/// <summary>
/// 清空机器人Home预制坐标信息_Yecc
/// </summary>
/// <param name="FM"></param>
/// <param name="DSystem"></param>
/// <param name="product"></param>
/// <param name="RobotName"></param>
/// <param name="progressBar"></param>
/// <param name="CreateCable"></param>
public void ClearRobotHomeList(Form FM, DataType.Dsystem DSystem, Product product, String RobotName, ProgressBar progressBar, bool CreateCable = false)
{
//Workbench TheKinWorkbench = DSystem.CDSActiveDocument.GetWorkbench("KinematicsWorkbench");
Mechanisms cTheMechanisms = null;
ProductDocument partDocument = GetProductPath(product, DSystem, false);
Selection selection = partDocument.Selection;
selection.Clear();
try
{
BasicDevice basicDevice = (BasicDevice)product.GetTechnologicalObject("BasicDevice");
System.Array homePositions = null;
//for (int i = 0; i < 100; i++) // add New Robot Home Position
//{
// object[] HomePos = { 0, 0, 0, 0, 0, 0 };
// basicDevice.SetHomePosition("RobotHome_" + i, HomePos);
//}
basicDevice.GetHomePositions(out homePositions);
int HomePosNum = homePositions.Length;
if (HomePosNum > 1) //当对象运动机构数量>1时 清除全部机构对象
{
foreach (HomePosition homePosition in homePositions)
{
selection.Add(homePosition);
//Array AtoolTip = null;
//homePosition.GetAssociatedToolTip(out AtoolTip);
//selection.Add(homePosition);
}
selection.Delete();
}
}
catch (Exception e)
{
MessageBox.Show(e.Message + ";请在帮助-》问题反馈与建议中反馈该问题，谢谢!");
//选定的对象不存在任何运动机构
}
//Mechanisms TheMechanismsList = TheKinWorkbench.Mechanisms;
RobGenericController Rgcr = (RobGenericController)product.GetTechnologicalObject("RobGenericController");
RobControllerFactory CRM = (RobControllerFactory)product.GetTechnologicalObject("RobControllerFactory");
GenericMotionProfile genericMotion = null;
int ProfileCount = 0;
Rgcr.GetMotionProfileCount(out ProfileCount);
if (ProfileCount > 0)
{
string ProfileName = "DNBRobController";
Rgcr.GetMotionProfile(ProfileName, out genericMotion);
}
InitController(Rgcr, CRM, 10, progressBar);
Mechanism mechanism = cTheMechanisms.Add();
//mechanism.FixedPart=
///RefDocument//mk:@MSITStore:F:\02%20我的知识库\05%20学习&总结资料\01%20CAA开发资料\V5Automation.chm::/online/CAAScdDmuUseCases/CAAKiiMechanismCreationSource.htm
//string GetName = CRM.get_Name();
}
public void CreateRobotMoto(Form FM, DataType.Dsystem DSystem, Product product, String RobotName, ProgressBar progressBar, bool CreateCable = false)
{
Workbench TheKinWorkbench = DSystem.CDSActiveDocument.GetWorkbench("KinematicsWorkbench");
Mechanisms cTheMechanisms = null;
try
{
cTheMechanisms = (Mechanisms)product.GetTechnologicalObject("Mechanisms");
if (cTheMechanisms.Count > 1) //当对象运动机构数量>1时 清除全部机构对象
{
foreach (Mechanism item in cTheMechanisms)
{
cTheMechanisms.Remove(item); //Clear All Mechanisms
}
}
}
catch (Exception)
{
//选定的对象不存在任何运动机构
}
//BasicDevice basicDevice = (BasicDevice)product.GetTechnologicalObject("BasicDevice");
//Mechanisms TheMechanismsList = TheKinWorkbench.Mechanisms;
RobGenericController Rgcr = (RobGenericController)product.GetTechnologicalObject("RobGenericController");
RobControllerFactory CRM = (RobControllerFactory)product.GetTechnologicalObject("RobControllerFactory");
GenericMotionProfile genericMotion = null;
int ProfileCount = 0;
Rgcr.GetMotionProfileCount(out ProfileCount);
if (ProfileCount > 0)
{
string ProfileName = "DNBRobController";
Rgcr.GetMotionProfile(ProfileName, out genericMotion);
}
InitController(Rgcr, CRM, 10, progressBar);
Mechanism mechanism = cTheMechanisms.Add();
//mechanism.FixedPart=
///RefDocument//mk:@MSITStore:F:\02%20我的知识库\05%20学习&总结资料\01%20CAA开发资料\V5Automation.chm::/online/CAAScdDmuUseCases/CAAKiiMechanismCreationSource.htm
//string GetName = CRM.get_Name();
}
private void LoadRobotTask()
{
Object[] objRobotTasks = new Object[100];
String folderName = "C:\\tmp\\test\\";
Selection sel = actualDocument.Selection;
Product robot = (Product)sel.Item(1).Value;
RobGenericController objCtrl = (RobGenericController)robot.GetTechnologicalObject("RobGenericController");
RobControllerFactory objFact = (RobControllerFactory)robot.GetTechnologicalObject("RobControllerFactory");
RobotTaskFactory objRobotTaskFactory = (RobotTaskFactory)robot.GetTechnologicalObject("RobotTaskFactory");
OLPTranslator olpAPI = (OLPTranslator)robot.GetTechnologicalObject("OLPTranslator");
objRobotTaskFactory.GetAllRobotTasks(objRobotTasks);
foreach (RobotTask robotTask in objRobotTasks)
{
olpAPI.DownloadAsXML(robotTask, folderName + robotTask.get_Name() + ".xml", false, false, false);
}
}
private void InitController(RobGenericController Rgcr, RobControllerFactory CRM, int RobotCtrlNum, ProgressBar Pbar)
{
#region 机器人基本TCP Motion初始化
// Rgcr.moti
String GetName = string.Empty;
GetName = CRM.get_Name();
for (int i = 1; i <= RobotCtrlNum; i++)
{
GenericAccuracyProfile GP;
GenericMotionProfile GMP;
GenericToolProfile GTP;
GenericObjFrameProfile GOP;
bool ExistsObject;
CRM.CreateGenericAccuracyProfile(out GP);
GP.GetName(ref GetName);
GetName = CRM.get_Name();
GP.SetAccuracyValue(i * 0.1);
GP.SetName(i * 10 + "%");
GP.SetAccuracyType(AccuracyType.ACCURACY_TYPE_SPEED);
GP.SetFlyByMode(false);
Rgcr.HasAccuracyProfile((i * 10 + "%"), out ExistsObject);
if (!ExistsObject)
{
Rgcr.AddAccuracyProfile(GP);
}
Pbar.PerformStep();
/////////////////////////////////////////////////////////////////////
CRM.CreateGenericObjFrameProfile(out GOP);
GOP.SetObjectFrame(0, 0, 0, 0, 0, 0);
GOP.SetName("Object_0" + i);
Rgcr.HasObjFrameProfile(("Object_0" + i), out ExistsObject);
if (!ExistsObject)
{
Rgcr.AddObjFrameProfile(GOP);
}
Pbar.PerformStep();
/////////////////////////////////////////////////////////////////////
CRM.CreateGenericMotionProfile(out GMP);
GMP.SetSpeedValue(i * 0.1);
GMP.SetName(i * 10 + "%");
GMP.SetMotionBasis(MotionBasis.MOTION_PERCENT);
Rgcr.HasMotionProfile((i * 10 + "%"), out ExistsObject);
if (!ExistsObject)
{
Rgcr.AddMotionProfile(GMP);
}
Pbar.PerformStep();
/////////////////////////////////////////////////////////////////////
// NwName = i < 9 ? ("Tool_0" + i) : ("Tool_" + i);
string NwName = "Tool_0" + i;
Rgcr.HasToolProfile(NwName, out ExistsObject);
if (!ExistsObject)
{
try
{
int ToolNum = 0;
Rgcr.GetToolProfileCount(out ToolNum);
string Ctname = string.Empty;
if (ToolNum < 16)
{
CRM.CreateGenericToolProfile(out GTP);
Rgcr.AddToolProfile(GTP);
//Object[] ToolLists = new object[ToolNum];
//Rgcr.GetToolProfiles(ToolLists);
//for (int j = 1; j <= ToolNum; j++)
//{
// Ctname = ((GenericToolProfile)ToolLists[i]).get_Name();
// ((GenericToolProfile)ToolLists[i]).set_Name(NwName);
//}
//GTP.GetName(Ctname);
//GTP.SetToolMobility(true);
//GTP.set_Name(NwName);
}
}
catch (Exception)
{
throw;
}
//Object[] TooList = new object[99];
//Rgcr.GetToolProfiles(TooList);
//int TotalTool;
//Rgcr.GetToolProfileCount(out TotalTool);
//GenericToolProfile ToolProfile =(GenericToolProfile)TooList[TotalTool-1];
//NwName = ToolProfile.get_Name();
//ToolProfile.set_Name(NwName);
}
Pbar.PerformStep();
}
#endregion
#region 机器人默认值设置
//Init Current Motion Profile \accuracy \ Tool Profile \Object
bool ExistsObj;
Rgcr.HasAccuracyProfile((100 + "%"), out ExistsObj);
if (ExistsObj)
{
Rgcr.SetCurrentAccuracyProfile((100 + "%"));
}
Rgcr.HasObjFrameProfile("Object_01", out ExistsObj);
if (ExistsObj)
{
Rgcr.SetCurrentObjFrameProfile("Object_01");
}
Rgcr.HasMotionProfile((100 + "%"), out ExistsObj);
if (ExistsObj)
{
Rgcr.SetCurrentMotionProfile((100 + "%"));
}
Rgcr.HasToolProfile("Tool_01", out ExistsObj);
if (ExistsObj)
{
Rgcr.SetCurrentToolProfile("Tool_01");
}
#endregion
#region 机器日Taglist目录及RobotTask批量设置
//RobotTaskFactory Rtf = (RobotTaskFactory)Usp.GetTechnologicalObject("RobotTaskFactory");
object[] RobotTaskLists = new object[99];
//try
//{
// Rtf.GetAllRobotTasks(RobotTaskLists);
//}
//catch (Exception)
//{
// RobotTaskLists = null;
//}
//GetName = Rtf.get_Name();
Pbar.PerformStep();
#endregion
object[] RTask = new object[50];
// Rtf.GetAllRobotTasks(RTask);
foreach (RobotTask item in RTask)
{
if (item != null)
{
item.set_Description("安徽锐锋科技自动化产品，机器人轨迹,创建于:" + DateTime.Now);
}
}
}
