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#include "StdAfx.h"
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#include "MotionCard_PCI1245.h"
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#include "Propertie.h"
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#include "PropertieMgr.h"
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#include "AuthorityMgr.h"
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#include "LogMgr.h"
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#include "Motor.h"
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#include "PlatformXY.h"
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#include "MsgBox.h"
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#include "FileMgr.h"
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#include "SinglechipCardMgr.h"
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#include "PciCh365Mgr.h"
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#include "CommPortMgr.h"
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#include "FileMgr.h"
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#include "WorkTime.h"
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#ifdef _DEBUG
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#define new DEBUG_NEW
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#undef THIS_FILE
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static char THIS_FILE[] = __FILE__;
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#endif
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#include "general.h"
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#pragma comment( lib, "Version.lib" )
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#pragma comment( lib, "ADVMOT.lib" )
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#define MAX_ASIX_IDX 3 //运动控制卡最大支持的轴编号
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#define CFG_FILE_PATH _T("\\Parameter\\MotionCard_PCI1245\\PCI_1245.cfg")
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//检查轴状态的线程
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UINT CheckAsixStateThread(LPVOID pParam)
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{
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MotionCard_PCI1245 *p = (MotionCard_PCI1245 *)pParam;
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p->CheckAsixState();
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return 0;
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}
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MotionCard_PCI1245 *gMotionCard_PCI1245 = new MotionCard_PCI1245;
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MotionCard_PCI1245::MotionCard_PCI1245(void)
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{
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m_bUsed = false;//是否使用
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m_bArcCut = false;//圆弧插补
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m_Devhand = 0;
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memset(m_Axishand,0,sizeof(m_Axishand));
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for (int i=0;i<32;i++)
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{
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m_End[i]=0;
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}
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m_ulAxisCount=0;
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m_bServoOn =FALSE;
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m_bInit=FALSE;
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m_CurGpIdx = 0;//当前使用的组编号
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m_GpHand=0;
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AxCount=0;
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m_EndNum =0;
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m_MotorXAsixIdx = 1;//X轴对应的轴编号
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m_MotorX2AsixIdx = 3;//X 2轴对应的轴编号
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m_MotorYAsixIdx = 0;//Y轴对应的轴编号
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m_MotorZAsixIdx = 2;//Z轴对应的轴编号
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m_bGroupAisxRev = false;//插补轴调换
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m_CheckDelay = 20;//等待电机运动时检测延时ms
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m_bInited = false;//是否被正常初始化
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m_bMotorXMoveStop = true;//轴是否运动停止
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m_bMotorX2MoveStop = true;//
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m_bMotorYMoveStop = true;//
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m_bMotorZMoveStop = true;//
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m_bAutoCloseSevon = false;//关闭程序时自动关闭sevon
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m_bCheckActCoord = true;//是否检测实际光栅尺的坐标
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m_MaxActCoordErr = 10;//允许最大光栅尺误差脉冲个数
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m_XYFindOriginByLimit = true;//XY轴通过找极限来找原点(汕尾信利6台机)
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}
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MotionCard_PCI1245::~MotionCard_PCI1245(void)
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{
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}
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CMFCPropertyGridProperty *MotionCard_PCI1245::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("MotionCard_PCI1245");//存储路径
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CString Name;
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//-------------------------------------------------------------------------------//
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PropertyName = _T("PCI 1245L 运动控制卡");
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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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{
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//添加属性变量映射
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Name = _T("m_bUsed");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_bUsed);
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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("是否使用");
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Description = _T("是否使用运动控制卡控制电机");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_bUsed, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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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_XYFindOriginByLimit");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_XYFindOriginByLimit);
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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("极限原点");
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Description = _T("是否XY轴通过找极限来找原点");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_XYFindOriginByLimit, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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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_HomeMode");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_HomeMode);
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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("Home方式");
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Description = _T("调用板卡提供的Home函数时的方式索引(0~15).");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_HomeMode, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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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_bCheckActCoord");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_bCheckActCoord);
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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("检测光栅尺");
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Description = _T("是否检测光栅尺的坐标");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_bCheckActCoord, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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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_MaxActCoordErr");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_MaxActCoordErr);
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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("光栅尺误差脉冲");
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Description = _T("允许最大光栅尺误差脉冲个数");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_MaxActCoordErr, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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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_bAutoCloseSevon");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_bAutoCloseSevon);
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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("退出时关闭sevon");
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Description = _T("软件退出时自动关闭所有轴的sevon");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_bAutoCloseSevon, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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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_bArcCut");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_bArcCut);
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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("圆弧插补");
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Description = _T("是否使用平台圆弧插补");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_bArcCut, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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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_bGroupAisxRev");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_bGroupAisxRev);
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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("插补轴调换");
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Description = _T("如果插补轴运动反向,调换轴顺序");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_bGroupAisxRev, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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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_CheckDelay");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_CheckDelay);
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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("检测延时");
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Description = _T("检测电机运动的延时ms");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_CheckDelay, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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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_MotorXAsixIdx");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_MotorXAsixIdx);
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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("X 轴编号");
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Description = _T("X 轴对应的轴编号");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_MotorXAsixIdx, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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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_MotorX2AsixIdx");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_MotorX2AsixIdx);
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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("X 2轴编号");
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Description = _T("X 2轴对应的轴编号");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_MotorX2AsixIdx, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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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_MotorYAsixIdx");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_MotorYAsixIdx);
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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("Y 轴编号");
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Description = _T("Y 轴对应的轴编号");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_MotorYAsixIdx, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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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_MotorZAsixIdx");//变量名字
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CPropertie *pPropertie = new CPropertie;
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pPropertie->SetpVal((void*)&m_MotorZAsixIdx);
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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("Z 轴编号");
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Description = _T("Z 轴对应的轴编号");
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CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_MotorZAsixIdx, Description);
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pGroup->AddSubItem(p1);
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gDevicePropertieMgr.Insert(p1, pPropertie);
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}
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if(gAuthorityMgr->CheckAuthority(_FACTORY))
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{
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CMFCPropertyGridProperty* pGroup1;
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pGroup1 = CreatSpeedGridProperty(m_OrgSpeedMotorZ,_T("Z 轴原点速度"),_T("m_OrgSpeedMotorZ"));
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pGroup->AddSubItem(pGroup1);
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pGroup1 = CreatSpeedGridProperty(m_MoveSpeedMotorZ,_T("Z 轴移动速度"),_T("m_MoveSpeedMotorZ"));
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pGroup->AddSubItem(pGroup1);
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pGroup1 = CreatSpeedGridProperty(m_OrgSpeedMotorXY,_T("XY 轴原点速度"),_T("m_OrgSpeedMotorXY"));
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pGroup->AddSubItem(pGroup1);
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pGroup1 = CreatSpeedGridProperty(m_MoveSpeedMotorX,_T("X 轴空移速度"),_T("m_MoveSpeedMotorX"));
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pGroup->AddSubItem(pGroup1);
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pGroup1 = CreatSpeedGridProperty(m_WorkSpeedMotorX,_T("X 轴工作速度"),_T("m_WorkSpeedMotorX"));
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pGroup->AddSubItem(pGroup1);
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pGroup1 = CreatSpeedGridProperty(m_MoveSpeedMotorY,_T("Y 轴空移速度"),_T("m_MoveSpeedMotorY"));
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pGroup->AddSubItem(pGroup1);
|
|
|
pGroup1 = CreatSpeedGridProperty(m_WorkSpeedMotorY,_T("Y 轴工作速度"),_T("m_WorkSpeedMotorY"));
|
|
|
pGroup->AddSubItem(pGroup1);
|
|
|
}
|
|
|
if(gAuthorityMgr->CheckAuthority(_FACTORY))
|
|
|
{
|
|
|
PropertyName = "下料机保护信号";
|
|
|
CMFCPropertyGridProperty* pGroup1 = new CMFCPropertyGridProperty(PropertyName);
|
|
|
{
|
|
|
//添加属性变量映射
|
|
|
|
|
|
Name = "m_AsixNum";//变量名字
|
|
|
CPropertie *pPropertie = new CPropertie;
|
|
|
pPropertie->SetpVal((void*)&(m_InPortUnload.m_AsixNum));
|
|
|
pPropertie->SetType(_PROP_TYPE_INT);
|
|
|
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("轴编号");
|
|
|
Description = _T("用于控制的轴编号(0~3)");
|
|
|
CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName,(_variant_t)(m_InPortUnload.m_AsixNum), Description);
|
|
|
pGroup1->AddSubItem(p1);
|
|
|
gDevicePropertieMgr.Insert(p1, pPropertie);
|
|
|
}
|
|
|
{
|
|
|
//添加属性变量映射
|
|
|
Name = "m_PortNum";//变量名字
|
|
|
CPropertie *pPropertie = new CPropertie;
|
|
|
pPropertie->SetpVal((void*)&(m_InPortUnload.m_PortNum));
|
|
|
pPropertie->SetType(_PROP_TYPE_INT);
|
|
|
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("端口号");
|
|
|
Description = _T("用于控制的端口号(0~3)");
|
|
|
CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName,(_variant_t)m_InPortUnload.m_PortNum, Description);
|
|
|
pGroup1->AddSubItem(p1);
|
|
|
gDevicePropertieMgr.Insert(p1, pPropertie);
|
|
|
}
|
|
|
{
|
|
|
//添加属性变量映射
|
|
|
Name = "m_bRev";//变量名字
|
|
|
CPropertie *pPropertie = new CPropertie;
|
|
|
pPropertie->SetpVal((void*)&(m_InPortUnload.m_bRev));
|
|
|
pPropertie->SetType(_PROP_TYPE_BOOL);
|
|
|
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("是否反向");
|
|
|
Description = _T("端口控制是否反向");
|
|
|
CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName,(_variant_t)m_InPortUnload.m_bRev, Description);
|
|
|
pGroup1->AddSubItem(p1);
|
|
|
gDevicePropertieMgr.Insert(p1, pPropertie);
|
|
|
}
|
|
|
pGroup->AddSubItem(pGroup1);
|
|
|
}
|
|
|
}
|
|
|
//-------------------------------------------------------------------------------//
|
|
|
return pGroup;
|
|
|
}
|
|
|
CMFCPropertyGridProperty* MotionCard_PCI1245::CreatSpeedGridProperty(PCI1245_SpeedParam &SpeedParam,CString SpeedName,CString ValName)
|
|
|
{
|
|
|
CString PropertyName;//属性名称
|
|
|
CString Description;//描述
|
|
|
CString Path = _T("MotionCard_PCI1245");//存储路径
|
|
|
CString Name;
|
|
|
CMFCPropertyGridProperty* pGroup1 = new CMFCPropertyGridProperty(SpeedName);
|
|
|
{
|
|
|
{
|
|
|
//添加属性变量映射
|
|
|
Name = ValName+_T("_Acc");//变量名字
|
|
|
CPropertie *pPropertie = new CPropertie;
|
|
|
pPropertie->SetpVal((void*)&SpeedParam.m_Acc);
|
|
|
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("加速度");
|
|
|
Description = _T("静止到运行速度的加速度(mm/s2)");
|
|
|
CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)SpeedParam.m_Acc, Description);
|
|
|
pGroup1->AddSubItem(p1);
|
|
|
gDevicePropertieMgr.Insert(p1, pPropertie);
|
|
|
}
|
|
|
{
|
|
|
//添加属性变量映射
|
|
|
Name = ValName+_T("_Dec");//变量名字
|
|
|
CPropertie *pPropertie = new CPropertie;
|
|
|
pPropertie->SetpVal((void*)&SpeedParam.m_Dec);
|
|
|
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("减速度");
|
|
|
Description = _T("运行速度到静止的减速度(mm/s2)");
|
|
|
CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)SpeedParam.m_Dec, Description);
|
|
|
pGroup1->AddSubItem(p1);
|
|
|
gDevicePropertieMgr.Insert(p1, pPropertie);
|
|
|
}
|
|
|
{
|
|
|
//添加属性变量映射
|
|
|
Name = ValName+_T("_VelLow");//变量名字
|
|
|
CPropertie *pPropertie = new CPropertie;
|
|
|
pPropertie->SetpVal((void*)&SpeedParam.m_VelLow);
|
|
|
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("起动速度");
|
|
|
Description = _T("起动速度(mm/s)");
|
|
|
CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)SpeedParam.m_VelLow, Description);
|
|
|
pGroup1->AddSubItem(p1);
|
|
|
gDevicePropertieMgr.Insert(p1, pPropertie);
|
|
|
}
|
|
|
{
|
|
|
//添加属性变量映射
|
|
|
Name = ValName+_T("_VelHigh");//变量名字
|
|
|
CPropertie *pPropertie = new CPropertie;
|
|
|
pPropertie->SetpVal((void*)&SpeedParam.m_VelHigh);
|
|
|
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("运行速度");
|
|
|
Description = _T("运行速度(mm/s)");
|
|
|
CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)SpeedParam.m_VelHigh, Description);
|
|
|
pGroup1->AddSubItem(p1);
|
|
|
gDevicePropertieMgr.Insert(p1, pPropertie);
|
|
|
}
|
|
|
}
|
|
|
return pGroup1;
|
|
|
}
|
|
|
|
|
|
|
|
|
void MotionCard_PCI1245::ExportPar(ofstream *pFile)
|
|
|
{
|
|
|
|
|
|
}
|
|
|
|
|
|
#if 1
|
|
|
void MotionCard_PCI1245::Ini()
|
|
|
{
|
|
|
if(!m_bUsed)
|
|
|
return;
|
|
|
|
|
|
CCommPortMgr Comm;
|
|
|
if(!Comm.Open(1,9600))//如果无法操作串口的话说明在笔记本上运行
|
|
|
return;
|
|
|
Comm.Close();
|
|
|
//设置轴的编号-------------------------------------------
|
|
|
CMotor &MotorX = *(CMotor::GetMotor(MOTOR_X));
|
|
|
CMotor &MotorX2 = *(CMotor::GetMotor(MOTOR_X2));
|
|
|
CMotor &MotorY = *(CMotor::GetMotor(MOTOR_Y));
|
|
|
CMotor &MotorZ = *(CMotor::GetMotor(MOTOR_Z));
|
|
|
MotorX.SetAsixIdx(m_MotorXAsixIdx);
|
|
|
MotorX2.SetAsixIdx(m_MotorX2AsixIdx);
|
|
|
MotorY.SetAsixIdx(m_MotorYAsixIdx);
|
|
|
MotorZ.SetAsixIdx(m_MotorZAsixIdx);
|
|
|
|
|
|
//初始化卡
|
|
|
if(!InitCard())
|
|
|
return;
|
|
|
|
|
|
//打开卡并读取支持的轴
|
|
|
if(!OpenCard())
|
|
|
return;
|
|
|
//检查轴的编号是否合法
|
|
|
if(!CheckRange(m_MotorXAsixIdx,0,MAX_ASIX_IDX)
|
|
|
|| !CheckRange(m_MotorX2AsixIdx,0,MAX_ASIX_IDX)
|
|
|
|| !CheckRange(m_MotorYAsixIdx,0,MAX_ASIX_IDX)
|
|
|
|| !CheckRange(m_MotorZAsixIdx,0,MAX_ASIX_IDX)
|
|
|
)
|
|
|
{
|
|
|
gLogMgr->WriteDebugLog("[Error]---->invalid Asix Idx");
|
|
|
return;
|
|
|
}
|
|
|
|
|
|
//读取运动控制卡的参数文件.cfg
|
|
|
LoadConfigFile();
|
|
|
//将绑定XY 轴为一个组(支持线性插补运动)
|
|
|
AddAsixToGroup(m_GpHand,m_MotorXAsixIdx);
|
|
|
AddAsixToGroup(m_GpHand,m_MotorYAsixIdx);
|
|
|
|
|
|
SetCurGpIdx(0);
|
|
|
|
|
|
//自动SvOn
|
|
|
SetSvOn(true);
|
|
|
|
|
|
//启动读取轴状态的线程
|
|
|
AfxBeginThread(CheckAsixStateThread,this);
|
|
|
}
|
|
|
void MotionCard_PCI1245::OnExitApp()
|
|
|
{
|
|
|
if(m_bAutoCloseSevon)
|
|
|
SetSvOn(false);
|
|
|
}
|
|
|
void MotionCard_PCI1245::SetSvOn(bool bOn)
|
|
|
{
|
|
|
gLogMgr->WriteDebugLog("Fuc---->Motion Asix SetSvOn");
|
|
|
for(int k=0;k<=MAX_ASIX_IDX;k++)
|
|
|
{
|
|
|
Acm_AxSetSvOn(m_Axishand[k],bOn);
|
|
|
Sleep(100);
|
|
|
}
|
|
|
}
|
|
|
//初始化运动控制卡
|
|
|
bool MotionCard_PCI1245::InitCard()
|
|
|
{
|
|
|
U32 Result;
|
|
|
ULONG i=0;
|
|
|
ULONG deviceNumber=0;//卡的数量
|
|
|
CString strTemp;
|
|
|
|
|
|
Result = Acm_GetAvailableDevs(m_avaDevs,MAX_DEVICES,&deviceNumber);
|
|
|
if (Result!=SUCCESS || deviceNumber<=0)
|
|
|
{
|
|
|
gLogMgr->WriteDebugLog("[Error]---->Acm_GetAvailableDevs");
|
|
|
return false;
|
|
|
}
|
|
|
m_dwDevNum=m_avaDevs[0].dwDeviceNum;//当前的设备号
|
|
|
gLogMgr->WriteDebugLog("Fuc---->InitMotionCard 1245L Success");
|
|
|
m_bInited = true;//是否被正常初始化
|
|
|
return true;
|
|
|
}
|
|
|
//打开卡
|
|
|
bool MotionCard_PCI1245::OpenCard()
|
|
|
{
|
|
|
U32 Result;
|
|
|
ULONG i=0;
|
|
|
CString strTemp;
|
|
|
CString strString;
|
|
|
ULONG AxisPerDev=0;
|
|
|
ULONG AxisNumber=0;
|
|
|
//打开设备m_dwDevNum ,获得设备句柄m_Devhand
|
|
|
Result = Acm_DevOpen(m_dwDevNum, &m_Devhand);
|
|
|
if (Result != SUCCESS)
|
|
|
{
|
|
|
strString.Format("Open Device Failed With Error Code:%x",Result);
|
|
|
gLogMgr->WriteDebugLog(strString);
|
|
|
return false;
|
|
|
}
|
|
|
//获得设备轴的数量
|
|
|
Result = Acm_GetU32Property(m_Devhand,FT_DevAxesCount,&AxisPerDev);
|
|
|
if (Result!=SUCCESS)
|
|
|
{
|
|
|
strString.Format("Get Device Axes Number Failed With Error Code: %x",Result);
|
|
|
gLogMgr->WriteDebugLog(strString);
|
|
|
return false;
|
|
|
}
|
|
|
m_ulAxisCount=AxisPerDev;
|
|
|
//if you device is fixed,for example: PCI-1245 m_ulAxisCount =4
|
|
|
for(AxisNumber=0;AxisNumber<m_ulAxisCount;AxisNumber++)
|
|
|
{
|
|
|
//打开轴,并获得轴的句柄m_Axishand
|
|
|
Result =Acm_AxOpen(m_Devhand, (USHORT)AxisNumber, &m_Axishand[AxisNumber]);
|
|
|
if(Result != SUCCESS)
|
|
|
{
|
|
|
strString.Format("Open Axis Failed With Error Code: %x",Result);
|
|
|
gLogMgr->WriteDebugLog(strString);
|
|
|
return false;
|
|
|
}
|
|
|
//设置轴的初始坐标为0
|
|
|
Acm_AxSetCmdPosition(m_Axishand[AxisNumber],0);
|
|
|
}
|
|
|
m_bInit = TRUE; //是否打开成功
|
|
|
gLogMgr->WriteDebugLog("Fuc---->OpenCard 1245L Success");
|
|
|
return true;
|
|
|
}
|
|
|
//使用运动控制卡的时候有些功能不能使用
|
|
|
bool MotionCard_PCI1245::CheckFucCanUsed()
|
|
|
{
|
|
|
if(m_bUsed)
|
|
|
{
|
|
|
CMsgBox MsgBox;
|
|
|
MsgBox.Show(_T("使用运动控制卡时不能使用"));
|
|
|
return false;
|
|
|
}
|
|
|
return true;
|
|
|
}
|
|
|
//读取运动控制卡的参数文件.cfg
|
|
|
void MotionCard_PCI1245::LoadConfigFile()
|
|
|
{
|
|
|
CString strTemp;
|
|
|
CFileMgr FileMgr;
|
|
|
FileMgr.GetFullFilePath(strTemp,CFG_FILE_PATH);//获取完整路径
|
|
|
|
|
|
//Set all configurations for the device according to the loaded file
|
|
|
U32 Result;
|
|
|
Result=Acm_DevLoadConfig(m_Devhand,strTemp.GetBuffer(strTemp.GetLength()));
|
|
|
if(Result != SUCCESS)
|
|
|
{
|
|
|
strTemp.Format("Load Config Failed With Error Code: %x",Result);
|
|
|
gLogMgr->WriteDebugLog(strTemp);
|
|
|
return;
|
|
|
}
|
|
|
gLogMgr->WriteDebugLog("Fuc---->LoadConfigFile 1245 Success");
|
|
|
}
|
|
|
#endif
|
|
|
#if 1//组运动
|
|
|
//添加轴到组
|
|
|
bool MotionCard_PCI1245::AddAsixToGroup(HAND &GpHand,UINT index)
|
|
|
{
|
|
|
U32 Result;
|
|
|
CString strTemp;
|
|
|
Result = Acm_GpAddAxis(&GpHand,m_Axishand[index]);
|
|
|
if (Result!=SUCCESS)
|
|
|
{
|
|
|
strTemp.Format("Add Axis To Group Failed With Error Code: %x",Result);
|
|
|
gLogMgr->WriteDebugLog(strTemp);
|
|
|
return false;
|
|
|
}
|
|
|
CString LogStr;
|
|
|
LogStr.Format(_T("AddAsixToGroup [Asix index] = [%d]"),index);
|
|
|
gLogMgr->WriteDebugLog(LogStr);
|
|
|
return true;
|
|
|
}
|
|
|
//设置当前的组编号
|
|
|
void MotionCard_PCI1245::SetCurGpIdx(int idx)
|
|
|
{
|
|
|
CString LogStr;
|
|
|
LogStr.Format(_T("SetCurGpIdx [index] = [%d]"),idx);
|
|
|
gLogMgr->WriteDebugLog(LogStr);
|
|
|
|
|
|
m_CurGpIdx = idx;
|
|
|
|
|
|
gPlatformXY->SetCoord(GetPlatformXYCoord());
|
|
|
}
|
|
|
void MotionCard_PCI1245::ResetAllAsixCoord()
|
|
|
{
|
|
|
gLogMgr->WriteDebugLog("ResetAllAsixCoord");
|
|
|
Acm_AxSetCmdPosition(m_Axishand[m_MotorXAsixIdx],0);
|
|
|
Acm_AxSetCmdPosition(m_Axishand[m_MotorX2AsixIdx],0);
|
|
|
Acm_AxSetCmdPosition(m_Axishand[m_MotorYAsixIdx],0);
|
|
|
Acm_AxSetCmdPosition(m_Axishand[m_MotorZAsixIdx],0);
|
|
|
//同时设置光栅尺的坐标
|
|
|
Acm_AxSetActualPosition(m_Axishand[m_MotorXAsixIdx],0);
|
|
|
Acm_AxSetActualPosition(m_Axishand[m_MotorX2AsixIdx],0);
|
|
|
Acm_AxSetActualPosition(m_Axishand[m_MotorYAsixIdx],0);
|
|
|
//通知观察者平台坐标变化了
|
|
|
gPlatformXY->NotifyObservers();
|
|
|
}
|
|
|
//从运动控制卡读取平台当前的坐标
|
|
|
Dbxy MotionCard_PCI1245::GetPlatformXYCoord()
|
|
|
{
|
|
|
if (gLogMgr->IsDebuging())
|
|
|
{
|
|
|
return gLogMgr->LastTargetCoord;
|
|
|
}
|
|
|
Dbxy Coord;
|
|
|
Dbxy OnePulseDis = gPlatformXY->GetMotorXYOnePulseDis();
|
|
|
//获取控制卡返回的脉冲位置
|
|
|
int MotorXAsixIdx = (m_CurGpIdx==0)?m_MotorXAsixIdx:m_MotorX2AsixIdx;
|
|
|
Acm_AxGetCmdPosition(m_Axishand[MotorXAsixIdx],&Coord.x);
|
|
|
Acm_AxGetCmdPosition(m_Axishand[m_MotorYAsixIdx],&Coord.y);
|
|
|
|
|
|
//换算为mm 单位
|
|
|
Coord.x *= OnePulseDis.x;
|
|
|
Coord.y *= OnePulseDis.y;
|
|
|
|
|
|
CString LogStr;
|
|
|
LogStr.Format(_T("[XYCoord.x] = [%f] [XYCoord.y] = [%f]"),Coord.x,Coord.y);
|
|
|
gLogMgr->WriteDebugLog(LogStr);
|
|
|
return Coord;
|
|
|
}
|
|
|
//强制设置平台的当前坐标
|
|
|
void MotionCard_PCI1245::SetCoord(Dbxy coord)
|
|
|
{
|
|
|
if(!m_bUsed)
|
|
|
return;
|
|
|
//mm 转换为脉冲坐标
|
|
|
Dbxy OnePulseDis = gPlatformXY->GetMotorXYOnePulseDis();
|
|
|
coord.x= coord.x/OnePulseDis.x;
|
|
|
coord.y = coord.y/OnePulseDis.y;
|
|
|
|
|
|
int MotorXAsixIdx = (m_CurGpIdx==0)?m_MotorXAsixIdx:m_MotorX2AsixIdx;
|
|
|
|
|
|
Acm_AxSetCmdPosition(m_Axishand[MotorXAsixIdx],coord.x);
|
|
|
Acm_AxSetCmdPosition(m_Axishand[m_MotorYAsixIdx],coord.y);
|
|
|
gLogMgr->WriteDebugLog("Fuc---->SetCoord 1245L Success");
|
|
|
}
|
|
|
//mm 转换为脉冲单位脉冲
|
|
|
Dbxy MotionCard_PCI1245::MM2PulseCoord(Dbxy Coord)
|
|
|
{
|
|
|
Dbxy OnePulseDis = gPlatformXY->GetMotorXYOnePulseDis();
|
|
|
Dbxy PulseCoord;
|
|
|
PulseCoord.x = Coord.x/OnePulseDis.x;
|
|
|
PulseCoord.y = Coord.y/OnePulseDis.y;
|
|
|
|
|
|
return PulseCoord;
|
|
|
}
|
|
|
//等待平台移动停止
|
|
|
void MotionCard_PCI1245::WaitPlatfromStop()
|
|
|
{
|
|
|
//等待直到移动完成----------------------
|
|
|
int TotalTimes = 0;
|
|
|
while(1)
|
|
|
{
|
|
|
if(TotalTimes++>100000)//防止死循环
|
|
|
{
|
|
|
break;
|
|
|
}
|
|
|
Sleep(m_CheckDelay);
|
|
|
//Get the Group's current state
|
|
|
U16 GpState;
|
|
|
Acm_GpGetState(m_GpHand, &GpState);
|
|
|
if(GpState != 4)//STA_GP_MOTION 表示运行状态
|
|
|
{
|
|
|
break;
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
//直线插补移动平台XY ---------------------------------------------------
|
|
|
Dbxy MotionCard_PCI1245::MovePlatformXY(Dbxy Coord)
|
|
|
{
|
|
|
//单轴移动
|
|
|
{
|
|
|
Dbxy CurCoord = gPlatformXY->GetCoord();
|
|
|
CString MotorStr = (m_CurGpIdx==0)?(MOTOR_X):(MOTOR_X2);
|
|
|
CMotor &MotorX = *(CMotor::GetMotor(MotorStr));
|
|
|
CMotor &MotorY = *(CMotor::GetMotor(MOTOR_Y));
|
|
|
double eps = 0.005;//需要移动时才调用,否则容易卡死
|
|
|
if(!IsTwoDbEqual(Coord.y,CurCoord.y,eps))
|
|
|
{
|
|
|
MoveMotor(MotorY,Coord.y);
|
|
|
}
|
|
|
if(!IsTwoDbEqual(Coord.x,CurCoord.x,eps))
|
|
|
{
|
|
|
MoveMotor(MotorX,Coord.x);
|
|
|
}
|
|
|
}
|
|
|
gLogMgr->WriteDebugLog("Fuc---->MovePlatformXY 1245L");
|
|
|
CString strTemp;
|
|
|
strTemp.Format("***[Move To]===>Coord x : %f,Coord y : %f", Coord.x,Coord.y);
|
|
|
if (gLogMgr->IsDebuging())
|
|
|
{
|
|
|
gLogMgr->LastTargetCoord = Coord;
|
|
|
}
|
|
|
gLogMgr->WriteDebugLog(strTemp);
|
|
|
//从运动控制卡读取平台当前的坐标---------------
|
|
|
return GetPlatformXYCoord();
|
|
|
}
|
|
|
//设置平台直线插补的运动速度(bWorkSpeed 是否为工作速度)
|
|
|
void MotionCard_PCI1245::SetPlatformSpeed(bool bWorkSpeed)
|
|
|
{
|
|
|
|
|
|
}
|
|
|
//mm 单位转换为脉冲单位
|
|
|
PCI1245_SpeedParam MotionCard_PCI1245::MM2PulseParam(PCI1245_SpeedParam &SpeedParam,double OnePulseDis)
|
|
|
{
|
|
|
PCI1245_SpeedParam Param;
|
|
|
Param.m_Acc = SpeedParam.m_Acc/OnePulseDis;//加速度(mm/s2)
|
|
|
Param.m_Dec = SpeedParam.m_Dec/OnePulseDis;//减速度(mm/s2)
|
|
|
Param.m_VelLow = SpeedParam.m_VelLow/OnePulseDis;//最低速度(mm/s)
|
|
|
Param.m_VelHigh = SpeedParam.m_VelHigh/OnePulseDis;//最高速度(mm/s)
|
|
|
return Param;
|
|
|
}
|
|
|
void MotionCard_PCI1245::SetPlatformSpeedExt(PCI1245_SpeedParam GpParam)
|
|
|
{
|
|
|
U32 Result;
|
|
|
double GpVelLow;
|
|
|
double GpVelHigh;
|
|
|
double GpAcc;
|
|
|
double GpDec;
|
|
|
double GpJerk;
|
|
|
CString strTemp;
|
|
|
|
|
|
HAND GpHand = m_GpHand;
|
|
|
|
|
|
GpVelLow = GpParam.m_VelLow;
|
|
|
Result = Acm_SetF64Property(GpHand,PAR_GpVelLow,GpVelLow);
|
|
|
if(Result != SUCCESS)
|
|
|
{
|
|
|
strTemp.Format("Set PAR_GpVelLow Property Failed With Error Code: %x",Result);
|
|
|
gLogMgr->WriteDebugLog(strTemp);
|
|
|
return;
|
|
|
}
|
|
|
GpVelHigh = GpParam.m_VelHigh;
|
|
|
Result = Acm_SetF64Property(GpHand,PAR_GpVelHigh,GpVelHigh);
|
|
|
if(Result != SUCCESS)
|
|
|
{
|
|
|
strTemp.Format("Set PAR_GpVelHigh Property Failed With Error Code: %x",Result);
|
|
|
gLogMgr->WriteDebugLog(strTemp);
|
|
|
return;
|
|
|
}
|
|
|
GpAcc = GpParam.m_Acc;
|
|
|
Result = Acm_SetF64Property(GpHand,PAR_GpAcc,GpAcc);
|
|
|
if(Result != SUCCESS)
|
|
|
{
|
|
|
strTemp.Format("Set PAR_GpAcc Property Failed With Error Code: %x",Result);
|
|
|
gLogMgr->WriteDebugLog(strTemp);
|
|
|
return;
|
|
|
}
|
|
|
GpDec = GpParam.m_Dec;
|
|
|
Result = Acm_SetF64Property(GpHand,PAR_GpDec,GpDec);
|
|
|
if(Result != SUCCESS)
|
|
|
{
|
|
|
strTemp.Format("Set PAR_GpDec Property Failed With Error Code: %x",Result);
|
|
|
gLogMgr->WriteDebugLog(strTemp);
|
|
|
return;
|
|
|
}
|
|
|
GpJerk = 0;//加速方式
|
|
|
Result = Acm_SetF64Property(GpHand,PAR_GpJerk,GpJerk);
|
|
|
if(Result != SUCCESS)
|
|
|
{
|
|
|
strTemp.Format("Set PAR_GpJerk Property Failed With Error Code: %x",Result);
|
|
|
gLogMgr->WriteDebugLog(strTemp);
|
|
|
return;
|
|
|
}
|
|
|
}
|
|
|
#endif
|
|
|
#if 1//单轴控制
|
|
|
//电机找原点
|
|
|
bool MotionCard_PCI1245::FindOrigin(CMotor &Motor)
|
|
|
{
|
|
|
bool ret;
|
|
|
if(m_XYFindOriginByLimit)
|
|
|
{
|
|
|
if(Motor.Name() == MOTOR_Z)//Z 轴原点还是找
|
|
|
ret = FindOriginExt(Motor);
|
|
|
else//XY轴使用找极限的方式
|
|
|
ret = FindOriginByLimit(Motor);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
ret = FindOriginExt(Motor);
|
|
|
}
|
|
|
return ret;
|
|
|
}
|
|
|
//找原点开关的方式
|
|
|
bool MotionCard_PCI1245::FindOriginExt(CMotor &Motor)
|
|
|
{
|
|
|
int AsixIdx = Motor.GetAsixIdx();//轴的编号
|
|
|
if(!CheckRange(AsixIdx,0,MAX_ASIX_IDX))
|
|
|
return false;
|
|
|
|
|
|
//设置轴的坐标为0
|
|
|
Acm_AxSetCmdPosition(m_Axishand[AsixIdx],0);
|
|
|
|
|
|
U32 HomeMode = m_HomeMode%16;
|
|
|
//U32 HomeMode = 6;//找原点的模式(如果在原点上,先反向移出原点再找)
|
|
|
U32 DirMode = (Motor.GetFindOriginDir())?1:0;//找原点方向
|
|
|
Acm_AxHome(m_Axishand[AsixIdx],HomeMode,DirMode);
|
|
|
//等待找原点完成
|
|
|
int TotalTimes = 0;
|
|
|
while(1)
|
|
|
{
|
|
|
TotalTimes++;
|
|
|
if((TotalTimes*m_CheckDelay)>30000)//防止死循环
|
|
|
{
|
|
|
CString str;
|
|
|
str.Format("轴%d寻找原点超时.", AsixIdx);
|
|
|
AfxMessageBox(str);
|
|
|
return false;
|
|
|
}
|
|
|
Sleep(m_CheckDelay);
|
|
|
//Get the Group's current state
|
|
|
U16 GpState;
|
|
|
Acm_AxGetState(m_Axishand[AsixIdx],&GpState);
|
|
|
if(GpState== STA_AX_HOMING)//STA_AxReady，轴已准备就绪，等待新的命令
|
|
|
{
|
|
|
break;
|
|
|
}
|
|
|
}
|
|
|
Sleep(100); //Sleep(1000);
|
|
|
CString LogStr;
|
|
|
|
|
|
//设置轴的初始坐标为0
|
|
|
Acm_AxSetCmdPosition(m_Axishand[AsixIdx],0);
|
|
|
|
|
|
LogStr.Format("Fuc---->FindOrigin Success[Asix Idx]: %d",AsixIdx);
|
|
|
gLogMgr->WriteDebugLog(LogStr);
|
|
|
return true;
|
|
|
}
|
|
|
|
|
|
//通过找极限的方式来找原点
|
|
|
bool MotionCard_PCI1245::FindOriginByLimit(CMotor &Motor)
|
|
|
{
|
|
|
int AsixIdx = Motor.GetAsixIdx();//轴的编号
|
|
|
if(!CheckRange(AsixIdx,0,MAX_ASIX_IDX))
|
|
|
return false;
|
|
|
|
|
|
//设置轴的坐标为0
|
|
|
Acm_AxSetCmdPosition(m_Axishand[AsixIdx],0);
|
|
|
//移动电机足够大距离(直到碰到极限)
|
|
|
double ReverseMoveDis = Motor.GetReverseMoveDis();
|
|
|
if(Motor.GetFindOriginDir()==false)
|
|
|
ReverseMoveDis *=(-1);
|
|
|
MoveMotor(Motor,ReverseMoveDis);
|
|
|
CString LogStr;
|
|
|
LogStr.Format("Fuc---->FindOriginByLimit [Asix Idx]: %d",AsixIdx);
|
|
|
gLogMgr->WriteDebugLog(LogStr);
|
|
|
|
|
|
//设置轴的初始坐标为0
|
|
|
//Acm_AxSetCmdPosition(m_Axishand[AsixIdx],0);
|
|
|
return true;
|
|
|
}
|
|
|
|
|
|
|
|
|
//重置所有轴的错误状态
|
|
|
void MotionCard_PCI1245::ResetAllAsixErr()
|
|
|
{
|
|
|
CString LogStr;
|
|
|
LogStr.Format("Fuc---->ResetAllAsixErr");
|
|
|
gLogMgr->WriteDebugLog(LogStr);
|
|
|
for(int k=0;k<=MAX_ASIX_IDX;k++)
|
|
|
{
|
|
|
Acm_AxResetError(m_Axishand[k]);
|
|
|
}
|
|
|
}
|
|
|
//移动到原点偏移位置
|
|
|
bool MotionCard_PCI1245::MoveToOriginOffset(CMotor &Motor)
|
|
|
{
|
|
|
int AsixIdx = Motor.GetAsixIdx();//轴的编号
|
|
|
if(!CheckRange(AsixIdx,0,MAX_ASIX_IDX))
|
|
|
return false;
|
|
|
|
|
|
double OffsetDis = Motor.GetOriginOffsetDis();//反向移动距离
|
|
|
bool bFindOriginDir = Motor.GetFindOriginDir();//找原点的方向
|
|
|
OffsetDis *= bFindOriginDir?(1):(-1);
|
|
|
MoveMotor(Motor,OffsetDis);
|
|
|
|
|
|
//设置轴的坐标为0
|
|
|
Acm_AxSetCmdPosition(m_Axishand[AsixIdx],0);
|
|
|
Motor.SetCoord(0);
|
|
|
CString LogStr;
|
|
|
LogStr.Format("Fuc---->MoveToOriginOffset Success[Asix Idx]: %d",AsixIdx);
|
|
|
gLogMgr->WriteDebugLog(LogStr);
|
|
|
return true;
|
|
|
}
|
|
|
//单轴移动电机到坐标Coord(绝对移动方式)
|
|
|
bool MotionCard_PCI1245::MoveMotor(CMotor &Motor,double &Coord)
|
|
|
{
|
|
|
int AsixIdx = Motor.GetAsixIdx();//轴的编号
|
|
|
if(!CheckRange(AsixIdx,0,MAX_ASIX_IDX))
|
|
|
return false;
|
|
|
|
|
|
U32 Result;
|
|
|
CString strString;
|
|
|
//转换为脉冲坐标----------------------------------
|
|
|
if(Motor.IsbReverseDir())
|
|
|
Coord *= -1;
|
|
|
|
|
|
F64 Position = Coord/Motor.GetOnePulseDis();
|
|
|
strString.Format("Move Coord: %f",Coord);
|
|
|
gLogMgr->WriteDebugLog(strString);
|
|
|
strString.Format("Move Position: %d",(int)Position);
|
|
|
gLogMgr->WriteDebugLog(strString);
|
|
|
Result=Acm_AxMoveAbs(m_Axishand[AsixIdx],Position);
|
|
|
if(Result != SUCCESS)
|
|
|
{
|
|
|
strString.Format("Move Failed With Error Code: %x",Result);
|
|
|
gLogMgr->WriteDebugLog(strString);
|
|
|
return false;
|
|
|
}
|
|
|
return true;
|
|
|
}
|
|
|
PCI1245_SpeedParam MotionCard_PCI1245::GetMotorSpeed(CMotor &Motor,ESpeedType SpeedType)
|
|
|
{
|
|
|
PCI1245_SpeedParam MotorSpeedParam;
|
|
|
if(Motor.Name() == MOTOR_X || Motor.Name() == MOTOR_X2)
|
|
|
{
|
|
|
if(SpeedType==_SpeedType_Org)
|
|
|
MotorSpeedParam = m_OrgSpeedMotorXY;
|
|
|
else if(SpeedType==_SpeedType_Move)
|
|
|
MotorSpeedParam = m_MoveSpeedMotorX;
|
|
|
else if(SpeedType==_SpeedType_Work)
|
|
|
MotorSpeedParam = m_WorkSpeedMotorX;
|
|
|
}
|
|
|
else if(Motor.Name() == MOTOR_Y)
|
|
|
{
|
|
|
if(SpeedType==_SpeedType_Org)
|
|
|
MotorSpeedParam = m_OrgSpeedMotorXY;
|
|
|
else if(SpeedType==_SpeedType_Move)
|
|
|
MotorSpeedParam = m_MoveSpeedMotorY;
|
|
|
else if(SpeedType==_SpeedType_Work)
|
|
|
MotorSpeedParam = m_WorkSpeedMotorY;
|
|
|
}
|
|
|
else if(Motor.Name() == MOTOR_Z)
|
|
|
{
|
|
|
if(SpeedType==_SpeedType_Org)
|
|
|
MotorSpeedParam = m_OrgSpeedMotorZ;
|
|
|
else if(SpeedType==_SpeedType_Move)
|
|
|
MotorSpeedParam = m_MoveSpeedMotorZ;
|
|
|
}
|
|
|
|
|
|
//转换为脉冲单位
|
|
|
double OnePulseDis = Motor.GetOnePulseDis();
|
|
|
PCI1245_SpeedParam SpeedParam = MM2PulseParam(MotorSpeedParam,OnePulseDis);
|
|
|
|
|
|
return SpeedParam;
|
|
|
}
|
|
|
//设置单轴的空移速度
|
|
|
void MotionCard_PCI1245::SetMotorSpeed(CMotor &Motor,ESpeedType SpeedType)
|
|
|
{
|
|
|
int AsixIdx = Motor.GetAsixIdx();//轴的编号
|
|
|
if(!CheckRange(AsixIdx,0,MAX_ASIX_IDX))
|
|
|
return ;
|
|
|
|
|
|
PCI1245_SpeedParam SpeedParam = GetMotorSpeed(Motor,SpeedType);
|
|
|
|
|
|
U32 Result;
|
|
|
double AxVelLow;
|
|
|
double AxVelHigh;
|
|
|
double AxAcc;
|
|
|
double AxDec;
|
|
|
double AxJerk;
|
|
|
CString strString;
|
|
|
AxVelLow = SpeedParam.m_VelLow;
|
|
|
AxVelHigh = SpeedParam.m_VelHigh;
|
|
|
AxAcc = SpeedParam.m_Acc;
|
|
|
AxDec = SpeedParam.m_Dec;
|
|
|
|
|
|
Result = Acm_SetF64Property(m_Axishand[AsixIdx],PAR_AxVelLow,AxVelLow);
|
|
|
if (Result != SUCCESS)
|
|
|
{
|
|
|
strString.Format("Set low velocity failed with error code: %x",Result);
|
|
|
gLogMgr->WriteDebugLog(strString);
|
|
|
return;
|
|
|
}
|
|
|
Result = Acm_SetF64Property(m_Axishand[AsixIdx],PAR_AxVelHigh,AxVelHigh);
|
|
|
if (Result != SUCCESS)
|
|
|
{
|
|
|
strString.Format("Set high velocity failed with error code: %x",Result);
|
|
|
gLogMgr->WriteDebugLog(strString);
|
|
|
return;
|
|
|
}
|
|
|
Result = Acm_SetF64Property(m_Axishand[AsixIdx],PAR_AxAcc,AxAcc);
|
|
|
if (Result != SUCCESS)
|
|
|
{
|
|
|
strString.Format("Set acceleration failed with error code: %x",Result);
|
|
|
gLogMgr->WriteDebugLog(strString);
|
|
|
return;
|
|
|
}
|
|
|
Result = Acm_SetF64Property(m_Axishand[AsixIdx],PAR_AxDec,AxDec);
|
|
|
if (Result != SUCCESS)
|
|
|
{
|
|
|
strString.Format("Set deceleration failed with error code: %x",Result);
|
|
|
gLogMgr->WriteDebugLog(strString);
|
|
|
return;
|
|
|
}
|
|
|
AxJerk = 0;
|
|
|
Result = Acm_SetF64Property(m_Axishand[AsixIdx],PAR_AxJerk,AxJerk);
|
|
|
if(Result != SUCCESS)
|
|
|
{
|
|
|
strString.Format("Set the type of velocity profile failed with error code: %x",Result);
|
|
|
gLogMgr->WriteDebugLog(strString);
|
|
|
return;
|
|
|
}
|
|
|
}
|
|
|
//检查轴的状态
|
|
|
void MotionCard_PCI1245::CheckAsixState()
|
|
|
{
|
|
|
while(1)
|
|
|
{
|
|
|
Sleep(m_CheckDelay);
|
|
|
|
|
|
m_bMotorXMoveStop = CheckAsixStateExt(m_Axishand[m_MotorXAsixIdx]);
|
|
|
m_bMotorX2MoveStop = CheckAsixStateExt(m_Axishand[m_MotorX2AsixIdx]);
|
|
|
m_bMotorYMoveStop = CheckAsixStateExt(m_Axishand[m_MotorYAsixIdx]);
|
|
|
m_bMotorZMoveStop = CheckAsixStateExt(m_Axishand[m_MotorZAsixIdx]);
|
|
|
}
|
|
|
}
|
|
|
bool MotionCard_PCI1245::CheckAsixStateExt(HAND AxisHandle)
|
|
|
{
|
|
|
U16 GpState;
|
|
|
Acm_AxGetState(AxisHandle,&GpState);
|
|
|
//STA_AX_PTP_MOT 表示运行状态
|
|
|
if (GpState != STA_AX_HOMING && GpState != STA_AX_PTP_MOT)
|
|
|
{
|
|
|
return true;
|
|
|
}
|
|
|
return false;
|
|
|
}
|
|
|
//读取轴AsixIdx 的Port 端口的状态(返回-1:错误,0:关,1:开)
|
|
|
int MotionCard_PCI1245::ReadIOState(CPci1245IOPort IOPort)
|
|
|
{
|
|
|
int AsixIdx = IOPort.m_AsixNum;
|
|
|
int Port = IOPort.m_PortNum;
|
|
|
|
|
|
if(Port<0 || Port>7)
|
|
|
return -1;
|
|
|
if(!CheckRange(AsixIdx,0,MAX_ASIX_IDX))
|
|
|
return -1;
|
|
|
|
|
|
U32 Ret; // 函数返回值
|
|
|
U8 bitData;
|
|
|
Ret = Acm_AxDiGetBit(m_Axishand[AsixIdx],Port,&bitData);
|
|
|
if(Ret != SUCCESS)
|
|
|
{
|
|
|
CString strTemp;
|
|
|
strTemp.Format("ReadIOState Failed With Error Code: %x",Ret);
|
|
|
gLogMgr->WriteDebugLog(strTemp);
|
|
|
return -1;
|
|
|
}
|
|
|
if(IOPort.m_bRev)
|
|
|
{
|
|
|
if(bitData==0)
|
|
|
bitData = 1;
|
|
|
else
|
|
|
bitData = 0;
|
|
|
}
|
|
|
return bitData;//bitData 的值为0 或1
|
|
|
}
|
|
|
//检查下料机状态(false 表示在轨道内,不安全)
|
|
|
bool MotionCard_PCI1245::CheckUnloadState()
|
|
|
{
|
|
|
int Ret = ReadIOState(m_InPortUnload);
|
|
|
if(Ret == 1)
|
|
|
return false;
|
|
|
return true;
|
|
|
}
|
|
|
#endif
|
|
|
|
|
|
#if 1
|
|
|
//从运动控制卡读取轴前的坐标
|
|
|
double MotionCard_PCI1245::GetMotorCoord(CMotor &Motor)
|
|
|
{
|
|
|
int AsixIdx = Motor.GetAsixIdx();//轴的编号
|
|
|
if(!CheckRange(AsixIdx,0,MAX_ASIX_IDX))
|
|
|
return -1;
|
|
|
|
|
|
double Coord;
|
|
|
double OnePulseDis = Motor.GetOnePulseDis();
|
|
|
//获取控制卡返回的脉冲位置
|
|
|
Acm_AxGetCmdPosition(m_Axishand[AsixIdx],&Coord);
|
|
|
//换算为mm 单位
|
|
|
Coord *= OnePulseDis;
|
|
|
return Coord;
|
|
|
}
|
|
|
//获取电机的实际位置(光栅尺反馈值)
|
|
|
double MotionCard_PCI1245::GetMotorActCoord(CMotor &Motor)
|
|
|
{
|
|
|
int AsixIdx = Motor.GetAsixIdx();//轴的编号
|
|
|
if(!CheckRange(AsixIdx,0,MAX_ASIX_IDX))
|
|
|
return -1;
|
|
|
double Coord;
|
|
|
//获取控制卡返回的脉冲位置
|
|
|
Acm_AxGetActualPosition(m_Axishand[AsixIdx],&Coord);
|
|
|
return Coord;
|
|
|
}
|
|
|
//检查电机的命令坐标和光栅尺坐标是否一致
|
|
|
bool MotionCard_PCI1245::CheckMotorActCoord(CMotor &Motor)
|
|
|
{
|
|
|
if(!m_bCheckActCoord)
|
|
|
return true;
|
|
|
int AsixIdx = Motor.GetAsixIdx();//轴的编号
|
|
|
if(!CheckRange(AsixIdx,0,MAX_ASIX_IDX))
|
|
|
return false;
|
|
|
|
|
|
double CmdCoord;//命令坐标
|
|
|
Acm_AxGetCmdPosition(m_Axishand[AsixIdx],&CmdCoord);
|
|
|
double ActualCoord;//光栅尺坐标
|
|
|
|
|
|
//获取控制卡返回的脉冲位置
|
|
|
Acm_AxGetActualPosition(m_Axishand[AsixIdx],&ActualCoord);
|
|
|
if(Motor.IsbRevActCoordDir())
|
|
|
ActualCoord *=(-1);
|
|
|
|
|
|
double ActPluseErrCnt = abs(CmdCoord)-abs(ActualCoord);
|
|
|
if(fabs(ActPluseErrCnt)>m_MaxActCoordErr)
|
|
|
{
|
|
|
return false;
|
|
|
}
|
|
|
return true;
|
|
|
}
|
|
|
#endif
|
