public static void SyncOutput(int device_id, HRobot.CallBackFun callback)
{
double[] p1 = { -10, -200, 0, 0, 0, 0 };
double[] p2 = { 10, 150, 0, 0, 0, 0 };
int type = 0; //DO
int id = 1;
int ON = 1;
int OFF = 0;
int delay = 1000;
int distance = 50;
int Start = 0;
int End = 1;
int Path = 2;
HRobot.jog_home(device_id);
Thread.Sleep(100);
HRobot.lin_rel_pos(device_id, 0, 0, p1);
HRobot.SyncOutput(device_id, type, id, ON, Start, delay, distance);
HRobot.SyncOutput(device_id, type, 2, ON, Path, -1000, distance);
HRobot.SyncOutput(device_id, type, 3, ON, Path, 0, distance);
HRobot.SyncOutput(device_id, type, 4, ON, Path, delay, distance);
HRobot.SyncOutput(device_id, type, 5, ON, Path, -1000, -50);
HRobot.SyncOutput(device_id, type, 6, ON, Path, 0, -50);
HRobot.SyncOutput(device_id, type, 7, ON, Path, 1000, -50);
HRobot.SyncOutput(device_id, type, 8, ON, End, -1000, distance);
HRobot.lin_rel_pos(device_id, 0, 0, p2);
Console.ReadKey();
}
public static void SetRobotParameter(int device_id, HRobot.CallBackFun callback)
{
if (device_id >= 0)
{
Console.WriteLine("connect successful.");
callback = new HRobot.CallBackFun(EventFun);
}
else
{
Console.WriteLine("connect failure.");
Console.ReadLine();
}
bool ON = true;
int rlt = HRobot.set_operation_mode(device_id, 1); //switch mode to running mode ,cuz acc can only be changed in runing mode.
StringBuilder robot_id = new StringBuilder("HrSs_Robot_ID");
StringBuilder str = new StringBuilder("test text");
rlt = HRobot.set_robot_id(device_id, robot_id);
rlt = HRobot.set_acc_time(device_id, 250);
rlt = HRobot.set_acc_dec_ratio(device_id, 50); // set acc ratio(%)
rlt = HRobot.set_operation_mode(device_id, 0); //switch mode to safety mode ,cuz ptp speed can only be changed in safety mode.
rlt = HRobot.set_override_ratio(device_id, 50); //override ratio(%)
rlt = HRobot.set_ptp_speed(device_id, 50); //PTP speed ratio(%)
rlt = HRobot.set_lin_speed(device_id, 800); //LIN speed (mm/s)
rlt = HRobot.set_command_id(device_id, 10);
rlt = HRobot.set_digital_output(device_id, 5, true);
rlt = HRobot.set_robot_output(device_id, 5, true);
rlt = HRobot.set_valve_output(device_id, 1, true);
rlt = HRobot.set_base_number(device_id, 5);
rlt = HRobot.set_tool_number(device_id, 5);
rlt = HRobot.set_timer(device_id, 5, 1000);
rlt = HRobot.set_timer_start(device_id, 5);
rlt = HRobot.set_timer_stop(device_id, 5);
StringBuilder timer_name = new StringBuilder("timer_name");
rlt = HRobot.set_timer_name(device_id, 5, timer_name);
rlt = HRobot.set_counter(device_id, 5, 1000);
rlt = HRobot.set_pr_type(device_id, 5, 1000);
double[] coor = { 0, 0, 0, 0, -90, 0 };
rlt = HRobot.set_pr_coordinate(device_id, 5, coor);
double[] tool_base = { 5, 5 };
rlt = HRobot.set_pr_coordinate(device_id, 5, tool_base);
rlt = HRobot.set_pr_tool_base(device_id, 5, 2, 2);
rlt = HRobot.define_base(device_id, 5, coor);
rlt = HRobot.define_tool(device_id, 5, coor);
rlt = HRobot.set_pr(device_id, 5, 1, coor, 5, 5);
rlt = HRobot.remove_pr(device_id, 5);
rlt = HRobot.set_smooth_length(device_id, 200);
StringBuilder rsr = new StringBuilder("set_rsr.hrb");
rlt = HRobot.set_rsr(device_id, rsr, 1);
rlt = HRobot.set_motor_state(device_id, 1);
rlt = HRobot.set_module_input_simulation(device_id, 5, true);
rlt = HRobot.set_module_input_value(device_id, 5, true);
rlt = HRobot.set_module_input_start(device_id, 5, 1);
rlt = HRobot.set_module_input_end(device_id, 5, 5);
StringBuilder mi_comment = new StringBuilder("mi_comment");
rlt = HRobot.set_module_input_comment(device_id, 5, mi_comment);
rlt = HRobot.set_module_output_value(device_id, 5, true);
rlt = HRobot.set_module_output_start(device_id, 5, 1);
rlt = HRobot.set_module_output_end(device_id, 5, 5);
StringBuilder mo_comment = new StringBuilder("mi_comment");
rlt = HRobot.set_module_output_comment(device_id, 5, mo_comment);
// new 2020.03.19
rlt = HRobot.set_DI_simulation_Enable(device_id, 5, ON);
rlt = HRobot.set_DI_simulation(device_id, 5, ON);
rlt = HRobot.set_digital_input_comment(device_id, 5, str);
rlt = HRobot.set_digital_output_comment(device_id, 5, str);
double[] joint = { 0, 0, 0, 0, 0, 0 };
rlt = HRobot.set_home_point(device_id, joint);
rlt = HRobot.set_module_input_type(device_id, 5, 0);
rlt = HRobot.set_module_output_type(device_id, 5, 1);
rlt = HRobot.set_counter_name(device_id, 5, str);
int DIO = 0;
int SIO = 1;
int[] data = { DIO, 34, DIO, 35, SIO, 36, SIO, 37, DIO, 38, SIO, 39 };
rlt = HRobot.set_digital_setting(device_id, data, str);
rlt = HRobot.set_user_alarm_setting_message(device_id, 5, str);
rlt = HRobot.set_language(device_id, 0);
rlt = HRobot.save_module_io_setting(device_id);
Console.ReadLine();
}