public Boolean move_SingleAxis(Coordinate_Axis newAxis, Coordinate_Axis oldAxis)
{
if (newAxis.A1 < axisUpLimited[0] && newAxis.A1 > axisDownLimited[0])
{
if (newAxis.A2 < axisUpLimited[1] && newAxis.A2 > axisDownLimited[1])
{
if (newAxis.A3 < axisUpLimited[2] && newAxis.A3 > axisDownLimited[2])
{
if (newAxis.A4 < axisUpLimited[3] && newAxis.A4 > axisDownLimited[3])
{
if (newAxis.A5 < axisUpLimited[4] && newAxis.A5 > axisDownLimited[4])
{
if (newAxis.A6 < axisUpLimited[5] && newAxis.A6 > axisDownLimited[5])
{
Coordinate_Axis Axis = new Coordinate_Axis();
float[] AxisWaitTime = new float[6];
AxisWaitTime[0] = (newAxis.A1 - oldAxis.A1) / Vel;
AxisWaitTime[1] = (newAxis.A2 - oldAxis.A2) / Vel;
AxisWaitTime[2] = (newAxis.A3 - oldAxis.A3) / Vel;
AxisWaitTime[3] = (newAxis.A4 - oldAxis.A4) / Vel;
AxisWaitTime[4] = (newAxis.A5 - oldAxis.A5) / Vel;
AxisWaitTime[5] = (newAxis.A6 - oldAxis.A6) / Vel;
//Axis.A1 = newAxis.A1 - oldAxis.A1;
//Axis.A2 = newAxis.A2 - oldAxis.A2;
//Axis.A3 = newAxis.A3 - oldAxis.A3;
//Axis.A4 = newAxis.A4 - oldAxis.A4;
//Axis.A5 = newAxis.A5 - oldAxis.A5;
//Axis.A6 = newAxis.A6 - oldAxis.A6;
AxisCommand[0] = (Math.Sign(AxisWaitTime[0]) * Vel).ToString();
AxisCommand[1] = "0";
AxisCommand[2] = "0";
AxisCommand[3] = "0";
AxisCommand[4] = "0";
AxisCommand[5] = "0";
move_KukaArm("Axis");
Thread.Sleep(Math.Abs((int)AxisWaitTime[0]) * 12);
AxisCommand[0] = "0";
AxisCommand[1] = (Math.Sign(AxisWaitTime[1]) * Vel).ToString();
AxisCommand[2] = "0";
AxisCommand[3] = "0";
AxisCommand[4] = "0";
AxisCommand[5] = "0";
move_KukaArm("Axis");
Thread.Sleep(Math.Abs((int)AxisWaitTime[1]) * 12);
AxisCommand[0] = "0";
AxisCommand[1] = "0";
AxisCommand[2] = (Math.Sign(AxisWaitTime[2]) * Vel).ToString();
AxisCommand[3] = "0";
AxisCommand[4] = "0";
AxisCommand[5] = "0";
move_KukaArm("Axis");
Thread.Sleep(Math.Abs((int)AxisWaitTime[2]) * 12);
AxisCommand[0] = "0";
AxisCommand[1] = "0";
AxisCommand[2] = "0";
AxisCommand[3] = (Math.Sign(AxisWaitTime[3]) * Vel).ToString(); ;
AxisCommand[4] = "0";
AxisCommand[5] = "0";
move_KukaArm("Axis");
Thread.Sleep(Math.Abs((int)AxisWaitTime[3]) * 12);
AxisCommand[0] = "0";
AxisCommand[1] = "0";
AxisCommand[2] = "0";
AxisCommand[3] = "0";
AxisCommand[4] = (Math.Sign(AxisWaitTime[4]) * Vel).ToString();
AxisCommand[5] = "0";
move_KukaArm("Axis");
Thread.Sleep(Math.Abs((int)AxisWaitTime[4]) * 12);
AxisCommand[0] = "0";
AxisCommand[1] = "0";
AxisCommand[2] = "0";
AxisCommand[3] = "0";
AxisCommand[4] = "0";
AxisCommand[5] = (Math.Sign(AxisWaitTime[5]) * Vel).ToString();
move_KukaArm("Axis");
Thread.Sleep(Math.Abs((int)AxisWaitTime[5]) * 12);
AxisCommand[0] = "0";
AxisCommand[1] = "0";
AxisCommand[2] = "0";
AxisCommand[3] = "0";
AxisCommand[4] = "0";
AxisCommand[5] = "0";
move_KukaArm("Axis");
}
}
}
}
}
return true;
}
else
{
return false;
}
}
public void move_Axis(Coordinate_Axis newAxis)
{
AxisCommand[0] = newAxis.A1.ToString();
AxisCommand[1] = newAxis.A2.ToString();
AxisCommand[2] = newAxis.A3.ToString();
AxisCommand[3] = newAxis.A4.ToString();
AxisCommand[4] = newAxis.A5.ToString();
AxisCommand[5] = newAxis.A6.ToString();
move_KukaArm("Axis");
//(12ms = 一單位)
Thread.Sleep(12);
AxisCommand[0] = "0";
AxisCommand[1] = "0";
AxisCommand[2] = "0";
AxisCommand[3] = "0";
AxisCommand[4] = "0";
AxisCommand[5] = "0";
move_KukaArm("Axis");
}
private void KukaMoveXyzabcModeThread()
{
switch (XyzabcMode)
{
case "X":
{
if (MoveType == "0")
{
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Command.Text);
newXyzabc.Y = float.Parse(Y_Value.Text);
newXyzabc.Z = float.Parse(Z_Value.Text);
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_SingalMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
}
else if (MoveType == "1")
{
newXyzabc = new Coordinate_XYZABC();
newXyzabc.X = 1;
newXyzabc.Y = 0;
newXyzabc.Z = 0;
newXyzabc.A = 0;
newXyzabc.B = 0;
newXyzabc.C = 0;
KukaRobotControlObject.move_XYZABC(newXyzabc);
newXyzabc = null;
}
else if (MoveType == "-1")
{
newXyzabc = new Coordinate_XYZABC();
newXyzabc.X = -1;
newXyzabc.Y = 0;
newXyzabc.Z = 0;
newXyzabc.A = 0;
newXyzabc.B = 0;
newXyzabc.C = 0;
KukaRobotControlObject.move_XYZABC(newXyzabc);
newXyzabc = null;
}
break;
}
case "Y":
{
if (MoveType == "0")
{
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Value.Text);
newXyzabc.Y = float.Parse(Y_Command.Text);
newXyzabc.Z = float.Parse(Z_Value.Text);
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_SingalMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
}
else if (MoveType == "1")
{
newXyzabc = new Coordinate_XYZABC();
newXyzabc.X = 0;
newXyzabc.Y = 1;
newXyzabc.Z = 0;
newXyzabc.A = 0;
newXyzabc.B = 0;
newXyzabc.C = 0;
KukaRobotControlObject.move_XYZABC(newXyzabc);
newXyzabc = null;
}
else if (MoveType == "-1")
{
newXyzabc = new Coordinate_XYZABC();
newXyzabc.X = 0;
newXyzabc.Y = -1;
newXyzabc.Z = 0;
newXyzabc.A = 0;
newXyzabc.B = 0;
newXyzabc.C = 0;
KukaRobotControlObject.move_XYZABC(newXyzabc);
newXyzabc = null;
}
break;
}
case "Z":
{
if (MoveType == "0")
{
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Value.Text);
newXyzabc.Y = float.Parse(Y_Value.Text);
newXyzabc.Z = float.Parse(Z_Command.Text);
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_SingalMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
}
else if (MoveType == "1")
{
newXyzabc = new Coordinate_XYZABC();
newXyzabc.X = 0;
newXyzabc.Y = 0;
newXyzabc.Z = 1;
newXyzabc.A = 0;
newXyzabc.B = 0;
newXyzabc.C = 0;
KukaRobotControlObject.move_XYZABC(newXyzabc);
newXyzabc = null;
}
else if (MoveType == "-1")
{
newXyzabc = new Coordinate_XYZABC();
newXyzabc.X = 0;
newXyzabc.Y = 0;
newXyzabc.Z = -1;
newXyzabc.A = 0;
newXyzabc.B = 0;
newXyzabc.C = 0;
KukaRobotControlObject.move_XYZABC(newXyzabc);
newXyzabc = null;
}
break;
}
case "A":
{
if (MoveType == "0")
{
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Value.Text);
newXyzabc.Y = float.Parse(Y_Value.Text);
newXyzabc.Z = float.Parse(Z_Value.Text);
newXyzabc.A = float.Parse(A_Command.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_RotationMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
}
else if (MoveType == "1")
{
newXyzabc = new Coordinate_XYZABC();
newXyzabc.X = 0;
newXyzabc.Y = 0;
newXyzabc.Z = 0;
newXyzabc.A = 1;
newXyzabc.B = 0;
newXyzabc.C = 0;
KukaRobotControlObject.move_XYZABC(newXyzabc);
newXyzabc = null;
}
else if (MoveType == "-1")
{
newXyzabc = new Coordinate_XYZABC();
newXyzabc.X = 0;
newXyzabc.Y = 0;
newXyzabc.Z = 0;
newXyzabc.A = -1;
newXyzabc.B = 0;
newXyzabc.C = 0;
KukaRobotControlObject.move_XYZABC(newXyzabc);
newXyzabc = null;
}
break;
}
case "B":
{
if (MoveType == "0")
{
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Value.Text);
newXyzabc.Y = float.Parse(Y_Value.Text);
newXyzabc.Z = float.Parse(Z_Value.Text);
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Command.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_RotationMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
}
else if (MoveType == "1")
{
newXyzabc = new Coordinate_XYZABC();
newXyzabc.X = 0;
newXyzabc.Y = 0;
newXyzabc.Z = 0;
newXyzabc.A = 0;
newXyzabc.B = 1;
newXyzabc.C = 0;
KukaRobotControlObject.move_XYZABC(newXyzabc);
newXyzabc = null;
}
else if (MoveType == "-1")
{
newXyzabc = new Coordinate_XYZABC();
newXyzabc.X = 0;
newXyzabc.Y = 0;
newXyzabc.Z = 0;
newXyzabc.A = 0;
newXyzabc.B = -1;
newXyzabc.C = 0;
KukaRobotControlObject.move_XYZABC(newXyzabc);
newXyzabc = null;
}
break;
}
case "C":
{
if (MoveType == "0")
{
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Value.Text);
newXyzabc.Y = float.Parse(Y_Value.Text);
newXyzabc.Z = float.Parse(Z_Value.Text);
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Command.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_RotationMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
}
else if (MoveType == "1")
{
newXyzabc = new Coordinate_XYZABC();
newXyzabc.X = 0;
newXyzabc.Y = 0;
newXyzabc.Z = 0;
newXyzabc.A = 0;
newXyzabc.B = 0;
newXyzabc.C = 1;
KukaRobotControlObject.move_XYZABC(newXyzabc);
newXyzabc = null;
}
else if (MoveType == "-1")
{
newXyzabc = new Coordinate_XYZABC();
newXyzabc.X = 0;
newXyzabc.Y = 0;
newXyzabc.Z = 0;
newXyzabc.A = 0;
newXyzabc.B = 0;
newXyzabc.C = -1;
KukaRobotControlObject.move_XYZABC(newXyzabc);
newXyzabc = null;
}
break;
}
case "A1" :
{
if (MoveType == "0")
{
}
else if (MoveType == "1")
{
newAxis = new Coordinate_Axis();
newAxis.A1 = 1;
newAxis.A2 = 0;
newAxis.A3 = 0;
newAxis.A4 = 0;
newAxis.A5 = 0;
newAxis.A6 = 0;
KukaRobotControlObject.move_Axis(newAxis);
newAxis = null;
}
else if (MoveType == "-1")
{
newAxis = new Coordinate_Axis();
newAxis.A1 = -1;
newAxis.A2 = 0;
newAxis.A3 = 0;
newAxis.A4 = 0;
newAxis.A5 = 0;
newAxis.A6 = 0;
KukaRobotControlObject.move_Axis(newAxis);
newAxis = null;
}
break;
}
case "A2":
{
if (MoveType == "0")
{
}
else if (MoveType == "1")
{
newAxis = new Coordinate_Axis();
newAxis.A1 = 0;
newAxis.A2 = 1;
newAxis.A3 = 0;
newAxis.A4 = 0;
newAxis.A5 = 0;
newAxis.A6 = 0;
KukaRobotControlObject.move_Axis(newAxis);
newAxis = null;
}
else if (MoveType == "-1")
{
newAxis = new Coordinate_Axis();
newAxis.A1 = 0;
newAxis.A2 = -1;
newAxis.A3 = 0;
newAxis.A4 = 0;
newAxis.A5 = 0;
newAxis.A6 = 0;
KukaRobotControlObject.move_Axis(newAxis);
newAxis = null;
}
break;
}
case "A3":
{
if (MoveType == "0")
{
}
else if (MoveType == "1")
{
newAxis = new Coordinate_Axis();
newAxis.A1 = 0;
newAxis.A2 = 0;
newAxis.A3 = 1;
newAxis.A4 = 0;
newAxis.A5 = 0;
newAxis.A6 = 0;
KukaRobotControlObject.move_Axis(newAxis);
newAxis = null;
}
else if (MoveType == "-1")
{
newAxis = new Coordinate_Axis();
newAxis.A1 = 0;
newAxis.A2 = 0;
newAxis.A3 = -1;
newAxis.A4 = 0;
newAxis.A5 = 0;
newAxis.A6 = 0;
KukaRobotControlObject.move_Axis(newAxis);
newAxis = null;
}
break;
}
case "A4":
{
if (MoveType == "0")
{
}
else if (MoveType == "1")
{
newAxis = new Coordinate_Axis();
newAxis.A1 = 0;
newAxis.A2 = 0;
newAxis.A3 = 0;
newAxis.A4 = 1;
newAxis.A5 = 0;
newAxis.A6 = 0;
KukaRobotControlObject.move_Axis(newAxis);
newAxis = null;
}
else if (MoveType == "-1")
{
newAxis = new Coordinate_Axis();
newAxis.A1 = 0;
newAxis.A2 = 0;
newAxis.A3 = 0;
newAxis.A4 = -1;
newAxis.A5 = 0;
newAxis.A6 = 0;
KukaRobotControlObject.move_Axis(newAxis);
newAxis = null;
}
break;
}
case "A5":
{
if (MoveType == "0")
{
}
else if (MoveType == "1")
{
newAxis = new Coordinate_Axis();
newAxis.A1 = 0;
newAxis.A2 = 0;
newAxis.A3 = 0;
newAxis.A4 = 0;
newAxis.A5 = 1;
newAxis.A6 = 0;
KukaRobotControlObject.move_Axis(newAxis);
newAxis = null;
}
else if (MoveType == "-1")
{
newAxis = new Coordinate_Axis();
newAxis.A1 = 0;
newAxis.A2 = 0;
newAxis.A3 = 0;
newAxis.A4 = 0;
newAxis.A5 = -1;
newAxis.A6 = 0;
KukaRobotControlObject.move_Axis(newAxis);
newAxis = null;
}
break;
}
case "A6":
{
if (MoveType == "0")
{
}
else if (MoveType == "1")
{
newAxis = new Coordinate_Axis();
newAxis.A1 = 0;
newAxis.A2 = 0;
newAxis.A3 = 0;
newAxis.A4 = 0;
newAxis.A5 = 0;
newAxis.A6 = 1;
KukaRobotControlObject.move_Axis(newAxis);
newAxis = null;
}
else if (MoveType == "-1")
{
newAxis = new Coordinate_Axis();
newAxis.A1 = 0;
newAxis.A2 = 0;
newAxis.A3 = 0;
newAxis.A4 = 0;
newAxis.A5 = 0;
newAxis.A6 = -1;
KukaRobotControlObject.move_Axis(newAxis);
newAxis = null;
}
break;
}
case "Xyzabc":
{
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Command.Text);
newXyzabc.Y = float.Parse(Y_Command.Text);
newXyzabc.Z = float.Parse(Z_Command.Text);
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
//if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
break;
}
case "Axis":
{
if (MoveType == "0")
{
newAxis = new Coordinate_Axis();
oldAxis = new Coordinate_Axis();
newAxis.A1 = float.Parse(A1_Command.Text);
newAxis.A2 = float.Parse(A2_Command.Text);
newAxis.A3 = float.Parse(A3_Command.Text);
newAxis.A4 = float.Parse(A4_Command.Text);
newAxis.A5 = float.Parse(A5_Command.Text);
newAxis.A6 = float.Parse(A6_Command.Text);
oldAxis.A1 = float.Parse(A1_Value.Text);
oldAxis.A2 = float.Parse(A2_Value.Text);
oldAxis.A3 = float.Parse(A3_Value.Text);
oldAxis.A4 = float.Parse(A4_Value.Text);
oldAxis.A5 = float.Parse(A5_Value.Text);
oldAxis.A6 = float.Parse(A6_Value.Text);
//if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
if (!KukaRobotControlObject.move_SingleAxis(newAxis, oldAxis))
myListBox("Error : Axis Out of limited!!", ListMsg);
oldAxis = null;
newAxis = null;
}
else if (MoveType == "1")
{
newAxis = new Coordinate_Axis();
oldAxis = new Coordinate_Axis();
newAxis.A1 = float.Parse(A1_Command.Text);
newAxis.A2 = float.Parse(A2_Value.Text);
newAxis.A3 = float.Parse(A3_Value.Text);
newAxis.A4 = float.Parse(A4_Value.Text);
newAxis.A5 = float.Parse(A5_Value.Text);
newAxis.A6 = float.Parse(A6_Value.Text);
oldAxis.A1 = float.Parse(A1_Value.Text);
oldAxis.A2 = float.Parse(A2_Value.Text);
oldAxis.A3 = float.Parse(A3_Value.Text);
oldAxis.A4 = float.Parse(A4_Value.Text);
oldAxis.A5 = float.Parse(A5_Value.Text);
oldAxis.A6 = float.Parse(A6_Value.Text);
//if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
if (!KukaRobotControlObject.move_SingleAxis(newAxis, oldAxis))
myListBox("Error : Axis Out of limited!!", ListMsg);
oldAxis = null;
newAxis = null;
}
else if (MoveType == "2")
{
newAxis = new Coordinate_Axis();
oldAxis = new Coordinate_Axis();
newAxis.A1 = float.Parse(A1_Value.Text);
newAxis.A2 = float.Parse(A2_Command.Text);
newAxis.A3 = float.Parse(A3_Value.Text);
newAxis.A4 = float.Parse(A4_Value.Text);
newAxis.A5 = float.Parse(A5_Value.Text);
newAxis.A6 = float.Parse(A6_Value.Text);
oldAxis.A1 = float.Parse(A1_Value.Text);
oldAxis.A2 = float.Parse(A2_Value.Text);
oldAxis.A3 = float.Parse(A3_Value.Text);
oldAxis.A4 = float.Parse(A4_Value.Text);
oldAxis.A5 = float.Parse(A5_Value.Text);
oldAxis.A6 = float.Parse(A6_Value.Text);
//if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
if (!KukaRobotControlObject.move_SingleAxis(newAxis, oldAxis))
myListBox("Error : Axis Out of limited!!", ListMsg);
oldAxis = null;
newAxis = null;
}
else if (MoveType == "3")
{
newAxis = new Coordinate_Axis();
oldAxis = new Coordinate_Axis();
newAxis.A1 = float.Parse(A1_Value.Text);
newAxis.A2 = float.Parse(A2_Value.Text);
newAxis.A3 = float.Parse(A3_Command.Text);
newAxis.A4 = float.Parse(A4_Value.Text);
newAxis.A5 = float.Parse(A5_Value.Text);
newAxis.A6 = float.Parse(A6_Value.Text);
oldAxis.A1 = float.Parse(A1_Value.Text);
oldAxis.A2 = float.Parse(A2_Value.Text);
oldAxis.A3 = float.Parse(A3_Value.Text);
oldAxis.A4 = float.Parse(A4_Value.Text);
oldAxis.A5 = float.Parse(A5_Value.Text);
oldAxis.A6 = float.Parse(A6_Value.Text);
//if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
if (!KukaRobotControlObject.move_SingleAxis(newAxis, oldAxis))
myListBox("Error : Axis Out of limited!!", ListMsg);
oldAxis = null;
newAxis = null;
}
else if (MoveType == "4")
{
newAxis = new Coordinate_Axis();
oldAxis = new Coordinate_Axis();
newAxis.A1 = float.Parse(A1_Value.Text);
newAxis.A2 = float.Parse(A2_Value.Text);
newAxis.A3 = float.Parse(A3_Value.Text);
newAxis.A4 = float.Parse(A4_Command.Text);
newAxis.A5 = float.Parse(A5_Value.Text);
newAxis.A6 = float.Parse(A6_Value.Text);
oldAxis.A1 = float.Parse(A1_Value.Text);
oldAxis.A2 = float.Parse(A2_Value.Text);
oldAxis.A3 = float.Parse(A3_Value.Text);
oldAxis.A4 = float.Parse(A4_Value.Text);
oldAxis.A5 = float.Parse(A5_Value.Text);
oldAxis.A6 = float.Parse(A6_Value.Text);
//if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
if (!KukaRobotControlObject.move_SingleAxis(newAxis, oldAxis))
myListBox("Error : Axis Out of limited!!", ListMsg);
oldAxis = null;
newAxis = null;
}
else if (MoveType == "5")
{
newAxis = new Coordinate_Axis();
oldAxis = new Coordinate_Axis();
newAxis.A1 = float.Parse(A1_Value.Text);
newAxis.A2 = float.Parse(A2_Value.Text);
newAxis.A3 = float.Parse(A3_Value.Text);
newAxis.A4 = float.Parse(A4_Value.Text);
newAxis.A5 = float.Parse(A5_Command.Text);
newAxis.A6 = float.Parse(A6_Value.Text);
oldAxis.A1 = float.Parse(A1_Value.Text);
oldAxis.A2 = float.Parse(A2_Value.Text);
oldAxis.A3 = float.Parse(A3_Value.Text);
oldAxis.A4 = float.Parse(A4_Value.Text);
oldAxis.A5 = float.Parse(A5_Value.Text);
oldAxis.A6 = float.Parse(A6_Value.Text);
//if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
if (!KukaRobotControlObject.move_SingleAxis(newAxis, oldAxis))
myListBox("Error : Axis Out of limited!!", ListMsg);
oldAxis = null;
newAxis = null;
}
else if (MoveType == "6")
{
newAxis = new Coordinate_Axis();
oldAxis = new Coordinate_Axis();
newAxis.A1 = float.Parse(A1_Value.Text);
newAxis.A2 = float.Parse(A2_Value.Text);
newAxis.A3 = float.Parse(A3_Value.Text);
newAxis.A4 = float.Parse(A4_Value.Text);
newAxis.A5 = float.Parse(A5_Value.Text);
newAxis.A6 = float.Parse(A6_Command.Text);
oldAxis.A1 = float.Parse(A1_Value.Text);
oldAxis.A2 = float.Parse(A2_Value.Text);
oldAxis.A3 = float.Parse(A3_Value.Text);
oldAxis.A4 = float.Parse(A4_Value.Text);
oldAxis.A5 = float.Parse(A5_Value.Text);
oldAxis.A6 = float.Parse(A6_Value.Text);
//if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
if (!KukaRobotControlObject.move_SingleAxis(newAxis, oldAxis))
myListBox("Error : Axis Out of limited!!", ListMsg);
oldAxis = null;
newAxis = null;
}
else if (MoveType == "9")
{
newAxis = new Coordinate_Axis();
oldAxis = new Coordinate_Axis();
newAxis.A1 = float.Parse(Path[Path_count, 0].ToString());
newAxis.A2 = float.Parse(Path[Path_count, 1].ToString());
newAxis.A3 = float.Parse(Path[Path_count, 2].ToString());
newAxis.A4 = float.Parse(Path[Path_count, 3].ToString());
newAxis.A5 = float.Parse(Path[Path_count, 4].ToString());
newAxis.A6 = float.Parse(Path[Path_count, 5].ToString());
oldAxis.A1 = float.Parse(A1_Value.Text);
oldAxis.A2 = float.Parse(A2_Value.Text);
oldAxis.A3 = float.Parse(A3_Value.Text);
oldAxis.A4 = float.Parse(A4_Value.Text);
oldAxis.A5 = float.Parse(A5_Value.Text);
oldAxis.A6 = float.Parse(A6_Value.Text);
//if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
if (!KukaRobotControlObject.move_SingleAxis(newAxis, oldAxis))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldAxis = null;
newAxis = null;
Path_count++;
if (Path_count == 20)
{
Path_count = 0;
}
}
break;
}
case "XyzabcHome":
{
newAxis = new Coordinate_Axis();
oldAxis = new Coordinate_Axis();
newAxis.A1 = 0;
newAxis.A2 = -90;
newAxis.A3 = 90;
newAxis.A4 = 0;
newAxis.A5 = -90;
newAxis.A6 = -180;
oldAxis.A1 = float.Parse(A1_Value.Text);
oldAxis.A2 = float.Parse(A2_Value.Text);
oldAxis.A3 = float.Parse(A3_Value.Text);
oldAxis.A4 = float.Parse(A4_Value.Text);
oldAxis.A5 = float.Parse(A5_Value.Text);
oldAxis.A6 = float.Parse(A6_Value.Text);
//if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
if (!KukaRobotControlObject.move_SingleAxis(newAxis, oldAxis))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldAxis = null;
newAxis = null;
break;
}
case "PoseEstimation":
{
if (MoveType == "0")
{
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.CaptureImage_Position[0];
newXyzabc.Y = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.CaptureImage_Position[1];
newXyzabc.Z = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.GraspInitial_Position[2];
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Value.Text);
newXyzabc.Y = float.Parse(Y_Value.Text);
newXyzabc.Z = float.Parse(Z_Value.Text);
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.CaptureImage_Position[4];
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.GraspInitial_Position[4];
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_RotationMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Value.Text);
newXyzabc.Y = float.Parse(Y_Value.Text);
newXyzabc.Z = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.CaptureImage_Position[2];
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_SingalMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
IsArmCanMove = true;
KukaRobotControlObject.Serv.PoseRecognitionSystem_Data._State = 9;
}
else if (MoveType == "1")
{
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Value.Text);
newXyzabc.Y = float.Parse(Y_Value.Text);
newXyzabc.Z = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.GraspInitial_Position[2];
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_SingalMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Value.Text);
newXyzabc.Y = float.Parse(Y_Value.Text);
newXyzabc.Z = float.Parse(Z_Value.Text);
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.GraspInitial_Position[4];
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.CaptureImage_Position[4];
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_RotationMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.GraspInitial_Position[0];
newXyzabc.Y = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.GraspInitial_Position[1];
newXyzabc.Z = float.Parse(Z_Value.Text);
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
IsArmCanMove = true;
KukaRobotControlObject.Serv.PoseRecognitionSystem_Data._State = 9;
}
else if (MoveType == "2")
{
/*
* 抓取物件
*/
GraspObjectType = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data._ObjectType;
Start_A = float.Parse(A_Value.Text);
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Value.Text);
newXyzabc.Y = float.Parse(Y_Value.Text);
newXyzabc.Z = float.Parse(Z_Value.Text);
newXyzabc.A = Start_A + KukaRobotControlObject.Serv.PoseRecognitionSystem_Data._A;
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = Start_A;
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_RotationMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data._X;
newXyzabc.Y = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data._Y;
newXyzabc.Z = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data._Z;
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
/*
* 抓取物件
*/
GraspState = 1;
Thread GraspControl = new Thread(new ThreadStart(GraspControlThread));
GraspControl.Start();
Thread.Sleep(200);
/*
* 往上移動至擷取圖像點
*/
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Value.Text);
newXyzabc.Y = float.Parse(Y_Value.Text);
newXyzabc.Z = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.GraspInitial_Position[2];
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_SingalMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.GraspInitial_Position[0];
newXyzabc.Y = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.GraspInitial_Position[1];
newXyzabc.Z = float.Parse(Z_Value.Text);
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Value.Text);
newXyzabc.Y = float.Parse(Y_Value.Text);
newXyzabc.Z = float.Parse(Z_Value.Text);
newXyzabc.A = Start_A;
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = Start_A + KukaRobotControlObject.Serv.PoseRecognitionSystem_Data._A;
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_RotationMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
/* newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Value.Text);
newXyzabc.Y = float.Parse(Y_Value.Text);
newXyzabc.Z = float.Parse(Z_Value.Text);
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.CaptureImage_Position[4];
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.GraspInitial_Position[4];
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_RotationMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;*/
/*newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Value.Text);
newXyzabc.Y = float.Parse(Y_Value.Text);
newXyzabc.Z = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.CaptureImage_Position[2];
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_SingalMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;/*
/*
* 請求Server端擷新影像
*/
KukaRobotControlObject.Serv.PoseRecognitionSystem_Data._State = 5;
/*while (KukaRobotControlObject.Serv.PoseRecognitionSystem_Data._State == 5)
{
//Thread.Sleep(50);
}*/
/*
* 放置物件
*/
/* newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Value.Text);
newXyzabc.Y = float.Parse(Y_Value.Text);
newXyzabc.Z = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.GraspInitial_Position[2];
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_SingalMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;*/
/*newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Value.Text);
newXyzabc.Y = float.Parse(Y_Value.Text);
newXyzabc.Z = float.Parse(Z_Value.Text);
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.GraspInitial_Position[4];
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.CaptureImage_Position[4];
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_RotationMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;*/
//newXyzabc = new Coordinate_XYZABC();
//oldXyzabc = new Coordinate_XYZABC();
//newXyzabc.X = float.Parse(X_Value.Text);
//newXyzabc.Y = float.Parse(Y_Value.Text);
//newXyzabc.Z = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.GraspInitial_Position[2];
//newXyzabc.A = float.Parse(A_Value.Text);
//newXyzabc.B = float.Parse(B_Value.Text);
//newXyzabc.C = float.Parse(C_Value.Text);
//oldXyzabc.X = float.Parse(X_Value.Text);
//oldXyzabc.Y = float.Parse(Y_Value.Text);
//oldXyzabc.Z = float.Parse(Z_Value.Text);
//oldXyzabc.A = float.Parse(A_Value.Text);
//oldXyzabc.B = float.Parse(B_Value.Text);
//oldXyzabc.C = float.Parse(C_Value.Text);
//if (!KukaRobotControlObject.move_XYZABC_SingalMode(newXyzabc, oldXyzabc))
// myListBox("Error : Xyzabc Out of limited!!", ListMsg);
//oldXyzabc = null;
//newXyzabc = null;
if (GraspObjectType == 0)
{
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = 600;
newXyzabc.Y = -200;
newXyzabc.Z = 90;
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
}
else if (GraspObjectType == 1)
{
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = 300;
newXyzabc.Y = -200;
newXyzabc.Z = float.Parse(Z_Value.Text);
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Value.Text);
newXyzabc.Y = float.Parse(Y_Value.Text);
newXyzabc.Z = 90;
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_SingalMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
}
else if (GraspObjectType == 2)
{
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = 450;
newXyzabc.Y = -200;
newXyzabc.Z = 90;
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
}
/*newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = float.Parse(X_Value.Text);
newXyzabc.Y = float.Parse(Y_Value.Text);
newXyzabc.Z = 90;
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
* oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_SingalMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;*/
Thread.Sleep(100);
GraspState = -1;
GraspControl = new Thread(new ThreadStart(GraspControlThread));
GraspControl.Start();
//newXyzabc = new Coordinate_XYZABC();
//oldXyzabc = new Coordinate_XYZABC();
//newXyzabc.X = float.Parse(X_Value.Text);
//newXyzabc.Y = float.Parse(Y_Value.Text);
//newXyzabc.Z = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.GraspInitial_Position[2];
//newXyzabc.A = float.Parse(A_Value.Text);
//newXyzabc.B = float.Parse(B_Value.Text);
//newXyzabc.C = float.Parse(C_Value.Text);
//oldXyzabc.X = float.Parse(X_Value.Text);
//oldXyzabc.Y = float.Parse(Y_Value.Text);
//oldXyzabc.Z = float.Parse(Z_Value.Text);
//oldXyzabc.A = float.Parse(A_Value.Text);
//oldXyzabc.B = float.Parse(B_Value.Text);
//oldXyzabc.C = float.Parse(C_Value.Text);
//if (!KukaRobotControlObject.move_XYZABC_SingalMode(newXyzabc, oldXyzabc))
// myListBox("Error : Xyzabc Out of limited!!", ListMsg);
//oldXyzabc = null;
//newXyzabc = null;
newXyzabc = new Coordinate_XYZABC();
oldXyzabc = new Coordinate_XYZABC();
newXyzabc.X = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.GraspInitial_Position[0];
newXyzabc.Y = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.GraspInitial_Position[1];
newXyzabc.Z = KukaRobotControlObject.Serv.PoseRecognitionSystem_Data.GraspInitial_Position[2];
newXyzabc.A = float.Parse(A_Value.Text);
newXyzabc.B = float.Parse(B_Value.Text);
newXyzabc.C = float.Parse(C_Value.Text);
oldXyzabc.X = float.Parse(X_Value.Text);
oldXyzabc.Y = float.Parse(Y_Value.Text);
oldXyzabc.Z = float.Parse(Z_Value.Text);
oldXyzabc.A = float.Parse(A_Value.Text);
oldXyzabc.B = float.Parse(B_Value.Text);
oldXyzabc.C = float.Parse(C_Value.Text);
if (!KukaRobotControlObject.move_XYZABC_TogetherMode(newXyzabc, oldXyzabc))
myListBox("Error : Xyzabc Out of limited!!", ListMsg);
oldXyzabc = null;
newXyzabc = null;
IsArmCanMove = true;
KukaRobotControlObject.Serv.PoseRecognitionSystem_Data._State = 9;
}
break;
}
default:
{
break;
}
}
}
