/// <summary>
/// Z轴终点再现
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnAxisZGoTo2_Click(object sender, EventArgs e)
{
Result res = Result.OK;
//res = Machine.Instance.Robot.MovePosXYAndReply(double.Parse(this.txtZPosX.Text), double.Parse(this.txtZPosY.Text));
res = Machine.Instance.Robot.ManualMovePosXYAndReply(double.Parse(this.txtZPosX.Text), double.Parse(this.txtZPosY.Text));
if (res != Result.OK)
{
return;
}
AxisZCPK cpk = CPKMgr.Instance.FindByName(typeof(AxisZCPK).Name) as AxisZCPK;
if (cpk != null)
{
double z = cpk.calPoint();
res = CpkMove.MoveZHigh(z);
if (!res.IsOk)
{
return;
}
res = CpkMove.MoveZSlowly(double.Parse(this.txtZEnd.Text));
if (!res.IsOk)
{
return;
}
}
//this.move4CpkZ(double.Parse(this.txtZPosX.Text), double.Parse(this.txtZPosY.Text), double.Parse(this.txtZEnd.Text));
}
public void Initial()
{
WorkBook workBook = new WorkBook();
workBook.AddSheet(SheetName.Valve1Weight.ToString());
workBook.AddSheet(SheetName.Valve2Weight.ToString());
workBook.AddSheet(SheetName.X轴.ToString());
workBook.AddSheet(SheetName.Y轴.ToString());
workBook.AddSheet(SheetName.XY轴联动.ToString());
workBook.AddSheet(SheetName.Z轴.ToString());
ICPKable cpk;
cpk = new Valve1WeightCPK(workBook.FindSheetByName(SheetName.Valve1Weight.ToString()), this.Prm);
this.cpkDicAdd(typeof(Valve1WeightCPK).Name, cpk);
cpk = new Valve2WeightCPK(workBook.FindSheetByName(SheetName.Valve2Weight.ToString()), this.Prm);
this.cpkDicAdd(typeof(Valve2WeightCPK).Name, cpk);
cpk = new AxisXCPK(workBook.FindSheetByName(SheetName.X轴.ToString()), this.Prm);
this.cpkDicAdd(typeof(AxisXCPK).Name, cpk);
cpk = new AxisYCPK(workBook.FindSheetByName(SheetName.Y轴.ToString()), this.Prm);
this.cpkDicAdd(typeof(AxisYCPK).Name, cpk);
cpk = new AxisXYCPK(workBook.FindSheetByName(SheetName.XY轴联动.ToString()), this.Prm);
this.cpkDicAdd(typeof(AxisXYCPK).Name, cpk);
cpk = new AxisZCPK(workBook.FindSheetByName(SheetName.Z轴.ToString()), this.Prm);
this.cpkDicAdd(typeof(AxisZCPK).Name, cpk);
}
/// <summary>
/// Z轴起点示教
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnAxisZTeach1_Click(object sender, EventArgs e)
{
this.txtZStart.Text = Machine.Instance.Robot.PosZ.ToString("F3");
AxisZCPK cpk = CPKMgr.Instance.FindByName(typeof(AxisZCPK).Name) as AxisZCPK;
if (cpk != null)
{
cpk.ZStart = double.Parse(this.txtZStart.Text);
}
}
/// <summary>
/// Z轴终点示教
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btnAxisZTeach2_Click(object sender, EventArgs e)
{
this.txtZEnd.Text = Machine.Instance.Robot.PosZ.ToString("F3");
this.txtZPosX.Text = Machine.Instance.Robot.PosX.ToString("F3");
this.txtZPosY.Text = Machine.Instance.Robot.PosY.ToString("F3");
AxisZCPK cpk = CPKMgr.Instance.FindByName(typeof(AxisZCPK).Name) as AxisZCPK;
if (cpk != null)
{
cpk.ZEnd = double.Parse(this.txtZEnd.Text);
cpk.Pos = new PointD(double.Parse(this.txtZPosX.Text), double.Parse(this.txtZPosY.Text));
}
}
