public MvFanucRobotPosReg ReadCurPosUf()
{
var posReg = new MvFanucRobotPosReg();
if (!this.GetCurPosUf(posReg))
{
throw new MvException("Fail to read current position");
}
return(posReg);
}
public void Clone(MvFanucRobotPosReg target)
{
this.XyzwpreArrary.CopyTo(target.XyzwpreArrary, 0);
this.ConfigArray.CopyTo(target.ConfigArray, 0);
this.JointArray.CopyTo(target.JointArray, 0);
target.UserFrame = this.UserFrame;
target.UserTool = this.UserTool;
target.ValidC = this.ValidC;
target.ValidJ = this.ValidJ;
}
public MvFanucRobotPosReg ReadPosReg(int PRno = 0)
{
var posReg = new MvFanucRobotPosReg();
if (!this.GetPosRegValue(PRno, posReg))
{
throw new MvException("Fail to read position register");
}
return(posReg);
}
public bool GetCurPosUf(MvFanucRobotPosReg posReg, bool isNeedRefresh = true)
{
lock (this)
{
if (isNeedRefresh)
{
this.mobjDataTable.Refresh();
}
return(this.mobjCurPosUF.GetValue(ref posReg.XyzwpreArrary, ref posReg.ConfigArray, ref posReg.JointArray,
ref posReg.UserFrame, ref posReg.UserTool, ref posReg.ValidC, ref posReg.ValidJ));
}
}
public bool GetPosRegValue(int PRno, MvFanucRobotPosReg posReg, bool isNeedRefresh = true)
{
//isNeedRefresh 預設為true, 確保取得最新資料, 若己知不需要更新, 可以設為false
lock (this)
{
if (isNeedRefresh)
{
this.mobjDataTable.Refresh();
}
return(this.mobjPosReg.GetValue(PRno, ref posReg.XyzwpreArrary, ref posReg.ConfigArray, ref posReg.JointArray,
ref posReg.UserFrame, ref posReg.UserTool, ref posReg.ValidC, ref posReg.ValidJ));
}
}
public MvFanucRobotPosReg(MvFanucRobotPosReg source)
{
source.Clone(this);
}
public bool SetPosRegXyzWpr(int PRno, MvFanucRobotPosReg posReg, short userFrame = -1, short userTool = -1)
{
lock (this)
return(mobjPosReg.SetValueXyzwpr(PRno, ref posReg.XyzwpreArrary, ref posReg.ConfigArray, userFrame, userTool)); //User Frame 及 User Tool 要帶-1 才有辦法修改
}
public bool SetPosRegJoint(int PRno, MvFanucRobotPosReg posReg, short userFrame = -1, short userTool = -1)
{
lock (this)
return(mobjPosReg.SetValueJoint(PRno, ref posReg.JointArray, userFrame, userTool)); //User Frame 及 User Tool 要帶-1 才有辦法修改
}
public MvFanucRobotInfo(MvFanucRobotPosReg source)
{
source.Clone(this.PosReg);
}
