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public static int TestAxleLua(Robot robot)
{
robot.AxleLuaUpload("D://zUP/AXLE_LUA_End_DaHuan.lua");
AxleComParam param=new AxleComParam(7, 8, 1, 0, 5, 3, 1);
robot.SetAxleCommunicationParam(param);
robot.GetAxleCommunicationParam(param);
robot.SetAxleLuaEnable(1);
int[] luaEnableStatus = new int[]{0};
robot.GetAxleLuaEnableStatus(luaEnableStatus);
robot.SetAxleLuaEnableDeviceType(0, 1, 0);
int forceEnable = 0;
int gripperEnable = 0;
int ioEnable = 0;
int [] enable=new int[]{0,0,0};
robot.GetAxleLuaEnableDeviceType(enable);
int[] func = { 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 };
robot.SetAxleLuaGripperFunc(1, func);
int[] getFunc = { 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
robot.GetAxleLuaGripperFunc(1, getFunc);
int[] getforceEnable = { 0,0,0,0,0,0,0,0};
int[] getgripperEnable = { 0,0,0,0,0,0,0,0};
int[] getioEnable = { 0,0,0,0,0,0,0,0};
robot.GetAxleLuaEnableDevice(getforceEnable, getgripperEnable, getioEnable);
for (int i = 0; i < 8; i++)
{
System.out.println(getforceEnable[i]);
}
System.out.println("getgripperEnable status : ");
for (int i = 0; i < 8; i++)
{
System.out.println(getgripperEnable[i]);
}
System.out.println("getioEnable status : ");
for (int i = 0; i < 8; i++)
{
System.out.println(getioEnable[i]);
}
robot.ActGripper(1, 0);
robot.Sleep(2000);
robot.ActGripper(1, 1);
robot.Sleep(2000);
robot.MoveGripper(1, 90, 10, 100, 50000, 0, 0, 0, 0, 0);
int pos = 0;
while (true)
{
ROBOT_STATE_PKG pkg=new ROBOT_STATE_PKG();
pkg=robot.GetRobotRealTimeState();
System.out.println("gripper pos is:"+pkg.gripper_position);
robot.Sleep(100);
}
}
11.57. Get SmartTool button status
New in version Java: SDK-v1.0.4-3.8.1
/**
* @brief Get SmartTool button status
* @param [out] state SmartTool handle button status;(bit0:0-communication normal; 1-communication lost; bit1-undo operation; bit2-clear program; bit3-A key; bit4-B key; bit5-C key; bit6-D key; bit7-E key; bit8-IO key; bit9-manual/auto; bit10-start)
* @return Error code
*/
int GetSmarttoolBtnState(int[] state)
11.58. SmartTool button code example
public static void main(String[] args)
{
Robot robot = new Robot();
robot.SetReconnectParam(true, 100, 500);//Set reconnection times and interval
robot.LoggerInit(FrLogType.DIRECT, FrLogLevel.INFO, "D://log", 10, 10);
int rtn = robot.RPC("192.168.58.2");
if (rtn == 0) {
System.out.println("rpc connection success");
} else {
System.out.println("rpc connection fail");
return;
}
int[] state = {0};
while (true)
{
robot.GetSmarttoolBtnState(state);
String binaryString = String.format("%32s", Integer.toBinaryString(state[0])).replace(' ', '0');
System.out.println("GetSmarttoolBtnState:"+binaryString);
robot.Sleep(100);
}
}
11.59. Upload Open Protocol Lua File
New in version Java: SDK-v1.0.8-3.8.5
/**
* @brief Upload Open Protocol Lua File
* @param filePath Local open protocol lua file path name
* @return Error code
*/
public int OpenLuaUpload(String filePath)
11.60. Get Slave Board Parameters
New in version Java: SDK-v1.0.8-3.8.5
/**
* @brief Get Slave Board Parameters
* @param type 0-Ethercat, 1-CClink, 3-Ethercat, 4-EIP
* @param version Protocol version
* @param connState 0-Disconnected 1-Connected
* @return Error code
*/
public int GetFieldBusConfig(int[] type, int[] version, int[] connState)
11.61. Write Slave DO
New in version Java: SDK-v1.0.8-3.8.5
/**
* @brief Write Slave DO
* @param DOIndex DO number
* @param wirteNum Number to write
* @param status Value to write, max 8
* @return Error code
*/
public int FieldBusSlaveWriteDO(int DOIndex, int wirteNum, int[] status)
11.62. Write Slave AO
New in version Java: SDK-v1.0.8-3.8.5
/**
* @brief Write Slave AO
* @param AOIndex AO number
* @param wirteNum Number to write
* @param status Value to write, max 8
* @return Error code
*/
public int FieldBusSlaveWriteAO(int AOIndex, int wirteNum, int[] status)
11.63. Read Slave DI
New in version Java: SDK-v1.0.8-3.8.5
/**
* @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)
11.64. Read Slave AI
New in version Java: SDK-v1.0.8-3.8.5
/**
* @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)
11.65. Wait for Extended DI Input
New in version Java: SDK-v1.0.8-3.8.5
/**
* @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)
11.66. Wait for Extended AI Input
New in version Java: SDK-v1.0.8-3.8.5
/**
* @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)
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