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;
}
}
