/// <summary>
/// Z轴终点再现
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnAxisZGoTo2_Click(object sender, EventArgs e)
{
Result res = Result.OK;
//res = Machine.Instance.Robot.MovePosXYAndReply(double.Parse(this.txtZPosX.Text), double.Parse(this.txtZPosY.Text));
res = Machine.Instance.Robot.ManualMovePosXYAndReply(double.Parse(this.txtZPosX.Text), double.Parse(this.txtZPosY.Text));
if (res != Result.OK)
{
return;
}
AxisZCPK cpk = CPKMgr.Instance.FindByName(typeof(AxisZCPK).Name) as AxisZCPK;
if (cpk != null)
{
double z = cpk.calPoint();
res = CpkMove.MoveZHigh(z);
if (!res.IsOk)
{
return;
}
res = CpkMove.MoveZSlowly(double.Parse(this.txtZEnd.Text));
if (!res.IsOk)
{
return;
}
}
//this.move4CpkZ(double.Parse(this.txtZPosX.Text), double.Parse(this.txtZPosY.Text), double.Parse(this.txtZEnd.Text));
}
/// <summary>
/// Y轴终点再现
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnAxisYGoTo2_Click(object sender, EventArgs e)
{
double diff = double.Parse(this.txtYEndX.Text) - double.Parse(this.txtYStartX.Text);
if (Math.Abs(diff) > 5)
{
MessageBox.Show("示教时请确保设备X轴固定", "", MessageBoxButtons.OKCancel);
return;
}
Result res = Result.OK;
res = Machine.Instance.Robot.MovePosZAndReply(double.Parse(this.txtPosZ2.Text));
if (!res.IsOk)
{
return;
}
AxisYCPK cpk = CPKMgr.Instance.FindByName(typeof(AxisYCPK).Name) as AxisYCPK;
if (cpk != null)
{
PointD p = cpk.calPoint();
res = CpkMove.MoveToPosHigh(p.X, p.Y);
if (!res.IsOk)
{
return;
}
res = CpkMove.MoveToPosSlowly(double.Parse(this.txtYEndX.Text), double.Parse(this.txtYEndY.Text));
if (!res.IsOk)
{
return;
}
}
//CpkMove.moveToPosDown(double.Parse(this.txtYEndX.Text), double.Parse(this.txtYEndY.Text), double.Parse(this.txtPosZ2.Text));
}
private void DoAxisYCPK()
{
if (!this.cbUseASV.Checked)
{
this.checkGage();
}
Result res = Result.OK;
res = Machine.Instance.Robot.MovePosZAndReply(double.Parse(this.txtPosZ2.Text));
if (!res.IsOk)
{
return;
}
res = CpkMove.MoveToPosHigh(double.Parse(this.txtYStartX.Text), double.Parse(this.txtYStartY.Text));
if (!res.IsOk)
{
return;
}
double diff = double.Parse(this.txtYEndX.Text) - double.Parse(this.txtYStartX.Text);
if (Math.Abs(diff) > 5)
{
MessageBox.Show("示教时请确保设备X轴固定", "", MessageBoxButtons.OKCancel);
return;
}
CPKMgr.Instance.ExecuteOne(typeof(AxisYCPK).Name);
}
private void moveAndRead()
{
Result res = Result.OK;
double height;
this.isStop = false;
dataInput.Clear();
for (int i = 0; i < this.CpkPrm.YPointsNum; i++)
{
res = CpkMove.MoveToPosHigh(Start.X, Start.Y);
if (!res.IsOk)
{
return;
}
if (this.isStop)
{
this.isStop = false;
break;
}
if (this.CpkMeasureType == 1) // 相机定位
{
res = CpkMove.MoveToPosSlowly(End.X, End.Y);
if (!res.IsOk)
{
return;
}
double posInCamera;
bool result = this.CaptruePos(out posInCamera);
if (!result)
{
return;
}
height = height = Machine.Instance.Robot.PosY + posInCamera;
}
else // 通信千分表
{
res = CpkMove.MoveToPosHigh(pointTrans.X, pointTrans.Y);
if (!res.IsOk)
{
return;
}
res = CpkMove.MoveToPosSlowly(End.X, End.Y);
if (!res.IsOk)
{
return;
}
Thread.Sleep(3000);
//读取高度
int retCode = Machine.Instance.DigitalGage.DigitalGagable.ReadHeight(out height);
if (retCode != 0)
{
return;
}
}
dataInput.Add(height);
}
}
private void moveAndRead()
{
Result res = Result.OK;
double height;
this.isStop = false;
dataInput.Clear();
for (int i = 0; i < this.CpkPrm.ZPointsNum; i++)
{
res = CpkMove.MoveZHigh(ZStart);
if (res != Result.OK)
{
return;
}
if (this.isStop)
{
this.isStop = false;
break;
}
res = CpkMove.MoveZHigh(pointTrans);
if (!res.IsOk)
{
return;
}
res = CpkMove.MoveZSlowly(ZEnd);
if (!res.IsOk)
{
return;
}
Thread.Sleep(3000);
if (this.CpkMeasureType == 1)
{
//读取高度
Result result = Machine.Instance.MeasureHeight(out height);
if (!result.IsOk)
{
return;
}
}
else
{
//读取高度
int retCode = Machine.Instance.DigitalGage.DigitalGagable.ReadHeight(out height);
if (retCode != 0)
{
return;
}
}
dataInput.Add(height);
}
}
private void DoAxisXYCPK()
{
Result res = Result.OK;
res = Machine.Instance.Robot.MovePosZAndReply(double.Parse(this.txtPosZ3.Text));
if (!res.IsOk)
{
return;
}
res = CpkMove.MoveToPosHigh(double.Parse(this.txtXYStartX.Text), double.Parse(this.txtXYStartY.Text));
if (!res.IsOk)
{
return;
}
CPKMgr.Instance.ExecuteOne(typeof(AxisXYCPK).Name);
}
/// <summary>
/// Z轴起点再现
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnAxisZGoTo1_Click(object sender, EventArgs e)
{
Result res = Result.OK;
//res = Machine.Instance.Robot.MovePosXYAndReply(double.Parse(this.txtZPosX.Text), double.Parse(this.txtZPosY.Text));
res = Machine.Instance.Robot.ManualMovePosXYAndReply(double.Parse(this.txtZPosX.Text), double.Parse(this.txtZPosY.Text));
if (res != Result.OK)
{
return;
}
res = CpkMove.MoveZHigh(double.Parse(this.txtZStart.Text));
if (res != Result.OK)
{
return;
}
//this.move4CpkZ(double.Parse(this.txtZPosX.Text), double.Parse(this.txtZPosY.Text), double.Parse(this.txtZStart.Text));
}
private void btnAxisXYGoTo2_Click(object sender, EventArgs e)
{
Result res = Result.OK;
res = Machine.Instance.Robot.MovePosZAndReply(double.Parse(this.txtPosZ3.Text));
if (!res.IsOk)
{
return;
}
AxisXYCPK cpk = CPKMgr.Instance.FindByName(typeof(AxisXYCPK).Name) as AxisXYCPK;
if (cpk != null)
{
res = CpkMove.MoveToPosSlowly(double.Parse(this.txtXYEndX.Text), double.Parse(this.txtXYEndY.Text));
if (!res.IsOk)
{
return;
}
}
}
private void DoAxisZCPK()
{
if (!this.cbUseLaser.Checked)
{
this.checkGage();
}
Result res = Result.OK;
res = CpkMove.MoveZHigh(double.Parse(this.txtZStart.Text));
if (res != Result.OK)
{
return;
}
res = CpkMove.MoveZHigh(double.Parse(this.txtZStart.Text));
if (res != Result.OK)
{
return;
}
CPKMgr.Instance.ExecuteOne(typeof(AxisZCPK).Name);
}
/// <summary>
/// Y轴起点再现
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnAxisYGoTo1_Click(object sender, EventArgs e)
{
Result res = Result.OK;
res = Machine.Instance.Robot.MovePosZAndReply(double.Parse(this.txtPosZ2.Text));
if (!res.IsOk)
{
return;
}
AxisYCPK cpk = CPKMgr.Instance.FindByName(typeof(AxisYCPK).Name) as AxisYCPK;
if (cpk != null)
{
res = CpkMove.MoveToPosHigh(double.Parse(this.txtYStartX.Text), double.Parse(this.txtYStartY.Text));
if (!res.IsOk)
{
return;
}
}
//CpkMove.moveToPos(double.Parse(this.txtYStartX.Text), double.Parse(this.txtYStartY.Text), double.Parse(this.txtPosZ2.Text));
}
private void moveAndRead()
{
Result res = Result.OK;
double height, height2;
dataInput.Clear();
dataInput2.Clear();
this.isStop = false;
for (int i = 0; i < this.CpkPrm.XYPointsNum; i++)
{
res = CpkMove.MoveToPosHigh(Start.X, Start.Y);
if (!res.IsOk)
{
return;
}
if (this.isStop)
{
this.isStop = false;
break;
}
res = CpkMove.MoveToPosSlowly(End.X, End.Y);
if (!res.IsOk)
{
return;
}
double posInCameraX, posInCameraY;
bool result = this.CaptruePos(out posInCameraX, out posInCameraY);
if (!result)
{
return;
}
height = Machine.Instance.Robot.PosX + posInCameraX;
height2 = Machine.Instance.Robot.PosY + posInCameraY;
dataInput.Add(height);
dataInput2.Add(height2);
}
}
