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5.1. Set control box digital output
/**
* @brief Set control box digital output
* @param [in] id IO number, range [0~15]
* @param [in] status 0-off, 1-on
* @param [in] smooth 0-no smoothing, 1-smoothing
* @param [in] block 0-blocking, 1-non-blocking
* @return Error code
*/
int SetDO(int id, int status, int smooth, int block);
5.2. Set tool digital output
/**
* @brief Set tool digital output
* @param [in] id IO number, range [0~1]
* @param [in] status 0-off, 1-on
* @param [in] smooth 0-no smoothing, 1-smoothing
* @param [in] block 0-blocking, 1-non-blocking
* @return Error code
*/
int SetToolDO(int id, int status, int smooth, int block);
5.3. Set control box analog output
/**
* @brief Set control box analog output
* @param [in] id IO number, range [0~1]
* @param [in] value Current or voltage value percentage, range [0~100] corresponding to current [0~20mA] or voltage [0~10V]
* @param [in] block 0-blocking, 1-non-blocking
* @return Error code
*/
int SetAO(int id, double value, int block);
5.4. Set tool analog output
/**
* @brief Set tool analog output
* @param [in] id IO number, range [0]
* @param [in] value Current or voltage value percentage, range [0~100] corresponding to current [0~20mA] or voltage [0~10V]
* @param [in] block 0-blocking, 1-non-blocking
* @return Error code
*/
int SetToolAO(int id, double value, int block);
5.5. Digital and analog output setting example
public static int TestAODO(Robot robot)
{
int status = 1;
int smooth = 0;
int block = 0;
for (int i = 0; i < 16; i++)
{
robot.SetDO(i, status, smooth, block);
robot.Sleep(300);
}
status = 0;
for (int i = 0; i < 16; i++)
{
robot.SetDO(i, status, smooth, block);
robot.Sleep(300);
}
status = 1;
for (int i = 0; i < 2; i++)
{
robot.SetToolDO(i, status, smooth, block);
robot.Sleep(1000);
}
status = 0;
for (int i = 0; i < 2; i++)
{
robot.SetToolDO(i, status, smooth, block);
robot.Sleep(1000);
}
for (int i = 0; i < 100; i++)
{
robot.SetAO(0, i, block);
robot.Sleep(30);
}
for (int i = 0; i < 100; i++)
{
robot.SetToolAO(0, i, block);
robot.Sleep(30);
}
robot.CloseRPC();
return 0;
}
5.6. Get control box digital input
/**
* @brief Get control box digital input
* @param [in] id IO number, range [0~15]
* @param [in] block 0-blocking, 1-non-blocking
* @param [out] level 0-low level, 1-high level
* @return Error code
*/
int GetDI(int id, int block, int[] level);
5.7. Get tool digital input
/**
* @brief Get tool digital input
* @param [in] id IO number, range [0~1]
* @param [in] block 0-blocking, 1-non-blocking
* @param [out] level 0-low level, 1-high level
* @return Error code
*/
int GetToolDI(int id, int block, int[] level);
5.8. Get control box analog input
/**
* @brief Get control box analog input
* @param [in] id IO number, range [0~1]
* @param [in] block 0-blocking, 1-non-blocking
* @param [out] persent Input current or voltage value percentage, range [0~100] corresponding to current [0~20mA] or voltage [0~10V]
* @return Error code
*/
int GetAI(int id, int block, double[] persent)
5.9. Get tool analog input
/**
* @brief Get tool analog input
* @param [in] id IO number, range [0]
* @param [in] block 0-blocking, 1-non-blocking
* @param [out] persent Input current or voltage value percentage, range [0~100] corresponding to current [0~20mA] or voltage [0~10V]
* @return Error code
*/
int GetToolAI(int id, int block, double[] persent)
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