上位机在机器人自动模式示教修改const常量点位

1. 上位机控制ABB机器人，可以通过PCSDK修改机器人RAPID代码中的VAR和PERS数据的当前值。对于CONST类型的robtarget，无法修改，即无法直接实现示教器上的“修改位置”功能。

2. PCSDK只提供了对于对于VAR和PERS的当前值的修改函数，但在WebService中可以修改数据的当前值（Current value）和初值（Init Value）。对于常量，只有初值（Init Value）

3. 可以借助postman进行测试。例如对m300模块下的p2000点位（const存储类型）修改值，可以采用如下url，数据key为value，值为一个标准robtarget类型的数据格式

注：测试时，机器人需要处于自动模式

修改成功，系统返回状态204

4. 可以在postman中使用如下url获取当前机器人的robtarget（基于当前的tool和wobj），注：返回的外轴数据格式如下，若要直接写入机器人的robtarget，需要改写为9E9

5. 可以在C#中按照下图创建若干button和textbox，具体代码如下：

注: 为方便处理返回的Json格式及使用WebSocket，可以在Nuget中安装如下内容

PM> Install-Package Microsoft.AspNet.WebApi.Client -Version 5.1.2

PM> Install-Package System.Json -Version 4.0.20126.16343

private void button1_Click(object sender, EventArgs e)

{

//获取点位位置button

try

{

string url = textBox3.Text.Trim() + "?json=1";

//返回json格式数据，默认返回xml格式数据

string username = "Default User";

string password = "robotics";

HttpWebRequest request = (HttpWebRequest)WebRequest.Create(url);

request.Method = "GET";

request.Credentials = new NetworkCredential(username, password);

request.CookieContainer = _cookies;

WebResponse response = request.GetResponse();

//提交数据

if (response != null)

{

using (StreamReader reader = new StreamReader(response.GetResponseStream()))

{

string result = reader.ReadToEnd();

dynamic obj = Newtonsoft.Json.JsonConvert.DeserializeObject(result);

var service = obj._embedded._state[0];

string s1 = Convert.ToString(service.value);

s1 = s1.Replace("+", "");

//返回外轴数据为9E+9，去除+号

textBox1.Text = s1 + "rn";

}

}

}

catch (Exception ex)

{

MessageBox.Show(ex.ToString());

}

}

private void button2_Click(object sender, EventArgs e)

{

//示教 button

if (MessageBox.Show("是否继续", "修改位置不可撤销", MessageBoxButtons.OKCancel, MessageBoxIcon.Warning) == DialogResult.OK)

{

try

{

string url = textBox3.Text.Trim() + "?action=setInitValue";

//string url = "http://127.0.0.1/rw/rapid/symbol/data/RAPID/T_ROB1/user/reg2?action=set";

string body = "value=" + textBox2.Text.Trim();

HttpWebRequest request;

request = (HttpWebRequest)WebRequest.Create(url);

request.Method = "POST";

request.Credentials = new NetworkCredential("Default User", "robotics");

request.CookieContainer = _cookies;

request.ContentType = "application/x-www-form-urlencoded";

Stream s = request.GetRequestStream();

s.Write(Encoding.ASCII.GetBytes(body), 0, body.Length);

s.Close();

using (var httpResponse = (HttpWebResponse)request.GetResponse())

{

if ((int)httpResponse.StatusCode == 204)

//服务器完成响应，无返回内容

{

MessageBox.Show("示教成功");

}

}

}

catch (Exception ex)

{

MessageBox.Show(ex.ToString());

}

}

}

private void button3_Click(object sender, EventArgs e)

{

//显示当前位置button

string url = "http://localhost/rw/motionsystem/mechunits/ROB_1/robtarget?json=1";

//提交的地址，此处为本机虚拟IP

string username = "Default User";

string password = "robotics";

HttpWebRequest request = (HttpWebRequest)WebRequest.Create(url);

request.Method = "GET";

request.Credentials = new NetworkCredential(username, password);

request.CookieContainer = _cookies;

WebResponse response = request.GetResponse();

//提交数据

if (response != null)

{

using (StreamReader reader = new StreamReader(response.GetResponseStream()))

{

string result = reader.ReadToEnd();

dynamic obj = Newtonsoft.Json.JsonConvert.DeserializeObject(result);

var service = obj._embedded._state[0];

double x = Convert.ToDouble(Convert.ToString(service.x));

double y = Convert.ToDouble(Convert.ToString(service.y));

double z = Convert.ToDouble(Convert.ToString(service.z));

double q1 = Convert.ToDouble(Convert.ToString(service.q1));

double q2 = Convert.ToDouble(Convert.ToString(service.q2));

double q3 = Convert.ToDouble(Convert.ToString(service.q3));

double q4 = Convert.ToDouble(Convert.ToString(service.q4));

double cf1 = Convert.ToDouble(Convert.ToString(service.cf1));

double cf4 = Convert.ToDouble(Convert.ToString(service.cf4));

double cf6 = Convert.ToDouble(Convert.ToString(service.cf6));

double cfx = Convert.ToDouble(Convert.ToString(service.cfx));

double eaxa = Convert.ToDouble(Convert.ToString(service.eaxa));

double eaxb = Convert.ToDouble(Convert.ToString(service.eaxb));

double eaxc = Convert.ToDouble(Convert.ToString(service.eaxc));

double eaxd = Convert.ToDouble(Convert.ToString(service.eaxd));

double eaxe = Convert.ToDouble(Convert.ToString(service.eaxe));

double eaxf = Convert.ToDouble(Convert.ToString(service.eaxf));

string s_eaxa;

string s_eaxb;

string s_eaxc;

string s_eaxd;

string s_eaxe;

string s_eaxf;

if (eaxa > 9E8)

{

s_eaxa = "9E9";

}

else

{

s_eaxa = service.eaxa;

}

if (eaxb > 9E8)

{

s_eaxb = "9E9";

}

else

{

s_eaxb = service.eaxb;

}

if (eaxc > 9E8)

{

s_eaxc = "9E9";

}

else

{

s_eaxc = service.eaxc;

}

if (eaxd > 9E8)

{

s_eaxd = "9E9";

}

else

{

s_eaxd = service.eaxd;

}

if (eaxe > 9E8)

{

s_eaxe = "9E9";

}

else

{

s_eaxe = service.eaxe;

}

if (eaxf > 9E8)

{

s_eaxf = "9E9";

}

else

{

s_eaxf = service.eaxf;

}

textBox2.Text = "[[" + x + "," + y + "," + z + "],["

+ q1 + "," + q2 + "," + q3 + "," + q4 + "],["

+ cf1 + "," + cf4 + "," + cf6 + "," + cfx + "],["

+ s_eaxa + "," + s_eaxb + "," + s_eaxc + "," + s_eaxd + "," + s_eaxe + "," + s_eaxf + "]]";

//textBox2.Text = "[[" + service.x + "," + service.y + "," + service.z + "],["

//       + service.q1 + "," + service.q2 + "," + service.q3 + "," + service.q4 + "],["

//       + service.cf1 + "," + service.cf4 + "," + service.cf6 + "," + service.cfx + "],["

}