Epson机械手简单实例编程

Epson简单实例

1.Epson软件方面编程

2.网络配置方面

3.vs编码方面

软件配置:Epson机械手软件，vs2012

网络配置:Tcp通信，IP地址及端口设置

硬件配置:Pc机，机械手，机械手供电器

一.环境准备

①pc，机械手，供电器上电。

②pc与机械手的两个网线插口连接，置供电器Power为On

③配置pc的ip地址与Epson软件同一个ip地址，Epson软件每一个端口都可以设置一个ip，可以同时开多个端口(设置位置：设置—系统配置—控制器—TCP/IP)

④窗口—电脑与控制器通信–增加，添加一个以太网连接p1，同时设置ip地址

⑤将软件状态从离线改为usb，在更改为名为p1的以太网连接。

⑥工具—机器人管理器，调试机械手，机械手运动则表示环境准备完成。

二. 编写Epson软件代码

①初始化Epson

②网络配置

③扫描端口，获取端口数据，传输数据FunctionScanConnNet

OnErrGoToerrhandler

Do

NetSts=ChkNet(202)

If(NetSts>0)Then

Input#202,RecvString${}^{\prime }从202端口获取输入，并赋值到变量RecvString$

ParseStrRecvString$,RecvStr$(),"#"

ParseStrRecvString$,RecvStr$(),""

SelectRecvStr$(0)

Case"X"

MoveCurPos+X(Val(RecvStr$(1)))

Case"-X"

MoveCurPos-X(Val(RecvStr$(1)))

Case"RobotRun"

CX(P100)=Val(RecvStr$(1))

CY(P100)=Val(RecvStr$(2))

CZ(P100)=Val(RecvStr$(3))

CU(P100)=Val(RecvStr$(4))

CV(P100)=Val(RecvStr$(5))

CW(P100)=Val(RecvStr$(6))

GoLJM(P100)

'发送数据到202端口

Print#202,"#GoToPointok"

Send

ElseIfNetSts

CallNetOpen

ElseIfNetSts=0Then

EndIf

Print#202,"#RobotPos"+","+Str$(CX(CurPos))+","+Str$(CY(CurPos))+","+Str$(CZ(CurPos))+","+Str$(CU(CurPos))+","+Str$(CV(CurPos))+","+Str$(CW(CurPos))+"#"

Wait0.2

Loop

errHandler:

RecvString$=""

EResumeNext

Fend

三.c#编程①Tcp连接核心代码usingSystem.Threading.Tasks;

usingTestLTDMC;

usingSystem.Threading;

usingSystem.Windows.Forms;

namespaceTest

{

classRobot

{

privateSocketclient;

publicstaticobjectsendLock=newobject();

privateIPEndPointipep;

privatebyte[]buf=newbyte[1024];

privatestaticobjectSendLock=newobject();

privatestaticobjectLock=newobject();

publicstaticRobotrobot;

privateboolRobotConnectSts=false;

publicstaticRobotinstance;

publicstaticRobotInstance()

{

if(instance==null)

{

instance=newRobot();

}

returninstance;

}

privateRobot()

{

IPAddressipad=IPAddress.Parse(“192.168.0.1”);

ipep=newIPEndPoint(ipad,2001);

}

publicvoidConnectWithRobot()

{

if(client!=null&&client.Connected)

{

client.Close();

}

try

{

lock(sendLock)

{

client=newSocket(AddressFamily.InterNetwork,SocketType.Stream,ProtocolType.Tcp);

client.Connect(ipep);

client.BeginReceive(buf,0,buf.Length,SocketFlags.None,newAsyncCallback(Receive),client);

}

}

catch

{

}

}

publicboolGetRobotConnectSts

{

get

{

if(client!=null)

{

RobotConnectSts=client.Connected;

}

else

{

RobotConnectSts=false;

}

returnRobotConnectSts;

}

}

publicvoidDisconnectWithRobot()

{

if(client!=null)

{

client.Close();

}

}

privatevoidReceive(IAsyncResultia)

{

try

{

client=ia.AsyncStateasSocket;

intcount=client.EndReceive(ia);

client.BeginReceive(buf,0,buf.Length,SocketFlags.None,newAsyncCallback(Receive),client);

stringcontext=Encoding.ASCII.GetString(buf,0,count);

if(context.Length>0)

{

ProcessData(context);

}

else

{

}

}

catch

{

}

}

privatevoidProcessData(stringrecvdata)

{

recvdata=recvdata.Trim();

string[]cmddata=recvdata.Split(newchar[]{’#’});

//string[]singlecmddata1=cmddata[1].Split(newchar[]{’ '});

string[]singlecmddata=cmddata[1].Split(newchar[]{’,’});

if(singlecmddata[0].Trim()!=“RobotPos”)

{

RunLog.instance.SaveLog(1,“PC接收到Robot发来的去”+recvdata+“命令”);

}

switch(singlecmddata[0].Trim())

{

case"RobotPos":

//相关处理

break;

default:

break;

}

}

publicvoidSendCmdToRobot(stringpart1,doublepart2,stringpart3,stringpart4,stringpart5,stringpart6,stringpart7)

{

stringsendcmd="";

sendcmd=part1+""+part2+""+part3+""+part4+""+part5+""+part6+""+part7;

SendCmdData(sendcmd);

}

publicvoidSendCmdData(stringStrData)

{

RunLog.instance.SaveLog(1,“PC向Robot发送”+StrData+“命令”);

lock(SendLock)

{

try

{

byte[]buf1;

buf1=Encoding.ASCII.GetBytes(StrData+" ");

client.Send(buf1,0,buf1.Length,SocketFlags.None);

}

catch

{

}

}

}

}

}

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