6轴关节机械手仿真和控制QtQuick3D 和 CodeSys Robotics

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一、概述

本工程利用QtQuick3D做上位机 ,基于CodeSys的控制器,使用 Robotics的库,进行6轴垂直机械手仿真和控制。

二、程序

2.1QtQuick程序

2.1.1程序组织

6轴关节机械手仿真和控制QtQuick3D 和 CodeSys Robotics

2.1.2代码

2.1.2.1 pro文件
QT += quick quick3d network


CONFIG += qmltypes
QML_IMPORT_NAME = RobotArm
QML_IMPORT_MAJOR_VERSION = 1




SOURCES += \
        armgeometry.cpp \
        main.cpp \
        plccomm.cpp

resources.files = main.qml \
                  Toggle.ui.qml
resources.prefix = /$${TARGET}
RESOURCES += resources

# Additional import path used to resolve QML modules in Qt Creator's code model
QML_IMPORT_PATH =

# Additional import path used to resolve QML modules just for Qt Quick Designer
QML_DESIGNER_IMPORT_PATH =

# Default rules for deployment.
qnx: target.path = /tmp/$${TARGET}/bin
else: unix:!android: target.path = /opt/$${TARGET}/bin
!isEmpty(target.path): INSTALLS += target

HEADERS += \
    armgeometry.h \
    plccomm.h

DISTFILES += \
    Toggle.ui.qml
2.1.2.2 armgeometry.h
#ifndef ARMGEOMETRY_H
#define ARMGEOMETRY_H

#include <QtQuick3D/qquick3d.h>
#include <QtQuick3D/qquick3dgeometry.h>

#include <QVector3D>
#include <QtCore/QList>
#include <QString>


struct cubePoint {
    float x;
    float y;
    float z;
};



class ArmGeometry: public QQuick3DGeometry
{

    Q_OBJECT
    QML_NAMED_ELEMENT(ArmGeometry)
    Q_PROPERTY(QString sharpData READ sharpData WRITE setSharpData NOTIFY sharpDataChanged)                 //暴露QML的属性,sharpData

public:
    ArmGeometry(QQuick3DObject *parent = nullptr);

    QString sharpData() { return m_sharpData; }
    void setSharpData(QString sharpData);

signals:
    void sharpDataChanged();

private:
    void calculateGeometry();                                               //构造Geometry
    void updateData();                                                      //重绘函数
    void cubePointAppend(cubePoint p);                                      //添加立方体点
    void clearCpArr();                                                      //复位立方体顶点数据
    void setCpArr(int id,float x, float y, float z);                        //设置立方体点
    bool strTrans(QString str);                                             //sharpData字符串解析
    void setfaceNorm(float x,float y, float z);                             //设置面的法向量
    void calcNorm();                                                        //计算立方体的法向量
    void calcfaceNorm(cubePoint p1,cubePoint p2,cubePoint p3);              //计算面的法向量

    cubePoint cpArr[8];                                                     //立方体8个点的数组
    QList<QVector3D> m_positions;                                           //构造体的点的QList
    QList<QVector3D> m_normals;                                             //构造体的法向量的QList
    QList<quint32> m_indexes;                                               //构造体的索引的QList
    QByteArray m_vertexBuffer;                                              //顶点缓存buffer
    QByteArray m_indexBuffer;                                               //索引缓存buffer
    QString m_sharpData="";
    QVector3D boundsMin;                                                    //边界最小值
    QVector3D boundsMax;                                                    //边界最大值



};

#endif // ARMGEOMETRY_H
2.1.2.3 armgeometry.cpp
#include "armgeometry.h"


//! [vertex struct]
struct Vertex {
    QVector3D position;
    QVector3D normal;

};
//! [vertex struct]
Q_STATIC_ASSERT((sizeof(Vertex)/2)*2 == sizeof(Vertex)); // must be  2-float aligned


//! [constructor]
ArmGeometry::ArmGeometry(QQuick3DObject *parent)
    : QQuick3DGeometry(parent)
{

}
//! [constructor]

//! [property]
void ArmGeometry::setSharpData(QString sharpData)
{
    if (QString::compare(sharpData,m_sharpData)==0)
        return;

    m_sharpData = sharpData;

    clearCpArr();                   //复位构造体
    strTrans(sharpData);            //把QML的sharpData解析
    updateData();                   //重绘结构体
    update();                       //对象更新
    emit sharpDataChanged();        //提交构造信号,更新QML
}
//! [property]


// 重绘结构体
void ArmGeometry::updateData()
{
    clear();                        //QQuick3DGeometry清空
    calculateGeometry();            //构建Geometry

    //QQuick3DGeometry addAttribute
    addAttribute(QQuick3DGeometry::Attribute::PositionSemantic, 0,
                 QQuick3DGeometry::Attribute::ComponentType::F32Type);
    addAttribute(QQuick3DGeometry::Attribute::NormalSemantic, 3 * sizeof(float),
                 QQuick3DGeometry::Attribute::ComponentType::F32Type);

    addAttribute(QQuick3DGeometry::Attribute::IndexSemantic, 0,
                 QQuick3DGeometry::Attribute::ComponentType::U32Type);


    //顶点和索引缓存区构建
    const int numVertexes = m_positions.size();
    m_vertexBuffer.resize(numVertexes * sizeof(Vertex));
    Vertex *vert = reinterpret_cast<Vertex *>(m_vertexBuffer.data());

    for (int i = 0; i < numVertexes; ++i) {
        Vertex &v = vert[i];
        v.position = m_positions[i];
        v.normal = m_normals[i];

    }

    setStride(sizeof(Vertex));
    setVertexData(m_vertexBuffer);
    setPrimitiveType(QQuick3DGeometry::PrimitiveType::Triangles);
    setBounds(boundsMin, boundsMax);
    m_indexBuffer = QByteArray(reinterpret_cast<char *>(m_indexes.data()), m_indexes.size() * sizeof(quint32));
    setIndexData(m_indexBuffer);

}


// 重绘Geometry
void ArmGeometry::calculateGeometry()
{
    m_positions.clear();            //清空顶点缓存
    m_normals.clear();              //清空法向量缓存
    m_indexes.clear();              //清空索引缓存

    constexpr float maxFloat = std::numeric_limits<float>::max();
    boundsMin = QVector3D(maxFloat, maxFloat, maxFloat);
    boundsMax = QVector3D(-maxFloat, -maxFloat, -maxFloat);


    /*
        每个平面建议 单独设置 顶点。顶点不要重用。每个面的各个顶点法向量normal都同值。
        (如果顶点重用,那么normal就需要是该顶点所有平面的法向量的平均值,这样比较麻烦)
        平面的顶点索引,都按顺时针。
     */


   //构建顶点
   cubePointAppend(cpArr[0]);
   cubePointAppend(cpArr[1]);
   cubePointAppend(cpArr[2]);
   cubePointAppend(cpArr[3]);

   cubePointAppend(cpArr[0]);
   cubePointAppend(cpArr[3]);
   cubePointAppend(cpArr[4]);
   cubePointAppend(cpArr[5]);

   cubePointAppend(cpArr[0]);
   cubePointAppend(cpArr[5]);
   cubePointAppend(cpArr[6]);
   cubePointAppend(cpArr[1]);

   cubePointAppend(cpArr[1]);
   cubePointAppend(cpArr[6]);
   cubePointAppend(cpArr[7]);
   cubePointAppend(cpArr[2]);

   cubePointAppend(cpArr[7]);
   cubePointAppend(cpArr[4]);
   cubePointAppend(cpArr[3]);
   cubePointAppend(cpArr[2]);

   cubePointAppend(cpArr[4]);
   cubePointAppend(cpArr[7]);
   cubePointAppend(cpArr[6]);
   cubePointAppend(cpArr[5]);


   calcNorm();                      //计算立方体法向量


   //构建索引缓存
     m_indexes<<0;
     m_indexes<<1;
     m_indexes<<2;

     m_indexes<<2;
     m_indexes<<3;
     m_indexes<<0;

     m_indexes<<4;
     m_indexes<<5;
     m_indexes<<6;

     m_indexes<<6;
     m_indexes<<7;
     m_indexes<<4;

     m_indexes<<8;
     m_indexes<<9;
     m_indexes<<10;

     m_indexes<<10;
     m_indexes<<11;
     m_indexes<<8;

     m_indexes<<12;
     m_indexes<<13;
     m_indexes<<14;

     m_indexes<<14;
     m_indexes<<15;
     m_indexes<<12;

     m_indexes<<16;
     m_indexes<<17;
     m_indexes<<18;

     m_indexes<<18;
     m_indexes<<19;
     m_indexes<<16;

     m_indexes<<20;
     m_indexes<<21;
     m_indexes<<22;

     m_indexes<<22;
     m_indexes<<23;
     m_indexes<<20;

}

// 添加立方体点
void ArmGeometry::cubePointAppend(cubePoint p)
{
      m_positions.append({ p.x,p.y,p.z});
}

// 设置立方体点
void ArmGeometry::setCpArr(int id,float x, float y, float z)
{
    cpArr[id].x =x;
    cpArr[id].y =y;
    cpArr[id].z =z;
}

//复位立方体顶点数据
void ArmGeometry::clearCpArr()
{

    setCpArr(0,1,1,1);
    setCpArr(1,-1,1,1);
    setCpArr(2,-1,-1,1);
    setCpArr(3,1,-1,1);
    setCpArr(4,1,-1,-1);
    setCpArr(5,1,1,-1);
    setCpArr(6,-1,1,-1);
    setCpArr(7,-1,-1,-1);
    boundsMin.setX(-1);
    boundsMin.setY(-1);
    boundsMin.setZ(-1);

    boundsMax.setX(1);
    boundsMax.setY(1);
    boundsMax.setZ(1);

    setfaceNorm(0,0,1);
    setfaceNorm(1,0,0);
    setfaceNorm(0,1,0);
    setfaceNorm(-1,0,0);
    setfaceNorm(0,-1,0);
    setfaceNorm(0,0,-1);



}

//设置面的法向量
void ArmGeometry::setfaceNorm(float x,float y, float z)
{
    m_normals.append({x,y,z});
    m_normals.append({x,y,z});
    m_normals.append({x,y,z});
    m_normals.append({x,y,z});
}

//sharpData字符串解析
bool ArmGeometry::strTrans(QString str)
{
    bool rp =false;
    QStringList list = str.split(",");

    if(list.count() != 6)
    {
        clearCpArr();
        return false;
    }

    float len,wid,hei,cx,cy,cz;
    float maxX,maxY,maxZ,minX,minY,minZ;
    float topMax;

    // 3DView的坐标系:X是横,Y是高,Z是宽

    len = QString(list[0]).toFloat();
    wid= QString(list[1]).toFloat();
    hei= QString(list[2]).toFloat();
    cx= QString(list[3]).toFloat();
    cy= QString(list[4]).toFloat();
    cz= QString(list[5]).toFloat();


    boundsMin.setX(-len);
    boundsMin.setY(-wid);
    boundsMin.setZ(-hei);

    boundsMax.setX(len);
    boundsMax.setY(wid);
    boundsMax.setZ(hei);



    setCpArr(0,0.5*len - cx,0.5*wid - cy,0.5*hei- cz);
    setCpArr(1,-len*0.5-cx , cpArr[0].y ,cpArr[0].z);
    setCpArr(2,cpArr[1].x,-wid*0.5-cy,cpArr[0].z);
    setCpArr(3,cpArr[0].x,cpArr[2].y,cpArr[0].z);
    setCpArr(4,cpArr[3].x,cpArr[3].y,-hei*0.5-cz);
    setCpArr(5,cpArr[0].x,cpArr[0].y,cpArr[4].z);
    setCpArr(6,cpArr[1].x,cpArr[1].y,cpArr[4].z);
    setCpArr(7,cpArr[2].x,cpArr[2].y,cpArr[4].z);



    return rp;
}

//计算立方体的法向量
void ArmGeometry::calcNorm()
{
    calcfaceNorm(cpArr[0],cpArr[1],cpArr[2]);
    calcfaceNorm(cpArr[0],cpArr[3],cpArr[4]);
    calcfaceNorm(cpArr[0],cpArr[5],cpArr[6]);
    calcfaceNorm(cpArr[1],cpArr[6],cpArr[7]);
    calcfaceNorm(cpArr[7],cpArr[4],cpArr[3]);
    calcfaceNorm(cpArr[4],cpArr[7],cpArr[6]);


}

//计算面的法向量
void ArmGeometry::calcfaceNorm(cubePoint p1,cubePoint p2,cubePoint p3)
{
    float x,y,z;

    x = (p2.y - p1.y)*(p3.z - p1.z) - (p2.z - p1.z)*(p3.y - p1.y);
    y = (p2.z - p1.z)*(p3.x - p1.x) - (p3.z - p1.z)*(p2.x - p1.x);
    z = (p2.x - p1.x)*(p3.y - p1.y) - (p3.x - p1.x)*(p2.y - p1.y);

    setfaceNorm(x,y,z);


}
2.1.2.4 plccomm.h
#ifndef PLCCOMM_H
#define PLCCOMM_H

#include "tcpClinet.h"
#include <QObject>
#include <QTimer>
#include <QTNetwork>
#include <QThread>
#include <QJsonObject>
#include <QJsonDocument>

//PLC循环查询包的结构体
struct PlcBaseInfo{
int16_t  len;
uint16_t cmd;
uint8_t RunningSig;
uint8_t ErrorSig;
uint8_t JogSig;
uint8_t JogModeSig;
float J1;
float J2;
float J3;
float J4;
float J5;
float J6;
float X;
float Y;
float Z;
float A;
float B;
float C;
};


//Plc指令包的结构体
struct PlcCmdMoveAbs
{
    uint8_t len;
    uint8_t cmd;
    uint16_t w;
    float X;
    float Y;
    float Z;
    float A;
    float B;
    float C;
};



class PlcComm:public QObject
{
        Q_OBJECT
public:
    PlcComm(QObject *parent = nullptr);

    bool TryConnect(QString ip,int port);               //连接PLC函数
    bool IsConnect();                                   //获取PLC连接状态

    QObject *wd;

signals:
        void PlcConnectedSig();                         //PLC已连接信号
        void PlcDisConnectedSig();                      //PLC已断开信号
        void TcpBreakSig();                             //TCP意外断开信号

public slots:

    void PlcDisConnectSlot();                           //PLC断开连接 槽函数
    void PlcConnectSlot(QString ip, int port);          //PLC连接 槽函数
    void WdClosingSlot();                               //窗体关闭 槽函数
    void PlcMoveAbsSlot(int tp,qreal x,qreal y,qreal z,qreal a,qreal b,qreal c);        //PTP移动 槽函数
    void PlcResetSlot();                                //PLC复位 槽函数
    void HaltMoveSlot();                                //轴组暂停 槽函数
    void ContinueMoveSlot();                            //轴组继续 槽函数

    void JogEnableSlot();                               //轴组Jog使能 槽函数
    void JogDisableSlot();                              //轴组Jog失能 槽函数
    void JogFwActSlot(int ax);                          //轴组Jog前进执行 槽函数
    void JogFwStopSlot(int ax);                         //轴组Jog前进停止 槽函数
    void JogBwActSlot(int ax);                          //轴组Jog后退执行 槽函数
    void JogBwStopSlot(int ax);                         //轴组Jog后退停止 槽函数

    void JogAxisEnableSlot();                           //轴组Jog模式的轴模式使能 槽函数
    void JogAxisDisableSlot();                          //轴组Jog模式的轴模式失能 槽函数


private slots:
    void DecodeReceiSlot();                             //接收解析 槽函数
    void PlcCircleReadSlot();                           //PLC循环查询 槽函数

private:


    QTimer* CircleTimer;                                //循环查询定时器
    QTcpSocket* socket=nullptr;                         //创建socket指针


    void DisConnect();                                  //断开连接 函数

    bool SendMsg(QByteArray buf,int size);              //TCP发送函数

    //接收PLC回复数据,更新QML信号
    void PlcDataUpdateSig(uint8_t runlight,uint8_t errorlight,uint8_t joglight,uint8_t jogMode,float J1,float J2,float J3,float J4,float J5,float J6,float L1,float L2,float L3,float L4,float L5,float L6);

    char cmdBaseRead[2]={2,1};                          //循环查询指令
    char cmdReset[2]={2,99};                            //复位指令
    char cmdHalt[2]={2,80};                             //暂停指令
    char cmdContinue[2]={2,81};                         //继续指令
    char cmdJogEnable[3]={3,20,1};                      //Jog使能指令
    char cmdJogDisable[3]={3,20,0};                     //Jog失能指令
    char cmdJogFwMove[3]={3,21,0};                      //Jog前进指令
    char cmdJogFwMoveStop[3]={3,22,0};                  //Jog前进停止指令
    char cmdJogBwMove[3]={3,23,0};                      //Jog后退指令
    char cmdJogBwMoveStop[3]={3,24,0};                  //Jog后退停止指令
    char cmdJogModeSwitch[3]={3,26,1};                  //Jog模式切换指令

    PlcBaseInfo PlcBase;                                //PLC循环查询包的结构体实例



};

#endif // PLCCOMM_H
2.1.2.5 plccomm.cpp
#include "plccomm.h"

PlcComm::PlcComm(QObject *parent): QObject(parent)
{
    //创建循环查询的定时器
    CircleTimer = new QTimer();
    CircleTimer->setInterval(200);
    connect(CircleTimer, SIGNAL(timeout()), this, SLOT(PlcCircleReadSlot()));

    //初始化socket
    socket = new QTcpSocket();

}

//窗体关闭 槽函数
void PlcComm::WdClosingSlot()
{
    qDebug("窗体 正在关闭");

    DisConnect();               //断开TCP连接
}

//PLC连接 槽函数
void PlcComm::PlcConnectSlot(QString ip, int port)
{
    //检查是否已连接
    if(IsConnect())
    {
        qDebug("PLC已经连接");
        emit PlcConnectedSig();             //PLC已连接信号
    }
    else
    {
        qDebug("尝试连接PLC");

        if(TryConnect(ip,port))
        {
             qDebug("PLC连接成功");
             emit PlcConnectedSig();         //PLC已连接信号
             CircleTimer->start();           //启动定时器循环查询
        }
        else
        {
           qDebug("PLC连接失败");
           emit PlcDisConnectedSig();       //PLC已断开信号
           CircleTimer->stop();             //停止定时器循环查询
        }
    }

}

//PLC断开连接 槽函数
void PlcComm::PlcDisConnectSlot()
{
    //检查是否已连接
    if(IsConnect())
    {
        qDebug("即将断开PLC连接");
        DisConnect();                       //断开连接 函数
        emit PlcDisConnectedSig();          //PLC已断开信号
    }
    else
    {
        qDebug("PLC已断开");
        emit PlcDisConnectedSig();          //PLC已断开信号
    }
    CircleTimer->stop();                    //停止定时器循环查询
}

//PLC循环查询 槽函数
void PlcComm::PlcCircleReadSlot()
{
    //检查是否已连接
    if(IsConnect())
    {
        QByteArray buf(cmdBaseRead);        //cmdBaseRead转QByteArray
        SendMsg(buf,2);                     //TCP发送函数
    }
    else
    {
        qDebug("提示:PLC已断开");
        CircleTimer->stop();                //停止定时器循环查询
        emit TcpBreakSig();                 //发出TCP意外断开信号
        DisConnect();                       //断开连接 函数
    }
}

//连接PLC函数
bool PlcComm::TryConnect(QString ip,int port)
{
    bool isconnect = false;
    if(socket!=nullptr)
    {
     socket->abort();
     socket->setSocketOption(QAbstractSocket::LowDelayOption, 1);
     socket->connectToHost(ip, port);
     isconnect = socket->waitForConnected(500);//等待直到连接成功
         //如果连接成功
         if (isconnect)
         {
            qDebug("TCP已连接");
            connect(socket, &QTcpSocket::readyRead, this, &PlcComm::DecodeReceiSlot);   //绑定readyRead和 接收解析 槽函数
         }
         else
         {
             qDebug("TCP连接失败");
         }
    }
    return isconnect;
}

//TCP发送函数
bool PlcComm::SendMsg(QByteArray buf,int size)
{
    bool iswrite = false;
    if (IsConnect())
    {
    socket->write(buf,size);
        //判断是否写入成功
    iswrite= socket->waitForBytesWritten();

        if(!iswrite)
        {
            DisConnect();                   //断开连接 函数
            emit TcpBreakSig();             //发送TCP意外断开信号
        }
    }
    else
    {
         emit TcpBreakSig();                //发送TCP意外断开信号
    }
    return iswrite;
}

//接收解析 槽函数
void PlcComm::DecodeReceiSlot()
{

    //获取socket的字节
    QByteArray buf = socket->readAll();

    int buflen = buf.length();
    int r_addr =0;
    int cmdlen =0;
    QByteArray tmp;

    PlcBaseInfo* pbi;

    //TCP将粘包拆包
    while(r_addr < buflen)
    {
        cmdlen = (int16_t)buf[r_addr];
        tmp.clear();
        if(cmdlen == 0)
        {
            break;
        }
        else if((cmdlen+r_addr)>buflen)
        {
            break;
        }

        tmp.append(buf+r_addr,cmdlen);

        pbi= (PlcBaseInfo*)tmp.data();

        if(pbi->cmd == 1)
        {
         PlcDataUpdateSig(pbi->RunningSig,pbi->ErrorSig,pbi->JogSig,pbi->JogModeSig, pbi->J1,pbi->J2,pbi->J3,pbi->J4,pbi->J5,pbi->J6,pbi->X,pbi->Y,pbi->Z,pbi->A,pbi->B,pbi->C);
        }

        r_addr = r_addr + cmdlen;
    }

}

//获取TCP连接状态
bool PlcComm::IsConnect()
{
    if(socket==nullptr)
    {
        return false;
    }
    if(socket->state() == 3)                //state == 3 , connected
    {
        return true;
    }
    else
    {
        return false;
    }
}

//断开连接 函数
void PlcComm::DisConnect()
{
     socket->disconnectFromHost();
      qDebug("TCP已断开");

}

//接收PLC回复数据,更新QML信号
void PlcComm::PlcDataUpdateSig(uint8_t runlight,uint8_t errorlight,uint8_t joglight,uint8_t jogMode,float J1,float J2,float J3,float J4,float J5,float J6,float L1,float L2,float L3,float L4,float L5,float L6)
{
  //通过Json格式,把多参数发送到QML

 QVariant ret;//用于保存qml中function的返回值

 QString info;

 QJsonObject jsonObject;
    jsonObject.insert("rlight", runlight);
    jsonObject.insert("elight", errorlight);  
    jsonObject.insert("jlight", joglight);
    jsonObject.insert("jmode", jogMode);

    jsonObject.insert("j1", J1);
    jsonObject.insert("j2", J2);
    jsonObject.insert("j3", J3);
    jsonObject.insert("j4", J4);
    jsonObject.insert("j5", J5);
    jsonObject.insert("j6", J6);
    jsonObject.insert("l1", L1);
    jsonObject.insert("l2", L2);
    jsonObject.insert("l3", L3);
    jsonObject.insert("l4", L4);
    jsonObject.insert("l5", L5);
    jsonObject.insert("l6", L6);

// 使用QJsonDocument设置该json对象
    QJsonDocument jsonDoc;
    jsonDoc.setObject(jsonObject);

    info = jsonDoc.toJson(QJsonDocument::Compact);

QMetaObject::invokeMethod(wd, "setArmJoint", Q_RETURN_ARG(QVariant, ret),
                                                  Q_ARG(QVariant, info)
                          );    //Q_RETURN_ARG指定返回值,Q_ARG指定输入的参数


}

 //PTP移动 槽函数
void PlcComm::PlcMoveAbsSlot(int tp,qreal x,qreal y,qreal z,qreal a,qreal b,qreal c)
{
    PlcCmdMoveAbs w;
    w.len = sizeof(w);
    w.cmd = (uchar)tp;
    w.w = 0;
    w.X = (float)x;
    w.Y = (float)y;
    w.Z = (float)z;
    w.A = (float)a;
    w.B = (float)b;
    w.C = (float)c;
    QByteArray array;
    array.append((char*)&w,w.len );
    SendMsg(array,w.len);
}

//PLC复位 槽函数
void PlcComm::PlcResetSlot()
{
    QByteArray buf(cmdReset);
    SendMsg(buf,2);
}

//轴组暂停 槽函数
void PlcComm::HaltMoveSlot()
{
    QByteArray buf(cmdHalt);
    SendMsg(buf,2);
}

//轴组继续 槽函数
void PlcComm::ContinueMoveSlot()
{
    QByteArray buf(cmdContinue);
    SendMsg(buf,2);
}

//轴组Jog使能 槽函数
void PlcComm::JogEnableSlot()
{
    QByteArray buf(cmdJogEnable);
    SendMsg(buf,3);
}

//轴组Jog失能 槽函数
void PlcComm::JogDisableSlot()
{
    QByteArray buf(cmdJogDisable);
    SendMsg(buf,3);
}

//轴组Jog前进执行 槽函数
void PlcComm::JogFwActSlot(int ax)
{
    cmdJogFwMove[2] = (uchar)ax;
    QByteArray buf(cmdJogFwMove);
    SendMsg(buf,3);
}

//轴组Jog前进停止 槽函数
void PlcComm::JogFwStopSlot(int ax)
{
    cmdJogFwMoveStop[2] = (uchar)ax;
    QByteArray buf(cmdJogFwMoveStop);
    SendMsg(buf,3);
}

//轴组Jog后退执行 槽函数
void PlcComm::JogBwActSlot(int ax)
{
    cmdJogBwMove[2] = (uchar)ax;
    QByteArray buf(cmdJogBwMove);
    SendMsg(buf,3);
}

//轴组Jog后退停止 槽函数
void PlcComm::JogBwStopSlot(int ax)
{
    cmdJogBwMoveStop[2] = (uchar)ax;
    QByteArray buf(cmdJogBwMoveStop);
    SendMsg(buf,3);
}

//轴组Jog模式的轴模式使能 槽函数
void PlcComm::JogAxisEnableSlot()
{
     cmdJogModeSwitch[2] = 1;
     QByteArray buf(cmdJogModeSwitch);
     SendMsg(buf,3);
}

//轴组Jog模式的轴模式失能 槽函数
void PlcComm::JogAxisDisableSlot()
{
    cmdJogModeSwitch[2] = 0;
    QByteArray buf(cmdJogModeSwitch);
    SendMsg(buf,3);
}

2.1.2.6 main.cpp
#include <QGuiApplication>
#include <QQmlApplicationEngine>
#include <QQmlContext>

#include "armobj.h"
#include "plccomm.h"


 QThread* subThread ;

int main(int argc, char *argv[])
{
    QGuiApplication app(argc, argv);

    QQmlApplicationEngine engine;
    const QUrl url(u"qrc:/robotArm1/main.qml"_qs);

    QObject::connect(&engine, &QQmlApplicationEngine::objectCreated,
                     &app, [url](QObject *obj, const QUrl &objUrl) {
        if (!obj && url == objUrl)
            QCoreApplication::exit(-1);
    }, Qt::QueuedConnection);


    engine.load(url);



    PlcComm plc;

    QObject *wd = engine.rootObjects().first();

    plc.wd = wd;

    QObject::connect(wd, SIGNAL(plcTryConnectSig(QString,int)), &plc, SLOT(PlcConnectSlot(QString,int)),Qt::DirectConnection);

    QObject::connect(wd, SIGNAL(plcDisconnectSignal()), &plc, SLOT(PlcDisConnectSlot()),Qt::DirectConnection);

    QObject::connect(wd, SIGNAL(wdOnClosingSignal()), &plc, SLOT(WdClosingSlot()),Qt::DirectConnection);

    QObject::connect(wd, SIGNAL(moveAbsAct(int,qreal,qreal,qreal,qreal,qreal,qreal)), &plc, SLOT(PlcMoveAbsSlot(int,qreal,qreal,qreal,qreal,qreal,qreal)),Qt::DirectConnection);

    QObject::connect(wd, SIGNAL(resetError()), &plc, SLOT(PlcResetSlot()),Qt::DirectConnection);

    QObject::connect(wd, SIGNAL(haltMoving()), &plc, SLOT(HaltMoveSlot()),Qt::DirectConnection);

    QObject::connect(wd, SIGNAL(continueMoving()), &plc, SLOT(ContinueMoveSlot()),Qt::DirectConnection);

    QObject::connect(wd, SIGNAL(jogEnable()), &plc, SLOT(JogEnableSlot()),Qt::DirectConnection);

    QObject::connect(wd, SIGNAL(jogDisable()), &plc, SLOT(JogDisableSlot()),Qt::DirectConnection);

    QObject::connect(wd, SIGNAL(jogFwAct(int)), &plc, SLOT(JogFwActSlot(int)),Qt::DirectConnection);

    QObject::connect(wd, SIGNAL(jogFwStop(int)), &plc, SLOT(JogFwStopSlot(int)),Qt::DirectConnection);

    QObject::connect(wd, SIGNAL(jogBwAct(int)), &plc, SLOT(JogBwActSlot(int)),Qt::DirectConnection);

    QObject::connect(wd, SIGNAL(jogBwStop(int)), &plc, SLOT(JogBwStopSlot(int)),Qt::DirectConnection);

    QObject::connect(wd, SIGNAL(jogAxisEnable()), &plc, SLOT(JogAxisEnableSlot()),Qt::DirectConnection);

    QObject::connect(wd, SIGNAL(jogAxisDisable()), &plc, SLOT(JogAxisDisableSlot()),Qt::DirectConnection);


    QObject::connect(&plc, SIGNAL(PlcConnectedSig()), wd, SLOT(connectLightOn()));

    QObject::connect(&plc, SIGNAL(PlcDisConnectedSig()), wd, SLOT(connectLightOff()));

    QObject::connect(&plc, SIGNAL(TcpBreakSig()), wd, SLOT(connectLightOff()));



    return app.exec();
}
2.1.2.7 main.qml
import QtQuick 2.15
import QtQuick3D
import QtQuick.Layouts 1.0
import QtQuick.Controls 2.5

import RobotArm



ApplicationWindow  {
    id: window
    visible: true
    width: 1366
    height: 768
    title: qsTr("AlongWu RobotArm Example")


    //QML signal
    signal plcTryConnectSig(string ip,int port)
    signal plcDisconnectSignal()
    signal wdOnClosingSignal()
    signal moveAbsAct(int tp,real x,real y,real z,real a,real b,real c)
    signal resetError();
    signal haltMoving();
    signal continueMoving();
    signal jogEnable();
    signal jogDisable();
    signal jogAxisDisable();
    signal jogAxisEnable();
    signal jogFwAct(int ax);
    signal jogFwStop(int ax);
    signal jogBwAct(int ax);
    signal jogBwStop(int ax);


    //QML Functions
    function runningLightOn()
    {
         runningLightColor ="red";
    }

    function runningLightOff()
    {
         runningLightColor ="white";
    }

    function connectLightOn()
    {
        connectToggle.checked=true;
        connectToggle.text ="控制器已联机";
    }
    function connectLightOff()
    {
        connectToggle.checked=false;
        connectToggle.text ="控制器已断开";
    }

    function errorLigthOn()
    {
        errorLightColor="red";
    }
    function errorLigthOff()
    {
        errorLightColor="white";
    }

    function jogLigthOn()
    {
        jogToggle.checked=true;
        jogToggle.text ="JOG模式已启用";

    }
    function jogLigthOff()
    {
        jogToggle.checked=false;
         jogToggle.text ="JOG模式已禁用";
    }

    function jogModeLigthOn()
    {
        jogModeToggle.checked=true;
        jogModeToggle.text ="轴坐标模式";

    }
    function jogModeLigthOff()
    {
        jogModeToggle.checked=false;
         jogModeToggle.text ="世界坐标模式";
    }


    function connectSwitch()
    {
        if(connectToggle.checked)
        {
            plcDisconnectSignal();
        }
        else
        {
             plcTryConnectSig(ip_tf.text,parseInt(port_tf.text));
        }
    }

    function jogSwitch()
    {
        if(jogToggle.checked)
        {
            jogDisable();
        }
        else
        {
             jogEnable();
        }
    }

    function jogModeSwitch()
    {
        if(jogModeToggle.checked)
        {
            jogAxisDisable();
        }
        else
        {
             jogAxisEnable();
        }

    }


    function setArmJoint(info)
    {

        var obj = JSON.parse(info);


        j1=(obj.j1).toFixed(2);
        j2=(obj.j2).toFixed(2);
        j3=(obj.j3).toFixed(2);
        j4=(obj.j4).toFixed(2);
        j5=(obj.j5).toFixed(2);
        j6=(obj.j6).toFixed(2);

        loc_x=(obj.l1).toFixed(2);
        loc_y=(obj.l2).toFixed(2);
        loc_z=(obj.l3).toFixed(2);
        loc_a=(obj.l4).toFixed(2);
        loc_b=(obj.l5).toFixed(2);
        loc_c=(obj.l6).toFixed(2);

        end_x = loc_x/100;
        end_y = loc_y/100;
        end_z = loc_z/100;
        end_a = loc_a/100;
        end_b = loc_b/100;
        end_c = loc_c/100;

        if(obj.rlight == 1)
        {
            runningLightOn();
        }
        else
        {
            runningLightOff();
        }


        if(obj.elight == 1)
        {
            errorLigthOn();
        }
        else
        {
            errorLigthOff();
        }

        if(obj.jlight == 1)
        {
            jogLigthOn();
        }
        else
        {
            jogLigthOff();
        }

        if(obj.jmode == 1)
        {
            jogModeLigthOn();
        }
        else
        {
            jogModeLigthOff();
        }

    }



    onClosing:
    {
        wdOnClosingSignal();        //发送标题栏窗体关闭信号
    }

    //初始化DH表格
    property real d1:1-0.25;
    property real a1:1-0.25;
    property real a2:4-0.25;
    property real a3:1-0.25;
    property real d3:0.7-0.25;
    property real d4:3.5-0.25;
    property real d6:0.5;

    property real v_z;

    property real j1:0;
    property real j2:0;
    property real j3:0;
    property real j4:0;
    property real j5:0;
    property real j6:0;


    property real end_x:3.5;
    property real end_y:-0.7;
    property real end_z:9.50;
    property real end_a:0;
    property real end_b:0;
    property real end_c:0;


    property real loc_x:0;
    property real loc_y:0;
    property real loc_z:0;
    property real loc_a:0;
    property real loc_b:0;
    property real loc_c:0;


    property string runningLightColor:"white";
    property string errorLightColor:"white";



       View3D {
        id: view

        anchors.fill: parent

        environment: SceneEnvironment {
            clearColor:"LightGray"
            backgroundMode: SceneEnvironment.Color
        }

        DirectionalLight {
            eulerRotation.x: -10
            NumberAnimation on eulerRotation.y {
                from: 0
                to: 360
                duration: 17000
                loops: Animation.Infinite
            }
            ambientColor: Qt.rgba(0.3, 0.3, 0.3, 1.0)
        }

        PointLight {
            position: Qt.vector3d(-15, 10, 15)
        }

        PerspectiveCamera {
            id: camera
            position.z: 20.0*farSlider.value
            position.y: 5.0*farSlider.value
            eulerRotation.x: -10
            clipNear: 1.0
            clipFar: 40
        }

        PrincipledMaterial {
            id: material
            baseColor: "#af4f1f"
            roughness: 0.3
            specularAmount: 0.6
        }
        PrincipledMaterial {
            id: material2
            baseColor: "#ffff00"
            roughness: 0.3
            specularAmount: 0.6
        }
        //! [target]



        //! [model]


        Model {

            id:armModel
            eulerRotation.x: -90

            geometry: deskPcs
            materials: material

            eulerRotation.z : modelSlider.value

            Model {
                z:d1
                geometry: rootPcs
                materials: material2
                eulerRotation.z :j1

                Model {
                    z:0.25
                    geometry: hand1
                    materials: material

                    Model {
                     z:0
                     x:a1+0.25
                     geometry: hand2
                     materials: material2
                     eulerRotation.y: -j2
                         Model {
                             z:a2+0.25
                             x:0
                             y:0
                             geometry: hand3
                             materials: material

                                 Model {
                                      y:-d3-0.25
                                      z:0
                                      x:0
                                      eulerRotation.y: -j3
                                      geometry: hand4
                                      materials: material2
                                        Model {
                                             y:0
                                             z:a3+0.25
                                             eulerRotation.x: j4
                                             geometry: hand5
                                             materials: material

                                              Model {
                                                   x:d4
                                                   eulerRotation.y: j5
                                                   geometry: hand6
                                                   materials: material2
                                                       Model {
                                                           eulerRotation.z: 90
                                                           x:1
                                                           scale: Qt.vector3d(0.005, 0.015,0.005)
                                                           source: "#Cylinder"
                                                           materials: [ DefaultMaterial {
                                                                      diffuseColor: "red"
                                                                  }
                                                              ]
                                                       }


                            }


                         }


                      }

                   }


                }
                }
            }

        }

        ArmGeometry
        {
             id:deskPcs
             sharpData:"3,3,0.2,0,0,0.1"

        }
        ArmGeometry
        {
             id:rootPcs
             sharpData:"1,1,"+d1+",0,0,"+d1*0.5

        }
        ArmGeometry
        {
             id:hand1
             sharpData:a1+",0.5,0.5,"+(-0.5*a1)+",0,0"

        }
        ArmGeometry
        {
             id:hand2
             sharpData:"0.5,0.5,"+a2+",0,0,"+(-a2*0.5)

        }

        ArmGeometry
        {
             id:hand3
             sharpData:"0.5,"+d3+",0.5,0,"+(0.5*d3)+",0"

        }

        ArmGeometry
        {
             id:hand4
             sharpData:"0.5,0.5,"+a3+",0,0,"+(-0.5*a3)

        }

        ArmGeometry
        {
             id:hand5
             sharpData:+d4+",0.5,0.5,"+(-0.5*d4)+",0,0"

        }
        ArmGeometry
        {
             id:hand6
             sharpData:d6+",0.5,0.5,"+(-0.5*d6)+",0,0"

        }

        ArmGeometry
        {
             id:hand7
             sharpData:"0.5,0.5,0.5,0,0,0"

        }

        //! [model]
    }



         Frame {
             width:500

             background: Rectangle {
                 color: "#c0c0c0"
                 border.color: "#202020"
             }
             anchors.top: parent.top
             anchors.left: parent.left
             anchors.margins: 10
             Column {
                 spacing: 10
                 id: settingsArea
                 Text {
                     Layout.alignment: Qt.AlignHCenter
                     font.bold: true
                     text: "6关节机械臂操作板"
                 }
                 RowLayout{
                     height: 20
                     Text {
                         Layout.alignment: Qt.AlignHCenter
                         width: 60
                         height: 20
                         text: "IP地址:"
                         }
                     Rectangle {
                         width: 120
                        height: 20
                         color: "white"

                                 TextInput
                                 {

                                     width:parent.width-20
                                     height: parent.height-5
                                     anchors.centerIn: parent
                                     id:ip_tf
                                     text:"192.168.1.103"
                                     horizontalAlignment:Qt.AlignHCenter
                                     validator: RegularExpressionValidator { regularExpression: /([0,1]?\d{1,2}|2([0-4][0-9]|5[0-5]))(\.([0,1]?\d{1,2}|2([0-4][0-9]|5[0-5]))){3}/ }
                                 }
                     }

                     Text {
                         Layout.alignment: Qt.AlignHCenter
                         width: 60
                         height: 20
                         text: "Port:"
                         }
                     Rectangle {
                         width: 80
                        height: 20
                         color: "white"

                                 TextInput
                                 {
                                     width:parent.width-10
                                     height: parent.height-5
                                     anchors.centerIn: parent
                                     horizontalAlignment:Qt.AlignHCenter
                                     id:port_tf
                                     text:"10010"
                                     validator: RegularExpressionValidator { regularExpression: /\b\d{0,4}\b|\b[1-5]\d{0,4}\b|\b6[0,4]\d{0,3}\b|\b65[0-4]\d{0,2}\b|\b655[0-2]\d\b|\b6553[0-5]\b/ }



                                 }
                     }
                 }
                 Row{
                     width: 400

                     Toggle
                     {
                         id: connectToggle
                         text: qsTr("控制器已断开")

                         Button{
                             opacity: 0
                             anchors.fill: parent
                             onClicked:
                             {
                                connectSwitch();
                             }
                         }


                     }

                 }
                 RowLayout{
                     width: 350
                     height: 25
                  Text {
                         Layout.alignment: Qt.AlignHCenter
                         width: 60
                         height: 20
                         text: "运行指示灯"
                         }
                  Rectangle  {
                      id: runingLight                    
                       width: 20
                       height: 20
                      radius: 100
                      color: runningLightColor
                      border.width: 0.5
                      border.color: "black"
                  }
                  Text {
                         Layout.alignment: Qt.AlignHCenter
                         width: 60
                         height: 20
                         text: "故障指示灯"
                         }
                  Rectangle  {
                      id: errorLigth
                       width: 20
                       height: 20
                      radius: 100
                      color: errorLightColor
                      border.width: 0.5
                      border.color: "black"
                  }

                  Button {
                      id: resetButton
                      Layout.preferredWidth: 80

                      text: "复位"
                      onClicked:
                      {
                          resetError();
                      }
                  }
                  Button {
                      id: haltButton
                      Layout.preferredWidth: 80

                      text: "暂停"
                      onClicked:
                      {
                          haltMoving();
                      }
                  }
                  Button {
                      id: continueButton
                      Layout.preferredWidth: 80

                      text: "继续"
                      onClicked:
                      {
                          continueMoving();
                      }
                  }

                 }
                GridLayout {
                    columns: 6
                 Text {
                     Layout.alignment: Qt.AlignHCenter
                     width: 60
                     height: 20
                     text: "目标点 J1 / 坐标X:"
                     }
                 Rectangle {
                     width: 70
                     height: 20
                     color: "white"

                             TextInput
                             {
                                 width:parent.width-10
                                 height: parent.height-3
                                 anchors.centerIn: parent
                                 horizontalAlignment:Qt.AlignHCenter
                                 id:point_x_tf
                                 text:"0"
                                 validator: RegularExpressionValidator { regularExpression: /(^(-)?\d{0,4})|(^(-)?\d{0,4}\.\d{0,3})/ }
                             }
                            }
                 Text {
                     Layout.alignment: Qt.AlignHCenter
                     width: 60
                     height: 20
                     text: "当前 坐标X:"
                     }
                 Text {
                     Layout.alignment: Qt.AlignHCenter
                     width: 60
                     height: 20
                     text: loc_x
                     }
                 Text {
                     Layout.alignment: Qt.AlignHCenter
                     width: 60
                     height: 20
                     text: "当前 J1:"
                     }
                 Text {
                     Layout.alignment: Qt.AlignHCenter
                     width: 60
                     height: 20
                     text: j1
                     }
                  Text {
                         Layout.alignment: Qt.AlignHCenter
                         width: 60
                         height: 20
                         text: "目标点 J2 / 坐标Y:"
                         }
                     Rectangle {
                         width: 70
                        height: 20
                         color: "white"

                                 TextInput
                                 {
                                     width:parent.width-10
                                     height: parent.height-3
                                     anchors.centerIn: parent
                                     horizontalAlignment:Qt.AlignHCenter
                                     id:point_y_tf
                                     text:"0"
                                     validator: RegularExpressionValidator { regularExpression: /(^(-)?\d{0,4})|(^(-)?\d{0,4}\.\d{0,3})/ }
                                 }
                                }

                     Text {
                         Layout.alignment: Qt.AlignHCenter
                         width: 60
                         height: 20
                         text: "当前 坐标Y:"
                         }
                     Text {
                         Layout.alignment: Qt.AlignHCenter
                         width: 60
                         height: 20
                         text: loc_y
                         }
                     Text {
                         Layout.alignment: Qt.AlignHCenter
                         width: 60
                         height: 20
                         text: "当前 J2:"
                         }
                     Text {
                         Layout.alignment: Qt.AlignHCenter
                         width: 60
                         height: 20
                         text: j2
                         }
                     Text {
                         Layout.alignment: Qt.AlignHCenter
                         width: 60
                         height: 20
                         text: "目标点 J3 / 坐标Z:"
                         }
                     Rectangle {
                         width: 70
                        height: 20
                         color: "white"

                                 TextInput
                                 {
                                     width:parent.width-10
                                     height: parent.height-3
                                     anchors.centerIn: parent
                                     horizontalAlignment:Qt.AlignHCenter
                                     id:point_z_tf
                                     text:"0"
                                     validator: RegularExpressionValidator { regularExpression: /(^(-)?\d{0,4})|(^(-)?\d{0,4}\.\d{0,3})/ }
                                 }
                                }
                     Text {
                         Layout.alignment: Qt.AlignHCenter
                         width: 60
                         height: 20
                         text: "当前 坐标Z:"
                         }
                     Text {
                         Layout.alignment: Qt.AlignHCenter
                         width: 60
                         height: 20
                         text: loc_z
                         }
                     Text {
                         Layout.alignment: Qt.AlignHCenter
                         width: 60
                         height: 20
                         text: "当前 J3:"
                         }
                     Text {
                         Layout.alignment: Qt.AlignHCenter
                         width: 60
                         height: 20
                         text: j3
                         }

                 Text {
                     Layout.alignment: Qt.AlignHCenter
                     width: 60
                     height: 20
                     text: "目标点 J4 / 坐标A:"
                     }
                 Rectangle {
                     width: 70
                     height: 20
                     color: "white"

                             TextInput
                             {
                                 width:parent.width-10
                                 height: parent.height-3
                                 anchors.centerIn: parent
                                 horizontalAlignment:Qt.AlignHCenter
                                 id:point_a_tf
                                 text:"0"
                                 validator: RegularExpressionValidator { regularExpression: /(^(-)?\d{0,4})|(^(-)?\d{0,4}\.\d{0,3})/ }
                             }
                            }

                 Text {
                     Layout.alignment: Qt.AlignHCenter
                     width: 60
                     height: 20
                     text: "当前 坐标A:"
                     }
                 Text {
                     Layout.alignment: Qt.AlignHCenter
                     width: 60
                     height: 20
                     text: loc_a
                     }
                 Text {
                     Layout.alignment: Qt.AlignHCenter
                     width: 60
                     height: 20
                     text: "当前 J4:"
                     }
                 Text {
                     Layout.alignment: Qt.AlignHCenter
                     width: 60
                     height: 20
                     text: j4
                     }
                 Text {
                     Layout.alignment: Qt.AlignHCenter
                     width: 60
                     height: 20
                     text: "目标点 J5 / 坐标B:"
                     }
                 Rectangle {
                     width: 70
                    height: 20
                     color: "white"

                             TextInput
                             {
                                 width:parent.width-10
                                 height: parent.height-3
                                 anchors.centerIn: parent
                                 horizontalAlignment:Qt.AlignHCenter
                                 id:point_b_tf
                                 text:"0"
                                 validator: RegularExpressionValidator { regularExpression: /(^(-)?\d{0,4})|(^(-)?\d{0,4}\.\d{0,3})/ }
                             }
                            }
                 Text {
                     Layout.alignment: Qt.AlignHCenter
                     width: 60
                     height: 20
                     text: "当前 坐标B:"
                     }
                 Text {
                     Layout.alignment: Qt.AlignHCenter
                     width: 60
                     height: 20
                     text: loc_b
                     }
                 Text {
                     Layout.alignment: Qt.AlignHCenter
                     width: 60
                     height: 20
                     text: "当前 J5:"
                     }
                 Text {
                     Layout.alignment: Qt.AlignHCenter
                     width: 60
                     height: 20
                     text: j5
                     }
                 Text {
                     Layout.alignment: Qt.AlignHCenter
                     width: 60
                     height: 20
                     text: "目标点 J6 / 坐标C:"
                     }
                 Rectangle {
                     width: 70
                    height: 20
                     color: "white"

                             TextInput
                             {
                                 width:parent.width-10
                                 height: parent.height-3
                                 anchors.centerIn: parent
                                 horizontalAlignment:Qt.AlignHCenter
                                 id:point_c_tf
                                 text:"0"
                                 validator: RegularExpressionValidator { regularExpression: /(^(-)?\d{0,4})|(^(-)?\d{0,4}\.\d{0,3})/ }
                             }
                            }
                 Text {
                     Layout.alignment: Qt.AlignHCenter
                     width: 60
                     height: 20
                     text: "当前 坐标C:"
                     }
                 Text {
                     Layout.alignment: Qt.AlignHCenter
                     width: 60
                     height: 20
                     text: loc_c
                     }
                 Text {
                     Layout.alignment: Qt.AlignHCenter
                     width: 60
                     height: 20
                     text: "当前 J6:"
                     }
                 Text {
                     Layout.alignment: Qt.AlignHCenter
                     width: 60
                     height: 20
                     text: j6
                     }
                }
                RowLayout{
                    width: 350
                    height: 25
                 Button {
                     id: ptpButton
                     Layout.preferredWidth: 120

                     text: "PTP移动"
                     onClicked: {
                         moveAbsAct(2,parseFloat(point_x_tf.text),parseFloat(point_y_tf.text),parseFloat(point_z_tf.text),parseFloat(point_a_tf.text),parseFloat(point_b_tf.text),parseFloat(point_c_tf.text))
                     }
                 }
                 Button {
                     id: lineButton
                     Layout.preferredWidth: 120

                     text: "直线移动"
                     onClicked: {
                         moveAbsAct(3,parseFloat(point_x_tf.text),parseFloat(point_y_tf.text),parseFloat(point_z_tf.text),parseFloat(point_a_tf.text),parseFloat(point_b_tf.text),parseFloat(point_c_tf.text))
                     }
                 }
                 Button {
                     id: axisButton
                     Layout.preferredWidth: 120

                     text: "关节移动"
                     onClicked: {
                         moveAbsAct(4,parseFloat(point_x_tf.text),parseFloat(point_y_tf.text),parseFloat(point_z_tf.text),parseFloat(point_a_tf.text),parseFloat(point_b_tf.text),parseFloat(point_c_tf.text))
                     }
                 }
                }
                Row{
                    width: 400
                    height: 25
                    Toggle
                    {
                        id: jogToggle
                        text: qsTr("JOG模式已禁用")
                        Button{
                            opacity: 0
                            anchors.fill: parent
                            onClicked:
                            {
                               jogSwitch();
                            }
                        }
                    }

                    Toggle
                    {
                        id: jogModeToggle
                        text: qsTr("世界坐标模式")


                        Button{
                            opacity: 0
                            anchors.fill: parent
                            onClicked:
                            {
                               jogModeSwitch();
                            }
                        }
                    }
                }

                RowLayout{
                    width: 350
                    height: 25
                 Button {
                     Layout.preferredWidth: 50
                     text: "X+"
                     onPressed:
                     {
                          jogFwAct(1);
                     }
                     onReleased:
                     {
                          jogFwStop(1);
                     }
                 }
                 Button {

                     Layout.preferredWidth: 50
                     text: "X-"
                     onPressed:
                     {
                          jogBwAct(1);

                     }
                     onReleased:
                     {
                          jogBwStop(1);
                     }
                 }
                 Button {

                     Layout.preferredWidth: 50
                     text: "Y+"
                     onPressed:
                     {
                          jogFwAct(2);
                     }
                     onReleased:
                     {
                          jogFwStop(2);
                     }
                 }
                 Button {

                     Layout.preferredWidth: 50
                     text: "Y-"
                     onPressed:
                     {
                          jogBwAct(2);
                     }
                     onReleased:
                     {
                          jogBwStop(2);
                     }
                 }
                 Button {

                     Layout.preferredWidth: 50
                     text: "Z+"
                     onPressed:
                     {
                          jogFwAct(3);
                     }
                     onReleased:
                     {
                          jogFwStop(3);
                     }
                 }
                 Button {

                     Layout.preferredWidth: 50
                     text: "Z-"
                     onPressed:
                     {
                          jogBwAct(3);
                     }
                     onReleased:
                     {
                          jogBwStop(3);
                     }
                 }
                }

                RowLayout{
                    width: 350
                    height: 25
                 Button {
                     Layout.preferredWidth: 50
                     text: "A+"
                     onPressed:
                     {
                          jogFwAct(4);
                     }
                     onReleased:
                     {
                          jogFwStop(4);
                     }
                 }
                 Button {

                     Layout.preferredWidth: 50
                     text: "A-"
                     onPressed:
                     {
                          jogBwAct(4);
                     }
                     onReleased:
                     {
                          jogBwStop(4);
                     }
                 }
                 Button {
                     Layout.preferredWidth: 50
                     text: "B+"
                     onPressed:
                     {
                          jogFwAct(5);
                     }
                     onReleased:
                     {
                          jogFwStop(5);
                     }
                 }
                 Button {

                     Layout.preferredWidth: 50

                     text: "B-"
                     onPressed:
                     {
                          jogBwAct(5);
                     }
                     onReleased:
                     {
                          jogBwStop(5);
                     }
                 }
                 Button {

                     Layout.preferredWidth: 50

                     text: "C+"
                     onPressed:
                     {
                          jogFwAct(6);
                     }
                     onReleased:
                     {
                          jogFwStop(6);
                     }
                 }
                 Button {

                     Layout.preferredWidth: 50

                     text: "C-"
                     onPressed:
                     {
                          jogBwAct(6);
                     }
                     onReleased:
                     {
                          jogBwStop(6);
                     }
                 }
                }

                Row{
                    width: 350
                    height: 25
                    Text {
                        width: 50
                        text: "视角:"
                        }
                    Slider {
                        id: modelSlider
                        width:300
                        from: 0
                        to: 360
                        value: 0
                    }
                }
                Row{
                    width: 350
                    height: 25
                    Text {
                        width: 50
                        text: "远近:"
                        }
                    Slider {
                        id: farSlider
                        width:300
                        from: 0
                        to: 3
                        value: 1
                    }

                }



             }
         }

}

2.2CodeSys

2.2.1 程序组织

6轴关节机械手仿真和控制QtQuick3D 和 CodeSys Robotics

2.2.2 程序代码

2.2.2.1 KinGroup
6轴关节机械手仿真和控制QtQuick3D 和 CodeSys Robotics
6轴关节机械手仿真和控制QtQuick3D 和 CodeSys Robotics
2.2.2.2 GroupFb_RPG
//作者: AlongWu
PROGRAM GroupFB_RPG
VAR
END_VAR


//轴组故障读取功能块
GVL.GroupReadError(
    AxisGroup:= KinGroup, 
    Enable:= TRUE, 
    Valid=> , 
    Busy=> , 
    Error=> , 
    ErrorID=> , 
    GroupErrorID=> );

//轴组故障标志
 IF GVL.GroupReadError.GroupErrorID > 0 OR GVL.GroupJog2A.Error OR GVL.GroupJog2B.Error  THEN
     GVL.B_PlanError:=TRUE;
 ELSE 
     GVL.B_PlanError:=FALSE;
 END_IF 
    
    

 //轴组使能功能块
 GVL.GroupPower(
    AxisGroup:= KinGroup, 
    Enable:= GVL.B_GpPower, 
    bRegulatorOn:= TRUE, 
    bDriveStart:= TRUE, 
    Status=> , 
    Busy=> , 
    Error=> , 
    ErrorID=> );
 
//轴组运动学使能功能块    
GVL.GroupEnable(
    AxisGroup:=KinGroup, 
    Execute:=GVL.B_GpEnable
    );
  
//轴组复位功能块    
GVL.GroupReset(
    AxisGroup:= KinGroup, 
    Execute:= GVL.B_ResetBt, 
    Done=> , 
    Busy=> , 
    Error=> , 
    ErrorID=> );    

IF     GVL.GroupReset.Done THEN
    GVL.B_ResetBt:=FALSE;
END_IF
    
//轴组点对点绝对式移动功能块
GVL.GroupMoveAbs(

    AxisGroup:= KinGroup, 
    Execute:= GVL.B_GroupMoveAbsEnble, 
    Position:= GVL.GroupMoveAbsTarget_SMC_POS_REF , 
    MovementType:= , 
    CoordSystem:=SMC_COORD_SYSTEM.WCS, 
    BufferMode:= MC_BUFFER_MODE.Aborting, 
    TransitionMode:= , 
    TransitionParameter:= , 
    VelFactor:= 1, 
    AccFactor:= 1, 
    JerkFactor:= 1, 
    Done=> , 
    Busy=> , 
    Active=> , 
    CommandAborted=> , 
    CommandAccepted=> , 
    Error=> , 
    ErrorID=> , 
    MovementId=> );
    
    
//轴组轴角度绝对式移动功能块
GVL.JointMoveAbs(

    AxisGroup:= KinGroup, 
    Execute:= GVL.B_JointMoveAbsEnble, 
    Position:= GVL.GroupMoveAbsTarget_SMC_POS_REF , 
    MovementType:= , 
    CoordSystem:=SMC_COORD_SYSTEM.ACS, 
    BufferMode:= MC_BUFFER_MODE.Aborting, 
    TransitionMode:= , 
    TransitionParameter:= , 
    VelFactor:= 1, 
    AccFactor:= 1, 
    JerkFactor:= 1, 
    Done=> , 
    Busy=> , 
    Active=> , 
    CommandAborted=> , 
    CommandAccepted=> , 
    Error=> , 
    ErrorID=> , 
    MovementId=> );

    
//轴组直线插补功能块    
GVL.MoveLinearAbsolute(
    AxisGroup:= KinGroup, 
    Execute:= GVL.B_GroupLineAbsEnble, 
    Position:=GVL.GroupMoveAbsTarget_SMC_POS_REF ,  
    Velocity:= 50, 
    Acceleration:= 50, 
    Deceleration:= 50, 
    Jerk:= 50, 
    CoordSystem:= SMC_COORD_SYSTEM.WCS,  
    BufferMode:=  MC_BUFFER_MODE.Aborting, 
    TransitionMode:= , 
    TransitionParameter:= , 
    OrientationMode:= , 
    VelFactor:= , 
    AccFactor:= , 
    JerkFactor:= , 
    Done=> , 
    Busy=> , 
    Active=> , 
    CommandAborted=> , 
    CommandAccepted=> , 
    Error=> , 
    ErrorID=> , 
    MovementId=> );    
    

//轴组JOG wcs

GVL.GroupJog2A(
    AxisGroup:= KinGroup, 
    Enable:= GVL.GroupJogEnable AND NOT (GVL.GroupJogMode), 
    Forward:= GVL.JogForwardGroup, 
    Backward:=  GVL.JogBackwardGroup, 
    MaxLinearDistance:= 500, 
    MaxAngularDistance:= 360, 
    Velocity:= 120, 
    Acceleration:= 200, 
    Deceleration:= 200, 
    Jerk:= 120, 
    VelFactor:= 1, 
    AccFactor:= 1, 
    JerkFactor:= 1, 
    CoordSystem:= SMC_COORD_SYSTEM.WCS,  
    ABC_as_ACS:= FALSE, 
    Active=> , 
    Busy=> , 
    Error=> , 
    ErrorID=> , 
    CurrentPosition=> );
    
    
    
//轴组JOG acs

GVL.GroupJog2B(
    AxisGroup:= KinGroup, 
    Enable:= GVL.GroupJogEnable AND GVL.GroupJogMode, 
    Forward:= GVL.JogForwardGroup, 
    Backward:=  GVL.JogBackwardGroup, 
    MaxLinearDistance:= 100, 
    MaxAngularDistance:= 360, 
    Velocity:= 80, 
    Acceleration:= 100, 
    Deceleration:= 100, 
    Jerk:= 80, 
    VelFactor:= 1, 
    AccFactor:= 1, 
    JerkFactor:= 1, 
    CoordSystem:= SMC_COORD_SYSTEM.ACS,  
    ABC_as_ACS:= FALSE, 
    Active=> , 
    Busy=> , 
    Error=> , 
    ErrorID=> , 
    CurrentPosition=> );    
    
    
//轴组暂停功能块
GVL.GroupHalt(
    AxisGroup:= KinGroup, 
    Execute:= GVL.B_GroupHalt, 
    Deceleration:= 50, 
    Jerk:= 50, 
    AccFactor:= 1, 
    JerkFactor:= 1, 
    Done=> , 
    Busy=> , 
    Active=> , 
    CommandAborted=> , 
    CommandAccepted=> , 
    Error=> , 
    ErrorID=> , 
    MovementId=> );

//轴组保存continu data    
GVL.SaveContiueData(
    AxisGroup:= KinGroup, 
    continueData:= GVL.ContiueDataStru, 
    Execute:= GVL.GroupHalt.Done, 
    Busy=> , 
    Error=> , 
    ErrorID=> , 
    Done=> );    
    
//轴组继续运行
GVL.GroupContinue(
    AxisGroup:= KinGroup, 
    continueData:= GVL.ContiueDataStru, 
    Execute:=GVL.B_GroupContinue , 
    Done=> , 
    CommandAborted=> , 
    Busy=> , 
    Error=> , 
    ErrorID=> );

IF GVL.GroupContinue.Done THEN
    GVL.B_GroupContinue :=FALSE;
END_IF
2.2.2.3 GroupLine_RPG
//作者: AlongWu
PROGRAM GroupLine_RPG
VAR
    i                :INT;    
END_VAR


//轴组直线插补子程序

CASE GVL.I_LineM_Step OF
0:
 GVL.B_GroupLineAbsEnble:=TRUE;
 GVL.I_LineM_Step:=GVL.I_LineM_Step + 1;

1:
 IF GVL.MoveLinearAbsolute.Done THEN
  GVL.B_GroupLineAbsEnble:=FALSE; 
  GVL.I_LineM_Step:=GVL.I_LineM_Step + 1;
 END_IF
 IF GVL.B_PlanError  THEN
     GVL.I_LineM_Step:=10;
     i := 0;
     GVL.B_GroupLineAbsEnble:=FALSE;
     GVL.MotionType := MotionType_Enum.Wait;
 END_IF

ELSE 
    GVL.MotionType := MotionType_Enum.Wait;
END_CASE
2.2.2.4 PLC_PRG
//作者: AlongWu
PROGRAM PLC_PRG
VAR
Car_pos                        :SMC_GroupReadSetPosition;                     //读取当前终端点坐标系在世界坐标系的值的功能块 实例    
Axis_pos                    :SMC_GroupReadSetPosition;                     //读取当前终端点坐标系在轴坐标系的值的功能块 实例    

END_VAR


//使能 轴组运动学功能块

IF GVL.B_GpEnable = FALSE THEN
     IF  GVL.GroupPower.Status  THEN
              GVL.B_GpEnable:=TRUE;
     END_IF
END_IF
    



// 读取当前目标坐标系
Car_pos
(
AxisGroup:=KinGroup, 
CoordSystem:=SM3_Robotics.SMC_COORD_SYSTEM.WCS, 
Enable:=TRUE
); 
    

Axis_pos
(
AxisGroup:=KinGroup, 
CoordSystem:=SM3_Robotics.SMC_COORD_SYSTEM.ACS, 
Enable:=TRUE
); 

//轴组移动状态    
IF GVL.B_MotionAct THEN
    GVL.BaseRely.RunningSig := 1;
ELSE
    GVL.BaseRely.RunningSig := 0;    
END_IF

//轴组故障信号
IF GVL.B_PlanError THEN
    GVL.BaseRely.ErrorSig := 1;
ELSE
    GVL.BaseRely.ErrorSig := 0;    
END_IF

//轴组Jog使能标志
IF GVL.GroupJogEnable THEN
    GVL.BaseRely.JogSig :=1;
ELSE
    GVL.BaseRely.JogSig :=0;
END_IF

//轴组Jog模式标志
IF GVL.GroupJogMode THEN
    GVL.BaseRely.JogModeSig :=1;
ELSE
    GVL.BaseRely.JogModeSig :=0;
END_IF


//赋值tcp报文
GVL.BaseRely.J1 := LREAL_TO_REAL(Axis_pos.Position.a.a0);
GVL.BaseRely.J2 := LREAL_TO_REAL(Axis_pos.Position.a.a1);
GVL.BaseRely.J3 := LREAL_TO_REAL(Axis_pos.Position.a.a2);
GVL.BaseRely.J4 := LREAL_TO_REAL(Axis_pos.Position.a.a3);
GVL.BaseRely.J5 := LREAL_TO_REAL(Axis_pos.Position.a.a4);
GVL.BaseRely.J6 := LREAL_TO_REAL(Axis_pos.Position.a.a5);

GVL.BaseRely.X := LREAL_TO_REAL(Car_pos.Position.c.X);
GVL.BaseRely.Y := LREAL_TO_REAL(Car_pos.Position.c.Y);
GVL.BaseRely.Z := LREAL_TO_REAL(Car_pos.Position.c.Z);
GVL.BaseRely.A := LREAL_TO_REAL(Car_pos.Position.c.A);
GVL.BaseRely.B := LREAL_TO_REAL(Car_pos.Position.c.B);
GVL.BaseRely.C := LREAL_TO_REAL(Car_pos.Position.c.C);
2.2.2.5 TcpDecode
//作者: AlongWu
PROGRAM TcpDecode
VAR CONSTANT
emptyReceiveBuffer                :ARRAY [0..999] OF BYTE;                //复位ReceiveBuffer
emptyJogGroup                    :ARRAY [0..5] OF BOOL;                    //复位Jog开关组

END_VAR
VAR    
B_Reply                    :BOOL;                                            //回复动作标志
locMoveCmd                :LocMoveCmd;                                    //位置移动控制命令实例
UI_CmdLen                :UINT;                                            //命令字节数量
UI_ReadLen                :UINT;                                            //接收字节总数
UI_Rx_Addr                :UINT;                                            //解析字节地址                        
UI_Tx_Addr                :UINT;                                            //发送缓存字节地址    
UI_Tx_Len                :UINT;                                            //发送字节数量

END_VAR


//复位变量
B_Reply :=FALSE;
UI_Rx_Addr :=0;
UI_Tx_Addr :=0;
UI_Tx_Len :=0;
UI_CmdLen :=0;

//获得接收总字节数
UI_ReadLen := ULINT_TO_UINT(GVL.UL_RxSize);        
 

(*
通过while,处理TCP的粘包,和分包。
*)


WHILE UI_Rx_Addr < UI_ReadLen DO
    
UI_CmdLen := BYTE_TO_UINT(GVL.Tcp_abyRx[UI_Rx_Addr]);                //指令格式的 第一个字节是 命令长度。

//命令最后字节位超过接收总字节数,命令不全,退出。
IF (UI_Rx_Addr + UI_CmdLen) > UI_ReadLen THEN
    EXIT ;
END_IF


//根据命令的命令码,解析
CASE GVL.Tcp_abyRx[UI_Rx_Addr+1] OF
    1:        
        //TCP循环查询回复报文
        GVL.BaseRely.cmd :=1;
        GVL.BaseRely.len :=56;
        MEM.MemMove(pSource:= ADR(GVL.BaseRely), pDestination:= ADR(GVL.Tcp_abyTx)+UI_Tx_Addr, uiNumberOfBytes:=56);                            
        B_Reply:=TRUE;
        
        UI_Tx_Addr:=UI_Tx_Addr+56;
        UI_Tx_Len := UI_Tx_Len+56;
    2:
        //坐标PTP移动
        GVL.GroupJogEnable :=FALSE;
        GVL.JogForwardGroup := emptyJogGroup;
        GVL.JogBackwardGroup := emptyJogGroup;
                
        MEM.MemMove(pSource:= ADR(GVL.Tcp_abyRx)+UI_Rx_Addr, pDestination:= ADR(locMoveCmd), uiNumberOfBytes:=28);                            
        GVL.GroupMoveAbsTarget_SMC_POS_REF.c.X := locMoveCmd.x;
        GVL.GroupMoveAbsTarget_SMC_POS_REF.c.Y := locMoveCmd.y;
        GVL.GroupMoveAbsTarget_SMC_POS_REF.c.Z := locMoveCmd.z;
        GVL.GroupMoveAbsTarget_SMC_POS_REF.c.A := locMoveCmd.a;
        GVL.GroupMoveAbsTarget_SMC_POS_REF.c.B := locMoveCmd.b;
        GVL.GroupMoveAbsTarget_SMC_POS_REF.c.C := locMoveCmd.c;
    
        GVL.MotionType := MotionType_Enum.Point;
        GVL.B_MotionAct := TRUE;
        
    3:
        //坐标直线插补
        GVL.GroupJogEnable :=FALSE;
        GVL.JogForwardGroup := emptyJogGroup;
        GVL.JogBackwardGroup := emptyJogGroup;
        
        MEM.MemMove(pSource:= ADR(GVL.Tcp_abyRx)+UI_Rx_Addr, pDestination:= ADR(locMoveCmd), uiNumberOfBytes:=28);                            
        GVL.GroupMoveAbsTarget_SMC_POS_REF.c.X := locMoveCmd.x;
        GVL.GroupMoveAbsTarget_SMC_POS_REF.c.Y := locMoveCmd.y;
        GVL.GroupMoveAbsTarget_SMC_POS_REF.c.Z := locMoveCmd.z;
        GVL.GroupMoveAbsTarget_SMC_POS_REF.c.A := locMoveCmd.a;
        GVL.GroupMoveAbsTarget_SMC_POS_REF.c.B := locMoveCmd.b;
        GVL.GroupMoveAbsTarget_SMC_POS_REF.c.C := locMoveCmd.c;
    
        GVL.MotionType := MotionType_Enum.Line;
        GVL.B_MotionAct := TRUE;
        
        
    4:
        //轴PTP移动
        GVL.GroupJogEnable :=FALSE;
        GVL.JogForwardGroup := emptyJogGroup;
        GVL.JogBackwardGroup := emptyJogGroup;
        
        MEM.MemMove(pSource:= ADR(GVL.Tcp_abyRx)+UI_Rx_Addr, pDestination:= ADR(locMoveCmd), uiNumberOfBytes:=28);                            
        GVL.GroupMoveAbsTarget_SMC_POS_REF.a.a0 := locMoveCmd.x;
        GVL.GroupMoveAbsTarget_SMC_POS_REF.a.a1 := locMoveCmd.y;
        GVL.GroupMoveAbsTarget_SMC_POS_REF.a.a2 := locMoveCmd.z;
        GVL.GroupMoveAbsTarget_SMC_POS_REF.a.a3 := locMoveCmd.a;
        GVL.GroupMoveAbsTarget_SMC_POS_REF.a.a4 := locMoveCmd.b;
        GVL.GroupMoveAbsTarget_SMC_POS_REF.a.a5 := locMoveCmd.c;
    
        GVL.MotionType := MotionType_Enum.Axis;
        GVL.B_MotionAct := TRUE;
        
    20:
        //Jog使能/失能
            IF GVL.Tcp_abyRx[UI_Rx_Addr+2] = 0 THEN
                GVL.GroupJogEnable :=FALSE;
                GVL.JogForwardGroup := emptyJogGroup;
                GVL.JogBackwardGroup := emptyJogGroup;
            ELSE
                GVL.GroupJogEnable :=TRUE;
            END_IF
    21:
        //Jog前进开关组赋值 TRUE
            IF GVL.GroupJogEnable THEN
                CASE GVL.Tcp_abyRx[UI_Rx_Addr+2] OF 
                    1:
                        GVL.JogForwardGroup[0]:=TRUE;
                    2:
                        GVL.JogForwardGroup[1]:=TRUE;
                    3:
                        GVL.JogForwardGroup[2]:=TRUE;
                    4:
                        GVL.JogForwardGroup[3]:=TRUE;
                    5:
                        GVL.JogForwardGroup[4]:=TRUE;    
                    6:
                        GVL.JogForwardGroup[5]:=TRUE;
                
                ELSE
                    //nothing
                END_CASE
            END_IF
    22:    
        //Jog前进开关组赋值 FALSE
            IF GVL.GroupJogEnable THEN
                CASE GVL.Tcp_abyRx[UI_Rx_Addr+2] OF 
                    1:
                        GVL.JogForwardGroup[0]:=FALSE;
                    2:
                        GVL.JogForwardGroup[1]:=FALSE;
                    3:
                        GVL.JogForwardGroup[2]:=FALSE;
                    4:
                        GVL.JogForwardGroup[3]:=FALSE;
                    5:
                        GVL.JogForwardGroup[4]:=FALSE;    
                    6:
                        GVL.JogForwardGroup[5]:=FALSE;
                
                ELSE
                    //nothing
                END_CASE
            END_IF
    23:
        //Jog后退开关组赋值 TRUE
            IF GVL.GroupJogEnable THEN
                CASE GVL.Tcp_abyRx[UI_Rx_Addr+2] OF 
                    1:
                        GVL.JogBackwardGroup[0]:=TRUE;
                    2:
                        GVL.JogBackwardGroup[1]:=TRUE;
                    3:
                        GVL.JogBackwardGroup[2]:=TRUE;
                    4:
                        GVL.JogBackwardGroup[3]:=TRUE;
                    5:
                        GVL.JogBackwardGroup[4]:=TRUE;    
                    6:
                        GVL.JogBackwardGroup[5]:=TRUE;
                
                ELSE
                    //nothing
                END_CASE
            END_IF
    24:    
        //Jog后退开关组赋值 FALSE
            IF GVL.GroupJogEnable THEN
                CASE GVL.Tcp_abyRx[UI_Rx_Addr+2] OF 
                    1:
                        GVL.JogBackwardGroup[0]:=FALSE;
                    2:
                        GVL.JogBackwardGroup[1]:=FALSE;
                    3:
                        GVL.JogBackwardGroup[2]:=FALSE;
                    4:
                        GVL.JogBackwardGroup[3]:=FALSE;
                    5:
                        GVL.JogBackwardGroup[4]:=FALSE;    
                    6:
                        GVL.JogBackwardGroup[5]:=FALSE;
                ELSE
                    //nothing
                END_CASE
            END_IF
    26:
        //Jog模式切换
        IF GVL.Tcp_abyRx[UI_Rx_Addr+2] = 1 THEN
            GVL.GroupJogMode := TRUE;
        ELSE
            GVL.GroupJogMode := FALSE;
        END_IF
            
    80:
        //轴组减速停车
        GVL.B_GroupHalt:=TRUE;
    81:
        //轴组继续运动
        GVL.B_GroupContinue:=TRUE;        
    99:
        //轴组复位
        GVL.B_ResetBt:=TRUE;
    //
ELSE
    //
END_CASE

//更新解析地址
UI_Rx_Addr:= UI_Rx_Addr + UI_CmdLen;

END_WHILE

//更新发送字节数量和复位接收缓存
GVL.UD_TcpSendSize := UINT_TO_UDINT(UI_Tx_Len);
GVL.Tcp_abyRx := emptyReceiveBuffer;

//判断回复动作
IF B_Reply THEN
    GVL.B_TcpSend:=TRUE;
END_IF

三、总结

整个项目比较简单,QT和CodeSys都是调用系统的函数。Codesys的Robotics库非常强大和方便。选用QT平台做上位机程序和动作仿真,主要是QtQuick3D在模型变换方面十分便捷,利用自定义Geometroy设置好臂的中心的位置,通过模型旋转即可实现相应臂以及臂组的摆动。文章来源地址https://www.toymoban.com/news/detail-479972.html

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