/// <summary>
/// 單一關節Jog移動
/// </summary>
/// <param name="nRobotIndex">手臂代號</param>
/// <param name="nJoint">關節代號</param>
/// <param name="nDir">移動方向</param>
/// <param name="dbSpeedPercentage">速度百分比</param>
/// <returns>回傳是否成功,0:成功, 其他數字:失敗</returns>
public int JogJoint(int nRobotIndex, Joints nJoint, Jog_Directions nDir, Jog_Speed nSpeed)
{
IRobotMotion.IRobotMotion IRobot = m_listRobots[nRobotIndex];
int nRet = IRobot.JogJoint(nJoint, nDir, nSpeed);
return(nRet);
/*
* IRobotMotion.IRobotMotion IRobot = m_listRobots[nRobotIndex];
* double dbAcc = 0;
* double dbDec = 0;
* double dbSpeed = 0;
* if (nSpeed == Jog_Speed.High)
* {
* dbAcc = 10000;dbDec = 10000; dbSpeed = 30;
* }
*
* else if (nSpeed == Jog_Speed.Mid)
* { dbAcc = 10000; dbDec = 10000; dbSpeed = 20; }
*
* else if (nSpeed == Jog_Speed.Mid)
* { dbAcc = 10000; dbDec = 10000; dbSpeed = 10; }
*
*
* double dbValue = 0;
* if (nDir == Jog_Directions.Plus)
* dbValue = 50;
* else if (nDir == Jog_Directions.Minus)
* dbValue = -50;
*
* int nRet = IRobot.MoveSingleJoint(nJoint, MovementsTypes.Abs, UnitTypes.Degree, SpeedTypes.Use, WaitTypes.NoWait, dbValue, dbAcc, dbDec, dbSpeed);
*/
return(nRet);
}
//座標Jog 移動
public virtual int JogCoordnate(Coordnates nCoordnate, Jog_Directions nDir, Jog_Speed nSpeed)
{
int nRet = 0;
double dbValue = 0;
lock (thisLock)
{
/*
* if (nSpeed == Jog_Speed.High)
* nRet = SetAllSpeed(LINE, 300, 2000, 2000);
* else if (nSpeed == Jog_Speed.Mid)
* nRet = SetAllSpeed(LINE, 200, 1000, 1000);
* else if (nSpeed == Jog_Speed.Low)
* nRet = SetAllSpeed(LINE, 100, 500, 500);
*/
if (nSpeed == Jog_Speed.High)
{
nRet = SetAllSpeed(LINE, 20, 20, 20);
}
else if (nSpeed == Jog_Speed.Mid)
{
nRet = SetAllSpeed(LINE, 10, 10, 10);
}
else if (nSpeed == Jog_Speed.Low)
{
nRet = SetAllSpeed(LINE, 5, 5, 5);
}
if (nDir == Jog_Directions.Plus)
{
if (nCoordnate == Coordnates.X)
{
dbValue = 50;
}
else if (nCoordnate == Coordnates.Y)
{
dbValue = 50;
}
else if (nCoordnate == Coordnates.Z)
{
dbValue = 50;
}
else if (nCoordnate == Coordnates.Rx)
{
dbValue = 50;
}
else if (nCoordnate == Coordnates.Ry)
{
dbValue = 50;
}
else if (nCoordnate == Coordnates.Rz)
{
dbValue = 50;
}
}
else
{
if (nCoordnate == Coordnates.X)
{
dbValue = -50;
}
else if (nCoordnate == Coordnates.Y)
{
dbValue = -50;
}
else if (nCoordnate == Coordnates.Z)
{
dbValue = -50;
}
else if (nCoordnate == Coordnates.Rx)
{
dbValue = -50;
}
else if (nCoordnate == Coordnates.Ry)
{
dbValue = -50;
}
else if (nCoordnate == Coordnates.Rz)
{
dbValue = -50;
}
}
nRet = LineCoordnate(nCoordnate, MovementsTypes.Rel, SpeedTypes.NoUse, WaitTypes.NoWait,
dbValue, 0, 0, 0);
}
return(0);
}
//關節Jog 移動
public virtual int JogJoint(Joints nJoint, Jog_Directions nDir, Jog_Speed nSpeed)
{
int nRet = 0;
double dbValue = 0;
lock (thisLock)
{
if (nSpeed == Jog_Speed.High)
{
nRet = SetAllSpeed(P_TO_P, 30, 30, 30);
}
else if (nSpeed == Jog_Speed.Mid)
{
nRet = SetAllSpeed(P_TO_P, 20, 20, 20);
}
else if (nSpeed == Jog_Speed.Low)
{
nRet = SetAllSpeed(P_TO_P, 10, 10, 10);
}
if (nDir == Jog_Directions.Plus)
{
if (nJoint == Joints.J1)
{
dbValue = 170;
}
else if (nJoint == Joints.J2)
{
dbValue = 65;
}
else if (nJoint == Joints.J3)
{
dbValue = 200;
}
else if (nJoint == Joints.J4)
{
dbValue = 150;
}
else if (nJoint == Joints.J5)
{
dbValue = 120;
}
else if (nJoint == Joints.J6)
{
dbValue = 350;
}
}
else
{
if (nJoint == Joints.J1)
{
dbValue = -170;
}
else if (nJoint == Joints.J2)
{
dbValue = -90;
}
else if (nJoint == Joints.J3)
{
dbValue = -40;
}
else if (nJoint == Joints.J4)
{
dbValue = -150;
}
else if (nJoint == Joints.J5)
{
dbValue = -130;
}
else if (nJoint == Joints.J6)
{
dbValue = -350;
}
}
nRet = MoveJoint(nJoint, MovementsTypes.Abs, SpeedTypes.NoUse, WaitTypes.NoWait,
dbValue, 0, 0, 0);
}
return(0);
}
/*
* STDMETHOD(LineSingleRel)(LONG lDirection, DOUBLE dbPos, LONG* lRet);
* STDMETHOD(LineSingleRelWait)(LONG lDirection, DOUBLE dbPos, LONG* lRet);
* STDMETHOD(LineSingleRelSpeed)(LONG lDirection, DOUBLE dbPos, DOUBLE dbSpeed, DOUBLE dbAcc, DOUBLE dbDec, LONG* lRet);
* STDMETHOD(LineSingleRelSpeedWait)(LONG lDirection, DOUBLE dbPos, DOUBLE dbSpeed, DOUBLE dbAcc, DOUBLE dbDec, LONG* lRet);
* STDMETHOD(LineSingleAbs)(LONG lDirection, DOUBLE dbPos, LONG* lRet);
* STDMETHOD(LineSingleAbsWait)(LONG lDirection, DOUBLE dbPos, LONG* lRet);
* STDMETHOD(LineSingleAbsSpeed)(LONG lDirection, DOUBLE dbPos, DOUBLE dbSpeed, DOUBLE dbAcc, DOUBLE dbDec, LONG* lRet);
* STDMETHOD(LineSingleAbsSpeedWait)(LONG lDirection, DOUBLE dbPos, DOUBLE dbSpeed, DOUBLE dbAcc, DOUBLE dbDec, LONG* lRet);
*/
/// <summary>
/// 單一關節Jog移動
/// </summary>
/// <param name="nRobotIndex">手臂代號</param>
/// <param name="nJoint">關節代號</param>
/// <param name="nDir">移動方向</param>
/// <param name="dbSpeedPercentage">速度百分比</param>
/// <returns>回傳是否成功,0:成功, 其他數字:失敗</returns>
public int JogCoordnate(int nRobotIndex, Coordnates nCoordnate, Jog_Directions nDir, Jog_Speed nSpeed)
{
IRobotMotion.IRobotMotion IRobot = m_listRobots[nRobotIndex];
int nRet = IRobot.JogCoordnate(nCoordnate, nDir, nSpeed);
return(nRet);
}
//座標Jog 移動
public virtual int JogCoordnate(Coordnates nCoordnate, Jog_Directions nDir, Jog_Speed nSpeed)
{
double dbValue = 0;
lock (thisLock)
{
double dbSpeed = 0, dbAcc = 0, dbDec = 0;
if (nSpeed == Jog_Speed.High)
{
dbSpeed = 15;
dbAcc = 15;
dbDec = 15;
}
else if (nSpeed == Jog_Speed.Mid)
{
dbSpeed = 8;
dbAcc = 8;
dbDec = 8;
}
else if (nSpeed == Jog_Speed.Low)
{
dbSpeed = 3;
dbAcc = 3;
dbDec = 3;
}
if (nDir == Jog_Directions.Plus)
{
if (nCoordnate == Coordnates.X)
{
dbValue = 50;
}
else if (nCoordnate == Coordnates.Y)
{
dbValue = 50;
}
else if (nCoordnate == Coordnates.Z)
{
dbValue = 50;
}
//else if (nCoordnate == Coordnates.Rx) dbValue = 20;
else if (nCoordnate == Coordnates.Rx)
{
dbValue = 1.8;
}
else if (nCoordnate == Coordnates.Ry)
{
dbValue = 20;
}
else if (nCoordnate == Coordnates.Rz)
{
dbValue = 20;
}
}
else
{
if (nCoordnate == Coordnates.X)
{
dbValue = -50;
}
else if (nCoordnate == Coordnates.Y)
{
dbValue = -50;
}
else if (nCoordnate == Coordnates.Z)
{
dbValue = -50;
}
//else if (nCoordnate == Coordnates.Rx) dbValue = -20;
else if (nCoordnate == Coordnates.Rx)
{
dbValue = -1.97;
}
else if (nCoordnate == Coordnates.Ry)
{
dbValue = -20;
}
else if (nCoordnate == Coordnates.Rz)
{
dbValue = -20;
}
}
int nRet = 0;
nRet = LineCoordnate(nCoordnate, MovementsTypes.Rel, SpeedTypes.Use, WaitTypes.NoWait,
dbValue, dbAcc, dbDec, dbSpeed);
}
return(0);
}
//關節Jog 移動
public virtual int JogJoint(Joints nJoint, Jog_Directions nDir, Jog_Speed nSpeed)
{
double dbValue = 0;
lock (thisLock)
{
double dbSpeed = 0, dbAcc = 0, dbDec = 0;
if (nSpeed == Jog_Speed.High)
{
dbSpeed = 15;
dbAcc = 15;
dbDec = 15;
}
else if (nSpeed == Jog_Speed.Mid)
{
dbSpeed = 8;
dbAcc = 8;
dbDec = 8;
}
else if (nSpeed == Jog_Speed.Low)
{
dbSpeed = 3;
dbAcc = 3;
dbDec = 3;
}
if (nDir == Jog_Directions.Plus)
{
if (nJoint == Joints.J1)
{
dbValue = 359;
}
else if (nJoint == Joints.J2)
{
dbValue = 150;
}
else if (nJoint == Joints.J3)
{
dbValue = -30;
}
else if (nJoint == Joints.J4)
{
dbValue = 0;
}
else if (nJoint == Joints.J5)
{
dbValue = 359;
}
else if (nJoint == Joints.J6)
{
dbValue = 359;
}
}
else
{
if (nJoint == Joints.J1)
{
dbValue = -359;
}
else if (nJoint == Joints.J2)
{
dbValue = -150;
}
else if (nJoint == Joints.J3)
{
dbValue = -138;
}
else if (nJoint == Joints.J4)
{
dbValue = -174;
}
else if (nJoint == Joints.J5)
{
dbValue = -359;
}
else if (nJoint == Joints.J6)
{
dbValue = -359;
}
}
int nRet = 0;
nRet = MoveJoint(nJoint, MovementsTypes.Abs, SpeedTypes.Use, WaitTypes.NoWait,
dbValue, dbAcc, dbDec, dbSpeed);
}
return(0);
}
