public override void UninitCalib()
{
do_gt2_cy?.SetDo(this, false, ignoreOrWaringOrError: null);
if (Platform1 != null)
{
Platform1.EnterAuto(this).Home(2);
Platform1.EnterAuto(this).MoveAbs("Wait", checkLimit: false);
Platform1.ExitAuto();
}
if (Platform2 != null)
{
Platform2.EnterAuto(this).Home(2);
Platform2.EnterAuto(this).MoveAbs("Wait", checkLimit: false);
Platform2.ExitAuto();
}
PlatformCarrier?.EnterAuto(this).MoveAbs("Wait");
do_clampy_cy.SetDo(this, false);
PlatformCarrier?.ExitAuto();
}
public override void UninitCalib()
{
do_clampy_cy?.SetDo(this, false);
do_gt2_cy?.SetDo(this, false);
Platform1?.EnterAuto(this).Jump("Wait", JumpHeight1);
Platform2?.EnterAuto(this).Jump("Wait", JumpHeight2);
PlatformCarrier?.EnterAuto(this).MoveAbs("Wait");
}
public override void DoCalib()
{
Platform1?.EnterAuto(this).MoveAbs("Wait");
//上工站点位数据采集
Log($"上平台Align点位标定\n------------------------------------------------------");
List <PosXYZ> upAlignPos = new List <PosXYZ>();
bool isFirst = true;
foreach (var pos in AlignPosUp)
{
if (isFirst)
{
isFirst = false;
Platform1?.EnterAuto(this).Jump(pos, 0);
}
else
{
Platform1?.EnterAuto(this).Jump(pos, JumpHeight1);
}
upAlignPos.Add(pos);
DataList.Add(pos.ToString());
Log($"CurPos {pos.ToString()}", LogLevel.Info);
}
//复位平台1
Platform1?.EnterAuto(this).Jump("Wait", JumpHeight1);
Log($"上平台Align点位标定 完成\n------------------------------------------------------");
OnCalibProgress(50);
Platform2?.EnterAuto(this).MoveAbs("Wait");
//下工站点位 数据采集
Log($"下平台Align点位标定\n------------------------------------------------------");
List <PosXYZ> downAlingPos = new List <PosXYZ>();
isFirst = true;
foreach (var pos in AlignPosDown)
{
if (isFirst)
{
isFirst = false;
Platform2?.EnterAuto(this).Jump(pos, 0);
}
else
{
Platform2?.EnterAuto(this).Jump(pos, JumpHeight2);
}
downAlingPos.Add(pos);
DataList.Add(pos.ToString());
Log($"CurPos {pos.ToString()}", LogLevel.Info);
}
Log($"下平台Align点位标定 完成\n------------------------------------------------------");
//计算下平台GT2偏移
Log($"下平台GT1GT2偏移标定\n------------------------------------------------------");
if (Platform2GtOffsetCalibGT1 != null && Platform2GtOffsetCalibGT2 != null)
{
Platform2?.EnterAuto(this).Jump(Platform2GtOffsetCalibGT1, JumpHeight1);
Platform2?.EnterAuto(this).Jump(Platform2GtOffsetCalibGT2, JumpHeight1);
var gt1 = Platform2GtOffsetCalibGT1 as PosXYZ;
var gt2 = Platform2GtOffsetCalibGT2 as PosXYZ;
OutputPlatform2GtOffset = gt2 - gt1;
OutputPlatform2GtOffset.Z = 0;
}
//复位平台2
Platform2?.EnterAuto(this).Jump("Wait", JumpHeight2);
Log($"下平台GT1GT2偏移标定 完成\n------------------------------------------------------");
//复位治具
PlatformCarrier?.EnterAuto(this).MoveAbs("Wait");
OnCalibProgress(100);
//计算上下平台坐标转换
{
var ret = XyzPlarformCalibration.CalcAffineTransform(
upAlignPos.Select(p => new PosXYZ(p.X, p.Y, 0)).ToList(),
downAlingPos.Select(p => new PosXYZ(p.X, p.Y, 0)).ToList());
Log($"计算上下平台转换矩阵:\r\n"
+ $"{ret.Item1[0, 0]:F6},{ret.Item1[0, 1]:F6},{ret.Item1[0, 2]:F6},{ret.Item1[0, 3]:F6}\r\n"
+ $"{ret.Item1[1, 0]:F6},{ret.Item1[1, 1]:F6},{ret.Item1[1, 2]:F6},{ret.Item1[1, 3]:F6}\r\n"
+ $"{ret.Item1[2, 0]:F6},{ret.Item1[2, 1]:F6},{ret.Item1[2, 2]:F6},{ret.Item1[2, 3]:F6}\r\n"
+ $"{ret.Item1[3, 0]:F6},{ret.Item1[3, 1]:F6},{ret.Item1[3, 2]:F6},{ret.Item1[3, 3]:F6}\r\n", LogLevel.Info);
Log($"计算上下平台转换误差:\r\n{ret.Item2:F2}\r\n", LogLevel.Info);
OutputTransForm = new TransformParams(ret.Item1);
}
Log($"GT1GT2偏移:\r\n{OutputPlatform2GtOffset}\r\n", LogLevel.Info);
}
public override void DoCalib()
{
OutputStandardHeight = StandardHeight;
Log("上平台GT高度标定\n----------------------------------------------------------");
{
//GT标定高度
OutputGTCalibPos = Platform1GTCalibPos;
DataList.Add(OutputGTCalibPos.ToString());
//标准平面标定
if (Platform1GTPlaneCalibPos != null)
{
//update z
if (Platform1 != null && GtController != null)
{
bool isFirst = true;
foreach (var calibPos in Platform1GTPlaneCalibPos)
{
//product to up platform
var pos = new PosXYZ(calibPos.Data())
{
Z = Platform1GTCalibPos.Z
};
if (isFirst)
{
isFirst = false;
Platform1?.EnterAuto(this).Jump(Platform1.GetPos("P->UP", pos.Data()), 0);
}
else
{
Platform1?.EnterAuto(this).Jump(Platform1.GetPos("P->UP", pos.Data()), JumpHeight1);
}
Thread.Sleep(1000);
calibPos.Z = GtController.ReadData()[0];
DataList.Add(calibPos.ToString());
}
}
var fitplane = PlaneParams.FitPlane(Platform1GTPlaneCalibPos);
OutputUpStandardPlane = new PlaneParams()
{
Normal = fitplane.Normal, Origin = fitplane.Origin
};
DataList.Add(OutputUpStandardPlane.ToString());
}
}
//复位上平台
Platform1?.EnterAuto(this).Jump("Wait", JumpHeight1);
Log("上平台GT高度标定 完成\n----------------------------------------------------------");
//下GT高度标定
//复位下平台Z轴
if (Platform2 != null)
{
Platform2.EnterAuto(this).Home(2);
Platform2.EnterAuto(this).MoveAbs(2, "Wait", checkLimit: false);
}
Log("下平台GT1高度标定\n----------------------------------------------------------");
{
do_gt2_cy?.SetDo(this, true, ignoreOrWaringOrError: null);
{
//GT1GT2 高度差标定
OutputGT1CalibPos = Platform2GT1CalibPos;
//update z
if (Platform2 != null && GtController != null)
{
Platform2.EnterAuto(this).Jump(Platform2GT1CalibPos, 0);
Thread.Sleep(1000);
OutputGT1CalibPos.OffsetZ = GtController.ReadData()[1];
}
//GT1GT2 高度差标定
OutputGT2CalibPos = Platform2GT2CalibPos;
//update z
if (Platform2 != null && GtController != null)
{
Platform2.EnterAuto(this).Jump(Platform2GT2CalibPos, JumpHeight2);
Thread.Sleep(1000);
OutputGT2CalibPos.OffsetZ = GtController.ReadData()[2];
}
//GT1标准平面标定
if (Platform2GT1PlaneCalibPos != null)
{
//update z
if (Platform2 != null && GtController != null)
{
foreach (var calibPos in Platform2GT1PlaneCalibPos)
{
//product to up platform
var pos = new PosXYZ(calibPos.Data())
{
Z = Platform2GT1CalibPos.Z
};
Platform2.EnterAuto(this).Jump(Platform2.GetPos("P->DOWN1", pos.Data()), JumpHeight2);
Thread.Sleep(1000);
calibPos.Z = GtController.ReadData()[1];
DataList.Add(calibPos.ToString());
}
}
var fitplane = PlaneParams.FitPlane(Platform2GT1PlaneCalibPos);
OutputDownStandardPlane = new PlaneParams()
{
Normal = fitplane.Normal, Origin = fitplane.Origin
};
DataList.Add(OutputDownStandardPlane.ToString());
}
//GT2标准平面标定
if (Platform2GT2PlaneCalibPos != null)
{
//update z
if (Platform2 != null && GtController != null)
{
foreach (var calibPos in Platform2GT2PlaneCalibPos)
{
//product to up platform
var pos = new PosXYZ(calibPos.Data())
{
Z = Platform2GT2CalibPos.Z
};
Platform2.EnterAuto(this).Jump(Platform2.GetPos("P->DOWN2", pos.Data()), JumpHeight2);
Thread.Sleep(1000);
calibPos.Z = GtController.ReadData()[2];
DataList.Add(calibPos.ToString());
}
}
var fitplane = PlaneParams.FitPlane(Platform2GT2PlaneCalibPos);
OutputDownStandardPlane2 = new PlaneParams()
{
Normal = fitplane.Normal, Origin = fitplane.Origin
};
DataList.Add(OutputDownStandardPlane2.ToString());
}
}
do_gt2_cy?.SetDo(this, false, ignoreOrWaringOrError: null);
}
{
//复位下平台
//move platform2 wait
if (Platform2 != null)
{
Platform2.EnterAuto(this).Home(2);
Platform2.EnterAuto(this).MoveAbs("Wait", checkLimit: false);
}
Log("下平台GT1/2高度标定 完成\n----------------------------------------------------------");
}
//output
DataList.Add(OutputGT1CalibPos.ToString());
DataList.Add(OutputGT2CalibPos.ToString());
DataList.Add(OutputStandardHeight.ToString());
DataList.Add(OutputUpStandardPlane.ToString());
DataList.Add(OutputDownStandardPlane.ToString());
}
