WinForm 2种模式控制步进电机

硬件配置

• 主站: Windows 10 × 1 + Intel i5 × 1
• 步进驱动器: FASTECH Ezi-SERVO2 EtherCAT 步进驱动器 × 1 + 57 步进电机 × 1

性能指标

• 控制模式: 位置模式 (CSP) / 速度模式 (CSV)
• 速度范围: 0 ~ 3000 RPM
• 位置精度: ±1 脉冲

应用场景

WinForm 界面控制单轴步进电机，支持 CSP 位置模式和 CSV 速度模式切换。后台线程 20Hz 刷新实际位置/速度到 UI，适合调试验证和入门学习。

代码示例

PDO 结构体定义

using System.Runtime.InteropServices;

/// <summary>
/// FASTECH Ezi-SERVO2 步进驱动器输入 PDO
/// </summary>
[StructLayout(LayoutKind.Sequential, Pack = 1)]
public struct Stepper_Input
{
    public ushort StatusWord;     // 0x6041 状态字
    public int ActualPosition;    // 0x6064 实际位置 (脉冲)
    public int ActualVelocity;    // 0x606C 实际速度 (脉冲/s)
}

/// <summary>
/// FASTECH Ezi-SERVO2 步进驱动器输出 PDO
/// </summary>
[StructLayout(LayoutKind.Sequential, Pack = 1)]
public struct Stepper_Output
{
    public ushort ControlWord;        // 0x6040 控制字
    public sbyte ModesOfOperation;    // 0x6060 操作模式: 8=CSP, 9=CSV
    public int TargetPosition;        // 0x607A 目标位置 (脉冲)
    public int TargetVelocity;        // 0x60FF 目标速度 (脉冲/s)
}

WinForm 完整控制代码

using System;
using System.Threading;
using System.Windows.Forms;
using DarraEtherCAT_Master;

namespace StepperControl
{
    public partial class MainForm : Form
    {
        DarraEtherCAT master;
        bool isRunning = false;

        // 从站索引
        const int SLAVE_STEPPER = 0;

        // 操作模式常量
        const sbyte MODE_CSP = 8;   // 周期同步位置模式
        const sbyte MODE_CSV = 9;   // 周期同步速度模式

        // 电机参数
        const int PULSES_PER_REV = 10000;  // 每转脉冲数

        public MainForm()
        {
            InitializeComponent();
        }

        /// <summary>
        /// 连接按钮 - 初始化主站并进入OP状态
        /// </summary>
        void btnConnect_Click(object sender, EventArgs e)
        {
            master = new DarraEtherCAT()
                .LoadENI("config/stepper.xml")
                .Build();

            if (master == null)
            {
                MessageBox.Show("主站初始化失败!");
                return;
            }

            var (success, msg) = master.SetState(EcState.OP);
            if (!success)
            {
                MessageBox.Show($"无法进入 OP 状态: {msg}");
                return;
            }

            // 使能驱动器
            EnableStepper();

            // 启动状态刷新线程
            isRunning = true;
            new Thread(StatusUpdateLoop) { IsBackground = true }.Start();

            btnConnect.Enabled = false;
            grpPosition.Enabled = true;
            grpVelocity.Enabled = true;
            lblStatus.Text = "已连接";
        }

        /// <summary>
        /// 使能步进驱动器 (CIA402 状态机)
        /// </summary>
        void EnableStepper()
        {
            ref var output = ref master.Slaves[SLAVE_STEPPER].OutputsMapping<Stepper_Output>();

            output.ControlWord = 0x0006;  // Shutdown
            Thread.Sleep(5);
            output.ControlWord = 0x0007;  // Switch On
            Thread.Sleep(5);
            output.ControlWord = 0x000F;  // Enable Operation
            Thread.Sleep(5);
        }

        // ==================== 位置模式 ====================

        /// <summary>
        /// 位置模式 - 运行到目标位置
        /// </summary>
        void btnMoveToPosition_Click(object sender, EventArgs e)
        {
            int targetPulses = (int)(numTargetPosition.Value * PULSES_PER_REV / 360.0);

            ref var output = ref master.Slaves[SLAVE_STEPPER].OutputsMapping<Stepper_Output>();
            output.ModesOfOperation = MODE_CSP;
            output.TargetPosition = targetPulses;
            output.ControlWord = 0x001F;  // 执行位置指令
        }

        /// <summary>
        /// 位置模式 - 回零
        /// </summary>
        void btnHome_Click(object sender, EventArgs e)
        {
            ref var output = ref master.Slaves[SLAVE_STEPPER].OutputsMapping<Stepper_Output>();
            output.ModesOfOperation = MODE_CSP;
            output.TargetPosition = 0;
            output.ControlWord = 0x001F;
        }

        // ==================== 速度模式 ====================

        /// <summary>
        /// 速度模式 - 启动
        /// </summary>
        void btnStartVelocity_Click(object sender, EventArgs e)
        {
            int rpm = (int)numTargetRPM.Value;
            int velocityPulses = rpm * PULSES_PER_REV / 60;  // 转换为脉冲/s

            // 反转
            if (chkReverse.Checked)
                velocityPulses = -velocityPulses;

            ref var output = ref master.Slaves[SLAVE_STEPPER].OutputsMapping<Stepper_Output>();
            output.ModesOfOperation = MODE_CSV;
            output.TargetVelocity = velocityPulses;
            output.ControlWord = 0x000F;
        }

        /// <summary>
        /// 速度模式 - 停止
        /// </summary>
        void btnStopVelocity_Click(object sender, EventArgs e)
        {
            ref var output = ref master.Slaves[SLAVE_STEPPER].OutputsMapping<Stepper_Output>();
            output.TargetVelocity = 0;
        }

        // ==================== 状态刷新 ====================

        /// <summary>
        /// 后台线程持续刷新电机状态到UI
        /// </summary>
        void StatusUpdateLoop()
        {
            // 映射只需获取一次，指向共享PDO内存，循环内直接读取即可
            ref var input = ref master.Slaves[SLAVE_STEPPER].InputsMapping<Stepper_Input>();

            while (isRunning)
            {
                double positionDeg = input.ActualPosition * 360.0 / PULSES_PER_REV;
                double velocityRPM = input.ActualVelocity * 60.0 / PULSES_PER_REV;

                // 更新UI (线程安全)
                Invoke(new Action(() =>
                {
                    lblActualPosition.Text = $"{positionDeg:F2}°";
                    lblActualVelocity.Text = $"{velocityRPM:F1} RPM";
                    lblStatusWord.Text = $"0x{input.StatusWord:X4}";
                }));

                Thread.Sleep(50);  // 20Hz UI刷新
            }
        }

        /// <summary>
        /// 窗体关闭时释放资源
        /// </summary>
        protected override void OnFormClosing(FormClosingEventArgs e)
        {
            isRunning = false;
            Thread.Sleep(100);

            // 停止电机
            if (master != null)
            {
                ref var output = ref master.Slaves[SLAVE_STEPPER].OutputsMapping<Stepper_Output>();
                output.TargetVelocity = 0;
                output.ControlWord = 0x0006;  // Shutdown
                Thread.Sleep(10);

                master.Dispose();
            }

            base.OnFormClosing(e);
        }
    }
}