value = nBlocksiArcStableLength;
numBlocksiArcStableLength.Dispose();
this.rwSystem.ApplyTpsControl("T_ROB1", "GlobalDataModule", "numIsometricalSaddleCoefficient", this.numEditor_numIsometricalSaddleCoefficient);
this.rwSystem.ApplyTpsControl("T_ROB1", "GlobalDataModule", "numShoulderGrooveCoefficient", this.numEditor_numShoulderGrooveCoefficient);
this.rwSystem.ApplyTpsControl("T_ROB1", "GlobalDataModule", "numTorchCleanIntervalCount", this.numEditor_numTorchCleanIntervalCount);
this.menuItem_Apply.Enabled = false;
}
catch (Exception ex)
{
GTPUMessageBox.Show(this.Parent.Parent, null
, string.Format("An unexpected error occurred when applying RAPID data 'rPipeGrooveModel'. Message {0}", ex.ToString())
, "System Error"
, System.Windows.Forms.MessageBoxIcon.Hand
, System.Windows.Forms.MessageBoxButtons.OK);
}
}
public void ApplyTpsControl(string strTaskName, string strModuleName, string strDataName, TpsControl tpsControl)
{
if (tpsControl is NumEditor)
{
ABB.Robotics.Controllers.RapidDomain.RapidData rapidData = this.controller.Rapid.GetRapidData(strTaskName, strModuleName, strDataName);
ABB.Robotics.Controllers.RapidDomain.Num number = new ABB.Robotics.Controllers.RapidDomain.Num(Convert.ToDouble(((NumEditor)tpsControl).Value));
rapidData.Value = number;
rapidData.Dispose();
}
}
public void RefreshTpsControl(string strTaskName, string strModuleName, string strDataName, TpsControl tpsControl)
{
if (tpsControl is NumEditor)
{
ABB.Robotics.Controllers.RapidDomain.RapidData rapidData = this.controller.Rapid.GetRapidData(strTaskName, strModuleName, strDataName);
ABB.Robotics.Controllers.RapidDomain.Num number = new ABB.Robotics.Controllers.RapidDomain.Num();
number.FillFromString(rapidData.Value.ToString());
((NumEditor)tpsControl).Value = Convert.ToDecimal(number);
rapidData.Dispose();
}
}
private void StartProduction()
{
try
{
if (controller.OperatingMode == ControllerOperatingMode.Auto)
{
ABB.Robotics.Controllers.RapidDomain.RapidData rd = controller.Rapid.GetRapidData("T_ROB1", "Module1", "Target_20");
using (Mastership m = Mastership.Request(controller.Rapid))
{
//ABB.Robotics.Controllers.RapidDomain.RobTarget robtarget = new ABB.Robotics.Controllers.RapidDomain.RobTarget();
ABB.Robotics.Controllers.RapidDomain.Pos postarget = new ABB.Robotics.Controllers.RapidDomain.Pos();
postarget.X = CameraCapture.armtargetx;
postarget.Y = CameraCapture.armtargety;
postarget.Z = CameraCapture.rtz;
//robtarget.FillFromString2("[[x,0,0],[0.350268087,-0.408874117,0.842669585,-0.006495725],[1,-1,1,0],[9E9,9E9,9E9,9E9,9E9,9E9]]");
//robtarget.Trans.X = CameraCapture.rtx;
//robtarget.Trans.Y = CameraCapture.rty;
//robtarget.Trans.Z = CameraCapture.rtz;
//robtarget.Rot.Q1 = 0.350268087;
//robtarget.Rot.Q2 = -0.408874117;
//robtarget.Rot.Q3 = 0.842669585;
//robtarget.Rot.Q4 = -0.00649572;
//robtarget.Extax.Eax_a = 1;
//robtarget.Extax.Eax_b = -1;
//robtarget.Extax.Eax_c = 1;
//robtarget.Extax.Eax_d = 0;
//rd.Value = robtarget;
this.controller.Rapid.Start();
}
}
else
{
MessageBox.Show("Automatic mode is required to start execution from a remote client.");
}
}
catch (System.InvalidOperationException ex)
{
MessageBox.Show("Mastership is held by another client. " + ex.Message);
}
catch (System.Exception ex)
{
MessageBox.Show("Unexpected error occurred: " + ex.Message);
}
//set targetfound to false
CameraCapture.targetfound = false;
}
void update_values()
{
DateTime t0 = DateTime.Now;
rdice = aTask[0].GetRapidData("MainModule", "dice_txt");
rangle = aTask[0].GetRapidData("MainModule", "angle_txt");
rx = aTask[0].GetRapidData("MainModule", "x_txt");
ry = aTask[0].GetRapidData("MainModule", "y_txt");
roffset = aTask[0].GetRapidData("MainModule", "roffset");
try
{
if (rx.Value is ABB.Robotics.Controllers.RapidDomain.Num)
{
val = (ABB.Robotics.Controllers.RapidDomain.Num)rx.Value;
val.FillFromNum(arr[0]);
using (Mastership.Request(this.controller.Rapid))
{
rx.Value = val;
}
}
if (ry.Value is ABB.Robotics.Controllers.RapidDomain.Num)
{
val = (ABB.Robotics.Controllers.RapidDomain.Num)ry.Value;
val.FillFromNum(arr[1]);
using (Mastership.Request(this.controller.Rapid))
{
ry.Value = val;
}
}
if (rdice.Value is ABB.Robotics.Controllers.RapidDomain.Num)
{
val = (ABB.Robotics.Controllers.RapidDomain.Num)rdice.Value;
val.FillFromNum(arr[2]);
using (Mastership.Request(this.controller.Rapid))
{
rdice.Value = val;
}
}
if (rangle.Value is ABB.Robotics.Controllers.RapidDomain.Num)
{
val = (ABB.Robotics.Controllers.RapidDomain.Num)rangle.Value;
val.FillFromNum(arr[3]);
using (Mastership.Request(this.controller.Rapid))
{
rangle.Value = val;
}
}
//Register time intervar for updating//
double total_D;
DateTime t1 = DateTime.Now;
TimeSpan total = new TimeSpan(t1.Ticks - t0.Ticks);
total_D = total.TotalMilliseconds;
if (total_D > max)
{
max = total_D;
}
textBox2.Text = (max.ToString());
/////////////////////////////////////
if (roffset.Value is ABB.Robotics.Controllers.RapidDomain.Num)
{
val = (ABB.Robotics.Controllers.RapidDomain.Num)roffset.Value;
val.FillFromNum(total_D);
using (Mastership.Request(this.controller.Rapid))
{
roffset.Value = val;
}
}
}
catch (System.Exception ex)
{
MessageBox.Show("Reading ERROR: " + ex.Message);
}
}
