RF小电缸控制说明及软件
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RF小电缸控制说明及软件 <link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/css/base.min.css" rel="stylesheet"/><link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/css/fancy.min.css" rel="stylesheet"/><link href="/image.php?url=https://csdnimg.cn/release/download_crawler_static/89962801/2/raw.css" rel="stylesheet"/><div id="sidebar" style="display: none"><div id="outline"></div></div><div class="pf w0 h0" data-page-no="1" id="pf1"><div class="pc pc1 w0 h0"><img alt="" class="bi x0 y0 w1 h1" src="/image.php?url=https://csdnimg.cn/release/download_crawler_static/89962801/bg1.jpg"/><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0"> <span class="fc1">private</span> <span class="fc1">void</span> btnStart_Click(<span class="fc1">object</span> sender, EventArgs e)</div><div class="t m0 x1 h2 y2 ff1 fs0 fc0 sc0 ls0 ws0"> {</div><div class="t m0 x1 h2 y3 ff1 fs0 fc0 sc0 ls0 ws0"> <span class="fc1">try</span></div><div class="t m0 x1 h2 y4 ff1 fs0 fc0 sc0 ls0 ws0"> {</div><div class="t m0 x1 h2 y5 ff1 fs0 fc0 sc0 ls0 ws0"> SerialPortWriteAndRead(<span class="fc2">"10 03 EB 00 01 02 00 01"</span>);<span class="fc3">//<span class="ff2">设置信号源为<span class="_ _0"> </span></span>RS485<span class="_ _0"> </span><span class="ff2">通讯控制</span></span></div><div class="t m0 x1 h2 y6 ff1 fs0 fc0 sc0 ls0 ws0"> SerialPortWriteAndRead(<span class="fc2">"10 03 EC 00 01 02 00 00"</span>);<span class="fc3">//<span class="ff2">设置用户控制模式为正常</span></span></div><div class="t m0 x1 h2 y7 ff1 fs0 fc0 sc0 ls0 ws0"> <span class="fc1">if</span> (radioButton1.Checked)</div><div class="t m0 x1 h2 y8 ff1 fs0 fc0 sc0 ls0 ws0"> {</div><div class="t m0 x1 h2 y9 ff1 fs0 fc0 sc0 ls0 ws0"> <span class="fc1">string</span> positionNum = <span class="fc1">int</span>.Parse(cbPositionNum.Text).ToString(<span class="fc2">"X4"</span>);</div><div class="t m0 x1 h2 ya ff1 fs0 fc0 sc0 ls0 ws0"> SerialPortWriteAndRead(<span class="fc2">"10 03 EF 00 01 02"</span> + positionNum);<span class="fc3">//<span class="ff2">执行点位命令</span></span></div><div class="t m0 x1 h2 yb ff1 fs0 fc0 sc0 ls0 ws0"> }</div><div class="t m0 x1 h2 yc ff1 fs0 fc0 sc0 ls0 ws0"> <span class="fc1">else</span> <span class="fc1">if</span> (radioButton2.Checked)</div><div class="t m0 x1 h2 yd ff1 fs0 fc0 sc0 ls0 ws0"> { </div><div class="t m0 x1 h2 ye ff1 fs0 fc0 sc0 ls0 ws0"> <span class="fc1">string</span> lengthPush = <span class="fc1">int</span>.Parse(txbLength.Text).ToString(<span class="fc2">"X4"</span>);</div><div class="t m0 x1 h2 yf ff1 fs0 fc0 sc0 ls0 ws0"> <span class="fc1">string</span> speedPush = <span class="fc1">int</span>.Parse(txbSpeedPush.Text).ToString(<span class="fc2">"X4"</span>);</div><div class="t m0 x1 h2 y10 ff1 fs0 fc0 sc0 ls0 ws0"> SerialPortWriteAndRead(<span class="fc2">"10 04 02 00 02 04 "</span> + lengthPush + speedPush);<span class="fc3">//<span class="ff2">设置推压段距离</span></span></div><div class="t m0 x1 h2 y11 ff2 fs0 fc3 sc0 ls0 ws0">和速度百分比</div><div class="t m0 x1 h2 y12 ff1 fs0 fc0 sc0 ls0 ws0"> <span class="fc1">string</span> position = ((<span class="fc1">int</span>)(<span class="fc1">double</span>.Parse(txbPosition.Text.ToString()) * </div><div class="t m0 x1 h2 y13 ff1 fs0 fc0 sc0 ls0 ws0">100)).ToString(<span class="fc2">"X4"</span>);</div><div class="t m0 x1 h2 y14 ff1 fs0 fc0 sc0 ls0 ws0"> <span class="fc1">string</span> speed = ((<span class="fc1">int</span>)(<span class="fc1">double</span>.Parse(txbSpeed.Text.ToString()) * 100)).ToString(<span class="fc2">"X4"</span>);</div><div class="t m0 x1 h2 y15 ff1 fs0 fc0 sc0 ls0 ws0"> <span class="fc1">string</span> strength = <span class="fc1">int</span>.Parse(txbStrength.Text).ToString(<span class="fc2">"X4"</span>);</div><div class="t m0 x1 h2 y16 ff1 fs0 fc0 sc0 ls0 ws0"> SerialPortWriteAndRead(<span class="fc2">"10 03 FE 00 02 04"</span> + speed + strength);<span class="fc3">//<span class="ff2">写入速度和推力</span></span></div><div class="t m0 x1 h2 y17 ff1 fs0 fc0 sc0 ls0 ws0"> SerialPortWriteAndRead(<span class="fc2">"10 03 FD 00 01 02"</span> + position);<span class="fc3">//<span class="ff2">写入位置</span></span></div><div class="t m0 x1 h2 y18 ff1 fs0 fc0 sc0 ls0 ws0"> SerialPortWriteAndRead(<span class="fc2">"10 03 EF 00 01 02 00 05"</span>);<span class="fc3">//<span class="ff2">执行非可存位置</span></span></div><div class="t m0 x1 h2 y19 ff1 fs0 fc0 sc0 ls0 ws0"> SerialPortWriteAndRead(<span class="fc2">"10 03 ED 00 01 02 00 01"</span>);<span class="fc3">//<span class="ff2">使能电缸</span></span></div><div class="t m0 x1 h2 y1a ff1 fs0 fc0 sc0 ls0 ws0"> }</div><div class="t m0 x1 h2 y1b ff1 fs0 fc0 sc0 ls0 ws0"> <span class="fc1">else</span> <span class="fc1">if</span> (radioButton3.Checked)</div><div class="t m0 x1 h2 y1c ff1 fs0 fc0 sc0 ls0 ws0"> {</div><div class="t m0 x1 h2 y1d ff1 fs0 fc0 sc0 ls0 ws0"> <span class="fc1">string</span> position = Math.Abs((<span class="fc1">int</span>)(<span class="fc1">double</span>.Parse(txbPosition2.Text.ToString()) * </div><div class="t m0 x1 h2 y1e ff1 fs0 fc0 sc0 ls0 ws0">100)).ToString(<span class="fc2">"X4"</span>);</div><div class="t m0 x1 h2 y1f ff1 fs0 fc0 sc0 ls0 ws0"> SerialPortWriteAndRead(<span class="fc2">"10 04 00 00 01 02"</span> + position);<span class="fc3">//<span class="ff2">写入位置</span></span></div><div class="t m0 x1 h2 y20 ff1 fs0 fc0 sc0 ls0 ws0"> SerialPortWriteAndRead(<span class="fc2">"10 03 F2 00 01 02"</span> + <span class="fc2">"03E8"</span>);<span class="fc3">//<span class="ff2">写入速度</span></span></div><div class="t m0 x1 h2 y21 ff1 fs0 fc0 sc0 ls0 ws0"> SerialPortWriteAndRead(<span class="fc2">"10 03 F3 00 01 02"</span> + <span class="fc2">"01F4"</span>);<span class="fc3">//<span class="ff2">写入推力</span></span></div><div class="t m0 x1 h2 y22 ff1 fs0 fc0 sc0 ls0 ws0"> SerialPortWriteAndRead(<span class="fc2">"10 03 EF 00 01 02 00 04"</span>);<span class="fc3">//<span class="ff2">执行相对运动模式</span></span></div><div class="t m0 x1 h2 y23 ff1 fs0 fc0 sc0 ls0 ws0"> <span class="fc1">if</span> (<span class="fc1">double</span>.Parse(txbPosition2.Text) >=0)</div><div class="t m0 x1 h2 y24 ff1 fs0 fc0 sc0 ls0 ws0"> {</div><div class="t m0 x1 h2 y25 ff1 fs0 fc0 sc0 ls0 ws0"> SerialPortWriteAndRead(<span class="fc2">"10 03 F0 00 01 02 00 01"</span>);<span class="fc3">//<span class="ff2">触发正向相对运动</span></span></div></div><div class="pi" data-data='{"ctm":[1.568627,0.000000,0.000000,1.568627,0.000000,0.000000]}'></div></div>