public void Clone(MvaFanucRobotPosReg 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 MvaFanucRobotPosReg ReadCurPosUf() { var posReg = new MvaFanucRobotPosReg(); if (!this.GetCurPosUf(posReg)) { throw new MvaException("Fail to read current position"); } return(posReg); }
public MvaFanucRobotPosReg ReadPosReg(int PRno = 0) { var posReg = new MvaFanucRobotPosReg(); if (!this.GetPosRegValue(PRno, posReg)) { throw new MvaException("Fail to read position register"); } return(posReg); }
public bool GetCurPosUf(MvaFanucRobotPosReg 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, MvaFanucRobotPosReg 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 MvaFanucRobotInfo(MvaFanucRobotPosReg source) { source.Clone(this.PosReg); }
public MvaFanucRobotPosReg(MvaFanucRobotPosReg source) { source.Clone(this); }
public bool SetPosRegXyzWpr(int PRno, MvaFanucRobotPosReg 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, MvaFanucRobotPosReg 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 }