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Rev | Author | Line No. | Line |
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284 | f9daq | 1 | Attribute VB_Name = "Module1" |
2 | Public nod, Dev As Long |
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3 | Public serial, version As String |
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4 | |||
5 | |||
6 | Type USMCMode |
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7 | PMode As Long 'Turn off buttons (TRUE - buttons disabled) |
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8 | PReg As Long 'Current reduction regime (TRUE - regime is on) |
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9 | ResetD As Long 'Turn power off and make a whole step (TRUE - apply) |
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10 | EmReset As Long 'Quick power off |
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11 | Tr1T As Long 'Trailer 1 TRUE state (TRUE : +3/+5Â; FALSE : 0Â) |
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12 | Tr2T As Long 'Trailer 2 TRUE state (TRUE : +3/+5Â; FALSE : 0Â) |
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13 | RotTrT As Long 'Rotary Transducer TRUE state (TRUE : +3/+5Â; FALSE : 0Â) |
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14 | TrSwap As Long 'If TRUE, Trailers are treated to be swapped |
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15 | Tr1En As Long 'If TRUE Trailer 1 Operation Enabled |
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16 | Tr2En As Long 'If TRUE Trailer 2 Operation Enabled |
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17 | RotTeEn As Long 'If TRUE Rotary Transducer Operation Enabled |
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18 | RotTrOp As Long 'Rotary Transducer Operation Select (stop on error for TRUE) |
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19 | Butt1T As Long 'Button 1 TRUE state (TRUE : +3/+5Â; FALSE : 0Â) |
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20 | Butt2T As Long 'Button 2 TRUE state (TRUE : +3/+5Â; FALSE : 0Â) |
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21 | ResetRT As Long 'Reset Rotary Transducer Check Positions (need one full revolution before it can detect error) |
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22 | SyncOUTEn As Long 'If TRUE output syncronization enabled |
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23 | SyncOUTR As Long 'If TRUE output synchronization counter will be reset |
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24 | SyncINOp As Long 'Synchronization input mode: |
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25 | 'True - Step motor will move one time to the destination position |
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26 | 'False - Step motor will move multiple times by steps equal to the value destination position |
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27 | SyncCount As Long 'Number of steps after which synchronization output sygnal occures |
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28 | SyncInvert As Long 'Set to TRUE to invert output synchronization signal |
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29 | 'new |
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30 | EncoderEn As Long 'Enable Encoder on pins {SYNCIN,ROTTR} - disables Synchronization input and Rotary Transducer |
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31 | EncoderInv As Long 'Invert Encoder Counter Direction |
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32 | ResBEnc As Long 'Reset <Encoder Position> and <SM Position in Encoder units> to 0 |
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33 | ResEnc As Long 'Reset <SM Position in Encoder units> to <Encoder Position> |
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34 | Rsv1 As Long |
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35 | Rsv2 As Long |
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36 | End Type |
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37 | |||
38 | Type USMCParameters |
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39 | AccelT As Single 'Acceleration time (in ms) |
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40 | DecelT As Single 'Deceleration time (in ms) |
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41 | PTimeout As Single 'Time (in ms) after which current will be reduced to 60% of normal |
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42 | BTimeout1 As Single 'Time (in ms) after which speed of step motor rotation will be equal to the one specified at |
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43 | 'BTO1P field (see below). (This parameter is used when controlling step motor using buttons) |
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44 | BTimeout2 As Single ' |
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45 | BTimeout3 As Single ' |
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46 | BTimeout4 As Single ' |
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47 | BTimeoutR As Single 'Time (in ms) after which reset command will be performed |
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48 | BTimeoutD As Single 'This field is reserved for future use |
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49 | MinP As Single 'Speed (steps/sec) while performing reset operation. (This parameter is used when controlling |
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50 | 'step motor using buttons) |
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51 | BTO1P As Single 'Speed (steps/sec) after BTIMEOUT 1 time have passed. (This parameter is used when controlling |
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52 | 'step motor using buttons) |
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53 | BTO2P As Single ' |
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54 | BTO3P As Single ' |
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55 | BTO4P As Single ' |
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56 | MaxLoft As Integer 'Value in full steps that will be used performing backlash operation |
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57 | StartPos As Long 'This field is reserved for future use |
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58 | RTDelta As Integer 'Revolution distance – number of full steps per one full revolution |
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59 | RTMinErr As Integer 'Number of full steps missed to raise the error flag |
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60 | MaxTemp As Single 'Maximum allowed temperature (Celsius) |
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61 | SynOUTP As Byte 'Duration of the output synchronization pulse |
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62 | LoftPeriod As Single 'Speed of the last phase of the backlash operation. |
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63 | 'new |
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64 | EncMult As Single 'Should be <Encoder Steps per Evolution> / <SM Steps per Evolution> and should be integer multiplied by 0.25 |
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65 | Rsv1 As Long |
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66 | Rsv2 As Long |
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67 | Rsv3 As Long |
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68 | Rsv4 As Long |
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69 | End Type |
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70 | |||
71 | Type USMCStartParameters |
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72 | SDivisor As Byte 'Step is divided by this factor (1,2,4,8) |
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73 | DefDir As Long 'Direction for backlash operation (relative) |
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74 | LoftEn As Long 'Enable automatic backlash operation (works if slow start/stop mode is off) |
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75 | SlStart As Long 'If TRUE slow start/stop mode enabled. |
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76 | WSyncIN As Long 'If TRUE controller will wait for input synchronization signal to start |
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77 | SyncOUTR As Long 'If TRUE output synchronization counter will be reset |
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78 | ForceLoft As Long 'If TRUE and destination position is equal to the current position backlash operation will be performed. |
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79 | 'new |
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80 | Rsv As Long |
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81 | End Type |
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82 | |||
83 | Type USMCState |
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84 | CurPos As Long 'Current position (in microsteps) |
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85 | Temp As Single 'Current temperature of the driver |
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86 | SDivisor As Byte 'Step is divided by this factor |
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87 | Loft As Long 'Indicates backlash status |
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88 | FullPower As Long 'If TRUE then full power. |
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89 | CW_CCW As Long 'Current direction. Relatively! |
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90 | Power As Long 'If TRUE then Step Motor is ON. |
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91 | FullSpeed As Long 'If TRUE then full speed. Valid in "Slow Start" mode only. |
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92 | AReset As Long 'TRUE After Device reset, FALSE after "Set Position". |
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93 | RUN As Long 'Indicates if step motor is rotating |
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94 | SyncIN As Long 'Logical state directly from input synchronization PIN |
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95 | SyncOUT As Long 'Logical state directly from output synchronization PIN |
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96 | RotTr As Long 'Indicates current rotary transducer press state |
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97 | RotTrErr As Long 'Indicates rotary transducer error flag |
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98 | EmReset As Long 'Indicates state of emergency disable button (local control) |
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99 | Trailer1 As Long 'Indicates trailer 1 logical state. |
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100 | Trailer2 As Long 'Indicates trailer 2 logical state. |
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101 | Voltage As Single 'Input power source voltage (6-39V) -=24 version 0nly=- |
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102 | 'new |
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103 | Rsv1 As Long |
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104 | Rsv2 As Long |
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105 | |||
106 | End Type |
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107 | |||
108 | Declare Sub USMCGetLastErr Lib "USMCVBDLL.dll" _ |
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109 | Alias "_USMCVB_GetLastErr" (ByVal ErrStr As String, ByVal vlen As Long) |
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110 | |||
111 | Declare Function USMCInit Lib "USMCVBDLL.dll" _ |
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112 | Alias "_USMCVB_Init" (ByRef value As Long, ByVal versions As String, _ |
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113 | ByVal vlen As Long, ByVal serials As String, ByVal slen As Long) As Long |
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114 | |||
115 | Declare Function USMCGetState Lib "USMCVBDLL.dll" _ |
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116 | Alias "_USMCVB_GetState" (ByVal Dev As Long, ByRef Str As USMCState) As Long |
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117 | |||
118 | Declare Function USMCGetStartParameters Lib "USMCVBDLL.dll" _ |
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119 | Alias "_USMCVB_GetStartParameters" (ByVal Dev As Long, ByRef Str As USMCStartParameters) As Long |
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120 | |||
121 | Declare Function USMCStart Lib "USMCVBDLL.dll" _ |
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122 | Alias "_USMCVB_Start" (ByVal Dev As Long, ByVal DestPos As Long, ByRef Speed As Single, _ |
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123 | ByRef Str As USMCStartParameters) As Long |
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124 | |||
125 | Declare Function USMCStop Lib "USMCVBDLL.dll" _ |
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126 | Alias "_USMCVB_Stop" (ByVal Dev As Long) As Long |
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127 | |||
128 | Declare Function USMCGetMode Lib "USMCVBDLL.dll" _ |
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129 | Alias "_USMCVB_GetMode" (ByVal Dev As Long, ByRef Str As USMCMode) As Long |
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130 | |||
131 | Declare Function USMCSetMode Lib "USMCVBDLL.dll" _ |
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132 | Alias "_USMCVB_SetMode" (ByVal Dev As Long, ByRef Str As USMCMode) As Long |
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133 | |||
134 | Declare Function USMCGetParameters Lib "USMCVBDLL.dll" _ |
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135 | Alias "_USMCVB_GetParameters" (ByVal Dev As Long, ByRef Str As USMCParameters) As Long |
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136 | |||
137 | Declare Function USMCSetParameters Lib "USMCVBDLL.dll" _ |
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138 | Alias "_USMCVB_SetParameters" (ByVal Dev As Long, ByRef Str As USMCParameters) As Long |
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139 | |||
140 | Declare Function USMCSaveParametersToFlash Lib "USMCVBDLL.dll" _ |
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141 | Alias "_USMCVB_SaveParametersToFlash" (ByVal Dev As Long) As Long |
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142 | |||
143 | Declare Function USMCSetCurrentPosition Lib "USMCVBDLL.dll" _ |
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144 | Alias "_USMCVB_SetCurrentPosition" (ByVal Dev As Long, ByRef Str As USMCParameters) As Long |
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145 | |||
146 | |||
147 | |||
148 | Sub PrintDMode(mode As USMCMode) |
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149 | Dim out As String |
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150 | out = "Mode parameters:" & (Chr(13)) |
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151 | out = out & "Buttons - " |
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152 | If mode.PMode <> 0 Then |
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153 | out = out & "Disabled" & (Chr(13)) |
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154 | Else |
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155 | out = out & "Enabled" & (Chr(13)) & "Button 1 TRUE state - " |
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156 | If mode.Butt1T <> 0 Then |
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157 | out = out & "+3/+5 V" & (Chr(13)) |
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158 | Else |
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159 | out = out & "0 V(GND)" & (Chr(13)) |
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160 | End If |
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161 | out = out & "Button 2 TRUE state - " |
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162 | If mode.Butt2T <> 0 Then |
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163 | out = out & "+3/+5 V" & (Chr(13)) |
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164 | Else |
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165 | out = out & "0 V(GND)" & (Chr(13)) |
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166 | End If |
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167 | End If |
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168 | out = out & "Current reduction regime - " |
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169 | If mode.PReg <> 0 Then |
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170 | out = out & "Used" & (Chr(13)) |
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171 | Else |
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172 | out = out & "Not Used" & (Chr(13)) |
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173 | End If |
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174 | |||
175 | If mode.ResetD <> 0 Then |
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176 | out = out & "Power - " |
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177 | If mode.EmReset <> 0 Then |
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178 | out = out & "Emerjency Off" & (Chr(13)) |
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179 | Else |
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180 | out = out & "Off" & (Chr(13)) |
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181 | End If |
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182 | Else |
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183 | out = out & "Power - On" & (Chr(13)) |
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184 | End If |
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185 | If mode.Tr1En <> 0 Or mode.Tr2En <> 0 Then |
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186 | out = out & "Trailers are - " |
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187 | If mode.TrSwap <> 0 Then |
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188 | out = out & "Swapped" & (Chr(13)) |
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189 | Else |
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190 | out = out & "Direct" & (Chr(13)) |
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191 | End If |
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192 | End If |
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193 | out = out & "Trailer 1 - " |
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194 | If mode.Tr1En <> 0 Then |
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195 | out = out & "Enabled" & (Chr(13)) & "Trailer 1 TRUE state - " |
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196 | If mode.Tr1T <> 0 Then |
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197 | out = out & "+3/+5 V" & (Chr(13)) |
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198 | Else |
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199 | out = out & "0 V(GND)" & (Chr(13)) |
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200 | End If |
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201 | Else |
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202 | out = out & "Disabled" & (Chr(13)) |
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203 | End If |
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204 | out = out & "Trailer 2 - " |
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205 | If mode.Tr2En <> 0 Then |
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206 | out = out & "Enabled" & (Chr(13)) & "Trailer 2 TRUE state - " |
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207 | If mode.Tr2T <> 0 Then |
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208 | out = out & "+3/+5 V" & (Chr(13)) |
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209 | Else |
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210 | out = out & "0 V(GND)" & (Chr(13)) |
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211 | End If |
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212 | Else |
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213 | out = out & "Disabled" & (Chr(13)) |
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214 | End If |
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215 | out = out & "Rotary Transducer - " |
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216 | If mode.RotTeEn <> 0 Then |
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217 | out = out & "Enabled" & (Chr(13)) & "Rotary Transducer TRUE state - " |
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218 | If mode.RotTrT <> 0 Then |
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219 | out = out & "+3/+5 V" & (Chr(13)) |
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220 | Else |
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221 | out = out & "0 V(GND)" & (Chr(13)) |
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222 | End If |
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223 | out = out & "Rotary Transducer Operation - " |
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224 | If mode.RotTrOp <> 0 Then |
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225 | out = out & "Stop on error" & (Chr(13)) |
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226 | Else |
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227 | out = out & "Check and ignore error" & (Chr(13)) |
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228 | End If |
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229 | out = out & "Reset Rotary Transducer Check Positions - " |
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230 | If mode.ResetRT <> 0 Then |
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231 | out = out & "Initiated" & (Chr(13)) |
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232 | Else |
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233 | out = out & "No, why?" & (Chr(13)) |
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234 | End If |
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235 | Else |
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236 | out = out & "Disabled" & (Chr(13)) |
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237 | End If |
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238 | out = out & "Output Syncronization - " |
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239 | If mode.SyncOUTEn <> 0 Then |
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240 | out = out & "Enabled" & (Chr(13)) & "Reset Output Synchronization Counter - " |
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241 | If mode.SyncOUTR <> 0 Then |
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242 | out = out & "Initiated" & (Chr(13)) |
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243 | Else |
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244 | out = out & "No, why?" & (Chr(13)) |
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245 | End If |
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246 | out = out & "Number of steps after which synchronization output sygnal occures - " & mode.SyncCount & (Chr(13)) |
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247 | Else |
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248 | out = out & "Disabled" & (Chr(13)) |
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249 | End If |
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250 | out = out & "Synchronization input mode:" & (Chr(13)) |
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251 | If mode.SyncINOp <> 0 Then |
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252 | out = out & "Step motor will move one time to the destination position" & (Chr(13)) |
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253 | Else |
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254 | out = out & "Step motor will move multiple times by [destination position]" & (Chr(13)) |
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255 | End If |
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256 | out = out & "Synchronization Output - " |
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257 | If mode.SyncInvert <> 0 Then |
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258 | out = out & "INVERTED" & (Chr(13)) |
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259 | Else |
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260 | out = out & "NORMAL" & (Chr(13)) |
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261 | End If |
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262 | MsgBox out, vbOKOnly, "USMC_SetMode Successful" |
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263 | End Sub |
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264 | |||
265 | Sub PrintDState(state As USMCState) |
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266 | Dim out As String |
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267 | With state |
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268 | out = "The state is:" & (Chr(13)) |
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269 | out = out & "- Current Position in microsteps - " & Format(.CurPos) & (Chr(13)) |
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270 | out = out & "- Temperature - " & Format(.Temp, "0.00") & (Chr(176)) & (Chr(67)) & (Chr(13)) |
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271 | out = out & "- Step Divisor - " & Format(.SDivisor, "0") & (Chr(13)) |
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272 | out = out & "- Loft State - " |
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273 | If .Loft <> 0 Then |
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274 | out = out & "Indefinite" & (Chr(13)) |
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275 | Else |
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276 | out = out & "Fixed" & (Chr(13)) |
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277 | End If |
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278 | out = out & "- Power - " |
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279 | If .Power <> 0 Then |
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280 | If .FullPower <> 0 Then |
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281 | out = out & "Full" & (Chr(13)) |
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282 | Else |
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283 | out = out & "Half" & (Chr(13)) |
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284 | End If |
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285 | Else |
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286 | out = out & "Off" & (Chr(13)) |
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287 | End If |
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288 | If .RUN <> 0 Then |
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289 | out = out & "- Step Motor is Running in " |
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290 | If .CW_CCW <> 0 Then |
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291 | out = out & "CCW Direction " |
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292 | Else |
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293 | out = out & "CW Direction " |
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294 | End If |
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295 | If (.SDivisor = 1) And (.FullSpeed <> 0) Then |
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296 | out = out & "at Full Speed" & (Chr(13)) |
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297 | Else |
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298 | out = out & (Chr(13)) |
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299 | End If |
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300 | Else |
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301 | out = out & "- Step Motor is Not Running" & (Chr(13)) |
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302 | End If |
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303 | out = out & "- Device " |
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304 | If .AReset <> 0 Then |
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305 | out = out & "is After Reset" & (Chr(13)) |
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306 | Else |
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307 | out = out & "Position Already Set" & (Chr(13)) |
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308 | End If |
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309 | out = out & "- Input Synchronization Logical Pin State - " |
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310 | If .SyncIN <> 0 Then |
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311 | out = out & "TRUE" & (Chr(13)) |
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312 | Else |
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313 | out = out & "FALSE" & (Chr(13)) |
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314 | End If |
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315 | out = out & "- Output Synchronization Logical Pin State - " |
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316 | If .SyncOUT <> 0 Then |
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317 | out = out & "TRUE" & (Chr(13)) |
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318 | Else |
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319 | out = out & "FALSE" & (Chr(13)) |
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320 | End If |
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321 | out = out & "- Rotary Transducer Logical Pin State - " |
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322 | If .RotTr <> 0 Then |
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323 | out = out & "TRUE" & (Chr(13)) |
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324 | Else |
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325 | out = out & "FALSE" & (Chr(13)) |
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326 | End If |
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327 | out = out & "- Rotary Transducer Error Flag - " |
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328 | If .RotTrErr <> 0 Then |
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329 | out = out & "Error" & (Chr(13)) |
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330 | Else |
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331 | out = out & "Clear" & (Chr(13)) |
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332 | End If |
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333 | out = out & "- Emergency Disable Button - " |
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334 | If .EmReset <> 0 Then |
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335 | out = out & "Pushed" & (Chr(13)) |
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336 | Else |
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337 | out = out & "Unpushed" & (Chr(13)) |
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338 | End If |
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339 | out = out & "- Trailer 1 Press State - " |
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340 | If .Trailer1 <> 0 Then |
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341 | out = out & "Pushed" & (Chr(13)) |
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342 | Else |
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343 | out = out & "Unpushed" & (Chr(13)) |
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344 | End If |
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345 | out = out & "- Trailer 2 Press State - " |
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346 | If .Trailer2 <> 0 Then |
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347 | out = out & "Pushed" & (Chr(13)) |
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348 | Else |
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349 | out = out & "Unpushed" & (Chr(13)) |
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350 | End If |
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351 | out = out & "- Input Voltage - " |
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352 | If .Voltage = 0 Then |
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353 | out = out & "Low" & (Chr(13)) |
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354 | Else |
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355 | out = out & Format(.Voltage, "0.0") & (Chr(13)) |
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356 | End If |
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357 | MsgBox out, vbOKOnly, "USMC_GetState Successful" |
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358 | End With |
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359 | End Sub |
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360 | |||
361 | Sub PrintError() |
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362 | Dim out As String |
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363 | out = String(1000, 0) |
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364 | USMCGetLastErr out, 1000 |
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365 | MsgBox out, vbOKOnly, "Error" |
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366 | End Sub |
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367 | |||
368 | Sub PrintDStartParameters(DPos As Long, Speed As Single, sp As USMCStartParameters) |
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369 | With sp |
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370 | Dim out As String |
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371 | out = "Destination position - " & Format(DPos) & (Chr(13)) |
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372 | out = out & "Speed - " & Format(Speed, "##.00") & " tacts/s" & (Chr(13)) |
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373 | out = out & "Steps Divisor - " & Format(.SDivisor, "0") & (Chr(13)) |
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374 | If .SDivisor = 1 Then |
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375 | out = out & "Slow start/stop mode - " |
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376 | If .SlStart <> 0 Then |
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377 | out = out & "Enabled" & (Chr(13)) |
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378 | Else |
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379 | out = out & "Disabled" & (Chr(13)) |
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380 | End If |
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381 | Else |
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382 | out = out & "Automatic backlash operation - " |
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383 | If .LoftEn <> 0 Then |
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384 | out = out & "Enabled" & (Chr(13)) |
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385 | out = out & "Automatic backlash operation direction - " |
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386 | If .DefDir <> 0 Then |
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387 | out = out & "CCW" & (Chr(13)) |
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388 | Else |
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389 | out = out & "CW" & (Chr(13)) |
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390 | End If |
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391 | out = out & "Force automatic backlash operation - " |
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392 | If .ForceLoft <> 0 Then |
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393 | out = out & "TRUE" & (Chr(13)) |
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394 | Else |
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395 | out = out & "FALSE" & (Chr(13)) |
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396 | End If |
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397 | Else |
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398 | out = out & "Disabled" & (Chr(13)) |
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399 | End If |
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400 | End If |
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401 | If .WSyncIN <> 0 Then |
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402 | out = out & "Controller will wait for input synchronization signal to start" & (Chr(13)) |
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403 | Else |
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404 | out = out & "Input synchronization signal ignored" & (Chr(13)) |
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405 | End If |
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406 | If .SyncOUTR <> 0 Then |
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407 | out = out & "Output synchronization counter will be reset" & (Chr(13)) |
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408 | Else |
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409 | out = out & "Output synchronization counter will not be reset" & (Chr(13)) |
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410 | End If |
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411 | |||
412 | MsgBox out, vbOKOnly, "USMC_Start Successful" |
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413 | |||
414 | End With |
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415 | End Sub |
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416 | |||
417 | Sub PrintDParameters(Parameters As USMCParameters) |
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418 | With Parameters |
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419 | Dim out As String |
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420 | out = "The parameters are:" & (Chr(13)) |
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421 | out = out & "Full acceleration time - " & Format(.AccelT, "###0") & " ms" & (Chr(13)) |
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422 | out = out & "Full deceleration time - " & Format(.DecelT, "###0") & " ms" & (Chr(13)) |
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423 | out = out & "Power reduction timeout - " & Format(.PTimeout, "###0") & " ms" & (Chr(13)) |
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424 | out = out & "Button speedup timeout 1 - " & Format(.BTimeout1, "###0") & " ms" & (Chr(13)) |
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425 | out = out & "Button speed after timeout 1 - " & Format(.BTO1P, "###0.00") & " steps/s" & (Chr(13)) |
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426 | out = out & "Button speedup timeout 2 - " & Format(.BTimeout2, "###0") & " ms" & (Chr(13)) |
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427 | out = out & "Button speed after timeout 2 - " & Format(.BTO2P, "###0.00") & " steps/s" & (Chr(13)) |
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428 | out = out & "Button speedup timeout 3 - " & Format(.BTimeout3, "###0") & " ms" & (Chr(13)) |
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429 | out = out & "Button speed after timeout 3 - " & Format(.BTO3P, "###0.00") & " steps/s" & (Chr(13)) |
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430 | out = out & "Button speedup timeout 4 - " & Format(.BTimeout4, "###0") & " ms" & (Chr(13)) |
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431 | out = out & "Button speed after timeout 4 - " & Format(.BTO4P, "###0.00") & " steps/s" & (Chr(13)) |
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432 | out = out & "Button reset timeout - " & Format(.BTimeoutR, "###0") & " ms" & (Chr(13)) |
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433 | out = out & "Button reset operation speed - " & Format(.MinP, "###0.00") & " steps/s" & (Chr(13)) |
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434 | out = out & "Backlash operation distance - " & Format(.MaxLoft) & " steps" & (Chr(13)) |
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435 | out = out & "Revolution distance - " & Format(.RTDelta) & " steps" & (Chr(13)) |
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436 | out = out & "Minimal revolution distance error - " & Format(.RTMinErr) & " steps" & (Chr(13)) |
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437 | out = out & "Power off temperature - " & Format(.MaxTemp, "##0.00") & (Chr(176)) & (Chr(67)) & (Chr(13)) |
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438 | out = out & "Duration of the output synchronization pulse - " |
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439 | If .SynOUTP = 0 Then |
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440 | out = out & "minimal" & (Chr(13)) |
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441 | Else |
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442 | out = out & Format(.SynOUTP - 0.5, "##0.0") & " * [Tact Period]" & (Chr(13)) |
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443 | End If |
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444 | out = out & "Speed of the last phase of the backlash operation - " |
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445 | If .LoftPeriod = 0 Then |
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446 | out = out & "normal" & (Chr(13)) |
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447 | Else |
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448 | out = out & Format(.LoftPeriod - 0.5, "###0.00") & " steps/s" & (Chr(13)) |
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449 | End If |
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450 | MsgBox out, vbOKOnly, "USMC_SetParameters Successful" |
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451 | |||
452 | End With |
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453 | End Sub |