全国产EtherCAT边缘控制器（五）：IO配置与回零运动的Python+Qt开发

def Up_State(self):

   idlelist = [ctypes.c_int(-1) for i in range(0, 4)]

   fdposlist = [ctypes.c_float(0) for i in range(0, 4)]

   for i in range(0, 4):

      self.Zmc.get_target_pos(i, fdposlist[i])  # 获取当前轴位置

      self.Zmc.get_idle(i, idlelist[i])  # 判断当前轴状态

   str1 = " {}  {} ".format("停止中" if idlelist[0].value else "运行中", round(fdposlist[0].value, 2))

   self.ui.lineEdit_X.setText(str1)

   str1 = " {}  {} ".format("停止中" if idlelist[1].value else "运行中", round(fdposlist[1].value, 2))

   self.ui.lineEdit_Y.setText(str1)

   str1 = " {}  {} ".format("停止中" if idlelist[2].value else "运行中", round(fdposlist[2].value, 2))

   self.ui.lineEdit_Z.setText(str1)

   str1 = " {}  {} ".format("停止中" if idlelist[3].value else "运行中", round(fdposlist[3].value, 2))

   self.ui.lineEdit_R.setText(str1)

def on_btn_run_clicked(self):

if self.Zmc.handle.value is None:

QMessageBox.warning(self.ui, "警告", "未连接控制器")

return

ifidle = ctypes.c_int(0)

self.Zmc.get_idle(self.axis_Num,ifidle)

if 0 == ifidle:

QMessageBox.warning(self.ui, "提示", "运动未停止")

return

# 设定轴类型 7 - 脉冲轴类型 + 编码器Z信号 不用EZ回零也可以设置为1

self.Zmc.set_axis_type(self.axis_Num,7 if self.mode < 3 else 1)

# 设定脉冲模式及逻辑方向（脉冲 + 方向）

self.Zmc.set_invert_step(self.axis_Num,0)

# 设置当量

str_tmp = self.ui.edit_Units.text()

float_tmp = float(str_tmp)

self.Zmc.set_units(self.axis_Num,float_tmp)

# 设置爬行速度

str_tmp = self.ui.edit_CLSpeed.text()

float_tmp = float(str_tmp)

self.Zmc.set_creep(self.axis_Num,float_tmp)

# 设置速度

str_tmp = self.ui.edit_Speed.text()

float_tmp = float(str_tmp)

self.Zmc.set_speed(self.axis_Num,float_tmp)

# 设置加速度

str_tmp = self.ui.edit_Accel.text()

float_tmp = float(str_tmp)

self.Zmc.set_acceleration(self.axis_Num,float_tmp)

# 设置减速度

str_tmp = self.ui.edit_Decel.text()

float_tmp = float(str_tmp)

self.Zmc.set_deceleration(self.axis_Num,float_tmp)

# 设置原点开关

str_tmp = self.ui.edit_zeroIO.text()

float_tmp = int(str_tmp)

self.Zmc.set_datum_in(self.axis_Num,float_tmp)

# 反转 ZMC系列认为OFF时碰到了原点信号（常闭） ，如果是常开传感器则需要反转输入口，ECI系列的不需要反转

if float_tmp != -1:

self.Zmc.set_invert_in(float_tmp,1)

# 设置正限位输入信号开关

str_tmp = self.ui.edit_FWDIO.text()

float_tmp = int(str_tmp)

self.Zmc.set_fwd_in(self.axis_Num,float_tmp)

if float_tmp != -1:

self.Zmc.set_invert_in(float_tmp,1)

# 设置负限位输入信号开关

str_tmp = self.ui.edit_REVIO.text()

float_tmp = int(str_tmp)

self.Zmc.set_rev_in(self.axis_Num, float_tmp)

if float_tmp != -1:

self.Zmc.set_invert_in(float_tmp, 1)

# 单轴回零

self.Zmc.single_datum(self.axis_Num,self.mode)