运动控制卡应用开发教程之VB.NET

我们从新建工程项目,添加函数库讲起,再了解PC函数用,最后通过项目实战——位置比较输出与编码器锁存例程讲解,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。

新建Windows 窗口应用程序 添加函数库

1.打开Visual Studio 2019,选择创建新项目。
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类型。

3.按需求保存项目名称和地址。

确认后创建新的VB.NET项目。

4.找到正运动技术厂家提供的光盘资料,路径如下(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)函数库具体路径如下。

5.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。
6.在“项目”→“添加现有项”,将VB.NET对应的PC函数库添加到项目中,添加的文件也会复制到项目所在文件夹中。
7.项目新建完成。按照VB.NET的功能,编写运动控制程序。

查看PC函数手册 了解其用法

1.PC函数手册也在光盘资料里面,具体路径如下。
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,大部分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(m_ipaddress, g_handle) '网口连接控制器ret = ZAux_Close(g_handle) '断开前面的连接

(2)硬件位置输出比较ZAux_Direct_HwPswitch2。

不同模式下配置不同参数(ModePara),本例程使用其中两种模式:1-启动比较器;2-停止并删除没完成的比较点。

模式 1-启动比较器

ModePara1 = 第一个比较点坐标所在 TABLE 编号

ModePara2 = 最后一个比较点坐标所在 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 = ZAux_Direct_HwPswitch2(handle,AxisNum,1,Opnum, Opstatus,StartTable,EndTable,dir,0)

模式 2-停止并删除没完成的比较点

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)硬件位置比较输出电平还原ZAux_Direct_HwTimer。

iret=ZAux_Direct_HwTimer(handle,2,Timer_Cycle, 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_Direct_GetRegPos(g_handle, RegistAxis, RegistPos)

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_AxisNum, 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))'将比较点填入TABLEiret = ZAux_Direct_HwPswitch2(g_handle, m_AxisNum, 2, 0, 0, 0, 0, 0, 0)'清除比较输出指令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)
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_RegistAxis, 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_POS_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 = 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 = 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        '初始化锁存模式列表         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.Items.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伺服+EZ信号输入')        ComboBox2.Items.Add('8 ZCAN扩展脉冲方向方式步进或伺服')        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        '初始化比较方向列表        ComboBox3.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               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()})        NextEnd 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(' ') 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 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_Click(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 IfEnd Sub

(3)位置比较输出

Private Sub Button2_Click(ByVal sender As System.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_AxisNum, 2000)            iret = ZAux_Direct_HwPswitch2(g_handle, m_AxisNum, 2, 0, 0, 0, 0, 0, 0)     '清除前面的比较输出指令            If m_POS_IfOpen = False Then                '比较完成一次后需要重新调用HwPswitch                  iret = ZAux_Direct_SetTable(g_handle, 0, iTotalPoint, fPointPos(0))               '将比较点填入TABLE                If iret <> 0 Then                    Dim tempstr As String                    tempstr = 'SetTable失败 返回值:' + iret.ToString()                    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                End If            Else                iret = 0                iret = ZAux_Direct_HwPswitch2(g_handle, m_AxisNum, 2, 0, 0, 0, 0, 0, 0)         '清除比较输出指令                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                tempoutstatus = 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 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_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         '停止        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_Single_Cancel(g_handle, m_AxisNum, 2)        End IfEnd 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.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 ReglistListSel = 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 = ZAux_Direct_Regist(g_handle, m_RegistAxis, RegistMode) Timer2.Start() m_Regist_ifOpen = True ComboBox1.Enabled = False ComboBox2.Enabled = False Button1.Text = '停止锁存' Else Timer2.Stop() m_Regist_ifOpen = False ComboBox1.Enabled = True ComboBox2.Enabled = True Button1.Text = '启动锁存' DataGridView2.Rows.Clear() End If End IfEnd 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             '位置比较是否开启            m_POS_IfOpen = 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_GetOp(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:打开'        End IfEnd Sub    Private Sub Timer2_Tick(ByVal sender As System.Object, 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_Direct_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_Direct_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_GetRegPosB(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 tempstr0 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 = '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(TextBox5.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
以下图为例。
5.接线方式

(1)编码轴与编码器的接线(Z向锁存)

表1 编码轴与编码器接线

注意,该接线为单端接法,编码器应与轴使用同一电源,接地时接入内部地(GND,针脚号有10、13、20、21、24)而不能是外部地(EGND,针脚号1)。

(2)编码轴与脉冲轴的接线(R0锁存)

为了观察锁存位置的准确性,通过脉冲轴发出编码信号使编码器记录信息,位置比较输出触发锁存,通过R0上升沿触发锁存,获取锁存位置。

表2 脉冲轴与编码轴接线

表3 位置比较输出与R0锁存接线

本例使用的控制器ZMC406含两个锁存开关锁存A,锁存B,在ZDevelop软件中连接控制器,通过命令窗口检测锁存输入映射REG_INPUTS=$1010。($1010对应十进制4112)。

编译运动结果

通过写入控制器程序,初始化设置脉冲轴和编码轴轴参数。

1.位置比较输出

(1)打开比较输出,关闭定时反转信号,设置运动距离2000,完成运动后,如下图。

(2)打开比较输出,打开定时反转信号,设置运动距离2000,完成运动后,如下图。

可见,位置比较输出在定时反转后,上升沿信号会被定时器输出反转,但位置比较不受影响,下一次比较信号时,由于已经是低电平,输出口信号不变。

2.编码器锁存

(1)使用旋转编码器给予编码轴脉冲

以比较输出信号为R0锁存触发信号,使用轴1为编码轴,类型4,模式3,开启锁存,运动距离2000。

本例使用关闭定时反转的位置比较输出的十个点,其中5个上升沿信号,所以触发了5次锁存,保存了编码器的反馈位置。

(2)使用脉冲轴(伪编码器)给予编码轴脉冲

使用位置比较的轴作为脉冲轴,通过ZDevelop设置编码轴其他轴参数与脉冲轴一致,以比较输出信号为R0锁存触发,使用轴1为编码轴,类型6,模式3。

A.开启位置比较,关闭定时反转。

途中IN(0)信号,也就是R0信号使用反向表示,因为本例使用了ZMC控制器为低电平有效,即在IN波形图上表示下降沿时,对应IN口电压为上升沿。

B.开启位置比较,打开定时反转。

(0)

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