11.34. Robot Conveyor Belt Operation Example Program

private void btnConvert_Click(object sender, EventArgs e)
{
    Robot robot = new Robot();
    robot.RPC( "192.168.58.2");
    DescPose pos1 = new DescPose(0, 0, 0, 0, 0, 0);
    DescPose pos2 = new DescPose(0, 0, 0, 0, 0, 0);

    pos1.tran.x = -351.175;
    pos1.tran.y = 3.389;
    pos1.tran.z = 431.172;
    pos1.rpy.rx = -179.111;
    pos1.rpy.ry = -0.241;
    pos1.rpy.rz = 90.388;

    pos2.tran.x = -333.654;
    pos2.tran.y = -229.003;
    pos2.tran.z = 404.335;
    pos2.rpy.rx = -179.139;
    pos2.rpy.ry = -0.779;
    pos2.rpy.rz = 91.269;
    int rtn = -1;

    double[] cmp = new double[3] { 0, 9.99, 0};
    rtn = robot.ConveyorCatchPointComp(cmp);
    if(rtn != 0)
    {
        return;
    }
    Console.WriteLine($"ConveyorCatchPointComp: rtn  {rtn}");

    rtn = robot.MoveCart(pos1, 0, 0, 100.0f, 180.0f, 100.0f, -1.0f, -1);
    Console.WriteLine($"MoveCart: rtn  {rtn}");

    rtn = robot.ConveyorIODetect(10000);
    Console.WriteLine($"ConveyorIODetect: rtn  {rtn}");

    robot.ConveyorGetTrackData(1);
    rtn = robot. ConveyorTrackStart(1);
    Console.WriteLine($"ConveyorTrackStart: rtn  {rtn}");

    rtn = robot.ConveyorTrackMoveL( "cvrCatchPoint", 0, 0, 100.0f, 0.0f, 100.0f, -1.0f, 0, 0);
    Console.WriteLine($"ConveyorTrackMoveL: rtn  {rtn}");

    rtn = robot.MoveGripper(1, 59, 43, 21, 30000, 0);
    Console.WriteLine($"MoveGripper: rtn  {rtn}");

    rtn = robot.ConveyorTrackMoveL( "cvrRaisePoint", 0, 0, 100.0f, 0.0f, 100.0f, -1.0f, 0, 0);
    Console.WriteLine($"ConveyorTrackMoveL: rtn  {rtn}");

    rtn = robot.ConveyorTrackEnd();
    Console.WriteLine($"ConveyorTrackEnd: rtn  {rtn}");

    rtn = robot.MoveCart(pos2, 0, 0, 100.0f, 180.0f, 100.0f, -1.0f, -1);
    Console.WriteLine($"MoveCart: rtn  {rtn}");

    rtn = robot.MoveGripper(1, 100, 43, 21, 30000, 0);
    Console.WriteLine($"MoveGripper: rtn  {rtn}");
}

11.35. End Sensor Configuration

/**
* @brief  End Sensor Configuration
* @param  [in] idCompany Manufacturer, 18-JUNKONG; 25-HUIDE
* @param  [in] idDevice Type, 0-JUNKONG/RYR6T.V1.0
* @param  [in] idSoftware Software version, 0-J1.0/HuiDe1.0 (not yet available)
* @param  [in] idBus Mounting location, 1-End 1 port; 2-End 2 port... 8-Endpoint 8 port (not yet available)
* @return Error code
*/
int AxleSensorConfig(int idCompany, int idDevice, int idSoftware, int idBus);

11.36. Get endpoint sensor configuration

/**
* @brief  Get terminal sensor configuration
* @param  [out] idCompany Manufacturer, 18-JUNKONG; 25-HUIDE
* @param  [out] idDevice Type, 0-JUNKONG/RYR6T.V1.0
* @return  Error code
*/
int AxleSensorConfigGet(ref int idCompany, ref int idDevice);

11.37. End-of-line sensor activation

/**
* @brief  End-of-line sensor activation
* @param  [in] actFlag 0-reset; 1-activate
* @return  Error code
*/
int AxleSensorActivate(int actFlag);

11.38. End Sensor Register Write

/**
* @brief  End Sensor Register Write
* @param  [in] devAddr  Device Address Number 0-255
* @param  [in] regHAddr High 8 bits of the register address
* @param  [in] regLAddr Low 8 bits of the register address
* @param  [in] regNum  Number of registers 0-255
* @param  [in] data1 Value to write to the register 1
* @param  [in] data2 Value to write to the register 2
* @param  [in] isNoBlock 0-blocking; 1-non-blocking
* @return  Error code
*/
 int AxleSensorRegWrite(int devAddr, int regHAddr, int regLAddr, int regNum, int data1, int data2, int isNoBlock);

11.39. End Sensor Code Example

private void button2_Click_1(object sender, EventArgs e)
{
    robot.AxleSensorConfig(18, 0, 0, 1);
    int company = -1;
    int type = -1;
    robot.AxleSensorConfigGet(ref company, ref type);
    Console.WriteLine( "company is " + company +  ", type is " + type);

    int rtn = robot.AxleSensorActivate(1);
    Console.WriteLine( "AxleSensorActivate rtn is " + rtn);

    Thread.Sleep(1000);

    rtn = robot.AxleSensorRegWrite(1, 4, 6, 1, 0, 0, 0);
    Console.WriteLine( "AxleSensorRegWrite rtn is " + rtn);
}

11.40. Obtain robot peripheral protocol

New in version C#SDK-v1.0.6.

/**
* @brief Get robot peripheral protocol
* @param [out] protocol Robot peripheral protocol number 4096-Extended Axle Control Card; 4097-ModbusSlave; 4098-ModbusMaster
* @return Error code
*/
int GetExDevProtocol(ref int protocol);

11.41. Set robot peripheral protocol

New in version C#SDK-v1.0.6.

/**
* @brief Set robot peripheral protocol
* @param [in] protocol Robot peripheral protocol number 4096-Extended Axis Control Card; 4097-Modbus Slave; 4098-Modbus Master
* @return Error code
*/
int SetExDevProtocol(int protocol);

11.42. Example program for setting robot peripheral protocol

private void btnSetProto_Click(object sender, EventArgs e)
{
  int protocol = 4096;
  int rtn = robot.SetExDevProtocol(protocol);

  Console.WriteLine( "SetExDevProtocol rtn " + rtn);
  rtn = robot.GetExDevProtocol(ref protocol);
  Console.WriteLine( "GetExDevProtocol rtn " + rtn +  " protocol is: " + protocol);
}

11.43. Get end-point communication parameters

/**
* @brief Get terminal communication parameters
* @param param Terminal communication parameters
* @return  Error code
*/
int GetAxleCommunicationParam(ref AxleComParam getParam);

11.44. Set terminal communication parameters

/**
* @brief Set terminal communication parameters
* @param param  Terminal communication parameters
* @return  Error code
*/
int SetAxleCommunicationParam(AxleComParam param);

11.45. Set terminal file transfer type

/**
* @brief Set the terminal file transfer type
* @param type 1-MCU upgrade file; 2-LUA file
* @return  Error code
*/
int SetAxleFileType(int type);