void ReadInput(XmlElement xeRoot, RobotStdPoint robotStdPoint)
{
try
{
//真空
robotStdPoint.P_Vaccum = ReadVaccum(xeRoot);
//输入IO
Point4D[] points_Input1 = ReadInputIO(xeRoot, "InputIO1");
robotStdPoint.P_InputIO1 = points_Input1[0];
robotStdPoint.P_JumpIOP1 = points_Input1[1];
Point4D[] points_Input2 = ReadInputIO(xeRoot, "InputIO2");
robotStdPoint.P_InputIO2 = points_Input2[0];
robotStdPoint.P_JumpIOP2 = points_Input2[1];
Point4D[] points_Input3 = ReadInputIO(xeRoot, "InputIO3");
robotStdPoint.P_InputIO3 = points_Input3[0];
robotStdPoint.P_JumpIOP3 = points_Input3[1];
Point4D[] points_Input4 = ReadInputIO(xeRoot, "InputIO4");
robotStdPoint.P_InputIO4 = points_Input4[0];
robotStdPoint.P_JumpIOP4 = points_Input4[1];
//PC
ReadPC(xeRoot, robotStdPoint);
}
catch (Exception ex)
{
}
}
bool WriteInputIO(XmlElement xeRoot, RobotStdPoint robotStdPoint)
{
try
{
int numError = 0;
if (!WriteInputIO(xeRoot, "InputIO1", robotStdPoint.P_InputIO1, robotStdPoint.P_JumpIOP1))
{
numError++;
}
if (!WriteInputIO(xeRoot, "InputIO2", robotStdPoint.P_InputIO2, robotStdPoint.P_JumpIOP2))
{
numError++;
}
if (!WriteInputIO(xeRoot, "InputIO3", robotStdPoint.P_InputIO2, robotStdPoint.P_JumpIOP3))
{
numError++;
}
if (!WriteInputIO(xeRoot, "InputIO4", robotStdPoint.P_InputIO2, robotStdPoint.P_JumpIOP4))
{
numError++;
}
if (numError > 0)
{
return(false);
}
return(true);
}
catch (Exception ex)
{
return(false);
}
}
void ReadVel(XmlElement xeRoot, RobotStdPoint robotStdPoint)
{
try
{
bool enable = ReadChildAttributeBl(xeRoot, "Vel", "Enable");
robotStdPoint.P_Vel.DblValue1 = enable ? 1 : -1;
string power = ReadChildAttributeStr(xeRoot, "Vel", "Power", "Low");
int vel = ReadChildAttributeInt(xeRoot, "Vel", "Vel");
int acc = ReadChildAttributeInt(xeRoot, "Vel", "Acc");
string annotation = ReadChildAttributeStr(xeRoot, "Vel", "Annotation");
robotStdPoint.P_Vel.NameClass = "Vel";
if (power == PowerRobot_enum.High.ToString())
{
robotStdPoint.P_Vel.DblValue2 = 2;//高功率
}
else
{
robotStdPoint.P_Vel.DblValue2 = 1;//低功率
}
robotStdPoint.P_Vel.DblValue3 = vel; //速度
robotStdPoint.P_Vel.DblValue4 = acc; //加速度
}
catch (Exception ex)
{
}
}
/// <summary>
/// 写入PC
/// </summary>
bool WritePC(XmlElement xeRoot, RobotStdPoint robotStdPoint)
{
try
{
XmlElement xePC = CreateNewXe(xeRoot, "PC");
xeRoot.AppendChild(xePC);
bool enable = robotStdPoint.P_PC.DblValue1 == -1 ? false : true;
WriteAttribute(xePC, "Enable", enable.ToString());
WriteAttribute(xePC, "WaitTime", robotStdPoint.P_PC.DblValue2.ToString());
WriteAttribute(xePC, "NGIO", robotStdPoint.P_PC.DblValue3.ToString());
WriteAttribute(xePC, "NGPos", robotStdPoint.P_PC.DblValue4.ToString());
WriteAttribute(xePC, "Annotation", robotStdPoint.P_PC.Annotation.ToString());
XmlElement xePCCMD = CreateNewXe(xeRoot, "PCCMD");
xeRoot.AppendChild(xePCCMD);
WriteAttribute(xePCCMD, "XChange", robotStdPoint.P_PCCMD.DblValue1.ToString());
WriteAttribute(xePCCMD, "YChange", robotStdPoint.P_PCCMD.DblValue2.ToString());
WriteAttribute(xePCCMD, "ZChange", robotStdPoint.P_PCCMD.DblValue3.ToString());
WriteAttribute(xePCCMD, "RChange", robotStdPoint.P_PCCMD.DblValue4.ToString());
WriteAttribute(xePCCMD, "ArmChange", robotStdPoint.P_PCCMD.DblValue5.ToString());
return(true);
}
catch (Exception ex)
{
return(false);
}
}
public void WriteConfigParStdRobot(object index)
{
try
{
RobotStdPoint item = RobotStdPoint.R_I.RobotStdPoint_L[(int)index];
string pos = "Config " + item.NamePoint;
//写入输入
if (!WriteInput(pos, item))
{
return;
}
//写入运动
if (!WriteMove(pos, item))
{
return;
}
//写入输出
if (!WriteOut(pos, item))
{
return;
}
//写入点位综合
if (!WritePrint(pos, item))
{
return;
}
}
catch (Exception ex)
{
Log.L_I.WriteError("LogicRobot", ex);
}
}
/// <summary>
/// 写入速度
/// </summary>
/// <param name="xeRoot"></param>
/// <param name="robotStdPoint"></param>
bool WriteVel(XmlElement xeRoot, RobotStdPoint robotStdPoint)
{
try
{
Point4D point = robotStdPoint.P_Vel;
XmlElement xeVel = CreateNewXe(xeRoot, "Vel");
xeRoot.AppendChild(xeVel);
bool enable = point.DblValue1 == -1 ? false : true;
PowerRobot_enum powerRobot_e = (PowerRobot_enum)(point.DblValue2 - 1);
WriteAttribute(xeVel, "Enable", enable.ToString());
WriteAttribute(xeVel, "Power", powerRobot_e.ToString());
WriteAttribute(xeVel, "Vel", point.DblValue3.ToString());
WriteAttribute(xeVel, "Acc", point.DblValue4.ToString());
WriteAttribute(xeVel, "Annotation", point.Annotation.ToString());
return(true);
}
catch (Exception ex)
{
return(false);
}
}
bool WriteMove(XmlElement xeRoot, RobotStdPoint robotStdPoint)
{
try
{
int numError = 0;
if (!WriteVel(xeRoot, robotStdPoint))
{
numError++;
}
if (!WriteMovePoint(xeRoot, robotStdPoint))
{
numError++;
}
if (numError > 0)
{
return(false);
}
return(true);
}
catch (Exception ex)
{
return(false);
}
}
public bool WriteOut(XmlElement xeRoot, RobotStdPoint robotStdPoint)
{
try
{
int numError = 0;
if (!WriteOutIO(xeRoot, robotStdPoint))
{
numError++;
}
if (!WriteOutPC(xeRoot, robotStdPoint))
{
numError++;
}
if (!WriteNextPos(xeRoot, robotStdPoint))
{
numError++;
}
if (numError > 0)
{
return(false);
}
return(true);
}
catch (Exception ex)
{
return(false);
}
}
/// <summary>
/// 输出IO
/// </summary>
/// <param name="xeRoot"></param>
/// <param name="robotStdPoint"></param>
bool WriteOutIO(XmlElement xeRoot, RobotStdPoint robotStdPoint)
{
try
{
Point4D p_OutIO = robotStdPoint.P_OutIO;
XmlElement xeOutIO = CreateNewXe(xeRoot, "OutIO");
xeRoot.AppendChild(xeOutIO);
bool enable = p_OutIO.DblValue1 == -1 ? false : true;
WriteAttribute(xeOutIO, "Enable", enable.ToString());
WriteAttribute(xeOutIO, "IO", p_OutIO.DblValue2.ToString());
WriteAttribute(xeOutIO, "WaitTime", p_OutIO.DblValue3.ToString());
WriteAttribute(xeOutIO, "Annotation", p_OutIO.Annotation.ToString());
Point4D p_OutVaccum = robotStdPoint.P_OutVaccum;
XmlElement xOutVaccum = CreateNewXe(xeRoot, "OutVaccum");
xeRoot.AppendChild(xOutVaccum);
TypeVaccumRobot_enum typeVaccumRobot_e = (TypeVaccumRobot_enum)(p_OutVaccum.DblValue1 - 1);
WriteAttribute(xOutVaccum, "Vaccum", typeVaccumRobot_e.ToString());
TypeBlowRobot_enum typeBlowRobot_e = (TypeBlowRobot_enum)(p_OutVaccum.DblValue2 - 1);
WriteAttribute(xOutVaccum, "Blow", typeBlowRobot_e.ToString());
WriteAttribute(xOutVaccum, "WaitTime", p_OutVaccum.DblValue3.ToString());
WriteAttribute(xOutVaccum, "Annotation", p_OutVaccum.Annotation.ToString());
return(true);
}
catch (Exception ex)
{
return(false);
}
}
/// <summary>
/// 输出PC
/// </summary>
/// <param name="xeRoot"></param>
/// <param name="robotStdPoint"></param>
bool WriteOutPC(XmlElement xeRoot, RobotStdPoint robotStdPoint)
{
try
{
Point4D p_OutPC = robotStdPoint.P_OutPC;
XmlElement xeOutPC = CreateNewXe(xeRoot, "OutPC");
xeRoot.AppendChild(xeOutPC);
bool enable = p_OutPC.DblValue1 == 1 ? true : false;
WriteAttribute(xeOutPC, "Enable", enable.ToString());
TypeOutPCRobot_enum typeOutPCRobot_e = (TypeOutPCRobot_enum)(p_OutPC.DblValue2 - 1);
WriteAttribute(xeOutPC, "Type", typeOutPCRobot_e.ToString());
WriteAttribute(xeOutPC, "CMD", p_OutPC.DblValue3.ToString());
WriteAttribute(xeOutPC, "NGIO", p_OutPC.DblValue4.ToString());
WriteAttribute(xeOutPC, "Annotation", p_OutPC.Annotation.ToString());
return(true);
}
catch (Exception ex)
{
return(false);
}
}
bool WriteInput(XmlElement xeRoot, RobotStdPoint robotStdPoint)
{
try
{
int numError = 0;
if (!WriteVaccum(xeRoot, robotStdPoint))
{
numError++;
}
if (!WriteInputIO(xeRoot, robotStdPoint))
{
numError++;
}
if (!WritePC(xeRoot, robotStdPoint))
{
numError++;
}
if (numError > 0)
{
return(false);
}
return(true);
}
catch (Exception ex)
{
return(false);
}
}
void ReadMove(XmlElement xeRoot, RobotStdPoint robotStdPoint)
{
try
{
ReadVel(xeRoot, robotStdPoint);
ReadMovePos(xeRoot, robotStdPoint);
}
catch (Exception ex)
{
}
}
//点位注释
bool WriteAnnotation(XmlElement xeRoot, RobotStdPoint robotStdPoint)
{
try
{
WriteAttribute(xeRoot, "Annotation", robotStdPoint.Annotation);
return(true);
}
catch (Exception ex)
{
return(false);
}
}
//点位注释
bool ReadAnnotation(XmlElement xeRoot, RobotStdPoint robotStdPoint)
{
try
{
robotStdPoint.Annotation = ReadAttributeStr(xeRoot, "Annotation");
return(true);
}
catch (Exception ex)
{
return(false);
}
}
bool ReadNextPos(XmlElement xeRoot, RobotStdPoint robotStdPoint)
{
try
{
robotStdPoint.P_NextPoint.DblValue1 = ReadChildAttributeInt(xeRoot, "NextPos", "No");
robotStdPoint.P_NextPoint.NameClass = "NextPos";
return(true);
}
catch (Exception ex)
{
return(false);
}
}
/// <summary>
/// 插入点位
/// </summary>
public void AddPoint(int index)
{
try
{
RobotStdPoint robotStdPoint = (RobotStdPoint)RobotStdPoint_L[index].Clone();
robotStdPoint.NamePoint = "pos" + index.ToString();
RobotStdPoint_L.Add(robotStdPoint);
NumPoint = Count - 1;
ReSortPoint();
}
catch (Exception ex)
{
}
}
void ReadOut(XmlElement xeRoot, RobotStdPoint robotStdPoint)
{
try
{
XmlElement xeOut = ReadNode(xeRoot, "Out");
robotStdPoint.P_OutIO = ReadOutIO(xeRoot);
robotStdPoint.P_OutVaccum = ReadOutVaccum(xeRoot);
robotStdPoint.P_OutPC = ReadOutPC(xeRoot);
}
catch (Exception ex)
{
}
}
public void ReadXml()
{
try
{
XmlDocument xDoc = LoadXml(PathRobotStd);
XmlElement xeRoot = null;
if (xDoc != null)
{
xeRoot = ReadNode(xDoc, "StdPoints");
}
RobotStdPoint robotStdPointHome = new RobotStdPoint();
robotStdPointHome.NamePoint = "home";
RobotStdPoint_L.Add(robotStdPointHome);
if (xeRoot == null)
{
return;
}
XmlElement xeHome = ReadNode(xeRoot, "home");
ReadInput(xeHome, robotStdPointHome);
ReadMove(xeHome, robotStdPointHome);
ReadOut(xeHome, robotStdPointHome);
NumPoint = ReadAttributeInt(xeRoot, "Num", 0);
for (int i = 0; i < NumPoint; i++)
{
RobotStdPoint robotStdPoint = new RobotStdPoint();
robotStdPoint.No = i + 1;
robotStdPoint.NamePoint = "pos" + i.ToString();
XmlElement xePos = ReadNode(xeRoot, "pos" + i.ToString());
ReadInput(xePos, robotStdPoint); //读取输入
ReadMove(xePos, robotStdPoint); //读取运动
ReadOut(xePos, robotStdPoint); //读取输出
ReadNextPos(xePos, robotStdPoint); //下一个带点
ReadAnnotation(xePos, robotStdPoint);
RobotStdPoint_L.Add(robotStdPoint);
}
//打印输出
ReadPrint(xeRoot);
}
catch (Exception ex)
{
}
}
/// <summary>
/// NextPos
/// </summary>
/// <param name="xeRoot"></param>
/// <param name="robotStdPoint"></param>
bool WriteNextPos(XmlElement xeRoot, RobotStdPoint robotStdPoint)
{
try
{
XmlElement xeNextPos = CreateNewXe(xeRoot, "NextPos");
xeRoot.AppendChild(xeNextPos);
WriteAttribute(xeNextPos, "No", robotStdPoint.P_NextPoint.DblValue1.ToString());
return(true);
}
catch (Exception ex)
{
return(false);
}
}
/// <summary>
/// 在点位最后增加一个点位
/// </summary>
public void AddPoint()
{
try
{
RobotStdPoint robotStdPoint = (RobotStdPoint)RobotStdPoint_L[Count - 1].Clone();
robotStdPoint.NamePoint = "pos" + (Count - 1).ToString();
robotStdPoint.No = Count;
RobotStdPoint_L.Add(robotStdPoint);
NumPoint = Count - 1;
ReSortPoint();
}
catch (Exception ex)
{
}
}
/// <summary>
/// 读取PC
/// </summary>
/// <param name="xeRoot"></param>
/// <param name="robotStdPoint"></param>
void ReadPC(XmlElement xeRoot, RobotStdPoint robotStdPoint)
{
try
{
//PC
XmlElement xePC = ReadNode(xeRoot, "PC");
bool enable_PC = ReadAttributeBl(xePC, "Enable");
int waitTime_PC = ReadAttributeInt(xePC, "WaitTime");
int nGIO_PC = ReadAttributeInt(xePC, "NGIO");
int nGPos_PC = ReadAttributeInt(xePC, "NGPos");
string annotation_PC = ReadAttributeStr(xePC, "Annotation");
if (enable_PC)
{
robotStdPoint.P_PC.DblValue1 = 1;
}
else
{
robotStdPoint.P_PC.DblValue1 = -1;
}
robotStdPoint.P_PC.DblValue2 = waitTime_PC;
robotStdPoint.P_PC.DblValue3 = nGIO_PC;
robotStdPoint.P_PC.DblValue4 = nGPos_PC;
robotStdPoint.P_PC.Annotation = annotation_PC;
//PCCMD
XmlElement xePCCMD = ReadNode(xeRoot, "PCCMD");
robotStdPoint.P_PCCMD.DblValue1 = ReadAttributeInt(xePCCMD, "XChange");
robotStdPoint.P_PCCMD.DblValue2 = ReadAttributeInt(xePCCMD, "YChange");
robotStdPoint.P_PCCMD.DblValue3 = ReadAttributeInt(xePCCMD, "ZChange");
robotStdPoint.P_PCCMD.DblValue4 = ReadAttributeInt(xePCCMD, "RChange");
robotStdPoint.P_PCCMD.DblValue5 = ReadAttributeInt(xePCCMD, "ArmChange");
string annotation_PCCMD = ReadAttributeStr(xePCCMD, "Annotation");
robotStdPoint.P_PCCMD.Annotation = annotation_PCCMD;
}
catch (Exception ex)
{
}
}
/// <summary>
/// 写入点位
/// </summary>
/// <param name="xeRoot"></param>
/// <param name="robotStdPoint"></param>
bool WriteMovePoint(XmlElement xeRoot, RobotStdPoint robotStdPoint)
{
try
{
Point4D p_Move = robotStdPoint.P_Move;
//vel
XmlElement xeMove = CreateNewXe(xeRoot, "Move");
xeRoot.AppendChild(xeMove);
MoveRobot_enum moveRobot_e = MoveRobot_enum.Stay;
moveRobot_e = (MoveRobot_enum)p_Move.DblValue1 - 1;
WriteAttribute(xeMove, "Type", moveRobot_e.ToString());
//passCMD
Point4D p_passCMD = robotStdPoint.P_PassCMD;
XmlElement xePassCMD = CreateNewXe(xeRoot, "PassCMD");
xeRoot.AppendChild(xePassCMD);
WriteAttribute(xePassCMD, "Num", p_passCMD.DblValue1.ToString());
TypePosRobot_enum typeZ_e = (TypePosRobot_enum)p_passCMD.DblValue2 - 1;
WriteAttribute(xePassCMD, "Z", typeZ_e.ToString());
TypePosRobot_enum typeR_e = (TypePosRobot_enum)p_passCMD.DblValue3 - 1;
WriteAttribute(xePassCMD, "R", typeR_e.ToString());
WriteMovePoint(xeRoot, "Here", robotStdPoint.P_Here);
WriteMovePoint(xeRoot, "Pass1", robotStdPoint.P_Pass1);
WriteMovePoint(xeRoot, "Pass2", robotStdPoint.P_Pass2);
WriteMovePoint(xeRoot, "Pass3", robotStdPoint.P_Pass3);
//des
WriteMovePoint(xeRoot, "Des", robotStdPoint.P_Des);
return(true);
}
catch (Exception ex)
{
return(false);
}
}
void ReadMovePos(XmlElement xeRoot, RobotStdPoint robotStdPoint)
{
try
{
string typeMove = ReadChildAttributeStr(xeRoot, "Move", "Type", "Stay");
MoveRobot_enum moveRobot_e = (MoveRobot_enum)Enum.Parse(typeof(MoveRobot_enum), typeMove);
robotStdPoint.P_Move.DblValue1 = (int)moveRobot_e + 1;
robotStdPoint.P_PassCMD.DblValue1 = ReadChildAttributeInt(xeRoot, "PassCMD", "Num", 0);
string typeZ = ReadChildAttributeStr(xeRoot, "PassCMD", "Z", "Relative");
if (typeZ == TypePosRobot_enum.Relative.ToString())
{
robotStdPoint.P_PassCMD.DblValue2 = 1;
}
else
{
robotStdPoint.P_PassCMD.DblValue2 = 2;
}
string typeR = ReadChildAttributeStr(xeRoot, "PassCMD", "R", "Relative");
if (typeR == TypePosRobot_enum.Relative.ToString())
{
robotStdPoint.P_PassCMD.DblValue3 = 1;
}
else
{
robotStdPoint.P_PassCMD.DblValue3 = 2;
}
robotStdPoint.P_Des = ReadMovePos(xeRoot, "Des");
robotStdPoint.P_Here = ReadMovePos(xeRoot, "Here");
robotStdPoint.P_Pass1 = ReadMovePos(xeRoot, "Pass1");
robotStdPoint.P_Pass2 = ReadMovePos(xeRoot, "Pass2");
robotStdPoint.P_Pass3 = ReadMovePos(xeRoot, "Pass3");
}
catch (Exception ex)
{
}
}
public bool WritePrint(string name, RobotStdPoint robotStdPoint)
{
try
{
string print = name + " print" + " "
+ robotStdPoint.P_Print.DblValue1.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_Print.DblValue2.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_Print.DblValue3.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_Print.DblValue4.ToString().PadLeft(7, ' ');
WriteRobot(print);
if (!WaitForOK())
{
ConfigRobot_event(string.Format("PC向机器人发送参数{0}失败!", print), false);
return(false);
}
ConfigRobot_event(string.Format("PC向机器人发送参数{0}成功!", print), true);
return(true);
}
catch (Exception ex)
{
return(false);
}
}
/// <summary>
/// 真空
/// </summary>
/// <param name="xeRoot"></param>
/// <param name="point"></param>
bool WriteVaccum(XmlElement xeRoot, RobotStdPoint robotStdPoint)
{
try
{
XmlElement xeVaccum = CreateNewXe(xeRoot, "Vaccum");
xeRoot.AppendChild(xeVaccum);
Point4D point = robotStdPoint.P_Vaccum;
bool enable = point.DblValue1 == -1 ? false : true;
WriteAttribute(xeVaccum, "Enable", enable.ToString());
WriteAttribute(xeVaccum, "NoIO", point.DblValue1.ToString());
WriteAttribute(xeVaccum, "WaitTime", point.DblValue2.ToString());
WriteAttribute(xeVaccum, "NGIO", point.DblValue3.ToString());
WriteAttribute(xeVaccum, "NGPos", point.DblValue4.ToString());
WriteAttribute(xeVaccum, "Annotation", point.Annotation.ToString());
return(true);
}
catch (Exception ex)
{
return(false);
}
}
void Init_Pos()
{
try
{
AllRobotPointValue.A_I.AllRobotPointValue_L.Clear();
for (int i = 0; i < RobotStdPoint.R_I.Count; i++)
{
RobotStdPoint robotStdPoint = RobotStdPoint.R_I[i];
#region 输入
//vaccum
AllRobotPointValue.A_I.AllRobotPointValue_L.Add(new AllRobotPointValue()
{
No = i,
NamePoint = robotStdPoint.NamePoint,
NameValue = robotStdPoint.P_Vaccum.NameClass,
X = robotStdPoint.P_Vaccum.DblValue1,
Y = robotStdPoint.P_Vaccum.DblValue2,
Z = robotStdPoint.P_Vaccum.DblValue3,
R = robotStdPoint.P_Vaccum.DblValue4,
XInfo = "使能|真空IO序号",
YInfo = "等待时间",
ZInfo = "NG报警IO",
RInfo = "NG跳转点位",
});
//P_InputIO1
AllRobotPointValue.A_I.AllRobotPointValue_L.Add(new AllRobotPointValue()
{
No = i,
NamePoint = robotStdPoint.NamePoint,
NameValue = robotStdPoint.P_InputIO1.NameClass,
X = robotStdPoint.P_InputIO1.DblValue1,
Y = robotStdPoint.P_InputIO1.DblValue2,
Z = robotStdPoint.P_InputIO1.DblValue3,
R = robotStdPoint.P_InputIO1.DblValue4,
XInfo = "使能",
YInfo = "IO序号",
ZInfo = "等待时间",
RInfo = "NG报警IO",
});
//P_JumpInputIO1
AllRobotPointValue.A_I.AllRobotPointValue_L.Add(new AllRobotPointValue()
{
No = i,
NamePoint = robotStdPoint.NamePoint,
NameValue = robotStdPoint.P_JumpIOP1.NameClass,
X = robotStdPoint.P_JumpIOP1.DblValue1,
Y = robotStdPoint.P_JumpIOP1.DblValue2,
Z = robotStdPoint.P_JumpIOP1.DblValue3,
R = robotStdPoint.P_JumpIOP1.DblValue4,
XInfo = "OK跳转点位",
YInfo = "NG跳转点位",
});
//P_InputIO2
AllRobotPointValue.A_I.AllRobotPointValue_L.Add(new AllRobotPointValue()
{
No = i,
NamePoint = robotStdPoint.NamePoint,
NameValue = robotStdPoint.P_InputIO2.NameClass,
X = robotStdPoint.P_InputIO2.DblValue1,
Y = robotStdPoint.P_InputIO2.DblValue2,
Z = robotStdPoint.P_InputIO2.DblValue3,
R = robotStdPoint.P_InputIO2.DblValue4,
XInfo = "使能",
YInfo = "IO序号",
ZInfo = "等待时间",
RInfo = "NG报警IO",
});
//P_JumpInputIO2
AllRobotPointValue.A_I.AllRobotPointValue_L.Add(new AllRobotPointValue()
{
No = i,
NamePoint = robotStdPoint.NamePoint,
NameValue = robotStdPoint.P_JumpIOP2.NameClass,
X = robotStdPoint.P_JumpIOP2.DblValue1,
Y = robotStdPoint.P_JumpIOP2.DblValue2,
Z = robotStdPoint.P_JumpIOP2.DblValue3,
R = robotStdPoint.P_JumpIOP2.DblValue4,
XInfo = "OK跳转点位",
YInfo = "NG跳转点位",
});
//P_InputIO3
AllRobotPointValue.A_I.AllRobotPointValue_L.Add(new AllRobotPointValue()
{
No = i,
NamePoint = robotStdPoint.NamePoint,
NameValue = robotStdPoint.P_InputIO3.NameClass,
X = robotStdPoint.P_InputIO3.DblValue1,
Y = robotStdPoint.P_InputIO3.DblValue2,
Z = robotStdPoint.P_InputIO3.DblValue3,
R = robotStdPoint.P_InputIO3.DblValue4,
XInfo = "使能",
YInfo = "IO序号",
ZInfo = "等待时间",
RInfo = "NG报警IO",
});
//P_JumpInputIO3
AllRobotPointValue.A_I.AllRobotPointValue_L.Add(new AllRobotPointValue()
{
No = i,
NamePoint = robotStdPoint.NamePoint,
NameValue = robotStdPoint.P_JumpIOP3.NameClass,
X = robotStdPoint.P_JumpIOP3.DblValue1,
Y = robotStdPoint.P_JumpIOP3.DblValue2,
Z = robotStdPoint.P_JumpIOP3.DblValue3,
R = robotStdPoint.P_JumpIOP3.DblValue4,
XInfo = "OK跳转点位",
YInfo = "NG跳转点位",
});
//P_InputIO4
AllRobotPointValue.A_I.AllRobotPointValue_L.Add(new AllRobotPointValue()
{
No = i,
NamePoint = robotStdPoint.NamePoint,
NameValue = robotStdPoint.P_InputIO4.NameClass,
X = robotStdPoint.P_InputIO4.DblValue1,
Y = robotStdPoint.P_InputIO4.DblValue2,
Z = robotStdPoint.P_InputIO4.DblValue3,
R = robotStdPoint.P_InputIO4.DblValue4,
XInfo = "使能",
YInfo = "IO序号",
ZInfo = "等待时间",
RInfo = "NG报警IO",
});
//P_JumpInputIO4
AllRobotPointValue.A_I.AllRobotPointValue_L.Add(new AllRobotPointValue()
{
No = i,
NamePoint = robotStdPoint.NamePoint,
NameValue = robotStdPoint.P_JumpIOP4.NameClass,
X = robotStdPoint.P_JumpIOP4.DblValue1,
Y = robotStdPoint.P_JumpIOP4.DblValue2,
Z = robotStdPoint.P_JumpIOP4.DblValue3,
R = robotStdPoint.P_JumpIOP4.DblValue4,
XInfo = "OK跳转点位",
YInfo = "NG跳转点位",
});
//P_PC
AllRobotPointValue.A_I.AllRobotPointValue_L.Add(new AllRobotPointValue()
{
No = i,
NamePoint = robotStdPoint.NamePoint,
NameValue = robotStdPoint.P_PC.NameClass,
X = robotStdPoint.P_PC.DblValue1,
Y = robotStdPoint.P_PC.DblValue2,
Z = robotStdPoint.P_PC.DblValue3,
R = robotStdPoint.P_PC.DblValue4,
XInfo = "使能",
YInfo = "等待时间",
ZInfo = "NG报警IO",
RInfo = "NG跳转点位",
});
//P_PCCMD
AllRobotPointValue.A_I.AllRobotPointValue_L.Add(new AllRobotPointValue()
{
No = i,
NamePoint = robotStdPoint.NamePoint,
NameValue = robotStdPoint.P_PCCMD.NameClass,
X = robotStdPoint.P_PCCMD.DblValue1,
Y = robotStdPoint.P_PCCMD.DblValue2,
Z = robotStdPoint.P_PCCMD.DblValue3,
R = robotStdPoint.P_PCCMD.DblValue4,
XInfo = "更改X坐标",
YInfo = "更改Y坐标",
ZInfo = "更改Z坐标",
RInfo = "更改R坐标",
});
#endregion 输入
#region 运动
//P_Vel
AllRobotPointValue.A_I.AllRobotPointValue_L.Add(new AllRobotPointValue()
{
No = i,
NamePoint = robotStdPoint.NamePoint,
NameValue = robotStdPoint.P_Vel.NameClass,
X = robotStdPoint.P_Vel.DblValue1,
Y = robotStdPoint.P_Vel.DblValue2,
Z = robotStdPoint.P_Vel.DblValue3,
R = robotStdPoint.P_Vel.DblValue4,
XInfo = "使能",
YInfo = "功率",
ZInfo = "速度",
RInfo = "加减速",
});
//P_Move
AllRobotPointValue.A_I.AllRobotPointValue_L.Add(new AllRobotPointValue()
{
No = i,
NamePoint = robotStdPoint.NamePoint,
NameValue = robotStdPoint.P_Move.NameClass,
X = robotStdPoint.P_Move.DblValue1,
Y = robotStdPoint.P_Move.DblValue2,
Z = robotStdPoint.P_Move.DblValue3,
R = robotStdPoint.P_Move.DblValue4,
XInfo = "运动指令",
});
//P_Des
AllRobotPointValue.A_I.AllRobotPointValue_L.Add(new AllRobotPointValue()
{
No = i,
NamePoint = robotStdPoint.NamePoint,
NameValue = robotStdPoint.P_Des.NameClass,
X = robotStdPoint.P_Des.DblValue1,
Y = robotStdPoint.P_Des.DblValue2,
Z = robotStdPoint.P_Des.DblValue3,
R = robotStdPoint.P_Des.DblValue4,
XInfo = "X坐标",
YInfo = "Y坐标",
ZInfo = "Z坐标",
RInfo = "R坐标",
ArmInfo = "手系(1Left,2Right)",
});
//P_Here
AllRobotPointValue.A_I.AllRobotPointValue_L.Add(new AllRobotPointValue()
{
No = i,
NamePoint = robotStdPoint.NamePoint,
NameValue = robotStdPoint.P_Here.NameClass,
X = robotStdPoint.P_Here.DblValue1,
Y = robotStdPoint.P_Here.DblValue2,
Z = robotStdPoint.P_Here.DblValue3,
R = robotStdPoint.P_Here.DblValue4,
XInfo = "X坐标(相对)",
YInfo = "Y坐标(相对)",
ZInfo = "Z坐标",
RInfo = "R坐标",
});
//P_PassCMD
AllRobotPointValue.A_I.AllRobotPointValue_L.Add(new AllRobotPointValue()
{
No = i,
NamePoint = robotStdPoint.NamePoint,
NameValue = robotStdPoint.P_PassCMD.NameClass,
X = robotStdPoint.P_PassCMD.DblValue1,
Y = robotStdPoint.P_PassCMD.DblValue2,
Z = robotStdPoint.P_PassCMD.DblValue3,
R = robotStdPoint.P_PassCMD.DblValue4,
XInfo = "Pass点个数",
YInfo = "HereZ坐标相对或者绝对",
ZInfo = "HereR坐标相对或者绝对",
});
//P_Pass1
AllRobotPointValue.A_I.AllRobotPointValue_L.Add(new AllRobotPointValue()
{
No = i,
NamePoint = robotStdPoint.NamePoint,
NameValue = robotStdPoint.P_Pass1.NameClass,
X = robotStdPoint.P_Pass1.DblValue1,
Y = robotStdPoint.P_Pass1.DblValue2,
Z = robotStdPoint.P_Pass1.DblValue3,
R = robotStdPoint.P_Pass1.DblValue4,
XInfo = "X坐标",
YInfo = "Y坐标",
ZInfo = "Z坐标",
RInfo = "R坐标",
ArmInfo = "手系(1Left,2Right)",
});
//P_Pass2
AllRobotPointValue.A_I.AllRobotPointValue_L.Add(new AllRobotPointValue()
{
No = i,
NamePoint = robotStdPoint.NamePoint,
NameValue = robotStdPoint.P_Pass2.NameClass,
X = robotStdPoint.P_Pass2.DblValue1,
Y = robotStdPoint.P_Pass2.DblValue2,
Z = robotStdPoint.P_Pass2.DblValue3,
R = robotStdPoint.P_Pass2.DblValue4,
XInfo = "X坐标",
YInfo = "Y坐标",
ZInfo = "Z坐标",
RInfo = "R坐标",
ArmInfo = "手系(1Left,2Right)",
});
//P_Pass3
AllRobotPointValue.A_I.AllRobotPointValue_L.Add(new AllRobotPointValue()
{
No = i,
NamePoint = robotStdPoint.NamePoint,
NameValue = robotStdPoint.P_Pass3.NameClass,
X = robotStdPoint.P_Pass3.DblValue1,
Y = robotStdPoint.P_Pass3.DblValue2,
Z = robotStdPoint.P_Pass3.DblValue3,
R = robotStdPoint.P_Pass3.DblValue4,
XInfo = "X坐标",
YInfo = "Y坐标",
ZInfo = "Z坐标",
RInfo = "R坐标",
ArmInfo = "手系(1Left,2Right)",
});
#endregion 运动
#region 输出
//P_OutIO
AllRobotPointValue.A_I.AllRobotPointValue_L.Add(new AllRobotPointValue()
{
No = i,
NamePoint = robotStdPoint.NamePoint,
NameValue = robotStdPoint.P_OutIO.NameClass,
X = robotStdPoint.P_OutIO.DblValue1,
Y = robotStdPoint.P_OutIO.DblValue2,
Z = robotStdPoint.P_OutIO.DblValue3,
R = robotStdPoint.P_OutIO.DblValue4,
XInfo = "使能|序号",
});
//P_OutVaccum
AllRobotPointValue.A_I.AllRobotPointValue_L.Add(new AllRobotPointValue()
{
No = i,
NamePoint = robotStdPoint.NamePoint,
NameValue = robotStdPoint.P_OutVaccum.NameClass,
X = robotStdPoint.P_OutVaccum.DblValue1,
Y = robotStdPoint.P_OutVaccum.DblValue2,
Z = robotStdPoint.P_OutVaccum.DblValue3,
R = robotStdPoint.P_OutVaccum.DblValue4,
XInfo = "真空IO(不操作,关闭,打开)",
YInfo = "吹气IO(不操作,关闭,吹气并关闭，吹气)",
ZInfo = "吹气延迟",
});
//P_OutPC
AllRobotPointValue.A_I.AllRobotPointValue_L.Add(new AllRobotPointValue()
{
No = i,
NamePoint = robotStdPoint.NamePoint,
NameValue = robotStdPoint.P_OutPC.NameClass,
X = robotStdPoint.P_OutPC.DblValue1,
Y = robotStdPoint.P_OutPC.DblValue2,
Z = robotStdPoint.P_OutPC.DblValue3,
R = robotStdPoint.P_OutPC.DblValue4,
XInfo = "使能",
YInfo = "指令类型",
ZInfo = "指令值",
});
//P_NextPoint
AllRobotPointValue.A_I.AllRobotPointValue_L.Add(new AllRobotPointValue()
{
No = i,
NamePoint = robotStdPoint.NamePoint,
NameValue = robotStdPoint.P_NextPoint.NameClass,
X = robotStdPoint.P_NextPoint.DblValue1,
Y = robotStdPoint.P_NextPoint.DblValue2,
Z = robotStdPoint.P_NextPoint.DblValue3,
R = robotStdPoint.P_NextPoint.DblValue4,
XInfo = "跳转点位",
});
#endregion 输出
}
}
catch (Exception ex)
{
}
}
public bool WriteInput(string name, RobotStdPoint robotStdPoint)
{
try
{
int waitV = (int)robotStdPoint.P_Vaccum.DblValue2;
if (waitV == -1)
{
waitV = int.MaxValue;
}
string vaccum = name + " vaccum" + " "
+ robotStdPoint.P_Vaccum.DblValue1.ToString().PadLeft(7, ' ') + " "
+ waitV.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_Vaccum.DblValue3.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_Vaccum.DblValue4.ToString().PadLeft(7, ' ');
WriteRobot(vaccum);
if (!WaitForOK())
{
ConfigRobot_event(string.Format("PC向机器人发送参数{0}失败!", vaccum), false);
return(false);
}
ConfigRobot_event(string.Format("PC向机器人发送参数{0}成功!", vaccum), true);
#region InputIO
int waitIO1 = (int)robotStdPoint.P_InputIO1.DblValue3;
if (waitIO1 == -1)
{
waitIO1 = int.MaxValue;
}
string inputIO1 = name + " inputIO1" + " "
+ robotStdPoint.P_InputIO1.DblValue1.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_InputIO1.DblValue2.ToString().PadLeft(7, ' ') + " "
+ waitIO1.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_InputIO1.DblValue4.ToString().PadLeft(7, ' ');
WriteRobot(inputIO1);
if (!WaitForOK())
{
ConfigRobot_event(string.Format("PC向机器人发送参数{0}失败!", inputIO1), false);
return(false);
}
ConfigRobot_event(string.Format("PC向机器人发送参数{0}成功!", inputIO1), true);
string jumpInputIO1 = name + " jumpIOP1" + " "
+ robotStdPoint.P_JumpIOP1.DblValue1.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_JumpIOP1.DblValue2.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_JumpIOP1.DblValue3.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_JumpIOP1.DblValue4.ToString().PadLeft(7, ' ');
WriteRobot(jumpInputIO1);
if (!WaitForOK())
{
ConfigRobot_event(string.Format("PC向机器人发送参数{0}失败!", jumpInputIO1), false);
return(false);
}
ConfigRobot_event(string.Format("PC向机器人发送参数{0}成功!", jumpInputIO1), true);
int waitIO2 = (int)robotStdPoint.P_InputIO2.DblValue3;
if (waitIO2 == -1)
{
waitIO2 = int.MaxValue;
}
string inputIO2 = name + " inputIO2" + " "
+ robotStdPoint.P_InputIO2.DblValue1.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_InputIO2.DblValue2.ToString().PadLeft(7, ' ') + " "
+ waitIO2.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_InputIO2.DblValue4.ToString().PadLeft(7, ' ');
WriteRobot(inputIO2);
if (!WaitForOK())
{
ConfigRobot_event(string.Format("PC向机器人发送参数{0}失败!", inputIO2), false);
return(false);
}
ConfigRobot_event(string.Format("PC向机器人发送参数{0}成功!", inputIO2), true);
string jumpInputIO2 = name + " jumpIOP2" + " "
+ robotStdPoint.P_JumpIOP2.DblValue1.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_JumpIOP2.DblValue2.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_JumpIOP2.DblValue3.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_JumpIOP2.DblValue4.ToString().PadLeft(7, ' ');
WriteRobot(jumpInputIO2);
if (!WaitForOK())
{
ConfigRobot_event(string.Format("PC向机器人发送参数{0}失败!", jumpInputIO2), false);
return(false);
}
ConfigRobot_event(string.Format("PC向机器人发送参数{0}成功!", jumpInputIO2), true);
int waitIO3 = (int)robotStdPoint.P_InputIO3.DblValue3;
if (waitIO3 == -1)
{
waitIO3 = int.MaxValue;
}
string inputIO3 = name + " inputIO3" + " "
+ robotStdPoint.P_InputIO3.DblValue1.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_InputIO3.DblValue2.ToString().PadLeft(7, ' ') + " "
+ waitIO3.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_InputIO3.DblValue4.ToString().PadLeft(7, ' ');
WriteRobot(inputIO3);
if (!WaitForOK())
{
ConfigRobot_event(string.Format("PC向机器人发送参数{0}失败!", inputIO3), false);
return(false);
}
ConfigRobot_event(string.Format("PC向机器人发送参数{0}成功!", inputIO3), true);
string jumpInputIO3 = name + " jumpIOP3" + " "
+ robotStdPoint.P_JumpIOP3.DblValue1.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_JumpIOP3.DblValue2.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_JumpIOP3.DblValue3.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_JumpIOP3.DblValue4.ToString().PadLeft(7, ' ');
WriteRobot(jumpInputIO3);
if (!WaitForOK())
{
ConfigRobot_event(string.Format("PC向机器人发送参数{0}失败!", jumpInputIO3), false);
return(false);
}
ConfigRobot_event(string.Format("PC向机器人发送参数{0}成功!", jumpInputIO3), true);
int waitIO4 = (int)robotStdPoint.P_InputIO4.DblValue3;
if (waitIO4 == -1)
{
waitIO4 = int.MaxValue;
}
string inputIO4 = name + " inputIO4" + " "
+ robotStdPoint.P_InputIO4.DblValue1.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_InputIO4.DblValue2.ToString().PadLeft(7, ' ') + " "
+ waitIO4.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_InputIO4.DblValue4.ToString().PadLeft(7, ' ');
WriteRobot(inputIO4);
if (!WaitForOK())
{
ConfigRobot_event(string.Format("PC向机器人发送参数{0}失败!", vaccum), false);
return(false);
}
ConfigRobot_event(string.Format("PC向机器人发送参数{0}成功!", vaccum), true);
string jumpInputIO4 = name + " jumpIOP4" + " "
+ robotStdPoint.P_JumpIOP4.DblValue1.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_JumpIOP4.DblValue2.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_JumpIOP4.DblValue3.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_JumpIOP4.DblValue4.ToString().PadLeft(7, ' ');
WriteRobot(jumpInputIO4);
if (!WaitForOK())
{
ConfigRobot_event(string.Format("PC向机器人发送参数{0}失败!", jumpInputIO4), false);
return(false);
}
ConfigRobot_event(string.Format("PC向机器人发送参数{0}成功!", jumpInputIO4), true);
#endregion InputIO
#region PC
string pc = name + " pc" + " "
+ robotStdPoint.P_PC.DblValue1.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_PC.DblValue2.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_PC.DblValue3.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_PC.DblValue4.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_PC.DblValue5.ToString().PadLeft(7, ' ');
WriteRobot(pc);
if (!WaitForOK())
{
ConfigRobot_event(string.Format("PC向机器人发送参数{0}失败!", pc), false);
return(false);
}
ConfigRobot_event(string.Format("PC向机器人发送参数{0}成功!", pc), true);
int waitPC = (int)robotStdPoint.P_PCCMD.DblValue2;
if (waitPC == -1)
{
waitPC = int.MaxValue;
}
string pcCMD = name + " pcCMD" + " "
+ robotStdPoint.P_PCCMD.DblValue1.ToString().PadLeft(7, ' ') + " "
+ waitPC.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_PCCMD.DblValue3.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_PCCMD.DblValue4.ToString().PadLeft(7, ' ');
WriteRobot(pcCMD);
if (!WaitForOK())
{
ConfigRobot_event(string.Format("PC向机器人发送参数{0}失败!", pcCMD), false);
return(false);
}
ConfigRobot_event(string.Format("PC向机器人发送参数{0}成功!", pcCMD), true);
#endregion PC
return(true);
}
catch (Exception ex)
{
return(false);
}
}
public bool WriteMove(string name, RobotStdPoint robotStdPoint)
{
try
{
string vel = name + " vel" + " "
+ robotStdPoint.P_Vel.DblValue1.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_Vel.DblValue2.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_Vel.DblValue3.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_Vel.DblValue4.ToString().PadLeft(7, ' ');
WriteRobot(vel);
if (!WaitForOK())
{
ConfigRobot_event(string.Format("PC向机器人发送参数{0}失败!", vel), false);
return(false);
}
ConfigRobot_event(string.Format("PC向机器人发送参数{0}成功!", vel), true);
string move = name + " move" + " "
+ robotStdPoint.P_Move.DblValue1.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_Move.DblValue2.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_Move.DblValue3.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_Move.DblValue4.ToString().PadLeft(7, ' ');
WriteRobot(move);
if (!WaitForOK())
{
ConfigRobot_event(string.Format("PC向机器人发送参数{0}失败!", move), false);
return(false);
}
ConfigRobot_event(string.Format("PC向机器人发送参数{0}成功!", move), true);
string des = name + " des" + " "
+ robotStdPoint.P_Des.DblValue1.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_Des.DblValue2.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_Des.DblValue3.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_Des.DblValue4.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_Des.DblValue5.ToString().PadLeft(7, ' ');
WriteRobot(des);
if (!WaitForOK())
{
ConfigRobot_event(string.Format("PC向机器人发送参数{0}失败!", des), false);
return(false);
}
ConfigRobot_event(string.Format("PC向机器人发送参数{0}成功!", des), true);
string here = name + " here" + " "
+ robotStdPoint.P_Here.DblValue1.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_Here.DblValue2.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_Here.DblValue3.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_Here.DblValue4.ToString().PadLeft(7, ' ');
WriteRobot(here);
if (!WaitForOK())
{
ConfigRobot_event(string.Format("PC向机器人发送参数{0}失败!", here), false);
return(false);
}
ConfigRobot_event(string.Format("PC向机器人发送参数{0}成功!", here), true);
string passCMD = name + " passCMD" + " "
+ robotStdPoint.P_PassCMD.DblValue1.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_PassCMD.DblValue2.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_PassCMD.DblValue3.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_PassCMD.DblValue4.ToString().PadLeft(7, ' ');
WriteRobot(passCMD);
if (!WaitForOK())
{
ConfigRobot_event(string.Format("PC向机器人发送参数{0}失败!", passCMD), false);
return(false);
}
ConfigRobot_event(string.Format("PC向机器人发送参数{0}成功!", passCMD), true);
string pass1 = name + " pass1" + " "
+ robotStdPoint.P_Pass1.DblValue1.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_Pass1.DblValue2.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_Pass1.DblValue3.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_Pass1.DblValue4.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_Pass1.DblValue5.ToString().PadLeft(7, ' ');
WriteRobot(pass1);
if (!WaitForOK())
{
ConfigRobot_event(string.Format("PC向机器人发送参数{0}失败!", pass1), false);
return(false);
}
ConfigRobot_event(string.Format("PC向机器人发送参数{0}成功!", pass1), true);
string pass2 = name + " pass2" + " "
+ robotStdPoint.P_Pass2.DblValue1.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_Pass2.DblValue2.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_Pass2.DblValue3.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_Pass2.DblValue4.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_Pass2.DblValue5.ToString().PadLeft(7, ' ');
WriteRobot(pass2);
if (!WaitForOK())
{
ConfigRobot_event(string.Format("PC向机器人发送参数{0}失败!", pass2), false);
return(false);
}
ConfigRobot_event(string.Format("PC向机器人发送参数{0}成功!", pass2), true);
string pass3 = name + " pass3" + " "
+ robotStdPoint.P_Pass3.DblValue1.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_Pass3.DblValue2.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_Pass3.DblValue3.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_Pass3.DblValue4.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_Pass3.DblValue5.ToString().PadLeft(7, ' ');
WriteRobot(pass3);
if (!WaitForOK())
{
ConfigRobot_event(string.Format("PC向机器人发送参数{0}失败!", pass3), false);
return(false);
}
ConfigRobot_event(string.Format("PC向机器人发送参数{0}成功!", pass3), true);
return(true);
}
catch (Exception ex)
{
return(false);
}
}
public bool WriteOut(string name, RobotStdPoint robotStdPoint)
{
try
{
string outIO = name + " outIO" + " "
+ robotStdPoint.P_OutIO.DblValue1.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_OutIO.DblValue2.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_OutIO.DblValue3.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_OutIO.DblValue4.ToString().PadLeft(7, ' ');
WriteRobot(outIO);
if (!WaitForOK())
{
ConfigRobot_event(string.Format("PC向机器人发送参数{0}失败!", outIO), false);
return(false);
}
ConfigRobot_event(string.Format("PC向机器人发送参数{0}成功!", outIO), true);
string outVaccum = name + " outVaccum" + " "
+ robotStdPoint.P_OutVaccum.DblValue1.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_OutVaccum.DblValue2.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_OutVaccum.DblValue3.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_OutVaccum.DblValue4.ToString().PadLeft(7, ' ');
WriteRobot(outVaccum);
if (!WaitForOK())
{
ConfigRobot_event(string.Format("PC向机器人发送参数{0}失败!", outVaccum), false);
return(false);
}
ConfigRobot_event(string.Format("PC向机器人发送参数{0}成功!", outVaccum), true);
string outPC = name + " outPC" + " "
+ robotStdPoint.P_OutPC.DblValue1.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_OutPC.DblValue2.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_OutPC.DblValue3.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_OutPC.DblValue4.ToString().PadLeft(7, ' ');
WriteRobot(outPC);
if (!WaitForOK())
{
ConfigRobot_event(string.Format("PC向机器人发送参数{0}失败!", outPC), false);
return(false);
}
ConfigRobot_event(string.Format("PC向机器人发送参数{0}成功!", outPC), true);
string nextPos = name + " nextPos" + " "
+ robotStdPoint.P_NextPoint.DblValue1.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_NextPoint.DblValue2.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_NextPoint.DblValue3.ToString().PadLeft(7, ' ') + " "
+ robotStdPoint.P_NextPoint.DblValue4.ToString().PadLeft(7, ' ');
WriteRobot(nextPos);
if (!WaitForOK())
{
ConfigRobot_event(string.Format("PC向机器人发送参数{0}失败!", nextPos), false);
return(false);
}
ConfigRobot_event(string.Format("PC向机器人发送参数{0}成功!", nextPos), true);
return(true);
}
catch (Exception ex)
{
return(false);
}
}
