public void Start() { if (_ch.IsConnected == false) { _ch.OpenCommEthernet(_ip, 701); } _motion = new EthercatMotion(_ch, 5); _motion.Setup(); _io = new EthercatIo(_ch, 72, 7, 4); _io.Setup(); _conveyor = new PickAndPlaceConveyor(_io); if (_gripperIsOnline) { if (_gripper == null) { _gripper = new Stepper("COM3"); } _gripper.Setup(); } SetSpeed(10); SetupComplete = true; }
private void button1_Click(object sender, EventArgs e) { try { Api ch = new Api(); ch.OpenCommEthernet("192.168.8.18", 701); EthercatIo iO = new EthercatIo(ch, 88, 8, 5); iO.Setup(); conveyor = new PickAndPlaceConveyor(iO); conveyor.ErrorOccured += Conveyor_ErrorOccured; conveyor.Start(); } catch (Exception ex) { MessageBox.Show(ex.Message); } }