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
Function MainInitPro Reset If Motor = Off Then Motor On SLock 1, 2, 3, 4, 5, 6 EndIf Power High Counts = 0 Accel 60, 60 Speed 10 AccelS 1000 SpeedS 1000' Go P1Fend
②网络配置
Function NetOpen NetSts = ChkNet(202) If (NetSts < 0) Then CloseNet #202 Wait 0.5 SetNet #202, "192.168.0.1", 2002, CRLF, NONE, 0 '配置端口号，ip地址 OpenNet #202 As Server WaitNet #202 Print "配置完成!" EndIfFend
③扫描端口，获取端口数据，传输数据
Function ScanConnNetOnErr GoTo errhandler Do NetSts = ChkNet(202) If (NetSts > 0) Then Input #202, RecvString$ '从202端口获取输入，并赋值到变量RecvString$ ParseStr RecvString$, RecvStr$(), "#" ParseStr RecvString$, RecvStr$(), " " Select RecvStr$(0) Case "X" Move CurPos +X(Val(RecvStr$(1))) Case "-X" Move CurPos -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$(6)) Go LJM(P100) '发送数据到202端口 Print #202, "#GoToPointok" Send ElseIf NetSts < 0 Then Call NetOpen ElseIf NetSts = 0 Then EndIf Print #202, "#RobotPos" + "," + Str$(CX(CurPos)) + "," + Str$(CY(CurPos)) + "," + Str$(CZ(CurPos)) + "," + Str$(CU(CurPos)) + "," + Str$(CV(CurPos)) + "," + Str$(CW(CurPos)) + "#" Wait 0.2 LooperrHandler: RecvString$ = "" EResume NextFend
三.c#编程
①Tcp连接核心代码
using System.Threading.Tasks;using TestLTDMC;using System.Threading;using System.Windows.Forms;namespace Test{ class Robot { private Socket client; public static object sendLock = new object(); private IPEndPoint ipep; private byte[] buf = new byte[1024]; private static object SendLock = new object(); private static object Lock = new object(); public static Robot robot; private bool RobotConnectSts = false; public static Robot instance; public static Robot Instance() { if (instance == null) { instance = new Robot(); } return instance; } private Robot() { IPAddress ipad = IPAddress.Parse("192.168.0.1"); ipep = new IPEndPoint(ipad, 2001); } public void ConnectWithRobot() { if (client != null && client.Connected) { client.Close(); } try { lock (sendLock) { client = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp); client.Connect(ipep); client.BeginReceive(buf, 0, buf.Length, SocketFlags.None, new AsyncCallback(Receive), client); } } catch { } } public bool GetRobotConnectSts { get { if (client != null) { RobotConnectSts = client.Connected; } else { RobotConnectSts = false; } return RobotConnectSts; } } public void DisconnectWithRobot() { if (client != null) { client.Close(); } } private void Receive(IAsyncResult ia) { try { client = ia.AsyncState as Socket; int count = client.EndReceive(ia); client.BeginReceive(buf, 0, buf.Length, SocketFlags.None, new AsyncCallback(Receive), client); string context = Encoding.ASCII.GetString(buf, 0, count); if (context.Length > 0) { ProcessData(context); } else { } } catch { } } private void ProcessData(string recvdata) { recvdata = recvdata.Trim(); string[] cmddata = recvdata.Split(new char[] { '#' }); //string[] singlecmddata1 = cmddata[1].Split(new char[] { 'rn' }); string[] singlecmddata = cmddata[1].Split(new char[] { ',' }); 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; } } public void SendCmdToRobot(string part1, double part2, string part3, string part4, string part5, string part6, string part7) { string sendcmd = ""; sendcmd = part1 + " " + part2 + " " + part3 + " " + part4 + " " + part5 + " " + part6 + " " + part7; SendCmdData(sendcmd); } public void SendCmdData(string StrData) { RunLog.instance.SaveLog(1, "PC向Robot发送" + StrData + "命令"); lock (SendLock) { try { byte[] buf1; buf1 = Encoding.ASCII.GetBytes(StrData + "rn"); client.Send(buf1, 0, buf1.Length, SocketFlags.None); } catch { } } } }}