一、通讯设定与连接√
说明与总结：
布尔量Connect为驱动器连接与否的标识符，启动时默认为false，即未连接状态；
/*-----------------------------------------------*/
/* 连接驱动器 */
/*-----------------------------------------------*/
private void butt_Connect_Click(object sender, EventArgs e)
{
if (!Connect)//如果未连接，单击进行连接
{
MPI.setMFCmode();//setMFCmode:使用其他方法前，先使用此方法；
MPI.disAllErrMsgBox(1);//disAllErrMsgBox:关闭所有通讯错误提示信息框；
string path = "C:\\Thunder\\dce";
string file ;
if (combo_COM.SelectedIndex == 0)
{
file = "D3.dce";
}
else
{
file = "D3COE.dce";
}
m_pcom = MPI.openDCE(new StringBuilder(path), new StringBuilder(file));//openDCE:建立 PC 与驱动器之间的通讯
MPI.setComPar(0, 0, 5, 0, 0, 0, 0, 0, 100, 200, 100, m_pcom);//设定通讯参数，返回值为0表示方法执行成功
//int setComPar(int port, int baudrate, int mode, int trid, int rcid,int canbaudrate,
//int msgStand, int canpipelevel, int timeout,int locktime, int iternum, MDCE* pcom = NULL);
if (Test_Connect())//如果Test_Connect()返回值为true，测试得到的结果为成功连接
{
butt_Connect.Text = "断开连接";
MessageBox.Show(this, "连接成功!", "Communication", MessageBoxButtons.OK, MessageBoxIcon.Information);
Connect = true;
timer1.Enabled = true;//定时器开启
}
else//测试连接不成功
{
timer1.Enabled = false;//定时器关闭
butt_Connect.Text = "连接";
MessageBox.Show(this, "连接失败!", "Communication", MessageBoxButtons.OK, MessageBoxIcon.Information);
Connect = false;
}
}
else//如果已连接，单击则断开连接
{
timer1.Enabled = false;
MotorEnabled(false); //MotorEnabled:激磁\解励磁电机
MPI.deleteDCE(m_pcom, 0);//deleteDCE:结束PC与驱动器之间的通讯
m_pcom = UIntPtr.Zero;
butt_Connect.Text = "Connect";
MessageBox.Show(this, "Disconnect!", "Communication", MessageBoxButtons.OK, MessageBoxIcon.Information);
Connect = false;
}
}
/*-----------------------------------------------*/
/* 测试连接 */
/*-----------------------------------------------*/
private bool Test_Connect()
{
double vel, vel_temp;//最大速度Pt316的默认值vel_temp
double setVel = 500.0;
string vel_max = "Pt316";//Pt316最高速度
unsafe
{
int x = MPI.GetVarN(new StringBuilder(vel_max), &vel_temp, 0, m_pcom);//GetVarN:取变量值
Thread.Sleep(10);
x = MPI.SetVarN(new StringBuilder(vel_max), setVel, 0, m_pcom);//赋值 (参数1 变量地址，参数2 变量值)
Thread.Sleep(10);
x = MPI.GetVarN(new StringBuilder(vel_max), &vel, 0, m_pcom);//取值
Thread.Sleep(10);
//MPI.SetVarN(new StringBuilder("Pt385"), 20, 0, m_pcom);//设置线性马达最大速度 20；单位：100mm/s
//MPI.SetVarN(new StringBuilder("dVelCmd"), 100, 0, m_pcom);
}
if (vel == setVel)//如果最大速度写入成功，则改回默认速度并返回值为true
{
MPI.SetVarN(new StringBuilder(vel_max), vel_temp, 0, m_pcom);//将最大速度值更改未默认速度vel_temp
Thread.Sleep(10);
return true;
}
else
{
return false;
}
}
二、电机使能/激磁√
#region MotorEnabled()电机使能函数
/*-----------------------------------------------*/
/* 使能，解使能电机 */
/*-----------------------------------------------*/
private void MotorEnabled(bool enable)
{
unsafe
{
int sRdy = 0;
string motor_ready = "S_RDY";
string motor_enable = "X_en";
MPI.getStateN(0, new StringBuilder(motor_ready), &sRdy, m_pcom);
if (enable == true)
{
MPI.SetVarN(new StringBuilder(motor_enable), 1, 0, m_pcom);
DateTime sDtime = DateTime.Now;
TimeSpan stTimeSpan = new TimeSpan(DateTime.Now.Ticks);
TimeSpan ltTimeSpan = new TimeSpan(DateTime.Now.Ticks);
while (MPI.getStateN(0, new StringBuilder(motor_ready), &sRdy, m_pcom) == 0)
{
if (sRdy == 1)
break;
ltTimeSpan = new TimeSpan(DateTime.Now.Ticks);
if (ltTimeSpan.TotalMilliseconds - stTimeSpan.TotalMilliseconds >= 1000 * 60)
{
Debug.WriteLine("Timeout");
break;
}
Thread.Sleep(10);
}
}
else
{
MPI.SetVarN(new StringBuilder(motor_enable), 0, 0, m_pcom);
DateTime sDtime = DateTime.Now;
TimeSpan stTimeSpan = new TimeSpan(DateTime.Now.Ticks);
TimeSpan ltTimeSpan = new TimeSpan(DateTime.Now.Ticks);
while (MPI.getStateN(0, new StringBuilder(motor_ready), &sRdy, m_pcom) == 0)
{
if (sRdy == 0)
break;
ltTimeSpan = new TimeSpan(DateTime.Now.Ticks);
if (ltTimeSpan.TotalMilliseconds - stTimeSpan.TotalMilliseconds >= 1000 * 60)
{
Debug.WriteLine("Timeout");
break;
}
Thread.Sleep(10);
}
}
}
}
#endregion
三、点动调节设定√
private void JogMove(int dir)
{
if (Connect == false)
return;
unsafe
{
string XvcJogDir = "X_vctr_jog_dir";
try
{
if (dir > 0)
{
MPI.SetVarN(new StringBuilder(XvcJogDir), 1, 0, m_pcom);
}
else if (dir < 0)
{
MPI.SetVarN(new StringBuilder(XvcJogDir), -1, 0, m_pcom);
}
else
{
MPI.SetVarN(new StringBuilder(XvcJogDir), 0, 0, m_pcom);
}
}
catch (Exception ex)
{
MPI.SetVarN(new StringBuilder(XvcJogDir), 0, 0, m_pcom);
Debug.WriteLine(ex.Message);
}
finally
{
}
}
}
四、回原点设定√
private void btn_rHome_Click(object sender, EventArgs e)
{
if (!Connect)
return;
ChangeMode(0);
unsafe
{
MPI.SetVarN(new StringBuilder("mTestRun"), 1, 0, m_pcom); // 切换至内部位置模式
MPI.SetVarN(new StringBuilder("Pt700"), 1, 0, m_pcom); //设定回原点方法
MPI.SetVarN(new StringBuilder("Pt705"), 10, 0, m_pcom); //直线快速回原点 (单位： mm/s)
MPI.SetVarN(new StringBuilder("Pt706"), 3, 0, m_pcom); //直线慢速回原点 (单位： mm/s)
MPI.SetVarN(new StringBuilder("Pt703"), 30, 0, m_pcom); //回原点时间限制 (单位： 秒)
MPI.SetVarN(new StringBuilder("Pt707"), 100, 0, m_pcom); //回原点加速时间 单位ms
MPI.SetVarN(new StringBuilder("Pt708"), 100, 0, m_pcom); //回原点减速时间 单位ms
MPI.SetVarN(new StringBuilder("Pt709"), 10, 0, m_pcom); //回原点紧急减速时间 (单位： ms)
MPI.SetVarN(new StringBuilder("Pt704"), 0, 0, m_pcom); //原点偏移量 (单位： control unit)
MPI.SetVarN(new StringBuilder("mHome"), 1, 0, m_pcom); //执行回原点动作 //0-不执行 1-执行 2-暂停
}
}
五、点对点运动设定
private void button_Move_Click(object sender, EventArgs e)
{
if (!Connect)
return;
if (!checkBox_con1.Checked || !checkBox_con2.Checked || !checkBox_con3.Checked || double.Parse(lab_Position.Text) > 10 || double.Parse(lab_Position.Text) < -10)
{
MessageBox.Show(this, "测试前请进行安全检查!", "安全检查", MessageBoxButtons.OK, MessageBoxIcon.Information);
return;
}
//点对点运动参数设定
ChangeMode(1);//切换至点对点模式
setAcc = double.Parse(textBox_acc.Text);//用户输入的加速度
setAccT = double.Parse(textBox_acctime.Text);//用户输入的加速时间
MPI.SetVarN(new StringBuilder("mTestRun"), 1, 0, m_pcom);//切换至位置模式
MPI.SetVarN(new StringBuilder("Pt534"), setAccT, 0, m_pcom); //加速时间设置
MPI.SetVarN(new StringBuilder("Pt537"), setAccT, 0, m_pcom);//减速时间设置
MPI.SetVarN(new StringBuilder("Pt585"), setAccT * g * setAcc, 0, m_pcom);//直线电机加速后达到的速度设置(单位： mm/s)
string str_trg_ctrl_unit = textBox_trgPosCtrlUnit.Text; ///输入运动位置 单位mm (單位： control unit)
str_trg_ctrl_unit.Trim();
int.TryParse(str_trg_ctrl_unit, out trg_pos); ////trg_pos 为SetVarN()中的位置量变量
uint.TryParse(textBox_Sam.Text, out SetSam);
unsafe
{
try
{
InvokeMoveButton(false);
button_Move.Text = "正在测试";
button_Move.Enabled = false;
InvokeShowInformation("");
arrayVel = new double[0];
//arrayCur = new double[0];/////删除后会累积每次数据
//arrayAcc = new double[0];
//arrayPos = new double[0];
Thread _thread0 = new Thread(() =>
{
Thread.Sleep(X_trg_delay);
double rev;
MPI.GetVarN(new StringBuilder("X_cntperunit"), &rev, 0, m_pcom); ///每转一圈的count数或每移动100mm的count数
trg_pos = (int)(rev * trg_pos / 100); //线性马达上位机文本框的mm数转count数 旋转电机根据传动比
string trage_pos = "X_trg"; //////////X_trg为位置设置变量 count
MPI.SetVarN(new StringBuilder(trage_pos), trg_pos, 0, m_pcom); /////设置位置，并开始运动
while (true)
{
Thread.Sleep(3);
drivestate_temp = 0;
int drivState = 0;
string coin_state = "COIN"; ////定位完成输出信号
MPI.getStateN(0, new StringBuilder(coin_state), &drivState, m_pcom);
if (drivState == 1)
{
//OnCloseMTimer();////////退出微秒定时器
drivestate_temp = 1;
double Position = 0;
string enc_pos = "X_enc_pos";
MPI.GetVarN(new StringBuilder(enc_pos), &Position, 0, m_pcom);
break;
}
else
drivestate_temp = 0;
}
});
_thread0.Start();
}
catch (Exception exp)
{
InvokeShowInformation(exp.Message);
throw exp;
}
}
}
六、数据采集与曲线展示
private void timer1_Tick(object sender, EventArgs e)
{
double Position, rev;
string enc_pos = "X_enc_pos";
string cntperuint = "X_cntperunit";
double FbVelocity;//反馈速度接收变量
string dfbvel = "dFbVel";//反馈速度地址
unsafe
{
MPI.GetVarN(new StringBuilder(enc_pos), &Position, 0, m_pcom);
MPI.GetVarN(new StringBuilder(cntperuint), &rev, 0, m_pcom);
MPI.GetVarN(new StringBuilder(dfbvel), &FbVelocity, 0, m_pcom); //读取反馈速度
Thread.Sleep(10);
}
Position /= rev;
Position *= 360;
lab_Position.Text = string.Format("{0,-6:f}", Position);
lbl_dFbVel.Text = string.Format("{0:f0}", FbVelocity);//显示反馈速度
}
标签：Hiwin,C#,StringBuilder,pcom,MPI,int,SetVarN,new From： https://www.cnblogs.com/legendY/p/16547430.html