夹爪控制

夹爪安装:

  • 自适应夹爪将夹爪插在atom上面的引脚上,具体看下图:
    pic

  • 电动夹爪插在顶端上的485接口处,具体看下图:
    注意:myCobot 280-m5无电动夹爪,只有myCobot 320-m5有电动夹爪
    pic

    1 自适应夹爪控制

    支持设备:myCobot280、320&&myPalletizer 260
    SetGriper(int open)
    返回值:无
    参数说明:夹爪开关状态(0--关,1--开)
    案例:由于延迟,第一次控制夹爪,可能不成功,建议发送两次

    for (int i = 0; i < 2; i++) {

      mycobot::MyCobot::I().SetGriper(1);<br>
      mycobot::MyCobot::I().SleepSecond(3);<br>
      mycobot::MyCobot::I().SetGriper(0);<br>
      mycobot::MyCobot::I().SleepSecond(3);<br>
    

    }

2 电动夹爪控制

支持设备:myCobot320
SetElectricGriper(int open)
返回值:无
参数说明:夹爪开关状态(0--关,1--开)
案例:由于延迟,第一次控制夹爪,可能不成功,建议发送两次

for (int i = 0; i < 2; i++) {<br>
    mycobot::MyCobot::I().SetElectricGriper(1);<br>
    mycobot::MyCobot::I().SleepSecond(1);<br>
    mycobot::MyCobot::I().SetElectricGriper(0);<br>
    mycobot::MyCobot::I().SleepSecond(1);<br>
}

3 完整使用案例

int main(int argc, char* argv[])
try {
QCoreApplication a(argc, argv);
using namespace std::chrono_literals;
if (!mycobot::MyCobot::I().IsControllerConnected()) {
    std::cerr << "Robot is not connected\n";
    exit(EXIT_FAILURE);
}
std::cout << "Robot is connected\n";
mycobot::MyCobot::I().PowerOn();

mycobot::MyCobot::I().SleepSecond(1);//需要等待1S,让前面的动作做完

//设置io输出,2、5、26为m5输出引脚
mycobot::MyCobot::I().SetBasicOut(2, 1);
mycobot::MyCobot::I().SleepSecond(1);
mycobot::MyCobot::I().SetBasicOut(5, 1);
mycobot::MyCobot::I().SleepSecond(1);
mycobot::MyCobot::I().SetBasicOut(26, 1);
mycobot::MyCobot::I().SleepSecond(1);

//m5输入引脚 35、36 第一次会出现延迟
/*for (int i = 0; i < 2; i++) {
    std::cout << "35= " << mycobot::MyCobot::I().GetBasicIn(35) << std::endl;
    mycobot::MyCobot::I().SleepSecond(1);
    std::cout << "36= " << mycobot::MyCobot::I().GetBasicIn(36) << std::endl;
    mycobot::MyCobot::I().SleepSecond(1);
}*/

//atom输出引脚 23 33
/*mycobot::MyCobot::I().SetDigitalOut(23, 1);
mycobot::MyCobot::I().SleepSecond(1);
mycobot::MyCobot::I().SetDigitalOut(33, 1);
mycobot::MyCobot::I().SleepSecond(1);*/

//atom输入引脚22 19 第一次会出现延迟
/*for (int i = 0; i < 2; i++) {
    std::cout << "22= " << mycobot::MyCobot::I().GetDigitalIn(22) << std::endl;
    mycobot::MyCobot::I().SleepSecond(1);
    std::cout << "19= " << mycobot::MyCobot::I().GetDigitalIn(19) << std::endl;
    mycobot::MyCobot::I().SleepSecond(1);
}*/

//自适应夹爪 1--open 0--close 由于第一次有延迟,发送两次
for (int i = 0; i < 2; i++) {
    mycobot::MyCobot::I().SetGriper(1);
    mycobot::MyCobot::I().SleepSecond(3);
    mycobot::MyCobot::I().SetGriper(0);
    mycobot::MyCobot::I().SleepSecond(3);
}

//电动夹爪 1-开 0-关  由于第一次有延迟,发送两次
/*for (int i = 0; i < 2; i++) {
    mycobot::MyCobot::I().SetElectricGriper(1);
    mycobot::MyCobot::I().SleepSecond(1);
    mycobot::MyCobot::I().SetElectricGriper(0);
    mycobot::MyCobot::I().SleepSecond(1);
}*/
/*mycobot::MyCobot::I().StopRobot();
std::cout << "Robot is moving: " << mycobot::MyCobot::I().IsMoving() << "\n";
mycobot::Angles angles = mycobot::MyCobot::I().GetAngles();
std::this_thread::sleep_for(200ms);
mycobot::Coords coords = mycobot::MyCobot::I().GetCoords();
angles = mycobot::MyCobot::I().GetAngles();
std::cout << "[" << angles[mycobot::J1] << ", " << angles[mycobot::J2] << ", " << angles[mycobot::J3] << ", "
    << angles[mycobot::J4] << ", " << angles[mycobot::J5] << ", " << angles[mycobot::J6] << "]";
mycobot::Angles goal_angles = { 1, 0, 0, 0, 0, 0 };
mycobot::MyCobot::I().WriteAngles(goal_angles,180);
while (!mycobot::MyCobot::I().IsInPosition(goal_angles, false)) {
    angles = mycobot::MyCobot::I().GetAngles();
    std::cout << "[" << angles[mycobot::J1] << ", " << angles[mycobot::J2] << ", "
        << angles[mycobot::J3] << ", " << angles[mycobot::J4] << ", "
        << angles[mycobot::J5] << ", " << angles[mycobot::J6] << "]" << std::flush;
    std::this_thread::sleep_for(200ms);
}

//mycobot::MyCobot::I().JogAngle(mycobot::Joint::J1, 1, 5);
std::this_thread::sleep_for(5000ms);
mycobot::MyCobot::I().StopRobot();*/

std::cout << "\n";
exit(EXIT_SUCCESS);
} catch (std::error_code&) {
std::cerr << "System error. Exiting.\n";
exit(EXIT_FAILURE);
} catch (...) {
std::cerr << "Unknown exception thrown. Exiting.\n";
exit(EXIT_FAILURE);
}

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