C# ABB机器人PC SDK通讯03

修改坐标值，上一期讲了如何查询坐标值，这次修改所查询的坐标值，双击修改点坐标

        private void button10_Click(object sender, EventArgs e)
        {
            //获取修改变量
            string strvariable = comboBox5.SelectedItem.ToString();
            Form2 form2 = new Form2();//实例化Form2对象
            form2.ShowDialog();//展示Form2
            if (form2.oKorCancel == true)
            {
                try
                {
                    using (Mastership.Request(controller.Rapid))//获得访问示教器内部管理权限
                    {
                        RapidData rd = controller.Rapid.GetRapidData(taskstring, modulestring, strvariable);//设坐标置变量
                        RobTarget rob = (RobTarget)rd.Value;
                        rob.Trans.X = form2.dx;
                        rob.Trans.Y = form2.dy;
                        rob.Trans.Z = form2.dz;
                        rob.Rot.Q1 = form2.dq1;
                        rob.Rot.Q2 = form2.dq2;
                        rob.Rot.Q3 = form2.dq3;
                        rob.Rot.Q4 = form2.dq4;
                        rd.Value = rob;
                        MessageBox.Show(strvariable + "修改成功！");
                        button18_Click(sender, e);
                    }
                }
                catch (Exception ex)
                {
                    MessageBox.Show("发生错误：" + ex.Message);
                }
                form2.oKorCancel = false;
            }
            else
            {

            }
        }

通过新建项目来建立输入框。

右键 -> 添加 -> 新建项目 -> 窗体空白 ->确定

将Form2.cs窗口设计为

双击确定

        public float dx;
        public float dy;
        public float dz;
        public float dq1;//采用四元数法
        public float dq2;
        public float dq3;
        public float dq4;
 //获取修改的值
        private void button1_Click(object sender, EventArgs e)
        {
            dx = Convert.ToSingle(textBox1.Text);
            dy = Convert.ToSingle(textBox2.Text);
            dz = Convert.ToSingle(textBox3.Text);
            dq1 = Convert.ToSingle(textBox4.Text);
            dq2 = Convert.ToSingle(textBox5.Text);
            dq3 = Convert.ToSingle(textBox6.Text);
            dq4 = Convert.ToSingle(textBox7.Text);
            oKorCancel = true;
            this.Hide();
        }

双击取消

        private void button2_Click(object sender, EventArgs e)
        {
            this.Hide();
            oKorCancel=false;
        }

2、日志

双击日志进入

//日志        
private void button5_Click(object sender, EventArgs e)
        {
            try
            {
                EventLog log = controller.EventLog;
                EventLogCategory cat = log.GetCategory(0);
                this.textBox3.Text = "";
                {
                    foreach (EventLogMessage emsg in cat.Messages)
                    {
                        int alarmNo;
                        alarmNo = emsg.CategoryId * 1000 + emsg.Number;
                        this.textBox3.Text = this.textBox3.Text + " " + alarmNo.ToString() + " " + emsg.Title + " " + emsg.Timestamp + "\r\n";
                    }
                }
            }
            catch (Exception ex)
            {
                MessageBox.Show("出现错误：" + ex.Message);
            }
        }

结果如下

当示教器为手动模式的时候会有同意权限管理，记得点击同意

 

 显示修改成功说明已经修改完成，我们检查一下，查看Point1点的坐标值

 看的Point1值为我们修改的值，说明修改成功。