73 lines
1.7 KiB
Python
73 lines
1.7 KiB
Python
from fairino import Robot
|
|
# 与机器人控制器建立连接,连接成功返回一个机器人对象
|
|
robot = Robot.RPC('192.168.58.2')
|
|
|
|
# 设置控制箱DO
|
|
for i in range(0,16):
|
|
error = robot.SetDO(i,1) #打开控制箱DO
|
|
error = robot.WaitMs(1000)
|
|
print("WaitMs错误码:",error)
|
|
for i in range(0,16):
|
|
robot.SetDO(i,0) #关闭控制箱DO
|
|
robot.WaitMs(1000)
|
|
|
|
# 设置工具DO
|
|
error_tooldo = 0
|
|
for i in range(0,2):
|
|
error = robot.SetToolDO(i,1) #打开工具DO
|
|
robot.WaitMs(1000)
|
|
for i in range(0,2):
|
|
error = robot.SetToolDO(i,0) #关闭工具DO
|
|
|
|
# 设置控制箱AO
|
|
error = robot.SetAO(0,100.0)
|
|
print("设置AO0错误码:", error)
|
|
error = robot.SetAO(1,100.0)
|
|
print("设置AO1错误码:", error)
|
|
|
|
# 设置工具AO
|
|
error = robot.SetToolAO(0,100.0)
|
|
print("设置ToolAO0错误码:", error)
|
|
robot.WaitMs(1000)
|
|
error = robot.SetToolAO(0,0.0)
|
|
print("设置ToolAO0错误码:", error)
|
|
|
|
# 获取控制箱DI
|
|
error = robot.GetDI(0,0)
|
|
print("获取DI0",error)
|
|
|
|
# 获取工具DI
|
|
tool_di = robot.GetToolDI(1,0)
|
|
print("获取ToolDI",tool_di)
|
|
|
|
# 获取控制箱AI
|
|
error = robot.GetAI(0)
|
|
print("获取控制箱AI0",error)
|
|
|
|
# 获取工具AI
|
|
error = robot.GetToolAI(0)
|
|
print("获取ToolAI0",error)
|
|
|
|
|
|
max_waittime = 2000
|
|
#等待控制箱DI
|
|
error = robot.WaitDI(0,1,max_waittime,0)
|
|
print("WaitDI错误码",error)
|
|
#等待控制箱多路DI
|
|
error = robot.WaitMultiDI(1,3,1,max_waittime,0)
|
|
print("WaitMultiDI错误码",error)
|
|
#等待工具DI
|
|
error = robot.WaitToolDI(1,1,max_waittime,0)
|
|
print("WaitToolDI错误码",error)
|
|
|
|
|
|
#等待控制箱AI
|
|
error = robot.WaitAI(0,0,50,max_waittime,1) #忽略超时提示程序继续执行
|
|
print("WaitAI错误码",error)
|
|
#等待工具AI
|
|
error = robot.WaitToolAI(0,0,50,max_waittime,0)
|
|
print("WaitToolAI错误码",error)
|
|
|
|
|
|
|