今天，正运动小助手为大家分享一下VB6.0开发总线初始化的运动控制应用。
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。
以下是VB6.0
开发流程
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:WindowsSystem32中。假如编程系统是64位系统，也要把上述文件复制到C:WindowsSysWOW64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原由网引用。
（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：
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
// 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
2.控制器连接
Private Sub T_IpAddress_DropDown '下拉搜索IPDim Buffer As String * 10240T_IpAddress.ClearT_IpAddress.AddItem ("127.0.0.1")iret = ZAux_SearchEthlist(Buffer, 10230, 200) '搜索IP地址列表Dim Ip_List As StringIp_List = Split(Buffer, " ")For i = 0 To UBound(Ip_List)T_IpAddress.AddItem (Ip_List(i))NextEndSub
Private Sub T_OpenEth_Click '以太网连接Dim m_ipaddress As Stringm_ipaddress = T_IpAddress.TextIf g_handle <> 0 Then '断开前面的连接ZAux_Close (g_handle)g_handle = 0End Ifiret = ZAux_OpenEth(m_ipaddress, g_handle)'网口连接控制器If (g_handle <> 0) ThenForm1.Caption = "已连接"Timer1.Enabled = TrueT_AxisId_Changeiret = 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) Theng_basflag = True'//文件已经加载End IfElseForm1.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PCIDim m_maxpci As IntegerT_PciId.Clearm_maxpci = ZAux_GetMaxPciCardsFor i = 0 To m_maxpci - 1T_PciId.AddItem (i.ToString)NextEnd Sub
Private Sub T_OpenPci_ClickDim m_cardid As IntegerIf g_handle <> 0 Then '断开前面的连接ZAux_Close (g_handle)g_handle = 0End Ifm_cardid = Val(PCIADDRESS.Text)iret = ZAux_OpenPci(m_cardid, g_handle)'PCI方式连接If g_handle <> 0 ThenForm1.Caption = "已连接"Timer1.Enabled = TrueT_AxisId_ChangeDim ret As Integeriret = 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) Theng_basflag = True'//文件已经加载End IfElseMsgBox "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) ThenTimer1.Enabled = FalseZAux_Close (g_handle)g_handle = 0Form1.Caption = "未连接"End IfEndSub
3.总线初始化
4.轴运动
Private Sub T_ClearAlm_Click '//清除轴报警If (g_handle = 0) ThenMsgBox "未链接到控制器!", vbOKOnly, "提示"Elseiret = ZAux_BusCmd_DriveClear(g_handle, m_axisnum, 0)End IfEnd Sub
Private Sub T_FwdMove_Click '正转If (g_handle = 0) ThenMsgBox "未链接到控制器!", vbOKOnly, "提示"Elseiret= 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) ThenMsgBox "未链接到控制器!", vbOKOnly, "提示"Elseiret= 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) ThenMsgBox "未链接到控制器!", vbOKOnly, "提示"Elseiret= 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 Theniret= ZAux_Direct_Single_Move(g_handle, m_axisnum,Val(T_Move_s))ElseIf T_moveType(1).value = True Theniret= ZAux_Direct_Single_MoveAbs(g_handle,m_axisnum,Val(T_Move_s))End IfEnd IfEndSub
Private Sub T_Move_Click '运动If (g_handle = 0) ThenMsgBox "未链接到控制器!", vbOKOnly, "提示"Elseiret= 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 Theniret= ZAux_Direct_Single_Move(g_handle,m_axisnum, Val(T_Move_s))ElseIf T_moveType(1).value = True Theniret= ZAux_Direct_Single_MoveAbs(g_handle,m_axisnum,Val(T_Move_s))End IfEnd IfEndSub
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 IfEndSub
5.总线回零
Private Sub T_StopHome_Click '停止T_Stop_ClickEndSub
6.总线数据交互
Private Sub T_EcatRead_Click 'ETHERCAT读取If (g_handle = 0) ThenMsgBox "未链接到控制器!", vbOKOnly, "提示"ElseIf (Bus_type = 0) ThenDim m_sdo_node1 As LongDim m_sdo_index1 As LongDim m_sdo_sub1 As LongDim m_sdo_type1 As LongDim m_sdo_data1 As Longm_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 + 1m_sdo_data1 = 0iret= ZAux_BusCmd_SDORead(g_handle,0, _m_sdo_node1, m_sdo_index1, m_sdo_sub1, m_sdo_type1, m_sdo_data1)If (iret <> 0) ThenMsgBox //www.58yuanyou.com"读取失败!", vbOKOnly, "提示"ElseT_SdoData1.Text = Str(m_sdo_data1)End IfElseMsgBox "非ETHERCAT模块!", vbOKOnly, "提示"End IfEnd IfEndSub
Private Sub auto_gain_check_Click '自动增益标志设置If (Bus_type = 0) ThenIf auto_gain_check.value = 0 Theniret= ZAux_BusCmd_SDOWrite(g_handle,0, Val(T_SdoNode2.Text), Val(CLng("&H" & "3002")), 0, 3, 0)Elseiret= ZAux_BusCmd_SDOWrite(g_handle, 0, Val(T_SdoNode2.Text), Val(CLng("&H" & "3002")), 0, 3, 1)End IfElseMsgBox "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) ThenMsgBox "未链接到控制器!", vbOKOnly, "提示"ElseIf (Bus_type = 0) Theniret = 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) ThenMsgBox "写入失败!", vbOKOnly, "提示"End IfElseMsgBox "非ETHERCAT模块!", vbOKOnly, "提示"End IfEnd IfEnd Sub
Private Sub T_ECAT_R_Click '速度环、位置环增益读If (g_handle = 0) ThenMsgBox "未链接到控制器!", vbOKOnly, "提示"ElseIf (Bus_type = 0) Theniret = ZAux_BusCmd_SDORead(g_handle, 0, Val(T_SdoNode3.Text), Val(CLng("&H//www.58yuanyou.com" & "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) ThenMsgBox "写入失败!", vbOKOnly, "提示"ElseT_PostGain_R = Str(m_sdo_data2_1)T_VeloGain_R = Str(m_sdo_data2_2)End IfElseMsgBox "非ETHERCAT模块!", vbOKOnly, "提示"End IfEnd IfEndSub
7.IO口操作
Private Sub T_OP_Check_Click(Index As Integer) '输出口使能Dim OP_status As LongDim op_page As Longop_page = T_OP_page.ListIndexOP_status = T_OP_Check(Index).valueiret = ZAux_Direct_SetOp(g_handle, Index + op_page * 8, OP_status)EndSub
8.参数刷新
1)在主窗体
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) ThenTimer1.Enabled = FalseZAux_Close (g_handle)g_handle = 0End IfDim myForm As FormForEach myForm In FormsUnload myFormSet myForm = NothingPrivate Sub T_morePara_ClickForm2.ShowEndSub
Private Sub Timer1_TimerDim ret As LongDim f_AxisPara(10) As SingleDim i_AxisPara(10) As LongIf g_handle <> 0 Thenret = 0m_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) ThenIf i_AxisPara(0) = 0 ThenT_EnableStatus.Text = "off"ElseT_EnableStatus.Text = "on"End IfT_Dpos.Text = Str(f_AxisPara(0))T_Mpos.Text = Str(f_AxisPara(1))Call re_transfro(i_AxisPara(1), i_AxisPara(2))End IfIf (((i_AxisPara(1) And 64) = 64) And (if_home = False)) Then '//第6位是否被置1T_HomeStatus.Text = "回零中"if_home = TrueElseIf ((i_AxisPara(1) = 0) And if_home) ThenDim homestatus As Longhomestatus = 0ret = ZAux_BusCmd_GetHomeStatus(g_handle, m_axisnum, homestatus)If homestatus = 1 ThenT_HomeStatus.Text = "回零完成"ElseT_HomeStatus.Text = "回零未完成"End Ifif_home = FalseEndIf
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 SingleDim m_BusNodeNum As LongDim m_BusAxisNum As Singletempstatus = -1m_BusNodeNum = 0m_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 ThenT_BusStatus.Text = "初始化成功"ElseT_BusStatus.Text = "初始化失败"End IfT_NodeNum.Text = Str(m_BusNodeNum)T_AxisNum.Text = Str(m_BusAxisNum)End IfEnd IfCall IN_OP_readEnd IfEndSub
Sub re_transfro(axisStatues, axisIdle)Dim axisStatues_str As StringDim axisIdle_str As StringaxisStatues_str = ""If axisStatues = 0 ThenaxisStatues_str = "正常;"ElseDim quo As LongDim mod_tr(24) As LongDim i As Longquo = axisStatuesFor i = 0 To 23mod_tr(i) = quo Mod 2quo = quo 2NextIf mowww.58yuanyou.comd_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 IfIf axisIdle = 0 ThenaxisIdle_str = "运动中"ElseaxisIdle_str = "运动结束"End IfT_AxisStatus.Caption = axisStatues_strT_Idle.Text = axisIdle_strEndSub
Private Sub T_AxisId_Change '修改轴参数If (g_handle = 0) ThenMsgBox "未链接到控制器!", vbOKOnly, "提示"ElseDim f_AxisPara(10) As SingleDim m_atype As Longm_atype = 0m_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) ThenT_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 IfEnd IfEndSub
2)在子窗体
Public Sub para_reset '写入参数Dim ret As Longret = 0d_AxisNum = Val(S_Axisnum.Text)g_handle = Form1.g_handleIf (g_handle <> 0) ThenDim iFor i = 0 To 72d_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(原由网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 Sub
Private Sub Form_LoadS_Axisnum.Text = Form1.T_AxisId.TextS_reflash.value = 1Timer1.Enabled = TrueEnd Sub
Private Sub Form_Unload(Cancel As Integer)Timer1.Enabled = FalseEnd Sub
Private Sub S_Setpara_ClickIf Form1.g_handle = 0 ThenMsgBox "未链接到控制器!", vbOKOnly, "提示"ElseCall para_resetS_reflash.value = 1End IfEnd Sub
Private Sub Timer1_Timer'刷新Dim iIf Form1.g_handle <> 0 And S_reflash.value = 1 ThenCall para_reflashFor i = 0 To 72S_Axispara(i).Text = Str(d_AxisPara(i))NextElseFor i = 0 To 72S_Axispara(i).Text = "*"NextEnd IfEnd Sub
Private 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。
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