/// <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();
}