diff --git a/Rs.SkyLine/Commom/GlobalVar.cs b/Rs.SkyLine/Commom/GlobalVar.cs index ea57e81..9c9e738 100644 --- a/Rs.SkyLine/Commom/GlobalVar.cs +++ b/Rs.SkyLine/Commom/GlobalVar.cs @@ -719,5 +719,38 @@ namespace Rs.Framework return SysConfigParam.GetValue(nameof(TestFixtureTrayTestHeightOffsetX)); } } + + /// + /// 料仓Tray盘取放料偏移X + /// + public static double StockTrayOffsetX + { + get + { + return SysConfigParam.GetValue(nameof(StockTrayOffsetX)); + } + } + + /// + /// 料仓Tray盘取放料偏移Y + /// + public static double StockTrayOffsetY + { + get + { + return SysConfigParam.GetValue(nameof(StockTrayOffsetY)); + } + } + + /// + /// 周转盘是否复检 + /// + public static bool EnableTurnoverTrayRecheck + { + get + { + return SysConfigParam.GetValue(nameof(EnableTurnoverTrayRecheck)); + } + } } } diff --git a/Rs.SkyLine/Flow/Camera/VisionManager.cs b/Rs.SkyLine/Flow/Camera/VisionManager.cs index 3f157a8..7146960 100644 --- a/Rs.SkyLine/Flow/Camera/VisionManager.cs +++ b/Rs.SkyLine/Flow/Camera/VisionManager.cs @@ -208,40 +208,57 @@ namespace Rs.MotionPlat.Flow.Camera HOperatorSet.ReduceDomain(image, upCameraScanBarCodeModel.SearchRegion, out searchImg); else searchImg = image; - HOperatorSet.GetShapeModelContours(out HObject modelContours, upCameraScanBarCodeModel.ModelID, 1); - HOperatorSet.FindShapeModel(searchImg, upCameraScanBarCodeModel.ModelID, - AngleTool.Deg2Rad(double.Parse(upCameraScanBarCodeModel.AngleStart)), - AngleTool.Deg2Rad(Math.Abs((double.Parse(upCameraScanBarCodeModel.AngleExtent) - double.Parse(upCameraScanBarCodeModel.AngleStart)))), - new HTuple(double.Parse(upCameraScanBarCodeModel.Score)), - 1, - 0.5, - "least_squares", - 0, - 0.9, - out HTuple row, out HTuple column, out HTuple angle, out HTuple score); - if (score.Length > 0) + if(GlobalVar.EnableTurnoverTrayRecheck) { - vr.OffsetX = (column.D-upCameraScanBarCodeModel.ModelMatchResult[1].D) * GlobalVar.UpCameraMmPerPixel; - vr.OffsetY =-1 * (row.D- upCameraScanBarCodeModel.ModelMatchResult[0].D) * GlobalVar.UpCameraMmPerPixel; - vr.OffsetR = AngleTool.Rad2Deg((angle.D - upCameraScanBarCodeModel.ModelMatchResult[2].D)); - vr.SourceImage = image; - if(vr.OffsetX 0) { - vr.SearchModelOK = true; - //只有定位成功的才去扫二维码 - string sn = FindCode(image, upCameraScanBarCodeModel.BarCodeRegion); - if(string.IsNullOrEmpty(sn)) + vr.OffsetX = (column.D - upCameraScanBarCodeModel.ModelMatchResult[1].D) * GlobalVar.UpCameraMmPerPixel; + vr.OffsetY = -1 * (row.D - upCameraScanBarCodeModel.ModelMatchResult[0].D) * GlobalVar.UpCameraMmPerPixel; + vr.OffsetR = AngleTool.Rad2Deg((angle.D - upCameraScanBarCodeModel.ModelMatchResult[2].D)); + vr.SourceImage = image; + if (vr.OffsetX < GlobalVar.TurnoverTrayLocateXRange && vr.OffsetY < GlobalVar.TurnoverTrayLocateYRange && vr.OffsetR < GlobalVar.TurnoverTrayLocateRRange) { - vr.ScanBarCodeOK = false; + + vr.SearchModelOK = true; } else { - vr.SN = sn; + vr.SearchModelOK = false; } } + } + else + { + vr.SearchModelOK = true; + } + //只有定位成功的才去扫二维码 + if (vr.SearchModelOK && !GlobalVar.EnableScanBarCodeByDownCamera) + { + string sn = FindCode(image, upCameraScanBarCodeModel.BarCodeRegion); + if (string.IsNullOrEmpty(sn)) + { + vr.ScanBarCodeOK = false; + } else { - vr.SearchModelOK = false; + if(!Directory.Exists($"d://images/{DateTime.Now.ToString("yyyyMMdd")}")) + { + Directory.CreateDirectory($"d://images/{DateTime.Now.ToString("yyyyMMdd")}"); + } + HOperatorSet.WriteImage(image, "bmp", 0, $"d://images/{DateTime.Now.ToString("yyyyMMdd")}//{sn}"); + vr.ScanBarCodeOK = true; + vr.SN = sn; } } return vr; @@ -264,7 +281,7 @@ namespace Rs.MotionPlat.Flow.Camera { // HOperatorSet.GenRectangle1(out HObject searchRegion, new HTuple(1533), new HTuple(731), new HTuple(1751), new HTuple(1071)); //HOperatorSet.GenRectangle1(out HObject searchRegion,row1, col1, row2, col2); - + HOperatorSet.WriteImage(images, "bmp", 0, "d://images//temp"); HOperatorSet.ReduceDomain(images, _barCodeRegion, out HObject imgReduaced); //HOperatorSet.CropDomain(imgReduaced, out HObject imagePart); //HOperatorSet.WriteImage(imagePart, "bmp", 0, "d://images/11"); @@ -285,8 +302,8 @@ namespace Rs.MotionPlat.Flow.Camera //HOperatorSet.ZoomImageFactor(imageScaled, out HObject imageZoomed, new HTuple(10), new HTuple(10), "constant"); HTuple decodedDataStrings = ""; HObject xlds = new HObject(); - - string[] modes = new string[] { "standard_recognition", "enhanced_recognition", "maximum_recognition" }; + + string[] modes = new string[] { "enhanced_recognition", "maximum_recognition" }; foreach (string mode in modes) { HOperatorSet.CreateDataCode2dModel("Data Matrix ECC 200", "default_parameters", mode, out HTuple dataCodeHandle); @@ -305,6 +322,7 @@ namespace Rs.MotionPlat.Flow.Camera } } } + return ""; } //else diff --git a/Rs.SkyLine/Flow/NormalFlow/DischargeFlow.cs b/Rs.SkyLine/Flow/NormalFlow/DischargeFlow.cs index 531d3f4..30ba6ab 100644 --- a/Rs.SkyLine/Flow/NormalFlow/DischargeFlow.cs +++ b/Rs.SkyLine/Flow/NormalFlow/DischargeFlow.cs @@ -929,17 +929,13 @@ namespace Rs.MotionPlat.Flow //如果吸嘴是1，并且最后一列 downSlot = GlobalTray.MultiTray.GetSlot(ESlotStatus.NotHave); #region 为了解决第一个吸嘴到不了最后两列的问题,新的料盘已经不存在这个问题 - //if(curNozzle.NozzleIndex==1 && downSlot!= null && (downSlot.Column==0 || downSlot.Column==1)) - //{ - // if(downSlot.Column==0) - // { - // downSlot = GlobalTray.MultiTray.GetSlot(downSlot.Index+2); - // } - // else if(downSlot.Column==1) - // { - // downSlot = GlobalTray.MultiTray.GetSlot(downSlot.Index+1); - // } - //} + if (curNozzle.NozzleIndex == 1 && downSlot != null && (downSlot.Column == 0)) + { + if (downSlot.Column == 0) + { + downSlot = GlobalTray.MultiTray.GetSlot(downSlot.Index + 1); + } + } #endregion if (downSlot != null) { @@ -1464,19 +1460,19 @@ namespace Rs.MotionPlat.Flow { if(GlobalVar.RunSpace) { - LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex, VirtualBarCode.Code); + LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex-1, VirtualBarCode.Code); } else { if(vr.ScanBarCodeOK) { //复制二维码 - LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex, vr.SN); + LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex-1, vr.SN); } else { //复制二维码 - LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex, ""); + LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex-1, ""); } } } @@ -1501,14 +1497,34 @@ namespace Rs.MotionPlat.Flow { if (TurnoverTrayManager.Instance.Slot(vr.SlotIndex).IsHasProduct) { - if (vr.SearchModelOK && vr.OffsetX < 0.5 && vr.OffsetY < 0.5 && vr.OffsetR < 5)//定位成功 + + if (vr.SearchModelOK)//定位成功 { - if (vr.ScanBarCodeOK) + if (!GlobalVar.EnableScanBarCodeByDownCamera) { - //复制二维码 - LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex, vr.SN); + if (GlobalVar.RunSpace) + { + LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex-1, VirtualBarCode.Code); + } + else + { + if (vr.ScanBarCodeOK) + { + //复制二维码 + LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex- 1, vr.SN); + } + else + { + //复制二维码 + LoadAndUnloadTask.Instance.CopyBarcodeToTask(vr.SlotIndex-1, ""); + } + } } } + else + { + //定位失败,或者超出指定范围 + } } } OnUpCameraGrabResult?.Invoke(result); diff --git a/Rs.SkyLine/Flow/NormalFlow/TakeTrayFlow.cs b/Rs.SkyLine/Flow/NormalFlow/TakeTrayFlow.cs index 2a433ad..f7403e7 100644 --- a/Rs.SkyLine/Flow/NormalFlow/TakeTrayFlow.cs +++ b/Rs.SkyLine/Flow/NormalFlow/TakeTrayFlow.cs @@ -6,6 +6,7 @@ using Rs.MotionPlat.Flow.Space; using System; using System.Collections.Generic; using System.Diagnostics; +using System.Drawing; using System.Linq; using System.Text; using System.Threading; @@ -68,6 +69,8 @@ namespace Rs.MotionPlat.Flow private ETrayType m_fromTray = ETrayType.Empty2; private ETrayType m_toTray = ETrayType.Ok; private bool finisehd = true; + double targetX = 0.0; + double targetY = 0.0; /// /// 料盘搬运 /// @@ -96,14 +99,16 @@ namespace Rs.MotionPlat.Flow switch (step) { case ETakeTrayFlowStep.到取料盘上方: - double centerX = SysConfigParam.GetValue($"Tray{m_fromTray.ToString()}CenterX"); - double centerY = SysConfigParam.GetValue($"Tray{m_fromTray.ToString()}CenterY"); - double cameraCenterX = SysConfigParam.GetValue("ClampCenter2UpCameraCenterX"); - double cameraCenterY = SysConfigParam.GetValue("ClampCenter2UpCameraCenterY"); - Motion.ErrorCode errCode = AxisControl.LoadX.MovePos(centerX + cameraCenterX, GlobalVar.TakeTraySpeed); + //double centerX = SysConfigParam.GetValue($"Tray{m_fromTray.ToString()}CenterX"); + //double centerY = SysConfigParam.GetValue($"Tray{m_fromTray.ToString()}CenterY"); + //double cameraCenterX = SysConfigParam.GetValue("ClampCenter2UpCameraCenterX"); + //double cameraCenterY = SysConfigParam.GetValue("ClampCenter2UpCameraCenterY"); + targetX = SysConfigParam.GetValue($"{m_fromTray.ToString()}TakeTrayX"); + targetY = SysConfigParam.GetValue($"{m_fromTray.ToString()}TakeTrayY"); + Motion.ErrorCode errCode = AxisControl.LoadX.MovePos(targetX, GlobalVar.TakeTraySpeed); if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis) { - errCode = AxisControl.LoadY.MovePos(centerY + cameraCenterY, GlobalVar.TakeTraySpeed); + errCode = AxisControl.LoadY.MovePos(targetY, GlobalVar.TakeTraySpeed); if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis) { if (GlobalVar.VirtualAxis) @@ -232,15 +237,18 @@ namespace Rs.MotionPlat.Flow //{ // Thread.Sleep(2000); //} - centerX = SysConfigParam.GetValue($"Tray{m_toTray.ToString()}CenterX"); - centerY = SysConfigParam.GetValue($"Tray{m_toTray.ToString()}CenterY"); + //centerX = SysConfigParam.GetValue($"Tray{m_toTray.ToString()}CenterX"); + //centerY = SysConfigParam.GetValue($"Tray{m_toTray.ToString()}CenterY"); - cameraCenterX = SysConfigParam.GetValue("ClampCenter2UpCameraCenterX"); - cameraCenterY = SysConfigParam.GetValue("ClampCenter2UpCameraCenterY"); - errCode = AxisControl.LoadX.MovePos(centerX + cameraCenterX, GlobalVar.TakeTraySpeed); + //cameraCenterX = SysConfigParam.GetValue("ClampCenter2UpCameraCenterX"); + //cameraCenterY = SysConfigParam.GetValue("ClampCenter2UpCameraCenterY"); + targetX = SysConfigParam.GetValue($"{m_toTray.ToString()}TakeTrayX"); + targetY = SysConfigParam.GetValue($"{m_toTray.ToString()}TakeTrayY"); + + errCode = AxisControl.LoadX.MovePos(targetX, GlobalVar.TakeTraySpeed); if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis) { - errCode = AxisControl.LoadY.MovePos(centerY + cameraCenterY - 2, GlobalVar.TakeTraySpeed); + errCode = AxisControl.LoadY.MovePos(targetY - 2, GlobalVar.TakeTraySpeed); if (errCode == Motion.ErrorCode.Ok || GlobalVar.VirtualAxis) { if (GlobalVar.VirtualAxis) diff --git a/Rs.SkyLine/Flow/SubFlow/UpCameraScanBarCodeFlow.cs b/Rs.SkyLine/Flow/SubFlow/UpCameraScanBarCodeFlow.cs index 86ca62a..5b184fa 100644 --- a/Rs.SkyLine/Flow/SubFlow/UpCameraScanBarCodeFlow.cs +++ b/Rs.SkyLine/Flow/SubFlow/UpCameraScanBarCodeFlow.cs @@ -229,15 +229,21 @@ namespace Rs.MotionPlat.Flow.SubFlow int slotIndex = 0; foreach (var img in grabImages) { - VisionResult vr = VisionManager.TurnoverTrayDumpProductOK(img); - if(!isReverse) + int sIndex = 0; + if (!isReverse) { - vr.SlotIndex = startSlotIndex + slotIndex; + sIndex = startSlotIndex + slotIndex; } else { - vr.SlotIndex = startSlotIndex - slotIndex; + sIndex = startSlotIndex - slotIndex; + } + VisionResult vr = new VisionResult(); + if (TurnoverTrayManager.Instance.Slot(sIndex).IsHasProduct) + { + vr = VisionManager.TurnoverTrayDumpProductOK(img); } + vr.SlotIndex = sIndex; vReslutList.Add(vr); slotIndex++; } diff --git a/Rs.SkyLine/FormMain.cs b/Rs.SkyLine/FormMain.cs index 1e799df..64e298d 100644 --- a/Rs.SkyLine/FormMain.cs +++ b/Rs.SkyLine/FormMain.cs @@ -122,17 +122,18 @@ namespace Rs.MotionPlat } if (hwin != null) { - hwin.HobjectToHimage(matchResult.SourceImage); + if (matchResult.SearchModelOK) { - //hwin.DispObj(matchResult.ContourXld, "green"); + hwin.HobjectToHimage(matchResult.SourceImage); HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, matchResult.SN, 20, 20, "green"); HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, $"x:{matchResult.OffsetX}", 200, 20, "green"); HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, $"y:{matchResult.OffsetY}", 400, 20, "green"); - //HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, $"r:{matchResult.OffsetA}", 600, 20, "green"); + HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, $"r:{matchResult.OffsetR}", 600, 20, "green"); } else { + hwin.ClearWindow(); HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, "NG", 20, 20, "red"); } } diff --git a/Rs.SkyLine/Recipe/StockTrayLocationRecipe.Designer.cs b/Rs.SkyLine/Recipe/StockTrayLocationRecipe.Designer.cs index ff1cb61..aff9aa0 100644 --- a/Rs.SkyLine/Recipe/StockTrayLocationRecipe.Designer.cs +++ b/Rs.SkyLine/Recipe/StockTrayLocationRecipe.Designer.cs @@ -68,13 +68,17 @@ this.txtMark2CenterDistY = new System.Windows.Forms.TextBox(); this.txtMark2CenterDistX = new System.Windows.Forms.TextBox(); this.label4 = new System.Windows.Forms.Label(); + this.txttxtStockTrayOffsetY = new System.Windows.Forms.TextBox(); this.txtMarkY2 = new System.Windows.Forms.TextBox(); this.txtMarkY1 = new System.Windows.Forms.TextBox(); + this.txtStockTrayOffsetX = new System.Windows.Forms.TextBox(); this.label2 = new System.Windows.Forms.Label(); this.txtMarkX2 = new System.Windows.Forms.TextBox(); this.label3 = new System.Windows.Forms.Label(); + this.label10 = new System.Windows.Forms.Label(); this.txtMarkX1 = new System.Windows.Forms.TextBox(); this.label8 = new System.Windows.Forms.Label(); + this.label9 = new System.Windows.Forms.Label(); this.label1 = new System.Windows.Forms.Label(); this.label7 = new System.Windows.Forms.Label(); this.label6 = new System.Windows.Forms.Label(); @@ -338,13 +342,17 @@ this.groupBox1.Controls.Add(this.txtMark2CenterDistY); this.groupBox1.Controls.Add(this.txtMark2CenterDistX); this.groupBox1.Controls.Add(this.label4); + this.groupBox1.Controls.Add(this.txttxtStockTrayOffsetY); this.groupBox1.Controls.Add(this.txtMarkY2); this.groupBox1.Controls.Add(this.txtMarkY1); + this.groupBox1.Controls.Add(this.txtStockTrayOffsetX); this.groupBox1.Controls.Add(this.label2); this.groupBox1.Controls.Add(this.txtMarkX2); this.groupBox1.Controls.Add(this.label3); + this.groupBox1.Controls.Add(this.label10); this.groupBox1.Controls.Add(this.txtMarkX1); this.groupBox1.Controls.Add(this.label8); + this.groupBox1.Controls.Add(this.label9); this.groupBox1.Controls.Add(this.label1); this.groupBox1.Controls.Add(this.label7); this.groupBox1.Controls.Add(this.label6); @@ -412,7 +420,7 @@ this.txtTeachMarkY2.FlatAppearance.BorderColor = System.Drawing.Color.White; this.txtTeachMarkY2.FlatStyle = System.Windows.Forms.FlatStyle.Flat; this.txtTeachMarkY2.ForeColor = System.Drawing.Color.White; - this.txtTeachMarkY2.Location = new System.Drawing.Point(176, 113); + this.txtTeachMarkY2.Location = new System.Drawing.Point(344, 177); this.txtTeachMarkY2.Name = "txtTeachMarkY2"; this.txtTeachMarkY2.Size = new System.Drawing.Size(79, 25); this.txtTeachMarkY2.TabIndex = 51; @@ -428,7 +436,7 @@ this.btnTeachMarkY1.FlatAppearance.BorderColor = System.Drawing.Color.White; this.btnTeachMarkY1.FlatStyle = System.Windows.Forms.FlatStyle.Flat; this.btnTeachMarkY1.ForeColor = System.Drawing.Color.White; - this.btnTeachMarkY1.Location = new System.Drawing.Point(176, 46); + this.btnTeachMarkY1.Location = new System.Drawing.Point(215, 46); this.btnTeachMarkY1.Name = "btnTeachMarkY1"; this.btnTeachMarkY1.Size = new System.Drawing.Size(79, 25); this.btnTeachMarkY1.TabIndex = 51; @@ -476,7 +484,7 @@ this.txtTeachMarkX2.FlatAppearance.BorderColor = System.Drawing.Color.White; this.txtTeachMarkX2.FlatStyle = System.Windows.Forms.FlatStyle.Flat; this.txtTeachMarkX2.ForeColor = System.Drawing.Color.White; - this.txtTeachMarkX2.Location = new System.Drawing.Point(176, 82); + this.txtTeachMarkX2.Location = new System.Drawing.Point(344, 146); this.txtTeachMarkX2.Name = "txtTeachMarkX2"; this.txtTeachMarkX2.Size = new System.Drawing.Size(79, 25); this.txtTeachMarkX2.TabIndex = 52; @@ -492,7 +500,7 @@ this.btnTeachMarkX1.FlatAppearance.BorderColor = System.Drawing.Color.White; this.btnTeachMarkX1.FlatStyle = System.Windows.Forms.FlatStyle.Flat; this.btnTeachMarkX1.ForeColor = System.Drawing.Color.White; - this.btnTeachMarkX1.Location = new System.Drawing.Point(176, 15); + this.btnTeachMarkX1.Location = new System.Drawing.Point(215, 15); this.btnTeachMarkX1.Name = "btnTeachMarkX1"; this.btnTeachMarkX1.Size = new System.Drawing.Size(79, 25); this.btnTeachMarkX1.TabIndex = 52; @@ -508,7 +516,7 @@ this.btnCreateMatrix.FlatAppearance.BorderColor = System.Drawing.Color.White; this.btnCreateMatrix.FlatStyle = System.Windows.Forms.FlatStyle.Flat; this.btnCreateMatrix.ForeColor = System.Drawing.Color.White; - this.btnCreateMatrix.Location = new System.Drawing.Point(641, 173); + this.btnCreateMatrix.Location = new System.Drawing.Point(631, 172); this.btnCreateMatrix.Name = "btnCreateMatrix"; this.btnCreateMatrix.Size = new System.Drawing.Size(133, 50); this.btnCreateMatrix.TabIndex = 49; @@ -523,7 +531,7 @@ this.btnMoveMarkY2.FlatAppearance.BorderColor = System.Drawing.Color.White; this.btnMoveMarkY2.FlatStyle = System.Windows.Forms.FlatStyle.Flat; this.btnMoveMarkY2.ForeColor = System.Drawing.Color.White; - this.btnMoveMarkY2.Location = new System.Drawing.Point(285, 113); + this.btnMoveMarkY2.Location = new System.Drawing.Point(442, 179); this.btnMoveMarkY2.Name = "btnMoveMarkY2"; this.btnMoveMarkY2.Size = new System.Drawing.Size(79, 25); this.btnMoveMarkY2.TabIndex = 49; @@ -539,7 +547,7 @@ this.btnMoveMarkY1.FlatAppearance.BorderColor = System.Drawing.Color.White; this.btnMoveMarkY1.FlatStyle = System.Windows.Forms.FlatStyle.Flat; this.btnMoveMarkY1.ForeColor = System.Drawing.Color.White; - this.btnMoveMarkY1.Location = new System.Drawing.Point(285, 46); + this.btnMoveMarkY1.Location = new System.Drawing.Point(324, 46); this.btnMoveMarkY1.Name = "btnMoveMarkY1"; this.btnMoveMarkY1.Size = new System.Drawing.Size(79, 25); this.btnMoveMarkY1.TabIndex = 49; @@ -554,7 +562,7 @@ this.btnMoveMarkX2.FlatAppearance.BorderColor = System.Drawing.Color.White; this.btnMoveMarkX2.FlatStyle = System.Windows.Forms.FlatStyle.Flat; this.btnMoveMarkX2.ForeColor = System.Drawing.Color.White; - this.btnMoveMarkX2.Location = new System.Drawing.Point(285, 82); + this.btnMoveMarkX2.Location = new System.Drawing.Point(442, 148); this.btnMoveMarkX2.Name = "btnMoveMarkX2"; this.btnMoveMarkX2.Size = new System.Drawing.Size(79, 25); this.btnMoveMarkX2.TabIndex = 50; @@ -570,7 +578,7 @@ this.btnMoveMarkX1.FlatAppearance.BorderColor = System.Drawing.Color.White; this.btnMoveMarkX1.FlatStyle = System.Windows.Forms.FlatStyle.Flat; this.btnMoveMarkX1.ForeColor = System.Drawing.Color.White; - this.btnMoveMarkX1.Location = new System.Drawing.Point(285, 15); + this.btnMoveMarkX1.Location = new System.Drawing.Point(324, 15); this.btnMoveMarkX1.Name = "btnMoveMarkX1"; this.btnMoveMarkX1.Size = new System.Drawing.Size(79, 25); this.btnMoveMarkX1.TabIndex = 50; @@ -651,13 +659,28 @@ this.label4.TabIndex = 47; this.label4.Text = "SlotOffsetY:"; // + // txttxtStockTrayOffsetY + // + this.txttxtStockTrayOffsetY.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(16)))), ((int)(((byte)(16)))), ((int)(((byte)(16))))); + this.txttxtStockTrayOffsetY.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle; + this.txttxtStockTrayOffsetY.Font = new System.Drawing.Font("宋体", 9F); + this.txttxtStockTrayOffsetY.ForeColor = System.Drawing.Color.White; + this.txttxtStockTrayOffsetY.Location = new System.Drawing.Point(106, 116); + this.txttxtStockTrayOffsetY.Name = "txttxtStockTrayOffsetY"; + this.txttxtStockTrayOffsetY.Size = new System.Drawing.Size(85, 21); + this.txttxtStockTrayOffsetY.TabIndex = 53; + this.txttxtStockTrayOffsetY.Tag = ""; + this.txttxtStockTrayOffsetY.Text = "0.01"; + this.txttxtStockTrayOffsetY.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + this.txttxtStockTrayOffsetY.KeyUp += new System.Windows.Forms.KeyEventHandler(this.txtSysParam_KeyUp); + // // txtMarkY2 // this.txtMarkY2.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(16)))), ((int)(((byte)(16)))), ((int)(((byte)(16))))); this.txtMarkY2.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle; this.txtMarkY2.Font = new System.Drawing.Font("宋体", 9F); this.txtMarkY2.ForeColor = System.Drawing.Color.White; - this.txtMarkY2.Location = new System.Drawing.Point(67, 117); + this.txtMarkY2.Location = new System.Drawing.Point(235, 181); this.txtMarkY2.Name = "txtMarkY2"; this.txtMarkY2.ReadOnly = true; this.txtMarkY2.Size = new System.Drawing.Size(85, 21); @@ -673,7 +696,7 @@ this.txtMarkY1.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle; this.txtMarkY1.Font = new System.Drawing.Font("宋体", 9F); this.txtMarkY1.ForeColor = System.Drawing.Color.White; - this.txtMarkY1.Location = new System.Drawing.Point(67, 50); + this.txtMarkY1.Location = new System.Drawing.Point(106, 50); this.txtMarkY1.Name = "txtMarkY1"; this.txtMarkY1.ReadOnly = true; this.txtMarkY1.Size = new System.Drawing.Size(85, 21); @@ -682,6 +705,21 @@ this.txtMarkY1.Text = "0.01"; this.txtMarkY1.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; // + // txtStockTrayOffsetX + // + this.txtStockTrayOffsetX.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(16)))), ((int)(((byte)(16)))), ((int)(((byte)(16))))); + this.txtStockTrayOffsetX.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle; + this.txtStockTrayOffsetX.Font = new System.Drawing.Font("宋体", 9F); + this.txtStockTrayOffsetX.ForeColor = System.Drawing.Color.White; + this.txtStockTrayOffsetX.Location = new System.Drawing.Point(106, 85); + this.txtStockTrayOffsetX.Name = "txtStockTrayOffsetX"; + this.txtStockTrayOffsetX.Size = new System.Drawing.Size(85, 21); + this.txtStockTrayOffsetX.TabIndex = 54; + this.txtStockTrayOffsetX.Tag = ""; + this.txtStockTrayOffsetX.Text = "0.01"; + this.txtStockTrayOffsetX.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + this.txtStockTrayOffsetX.KeyUp += new System.Windows.Forms.KeyEventHandler(this.txtSysParam_KeyUp); + // // label2 // this.label2.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right))); @@ -699,7 +737,7 @@ this.txtMarkX2.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle; this.txtMarkX2.Font = new System.Drawing.Font("宋体", 9F); this.txtMarkX2.ForeColor = System.Drawing.Color.White; - this.txtMarkX2.Location = new System.Drawing.Point(67, 86); + this.txtMarkX2.Location = new System.Drawing.Point(235, 150); this.txtMarkX2.Name = "txtMarkX2"; this.txtMarkX2.ReadOnly = true; this.txtMarkX2.Size = new System.Drawing.Size(85, 21); @@ -719,13 +757,22 @@ this.label3.TabIndex = 48; this.label3.Text = "SlotOffsetX:"; // + // label10 + // + this.label10.AutoSize = true; + this.label10.Location = new System.Drawing.Point(26, 120); + this.label10.Name = "label10"; + this.label10.Size = new System.Drawing.Size(77, 12); + this.label10.TabIndex = 47; + this.label10.Text = "取放料补偿Y:"; + // // txtMarkX1 // this.txtMarkX1.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(16)))), ((int)(((byte)(16)))), ((int)(((byte)(16))))); this.txtMarkX1.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle; this.txtMarkX1.Font = new System.Drawing.Font("宋体", 9F); this.txtMarkX1.ForeColor = System.Drawing.Color.White; - this.txtMarkX1.Location = new System.Drawing.Point(67, 19); + this.txtMarkX1.Location = new System.Drawing.Point(106, 19); this.txtMarkX1.Name = "txtMarkX1"; this.txtMarkX1.ReadOnly = true; this.txtMarkX1.Size = new System.Drawing.Size(85, 21); @@ -737,13 +784,22 @@ // label8 // this.label8.AutoSize = true; - this.label8.Location = new System.Drawing.Point(18, 121); + this.label8.Location = new System.Drawing.Point(186, 185); this.label8.Name = "label8"; this.label8.Size = new System.Drawing.Size(47, 12); this.label8.TabIndex = 47; this.label8.Text = "MarkY2:"; this.label8.Visible = false; // + // label9 + // + this.label9.AutoSize = true; + this.label9.Location = new System.Drawing.Point(26, 89); + this.label9.Name = "label9"; + this.label9.Size = new System.Drawing.Size(77, 12); + this.label9.TabIndex = 48; + this.label9.Text = "取放料补偿X:"; + // // label1 // this.label1.Anchor = ((System.Windows.Forms.AnchorStyles)((System.Windows.Forms.AnchorStyles.Top | System.Windows.Forms.AnchorStyles.Right))); @@ -758,7 +814,7 @@ // label7 // this.label7.AutoSize = true; - this.label7.Location = new System.Drawing.Point(18, 90); + this.label7.Location = new System.Drawing.Point(186, 154); this.label7.Name = "label7"; this.label7.Size = new System.Drawing.Size(47, 12); this.label7.TabIndex = 48; @@ -768,7 +824,7 @@ // label6 // this.label6.AutoSize = true; - this.label6.Location = new System.Drawing.Point(18, 54); + this.label6.Location = new System.Drawing.Point(57, 54); this.label6.Name = "label6"; this.label6.Size = new System.Drawing.Size(47, 12); this.label6.TabIndex = 47; @@ -777,7 +833,7 @@ // label5 // this.label5.AutoSize = true; - this.label5.Location = new System.Drawing.Point(18, 23); + this.label5.Location = new System.Drawing.Point(57, 23); this.label5.Name = "label5"; this.label5.Size = new System.Drawing.Size(47, 12); this.label5.TabIndex = 48; @@ -1202,5 +1258,9 @@ private System.Windows.Forms.DataGridViewTextBoxColumn dataGridViewTextBoxColumn2; private System.Windows.Forms.DataGridViewTextBoxColumn dataGridViewTextBoxColumn3; private System.Windows.Forms.DataGridViewLinkColumn dataGridViewLinkColumn1; + private System.Windows.Forms.TextBox txttxtStockTrayOffsetY; + private System.Windows.Forms.TextBox txtStockTrayOffsetX; + private System.Windows.Forms.Label label10; + private System.Windows.Forms.Label label9; } } \ No newline at end of file diff --git a/Rs.SkyLine/Recipe/StockTrayLocationRecipe.cs b/Rs.SkyLine/Recipe/StockTrayLocationRecipe.cs index 31b3957..7d09d5b 100644 --- a/Rs.SkyLine/Recipe/StockTrayLocationRecipe.cs +++ b/Rs.SkyLine/Recipe/StockTrayLocationRecipe.cs @@ -52,6 +52,8 @@ namespace Rs.MotionPlat.Recipe { dgvRunPoints.DataSource = dtRunPoints; } + PositionHelper.BindSinglePosition(txtStockTrayOffsetX); + PositionHelper.BindSinglePosition(txttxtStockTrayOffsetY); } private void StockTrayLocationRecipe_Load(object sender, EventArgs e) @@ -103,8 +105,8 @@ namespace Rs.MotionPlat.Recipe //double yBase = double.Parse(dt.Rows[0]["MarkY1"].ToString()) + double.Parse(dt.Rows[0]["Mark2CenterDistY"].ToString()) + (i * double.Parse(dt.Rows[0]["SlotOffsetDistY"].ToString())); //double xRun = double.Parse(dt.Rows[0]["MarkX1"].ToString()) + double.Parse(dt.Rows[0]["Mark2CenterDistX"].ToString()) + (j * double.Parse(dt.Rows[0]["SlotOffsetDistX"].ToString())); //double yRun = double.Parse(dt.Rows[0]["MarkY1"].ToString()) + double.Parse(dt.Rows[0]["Mark2CenterDistY"].ToString()) + (i * double.Parse(dt.Rows[0]["SlotOffsetDistY"].ToString())); - double xRun = double.Parse(txtMarkX1.Text) + (j * double.Parse(txtSlotOffsetDistX.Text)); - double yRun = double.Parse(txtMarkY1.Text) + (i * double.Parse(txtSlotOffsetDistY.Text)); + double xRun = double.Parse(txtMarkX1.Text) + (j * double.Parse(txtSlotOffsetDistX.Text))+GlobalVar.StockTrayOffsetX; + double yRun = double.Parse(txtMarkY1.Text) + (i * double.Parse(txtSlotOffsetDistY.Text))+GlobalVar.StockTrayOffsetY; string insertRunSql = $"insert into TrayPoints(trayid,recipename,trayname,slotindex,x,y) values('{dt.Rows[0]["id"]}','{dt.Rows[0]["recipename"]}','{dt.Rows[0]["TrayName"]}',{tempIndex},{xRun},{yRun})"; db.ExecuteNonQuery(insertRunSql); index++; @@ -314,5 +316,10 @@ namespace Rs.MotionPlat.Recipe } } } + + public void txtSysParam_KeyUp(object sender, KeyEventArgs e) + { + UpdateSysParam((TextBox)sender); + } } } diff --git a/Rs.SkyLine/SysConfig/ClampConfig.Designer.cs b/Rs.SkyLine/SysConfig/ClampConfig.Designer.cs index f501228..d1090dd 100644 --- a/Rs.SkyLine/SysConfig/ClampConfig.Designer.cs +++ b/Rs.SkyLine/SysConfig/ClampConfig.Designer.cs @@ -30,35 +30,77 @@ { this.groupBox1 = new System.Windows.Forms.GroupBox(); this.groupBox9 = new System.Windows.Forms.GroupBox(); - this.button20 = new System.Windows.Forms.Button(); + this.btnTeachEmpty2TakeTrayY = new System.Windows.Forms.Button(); + this.btnMoveEmpty2TakeTrayY = new System.Windows.Forms.Button(); + this.btnMoveEmpty2TakeTrayX = new System.Windows.Forms.Button(); + this.txtEmpty2TakeTrayY = new System.Windows.Forms.TextBox(); + this.txtEmpty2TakeTrayX = new System.Windows.Forms.TextBox(); + this.label14 = new System.Windows.Forms.Label(); + this.label13 = new System.Windows.Forms.Label(); + this.btnTeachEmpty2TakeTrayX = new System.Windows.Forms.Button(); + this.groupBox8 = new System.Windows.Forms.GroupBox(); + this.btnTeachMultiTakeTrayY = new System.Windows.Forms.Button(); + this.btnMoveMultiTakeTrayY = new System.Windows.Forms.Button(); + this.btnMoveMultiTakeTrayX = new System.Windows.Forms.Button(); + this.txtMultiTakeTrayY = new System.Windows.Forms.TextBox(); + this.label11 = new System.Windows.Forms.Label(); + this.btnTeachMultiTakeTrayX = new System.Windows.Forms.Button(); + this.label12 = new System.Windows.Forms.Label(); + this.txtMultiTakeTrayX = new System.Windows.Forms.TextBox(); + this.groupBox7 = new System.Windows.Forms.GroupBox(); + this.btnTeachNgTakeTrayY = new System.Windows.Forms.Button(); + this.btnMoveNgTakeTrayY = new System.Windows.Forms.Button(); + this.btnMoveNgTakeTrayX = new System.Windows.Forms.Button(); + this.txtNgTakeTrayY = new System.Windows.Forms.TextBox(); + this.btnTeachNgTakeTrayX = new System.Windows.Forms.Button(); + this.txtNgTakeTrayX = new System.Windows.Forms.TextBox(); + this.label9 = new System.Windows.Forms.Label(); + this.label10 = new System.Windows.Forms.Label(); + this.groupBox6 = new System.Windows.Forms.GroupBox(); + this.btnTeachOkTakeTrayY = new System.Windows.Forms.Button(); + this.btnMoveOkTakeTrayY = new System.Windows.Forms.Button(); + this.btnMoveOkTakeTrayX = new System.Windows.Forms.Button(); + this.txtOkTakeTrayY = new System.Windows.Forms.TextBox(); + this.btnTeachOkTakeTrayX = new System.Windows.Forms.Button(); + this.label7 = new System.Windows.Forms.Label(); + this.label8 = new System.Windows.Forms.Label(); + this.txtOkTakeTrayX = new System.Windows.Forms.TextBox(); + this.groupBox4 = new System.Windows.Forms.GroupBox(); + this.btnTeachInputTakeTrayY = new System.Windows.Forms.Button(); + this.txtInputTakeTrayY = new System.Windows.Forms.TextBox(); + this.btnMoveInputTakeTrayY = new System.Windows.Forms.Button(); + this.btnMoveInputTakeTrayX = new System.Windows.Forms.Button(); + this.btnTeachInputTakeTrayX = new System.Windows.Forms.Button(); + this.label6 = new System.Windows.Forms.Label(); + this.txtInputTakeTrayX = new System.Windows.Forms.TextBox(); + this.label5 = new System.Windows.Forms.Label(); + this.groupBox2 = new System.Windows.Forms.GroupBox(); + this.btnTeachEmpty1TakeTrayY = new System.Windows.Forms.Button(); + this.txtEmpty1TakeTrayY = new System.Windows.Forms.TextBox(); + this.btnTeachEmpty1TakeTrayX = new System.Windows.Forms.Button(); + this.label4 = new System.Windows.Forms.Label(); + this.txtEmpty1TakeTrayX = new System.Windows.Forms.TextBox(); + this.label3 = new System.Windows.Forms.Label(); + this.btnMoveEmpty1TakeTrayY = new System.Windows.Forms.Button(); + this.btnMoveEmpty1TakeTrayX = new System.Windows.Forms.Button(); + this.groupBox5 = new System.Windows.Forms.GroupBox(); + this.btnSaveDist = new System.Windows.Forms.Button(); + this.txtClampCenter2UpCameraCenterY = new System.Windows.Forms.TextBox(); + this.label1 = new System.Windows.Forms.Label(); + this.txtClampCenter2UpCameraCenterX = new System.Windows.Forms.TextBox(); + this.label2 = new System.Windows.Forms.Label(); this.button21 = new System.Windows.Forms.Button(); this.button22 = new System.Windows.Forms.Button(); - this.groupBox8 = new System.Windows.Forms.GroupBox(); - this.button17 = new System.Windows.Forms.Button(); this.button18 = new System.Windows.Forms.Button(); this.button19 = new System.Windows.Forms.Button(); - this.groupBox7 = new System.Windows.Forms.GroupBox(); - this.button14 = new System.Windows.Forms.Button(); this.button15 = new System.Windows.Forms.Button(); this.button16 = new System.Windows.Forms.Button(); - this.groupBox6 = new System.Windows.Forms.GroupBox(); - this.button11 = new System.Windows.Forms.Button(); this.button12 = new System.Windows.Forms.Button(); this.button13 = new System.Windows.Forms.Button(); - this.groupBox4 = new System.Windows.Forms.GroupBox(); - this.button4 = new System.Windows.Forms.Button(); this.button5 = new System.Windows.Forms.Button(); this.button6 = new System.Windows.Forms.Button(); - this.groupBox2 = new System.Windows.Forms.GroupBox(); - this.button3 = new System.Windows.Forms.Button(); this.button2 = new System.Windows.Forms.Button(); this.btnMoveTakePos = new System.Windows.Forms.Button(); - this.groupBox5 = new System.Windows.Forms.GroupBox(); - this.btnSaveDist = new System.Windows.Forms.Button(); - this.txtClampCenter2UpCameraCenterY = new System.Windows.Forms.TextBox(); - this.label1 = new System.Windows.Forms.Label(); - this.txtClampCenter2UpCameraCenterX = new System.Windows.Forms.TextBox(); - this.label2 = new System.Windows.Forms.Label(); this.panelEx1 = new Rs.Controls.PanelEx(); this.panelEx2 = new Rs.Controls.PanelEx(); this.groupBox1.SuspendLayout(); @@ -70,6 +112,7 @@ this.groupBox2.SuspendLayout(); this.groupBox5.SuspendLayout(); this.panelEx1.SuspendLayout(); + this.panelEx2.SuspendLayout(); this.SuspendLayout(); // // groupBox1 @@ -85,39 +128,850 @@ this.groupBox1.ForeColor = System.Drawing.Color.White; this.groupBox1.Location = new System.Drawing.Point(0, 0); this.groupBox1.Name = "groupBox1"; - this.groupBox1.Size = new System.Drawing.Size(401, 570); + this.groupBox1.Size = new System.Drawing.Size(373, 682); this.groupBox1.TabIndex = 0; this.groupBox1.TabStop = false; this.groupBox1.Text = "位置"; // // groupBox9 // - this.groupBox9.Controls.Add(this.button20); - this.groupBox9.Controls.Add(this.button21); - this.groupBox9.Controls.Add(this.button22); + this.groupBox9.Controls.Add(this.btnTeachEmpty2TakeTrayY); + this.groupBox9.Controls.Add(this.btnMoveEmpty2TakeTrayY); + this.groupBox9.Controls.Add(this.btnMoveEmpty2TakeTrayX); + this.groupBox9.Controls.Add(this.txtEmpty2TakeTrayY); + this.groupBox9.Controls.Add(this.txtEmpty2TakeTrayX); + this.groupBox9.Controls.Add(this.label14); + this.groupBox9.Controls.Add(this.label13); + this.groupBox9.Controls.Add(this.btnTeachEmpty2TakeTrayX); this.groupBox9.Dock = System.Windows.Forms.DockStyle.Top; this.groupBox9.ForeColor = System.Drawing.Color.White; - this.groupBox9.Location = new System.Drawing.Point(3, 478); + this.groupBox9.Location = new System.Drawing.Point(3, 530); this.groupBox9.Name = "groupBox9"; - this.groupBox9.Size = new System.Drawing.Size(395, 72); + this.groupBox9.Size = new System.Drawing.Size(367, 83); this.groupBox9.TabIndex = 54; this.groupBox9.TabStop = false; this.groupBox9.Text = "Empty2"; // - // button20 - // - this.button20.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56))))); - this.button20.FlatAppearance.BorderColor = System.Drawing.Color.White; - this.button20.FlatStyle = System.Windows.Forms.FlatStyle.Flat; - this.button20.ForeColor = System.Drawing.Color.White; - this.button20.Location = new System.Drawing.Point(276, 20); - this.button20.Name = "button20"; - this.button20.Size = new System.Drawing.Size(96, 30); - this.button20.TabIndex = 45; - this.button20.Tag = "TurnoverY"; - this.button20.Text = "自动放料盘"; - this.button20.UseVisualStyleBackColor = false; - this.button20.Visible = false; + // btnTeachEmpty2TakeTrayY + // + this.btnTeachEmpty2TakeTrayY.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56))))); + this.btnTeachEmpty2TakeTrayY.FlatAppearance.BorderColor = System.Drawing.Color.White; + this.btnTeachEmpty2TakeTrayY.FlatStyle = System.Windows.Forms.FlatStyle.Flat; + this.btnTeachEmpty2TakeTrayY.ForeColor = System.Drawing.Color.White; + this.btnTeachEmpty2TakeTrayY.Location = new System.Drawing.Point(159, 43); + this.btnTeachEmpty2TakeTrayY.Name = "btnTeachEmpty2TakeTrayY"; + this.btnTeachEmpty2TakeTrayY.Size = new System.Drawing.Size(80, 25); + this.btnTeachEmpty2TakeTrayY.TabIndex = 48; + this.btnTeachEmpty2TakeTrayY.Tag = "LoadY"; + this.btnTeachEmpty2TakeTrayY.Text = "示教"; + this.btnTeachEmpty2TakeTrayY.UseVisualStyleBackColor = false; + this.btnTeachEmpty2TakeTrayY.Click += new System.EventHandler(this.Teach_Click); + // + // btnMoveEmpty2TakeTrayY + // + this.btnMoveEmpty2TakeTrayY.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56))))); + this.btnMoveEmpty2TakeTrayY.FlatAppearance.BorderColor = System.Drawing.Color.White; + this.btnMoveEmpty2TakeTrayY.FlatStyle = System.Windows.Forms.FlatStyle.Flat; + this.btnMoveEmpty2TakeTrayY.ForeColor = System.Drawing.Color.White; + this.btnMoveEmpty2TakeTrayY.Location = new System.Drawing.Point(268, 45); + this.btnMoveEmpty2TakeTrayY.Name = "btnMoveEmpty2TakeTrayY"; + this.btnMoveEmpty2TakeTrayY.Size = new System.Drawing.Size(80, 25); + this.btnMoveEmpty2TakeTrayY.TabIndex = 45; + this.btnMoveEmpty2TakeTrayY.Tag = "LoadY"; + this.btnMoveEmpty2TakeTrayY.Text = "运动到此"; + this.btnMoveEmpty2TakeTrayY.UseVisualStyleBackColor = false; + this.btnMoveEmpty2TakeTrayY.Click += new System.EventHandler(this.Move_Click); + // + // btnMoveEmpty2TakeTrayX + // + this.btnMoveEmpty2TakeTrayX.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56))))); + this.btnMoveEmpty2TakeTrayX.FlatAppearance.BorderColor = System.Drawing.Color.White; + this.btnMoveEmpty2TakeTrayX.FlatStyle = System.Windows.Forms.FlatStyle.Flat; + this.btnMoveEmpty2TakeTrayX.ForeColor = System.Drawing.Color.White; + this.btnMoveEmpty2TakeTrayX.Location = new System.Drawing.Point(268, 14); + this.btnMoveEmpty2TakeTrayX.Name = "btnMoveEmpty2TakeTrayX"; + this.btnMoveEmpty2TakeTrayX.Size = new System.Drawing.Size(80, 25); + this.btnMoveEmpty2TakeTrayX.TabIndex = 45; + this.btnMoveEmpty2TakeTrayX.Tag = "LoadY"; + this.btnMoveEmpty2TakeTrayX.Text = "运动到此"; + this.btnMoveEmpty2TakeTrayX.UseVisualStyleBackColor = false; + this.btnMoveEmpty2TakeTrayX.Click += new System.EventHandler(this.Move_Click); + // + // txtEmpty2TakeTrayY + // + this.txtEmpty2TakeTrayY.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(16)))), ((int)(((byte)(16)))), ((int)(((byte)(16))))); + this.txtEmpty2TakeTrayY.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle; + this.txtEmpty2TakeTrayY.Font = new System.Drawing.Font("宋体", 9F); + this.txtEmpty2TakeTrayY.ForeColor = System.Drawing.Color.White; + this.txtEmpty2TakeTrayY.Location = new System.Drawing.Point(86, 47); + this.txtEmpty2TakeTrayY.Name = "txtEmpty2TakeTrayY"; + this.txtEmpty2TakeTrayY.Size = new System.Drawing.Size(60, 21); + this.txtEmpty2TakeTrayY.TabIndex = 49; + this.txtEmpty2TakeTrayY.Tag = "LoadY"; + this.txtEmpty2TakeTrayY.Text = "0.01"; + this.txtEmpty2TakeTrayY.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + this.txtEmpty2TakeTrayY.KeyUp += new System.Windows.Forms.KeyEventHandler(this.txtSysParam_KeyUp); + // + // txtEmpty2TakeTrayX + // + this.txtEmpty2TakeTrayX.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(16)))), ((int)(((byte)(16)))), ((int)(((byte)(16))))); + this.txtEmpty2TakeTrayX.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle; + this.txtEmpty2TakeTrayX.Font = new System.Drawing.Font("宋体", 9F); + this.txtEmpty2TakeTrayX.ForeColor = System.Drawing.Color.White; + this.txtEmpty2TakeTrayX.Location = new System.Drawing.Point(86, 16); + this.txtEmpty2TakeTrayX.Name = "txtEmpty2TakeTrayX"; + this.txtEmpty2TakeTrayX.Size = new System.Drawing.Size(60, 21); + this.txtEmpty2TakeTrayX.TabIndex = 49; + this.txtEmpty2TakeTrayX.Tag = "LoadX"; + this.txtEmpty2TakeTrayX.Text = "0.01"; + this.txtEmpty2TakeTrayX.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + this.txtEmpty2TakeTrayX.KeyUp += new System.Windows.Forms.KeyEventHandler(this.txtSysParam_KeyUp); + // + // label14 + // + this.label14.AutoSize = true; + this.label14.Location = new System.Drawing.Point(7, 20); + this.label14.Name = "label14"; + this.label14.Size = new System.Drawing.Size(65, 12); + this.label14.TabIndex = 47; + this.label14.Text = "取料盘位X:"; + // + // label13 + // + this.label13.AutoSize = true; + this.label13.Location = new System.Drawing.Point(7, 51); + this.label13.Name = "label13"; + this.label13.Size = new System.Drawing.Size(65, 12); + this.label13.TabIndex = 47; + this.label13.Text = "取料盘位Y:"; + // + // btnTeachEmpty2TakeTrayX + // + this.btnTeachEmpty2TakeTrayX.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56))))); + this.btnTeachEmpty2TakeTrayX.FlatAppearance.BorderColor = System.Drawing.Color.White; + this.btnTeachEmpty2TakeTrayX.FlatStyle = System.Windows.Forms.FlatStyle.Flat; + this.btnTeachEmpty2TakeTrayX.ForeColor = System.Drawing.Color.White; + this.btnTeachEmpty2TakeTrayX.Location = new System.Drawing.Point(159, 12); + this.btnTeachEmpty2TakeTrayX.Name = "btnTeachEmpty2TakeTrayX"; + this.btnTeachEmpty2TakeTrayX.Size = new System.Drawing.Size(80, 25); + this.btnTeachEmpty2TakeTrayX.TabIndex = 48; + this.btnTeachEmpty2TakeTrayX.Tag = "LoadX"; + this.btnTeachEmpty2TakeTrayX.Text = "示教"; + this.btnTeachEmpty2TakeTrayX.UseVisualStyleBackColor = false; + this.btnTeachEmpty2TakeTrayX.Click += new System.EventHandler(this.Teach_Click); + // + // groupBox8 + // + this.groupBox8.Controls.Add(this.btnTeachMultiTakeTrayY); + this.groupBox8.Controls.Add(this.btnMoveMultiTakeTrayY); + this.groupBox8.Controls.Add(this.btnMoveMultiTakeTrayX); + this.groupBox8.Controls.Add(this.txtMultiTakeTrayY); + this.groupBox8.Controls.Add(this.label11); + this.groupBox8.Controls.Add(this.btnTeachMultiTakeTrayX); + this.groupBox8.Controls.Add(this.label12); + this.groupBox8.Controls.Add(this.txtMultiTakeTrayX); + this.groupBox8.Dock = System.Windows.Forms.DockStyle.Top; + this.groupBox8.ForeColor = System.Drawing.Color.White; + this.groupBox8.Location = new System.Drawing.Point(3, 449); + this.groupBox8.Name = "groupBox8"; + this.groupBox8.Size = new System.Drawing.Size(367, 81); + this.groupBox8.TabIndex = 53; + this.groupBox8.TabStop = false; + this.groupBox8.Text = "Multi"; + // + // btnTeachMultiTakeTrayY + // + this.btnTeachMultiTakeTrayY.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56))))); + this.btnTeachMultiTakeTrayY.FlatAppearance.BorderColor = System.Drawing.Color.White; + this.btnTeachMultiTakeTrayY.FlatStyle = System.Windows.Forms.FlatStyle.Flat; + this.btnTeachMultiTakeTrayY.ForeColor = System.Drawing.Color.White; + this.btnTeachMultiTakeTrayY.Location = new System.Drawing.Point(159, 44); + this.btnTeachMultiTakeTrayY.Name = "btnTeachMultiTakeTrayY"; + this.btnTeachMultiTakeTrayY.Size = new System.Drawing.Size(80, 25); + this.btnTeachMultiTakeTrayY.TabIndex = 48; + this.btnTeachMultiTakeTrayY.Tag = "LoadY"; + this.btnTeachMultiTakeTrayY.Text = "示教"; + this.btnTeachMultiTakeTrayY.UseVisualStyleBackColor = false; + this.btnTeachMultiTakeTrayY.Click += new System.EventHandler(this.Teach_Click); + // + // btnMoveMultiTakeTrayY + // + this.btnMoveMultiTakeTrayY.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56))))); + this.btnMoveMultiTakeTrayY.FlatAppearance.BorderColor = System.Drawing.Color.White; + this.btnMoveMultiTakeTrayY.FlatStyle = System.Windows.Forms.FlatStyle.Flat; + this.btnMoveMultiTakeTrayY.ForeColor = System.Drawing.Color.White; + this.btnMoveMultiTakeTrayY.Location = new System.Drawing.Point(268, 44); + this.btnMoveMultiTakeTrayY.Name = "btnMoveMultiTakeTrayY"; + this.btnMoveMultiTakeTrayY.Size = new System.Drawing.Size(80, 25); + this.btnMoveMultiTakeTrayY.TabIndex = 45; + this.btnMoveMultiTakeTrayY.Tag = "LoadY"; + this.btnMoveMultiTakeTrayY.Text = "运动到此"; + this.btnMoveMultiTakeTrayY.UseVisualStyleBackColor = false; + this.btnMoveMultiTakeTrayY.Click += new System.EventHandler(this.Move_Click); + // + // btnMoveMultiTakeTrayX + // + this.btnMoveMultiTakeTrayX.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56))))); + this.btnMoveMultiTakeTrayX.FlatAppearance.BorderColor = System.Drawing.Color.White; + this.btnMoveMultiTakeTrayX.FlatStyle = System.Windows.Forms.FlatStyle.Flat; + this.btnMoveMultiTakeTrayX.ForeColor = System.Drawing.Color.White; + this.btnMoveMultiTakeTrayX.Location = new System.Drawing.Point(268, 13); + this.btnMoveMultiTakeTrayX.Name = "btnMoveMultiTakeTrayX"; + this.btnMoveMultiTakeTrayX.Size = new System.Drawing.Size(80, 25); + this.btnMoveMultiTakeTrayX.TabIndex = 45; + this.btnMoveMultiTakeTrayX.Tag = "LoadY"; + this.btnMoveMultiTakeTrayX.Text = "运动到此"; + this.btnMoveMultiTakeTrayX.UseVisualStyleBackColor = false; + this.btnMoveMultiTakeTrayX.Click += new System.EventHandler(this.Move_Click); + // + // txtMultiTakeTrayY + // + this.txtMultiTakeTrayY.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(16)))), ((int)(((byte)(16)))), ((int)(((byte)(16))))); + this.txtMultiTakeTrayY.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle; + this.txtMultiTakeTrayY.Font = new System.Drawing.Font("宋体", 9F); + this.txtMultiTakeTrayY.ForeColor = System.Drawing.Color.White; + this.txtMultiTakeTrayY.Location = new System.Drawing.Point(86, 48); + this.txtMultiTakeTrayY.Name = "txtMultiTakeTrayY"; + this.txtMultiTakeTrayY.Size = new System.Drawing.Size(60, 21); + this.txtMultiTakeTrayY.TabIndex = 49; + this.txtMultiTakeTrayY.Tag = "LoadY"; + this.txtMultiTakeTrayY.Text = "0.01"; + this.txtMultiTakeTrayY.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + this.txtMultiTakeTrayY.KeyUp += new System.Windows.Forms.KeyEventHandler(this.txtSysParam_KeyUp); + // + // label11 + // + this.label11.AutoSize = true; + this.label11.Location = new System.Drawing.Point(7, 21); + this.label11.Name = "label11"; + this.label11.Size = new System.Drawing.Size(65, 12); + this.label11.TabIndex = 47; + this.label11.Text = "取料盘位X:"; + // + // btnTeachMultiTakeTrayX + // + this.btnTeachMultiTakeTrayX.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56))))); + this.btnTeachMultiTakeTrayX.FlatAppearance.BorderColor = System.Drawing.Color.White; + this.btnTeachMultiTakeTrayX.FlatStyle = System.Windows.Forms.FlatStyle.Flat; + this.btnTeachMultiTakeTrayX.ForeColor = System.Drawing.Color.White; + this.btnTeachMultiTakeTrayX.Location = new System.Drawing.Point(159, 13); + this.btnTeachMultiTakeTrayX.Name = "btnTeachMultiTakeTrayX"; + this.btnTeachMultiTakeTrayX.Size = new System.Drawing.Size(80, 25); + this.btnTeachMultiTakeTrayX.TabIndex = 48; + this.btnTeachMultiTakeTrayX.Tag = "LoadX"; + this.btnTeachMultiTakeTrayX.Text = "示教"; + this.btnTeachMultiTakeTrayX.UseVisualStyleBackColor = false; + this.btnTeachMultiTakeTrayX.Click += new System.EventHandler(this.Teach_Click); + // + // label12 + // + this.label12.AutoSize = true; + this.label12.Location = new System.Drawing.Point(7, 52); + this.label12.Name = "label12"; + this.label12.Size = new System.Drawing.Size(65, 12); + this.label12.TabIndex = 47; + this.label12.Text = "取料盘位Y:"; + // + // txtMultiTakeTrayX + // + this.txtMultiTakeTrayX.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(16)))), ((int)(((byte)(16)))), ((int)(((byte)(16))))); + this.txtMultiTakeTrayX.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle; + this.txtMultiTakeTrayX.Font = new System.Drawing.Font("宋体", 9F); + this.txtMultiTakeTrayX.ForeColor = System.Drawing.Color.White; + this.txtMultiTakeTrayX.Location = new System.Drawing.Point(86, 17); + this.txtMultiTakeTrayX.Name = "txtMultiTakeTrayX"; + this.txtMultiTakeTrayX.Size = new System.Drawing.Size(60, 21); + this.txtMultiTakeTrayX.TabIndex = 49; + this.txtMultiTakeTrayX.Tag = "LoadX"; + this.txtMultiTakeTrayX.Text = "0.01"; + this.txtMultiTakeTrayX.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + this.txtMultiTakeTrayX.KeyUp += new System.Windows.Forms.KeyEventHandler(this.txtSysParam_KeyUp); + // + // groupBox7 + // + this.groupBox7.Controls.Add(this.btnTeachNgTakeTrayY); + this.groupBox7.Controls.Add(this.btnMoveNgTakeTrayY); + this.groupBox7.Controls.Add(this.btnMoveNgTakeTrayX); + this.groupBox7.Controls.Add(this.txtNgTakeTrayY); + this.groupBox7.Controls.Add(this.btnTeachNgTakeTrayX); + this.groupBox7.Controls.Add(this.txtNgTakeTrayX); + this.groupBox7.Controls.Add(this.label9); + this.groupBox7.Controls.Add(this.label10); + this.groupBox7.Dock = System.Windows.Forms.DockStyle.Top; + this.groupBox7.ForeColor = System.Drawing.Color.White; + this.groupBox7.Location = new System.Drawing.Point(3, 364); + this.groupBox7.Name = "groupBox7"; + this.groupBox7.Size = new System.Drawing.Size(367, 85); + this.groupBox7.TabIndex = 52; + this.groupBox7.TabStop = false; + this.groupBox7.Text = "NG"; + // + // btnTeachNgTakeTrayY + // + this.btnTeachNgTakeTrayY.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56))))); + this.btnTeachNgTakeTrayY.FlatAppearance.BorderColor = System.Drawing.Color.White; + this.btnTeachNgTakeTrayY.FlatStyle = System.Windows.Forms.FlatStyle.Flat; + this.btnTeachNgTakeTrayY.ForeColor = System.Drawing.Color.White; + this.btnTeachNgTakeTrayY.Location = new System.Drawing.Point(159, 45); + this.btnTeachNgTakeTrayY.Name = "btnTeachNgTakeTrayY"; + this.btnTeachNgTakeTrayY.Size = new System.Drawing.Size(80, 25); + this.btnTeachNgTakeTrayY.TabIndex = 48; + this.btnTeachNgTakeTrayY.Tag = "LoadY"; + this.btnTeachNgTakeTrayY.Text = "示教"; + this.btnTeachNgTakeTrayY.UseVisualStyleBackColor = false; + this.btnTeachNgTakeTrayY.Click += new System.EventHandler(this.Teach_Click); + // + // btnMoveNgTakeTrayY + // + this.btnMoveNgTakeTrayY.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56))))); + this.btnMoveNgTakeTrayY.FlatAppearance.BorderColor = System.Drawing.Color.White; + this.btnMoveNgTakeTrayY.FlatStyle = System.Windows.Forms.FlatStyle.Flat; + this.btnMoveNgTakeTrayY.ForeColor = System.Drawing.Color.White; + this.btnMoveNgTakeTrayY.Location = new System.Drawing.Point(268, 45); + this.btnMoveNgTakeTrayY.Name = "btnMoveNgTakeTrayY"; + this.btnMoveNgTakeTrayY.Size = new System.Drawing.Size(80, 25); + this.btnMoveNgTakeTrayY.TabIndex = 45; + this.btnMoveNgTakeTrayY.Tag = "LoadY"; + this.btnMoveNgTakeTrayY.Text = "运动到此"; + this.btnMoveNgTakeTrayY.UseVisualStyleBackColor = false; + this.btnMoveNgTakeTrayY.Click += new System.EventHandler(this.Move_Click); + // + // btnMoveNgTakeTrayX + // + this.btnMoveNgTakeTrayX.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56))))); + this.btnMoveNgTakeTrayX.FlatAppearance.BorderColor = System.Drawing.Color.White; + this.btnMoveNgTakeTrayX.FlatStyle = System.Windows.Forms.FlatStyle.Flat; + this.btnMoveNgTakeTrayX.ForeColor = System.Drawing.Color.White; + this.btnMoveNgTakeTrayX.Location = new System.Drawing.Point(268, 14); + this.btnMoveNgTakeTrayX.Name = "btnMoveNgTakeTrayX"; + this.btnMoveNgTakeTrayX.Size = new System.Drawing.Size(80, 25); + this.btnMoveNgTakeTrayX.TabIndex = 45; + this.btnMoveNgTakeTrayX.Tag = "LoadY"; + this.btnMoveNgTakeTrayX.Text = "运动到此"; + this.btnMoveNgTakeTrayX.UseVisualStyleBackColor = false; + this.btnMoveNgTakeTrayX.Click += new System.EventHandler(this.Move_Click); + // + // txtNgTakeTrayY + // + this.txtNgTakeTrayY.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(16)))), ((int)(((byte)(16)))), ((int)(((byte)(16))))); + this.txtNgTakeTrayY.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle; + this.txtNgTakeTrayY.Font = new System.Drawing.Font("宋体", 9F); + this.txtNgTakeTrayY.ForeColor = System.Drawing.Color.White; + this.txtNgTakeTrayY.Location = new System.Drawing.Point(86, 49); + this.txtNgTakeTrayY.Name = "txtNgTakeTrayY"; + this.txtNgTakeTrayY.Size = new System.Drawing.Size(60, 21); + this.txtNgTakeTrayY.TabIndex = 49; + this.txtNgTakeTrayY.Tag = "LoadY"; + this.txtNgTakeTrayY.Text = "0.01"; + this.txtNgTakeTrayY.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + this.txtNgTakeTrayY.KeyUp += new System.Windows.Forms.KeyEventHandler(this.txtSysParam_KeyUp); + // + // btnTeachNgTakeTrayX + // + this.btnTeachNgTakeTrayX.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56))))); + this.btnTeachNgTakeTrayX.FlatAppearance.BorderColor = System.Drawing.Color.White; + this.btnTeachNgTakeTrayX.FlatStyle = System.Windows.Forms.FlatStyle.Flat; + this.btnTeachNgTakeTrayX.ForeColor = System.Drawing.Color.White; + this.btnTeachNgTakeTrayX.Location = new System.Drawing.Point(159, 14); + this.btnTeachNgTakeTrayX.Name = "btnTeachNgTakeTrayX"; + this.btnTeachNgTakeTrayX.Size = new System.Drawing.Size(80, 25); + this.btnTeachNgTakeTrayX.TabIndex = 48; + this.btnTeachNgTakeTrayX.Tag = "LoadX"; + this.btnTeachNgTakeTrayX.Text = "示教"; + this.btnTeachNgTakeTrayX.UseVisualStyleBackColor = false; + this.btnTeachNgTakeTrayX.Click += new System.EventHandler(this.Teach_Click); + // + // txtNgTakeTrayX + // + this.txtNgTakeTrayX.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(16)))), ((int)(((byte)(16)))), ((int)(((byte)(16))))); + this.txtNgTakeTrayX.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle; + this.txtNgTakeTrayX.Font = new System.Drawing.Font("宋体", 9F); + this.txtNgTakeTrayX.ForeColor = System.Drawing.Color.White; + this.txtNgTakeTrayX.Location = new System.Drawing.Point(86, 18); + this.txtNgTakeTrayX.Name = "txtNgTakeTrayX"; + this.txtNgTakeTrayX.Size = new System.Drawing.Size(60, 21); + this.txtNgTakeTrayX.TabIndex = 49; + this.txtNgTakeTrayX.Tag = "LoadX"; + this.txtNgTakeTrayX.Text = "0.01"; + this.txtNgTakeTrayX.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + this.txtNgTakeTrayX.KeyUp += new System.Windows.Forms.KeyEventHandler(this.txtSysParam_KeyUp); + // + // label9 + // + this.label9.AutoSize = true; + this.label9.Location = new System.Drawing.Point(7, 53); + this.label9.Name = "label9"; + this.label9.Size = new System.Drawing.Size(65, 12); + this.label9.TabIndex = 47; + this.label9.Text = "取料盘位Y:"; + // + // label10 + // + this.label10.AutoSize = true; + this.label10.Location = new System.Drawing.Point(7, 22); + this.label10.Name = "label10"; + this.label10.Size = new System.Drawing.Size(65, 12); + this.label10.TabIndex = 47; + this.label10.Text = "取料盘位X:"; + // + // groupBox6 + // + this.groupBox6.Controls.Add(this.btnTeachOkTakeTrayY); + this.groupBox6.Controls.Add(this.btnMoveOkTakeTrayY); + this.groupBox6.Controls.Add(this.btnMoveOkTakeTrayX); + this.groupBox6.Controls.Add(this.txtOkTakeTrayY); + this.groupBox6.Controls.Add(this.btnTeachOkTakeTrayX); + this.groupBox6.Controls.Add(this.label7); + this.groupBox6.Controls.Add(this.label8); + this.groupBox6.Controls.Add(this.txtOkTakeTrayX); + this.groupBox6.Dock = System.Windows.Forms.DockStyle.Top; + this.groupBox6.ForeColor = System.Drawing.Color.White; + this.groupBox6.Location = new System.Drawing.Point(3, 276); + this.groupBox6.Name = "groupBox6"; + this.groupBox6.Size = new System.Drawing.Size(367, 88); + this.groupBox6.TabIndex = 51; + this.groupBox6.TabStop = false; + this.groupBox6.Text = "OK"; + // + // btnTeachOkTakeTrayY + // + this.btnTeachOkTakeTrayY.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56))))); + this.btnTeachOkTakeTrayY.FlatAppearance.BorderColor = System.Drawing.Color.White; + this.btnTeachOkTakeTrayY.FlatStyle = System.Windows.Forms.FlatStyle.Flat; + this.btnTeachOkTakeTrayY.ForeColor = System.Drawing.Color.White; + this.btnTeachOkTakeTrayY.Location = new System.Drawing.Point(159, 44); + this.btnTeachOkTakeTrayY.Name = "btnTeachOkTakeTrayY"; + this.btnTeachOkTakeTrayY.Size = new System.Drawing.Size(80, 25); + this.btnTeachOkTakeTrayY.TabIndex = 48; + this.btnTeachOkTakeTrayY.Tag = "LoadY"; + this.btnTeachOkTakeTrayY.Text = "示教"; + this.btnTeachOkTakeTrayY.UseVisualStyleBackColor = false; + this.btnTeachOkTakeTrayY.Click += new System.EventHandler(this.Teach_Click); + // + // btnMoveOkTakeTrayY + // + this.btnMoveOkTakeTrayY.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56))))); + this.btnMoveOkTakeTrayY.FlatAppearance.BorderColor = System.Drawing.Color.White; + this.btnMoveOkTakeTrayY.FlatStyle = System.Windows.Forms.FlatStyle.Flat; + this.btnMoveOkTakeTrayY.ForeColor = System.Drawing.Color.White; + this.btnMoveOkTakeTrayY.Location = new System.Drawing.Point(268, 46); + this.btnMoveOkTakeTrayY.Name = "btnMoveOkTakeTrayY"; + this.btnMoveOkTakeTrayY.Size = new System.Drawing.Size(80, 25); + this.btnMoveOkTakeTrayY.TabIndex = 45; + this.btnMoveOkTakeTrayY.Tag = "LoadY"; + this.btnMoveOkTakeTrayY.Text = "运动到此"; + this.btnMoveOkTakeTrayY.UseVisualStyleBackColor = false; + this.btnMoveOkTakeTrayY.Click += new System.EventHandler(this.Move_Click); + // + // btnMoveOkTakeTrayX + // + this.btnMoveOkTakeTrayX.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56))))); + this.btnMoveOkTakeTrayX.FlatAppearance.BorderColor = System.Drawing.Color.White; + this.btnMoveOkTakeTrayX.FlatStyle = System.Windows.Forms.FlatStyle.Flat; + this.btnMoveOkTakeTrayX.ForeColor = System.Drawing.Color.White; + this.btnMoveOkTakeTrayX.Location = new System.Drawing.Point(268, 15); + this.btnMoveOkTakeTrayX.Name = "btnMoveOkTakeTrayX"; + this.btnMoveOkTakeTrayX.Size = new System.Drawing.Size(80, 25); + this.btnMoveOkTakeTrayX.TabIndex = 45; + this.btnMoveOkTakeTrayX.Tag = "LoadY"; + this.btnMoveOkTakeTrayX.Text = "运动到此"; + this.btnMoveOkTakeTrayX.UseVisualStyleBackColor = false; + this.btnMoveOkTakeTrayX.Click += new System.EventHandler(this.Move_Click); + // + // txtOkTakeTrayY + // + this.txtOkTakeTrayY.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(16)))), ((int)(((byte)(16)))), ((int)(((byte)(16))))); + this.txtOkTakeTrayY.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle; + this.txtOkTakeTrayY.Font = new System.Drawing.Font("宋体", 9F); + this.txtOkTakeTrayY.ForeColor = System.Drawing.Color.White; + this.txtOkTakeTrayY.Location = new System.Drawing.Point(86, 48); + this.txtOkTakeTrayY.Name = "txtOkTakeTrayY"; + this.txtOkTakeTrayY.Size = new System.Drawing.Size(60, 21); + this.txtOkTakeTrayY.TabIndex = 49; + this.txtOkTakeTrayY.Tag = "LoadY"; + this.txtOkTakeTrayY.Text = "0.01"; + this.txtOkTakeTrayY.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + this.txtOkTakeTrayY.KeyUp += new System.Windows.Forms.KeyEventHandler(this.txtSysParam_KeyUp); + // + // btnTeachOkTakeTrayX + // + this.btnTeachOkTakeTrayX.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56))))); + this.btnTeachOkTakeTrayX.FlatAppearance.BorderColor = System.Drawing.Color.White; + this.btnTeachOkTakeTrayX.FlatStyle = System.Windows.Forms.FlatStyle.Flat; + this.btnTeachOkTakeTrayX.ForeColor = System.Drawing.Color.White; + this.btnTeachOkTakeTrayX.Location = new System.Drawing.Point(159, 13); + this.btnTeachOkTakeTrayX.Name = "btnTeachOkTakeTrayX"; + this.btnTeachOkTakeTrayX.Size = new System.Drawing.Size(80, 25); + this.btnTeachOkTakeTrayX.TabIndex = 48; + this.btnTeachOkTakeTrayX.Tag = "LoadX"; + this.btnTeachOkTakeTrayX.Text = "示教"; + this.btnTeachOkTakeTrayX.UseVisualStyleBackColor = false; + this.btnTeachOkTakeTrayX.Click += new System.EventHandler(this.Teach_Click); + // + // label7 + // + this.label7.AutoSize = true; + this.label7.Location = new System.Drawing.Point(7, 21); + this.label7.Name = "label7"; + this.label7.Size = new System.Drawing.Size(65, 12); + this.label7.TabIndex = 47; + this.label7.Text = "取料盘位X:"; + // + // label8 + // + this.label8.AutoSize = true; + this.label8.Location = new System.Drawing.Point(7, 52); + this.label8.Name = "label8"; + this.label8.Size = new System.Drawing.Size(65, 12); + this.label8.TabIndex = 47; + this.label8.Text = "取料盘位Y:"; + // + // txtOkTakeTrayX + // + this.txtOkTakeTrayX.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(16)))), ((int)(((byte)(16)))), ((int)(((byte)(16))))); + this.txtOkTakeTrayX.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle; + this.txtOkTakeTrayX.Font = new System.Drawing.Font("宋体", 9F); + this.txtOkTakeTrayX.ForeColor = System.Drawing.Color.White; + this.txtOkTakeTrayX.Location = new System.Drawing.Point(86, 17); + this.txtOkTakeTrayX.Name = "txtOkTakeTrayX"; + this.txtOkTakeTrayX.Size = new System.Drawing.Size(60, 21); + this.txtOkTakeTrayX.TabIndex = 49; + this.txtOkTakeTrayX.Tag = "LoadX"; + this.txtOkTakeTrayX.Text = "0.01"; + this.txtOkTakeTrayX.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + this.txtOkTakeTrayX.KeyUp += new System.Windows.Forms.KeyEventHandler(this.txtSysParam_KeyUp); + // + // groupBox4 + // + this.groupBox4.Controls.Add(this.btnTeachInputTakeTrayY); + this.groupBox4.Controls.Add(this.txtInputTakeTrayY); + this.groupBox4.Controls.Add(this.btnMoveInputTakeTrayY); + this.groupBox4.Controls.Add(this.btnMoveInputTakeTrayX); + this.groupBox4.Controls.Add(this.btnTeachInputTakeTrayX); + this.groupBox4.Controls.Add(this.label6); + this.groupBox4.Controls.Add(this.txtInputTakeTrayX); + this.groupBox4.Controls.Add(this.label5); + this.groupBox4.Dock = System.Windows.Forms.DockStyle.Top; + this.groupBox4.ForeColor = System.Drawing.Color.White; + this.groupBox4.Location = new System.Drawing.Point(3, 190); + this.groupBox4.Name = "groupBox4"; + this.groupBox4.Size = new System.Drawing.Size(367, 86); + this.groupBox4.TabIndex = 50; + this.groupBox4.TabStop = false; + this.groupBox4.Text = "Input"; + // + // btnTeachInputTakeTrayY + // + this.btnTeachInputTakeTrayY.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56))))); + this.btnTeachInputTakeTrayY.FlatAppearance.BorderColor = System.Drawing.Color.White; + this.btnTeachInputTakeTrayY.FlatStyle = System.Windows.Forms.FlatStyle.Flat; + this.btnTeachInputTakeTrayY.ForeColor = System.Drawing.Color.White; + this.btnTeachInputTakeTrayY.Location = new System.Drawing.Point(159, 49); + this.btnTeachInputTakeTrayY.Name = "btnTeachInputTakeTrayY"; + this.btnTeachInputTakeTrayY.Size = new System.Drawing.Size(80, 25); + this.btnTeachInputTakeTrayY.TabIndex = 48; + this.btnTeachInputTakeTrayY.Tag = "LoadY"; + this.btnTeachInputTakeTrayY.Text = "示教"; + this.btnTeachInputTakeTrayY.UseVisualStyleBackColor = false; + this.btnTeachInputTakeTrayY.Click += new System.EventHandler(this.Teach_Click); + // + // txtInputTakeTrayY + // + this.txtInputTakeTrayY.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(16)))), ((int)(((byte)(16)))), ((int)(((byte)(16))))); + this.txtInputTakeTrayY.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle; + this.txtInputTakeTrayY.Font = new System.Drawing.Font("宋体", 9F); + this.txtInputTakeTrayY.ForeColor = System.Drawing.Color.White; + this.txtInputTakeTrayY.Location = new System.Drawing.Point(86, 53); + this.txtInputTakeTrayY.Name = "txtInputTakeTrayY"; + this.txtInputTakeTrayY.Size = new System.Drawing.Size(60, 21); + this.txtInputTakeTrayY.TabIndex = 49; + this.txtInputTakeTrayY.Tag = "LoadY"; + this.txtInputTakeTrayY.Text = "0.01"; + this.txtInputTakeTrayY.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + this.txtInputTakeTrayY.KeyUp += new System.Windows.Forms.KeyEventHandler(this.txtSysParam_KeyUp); + // + // btnMoveInputTakeTrayY + // + this.btnMoveInputTakeTrayY.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56))))); + this.btnMoveInputTakeTrayY.FlatAppearance.BorderColor = System.Drawing.Color.White; + this.btnMoveInputTakeTrayY.FlatStyle = System.Windows.Forms.FlatStyle.Flat; + this.btnMoveInputTakeTrayY.ForeColor = System.Drawing.Color.White; + this.btnMoveInputTakeTrayY.Location = new System.Drawing.Point(268, 49); + this.btnMoveInputTakeTrayY.Name = "btnMoveInputTakeTrayY"; + this.btnMoveInputTakeTrayY.Size = new System.Drawing.Size(80, 25); + this.btnMoveInputTakeTrayY.TabIndex = 45; + this.btnMoveInputTakeTrayY.Tag = "LoadY"; + this.btnMoveInputTakeTrayY.Text = "运动到此"; + this.btnMoveInputTakeTrayY.UseVisualStyleBackColor = false; + this.btnMoveInputTakeTrayY.Click += new System.EventHandler(this.Move_Click); + // + // btnMoveInputTakeTrayX + // + this.btnMoveInputTakeTrayX.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56))))); + this.btnMoveInputTakeTrayX.FlatAppearance.BorderColor = System.Drawing.Color.White; + this.btnMoveInputTakeTrayX.FlatStyle = System.Windows.Forms.FlatStyle.Flat; + this.btnMoveInputTakeTrayX.ForeColor = System.Drawing.Color.White; + this.btnMoveInputTakeTrayX.Location = new System.Drawing.Point(268, 18); + this.btnMoveInputTakeTrayX.Name = "btnMoveInputTakeTrayX"; + this.btnMoveInputTakeTrayX.Size = new System.Drawing.Size(80, 25); + this.btnMoveInputTakeTrayX.TabIndex = 45; + this.btnMoveInputTakeTrayX.Tag = "LoadY"; + this.btnMoveInputTakeTrayX.Text = "运动到此"; + this.btnMoveInputTakeTrayX.UseVisualStyleBackColor = false; + this.btnMoveInputTakeTrayX.Click += new System.EventHandler(this.Move_Click); + // + // btnTeachInputTakeTrayX + // + this.btnTeachInputTakeTrayX.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56))))); + this.btnTeachInputTakeTrayX.FlatAppearance.BorderColor = System.Drawing.Color.White; + this.btnTeachInputTakeTrayX.FlatStyle = System.Windows.Forms.FlatStyle.Flat; + this.btnTeachInputTakeTrayX.ForeColor = System.Drawing.Color.White; + this.btnTeachInputTakeTrayX.Location = new System.Drawing.Point(159, 18); + this.btnTeachInputTakeTrayX.Name = "btnTeachInputTakeTrayX"; + this.btnTeachInputTakeTrayX.Size = new System.Drawing.Size(80, 25); + this.btnTeachInputTakeTrayX.TabIndex = 48; + this.btnTeachInputTakeTrayX.Tag = "LoadX"; + this.btnTeachInputTakeTrayX.Text = "示教"; + this.btnTeachInputTakeTrayX.UseVisualStyleBackColor = false; + this.btnTeachInputTakeTrayX.Click += new System.EventHandler(this.Teach_Click); + // + // label6 + // + this.label6.AutoSize = true; + this.label6.Location = new System.Drawing.Point(7, 57); + this.label6.Name = "label6"; + this.label6.Size = new System.Drawing.Size(65, 12); + this.label6.TabIndex = 47; + this.label6.Text = "取料盘位Y:"; + // + // txtInputTakeTrayX + // + this.txtInputTakeTrayX.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(16)))), ((int)(((byte)(16)))), ((int)(((byte)(16))))); + this.txtInputTakeTrayX.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle; + this.txtInputTakeTrayX.Font = new System.Drawing.Font("宋体", 9F); + this.txtInputTakeTrayX.ForeColor = System.Drawing.Color.White; + this.txtInputTakeTrayX.Location = new System.Drawing.Point(86, 22); + this.txtInputTakeTrayX.Name = "txtInputTakeTrayX"; + this.txtInputTakeTrayX.Size = new System.Drawing.Size(60, 21); + this.txtInputTakeTrayX.TabIndex = 49; + this.txtInputTakeTrayX.Tag = "LoadX"; + this.txtInputTakeTrayX.Text = "0.01"; + this.txtInputTakeTrayX.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + this.txtInputTakeTrayX.KeyUp += new System.Windows.Forms.KeyEventHandler(this.txtSysParam_KeyUp); + // + // label5 + // + this.label5.AutoSize = true; + this.label5.Location = new System.Drawing.Point(7, 26); + this.label5.Name = "label5"; + this.label5.Size = new System.Drawing.Size(65, 12); + this.label5.TabIndex = 47; + this.label5.Text = "取料盘位X:"; + // + // groupBox2 + // + this.groupBox2.Controls.Add(this.btnTeachEmpty1TakeTrayY); + this.groupBox2.Controls.Add(this.txtEmpty1TakeTrayY); + this.groupBox2.Controls.Add(this.btnTeachEmpty1TakeTrayX); + this.groupBox2.Controls.Add(this.label4); + this.groupBox2.Controls.Add(this.txtEmpty1TakeTrayX); + this.groupBox2.Controls.Add(this.label3); + this.groupBox2.Controls.Add(this.btnMoveEmpty1TakeTrayY); + this.groupBox2.Controls.Add(this.btnMoveEmpty1TakeTrayX); + this.groupBox2.Dock = System.Windows.Forms.DockStyle.Top; + this.groupBox2.ForeColor = System.Drawing.Color.White; + this.groupBox2.Location = new System.Drawing.Point(3, 112); + this.groupBox2.Name = "groupBox2"; + this.groupBox2.Size = new System.Drawing.Size(367, 78); + this.groupBox2.TabIndex = 49; + this.groupBox2.TabStop = false; + this.groupBox2.Text = "Empty1"; + // + // btnTeachEmpty1TakeTrayY + // + this.btnTeachEmpty1TakeTrayY.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56))))); + this.btnTeachEmpty1TakeTrayY.FlatAppearance.BorderColor = System.Drawing.Color.White; + this.btnTeachEmpty1TakeTrayY.FlatStyle = System.Windows.Forms.FlatStyle.Flat; + this.btnTeachEmpty1TakeTrayY.ForeColor = System.Drawing.Color.White; + this.btnTeachEmpty1TakeTrayY.Location = new System.Drawing.Point(159, 43); + this.btnTeachEmpty1TakeTrayY.Name = "btnTeachEmpty1TakeTrayY"; + this.btnTeachEmpty1TakeTrayY.Size = new System.Drawing.Size(80, 25); + this.btnTeachEmpty1TakeTrayY.TabIndex = 48; + this.btnTeachEmpty1TakeTrayY.Tag = "LoadY"; + this.btnTeachEmpty1TakeTrayY.Text = "示教"; + this.btnTeachEmpty1TakeTrayY.UseVisualStyleBackColor = false; + this.btnTeachEmpty1TakeTrayY.Click += new System.EventHandler(this.Teach_Click); + // + // txtEmpty1TakeTrayY + // + this.txtEmpty1TakeTrayY.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(16)))), ((int)(((byte)(16)))), ((int)(((byte)(16))))); + this.txtEmpty1TakeTrayY.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle; + this.txtEmpty1TakeTrayY.Font = new System.Drawing.Font("宋体", 9F); + this.txtEmpty1TakeTrayY.ForeColor = System.Drawing.Color.White; + this.txtEmpty1TakeTrayY.Location = new System.Drawing.Point(86, 47); + this.txtEmpty1TakeTrayY.Name = "txtEmpty1TakeTrayY"; + this.txtEmpty1TakeTrayY.Size = new System.Drawing.Size(60, 21); + this.txtEmpty1TakeTrayY.TabIndex = 49; + this.txtEmpty1TakeTrayY.Tag = "LoadY"; + this.txtEmpty1TakeTrayY.Text = "0.01"; + this.txtEmpty1TakeTrayY.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + this.txtEmpty1TakeTrayY.KeyUp += new System.Windows.Forms.KeyEventHandler(this.txtSysParam_KeyUp); + // + // btnTeachEmpty1TakeTrayX + // + this.btnTeachEmpty1TakeTrayX.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56))))); + this.btnTeachEmpty1TakeTrayX.FlatAppearance.BorderColor = System.Drawing.Color.White; + this.btnTeachEmpty1TakeTrayX.FlatStyle = System.Windows.Forms.FlatStyle.Flat; + this.btnTeachEmpty1TakeTrayX.ForeColor = System.Drawing.Color.White; + this.btnTeachEmpty1TakeTrayX.Location = new System.Drawing.Point(159, 9); + this.btnTeachEmpty1TakeTrayX.Name = "btnTeachEmpty1TakeTrayX"; + this.btnTeachEmpty1TakeTrayX.Size = new System.Drawing.Size(80, 25); + this.btnTeachEmpty1TakeTrayX.TabIndex = 48; + this.btnTeachEmpty1TakeTrayX.Tag = "LoadX"; + this.btnTeachEmpty1TakeTrayX.Text = "示教"; + this.btnTeachEmpty1TakeTrayX.UseVisualStyleBackColor = false; + this.btnTeachEmpty1TakeTrayX.Click += new System.EventHandler(this.Teach_Click); + // + // label4 + // + this.label4.AutoSize = true; + this.label4.Location = new System.Drawing.Point(7, 51); + this.label4.Name = "label4"; + this.label4.Size = new System.Drawing.Size(65, 12); + this.label4.TabIndex = 47; + this.label4.Text = "取料盘位Y:"; + // + // txtEmpty1TakeTrayX + // + this.txtEmpty1TakeTrayX.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(16)))), ((int)(((byte)(16)))), ((int)(((byte)(16))))); + this.txtEmpty1TakeTrayX.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle; + this.txtEmpty1TakeTrayX.Font = new System.Drawing.Font("宋体", 9F); + this.txtEmpty1TakeTrayX.ForeColor = System.Drawing.Color.White; + this.txtEmpty1TakeTrayX.Location = new System.Drawing.Point(86, 16); + this.txtEmpty1TakeTrayX.Name = "txtEmpty1TakeTrayX"; + this.txtEmpty1TakeTrayX.Size = new System.Drawing.Size(60, 21); + this.txtEmpty1TakeTrayX.TabIndex = 49; + this.txtEmpty1TakeTrayX.Tag = "LoadX"; + this.txtEmpty1TakeTrayX.Text = "0.01"; + this.txtEmpty1TakeTrayX.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + this.txtEmpty1TakeTrayX.KeyUp += new System.Windows.Forms.KeyEventHandler(this.txtSysParam_KeyUp); + // + // label3 + // + this.label3.AutoSize = true; + this.label3.Location = new System.Drawing.Point(7, 20); + this.label3.Name = "label3"; + this.label3.Size = new System.Drawing.Size(65, 12); + this.label3.TabIndex = 47; + this.label3.Text = "取料盘位X:"; + // + // btnMoveEmpty1TakeTrayY + // + this.btnMoveEmpty1TakeTrayY.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56))))); + this.btnMoveEmpty1TakeTrayY.FlatAppearance.BorderColor = System.Drawing.Color.White; + this.btnMoveEmpty1TakeTrayY.FlatStyle = System.Windows.Forms.FlatStyle.Flat; + this.btnMoveEmpty1TakeTrayY.ForeColor = System.Drawing.Color.White; + this.btnMoveEmpty1TakeTrayY.Location = new System.Drawing.Point(268, 43); + this.btnMoveEmpty1TakeTrayY.Name = "btnMoveEmpty1TakeTrayY"; + this.btnMoveEmpty1TakeTrayY.Size = new System.Drawing.Size(80, 25); + this.btnMoveEmpty1TakeTrayY.TabIndex = 45; + this.btnMoveEmpty1TakeTrayY.Tag = "LoadY"; + this.btnMoveEmpty1TakeTrayY.Text = "运动到此"; + this.btnMoveEmpty1TakeTrayY.UseVisualStyleBackColor = false; + this.btnMoveEmpty1TakeTrayY.Click += new System.EventHandler(this.Move_Click); + // + // btnMoveEmpty1TakeTrayX + // + this.btnMoveEmpty1TakeTrayX.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56))))); + this.btnMoveEmpty1TakeTrayX.FlatAppearance.BorderColor = System.Drawing.Color.White; + this.btnMoveEmpty1TakeTrayX.FlatStyle = System.Windows.Forms.FlatStyle.Flat; + this.btnMoveEmpty1TakeTrayX.ForeColor = System.Drawing.Color.White; + this.btnMoveEmpty1TakeTrayX.Location = new System.Drawing.Point(268, 9); + this.btnMoveEmpty1TakeTrayX.Name = "btnMoveEmpty1TakeTrayX"; + this.btnMoveEmpty1TakeTrayX.Size = new System.Drawing.Size(80, 25); + this.btnMoveEmpty1TakeTrayX.TabIndex = 45; + this.btnMoveEmpty1TakeTrayX.Tag = "LoadY"; + this.btnMoveEmpty1TakeTrayX.Text = "运动到此"; + this.btnMoveEmpty1TakeTrayX.UseVisualStyleBackColor = false; + this.btnMoveEmpty1TakeTrayX.Click += new System.EventHandler(this.Move_Click); + // + // groupBox5 + // + this.groupBox5.Controls.Add(this.btnSaveDist); + this.groupBox5.Controls.Add(this.txtClampCenter2UpCameraCenterY); + this.groupBox5.Controls.Add(this.label1); + this.groupBox5.Controls.Add(this.txtClampCenter2UpCameraCenterX); + this.groupBox5.Controls.Add(this.label2); + this.groupBox5.Dock = System.Windows.Forms.DockStyle.Top; + this.groupBox5.ForeColor = System.Drawing.Color.White; + this.groupBox5.Location = new System.Drawing.Point(3, 17); + this.groupBox5.Name = "groupBox5"; + this.groupBox5.Size = new System.Drawing.Size(367, 95); + this.groupBox5.TabIndex = 47; + this.groupBox5.TabStop = false; + this.groupBox5.Text = "Dist"; + this.groupBox5.Visible = false; + // + // btnSaveDist + // + this.btnSaveDist.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56))))); + this.btnSaveDist.FlatAppearance.BorderColor = System.Drawing.Color.White; + this.btnSaveDist.FlatStyle = System.Windows.Forms.FlatStyle.Flat; + this.btnSaveDist.ForeColor = System.Drawing.Color.White; + this.btnSaveDist.Location = new System.Drawing.Point(252, 30); + this.btnSaveDist.Name = "btnSaveDist"; + this.btnSaveDist.Size = new System.Drawing.Size(96, 30); + this.btnSaveDist.TabIndex = 45; + this.btnSaveDist.Tag = "TurnoverY"; + this.btnSaveDist.Text = "保存"; + this.btnSaveDist.UseVisualStyleBackColor = false; + this.btnSaveDist.Click += new System.EventHandler(this.btnSaveDist_Click); + // + // txtClampCenter2UpCameraCenterY + // + this.txtClampCenter2UpCameraCenterY.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(16)))), ((int)(((byte)(16)))), ((int)(((byte)(16))))); + this.txtClampCenter2UpCameraCenterY.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle; + this.txtClampCenter2UpCameraCenterY.Font = new System.Drawing.Font("宋体", 9F); + this.txtClampCenter2UpCameraCenterY.ForeColor = System.Drawing.Color.White; + this.txtClampCenter2UpCameraCenterY.Location = new System.Drawing.Point(148, 48); + this.txtClampCenter2UpCameraCenterY.Name = "txtClampCenter2UpCameraCenterY"; + this.txtClampCenter2UpCameraCenterY.Size = new System.Drawing.Size(85, 21); + this.txtClampCenter2UpCameraCenterY.TabIndex = 46; + this.txtClampCenter2UpCameraCenterY.Tag = "TurnoverY"; + this.txtClampCenter2UpCameraCenterY.Text = "0.01"; + this.txtClampCenter2UpCameraCenterY.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + // + // label1 + // + this.label1.AutoSize = true; + this.label1.Location = new System.Drawing.Point(7, 52); + this.label1.Name = "label1"; + this.label1.Size = new System.Drawing.Size(125, 12); + this.label1.TabIndex = 43; + this.label1.Text = "夹爪中心到相机中心Y:"; + // + // txtClampCenter2UpCameraCenterX + // + this.txtClampCenter2UpCameraCenterX.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(16)))), ((int)(((byte)(16)))), ((int)(((byte)(16))))); + this.txtClampCenter2UpCameraCenterX.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle; + this.txtClampCenter2UpCameraCenterX.Font = new System.Drawing.Font("宋体", 9F); + this.txtClampCenter2UpCameraCenterX.ForeColor = System.Drawing.Color.White; + this.txtClampCenter2UpCameraCenterX.Location = new System.Drawing.Point(148, 21); + this.txtClampCenter2UpCameraCenterX.Name = "txtClampCenter2UpCameraCenterX"; + this.txtClampCenter2UpCameraCenterX.Size = new System.Drawing.Size(85, 21); + this.txtClampCenter2UpCameraCenterX.TabIndex = 46; + this.txtClampCenter2UpCameraCenterX.Tag = "TurnoverY"; + this.txtClampCenter2UpCameraCenterX.Text = "0.01"; + this.txtClampCenter2UpCameraCenterX.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; + // + // label2 + // + this.label2.AutoSize = true; + this.label2.Location = new System.Drawing.Point(7, 25); + this.label2.Name = "label2"; + this.label2.Size = new System.Drawing.Size(125, 12); + this.label2.TabIndex = 43; + this.label2.Text = "夹爪中心到相机中心X:"; // // button21 // @@ -125,7 +979,7 @@ this.button21.FlatAppearance.BorderColor = System.Drawing.Color.White; this.button21.FlatStyle = System.Windows.Forms.FlatStyle.Flat; this.button21.ForeColor = System.Drawing.Color.White; - this.button21.Location = new System.Drawing.Point(148, 20); + this.button21.Location = new System.Drawing.Point(141, 602); this.button21.Name = "button21"; this.button21.Size = new System.Drawing.Size(96, 30); this.button21.TabIndex = 45; @@ -140,51 +994,23 @@ this.button22.FlatAppearance.BorderColor = System.Drawing.Color.White; this.button22.FlatStyle = System.Windows.Forms.FlatStyle.Flat; this.button22.ForeColor = System.Drawing.Color.White; - this.button22.Location = new System.Drawing.Point(18, 20); + this.button22.Location = new System.Drawing.Point(167, 638); this.button22.Name = "button22"; this.button22.Size = new System.Drawing.Size(96, 30); this.button22.TabIndex = 45; this.button22.Tag = "TrayEmpty2Center"; this.button22.Text = "到取料盘位"; this.button22.UseVisualStyleBackColor = false; + this.button22.Visible = false; this.button22.Click += new System.EventHandler(this.btnMoveTakePos_Click); // - // groupBox8 - // - this.groupBox8.Controls.Add(this.button17); - this.groupBox8.Controls.Add(this.button18); - this.groupBox8.Controls.Add(this.button19); - this.groupBox8.Dock = System.Windows.Forms.DockStyle.Top; - this.groupBox8.ForeColor = System.Drawing.Color.White; - this.groupBox8.Location = new System.Drawing.Point(3, 406); - this.groupBox8.Name = "groupBox8"; - this.groupBox8.Size = new System.Drawing.Size(395, 72); - this.groupBox8.TabIndex = 53; - this.groupBox8.TabStop = false; - this.groupBox8.Text = "Multi"; - // - // button17 - // - this.button17.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56))))); - this.button17.FlatAppearance.BorderColor = System.Drawing.Color.White; - this.button17.FlatStyle = System.Windows.Forms.FlatStyle.Flat; - this.button17.ForeColor = System.Drawing.Color.White; - this.button17.Location = new System.Drawing.Point(276, 20); - this.button17.Name = "button17"; - this.button17.Size = new System.Drawing.Size(96, 30); - this.button17.TabIndex = 45; - this.button17.Tag = "TurnoverY"; - this.button17.Text = "自动放料盘"; - this.button17.UseVisualStyleBackColor = false; - this.button17.Visible = false; - // // button18 // this.button18.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56))))); this.button18.FlatAppearance.BorderColor = System.Drawing.Color.White; this.button18.FlatStyle = System.Windows.Forms.FlatStyle.Flat; this.button18.ForeColor = System.Drawing.Color.White; - this.button18.Location = new System.Drawing.Point(148, 20); + this.button18.Location = new System.Drawing.Point(157, 515); this.button18.Name = "button18"; this.button18.Size = new System.Drawing.Size(96, 30); this.button18.TabIndex = 45; @@ -199,51 +1025,23 @@ this.button19.FlatAppearance.BorderColor = System.Drawing.Color.White; this.button19.FlatStyle = System.Windows.Forms.FlatStyle.Flat; this.button19.ForeColor = System.Drawing.Color.White; - this.button19.Location = new System.Drawing.Point(18, 20); + this.button19.Location = new System.Drawing.Point(157, 497); this.button19.Name = "button19"; this.button19.Size = new System.Drawing.Size(96, 30); this.button19.TabIndex = 45; this.button19.Tag = "TrayMultiCenter"; this.button19.Text = "到取料盘位"; this.button19.UseVisualStyleBackColor = false; + this.button19.Visible = false; this.button19.Click += new System.EventHandler(this.btnMoveTakePos_Click); // - // groupBox7 - // - this.groupBox7.Controls.Add(this.button14); - this.groupBox7.Controls.Add(this.button15); - this.groupBox7.Controls.Add(this.button16); - this.groupBox7.Dock = System.Windows.Forms.DockStyle.Top; - this.groupBox7.ForeColor = System.Drawing.Color.White; - this.groupBox7.Location = new System.Drawing.Point(3, 334); - this.groupBox7.Name = "groupBox7"; - this.groupBox7.Size = new System.Drawing.Size(395, 72); - this.groupBox7.TabIndex = 52; - this.groupBox7.TabStop = false; - this.groupBox7.Text = "NG"; - // - // button14 - // - this.button14.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56))))); - this.button14.FlatAppearance.BorderColor = System.Drawing.Color.White; - this.button14.FlatStyle = System.Windows.Forms.FlatStyle.Flat; - this.button14.ForeColor = System.Drawing.Color.White; - this.button14.Location = new System.Drawing.Point(276, 20); - this.button14.Name = "button14"; - this.button14.Size = new System.Drawing.Size(96, 30); - this.button14.TabIndex = 45; - this.button14.Tag = "TurnoverY"; - this.button14.Text = "自动放料盘"; - this.button14.UseVisualStyleBackColor = false; - this.button14.Visible = false; - // // button15 // this.button15.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56))))); this.button15.FlatAppearance.BorderColor = System.Drawing.Color.White; this.button15.FlatStyle = System.Windows.Forms.FlatStyle.Flat; this.button15.ForeColor = System.Drawing.Color.White; - this.button15.Location = new System.Drawing.Point(148, 20); + this.button15.Location = new System.Drawing.Point(111, 436); this.button15.Name = "button15"; this.button15.Size = new System.Drawing.Size(96, 30); this.button15.TabIndex = 45; @@ -258,51 +1056,23 @@ this.button16.FlatAppearance.BorderColor = System.Drawing.Color.White; this.button16.FlatStyle = System.Windows.Forms.FlatStyle.Flat; this.button16.ForeColor = System.Drawing.Color.White; - this.button16.Location = new System.Drawing.Point(18, 20); + this.button16.Location = new System.Drawing.Point(111, 404); this.button16.Name = "button16"; this.button16.Size = new System.Drawing.Size(96, 30); this.button16.TabIndex = 45; this.button16.Tag = "TrayNgCenter"; this.button16.Text = "到取料盘位"; this.button16.UseVisualStyleBackColor = false; + this.button16.Visible = false; this.button16.Click += new System.EventHandler(this.btnMoveTakePos_Click); // - // groupBox6 - // - this.groupBox6.Controls.Add(this.button11); - this.groupBox6.Controls.Add(this.button12); - this.groupBox6.Controls.Add(this.button13); - this.groupBox6.Dock = System.Windows.Forms.DockStyle.Top; - this.groupBox6.ForeColor = System.Drawing.Color.White; - this.groupBox6.Location = new System.Drawing.Point(3, 262); - this.groupBox6.Name = "groupBox6"; - this.groupBox6.Size = new System.Drawing.Size(395, 72); - this.groupBox6.TabIndex = 51; - this.groupBox6.TabStop = false; - this.groupBox6.Text = "OK"; - // - // button11 - // - this.button11.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56))))); - this.button11.FlatAppearance.BorderColor = System.Drawing.Color.White; - this.button11.FlatStyle = System.Windows.Forms.FlatStyle.Flat; - this.button11.ForeColor = System.Drawing.Color.White; - this.button11.Location = new System.Drawing.Point(276, 20); - this.button11.Name = "button11"; - this.button11.Size = new System.Drawing.Size(96, 30); - this.button11.TabIndex = 45; - this.button11.Tag = "TurnoverY"; - this.button11.Text = "自动放料盘"; - this.button11.UseVisualStyleBackColor = false; - this.button11.Visible = false; - // // button12 // this.button12.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56))))); this.button12.FlatAppearance.BorderColor = System.Drawing.Color.White; this.button12.FlatStyle = System.Windows.Forms.FlatStyle.Flat; this.button12.ForeColor = System.Drawing.Color.White; - this.button12.Location = new System.Drawing.Point(148, 20); + this.button12.Location = new System.Drawing.Point(132, 345); this.button12.Name = "button12"; this.button12.Size = new System.Drawing.Size(96, 30); this.button12.TabIndex = 45; @@ -317,51 +1087,23 @@ this.button13.FlatAppearance.BorderColor = System.Drawing.Color.White; this.button13.FlatStyle = System.Windows.Forms.FlatStyle.Flat; this.button13.ForeColor = System.Drawing.Color.White; - this.button13.Location = new System.Drawing.Point(18, 20); + this.button13.Location = new System.Drawing.Point(141, 315); this.button13.Name = "button13"; this.button13.Size = new System.Drawing.Size(96, 30); this.button13.TabIndex = 45; this.button13.Tag = "TrayOkCenter"; this.button13.Text = "到取料盘位"; this.button13.UseVisualStyleBackColor = false; + this.button13.Visible = false; this.button13.Click += new System.EventHandler(this.btnMoveTakePos_Click); // - // groupBox4 - // - this.groupBox4.Controls.Add(this.button4); - this.groupBox4.Controls.Add(this.button5); - this.groupBox4.Controls.Add(this.button6); - this.groupBox4.Dock = System.Windows.Forms.DockStyle.Top; - this.groupBox4.ForeColor = System.Drawing.Color.White; - this.groupBox4.Location = new System.Drawing.Point(3, 190); - this.groupBox4.Name = "groupBox4"; - this.groupBox4.Size = new System.Drawing.Size(395, 72); - this.groupBox4.TabIndex = 50; - this.groupBox4.TabStop = false; - this.groupBox4.Text = "Input"; - // - // button4 - // - this.button4.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56))))); - this.button4.FlatAppearance.BorderColor = System.Drawing.Color.White; - this.button4.FlatStyle = System.Windows.Forms.FlatStyle.Flat; - this.button4.ForeColor = System.Drawing.Color.White; - this.button4.Location = new System.Drawing.Point(276, 20); - this.button4.Name = "button4"; - this.button4.Size = new System.Drawing.Size(96, 30); - this.button4.TabIndex = 45; - this.button4.Tag = "TurnoverY"; - this.button4.Text = "自动放料盘"; - this.button4.UseVisualStyleBackColor = false; - this.button4.Visible = false; - // // button5 // this.button5.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56))))); this.button5.FlatAppearance.BorderColor = System.Drawing.Color.White; this.button5.FlatStyle = System.Windows.Forms.FlatStyle.Flat; this.button5.ForeColor = System.Drawing.Color.White; - this.button5.Location = new System.Drawing.Point(148, 20); + this.button5.Location = new System.Drawing.Point(87, 236); this.button5.Name = "button5"; this.button5.Size = new System.Drawing.Size(96, 30); this.button5.TabIndex = 45; @@ -376,51 +1118,23 @@ this.button6.FlatAppearance.BorderColor = System.Drawing.Color.White; this.button6.FlatStyle = System.Windows.Forms.FlatStyle.Flat; this.button6.ForeColor = System.Drawing.Color.White; - this.button6.Location = new System.Drawing.Point(18, 20); + this.button6.Location = new System.Drawing.Point(70, 236); this.button6.Name = "button6"; this.button6.Size = new System.Drawing.Size(96, 30); this.button6.TabIndex = 45; this.button6.Tag = "TrayInputCenter"; this.button6.Text = "到取料盘位"; this.button6.UseVisualStyleBackColor = false; + this.button6.Visible = false; this.button6.Click += new System.EventHandler(this.btnMoveTakePos_Click); // - // groupBox2 - // - this.groupBox2.Controls.Add(this.button3); - this.groupBox2.Controls.Add(this.button2); - this.groupBox2.Controls.Add(this.btnMoveTakePos); - this.groupBox2.Dock = System.Windows.Forms.DockStyle.Top; - this.groupBox2.ForeColor = System.Drawing.Color.White; - this.groupBox2.Location = new System.Drawing.Point(3, 118); - this.groupBox2.Name = "groupBox2"; - this.groupBox2.Size = new System.Drawing.Size(395, 72); - this.groupBox2.TabIndex = 49; - this.groupBox2.TabStop = false; - this.groupBox2.Text = "Empty1"; - // - // button3 - // - this.button3.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56))))); - this.button3.FlatAppearance.BorderColor = System.Drawing.Color.White; - this.button3.FlatStyle = System.Windows.Forms.FlatStyle.Flat; - this.button3.ForeColor = System.Drawing.Color.White; - this.button3.Location = new System.Drawing.Point(276, 20); - this.button3.Name = "button3"; - this.button3.Size = new System.Drawing.Size(96, 30); - this.button3.TabIndex = 45; - this.button3.Tag = "TurnoverY"; - this.button3.Text = "自动放料盘"; - this.button3.UseVisualStyleBackColor = false; - this.button3.Visible = false; - // // button2 // this.button2.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56))))); this.button2.FlatAppearance.BorderColor = System.Drawing.Color.White; this.button2.FlatStyle = System.Windows.Forms.FlatStyle.Flat; this.button2.ForeColor = System.Drawing.Color.White; - this.button2.Location = new System.Drawing.Point(148, 20); + this.button2.Location = new System.Drawing.Point(75, 152); this.button2.Name = "button2"; this.button2.Size = new System.Drawing.Size(96, 30); this.button2.TabIndex = 45; @@ -435,107 +1149,43 @@ this.btnMoveTakePos.FlatAppearance.BorderColor = System.Drawing.Color.White; this.btnMoveTakePos.FlatStyle = System.Windows.Forms.FlatStyle.Flat; this.btnMoveTakePos.ForeColor = System.Drawing.Color.White; - this.btnMoveTakePos.Location = new System.Drawing.Point(18, 20); + this.btnMoveTakePos.Location = new System.Drawing.Point(75, 132); this.btnMoveTakePos.Name = "btnMoveTakePos"; this.btnMoveTakePos.Size = new System.Drawing.Size(96, 30); this.btnMoveTakePos.TabIndex = 45; this.btnMoveTakePos.Tag = "TrayEmpty1Center"; this.btnMoveTakePos.Text = "到取料盘位"; this.btnMoveTakePos.UseVisualStyleBackColor = false; + this.btnMoveTakePos.Visible = false; this.btnMoveTakePos.Click += new System.EventHandler(this.btnMoveTakePos_Click); // - // groupBox5 - // - this.groupBox5.Controls.Add(this.btnSaveDist); - this.groupBox5.Controls.Add(this.txtClampCenter2UpCameraCenterY); - this.groupBox5.Controls.Add(this.label1); - this.groupBox5.Controls.Add(this.txtClampCenter2UpCameraCenterX); - this.groupBox5.Controls.Add(this.label2); - this.groupBox5.Dock = System.Windows.Forms.DockStyle.Top; - this.groupBox5.ForeColor = System.Drawing.Color.White; - this.groupBox5.Location = new System.Drawing.Point(3, 17); - this.groupBox5.Name = "groupBox5"; - this.groupBox5.Size = new System.Drawing.Size(395, 101); - this.groupBox5.TabIndex = 47; - this.groupBox5.TabStop = false; - this.groupBox5.Text = "Dist"; - // - // btnSaveDist - // - this.btnSaveDist.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(56)))), ((int)(((byte)(56)))), ((int)(((byte)(56))))); - this.btnSaveDist.FlatAppearance.BorderColor = System.Drawing.Color.White; - this.btnSaveDist.FlatStyle = System.Windows.Forms.FlatStyle.Flat; - this.btnSaveDist.ForeColor = System.Drawing.Color.White; - this.btnSaveDist.Location = new System.Drawing.Point(252, 30); - this.btnSaveDist.Name = "btnSaveDist"; - this.btnSaveDist.Size = new System.Drawing.Size(96, 30); - this.btnSaveDist.TabIndex = 45; - this.btnSaveDist.Tag = "TurnoverY"; - this.btnSaveDist.Text = "保存"; - this.btnSaveDist.UseVisualStyleBackColor = false; - this.btnSaveDist.Click += new System.EventHandler(this.btnSaveDist_Click); - // - // txtClampCenter2UpCameraCenterY - // - this.txtClampCenter2UpCameraCenterY.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(16)))), ((int)(((byte)(16)))), ((int)(((byte)(16))))); - this.txtClampCenter2UpCameraCenterY.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle; - this.txtClampCenter2UpCameraCenterY.Font = new System.Drawing.Font("宋体", 9F); - this.txtClampCenter2UpCameraCenterY.ForeColor = System.Drawing.Color.White; - this.txtClampCenter2UpCameraCenterY.Location = new System.Drawing.Point(148, 48); - this.txtClampCenter2UpCameraCenterY.Name = "txtClampCenter2UpCameraCenterY"; - this.txtClampCenter2UpCameraCenterY.Size = new System.Drawing.Size(85, 21); - this.txtClampCenter2UpCameraCenterY.TabIndex = 46; - this.txtClampCenter2UpCameraCenterY.Tag = "TurnoverY"; - this.txtClampCenter2UpCameraCenterY.Text = "0.01"; - this.txtClampCenter2UpCameraCenterY.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; - // - // label1 - // - this.label1.AutoSize = true; - this.label1.Location = new System.Drawing.Point(7, 52); - this.label1.Name = "label1"; - this.label1.Size = new System.Drawing.Size(125, 12); - this.label1.TabIndex = 43; - this.label1.Text = "夹爪中心到相机中心Y:"; - // - // txtClampCenter2UpCameraCenterX - // - this.txtClampCenter2UpCameraCenterX.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(16)))), ((int)(((byte)(16)))), ((int)(((byte)(16))))); - this.txtClampCenter2UpCameraCenterX.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle; - this.txtClampCenter2UpCameraCenterX.Font = new System.Drawing.Font("宋体", 9F); - this.txtClampCenter2UpCameraCenterX.ForeColor = System.Drawing.Color.White; - this.txtClampCenter2UpCameraCenterX.Location = new System.Drawing.Point(148, 21); - this.txtClampCenter2UpCameraCenterX.Name = "txtClampCenter2UpCameraCenterX"; - this.txtClampCenter2UpCameraCenterX.Size = new System.Drawing.Size(85, 21); - this.txtClampCenter2UpCameraCenterX.TabIndex = 46; - this.txtClampCenter2UpCameraCenterX.Tag = "TurnoverY"; - this.txtClampCenter2UpCameraCenterX.Text = "0.01"; - this.txtClampCenter2UpCameraCenterX.TextAlign = System.Windows.Forms.HorizontalAlignment.Center; - // - // label2 - // - this.label2.AutoSize = true; - this.label2.Location = new System.Drawing.Point(7, 25); - this.label2.Name = "label2"; - this.label2.Size = new System.Drawing.Size(125, 12); - this.label2.TabIndex = 43; - this.label2.Text = "夹爪中心到相机中心X:"; - // // panelEx1 // this.panelEx1.Controls.Add(this.groupBox1); this.panelEx1.Dock = System.Windows.Forms.DockStyle.Left; this.panelEx1.Location = new System.Drawing.Point(0, 0); this.panelEx1.Name = "panelEx1"; - this.panelEx1.Size = new System.Drawing.Size(401, 753); + this.panelEx1.Size = new System.Drawing.Size(373, 753); this.panelEx1.TabIndex = 7; // // panelEx2 // + this.panelEx2.Controls.Add(this.btnMoveTakePos); + this.panelEx2.Controls.Add(this.button2); + this.panelEx2.Controls.Add(this.button5); + this.panelEx2.Controls.Add(this.button21); + this.panelEx2.Controls.Add(this.button22); + this.panelEx2.Controls.Add(this.button18); + this.panelEx2.Controls.Add(this.button19); + this.panelEx2.Controls.Add(this.button6); + this.panelEx2.Controls.Add(this.button16); + this.panelEx2.Controls.Add(this.button15); + this.panelEx2.Controls.Add(this.button12); + this.panelEx2.Controls.Add(this.button13); this.panelEx2.Dock = System.Windows.Forms.DockStyle.Fill; - this.panelEx2.Location = new System.Drawing.Point(401, 0); + this.panelEx2.Location = new System.Drawing.Point(373, 0); this.panelEx2.Name = "panelEx2"; - this.panelEx2.Size = new System.Drawing.Size(688, 753); + this.panelEx2.Size = new System.Drawing.Size(716, 753); this.panelEx2.TabIndex = 9; // // ClampConfig @@ -550,14 +1200,21 @@ this.Load += new System.EventHandler(this.ClampConfig_Load); this.groupBox1.ResumeLayout(false); this.groupBox9.ResumeLayout(false); + this.groupBox9.PerformLayout(); this.groupBox8.ResumeLayout(false); + this.groupBox8.PerformLayout(); this.groupBox7.ResumeLayout(false); + this.groupBox7.PerformLayout(); this.groupBox6.ResumeLayout(false); + this.groupBox6.PerformLayout(); this.groupBox4.ResumeLayout(false); + this.groupBox4.PerformLayout(); this.groupBox2.ResumeLayout(false); + this.groupBox2.PerformLayout(); this.groupBox5.ResumeLayout(false); this.groupBox5.PerformLayout(); this.panelEx1.ResumeLayout(false); + this.panelEx2.ResumeLayout(false); this.ResumeLayout(false); } @@ -577,25 +1234,67 @@ private System.Windows.Forms.Button button2; private System.Windows.Forms.Button btnMoveTakePos; private System.Windows.Forms.GroupBox groupBox9; - private System.Windows.Forms.Button button20; + private System.Windows.Forms.Button btnMoveEmpty2TakeTrayX; private System.Windows.Forms.Button button21; private System.Windows.Forms.Button button22; private System.Windows.Forms.GroupBox groupBox8; - private System.Windows.Forms.Button button17; + private System.Windows.Forms.Button btnMoveMultiTakeTrayX; private System.Windows.Forms.Button button18; private System.Windows.Forms.Button button19; private System.Windows.Forms.GroupBox groupBox7; - private System.Windows.Forms.Button button14; + private System.Windows.Forms.Button btnMoveNgTakeTrayX; private System.Windows.Forms.Button button15; private System.Windows.Forms.Button button16; private System.Windows.Forms.GroupBox groupBox6; - private System.Windows.Forms.Button button11; + private System.Windows.Forms.Button btnMoveOkTakeTrayX; private System.Windows.Forms.Button button12; private System.Windows.Forms.Button button13; private System.Windows.Forms.GroupBox groupBox4; - private System.Windows.Forms.Button button4; + private System.Windows.Forms.Button btnMoveInputTakeTrayX; private System.Windows.Forms.Button button5; private System.Windows.Forms.Button button6; - private System.Windows.Forms.Button button3; + private System.Windows.Forms.Button btnMoveEmpty1TakeTrayX; + private System.Windows.Forms.Button btnTeachEmpty2TakeTrayY; + private System.Windows.Forms.TextBox txtEmpty2TakeTrayY; + private System.Windows.Forms.TextBox txtEmpty2TakeTrayX; + private System.Windows.Forms.Label label14; + private System.Windows.Forms.Label label13; + private System.Windows.Forms.Button btnTeachEmpty2TakeTrayX; + private System.Windows.Forms.Button btnTeachMultiTakeTrayY; + private System.Windows.Forms.TextBox txtMultiTakeTrayY; + private System.Windows.Forms.Label label11; + private System.Windows.Forms.Button btnTeachMultiTakeTrayX; + private System.Windows.Forms.Label label12; + private System.Windows.Forms.TextBox txtMultiTakeTrayX; + private System.Windows.Forms.Button btnTeachNgTakeTrayY; + private System.Windows.Forms.TextBox txtNgTakeTrayY; + private System.Windows.Forms.Button btnTeachNgTakeTrayX; + private System.Windows.Forms.TextBox txtNgTakeTrayX; + private System.Windows.Forms.Label label9; + private System.Windows.Forms.Label label10; + private System.Windows.Forms.Button btnTeachOkTakeTrayY; + private System.Windows.Forms.TextBox txtOkTakeTrayY; + private System.Windows.Forms.Button btnTeachOkTakeTrayX; + private System.Windows.Forms.Label label7; + private System.Windows.Forms.Label label8; + private System.Windows.Forms.TextBox txtOkTakeTrayX; + private System.Windows.Forms.Button btnTeachInputTakeTrayY; + private System.Windows.Forms.TextBox txtInputTakeTrayY; + private System.Windows.Forms.Button btnTeachInputTakeTrayX; + private System.Windows.Forms.Label label6; + private System.Windows.Forms.TextBox txtInputTakeTrayX; + private System.Windows.Forms.Label label5; + private System.Windows.Forms.Button btnTeachEmpty1TakeTrayY; + private System.Windows.Forms.TextBox txtEmpty1TakeTrayY; + private System.Windows.Forms.Button btnTeachEmpty1TakeTrayX; + private System.Windows.Forms.Label label4; + private System.Windows.Forms.TextBox txtEmpty1TakeTrayX; + private System.Windows.Forms.Label label3; + private System.Windows.Forms.Button btnMoveOkTakeTrayY; + private System.Windows.Forms.Button btnMoveInputTakeTrayY; + private System.Windows.Forms.Button btnMoveEmpty1TakeTrayY; + private System.Windows.Forms.Button btnMoveEmpty2TakeTrayY; + private System.Windows.Forms.Button btnMoveMultiTakeTrayY; + private System.Windows.Forms.Button btnMoveNgTakeTrayY; } } \ No newline at end of file diff --git a/Rs.SkyLine/SysConfig/ClampConfig.cs b/Rs.SkyLine/SysConfig/ClampConfig.cs index 21511dc..02aa21b 100644 --- a/Rs.SkyLine/SysConfig/ClampConfig.cs +++ b/Rs.SkyLine/SysConfig/ClampConfig.cs @@ -1,5 +1,6 @@ using Rs.Controls; using Rs.Framework; +using Rs.MotionPlat.Commom; using Rs.MotionPlat.Flow; using System; using System.Collections.Generic; @@ -22,6 +23,12 @@ namespace Rs.MotionPlat.SysConfig private void ClampConfig_Load(object sender, EventArgs e) { + PositionHelper.BindPosition(groupBox2); + PositionHelper.BindPosition(groupBox4); + PositionHelper.BindPosition(groupBox6); + PositionHelper.BindPosition(groupBox7); + PositionHelper.BindPosition(groupBox8); + PositionHelper.BindPosition(groupBox9); FormIO2 formIO = new FormIO2("龙门"); formIO.Dock = DockStyle.Fill; formIO.Visible = true; @@ -61,5 +68,26 @@ namespace Rs.MotionPlat.SysConfig return; } } + + + public void txtSysParam_KeyUp(object sender, KeyEventArgs e) + { + UpdateSysParam((TextBox)sender); + } + + private void Teach_Click(object sender, EventArgs e) + { + PositionHelper.Teach(this, sender); + } + + private void Move_Click(object sender, EventArgs e) + { + PositionHelper.Move2This(this, sender); + } + + private void button14_Click(object sender, EventArgs e) + { + + } } }