using System;
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namespace M423project
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{
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#region OPC参数
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public struct opcConfig
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{
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public string serverName;
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public string serverIP;
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public int itmHandleClient;
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public GroupProperty groupProperty;
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}
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public struct GroupProperty
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{
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public bool defaultGroupIsActive;
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public int defaultGroupDeadband;
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public int updateRate;
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public bool isActive;
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public bool isSubscribed;
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}
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#endregion
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#region 机械手网口通讯参数
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public struct RobotConfig
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{
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public string localIpAddress;
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public int port;
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public int listenPort;//
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public string localIp;//
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public int clientPort;//
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public string remoteIp;//
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}
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#endregion
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#region 信息登记
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public struct InfoMember
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{
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public string Zhanbie;
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public string Line;
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public string MachineID;
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public string Class;
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public string LiaoNum;
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public string GongNum;
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}
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#endregion
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#region 上下限值
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public struct LimitRange
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{
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public double Min;
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public double Max;
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}
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#endregion
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#region 上料初始位置设定
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public struct DeltaPosition
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{
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public double x;
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public double y;
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public double angle;
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}
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#endregion
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#region 厚度测量根据盘位对每工位补偿
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public struct CompensationZ
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{
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public double station1;
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public double station2;
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public double station3;
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public double station4;
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public double station5;
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}
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#endregion
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#region 图像坐标与机械手坐标变换矩阵
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public struct ImageToRobotHomat2d
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{
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public double t1;
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public double t2;
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public double t3;
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public double t4;
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public double t5;
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public double t6;
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}
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#endregion
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public struct CalibTable
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{
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public ImageToRobotHomat2d one;
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public ImageToRobotHomat2d two;
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public ImageToRobotHomat2d three;
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public ImageToRobotHomat2d four;
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public ImageToRobotHomat2d five;
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public ImageToRobotHomat2d six;
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public ImageToRobotHomat2d seven;
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public ImageToRobotHomat2d eight;
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public ImageToRobotHomat2d nine;
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public ImageToRobotHomat2d ten;
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}
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#region 机械手末端执行器上吸盘类别
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public struct SuckerHomat2d
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{
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public CalibTable left;
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public CalibTable right;
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}
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#endregion
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[Serializable]
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public struct ConfigStruct
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{
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public opcConfig opcConfig;
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public string configPassword;
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public string imagePassword;
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public string datacodeStr;
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public RobotConfig loadRobotConfig;
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public RobotConfig unloadRobotConfig;
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public SuckerHomat2d loadRobotHomat2d;
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public SuckerHomat2d unloadRobotHomat2d;
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public DeltaPosition loadPosition11;
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public DeltaPosition loadPosition12;
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public DeltaPosition loadPosition21;
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public DeltaPosition loadPosition22;
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public DeltaPosition loadPosition31;
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public DeltaPosition loadPosition32;
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public DeltaPosition loadPosition41;
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public DeltaPosition loadPosition42;
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public DeltaPosition loadPosition51;
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public DeltaPosition loadPosition52;
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public DeltaPosition loadPosition61;
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public DeltaPosition loadPosition62;
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public DeltaPosition loadPosition71;
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public DeltaPosition loadPosition72;
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public DeltaPosition loadPosition81;
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public DeltaPosition loadPosition82;
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public DeltaPosition loadPosition91;
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public DeltaPosition loadPosition92;
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public DeltaPosition loadPosition101;
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public DeltaPosition loadPosition102;
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public LimitRange batteryLengthLimit;
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public LimitRange batteryWidthLimit;
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public LimitRange batteryHeightLimit;
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public LimitRange batteryATLHeightLimit;
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public LimitRange batteryLSNHeightLimit;
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public LimitRange batteryBMULimit;
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public double calibrateHeight;
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public CompensationZ compensationZ;
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public CompensationZ compensationW;
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public double loadRbtSpeed;
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public double unloadRbtSpeed;
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public double Exposure;
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public int Threshold;
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public double LoadCameraScale;
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public double DataCodeCameraScale;
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public double XyCameraScale;
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public double UnloadCameraScale;
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public double X1axisHandSpeed;
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public double X1axisLocationPos;
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public double X1AxisSpeed ;
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public double X1LocationSpeed;
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public double X1ScanBackPosition;
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public double X1ScanOKPosition;
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public double X1Y1AxisAcceleration;
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public double X1Y1AxisDeceleration;
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public double X2axisHandSpeed;
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public double X2axisLocationPos;
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public double X2AxisSpeed ;
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public double X2axisWaitPos;
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public double X2LocationSpeed;
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public double X2Y2AxisAcceleration;
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public double X2Y2AxisDeceleration;
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public double Y1axisHandSpeed;
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public double Y1axisLocationPos;
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public double Y1AxisSpeed;
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public double Y1LocationSpeed;
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public double Y1ScanBackPosition;
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public double Y1ScanOKPosition;
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public double Y2axisHandSpeed;
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public double Y2axisLocationPos;
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public double Y2AxisSpeed;
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public double Y2axisWaitPos ;
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public double Y2LocationSpeed;
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public double batteryWidthOffset;
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public double batteryLengthOffset;
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public double batteryHeightOffset;
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public bool isSaveTst;
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public bool isSaveExcel;
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public bool isSaveUpload;
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public string textTstPath;
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public string textExcelPath;
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public string textUploadPath;
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public string textLine;
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public string textStation;
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public CompensationZ compensationL;
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public InfoMember infoMember;
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//标准块配置参数
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public LimitRange standardLengthLimit;
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public LimitRange standardWidthLimit;
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public LimitRange standardHeightLimit;
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public CompensationZ standardCompensationZ;
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public CompensationZ standardCompensationL;
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public CompensationZ standardCompensationW;
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#region add by Patrick
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public bool IsSaveSizeOKImage;
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public float MaxLength;
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public float MaxWidth;
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public float MinLength;
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public float MinWidth;
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#endregion
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}
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}
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