本文将使用正运动技术运动控制器实现与松下A编码器进行数据读取操作。

'************************绝对值编码器部分******************************

SETCOM(38400,8,1,0,1,0) '设置 485 口 PORT1 为自定义协议

GLOBAL DIM tempchar '接收的一个字节

GLOBAL DIM neqbuff(2) '发送识别码 485 为 81H，05H

neqbuff(0) = $81

neqbuff(1) = $05

GLOBAL DIM eotbuff(2) '接收识别码 485 为 80H,04H

eotbuff(0) = $80

eotbuff(1) = $04

GLOBAL DIM ackbuff '接收应答 06H

ackbuff = $06

GLOBAL DIM cmdbuff(20) '发送命令数组

GLOBAL DIM getbuff(20) '接收的字符串

GLOBAL DIM getnum '接收的字节数

getnum = 0

GLOBAL DIM highdata '编码器多圈数据

GLOBAL DIM lowdata '单圈数据

runtask 4,get_char '启动接收字符串任务

MODBUS_REG(0)=0

WHILE 1

  IF MODBUS_REG(0)=1 THEN '判断是否接收到了数据

     MODBUS_REG(0)=0

     getmpos(1,45) '读取站号 1 的多圈与单圈值。

  ENDIF

WEND 

END 

'读坐标

GLOBAL SUB getmpos(sifunum,rcr) '读伺服编号为 1 的电机的绝对值位置

   cmdbuff(0) = $00

   cmdbuff(1) = sifunum

   cmdbuff(2) = $d2

   cmdbuff(3) = rcr

   neqbuff(0) = $80 + sifunum 

   neqbuff(1) = $05

   eotbuff(0) = $80 

   eotbuff(1) = $04

   getnum = 0

   putchar #1,neqbuff

   TICKS = 2000 '延时

   WAIT UNTIL (getnum = 2) OR TICKS < 0

   IF getnum = 2 THEN '如果接到了 2 个字符

      IF(getbuff(0)=$80+sifunum) AND (getbuff(1)=$04) THEN'收到应答发送命令

         getnum = 0

         PUTCHAR #1,cmdbuff '发送读取编码器命令

         TICKS = 2000

         WAIT UNTIL (getnum = 3) OR TICKS < 0

         IF(getbuff(0) = $06) AND (getbuff(1) = $80) AND (getbuff(2) = $05) THEN'收到发送请求，给应答

             getnum = 0

             PUTCHAR #1,eotbuff '发送应答，等待接收数据

             TICKS = 2000

             WAIT UNTIL (getnum = 15) OR TICKS < 0

             IF getnum = 15 THEN '读到数据 11-10 为多圈数据 9-7 为单圈数据

                PUTCHAR #1,ackbuff

                highdata = getbuff(11) * $100 + getbuff(10)

                lowdata = getbuff(9) * $10000 + getbuff(8) * $100 +getbuff(7)

                PRINT getbuff(11),getbuff(10),getbuff(9),getbuff(8),getbuff(7),getnum

             ELSE 

                PRINT getnum,getbuff(0) ,getbuff(1),"超时重新读取 1"

             ENDIF

           ELSE

            PRINT getbuff(0) ,getbuff(1),"超时重新读取 2"

          ENDIF

        ELSE

          PRINT getbuff(0) ,getbuff(1),"驱动器无应答"

        ENDIF

      ELSE

        PRINT "驱动器无应答"

      ENDIF

END SUB

'串口接收

GLOBAL SUB get_char()

   WHILE 1

      GET #1,tempchar

      getbuff(getnum) = tempchar

      getnum = getnum + 1

   WEND

END SUB