dmc5400.bas

运动控制

Attribute VB_Name = "dmc5400"
Option Explicit

'初始化函数
Declare Function d5400_board_init Lib "dmc5400.dll" () As Integer
Declare Sub d5400_board_close Lib "dmc5400.dll" ()
Declare Function d5400_set_int_enable Lib "dmc5400.dll" (ByVal cardno As Integer) As Integer
Declare Sub d5400_set_int_disable Lib "dmc5400.dll" ()

Declare Sub d5400_set_form_hwnd Lib "dmc5400.dll" (ByVal hwnd As Long)

Declare Sub d5400_set_int_factor Lib "dmc5400.dll" (ByVal axis As Integer, ByVal int_factor As Long)
Declare Function d5400_read_event_int_factor Lib "dmc5400.dll" (ByVal axis As Integer) As Long
Declare Function d5400_read_error_int_factor Lib "dmc5400.dll" (ByVal axis As Integer) As Long


Declare Sub d5400_set_pulse_outmode Lib "dmc5400.dll" (ByVal axis As Integer, ByVal outmode As Integer)
Declare Sub d5400_set_pulse_inmode Lib "dmc5400.dll" (ByVal axis As Integer, ByVal inmode As Integer, ByVal count_dir As Integer)
Declare Sub d5400_set_handwheel_inmode Lib "dmc5400.dll" (ByVal axis As Integer, ByVal inmode As Integer, ByVal count_dir As Integer)

'专用信号设置函数
Declare Sub d5400_config_SD_PIN Lib "dmc5400.dll" (ByVal axis As Integer, ByVal enable As Integer, ByVal sd_logic As Integer, ByVal sd_mode As Integer)
Declare Sub d5400_config_PCS_PIN Lib "dmc5400.dll" (ByVal axis As Integer, ByVal enable As Integer, ByVal pcs_logic As Integer)
Declare Sub d5400_config_INP_PIN Lib "dmc5400.dll" (ByVal axis As Integer, ByVal enable As Integer, ByVal inp_logic As Integer)
Declare Sub d5400_config_ERC_PIN Lib "dmc5400.dll" (ByVal axis As Integer, ByVal enable As Integer, ByVal erc_logic As Integer, ByVal erc_width As Integer, ByVal erc_off_time As Integer)

Declare Sub d5400_config_ALM_PIN Lib "dmc5400.dll" (ByVal axis As Integer, ByVal alm_logic As Integer, ByVal alm_action As Integer)
Declare Sub d5400_config_LTC_PIN Lib "dmc5400.dll" (ByVal axis As Integer, ByVal enable As Integer, ByVal ltc_logic As Integer)
Declare Sub d5400_config_CUN_CLR Lib "dmc5400.dll" (ByVal axis As Integer, ByVal trigger_mode As Integer, ByVal enable As Integer)
Declare Sub d5400_config_EL_MODE Lib "dmc5400.dll" (ByVal axis As Integer, ByVal el_mode As Integer)
Declare Sub d5400_set_HOME_pin_logic Lib "dmc5400.dll" (ByVal axis As Integer, ByVal org_logic As Integer, ByVal filter As Integer)

'通用输入/输出控制函数
Declare Function d5400_read_inbit Lib "dmc5400.dll" (ByVal bitno As Integer) As Integer
Declare Sub d5400_write_outbit Lib "dmc5400.dll" (ByVal bitno As Integer, ByVal ON_OFF As Integer)
Declare Function d5400_read_outbit Lib "dmc5400.dll" (ByVal bitno As Integer) As Integer
Declare Function d5400_read_inport Lib "dmc5400.dll" (ByVal card As Integer) As Long
Declare Function d5400_read_outport Lib "dmc5400.dll" (ByVal card As Integer) As Long

'制动函数
Declare Sub d5400_decel_stop Lib "dmc5400.dll" (ByVal axis As Integer, ByVal Tdec As Double)
Declare Sub d5400_imd_stop Lib "dmc5400.dll" (ByVal axis As Integer)
Declare Sub d5400_emg_stop Lib "dmc5400.dll" ()
Declare Sub d5400_simultaneous_stop Lib "dmc5400.dll" (ByVal axis As Integer)

'软件限位控制函数
Declare Sub d5400_config_softlimit Lib "dmc5400.dll" (ByVal axis As Integer, ByVal source_sel As Integer, ByVal SL_action As Integer)
Declare Sub d5400_enable_softlimit Lib "dmc5400.dll" (ByVal axis As Integer, ByVal ON_OFF As Integer)
Declare Sub d5400_set_softlimit_data Lib "dmc5400.dll" (ByVal axis As Integer, ByVal N_limit As Long, ByVal P_limit As Long)

'位置设置和读取函数
Declare Function d5400_get_position Lib "dmc5400.dll" (ByVal axis As Integer) As Long
Declare Sub d5400_set_position Lib "dmc5400.dll" (ByVal axis As Integer, ByVal current_position As Long)
Declare Function d5400_get_encoder Lib "dmc5400.dll" (ByVal axis As Integer) As Long
Declare Sub d5400_set_encoder Lib "dmc5400.dll" (ByVal axis As Integer, ByVal encoder_value As Long)
Declare Function d5400_get_postion_deviation Lib "dmc5400.dll" (ByVal axis As Integer) As Long
Declare Sub d5400_cls_postion_deviation Lib "dmc5400.dll" (ByVal axis As Integer)
Declare Function d5400_get_handwheel_pulse Lib "dmc5400.dll" (ByVal axis As Integer) As Long


'状态检测函数
Declare Function d5400_axis_io_status Lib "dmc5400.dll" (ByVal axis As Integer) As Integer
Declare Function d5400_axis_status Lib "dmc5400.dll" (ByVal axis As Integer) As Integer
Declare Function d5400_get_rsts Lib "dmc5400.dll" (ByVal axis As Integer) As Long
Declare Function d5400_check_done Lib "dmc5400.dll" (ByVal axis As Integer) As Integer

Declare Function d5400_prebuff_status Lib "dmc5400.dll" (ByVal axis As Integer) As Integer
Declare Function d5400_get_error_intfactor Lib "dmc5400.dll" (ByVal axis As Integer) As Long
Declare Sub d5400_set_latch_trigger_source Lib "dmc5400.dll" (ByVal axis As Integer, ByVal sel As Integer)
Declare Function d5400_get_rcun_latch_value Lib "dmc5400.dll" (ByVal axis As Integer, ByVal sel As Integer) As Long

'单轴定长运动
Declare Sub d5400_t_pmove Lib "dmc5400.dll" (ByVal axis As Integer, ByVal Dist As Long, ByVal posi_mode As Integer)
Declare Sub d5400_ex_t_pmove Lib "dmc5400.dll" (ByVal axis As Integer, ByVal Dist As Long, ByVal posi_mode As Integer)

'速度设置
Declare Sub d5400_variety_speed_range Lib "dmc5400.dll" (ByVal axis As Integer, ByVal chg_enable As Integer, ByVal Max_Vel As Double)
Declare Function d5400_read_current_speed Lib "dmc5400.dll" (ByVal axis As Integer) As Double
Declare Sub d5400_change_speed Lib "dmc5400.dll" (ByVal axis As Integer, ByVal Curr_Vel As Double)
Declare Sub d5400_set_vector_profile Lib "dmc5400.dll" (ByVal Min_Vel As Double, ByVal Max_Vel As Double, ByVal Tacc As Double, ByVal Tdec As Double)
Declare Sub d5400_set_profile Lib "dmc5400.dll" (ByVal axis As Integer, ByVal Min_Vel As Double, ByVal Max_Vel As Double, ByVal Tacc As Double, ByVal Tdec As Double)
Declare Sub d5400_set_s_profile Lib "dmc5400.dll" (ByVal axis As Integer, ByVal Min_Vel As Double, ByVal Max_Vel As Double, _
                ByVal Tacc As Double, ByVal Tdec As Double, ByVal Sacc As Long, ByVal Sdec As Long)

Declare Sub d5400_reset_target_position Lib "dmc5400.dll" (ByVal axis As Integer, ByVal Dist As Long)

'线性插补
Declare Sub d5400_t_line2 Lib "dmc5400.dll" (ByVal axis1 As Integer, ByVal Dist1 As Long, ByVal axis2 As Integer, ByVal Dist2 As Long, ByVal posi_mode As Integer)
Declare Sub d5400_t_line3 Lib "dmc5400.dll" (axis As Integer, ByVal Dist1 As Long, ByVal Dist2 As Long, ByVal Dist3 As Long, ByVal posi_mode As Integer)
Declare Sub d5400_t_line4 Lib "dmc5400.dll" (ByVal cardno As Integer, ByVal Dist1 As Long, ByVal Dist2 As Long, ByVal Dist3 As Long, ByVal Dist4 As Long, ByVal posi_mode As Integer)


Declare Sub d5400_handwheel_move Lib "dmc5400.dll" (ByVal axis As Integer, ByVal vh As Double)
Declare Sub d5400_set_handwheel_pulse Lib "dmc5400.dll" (ByVal axis As Integer, ByVal hPulse As Long)

'找原点
Declare Sub d5400_config_home_mode Lib "dmc5400.dll" (ByVal axis As Integer, ByVal mode As Integer, ByVal EZ_count As Integer)
Declare Sub d5400_home_move Lib "dmc5400.dll" (ByVal axis As Integer, ByVal home_mode As Integer, ByVal vel_mode As Integer)

'单轴连续运动
Declare Sub d5400_s_vmove Lib "dmc5400.dll" (ByVal axis As Integer, ByVal dir As Integer)
Declare Sub d5400_t_vmove Lib "dmc5400.dll" (ByVal axis As Integer, ByVal dir As Integer)


Declare Sub d5400_arc_move Lib "dmc5400.dll" (axis As Integer, target_pos As Long, cen_pos As Long, ByVal arc_dir As Integer)
Declare Sub d5400_pre_arc_move Lib "dmc5400.dll" (axis As Integer, star_pos As Long, target_pos As Long, cen_pos As Long, ByVal arc_dir As Integer)

Declare Sub d5400_s_pmove Lib "dmc5400.dll" (ByVal axis As Integer, ByVal Dist As Long, ByVal posi_mode As Integer)
Declare Sub d5400_ex_s_pmove Lib "dmc5400.dll" (ByVal axis As Integer, ByVal Dist As Long, ByVal posi_mode As Integer)