C#ABB机器人PC SDK通讯02

1、ABB机器人电机开关

 

将两个按键控件放在主窗口，text改为电机开启和电机关闭。双击电机开启按键进入程序编写。

程序如下

 private void button2_Click(object sender, EventArgs e)
        {
            if (isConnect == true)//判断是否连接机器人
            {
                try
                {
                    if (controller.OperatingMode == ControllerOperatingMode.Auto)//判断控制箱操作模式是否为自动模式
                    {
                        controller.State = ControllerState.MotorsOn;//开启电机
                        MessageBox.Show("电机开启成功!");
                    }
                    else
                    {
                        MessageBox.Show("请切换自动模式！");
                    }
                }
                catch (System.Exception ex)
                {
                    MessageBox.Show("发生意外!:" + ex.Message);
                }
            }
        }

双击电机关闭按键进入编写界面，程序如下

        private void button3_Click(object sender, EventArgs e)
        {
                try
                {
                    if (controller.OperatingMode == ControllerOperatingMode.Auto)
                    {
                        controller.State = ControllerState.MotorsOff;
                        MessageBox.Show("机器人电机关闭成功");
                    }
                    else
                    {
                        MessageBox.Show("请切换自动模式！");
                    }
                }
                catch (System.Exception ex)
                {
                    MessageBox.Show("发生意外" + ex.Message);
                }
        }

4、任务、模块、程序选择

 2.1 双击选择任务进入From1.cs

        private void button12_Click(object sender, EventArgs e)
        {
            Isconnectrobot();
            comboBoxtask.Items.Clear();
            for (int i = 0; i < (int)tasks.Count(); i++)
            {
                comboBoxtask.Items.Add(tasks[i].Name);
            }
            isconnecttask = true;
        }
        private void Isconnectrobot()//验证是否连接机器人，防止代码卡死
        {
            if (isConnect == true)
            {
            }
            else
            {
                MessageBox.Show("未识别到机器人，请连机器人！");
            }
        }

 2.2 双击选择模块进入From1.cs

        private void button13_Click(object sender, EventArgs e)
        {
            comboBoxmodule.Items.Clear();
            if (isconnecttask == true)
            {
                int taskint = comboBoxtask.SelectedIndex;
                Module[] modules = controller.Rapid.GetTasks()[taskint].GetModules();
                for (int i = 0; i < (int)modules.Count(); i++)
                {
                    comboBoxmodule.Items.Add(modules[i].Name);
                };
            }
            else
            {
                MessageBox.Show("请指定某个任务");
            }
            isconnectmodule = true;
        }

 2.3 双击选择程序进入From1.cs

        private void button14_Click(object sender, EventArgs e)
        {
            comboBoxroutine.Items.Clear();
            if (isconnectmodule == true)
            {
                int taskint = comboBoxtask.SelectedIndex;
                int moduleint = comboBoxmodule.SelectedIndex;
                Routine[] routines1 = controller.Rapid.GetTasks()[taskint].GetModules()[moduleint].GetRoutines();
                for (int i = 0; i < (int)routines1.Count(); i++)
                {
                    comboBoxroutine.Items.Add(routines1[i].Name);
                }
            }
            else
            {
                MessageBox.Show("请指定某个模块");
            }
        }

 2.4 双击确定进入From1.cs。目的是将所选的任务、模块、程序保存。

        private void button20_Click(object sender, EventArgs e)
        {
            taskint = comboBoxtask.SelectedIndex;
            taskstring = comboBoxtask.SelectedItem.ToString();
            moduleint = comboBoxmodule.SelectedIndex;
            modulestring = comboBoxmodule.SelectedItem.ToString();
            routineint = comboBoxtask.SelectedIndex;
            routinestring = comboBoxtask.SelectedItem.ToString();
        }

3、机器人速度比

机器人控制速度方法并不是调节速度，而是调节速度比，速度 = 最大速度*速度比值。当速度比值为0%的时候，速度为0。可以通过滑块控件来调节速度比值，并且设置滑块与速度实时关联，为了安全将 ABB机器人连接时设置滑块控件为0值，即速度为0。 

右键滑块 -> 属性 -> 事件 -> Scroll -> 将事件函数名设置为myScrollBar1_Scroll。在Form1.cs中编写函数

private void myScrollBar1_Scroll(object sender, ScrollEventArgs e)
{
    if (isConnect == true)
       {
           if (controller.OperatingMode == ControllerOperatingMode.Auto)
              {
                  controller.MotionSystem.SpeedRatio = Convert.ToInt32(myScrollBar1.Value);//myscrollBar1为滑块控件名
                   label1.Text = "速度设定值：" + controller.MotionSystem.SpeedRatio.ToString() + "%";
               }
               else
               {
                   MessageBox.Show("请打开自动模式！");
               }
         }
}

4、查看点坐标变量

双击查看坐标值 

函数为

 RapidSymbolSearchProperties date = RapidSymbolSearchProperties.CreateDefault();
            date.Types = SymbolTypes.Data;
            date.SearchMethod = SymbolSearchMethod.Block;
            date.Recursive = true;
            date.InUse = false;
            date.LocalSymbols = false;
            RapidSymbol[] symbols = tasks[taskint].SearchRapidSymbol(date, "robtarget", string.Empty);
            this.comboBox5.Items.Clear();
            foreach (RapidSymbol symbol in symbols)
            {
                try
                {
                    RapidData rD = tasks[taskint].GetRapidData(symbol);
                    comboBox5.Items.Add(rD.Name);
                }
                catch (Exception ex)
                {
                    return;
                }
            }
            if (comboBox5.Items == null)
            {
                comboBox5.Text = "没有坐标变量";
            }
            else 
            {
                comboBox5.SelectedIndex = 0;
            }
           

双击确定控件函数为

        private void button18_Click(object sender, EventArgs e)
        {
            if (comboBoxtask.SelectedItem.ToString() != null || comboBox5.SelectedItem.ToString() != null)
            {
                RapidSymbolSearchProperties date = RapidSymbolSearchProperties.CreateDefault();
                date.Types = SymbolTypes.Data;
                date.SearchMethod = SymbolSearchMethod.Block;
                date.Recursive = true;
                date.InUse = false;
                date.LocalSymbols = false;
                RapidSymbol[] symbols = tasks[taskint].SearchRapidSymbol(date, "robtarget", string.Empty);
                this.listView3.Items.Clear();
                foreach (RapidSymbol symbol in symbols)
                {
                    try
                    {
                        RapidData rD = tasks[taskint].GetRapidData(symbol);
                        if (rD.Name == comboBox5.SelectedItem.ToString())
                        {
                            ListViewItem item2 = new ListViewItem(symbol.Name);
                            if (rD.Value != null)
                            {
                                item2.SubItems.Add(rD.Value.ToString());
                            }
                            else
                            {
                                item2.SubItems.Add("0");
                            }
                            item2.Tag = symbol;

                            this.listView3.Items.Add(item2);
                        }
                        else
                        {
                            continue;
                        }
                    }
                    catch (Exception ex)
                    {
                        return;
                    }
                }
            }
            else
            {
                MessageBox.Show("请选择任务！");
            }
        }