运动控制卡应用开发教程之VB6.0

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。

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.dllregsvr32 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 BooleanPublic 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 IfEnd 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))    NextEnd 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 IfEnd SubPrivate 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()) NextEnd 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 IfEnd 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 IfEnd 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    With CommonDialog1        .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 IfEnd Sub'重新初始化总线，下载ROM时程序会自动初始化一次Private Sub 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 IfEnd IfEnd Sub

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 IfEnd 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 IfEnd 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 IfEnd 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 IfEnd 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 IfEnd 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 IfEnd Sub
Private Sub T_Stop_Click()  '停止If (g_handle = 0) ThenMsgBox '未链接到控制器!', vbOKOnly, '提示'Elseiret = ZAux_Direct_Single_Cancel(g_handle, m_axisnum, 2)End IfEnd 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 IfEnd SubPrivate Sub T_StopHome_Click()  '停止    T_Stop_ClickEnd 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 IfEnd IfEnd 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 IfEnd IfEnd 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 Theniret=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 IfEnd 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 IfEnd 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 IfEnd 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)    NextEnd SubPrivate 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 = 0End 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 = NothingPrivate Sub T_morePara_Click()    Form2.ShowEnd 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 IfEnd 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        NextIf 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_strEnd 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 IfEnd 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 LongPublic g_handle As LongPublic 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) Thenret = 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 IfEnd SubPublic 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))        Nextret = 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 IfEnd SubPrivate Sub Form_Load()    S_Axisnum.Text = Form1.T_AxisId.Text    S_reflash.value = 1    Timer1.Enabled = TrueEnd SubPrivate Sub Form_Unload(Cancel As Integer)    Timer1.Enabled = FalseEnd 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 IfEnd SubPrivate 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 IfEnd SubPrivate Sub S_Axispara_Click(Index As Integer) '准备改参数时停止刷新    S_reflash.value = 0End 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。