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770 lines
28 KiB
C++
770 lines
28 KiB
C++
#include "StdAfx.h"
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#include "Motor.h"
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#include "Propertie.h"
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#include "PropertieMgr.h"
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#include "PciPortMgr.h"
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#include "MsgBox.h"
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#include "LogMgr.h"
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#include "AuthorityMgr.h"
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#include "ExceptionMsg.h"
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#include "FileMgr.h"
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#include "DeviceState.h"
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#include "ExceptionMsg.h"
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#include "MotionCard_PCI1245.h"
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#define MIN_DELAY 5 //脉冲最小延时时间us
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CMotor *CMotor::gMotorX = new CMotor(MOTOR_X);//X 轴
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CMotor *CMotor::gMotorX2 = new CMotor(MOTOR_X2);//X2 轴
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CMotor *CMotor::gMotorY = new CMotor(MOTOR_Y);//Y 轴
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CMotor *CMotor::gMotorZ = new CMotor(MOTOR_Z);//Z 轴
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CMotor::CMotor(CString Name)
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{
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m_Name = Name;
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//参数默认值
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m_OnePulseDis = 0.005;//一个脉冲的理论移动距离
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m_MaxPulseCnt = 50000;//找原点时最大脉冲,目的是为了防止硬件故障造成死循环
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m_OriginOffsetDis = 0;//找完原点后的反方向移动距离
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m_FindOriginDir = true;//找原点的方向(true 为向正,false 为向负)
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m_MoveDelay = 30;//空移延时us
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m_WorkDelay = 30;//正常工作时脉冲延时us
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m_OriginPulseDelay = 50;//初始化找远点脉冲延时us
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m_MaxOriginOffsetDis = -1;//原点的反方向最大移动距离(mm) -- 主要是保护硬件(-1 表示未设置)
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m_bNeedCheckLimit = true;//电机在运行时刻是否检查限位开关
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m_StartDelay = 300;//初始速度延时
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m_PerChangeDelay = 1;//每次改变的延时us
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m_bAccelerateCtrl = false;//是否加减速控制
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m_Coord = 0;//电机单轴的坐标值
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m_FindOriginDelay = 0;//找到原点后的等待延时(ms) 避免伺服电机的纠正过程
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m_ReverseMoveDelay= 500;//找到光电开关后反方向移动的延时us (直到关电开关为OFF )
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m_bCheckFiber = false;//时候检测光纤
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m_bReverseMoveFirst = false;//找原点之前是否先反向移动一段距离
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m_bReverseMoveDis = 0;//找原点之前是否先反向移动的距离mm
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m_AsixIdx = 0;//在运动控制卡中的编号
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m_bReverseDir = false;//是否反向
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m_bRevActCoordDir = false;//光栅尺反向
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}
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CMotor::~CMotor(void)
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{
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}
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#if 1//复写module 的函数
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CMFCPropertyGridProperty *CMotor::CreatGridProperty()
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{
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CString PropertyName;//属性名称
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CString Description;//描述
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CString Path = _T("motor")+m_Name;//存储路径
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CString Name;
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//-------------------------------------------------------------------------------//
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PropertyName = _T("电机")+m_Name;
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CMFCPropertyGridProperty* pGroup = new CMFCPropertyGridProperty(PropertyName);
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//-------------------------------------------------------------------------------//
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if(gAuthorityMgr->CheckAuthority(_FACTORY))
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{
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//添加属性变量映射
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Name = _T("m_OnePulseDis");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_OnePulseDis);
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pPropertie->SetType(_PROP_TYPE_DOUBLE);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("脉冲分辨率");
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Description = _T("电机一个脉冲移动的距离");
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CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_OnePulseDis, Description);
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pGroup->AddSubItem(p);
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gDevicePropertieMgr.Insert(p, pPropertie);
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}
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if(gAuthorityMgr->CheckAuthority(_FACTORY))
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{
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//添加属性变量映射
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Name = _T("m_bNeedCheckLimit");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_bNeedCheckLimit);
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pPropertie->SetType(_PROP_TYPE_BOOL);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("是否检测限位开关");
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Description = _T("是否检测限位开关");
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CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_bNeedCheckLimit, Description);
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pGroup->AddSubItem(p);
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gDevicePropertieMgr.Insert(p, pPropertie);
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}
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if(gAuthorityMgr->CheckAuthority(_FACTORY))
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{
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//添加属性变量映射
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Name = _T("m_bReverseDir");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_bReverseDir);
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pPropertie->SetType(_PROP_TYPE_BOOL);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("是否反向");
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Description = _T("是否反向");
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CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_bReverseDir, Description);
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pGroup->AddSubItem(p);
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gDevicePropertieMgr.Insert(p, pPropertie);
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}
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if(gAuthorityMgr->CheckAuthority(_FACTORY))
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{
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//添加属性变量映射
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Name = _T("m_bRevActCoordDir");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_bRevActCoordDir);
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pPropertie->SetType(_PROP_TYPE_BOOL);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("光栅尺反向");
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Description = _T("光栅尺坐标是否反向");
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CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_bRevActCoordDir, Description);
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pGroup->AddSubItem(p);
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gDevicePropertieMgr.Insert(p, pPropertie);
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}
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//-------------------------------------------------------------------------------//
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//速度相关
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{
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CMFCPropertyGridProperty* pGroup1 = new CMFCPropertyGridProperty(_T("电机速度"));
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if(gAuthorityMgr->CheckAuthority(_FACTORY))
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{
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//添加属性变量映射
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Name = _T("m_MoveDelay");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_MoveDelay);
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pPropertie->SetType(_PROP_TYPE_INT);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("空移脉冲延时");
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Description = _T("脉冲之间的间隔时间,单位是us(微秒),值越小电机运动越快,需要考虑宽口的发送频率的限制");
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CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_MoveDelay, Description);
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pGroup1->AddSubItem(p);
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gDevicePropertieMgr.Insert(p, pPropertie);
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}
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if(gAuthorityMgr->CheckAuthority(_FACTORY))
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{
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//添加属性变量映射
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Name = _T("m_WorkDelay");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_WorkDelay);
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pPropertie->SetType(_PROP_TYPE_INT);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("工作脉冲延时");
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Description = _T("脉冲之间的间隔时间,单位是us(微秒),值越小电机运动越快,需要考虑宽口的发送频率的限制");
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CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_WorkDelay, Description);
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pGroup1->AddSubItem(p);
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gDevicePropertieMgr.Insert(p, pPropertie);
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}
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pGroup->AddSubItem(pGroup1);
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}
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{
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CMFCPropertyGridProperty* pGroup1 = new CMFCPropertyGridProperty(_T("找原点"));
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if(gAuthorityMgr->CheckAuthority(_FACTORY))
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{
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//添加属性变量映射
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Name = _T("m_bReverseMoveFirst");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_bReverseMoveFirst);
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pPropertie->SetType(_PROP_TYPE_BOOL);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("先反向移动");
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Description = _T("找原点之前是否先反向移动一段距离");
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CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_bReverseMoveFirst, Description);
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pGroup1->AddSubItem(p);
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gDevicePropertieMgr.Insert(p, pPropertie);
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}
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if(gAuthorityMgr->CheckAuthority(_FACTORY))
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{
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//添加属性变量映射
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Name = _T("m_bReverseMoveDis");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_bReverseMoveDis);
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pPropertie->SetType(_PROP_TYPE_DOUBLE);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("反向移动距离");
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Description = _T("找原点之前先反向移动的距离mm");
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CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_bReverseMoveDis, Description);
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pGroup1->AddSubItem(p);
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gDevicePropertieMgr.Insert(p, pPropertie);
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}
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if(gAuthorityMgr->CheckAuthority(_FACTORY))
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{
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//添加属性变量映射
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Name = _T("m_OriginPulseDelay");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_OriginPulseDelay);
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pPropertie->SetType(_PROP_TYPE_INT);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("找原点脉冲延时");
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Description = _T("脉冲之间的间隔时间,单位是us(微秒),值越小电机运动越快,需要考虑宽口的发送频率的限制");
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CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_OriginPulseDelay, Description);
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pGroup1->AddSubItem(p);
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gDevicePropertieMgr.Insert(p, pPropertie);
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}
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if(gAuthorityMgr->CheckAuthority(_FACTORY))
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{
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//添加属性变量映射
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Name = _T("m_FindOriginDelay");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_FindOriginDelay);
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pPropertie->SetType(_PROP_TYPE_INT);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("找原点等待延时");
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Description = _T("找到原点后的等待延时(ms) 避免伺服电机的纠正过程");
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CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_FindOriginDelay, Description);
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pGroup1->AddSubItem(p);
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gDevicePropertieMgr.Insert(p, pPropertie);
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}
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if(gAuthorityMgr->CheckAuthority(_FACTORY))
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{
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//添加属性变量映射
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Name = _T("m_ReverseMoveDelay");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_ReverseMoveDelay);
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pPropertie->SetType(_PROP_TYPE_INT);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("移出限位延时");
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Description = _T("找到光电开关后反方向移动离开限位的延时us (直到关电开关为OFF )");
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CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_ReverseMoveDelay, Description);
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pGroup1->AddSubItem(p);
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gDevicePropertieMgr.Insert(p, pPropertie);
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}
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pGroup->AddSubItem(pGroup1);
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}
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//加速度相关
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{
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CMFCPropertyGridProperty* pGroup1 = new CMFCPropertyGridProperty(_T("加减速控制"));
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if(gAuthorityMgr->CheckAuthority(_FACTORY))
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{
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//添加属性变量映射
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Name = _T("m_bAccelerateCtrl");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_bAccelerateCtrl);
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pPropertie->SetType(_PROP_TYPE_BOOL);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("是否加减速控制");
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Description = _T("电机运动时是否使用加减速控制");
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CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_bAccelerateCtrl, Description);
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pGroup1->AddSubItem(p);
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gDevicePropertieMgr.Insert(p, pPropertie);
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}
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if(gAuthorityMgr->CheckAuthority(_FACTORY))
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{
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//添加属性变量映射
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Name = _T("m_StartDelay");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_StartDelay);
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pPropertie->SetType(_PROP_TYPE_INT);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("初始延时增量");
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Description = _T("电机启动时的脉冲延时增量(us(微秒)))");
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CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_StartDelay, Description);
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pGroup1->AddSubItem(p);
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gDevicePropertieMgr.Insert(p, pPropertie);
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}
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if(gAuthorityMgr->CheckAuthority(_FACTORY))
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{
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//添加属性变量映射
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Name = _T("m_PerChangeDelay");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_PerChangeDelay);
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pPropertie->SetType(_PROP_TYPE_INT);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("延时增量");
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Description = _T("每个脉冲延时的改变量(us(微秒)))");
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CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_PerChangeDelay, Description);
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pGroup1->AddSubItem(p);
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gDevicePropertieMgr.Insert(p, pPropertie);
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}
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pGroup->AddSubItem(pGroup1);
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}
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//-------------------------------------------------------------------------------//
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//原点相关参数
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if(gAuthorityMgr->CheckAuthority(_FACTORY))
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{
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CMFCPropertyGridProperty* pGroup1 = new CMFCPropertyGridProperty(_T("电机原点"));
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//-------------------------------------------------------------------------------//
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{
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//添加属性变量映射
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Name = _T("m_FindOriginDir");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_FindOriginDir);
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pPropertie->SetType(_PROP_TYPE_BOOL);
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pPropertie->SetpModule(this);
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pPropertie->SetPath(Path);
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pPropertie->SetName(Name);
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pPropertie->WriteRead(true);//读取保存的属性
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//添加属性显示
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PropertyName = _T("找原点的方向");
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Description = _T("电机找原点的方向,true 代表正向,false 代表负向");
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CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_FindOriginDir, Description);
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pGroup1->AddSubItem(p);
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gDevicePropertieMgr.Insert(p, pPropertie);
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}
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|
//-------------------------------------------------------------------------------//
|
|
{
|
|
//添加属性变量映射
|
|
Name = _T("m_OriginOffsetDis");//变量名字
|
|
CPropertie *pPropertie = new CPropertie;
|
|
pPropertie->SetpVal((void*)&m_OriginOffsetDis);
|
|
pPropertie->SetType(_PROP_TYPE_DOUBLE);
|
|
pPropertie->SetpModule(this);
|
|
pPropertie->SetPath(Path);
|
|
pPropertie->SetName(Name);
|
|
pPropertie->WriteRead(true);//读取保存的属性
|
|
|
|
//添加属性显示
|
|
PropertyName = _T("原点偏移距离");
|
|
Description = _T("找完原点后的反方向移动距离");
|
|
CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_OriginOffsetDis, Description);
|
|
pGroup1->AddSubItem(p);
|
|
|
|
gDevicePropertieMgr.Insert(p, pPropertie);
|
|
}
|
|
{
|
|
//添加属性变量映射
|
|
Name = _T("m_MaxOriginOffsetDis");//变量名字
|
|
CPropertie *pPropertie = new CPropertie;
|
|
pPropertie->SetpVal((void*)&m_MaxOriginOffsetDis);
|
|
pPropertie->SetType(_PROP_TYPE_DOUBLE);
|
|
pPropertie->SetpModule(this);
|
|
pPropertie->SetPath(Path);
|
|
pPropertie->SetName(Name);
|
|
pPropertie->WriteRead(true);//读取保存的属性
|
|
|
|
//添加属性显示
|
|
PropertyName = _T("原点最大偏移距离");
|
|
Description = _T("找完原点后的反方向最大移动距离(用于硬件保护)");
|
|
CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_MaxOriginOffsetDis, Description);
|
|
pGroup1->AddSubItem(p);
|
|
|
|
gDevicePropertieMgr.Insert(p, pPropertie);
|
|
}
|
|
|
|
//-------------------------------------------------------------------------------//
|
|
{
|
|
//添加属性变量映射
|
|
Name = _T("m_MaxPulseCnt");//变量名字
|
|
CPropertie *pPropertie = new CPropertie;
|
|
pPropertie->SetpVal((void*)&m_MaxPulseCnt);
|
|
pPropertie->SetType(_PROP_TYPE_DOUBLE);
|
|
pPropertie->SetpModule(this);
|
|
pPropertie->SetPath(Path);
|
|
pPropertie->SetName(Name);
|
|
pPropertie->WriteRead(true);//读取保存的属性
|
|
|
|
//添加属性显示
|
|
PropertyName = _T("原点最大脉冲");
|
|
Description = _T("找原点时最大脉冲,目的是为了防止硬件故障造成死循环,当超出这个脉冲个数仍然没有找到原点时会报错");
|
|
CMFCPropertyGridProperty* p = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_MaxPulseCnt, Description);
|
|
pGroup1->AddSubItem(p);
|
|
|
|
gDevicePropertieMgr.Insert(p, pPropertie);
|
|
}
|
|
|
|
|
|
//-------------------------------------------------------------------------------//
|
|
pGroup->AddSubItem(pGroup1);
|
|
}
|
|
return pGroup;
|
|
}
|
|
void CMotor::ExportPar(ofstream *pFile)
|
|
{
|
|
|
|
}
|
|
|
|
void CMotor::Ini()
|
|
{
|
|
SetCoord(0);
|
|
gMotorZ->NeedCheckFiber();
|
|
//初始化的时候读取端口的值
|
|
Update();
|
|
}
|
|
void CMotor::SetPciPortType(CString DirPortType,CString PulsePortType,CString LimitPortType_F,CString LimitPortType_N)
|
|
{
|
|
m_DirPortType = DirPortType;
|
|
m_PulsePortType = PulsePortType;
|
|
m_LimitPortType_F = LimitPortType_F;
|
|
m_LimitPortType_N = LimitPortType_N;
|
|
}
|
|
//收到属性变化的处理(重新读取端口号)
|
|
void CMotor::Update()
|
|
{
|
|
m_DirPort = gPciPortMgr->GetCtrlPort(m_DirPortType);//方向端口
|
|
m_PulsePort = gPciPortMgr->GetCtrlPort(m_PulsePortType);//脉冲端口
|
|
m_LimitPort_F = gPciPortMgr->GetCtrlPort(m_LimitPortType_F);//正限位端口
|
|
m_LimitPort_N = gPciPortMgr->GetCtrlPort(m_LimitPortType_N);//负限位端口
|
|
|
|
m_FiberPort1 = gPciPortMgr->GetCtrlPort(PCI_PORT_FIBER1);//光纤端口1
|
|
m_FiberPort2 = gPciPortMgr->GetCtrlPort(PCI_PORT_FIBER2);//光纤端口1
|
|
}
|
|
#endif
|
|
//是否碰到限位开关
|
|
bool CMotor::IsLimitOn()
|
|
{
|
|
if(m_bNeedCheckLimit == false)//不需要检查限位开关
|
|
return false;
|
|
|
|
//m_CurLimitPort 是根据电机的移动方向来确定的
|
|
if(gPciCh365Mgr->ReadPortState(m_CurLimitPort) )
|
|
{
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
//初始化找到机械原点(bSavePulseCnt 表示是否记录脉冲个数, 用来回到上电的位置)
|
|
bool CMotor::FindOrigin(bool bSavePulseCnt)
|
|
{
|
|
|
|
//先反向移动一段距离------------------------------------
|
|
if(m_bReverseMoveFirst && !bSavePulseCnt)
|
|
{
|
|
SetDir(!m_FindOriginDir);
|
|
double PulseCnt;
|
|
double MovePulseCnt = m_bReverseMoveDis/GetOnePulseDis();
|
|
SendSerialPulses(MovePulseCnt,PulseCnt,m_OriginPulseDelay);
|
|
}
|
|
//查找原点----------------------------------------------------
|
|
//设置方向
|
|
SetDir(m_FindOriginDir);
|
|
bool ret = false;
|
|
double PulseCnt;
|
|
|
|
bool bNeedCheckLimit = m_bNeedCheckLimit;//备份
|
|
m_bNeedCheckLimit = true;//找原点时必须检测限位
|
|
ret = SendSerialPulses(m_MaxPulseCnt,PulseCnt,m_OriginPulseDelay);
|
|
m_bNeedCheckLimit = bNeedCheckLimit;//恢复
|
|
|
|
if(ret)//脉冲发完了还没找到原点
|
|
{
|
|
CString str = m_Name + _T("电机找原点失败!");
|
|
CExceptionMsg Msg;
|
|
Msg.SetMsg(str);
|
|
throw Msg;
|
|
return false;
|
|
}
|
|
//反向移动出限位-------------------------------------------------------
|
|
double ReversePlusCnt = 0;//反向移动脉冲个数
|
|
//反向移动直到离开限位
|
|
if(m_FindOriginDelay>0)
|
|
{
|
|
Sleep(m_FindOriginDelay);
|
|
//反向
|
|
SetDir(!m_FindOriginDir);
|
|
//设置检查原点的限位开关
|
|
SetCurLimitPortByDir(m_FindOriginDir);
|
|
ReversePlusCnt = MoveDeviateLimit(m_ReverseMoveDelay);
|
|
Sleep(m_FindOriginDelay/2);//移动完了再等待一会
|
|
}
|
|
gLogMgr->WriteDebugLog("反向移动脉冲","",ReversePlusCnt);
|
|
PulseCnt -= ReversePlusCnt;
|
|
gLogMgr->WriteDebugLog("找原点脉冲","",PulseCnt);
|
|
if(bSavePulseCnt)//记录初始点到原点的距离
|
|
{
|
|
m_OriginOffsetDis = PulseCnt*GetOnePulseDis();
|
|
}
|
|
return true;
|
|
}
|
|
//移动到指定的原点偏移位置
|
|
//FocusOffset 是微调值(正值往负方向调)
|
|
bool CMotor::MoveToOriginOffset(double AdjustVal)
|
|
{
|
|
#if 0
|
|
SetCurLimitPortByDir(m_FindOriginDir);//强制为找远点方向来检查限位
|
|
if(IsLimitOn()==false)//调用这个函数时电机需要在限位上
|
|
{
|
|
gLogMgr->WriteDebugLog("限位检查失败",_LOG_ERROR);
|
|
return false;
|
|
}
|
|
#endif
|
|
double OriginOffsetDis =m_OriginOffsetDis + AdjustVal;
|
|
if(m_MaxOriginOffsetDis>0 && OriginOffsetDis > m_MaxOriginOffsetDis)
|
|
{
|
|
gLogMgr->WriteDebugLog("偏移距离超过限制",_LOG_ERROR);
|
|
return false;
|
|
}
|
|
SetDir(!m_FindOriginDir);//找原点的反方向
|
|
double TotalCnt = OriginOffsetDis/GetOnePulseDis();
|
|
MoveByPluse(TotalCnt,false);
|
|
|
|
Ini();
|
|
return true;
|
|
}
|
|
//发送连续脉冲(PulseCnt 统计一共发送了多少个脉冲,也可以不统计)
|
|
bool CMotor::SendSerialPulses(double TotalCnt,double &PulseCnt,unsigned int Delay)
|
|
{
|
|
PulseCnt = 0;
|
|
while(TotalCnt>0)
|
|
{
|
|
//发送一个脉冲
|
|
if(MoveOnePluse(Delay)==false)
|
|
{
|
|
return false;//脉冲没有全部发送完成
|
|
}
|
|
TotalCnt -= 1;
|
|
PulseCnt += 1;
|
|
}
|
|
//TotalCnt 发完了还没找到限位时不要统计
|
|
PulseCnt = 0;
|
|
return true;
|
|
}
|
|
//移动电机直到没有检测到光电开关，并返回移动的脉冲个数
|
|
double CMotor::MoveDeviateLimit(unsigned int Delay)
|
|
{
|
|
double PulseCnt = 0;
|
|
while(IsLimitOn())
|
|
{
|
|
gPciCh365Mgr->SendOnePulse(m_PulsePort,Delay);
|
|
PulseCnt += 1;
|
|
}
|
|
return PulseCnt;
|
|
}
|
|
//移动一个脉冲(Delay = 0 表示没有设置)
|
|
bool CMotor::MoveOnePluse(unsigned int Delay)
|
|
{
|
|
if(IsLimitOn())//撞到限位了
|
|
{
|
|
return false;
|
|
}
|
|
if(Delay == 0)
|
|
{
|
|
Delay = m_WorkDelay;
|
|
}
|
|
gPciCh365Mgr->SendOnePulse(m_PulsePort,Delay);
|
|
return true;
|
|
}
|
|
//设置方向(b 为true 表示正向)
|
|
void CMotor::SetDir(bool bForward)
|
|
{
|
|
gPciCh365Mgr->WritePortState(m_DirPort,bForward);
|
|
gPciCh365Mgr->DelayTime(1000);//改变方向后延时1ms 再发脉冲
|
|
//改变方向时也要改变检查的限位端口
|
|
//主要是防止反向移动时卡在限位上
|
|
SetCurLimitPortByDir(bForward);
|
|
}
|
|
//根据方向设置检查限位的端口
|
|
void CMotor::SetCurLimitPortByDir(bool bForward)
|
|
{
|
|
if(bForward)//正向移动检查正限位
|
|
{
|
|
m_CurLimitPort = m_LimitPort_F;
|
|
}
|
|
else//负向移动检查负限位
|
|
{
|
|
m_CurLimitPort = m_LimitPort_N;
|
|
}
|
|
}
|
|
//获取电机
|
|
CMotor *CMotor::GetMotor(CString Name)
|
|
{
|
|
CMotor *p = NULL;
|
|
if(Name == MOTOR_X)
|
|
return gMotorX;
|
|
if(Name == MOTOR_X2)
|
|
return gMotorX2;
|
|
if(Name == MOTOR_Y)
|
|
return gMotorY;
|
|
if(Name == MOTOR_Z)
|
|
return gMotorZ;
|
|
return NULL;
|
|
}
|
|
//获取最大速度延时
|
|
unsigned int CMotor::GetDelay(bool bWork)
|
|
{
|
|
if(bWork)
|
|
return m_WorkDelay;
|
|
else
|
|
return m_MoveDelay;
|
|
}
|
|
//获取相对于机械原点的坐标值
|
|
double CMotor::GetCoord2()
|
|
{
|
|
return m_OriginOffsetDis-m_Coord;
|
|
}
|
|
#if 1
|
|
void CMotor::OnMotorLimit()
|
|
{
|
|
//重置初始化状态
|
|
CDeviceState &DeviceState = CDeviceState::GetInstance();
|
|
DeviceState.SetIniState(false);
|
|
}
|
|
//按连续脉冲来移动
|
|
void CMotor::MoveByPluse(double PulseCnt,bool bWork)
|
|
{
|
|
if(PulseCnt<1)
|
|
return;
|
|
if(PulseCnt>0 && PulseCnt<2)//一个脉冲单独处理
|
|
{
|
|
if(MoveOnePluse(GetDelay(bWork))==false)
|
|
{
|
|
OnMotorLimit();
|
|
CString str = _T("异常，电机限位触发!");
|
|
CExceptionMsg Msg;
|
|
Msg.SetMsg(str);
|
|
throw Msg;
|
|
}
|
|
return;
|
|
}
|
|
|
|
if(m_bAccelerateCtrl)
|
|
{
|
|
MoveByPluseAccelerate(PulseCnt,bWork);
|
|
}
|
|
else
|
|
{
|
|
MoveByPluseNoAccelerate(PulseCnt,bWork);
|
|
}
|
|
}
|
|
//加减速
|
|
void CMotor::MoveByPluseAccelerate(double PulseCnt,bool bWork)
|
|
{
|
|
gLogMgr->WriteDebugLog("MoveByPluseAccelerate");
|
|
|
|
unsigned int MaxDelay = GetDelay(bWork);//最大速度
|
|
double AccelerateCnt = (m_StartDelay)/m_PerChangeDelay;//加速脉冲个数
|
|
if(AccelerateCnt>(PulseCnt/2))//如果脉冲数过少,值加速到一半的位置
|
|
{
|
|
AccelerateCnt = (PulseCnt/2);
|
|
}
|
|
|
|
unsigned int CurDelay = MaxDelay+m_StartDelay;
|
|
|
|
for(double PluseIdx=1;PluseIdx<=PulseCnt;PluseIdx+=1)
|
|
{
|
|
if(PluseIdx<=AccelerateCnt)//加速阶段
|
|
{
|
|
CurDelay -= m_PerChangeDelay;
|
|
}
|
|
else if(PluseIdx>=(PulseCnt-AccelerateCnt))//减速阶段
|
|
{
|
|
CurDelay += m_PerChangeDelay;
|
|
}
|
|
if(CurDelay<MaxDelay)//避免大于最大速度
|
|
{
|
|
CurDelay = MaxDelay;
|
|
}
|
|
if(MoveOnePluse(CurDelay)==false)
|
|
{
|
|
OnMotorLimit();
|
|
CString str = _T("异常，电机限位触发!");
|
|
CExceptionMsg Msg;
|
|
Msg.SetMsg(str);
|
|
throw Msg;
|
|
}
|
|
}
|
|
}
|
|
//匀速
|
|
void CMotor::MoveByPluseNoAccelerate(double PulseCnt,bool bWork)
|
|
{
|
|
gLogMgr->WriteDebugLog("MoveByPluseNoAccelerate");
|
|
|
|
unsigned int MaxDelay = GetDelay(bWork);//最大速度
|
|
for(double PluseIdx=1;PluseIdx<=PulseCnt;PluseIdx+=1)
|
|
{
|
|
if(MoveOnePluse(MaxDelay)==false)
|
|
{
|
|
OnMotorLimit();
|
|
CString str = _T("异常，电机限位触发!");
|
|
CExceptionMsg Msg;
|
|
Msg.SetMsg(str);
|
|
throw Msg;
|
|
}
|
|
}
|
|
}
|
|
#endif
|
|
#if 1
|
|
#define MIN_CNT 2//最小移动的脉冲个数
|
|
//移动指定距离
|
|
void CMotor::MoveDis(double dis)
|
|
{
|
|
MoveToCoord(m_Coord+dis);
|
|
}
|
|
//移动到坐标值
|
|
void CMotor::MoveToCoord(double Coord)
|
|
{
|
|
if(gMotionCard_PCI1245->IsbUsed())
|
|
{
|
|
if(gMotionCard_PCI1245->MoveMotor(*this,Coord))
|
|
{
|
|
m_Coord = Coord;
|
|
}
|
|
}
|
|
}
|
|
#endif |