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Attribute VB_Name = "Module1"
Public nod, Dev As Long
Public serial, version As String
Type USMCMode
PMode As Long 'Turn off buttons (TRUE - buttons disabled)
PReg As Long 'Current reduction regime (TRUE - regime is on)
ResetD As Long 'Turn power off and make a whole step (TRUE - apply)
EmReset As Long 'Quick power off
Tr1T As Long 'Trailer 1 TRUE state (TRUE : +3/+5Â; FALSE : 0Â)
Tr2T As Long 'Trailer 2 TRUE state (TRUE : +3/+5Â; FALSE : 0Â)
RotTrT As Long 'Rotary Transducer TRUE state (TRUE : +3/+5Â; FALSE : 0Â)
TrSwap As Long 'If TRUE, Trailers are treated to be swapped
Tr1En As Long 'If TRUE Trailer 1 Operation Enabled
Tr2En As Long 'If TRUE Trailer 2 Operation Enabled
RotTeEn As Long 'If TRUE Rotary Transducer Operation Enabled
RotTrOp As Long 'Rotary Transducer Operation Select (stop on error for TRUE)
Butt1T As Long 'Button 1 TRUE state (TRUE : +3/+5Â; FALSE : 0Â)
Butt2T As Long 'Button 2 TRUE state (TRUE : +3/+5Â; FALSE : 0Â)
ResetRT As Long 'Reset Rotary Transducer Check Positions (need one full revolution before it can detect error)
SyncOUTEn As Long 'If TRUE output syncronization enabled
SyncOUTR As Long 'If TRUE output synchronization counter will be reset
SyncINOp As Long 'Synchronization input mode:
'True - Step motor will move one time to the destination position
'False - Step motor will move multiple times by steps equal to the value destination position
SyncCount As Long 'Number of steps after which synchronization output sygnal occures
SyncInvert As Long 'Set to TRUE to invert output synchronization signal
'new
EncoderEn As Long 'Enable Encoder on pins {SYNCIN,ROTTR} - disables Synchronization input and Rotary Transducer
EncoderInv As Long 'Invert Encoder Counter Direction
ResBEnc As Long 'Reset <Encoder Position> and <SM Position in Encoder units> to 0
ResEnc As Long 'Reset <SM Position in Encoder units> to <Encoder Position>
Rsv1 As Long
Rsv2 As Long
End Type
Type USMCParameters
AccelT As Single 'Acceleration time (in ms)
DecelT As Single 'Deceleration time (in ms)
PTimeout As Single 'Time (in ms) after which current will be reduced to 60% of normal
BTimeout1 As Single 'Time (in ms) after which speed of step motor rotation will be equal to the one specified at
'BTO1P field (see below). (This parameter is used when controlling step motor using buttons)
BTimeout2 As Single '
BTimeout3 As Single '
BTimeout4 As Single '
BTimeoutR As Single 'Time (in ms) after which reset command will be performed
BTimeoutD As Single 'This field is reserved for future use
MinP As Single 'Speed (steps/sec) while performing reset operation. (This parameter is used when controlling
'step motor using buttons)
BTO1P As Single 'Speed (steps/sec) after BTIMEOUT 1 time have passed. (This parameter is used when controlling
'step motor using buttons)
BTO2P As Single '
BTO3P As Single '
BTO4P As Single '
MaxLoft As Integer 'Value in full steps that will be used performing backlash operation
StartPos As Long 'This field is reserved for future use
RTDelta As Integer 'Revolution distance number of full steps per one full revolution
RTMinErr As Integer 'Number of full steps missed to raise the error flag
MaxTemp As Single 'Maximum allowed temperature (Celsius)
SynOUTP As Byte 'Duration of the output synchronization pulse
LoftPeriod As Single 'Speed of the last phase of the backlash operation.
'new
EncMult As Single 'Should be <Encoder Steps per Evolution> / <SM Steps per Evolution> and should be integer multiplied by 0.25
Rsv1 As Long
Rsv2 As Long
Rsv3 As Long
Rsv4 As Long
End Type
Type USMCStartParameters
SDivisor As Byte 'Step is divided by this factor (1,2,4,8)
DefDir As Long 'Direction for backlash operation (relative)
LoftEn As Long 'Enable automatic backlash operation (works if slow start/stop mode is off)
SlStart As Long 'If TRUE slow start/stop mode enabled.
WSyncIN As Long 'If TRUE controller will wait for input synchronization signal to start
SyncOUTR As Long 'If TRUE output synchronization counter will be reset
ForceLoft As Long 'If TRUE and destination position is equal to the current position backlash operation will be performed.
'new
Rsv As Long
End Type
Type USMCState
CurPos As Long 'Current position (in microsteps)
Temp As Single 'Current temperature of the driver
SDivisor As Byte 'Step is divided by this factor
Loft As Long 'Indicates backlash status
FullPower As Long 'If TRUE then full power.
CW_CCW As Long 'Current direction. Relatively!
Power As Long 'If TRUE then Step Motor is ON.
FullSpeed As Long 'If TRUE then full speed. Valid in "Slow Start" mode only.
AReset As Long 'TRUE After Device reset, FALSE after "Set Position".
RUN As Long 'Indicates if step motor is rotating
SyncIN As Long 'Logical state directly from input synchronization PIN
SyncOUT As Long 'Logical state directly from output synchronization PIN
RotTr As Long 'Indicates current rotary transducer press state
RotTrErr As Long 'Indicates rotary transducer error flag
EmReset As Long 'Indicates state of emergency disable button (local control)
Trailer1 As Long 'Indicates trailer 1 logical state.
Trailer2 As Long 'Indicates trailer 2 logical state.
Voltage As Single 'Input power source voltage (6-39V) -=24 version 0nly=-
'new
Rsv1 As Long
Rsv2 As Long
End Type
Declare Sub USMCGetLastErr Lib "USMCVBDLL.dll" _
Alias "_USMCVB_GetLastErr" (ByVal ErrStr As String, ByVal vlen As Long)
Declare Function USMCInit Lib "USMCVBDLL.dll" _
Alias "_USMCVB_Init" (ByRef value As Long, ByVal versions As String, _
ByVal vlen As Long, ByVal serials As String, ByVal slen As Long) As Long
Declare Function USMCGetState Lib "USMCVBDLL.dll" _
Alias "_USMCVB_GetState" (ByVal Dev As Long, ByRef Str As USMCState) As Long
Declare Function USMCGetStartParameters Lib "USMCVBDLL.dll" _
Alias "_USMCVB_GetStartParameters" (ByVal Dev As Long, ByRef Str As USMCStartParameters) As Long
Declare Function USMCStart Lib "USMCVBDLL.dll" _
Alias "_USMCVB_Start" (ByVal Dev As Long, ByVal DestPos As Long, ByRef Speed As Single, _
ByRef Str As USMCStartParameters) As Long
Declare Function USMCStop Lib "USMCVBDLL.dll" _
Alias "_USMCVB_Stop" (ByVal Dev As Long) As Long
Declare Function USMCGetMode Lib "USMCVBDLL.dll" _
Alias "_USMCVB_GetMode" (ByVal Dev As Long, ByRef Str As USMCMode) As Long
Declare Function USMCSetMode Lib "USMCVBDLL.dll" _
Alias "_USMCVB_SetMode" (ByVal Dev As Long, ByRef Str As USMCMode) As Long
Declare Function USMCGetParameters Lib "USMCVBDLL.dll" _
Alias "_USMCVB_GetParameters" (ByVal Dev As Long, ByRef Str As USMCParameters) As Long
Declare Function USMCSetParameters Lib "USMCVBDLL.dll" _
Alias "_USMCVB_SetParameters" (ByVal Dev As Long, ByRef Str As USMCParameters) As Long
Declare Function USMCSaveParametersToFlash Lib "USMCVBDLL.dll" _
Alias "_USMCVB_SaveParametersToFlash" (ByVal Dev As Long) As Long
Declare Function USMCSetCurrentPosition Lib "USMCVBDLL.dll" _
Alias "_USMCVB_SetCurrentPosition" (ByVal Dev As Long, ByRef Str As USMCParameters) As Long
Sub PrintDMode(mode As USMCMode)
Dim out As String
out = "Mode parameters:" & (Chr(13))
out = out & "Buttons - "
If mode.PMode <> 0 Then
out = out & "Disabled" & (Chr(13))
Else
out = out & "Enabled" & (Chr(13)) & "Button 1 TRUE state - "
If mode.Butt1T <> 0 Then
out = out & "+3/+5 V" & (Chr(13))
Else
out = out & "0 V(GND)" & (Chr(13))
End If
out = out & "Button 2 TRUE state - "
If mode.Butt2T <> 0 Then
out = out & "+3/+5 V" & (Chr(13))
Else
out = out & "0 V(GND)" & (Chr(13))
End If
End If
out = out & "Current reduction regime - "
If mode.PReg <> 0 Then
out = out & "Used" & (Chr(13))
Else
out = out & "Not Used" & (Chr(13))
End If
If mode.ResetD <> 0 Then
out = out & "Power - "
If mode.EmReset <> 0 Then
out = out & "Emerjency Off" & (Chr(13))
Else
out = out & "Off" & (Chr(13))
End If
Else
out = out & "Power - On" & (Chr(13))
End If
If mode.Tr1En <> 0 Or mode.Tr2En <> 0 Then
out = out & "Trailers are - "
If mode.TrSwap <> 0 Then
out = out & "Swapped" & (Chr(13))
Else
out = out & "Direct" & (Chr(13))
End If
End If
out = out & "Trailer 1 - "
If mode.Tr1En <> 0 Then
out = out & "Enabled" & (Chr(13)) & "Trailer 1 TRUE state - "
If mode.Tr1T <> 0 Then
out = out & "+3/+5 V" & (Chr(13))
Else
out = out & "0 V(GND)" & (Chr(13))
End If
Else
out = out & "Disabled" & (Chr(13))
End If
out = out & "Trailer 2 - "
If mode.Tr2En <> 0 Then
out = out & "Enabled" & (Chr(13)) & "Trailer 2 TRUE state - "
If mode.Tr2T <> 0 Then
out = out & "+3/+5 V" & (Chr(13))
Else
out = out & "0 V(GND)" & (Chr(13))
End If
Else
out = out & "Disabled" & (Chr(13))
End If
out = out & "Rotary Transducer - "
If mode.RotTeEn <> 0 Then
out = out & "Enabled" & (Chr(13)) & "Rotary Transducer TRUE state - "
If mode.RotTrT <> 0 Then
out = out & "+3/+5 V" & (Chr(13))
Else
out = out & "0 V(GND)" & (Chr(13))
End If
out = out & "Rotary Transducer Operation - "
If mode.RotTrOp <> 0 Then
out = out & "Stop on error" & (Chr(13))
Else
out = out & "Check and ignore error" & (Chr(13))
End If
out = out & "Reset Rotary Transducer Check Positions - "
If mode.ResetRT <> 0 Then
out = out & "Initiated" & (Chr(13))
Else
out = out & "No, why?" & (Chr(13))
End If
Else
out = out & "Disabled" & (Chr(13))
End If
out = out & "Output Syncronization - "
If mode.SyncOUTEn <> 0 Then
out = out & "Enabled" & (Chr(13)) & "Reset Output Synchronization Counter - "
If mode.SyncOUTR <> 0 Then
out = out & "Initiated" & (Chr(13))
Else
out = out & "No, why?" & (Chr(13))
End If
out = out & "Number of steps after which synchronization output sygnal occures - " & mode.SyncCount & (Chr(13))
Else
out = out & "Disabled" & (Chr(13))
End If
out = out & "Synchronization input mode:" & (Chr(13))
If mode.SyncINOp <> 0 Then
out = out & "Step motor will move one time to the destination position" & (Chr(13))
Else
out = out & "Step motor will move multiple times by [destination position]" & (Chr(13))
End If
out = out & "Synchronization Output - "
If mode.SyncInvert <> 0 Then
out = out & "INVERTED" & (Chr(13))
Else
out = out & "NORMAL" & (Chr(13))
End If
MsgBox out, vbOKOnly, "USMC_SetMode Successful"
End Sub
Sub PrintDState(state As USMCState)
Dim out As String
With state
out = "The state is:" & (Chr(13))
out = out & "- Current Position in microsteps - " & Format(.CurPos) & (Chr(13))
out = out & "- Temperature - " & Format(.Temp, "0.00") & (Chr(176)) & (Chr(67)) & (Chr(13))
out = out & "- Step Divisor - " & Format(.SDivisor, "0") & (Chr(13))
out = out & "- Loft State - "
If .Loft <> 0 Then
out = out & "Indefinite" & (Chr(13))
Else
out = out & "Fixed" & (Chr(13))
End If
out = out & "- Power - "
If .Power <> 0 Then
If .FullPower <> 0 Then
out = out & "Full" & (Chr(13))
Else
out = out & "Half" & (Chr(13))
End If
Else
out = out & "Off" & (Chr(13))
End If
If .RUN <> 0 Then
out = out & "- Step Motor is Running in "
If .CW_CCW <> 0 Then
out = out & "CCW Direction "
Else
out = out & "CW Direction "
End If
If (.SDivisor = 1) And (.FullSpeed <> 0) Then
out = out & "at Full Speed" & (Chr(13))
Else
out = out & (Chr(13))
End If
Else
out = out & "- Step Motor is Not Running" & (Chr(13))
End If
out = out & "- Device "
If .AReset <> 0 Then
out = out & "is After Reset" & (Chr(13))
Else
out = out & "Position Already Set" & (Chr(13))
End If
out = out & "- Input Synchronization Logical Pin State - "
If .SyncIN <> 0 Then
out = out & "TRUE" & (Chr(13))
Else
out = out & "FALSE" & (Chr(13))
End If
out = out & "- Output Synchronization Logical Pin State - "
If .SyncOUT <> 0 Then
out = out & "TRUE" & (Chr(13))
Else
out = out & "FALSE" & (Chr(13))
End If
out = out & "- Rotary Transducer Logical Pin State - "
If .RotTr <> 0 Then
out = out & "TRUE" & (Chr(13))
Else
out = out & "FALSE" & (Chr(13))
End If
out = out & "- Rotary Transducer Error Flag - "
If .RotTrErr <> 0 Then
out = out & "Error" & (Chr(13))
Else
out = out & "Clear" & (Chr(13))
End If
out = out & "- Emergency Disable Button - "
If .EmReset <> 0 Then
out = out & "Pushed" & (Chr(13))
Else
out = out & "Unpushed" & (Chr(13))
End If
out = out & "- Trailer 1 Press State - "
If .Trailer1 <> 0 Then
out = out & "Pushed" & (Chr(13))
Else
out = out & "Unpushed" & (Chr(13))
End If
out = out & "- Trailer 2 Press State - "
If .Trailer2 <> 0 Then
out = out & "Pushed" & (Chr(13))
Else
out = out & "Unpushed" & (Chr(13))
End If
out = out & "- Input Voltage - "
If .Voltage = 0 Then
out = out & "Low" & (Chr(13))
Else
out = out & Format(.Voltage, "0.0") & (Chr(13))
End If
MsgBox out, vbOKOnly, "USMC_GetState Successful"
End With
End Sub
Sub PrintError()
Dim out As String
out = String(1000, 0)
USMCGetLastErr out, 1000
MsgBox out, vbOKOnly, "Error"
End Sub
Sub PrintDStartParameters(DPos As Long, Speed As Single, sp As USMCStartParameters)
With sp
Dim out As String
out = "Destination position - " & Format(DPos) & (Chr(13))
out = out & "Speed - " & Format(Speed, "##.00") & " tacts/s" & (Chr(13))
out = out & "Steps Divisor - " & Format(.SDivisor, "0") & (Chr(13))
If .SDivisor = 1 Then
out = out & "Slow start/stop mode - "
If .SlStart <> 0 Then
out = out & "Enabled" & (Chr(13))
Else
out = out & "Disabled" & (Chr(13))
End If
Else
out = out & "Automatic backlash operation - "
If .LoftEn <> 0 Then
out = out & "Enabled" & (Chr(13))
out = out & "Automatic backlash operation direction - "
If .DefDir <> 0 Then
out = out & "CCW" & (Chr(13))
Else
out = out & "CW" & (Chr(13))
End If
out = out & "Force automatic backlash operation - "
If .ForceLoft <> 0 Then
out = out & "TRUE" & (Chr(13))
Else
out = out & "FALSE" & (Chr(13))
End If
Else
out = out & "Disabled" & (Chr(13))
End If
End If
If .WSyncIN <> 0 Then
out = out & "Controller will wait for input synchronization signal to start" & (Chr(13))
Else
out = out & "Input synchronization signal ignored" & (Chr(13))
End If
If .SyncOUTR <> 0 Then
out = out & "Output synchronization counter will be reset" & (Chr(13))
Else
out = out & "Output synchronization counter will not be reset" & (Chr(13))
End If
MsgBox out, vbOKOnly, "USMC_Start Successful"
End With
End Sub
Sub PrintDParameters(Parameters As USMCParameters)
With Parameters
Dim out As String
out = "The parameters are:" & (Chr(13))
out = out & "Full acceleration time - " & Format(.AccelT, "###0") & " ms" & (Chr(13))
out = out & "Full deceleration time - " & Format(.DecelT, "###0") & " ms" & (Chr(13))
out = out & "Power reduction timeout - " & Format(.PTimeout, "###0") & " ms" & (Chr(13))
out = out & "Button speedup timeout 1 - " & Format(.BTimeout1, "###0") & " ms" & (Chr(13))
out = out & "Button speed after timeout 1 - " & Format(.BTO1P, "###0.00") & " steps/s" & (Chr(13))
out = out & "Button speedup timeout 2 - " & Format(.BTimeout2, "###0") & " ms" & (Chr(13))
out = out & "Button speed after timeout 2 - " & Format(.BTO2P, "###0.00") & " steps/s" & (Chr(13))
out = out & "Button speedup timeout 3 - " & Format(.BTimeout3, "###0") & " ms" & (Chr(13))
out = out & "Button speed after timeout 3 - " & Format(.BTO3P, "###0.00") & " steps/s" & (Chr(13))
out = out & "Button speedup timeout 4 - " & Format(.BTimeout4, "###0") & " ms" & (Chr(13))
out = out & "Button speed after timeout 4 - " & Format(.BTO4P, "###0.00") & " steps/s" & (Chr(13))
out = out & "Button reset timeout - " & Format(.BTimeoutR, "###0") & " ms" & (Chr(13))
out = out & "Button reset operation speed - " & Format(.MinP, "###0.00") & " steps/s" & (Chr(13))
out = out & "Backlash operation distance - " & Format(.MaxLoft) & " steps" & (Chr(13))
out = out & "Revolution distance - " & Format(.RTDelta) & " steps" & (Chr(13))
out = out & "Minimal revolution distance error - " & Format(.RTMinErr) & " steps" & (Chr(13))
out = out & "Power off temperature - " & Format(.MaxTemp, "##0.00") & (Chr(176)) & (Chr(67)) & (Chr(13))
out = out & "Duration of the output synchronization pulse - "
If .SynOUTP = 0 Then
out = out & "minimal" & (Chr(13))
Else
out = out & Format(.SynOUTP - 0.5, "##0.0") & " * [Tact Period]" & (Chr(13))
End If
out = out & "Speed of the last phase of the backlash operation - "
If .LoftPeriod = 0 Then
out = out & "normal" & (Chr(13))
Else
out = out & Format(.LoftPeriod - 0.5, "###0.00") & " steps/s" & (Chr(13))
End If
MsgBox out, vbOKOnly, "USMC_SetParameters Successful"
End With
End Sub