Montrol敏石系統技術問答: LinMot_RS485

LinMot-- RS485--VB 範例

'= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =

' Communication

'= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =

Private Sub Form_Load()

If (MSComm1.PortOpen = True) Then MSComm1.PortOpen = False

MSComm1.CommPort = 1

MSComm1.PortOpen = True

MSComm1.Settings = "57600,N,8,1"

End Sub

'= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =

' Random Value

'= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =

Private Function MyRnd() As Integer '產生亂數0~9

Randomize

MyRnd = Int(Rnd * 10)

End Function

'= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =

' Function: format 10 to 16

'= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =

Function format16(ByVal distText As TextBox, ByVal kind As Integer, ByVal Num As Integer) As String

Dim dist, dist1 As TextBox

Set dist = distText

Dim Data, Data1 As Long

Dim i As Long

Select Case kind

Case 0: i = 10000 'Position Increment (from 1mm to 0.1um)

Case 1: i = 1000000 'Max Velocity (from 1m/s to 0.001u)

Case 2: i = 100000 'Acceleration or Deceleration (from 1m/s^2 to 0.01u)

End Select

Data = Val(dist.Text)

Data1 = (Data * i)

d = Hex(Val(Data1)) 'Hex 16位元字串

Select Case Len(d)

Case 1: dd = "0000000" & d

Case 2: dd = "000000" & d

Case 3: dd = "00000" & d

Case 4: dd = "0000" & d

Case 5: dd = "000" & d

Case 6: dd = "00" & d

Case 7: dd = "0" & d

Case 8: dd = d

End Select

' (Lowest_MiddleLow_MiddleHigh_Highest)

LL = Right(dd, 2)

ML = Mid(dd, 5, 2)

MH = Mid(dd, 3, 2)

HH = Left(dd, 2)

Select Case Num

Case 0: format16 = LL

Case 1: format16 = ML

Case 2: format16 = MH

Case 3: format16 = HH

End Select

End Function

'= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =

' Go to User-Defined Demand Distance

'= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =

Private Sub Axis1_RunDist_Click()

Dim BinaryAxisOne_PosDem(1 To 25) As Byte

BinaryAxisOne_PosDem(1) = &H1

BinaryAxisOne_PosDem(2) = &H13

BinaryAxisOne_PosDem(3) = &H15

BinaryAxisOne_PosDem(4) = &H2

BinaryAxisOne_PosDem(5) = &H0 'Write Motion Command Interface

BinaryAxisOne_PosDem(6) = &H2 'Write Motion Command Interface

BinaryAxisOne_PosDem(7) = CByte("&H" + "1" + CStr(MyRnd())) '(7)個位數 need to change every time

BinaryAxisOne_PosDem(8) = &H1 '011xh:VAI Increment Dem Pos

BinaryAxisOne_PosDem(9) = CByte("&H" + format16(Axis1_dist, 0, 0)) '(9)-(12): Position Increment

BinaryAxisOne_PosDem(10) = CByte("&H" + format16(Axis1_dist, 0, 1)) '(Lowest_MiddleLow_MiddleHigh_Highest)

BinaryAxisOne_PosDem(11) = CByte("&H" + format16(Axis1_dist, 0, 2))

BinaryAxisOne_PosDem(12) = CByte("&H" + format16(Axis1_dist, 0, 3))

BinaryAxisOne_PosDem(13) = CByte("&H" + format16(Axis1_vel, 1, 0)) '(13)-(16): Max Velocity

BinaryAxisOne_PosDem(14) = CByte("&H" + format16(Axis1_vel, 1, 1))

BinaryAxisOne_PosDem(15) = CByte("&H" + format16(Axis1_vel, 1, 2))

BinaryAxisOne_PosDem(16) = CByte("&H" + format16(Axis1_vel, 1, 3))

BinaryAxisOne_PosDem(17) = CByte("&H" + format16(Axis1_acc, 2, 0)) '(17)-(20): Acceleration

BinaryAxisOne_PosDem(18) = CByte("&H" + format16(Axis1_acc, 2, 1))

BinaryAxisOne_PosDem(19) = CByte("&H" + format16(Axis1_acc, 2, 2))

BinaryAxisOne_PosDem(20) = CByte("&H" + format16(Axis1_acc, 2, 3))

BinaryAxisOne_PosDem(21) = CByte("&H" + format16(Axis1_dec, 2, 0)) '(21)-(24): Deceleration

BinaryAxisOne_PosDem(22) = CByte("&H" + format16(Axis1_dec, 2, 1))

BinaryAxisOne_PosDem(23) = CByte("&H" + format16(Axis1_dec, 2, 2))

BinaryAxisOne_PosDem(24) = CByte("&H" + format16(Axis1_dec, 2, 3))

BinaryAxisOne_PosDem(25) = &H4

MSComm1.Output = BinaryAxisOne_PosDem

End Sub

'= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =

' Move to Position 10 mm

' MaxVel= 0.1m/s; Acc= 1m/s^2; Dec= 1m/s^2;

'= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =

Private Sub AxisOne_MoveToPos_10_Click()

Dim BinaryAxisOne(1 To 25) As Byte

BinaryAxisOne(1) = &H1

BinaryAxisOne(2) = &H13

BinaryAxisOne(3) = &H15

BinaryAxisOne(4) = &H2

BinaryAxisOne(5) = &H0

BinaryAxisOne(6) = &H2

BinaryAxisOne(7) = &H8 '個位數 need to change every time

BinaryAxisOne(8) = &H1 '010xh:VAI Go To Pos

BinaryAxisOne(9) = &HA0

BinaryAxisOne(10) = &H86

BinaryAxisOne(11) = &H1

BinaryAxisOne(12) = &H0

BinaryAxisOne(13) = &HA0

BinaryAxisOne(14) = &H86

BinaryAxisOne(15) = &H1

BinaryAxisOne(16) = &H0

BinaryAxisOne(17) = &HA0

BinaryAxisOne(18) = &H86

BinaryAxisOne(19) = &H1

BinaryAxisOne(20) = &H0

BinaryAxisOne(21) = &HA0

BinaryAxisOne(22) = &H86

BinaryAxisOne(23) = &H1

BinaryAxisOne(24) = &H0

BinaryAxisOne(25) = &H4

MSComm1.Output = BinaryAxisOne

End Sub

'= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =

' Move to Position 0 mm

'= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =

Private Sub AxisOne_MoveToPos_0_Click()

Dim BinaryAxisOne(1 To 13) As Byte

BinaryAxisOne(1) = &H1

BinaryAxisOne(2) = &H13

BinaryAxisOne(3) = &H9

BinaryAxisOne(4) = &H2

BinaryAxisOne(5) = &H0

BinaryAxisOne(6) = &H2

BinaryAxisOne(7) = &H4 'need to change every time

BinaryAxisOne(8) = &H2

BinaryAxisOne(9) = &H0

BinaryAxisOne(10) = &H0

BinaryAxisOne(11) = &H0

BinaryAxisOne(12) = &H0

BinaryAxisOne(13) = &H4

MSComm1.Output = BinaryAxisOne

End Sub

'= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =

' Positive Demand Position 3 mm

' MaxVel= 0.1m/s; Acc= 1m/s^2; Dec= 1m/s^2;

'------------------------------------------------------------------------------------------------------------------------------------'

' ** Parameter **

' (1): Fix ID telegram start (&H1)

' (2): Destination node ID (MACID)

' (3): Telegram length

' (4): Fix ID start data (&H2)

' (5): Message Sub ID

' (6): Message Main ID

' (7): Motion Cmd Intf Header Low Byte (count)

' (8): Motion Cmd Intf Header High Byte

' (9)-(12): Position Increment (Lowest_MiddleLow_MiddleHigh_Highest)

' (13)-(16): Max Velocity (Lowest_MiddleLow_MiddleHigh_Highest)

' (17)-(20): Acceleration (Lowest_MiddleLow_MiddleHigh_Highest)

' (21)-(24): Deceleration (Lowest_MiddleLow_MiddleHigh_Highest)

' (25): Fix ID telegram end (&H4)

'= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =

Private Sub AxisOne_PosDemPos_3_Click()

Dim BinaryAxisOne_PosDem(1 To 25) As Byte

BinaryAxisOne_PosDem(1) = &H1

BinaryAxisOne_PosDem(2) = &H13

BinaryAxisOne_PosDem(3) = &H15

BinaryAxisOne_PosDem(4) = &H2

BinaryAxisOne_PosDem(5) = &H0 'Write Motion Command Interface

BinaryAxisOne_PosDem(6) = &H2 'Write Motion Command Interface

'BinaryAxisOne_PosDem(7) = &H1F '個位數 need to change every time

BinaryAxisOne_PosDem(7) = CByte("&H" + "1" + CStr(MyRnd()))

BinaryAxisOne_PosDem(8) = &H1 '011xh:VAI Increment Dem Pos

BinaryAxisOne_PosDem(9) = &H30

BinaryAxisOne_PosDem(10) = &H75

BinaryAxisOne_PosDem(11) = &H0

BinaryAxisOne_PosDem(12) = &H0 '

BinaryAxisOne_PosDem(13) = &HA0

BinaryAxisOne_PosDem(14) = &H86

BinaryAxisOne_PosDem(15) = &H1

BinaryAxisOne_PosDem(16) = &H0

BinaryAxisOne_PosDem(17) = &HA0

BinaryAxisOne_PosDem(18) = &H86

BinaryAxisOne_PosDem(19) = &H1

BinaryAxisOne_PosDem(20) = &H0

BinaryAxisOne_PosDem(21) = &HA0

BinaryAxisOne_PosDem(22) = &H86

BinaryAxisOne_PosDem(23) = &H1

BinaryAxisOne_PosDem(24) = &H0

BinaryAxisOne_PosDem(25) = &H4

MSComm1.Output = BinaryAxisOne_PosDem

End Sub

'= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =

' Negative Demand Position 3 mm

' MaxVel= 0.1m/s; Acc= 1m/s^2; Dec= 1m/s^2;

'= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =

Private Sub AxisOne_NegDemPos_3_Click()

Dim BinaryAxisOne_NegDem(1 To 25) As Byte

BinaryAxisOne_NegDem(1) = &H1

BinaryAxisOne_NegDem(2) = &H13

BinaryAxisOne_NegDem(3) = &H15

BinaryAxisOne_NegDem(4) = &H2

BinaryAxisOne_NegDem(5) = &H0

BinaryAxisOne_NegDem(6) = &H2

'BinaryAxisOne_NegDem(7) = &H1F '個位數 need to change every time

BinaryAxisOne_NegDem(7) = CByte("&H" + "1" + CStr(MyRnd()))

BinaryAxisOne_NegDem(8) = &H1 '011xh:VAI Increment Dem Pos

BinaryAxisOne_NegDem(9) = &HD0

BinaryAxisOne_NegDem(10) = &H8A

BinaryAxisOne_NegDem(11) = &HFF

BinaryAxisOne_NegDem(12) = &HFF

BinaryAxisOne_NegDem(13) = &HA0

BinaryAxisOne_NegDem(14) = &H86

BinaryAxisOne_NegDem(15) = &H1

BinaryAxisOne_NegDem(16) = &H0

BinaryAxisOne_NegDem(17) = &HA0

BinaryAxisOne_NegDem(18) = &H86

BinaryAxisOne_NegDem(19) = &H1

BinaryAxisOne_NegDem(20) = &H0

BinaryAxisOne_NegDem(21) = &HA0

BinaryAxisOne_NegDem(22) = &H86

BinaryAxisOne_NegDem(23) = &H1

BinaryAxisOne_NegDem(24) = &H0

BinaryAxisOne_NegDem(25) = &H4

MSComm1.Output = BinaryAxisOne_NegDem

End Sub

'= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =

' Homing

'= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =

Private Sub AxisOne_Homing_Click()

Dim BinaryAxisOneHome(1 To 9) As Byte

BinaryAxisOneHome(1) = &H1

BinaryAxisOneHome(2) = &H13

BinaryAxisOneHome(3) = &H5

BinaryAxisOneHome(4) = &H2

BinaryAxisOneHome(5) = &H0

BinaryAxisOneHome(6) = &H1

BinaryAxisOneHome(7) = &H3F

BinaryAxisOneHome(8) = &H8

BinaryAxisOneHome(9) = &H4

MSComm1.Output = BinaryAxisOneHome

End Sub

'= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =

' Operation Enabled

'= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =

Private Sub AxisOne_OperationEnabled_Click()

Dim BinaryAxisOneHomeReset(1 To 9) As Byte

BinaryAxisOneHomeReset(1) = &H1

BinaryAxisOneHomeReset(2) = &H13

BinaryAxisOneHomeReset(3) = &H5

BinaryAxisOneHomeReset(4) = &H2

BinaryAxisOneHomeReset(5) = &H0

BinaryAxisOneHomeReset(6) = &H1

BinaryAxisOneHomeReset(7) = &H3F

BinaryAxisOneHomeReset(8) = &H0

BinaryAxisOneHomeReset(9) = &H4

MSComm1.Output = BinaryAxisOneHomeReset

End Sub

'= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =

' stop MC

'= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =

Private Sub AxisOne_StopMC_Click()

Dim BinaryAxisOne_StopMC(1 To 7) As Byte

BinaryAxisOne_StopMC(1) = &H1

BinaryAxisOne_StopMC(2) = &H13

BinaryAxisOne_StopMC(3) = &H3

BinaryAxisOne_StopMC(4) = &H2

BinaryAxisOne_StopMC(5) = &H3

BinaryAxisOne_StopMC(6) = &H6

BinaryAxisOne_StopMC(7) = &H4

MSComm1.Output = BinaryAxisOne_StopMC

End Sub

'= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =

' Start MC

'= = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =

Private Sub AxisOne_StartMC_Click()

Dim BinaryAxisOne_StartMC(1 To 7) As Byte

BinaryAxisOne_StartMC(1) = &H1

BinaryAxisOne_StartMC(2) = &H13

BinaryAxisOne_StartMC(3) = &H3

BinaryAxisOne_StartMC(4) = &H2

BinaryAxisOne_StartMC(5) = &H4

BinaryAxisOne_StartMC(6) = &H6

BinaryAxisOne_StartMC(7) = &H4

MSComm1.Output = BinaryAxisOne_StartMC

End Sub

Montrol敏石系統技術問答

LinMot_RS485_單軸 VB介面範例

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