def LidCollate():
shake_cont.InitData(shake_cont.delt_z)
# Action=shake_cont.Animation_Action
Action = shake_trig.Hiwin_Solo_Action
shake_cont.SpeedModeToggle(1)
Action.LimitArmMove(shake_cont.Above_Lid_Pos, collate_speed, 5,
shake_cont.gp_stop, '移動至雪克杯蓋上方')
Action.GripCtrl(shake_cont.Lid_Pos, collate_speed,
shake_cont.gp_tight_catch, '移動至雪克杯蓋', '夾住雪克杯蓋')
tk.messagebox.showinfo(message='Lid OK?')
Action.ArmMove(shake_cont.Above_Lid_Pos, collate_speed, shake_cont.gp_stop,
'拿起雪克杯蓋')
Action.ArmMove(shake_cont.Above_Shake_Pos, collate_speed,
shake_cont.gp_stop, '移動至雪克杯上方')
Action.LimitArmMove(shake_cont.Collate_Lid_Pos, collate_speed, 5,
shake_cont.gp_stop, '蓋杯蓋')
tk.messagebox.showinfo(message='Lid OK?')
Action.ArmMove(shake_cont.Above_Shake_Pos, collate_speed,
shake_cont.gp_stop, '移動至雪克杯上方')
Action.ArmMove(shake_cont.Above_Lid_Pos, collate_speed, shake_cont.gp_stop,
'移動至雪克杯蓋上方')
Action.GripCtrl(shake_cont.Lid_Pos, collate_speed // 2, shake_cont.gp_open,
'放下雪克杯蓋', '鬆開雪克杯蓋')
tk.messagebox.showinfo(message='Collation Finished!')
Action.ArmMove(shake_cont.Home_Pos, collate_speed, shake_cont.gp_stop,
'移動至原位')
shake_cont.InitData(-shake_cont.delt_z)
def PosCollate():
shake_cont.InitData(shake_cont.delt_z)
pos_list = [
shake_cont.Home_Pos, shake_cont.Full_Ice_Pos, shake_cont.Above_Ice_Pos,
shake_cont.Above_Duo_Duo_Pos, shake_cont.Duo_Duo_Pos,
shake_cont.Above_Duo_Duo_Pos, shake_cont.Above_Dong_Gua_T_Pos,
shake_cont.Dong_Gua_T_Pos, shake_cont.Above_Dong_Gua_T_Pos,
shake_cont.Above_Blace_T_Pos, shake_cont.Blace_T_Pos,
shake_cont.Above_Blace_T_Pos, shake_cont.Above_Green_T_Pos,
shake_cont.Green_T_Pos, shake_cont.Above_Green_T_Pos,
shake_cont.Above_Lid_Pos, shake_cont.Back_Sugar_Pos,
shake_cont.Above_Sugar_Unspined_Pos,
shake_cont.Above_Sugar_Unspined_Pos, shake_cont.Back_Sugar_Pos
]
pause_list = [1, 4, 7, 10, 13, 18]
shake_cont.SpeedModeToggle(1)
for i in range(len(pos_list)):
shake_trig.Hiwin_Action.ArmMove(
pos_list[i], collate_speed, 0,
'test point({}/{})'.format(i + 1, len(pos_list)))
# shake_cont.Animation_Action.ArmMove(pos_list[i],20,0,'test point({}/{})'.format(i+1,len(pos_list)))
if i in pause_list:
tk.messagebox.showinfo(message='Next Point?')
tk.messagebox.showinfo(message='Collation Finished!')
# shake_cont.Home(shake_cont.Animation_Action)
shake_cont.Home(shake_trig.Hiwin_Action)
shake_cont.InitData(-shake_cont.delt_z)
def CupCollate():
global collate_speed
shake_cont.InitData(shake_cont.delt_z)
# Action=shake_cont.Animation_Action
Action = shake_trig.Hiwin_Action
shake_cont.SpeedModeToggle(1)
Action.ArmMove(shake_cont.Above_Shake_Pos, collate_speed,
shake_cont.gp_stop, '移動至雪克杯上方')
Action.ArmMove(shake_cont.Pre_Grip_Pos, collate_speed, shake_cont.gp_stop,
'轉動')
Action.ArmMove(shake_cont.Grip_Shake_For_Pour_Pos, collate_speed,
shake_cont.gp_stop, '移動至雪克杯')
tk.messagebox.showinfo(message='Shake OK?')
Action.GripCtrl(shake_cont.Grip_Shake_For_Pour_Pos, collate_speed,
shake_cont.gp_tight_catch, '移動至雪克杯', '夾住雪克杯')
tk.messagebox.showinfo(message='Shake OK?')
Action.ArmMove(shake_cont.Lift_Up_Full_Shake_Pos, collate_speed,
shake_cont.gp_stop, '移動至雪克杯空位上方')
Action.ArmMove(shake_cont.Pour_Product_Ready_Pos, collate_speed,
shake_cont.gp_stop, '準備倒飲料至手搖杯')
Action.ArmMove(shake_cont.Pour_Product_Pour_Pos, collate_speed,
shake_cont.gp_stop, '倒飲料至手搖杯')
Action.ArmMove(shake_cont.Pour_Product_Down_Pos, collate_speed,
shake_cont.gp_stop, '向下移動')
tk.messagebox.showinfo(message='Cup OK?')
Action.ArmMove(shake_cont.Pour_Product_Pour_Pos, collate_speed,
shake_cont.gp_stop, '向上移動')
Action.ArmMove(shake_cont.Pour_Product_Ready_Pos, collate_speed,
shake_cont.gp_stop, '倒飲料至手搖杯結束')
Action.ArmMove(shake_cont.Lift_Up_Full_Shake_Pos, collate_speed,
shake_cont.gp_stop, '移動至雪克杯空位上方')
Action.GripCtrl(shake_cont.Grip_Shake_For_Pour_Pos, collate_speed,
shake_cont.gp_open, '放下雪克杯', '鬆開雪克杯')
tk.messagebox.showinfo(message='Cup OK?')
Action.ArmMove(shake_cont.Pre_Grip_Pos, collate_speed, shake_cont.gp_stop,
'移動至雪克杯上方')
Action.ArmMove(shake_cont.Above_Shake_Pos, collate_speed,
shake_cont.gp_stop, '轉動')
tk.messagebox.showinfo(message='Collation Finished!')
Action.ArmMove(shake_cont.Home_Pos, collate_speed, shake_cont.gp_stop,
'移動至原位')
shake_cont.InitData(-shake_cont.delt_z)
def ArmTestAct():
shake_cont.InitData(shake_cont.delt_z)
# shake_cont.ArmTest(shake_cont.Animation_Action)
shake_cont.ArmTest(shake_trig.Hiwin_Action)
shake_cont.InitData(-shake_cont.delt_z)
def RightCollate():
shake_cont.InitData(shake_cont.delt_z)
# shake_cont.Right(shake_cont.Animation_Action)
shake_cont.Right(shake_trig.Hiwin_Solo_Action)
shake_cont.InitData(-shake_cont.delt_z)
def LeftCollate():
shake_cont.InitData(shake_cont.delt_z)
shake_cont.Left(shake_cont.Animation_Action)
# shake_cont.Left(shake_trig.Hiwin_Solo_Action)
shake_cont.InitData(-shake_cont.delt_z)
