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1、运动控制卡应用开发教程之VB.NET 今天，正运动技术为大众共享一下应用VB.NET开发一个位置比拟输出与编码器锁存的运动控制应用。 我们从新建工程工程，添加函数库讲起，再解析PC函数用，最后通过工程实战位置比拟输出与编码器锁存例程讲解，来让大众熟悉它的工程开发。 在正式学习之前，我们先解析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应，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应，板载24点输入，16点输出，
2、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VB.NET 开发流程 一 新建Windows 窗口应用程序 添加函数库 1.翻开Visual Studio 2019，选择创立新工程。 2.在标签中选择“Visual Basic、“Windows和“桌面，选择Windows窗体应用(.NET Framework),注意选择VB类
3、型。 3.按需求保存工程名称和地址。 确认后创立新的VB.NET工程。 4.找到正运动技术厂家提供的光盘资料，途径如下(64位库为例)。 (1)进入光盘资料找到PC函数文件夹。 (2)选择函数库2.1。 (3)Windows平台。 (4)根据需要选择对应的函数库这里选择64位库。 (5)解压VB.NET的压缩包,里面有VB.NET对应的函数库。 (6)函数库详细途径如下。 5.将dll文件zmotion.dll和zauxdll.dll一起复制放入系统文件夹C:WindowsSystem32中，假设编程系统是64位系统，也要把上述文件复制到C:WindowsSysWOW64中。 6.在“工程“添
4、加现有项，将VB.NET对应的PC函数库添加到工程中，添加的文件也会复制到工程所在文件夹中。 7.工程新建完成。按照VB.NET的功能，编写运动控制程序。 二 查看PC函数手册 解析其用法 1.PC函数手册也在光盘资料里面，详细途径如下。 2.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，大局部函数都有对控制器的指向。 通常有：Public g_handle As IntPtr=0控制器句柄是连接控制器的重要标志。 3.函数举例 (1)通过网口连接控制器，获取控制器句柄g_handle。 ZAux_OpenEth(
5、m_ipaddress, g_handle) 网口连接控制器 ret = ZAux_Close(g_handle) 断开前面的连接 (2)硬件位置输出比拟ZAux_Direct_HwPswitch2。 不同形式下配置不同参数(ModePara)，本例程使用其中两种形式：1-启动比拟器;2-停顿并删除没完成的比拟点。 形式 1-启动比拟器 ModePara1 = 第一个比拟点坐标所在 TABLE 编号 ModePara2 = 最后一个比拟点坐标所在 TABLE 编号 ModePara3= 第一个点判断方向:0,坐标负向;1,坐标正向;-1,不使用方向 ModePara4 = 预留 iret =
6、ZAux_Direct_HwPswitch2(handle,AxisNum,1,Opnum, Opstatus,StartTable,EndTable,dir,0) 形式 2-停顿并删除没完成的比拟点 ModePara1 = 预留 ModePara2 = 预留 ModePara3= 预留 ModePara4 = 预留 iret = ZAux_Direct_HwPswitch2(handle,AxisNum,2,0,0,0,0, 0,0) (3)硬件位置比拟输出电平复原ZAux_Direct_HwTimer。 iret=ZAux_Direct_HwTimer(handle,2,Timer_Cyc
7、le, Timer_Valid,Timer_Num,Opstatus,Opnum) (4)位置锁存指令ZAux_Direct_Regist。 iret = ZAux_Direct_Regist(handle,RegistNum,RegistMode) (5)读取编码器 值ZAux_Direct_GetMark、ZAux_Direct_GetMarkB、ZAux_Direct_GetRegPos、ZAux_Direct_GetRegPosB。 iret = ZAux_Direct_GetMark(g_handle, RegistAxis, MarkStatus) iret = ZAux_Dire
8、ct_GetRegPos(g_handle, RegistAxis, RegistPos) 三 实战例程与程序展示 1.构建控制界面 2.简易流程图 iret = ZAux_OpenEth(m_ipaddress, g_handle) 网口连接控制器 iret = ZAux_Direct_GetMark(g_handle, m_RegistAxis, MarkStatus) iret = ZAux_Direct_GetRegPos(g_handle, m_RegistAxis, RegistPos) 获取锁存位置 iret = ZAux_Direct_GetDpos(g_handle, m_A
9、xisNum, AxisDpos) iret = ZAux_Direct_GetOp(g_handle, m_POS_out, Op_status) iret = ZAux_Direct_SetTable(g_handle, m_POS_StartTable, m_POS_EndTable, fPointPos(0)将比拟点填入TABLE iret = ZAux_Direct_HwPswitch2(g_handle, m_AxisNum, 2, 0, 0, 0, 0, 0, 0)去除比拟输出指令 iret = ZAux_Direct_HwPswitch2(g_handle, m_AxisNum
10、, 1, m_POS_out, m_POS_OutStatus, m_POS_StartTable, m_POS_EndTable, m_PSO_dir, 0) iret = ZAux_Direct_HwTimer(g_handle, 2, m_Timer_Cycle, m_Timer_Valid, m_Timer_Num, tempoutstatus, m_POS_out) 电平恢复 iret = ZAux_Direct_Single_MoveAbs(g_handle, m_AxisNum, m_End_Pos) iret = ZAux_Direct_Regist(g_handle, m_R
11、egistAxis, RegistMode)编码器锁存 iret = ZAux_Direct_GetMark(g_handle, m_RegistAxis, MarkStatus) iret = ZAux_Direct_GetRegPos(g_handle, m_RegistAxis, RegistPos)获取锁存位置 ret = ZAux_Close(g_handle)断开连接 3.控制程序模块 (1)全局定义和初始化 Public g_handle As IntPtr = 0 当前使用的卡句柄 Public iTotalPoint As Integer = 1000 Public m_PO
12、S_IfOpen As Boolean = True Public m_Timer_IfOpen As Boolean = True Public m_AxisNum As Integer = 0 Public m_PSO_dir As Integer = -1 Public m_POS_out As Integer = 0 Public m_End_Pos As Single = 5000 Public m_Timer_Num As Integer = 1 Public m_POS_EndTable As Integer = 10 Public m_Start_Pos As Single =
13、 0 Public m_POS_StartTable As Integer = 0 Public m_Timer_Valid As Integer = 5000 Public m_Timer_Cycle As Integer = 10000 Public m_POS_OutStatus As Integer = 1 Public m_Regist_ifOpen As Boolean = False Public m_RegistAxis As Integer = 1 Public m_RegistCount As Integer = 0 Public RegistMode As Integer
14、 = 1 Public fPointPos(1000) As Single Private Sub Form1_Load(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles MyBase.Load 初始化 初始化锁存形式列表 ComboBox1.Items.Clear() ComboBox1.Items.Add(1 Z脉冲上升沿锁存) ComboBox1.Items.Add(2 Z脉冲下降沿锁存) ComboBox1.Items.Add(3 R0上升沿锁存) ComboBox1.Items.Add(4 R0下降
15、沿锁存) ComboBox1.Items.Add(14 R1上升沿锁存) ComboBox1.Items.Add(15 R1下降沿锁存) ComboBox1.Items.Add(18 R2上升沿锁存) ComboBox1.Items.Add(19 R2下降沿锁存) ComboBox1.Items.Add(20 R3上升沿锁存) ComboBox1.Items.Add(21 R3下降沿锁存) ComboBox1.SelectedIndex = 0 初始化编码轴类型列表 ComboBox2.Items.Clear() ComboBox2.Items.Add(3 正交编码器) ComboBox2.I
16、tems.Add(4 脉冲方向输出+正交编码器输入) ComboBox2.Items.Add(5 脉冲方向输出+脉冲方向输入) ComboBox2.Items.Add(6 脉冲方向方式的编码器) ComboBox2.Items.Add(7 脉冲方向方式步进或者伺服+EZ信号输入) ComboBox2.Items.Add(8 ZCAN扩展脉冲方向方式步进或者伺服) ComboBox2.Items.Add(9 ZCAN扩展正交编码器) ComboBox2.Items.Add(10 ZCAN扩展脉冲方向方式的编码器) ComboBox2.SelectedIndex = 0 初始化比拟方向列表 Com
17、boBox3.Items.Clear() ComboBox3.Items.Add(-1 不使用方向) ComboBox3.Items.Add(0 坐标负向) ComboBox3.Items.Add(1 坐标正向) ComboBox3.SelectedIndex = 0 start_add() End Sub Private Sub Form1_FormClosed(ByVal sender As System.Object, ByVal e As System.Windows.Forms.FormClosedEventArgs) 关闭窗口 If g_handle 0 Then 断开前面的连接
18、ZAux_Close(g_handle) g_handle = 0 Me.Text = 未连接 Timer1.Stop() Timer2.Stop() End If End Sub Private Sub start_add() 初始化DataGridView数据Dim tempvalue As Single tempvalue = 0 For i = 0 To iTotalPoint - 1 Step 1 tempvalue = (i + 1) * 100 DataGridView1.Rows.Add(New String() i.ToString(), tempvalue.ToString
19、() Next End Sub (2)控制器连接 Private Sub C_Ip_Address_DropDown(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles C_Ip_Address.DropDown 下拉搜索IP Dim Buffer As New StringBuilder(10240) ZAux_SearchEthlist(Buffer, 10230, 200) 搜索IP地址列表 Dim Ip_List() As String Ip_List = Buffer.ToString.Split(
20、) C_Ip_Address.Items.Clear() C_Ip_Address.Items.Add(127.0.0.1) If Ip_List.Length 1 Then For i = 0 To Ip_List.Length - 1 C_Ip_Address.Items.Add(Ip_List(i) Next End If End Sub Private Sub C_Open_Eth_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles C_Open_Eth.Click 以太网连接控制器 Dim
21、 m_ipaddress As String m_ipaddress = C_Ip_Address.Text If g_handle 0 Then 断开前面的连接 ZAux_Close(g_handle) g_handle = 0 End If ZAux_OpenEth(m_ipaddress, g_handle) 网口连接控制器 If (g_handle 0) Then Me.Text = 已连接 Timer1.Start() Else Me.Text = 未连接 MessageBox.Show(连接失败) End If End Sub Private Sub C_Close_Card_Cl
22、ick(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles C_Close_Card.Click 断开连接 Dim ret As Integer = 0 If g_handle 0 Then 断开前面的连接 ret = ZAux_Close(g_handle) g_handle = 0 Me.Text = 未连接 Timer1.Stop() Timer2.Stop() End If End Sub (3)位置比拟输出 Private Sub Button2_Click(ByVal sender As Syste
23、m.Object, ByVal e As System.EventArgs) Handles Button2.Click 运动 If (g_handle = 0) Then MessageBox.Show(未链接到控制器!, 提示) Else Dim iret As Integer = 0 iret = ZAux_Direct_SetUnits(g_handle, m_AxisNum, 100) iret = ZAux_Direct_SetSpeed(g_handle, m_AxisNum, 100) iret = ZAux_Direct_SetAccel(g_handle, m_AxisNu
24、m, 2000) iret = ZAux_Direct_HwPswitch2(g_handle, m_AxisNum, 2, 0, 0, 0, 0, 0, 0) 去除前面的比拟输出指令 If m_POS_IfOpen = False Then 比拟完成一次后需要重新调用HwPswitch iret = ZAux_Direct_SetTable(g_handle, 0, iTotalPoint, fPointPos(0) 将比拟点填入TABLE If iret 0 Then Dim tempstr As String tempstr = SetTable失败 返回值： + iret.ToStri
25、ng() MessageBox.Show(tempstr, 提示) Exit Sub End If iret = ZAux_Direct_HwPswitch2(g_handle, m_AxisNum, 1, m_POS_out, m_POS_OutStatus, m_POS_StartTable, m_POS_EndTable, m_PSO_dir, 0) If iret 0 Then Dim tempstr As String tempstr = HwPswitch2失败 返回值： + iret.ToString() MessageBox.Show(tempstr, 提示) Exit Sub
26、 End If Else iret = 0 iret = ZAux_Direct_HwPswitch2(g_handle, m_AxisNum, 2, 0, 0, 0, 0, 0, 0) 去除比拟输出指令 If iret 0 Then Dim tempstr As String tempstr = HwPswitch2失败 返回值： + iret.ToString() MessageBox.Show(tempstr, 提示) Exit Sub End If End If Dim tempoutstatus As Boolean = 0 If m_POS_OutStatus = 0 Then t
27、empoutstatus = 1 Else tempoutstatus = 0 End If If m_Timer_IfOpen = False Then iret = ZAux_Direct_HwTimer(g_handle, 2, m_Timer_Cycle, m_Timer_Valid, m_Timer_Num, tempoutstatus, m_POS_out) If iret 0 Then Dim tempstr As String tempstr = HwTimer失败 返回值： + iret.ToString() MessageBox.Show(tempstr, 提示) Exit
28、 Sub End If Else iret = ZAux_Direct_HwTimer(g_handle, 0, m_Timer_Cycle, m_Timer_Valid, m_Timer_Num, tempoutstatus, m_POS_out) If iret 0 Then Dim tempstr As String tempstr = HwTimer失败 返回值： + iret.ToString() MessageBox.Show(tempstr, 提示) Exit Sub End If End If ZAux_Trigger(g_handle) iret = ZAux_Direct_
29、SetDpos(g_handle, m_AxisNum, 0) iret = ZAux_Direct_Single_MoveAbs(g_handle, m_AxisNum, m_Start_Pos) iret = ZAux_Direct_Single_MoveAbs(g_handle, m_AxisNum, m_End_Pos) End If End Sub Private Sub Button3_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button3.Click 停顿 If (g_ha
30、ndle = 0) Then MessageBox.Show(未链接到控制器!, 提示) Else Dim iret As Integer = 0 iret = ZAux_Direct_Single_Cancel(g_handle, m_AxisNum, 2) End If End Sub (4)锁存位置 Private Sub Button1_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button1.Click 启动锁存 If (g_handle = 0) Then MessageBox
31、.Show(未链接到控制器!, 提示) Else Dim iret As Integer = 0 If m_Regist_ifOpen = False Then m_RegistCount = 0 Dim ReglistListAtype As Integer ReglistListAtype = ComboBox2.SelectedIndex + 3 iret = ZAux_Direct_SetAtype(g_handle, m_RegistAxis, ReglistListAtype) 必须是编码器轴才可以锁存 Dim ReglistListSel As Integer ReglistLi
32、stSel = ComboBox1.SelectedIndex If ReglistListSel = 0 And ReglistListSel = 3 Then RegistMode = ReglistListSel + 1 ElseIf ReglistListSel = 4 Or ReglistListSel = 5 Then RegistMode = ReglistListSel + 10 ElseIf ReglistListSel = 6 And ReglistListSel = 9 Then RegistMode = ReglistListSel + 12 End If iret =
33、 ZAux_Direct_Regist(g_handle, m_RegistAxis, RegistMode) Timer2.Start() m_Regist_ifOpen = True ComboBox1.Enabled = False ComboBox2.Enabled = False Button1.Text = 停顿锁存 Else Timer2.Stop() m_Regist_ifOpen = False ComboBox1.Enabled = True ComboBox2.Enabled = True Button1.Text = 启动锁存 DataGridView2.Rows.Cl
34、ear() End IfEnd If End Sub (5)时间刷新 Private Sub Timer1_Tick(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Timer1.Tick 刷新状态显示 Dim AxisDpos As Single = 0 Dim iret As Integer = 0 Dim Op_status As UInt32 = 0 updata_value() If RadioButton1.Checked = True Then 位置比拟是否开启 m_POS_IfOpen =
35、False End If If RadioButton2.Checked = True Then m_POS_IfOpen = True End If If RadioButton4.Checked = True Then 定时器输出反转是否开启 m_Timer_IfOpen = False End If If RadioButton3.Checked = True Then m_Timer_IfOpen = True End If iret = ZAux_Direct_GetDpos(g_handle, m_AxisNum, AxisDpos) iret = ZAux_Direct_GetO
36、p(g_handle, m_POS_out, Op_status) label_dpos.Text = 轴 + m_AxisNum.ToString() + 坐标： + AxisDpos.ToString() label_out.Text = 输出口 + m_POS_out.ToString() + 状态：关闭 If Op_status = 1 Then label_out.Text = 输出口 + m_POS_out.ToString() + 状态：翻开 End If End Sub Private Sub Timer2_Tick(ByVal sender As System.Object,
37、 ByVal e As System.EventArgs) Handles Timer2.Tick 定时器刷新 Dim iret As Integer = 0 Dim MarkStatus As Integer = 0 Dim RegistPos As Single If RegistMode = 1 And RegistMode = 4 Then iret = ZAux_Direct_GetMark(g_handle, m_RegistAxis, MarkStatus) ElseIf RegistMode = 14 Or RegistMode = 15 Then iret = ZAux_Di
38、rect_GetMarkB(g_handle, m_RegistAxis, MarkStatus) ElseIf RegistMode = 18 Or RegistMode = 19 Then Dim tempc As Single iret = ZAux_Direct_GetParam(g_handle, MARKC, m_RegistAxis, tempc) MarkStatus = Convert.ToInt32(tempc) ElseIf RegistMode = 20 Or RegistMode = 21 Then Dim tempd As Single iret = ZAux_Di
39、rect_GetParam(g_handle, MARKD, m_RegistAxis, tempd) MarkStatus = Convert.ToInt32(tempd) End If If MarkStatus = -1 Then If RegistMode = 1 And RegistMode = 4 Then iret = ZAux_Direct_GetRegPos(g_handle, m_RegistAxis, RegistPos) 获取锁存位置 ElseIf RegistMode = 14 Or RegistMode = 15 Then iret = ZAux_Direct_Ge
40、tRegPosB(g_handle, m_RegistAxis, RegistPos) ElseIf RegistMode = 18 Or RegistMode = 19 Then iret = ZAux_Direct_GetParam(g_handle, REG_POSC, m_RegistAxis, RegistPos) ElseIf RegistMode = 20 Or RegistMode = 21 Then iret = ZAux_Direct_GetParam(g_handle, REG_POSD, m_RegistAxis, RegistPos) End If Dim temps
41、tr0 As String Dim tempstr1 As String tempstr0 = m_RegistCount.ToString() tempstr1 = RegistPos.ToString() DataGridView2.Rows.Add(New String() tempstr0, tempstr1) m_RegistCount = m_RegistCount + 1 iret = ZAux_Direct_Regist(g_handle, m_RegistAxis, RegistMode) 重新触发锁存 End If Dim tempstr As String tempstr
42、 = 锁存触发状态： + MarkStatus.ToString() + 次数： + m_RegistCount.ToString() Label3.Text = tempstr End Sub Private Sub updata_value() 更新参数m_AxisNum = Convert.ToInt32(TextBox2.Text) m_POS_out = Convert.ToInt32(TextBox3.Text) m_POS_StartTable = Convert.ToInt32(TextBox4.Text) m_POS_EndTable = Convert.ToInt32(Te
43、xtBox5.Text) m_POS_OutStatus = Convert.ToInt32(TextBox6.Text) m_PSO_dir = ComboBox3.SelectedIndex - 1 m_Timer_Cycle = Convert.ToInt32(TextBox10.Text) m_Timer_Valid = Convert.ToInt32(TextBox9.Text) m_Timer_Num = Convert.ToInt32(TextBox8.Text) m_Start_Pos = Convert.ToSingle(TextBox12.Text) m_End_Pos = Convert.ToSingle(TextBox11.Text) m_RegistAxis = Convert.ToInt32(TextBox1.Text) For i = 0 To iTotalPoint - 1 Step 1 fPointPos(i) = Convert.ToSingle(DataGridView1.Item(位置, i).Value) Next End Sub 4.检查对应事件是否加载到控件上 以下列图为例。 5.接线方式 (1)编码轴与编码器的接线(Z向锁存