11.64. Read Slave DI

New in version C#SDK-V1.1.7: Web-3.8.5

/**
* @brief  Read Slave DI
* @param  DOIndex  DI number
* @param  readNum  Number to read
* @param  status Read value, max 8
* @return  Error code
*/
public int FieldBusSlaveReadDI(int DOIndex, int readNum, int[] status)

11.65. Read Slave AI

New in version C#SDK-V1.1.7: Web-3.8.5

/**
* @brief  Read Slave AI
* @param  AIIndex  AI number
* @param  readNum  Number to read
* @param  status Read value, max 8
* @return  Error code
*/
public int FieldBusSlaveReadAI(int AIIndex, int readNum, double[] status)

11.66. Wait for Extended DI Input

New in version C#SDK-V1.1.7: Web-3.8.5

/**
* @brief Wait for Extended DI Input
* @param  DIIndex DI number
* @param  status 0-Low level; 1-High level
* @param  waitMs Max waiting time (ms)
* @return Error code
*/
public int FieldBusSlaveWaitDI(int DIIndex, int status, int waitMs)

11.67. Wait for Extended AI Input

New in version C#SDK-V1.1.7: Web-3.8.5

/**
* @brief Wait for Extended AI Input
* @param  AIIndex AI number
* @param  waitType 0-Greater than; 1-Less than
* @param  value AI value
* @param  waitMs Max waiting time (ms)
* @return Error code
*/
public int FieldBusSlaveWaitAI(int AIIndex, int waitType, double value, int waitMs)

11.68. Slave Mode Related Interface Command Code Example

private void button101_Click(object sender, EventArgs e)
{
    int rtn = 0;

    int type = 0, version = 0, connState = 0;
    int[] ctrl = new int[8];
    int[] ctrlAO = new int[8];
    int[] DI = new int[8];
    double[] AI = new double[8];
    if (rtn != 0)
    {
        return;
    }
    // Upload and load open protocol file
    robot.OpenLuaUpload("E://zup/CtrlDev_field.lua");
    Thread.Sleep(2000);
    robot.SetCtrlOpenLUAName(3, "CtrlDev_field.lua");
    robot.UnloadCtrlOpenLUA(3);
    robot.LoadCtrlOpenLUA(3);
    Thread.Sleep(8000);

    // Get protocol type, software version, and connection status with PLC
    robot.GetFieldBusConfig(ref type, ref version, ref connState);
    Console.WriteLine($"type is {type}, version is {version}, connState is {connState}");

    // Write DO0 = 1, DO1 = 0, DO2 = 1
    ctrl[0] = 1;
    ctrl[1] = 0;
    ctrl[2] = 1;
    robot.FieldBusSlaveWriteDO(0, 3, ctrl);

    // Write AO2 = 0x1000
    ctrlAO[0] = 0x1000;
    robot.FieldBusSlaveWriteAO(2, 1, ctrlAO);

    for (int i = 0; i < 100; i++)
    {
        robot.FieldBusSlaveReadDI(0, 4, ref DI);
        Console.WriteLine($"DI0 is {DI[0]}, DI1 is {DI[1]}, DI2 is {DI[2]}, DI3 is {DI[3]}");
        robot.FieldBusSlaveReadAI(0, 3, ref AI);
        Console.WriteLine($"AI0 is {AI[0]}, AI1 is {AI[1]}, AI2 is {AI[2]}");
        Thread.Sleep(10);
    }
    int ret = robot.FieldBusSlaveWaitDI(0, 1, 100);
    Console.WriteLine($"FieldBusSlaveWaitDI result is {ret}");

    ret = robot.FieldBusSlaveWaitAI(0, 0, 400.00f, 100);
    Console.WriteLine($"FieldBusSlaveWaitAI result is {ret}");
}

11.69. Control Array Sucker

New in version C#SDK-V1.1.7: Web-3.8.5

/**
* @brief Control Array Sucker
* @param  slaveID Slave ID
* @param  len Length
* @param  ctrlValue Control value 1-Suction at max vacuum; 2-Suction at set vacuum; 3-Stop suction
* @return Error code
*/
public int SetSuckerCtrl(int slaveID, int len, int[] ctrlValue)

11.70. Get Array Sucker Status

New in version C#SDK-V1.1.7: Web-3.8.5

/**
* @brief Get Array Sucker Status
* @param  slaveID Slave ID
* @param  state Adsorption state 0-Release object; 1-Workpiece detected and adsorbed successfully; 2-No object adsorbed; 3-Object detached
* @param  pressValue Current vacuum degree Unit kpa
* @param  error Sucker current error code
* @return Error code
*/
public int GetSuckerState(int slaveID, int[] state, int[] pressValue, int[] error)

11.71. Wait for Sucker Status

New in version C#SDK-V1.1.7: Web-3.8.5

/**
* @brief Wait for Sucker Status
* @param  slaveID Slave ID
* @param  state Adsorption state 0-Release object; 1-Workpiece detected and adsorbed successfully; 2-No object adsorbed; 3-Object detached
* @param  ms Max waiting time
* @return Error code
*/
public int WaitSuckerState(int slaveID, int state, int ms)