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public static void testFieldBusBoard(Robot robot)
{
//Upload and load open protocol file
robot.OpenLuaUpload("D://zUP/1111/CtrlDev_field.lua");
robot.Sleep(2000);
robot.SetCtrlOpenLUAName(3, "CtrlDev_field.lua");
robot.UnloadCtrlOpenLUA(3);
robot.LoadCtrlOpenLUA(3);
robot.Sleep(8000);
int[] type=new int[1];
int[] version=new int[1];
int[] connState=new int[1];
//Get protocol type, software version, and PLC connection status of the slave board
robot.GetFieldBusConfig(type, version, connState);
System.out.println("type is: "+type[0]+", version is : "+version[0]+", connState is : "+connState[0]);
//Write DO0 = 1, DO1 = 0, DO2 = 1
int[] ctrl =new int[8];
ctrl[0] = 1;
ctrl[1] = 0;
ctrl[2] = 1;
robot.FieldBusSlaveWriteDO(0, 3, ctrl);
//Write AO2 = 0x1000
int[] ctrlAO =new int[8];
ctrlAO[0] = 0x1000;
robot.FieldBusSlaveWriteAO(2, 1, ctrlAO);
int[] DI=new int[4];
double[] AI=new double[3];
//Loop monitor DI0~DI3 AI0~AI2
for (int i = 0; i < 100; i++)
{
robot.FieldBusSlaveReadDI(0, 4, DI);
System.out.println("DI0 is: "+DI[0]+", DI1 is: "+DI[1]+",DI2 is: "+DI[2]+",DI3 is: "+DI[3]);
robot.FieldBusSlaveReadAI(0, 3, AI);
System.out.println("AI0 is: "+AI[0]+ ",AI1 is: "+AI[1]+",AI2 is: "+AI[2]);
robot.Sleep(10);
}
//Wait for DI0 to be 1, wait time 100ms, and print result
int ret = robot.FieldBusSlaveWaitDI(0, 1, 100);
System.out.println("FieldBusSlaveWaitDI result is: "+ ret);
//Wait for AI0 to be greater than 400, wait time 100ms, and print result
ret = robot.FieldBusSlaveWaitAI(0,0,400.00,100);
System.out.println("FieldBusSlaveWaitAI result is: "+ ret);
robot.CloseRPC();
}
11.68. Control Array Sucker
New in version Java: SDK-v1.0.8-3.8.5
/**
* @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)
11.69. Get Array Sucker Status
New in version Java: SDK-v1.0.8-3.8.5
/**
* @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)
11.70. Wait for Sucker Status
New in version Java: SDK-v1.0.8-3.8.5
/**
* @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)
11.71. Array Sucker Control Command Code Example
public static void testSucker(Robot robot)
{
//Upload and load open protocol file
robot.OpenLuaUpload("C：//project/peripheralSDK/CtrlDev_sucker.lua");
robot.Sleep(2000);
robot.UnloadCtrlOpenLUA(1);
robot.LoadCtrlOpenLUA(1);
robot.Sleep(1000);
//Control sucker in broadcast mode, adsorb with maximum capacity
int[] ctrl = {1};
robot.SetSuckerCtrl(0, 1, ctrl);
int[] state=new int[1];
int[] pressVlaue=new int[1];
int[] error=new int[1];
//Loop monitor status of sucker 1 and sucker 12
for (int i = 0; i < 100; i++)
{
robot.GetSuckerState(1, state,pressVlaue, error);
System.out.println("sucker1 state is:"+state[0]+",pressVlaue is:"+pressVlaue[0]+",error num is"+error[0]);
robot.GetSuckerState(12, state, pressVlaue, error);
System.out.println("sucker12 state is :"+state[0]+", pressVlaue is:"+pressVlaue[0]+",error num is:"+error[0]);
robot.Sleep(100);
}
//Wait for sucker 1 to be in adsorbed state, wait time 100ms
int ret = robot.WaitSuckerState(1, 1, 100);
System.out.println("WaitSuckerState result is:"+ ret);
//Unicast mode to turn off sucker 1 and 12
ctrl[0] = 3;
robot.SetSuckerCtrl(1, 1, ctrl);
robot.SetSuckerCtrl(12, 1, ctrl);
robot.CloseRPC();
}
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