凌华运动控制卡AMP_204C

运行效果图

**一、调试前准备工作
1.硬件平台
1.工控机(本人使用Win7 64位系统) 2.凌华AMP-204C运动控制卡一套 3. 步进电机和驱动器一套

2.开发软件
1.AMP-204C驱动安装(驱动下载网址如下)
https://www.adlinktech.com/Products/Motion_Control/CentralizedMotionControllers/AMP-204C_AMP-208C?lang=zh-cn

2.Qt5.9.8软件(官网下载缓慢，可以在清华大学开源镜像站下载)
https://mirrors.tuna.tsinghua.edu.cn/qt/official_releases/qt/5.9/5.9.8/

运动控制卡驱动安装完成后，打开MotionCreatorPro2运动控制卡配置软件，完成每个轴的参数配置，最后保存参数到板卡Flash中(本人在调试过程中，在板卡初始化时，用的是从板卡的Flash初始化参数的方式。当然也可以将配置的参数保存为.ini文件，初始化板卡时，使用文件初始化板卡参数)。

二、开始程序的编写

1.打开安装的Qt Creater软件依次选择文件 > 新建 > Qt Widget Application 输入项目名(我在这里命名为Motion) > 选择QWidget基类(默认创建类名为Widget)的窗体类。
创建的项目文件如下图：

2.打开安装运动控制卡驱动时创建的ADLINK文件夹(我的文件夹如下C:\Program Files (x86)\ADLINK\APS Library)找到如下几个文件

将这六个文件复制到Qt创建的Motion文件夹下

注意事项：(在导入APS168.h文件时，需要将该文件的内容转换为UTF-8格式，否则Qt编译时会报错)可以使用Notepad++软件将文件内容转换格式

3.返回Qt双击Motion.pro文件，在文件中添加下图两行代码

4.完成ui界面的设计

5.创建Motion类，用于封装板卡的库函数，实现相应的功能

Motion.h文件内容如下

#ifndef MOTION_H
#define MOTION_H#include "type_def.h"
#include "ErrorCodeDef.h"
#include "APS_Define.h"
#include "APS168.h"#define ON  (1)
#define OFF (0)
#define Step (0)
#define Cont (1)class Motion
{
public:Motion(I32 board_id, I32 axis_id, I32 mode, I32 position);~Motion();I32 Get_Board_ID();I32 Get_Axis_ID();I32 Get_Di_Data();public:I32 Motion_Init();I32 Motion_Close();I32 Motion_Stop_Move();I32 Motion_Load_Parameter_From_Flash();I32 Motion_Servo_On();I32 Motion_Servo_Off();I32 Motion_Home(F64 ACC, F64 VM, I32 Direction);I32 Motion_Absolute_Move(I32 Position, I32 Max_Speed, I32 ACC);I32 Motion_Jog_P(F64 ACC, F64 VM, I32 Mode);I32 Motion_Jog_N(F64 ACC, F64 VM, I32 Mode);I32 Motion_Jog_Stop();I32 Motion_State(I32 Axis_ID);I32 Motion_Get_Current_Position();F64 Motion_Current_Position();I32 Motion_Set_Current_Position_Zero();I32 Motion_Write_D_Group_output(I32 Board_ID, I32 Do_Group, I32 Do_Data);I32 Motion_Write_D_Channel_Output(I32 Board_ID, I32 Do_Group, I32 Ch_No, I32 Do_Data);I32 Motion_Read_D_Input(I32 Board_ID, I32 Di_Group);private:const I32 Board_ID;I32 Axis_ID;I32 Mode;F64 Position;I32 JogMode;I32 Di_Data;
};#endif // MOTION_H

Motion.cpp文件如下：

#include "motion.h"Motion::Motion(I32 board_id, I32 axis_id, I32 mode, I32 position ):Board_ID(board_id)
{Axis_ID = axis_id;Mode = mode;Position = position;Di_Data = 0;
}Motion::~Motion()
{}I32 Motion::Get_Board_ID()
{return Board_ID;
}I32 Motion::Get_Axis_ID()
{return Axis_ID;
}I32 Motion::Get_Di_Data()
{return Di_Data;
}I32 Motion::Motion_Init()
{I32 ret = 0;I32 board_id = Board_ID;APS_initial(&board_id, Mode);return ret;
}I32 Motion::Motion_Close()
{I32 ret = 0;ret = APS_close();return ret;
}I32 Motion::Motion_Stop_Move()
{I32 ret = 0;APS_stop_move(Axis_ID);return ret;
}I32 Motion::Motion_Load_Parameter_From_Flash()
{I32 ret = 0;ret = APS_load_parameter_from_flash(Board_ID);return ret;
}I32 Motion::Motion_Servo_On()
{I32 ret = 0;ret = APS_set_servo_on(Axis_ID, ON);return ret;
}I32 Motion::Motion_Servo_Off()
{I32 ret = 0;ret = APS_set_servo_on(Axis_ID, OFF);return ret;
}I32 Motion::Motion_Home(F64 ACC, F64 VM, I32 Direction)
{I32 ret = 0;APS_set_axis_param(Axis_ID, PRA_HOME_MODE, 0);APS_set_axis_param(Axis_ID, PRA_HOME_DIR, Direction);APS_set_axis_param_f(Axis_ID, PRA_HOME_CURVE, 0);APS_set_axis_param_f(Axis_ID, PRA_HOME_ACC, ACC);APS_set_axis_param_f(Axis_ID, PRA_HOME_VM, VM);APS_set_axis_param_f(Axis_ID, PRA_HOME_VO, 0);APS_set_axis_param(Axis_ID, PRA_HOME_EZA, 0);APS_set_axis_param_f(Axis_ID, PRA_HOME_SHIFT, 0);APS_set_axis_param_f(Axis_ID, PRA_HOME_POS, 0);Motion_Servo_On();Sleep(500);ret = APS_home_move(Axis_ID);if( ret != ERR_NoError ){/* Error handling */}return ret;
}I32 Motion::Motion_Absolute_Move(I32 Position, I32 Max_Speed, I32 ACC)
{I32 ret = 0;APS_set_axis_param(Axis_ID, PRA_ACC, ACC);APS_set_axis_param(Axis_ID, PRA_DEC, ACC);APS_absolute_move(Axis_ID, Position, Max_Speed);return ret;
}I32 Motion::Motion_Jog_P(F64 ACC, F64 VM, I32 JogMode)
{I32 ret = 0;APS_set_axis_param(Axis_ID, PRA_JG_MODE, JogMode);APS_set_axis_param(Axis_ID, PRA_JG_DIR, 1);APS_set_axis_param_f( Axis_ID, PRA_JG_CURVE, 0.0  );APS_set_axis_param_f( Axis_ID, PRA_JG_ACC, ACC );APS_set_axis_param_f( Axis_ID, PRA_JG_DEC, ACC );APS_set_axis_param_f( Axis_ID, PRA_JG_VM,  VM  );if( !( (APS_motion_io_status(Axis_ID) >> MIO_SVON) & 1) ){Motion_Servo_On();}Sleep(500);APS_jog_start(Axis_ID, OFF);ret = APS_jog_start(Axis_ID, ON);return ret;
}I32 Motion::Motion_Jog_N(F64 ACC, F64 VM, I32 JogMode)
{I32 ret = 0;APS_set_axis_param(Axis_ID, PRA_JG_MODE, JogMode);APS_set_axis_param(Axis_ID, PRA_JG_DIR, 0);APS_set_axis_param_f( Axis_ID, PRA_JG_CURVE, 0.0  );APS_set_axis_param_f( Axis_ID, PRA_JG_ACC, ACC );APS_set_axis_param_f( Axis_ID, PRA_JG_DEC, ACC );APS_set_axis_param_f( Axis_ID, PRA_JG_VM,  VM  );if( !( (APS_motion_io_status(Axis_ID) >> MIO_SVON) & 1) ){Motion_Servo_On();}Sleep(500);APS_jog_start(Axis_ID, OFF);ret = APS_jog_start(Axis_ID, ON);return ret;
}I32 Motion::Motion_Jog_Stop()
{I32 ret = 0;ret = APS_jog_start(Axis_ID, OFF);return ret;
}I32 Motion::Motion_State(I32 Axis_ID)
{I32 ret = 0;ret = APS_motion_status(Axis_ID);return ret;
}I32 Motion::Motion_Get_Current_Position()
{I32 ret = 0;ret = APS_get_position_f(Axis_ID, &Position);return ret;
}F64 Motion::Motion_Current_Position()
{F64 postion;postion = this->Position;return postion;
}I32 Motion::Motion_Set_Current_Position_Zero()
{I32 ret = 0;ret = APS_set_position(Axis_ID, 0);return ret;
}I32 Motion::Motion_Write_D_Group_output(I32 Board_ID, I32 Do_Group, I32 Do_Data)
{I32 ret = 0;APS_write_d_output(Board_ID, Do_Group, Do_Data);return ret;
}I32 Motion::Motion_Write_D_Channel_Output(I32 Board_ID, I32 Do_Group, I32 Ch_No, I32 Do_Data)
{I32 ret = 0;ret = APS_write_d_channel_output(Board_ID, Do_Group, Ch_No, Do_Data);return ret;
}I32 Motion::Motion_Read_D_Input(I32 Board_ID, I32 Di_Group)
{I32 ret = 0;ret = APS_read_d_input(Board_ID, Di_Group, &(this->Di_Data));return ret;
}

6.Widget窗体主函数实现如下：

Widget.h文件：

#include "widget.h"
#include "ui_widget.h"
#include <QDebug>bool Widget::m_OutputFlag = true;   // 初始化Output FlagWidget::Widget(QWidget *parent) :QWidget(parent),ui(new Ui::Widget)
{Fun_Init_Widget();Fun_Init_Motion();Fun_Motion_Action();Fun_Start_Thread_Position();Fun_Start_Thread_Working();Fun_Start_Thread_Input();Fun_Signal_Connect();
}Widget::~Widget()
{delete ui;delete m_pMotion;m_pMotion = nullptr;delete m_pThreadPosition;m_pThreadPosition = nullptr;delete m_pThreadWorking;m_pThreadWorking = nullptr;delete m_pThreadInput;m_pThreadInput = nullptr;
}/******系统函数实现******/
void Widget::closeEvent(QCloseEvent *event) //该函数系统函数，关闭窗口时执行
{Fun_Stop_Thread_Position();Fun_Stop_Thread_Working();Fun_Stop_Thread_Input();Fun_Motion_Close();event->accept();
}void Widget::paintEvent(QPaintEvent *event) //该函数为系统函数，用于绘制窗口
{QPainter painter(this);QPen pen;pen.setColor(Qt::blue);painter.setPen(pen);QBrush brush;brush.setColor(Qt::blue);painter.setBrush(brush);//    painter.setWindow(0, 0, this->width(), this->height());
//    painter.drawRect(rect());
//    painter.drawRect(10, 10, this->width(), this->height());
//    QPixmap pixmap;
//    pixmap.load(":/res/ADLINK.ico");
//    painter.drawPixmap(0, 0, this->width(), this->height(), pixmap);event->accept();
}/******成员函数实现******/
void Widget::Fun_Init_Widget()  //窗口初始化函数
{ui->setupUi(this);//设置窗口标题、图标和各参数的默认值this->setWindowTitle("Motion");this->setWindowIcon( QIcon(":/Photo/ADLINK.ico") );ui->lineEditACC->setText("4000000");ui->lineEditVM->setText("400000");ui->lineEditAbsPos->setText("0");//设置背景色QPalette WinPat(this->palette());WinPat.setColor(QPalette::Background, QColor(128, 255, 255));this->setPalette(WinPat);//LCD的屏幕显示设置QPalette lcdpat = ui->lcdPosition->palette();lcdpat.setColor(QPalette::Normal, QPalette::WindowText, Qt::red);ui->lcdPosition->setPalette(lcdpat);bool isOK = false;QInputDialog input;m_Axis_ID = input.getInt(this, "Axis_ID", "Axis_ID Input", 0, 0, 3, 1, &isOK, Qt::WindowFlags(nullptr));if(!isOK){m_Axis_ID = 0;}
}void Widget::Fun_Init_Motion()  //轴初始化函数
{m_pMotion = new Motion(0, this->m_Axis_ID, 0, 0);m_pMotion->Motion_Init();m_pMotion->Motion_Load_Parameter_From_Flash();m_pMotion->Motion_Write_D_Group_output(0, 0, 0);
}void Widget::Fun_Motion_Action()    //轴功能实现函数
{//Servo On实现connect(ui->btnMotorOn, &QPushButton::pressed, [=](){if(m_ServoFlag == false){m_pMotion->Motion_Write_D_Channel_Output(m_pMotion->Get_Board_ID(), 0, 8, true);m_pMotion->Motion_Servo_On();m_ServoFlag = true;ui->btnMotorOn->setText("点击下电");}else{m_pMotion->Motion_Servo_Off();m_pMotion->Motion_Write_D_Channel_Output(m_pMotion->Get_Board_ID(), 0, 8, false);m_ServoFlag = false;ui->btnMotorOn->setText("点击上电");}});//Jog+实现connect(ui->btnJogP, &QPushButton::pressed, [=](){m_pMotion->Motion_Jog_P(ui->lineEditACC->text().toDouble(), ui->lineEditVM->text().toDouble(), ui->comboBoxJogMode->currentIndex());connect(ui->btnJogP, &QPushButton::released, [=](){m_pMotion->Motion_Jog_Stop();});});//Jog-实现connect(ui->btnJogN, &QPushButton::pressed, [=](){m_pMotion->Motion_Jog_N(ui->lineEditACC->text().toDouble(), ui->lineEditVM->text().toDouble(), ui->comboBoxJogMode->currentIndex());connect(ui->btnJogN, &QPushButton::released, [=](){m_pMotion->Motion_Jog_Stop();});});//AbsMove实现connect(ui->btnAbsMove, &QPushButton::pressed, [=](){m_pMotion->Motion_Absolute_Move(ui->lineEditAbsPos->text().toInt(), ui->lineEditVM->text().toInt(), ui->lineEditACC->text().toInt());});//GoHome实现connect(ui->btnGoHome, &QPushButton::pressed, [=](){m_pMotion->Motion_Home(ui->lineEditACC->text().toDouble(), ui->lineEditVM->text().toDouble(), ui->comboBoxHomeDir->currentIndex());});//Stop Moveconnect(ui->btnStop, &QPushButton::pressed, [=](){m_pMotion->Motion_Stop_Move();});//当前位置设置为该轴的0点connect(ui->btnSetCurPosIsZero, &QPushButton::pressed, [=](){m_pMotion->Motion_Set_Current_Position_Zero();});//Line单个端口输出connect(ui->btnOutput, &QPushButton::pressed, [=](){if(m_OutputFlag){m_pMotion->Motion_Write_D_Channel_Output(0, 0, ui->comboBoxOutput->currentIndex()+8, 1);m_OutputFlag = false;}else{m_pMotion->Motion_Write_D_Channel_Output(0, 0, ui->comboBoxOutput->currentIndex()+8, 0);m_OutputFlag = true;}});
}void Widget::Fun_Motion_Close()
{m_pMotion->Motion_Write_D_Group_output(0, 0, 0);m_pMotion->Motion_Close();
}void Widget::Fun_Start_Thread_Position()    //Position点位实时显示开启线程
{m_pThreadPosition = new ThreadPosition(ui, m_pMotion);Fun_Stop_Thread_Position();m_pThreadPosition->Fun_Start_Thread();m_pThreadPosition->start();
}void Widget::Fun_Stop_Thread_Position() //Position点位实时显示关闭线程
{if(m_pThreadPosition->isRunning()){m_pThreadPosition->Fun_Stop_Thread();m_pThreadPosition->quit();m_pThreadPosition->wait();}
}void Widget::Fun_Start_Thread_Working() //Working线程开启函数
{m_pThreadWorking = new ThreadWorking(ui, m_pMotion);connect(ui->btnStartWorking, &QPushButton::clicked, [=](){if(m_pThreadWorking->isRunning()){return;}m_pThreadWorking->Slot_Start_Thread();m_pThreadWorking->start();});connect(ui->btnStopWorking, &QPushButton::clicked, [=](){Fun_Stop_Thread_Working();});
}void Widget::Fun_Stop_Thread_Working()  //Working线程关闭函数
{if(m_pThreadWorking->isRunning()){m_pThreadWorking->Slot_Stop_Thread();m_pThreadWorking->quit();m_pThreadWorking->wait();}
}void Widget::Fun_Start_Thread_Input()   //Input信号实时采集开启线程
{m_pThreadInput = new ThreadInput(m_pMotion, ui);m_pThreadInput->Fun_Start_Thread();m_pThreadInput->start();
}void Widget::Fun_Stop_Thread_Input()    //Input信号实时采集关闭线程
{m_pThreadInput->Fun_Stop_Thread();m_pThreadInput->quit();m_pThreadInput->wait();
}void Widget::Fun_Signal_Connect()   //用于Working线程的信号链接
{void (ThreadWorking::*pSignalMsg)(QString) = &ThreadWorking::Signal_Send_Move_OK;connect(m_pThreadWorking, pSignalMsg, this, &Widget::Slot_Msg_Show);
}/******槽函数实现******/
void Widget::Slot_Msg_Show(QString str)
{QMessageBox msg(this);msg.setText(str);msg.exec();
}

7.各子线程的代码实现：

7.1点位实时采集：
ThreadPosition.h代码

#ifndef THREADPOSITION_H
#define THREADPOSITION_H#include <QObject>
#include <QThread>
#include <QTimer>
#include "ui_widget.h"
#include "motion.h"class ThreadPosition : public QThread
{Q_OBJECT
public:ThreadPosition(Ui::Widget* _ui, Motion* _motion);~ThreadPosition();void Fun_Start_Thread();void Fun_Stop_Thread();signals:public slots:protected:void run();private:bool m_isStart = false;Ui::Widget* m_pUi = nullptr;Motion* m_pMotion = nullptr;
};#endif // THREADPOSITION_H

ThreadPosition.cpp代码

#include "threadposition.h"
#include <QDebug>ThreadPosition::ThreadPosition(Ui::Widget* _ui, Motion* _motion)
{m_pUi = _ui;m_pMotion = _motion;
}ThreadPosition::~ThreadPosition()
{}void ThreadPosition::run()
{while(m_isStart){m_pMotion->Motion_Get_Current_Position();msleep(10);m_pUi->lcdPosition->display(m_pMotion->Motion_Current_Position());}
}/******成员函数实现******/
void ThreadPosition::Fun_Start_Thread()
{m_isStart = true;
}void ThreadPosition::Fun_Stop_Thread()
{m_isStart = false;
}

7.2 Input输入端实时采集线程

ThreadInput.h

#ifndef THREADINPUT_H
#define THREADINPUT_H#include <QObject>
#include <QThread>
#include <QTimer>
#include "motion.h"
#include "ui_widget.h"class ThreadInput : public QThread
{Q_OBJECT
public:ThreadInput(Motion* _motion, Ui::Widget* _ui);~ThreadInput();void Fun_Start_Thread();void Fun_Stop_Thread();protected:void run();private:bool m_isStart = false;Motion* m_pMotion = nullptr;Ui::Widget* m_pUi = nullptr;
};#endif // THREADINPUT_H

ThreadInput.cpp代码

#include "threadinput.h"ThreadInput::ThreadInput(Motion* _motion, Ui::Widget* _ui)
{m_pMotion = _motion;m_pUi = _ui;
}ThreadInput::~ThreadInput()
{}void ThreadInput::run()
{while(m_isStart){m_pMotion->Motion_Read_D_Input(m_pMotion->Get_Board_ID(), 0);msleep(10);m_pUi->Di01->setChecked((m_pMotion->Get_Di_Data() >> 8 ) & 1);m_pUi->Di02->setChecked((m_pMotion->Get_Di_Data() >> 9 ) & 1);m_pUi->Di03->setChecked((m_pMotion->Get_Di_Data() >> 10 ) & 1);m_pUi->Di04->setChecked((m_pMotion->Get_Di_Data() >> 11 ) & 1);m_pUi->Di05->setChecked((m_pMotion->Get_Di_Data() >> 12 ) & 1);m_pUi->Di06->setChecked((m_pMotion->Get_Di_Data() >> 13 ) & 1);m_pUi->Di07->setChecked((m_pMotion->Get_Di_Data() >> 14 ) & 1);m_pUi->Di08->setChecked((m_pMotion->Get_Di_Data() >> 15 ) & 1);m_pUi->Di09->setChecked((m_pMotion->Get_Di_Data() >> 16 ) & 1);m_pUi->Di10->setChecked((m_pMotion->Get_Di_Data() >> 17 ) & 1);m_pUi->Di11->setChecked((m_pMotion->Get_Di_Data() >> 18 ) & 1);m_pUi->Di12->setChecked((m_pMotion->Get_Di_Data() >> 19 ) & 1);m_pUi->Di13->setChecked((m_pMotion->Get_Di_Data() >> 20 ) & 1);m_pUi->Di14->setChecked((m_pMotion->Get_Di_Data() >> 21 ) & 1);m_pUi->Di15->setChecked((m_pMotion->Get_Di_Data() >> 22 ) & 1);m_pUi->Di16->setChecked((m_pMotion->Get_Di_Data() >> 23 ) & 1);}
}void ThreadInput::Fun_Start_Thread()
{m_isStart = true;
}void ThreadInput::Fun_Stop_Thread()
{m_isStart = false;
}

7.3 ThreadWorking线程（该线程用于实现相应的工作逻辑）
ThreadWorking.h文件

#ifndef THREADWORKING_H
#define THREADWORKING_H#include <QObject>
#include <QThread>
#include <QTimer>
#include "ui_widget.h"
#include "motion.h"class ThreadWorking : public QThread
{Q_OBJECT
public:ThreadWorking(Ui::Widget* _ui, Motion* _motion);~ThreadWorking();void Fun_Start_Thread();void Fun_Stop_Thread();bool Fun_Check_Motion_Move_OK();signals:void Signal_Send_Move_OK(QString str);public slots:void Slot_Start_Thread();void Slot_Stop_Thread();protected:void run();private:bool m_isStart = false;Ui::Widget* m_pUi = nullptr;Motion* m_pMotion = nullptr;
};#endif // THREADWORKING_H

ThreadWorking.cpp文件：

#include "threadworking.h"
#include <QDebug>ThreadWorking::ThreadWorking(Ui::Widget* _ui, Motion* _motion)
{m_pUi = _ui;m_pMotion = _motion;
}ThreadWorking::~ThreadWorking()
{}/******系统函数实现******/
void ThreadWorking::run()
{while(m_isStart){m_pMotion->Motion_Read_D_Input(m_pMotion->Get_Axis_ID(), 0);msleep(10);if( ((m_pMotion->Get_Di_Data())>>8) & 1 ){m_pMotion->Motion_Absolute_Move(m_pUi->lineEditAbsPos->text().toInt(),m_pUi->lineEditVM->text().toInt(),m_pUi->lineEditACC->text().toInt());while(!Fun_Check_Motion_Move_OK()){msleep(1);}}if( ((m_pMotion->Get_Di_Data())>>9) & 1 ){m_pMotion->Motion_Absolute_Move(-m_pUi->lineEditAbsPos->text().toInt(),m_pUi->lineEditVM->text().toInt(),m_pUi->lineEditACC->text().toInt());while(!Fun_Check_Motion_Move_OK()){msleep(1);}}}
}/******成员函数实现******/
void ThreadWorking::Fun_Start_Thread()
{this->m_isStart = true;
}void ThreadWorking::Fun_Stop_Thread()
{this->m_isStart = false;
}bool ThreadWorking::Fun_Check_Motion_Move_OK()
{bool flag = false;flag = (m_pMotion->Motion_State(m_pMotion->Get_Axis_ID()) >> 5) & 1;return flag;
}/******槽函数实现******/
void ThreadWorking::Slot_Start_Thread()
{this->Fun_Start_Thread();qDebug() << "Start";
}void ThreadWorking::Slot_Stop_Thread()
{this->Fun_Stop_Thread();qDebug() << "Stop";
}

该线程我只是简单实现了输入Di00有输入信号时，当前使用的轴移至主窗口的AbsMovPos所输入的点位；当Di01有输入信号时，该轴移至负的AbsMovPos所输入点位。

三. 窗体各区域介绍：

四.总结
该程序通过Qt软件实现了对AMP-204C运动控制卡的基本功能调试工作。可以实现板卡相应的Jog运动、Abs点位运动、回零运动，实现对板卡I/O的输入采集和输出控制。

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