public void OpenGripper(RackGripper gripper, int timeout = 1000)
{
EcatIo.SetOutput(gripper == RackGripper.One ? Output.GripperOne : Output.GripperTwo, true);
Stopwatch sw = new Stopwatch();
sw.Start();
Input sensor = gripper == RackGripper.One ? Input.Gripper01Loose : Input.Gripper02Loose;
int failCount = 0;
while (!EcatIo.GetInput(sensor))
{
if (sw.ElapsedMilliseconds > timeout)
{
throw new Exception("Open gripper timeout");
}
Thread.Sleep(10);
if (failCount > 20)
{
EcatIo.SetOutput(gripper == RackGripper.One ? Output.GripperOne : Output.GripperTwo, true);
failCount = 0;
}
}
}
public void CloseGripper(RackGripper gripper, int timeout = 1000)
{
EcatIo.SetOutput(gripper == RackGripper.One ? Output.GripperOne : Output.GripperTwo, false);
Stopwatch sw = new Stopwatch();
sw.Start();
Input sensor = gripper == RackGripper.One ? Input.Gripper01Tight : Input.Gripper02Tight;
int failCount = 0;
while (!EcatIo.GetInput(sensor))
{
if (sw.ElapsedMilliseconds > timeout)
{
throw new Exception("Close gripper " + gripper + " timeout");
}
Thread.Sleep(10);
failCount++;
if (failCount > 20)
{
EcatIo.SetOutput(gripper == RackGripper.One ? Output.GripperOne : Output.GripperTwo, false);
failCount = 0;
}
}
}
public void ReadyThePhone(int timeout = 3000)
{
//RobotTakeControlOnConveyor();
Conveyor.Clamp(false);
Conveyor.UpBlockSeparate(false);
Conveyor.UpBlockPick(false);
Conveyor.SideBlockSeparate(false);
Conveyor.ConveyorMovingForward = !Conveyor.ConveyorMovingForward;
Conveyor.UpBlockSeparate(false);
Conveyor.UpBlockPick(false);
Conveyor.SideBlockSeparate(false);
Conveyor.ConveyorMovingForward = !Conveyor.ConveyorMovingForward;
EcatIo.SetOutput(Output.ClampPick, true);
Stopwatch sw = new Stopwatch();
sw.Start();
while (!EcatIo.GetInput(Input.ClampTightPick))
{
if (sw.ElapsedMilliseconds > timeout)
{
throw new Exception("ReadyThePhone timeout");
}
Thread.Sleep(10);
}
EcatIo.SetOutput(Output.SideBlockPick, true);
sw.Restart();
while (EcatIo.GetInput(Input.SideBlockPick))
{
if (sw.ElapsedMilliseconds > timeout)
{
throw new Exception("ReadyThePhone timeout");
}
Thread.Sleep(10);
}
Thread.Sleep(500);
EcatIo.SetOutput(Output.SideBlockPick, false);
sw.Restart();
while (!EcatIo.GetInput(Input.SideBlockPick))
{
if (sw.ElapsedMilliseconds > timeout)
{
throw new Exception("ReadyThePhone timeout");
}
Thread.Sleep(10);
}
EcatIo.SetOutput(Output.ClampPick, false);
sw = new Stopwatch();
sw.Restart();
while (!EcatIo.GetInput(Input.ClampLoosePick))
{
if (sw.ElapsedMilliseconds > timeout)
{
throw new Exception("ReadyThePhone timeout");
}
Thread.Sleep(10);
}
}