private void SetZeroPositionToolStripMenuItem_Click(object sender, EventArgs e) //定义原点
{
if (Commondata.IsInit)
{
string YZeroValue, ZZeroValue, WZeroValue;
YZeroValue = Commondata.GalilControler.GCommand("TPY");
ZZeroValue = Commondata.GalilControler.GCommand("TPZ");
WZeroValue = Commondata.GalilControler.GCommand("TPW");
bool resY = Commondata.SetConfigValue("YZeroValue", YZeroValue.ToString());
bool resZ = Commondata.SetConfigValue("ZZeroValue", ZZeroValue.ToString());
bool resW = Commondata.SetConfigValue("WZeroValue", WZeroValue.ToString());
if (resY && resZ && resW)
{
MessageBox.Show("原点设置成功！");
Commondata.IsInitZero = true;
return;
}
else
{
MessageBox.Show("原点设置错误！");
}
}
else
{
MessageBox.Show("请先初始化设备！");
}
}
private void ConfigSet_Load(object sender, EventArgs e)
{
string YAZ, ZAZ, WAZ;
YAZ = Commondata.GetConfigValue("YAZ");
ZAZ = Commondata.GetConfigValue("ZAZ");
WAZ = Commondata.GetConfigValue("WAZ");
if (YAZ == "" && ZAZ == "" && WAZ == "") //AZ缺省值判断
{
numericUpDown1.Value = Convert.ToDecimal(Commondata.YAZ);
numericUpDown2.Value = Convert.ToDecimal(Commondata.ZAZ);
numericUpDown3.Value = Convert.ToDecimal(Commondata.WAZ);
}
else
{
numericUpDown1.Value = Convert.ToDecimal(YAZ);
numericUpDown2.Value = Convert.ToDecimal(ZAZ);
numericUpDown3.Value = Convert.ToDecimal(WAZ);
}
string TransmissionRatioY, HelicalPitchZ, TransmissionRatioW;
TransmissionRatioY = Commondata.GetConfigValue("TransmissionRatioY");
HelicalPitchZ = Commondata.GetConfigValue("HelicalPitchZ");
TransmissionRatioW = Commondata.GetConfigValue("TransmissionRatioW");
if (TransmissionRatioY == "" && HelicalPitchZ == "" && TransmissionRatioW == "") //机械参数缺省值判断
{
numericUpDown4.Value = Convert.ToDecimal(Commondata.TransmissionRatioY);
numericUpDown5.Value = Convert.ToDecimal(Commondata.HelicalPitchZ);
numericUpDown6.Value = Convert.ToDecimal(Commondata.TransmissionRatioW);
}
else
{
numericUpDown4.Value = Convert.ToDecimal(TransmissionRatioY);
numericUpDown5.Value = Convert.ToDecimal(HelicalPitchZ);
numericUpDown6.Value = Convert.ToDecimal(TransmissionRatioW);
}
string SpeedY, SpeedZ, SpeedW;
SpeedY = Commondata.GetConfigValue("SpeedY");
SpeedZ = Commondata.GetConfigValue("SpeedZ");
SpeedW = Commondata.GetConfigValue("SpeedW");
if (SpeedY == "" && SpeedZ == "" && SpeedW == "") //速度缺省值判断
{
numericUpDown9.Value = Convert.ToDecimal(Commondata.SpeedY);
numericUpDown8.Value = Convert.ToDecimal(Commondata.SpeedZ);
numericUpDown7.Value = Convert.ToDecimal(Commondata.SpeedW);
}
else
{
numericUpDown9.Value = Convert.ToDecimal(SpeedY);
numericUpDown8.Value = Convert.ToDecimal(SpeedZ);
numericUpDown7.Value = Convert.ToDecimal(SpeedW);
}
}
public static string AZCommand(string model)
{
string YAZ, ZAZ, WAZ, com;
YAZ = Commondata.GetConfigValue("YAZ");
ZAZ = Commondata.GetConfigValue("YAZ");
WAZ = Commondata.GetConfigValue("YAZ");
if (YAZ == "" && ZAZ == "" && WAZ == "")
{
com = "AZ" + "8192," + Commondata.YAZ + "," + Commondata.ZAZ + "," + Commondata.WAZ;
return(com);
}
else
{
com = "AZ" + "8192," + YAZ + "," + ZAZ + "," + WAZ;
return(com);
}
}
private void button1_Click(object sender, EventArgs e)
{
if (Commondata.SetConfigValue("YAZ", Convert.ToString(numericUpDown1.Value)) &&
Commondata.SetConfigValue("ZAZ", Convert.ToString(numericUpDown2.Value)) &&
Commondata.SetConfigValue("WAZ", Convert.ToString(numericUpDown3.Value)) &&
Commondata.SetConfigValue("TransmissionRatioY", Convert.ToString(numericUpDown4.Value)) &&
Commondata.SetConfigValue("HelicalPitchZ", Convert.ToString(numericUpDown5.Value)) &&
Commondata.SetConfigValue("TransmissionRatioW", Convert.ToString(numericUpDown6.Value)) &&
Commondata.SetConfigValue("SpeedY", Convert.ToString(numericUpDown9.Value)) &&
Commondata.SetConfigValue("SpeedZ", Convert.ToString(numericUpDown8.Value)) &&
Commondata.SetConfigValue("SpeedW", Convert.ToString(numericUpDown7.Value)))
{
MessageBox.Show("参数设置成功！");
}
else
{
MessageBox.Show("参数设置失败！");
return;
}
}
public static string TestCommand(string model)
{
decimal Yadd10Circle = Convert.ToDecimal(Commondata.GetConfigValue("YZeroValue")) + 8192 * 10;
decimal Ydec5Circle = Yadd10Circle - 8192 * 5;
decimal Yadd3Circle = Ydec5Circle + 8192 * 3;
decimal Zadd10Circle = Convert.ToDecimal(Commondata.GetConfigValue("ZZeroValue")) + 8192 * 10;
decimal Zdec5Circle = Zadd10Circle - 8192 * 5;
decimal Zadd3Circle = Zdec5Circle + 8192 * 3;
decimal Wadd10Circle = Convert.ToDecimal(Commondata.GetConfigValue("WZeroValue")) + 8192 * 10;
decimal Wdec5Circle = Wadd10Circle - 8192 * 5;
decimal Wadd3Circle = Wdec5Circle + 8192 * 3;
string Ystradd10Circle = Convert.ToString(Yadd10Circle);
string Ystrdec5Circle = Convert.ToString(Ydec5Circle);
string Ystradd3Circle = Convert.ToString(Yadd3Circle);
string Zstradd10Circle = Convert.ToString(Zadd10Circle);
string Zstrdec5Circle = Convert.ToString(Zdec5Circle);
string Zstradd3Circle = Convert.ToString(Zadd3Circle);
string Wstradd10Circle = Convert.ToString(Wadd10Circle);
string Wstrdec5Circle = Convert.ToString(Wdec5Circle);
string Wstradd3Circle = Convert.ToString(Wadd3Circle);
string speed = Commondata.GetConfigValue("SpeedW");
string qwe = "#TEST\nSH\nPA," + Ystradd10Circle + "," + Zstradd10Circle + "," + Wstradd10Circle +
"\nSP," + Commondata.GetConfigValue("SpeedY") + "," + Commondata.GetConfigValue("SpeedZ") + "," + Commondata.GetConfigValue("SpeedW") +
"\nBGW\nAMW\nWT1000" +
"\nPA," + Ystrdec5Circle + "," + Zstrdec5Circle + "," + Wstrdec5Circle +
"\nBGW\nAMW\nWT1000" +
"\nPA," + Ystradd3Circle + "," + Zstradd3Circle + "," + Wstradd3Circle +
"\nBGW\nAMW\nMO\nEN";
return(qwe);
}
private void button1_Click(object sender, EventArgs e) //选择产品按钮
{
Form1 IForm1 = (Form1)this.Owner;
string model;
try
{
if (dataGridView1.SelectedRows.Count > 1)
{
MessageBox.Show("请选择一行数据！");
}
else
{
if (Commondata.GetConfigValue("YZeroValue") == "" && Commondata.GetConfigValue("ZZeroValue") == "" && Commondata.GetConfigValue("WZeroValue") == "")
{
Console.WriteLine(Commondata.GetConfigValue("YZeroValue") + "wtf" + Commondata.GetConfigValue("ZZeroValue") + Commondata.GetConfigValue("WZeroValue"));
MessageBox.Show("请设置零点！");
}
else
{
model = dataGridView1.CurrentRow.Cells["Model"].Value.ToString();
IForm1.SetProductValue(model);
UploadCommand = CommandCreate.TestCommand(model);
//UpLoadCommand(UploadCommand);
System.IO.File.WriteAllText(Commondata.commandtxt, UploadCommand);
MessageBox.Show("命令已生成，点击命令查看按钮以查看。");
this.Dispose();
}
}
}
catch (Exception e1)
{
MessageBox.Show(e1.Message);
return;
}
}
public static string ReSetCommand(string Y, string Z, string W)
{
string com = "#RSET\nSH\nPA," + Y + "," + Z + "," + W + "\nSP," + Commondata.GetConfigValue("SpeedY") + "," + Commondata.GetConfigValue("SpeedZ") + "," + Commondata.GetConfigValue("SpeedW") + "\nBGYZW\nAMYZW\nMO\nEN"; //w轴回复动作待定
return(com);
}
private void button4_Click(object sender, EventArgs e) //复位按钮
{
if (Commondata.YZeroValue == null && Commondata.ZZeroValue == null && Commondata.WZeroValue == null)
{
MessageBox.Show("请先定义原点！");
}
else
{
Commondata.GalilControler.GProgramDownload(CommandCreate.ReSetCommand(Commondata.GetConfigValue("YZeroValue"), Commondata.GetConfigValue("ZZeroValue"), Commondata.GetConfigValue("WZeroValue"))); //w轴动作待定
Commondata.GalilControler.GProgramUpload();
Console.WriteLine(Commondata.WZeroValue);
Commondata.GalilControler.GCommand("XQ#RSET");
}
}
