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Inizio gestione Vaccum due teste

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This commit is contained in:
Nicola Pievani
2023-07-21 14:31:25 +02:00
parent 60eda04669
commit 52688ed0da
4 changed files with 89 additions and 42 deletions
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CadCuts/MoveRawPartPage.xaml.vb
+15 -1
View File
@@ -370,7 +370,19 @@ Public Class MoveRawPartPage
VacuumCups.SetWeightInformation(AverageDensity, MaxSinglePlugger, MaxDoublePlugger)
VacuumCups.SetRotationForExtraStrokeY(GetPrivateProfileInt(S_MACH_RAWMOVE, K_MACH_ROTATEVACUUMFOREXTRASTROKEY, 0, m_MainWindow.GetMachIniFile()) <> 0)
VacuumCups.SetRotationForExtraStrokeX(GetPrivateProfileInt(S_MACH_RAWMOVE, K_MACH_ROTATEVACUUMFOREXTRASTROKEX, 0, m_MainWindow.GetMachIniFile()) <> 0)
If PutVacuumCupsOnRaw(nId, rmData) Then
Dim bTwoHeadVac As Boolean = False
Dim bPutVacuum As Boolean = False
If EgtGetAxisId("C1") And EgtGetAxisId("C2") Then
bTwoHeadVac = True
End If
bPutVacuum = PutVacuumCupsOnRaw(nId, rmData)
If Not bPutVacuum And bTwoHeadVac Then
bPutVacuum = PutVacuumCupsOnRaw(nId, rmData)
End If
If bPutVacuum Then
' Visualizzo le ventose
EgtSetStatus(GetVacuumId(), GDB_ST.ON_)
' Aggiorno i dati
@@ -392,6 +404,8 @@ Public Class MoveRawPartPage
m_CurrProjPage.SetWarningMessage(EgtMsg(MSG_MOVERAWPAGEUC + 2)) 'Pezzo troppo piccolo : non si può muovere
End If
End If
End If
End If
EgtDraw()
CadCuts/NestPageUC.xaml.vb
+5 -2
View File
@@ -2482,8 +2482,11 @@ Public Class NestPageUC
Const STORE_LARGH As Double = 6000
Const STORE_DIST As Double = 200
Const STORE_OFFS As Double = 20 + 40 + 20
Dim dStXmin As Double = b3Tab.Min().x - 0.5 * (STORE_LARGH - b3Tab.DimX())
Return EgtPackBox(nId, dStXmin, -INFINITO, dStXmin + STORE_LARGH, b3Tab.Min().y - STORE_DIST, STORE_OFFS, False)
Dim dStoreLarg As Double = GetPrivateProfileDouble("Store", "StoreLargh", STORE_LARGH, m_MainWindow.GetMachIniFile())
Dim dStoreDist As Double = GetPrivateProfileDouble("Store", "StoreDist", STORE_DIST, m_MainWindow.GetMachIniFile())
Dim dStoreOffs As Double = GetPrivateProfileDouble("Store", "StoreOffs", STORE_OFFS, m_MainWindow.GetMachIniFile())
Dim dStXmin As Double = b3Tab.Min().x - 0.5 * (dStoreLarg - b3Tab.DimX())
Return EgtPackBox(nId, dStXmin, -INFINITO, dStXmin + dStoreLarg, b3Tab.Min().y - dStoreDist, dStoreOffs, False)
End Function
Private Sub RemovePartBtn_Click(sender As Object, e As RoutedEventArgs) Handles RemovePartBtn.Click
CadCuts/VacuumCups.vb
+68 -39
View File
@@ -31,6 +31,8 @@ Module VacuumCups
' Nome del gruppo temporaneo per le ventose
Private Const VACTMP_GRP As String = "VacTmp"
Private sHeadName As String = VACUUM_HEAD
'-----------------------------------------------------------------------------------------------
Friend Class RawMoveData
@@ -87,17 +89,17 @@ Module VacuumCups
Friend Function LoadVacuumCups() As Boolean
' Leggo tipo manipolatore con ventosa
m_nVacType = 0
EgtGetInfo(EgtGetHeadId(VACUUM_HEAD), KEY_VAC_TYPE, m_nVacType)
EgtGetInfo(EgtGetHeadId(sHeadName), KEY_VAC_TYPE, m_nVacType)
' Cancello eventuali vecchie ventose
RemoveVacuumCups()
' Identificativo ventose nella macchina
Dim nLayId As Integer = EgtGetFirstNameInGroup(EgtGetHeadId(VACUUM_HEAD), VACUUM_HEAD_LAYOUT)
Dim nLayId As Integer = EgtGetFirstNameInGroup(EgtGetHeadId(sHeadName), VACUUM_HEAD_LAYOUT)
If nLayId = GDB_ID.NULL Then Return False
' Identificativo riferimento della testa nella macchina
Dim nT1Id As Integer = EgtGetFirstNameInGroup(EgtGetHeadId(VACUUM_HEAD), HEAD_FIRST_EXIT)
Dim nT1Id As Integer = EgtGetFirstNameInGroup(EgtGetHeadId(sHeadName), HEAD_FIRST_EXIT)
If nT1Id = GDB_ID.NULL Then Return False
' imposto la l'uscita della ventosa come fosse l'uscita di un utensile
EgtSetCalcTool("", "H4", 1)
EgtSetCalcTool("", sHeadName, 1)
' Creo gruppo temporaneo in cui copiarli
m_nTempId = EgtCreateGroup(GDB_ID.ROOT)
If m_nTempId = GDB_ID.NULL Then Return False
@@ -107,23 +109,23 @@ Module VacuumCups
m_nVacId = EgtCopyGlob(nLayId, m_nTempId)
If m_nVacId = GDB_ID.NULL Then Return False
' Angolo di rotazione preferito
EgtGetInfo( m_nVacId, KEY_VACLAY_PREFROT, m_dPreferredRot)
EgtGetInfo(m_nVacId, KEY_VACLAY_PREFROT, m_dPreferredRot)
' Angoli di rotazione preferiti per ventosa in verticale (lungo Y) a sinistra e a destra del centro tavola
EgtGetInfo( m_nVacId, KEY_VACLAY_PREFVROTXMINUS, m_dPrefVertRotXMinus)
EgtGetInfo(m_nVacId, KEY_VACLAY_PREFVROTXMINUS, m_dPrefVertRotXMinus)
EgtGetInfo(m_nVacId, KEY_VACLAY_PREFVROTXPLUS, m_dPrefVertRotXPlus)
EgtGetInfo(m_nVacId, KEY_VACLAY_PREFVROTYMINUS, m_dPrefVertRotYMinus)
EgtGetInfo(m_nVacId, KEY_VACLAY_PREFVROTYPLUS, m_dPrefVertRotYPlus)
' Direzione di riferimento per tagli Drip
EgtGetInfo( m_nVacId, KEY_VACLAY_DRIPREFDIR, m_dDripRefAng)
EgtGetInfo(m_nVacId, KEY_VACLAY_DRIPREFDIR, m_dDripRefAng)
' Nascondo il gruppo ma rendo visibili le curve di contorno delle ventose
EgtSetStatus(m_nVacId, GDB_ST.OFF)
Dim nId As Integer = EgtGetFirstInGroup(m_nVacId)
While nId <> GDB_ID.NULL
Select Case EgtGetType(nId)
Case GDB_TY.CRV_LINE, GDB_TY.CRV_ARC, GDB_TY.CRV_BEZ, GDB_TY.CRV_COMPO
EgtSetStatus(nId, GDB_ST.ON_)
Case Else
EgtSetStatus(nId, GDB_ST.OFF)
Case GDB_TY.CRV_LINE, GDB_TY.CRV_ARC, GDB_TY.CRV_BEZ, GDB_TY.CRV_COMPO
EgtSetStatus(nId, GDB_ST.ON_)
Case Else
EgtSetStatus(nId, GDB_ST.OFF)
End Select
nId = EgtGetNext(nId)
End While
@@ -152,7 +154,7 @@ Module VacuumCups
Friend Function ResetVacuumCups() As Boolean
' Ripristino posizione e rotazione originali
Dim frOriRef As New Frame3d
EgtFrame(EgtGetFirstNameInGroup(EgtGetHeadId(VACUUM_HEAD), HEAD_FIRST_EXIT), GDB_ID.ROOT, frOriRef)
EgtFrame(EgtGetFirstNameInGroup(EgtGetHeadId(sHeadName), HEAD_FIRST_EXIT), GDB_ID.ROOT, frOriRef)
Dim frCurrRef As New Frame3d
EgtFrame(m_nRefId, GDB_ID.ROOT, frCurrRef)
EgtMove(m_nVacId, frOriRef.Orig() - frCurrRef.Orig(), GDB_RT.GLOB)
@@ -164,10 +166,10 @@ Module VacuumCups
Dim nId As Integer = EgtGetFirstInGroup(m_nVacId)
While nId <> GDB_ID.NULL
Select Case EgtGetType(nId)
Case GDB_TY.CRV_LINE, GDB_TY.CRV_ARC, GDB_TY.CRV_BEZ, GDB_TY.CRV_COMPO
EgtSetStatus(nId, GDB_ST.ON_)
Case Else
EgtSetStatus(nId, GDB_ST.OFF)
Case GDB_TY.CRV_LINE, GDB_TY.CRV_ARC, GDB_TY.CRV_BEZ, GDB_TY.CRV_COMPO
EgtSetStatus(nId, GDB_ST.ON_)
Case Else
EgtSetStatus(nId, GDB_ST.OFF)
End Select
nId = EgtGetNext(nId)
End While
@@ -214,7 +216,16 @@ Module VacuumCups
' Eseguo ricerca
If FindVacuumCupsOnRaw(nRawId, ptRawCen, b3Kerf, ptKerfCen, nKerfId, nRKerfId, rmData) Then
Return True
Else
If sHeadName = VACUUM_HEAD_2 Then
sHeadName = VACUUM_HEAD
Else
sHeadName = VACUUM_HEAD_2
End If
LoadVacuumCups()
Return False
End If
' In caso di fallimento, provo riducendo con offset la regione di kerf
' (così si simula la proiezione del centro sul MAT - medial axis transform)
Dim bOkFind As Boolean = False
@@ -241,20 +252,20 @@ Module VacuumCups
' Verifico sia veramente un pezzo
If EgtGetRawPartFromPart(nPartId) = GDB_ID.NULL Then Return False
' Cerco la direzione del primo taglio attivo da sotto
Dim nDripLayId As Integer = EgtGetFirstNameInGroup( nPartId, NAME_DRIPCUT)
Dim nDripLineId As Integer = EgtGetFirstInGroup( nDripLayId)
Dim nDripLayId As Integer = EgtGetFirstNameInGroup(nPartId, NAME_DRIPCUT)
Dim nDripLineId As Integer = EgtGetFirstInGroup(nDripLayId)
While nDripLineId <> GDB_ID.NULL
Dim nMchId As Integer = EgtGetOperationId( "DripSaw" & nDripLineId.ToString())
Dim nMchId As Integer = EgtGetOperationId("DripSaw" & nDripLineId.ToString())
Dim nMode As Integer
If EgtGetMode( nMchId, nMode) AndAlso nMode = GDB_MD.STD Then Exit While
nDripLineId = EgtGetNext( nDripLineId)
If EgtGetMode(nMchId, nMode) AndAlso nMode = GDB_MD.STD Then Exit While
nDripLineId = EgtGetNext(nDripLineId)
End While
Dim vtDir As New Vector3d
if EgtStartVector( nDripLineId, GDB_ID.ROOT, vtDir) Then
If EgtStartVector(nDripLineId, GDB_ID.ROOT, vtDir) Then
Dim dLen, dAngV, dAngH As Double
vtDir.ToSpherical( dLen, dAngV, dAngH)
vtDir.ToSpherical(dLen, dAngV, dAngH)
Dim dOffsAng = dAngH - m_dDripRefAng
While dOffsAng - m_dPreferredRot >= 90
While dOffsAng - m_dPreferredRot >= 90
dOffsAng -= 180
End While
While dOffsAng - m_dPreferredRot <= -90
@@ -388,7 +399,7 @@ Module VacuumCups
Private Function GetVacRotAxisSteps(ByRef vAngRot As List(Of Double)) As Boolean
' Recupero l'asse rotante della testa ventosa
Dim nRotAxId As Integer = EgtGetParent(EgtGetHeadId(VACUUM_HEAD))
Dim nRotAxId As Integer = EgtGetParent(EgtGetHeadId(sHeadName))
' Verifico se contiene info con STEPS
Dim sSteps As String = ""
If Not EgtGetInfo(nRotAxId, KEY_ROTVAC_STEPS, sSteps) Then Return False
@@ -493,15 +504,15 @@ Module VacuumCups
' Ordino secondo distanza angolare crescente da direzione di allineamento (modulo 180 deg)
Dim dRotRefDeg As Double = dRotAngDeg
vAngRot.Sort(Function(P, Q)
Dim dDiffP = Math.Abs( P - dRotRefDeg)
If Math.Abs( dDiffP - 180) < 10 * EPS_ANG_SMALL Then dDiffP = 1
Dim dDiffQ = Math.Abs( Q - dRotRefDeg)
If Math.Abs( dDiffQ - 180) < 10 * EPS_ANG_SMALL Then dDiffQ = 1
Return ( dDiffP - dDiffQ)
Dim dDiffP = Math.Abs(P - dRotRefDeg)
If Math.Abs(dDiffP - 180) < 10 * EPS_ANG_SMALL Then dDiffP = 1
Dim dDiffQ = Math.Abs(Q - dRotRefDeg)
If Math.Abs(dDiffQ - 180) < 10 * EPS_ANG_SMALL Then dDiffQ = 1
Return (dDiffP - dDiffQ)
End Function)
' Annullo la rotazione di allineamento
dRotAngDeg = 0
' altrimenti in continuo
' altrimenti in continuo
Else
' Assegno più valori di ricerca e conservo angolo di allineamento
vAngRot.AddRange({0, +5, -5, +12.5, -12.5, +25, -25, +45, -45})
@@ -548,25 +559,43 @@ Module VacuumCups
' assegnate le posizioni del centro delle ventose e l'angolo di posizionamento orizzontale verifica che la posizione sia raggiungibile
Public Function VerifyOutOfStrokes(ptRef As Point3d, dRotAngDeg As Double) As Integer
Dim sAxisName As String = "C"
' verifico che il nome dell'asse impostato sia corretto
If Not EgtGetAxisId(sAxisName) Then
If sHeadName = VACUUM_HEAD Then
sAxisName = "C1"
Else
sAxisName = "C2"
End If
End If
' Posizione Home dell'asse rotante
Dim dCHome As Double
EgtGetAxisHomePos("C", dCHome)
EgtGetAxisHomePos(sAxisName, dCHome)
' Corse dell'asse
Dim dCMin As Double
EgtGetAxisMin("C", dCMin)
EgtGetAxisMin(sAxisName, dCMin)
Dim dCMax As Double
EgtGetAxisMax("C", dCMax)
EgtGetAxisMax(sAxisName, dCMax)
' Porto l'angolo nel range
Dim dRotAngMachDeg As Double = dRotAngDeg + dCHome
AdjustAngleInRange(dRotAngMachDeg, dCMin, dCMax)
' Imposto la ventosa come fosse un utensile
EgtSetCalcTool("", "H4", 1)
EgtSetCalcTool("", sHeadName, 1)
' Calcolo gli assi macchina
Dim dX, dY, dZ As Double
Dim nStat As Integer
EgtGetCalcPositions(ptRef, dRotAngMachDeg, 0, nStat, dX, dY, dZ)
' Verifico le corse
EgtVerifyOutstroke(dX, dY, dZ, dRotAngMachDeg, 0, nStat)
If EgtGetAxisId("A") Then
' Asse tavola rotante (movimenti solo con A0)
EgtGetCalcPositions(ptRef, 0, dRotAngMachDeg, nStat, dX, dY, dZ)
' Verifico le corse
EgtVerifyOutstroke(dX, dY, dZ, 0, dRotAngMachDeg, nStat)
Else
EgtGetCalcPositions(ptRef, dRotAngMachDeg, 0, nStat, dX, dY, dZ)
' Verifico le corse
EgtVerifyOutstroke(dX, dY, dZ, dRotAngMachDeg, 0, nStat)
End If
Return nStat
End Function
@@ -732,7 +761,7 @@ Module VacuumCups
rmList.RemoveAt(nInd)
nInd = rmList.Count() - 1
End If
' Se non trovato, lo accodo
' Se non trovato, lo accodo
Else
rmList.Add(New RawMoveData(nRawId))
nInd = rmList.Count() - 1
Constants/ConstGen.vb
+1
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@@ -84,6 +84,7 @@ Module ConstGen
' Nome testa con ventose per spostamento pezzi
Public Const VACUUM_HEAD As String = "H4"
Public Const VACUUM_HEAD_2 As String = "H104"
' Info tipo ventosa
Public Const KEY_VAC_TYPE As String = "VacType"
' Nome gruppo layout in testa con ventose