public bool setServoOn()
{
if ((ConnectStatus & CONNECTTYPE.CONNECTED) == 0)
{
return(false);
}
//已經開啟，直接回傳
if ((ConnectStatus & CONNECTTYPE.SERVOON) > 0)
{
return(true);
}
try
{
//P.78 Sets the servo to ON.
_Robot.ServoOn();
TsStatusAllS status = _Robot.GetStatusAll();
//仍為關閉
if (status.ServoStatus == 0)
{
return(false);
}
ConnectStatus |= CONNECTTYPE.SERVOON;
return(true);
}
catch (TsRemoteSException ex)
{
//Error processing
Console.WriteLine("setServoOn: " + ex.Message);
}
return(false);
}
public bool setServoOff()
{
if ((ConnectStatus & CONNECTTYPE.CONNECTED) == 0)
{
return(false);
}
//已經關閉，直接回傳
if ((ConnectStatus & CONNECTTYPE.SERVOON) == 0)
{
return(true);
}
try
{
_Robot.ServoOff();
TsStatusAllS status = _Robot.GetStatusAll();
//仍為開啟
if (status.ServoStatus == 1)
{
return(false);
}
ConnectStatus &= ~CONNECTTYPE.SERVOON;
return(true);
}
catch (TsRemoteSException ex)
{
//Error processing
Console.WriteLine("setServoOff: " + ex.Message);
}
return(false);
}
public bool checkServo()
{
if ((ConnectStatus & CONNECTTYPE.CONNECTED) == 0)
{
return(false);
}
try
{
TsStatusAllS status = _Robot.GetStatusAll();
if (status.ServoStatus == 1)
{
ConnectStatus |= CONNECTTYPE.SERVOON;
}
else
{
ConnectStatus &= ~CONNECTTYPE.SERVOON;
}
return(true);
}
catch (TsRemoteSException ex)
{
//Error processing
Console.WriteLine("checkServo: " + ex.Message);
}
return(false);
}
//SetGlobal?: 設定全域變數
public string getStatusAll()
{
if ((ConnectStatus & CONNECTTYPE.CONNECTED) == 0)
{
return("");
}
try
{
//P.55 Acquires all the statuses of the robot.
TsStatusAllS status = _Robot.GetStatusAll();
//int JogCoordnate JOG-guided coordinate selection status
// 0=Joint; 1=Tool; 2=Work; 3=World
//Console.Write(status.JogCoordnate + ", ");
//int MasterMode Master mode status
// 0=Teaching; 1=Internal; 2=Ext.Sig; 3=Ext.Host(Ext.232C/ExtEther)
//Console.Write(status.MasterMode + ", ");
//int ServoStatus Servo status: 0=OFF; 1=ON
//Console.Write(status.ServoStatus + ", ");
//int EmergencySwitch Emergency Stop switch status: 0=OFF; 1=ON
//Console.Write(status.EmergencySwitch + ", ");
//int JogCoordnate JOG-guided coordinate selection status: 0=Joint; 1=Tool; 2=Work; 3=World
//Console.Write(status.JogCoordnate + ", ");
string messages = "";
if (status.ServoStatus == 0)
{
messages += "ServoStatus=OFF";
}
else
{
messages += "ServoStatus=ON";
}
if (status.EmergencySwitch == 0)
{
messages += "\nEmergencySwitch=OFF";
}
else
{
messages += "\nEmergencySwitch=ON";
}
if (status.MasterMode == 0)
{
messages += "\nMasterMode=Teaching";
}
else if (status.MasterMode == 1)
{
messages += "\nMasterMode=Internal";
}
else if (status.MasterMode == 2)
{
messages += "\nMasterMode=Ext.Sig";
}
else if (status.MasterMode == 3)
{
messages += "\nMasterMode=Ext.Host(Ext.232C/ExtEther)";
}
else
{
messages += "\nMasterMode=?";
}
if (status.JogCoordnate == 0)
{
messages += "\nJogCoordnate=Joint";
}
else if (status.JogCoordnate == 1)
{
messages += "\nJogCoordnate=Tool";
}
else if (status.JogCoordnate == 2)
{
messages += "\nJogCoordnate=Work";
}
else if (status.JogCoordnate == 3)
{
messages += "\nJogCoordnate=World";
}
else
{
messages += "\nJogCoordnate=?";
}
//整體速度限制
TsStatusMonitor status_m = _Robot.GetStatusMonitor();
messages += "\nOverride=" + status_m.Override;
return(messages);
}
catch (TsRemoteSException ex)
{
//Error processing
Console.WriteLine("getStatusAll: " + ex.Message);
}
return("");
}
