test.frm

850运动控制卡的详细开发资料

        End
        
    End If
    
    
    
    'all_stop 0

End Sub

Private Sub CmdInp_Click()

    If g_WorkStatus = 1 Then Exit Sub
    
    g_WorkStatus = 1

    If ChkX.value = 1 And ChkY.value = 1 And ChkZ.value = 1 And ChkW.value = 1 Then
    
        If Mode.value = 1 Then
        
            result = work_inp4(pos(0).Text, pos(1).Text, pos(2).Text, pos(3).Text, 0, 0, AddressOf MyProc)
            
        Else
        
            result = work_inp4(pos(0).Text, pos(1).Text, pos(2).Text, pos(3).Text, 1, 0, AddressOf MyProc)
            
        End If
        
    ElseIf ChkX.value = 1 And ChkY.value = 1 And ChkZ.value = 1 Then
    
        If Mode.value = 1 Then
        
            result = work_inp3(pos(0).Text, pos(1).Text, pos(2).Text, 0, 0, AddressOf MyProc)
            
        Else
        
            result = work_inp3(pos(0).Text, pos(1).Text, pos(2).Text, 1, 0, AddressOf MyProc)
            
        End If
       
    ElseIf ChkX.value = 1 And ChkY.value = 1 And ChkZ.value <> 1 And ChkW.value <> 1 Then
    
        If Mode.value = 1 Then
        
            result = work_inp2(1, pos(0).Text, 2, pos(1).Text, 0, 0, AddressOf MyProc)
            
        Else
        
            result = work_inp2(1, pos(0).Text, 2, pos(1).Text, 1, 0, AddressOf MyProc)
            
        End If
  

     ElseIf ChkZ.value = 1 And ChkW.value = 1 And ChkX.value <> 1 And ChkY.value <> 1 Then
    
        If Mode.value = 1 Then
        
            result = work_inp2(3, pos(2).Text, 4, pos(3).Text, 0, 0, AddressOf MyProc)
            
        Else
        
             result = work_inp2(3, pos(2).Text, 4, pos(3).Text, 1, 0, AddressOf MyProc)
            
        End If
        
    Else
    
       MsgBox "选取的插补轴不能进行插补!"
       
       g_WorkStatus = 0
       
       Exit Sub
        
    End If
    
    If result = -1 Then
    
        MsgBox "有禁止轴参与运动!"
        
    ElseIf result = -2 Then
    
        MsgBox "软限位报警!"
        
    ElseIf result = -3 Then
    
        MsgBox "限位报警停止!"
        
    ElseIf result = 0 Then
    
       MsgBox "人为终止!"
       
    ElseIf result = 1 Then
    
        MsgBox "驱动成功!"
        
    End If
    
    g_WorkStatus = 0

    
End Sub

Private Sub CmdNeg_MouseDown(Button As Integer, Shift As Integer, x As Single, y As Single)

    If g_WorkStatus = 1 Then Exit Sub
    
    
    If ChkX.value = 1 Then

       axis = 1

    ElseIf ChkY.value = 1 Then

       axis = 2

    ElseIf ChkZ.value = 1 Then

       axis = 3

    ElseIf ChkW.value = 1 Then

       axis = 4

    Else

       axis = 0

    End If
    
    g_WorkStatus = 1
    
    ifHand = True
        
    If Button = 1 And axis <> 0 Then
    
        hand_move axis, 1, AddressOf MyProc
        
    End If
    
    g_WorkStatus = 0
    
    ifHand = False

End Sub

Private Sub CmdNeg_MouseUp(Button As Integer, Shift As Integer, x As Single, y As Single)

    If Button = 1 Then
        If ifHand = False Then Exit Sub
         
        all_stop 0
        
        g_WorkStatus = 0
        
        ifHand = False
        
    End If

End Sub

Private Sub CmdPmove_Click()

    If g_WorkStatus = 1 Then Exit Sub
    
    g_WorkStatus = 1
    

    If ChkX.value = 1 And ChkY.value = 1 And ChkZ.value = 1 And ChkW.value = 1 Then
    
        If Mode.value = 1 Then
        
            result = work_move4(pos(0).Text, pos(1).Text, pos(2).Text, pos(3).Text, 0, 0, AddressOf MyProc)
            
        Else
        
            result = work_move4(pos(0).Text, pos(1).Text, pos(2).Text, pos(3).Text, 1, 0, AddressOf MyProc)
            
        End If
       
    ElseIf ChkX.value = 1 And ChkY.value = 1 And ChkZ.value = 1 Then
    
        If Mode.value = 1 Then
        
            result = work_move3(1, pos(0).Text, 2, pos(1).Text, 3, pos(2).Text, 0, 0, AddressOf MyProc)
            
        Else
        
            result = work_move3(1, pos(0).Text, 2, pos(1).Text, 3, pos(2).Text, 1, 0, AddressOf MyProc)
            
        End If
       
    ElseIf ChkX.value = 1 And ChkY.value = 1 And ChkW.value = 1 Then
        
        If Mode.value = 1 Then
        
            result = work_move3(1, pos(0).Text, 2, pos(1).Text, 4, pos(3).Text, 0, 0, AddressOf MyProc)
            
        Else
        
            result = work_move3(1, pos(0).Text, 2, pos(1).Text, 4, pos(3).Text, 1, 0, AddressOf MyProc)
            
        End If
       
    ElseIf ChkX.value = 1 And ChkZ.value = 1 And ChkW.value = 1 Then
    
        If Mode.value = 1 Then
        
            result = work_move3(1, pos(0).Text, 3, pos(2).Text, 4, pos(3).Text, 0, 0, AddressOf MyProc)
           
        Else
        
            result = work_move3(1, pos(0).Text, 3, pos(2).Text, 4, pos(3).Text, 1, 0, AddressOf MyProc)
            
        End If
       
    ElseIf ChkY.value = 1 And ChkZ.value = 1 And ChkW.value = 1 Then
    
        If Mode.value = 1 Then
        
            result = work_move3(2, pos(1).Text, 3, pos(2).Text, 4, pos(3).Text, 0, 0, AddressOf MyProc)
            
        Else
        
             result = work_move3(2, pos(1).Text, 3, pos(2).Text, 4, pos(3).Text, 1, 0, AddressOf MyProc)
            
        End If
       
    ElseIf ChkX.value = 1 And ChkY.value = 1 Then
    
        If Mode.value = 1 Then
        
            result = work_move2(1, pos(0).Text, 2, pos(1).Text, 0, 0, AddressOf MyProc)
            
        Else
        
            result = work_move2(1, pos(0).Text, 2, pos(1).Text, 1, 0, AddressOf MyProc)
            
        End If
       
    ElseIf ChkX.value = 1 And ChkZ.value = 1 Then
    
        If Mode.value = 1 Then
        
            result = work_move2(1, pos(0).Text, 3, pos(2).Text, 0, 0, AddressOf MyProc)
            
        Else
        
             result = work_move2(1, pos(0).Text, 3, pos(2).Text, 1, 0, AddressOf MyProc)
            
        End If
       
    ElseIf ChkX.value = 1 And ChkW.value = 1 Then
    
        If Mode.value = 1 Then
        
             result = work_move2(1, pos(0).Text, 4, pos(3).Text, 0, 0, AddressOf MyProc)
            
        Else
        
            result = work_move2(1, pos(0).Text, 4, pos(3).Text, 1, 0, AddressOf MyProc)
            
        End If
       
    ElseIf ChkY.value = 1 And ChkZ.value = 1 Then
    
        If Mode.value = 1 Then
        
            result = work_move2(2, pos(1).Text, 3, pos(2).Text, 0, 0, AddressOf MyProc)
            
        Else
        
            result = work_move2(2, pos(1).Text, 3, pos(2).Text, 1, 0, AddressOf MyProc)
            
        End If
       
    ElseIf ChkY.value = 1 And ChkW.value = 1 Then
    
        If Mode.value = 1 Then
        
             result = work_move2(2, pos(1).Text, 4, pos(3).Text, 0, 0, AddressOf MyProc)
            
        Else
        
            result = work_move2(2, pos(1).Text, 4, pos(3).Text, 1, 0, AddressOf MyProc)
            
        End If
       
    ElseIf ChkZ.value = 1 And ChkW.value = 1 Then
    
        If Mode.value = 1 Then
        
            result = work_move2(3, pos(2).Text, 4, pos(3).Text, 0, 0, AddressOf MyProc)
            
        Else
        
             result = work_move2(3, pos(2).Text, 4, pos(3).Text, 1, 0, AddressOf MyProc)
            
        End If
    
    ElseIf ChkX.value = 1 Then
    
        If Mode.value = 1 Then
        
            result = work_move1(1, pos(0).Text, 0, 0, AddressOf MyProc)
            
        Else
        
            result = work_move1(1, pos(0).Text, 1, 0, AddressOf MyProc)
            
        End If
        
    ElseIf ChkY.value = 1 Then
    
        If Mode.value = 1 Then
        
           result = work_move1(2, pos(1).Text, 0, 0, AddressOf MyProc)
            
        Else
        
            result = work_move1(2, pos(1).Text, 1, 0, AddressOf MyProc)
            
        End If
        
    ElseIf ChkZ.value = 1 Then
    
        If Mode.value = 1 Then
        
            result = work_move1(3, pos(2).Text, 0, 0, AddressOf MyProc)
            
        Else
        
            result = work_move1(3, pos(2).Text, 1, 0, AddressOf MyProc)
            
        End If
        
    ElseIf ChkW.value = 1 Then
    
        If Mode.value = 1 Then
        
            result = work_move1(4, pos(3).Text, 0, 0, AddressOf MyProc)
            
        Else
        
            result = work_move1(4, pos(3).Text, 1, 0, AddressOf MyProc)
            
        End If
        
    Else
    
       Exit Sub
       
    End If
    
    
    If result = -1 Then
    
        MsgBox "有禁止轴参与运动，运动终止!"
        
    ElseIf result = -2 Then
    
        MsgBox "软限位报警，运动终止!"
        
    ElseIf result = -3 Then
    
        MsgBox "限位报警停止!"
        
    ElseIf result = 0 Then
    
       MsgBox "人为终止!"
       
    ElseIf result = 1 Then
    
        MsgBox "驱动成功!"
        
    End If
    
    g_WorkStatus = 0

End Sub

Private Sub CmdPos_MouseDown(Button As Integer, Shift As Integer, x As Single, y As Single)

    If g_WorkStatus = 1 Then Exit Sub
    
    
    
    If ChkX.value = 1 Then

       axis = 1

    ElseIf ChkY.value = 1 Then

       axis = 2

    ElseIf ChkZ.value = 1 Then

       axis = 3

    ElseIf ChkW.value = 1 Then

       axis = 4

    Else

       axis = 0

    End If
    
    g_WorkStatus = 1
    
    ifHand = True
    
    If Button = 1 And axis <> 0 Then
    
        hand_move axis, 0, AddressOf MyProc
        
    End If
    
    g_WorkStatus = 0
    
    ifHand = False

End Sub

Private Sub CmdPos_MouseUp(Button As Integer, Shift As Integer, x As Single, y As Single)

    
    If Button = 1 Then
        If ifHand = False Then Exit Sub
        
        all_stop 0
        
        g_WorkStatus = 0
        
        ifHand = False
    End If
    
End Sub

Private Sub CmdStop_Click()

    all_stop 0
        
End Sub



Private Sub Form_Load()

    For i = 0 To 3
    
      pos(i).Text = 10
      
    Next i
    
    g_WorkStatus = 0
    ifHand = False
    

End Sub



Private Sub Mode_Click()

    If Mode.value = 0 Then
    
        Mode.Caption = "绝对模式"
    
    ElseIf Mode.value = 1 Then
    
        Mode.Caption = "相对模式"
    
    End If

End Sub

Private Sub Timer1_Timer()
   
   For i = 1 To 4
   
    
   LogPos(i - 1).Caption = get_logical_pos(i, 0)
   ActPos(i - 1).Caption = get_fact_pos(i, 0)
   Speed(i - 1).Caption = get_move_speed(i, 0)
   
     
     
     
     
     
     
     If get_input((i - 1) * 8) = 0 Then
     
        ChkP(i - 1).value = 1
        
     Else
     
       ChkP(i - 1).value = 0
       
     End If
     
     If get_input((i - 1) * 8 + 1) = 0 Then
        
        ChkN(i - 1).value = 1
        
     Else
     
       ChkN(i - 1).value = 0
       
     End If
     
     If get_input((i - 1) * 8 + 2) = 0 Then
        
        ChkHome(i - 1).value = 1
        
     Else
     
       ChkHome(i - 1).value = 0
       
     End If
     
   Next i
       
   
End Sub