adt850.bas

850运动控制卡的详细开发资料

Attribute VB_Name = "adt850"
Option Explicit
'******************************基本库函数****************************
Declare Function adt850_initial Lib "adt850.dll" () As Byte

Declare Function set_stop0_mode Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, ByVal value As Long, ByVal logic As Long) As Long
Declare Function set_stop1_mode Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, ByVal value As Long, ByVal logic As Long) As Long
Declare Function set_stop2_mode Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, ByVal value As Long, ByVal logic As Long) As Long
Declare Function set_actualcount_mode Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, ByVal value As Long, ByVal dir As Long, ByVal freq As Long) As Long
Declare Function set_pulse_mode Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, ByVal value As Long, ByVal logic As Long, ByVal dir_logic As Long) As Long
Declare Function set_limit_mode Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, ByVal value As Long, ByVal logic As Long) As Long
Declare Function set_softlimit_mode1 Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, ByVal value As Long) As Long
Declare Function set_softlimit_mode2 Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, ByVal value As Long) As Long
Declare Function set_softlimit_mode3 Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, ByVal value As Long) As Long
Declare Function set_inpos_mode Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, ByVal value As Long, ByVal logic As Long) As Long
Declare Function set_alarm_mode Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, ByVal value As Long, ByVal logic As Long) As Long
Declare Function set_ad_mode Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, ByVal value As Long) As Long
Declare Function set_dec1_mode Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, ByVal value As Long) As Long
Declare Function set_dec2_mode Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, ByVal value As Long) As Long
Declare Function set_circle_mode Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, ByVal value As Long) As Long
Declare Function set_input_filter Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, ByVal number As Long, ByVal value As Long) As Long
Declare Function set_filter_time Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, ByVal value As Long) As Long

Declare Function get_status Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, value As Long) As Long
Declare Function get_stopdata Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, value As Long) As Long
Declare Function get_inp_status Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, value As Long) As Long
Declare Function get_inp_status2 Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, value As Long) As Long

Declare Function set_range Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, ByVal value As Long) As Long
Declare Function set_acac Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, ByVal value As Long) As Long
Declare Function set_acc Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, ByVal value As Long) As Long
Declare Function set_dec Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, ByVal value As Long) As Long
Declare Function set_startv Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, ByVal value As Long) As Long
Declare Function set_speed Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, ByVal value As Long) As Long
Declare Function set_command_pos Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, ByVal value As Long) As Long
Declare Function set_actual_pos Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, ByVal value As Long) As Long
Declare Function set_comp1 Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, ByVal value As Long) As Long
Declare Function set_comp2 Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, ByVal value As Long) As Long
Declare Function set_dec_pos Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, ByVal value As Long) As Long

Declare Function get_command_pos Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, value As Long) As Long
Declare Function get_actual_pos Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, value As Long) As Long
Declare Function get_speed Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, value As Long) As Long
Declare Function get_ad Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, value As Long) As Long

Declare Function pmove Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, ByVal value As Long) As Long
Declare Function continue_move Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long, ByVal dir As Long) As Long
Declare Function dec_stop Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long) As Long
Declare Function sudden_stop Lib "adt850.dll" (ByVal cardno As Long, ByVal axis As Long) As Long

Declare Function inp_move2 Lib "adt850.dll" (ByVal cardno As Long, ByVal no As Long, ByVal x As Long, ByVal y As Long) As Long
Declare Function inp_cw_arc Lib "adt850.dll" (ByVal cardno As Long, ByVal no As Long, ByVal x As Long, ByVal y As Long, ByVal i As Long, ByVal j As Long) As Long
Declare Function inp_ccw_arc Lib "adt850.dll" (ByVal cardno As Long, ByVal no As Long, ByVal x As Long, ByVal y As Long, ByVal i As Long, ByVal j As Long) As Long
Declare Function inp_move3 Lib "adt850.dll" (ByVal cardno As Long, ByVal x As Long, ByVal y As Long, ByVal z As Long) As Long
Declare Function inp_move4 Lib "adt850.dll" (ByVal cardno As Long, ByVal x As Long, ByVal y As Long, ByVal z As Long, ByVal w As Long) As Long
Declare Function inp_dec_enable Lib "adt850.dll" (ByVal cardno As Long, ByVal no As Long) As Long
Declare Function inp_dec_disable Lib "adt850.dll" (ByVal cardno As Long, ByVal no As Long) As Long
Declare Function inp_clear Lib "adt850.dll" (ByVal cardno As Long) As Long

Declare Function read_di Lib "adt850.dll" (ByVal cardno As Long, value As Long) As Long
Declare Function write_do Lib "adt850.dll" (ByVal cardno As Long, ByVal value As Long) As Long

Declare Function read_bit Lib "adt850.dll" (ByVal cardno As Long, ByVal number As Long) As Long
Declare Function write_bit Lib "adt850.dll" (ByVal cardno As Long, ByVal number As Long, ByVal value As Long) As Long


'******************************应用型库函数****************************
 
Declare Function adt850_init_board Lib "adt850.dll" () As Integer '初始化函数
''回原点函数 axis、axis1、axis2、axis3、axis4—轴号；pfn—指针函数，对应该模块中的MyProc子程序，用于转让控制权限
Declare Function home1 Lib "adt850.dll" (ByVal axis As Integer, ByVal pfn As Long) As Integer
Declare Function home2 Lib "adt850.dll" (ByVal axis1 As Integer, ByVal axis2 As Integer, ByVal pfn As Long) As Integer
Declare Function home3 Lib "adt850.dll" (ByVal axis1 As Integer, ByVal axis2 As Integer, ByVal axis3 As Integer, ByVal pfn As Long) As Integer
Declare Function home4 Lib "adt850.dll" (ByVal pfn As Long) As Integer
''联动函数d、d1、d2、d3、d4—目标位置；oppmode—运动模式,0—相对模式，1—绝对模式；speedmode—速度模式，0—加工速度，1—空移速度
Declare Function work_move1 Lib "adt850.dll" (ByVal axis As Integer, ByVal d As Single, ByVal oppmode As Integer, ByVal speedmode As Integer, ByVal pfn As Long) As Integer
Declare Function work_move2 Lib "adt850.dll" (ByVal axis1 As Integer, ByVal d1 As Single, ByVal axis2 As Integer, ByVal d2 As Single, ByVal oppmode As Integer, ByVal speedmode As Integer, ByVal pfn As Long) As Integer
Declare Function work_move3 Lib "adt850.dll" (ByVal axis1 As Integer, ByVal d1 As Single, ByVal axis2 As Integer, ByVal d2 As Single, ByVal axis3 As Integer, ByVal d3 As Single, ByVal oppmode As Integer, ByVal speedmode As Integer, ByVal pfn As Long) As Integer
Declare Function work_move4 Lib "adt850.dll" (ByVal d1 As Single, ByVal d2 As Single, ByVal d3 As Single, ByVal d4 As Single, ByVal oppmode As Integer, ByVal speedmode As Integer, ByVal pfn As Long) As Integer
''插补函数d、d1、d2、d3、d4—目标位置；oppmode—运动模式,0—相对模式，1—绝对模式；speedmode—速度模式，0—加工速度，1—空移速度
Declare Function work_inp2 Lib "adt850.dll" (ByVal axis1 As Integer, ByVal d1 As Single, ByVal axis2 As Integer, ByVal d2 As Single, ByVal oppmode As Integer, ByVal speedmode As Integer, ByVal pfn As Long) As Integer
Declare Function work_inp3 Lib "adt850.dll" (ByVal d1 As Single, ByVal d2 As Single, ByVal d3 As Single, ByVal oppmode As Integer, ByVal speedmode As Integer, ByVal pfn As Long) As Integer
Declare Function work_inp4 Lib "adt850.dll" (ByVal d1 As Single, ByVal d2 As Single, ByVal d3 As Single, ByVal d4 As Single, ByVal oppmode As Integer, ByVal speedmode As Integer, ByVal pfn As Long) As Integer
Declare Function work_arc Lib "adt850.dll" (ByVal axis1 As Integer, ByVal axis2 As Integer, cood As Single, ByVal speedmode As Integer, ByVal pfn As Long) As Integer
''手动函数dir—方向，0—正向，1—负向
Declare Function hand_move Lib "adt850.dll" (ByVal axis As Integer, ByVal dir As Integer, ByVal pfn As Long) As Integer
''连续运动
Declare Function continue_move1 Lib "adt850.dll" (ByVal axis As Integer, ByVal dir As Integer, ByVal speedmode As Integer, ByVal pfn As Long) As Integer
Declare Function continue_move2 Lib "adt850.dll" (ByVal axis1 As Integer, ByVal dir1 As Integer, ByVal axis2 As Integer, ByVal dir2 As Integer, ByVal speedmode As Integer, ByVal pfn As Long) As Integer
Declare Function continue_move3 Lib "adt850.dll" (ByVal axis1 As Integer, ByVal dir1 As Integer, ByVal axis2 As Integer, ByVal dir2 As Integer, ByVal axis3 As Integer, ByVal dir3 As Integer, ByVal speedmode As Integer, ByVal pfn As Long) As Integer
Declare Function continue_move4 Lib "adt850.dll" (ByVal dir1 As Integer, ByVal dir2 As Integer, ByVal dir3 As Integer, ByVal dir4 As Integer, ByVal speedmode As Integer, ByVal pfn As Long) As Integer
''自由移动 联动方式
Declare Function free_move1 Lib "adt850.dll" (ByVal axis As Integer, ByVal d As Single, ByVal startv As Single, ByVal Speed As Single, ByVal addtime As Single, ByVal oppmode As Integer, ByVal pfn As Long) As Integer
Declare Function free_move2 Lib "adt850.dll" (ByVal axis1 As Integer, ByVal d1 As Single, ByVal startv1 As Single, ByVal speed1 As Single, ByVal addtime1 As Single, ByVal axis2 As Integer, ByVal d2 As Single, ByVal startv2 As Single, ByVal speed2 As Single, ByVal addtime2 As Single, ByVal oppmode As Integer, ByVal pfn As Long) As Integer
Declare Function free_move3 Lib "adt850.dll" (ByVal axis1 As Integer, ByVal d1 As Single, ByVal startv1 As Single, ByVal speed1 As Single, ByVal addtime1 As Single, ByVal axis2 As Integer, ByVal d2 As Single, ByVal startv2 As Single, ByVal speed2 As Single, ByVal addtime2 As Single, ByVal axis3 As Integer, ByVal d3 As Single, ByVal startv3 As Single, ByVal speed3 As Single, ByVal addtime3 As Single, ByVal oppmode As Integer, ByVal pfn As Long) As Integer
Declare Function free_move4 Lib "adt850.dll" (ByVal d1 As Single, ByVal startv1 As Single, ByVal speed1 As Single, ByVal addtime1 As Single, ByVal d2 As Single, ByVal startv2 As Single, ByVal speed2 As Single, ByVal addtime2 As Single, ByVal d3 As Single, ByVal startv3 As Single, ByVal speed3 As Single, ByVal addtime3 As Single, ByVal d4 As Single, ByVal startv4 As Single, ByVal speed4 As Single, ByVal addtime4 As Single, ByVal oppmode As Integer, ByVal pfn As Long) As Integer
''停止函数
Declare Function one_stop Lib "adt850.dll" (ByVal axis As Integer, ByVal Mode As Integer) As Integer
Declare Function all_stop Lib "adt850.dll" (ByVal Mode As Integer) As Integer

''获取信息
Declare Function get_logical_pos Lib "adt850.dll" (ByVal axis As Integer, ByVal Mode As Integer) As Single
Declare Function get_fact_pos Lib "adt850.dll" (ByVal axis As Integer, ByVal Mode As Integer) As Single
Declare Function get_move_speed Lib "adt850.dll" (ByVal axis As Integer, ByVal Mode As Integer) As Single

''IO函数
Declare Function get_input Lib "adt850.dll" (ByVal number As Integer) As Integer
Declare Function set_output Lib "adt850.dll" (ByVal nunber As Integer, ByVal status As Integer) As Integer


Public Sub MyProc()

    DoEvents

End Sub