public bool Rotote(double rx, double ry, double rz, EnumRobotSpeed speed, EnumRobotTool tool, int TimeOut = 3000)
{
RotateCmd.I_Speed = speed;
RotateCmd.I_Tool = tool;
RotateCmd.AngleX = rx;
RotateCmd.AngleY = ry;
RotateCmd.AngleZ = rz;
return(ExcuteCmd(RotateCmd, TimeOut) != null);
}
public bool MoveAbs(double x, double y, double z, EnumRobotSpeed speed, EnumRobotTool tool, EnumMoveType MoveType = EnumMoveType.MoveL, int TimeOut = 3000)
{
MoveToPosCmd.I_Speed = speed;
MoveToPosCmd.I_Tool = tool;
MoveToPosCmd.I_X = x;
MoveToPosCmd.I_Y = y;
MoveToPosCmd.I_Z = z;
MoveToPosCmd.MoveType = MoveType;
var cmd = ExcuteCmd(MoveToPosCmd, TimeOut);
return(cmd != null);
}
public bool MoveRel(double x, double y, double z, EnumRobotSpeed speed, EnumRobotTool tool, EnumMoveType MoveType = EnumMoveType.MoveL, int TimeOut = 3000)
{
var CurPoint = GetCurrentPostion(tool, TimeOut);
MoveToPosCmd.I_Speed = speed;
MoveToPosCmd.I_Tool = tool;
MoveToPosCmd.I_X = x + CurPoint.X;
MoveToPosCmd.I_Y = y + CurPoint.Y;
MoveToPosCmd.I_Z = z + CurPoint.Z;
MoveToPosCmd.MoveType = MoveType;
var cmd = ExcuteCmd(MoveToPosCmd, TimeOut);
return(cmd != null);
}
public AbbPoint GetCurrentPostion(EnumRobotTool tool, int TimeOut = 3000)
{
GetCurPosCmd.I_Tool = tool;
var cmd = ExcuteCmd(GetCurPosCmd, TimeOut) as CmdGetCurPos;
AbbPoint point = new AbbPoint();
if (cmd != null)
{
point.X = cmd.Q_X;
point.Y = cmd.Q_Y;
point.Z = cmd.Q_Z;
return(point);
}
return(null);
}
/// <summary>
/// 设置移动速度与工具
/// </summary>
/// <param name="I_Speed">10代表V10，20代表V20</param>
/// <param name="I_Tool"></param>
protected void SetSpeedAndTool(EnumRobotSpeed I_Speed, EnumRobotTool I_Tool)
{
Paras[4] = ((int)I_Speed).ToString();
Paras[5] = ((int)I_Tool).ToString();
}
