S7-200 运动控制

电机

42电机(42BYGH34-401A)，最高速度居然是300 每分钟，卖家说的， 测试A+,A-时，将2根线短接，转动电机时会有明显的滞涩感，B+,B-一样,

编码器

HN3806-AB-600N ，有AB两相接24V电源，A,B两相直接连PLC I0.6,I0.7 ,这里使用PLC的向导，启用HC1

步进控制器

TB6600 带光耦的，控制信号3.3-24 可以直接连PLC 不用接电阻很方便，拨码开关把电流设置成0.5，细分设置成1600，也就是1600个脉冲转一圈，至于一圈移动多少毫米这个要看螺杆机构的参数（一般供应商提供）

这里是8mm

MAP 0 使用HC0, 并使用Q0.0 作为脉冲输出Q0.2方向，I0.0参考点输入

 

按键位反转

由于无法实现按位反转，所以这里使用了字节

添加自复位功能

 完成程序

//是PLC相对地址除以2
//比方VD240, 从&VB100开始， 那么相对字节是140,除以2后是70,
//因为一个保持寄存器对应2个字节
_Monitor.SendCmd(new ReadHoldRegisterCmd(1, 70, 4));

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using System.Threading;
using EMDLX.Server.PLC_Core;
using PLC.Util;

namespace EMDLX.UI
{
    public partial class frmModbusMonitor : Form
    {
        private SynchronizationContext SyncCtx = null;
        private Boolean IsRunning = false;
        private TCPModbusMonitor _Monitor = new TCPModbusMonitor("192.168.1.243", 502);
        public frmModbusMonitor()
        {
            InitializeComponent();
            SyncCtx = SynchronizationContext.Current
;
            btnServerSwitch.Text = "启动服务";
            _Monitor.ReceivedData += new EventHandler<ReceivedEventArgs>(_Monitor_ReceivedData);
            #region 刷新读数
            var timer = new System.Windows.Forms.Timer();
            timer.Interval = 500 * 1;
            timer.Tick += (s, e) =>
            {
                try
                {
                    timer.Stop();
                    //是PLC相对地址除以2
                    //比方VD240, 从&VB100开始， 那么相对字节是140,除以2后是70,
                    //因为一个保持寄存器对应2个字节
                    _Monitor.SendCmd(new ReadHoldRegisterCmd(1, 70, 12));
                }
                catch (Exception ex)
                {
                    Console.WriteLine(ex.Message);
                }
                finally
                {
                    timer.Start();
                }

            };
            timer.Start();
            #endregion
        }
        protected override void OnClosed(EventArgs e)
        {
            try
            {
                _Monitor.Stop();
            }
            catch { }
            base.OnClosed(e);
        }
        void _Monitor_ReceivedData(object sender, ReceivedEventArgs e)
        {
            if (e.Cmd is ReadHoldRegisterCmdResult)
            {
                var cmd = e.Cmd as ReadHoldRegisterCmdResult;
                var hc1 = cmd.GetInt32(0);
                var pos = cmd.GetFloat(6);
                var frequency = cmd.GetFloat(2);
                var fLimit = cmd.GetRegister(8).HighByte;
                var rLimit = cmd.GetRegister(9).LowByte;
                var homeLimit = cmd.GetRegister(9).HighByte;
                var motorDirection = cmd.GetRegister(10).LowByte;
                var motorEN = cmd.GetRegister(10).HighByte;
                var showMsg = string.Format("HC1:{0},位置:{1},频率:{2}",hc1,pos,frequency);
                showMsg += Environment.NewLine + Environment.NewLine;
                showMsg += string.Format("前限位:{0},后限位{1},参考点:{2},电机转向:{3},是否脱机:{4}", fLimit, rLimit, homeLimit,motorDirection,motorEN);
               
                SyncCtx.Post(o => {
                    txtMsg.Text = showMsg;
                }, null);
            }
        }

        private void btnServerSwitch_Click(object sender, EventArgs e)
        {
            try
            {
                if (btnServerSwitch.Text == "启动服务")
                {
                    _Monitor.Start();

                    btnServerSwitch.Text = "停止服务";
                    txtTips.Text = "服务启动:" + DateTime.Now;

                    IsRunning = true;

                }
                else
                {
                    _Monitor.Stop();
                    btnServerSwitch.Text = "启动服务";

                    txtTips.Text = "服务关闭";
                    IsRunning = false;

                }
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message, "错误", MessageBoxButtons.OK, MessageBoxIcon.Error);
                try
                {
                    btnServerSwitch.Text = "启动服务";
                    _Monitor.Stop();
                    IsRunning = false;
                }
                catch { }
            }
        }

        private void frmModbusMonitor_Load(object sender, EventArgs e)
        {

        }

        private void btnHome_Click(object sender, EventArgs e)
        {
            _Monitor.SendCmd(new WriteSingleHoldRegisterCmd(1, 25, 0x01, 0x00));
        }

        private void checkBox1_CheckedChanged(object sender, EventArgs e)
        {
            if (checkBox1.Checked)
            {
                //电脱机
                _Monitor.SendCmd(new WriteSingleHoldRegisterCmd(1, 22, 0x01, 0x00));
            }
            else
            {
                //电脱机
                _Monitor.SendCmd(new WriteSingleHoldRegisterCmd(1, 22, 0, 0));
            }
        }



        private void btnMA_Click(object sender, EventArgs e)
        {
            try
            {
                #region 设置位置
                float pos = float.Parse(txtPos.Text);
                var cmd = new WriteHoldRegisterCmd(1, 15,2,TCPCommandBase.FloatGetBytes(pos));
                _Monitor.SendCmd(cmd);
                #endregion
                //等待100毫秒
                Thread.Sleep(50);
                #region 启动绝对定位
                var cmd1 = new WriteSingleHoldRegisterCmd(1, 26, 0x01, 0x00);
               // Console.WriteLine(cmd1.CmdHexString);
                _Monitor.SendCmd(cmd1);
                #endregion
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message);
            }
        }

        private void btnMR_Click(object sender, EventArgs e)
        {
            try
            {
                #region 设置位置
                float pos = float.Parse(txtPos.Text);
                var cmd = new WriteHoldRegisterCmd(1, 15, 2, TCPCommandBase.FloatGetBytes(pos));
                _Monitor.SendCmd(cmd);
                #endregion
                //等待100毫秒
                Thread.Sleep(50);

                #region 设置方向
                byte setDirectionLowByte=0x00;
                if (ckbDirection.Checked)
                {
                    setDirectionLowByte = 0x01;
                }
                _Monitor.SendCmd(new WriteSingleHoldRegisterCmd(1, 30, setDirectionLowByte, 0x00));
                
                #endregion
                Thread.Sleep(50);


                #region 启动相对定位
                var cmd1 = new WriteSingleHoldRegisterCmd(1, 27, 0x01, 0x00);
                _Monitor.SendCmd(cmd1);
                #endregion
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message);
            }
        }

        private void btnM_Click(object sender, EventArgs e)
        {
            try
            {


                #region 设置方向
                byte setDirectionLowByte = 0x00;
                if (ckbDirection.Checked)
                {
                    setDirectionLowByte = 0x01;
                }
                _Monitor.SendCmd(new WriteSingleHoldRegisterCmd(1, 30, setDirectionLowByte, 0x00));

                #endregion
                Thread.Sleep(50);


                #region 启动相对定位
                var cmd1 = new WriteSingleHoldRegisterCmd(1, 29, 0x01, 0x00);
                _Monitor.SendCmd(cmd1);
                #endregion
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message);
            }
        }

        private void btnStop_Click(object sender, EventArgs e)
        {
            _Monitor.SendCmd(new WriteSingleHoldRegisterCmd(1, 28, 0x01, 0x00));
        }

        private void btnClearCounter_Click(object sender, EventArgs e)
        {
            _Monitor.SendCmd(new WriteSingleHoldRegisterCmd(1, 69, 0x01, 0x00));
        }
    }
}

 完整代码在后台文件管理PLC运动控制与艾莫讯