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:WindowsSystem32中。假如编程系统是64位系统，也要把上述文件复制到C:WindowsSysWOW64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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