銆€銆€ZMC408CE鏄閬�(y霉n)鍕�(d貌ng)鎺ㄥ嚭鐨勪竴娆惧杌搁珮鎬ц兘EtherCAT绺界窔閬�(y霉n)鍕�(d貌ng)鎺у埗鍣紝鍏锋湁EtherCAT銆丒therNET銆丷S232銆丆AN鍜孶鐩ょ瓑閫氳▕鎺ュ彛锛孼MC绯诲垪閬�(y霉n)鍕�(d貌ng)鎺у埗鍣ㄥ彲鎳�(y墨ng)鐢ㄤ簬鍚勭ó闇€瑕佽劔姗�(j墨)鎴栬伅(li谩n)姗�(j墨)閬�(y霉n)琛岀殑鍫�(ch菐ng)鍚�銆�

銆€銆€ZMC408CE鏀寔8杌搁亱(y霉n)鍕�(d貌ng)鎺у埗锛屾渶澶氬彲鎿�(ku貌)灞曡嚦32杌�锛屾敮鎸佺洿绶氭彃瑁�(b菙)銆佷换鎰忓湏寮ф彃瑁�(b菙)銆佺┖闁撳湏寮�銆佽灪鏃嬫彃瑁�(b菙)銆侀浕瀛愬嚫杓�銆侀浕瀛愰綊杓�銆佸悓姝ヨ窡闅ㄧ瓑鍔熻兘銆俍MC408CE鏀寔PLC銆丅asic銆丠MI绲勬厠(t脿i)涓夌ó绶ㄧ▼鏂瑰紡銆侾C涓婁綅姗�(j墨)API绶ㄧ▼鏀寔C#銆丆++銆丩abVIEW銆丮atlab銆丵t銆丩inux銆乂B.Net銆丳ython绛夋帴鍙�銆�

銆€銆€ZMC408CE鏀寔8杌搁亱(y霉n)鍕�(d貌ng)鎺у埗锛屽彲閲囩敤鑴堟矕杌�(甯�绶ㄧ⒓鍣�鍙嶉)鎴朎therCAT绺界窔杌革紝閫氱敤IO鍖呭惈24璺几鍏ュ彛鍜�16璺几鍑哄彛锛岄儴鍒咺O鐐洪珮閫烮O锛屾ā鎿噺AD/DA鍚勫叐璺�锛孍therCAT鏈€蹇�125us鐨勫埛鏂板懆鏈熴€俍MC408CE鏀寔8鍊�(g猫)閫氶亾鐨勭‖浠舵瘮杓冭几鍑�銆佺‖浠跺畾鏅�(sh铆)鍣ㄣ€侀亱(y霉n)鍕�(d貌ng)涓簿婧�(zh菙n)杓稿嚭锛岄倓鏀寔8閫氶亾PWM杓稿嚭锛屽皪(du矛)鎳�(y墨ng)鐨勮几鍑哄彛鐐篛UT0-7锛屾敮鎸�8鍊�(g猫)閫氶亾鍚屾檪(sh铆)瑙哥櫦(f膩)纭欢姣旇純杓稿嚭銆�

銆€銆€ZMC408CE瑕栭牷浠嬬垂

銆€銆€01銆丮ATLAB閫�(j矛n)琛岄亱(y霉n)鍕�(d貌ng)鎺у埗闁�(k膩i)鐧�(f膩)

銆€銆€1.鍦∕ATLAB R2019a鑿滃柈鈥滀富闋�(y猫)鈥濃啋鈥滄柊寤衡€濃啋鈥滃伐绋嬧€濃啋鈥滅┖鐧藉伐绋嬧€濓紝鍟熷嫊(d貌ng)鍓�(chu脿ng)寤洪爡(xi脿ng)鐩悜?q奴)袗?/p>

銆€銆€2.鏂板缓GUI銆傚懡浠よ杓稿叆guide锛屾柊寤篏UI銆�

銆€銆€3. 鎵惧埌寤犲鎻愪緵鐨勫厜鐩よ硣鏂欓噷闈㈢殑MATLAB鍑芥暩(sh霉)搴�(k霉)锛岃矾寰戝涓�(64浣嶅韩(k霉)鐐轰緥)銆�

銆€銆€A.閫�(j矛n)鍏ュ粻鍟嗘彁渚涚殑鍏夌洡璩囨枡鎵惧埌鈥�8.PC鍑芥暩(sh霉)鈥濇枃浠跺ぞ锛屽苟榛�(di菐n)鎿婇€�(j矛n)鍏�銆�

       B.閬告搰鈥滃嚱鏁�(sh霉)搴�(k霉)2.1鈥濇枃浠跺ぞ銆�

銆€銆€C.閬告搰鈥淲indows骞宠嚭(t谩i)鈥濇枃浠跺ぞ銆�

銆€銆€D.鏍规摎(j霉)闇€瑕侀伕鎿囧皪(du矛)鎳�(y墨ng)鐨勫嚱鏁�(sh霉)搴�(k霉)閫欓噷閬告搰64浣嶅韩(k霉)銆�

銆€銆€E.瑙ｅMATLAB澹撶府鍖咃紝閲岄潰鏈夊皪(du矛)鎳�(y墨ng)鐨勫嚱鏁�(sh霉)搴�(k霉)銆�

銆€銆€4.灏囧粻鍟嗘彁渚涚殑搴�(k霉)鏂囦欢浠ュ強鐩搁棞(gu膩n)鏂囦欢寰�(f霉)鍒跺埌MATLAB宸ヤ綔鐩寗涓嬨€�(1)鈥渮auxdll.dll鈥�銆佲€渮motion.dll鈥濄€佲€渮auxdll2.h鈥濄€佲€渮motion.h鈥濆洓鍊�(g猫)鏂囦欢鎷疯矟鍒癿atlab宸ヤ綔鐩寗涓�銆傚锛欳:\...\....\R2019a\bin

銆€銆€(2)灏団€渮auxdll2.h鈥濄€佲€渮motion.h鈥濆叐鍊�(g猫)鏂囦欢鎷疯矟鍒癷nclude鐩寗銆�

銆€銆€濡傦細C:\...\....\R2019a\extern\include

銆€銆€(3)鎷疯矟鈥渮auxdll.dll鈥濇枃浠跺埌鏂板缓鐨勫伐绋嬬洰閷勪腑銆�

銆€銆€5.閰嶇疆MATLAB闁�(k膩i)鐧�(f膩)鐠�(hu谩n)澧�銆�

       (1)鍦╩atlab鍛戒护琛岃几鍏モ€渕build -setup鈥濅互鍙娾€渕ex -setup鈥濓紝閬告搰瀹夎鐨刢瑾�(y菙)瑷€绶ㄨ鍣�銆�

銆€銆€(2)浣跨敤loadlibrary('zauxdll.dll','zauxdll2.h');鍔犺級鍑芥暩(sh霉)搴�(k霉)銆�

銆€銆€(3)libfunctions zauxdll -full;鎴� libfunctionsview zauxdll;椤ず鍏变韩搴�(k霉)鍑芥暩(sh霉)绨藉悕銆�

銆€銆€6.浣跨敤鈥渃alllib鈥濊(di脿o)鐢▃auxdll鍑芥暩(sh霉)搴�(k霉)涓嚱鏁�(sh霉)锛岃┏绱�(x矛)鍙煡鐪婱ATLAB骞姪銆傛湁闂�(gu膩n)鍙冩暩(sh霉)鍌抽仦锛屽湪calllib骞姪鈫掑偝閬炲弮鏁�(sh霉)銆�

銆€銆€鑷虫鍑芥暩(sh霉)搴�(k霉)娣诲姞瀹屾垚锛屽彲閫�(j矛n)琛孧ATLAB闋�(xi脿ng)鐩枊(k膩i)鐧�(f膩)銆�

銆€銆€02銆佺浉闂�(gu膩n)PC鍑芥暩(sh霉)浠嬬垂

銆€銆€1.PC鍑芥暩(sh霉)鎵嬪唺(c猫)鍦ㄥ厜鐩よ硣鏂欐煡鐪�锛屽叿楂旇矾寰戝涓嬶細鈥滃厜鐩よ硣鏂橽8.PC鍑芥暩(sh霉)\鍑芥暩(sh霉)搴�(k霉)2.1\ZMotion鍑芥暩(sh霉)搴�(k霉)绶ㄧ▼鎵嬪唺(c猫) V2.1.pdf鈥�銆�

銆€銆€2.PC绶ㄧ▼锛屼竴鑸鏋滅恫(w菐ng)鍙ｅ皪(du矛)鎺у埗鍣ㄥ拰宸ユ帶姗�(j墨)閫�(j矛n)琛岄張鎺�銆傜恫(w菐ng)鍙ｉ張鎺ュ嚱鏁�(sh霉)鎺ュ彛鏄痁Aux_OpenEth();濡傛灉閺堟帴鎴愬姛锛岃┎鎺ュ彛鏈�(hu矛)杩斿洖涓€鍊�(g猫)閺堟帴鍙ユ焺銆傞€氶亷(gu貌)鎿嶄綔閫欏€�(g猫)閺堟帴鍙ユ焺鍙互瀵�(sh铆)鐝�(xi脿n)灏�(du矛)鎺у埗鍣ㄧ殑鎺у埗銆�

銆€銆€(1)ZAux_OpenEth()鎺ュ彛瑾�(shu艒)鏄�

銆€銆€(2)闋�(xi脿ng)鐩噳(y墨ng)鐢ㄦ埅鍦�

銆€銆€(3)鍛戒护琛屾噳(y墨ng)鐢ㄦ埅鍦�

銆€銆€3銆佷娇鐢ㄥ柈杌搁亱(y霉n)鍕�(d貌ng)鐩搁棞(gu膩n)鐨勬寚浠ゆ搷浣滈張鎺ュ彞鏌勨€済_handle鈥濓紝灏�(du矛)鎺у埗鍣ㄩ€�(j矛n)琛屽柈杌搁亱(y霉n)鍕�(d貌ng)鎺у埗锛屽柈杌搁亱(y霉n)鍕�(d貌ng)鐩搁棞(gu膩n)鐨勬寚浠ゅ涓�銆�

銆€銆€(1)鍠桓鐩稿皪(du矛)閬�(y霉n)鍕�(d貌ng)鎸囦护

銆€銆€(2)鍠桓绲曞皪(du矛)閬�(y霉n)鍕�(d貌ng)鎸囦护

銆€銆€(3)鍠桓鎸佺簩(x霉)閬�(y霉n)鍕�(d貌ng)

銆€銆€(4)鍠桓鍋滄閬�(y霉n)鍕�(d貌ng)

銆€銆€03銆丮ATLAB閫�(j矛n)琛屽柈杌搁亱(y霉n)鍕�(d貌ng)闁�(k膩i)鐧�(f膩)

銆€銆€1. 鍠桓閬�(y霉n)鍕�(d貌ng)鎺у埗浜烘(j墨)浜や簰鐣岄潰濡備笅銆�

銆€銆€2. 渚嬬▼绨�(ji菐n)鏄撴祦绋嬪湒銆�

銆€銆€3. 鍦∕ATLAB鐨凣UI鐣岄潰涓柊寤烘帶浠堕€�(j矛n)琛岀▼搴忕法瀵€�

銆€銆€A.鍦ㄥ伐鍏锋瑒鏂板缓鈥滄櫘閫氭寜閳曗€濆拰鍙法杓枃鏈�锛屽苟闆欐搳淇敼灞€с€�

銆€銆€B.鎺т欢鍙抽嵉锛屾煡鐪嬪洖瑾�(di脿o)锛屸€淐allBack鈥濆壍(chu脿ng)寤哄洖瑾�(di脿o)闊挎噳(y墨ng)鍑芥暩(sh霉)锛屾鏅�(sh铆)鑷嫊(d貌ng)鏂板缓.m鏍煎紡鏂囦欢锛屽湪閫欓噷閫�(j矛n)琛岀晫闈㈤熆鎳�(y墨ng)绋嬪簭绶ㄥ銆�

銆€銆€C.灏囪嚜鍕�(d貌ng)鍓�(chu脿ng)寤虹殑鏂囦欢娣诲姞鍒伴爡(xi脿ng)鐩腑銆�

銆€銆€D.鍦ㄢ€淴XX_OpeningFcn鈥濆嚱鏁�(sh霉)涓姞杓夊嚱鏁�(sh霉)搴�(k霉)锛屽苟瀹氱京鍏ㄥ眬璁婇噺銆�

銆€銆€路

銆€銆€% --- Executes just before untitled is made visible.function untitled_OpeningFcn(hObject, eventdata, handles, varargin)% This function has no output args, see OutputFcn.% hObject handle to figure% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA)% varargin command line arguments to untitled (see VARARGIN)% Choose default command line output for untitledhandles.output = hObject;% Update handles structureguidata(hObject, handles); if not(libisloaded('zauxdll'))%鍔犺級鍑芥暩(sh霉)搴�(k霉) loadlibrary('zauxdll.dll','zauxdll2.h'); end disp("鍔犺級鍑芥暩(sh霉)搴�(k霉)");%鍛戒护琛屾墦鍗� global g_handleptr;%瀹氱京閫ｆ帴鍙ユ焺 global g_nAxis;%瀹氱京杌歌櫉(h脿o) global g_Dir;%瀹氱京閬�(y霉n)鍕�(d貌ng)鏂瑰悜 global g_Moveway;%瀹氱京閬�(y霉n)鍕�(d貌ng)鏂瑰紡 g_handleptr= libpointer('voidPtrPtr'); g_Dir=1; g_Moveway=0;g_nAxis=0;

銆€銆€4.绶ㄥ鈥滈€ｆ帴鎺у埗鍣ㄢ€濇寜閳曠▼搴�锛岃(di脿o)鐢ㄦ帴鍙ｂ€淶Aux_OpenEth()鈥�锛屼娇榛�(di菐n)鎿婃寜閳曟檪(sh铆)閺堟帴鎺у埗鍣ㄣ€�

銆€銆€路

銆€銆€% --- Executes on button press in pushbutton_openZmc.function pushbutton_openZmc_Callback(hObject, eventdata, handles)% hObject handle to pushbutton_openZmc (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA) handles.timer = timer('Period',0.05,'ExecutionMode','FixedRate',... 'TimerFcn',{@UpdateSliderData, handles});%瀹氭檪(sh铆)鍣� global g_handleptr;%瀹氱京閫ｆ帴鍙ユ焺 ip =get(handles.edit_Ip,'String'); disp("閫ｆ帴鎺у埗鍣�:"+ip); zmc_ip = char(ip); [res,~] = calllib('zauxdll','ZAux_OpenEth',zmc_ip ,g_handleptr); commandCheckHandler("ZAux_OpenEth",res); if res==0 fprintf('閫ｆ帴鎺у埗鍣ㄦ垚鍔焅n'); set(gcf,'NumberTitle', 'off', 'Name', '閫ｆ帴鎴愬姛'); %msgbox('Connection successful'); start( handles.timer );%鍟熷嫊(d貌ng)瀹氭檪(sh铆)鍣� else fprintf('閫ｆ帴鎺у埗鍣ㄥけ鏁�,閷�(cu貌)瑾ょ⒓%d\n',res); set(gcf,'NumberTitle', 'off', 'Name', '閫ｆ帴澶辨晽'); msgbox('Connection failure锛孭lease check the IP!');%閫ｆ帴鎺у埗鍣ㄥけ鏁�锛岃珛(q菒ng)妾㈡煡IP鍦板潃 return;end

銆€銆€5.涓荤晫闈㈠彸閸垫坊鍔犻姺姣€鍑芥暩(sh霉)锛岃(di脿o)鐢ㄢ€淶Aux_Close()鈥濋棞(gu膩n)闁夐€ｆ帴銆�

銆€銆€路

銆€銆€% --- Executes during object deletion, before destroying properties.闂�(gu膩n)闁夐€ｆ帴function figure1_DeleteFcn(hObject, eventdata, handles) global g_handleptr;%瀹氱京閫ｆ帴鍙ユ焺 calllib('zauxdll','ZAux_Close',g_handleptr);disp("闂�(gu膩n)闁夎垏鎺у埗鍣ㄩ€ｆ帴");%鎵撳嵃

銆€銆€6.閫氶亷(gu貌)瀹氭檪(sh铆)鍣ㄦ洿鏂版帶鍒跺櫒杌哥媭鎱�(t脿i)锛氱暥(d膩ng)鍓嶅潗妯�(bi膩o)銆佺暥(d膩ng)鍓嶉€熷害绛�?锛�?/p>

銆€銆€路

銆€銆€function UpdateSliderData(obj, events, handles) global g_handleptr;%瀹氱京閫ｆ帴鍙ユ焺 global g_nAxis;%瀹氱京杌歌櫉(h脿o) [res,~,runstate]=calllib('zauxdll','ZAux_Direct_GetIfIdle',g_handleptr,g_nAxis, 0); commandCheckHandler("ZAux_Direct_GetIfIdle",res); [res,~,curpos]=calllib('zauxdll','ZAux_Direct_GetDpos',g_handleptr, g_nAxis, 0); commandCheckHandler("ZAux_Direct_GetDpos",res); [res,~,curspeed]=calllib('zauxdll','ZAux_Direct_GetVpSpeed',g_handleptr, g_nAxis, 0); commandCheckHandler("ZAux_Direct_GetVpSpeed",res); str_curpos=num2str(curpos); str_curspeed=num2str(curspeed); if (runstate==0) set(handles.edit_runstate,'String',"鐣�(d膩ng)鍓嶉亱(y霉n)鍕�(d貌ng)鐙€鎱�(t脿i):閬�(y霉n)琛�"); else set(handles.edit_runstate,'String',"鐣�(d膩ng)鍓嶉亱(y霉n)鍕�(d貌ng)鐙€鎱�(t脿i):鍋滄"); end set(handles.edit_curpos,'String',"鐣�(d膩ng)鍓嶈桓鍧愭(bi膩o)锛�" +str_curpos);set(handles.edit_curspeed,'String',"鐣�(d膩ng)鍓嶈桓閫熷害锛�" +str_curspeed);

銆€銆€7.閫氶亷(gu貌)鍟熷嫊(d貌ng)鎸夐垥鐨勪簨浠惰檿鐞嗗嚱鏁�(sh霉)渚�(l谩i)瑷�(sh猫)缃桓鍙冩暩(sh霉)骞堕枊(k膩i)濮嬮亱(y霉n)鍕�(d貌ng)銆�

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銆€銆€% --- Executes on button press in pushbutton_runmove.閬�(y霉n)鍕�(d貌ng)function pushbutton_runmove_Callback(hObject, eventdata, handles)% hObject handle to pushbutton_runmove (see GCBO)% eventdata reserved - to be defined in a future version of MATLAB% handles structure with handles and user data (see GUIDATA) global g_handleptr;%瀹氱京閫ｆ帴鍙ユ焺 global g_nAxis;%瀹氱京杌歌櫉(h脿o) global g_Dir;%瀹氱京閬�(y霉n)鍕�(d貌ng)鏂瑰悜 global g_Moveway;%瀹氱京閬�(y霉n)鍕�(d貌ng)鏂瑰紡 calllib('zauxdll','ZAux_Direct_SetAtype',g_handleptr, g_nAxis,0); calllib('zauxdll','ZAux_Direct_SetUnits',g_handleptr,g_nAxis,str2num(get(handles.edit_units,'String'))); calllib('zauxdll','ZAux_Direct_SetLspeed',g_handleptr, g_nAxis, str2num(get(handles.edit_lspeed,'String'))); calllib('zauxdll','ZAux_Direct_SetSpeed',g_handleptr, g_nAxis, str2num(get(handles.edit_speed,'String'))); calllib('zauxdll','ZAux_Direct_SetAccel',g_handleptr, g_nAxis, str2num(get(handles.edit_acc,'String'))); calllib('zauxdll','ZAux_Direct_SetDecel',g_handleptr, g_nAxis, str2num(get(handles.edit_dec,'String'))); calllib('zauxdll','ZAux_Direct_SetSramp',g_handleptr, g_nAxis, str2num(get(handles.edit_sramp,'String'))); if (g_Moveway) %//閫ｇ簩(x霉)閬�(y霉n)鍕�(d貌ng) calllib('zauxdll','ZAux_Direct_Single_Vmove',g_handleptr, g_nAxis,g_Dir); else % //瀵稿嫊(d貌ng) calllib('zauxdll','ZAux_Direct_Single_Move',g_handleptr, g_nAxis, g_Dir * str2num(get(handles.edit_step,'String'))); end

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銆€銆€% --- Executes on button press in pushbutton_stopMove.鍠桓鍋滄function pushbutton_stopMove_Callback(hObject, eventdata, handles) global g_handleptr;%瀹氱京閫ｆ帴鍙ユ焺 global g_nAxis; calllib('zauxdll','ZAux_Direct_Single_Cancel',g_handleptr,g_nAxis,2);

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