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运动控制卡应用开发教程之VB.NET

  今天,正运动技术为大家分享一下应用VB.NET开发一个位置比较输出与编码器锁存的运动控制应用。

  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。

  

  运动控制

  

  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。

  

运动控制

  

  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。

  

  运动控制

  

  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.打开Visual Studio 2019,选择创建新项目。

  

  运动控制

  

  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。

  

  运动控制

  

  3.按需求保存项目名称地址

  

  运动控制

  

  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。

  

  运动控制

  

  (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。

  

  运动控制

  

  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。

  

  运动控制

  

  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。

  

  运动控制

  运动控制

  运动控制

  运动控制

  

  7.项目新建完成。按照VB.NET的功能,编写运动控制程序。

 

 运动控制

 

  二 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。

 

 运动控制

 

  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

 

 运动控制
   运动控制
运动控制

 

  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

 

 运动控制

 运动控制

 运动控制

  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

 

 运动控制

 

  iret=ZAux_Direct_HwTimer(handle,2,Timer_Cycle, Timer_Valid,Timer_Num,Opstatus,Opnum)

  (4)位置锁存指令ZAux_Direct_Regist

 

 运动控制

 

  iret = ZAux_Direct_Regist(handle,RegistNum,RegistMode)

  (5)读取编码器

   ZAux_Direct_GetMark、ZAux_Direct_GetMarkB、ZAux_Direct_GetRegPos、ZAux_Direct_GetRegPosB

 

 运动控制

 运动控制

 

  iret = ZAux_Direct_GetMark(g_handle, RegistAxis, MarkStatus)

  iret = ZAux_Direct_GetRegPos(g_handle, RegistAxis, RegistPos)

  三 实战例程与程序展示

  

  1.构建控制界面

  

  运动控制

  

  2.简易流程图

  

  运动控制

  

  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TABLE

  iret = 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()})

          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(" ")

      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 If

  End 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 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.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 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 If

  End 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。

  

  运动控制

  

  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

  

  运动控制

  

  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

  

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  表3 位置比较输出与R0锁存接线

  运动控制

  

  

  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)。

  四 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。

  

  运动控制

  运动控制

  

  (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。

  

  运动控制

  运动控制

  

  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。

  

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  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。

  

  运动控制

  运动控制

  

  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。

  

  运动控制

  运动控制

  

  本次,正运动技术运动控制卡应用开发教程之VB.NET就分享到这里,更多精彩内容请关注“正运动小助手”公众号。

  本文由正运动技术原创,欢迎大家转载,共同学习,一起提高中国智能制造水平。文章版权归正运动技术所有,如有转载请注明文章来源。

  运动控制

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