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(); } }
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); } }
public void listmethod() { ////data1 = objController.Rapid.GetTask("T_ROB1").GetModule("SWDEFUSR").GetRapidData("Version_SWDEFUSR"); //string //data1.ValueChanged += new EventHandler<DataValueChangedEventArgs>(data1_ValueChanged); data2 = objController.Rapid.GetTask("T_ROB1").GetModule("URUN_M1").GetRapidData("W_00049"); //robtarget //robot punta pozisyon bilgisi data2.ValueChanged += new EventHandler <DataValueChangedEventArgs>(data2_ValueChanged); //data3 = objController.Rapid.GetTask("T_ROB1").GetModule("SWDEFUSR").GetRapidData("MAX_DEFLECTION"); //num //data3.ValueChanged += new EventHandler<DataValueChangedEventArgs>(data3_ValueChanged); //data4 = objController.Rapid.GetTask("T_ROB1").GetModule("SPOTSRV").GetRapidData("nToplamAsinma"); //num //data4.ValueChanged += new EventHandler<DataValueChangedEventArgs>(data4_ValueChanged); //data5 = objController.Rapid.GetTask("T_ROB1").GetModule("BASE").GetRapidData("wobj0"); //wobjdata //data5.ValueChanged += new EventHandler<DataValueChangedEventArgs>(data4_ValueChanged); //data6 = objController.Rapid.GetTask("T_ROB1").GetModule("BASE").GetRapidData("load0"); //loaddata //data6.ValueChanged += new EventHandler<DataValueChangedEventArgs>(data4_ValueChanged); //data7 = objController.Rapid.GetTask("T_ROB1").GetModule("HOME_KONTROL").GetRapidData("delta_position1"); //jointtarget //data7.ValueChanged += new EventHandler<DataValueChangedEventArgs>(data4_ValueChanged); data8 = objController.Rapid.GetTask("T_ROB1").GetModule("SPOTSRV").GetRapidData("bRobot_FrezePrograminda"); //bool data8.ValueChanged += new EventHandler <DataValueChangedEventArgs>(data4_ValueChanged); data9 = objController.Rapid.GetTask("T_ROB1").GetModule("SWDEFUSR").GetRapidData("spot1"); //spotdata data9.ValueChanged += new EventHandler <DataValueChangedEventArgs>(data4_ValueChanged); data10 = objController.Rapid.GetTask("T_AutoBackup").GetModule("MainModule").GetRapidData("bCycleOn"); //bool data10.ValueChanged += new EventHandler <DataValueChangedEventArgs>(data4_ValueChanged); data11 = objController.Rapid.GetTask("T_AutoBackup").GetModule("MainModule").GetRapidData("nHataKodu"); //num data11.ValueChanged += new EventHandler <DataValueChangedEventArgs>(data4_ValueChanged); data12 = objController.Rapid.GetTask("T_ROB1").GetModule("SPOTSRV").GetRapidData("force_bileme"); //forcedata //firezeleme kuvveti data12.ValueChanged += new EventHandler <DataValueChangedEventArgs>(data4_ValueChanged); data13 = objController.Rapid.GetTask("T_AutoBackup").GetModule("MainModule").GetRapidData("bKaynakTamamlandi"); //bool data13.ValueChanged += new EventHandler <DataValueChangedEventArgs>(data4_ValueChanged); data14 = objController.Rapid.GetTask("T_ROB1").GetModule("URUN_M1").GetRapidData("nProgNo"); //num data14.ValueChanged += new EventHandler <DataValueChangedEventArgs>(data4_ValueChanged); _string1 = (ABB.Robotics.Controllers.RapidDomain.String)data1.Value; string1 = _string1.Value; _robTarget1 = (ABB.Robotics.Controllers.RapidDomain.RobTarget)data2.Value; robTarget1 = _robTarget1.Trans; _num3 = (ABB.Robotics.Controllers.RapidDomain.Num)data3.Value; num3 = _num3.Value; _num4 = (ABB.Robotics.Controllers.RapidDomain.Num)data4.Value; num4 = _num4.Value; _wobjData1 = (WobjData)data5.Value; wobjData1 = _wobjData1.Oframe; _loadData1 = (LoadData)data6.Value; loadData1 = _loadData1.Aom; _jointTarget1 = (JointTarget)data7.Value; jointTarget1 = _jointTarget1.RobAx; _bool1 = (Bool)data8.Value; bool1 = _bool1.Value; label4.Text = data9.Value.ToString(); _bool2 = (Bool)data10.Value; bool2 = _bool2.Value; _num5 = (ABB.Robotics.Controllers.RapidDomain.Num)data11.Value; num5 = _num5.Value; _bool3 = (Bool)data13.Value; bool3 = _bool3.Value; label9.Text = data12.Value.ToString(); _num6 = (ABB.Robotics.Controllers.RapidDomain.Num)data14.Value; num6 = _num6.Value; dataGridView1.Rows.Add(data1.Symbol.Scope[0], data1.Symbol.Scope[1], data1.Symbol.Scope[2], string1); dataGridView1.Rows.Add(data2.Symbol.Scope[0], data2.Symbol.Scope[1], data2.Symbol.Scope[2], robTarget1); dataGridView1.Rows.Add(data3.Symbol.Scope[0], data3.Symbol.Scope[1], data3.Symbol.Scope[2], num3); dataGridView1.Rows.Add(data4.Symbol.Scope[0], data4.Symbol.Scope[1], data4.Symbol.Scope[2], num4); dataGridView1.Rows.Add(data5.Symbol.Scope[0], data5.Symbol.Scope[1], data5.Symbol.Scope[2], wobjData1); dataGridView1.Rows.Add(data6.Symbol.Scope[0], data6.Symbol.Scope[1], data6.Symbol.Scope[2], loadData1); dataGridView1.Rows.Add(data7.Symbol.Scope[0], data7.Symbol.Scope[1], data7.Symbol.Scope[2], jointTarget1); dataGridView1.Rows.Add(data8.Symbol.Scope[0], data8.Symbol.Scope[1], data8.Symbol.Scope[2], bool1); dataGridView1.Rows.Add(data10.Symbol.Scope[0], data10.Symbol.Scope[1], data10.Symbol.Scope[2], bool2); dataGridView1.Rows.Add(data11.Symbol.Scope[0], data11.Symbol.Scope[1], data11.Symbol.Scope[2], num5); dataGridView1.Rows.Add(data12.Symbol.Scope[0], data12.Symbol.Scope[1], data12.Symbol.Scope[2], data12.Value); dataGridView1.Rows.Add(data13.Symbol.Scope[0], data13.Symbol.Scope[1], data13.Symbol.Scope[2], bool3); dataGridView1.Rows.Add(data14.Symbol.Scope[0], data14.Symbol.Scope[1], data14.Symbol.Scope[2], num6); dataGridView1.AutoGenerateColumns = false; }