public bool SetPostion(PosVarType ptype, PostionVar pv, int pvIndex, PosType pt, int toolNo, int userFrameNo)
{
int nConfig;
nConfig = (int)pt;
nConfig |= (pv.NoFlip ? 1 : 0) << 8;
nConfig |= (pv.LowArm ? 1 : 0) << 9;
nConfig |= (pv.Back ? 1 : 0) << 10;
nConfig |= (pv.RGt180 ? 1 : 0) << 11;
nConfig |= (pv.TGt180 ? 1 : 0) << 12;
nConfig |= toolNo << 16;
nConfig |= userFrameNo << 22;
var cmd = string.Format("cmd={0};usType={1};usIndex={2};nConfig={3};ulValue1={4};ulValue2={5};ulValue3={6};ulValue4={7};ulValue5={8};ulValue6={9};ulValue7={10};ulValue8={11};",
Commands.CMD_MpPutPosVarData, (int)ptype, pvIndex, nConfig,
pv.sOrX, pv.lOrY, pv.uOrZ, pv.bOrRx, pv.rOrRy, pv.tOrRz, 0, 0);
Send(cmd);
var s = ReadSck();
return(s.Contains("OK"));
}
