超音波モータ制御プログラムの作成 (v1.2.1)
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1 超音波モータ制御プログラムの作成 (v1.2.1) 2008 年 11 月 28 日 Masaaki MATSUO 構成機器 モータ本体 : フコク ロータリーエンコーダー内蔵型超音波モータ USB-60E モータ制御部 : フコク 位置決制御ドライバ DCONT-3-60 (SD13) コントローラ : Interface 2 軸絶縁パルスモーションコントローラ ( 直線補間エンコーダ入力 5V) PCI-7211C 電源 : 高砂製作所 REGULATED DC POWER SUPPLY GP035-5 分圧用抵抗 : 金属皮膜抵抗 1k Ω ± 1% (1/4W) プログラム作成ソフト Microsoft Visual Basic 2005 National Instruments Measurement Studio Enterprise Edition 8.1
2 Imports InterfaceCorpDllWrap Imports System.Threading Public Class Form1 Dim DeviceHandle As Integer Dim pos As Short Dim ps(13) As Short Dim wt As Short Dim kai As Short Private Sub Form1_Load(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles MyBase.Load Timer1.Interval = 1 Timer2.Interval = 1 Timer3.Interval = 1 Timer1.Enabled = False Timer2.Enabled = False Timer3.Enabled = False Button2.Enabled = True Button3.Enabled = True Button4.Enabled = False Button5.Enabled = True Button6.Enabled = True Button7.Enabled = True Button8.Enabled = True Button9.Enabled = True Switch1.Enabled = True Switch2.Enabled = True Switch3.Enabled = True pos = 0 ps(0) = 0 ps(1) = 333 ps(2) = 667 ps(3) = 1000 ps(4) = 1333 ps(5) = 1667 ps(6) = 2000 ps(7) = 2333 ps(8) = 2667 ps(9) = 3000 ps(10) = 3333 ps(11) = 3667 ps(12) = 4000 DeviceHandle = IFCMTR.MtrOpen("FBIMC1" & Chr(0), IFCMTR.MTR_FLAG_NORMAL) IFCMTR.MtrReset(DeviceHandle) IFCMTR.MtrSetBaseClock(DeviceHandle, 299) IFCMTR.MtrSetPulseOut(DeviceHandle, IFCMTR.MTR_METHOD, 0) Private Sub Button1_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button1.Click IFCMTR.MtrClose(DeviceHandle) Application.Exit() Private Sub Button2_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button2.Click
3 Motion.nStep = IFCMTR.MTR_CW IFCMTR.MtrSetMotion(DeviceHandle, IFCMTR.MTR_JOG, Motion) IFCMTR.MtrStartMotion(DeviceHandle, IFCMTR.MTR_JOG) Private Sub Timer1_Tick(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Timer1.Tick If Switch1.Value = True Then IFCMTR.MtrSingleStep(DeviceHandle, IFCMTR.MTR_CW) Timer1.Enabled = False Private Sub Switch1_MouseDown(ByVal sender As Object, ByVal e As System.Windows.Forms.MouseEventArgs) Handles Switch1. MouseDown Timer1.Enabled = True Private Sub Switch2_MouseDown(ByVal sender As Object, ByVal e As System.Windows.Forms.MouseEventArgs) Handles Switch2. MouseDown Timer2.Enabled = True Private Sub Timer2_Tick(ByVal sender As Object, ByVal e As System.EventArgs) Handles Timer2.Tick If Switch2.Value = True Then IFCMTR.MtrSingleStep(DeviceHandle, IFCMTR.MTR_CCW) Timer2.Enabled = False Private Sub Knob1_ValueChanged(ByVal sender As Object, ByVal e As System.EventArgs) Handles Knob1.ValueChanged Label3.Text = Knob1.Value IFCMTR.MtrChangeSpeed(DeviceHandle, IFCMTR.MTR_IMMEDIATE_CHANGE, Knob1.Value) Private Sub Button3_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button3.Click
4 Motion.nStep = IFCMTR.MTR_CCW IFCMTR.MtrSetMotion(DeviceHandle, IFCMTR.MTR_JOG, Motion) IFCMTR.MtrStartMotion(DeviceHandle, IFCMTR.MTR_JOG) Private Sub Button4_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button4.Click kai = 1200 Button2.Enabled = True Button3.Enabled = True Button4.Enabled = False Button5.Enabled = True Button6.Enabled = True Button7.Enabled = True Button8.Enabled = True Button9.Enabled = True Switch1.Enabled = True Switch2.Enabled = True Switch3.Enabled = True IFCMTR.MtrStopMotion(DeviceHandle, IFCMTR.MTR_IMMEDIATE_STOP) Private Sub Form1_MouseWheel(ByVal sender As Object, ByVal e As System.Windows.Forms.MouseEventArgs) Handles Me.MouseWheel If Switch1.Enabled = True And Switch3.Value = True Then If e.delta < 0 Then IFCMTR.MtrSingleStep(DeviceHandle, IFCMTR.MTR_CCW) IFCMTR.MtrSingleStep(DeviceHandle, IFCMTR.MTR_CW) Private Sub Button6_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button6.Click Dim dif As Short dif = pos + ComboBox1.Text If dif >= 12 Then Motion.nStep = (ps(12) - ps(pos)) + ps(dif - 12)
5 pos = dif - 12 Motion.nStep = ps(dif) - ps(pos) pos = dif IFCMTR.MtrSetMotion(DeviceHandle, IFCMTR.MTR_PTP, Motion) IFCMTR.MtrStartMotion(DeviceHandle, IFCMTR.MTR_PTP) Timer3.Enabled = True Private Sub Button5_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button5.Click Dim dif As Short dif = pos - ComboBox1.Text If dif < 0 Then Motion.nStep = (ps(pos) + (ps(12) - ps(dif + 12))) * (-1) pos = dif + 12 Motion.nStep = ps(dif) - ps(pos) pos = dif
6 IFCMTR.MtrSetMotion(DeviceHandle, IFCMTR.MTR_PTP, Motion) IFCMTR.MtrStartMotion(DeviceHandle, IFCMTR.MTR_PTP) Timer3.Enabled = True Private Sub Timer3_Tick(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Timer3.Tick Dim Status As Integer IFCMTR.MtrGetStatus(DeviceHandle, IFCMTR.MTR_BUSY, Status) If Status = 0 Then Button2.Enabled = True Button3.Enabled = True Button4.Enabled = False Button5.Enabled = True Button6.Enabled = True Button7.Enabled = True Button8.Enabled = True Button9.Enabled = True Switch1.Enabled = True Switch2.Enabled = True Switch3.Enabled = True Timer3.Enabled = False Private Sub Button8_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button8.Click Dim dif As Short Dim Status As Integer For kai = 1 To 1200 dif = pos + 1 If dif >= 12 Then Motion.nStep = (ps(12) - ps(pos)) + ps(dif - 12) pos = dif - 12 Motion.nStep = ps(dif) - ps(pos) pos = dif
7 IFCMTR.MtrSetMotion(DeviceHandle, IFCMTR.MTR_PTP, Motion) IFCMTR.MtrStartMotion(DeviceHandle, IFCMTR.MTR_PTP) Do IFCMTR.MtrGetStatus(DeviceHandle, IFCMTR.MTR_BUSY, Status) Loop Until Status = 0 Application.DoEvents() Thread.Sleep(Val(ComboBox2.Text) * 1000) Next kai Private Sub Button7_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button7.Click Dim dif As Short Dim Status As Integer For kai = 1 To 1200 dif = pos - 1 If dif < 0 Then Motion.nStep = (ps(pos) + (ps(12) - ps(dif + 12))) * (-1) pos = dif + 12 Motion.nStep = ps(dif) - ps(pos) pos = dif IFCMTR.MtrSetMotion(DeviceHandle, IFCMTR.MTR_PTP, Motion) IFCMTR.MtrStartMotion(DeviceHandle, IFCMTR.MTR_PTP)
8 Do IFCMTR.MtrGetStatus(DeviceHandle, IFCMTR.MTR_BUSY, Status) Loop Until Status = 0 Application.DoEvents() Thread.Sleep(Val(ComboBox2.Text) * 1000) Next kai Private Sub Button9_Click(ByVal sender As System.Object, ByVal e As System.EventArgs) Handles Button9.Click pos = 0 End Class
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