/// <summary>
/// StartDobot
/// </summary>
private void StartDobot()
{
StringBuilder fwType = new StringBuilder(60);
StringBuilder version = new StringBuilder(60);
int ret = DobotDll.ConnectDobot("", 115200, fwType, version);
// start connect
if (ret != (int)DobotConnect.DobotConnect_NoError)
{
Console.WriteLine("Connect error", Utils.MsgInfoType.Error);
return;
}
Console.WriteLine("Connect success", Utils.MsgInfoType.Info);
_isConnectted = true;
DobotDll.SetCmdTimeout(3000);
// Must set when sensor is not exist
//DobotDll.ResetPose(true, 45, 45);
// Get name
string deviceName = "Dobot Magician";
DobotDll.SetDeviceName(deviceName);
StringBuilder deviceSN = new StringBuilder(64);
DobotDll.GetDeviceName(deviceSN, 64);
SetParam();
}
/// <summary>
/// StartDobot
/// </summary>
private void StartDobot()
{
int ret;
// start connect
if ((ret = DobotDll.ConnectDobot()) >= (int)DobotResult.DobotResult_Error_Min)
{
Msg("Connect error ,code:" + ret.ToString(), MsgInfoType.Error);
return;
}
isConnectted = true;
// reset and start
//DobotDll.ResetDobot();
DobotDll.SetCmdTimeout(500);
DobotDll.SetEndType(EndType.EndTypePump);
// Must set when sensor is not exist
InitialPose initialPose;
initialPose.joint2Angle = 45;
initialPose.joint3Angle = 45;
DobotDll.SetInitialPose(ref initialPose);
JogStaticParams jsParam;
jsParam.jointMaxVelocity = 15;
jsParam.jointMaxAcceleration = 50;
jsParam.servoMaxVelocity = 30;
jsParam.servoMaxAcceleration = 10;
jsParam.linearMaxVelocity = 40;
jsParam.linearMaxAcceleration = 40;
DobotDll.SetJogStaticParams(ref jsParam);
JogDynamicParams jdParam;
jdParam.velocityRatio = 30;
DobotDll.SetJogDynamicParams(ref jdParam);
PlaybackStaticParams pbsParam;
pbsParam.jointMaxVelocity = 200;
pbsParam.jointMaxAcceleration = 200;
pbsParam.servoMaxVelocity = 200;
pbsParam.servoMaxAcceleration = 200;
pbsParam.linearMaxVelocity = 800;
pbsParam.linearMaxAcceleration = 1000;
pbsParam.pauseTime = 100;
pbsParam.jumpHeight = 20;
DobotDll.SetPlaybackStaticParams(ref pbsParam);
PlaybackDynamicParams pbdParam;
pbdParam.velocityRatio = 30;
pbdParam.accelerationRatio = 30;
DobotDll.SetPlaybackDynamicParams(ref pbdParam);
}
/// <summary>
/// StartDobot
/// </summary>
private void StartDobot()
{
int ret = DobotDll.ConnectDobot("", 115200);
// start connect
if (ret != (int)DobotConnect.DobotConnect_NoError)
{
Console.WriteLine("Connect error", MsgInfoType.Error);
return;
}
Console.WriteLine("Connect success", MsgInfoType.Info);
isConnectted = true;
DobotDll.SetCmdTimeout(3000);
// Must set when sensor is not exist
DobotDll.ResetPose(true, 45, 45);
UInt64 cmdIndex = 0;
JOGJointParams jsParam;
jsParam.velocity = new float[] { 200, 200, 200, 200 };
jsParam.acceleration = new float[] { 200, 200, 200, 200 };
DobotDll.SetJOGJointParams(ref jsParam, false, ref cmdIndex);
JOGCommonParams jdParam;
jdParam.velocityRatio = 100;
jdParam.accelerationRatio = 100;
DobotDll.SetJOGCommonParams(ref jdParam, false, ref cmdIndex);
PTPJointParams pbsParam;
pbsParam.velocity = new float[] { 200, 200, 200, 200 };
pbsParam.acceleration = new float[] { 200, 200, 200, 200 };
DobotDll.SetPTPJointParams(ref pbsParam, false, ref cmdIndex);
PTPCoordinateParams cpbsParam;
cpbsParam.xyzVelocity = 100;
cpbsParam.xyzAcceleration = 100;
cpbsParam.rVelocity = 100;
cpbsParam.rAcceleration = 100;
DobotDll.SetPTPCoordinateParams(ref cpbsParam, false, ref cmdIndex);
PTPJumpParams pjp;
pjp.jumpHeight = 20;
pjp.zLimit = 100;
DobotDll.SetPTPJumpParams(ref pjp, false, ref cmdIndex);
PTPCommonParams pbdParam;
pbdParam.velocityRatio = 30;
pbdParam.accelerationRatio = 30;
DobotDll.SetPTPCommonParams(ref pbdParam, false, ref cmdIndex);
}
private void StartDobot()
{
StringBuilder fwType = new StringBuilder(60);
StringBuilder version = new StringBuilder(60);
int ret = DobotDll.ConnectDobot("", 115200, fwType, version);
// start connect
if (ret != (int)DobotConnect.DobotConnect_NoError)
{
Msg("Connect error", MsgInfoType.Error);
MessageBox.Show("Connect Error!");
return;
}
Msg("Connect success", MsgInfoType.Info);
MessageBox.Show("Connect Success!");
isConnectted = true;
DobotDll.SetCmdTimeout(3000);
// Must set when sensor is not exist
//DobotDll.ResetPose(true, 45, 45);
// Get name
string deviceName = "Dobot Magician";
DobotDll.SetDeviceName(deviceName);
StringBuilder deviceSN = new StringBuilder(64);
DobotDll.GetDeviceName(deviceSN, 64);
StartGetPose();
// SetParam();
//EIOTest();
//ARCTest();
// AlarmTest();
EndTypeParams e = new EndTypeParams();
DobotDll.GetEndEffectorParams(ref e);
MessageBox.Show(e.xBias.ToString() + " " + e.yBias.ToString() + " " + e.zBias.ToString());
}
/// <summary>
/// StartDobot
/// </summary>
private void StartDobot()
{
int ret = DobotDll.ConnectDobot("", 115200);
// start connect
if (ret != (int)DobotConnect.DobotConnect_NoError)
{
Msg("Connect error", MsgInfoType.Error);
return;
}
Msg("Connect success", MsgInfoType.Info);
isConnectted = true;
DobotDll.SetCmdTimeout(3000);
// Must set when sensor is not exist
DobotDll.ResetPose(true, 45, 45);
// Get name
string deviceName = "Dobot Magician";
DobotDll.SetDeviceName(deviceName);
StringBuilder deviceSN = new StringBuilder(64);
DobotDll.GetDeviceName(deviceSN, 64);
UInt64 cmdIndex = 0;
JOGJointParams jsParam;
jsParam.velocity = new float[] { 200, 200, 200, 200 };
jsParam.acceleration = new float[] { 200, 200, 200, 200 };
DobotDll.SetJOGJointParams(ref jsParam, false, ref cmdIndex);
JOGCommonParams jdParam;
jdParam.velocityRatio = 100;
jdParam.accelerationRatio = 100;
DobotDll.SetJOGCommonParams(ref jdParam, false, ref cmdIndex);
PTPJointParams pbsParam;
pbsParam.velocity = new float[] { 200, 200, 200, 200 };
pbsParam.acceleration = new float[] { 200, 200, 200, 200 };
DobotDll.SetPTPJointParams(ref pbsParam, false, ref cmdIndex);
PTPCoordinateParams cpbsParam;
cpbsParam.xyzVelocity = 100;
cpbsParam.xyzAcceleration = 100;
cpbsParam.rVelocity = 100;
cpbsParam.rAcceleration = 100;
DobotDll.SetPTPCoordinateParams(ref cpbsParam, false, ref cmdIndex);
PTPJumpParams pjp;
pjp.jumpHeight = 20;
pjp.zLimit = 100;
DobotDll.SetPTPJumpParams(ref pjp, false, ref cmdIndex);
PTPCommonParams pbdParam;
pbdParam.velocityRatio = 30;
pbdParam.accelerationRatio = 30;
DobotDll.SetPTPCommonParams(ref pbdParam, false, ref cmdIndex);
//EIO
IOMultiplexing iom;
iom.address = 2; //io index
iom.multiplex = (byte)IOFunction.IOFunctionDO; // ioType
DobotDll.SetIOMultiplexing(ref iom, false, ref cmdIndex);
IODO iod;
iod.address = 2;
iod.level = 1; // set io index 2 to open
DobotDll.SetIODO(ref iod, false, ref cmdIndex);
// arc
//ptp((byte)1, 67.99f, 216.4f, -27.99f, 0);
//arc(154.92f, 182.41f, -62.89f, 0f, 216.07f, 85.54f, -8.34f, 0f);
}
private void StartDobot()
{
//ret ist eine normale Zahl, die einen Fehlercode repräsentiert
int ret;
//Überprüft ob eine Verbindung zum Roboter gefunden wurde.Wenn nicht, wird die Form sofort geschlossen und es erscheint eine Benachrichtigung
if ((ret = DobotDll.ConnectDobot()) >= (int)DobotResult.DobotResult_Error_Min)
{
MessageBox.Show("Kein Roboter gefunden");
this.Close();
return;
}
//Ist eine Verbindung vorhanden wird die Form aufgerufen und der Status isconnectted auf true gesetzt
else
{
this.Show();
isConnectted = true;
}
//Time-out für die comands
DobotDll.SetCmdTimeout(500);
//Gibt die Stellung in Winkelpositionen zwischen "Oberarm" und "Unterarm" an, die max. angefahren werden kann
InitialPose initialPose;
initialPose.joint2Angle = 45;
initialPose.joint3Angle = 45;
DobotDll.SetInitialPose(ref initialPose);
//Statische Paramter die Beschleunigung und Geschwidigkeit der Joints, der Servormotoren und des liniearen Abfahrens angeben, gilt für die Jogs (Anfahren über Winkelpositionen)
JogStaticParams jsParam;
jsParam.jointMaxVelocity = 15;
jsParam.jointMaxAcceleration = 50;
jsParam.servoMaxVelocity = 30;
jsParam.servoMaxAcceleration = 10;
jsParam.linearMaxVelocity = 40;
jsParam.linearMaxAcceleration = 40;
DobotDll.SetJogStaticParams(ref jsParam);
//Dynamischer Parameter, der die Beschleunigung angibt
JogDynamicParams jdParam;
jdParam.velocityRatio = 30;
DobotDll.SetJogDynamicParams(ref jdParam);
//Statische Paramter die Beschleunigung und Geschwidigkeit der Joints, der Servormotoren und des liniearen Abfahrens angeben, gilt für die Playbackcomands (Anfahren über Koordinaten)
PlaybackStaticParams pbsParam;
pbsParam.jointMaxVelocity = 100;
pbsParam.jointMaxAcceleration = 100;
pbsParam.servoMaxVelocity = 100;
pbsParam.servoMaxAcceleration = 100;
pbsParam.linearMaxVelocity = 100;
pbsParam.linearMaxAcceleration = 100;
pbsParam.pauseTime = 100;
pbsParam.jumpHeight = 20;
DobotDll.SetPlaybackStaticParams(ref pbsParam);
//Dynamischer Parameter, der die Beschleunigung und die Geschwindigkeit angibt
PlaybackDynamicParams pbdParam;
pbdParam.velocityRatio = 30;
pbdParam.accelerationRatio = 30;
DobotDll.SetPlaybackDynamicParams(ref pbdParam);
//Funktion zum Umrechnen der aufgenommenen Koordinaten
Koordinaten_umrechnen();
}
