RC_Modbus RTU sample.zip

/******************************************************************************** * * * Outline : Modbus communication application (RTU) with RC controller * * * * * System : * * * * Author : IAI Software * * * * Remarks : * * * ********************************************************************************/ //--------------------------------------------------------------------------- #include <vcl.h> #include <stdio.h> #include <stdlib.h> #pragma hdrstop #include "Main.h" #include "Function.h" //--------------------------------------------------------------------------- #pragma package(smart_init) #pragma resource "*.dfm" TForm1 *Form1; CRITICAL_SECTION critical_section; /* critical section */ /* Sending character string generating jamp table */ pStrFunc MakeStrFuncTbl[10] = { MakePosStr, MakeDecideWidthStr, MakeVelStr, MakeZonePlusStr, MakeZoneMinusStr, MakeAccStr, MakeDecStr, MakePushStr, MakeBoundaryStr, MakeIncStr }; /* Jamp table to write value into the chart */ pIniFunc InitFuncTbl[10] = { PosGrid, VelGrid, AccGrid, DecGrid, PushGrid, BoundaryGrid, DecideWidthGrid, ZonePlusGrid, ZoneMinusGrid, IncGrid }; /* Default value input jamp table */ pWriteFunc DefaultWriteTbl[10] = { WritePos, WriteVel, WriteAcc, WriteDec, WritePush, WriteBoundary, WriteDecideWidth, WriteZonePlus, WriteZoneMinus, WriteInc }; char* FixedQuery[27] = /* fixed command */ { "0390000002", /* gain present position */ "0390020001", /* gain alarm code */ "0390070001", /* gain register to confirm whether moving or not */ "0390080002", /* gain output port value */ "0390100002", /* gain accumulated time */ "050403FF00", /* command for servo ON */ "0504030000", /* command for servo OFF */ "0504070000", /* alarm reset release */ "050407FF00", /* alarm reset command */ "05040A0000", /* pause release */ "05040AFF00", /* pause command */ "05040B0000", /* homing release */ "05040BFF00", /* homing command */ "05040C0000", /* positioning movement release */ "05040CFF00", /* positioning movement start command */ "050411FF00", /* change command to inching movement */ "0504110000", /* change command to jog movement */ "050414FF00", /* change command to teaching mode */ "0504140000", /* change command to standard mode */ "050415FF00", /* command to take in position data */ "0504160000", /* jog+release */ "050416FF00", /* jog+command */ "0504170000", /* jog-release */ "050417FF00", /* jog-command */ "050427FF00", /* PIO start disable setting */ "0504270000", /* PIO start permit setting */ "05042CFF00" /* axis stop command */ }; //--------------------------------------------------------------------------- __fastcall TForm1::TForm1(TComponent* Owner) : TForm(Owner) { } //--------------------------------------------------------------------------- /******************************************************************************** * * * ProcName : FormCreate * * * * Outline : * * * * Function : Initialize the chart of valuable for form 1, communication class and position data * * * * Return : void * * * * Modify : * * * * Remarks : * * * ********************************************************************************/ void __fastcall TForm1::FormCreate(TObject *Sender) { AxisNo = "01"; /* set axis number "0" (zero) */ /// axis number specify point specified by slave address ( axis number+1 ) /// PosDatSum = 4; /* total number of position data */ Com = new TCommunicate("COM1"); /* open communication port with COM1 */ /// COM port specify point /// InitializeCriticalSection(&critical_section); /* initialize critical section */ InitPosDataGrid(); /* initialize position data chart */ MoveTarget = NON; /* initialize target position number of position specified movement */ FlgStp = OFF; /* initialize the flag whether it is under pausing or not */ PosRow = POS_START_NO; /* change the number of selected cell line to "1" */ PosCol = POS_START_NO; /* change the number of selected cell row to "1" */ FlgInvData = OFF; /* initialize the flag to serch invalid data */ FlgInitializedGrid = OFF; /* initialize the initialize complete flag */ } //--------------------------------------------------------------------------- /******************************