运动控制卡应用开发教程之VB6.0

今天，正运动小助手为大家分析一下应用VB6.0开发一个总线初始化的运动控制应用。

我们主要从VB6.0的项目新建、函数库引用和PC函数使用方面讲起，最后通过项目实战——总线初始化例程讲解，来让大家熟悉它的项目开发。

在正式学习之前，我们先了解一下正运动技术的运动控制卡ECI2418和ECI2618。这两款产品分别是4轴，6轴运动控制卡。

ECI2418支持4轴脉冲输入与编码器反馈，板载24点输入，16点输出，2AD，2DA，支持手轮接口，其中特定输出口支持高速PWM控制。

ECI2618支持6轴脉冲输入与编码器反馈，板载24点输入，16点输出，2AD，2DA，支持手轮接口，其中特定输出口支持高速PWM控制。

ECI2418，ECI2618均使用同一套API函数，均支持C、C++、C#、LabVIEW、Python、Delphi等开发语言，支持VC6.0、VB6.0、Qt、.Net等平台，支持Windows、Linux、WinCE、iMac等操作系统。

以下是VB6.0

开发流程

一 新建EXE工程，加载函数库。

(一)新建工程

打开Microsoft Visual Basic菜单，在“文件”→“新建工程”，选择新建“标准EXE”工程。

新建工程自带一个起始窗口，可以通过菜单“工程”→“属性”更改起始窗口。

(二)加载PC函数库

VB6.0需要对添加的dll文件进行加载，否则系统找不到函数所引用的函数库源，加载步骤如下。

1.找到厂家提供的光盘资料中的VB6.0资料。

2.将VB6.0压缩包解压，找到其中的dll库文件

3.将dll文件zmotion.dll以及zauxdll.dll一起复制放入系统文件夹C:\Windows\System32中。假如编程系统是64位系统，也要把上述文件复制到C:\Windows\SysWOW64中。

4.通过“开始”菜单→“Windows系统”→“命令提示符”或者在“开始”菜单搜索“cmd”打开命令提示符窗口，使用如下指令：

regsvr32 C:\ Windows\ SysWOW64\ zmotion.dll

regsvr32 C:\ Windows\ system32\ zmotion.dll

regsvr32命令用于注册COM组件，是Windows系统提供的用来向系统注册控件或者卸载控件的命令，以命令行方式运行。Zmotion.dll加载后，才可以调用zauxdll的函数。

可以将该条指令复制到记事本上，然后把txt文件另存为bat文件来运行。另外，一些自己下载vb6.0的额外部件也可以用该方法加载，加载后能在菜单“工程”→“引用”，“工程”→“部件”中找到对应文件，本例程使用函数库无需加载部件或引用。

(三)函数库使用

将zauxdll.bas与工程文件放入同一文件夹，方便管理。

在工程资源管理器中右键添加模块，或者在菜单“工程”→“添加模块”功能中将zauxdll.bas添加入工程。

这样就做好使用正运动PC函数库的准备了。

二 查看PC函数手册，了解其用法。

(一)PC函数手册也在光盘资料里面。

具体路径如下：

(二)PC编程。

一般先根据控制器连接方式选择对应的连接函数连接控制器，返回控制器句柄。接着用返回的控制器句柄，实现对控制器的控制，大部分函数都有对控制器的指向。通常有：

Public g_handle As Long

控制器句柄是连接控制器的重要标志。

(三)通过网口连接控制器，获取句柄。

通过网口 iret = ZAux_OpenEth(“127.0.0.1”, g_handle)或者串口 iret = ZAux_OpenCom(1, g_handle)连接控制器，获取控制器句柄 g_handle。

(四)下载总线初始化bas文件

下载总线初始化 bas文件到控制器 iret = ZAux_BasDown(g_handle, sFilePath, 1)，sFilePath是对应总线初始化的文件地址，利用 CommonDialog对话框操作部件，获取对象文件地址。

总线初始化文件是基于ZDevelop编写的EtherCAT和RTEX初始化程序，通过ZAux_BasDown方式下载到控制器以直接运行。

(五)EtherCAT数据字典读写

EtherCAT数据字典读写 ZAux_BusCmd_SDORead和 ZAux_BusCmd_SDOWrite。

其中对象字典编号、对象字典子编号、数据类型是十进制输入，手册上是十六进制表示，使用时注意转换。

(六)位置环增益与速度环增益调整

松下A6B系列EtherCAT总线驱动器中：

位置环增益对应数据字典为 3100H-00H(第一位置环增益)和 3105H-00H(第二位置环增益);

速度环增益对应数据字典为 3101H-00H(第一速度环增益)和 3106H-00H(第二速度环增益);

自动选择增益参数的标志位为 3002H-00H。

具体请参考光盘资料(P315~P318)：技术资料→ECAT通讯规格篇→MINAS_A6B系列→EtherCAT通讯/选择类型。

本篇文章使用第一位置环增益和第一速度环增益，通过实时自动增益调谐设置选择是否改变增益参数。

三 项目实战之连续插补运动例程讲解

(一)界面讲解

(二)例程简易流程图

//相关函数


　　// 建立与控制器的网口通讯

　　iret = ZAux_OpenEth(m_ipaddress, g_handle)     '网口连接控制器


　　//定时器刷新

　　ret = ZAux_Direct_GetAxisEnable(g_handle, m_axisnum, i_AxisPara(0))

　　ret = ZAux_Direct_GetAxisStatus(g_handle, m_axisnum, i_AxisPara(1))

　　……


　　//下载初始化bas文件到控制器

　　iret = ZAux_BasDown(g_handle, sFilePath, 1)     '下载到ROM


　　//轴使能

　　iret = ZAux_Direct_SetAxisEnable(g_handle, m_axisnum, 0)     ‘轴使能关闭

　　iret = ZAux_Direct_SetAxisEnable(g_handle, m_axisnum, 1)     '轴使能打开


　　//正转

　　iret = ZAux_Direct_Single_Vmove(g_handle, m_axisnum, 1)


　　//反转

　　iret = ZAux_Direct_Single_Vmove(g_handle, m_axisnum, -1)


　　//相对运动

　　iret = ZAux_Direct_Single_Move(g_handle, m_axisnum, Val(T_Move_s))


　　//绝对运动

　　iret = ZAux_Direct_Single_MoveAbs(g_handle, m_axisnum, Val(T_Move_s))


　　//停止

　　iret = ZAux_Direct_Single_Cancel(g_handle, m_axisnum, 2)


　　//运动增益读写

　　iret =ZAux_BusCmd_SDORead(g_handle, 0, T_SdoNode, Val(CLng("&H" & "3100")), 0, 3, m_sdo_data2_1)

　　iret =ZAux_BusCmd_SDORead(g_handle, 0, T_SdoNode, Val(CLng("&H" & "3101")), 0, 3, m_sdo_data2_2)


　　// IO信号读写

　　iret = ZAux_Direct_GetIn(g_handle, i , IN_status)

　　iret = ZAux_Direct_GetOp(g_handle, i , OP_status)

　　iret = ZAux_Direct_SetOp(g_handle, i , OP_status)

(三)模块程序

1.初始化变量

Public g_handle As Long     '当前使用的卡句柄

　　Public iret As Long     '函数返回值

　　Public g_basflag As Boolean     '//BAS文件加载标志位

　　Public g_InitStatus As Integer     '//总线初始化完成状态 0-失败 1-成功 -1-初始化未完成

　　Public Bus_type As Single     '//BAS文件中变量判断总线类型，也作为BAS文件是否下载成功判断

　　Public if_home As Boolean

　　Public m_axisnum As Integer

2.控制器连接

Private Sub T_OpenCom_Click() '串口连接

　　        If g_handle <> 0 Then '断开前面的连接

　　                ZAux_Close (g_handle)

　　                 g_handle= 0

　        　End If

　    　     iret= ZAux_OpenCom(Val(T_ComId.Text), g_handle)

　        　If (g_handle <> 0) Then

　                　 Form1.Caption = "已连接"

　                　 Timer1.Enabled = True

　                　T_AxisId_Change

　        　        Dim ret As Integer

　        　         iret= ZAux_Direct_GetUserVar(g_handle, "BUS_TYPE", Bus_type)

　                　'读取BAS文件中的变量判断是否有加载BAS文件

　                　 If (iret= 0 And Bus_type <> -1) Then

　                　 g_basflag= True'//文件已经加载

　    　End If

　    　Else

　                　 Form1.Caption = "未连接"

　                　MsgBox "控制器链接失败，请检测IP地址!", vbOKOnly, "警告"

　    　End If

　　End Sub


　　Private Sub T_IpAddress_DropDown() '下拉搜索IP

　        　Dim Buffer As String * 10240

　        　T_IpAddress.Clear

　        　T_IpAddress.AddItem ("127.0.0.1")

　        　 iret= ZAux_SearchEthlist(Buffer, 10230, 200) '搜索IP地址列表

　        　Dim Ip_List() As String

　        　 Ip_List= Split(Buffer, " ")

　        　 For i= 0 To UBound(Ip_List)

　            　T_IpAddress.AddItem (Ip_List(i))

        　　Next

　　End Sub


　　Private Sub T_OpenEth_Click() '以太网连接

　    　    Dim m_ipaddress As String

　    　     m_ipaddress= T_IpAddress.Text

　        　If g_handle <> 0 Then '断开前面的连接

　            　ZAux_Close (g_handle)

　            　 g_handle= 0

    　　End If

　    　 iret= ZAux_OpenEth(m_ipaddress, g_handle)'网口连接控制器

　    　If (g_handle <> 0) Then

　        　 Form1.Caption= "已连接"

　        　 Timer1.Enabled = True

　        　T_AxisId_Change

　        　 iret = ZAux_Direct_GetUserVar(g_handle, "BUS_TYPE", Bus_type)

　        　'读取BAS文件中的变量判断是否有加载BAS文件

　        　 If (iret= 0 And Bus_type <> -1) Then

        　　 g_basflag = True'//文件已经加载

　    　End If

　    　Else

　　         Form1.Caption = "未连接"

　        　MsgBox "控制器链接失败，请检测IP地址!", vbOKOnly, "警告"

　    　End If

　　End Sub

　　Private Sub T_PciId_DropDown() '下拉搜索PCI

　        　Dim m_maxpci As Integer

　         　T_PciId.Clear

　　         m_maxpci= ZAux_GetMaxPciCards()

　        　 For i= 0 To m_maxpci - 1

　　        T_PciId.AddItem (i.ToString())

　        　Next

　　End Sub


　　Private Sub T_OpenPci_Click()

　        　Dim m_cardid As Integer

　        　If g_handle <> 0 Then '断开前面的连接

　            　ZAux_Close (g_handle)

　　             g_handle= 0

　　        End If

　　         m_cardid= Val(PCIADDRESS.Text)

　        　 iret= ZAux_OpenPci(m_cardid, g_handle)'PCI方式连接

　        　If g_handle <> 0 Then

　　             Form1.Caption= "已连接"

　　             Timer1.Enabled = True

　　            T_AxisId_Change

　　            Dim ret As Integer

　　             iret= ZAux_Direct_GetUserVar(g_handle, "BUS_TYPE", Bus_type)

　　            '读取BAS文件中的变量判断是否有加载BAS文件

　　             If (iret = 0 And Bus_type <> -1) Then

　　             g_basflag= True'//文件已经加载

　　    End If

　    　Else

　            　MsgBox "连接失败,请检查PCI", vbOKOnly, "提示"

　            　Form1.Caption = "未连接"

　    　End If

　　End Sub


　　Private Sub T_Close_Click()

　　        '断开链接

　        　If (g_handle <> 0) Then

　　             Timer1.Enabled = False

　            　ZAux_Close (g_handle)

　            　 g_handle= 0

　            　 Form1.Caption= "未连接"

　        　End If

　　End Sub

3.总线初始化

Private Sub T_DownLoad_Click() '下载文件到控制器

　        　If (g_handle = 0) Then

　            　MsgBox "未链接到控制器!", vbOKOnly, "提示"

　        　Else

　        　 WithCommonDialog1

　            　.Filename = "Basic1"

　            　.InitDir = App.Path

　            　.CancelError = True

　            　.Filter = "文件(*.bas)|*.bas"

　        　 End With

　        　Me.CommonDialog1.ShowOpen

　        　sFilePath = Me.CommonDialog1.Filename

　        　T_BasFile.Text = sFilePath

　        　iret = ZAux_BasDown(g_handle, sFilePath, 1) '//下载到ROM

　        　If (iret <> 0) Then

　　            MsgBox "文件下载失败!", vbOKOnly, "提示"

　　            Else

　            　MsgBox "下载成功!", vbOKOnly, "提示"

　        　End If

　　    End If

　　End Sub

　　'重新初始化总线，下载ROM时程序会自动初始化一次

　　 PrivateSub T_BusInit_Click()

　　 If(g_handle = 0) Then

　    　MsgBox "未链接到控制器!", vbOKOnly, "提示"

　　 Else

　　     If(g_basflag And(g_InitStatus <> -1)) Then '-1:可能正在执行初始化

　        　g_InitStatus = -1

　　        Dim Buffer As String * 10240

　        　T_BusStatus.Text = "初始化未完成"

　        　'任务1重新运行BAS中的初始化函数

　        　iret = ZAux_Execute(g_handle, "RUNTASK 1,Ecat_Init", Buffer, 0)

　    　 Else

　            　MsgBox "Bas文件未加载!", vbOKOnly, "提示"

　    　 End If

　　 End If

EndSub

4.轴运动

Private Sub T_SetEnable_Click()     '//切换使能

　        　 If (g_handle= 0) Then

　            　MsgBox "未链接到控制器!", vbOKOnly, "提示"

　        　Else

　            　 If (T_EnableStatus.Text= "on") Then

　　                iret = ZAux_Direct_SetAxisEnable(g_handle, m_axisnum, 0)

　　            Else

　　             iret= ZAux_Direct_SetAxisEnable(g_handle, m_axisnum, 1)

　            　End If

　    　End If

　　End Sub


　　Private Sub T_ClearAlm_Click()     '//清除轴报警

　        　 If (g_handle = 0) Then

　            　MsgBox "未链接到控制器!", vbOKOnly, "提示"

　        　Else

　            　 iret= ZAux_BusCmd_DriveClear(g_handle, m_axisnum, 0)

　        　End If

　　End Sub


　　Private Sub T_FwdMove_Click() '正转

　        　 If (g_handle = 0) Then

　　            MsgBox "未链接到控制器!", vbOKOnly, "提示"

　　        Else

　　            iret= ZAux_Direct_SetUnits(g_handle,m_axisnum,Val(T_Units.Text))

　            　iret= ZAux_Direct_SetSpeed(g_handle,m_axisnum,Val(T_Speed.Text))

　　            iret= ZAux_Direct_SetAccel(g_handle,m_axisnum,Val(T_Accel.Text))

　　            iret= ZAux_Direct_Single_Vmove(g_handle,m_axisnum,1)

　　    End If

　　End Sub


　　Private Sub T_RevMove_Click()    '反转

　        　 If (g_handle = 0) Then

　            　MsgBox "未链接到控制器!", vbOKOnly, "提示"

　        　Else

　            　iret= ZAux_Direct_SetUnits(g_handle,m_axisnum,Val(T_Units.Text))

　            　iret= ZAux_Direct_SetSpeed(g_handle,m_axisnum,Val(T_Speed.Text))

　            　iret= ZAux_Direct_SetAccel(g_handle,m_axisnum,Val(T_Accel.Text))

　            　iret= ZAux_Direct_Single_Vmove(g_handle,m_axisnum,-1)

　        　End If

　　End Sub


　　Private Sub T_Move_Click()     '运动

　　     If (g_handle = 0) Then

　        　MsgBox "未链接到控制器!", vbOKOnly, "提示"

　　    Else

　　        iret= ZAux_Direct_SetUnits(g_handle,m_axisnum,Val(T_Units.Text))

　　        iret= ZAux_Direct_SetSpeed(g_handle,m_axisnum,Val(T_Speed.Text))

　　        iret= ZAux_Direct_SetAccel(g_handle,m_axisnum,Val(T_Accel.Text))

　　        If T_moveType(0).value = True Then

　　    iret= ZAux_Direct_Single_Move(g_handle, m_axisnum,Val(T_Move_s))

　        　ElseIf T_moveType(1).value = True Then

　　        iret= ZAux_Direct_Single_MoveAbs(g_handle,m_axisnum,Val(T_Move_s))

　        　End If

　    　End If

　　End Sub


　　Private Sub T_Move_Click() '运动

　    　 If (g_handle = 0) Then

　            　MsgBox "未链接到控制器!", vbOKOnly, "提示"

　        　Else

　　             iret= ZAux_Direct_SetUnits(g_handle,m_axisnum,Val(T_Units.Text))

　　             iret= ZAux_Direct_SetSpeed(g_handle,m_axisnum,Val(T_Speed.Text))

　　             iret= ZAux_Direct_SetAccel(g_handle,m_axisnum,Val(T_Accel.Text))

　        　 If T_moveType(0).value = True Then

　            　 iret= ZAux_Direct_Single_Move(g_handle,m_axisnum, Val(T_Move_s))

　            　 ElseIf T_moveType(1).value = True Then

　        　 iret= ZAux_Direct_Single_MoveAbs(g_handle,m_axisnum,Val(T_Move_s))

　        　End If

　    　End If

　　End Sub


　　Private Sub T_Stop_Click() '停止

　　 If (g_handle = 0) Then

　　MsgBox "未链接到控制器!", vbOKOnly, "提示"

　　Else

　　 iret= ZAux_Direct_Single_Cancel(g_handle, m_axisnum, 2)

　　End If

　　End Sub

5.总线回零

Private Sub T_StartHome_Click() '驱动器自身回零

　 　            If (g_handle = 0) Then

　                　MsgBox "未链接到控制器!", vbOKOnly, "提示"

　            　Else

　                　 If (Bus_type= 0) Then

　　                iret= ZAux_Direct_SetSpeed(g_handle,m_axisnum,Val(T_HomeSp1.Text))

       
iret= ZAux_Direct_SetCreep(g_handle,m_axisnum,Val(T_HomeSp2.Text))


　                　iret= ZAux_BusCmd_SetDatumOffpos(g_handle,m_axisnum, _

　　                Val(T_HomeOffpos.Text))

　　                iret= ZAux_BusCmd_Datum(g_handle,m_axisnum,Val(T_HomeMode.Text))

　            　Else

　                　MsgBox "rtex不支持!", vbOKOnly, "提示"

　            　End If

　    　End If

　　End Sub


　　Private Sub T_StopHome_Click() '停止

　        　T_Stop_Click

　　End Sub

6.总线数据交互

Private Sub T_EcatWrite_Click() 'ETHERCAT写

　　 If (g_handle = 0) Then

　        　MsgBox "未链接到控制器!", vbOKOnly, "提示"

　　Else

　        　 If (Bus_type = 0) Then

　            　Dim m_sdo_node0 As Long

　            　Dim m_sdo_index0 As Long

　            　Dim m_sdo_sub0 As Long

　            　Dim m_sdo_type0 As Long

　            　Dim m_sdo_data0 As Long

　            　 m_sdo_node0 = Val(T_SdoNode0.Text)

　            　 m_sdo_index0= Val(T_SdoIndex0.Text)

　            　 m_sdo_sub0= Val(T_SdoSub0.Text)

　            　 m_sdo_type0= T_SdoType0.ListIndex + 1

　             　m_sdo_data0= Val(T_SdoData0.Text)

　            　iret= ZAux_BusCmd_SDOWrite(g_handle,0, _

　　            m_sdo_node0,m_sdo_index0,m_sdo_sub0,m_sdo_type0,m_sdo_data0)

　　    If (iret <> 0) Then

　　            MsgBox "写入失败!", vbOKOnly, "提示"

　    　End If

　    　Else

　            　MsgBox "非ETHERCAT模块!", vbOKOnly, "提示"

　    　End If

　　End If

　　End Sub


　　Private Sub T_EcatRead_Click() 'ETHERCAT读取

　　If (g_handle = 0) Then

　        　MsgBox "未链接到控制器!", vbOKOnly, "提示"

　　Else

　        　If (Bus_type = 0) Then

　            　Dim m_sdo_node1 As Long

　　            Dim m_sdo_index1 As Long

　　            Dim m_sdo_sub1 As Long

　　            Dim m_sdo_type1 As Long

　　            Dim m_sdo_data1 As Long

　            　m_sdo_node1 = Val(T_SdoNode1.Text)

　　            m_sdo_index1 = Val(T_SdoIndex1.Text)

            　　m_sdo_sub1 = Val(T_SdoSub1.Text)

            　　m_sdo_type1 = T_SdoType1.ListIndex + 1

            　　m_sdo_data1 = 0

            　　iret=ZAux_BusCmd_SDORead(g_handle,0, _

            　　m_sdo_node1, m_sdo_index1, m_sdo_sub1, m_sdo_type1, m_sdo_data1)

　        　If (iret <> 0) Then

　            　MsgBox "读取失败!", vbOKOnly, "提示"

　　        Else

　            　T_SdoData1.Text = Str(m_sdo_data1)

　　        End If

　　        Else

　            　MsgBox "非ETHERCAT模块!", vbOKOnly, "提示"

　　        End If

　　End If

　　End Sub


　　Private Sub auto_gain_check_Click() '自动增益标志设置

　    　If (Bus_type = 0) Then

　        　If auto_gain_check.value = 0 Then

　　iret=ZAux_BusCmd_SDOWrite(g_handle,0, Val(T_SdoNode2.Text), Val(CLng("&H" & "3002")), 0, 3, 0)

　            　Else

　                　iret= ZAux_BusCmd_SDOWrite(g_handle, 0, Val(T_SdoNode2.Text), Val(CLng("&H" & "3002")), 0, 3, 1)

　                End If

　        　Else

　            　MsgBox "非ETHERCAT模块!", vbOKOnly, "提示"

　        　End If

　　End Sub


　　Private Sub T_ECAT_W_Click() '速度环、位置环增益写

　    　If (g_handle = 0) Then

　                　MsgBox "未链接到控制器!", vbOKOnly, "提示"

　        　Else

　            　If (Bus_type = 0) Then

　                　iret = ZAux_BusCmd_SDOWrite(g_handle,0, Val(T_SdoNode2.Text), Val(CLng("&H"&"3100")), 0, 3, Val(T_PostGain_W.Text)) '位置环增益写

　        　iret = iret + ZAux_BusCmd_SDOWrite(g_handle, 0, Val(T_SdoNode2.Text), Val(CLng("&H" & "3101")), 0, 3, Val(T_VeloGain_W.Text)) '速度环增益写

　            　If (iret <> 0) Then

　                    　MsgBox "写入失败!", vbOKOnly, "提示"

　                　End If

　　            Else

　                　MsgBox "非ETHERCAT模块!", vbOKOnly, "提示"

　　        End If

　    　End If

　　End Sub


　　Private Sub T_ECAT_R_Click() '速度环、位置环增益读

　    　If (g_handle = 0) Then

　            　MsgBox "未链接到控制器!", vbOKOnly, "提示"

　    　Else

　        　If (Bus_type = 0) Then

　            　iret = ZAux_BusCmd_SDORead(g_handle, 0, Val(T_SdoNode3.Text), Val(CLng("&H" & "3100")), 0, 3, m_sdo_data2_1) '位置环增益读

　    　iret = iret + ZAux_BusCmd_SDORead(g_handle, 0, Val(T_SdoNode3.Text), Val(CLng("&H" & "3101")), 0, 3, m_sdo_data2_2) '速度环增益读

　        　If (iret <> 0) Then

　            　MsgBox "写入失败!", vbOKOnly, "提示"

　　        Else

　            　T_PostGain_R = Str(m_sdo_data2_1)

　            　T_VeloGain_R = Str(m_sdo_data2_2)

　        　End If

　    　    Else

　            　MsgBox "非ETHERCAT模块!", vbOKOnly, "提示"

　        　End If

　    　End If

　　End Sub

7.IO口操作

Sub IN_OP_read()         'IO口读取

　        　Dim IN_status As Long

　        　Dim OP_status As Long

　        　Dim in_page As Long

　　        Dim op_page As Long

　        　in_page = T_IN_page.ListIndex

　        　op_page = T_OP_page.ListIndex

　        　Dim i

　        　For i = 0 To 7

　            　iret = ZAux_Direct_GetIn(g_handle, i + in_page * 8, IN_status)

　　            iret = ZAux_Direct_GetOp(g_handle, i + op_page * 8, OP_status)

　            　T_IN_Check(i).value = IN_status

　            　T_IN_Check(i).Caption = Str(i + in_page * 8)

　            　T_OP_Check(i).value = OP_status

　            　T_OP_Check(i).Caption = Str(i + op_page * 8)

　        　Next

　　End Sub


　　Private Sub T_OP_Check_Click(Index As Integer) '输出口使能

　        　Dim OP_status As Long

　        　Dim op_page As Long

　        　op_page = T_OP_page.ListIndex

　        　OP_status = T_OP_Check(Index).value

　        　iret = ZAux_Direct_SetOp(g_handle, Index + op_page * 8, OP_status)

　　End Sub

8.参数刷新

1)在主窗体


　　Private Sub Form_Load() '窗体加载时运行

　　        g_handle = 0

　　        g_basflag = False

　　        g_InitStatus = -1

　　        Bus_type = -1

　　        if_home = False

　　        m_axisnum = 0

　        　T_IN_page.ListIndex = 0 '初始化IO列表初值

　        　T_OP_page.ListIndex = 0

　　End Sub


　　Private Sub Form_QueryUnload(Cancel As Integer, UnloadMode As Integer)

　        　End '关闭主窗体时关闭程序

　　End Sub


　　Private Sub Form_Unload(Cancel As Integer)

　　        '断开链接

　        　If (g_handle <> 0) Then

　            　Timer1.Enabled = False

　            　ZAux_Close (g_handle)

　            　g_handle = 0

　        　End If

　            　Dim myForm As Form

　        　For Each myForm In Forms

　            　Unload myForm

　　            Set myForm = Nothing

　　Private Sub T_morePara_Click()

　　    Form2.Show

　　End Sub


　　Private Sub Timer1_Timer()

　        　Dim ret As Long

　        　Dim f_AxisPara(10) As Single

　        　Dim i_AxisPara(10) As Long

　　If g_handle <> 0 Then

　            　ret = 0

　            　m_axisnum = Val(T_AxisId.Text)

　　ret = ZAux_Direct_GetAxisEnable(g_handle, m_axisnum, i_AxisPara(0))

　　ret = ret + ZAux_Direct_GetMpos(g_handle, m_axisnum, f_AxisPara(0))

　　ret = ret + ZAux_Direct_GetDpos(g_handle, m_axisnum, f_AxisPara(1))

　　ret = ret + ZAux_Direct_GetAxisStatus(g_handle, m_axisnum, i_AxisPara(1))

　　ret = ret + ZAux_Direct_GetIfIdle(g_handle, m_axisnum, i_AxisPara(2))

　        　If (ret = 0) Then

　            　If i_AxisPara(0) = 0 Then

　　                T_EnableStatus.Text = "off"

　　            Else

　　                T_EnableStatus.Text = "on"

　            　End If

　　            T_Dpos.Text = Str(f_AxisPara(0))

　            　T_Mpos.Text = Str(f_AxisPara(1))

　            　Call re_transfro(i_AxisPara(1), i_AxisPara(2))

　            　End If

　        　If (((i_AxisPara(1) And 64) = 64) And (if_home = False)) Then '//第6位是否被置1

　            　T_HomeStatus.Text = "回零中"

　　            if_home = True

　        　ElseIf ((i_AxisPara(1) = 0) And if_home) Then

　　Dim homestatus As Long

　            　homestatus = 0

　            　ret = ZAux_BusCmd_GetHomeStatus(g_handle, m_axisnum, homestatus)

　　        If homestatus = 1 Then

　　                T_HomeStatus.Text = "回零完成"

　        　Else

　                　T_HomeStatus.Text = "回零未完成"

　        　End If

　                　if_home = False

　    　    End If


　    　If (g_basflag And g_InitStatus = -1) Then '//已经加载文件并且正在初始化 读取状态

　　            Dim tempstatus As Single

　　            Dim m_BusNodeNum As Long

　            　Dim m_BusAxisNum As Single

　　            tempstatus = -1

　            　m_BusNodeNum = 0

　            　m_BusAxisNum = 0


　　ret = ZAux_Direct_GetUserVar(g_handle, "BUS_TYPE", Bus_type)

　　'//读取BAS文件中的变量判断总线类型

　　ret = ret + ZAux_Direct_GetUserVar(g_handle, "Bus_InitStatus", tempstatus) '//读取BAS文件中的变量判断总线初始化完成状态

　　ret = ret + ZAux_BusCmd_GetNodeNum(g_handle, 0, m_BusNodeNum)

　　'//读取槽位0上节点个数。

　　ret = ret + ZAux_Direct_GetUserVar(g_handle, "Bus_TotalAxisnum", m_BusAxisNum)

　　'//读取BAS文件中的变量判断扫描的总轴数

　                　g_InitStatus = tempstatus

　　'//初始化完成刷新状态

　                　If (ret = 0 And g_InitStatus <> -1) Then

　                    　If g_InitStatus = 1 Then

　                        　T_BusStatus.Text = "初始化成功"

　　Else

　                        　T_BusStatus.Text = "初始化失败"

　                    　End If

　                    　T_NodeNum.Text = Str(m_BusNodeNum)

　                    　T_AxisNum.Text = Str(m_BusAxisNum)

　　                End If

　            　End If

　                　Call IN_OP_read

　            　End If

　　    End Sub


　　Sub re_transfro(axisStatues, axisIdle)

　　    Dim axisStatues_str As String

　    　Dim axisIdle_str As String

　    　axisStatues_str = ""

　    　If axisStatues = 0 Then

　        　axisStatues_str = "正常;"

　    　Else

　        　Dim quo As Long

　        　Dim mod_tr(24) As Long

　        　Dim i As Long

　        　quo = axisStatues

　    　For i = 0 To 23

　        　mod_tr(i) = quo Mod 2

　        　quo = quo \ 2

　    　Next

　　If mod_tr(1) Then axisStatues_str = axisStatues_str + "随动误差超限告警;"

　　If mod_tr(2) Then axisStatues_str = axisStatues_str + "与远程通讯出错;"

　　If mod_tr(3) Then axisStatues_str = axisStatues_str + "远程驱动器报错;"

　　If mod_tr(4) Then axisStatues_str = axisStatues_str + "正向硬限位;"

　　If mod_tr(5) Then axisStatues_str = axisStatues_str + "反向硬限位;"

　　If mod_tr(6) Then axisStatues_str = axisStatues_str + "找原点;"

　　If mod_tr(7) Then axisStatues_str = axisStatues_str + "hold速度保持信号输入;"

　　If mod_tr(8) Then axisStatues_str = axisStatues_str + "随动误差超限出错;"

　　If mod_tr(9) Then axisStatues_str = axisStatues_str + "超过正向软限位;"

　　If mod_tr(10) Then axisStatues_str = axisStatues_str + "超过负向软限位;"

　　If mod_tr(11) Then axisStatues_str = axisStatues_str + "CANCEL执行中;"

　　If mod_tr(12) Then axisStatues_str = axisStatues_str + "脉冲频率超过最大速度;"

　　If mod_tr(14) Then axisStatues_str = axisStatues_str + "机械手指令坐标错误;"

　　If mod_tr(18) Then axisStatues_str = axisStatues_str + "电源异常;"

　　If mod_tr(21) Then axisStatues_str = axisStatues_str + "运动中触发特殊运动指令失败;"

　　If mod_tr(22) Then axisStatues_str = axisStatues_str + "告警信号输入;"

　　If mod_tr(23) Then axisStatues_str = axisStatues_str + "轴进入暂停状态;"

　　End If

　　    If axisIdle = 0 Then

　        　axisIdle_str = "运动中"

　　    Else

　　    axisIdle_str = "运动结束"

　    　End If

　        　T_AxisStatus.Caption = axisStatues_str

　        　T_Idle.Text = axisIdle_str

　    　End Sub

　　    Private Sub T_AxisId_Change() '修改轴参数

　　If (g_handle = 0) Then

　        　MsgBox "未链接到控制器!", vbOKOnly, "提示"

　　Else

　        　Dim f_AxisPara(10) As Single

　        　Dim m_atype As Long

　        　m_atype = 0

　        　m_axisnum = Val(T_AxisId.Text)

　　iret = ZAux_Direct_GetUnits(g_handle, m_axisnum, f_AxisPara(0))

　　iret = iret + ZAux_Direct_GetSpeed(g_handle, m_axisnum, f_AxisPara(1))

　　iret = iret + ZAux_Direct_GetAccel(g_handle, m_axisnum, f_AxisPara(2))

　　iret = iret + ZAux_Direct_GetDecel(g_handle, m_axisnum, f_AxisPara(3))

　　iret = iret + ZAux_Direct_GetAtype(g_handle, m_axisnum, m_atype)

　　If (iret = 0) Then

　　T_Atype.Text = Str(m_atype)

　　T_Units.Text = Str(f_AxisPara(0))

　　T_Speed.Text = Str(f_AxisPara(1))

　　T_Accel.Text = Str(f_AxisPara(2))

　　T_Decel.Text = Str(f_AxisPara(3))

　    　End If

　　End If

　End Sub


　　2)在子窗体

　　Private d_AxisPara(73) As Variant '变体类型，使数组包含single和long型

　　Private d_AxisNum As Long

　　Public g_handle As Long

　　Public Sub para_reflash() '读取参数

　　Dim ret As Long

　　Dim paraS(3) As Single

　　    ret = 0

　　    d_AxisNum = Val(S_Axisnum.Text)

　　    g_handle = Form1.g_handle

　　If (g_handle <> 0) Then

　　ret = ZAux_Direct_GetAtype(g_handle, d_AxisNum, d_AxisPara(0))

　　ret = ZAux_Direct_GetUnits(g_handle, d_AxisNum, d_AxisPara(1))

　　ret = ZAux_Direct_GetAccel(g_handle, d_AxisNum, d_AxisPara(2))

　　ret = ZAux_Direct_GetDecel(g_handle, d_AxisNum, d_AxisPara(3))

　　ret = ZAux_Direct_GetSpeed(g_handle, d_AxisNum, d_AxisPara(4))

　　ret = ZAux_Direct_GetCreep(g_handle, d_AxisNum, d_AxisPara(5))

　　ret = ZAux_Direct_GetLspeed(g_handle, d_AxisNum, d_AxisPara(6))

　　ret = ZAux_Direct_GetMerge(g_handle, d_AxisNum, d_AxisPara(7))

　　ret = ZAux_Direct_GetSramp(g_handle, d_AxisNum, d_AxisPara(8))

　　ret = ZAux_Direct_GetEndMove(g_handle, d_AxisNum, d_AxisPara(11))

　　ret = ZAux_Direct_GetFsLimit(g_handle, d_AxisNum, d_AxisPara(12))

　　ret = ZAux_Direct_GetRsLimit(g_handle, d_AxisNum, d_AxisPara(13))

　　ret = ZAux_Direct_GetDatumIn(g_handle, d_AxisNum, d_AxisPara(14))

　　ret = ZAux_Direct_GetFwdIn(g_handle, d_AxisNum, d_AxisPara(15))

　　ret = ZAux_Direct_GetRevIn(g_handle, d_AxisNum, d_AxisPara(16))

　　ret = ZAux_Direct_GetAllAxisInfo(g_handle, d_AxisNum, d_AxisPara(17), d_AxisPara(9), d_AxisPara(10), d_AxisPara(25))

　　ret = ZAux_Direct_GetLoaded(g_handle, d_AxisNum, d_AxisPara(18))

　　ret = ZAux_Direct_GetMspeed(g_handle, d_AxisNum, d_AxisPara(19))

　　ret = ZAux_Direct_GetMtype(g_handle, d_AxisNum, d_AxisPara(20))

　　'ret = ZAux_Direct_GetNtype(g_handle, d_AxisNum, d_AxisPara(21))

　　ret = ZAux_Direct_GetRemain(g_handle, d_AxisNum, d_AxisPara(22))

　　ret = ZAux_Direct_GetVectorBuffered(g_handle, d_AxisNum, d_AxisPara(23))

　　ret = ZAux_Direct_GetVpSpeed(g_handle, d_AxisNum, d_AxisPara(24))

　　ret = ZAux_Direct_GetMoveCurmark(g_handle, d_AxisNum, d_AxisPara(27))

　　d_AxisPara(26) = d_AxisPara(27)'读取运动标号与当前运动标号相同

　　ret = ZAux_Direct_GetAxisStopReason(g_handle, d_AxisNum, d_AxisPara(28))

　　ret = ZAux_Direct_GetMovesBuffered(g_handle, d_AxisNum, d_AxisPara(29))

　　ret = ZAux_Direct_GetAxisAddress(g_handle, d_AxisNum, d_AxisPara(30))

　　ret = ZAux_Direct_GetAxisEnable(g_handle, d_AxisNum, d_AxisPara(31))

　　ret = ZAux_Direct_GetForceSpeed(g_handle, d_AxisNum, d_AxisPara(32))

　　ret = ZAux_Direct_GetStartMoveSpeed(g_handle, d_AxisNum, d_AxisPara(33))

　　ret = ZAux_Direct_GetEndMoveSpeed(g_handle, d_AxisNum, d_AxisPara(34))

　　ret = ZAux_Direct_GetFastDec(g_handle, d_AxisNum, d_AxisPara(35))

　　ret = ZAux_Direct_GetAddax(g_handle, d_AxisNum, d_AxisPara(36))

　　ret = ZAux_Direct_GetLinkax(g_handle, d_AxisNum, d_AxisPara(37))

　　ret = ZAux_Direct_GetCornerMode(g_handle, d_AxisNum, d_AxisPara(38))

　　ret = ZAux_Direct_GetDecelAngle(g_handle, d_AxisNum, d_AxisPara(39))

　　ret = ZAux_Direct_GetStopAngle(g_handle, d_AxisNum, d_AxisPara(40))

　　ret = ZAux_Direct_GetFullSpRadius(g_handle, d_AxisNum, d_AxisPara(41))

　　d_AxisPara(42) = d_AxisPara(32) '限速值取SP速度

　　ret = ZAux_Direct_GetZsmooth(g_handle, d_AxisNum, d_AxisPara(43))

　　ret = ZAux_Direct_GetVectorBuffered(g_handle, d_AxisNum, d_AxisPara(44))

　　ret = ZAux_Direct_GetEndMoveBuffer(g_handle, d_AxisNum, d_AxisPara(45))

　　ret = ZAux_Direct_GetHomeWait(g_handle, d_AxisNum, d_AxisPara(46))

　　ret = ZAux_Direct_GetFastJog(g_handle, d_AxisNum, d_AxisPara(47))

　　ret = ZAux_Direct_GetFwdJog(g_handle, d_AxisNum, d_AxisPara(48))

　　ret = ZAux_Direct_GetRevJog(g_handle, d_AxisNum, d_AxisPara(49))

　　ret = ZAux_Direct_GetJogSpeed(g_handle, d_AxisNum, d_AxisPara(50))

　　ret = ZAux_Direct_GetFholdIn(g_handle, d_AxisNum, d_AxisPara(51))

　　ret = ZAux_Direct_GetFhspeed(g_handle, d_AxisNum, d_AxisPara(52))

　　ret = ZAux_Direct_GetEncoder(g_handle, d_AxisNum, d_AxisPara(53))

　　ret = ZAux_Direct_GetMark(g_handle, d_AxisNum, d_AxisPara(57))

　　ret = ZAux_Direct_GetMarkB(g_handle, d_AxisNum, d_AxisPara(58))

　　ret = ZAux_Direct_GetRegPos(g_handle, d_AxisNum, d_AxisPara(61))

　　ret = ZAux_Direct_GetRegPosB(g_handle, d_AxisNum, d_AxisPara(62))

　　ret = ZAux_Direct_GetAlmIn(g_handle, d_AxisNum, d_AxisPara(65))

　　ret = ZAux_Direct_GetRepOption(g_handle, d_AxisNum, d_AxisPara(66))

　　ret = ZAux_Direct_GetRepDist(g_handle, d_AxisNum, d_AxisPara(67))

　　ret = ZAux_Direct_GetInvertStep(g_handle, d_AxisNum, d_AxisPara(68))

　　ret = ZAux_Direct_GetMaxSpeed(g_handle, d_AxisNum, d_AxisPara(69))

　　ret = ZAux_Direct_GetDAC(g_handle, d_AxisNum, d_AxisPara(71))

　　ret = ZAux_Direct_GetErrormask(g_handle, d_AxisNum, d_AxisPara(72))

　　End If

　　End Sub

　　    Public Sub para_reset() '写入参数

　　    Dim ret As Long

　　    ret = 0

　    　d_AxisNum = Val(S_Axisnum.Text)

　    　g_handle = Form1.g_handle

　　If (g_handle <> 0) Then

　    　Dim i

　    　For i = 0 To 72

　　        d_AxisPara(i) = Val(S_Axispara(i))

　　Next

　　ret = ZAux_Direct_SetAtype(g_handle, d_AxisNum, d_AxisPara(0))

　　ret = ZAux_Direct_SetUnits(g_handle, d_AxisNum, d_AxisPara(1))

　　ret = ZAux_Direct_SetAccel(g_handle, d_AxisNum, d_AxisPara(2))

　　ret = ZAux_Direct_SetDecel(g_handle, d_AxisNum, d_AxisPara(3))

　　ret = ZAux_Direct_SetSpeed(g_handle, d_AxisNum, d_AxisPara(4))

　　ret = ZAux_Direct_SetCreep(g_handle, d_AxisNum, d_AxisPara(5))

　　ret = ZAux_Direct_SetLspeed(g_handle, d_AxisNum, d_AxisPara(6))

　　ret = ZAux_Direct_SetMerge(g_handle, d_AxisNum, d_AxisPara(7))

　　ret = ZAux_Direct_SetSramp(g_handle, d_AxisNum, d_AxisPara(8))

　　ret = ZAux_Direct_SetDpos(g_handle, d_AxisNum, d_AxisPara(9))

　　ret = ZAux_Direct_SetMpos(g_handle, d_AxisNum, d_AxisPara(10))

　　ret = ZAux_Direct_SetFsLimit(g_handle, d_AxisNum, d_AxisPara(12))

　　ret = ZAux_Direct_SetRsLimit(g_handle, d_AxisNum, d_AxisPara(13))

　　ret = ZAux_Direct_SetDatumIn(g_handle, d_AxisNum, d_AxisPara(14))

　　ret = ZAux_Direct_SetFwdIn(g_handle, d_AxisNum, d_AxisPara(15))

　　ret = ZAux_Direct_SetRevIn(g_handle, d_AxisNum, d_AxisPara(16))

　　ret = ZAux_Direct_SetMovemark(g_handle, d_AxisNum, d_AxisPara(26))

　　ret = ZAux_Direct_SetAxisAddress(g_handle, d_AxisNum, d_AxisPara(30))

　　ret = ZAux_Direct_SetAxisEnable(g_handle, d_AxisNum, d_AxisPara(31))

　　ret = ZAux_Direct_SetForceSpeed(g_handle, d_AxisNum, d_AxisPara(32))

　　ret = ZAux_Direct_SetStartMoveSpeed(g_handle, d_AxisNum, d_AxisPara(33))

　　ret = ZAux_Direct_SetEndMoveSpeed(g_handle, d_AxisNum, d_AxisPara(34))

　　ret = ZAux_Direct_SetFastDec(g_handle, d_AxisNum, d_AxisPara(35))

　　ret = ZAux_Direct_SetCornerMode(g_handle, d_AxisNum, d_AxisPara(38))

　　ret = ZAux_Direct_SetDecelAngle(g_handle, d_AxisNum, d_AxisPara(39))

　　ret = ZAux_Direct_SetStopAngle(g_handle, d_AxisNum, d_AxisPara(40))

　　ret = ZAux_Direct_SetFullSpRadius(g_handle, d_AxisNum, d_AxisPara(41))

　　ret = ZAux_Direct_SetZsmooth(g_handle, d_AxisNum, d_AxisPara(43))

　　ret = ZAux_Direct_SetHomeWait(g_handle, d_AxisNum, d_AxisPara(46))

　　ret = ZAux_Direct_SetFastJog(g_handle, d_AxisNum, d_AxisPara(47))

　　ret = ZAux_Direct_SetFwdJog(g_handle, d_AxisNum, d_AxisPara(48))

　　ret = ZAux_Direct_SetRevJog(g_handle, d_AxisNum, d_AxisPara(49))

　　ret = ZAux_Direct_SetJogSpeed(g_handle, d_AxisNum, d_AxisPara(50))

　　ret = ZAux_Direct_SetFholdIn(g_handle, d_AxisNum, d_AxisPara(51))

　　ret = ZAux_Direct_SetFhspeed(g_handle, d_AxisNum, d_AxisPara(52))

　　ret = ZAux_Direct_SetAlmIn( g_handle, d_AxisNum, d_AxisPara(65))

　　ret = ZAux_Direct_SetRepOption(g_handle, d_AxisNum, d_AxisPara(66))

　　ret = ZAux_Direct_SetRepDist(g_handle, d_AxisNum, d_AxisPara(67))

　　ret = ZAux_Direct_SetInvertStep(g_handle, d_AxisNum, d_AxisPara(68))

　　ret = ZAux_Direct_SetMaxSpeed(g_handle, d_AxisNum, d_AxisPara(69))

　　ret = ZAux_Direct_SetDAC(g_handle, d_AxisNum, d_AxisPara(71))

　　ret = ZAux_Direct_SetErrormask(g_handle, d_AxisNum, d_AxisPara(72))

　　    End If

　　End Sub


　　Private Sub Form_Load()

　　S_Axisnum.Text = Form1.T_AxisId.Text

　　S_reflash.value = 1

　　Timer1.Enabled = True

　　End Sub


　　Private Sub Form_Unload(Cancel As Integer)

　    　Timer1.Enabled = False

　　End Sub


　　Private Sub S_Setpara_Click()

　　If Form1.g_handle = 0 Then

　    　MsgBox "未链接到控制器!", vbOKOnly, "提示"

　　Else

　    　Call para_reset

　    　S_reflash.value = 1

　　End If

　　End Sub


　　Private Sub Timer1_Timer()'刷新

　　        Dim i

　　    If Form1.g_handle <> 0 And S_reflash.value = 1 Then

　　        Call para_reflash

　        　For i = 0 To 72

　        　S_Axispara(i).Text = Str(d_AxisPara(i))

　    　Next

　　Else

　        　For i = 0 To 72

　　S_Axispara(i).Text = "*"

　        　Next

　    　End If

　　End Sub

　        　Private Sub S_Axispara_Click(Index As Integer) '准备改参数时停止刷新

　        　S_reflash.value = 0

　　End Sub

(四)编译运行演示

1.EtherCAT连接

连接控制器后点击“下载BAS文件到ROW”按钮，打开对应文件夹，选择“ECAT初始化”文件。

通过轴数量和节点数量可以看出，以及检测到驱动器并连接成功，接下来通过控制运动现象来确认驱动器受控制。

2.测试使能

使能状态off

使能状态on

轴使能正常。

3.运动测试

通过ZDevelop软件连接对应控制器时，可以通过“视图”→“示波器”调出示波器观察。

正反转运动：

定点运动：

4.数字字典测试

在EtherCAT通讯中，数据字典3002h-00h表示运动控制中位置环增益和速度环增益是否自动改变。1-自动，0-手动。

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