public void GetAxisAndChannelByRobotIn(Robot_In Io, ref AxisNum Axis, ref ushort Channel)
{
switch (Io)
{
case Robot_In.IO_IN_AirCylGoArrive:
{
Axis = AxisNum.Axis_X; //使用IO卡的 X_IN1
Channel = 1;
}
break;
case Robot_In.IO_IN_AirCylBackArrive:
{
Axis = AxisNum.Axis_X; //使用IO卡的 X_IN4
Channel = 4;
}
break;
case Robot_In.IO_IN_GraspDeviceNozzleCheck:
{
Axis = AxisNum.Axis_X; //使用IO卡的 X_IN5
Channel = 5;
}
break;
case Robot_In.IO_IN_GraspSalverNozzleCheck1:
{
Axis = AxisNum.Axis_Y; //使用IO卡的 Y_IN1
Channel = 1;
}
break;
case Robot_In.IO_IN_GraspSalverNozzleCheck2:
{
Axis = AxisNum.Axis_Y; //使用IO卡的 Y_IN4
Channel = 4;
}
break;
case Robot_In.IO_IN_GraspSalverNozzleCheck3:
{
Axis = AxisNum.Axis_Y; //使用IO卡的 Y_IN5
Channel = 5;
}
break;
case Robot_In.IO_IN_GraspSalverNozzleCheck4:
{
Axis = AxisNum.Axis_Z; //使用IO卡的 Z_IN1
Channel = 1;
}
break;
default:
break;
}
}
public IOValue GetRobotIo(Robot_In Io)
{
IOValue Value = IOValue.IOValueLow;
if (m_IsConnected)
{
AxisNum axis = 0;
ushort channel = 0;
GetAxisAndChannelByRobotIn(Io, ref axis, ref channel);
Value = (IOValue)m_MotionControler.GetMotionIo(axis, channel);
}
return(Value);
}
