public void TestPlcConnect()
{
using (var plc = new MvPlcContext())
{
plc.StartAsyn();
if (!SpinWait.SpinUntil(() => plc.IsConnected, 5000))
{
throw new MvException("PLC connection fail");
}
Console.WriteLine("PLC connection success");
}
}
public void TestPlcBoxRobot()
{
using (var plc = new MvPlcContext())
{
Console.WriteLine(plc.BoxRobot.Clamp(0));// BoxType
Console.WriteLine(plc.BoxRobot.Unclamp());
Console.WriteLine(plc.BoxRobot.Initial());
Console.WriteLine(plc.BoxRobot.CheckHandPos());
Console.WriteLine(plc.BoxRobot.CheckBox());
Console.WriteLine(plc.BoxRobot.CheckHandPosByLSR(1.1, 2.2)); // double*2
Console.WriteLine(plc.BoxRobot.CheckClampLength(20.2)); // double*1
Console.WriteLine(plc.BoxRobot.CheckLevelSensor(3.3, 4.4)); // double*2
Console.WriteLine(plc.BoxRobot.CheckSixAxisSensor(1, 2, 3, 4, 5, 6)); // uinr*6
Console.WriteLine(plc.BoxRobot.CheakHandVacuum());
}
}
public void TestPlcOpenStage()
{
using (var plc = new MvPlcContext())
{
Console.WriteLine(plc.OpenStage.Open());
Console.WriteLine(plc.OpenStage.Close());
Console.WriteLine(plc.OpenStage.Clamp());
Console.WriteLine(plc.OpenStage.Unclamp());
Console.WriteLine(plc.OpenStage.SortClamp());
Console.WriteLine(plc.OpenStage.SortUnclamp());
Console.WriteLine(plc.OpenStage.Lock(true));// T/F
Console.WriteLine(plc.OpenStage.Initial());
Console.WriteLine(plc.OpenStage.CheckRobotIntrude());
Console.WriteLine(plc.OpenStage.CheckClampStatus());
Console.WriteLine(plc.OpenStage.CheckSortClampPosition());
Console.WriteLine(plc.OpenStage.CheckSliderPosition());
Console.WriteLine(plc.OpenStage.CheckCoverPos());
Console.WriteLine(plc.OpenStage.CheckCoverSensor());
Console.WriteLine(plc.OpenStage.CheckBoxExist());
}
}
