EFFECTOR - End effector activation
Command caption
How the command appears in the CLData command list:
EFFECTOR N n, Value ON(71) | OFF(72)
EFFECTOR CLData command should activate or deactivate the end effector of a machine or robot (laser, jet nozzle, arc welder etc.).
Access from sppx
Handler: program Effector
| Parameter | CLD array | CLD name | Description |
|---|---|---|---|
| N | CLD[1] | CLD.N | Unique identifier of the end effector to be enabled or disabled |
| Value | CLD[2] | CLD.Value | Type of the command: 71 - switch ON, 72 - switch OFF. |
Example:
program Effector
! cld[1] - effector id, cld[2] - 71 (ON) | 72 (OFF)
if cld[2] = 71 then
Output "DOUT M#(" + cld[1] + ")=ON"
else
Output "DOUT M#(" + cld[1] + ")=OFF"
end
Access from .NET
Handler:
public override void OnEffector(ICLDEffectorCommand cmd, CLDArray cld)
Inheritance: ICLDEffectorCommand : ICLDCommand.
Read the parameters from the strongly-typed cmd object (recommended); the raw cld[i] array (same indices as in sppx) and the named cmd["..."] helpers are available too. The table lists the command's members, including those inherited from its base interfaces; the common ICLDCommand members (navigation, CLD, CLDFile, TechOperation, ...) are described in the CLData access model.
| Member | Type | Description |
|---|---|---|
cmd.IsOn |
bool |
Returns "true" if this command is EFFECTOR switch ON command, otherwise "false". |
cmd.IsOff |
bool |
Returns "true" if this command is EFFECTOR switch OFF command, otherwise "false". |
cmd.EffectorID |
int |
Numerical identifier of the effector to activate-deactivate. |
Example - OnEffector (from the CRP_robot_DN postprocessor):
public override void OnEffector(ICLDEffectorCommand cmd, CLDArray cld)
{
// if (cmd.IsOn && !effectorIsOn) {
// prg.WriteLine("DOUT M#(111)=ON");
// } else if (cmd.IsOff && effectorIsOn) {
// prg.WriteLine("DOUT M#(111)=OFF");
// }
effectorIsOn = cmd.IsOn;
}