实例介绍
【实例简介】
【实例截图】
【核心代码】using System;
using System.Windows.Forms;
using ABB.Robotics;
using ABB.Robotics.Controllers;
using ABB.Robotics.Controllers.Discovery;
using ABB.Robotics.Controllers.RapidDomain;
using ABB.Robotics.Controllers.IOSystemDomain;
using System.Collections.Generic;
using System.Diagnostics;
namespace ABBpainting
{
class RobotClass
{
private Controller controller = null;
private RapidData rd_targets = null;
private ArrayData targets = null;
private RapidData rd_repeat = null;
private Bool repeatBool;
private RapidData rd_start = null;
private const int SHUT_DOWN = -1;
private const int TO_WAIT = 0;
private const int TO_PAINT = 1;
private const int TO_INTRODUCE = 2;
private Num processFlag;
private RapidData rd_targetsNum;
private int maxLength;
private int targetsNum;
private Num rd_tgNumValue;
private RapidData rd_speedLevel;
private Num speedLevel;
public RobotClass(Controller controller)
{
this.controller = controller;
this.controller.Logon(UserInfo.DefaultUser);
InitDataStream();
}
public void InitDataStream()
{
Task tRob1 = controller.Rapid.GetTask("T_ROB1");
if (tRob1 != null)
{
rd_repeat = tRob1.GetRapidData("Module1", "repeat");
if (rd_repeat.Value is Bool)
{
repeatBool = (Bool)rd_repeat.Value;
}
rd_start = tRob1.GetRapidData("Module1", "flag");
if (rd_start.Value is Num)
{
processFlag = (Num)rd_start.Value;
}
rd_targetsNum = tRob1.GetRapidData("Module1", "targetsNum");
if (rd_targetsNum.Value is Num)
{
processFlag = (Num)rd_start.Value;
}
rd_speedLevel = tRob1.GetRapidData("Module1", "speedLevel");
if (rd_speedLevel.Value is Num)
{
speedLevel = (Num)rd_speedLevel.Value;
}
rd_targets = tRob1.GetRapidData("Module1", "tgPos");
if (rd_targets.IsArray)
{
targets = (ArrayData)rd_targets.Value;
int aRank = targets.Rank;
maxLength = targets.GetLength(aRank-1);
ArrayModes am = targets.Mode;
Debug.WriteLine("ARRAY MODE! ::: " am.ToString());
targets.Mode = ArrayModes.Dynamic;
}
else MessageBox.Show("'targets' data is not array!");
if (rd_targets == null) MessageBox.Show("'targets' data does not exist!");
}
}
public void StartRapidProgram()
{
try
{
if (controller.OperatingMode == ControllerOperatingMode.Auto)
{
using (Mastership m = Mastership.Request(controller.Rapid))
{
//Perform operation
Debug.WriteLine("Exec status of the controller ::: " controller.Rapid.ExecutionStatus);
Debug.WriteLine("Controller State ::: " controller.State);
controller.Rapid.Start(true);
}
}
else
{
MessageBox.Show("Automatic mode is required to start execution from a remote client.");
}
}
catch (System.InvalidOperationException ex)
{
MessageBox.Show("Mastership is held by another client." ex.Message);
}
catch (System.Exception ex)
{
MessageBox.Show("Unexpected error occurred: " ex.Message);
}
}
public void StopRapidProgram()
{
try
{
if (controller.OperatingMode == ControllerOperatingMode.Auto)
{
using (Mastership m = Mastership.Request(controller.Rapid))
{
controller.Rapid.Stop();
}
}
else
{
MessageBox.Show("Automatic mode is required to start execution from a remote client.");
}
}
catch (System.InvalidOperationException ex)
{
MessageBox.Show("Mastership is held by another client." ex.Message);
}
catch (System.Exception ex)
{
MessageBox.Show("Unexpected error occurred: " ex.Message);
}
}
public void MoveAlong(List<BrushStatus> nativTargets, ProgressBar pb)
{
SetPath(nativTargets, pb);
StartProcess();
}
public void StopProcess()
{
//repeatBool.FillFromString2("FALSE");
processFlag.FillFromString2(SHUT_DOWN.ToString());
using (Mastership m = Mastership.Request(controller.Rapid))
{
//rd_repeat.Value = repeatBool;
rd_start.Value = processFlag;
}
}
public void StartProcess()
{
processFlag.FillFromString2(TO_PAINT.ToString());
using (Mastership m = Mastership.Request(controller.Rapid))
{
rd_start.Value = processFlag;
}
}
public void SetDrawingSpeed(int level)
{
speedLevel.FillFromString2(level.ToString());
using (Mastership m = Mastership.Request(controller.Rapid))
{
rd_speedLevel.Value = speedLevel;
}
}
public void SetPath(List<BrushStatus> nativTargets, ProgressBar pb)
{
if (nativTargets.Count > maxLength) targetsNum = maxLength;
else targetsNum = nativTargets.Count;
rd_tgNumValue.FillFromString2(targetsNum.ToString());
using (Mastership m = Mastership.Request(controller.Rapid))
{
rd_targetsNum.Value = rd_tgNumValue;
}
Pos rt;
for (int i = 0; i < targetsNum; i )
{
rt = new Pos();
rt.FillFromString2("[" nativTargets[i].X "," nativTargets[i].Y "," nativTargets[i].Z "]");
Debug.WriteLine(rt.ToString());
using (Mastership m = Mastership.Request(controller.Rapid))
{
rd_targets.WriteItem(rt, i);
}
pb.Increment(1);
}
pb.Value = 0;
}
public void Dispose()
{
if (controller.Rapid.ExecutionStatus == ExecutionStatus.Running)
{
StopProcess();
}
this.controller.Logoff();
this.controller.Dispose();
this.controller = null;
}
public Controller Controller
{
get
{
return controller;
}
}
}
}
【实例截图】
【核心代码】using System;
using System.Windows.Forms;
using ABB.Robotics;
using ABB.Robotics.Controllers;
using ABB.Robotics.Controllers.Discovery;
using ABB.Robotics.Controllers.RapidDomain;
using ABB.Robotics.Controllers.IOSystemDomain;
using System.Collections.Generic;
using System.Diagnostics;
namespace ABBpainting
{
class RobotClass
{
private Controller controller = null;
private RapidData rd_targets = null;
private ArrayData targets = null;
private RapidData rd_repeat = null;
private Bool repeatBool;
private RapidData rd_start = null;
private const int SHUT_DOWN = -1;
private const int TO_WAIT = 0;
private const int TO_PAINT = 1;
private const int TO_INTRODUCE = 2;
private Num processFlag;
private RapidData rd_targetsNum;
private int maxLength;
private int targetsNum;
private Num rd_tgNumValue;
private RapidData rd_speedLevel;
private Num speedLevel;
public RobotClass(Controller controller)
{
this.controller = controller;
this.controller.Logon(UserInfo.DefaultUser);
InitDataStream();
}
public void InitDataStream()
{
Task tRob1 = controller.Rapid.GetTask("T_ROB1");
if (tRob1 != null)
{
rd_repeat = tRob1.GetRapidData("Module1", "repeat");
if (rd_repeat.Value is Bool)
{
repeatBool = (Bool)rd_repeat.Value;
}
rd_start = tRob1.GetRapidData("Module1", "flag");
if (rd_start.Value is Num)
{
processFlag = (Num)rd_start.Value;
}
rd_targetsNum = tRob1.GetRapidData("Module1", "targetsNum");
if (rd_targetsNum.Value is Num)
{
processFlag = (Num)rd_start.Value;
}
rd_speedLevel = tRob1.GetRapidData("Module1", "speedLevel");
if (rd_speedLevel.Value is Num)
{
speedLevel = (Num)rd_speedLevel.Value;
}
rd_targets = tRob1.GetRapidData("Module1", "tgPos");
if (rd_targets.IsArray)
{
targets = (ArrayData)rd_targets.Value;
int aRank = targets.Rank;
maxLength = targets.GetLength(aRank-1);
ArrayModes am = targets.Mode;
Debug.WriteLine("ARRAY MODE! ::: " am.ToString());
targets.Mode = ArrayModes.Dynamic;
}
else MessageBox.Show("'targets' data is not array!");
if (rd_targets == null) MessageBox.Show("'targets' data does not exist!");
}
}
public void StartRapidProgram()
{
try
{
if (controller.OperatingMode == ControllerOperatingMode.Auto)
{
using (Mastership m = Mastership.Request(controller.Rapid))
{
//Perform operation
Debug.WriteLine("Exec status of the controller ::: " controller.Rapid.ExecutionStatus);
Debug.WriteLine("Controller State ::: " controller.State);
controller.Rapid.Start(true);
}
}
else
{
MessageBox.Show("Automatic mode is required to start execution from a remote client.");
}
}
catch (System.InvalidOperationException ex)
{
MessageBox.Show("Mastership is held by another client." ex.Message);
}
catch (System.Exception ex)
{
MessageBox.Show("Unexpected error occurred: " ex.Message);
}
}
public void StopRapidProgram()
{
try
{
if (controller.OperatingMode == ControllerOperatingMode.Auto)
{
using (Mastership m = Mastership.Request(controller.Rapid))
{
controller.Rapid.Stop();
}
}
else
{
MessageBox.Show("Automatic mode is required to start execution from a remote client.");
}
}
catch (System.InvalidOperationException ex)
{
MessageBox.Show("Mastership is held by another client." ex.Message);
}
catch (System.Exception ex)
{
MessageBox.Show("Unexpected error occurred: " ex.Message);
}
}
public void MoveAlong(List<BrushStatus> nativTargets, ProgressBar pb)
{
SetPath(nativTargets, pb);
StartProcess();
}
public void StopProcess()
{
//repeatBool.FillFromString2("FALSE");
processFlag.FillFromString2(SHUT_DOWN.ToString());
using (Mastership m = Mastership.Request(controller.Rapid))
{
//rd_repeat.Value = repeatBool;
rd_start.Value = processFlag;
}
}
public void StartProcess()
{
processFlag.FillFromString2(TO_PAINT.ToString());
using (Mastership m = Mastership.Request(controller.Rapid))
{
rd_start.Value = processFlag;
}
}
public void SetDrawingSpeed(int level)
{
speedLevel.FillFromString2(level.ToString());
using (Mastership m = Mastership.Request(controller.Rapid))
{
rd_speedLevel.Value = speedLevel;
}
}
public void SetPath(List<BrushStatus> nativTargets, ProgressBar pb)
{
if (nativTargets.Count > maxLength) targetsNum = maxLength;
else targetsNum = nativTargets.Count;
rd_tgNumValue.FillFromString2(targetsNum.ToString());
using (Mastership m = Mastership.Request(controller.Rapid))
{
rd_targetsNum.Value = rd_tgNumValue;
}
Pos rt;
for (int i = 0; i < targetsNum; i )
{
rt = new Pos();
rt.FillFromString2("[" nativTargets[i].X "," nativTargets[i].Y "," nativTargets[i].Z "]");
Debug.WriteLine(rt.ToString());
using (Mastership m = Mastership.Request(controller.Rapid))
{
rd_targets.WriteItem(rt, i);
}
pb.Increment(1);
}
pb.Value = 0;
}
public void Dispose()
{
if (controller.Rapid.ExecutionStatus == ExecutionStatus.Running)
{
StopProcess();
}
this.controller.Logoff();
this.controller.Dispose();
this.controller = null;
}
public Controller Controller
{
get
{
return controller;
}
}
}
}
好例子网口号:伸出你的我的手 — 分享!
小贴士
感谢您为本站写下的评论,您的评论对其它用户来说具有重要的参考价值,所以请认真填写。
- 类似“顶”、“沙发”之类没有营养的文字,对勤劳贡献的楼主来说是令人沮丧的反馈信息。
- 相信您也不想看到一排文字/表情墙,所以请不要反馈意义不大的重复字符,也请尽量不要纯表情的回复。
- 提问之前请再仔细看一遍楼主的说明,或许是您遗漏了。
- 请勿到处挖坑绊人、招贴广告。既占空间让人厌烦,又没人会搭理,于人于己都无利。
关于好例子网
本站旨在为广大IT学习爱好者提供一个非营利性互相学习交流分享平台。本站所有资源都可以被免费获取学习研究。本站资源来自网友分享,对搜索内容的合法性不具有预见性、识别性、控制性,仅供学习研究,请务必在下载后24小时内给予删除,不得用于其他任何用途,否则后果自负。基于互联网的特殊性,平台无法对用户传输的作品、信息、内容的权属或合法性、安全性、合规性、真实性、科学性、完整权、有效性等进行实质审查;无论平台是否已进行审查,用户均应自行承担因其传输的作品、信息、内容而可能或已经产生的侵权或权属纠纷等法律责任。本站所有资源不代表本站的观点或立场,基于网友分享,根据中国法律《信息网络传播权保护条例》第二十二与二十三条之规定,若资源存在侵权或相关问题请联系本站客服人员,点此联系我们。关于更多版权及免责申明参见 版权及免责申明
网友评论
我要评论