Hiwin直线电机C#MPI控制程序<通讯设置、回原点设置、点动模式、点对点运动、依托Timer读取数据及数据采集>
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 }
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