修复移动点位

TeamAAS-VM/ViewModels/Product/PlcPointParamsViewModel.cs

@@ -586,18 +586,38 @@ namespace TeamAAS_VP.ViewModels.Product
                     return;
                 }
 
-                //Robot.Timeout = 6000000;
-                switch (motionCmd)
+                if (SelectedIndex == 6)
                 {
-                    case MotionCommand.Go:
-                        await Robot.GoAsync(point);
-                        break;
-                    case MotionCommand.Jump:
-                        await Robot.JumpAsync(point, null);
-                        break;
-                    case MotionCommand.Move:
-                        await Robot.MoveAsync(point);
-                        break;
+                    await Robot.WaitCameraMoveFinishedAsync(point.Number, point);
+                }
+                else if (SelectedIndex == 1)
+                {
+                    var curpos = await Robot.GetRobotPosAsync();
+                    //var addpos = await Robot.GetAdditionalAxisCurrentPosAsync(Robot.AdditionalAxisList[0].Name);
+                    curpos.Z = 0;
+                    await Robot.CalibMotionAsync(curpos, 0);
+                    await Robot.AdditionalAxisMoveAsync(Robot.AdditionalAxisList[0].Name, SelectedPoint.Z_Position_Stop);
+                    curpos.X = SelectedPoint.X_Position;
+                    curpos.Y = SelectedPoint.Y_Position;
+                    curpos.Z = SelectedPoint.Z_Position_Start;
+                    curpos.U = SelectedPoint.U_Position;
+                    await Robot.CalibMotionAsync(curpos, 0);
+                }
+                else
+                {
+                    //Robot.Timeout = 6000000;
+                    switch (motionCmd)
+                    {
+                        case MotionCommand.Go:
+                            await Robot.GoAsync(point);
+                            break;
+                        case MotionCommand.Jump:
+                            await Robot.JumpAsync(point, null);
+                            break;
+                        case MotionCommand.Move:
+                            await Robot.MoveAsync(point);
+                            break;
+                    }
                 }
 
                 _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = $"{Lang.完成}!", Duration = 0.4 });