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;
}
public void Start()
{
SetupComplete = false;
if (EthercatOnline)
{
if (_ch.IsConnected == false)
{
EnableEvent();
_ch.OpenCommEthernet(_ip, 701);
}
if (EcatIo == null)
{
EcatIo = new EthercatIo(_ch, 72, 7, 4);
}
EcatIo.Setup();
}
if (MotorsOnline)
{
if (Motion == null)
{
Motion = new EthercatMotion(_ch, 5);
}
if (Motion.MotorSetupComplete == false)
{
Motion.Setup();
}
Motion.LoadPositions();
SetMotorSpeed(DefaultRobotSpeed);
if (EthercatOnline)
{
EcatIo.MapEtherCAT();
}
}
if (StepperOnline)
{
if (Steppers == null)
{
Steppers = new Stepper("COM2");
}
Steppers.Setup();
SetStepperSpeed(DefaultRobotSpeed);
}
if (ConveyorOnline)
{
if (Conveyor == null)
{
Conveyor = new Conveyor(EcatIo);
}
Conveyor.Start();
Conveyor.ErrorOccured -= Conveyor_ErrorOccured;
Conveyor.ErrorOccured += Conveyor_ErrorOccured;
StartConveyorManager();
}
if (ShieldBoxOnline)
{
ShieldBoxSetup();
if (TesterOnline)
{
TesterSetup();
}
}
if (ScannerOnline)
{
if (Scanner == null)
{
Scanner = new Scanner("COM44");
Scanner.InfoOccured -= Scanner_InfoOccured;
Scanner.InfoOccured += Scanner_InfoOccured;
Scanner.ErrorOccured -= Scanner_ErrorOccured;
Scanner.ErrorOccured += Scanner_ErrorOccured;
}
Scanner.Start();
}
GoldPhoneSetup();
SelfChecking();
SetupComplete = true;
}
public Conveyor(EthercatIo ethercatIo)
{
_io = ethercatIo;
}