/// <summary>
/// 保存修改下发机器人速度
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnSaveRobotSpeed_Click(object sender, EventArgs e)
{
//更新全局变量
Global.RobotAutoSpeed = Convert.ToInt32(nudRobotAutoSpeed.Value);
Global.RobotManualSpeed = Convert.ToInt32(nudRobotManualSpeed.Value);
Global.RobotMoveSpeed = Convert.ToInt32(nudRobotMoveSpeed.Value);
//保存至INI文件
Global.AProductINI.IniWriteValue("机器人参数", "机器人自动速度", Global.RobotAutoSpeed.ToString());
Global.AProductINI.IniWriteValue("机器人参数", "机器人手动速度", Global.RobotManualSpeed.ToString());
Global.AProductINI.IniWriteValue("机器人参数", "机器人插补速度", Global.RobotMoveSpeed.ToString());
//下发至机器人全局保存变量
FrmIniRobot.RobotSpel.SetVar("AutoSpeed", Global.RobotAutoSpeed);
FrmIniRobot.RobotSpel.SetVar("ManualSpeed", Global.RobotManualSpeed);
FrmIniRobot.RobotSpel.SetVar("MoveSpeed", Global.RobotMoveSpeed);
//实时修改机器人速度
if (Global.RobotReady)
{
if (FrmIniRobot.RobotSpel.MemSw("AutoMode"))
{
FrmIniRobot.RobotSpeed(Global.RobotAutoSpeed, Global.RobotMoveSpeed);
}
else
{
FrmIniRobot.RobotSpeed(Global.RobotManualSpeed, Global.RobotMoveSpeed);
}
}
showMeesage("机器人速度下发成功", 1);
}
private void tsbtnExit_Click(object sender, EventArgs e) //退出系统
{
if (MessageBox.Show("是否退出系统？", "提示！", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
{
Common.myLog.writeOperateContent("退出系统", Global.UserPermission, Global.UserPermission);
IO.PLCReceiveStart = false; //关闭刷新IO线程
statusToolsStart = false; //关闭状态栏刷新线程
if (Global.RobotReady)
{
FrmIniRobot.RobotDisconnect();
}
FrmIniRobot.RobotSpel.Dispose();//释放机器人SKD资源
if (Global.ConnectSuccess1)
{
smart200_1.Write(Global.M_AutoMode, false); //切换手动模式
smart200_1.Write(Global.M_ManualMode, true);
smart200_1.ConnectClose(); //关闭与PLC1的连接
}
if (Global.ConnectSuccess2)
{
smart200_2.ConnectClose();//关闭与PLC2的连接
}
Application.DoEvents();
Application.Exit();
}
}
/// <summary>
/// 下载至机器人
/// </summary>
private void downloadRobotVar()
{
try
{
if (Global.RobotReady)
{
FrmIniRobot.RobotSpel.SetVar("GrapDelayTime", Global.RobotGripDelay / 1000);
FrmIniRobot.RobotSpel.SetVar("CamDelay", Global.CamDelay / 1000);
FrmIniRobot.RobotSpel.SetVar("AutoSpeed", Global.RobotAutoSpeed);
FrmIniRobot.RobotSpel.SetVar("ManualSpeed", Global.RobotManualSpeed);
FrmIniRobot.RobotSpel.SetVar("MoveSpeed", Global.RobotMoveSpeed);
FrmIniRobot.RobotSpel.SetVar("zh", Global.RobotSafeHeight);
FrmIniRobot.RobotSpel.SetVar("CamNGLimit", Global.CamNGlimit);
FrmIniRobot.RobotSpel.SetVar("ProductVNSelect$", Global.CamProductSelect);
FrmIniRobot.RobotSpel.SetVar("PhotoSavePath$", Global.PhotoSavePath);
FrmIniRobot.RobotSendBool("CamUpAEnable", Global.CamAUpEnable);
FrmIniRobot.RobotSendBool("CamDownAEnable", Global.CamADownEnable);
FrmIniRobot.RobotSendBool("CamUpBEnable", Global.CamBUpEnable);
FrmIniRobot.RobotSendBool("CamDownBEnable", Global.CamBDownEnable);
FrmIniRobot.RobotSendBool("PhotoPassSaveEnable", Global.PhotoPassSaveEnable);
FrmIniRobot.RobotSendBool("PhotoNGSaveEnable", Global.PhotoNGSaveEnable);
FrmIniRobot.RobotSendBool("CamDownExceedEnable", Global.CamDownExceedEnable);
showMeesage("下载至机器人成功", 0);
}
else
{
showMeesage("参数已保存，机器人未连接，未下载！", 1);
}
}
catch (Exception e)
{
MessageBox.Show(e.ToString());
showMeesage("下载至机器人失败", 1);
}
}
private void btnRobotStart_Click(object sender, EventArgs e)
{
FrmIniRobot.RobotStar(true);
}
