public static void Main(string[] args)
{
int device_id = HRobot.open_connection("127.0.0.1", 1, callback);
if (device_id >= 0)
{
Console.WriteLine("connect successful.");
StringBuilder v = new StringBuilder(100);
SDKHrobot.HRobot.get_hrsdk_version(v);
Console.WriteLine("hrsdk_version:" + v);
int level = SDKHrobot.HRobot.get_connection_level(device_id);
Console.WriteLine("level:" + level);
SDKHrobot.HRobot.set_connection_level(device_id, 1);
level = SDKHrobot.HRobot.get_connection_level(device_id);
Console.WriteLine("level:" + level);
Console.ReadLine();
Disconnect(device_id, callback);
}
else
{
Console.WriteLine("connect failure.");
}
}
public static void wait_for_stop(int device_id)
{
while (HRobot.get_motion_state(device_id) != 1 && HRobot.get_connection_level(device_id) != -1)
{
Thread.Sleep(30);
}
}
static void Main(string[] args)
{
device_id = HRobot.open_connection("127.0.0.1", 1, callback);
Thread.Sleep(1000);
StringBuilder sdk_version = new StringBuilder();
HRobot.get_hrsdk_version(sdk_version);
Console.WriteLine("SDK version: " + sdk_version);
if (device_id >= 0)
{
Console.WriteLine("connect successful.");
HRobot.set_motor_state(device_id, 1);
Thread notify = new Thread(run_notify);
notify.IsBackground = true;
notify.Start(device_id);
NetWorkExample_Client(device_id); // HRSS is socket client
Thread.Sleep(2000);
Console.WriteLine();
NetWorkExample_Server(device_id); // HRSS is socket server
Thread.Sleep(3000);
Console.WriteLine(" \n Please press enter key to end.");
Console.ReadLine();
HRobot.disconnect(device_id);
}
else
{
Console.WriteLine("connect failure.");
}
}
// HRSS is socket server
public static void NetWorkExample_Server(int device_id)
{
int server_type = 0; // socket server
StringBuilder ip = new StringBuilder("127.0.0.1");
int port = 5123;
int bracket = 0;
int separator = 0;
bool is_format = false;
int show_msg = -1;
// network setting
HRobot.set_network_config(device_id, server_type, ip, port, bracket, separator, is_format);
HRobot.network_connect(device_id);
HRobot.get_network_show_msg(device_id, ref show_msg);
if (show_msg != 1)
{
HRobot.set_network_show_msg(device_id, 1);
}
Console.WriteLine("HRSS is socket server.");
Thread.Sleep(2000);
// create local socket client
Thread create_client = new Thread(socketClient);
create_client.IsBackground = true;
create_client.Start();
send_msg(device_id);
}
public static void SyncOutput(int device_id, HRobot.CallBackFun callback)
{
double[] p1 = { -10, -200, 0, 0, 0, 0 };
double[] p2 = { 10, 150, 0, 0, 0, 0 };
int type = 0; //DO
int id = 1;
int ON = 1;
int OFF = 0;
int delay = 1000;
int distance = 50;
int Start = 0;
int End = 1;
int Path = 2;
HRobot.jog_home(device_id);
Thread.Sleep(100);
HRobot.lin_rel_pos(device_id, 0, 0, p1);
HRobot.SyncOutput(device_id, type, id, ON, Start, delay, distance);
HRobot.SyncOutput(device_id, type, 2, ON, Path, -1000, distance);
HRobot.SyncOutput(device_id, type, 3, ON, Path, 0, distance);
HRobot.SyncOutput(device_id, type, 4, ON, Path, delay, distance);
HRobot.SyncOutput(device_id, type, 5, ON, Path, -1000, -50);
HRobot.SyncOutput(device_id, type, 6, ON, Path, 0, -50);
HRobot.SyncOutput(device_id, type, 7, ON, Path, 1000, -50);
HRobot.SyncOutput(device_id, type, 8, ON, End, -1000, distance);
HRobot.lin_rel_pos(device_id, 0, 0, p2);
Console.ReadKey();
}
private static void OnTimedEvent(Object source, ElapsedEventArgs e)
{
// 判斷 程式結束
if (HRobot.get_function_output(device_id, 1) == 0)
{
Console.WriteLine("task_start finish. \n");
is_Run = false;
aTimer.Enabled = false;
}
}
static void Main(string[] args)
{
int device_id = HRobot.open_connection("127.0.0.1", 1, callback);
if (device_id >= 0)
{
SetRobotParameter(device_id, callback);
SDKHrobot.HRobot.disconnect(device_id);
}
}
static void Main(string[] args)
{
int device_id = HRobot.open_connection("127.0.0.1", 1, callback);
HRobot.set_motor_state(device_id, 1);
if (device_id >= 0)
{
SyncOutput(device_id, callback);
SDKHrobot.HRobot.disconnect(device_id);
}
}
static void Main(string[] args)
{
device_id = HRobot.open_connection("127.0.0.1", 1, callback);
if (device_id >= 0)
{
Console.WriteLine("connect successful.");
PrintFunction();
Console.ReadLine();
HRobot.disconnect(device_id);
}
else
{
Console.WriteLine("connect failure.");
}
}
static void Main(string[] args)
{
device_id = HRobot.open_connection("127.0.0.1", 1, callback);
Thread.Sleep(1000);
StringBuilder sdk_version = new StringBuilder();
HRobot.get_hrsdk_version(sdk_version);
Console.WriteLine("sdk version: " + sdk_version);
if (device_id >= 0)
{
Console.WriteLine("connect successful.");
HRobot.set_motor_state(device_id, 1);
SoftLimitExample(device_id);
Console.ReadLine();
HRobot.disconnect(device_id);
}
else
{
Console.WriteLine("connect failure.");
}
}
public static void TaskStartExample()
{
Console.WriteLine("send_file0: " + HRobot.send_file(device_id, "../../../code0.hrb", "code0.hrb"));
Thread.Sleep(500);
Console.WriteLine("send_file1: " + HRobot.send_file(device_id, "../../../code1.hrb", "code1.hrb"));
Thread.Sleep(500);
Console.WriteLine("send_file2: " + HRobot.send_file(device_id, "../../../code2.hrb", "code2.hrb"));
Thread.Sleep(500);
Console.WriteLine("send_file3: " + HRobot.send_file(device_id, "../../../code3.hrb", "code3.hrb"));
Thread.Sleep(500);
double[] pos = new double[6];
HRobot.get_current_position(device_id, pos); // run callback.
while (true)
{
if (!is_Run)
{
switch (x % 4)
{
case 0:
HRobot.task_start(device_id, "code0.hrb");
break;
case 1:
HRobot.task_start(device_id, "code1.hrb");
break;
case 2:
HRobot.task_start(device_id, "code2.hrb");
break;
case 3:
HRobot.task_start(device_id, "code3.hrb");
break;
}
Console.WriteLine("run code{0}.hrb", x % 4);
is_Run = true;
}
Thread.Sleep(4000);
}
}
// HRSS send the message to another local socket.
public static void send_msg(int device_id)
{
int x = 0;
Console.WriteLine("The received data is set as counter value.");
while (true)
{
string str;
string str_num1 = x.ToString();
string str_num2 = (x + 1).ToString();
string str_num3 = (x + 2).ToString();
str = str_num1 + "," + str_num2 + "," + str_num3 + "%%%";
StringBuilder send_msg = new StringBuilder(str);
HRobot.network_send_msg(device_id, send_msg);
Thread.Sleep(1000);
if (x == 10)
{
HRobot.network_disconnect(device_id);
break;
}
x++;
}
}
// If you want to get the network information, you does have this function.
// The received parameter is set to the value of the counter.
public static void run_notify(object device_id)
{
int id = ( int )device_id;
Console.WriteLine("Strat Notify. ");
double[] pos = new double[6];
HRobot.get_current_position(id, pos);
while (true)
{
HRobot.network_get_state(id);
if (is_received)
{
for (int i = 1; i <= recv_val.Count; i++)
{
if (Int32.TryParse(recv_val[i - 1], out int tmp))
{
HRobot.set_counter(id, i, tmp);
}
}
is_received = false;
}
Thread.Sleep(200);
}
}
private static void PrintFunction()
{
const int STD_OUTPUT_HANDLE = -11;
IntPtr oldBuffer = GetStdHandle(STD_OUTPUT_HANDLE); //Gets the handle for the default console buffer
IntPtr newBuffer = CreateConsoleScreenBuffer(0x80000000 | 0x40000000, 0x00000001, IntPtr.Zero, 1, IntPtr.Zero); //Creates a new console buffer
SetConsoleActiveScreenBuffer(newBuffer);
COORD coord = new COORD(0, 0);
COORD size = new COORD(100, 80);
SetConsoleScreenBufferSize(oldBuffer, size); //重新設置緩衝區大小
SetConsoleScreenBufferSize(newBuffer, size); //重新設置緩衝區大小
uint bytes = 0;
StringBuilder data = new StringBuilder(10000);
double utilization_ratio = -1;
while (true)
{
Console.Clear();
Console.WriteLine("--------------------------");
StringBuilder v = new StringBuilder(256);
SDKHrobot.HRobot.get_hrsdk_version(v);
Console.WriteLine("HRSDK VERSION:\t" + v);
StringBuilder HrssV = new StringBuilder(256);
SDKHrobot.HRobot.get_hrss_version(device_id, HrssV);
Console.WriteLine("HRSS version:\t" + HrssV);
StringBuilder robot_id = new StringBuilder(256);
SDKHrobot.HRobot.get_robot_id(device_id, robot_id);
Console.WriteLine("Robot_ID:\t" + robot_id);
StringBuilder rsr_prog_name = new StringBuilder(256);
SDKHrobot.HRobot.get_rsr_prog_name(device_id, 1, rsr_prog_name);
Console.WriteLine("RSR 1 name:\t" + rsr_prog_name);
StringBuilder execute_file_name = new StringBuilder(256);
SDKHrobot.HRobot.get_execute_file_name(device_id, execute_file_name);
Console.WriteLine("Execute file name:\t" + execute_file_name);
ulong[] alarm_code = new ulong[256];
int count = 10;
SDKHrobot.HRobot.get_alarm_code(device_id, ref count, alarm_code);
SDKHrobot.HRobot.get_robot_type(device_id, v);
Console.WriteLine("ROBOT TYPE:\t" + v);
int motor_state = SDKHrobot.HRobot.get_motor_state(device_id);
Console.WriteLine("motor_state:\t" + motor_state);
int operation_mode = SDKHrobot.HRobot.get_operation_mode(device_id);
Console.WriteLine("operation_mode:\t" + operation_mode);
switch (SDKHrobot.HRobot.get_motion_state(device_id))
{
case 1:
Console.WriteLine("運動狀態:\t" + "閒置");
break;
case 2:
Console.WriteLine("運動狀態:\t" + "運動");
break;
case 3:
Console.WriteLine("運動狀態:\t" + "暫停");
break;
case 4:
Console.WriteLine("運動狀態:\t" + "延遲");
break;
case 5:
Console.WriteLine("運動狀態:\t" + "等待命令");
break;
default:
Console.WriteLine("運動狀態:\t" + "發生錯誤");
break;
}
Console.WriteLine("-------------------------------------------------------------\n");
Console.WriteLine("ACC RATIO:\t" + SDKHrobot.HRobot.get_acc_dec_ratio(device_id) + "(%)");
Console.WriteLine("ACC TIME:\t" + SDKHrobot.HRobot.get_acc_time(device_id) + "(ms)");
Console.WriteLine("PTP RATIO:\t" + SDKHrobot.HRobot.get_ptp_speed(device_id) + "(%)");
Console.WriteLine("LIN SPEED:\t" + SDKHrobot.HRobot.get_lin_speed(device_id) + "mm/s");
Console.WriteLine("OVERRIDE RATIO:\t" + SDKHrobot.HRobot.get_override_ratio(device_id) + "(%)");
Console.WriteLine("-------------------------------------------------------------\n");
int[] YMD = new int[6];
SDKHrobot.HRobot.get_device_born_date(device_id, YMD);
Console.WriteLine("BIRTHDAY:\t" + YMD[0] + "年 " + YMD[1] + "月 " + YMD[2] + "日 ");
SDKHrobot.HRobot.get_operation_time(device_id, YMD);
Console.WriteLine("OPERATION TIME:\t" + YMD[0] + "年 " + YMD[1] + "月 " + YMD[2] + "日 " + YMD[3] + "時 " + YMD[4] + "分");
SDKHrobot.HRobot.get_utilization_ratio(device_id, ref utilization_ratio);
Console.WriteLine("UTILIZATION RATIO:\t" + utilization_ratio + "(%)");
SDKHrobot.HRobot.get_utilization(device_id, YMD);
Console.WriteLine("UTILIZATION:\t" + YMD[0] + "年 " + YMD[1] + "月 " + YMD[2] + "日 " + YMD[3] + "時 " + YMD[4] + "分" + YMD[5] + "秒");
Console.WriteLine("-------------------------------------------------------------\n");
Console.WriteLine("\tA1\tA2\tA3\tA4\tA5\tA6");
PrintRPM();
Console.WriteLine("\n\t-----------------------------------------------\n");
PrintCartPos();
Console.WriteLine("\n\t-----------------------------------------------\n");
PrintJointPos();
Console.WriteLine("\n\t-----------------------------------------------\n");
PrintEnc();
Console.WriteLine("\n\t-----------------------------------------------\n");
PrintTorq();
Console.WriteLine("\n\t-----------------------------------------------\n");
PrintMil();
Console.WriteLine("\n\t-----------------------------------------------\n");
PrintHomePos();
Console.WriteLine("\n\t-----------------------------------------------\n");
PrintPrePos();
Console.WriteLine("\n\t-----------------------------------------------\n");
int cmd_count = SDKHrobot.HRobot.get_command_count(device_id);
Console.Write("cmd_count:\t" + cmd_count);
int cmd_id = SDKHrobot.HRobot.get_command_id(device_id);
Console.WriteLine("\tcmd_id:\t" + cmd_id);
int mode = SDKHrobot.HRobot.get_hrss_mode(device_id);
Console.WriteLine("mode:\t" + mode);
int DI = SDKHrobot.HRobot.get_digital_input(device_id, 5);
Console.Write("DI_5:\t" + DI);
int DO = SDKHrobot.HRobot.get_digital_output(device_id, 5);
Console.Write("\tDO_5:\t" + DO);
int DI_sim = SDKHrobot.HRobot.get_DI_simulation_Enable(device_id, 5);
Console.WriteLine("\tDI_sim_5:\t" + DI_sim);
StringBuilder DIO_comment = new StringBuilder(200);
int DI_comment = SDKHrobot.HRobot.get_digital_input_comment(device_id, 5, DIO_comment);
Console.WriteLine("DI_comment_5:\t" + DIO_comment);
int DO_comment = SDKHrobot.HRobot.get_digital_output_comment(device_id, 5, DIO_comment);
Console.WriteLine("DO_comment_5:\t" + DIO_comment);
int FI = SDKHrobot.HRobot.get_function_input(device_id, 5);
Console.Write("FI_5:\t" + FI);
int FO = SDKHrobot.HRobot.get_function_output(device_id, 5);
Console.WriteLine("\tFO_5:\t" + FO);
int RI = SDKHrobot.HRobot.get_robot_input(device_id, 5);
Console.Write("RI_5:\t" + RI);
int RO = SDKHrobot.HRobot.get_robot_output(device_id, 5);
Console.Write("\tRO_5:\t" + RO);
int VO = SDKHrobot.HRobot.get_valve_output(device_id, 1);
Console.WriteLine("\tVO_1:\t" + VO);
int timer = SDKHrobot.HRobot.get_timer(device_id, 5);
Console.Write("timer_5:\t" + timer);
int timer_status = HRobot.get_timer_status(device_id, 5);
Console.Write("\ttimer_status:\t" + timer_status);
StringBuilder timer_name = new StringBuilder(200);
HRobot.get_timer_name(device_id, 5, timer_name);
Console.WriteLine("\ttimer_name:\t" + timer_name);
int counter = SDKHrobot.HRobot.get_counter(device_id, 5);
Console.Write("counter:\t" + counter);
StringBuilder str = new StringBuilder(200);
int counter_name = SDKHrobot.HRobot.get_counter_name(device_id, 5, str);
Console.WriteLine("\tcounter_name:\t" + str);
int pr_type = SDKHrobot.HRobot.get_pr_type(device_id, 5);
Console.WriteLine("pr_type:\t" + pr_type);
double[] set_coor = { 0, 0, 0, 0, -90, 0 };
SDKHrobot.HRobot.set_pr_coordinate(device_id, 5, set_coor);
int type = -1;
double[] coor = { 0, 0, 0, 0, 0, 0 };;
int tool = -1;
int _base = -1;
Console.Write("get_pr:\t");
SDKHrobot.HRobot.get_pr(device_id, 5, ref type, coor, ref tool, ref _base);
for (int a = 0; a < 6; a++)
{
Console.Write(coor[a] + "\t");
}
Console.WriteLine();
double[] get_coor = new double[6];
SDKHrobot.HRobot.get_pr_coordinate(device_id, 5, get_coor);
Console.Write("pr_coordinate:\t");
for (int i = 0; i < 6; i++)
{
Console.Write(get_coor[i] + " ");
}
Console.WriteLine();
int[] get_tool_base = new int[2];
SDKHrobot.HRobot.get_pr_tool_base(device_id, 5, get_tool_base);
Console.Write("pr_tool_base:\t");
for (int i = 0; i < 2; i++)
{
Console.Write(get_tool_base[i] + " ");
}
Console.WriteLine();
StringBuilder pr_comment = new StringBuilder(200);
HRobot.get_pr_comment(device_id, 5, pr_comment);
Console.WriteLine("pr_comment:\t" + pr_comment);
int base_num = SDKHrobot.HRobot.get_base_number(device_id);
Console.WriteLine("base_number:\t" + base_num);
double[] base_data = new double[6];
SDKHrobot.HRobot.get_base_data(device_id, 5, base_data);
Console.Write("get_base_data:\t");
for (int i = 0; i < 6; i++)
{
Console.Write(base_data[i] + " ");
}
Console.WriteLine();
int tool_num = SDKHrobot.HRobot.get_tool_number(device_id);
Console.WriteLine("tool_number:\t" + tool_num);
double[] tool_data = new double[6];
SDKHrobot.HRobot.get_tool_data(device_id, 5, tool_data);
Console.Write("get_base_data:\t");
for (int i = 0; i < 6; i++)
{
Console.Write(tool_data[i] + " ");
}
Console.WriteLine();
int mi_index = 1;
bool mi_sim = false;
bool mi_value = false;
int mi_type = -1;
int mi_start = -1;
int mi_end = -1;
StringBuilder mi_comment = new StringBuilder(200);
HRobot.get_module_input_config(device_id, mi_index, ref mi_sim, ref mi_value, ref mi_type, ref mi_start, ref mi_end, mi_comment);
Console.Write("MI: index:{0} sim:{1} value:{2} type:{3} ", mi_index, mi_sim, mi_value, mi_type);
Console.WriteLine("start:{0} end:{1} comment:{2} ", mi_start, mi_end, mi_comment);
int mo_index = 1;
bool mo_value = false;
int mo_type = -1;
int mo_start = -1;
int mo_end = -1;
StringBuilder mo_comment = new StringBuilder(200);
HRobot.get_module_output_config(device_id, mo_index, ref mo_value, ref mo_type, ref mo_start, ref mo_end, mo_comment);
Console.Write("MO: index:{0} value:{1} type:{2} ", mo_index, mo_value, mo_type);
Console.WriteLine("start:{0} end:{1} comment:{2} ", mo_start, mo_end, mo_comment);
StringBuilder user_msg = new StringBuilder(200);
SDKHrobot.HRobot.get_user_alarm_setting_message(device_id, 5, user_msg);
Console.WriteLine("user_alarm_msg_5:\t" + user_msg);
int value = -1;
SDKHrobot.HRobot.get_payload_value(device_id, ref value);
Console.WriteLine("payload:\t" + value);
PrintDIOSetting();
int year = -1;
int month = -1;
int day = -1;
int hour = -1;
int min = -1;
int second = -1;
SDKHrobot.HRobot.get_controller_time(device_id, ref year, ref month, ref day, ref hour, ref min, ref second);
Console.WriteLine("controller_time: {0}/{1}/{2} {3}:{4}:{5} ", year, month, day, hour, min, second);
ReadConsoleOutputCharacter(oldBuffer, data, 10000, coord, out bytes);
WriteConsoleOutputCharacter(newBuffer, data, 10000, coord, out bytes);
System.Threading.Thread.Sleep(1000);
}
}
public static void SetRobotParameter(int device_id, HRobot.CallBackFun callback)
{
if (device_id >= 0)
{
Console.WriteLine("connect successful.");
callback = new HRobot.CallBackFun(EventFun);
}
else
{
Console.WriteLine("connect failure.");
Console.ReadLine();
}
bool ON = true;
int rlt = HRobot.set_operation_mode(device_id, 1); //switch mode to running mode ,cuz acc can only be changed in runing mode.
StringBuilder robot_id = new StringBuilder("HrSs_Robot_ID");
StringBuilder str = new StringBuilder("test text");
rlt = HRobot.set_robot_id(device_id, robot_id);
rlt = HRobot.set_acc_time(device_id, 250);
rlt = HRobot.set_acc_dec_ratio(device_id, 50); // set acc ratio(%)
rlt = HRobot.set_operation_mode(device_id, 0); //switch mode to safety mode ,cuz ptp speed can only be changed in safety mode.
rlt = HRobot.set_override_ratio(device_id, 50); //override ratio(%)
rlt = HRobot.set_ptp_speed(device_id, 50); //PTP speed ratio(%)
rlt = HRobot.set_lin_speed(device_id, 800); //LIN speed (mm/s)
rlt = HRobot.set_command_id(device_id, 10);
rlt = HRobot.set_digital_output(device_id, 5, true);
rlt = HRobot.set_robot_output(device_id, 5, true);
rlt = HRobot.set_valve_output(device_id, 1, true);
rlt = HRobot.set_base_number(device_id, 5);
rlt = HRobot.set_tool_number(device_id, 5);
rlt = HRobot.set_timer(device_id, 5, 1000);
rlt = HRobot.set_timer_start(device_id, 5);
rlt = HRobot.set_timer_stop(device_id, 5);
StringBuilder timer_name = new StringBuilder("timer_name");
rlt = HRobot.set_timer_name(device_id, 5, timer_name);
rlt = HRobot.set_counter(device_id, 5, 1000);
rlt = HRobot.set_pr_type(device_id, 5, 1000);
double[] coor = { 0, 0, 0, 0, -90, 0 };
rlt = HRobot.set_pr_coordinate(device_id, 5, coor);
double[] tool_base = { 5, 5 };
rlt = HRobot.set_pr_coordinate(device_id, 5, tool_base);
rlt = HRobot.set_pr_tool_base(device_id, 5, 2, 2);
rlt = HRobot.define_base(device_id, 5, coor);
rlt = HRobot.define_tool(device_id, 5, coor);
rlt = HRobot.set_pr(device_id, 5, 1, coor, 5, 5);
rlt = HRobot.remove_pr(device_id, 5);
rlt = HRobot.set_smooth_length(device_id, 200);
StringBuilder rsr = new StringBuilder("set_rsr.hrb");
rlt = HRobot.set_rsr(device_id, rsr, 1);
rlt = HRobot.set_motor_state(device_id, 1);
rlt = HRobot.set_module_input_simulation(device_id, 5, true);
rlt = HRobot.set_module_input_value(device_id, 5, true);
rlt = HRobot.set_module_input_start(device_id, 5, 1);
rlt = HRobot.set_module_input_end(device_id, 5, 5);
StringBuilder mi_comment = new StringBuilder("mi_comment");
rlt = HRobot.set_module_input_comment(device_id, 5, mi_comment);
rlt = HRobot.set_module_output_value(device_id, 5, true);
rlt = HRobot.set_module_output_start(device_id, 5, 1);
rlt = HRobot.set_module_output_end(device_id, 5, 5);
StringBuilder mo_comment = new StringBuilder("mi_comment");
rlt = HRobot.set_module_output_comment(device_id, 5, mo_comment);
// new 2020.03.19
rlt = HRobot.set_DI_simulation_Enable(device_id, 5, ON);
rlt = HRobot.set_DI_simulation(device_id, 5, ON);
rlt = HRobot.set_digital_input_comment(device_id, 5, str);
rlt = HRobot.set_digital_output_comment(device_id, 5, str);
double[] joint = { 0, 0, 0, 0, 0, 0 };
rlt = HRobot.set_home_point(device_id, joint);
rlt = HRobot.set_module_input_type(device_id, 5, 0);
rlt = HRobot.set_module_output_type(device_id, 5, 1);
rlt = HRobot.set_counter_name(device_id, 5, str);
int DIO = 0;
int SIO = 1;
int[] data = { DIO, 34, DIO, 35, SIO, 36, SIO, 37, DIO, 38, SIO, 39 };
rlt = HRobot.set_digital_setting(device_id, data, str);
rlt = HRobot.set_user_alarm_setting_message(device_id, 5, str);
rlt = HRobot.set_language(device_id, 0);
rlt = HRobot.save_module_io_setting(device_id);
Console.ReadLine();
}
public static void SoftLimitExample(int device_id)
{
double[] joint_low_limit = { -20, -20, -35, -20, 0, 0 };
double[] joint_high_limit = { 20, 20, 0, 0, 0, 0 };
double[] cart_low_limit = { -100, 300, -100, 0, 0, 0 };
double[] cart_high_limit = { 100, 450, -25, 0, 0, 0 };
double[] cart_home = { 0, 400, 0, 0, -90, 0 };
double[] joint_home = { 0, 0, 0, 0, -90, 0 };
double[] now_pos = { 0, 0, 0, 0, 0, 0 };
bool re_bool = false;
HRobot.get_current_position(device_id, now_pos);
// run joint softlimit
HRobot.set_override_ratio(device_id, 100);
HRobot.set_joint_soft_limit(device_id, joint_low_limit, joint_high_limit);
HRobot.enable_joint_soft_limit(device_id, true);
HRobot.enable_cart_soft_limit(device_id, false);
HRobot.get_joint_soft_limit_config(device_id, ref re_bool, joint_low_limit, joint_high_limit);
Console.WriteLine("Enable Joint SoftLimit: " + re_bool);
HRobot.jog_home(device_id);
wait_for_stop(device_id);
Thread.Sleep(1000);
for (int i = 0; i < 4; i++)
{
HRobot.jog(device_id, 1, i, -1);
wait_for_stop(device_id);
Console.WriteLine("On the limits of SoftLimit");
}
for (int i = 0; i < 4; i++)
{
HRobot.jog(device_id, 1, i, 1);
wait_for_stop(device_id);
Console.WriteLine("On the limits of SoftLimit");
}
HRobot.enable_joint_soft_limit(device_id, false);
// run cartesian softlimit
HRobot.ptp_axis(device_id, 0, joint_home);
wait_for_stop(device_id);
HRobot.set_cart_soft_limit(device_id, cart_low_limit, cart_high_limit);
HRobot.enable_cart_soft_limit(device_id, true);
HRobot.get_cart_soft_limit_config(device_id, ref re_bool, cart_low_limit, cart_high_limit);
Console.WriteLine("Enable Cart SoftLimit: " + re_bool);
HRobot.lin_pos(device_id, 0, 0, cart_home);
wait_for_stop(device_id);
for (int i = 0; i < 3; i++)
{
HRobot.jog(device_id, 0, i, -1);
wait_for_stop(device_id);
Console.WriteLine("On the limits of SoftLimit");
Console.WriteLine("");
HRobot.clear_alarm(device_id);
Thread.Sleep(2000);
}
for (int i = 0; i < 3; i++)
{
HRobot.jog(device_id, 0, i, 1);
wait_for_stop(device_id);
Console.WriteLine("On the limits of SoftLimit");
Console.WriteLine("");
HRobot.clear_alarm(device_id);
Thread.Sleep(2000);
}
Console.WriteLine("End of motion");
HRobot.enable_joint_soft_limit(device_id, false);
HRobot.enable_cart_soft_limit(device_id, false);
}
