frmmain.frm

850运动控制卡的详细开发资料

               If m_bEnableDemo_w = True Then set_command_pos cardno, 4, 0
 
End Sub

Private Sub CheckAxisStatus()
  
   Dim state As Long
   Dim value As Long
   
   state = -1
   

           If m_bEnableDemo_x = True Then
               While (state <> 0)
                   value = get_status(cardno, 1, state)
                   
               Wend
               state = -1
           End If

           If m_bEnableDemo_y = True Then
               While (state <> 0)
                   value = get_status(cardno, 2, state)
                   
               Wend
               state = -1
           End If

           If m_bEnableDemo_z = True Then
               While (state <> 0)
                   value = get_status(cardno, 3, state)
                  
               Wend
                state = -1
           End If

           If m_bEnableDemo_w = True Then
               While (state <> 0)
                   value = get_status(cardno, 4, state)
                   
               Wend
               state = -1
           End If
  
End Sub



Private Sub optnThreeAxisInp_Click()
   m_bIsTwoAxisInp = False
   m_bIsThreeAxisInp = True
   m_bIsFourAxisInp = False
   
   chkDemo_x.value = vbChecked
   m_bEnableDemo_x = True
   chkDemo_x.Enabled = False
   txtPulseCount_x.BackColor = &H80000005
   
   chkDemo_y.value = vbChecked
   m_bEnableDemo_y = True
   chkDemo_y.Enabled = False
   txtPulseCount_y.BackColor = &H80000005
   
   chkDemo_z.value = vbChecked
   m_bEnableDemo_z = True
   chkDemo_z.Enabled = False
   txtPulseCount_z.BackColor = &H80000005
   
   chkDemo_w.value = False
   m_bEnableDemo_w = False
   chkDemo_w.Enabled = False
   txtPulseCount_w.BackColor = &H8000000B
   
   
End Sub

Private Sub optnTwoAxisInp_Click()

   
   m_bIsTwoAxisInp = True
   m_bIsThreeAxisInp = False
   m_bIsFourAxisInp = False
   
   chkDemo_x.Enabled = True
   chkDemo_x.value = False
   
    
   chkDemo_y.value = vbChecked
   chkDemo_y.Enabled = False
   txtPulseCount_y.BackColor = &H8000000B
   
   chkDemo_z.Enabled = True
   chkDemo_z.value = False
   
   
   chkDemo_w.value = vbChecked
   chkDemo_w.Enabled = False
   txtPulseCount_w.BackColor = &H8000000B
   
   

  
End Sub

Private Sub Timer1_Timer()
Dim value As Long
If m_bEnableDemo_x Then
   value = get_command_pos(cardno, 1, m_nLogicPos_x)
  
End If

If m_bEnableDemo_y Then
   value = get_command_pos(cardno, 2, m_nLogicPos_y)
   
End If

If m_bEnableDemo_z Then
   value = get_command_pos(cardno, 3, m_nLogicPos_z)
   
End If

If m_bEnableDemo_w Then
   value = get_command_pos(cardno, 4, m_nLogicPos_w)
   
End If

If (m_bIsInpLine) Then
   If (m_bIsTwoAxisInp) Then
       If m_bEnableDemo_x Then get_speed cardno, 1, m_nCurrentSpeed_x
       If m_bEnableDemo_z Then get_speed cardno, 3, m_nCurrentSpeed_z
   End If
   If m_bIsThreeAxisInp Then
        If m_bEnableDemo_x Then get_speed cardno, 1, m_nCurrentSpeed_x
   End If
   If m_bIsFourAxisInp Then
        If m_bEnableDemo_x Then get_speed cardno, 1, m_nCurrentSpeed_x
   End If
   
       
Else
   If m_bIsTwoAxisInp Then
       If m_bEnableDemo_x Then get_speed cardno, 1, m_nCurrentSpeed_x
       If m_bEnableDemo_z Then get_speed cardno, 3, m_nCurrentSpeed_z
   Else
   End If
End If

       
       
       

txtLogicPos_x.Text = CStr(m_nLogicPos_x)
txtCurrentSpeed_x.Text = CStr(m_nCurrentSpeed_x * m_nRatio_x)

txtLogicPos_y.Text = CStr(m_nLogicPos_y)
txtCurrentSpeed_y.Text = CStr(m_nCurrentSpeed_y * m_nRatio_y)

txtLogicPos_z.Text = CStr(m_nLogicPos_z)
txtCurrentSpeed_z.Text = CStr(m_nCurrentSpeed_z * m_nRatio_z)

txtLogicPos_w.Text = CStr(m_nLogicPos_w)
txtCurrentSpeed_w.Text = CStr(m_nCurrentSpeed_w * m_nRatio_w)


  Dim state As Long
state = -1
If m_bIsTwoAxisInp And m_bEnableDemo_z Then
  get_inp_status cardno, 2, state
Else

get_inp_status cardno, 1, state
End If

If state = 1 Then
     btnPMove.Enabled = False
     btnContinueMove.Enabled = False
     btnExit.Enabled = False
     btnDetailSetting.Enabled = False
     btnClear.Enabled = False
     optnLineInpMove.Enabled = False
     optnCircleInpMove.Enabled = False
     chkAccInpMove.Enabled = False
     optnTwoAxisInp.Enabled = False
     optnThreeAxisInp.Enabled = False
     optnFourAxisInp.Enabled = False
     chkDemo_x.Enabled = False
     chkDemo_y.Enabled = False
     chkDemo_z.Enabled = False
     chkDemo_w.Enabled = False
     txtPulseCount_x.Enabled = False
     txtPulseCount_y.Enabled = False
     txtPulseCount_z.Enabled = False
     txtPulseCount_w.Enabled = False
     EnableWindow False
     
    
 End If
If state = 0 Then
     
     btnPMove.Enabled = True
     btnContinueMove.Enabled = True
     btnExit.Enabled = True
     btnDetailSetting.Enabled = True
     btnClear.Enabled = True
     optnLineInpMove.Enabled = True
     optnCircleInpMove.Enabled = True
     chkAccInpMove.Enabled = True
     If m_bIsInpLine Then
     optnTwoAxisInp.Enabled = True
     optnThreeAxisInp.Enabled = True
     optnFourAxisInp.Enabled = True
     Else
     optnTwoAxisInp.Enabled = False
     optnThreeAxisInp.Enabled = False
     optnFourAxisInp.Enabled = False
     End If
     
     If m_bIsTwoAxisInp Then
           If m_bEnableDemo_x Then chkDemo_x.Enabled = True
           If m_bEnableDemo_z Then chkDemo_z.Enabled = True
     End If
 
     
  
     EnableWindow m_bEqualityVelocity
  
     If m_bEnableDemo_x Then txtPulseCount_x.Enabled = True
     If m_bEnableDemo_y Then txtPulseCount_y.Enabled = True
     If m_bEnableDemo_z Then txtPulseCount_z.Enabled = True
     If m_bEnableDemo_w Then txtPulseCount_w.Enabled = True
  
 End If

End Sub



Private Sub DemoInpMove()

        
        
        m_nPulseCount_x = CLng(txtPulseCount_x.Text)
        m_nPulseCount_y = CLng(txtPulseCount_y.Text)
        m_nPulseCount_z = CLng(txtPulseCount_z.Text)
        m_nPulseCount_w = CLng(txtPulseCount_w.Text)
        
        
        
        

       If (m_bIsInpLine) Then '//直线插补
           If (m_bIsTwoAxisInp) Then
               If (m_bEnableDemo_x) Then inp_move2 cardno, 1, m_nPulseCount_x, m_nPulseCount_y
               If (m_bEnableDemo_z) Then inp_move2 cardno, 2, m_nPulseCount_z, m_nPulseCount_w
           
           End If
           If (m_bIsThreeAxisInp) Then
               If (m_bEnableDemo_x) Then inp_move3 cardno, m_nPulseCount_x, m_nPulseCount_y, m_nPulseCount_z
           End If
           If (m_bIsFourAxisInp) Then
               If (m_bEnableDemo_x) Then inp_move4 cardno, m_nPulseCount_x, m_nPulseCount_y, m_nPulseCount_z, m_nPulseCount_w
           End If
       
       Else  '//圆弧插补

           If (m_bIsTwoAxisInp) Then
               If (m_bEnableDemo_x) Then inp_cw_arc cardno, 1, m_nPulseCount_x, m_nPulseCount_y, 0, 10000 ' //圆心(0,10000) 半径R=10000
               If (m_bEnableDemo_z) Then inp_ccw_arc cardno, 2, m_nPulseCount_z, m_nPulseCount_w, 10000, 0 '//圆心(10000,0) 半径R=10000
           
           Else      '目前演示程序，不支持圆弧的三轴插补
          End If

       End If
End Sub

Private Sub SetAddSpeed()

 Dim nValue As Long
 
 
 m_nPulseCount_x = CLng(txtPulseCount_x.Text)
 m_nPulseCount_y = CLng(txtPulseCount_y.Text)
 m_nPulseCount_z = CLng(txtPulseCount_z.Text)
 m_nPulseCount_w = CLng(txtPulseCount_w.Text)


           If Not m_bEqualityVelocity Then       '加/减速运动
               Dim bMode_Acc As Byte
  
               
              bMode_Acc = IIf(m_bEnableCurve_S_Move, 1, 0)
              
               
'---------------设为梯形/S形加减速.0为梯形,1为S形----------------------

               set_ad_mode cardno, 1, bMode_Acc
               set_ad_mode cardno, 2, bMode_Acc
               set_ad_mode cardno, 3, bMode_Acc
               set_ad_mode cardno, 4, bMode_Acc

'---------------对每轴设置,对称加减速/非对称加减速,0为对称,1为非对称----------------

               
               bMode_Acc = IIf(m_bEnableSymmetry_Acc_x, 1, 0)
               
               set_dec1_mode cardno, 1, bMode_Acc

               
               bMode_Acc = IIf(m_bEnableSymmetry_Acc_y, 1, 0)
               
               set_dec1_mode cardno, 2, bMode_Acc

              
               bMode_Acc = IIf(m_bEnableSymmetry_Acc_z, 1, 0)
               set_dec1_mode cardno, 3, bMode_Acc

             
               bMode_Acc = IIf(m_bEnableSymmetry_Acc_w, 1, 0)
               
               set_dec1_mode cardno, 4, bMode_Acc

'-----------------------采用自动减速方式-------------------------------------------------
               Dim j As Integer
               For j = 1 To 4
                   set_dec2_mode cardno, j, 0
               Next j
'---------------------------采用手动减速方式－－－－－－－－－－－－－－－－－－－
Dim nDecPos As Long

     If m_bIsInpLine Then
         If m_bIsContinueInp Then
             set_dec2_mode cardno, 1, 1
              'nDecPos = 1500 - (m_nDriveSpeed_x + m_nStartV_x) * (m_fAccTime_x / 2)
             nDecPos = m_nPulseCount_x - (m_nDriveSpeed_x + m_nStartV_x) * (m_fAccTime_x / 2)
             set_dec_pos cardno, 1, nDecPos
             If m_bEnableDemo_z And m_bIsTwoAxisInp Then
                set_dec2_mode cardno, 3, 1
            ' nDecPos = 1500 - (m_nDriveSpeed_z + m_nStartV_z) * (m_fAccTime_z / 2)
             nDecPos = m_nPulseCount_z - (m_nDriveSpeed_z + m_nStartV_z) * (m_fAccTime_z / 2)
             
             set_dec_pos cardno, 3, nDecPos
             End If
         Else
             set_dec2_mode cardno, 1, 0
             If m_bEnableDemo_z And m_bIsTwoAxisInp Then set_dec2_mode cardno, 3, 0
         End If
     Else
     
             
     Dim nPulseCount As Long
          nPulseCount = (10000 / 1.414) * 8
          set_dec2_mode cardno, 1, 1
          nDecPos = nPulseCount - (m_nDriveSpeed_x + m_nStartV_x) * (m_fAccTime_x / 2)
          
          set_dec_pos cardno, 1, nDecPos
          If m_bEnableDemo_z And m_bIsTwoAxisInp Then
                set_dec2_mode cardno, 3, 1
             nDecPos = nPulseCount - (m_nDriveSpeed_z + m_nStartV_z) * (m_fAccTime_z / 2)
             
             set_dec_pos cardno, 3, nDecPos
           End If
      End If
      
           
       
          






'-----------------------设置每轴的加速度-----------------------------------------------
'------------加速度的实际值为nValue=m_nVelocityAcc_x*125*m_nRatio_x--------------------
               set_acc cardno, 1, m_nVelocityAcc_x

'------------加速度的实际值为nValue=m_nVelocityAcc_y*125*m_nRatio_y--------------------
               set_acc cardno, 2, m_nVelocityAcc_y

'------------加速度的实际值为nValue=m_nVelocityAcc_z*125*m_nRatio_z--------------------
               set_acc cardno, 3, m_nVelocityAcc_z

'------------加速度的实际值为nValue=m_nVelocityAcc_w*125*m_nRatio_w--------------------
               set_acc cardno, 4, m_nVelocityAcc_w

'-----------------------设置每轴的减速度-----------------------------------------------
'------------减速度的实际值为nValue=m_nVelocityDec_x*125*m_nRatio_x--------------------
               set_dec cardno, 1, m_nVelocityDec_x
               
'------------减速度的实际值为nValue=m_nVelocityDec_y*125*m_nRatio_y--------------------
               set_dec cardno, 2, m_nVelocityDec_y

'------------减速度的实际值为nValue=m_nVelocityDec_z*125*m_nRatio_z--------------------
               set_dec cardno, 3, m_nVelocityDec_z

'------------减速度的实际值为nValue=m_nVelocityDec_w*125*m_nRatio_w--------------------
               set_dec cardno, 4, m_nVelocityDec_w

'-----------------------如果是S形加速运动,设置速度增加率.-----------------------------
               If m_bEnableCurve_S_Move Then
           
                   Dim nAccValue As Long
                   
                  If m_bEnableDemo_x Then
                       If m_fAccTime_x = 0 Then Exit Sub
                       nValue = m_nVelocityAcc_x / m_fAccTime_x
                       nAccValue = 62500000 * m_nRatio_x / nValue
                       set_acac cardno, 1, nAccValue
                  End If
                   
                   If m_bEnableDemo_z And m_bIsTwoAxisInp Then
                       If m_fAccTime_z = 0 Then Exit Sub
                       nValue = m_nVelocityAcc_z / m_fAccTime_z
                       nAccValue = 62500000 * m_nRatio_z / nValue
                       set_acac cardno, 3, nAccValue
                   End If
                   
               End If


           End If
  
  
End Sub

Private Sub SetSpeed()

       If Not m_bEqualityVelocity Then
            If m_bIsTwoAxisInp Then
                If m_bEnableDemo_x Then
                    set_startv cardno, 1, m_nDriveSpeed_x / m_nRatio_x
                    set_speed cardno, 1, m_nDriveSpeed_x / m_nRatio_x
                 End If
                 If m_bEnableDemo_z Then
                    set_startv cardno, 3, m_nDriveSpeed_z / m_nRatio_z
                    set_speed cardno, 3, m_nDriveSpeed_z / m_nRatio_z
                 End If
            Else
                 If m_bEnableDemo_x Then
                    set_startv cardno, 1, m_nDriveSpeed_x / m_nRatio_x
                    set_speed cardno, 1, m_nDriveSpeed_x / m_nRatio_x
                    
                    set_startv cardno, 3, m_nDriveSpeed_x / m_nRatio_x
                    set_speed cardno, 3, m_nDriveSpeed_x / m_nRatio_x
                 End If
            End If
       Else
                 
            
               If m_bIsTwoAxisInp Then
                If m_bEnableDemo_x Then
                    set_startv cardno, 1, m_nStartV_x / m_nRatio_x
                    set_speed cardno, 1, m_nDriveSpeed_x / m_nRatio_x
                 End If
                 If m_bEnableDemo_z Then
                    set_startv cardno, 3, m_nStartV_z / m_nRatio_z
                    set_speed cardno, 3, m_nDriveSpeed_z / m_nRatio_z
                 End If
            Else
                 If m_bEnableDemo_x Then
                    set_startv cardno, 1, m_nStartV_x / m_nRatio_x
                    set_speed cardno, 1, m_nDriveSpeed_x / m_nRatio_x
                    
                    set_startv cardno, 3, m_nStartV_x / m_nRatio_x
                    set_speed cardno, 3, m_nDriveSpeed_x / m_nRatio_x
                 End If
            End If
              
            
        End If
End Sub