屏蔽附加轴示教及移动时的关联

TeamAAS-VM/ViewModels/Product/PlcPointParamsViewModel.cs

@@ -587,36 +587,21 @@ namespace TeamAAS_VP.ViewModels.Product
                     return;
                 }
 
-                if (SelectedIndex == 1)
+                //Robot.Timeout = 6000000;
+                switch (motionCmd)
                 {
-                    var curpos = await Robot.GetRobotPosAsync();
-                    var addpos = await Robot.GetAdditionalAxisCurrentPosAsync(Robot.AdditionalAxisList[0].Name);
-                    curpos.Z = 0;
-                    await Robot.AdditionalAxisMoveAsync(Robot.AdditionalAxisList[0].Name, PickP1.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, 0);
-                            break;
-                        case MotionCommand.Move:
-                            await Robot.MoveAsync(point);
-                            break;
-                    }
+                    case MotionCommand.Go:
+                        await Robot.GoAsync(point);
+                        break;
+                    case MotionCommand.Jump:
+                        await Robot.JumpAsync(point, 0);
+                        break;
+                    case MotionCommand.Move:
+                        await Robot.MoveAsync(point);
+                        break;
                 }
 
-                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = $"{Lang.完成}!", Duration = 0.4 });
+                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = $"{Lang.完成}!", Duration = 0.4 });
             }
             catch (Exception ex)
             {
@@ -665,24 +650,6 @@ namespace TeamAAS_VP.ViewModels.Product
                     _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = $"{Lang.完成}!", Duration = 0.4 });
                     return;
                 }
-                else if (SelectedIndex == 1)
-                {
-                    //弹窗用户是否确认要示教该点位
-                    if (MessageBox.Show($"确认要示教点位 {SelectedPoint.Number} 吗？", "示教点位", MessageBoxButton.YesNo, MessageBoxImage.Question) != MessageBoxResult.Yes)
-                    {
-                        return;
-                    }
-
-                    var curpos = await Robot.GetRobotPosAsync();
-                    var addpos = await Robot.GetAdditionalAxisCurrentPosAsync(Robot.AdditionalAxisList[0].Name);
-                    SelectedPoint.X_Position = curpos.X;
-                    SelectedPoint.Y_Position = curpos.Y;
-                    SelectedPoint.Z_Position_Start = curpos.Z;
-                    SelectedPoint.U_Position = curpos.U;
-                    SelectedPoint.R_Position = curpos.V;
-                    SelectedPoint.Z_Position_Stop = addpos;
-                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = $"{Lang.完成}!", Duration = 0.4 });
-                }
                 else
                 {
                     //弹窗用户是否确认要示教该点位