rundll.bas

步进伺服电机运动控制,k880伺服电机运动控制vb测试程序

Attribute VB_Name = "动态连接库"
Option Explicit

Public Declare Function Init880 Lib "K880.DLL" (ByVal NUM As Long, ByVal adr As Integer) As Integer
Public Declare Function PulseOutMode Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer, ByVal mode As Long) As Integer
Public Declare Function SetLP Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer, ByVal dwdata As Long) As Integer
Public Declare Function InstStop Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer) As Integer

Public Declare Function SetInterRupt Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer, ByVal intclass As Integer, ByVal pf As Long) As Integer
Public Declare Function Move_DV Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer, ByVal m_v_a As Long, ByVal m_v_sv As Integer, ByVal m_v_v As Integer, ByVal fx As Long, ByVal m_v_p As Long) As Integer
Public Declare Function ReadLP Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer) As Long

Public Declare Function ReadCV Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer) As Integer '获取当前速度参数，axis轴选择.返回码：(0)成功,(-1)非法参数
Public Declare Function SetCP Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer, ByVal dwdata As Long, ByVal fs As Long) As Integer '设置上限位，axis轴选择，dwdata数据设定.返回码：(0)成功,(-1)非法参数

Public Declare Function SetCM Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer, ByVal dwdata As Long, ByVal fs As Long) As Integer '设置下限位，axis轴选择，dwdata数据设定.返回码：(0)成功,(-1)非法参数

Public Declare Function DecStop Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer) As Integer '减速至停.返回码：(0)成功,(-1)非法参数


Public Declare Function SetA Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer, ByVal wdata As Long) As Integer '加速度设置.返回码：(0)成功,(-1)非法参数
Public Declare Function SetDec Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer, ByVal wdata As Long) As Integer '加速度设置.返回码：(0)成功,(-1)非法参数

Public Declare Function SetSV Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer, ByVal wdata As Integer) As Integer '初始速度设置.返回码：(0)成功,(-1)非法参数

Public Declare Function SetV Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer, ByVal wdata As Integer) As Integer '驱动速度设置.返回码：(0)成功,(-1)非法参数

  
Public Declare Function Set_LV Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer, ByVal m_v_a As Integer, ByVal m_v_sv As Integer, ByVal m_v_v As Integer) As Integer

 
Public Declare Function RePosition Lib "K880.DLL" (ByVal NUM As Long) As Integer '复位

Public Declare Function SetP Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer, ByVal dwdata As Long) As Integer '设置脉冲数，axis轴选择，dwdata数据设定.返回码：(0)成功,(-1)非法参数

Public Declare Function Start_DV Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer, ByVal fx As Long) As Integer '速度确定命令，axis轴选择，fx方向选择0：正方向，1：负方向。返回码：(0)成功,(-1)非法参数

Public Declare Function MotorStatus Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer) As Integer '电机状态回读函数，axis轴选择返回值： 0   电机正在运行1  电机达到上限位2 电机达到下限位3 电机处于停机状态，由于外部信号-1   非法参数

Public Declare Function Stopped Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Long) As Integer '判断电机是否停止0：未停，1：停止。
Public Declare Function StopOutEnable Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer) As Integer '

Public Declare Function Move_LV Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer, ByVal m_v_a As Long, ByVal m_v_sv As Integer, ByVal m_v_v As Integer, ByVal fx As Long) As Integer '

Public Declare Function Start_LV Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer, ByVal fx As Long) As Integer '速度确定命令，axis轴选择，fx方向选择0：正方向，1：负方向。返回码：(0)成功,(-1)非法参数

Public Declare Function ReadCOMP Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer) As Integer '读限位，反回码1：达到上限位，2：达到下限位，

Public Declare Function ReadCA Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer) As Integer '
   
Public Declare Function Set_DV Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer, ByVal m_v_a As Long, ByVal m_v_sv As Integer, ByVal m_v_v As Integer, ByVal m_v_p As Long) As Integer '

Public Declare Function ReadRR0 Lib "K880.DLL" (ByVal NUM As Long) As Integer '

Public Declare Function ReadEP Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer) As Integer '

Public Declare Function SetEP Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer, ByVal dwdata As Long) As Integer '

Public Declare Function AutoDec Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer) As Integer '   启动自动减速
 

Public Declare Function HandDec Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer, ByVal DecPulse As Long) As Integer '启动手动减速

Public Declare Function SSet Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer) As Integer '

Public Declare Function SClear Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer) As Integer '

Public Declare Function FDriving Lib "K880.DLL" (ByVal P As Long, ByVal V As Integer, ByVal NUM As Long, ByVal axis As Integer) As Integer '  无S曲线加/减速的固定脉冲驱动(p-轴上的脉冲  V-速度 ）
Public Declare Function AxisAssing Lib "K880.DLL" (ByVal axis As Integer)  '    轴插补设定

Public Declare Sub SetStatusOut Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer)  '设置某轴OUT4-7为状态输出
Public Declare Function SetK Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer, ByVal wdata As Integer) As Integer '

Public Declare Function ReadEMG Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer) As Integer '读外部紧急信号中止位 0：未中止 1:中止

Public Declare Function ReadLMT Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer) As Integer ' 读硬件限位  -1：卡号错误， -2： 轴号错误，1：达到上限位，2：达到下限位 0:限位信号无效

'Public Declare Function ReadWR3 Lib "K880.DLL" (ByVal num As Long, ByVal axis As Integer) As Integer '

Public Declare Sub SetWR3 Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer, ByVal wdata As Integer)  '设置寄存器wr3

'Public Declare Function ReadWR2 Lib "K880.DLL" (ByVal num As Long, ByVal axis As Integer) As Integer '

Public Declare Sub SetWR2 Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer, ByVal wdata As Integer)
' 设置MCX314倍率
Public Declare Function SetM Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer, ByVal wdata As Long) As Integer '
' 获得MCX314倍率
Public Declare Function ReadM Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer) As Integer '

' 启动外部信号连续运动
Public Declare Function LV_OutEnable Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer) As Integer '
' 启动外部信号定长运动
Public Declare Function DV_OutEnable Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer) As Integer '
'Public Declare sub OutBIT Lib "K880.DLL" (ByVal num As Long, ByVal axis As Integer, ByVal datawata As Long) As Integer '
Public Declare Function SetOUTBIT Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer, ByVal wei As Integer, ByVal wata As Integer) As Integer '
Public Declare Function SetOUTBYTE Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer, ByVal wata As Integer) As Integer '
Public Declare Function ReadBIT Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer, ByVal wei As Integer) As Integer '
Public Declare Function ReadBYTE Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer) As Integer '
Public Declare Function Get_axis Lib "K880.DLL" (ByVal axis As Integer) As Integer '
 Public Declare Function Judge_axis Lib "K880.DLL" (ByVal axis As Integer) As Integer '

Public Declare Function GetRR5 Lib "K880.DLL" (ByVal NUM As Long) As Integer '
Public Declare Function GetRR4 Lib "K880.DLL" (ByVal NUM As Long) As Integer '
Public Declare Function GetRR3 Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer) As Integer '
Public Declare Function GetRR2 Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer) As Integer '
Public Declare Function GetRR1 Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer) As Integer '
Public Declare Function GetRR0 Lib "K880.DLL" (ByVal NUM As Long) As Integer '/
Public Declare Function SetD Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer, ByVal wdata As Integer) As Integer '
Public Declare Function ClearCM Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer) As Integer ''''
Public Declare Function ClearCP Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer) As Integer ''''
Public Declare Function Line2D Lib "K880.DLL" (ByVal NUM As Long, ByVal axis1 As Long, ByVal axis2 As Long, ByVal m_v_a As Long, ByVal m_v_sv As Integer, ByVal m_v_v As Integer, ByVal m_v_p1 As Long, ByVal m_v_p2 As Long) As Integer '
Public Declare Function Line3D Lib "K880.DLL" (ByVal NUM As Long, ByVal axis1 As Long, ByVal axis2 As Long, ByVal axis3 As Long, ByVal m_v_a As Long, ByVal m_v_sv As Integer, ByVal m_v_v As Integer, ByVal m_v_p1 As Long, ByVal m_v_p2 As Long, ByVal m_v_p3 As Long) As Integer '
Public Declare Function SetMCB Lib "K880.DLL" (ByVal NUM As Long, ByVal fdata As Long) As Integer '
Public Declare Function GetCurrentV Lib "K880.DLL" (ByVal NUM As Long) As Integer '
Public Declare Function Circle_HandDec Lib "K880.DLL" (ByVal NUM As Long, ByVal axis1 As Long, ByVal axis2 As Long, ByVal fm As Long, ByVal m_c1 As Long, ByVal m_c2 As Long, ByVal m_p1 As Long, ByVal m_p2 As Long, ByVal m_v_a As Long, ByVal m_v_sv As Integer, ByVal m_v_v As Integer, ByVal DecPulse As Long) As Integer '

                                                                        'int __stdcall BPInter2D(int num,double(*pfun)(double),long *px0,long *py0,long N,UINT pm,unsigned short m_v_a,unsigned short m_v_sv,unsigned short m_v_v);
  
'Public Declare Function BPInter2D Lib "K880.DLL" (ByVal NUM As Long, ByRef pfun() As Long, ByRef px0 As Long, ByRef py0 As Long, ByVal N As Long, ByVal pm As Long, ByVal m_v_a As Long, ByVal m_v_sv As Integer, ByVal m_v_v As Integer) '

Public Declare Sub BPClear Lib "K880.DLL" (ByVal NUM As Long)
Public Declare Function LMTMD Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer, ByVal fs As Long) As Integer '
Public Declare Function HLMT Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Long, ByVal zf As Long, ByVal dp As Long) As Integer '
Public Declare Function PulseInMode Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer, ByVal mode As Integer, ByVal xf As Integer) As Integer '
Public Declare Function Alarm_Disable Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer) As Integer '
Public Declare Function Alarm_Enable Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer, ByVal dp As Long) As Integer '
Public Declare Function INP_Disable Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer) As Integer '
Public Declare Function INP_Enable Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer, ByVal dp As Long) As Integer '
Public Declare Function IN_Disable Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer, ByVal bits As Long) As Integer '
Public Declare Function IN_Enable Lib "K880.DLL" (ByVal NUM As Long, ByVal axis As Integer, ByVal bits As Integer, ByVal dp As Long) As Integer '
Public Declare Function Circle_ConstSpeed Lib "K880.DLL" (ByVal NUM As Long, ByVal axis1 As Long, ByVal axis2 As Long, ByVal fm As Long, ByVal m_c1 As Long, ByVal m_c2 As Long, ByVal m_p1 As Long, ByVal m_p2 As Long, ByVal m_v_sv As Integer, ByVal m_v_v As Integer) As Integer '