Use two Phidgets 1065 controllers simultaneously in the same VB6 program.
In the actual project one DC motor controls the movement of a table and one DC motor controls the movement of a chuck.
Both motors are equipped with encoders which are used to measure the way (table) or number of degrees (chuck)
In both cases it is absolutely necessary to keep track of the encoder pulses.
In short:
First the table is moved from a set zero point to a specified point along a shaft.
Motor 1 is stopped when the table reached its position. With a Laser Micrometer a diameter measurement is taken. Motor 2 (chuck) is then instructed to rotate the chuck a number of encoder pulses and a new measurement is taken. Again Motor 2 moves a specified number of pulses and a new measurement is taken. After the chuck has completed 360 degrees Motor 1 is instructed to move the table to the next position.
The whole process with Motor 2 is the repeated until all diameters along the whole length of the shaft have been measured.
It is very important to keep track of the table movement as the movement of the table is to be “absolute” to ensure accuracy, therefore the encoder should NOT be reset within a complete cycle. With Incremental movement the required repeatability is not reached.
With the listed code I can control both motors but when I re-open the motor control the encoder is set to zero every time.
How can I change my code to switch control from one motor to the other motor without using the command:
PhidgetMotorControl.Open (sngTableMotorSerialNr)
Any help would be highly appreciated.
Code: Select all
Option Explicit
Dim WithEvents phidgetIFK As PhidgetInterfaceKit
Dim WithEvents PhidgetMotorControl As PhidgetMotorControl
Dim sngTableEncoder As Single
Dim intTableVelocity As Integer
Dim intTableBrake As Integer
Dim intTableAcceleration As Integer
Dim sngTableMotorSerialNr As Single
Dim lngTableEncoder As Long
Dim blnTableMotor As Boolean
Dim lngChuckEncoder As Long
Dim intChuckVelocity As Integer
Dim intChuckBrake As Integer
Dim intChuckAcceleration As Integer
Dim sngChuckMotorSerialNr As Single
Dim blnChuckMotor As Boolean
Dim sngStartTimer As Single
Dim lngTimer1 As Long
Private Sub Form_Load()
Set phidgetIFK = Controls.Add("Phidget21COM.PhidgetInterfaceKit", "phidgetIFK")
Set PhidgetMotorControl = Controls.Add("Phidget21COM.PhidgetMotorControl", "phidgetMotorControl")
phidgetIFK.Open
'Two 1065 controls
sngTableMotorSerialNr = 146770
sngChuckMotorSerialNr = 146479
'PhidgetMotorControl.Open (sngTableMotorSerialNr)
'PhidgetMotorControl.Open (sngChuckMotorSerialNr)
intTableVelocity = 10
intTableBrake = 50
intTableAcceleration = 20
intChuckVelocity = 40
intChuckAcceleration = 20
intChuckBrake = 50
End Sub
Private Sub PhidgetMotorControl_OnSensorUpdate(ByVal Index As Long, ByVal SensorValue As Long)
'sensorValueF(Index).Text = SensorValue
End Sub
Private Sub PhidgetMotorControl_OnVelocityChange(ByVal Index As Long, ByVal newVal As Double)
'If (Index = motorIndex) Then
' currentVelocityF.Text = newVal
'End If
End Sub
Private Sub PhidgetMotorControl_OnEncoderPositionChange(ByVal Index As Long, ByVal Time As Long, ByVal PositionChange As Long)
If blnTableMotor = True Then
lngTableEncoder = PhidgetMotorControl.EncoderPosition(0)
txtTableEncoder.Text = Str(lngTableEncoder)
End If
If blnChuckMotor = True Then
lngChuckEncoder = PhidgetMotorControl.EncoderPosition(0)
txtChuckEncoder.Text = Str(lngChuckEncoder)
End If
End Sub
Private Sub cmdTest_Click()
blnTableMotor = True
'Set 1065 for Table motor
PhidgetMotorControl.Open (sngTableMotorSerialNr)
lngTimer1 = GetTickCount
Do Until GetTickCount - lngTimer1 > 100 'wait at least 100ms for the controller to mount
DoEvents
Loop
'PhidgetMotorControl.Velocity(sngTableMotorSerialNr) = intTableVelocity (Unsuccesfull Trial to set with 1065 serialnumber)
sngStartTimer = Timer
'Start movement of Table Motor
PhidgetMotorControl.Velocity(0) = 40
txtStatus.Visible = True
txtStatus.Text = "Table Motor Run"
'Keep motor running for at least 5 seconds, dislaying the encoder readings in a text field
Do Until Timer - sngStartTimer > 5
DoEvents
Loop
'Stop Table motor
intTableVelocity = 0
PhidgetMotorControl.Velocity(0) = intTableVelocity
PhidgetMotorControl.Close
txtStatus.Text = "Table Motor Stop"
DoEvents
blnTableMotor = False
blnChuckMotor = True
'Set 1065 for Chuck Motor
PhidgetMotorControl.Open (sngChuckMotorSerialNr)
lngTimer1 = GetTickCount
Do Until GetTickCount - lngTimer1 > 100
DoEvents
Loop
txtStatus.Text = "Chuck Motor Run"
sngStartTimer = Timer
'Start the Chuck Motor
PhidgetMotorControl.Velocity(0) = intChuckVelocity
Do Until Timer - sngStartTimer > 5
DoEvents
Loop
intChuckVelocity = 0
txtStatus.Text = "Chuck Motor Stop"
PhidgetMotorControl.Velocity(0) = intChuckVelocity
'Stop Chuck Motor
PhidgetMotorControl.Close
DoEvents
blnTableMotor = True
blnChuckMotor = False
'Set Table Motor again
PhidgetMotorControl.Open (sngTableMotorSerialNr)
lngTimer1 = GetTickCount
Do Until GetTickCount - lngTimer1 > 100
DoEvents
Loop
intTableVelocity = 10
sngStartTimer = Timer
PhidgetMotorControl.Velocity(0) = intTableVelocity
txtStatus.Text = "Table Motor Run"
Do Until Timer - sngStartTimer > 5
DoEvents
Loop
cmdStop_Click
End Sub
Private Sub chkTable_Click()
If chkTable.Value = 1 Then
blnTableMotor = True
End If
End Sub
Private Sub cmdStop_Click()
PhidgetMotorControl.Velocity(0) = 0
txtStatus.Text = ""
txtStatus.Visible = False
End Sub
