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);
}
}
