adt850.bas

850运动控制卡的详细开发资料

Attribute VB_Name = "adt850"
Option Explicit
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

Global m_bEqualityVelocity As Boolean
Global m_bEnableCurve_S_Move As Boolean

Global m_nCard850Num As Long
    
Global m_nStartV_x As Long
Global m_nStartV_y As Long
Global m_nStartV_z As Long
Global m_nStartV_w As Long

Global m_nRatio_x  As Long
Global m_nRatio_y  As Long
Global m_nRatio_z  As Long
Global m_nRatio_w  As Long

Global m_nVelocityAcc_x As Long
Global m_nVelocityAcc_y As Long
Global m_nVelocityAcc_z As Long
Global m_nVelocityAcc_w As Long

Global m_nVelocityDec_x As Long
Global m_nVelocityDec_y As Long
Global m_nVelocityDec_z As Long
Global m_nVelocityDec_w As Long

Global m_nDriveSpeed_x  As Long
Global m_nDriveSpeed_y  As Long
Global m_nDriveSpeed_z  As Long
Global m_nDriveSpeed_w  As Long

Global m_fAccTime_w     As Single
Global m_fAccTime_x     As Single
Global m_fAccTime_y     As Single
Global m_fAccTime_z     As Single