控制器通过串行接口接收到命令，但机械臂不运动

Question

using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.IO.Ports;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;


namespace SerialPort
{
    public partial class Form1 : Form
    {

    public Form1()
    {
        InitializeComponent();
        cmdClose.Enabled = false;
        foreach (String s in System.IO.Ports.SerialPort.GetPortNames()) 
        {
            txtPort.Items.Add(s);
        }
    }

    public System.IO.Ports.SerialPort sport;

    public void serialport_connect(String port, int baudrate , Parity parity, int databits, StopBits stopbits) 
    {
        DateTime dt = DateTime.Now;
        String dtn = dt.ToShortTimeString();

        sport = new System.IO.Ports.SerialPort(
        port, baudrate, parity, databits, stopbits);
        try
        {
            sport.Open();
            cmdClose.Enabled = true;
            cmdConnect.Enabled = false;
            txtReceive.AppendText("[" + dtn + "] " + "Connected\n");
            sport.DataReceived += new SerialDataReceivedEventHandler(sport_DataReceived);
        }
        catch (Exception ex) { MessageBox.Show(ex.ToString(), "Error"); }
    }

    private void sport_DataReceived(object sender, SerialDataReceivedEventArgs e)  
    {
        this.BeginInvoke(new Action(() =>
        {
            DateTime dt = DateTime.Now;
            String dtn = dt.ToShortTimeString();       
            txtReceive.AppendText("[" + dtn + "] " + "Received: " + sport.ReadExisting() + "\n");
        }));
    }

    private void cmdConnect_Click(object sender, EventArgs e)
    {
        String port = txtPort.Text;
        int baudrate = Convert.ToInt32(cmbbaudrate.Text);
        Parity parity = (Parity)Enum.Parse(typeof(Parity), cmbparity.Text);
        int databits = Convert.ToInt32(cmbdatabits.Text);
        StopBits stopbits = (StopBits)Enum.Parse(typeof(StopBits), cmbstopbits.Text);

        serialport_connect(port, baudrate, parity, databits, stopbits);

    }

    private void button1_Click(object sender, EventArgs e)
    {
        DateTime dt = DateTime.Now;
        String dtn = dt.ToShortTimeString();
        String data = txtDatatoSend.Text;
        sport.Write(data);
        txtReceive.AppendText("[" + dtn + "] " + "Sent: " + data + "\n");
    }

    private void cmdClose_Click_1(object sender, EventArgs e)
    {
        DateTime dt = DateTime.Now;
        String dtn = dt.ToShortTimeString();

        if (sport.IsOpen) 
        {
            sport.Close();
            cmdClose.Enabled = false;
            cmdConnect.Enabled = true;
            txtReceive.AppendText("[" + dtn + "] " + "Disconnected\n");
        }
    }
}

}

如图所示，我通过串行接口发送命令后，我的机器人根本不动。但是，如果我关闭 Visual Studio 并打开名为 Roboteq 的软件，我的机器人将按照我之前发送的命令移动，甚至无需在 Roboteq 中加载端口。知道为什么吗？我认为控制器肯定收到了我的命令，但不知何故它没有执行，也许打开 Roboteq 会使其执行。预先感谢。

Answer 1

您的设备是否要求命令以换行符终止？

    sport.WriteLine(data);

https://msdn.microsoft.com/en-us/library/system.io.ports.serialport.writeline(v=vs.110).aspx

Answer 2

您可能需要先设置电机模式（“^MMOD 6 ") 然后将串行看门狗超时更改为 5 秒 ("^RWD 5000 ")否则G指令会立即取消。然后就可以发出G指令了

0：开环 1：闭环速度 2：闭环位置相对 3：闭环计数位置 4：闭环位置跟踪 5：扭矩 6：闭环速度位置