public void SetRobotIo(Robot_Out Io, IOValue Value) { if (m_IsConnected) { AxisNum axis = 0; ushort channel = 0; GetAxisAndChannelByRobotOut(Io, ref axis, ref channel); m_MotionControler.SetMotionIo(axis, channel, (byte)Value); } }
public void GetAxisAndChannelByRobotOut(Robot_Out Io, ref AxisNum Axis, ref ushort Channel) { switch (Io) { case Robot_Out.IO_OUT_AirCyl: { Axis = AxisNum.Axis_X; //使用IO卡的 X_OUT4 Channel = 4; } break; case Robot_Out.IO_OUT_GraspDeviceNozzle: { Axis = AxisNum.Axis_X; //使用IO卡的 X_OUT5 Channel = 5; } break; case Robot_Out.IO_OUT_GraspSalverNozzle1: { Axis = AxisNum.Axis_Y; //使用IO卡的 Y_OUT4 Channel = 4; } break; case Robot_Out.IO_OUT_GraspSalverNozzle2: { Axis = AxisNum.Axis_Y; //使用IO卡的 Y_OUT5 Channel = 5; } break; case Robot_Out.IO_OUT_GraspSalverNozzle3: { Axis = AxisNum.Axis_Z; //使用IO卡的 Z_OUT4 Channel = 4; } break; case Robot_Out.IO_OUT_GraspSalverNozzle4: { Axis = AxisNum.Axis_Z; //使用IO卡的 Z_OUT5 Channel = 5; } break; default: break; } }