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#include "CGugaoDriver.h"
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#include <windows.h>
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#include "gts.h"
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#include "gtgl500.h"
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#include <thread>
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CGugaoDriver::CGugaoDriver()
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{
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}
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CGugaoDriver::~CGugaoDriver()
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{
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}
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bool CGugaoDriver::OpenCard(std::vector<int>& axisIdVec)
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{
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short status = -1;
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short sRtn = -1;
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sRtn = GTN_Open(CHANNEL_PCIE, 1); // 打开运动控制器，第一个参数：打开运动控制器方式，第二个参数默认1，暂无意义
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if (sRtn)
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{
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Logger::GetInstance()->WriteLog(0, "GTN_Open is error");
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return false;
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}
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sRtn = GTN_Reset(CORE_NUM); //复位核1,参数：内核编号
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if (sRtn)
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{
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Logger::GetInstance()->WriteLog(0, "GTN_Reset is error");
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return false;
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}
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//初始化总线
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sRtn = GTN_TerminateEcatComm(CORE_NUM); //结束EtherCAT通讯。
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if (sRtn)
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{
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Logger::GetInstance()->WriteLog(0, "GTN_TerminateEcatComm is error");
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return false;
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}
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sRtn = GTN_InitEcatComm(CORE_NUM); //EtherCAT初始化。
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if (sRtn)
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{
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Logger::GetInstance()->WriteLog(0, "GTN_InitEcatComm is error");
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return false;
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}
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short sCnt = 0;
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do
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{
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sRtn = GTN_IsEcatReady(1, &status); //查询EtherCAT通讯状态。 0：通讯未完全建立；1：通讯完全建立。
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Sleep(500);
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sCnt++;
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} while ((status != 1 || sRtn != 0) && (sCnt < 20)); //通讯在0.5s*20仍未准备好
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sRtn = GTN_StartEcatComm(CORE_NUM); //启动EtherCAT通讯。成功调用这条指令后，才可以调用其他运动指令。
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if (sRtn)
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{
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Logger::GetInstance()->WriteLog(0, "GTN_StartEcatComm is error");
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return false;
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}
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// 配置运动控制器
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char szFilePath[MAX_PATH + 1] = { 0 };
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GetModuleFileNameA(NULL, szFilePath, MAX_PATH);
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(strrchr(szFilePath, '\\'))[1] = 0; //删除文件名，只获得路径
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sprintf(szFilePath, "%sgtn_core1.cfg", szFilePath);
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//下载配置信息到运动控制器,调用该指令后需再调用GTN_ClrSts才能使该指令生
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sRtn = GTN_LoadConfig(CORE_NUM, szFilePath); //第一个参数：内核，第二个参数：文件路径
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if (sRtn)
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{
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Logger::GetInstance()->WriteLog(0, "GTN_LoadConfig error");
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return false;
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}
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for (auto& iter : axisIdVec)
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{
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//第一个参数：内核编号，第二个参数：轴编号，第三个参数：默认为1，暂无实际意义
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sRtn = GTN_ClrSts(CORE_NUM, iter, 10); //清除驱动器报警标志、跟随误差越限标志、限位触发标志。
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if (sRtn)
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{
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Logger::GetInstance()->WriteLog(0, "GTN_ClrSts is error");
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return false;
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}
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}
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for (auto& iter : axisIdVec)
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{
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//第一个参数：内核编号，第二个参数：轴编号，第三个参数：默认为1
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sRtn = GTN_ZeroPos(CORE_NUM, iter, 1); //清零规划位置和实际位置，并进行零漂补偿。
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}
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//驱动器使能
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for (auto& iter : axisIdVec)
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{
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sRtn = GTN_AxisOn(CORE_NUM, iter); //打开驱动器使能, 第一个参数：内核编号，第二个参数：轴编号
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if (sRtn)
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{
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Logger::GetInstance()->WriteLog(0, "GTN_AxisOn is error");
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return false;
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}
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Sleep(50);
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}
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sRtn = GT_GLinkInit(0); //扩展模块初始化,第一个参数，目前默认为0
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if (sRtn)
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{
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Logger::GetInstance()->WriteLog(0, "GT_GLinkInit is error");
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return false;
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}
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m_open = true;
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return true;
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}
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bool CGugaoDriver::CloseCard(std::vector<int>& axisIdVec)
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{
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//驱动器使能
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short sRet;
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for (auto& iter : axisIdVec)
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{
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sRet = GTN_AxisOff(CORE_NUM, iter); //关闭驱动器使能。第一个参数：内核，第二个参数：轴号
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if (sRet)
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{
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Logger::GetInstance()->WriteLog(0, "GTN_AxisOff is error");
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return false;
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}
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Sleep(50);
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}
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sRet = GTN_Close(); //关闭运动控制器
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if (sRet)
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{
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Logger::GetInstance()->WriteLog(0, "GTN_Close is error");
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return false;
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}
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m_open = false;
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return true;
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}
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int CGugaoDriver::AbsMove(int iAxisId,
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int pulseTo1mm,
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double dPos,
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double dAcc,
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double dDec,
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double dMoveSpeed,
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bool bWaitFinished)
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{
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if (!m_open)
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return 1;
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//执行安全回调
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if (m_onAxisMoveSafeFunc != nullptr)
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{
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if (!m_onAxisMoveSafeFunc(iAxisId, dPos))
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{
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return 1;
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}
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}
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//换算成脉冲
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double targetPulse = pulseTo1mm * dPos;
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unsigned short uirvMode;
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//读取 EtheCAT 轴的操作模式,第一个参数：内核，第二个参数轴号，第三个参数私服操作模式
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short sRet = GTN_GetEcatAxisMode(CORE_NUM, iAxisId, &uirvMode);
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if (!sRet && uirvMode != CYCLIC_SYNC_POSITION)
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{
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//设置轴的操作模式
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sRet = GTN_SetEcatAxisMode(CORE_NUM, iAxisId, CYCLIC_SYNC_POSITION);
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}
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long lAxisStatus;
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sRet = GTN_GetSts(CORE_NUM, iAxisId, &lAxisStatus); //获取轴的状态
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if (sRet)
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{
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Logger::GetInstance()->WriteLog(0, "AbsMotion中的GTN_GetSts失败");
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return false;
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}
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if (!(lAxisStatus & (1 << 9)))//第9位为1时，电机使能
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{
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Logger::GetInstance()->WriteLog(0, "轴未使能");
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return false;
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}
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if (lAxisStatus & (1 << 10))//检查轴是否正在运动
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{
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Logger::GetInstance()->WriteLog(0, "轴正在运动");
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return false;
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}
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sRet = GTN_PrfTrap(CORE_NUM, iAxisId); //切换为点位运动
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if (sRet)
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Logger::GetInstance()->WriteLog(0, "function: Home -> GTN_SetHomingMode is error");
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// 读取点位运动参数
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TTrapPrm trap;
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sRet = GTN_GetTrapPrm(CORE_NUM, iAxisId, &trap);
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if (sRet)
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{
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Logger::GetInstance()->WriteLog(0, "SetPointMotionParam中的GTN_GetTrapPrm失败");
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return false;
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}
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trap.acc = dAcc;
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trap.dec = dDec;
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trap.velStart = dMoveSpeed;
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trap.smoothTime = 50;
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sRet = GTN_SetTrapPrm(CORE_NUM, iAxisId, &trap); // 设置点位运动参数
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if (sRet)
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{
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Logger::GetInstance()->WriteLog(0, "GTN_SetTrapPrm is error");
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return 1;
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}
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sRet = GTN_SetVel(CORE_NUM, iAxisId, dMoveSpeed); //设置目标速度
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if (sRet)
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{
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Logger::GetInstance()->WriteLog(0, "GTN_SetVel is error");
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return 1;
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}
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// 设置AXIS轴的目标位置
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sRet = GTN_SetPos(CORE_NUM, (short)iAxisId, (long)targetPulse);
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Sleep(100);
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if (sRet)
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{
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Logger::GetInstance()->WriteLog(0, "GTN_SetPos is error");
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return 1;
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}
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// 启动AXIS轴的运动当 bit 位为 1 时表示启动对应的轴。
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short sRtn = GTN_Update(CORE_NUM, 1 << (iAxisId - 1));
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Sleep(100);
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if (sRtn)
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{
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Logger::GetInstance()->WriteLog(0, "GTN_Update is error");
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return 1;
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}
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if (bWaitFinished)
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{
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long lAxisSts = 0;
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while (true)
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{
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// 读取AXIS轴的状态
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sRtn = GTN_GetSts(CORE_NUM, iAxisId, &lAxisSts);
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if (sRtn)
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{
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Logger::GetInstance()->WriteLog(0, "GTN_GetSts is error");
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return 1;
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}
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if (lAxisSts & (1 << 1))
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{
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Logger::GetInstance()->WriteLog(0, "Driver alarm flag");
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}
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else if (lAxisSts & (1 << 4))
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{
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Logger::GetInstance()->WriteLog(0, "跟随误差越限标志");
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}
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else if (lAxisSts & (1 << 5))
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{
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Logger::GetInstance()->WriteLog(0, "正限位触发标志");
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}
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else if (lAxisSts & (1 << 6))
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{
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Logger::GetInstance()->WriteLog(0, "负限位触发标志");
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}
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else if (lAxisSts & (1 << 7))
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{
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Logger::GetInstance()->WriteLog(0, "IO平滑停止触发标志");
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}
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else if (lAxisSts & (1 << 8))
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{
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Logger::GetInstance()->WriteLog(0, "IO急停触发标志");
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}
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else if (lAxisSts & (1 << 9))
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{
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Logger::GetInstance()->WriteLog(0, "电机使能标志");
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}
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if (lAxisSts & (1 << 10))
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{
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continue;
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}
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else
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{
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double prefPos;
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// 读取AXIS轴的规划位置
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short sRtn = GTN_GetPrfPos(CORE_NUM, iAxisId, &prefPos);
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if (sRtn)
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{
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Logger::GetInstance()->WriteLog(0, "function:GetCurPos, GTN_GetPrfPos is error");
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return 1;
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}
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long pulsePos = (long)prefPos;
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if (pulsePos == (long)targetPulse) {
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return 0;
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}
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else
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{
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Logger::GetInstance()->WriteLog(0, "GetPos != setPos");
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continue;
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}
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}
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}
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Sleep(25);
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}
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return 0;
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}
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int CGugaoDriver::WriteIO(short sSlaveNo, short sIoIndex, unsigned char ucValue)
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{
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if (m_onSetIoSafeFunc != nullptr)
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{
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if (!m_onSetIoSafeFunc(sIoIndex, ucValue)) {
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return 1;
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}
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}
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//设置数字量输出，sSlaveNo：模块号，sIoIndex：IO号，ucValue：数值
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short rtn = GT_SetGLinkDoBit(sSlaveNo, sIoIndex, ucValue);
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if (rtn != 0) {
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Logger::GetInstance()->WriteLog(0, "function:writeIO, GT_SetGLinkDoBit is error");
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return 1;
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}
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return 0;
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}
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int CGugaoDriver::WriteAO(short sSlaveNo, short sIoIndex, short sValue)
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{
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//设置模拟量，sSlaveNo：模块号，sIoIndex：IO号，ucValue：数值
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short rtn = GT_SetGLinkAo(sSlaveNo, sIoIndex, &sValue, 1);
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if (rtn != 0) {
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Logger::GetInstance()->WriteLog(0, "function:writeAO, GT_SetGLinkAo is error");
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return 1;
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}
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return 0;
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}
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short CGugaoDriver::ReadDo(short sSlaveNo, short sIoIndex)
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{
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//读取模拟量输出数值, sSlaveNo：模块号，sIoIndex：IO号
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short outval = 0;
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short rtn = GT_GetGLinkAo(sSlaveNo, sIoIndex, &outval, 1);
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if (rtn != 0) {
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Logger::GetInstance()->WriteLog(0, "function:ReadDo, GT_GetGLinkAo is error");
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return outval;
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}
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return outval;
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}
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unsigned char CGugaoDriver::ReadDi(short sSlaveNo, short sIoIndex)
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{
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unsigned char bit = 0;
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short sRet = GT_GetGLinkDiBit(sSlaveNo, sIoIndex, &bit);
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if (sRet != 0) {
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Logger::GetInstance()->WriteLog(0, "function:ReadIO, GT_GetGLinkDiBit is error");
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return bit;
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}
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return bit;
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}
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double CGugaoDriver::GetCurPos(int iAxisId, int pulseTo1mm)
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{
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if (!m_open)
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{
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Logger::GetInstance()->WriteLog(0, "function:GetCurPos, device is not open");
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return 0;
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}
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double pos;
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// 读取AXIS轴的规划位置
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short sRtn = GTN_GetPrfPos(CORE_NUM, iAxisId, &pos);
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if (sRtn)
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{
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Logger::GetInstance()->WriteLog(0, "function:GetCurPos, GTN_GetPrfPos is error");
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return 0;
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}
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if (pulseTo1mm > 0)
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{
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pos /= (double)pulseTo1mm;
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}
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return pos;
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}
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void CGugaoDriver::stopMove(int iAxisId)
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{
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}
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int CGugaoDriver::home(int iAxisId, double dSearchSpeed, double iIndexSpeed, double sSearchAcc, short sModule)
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{
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if (!m_open)
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return 1;
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if (m_onAxisPrevHomeFunc != nullptr)
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{
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if (!m_onAxisPrevHomeFunc(iAxisId)) {
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return 1;
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}
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}
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// 必须处于伺服使能状态， 切换到回零模式，数字6代表回零模式
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short sRtn = GTN_SetHomingMode(CORE_NUM, iAxisId, 6);
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if (sRtn)
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{
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Logger::GetInstance()->WriteLog(0, "function: Home -> GTN_SetHomingMode is error");
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sRtn = GTN_SetHomingMode(CORE_NUM, iAxisId, 8);// 切换到位置控制模式
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if (sRtn)
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Logger::GetInstance()->WriteLog(0, "function: Home -> GTN_SetHomingMode is error");
|
|
|
return 1;
|
|
|
}
|
|
|
|
|
|
//设置回零参数
|
|
|
sRtn = GTN_SetEcatHomingPrm(CORE_NUM, iAxisId,
|
|
|
sModule,//回零模式
|
|
|
dSearchSpeed, //搜索开关速度，单位： 驱动器设置的用户速度单位
|
|
|
iIndexSpeed, //搜索 index 标识速度，单位： 驱动器设置的用户速度单位
|
|
|
sSearchAcc, //搜索加速度
|
|
|
0, //原点偏移量
|
|
|
0 //探针功能
|
|
|
);
|
|
|
if (sRtn)
|
|
|
{
|
|
|
Logger::GetInstance()->WriteLog(0, "function: Home -> GTN_GetEcatHomingStatus is error");
|
|
|
return 1;
|
|
|
}
|
|
|
|
|
|
// 启动回零
|
|
|
sRtn = GTN_StartEcatHoming(CORE_NUM, iAxisId);
|
|
|
if (sRtn)
|
|
|
{
|
|
|
Logger::GetInstance()->WriteLog(0, "function: Home -> GTN_GetEcatHomingStatus is error");
|
|
|
return 1;
|
|
|
}
|
|
|
|
|
|
unsigned short sHomeSts; // 回零状态
|
|
|
while (true)
|
|
|
{
|
|
|
|
|
|
sRtn = GTN_GetEcatHomingStatus(CORE_NUM, iAxisId, &sHomeSts); //读回零状态
|
|
|
if (sRtn)
|
|
|
{
|
|
|
Logger::GetInstance()->WriteLog(0, "function: Home -> GTN_GetEcatHomingStatus is error");
|
|
|
return 1;
|
|
|
}
|
|
|
|
|
|
if (sHomeSts == 3) //3代表回零完成和回零成功完成
|
|
|
{
|
|
|
double encPos;
|
|
|
if (GTN_GetEncPos(CORE_NUM, iAxisId, &encPos) == 0) {
|
|
|
//回零后编码器位置
|
|
|
std::string str = "Encoder position after returning to zero: " + std::to_string(encPos);
|
|
|
Logger::GetInstance()->WriteLog(0, str);
|
|
|
}
|
|
|
|
|
|
double prfPos;
|
|
|
if (GTN_GetPrfPos(CORE_NUM, iAxisId, &prfPos) == 0) {
|
|
|
//回零后规划位置
|
|
|
std::string str = "Plan location after returning to zero: " + std::to_string(encPos);
|
|
|
Logger::GetInstance()->WriteLog(0, str);
|
|
|
}
|
|
|
|
|
|
sRtn = GTN_ClrSts(CORE_NUM, iAxisId);
|
|
|
if (sRtn)
|
|
|
Logger::GetInstance()->WriteLog(0, "function:Home, GTN_ClrSts is error");
|
|
|
|
|
|
sRtn = GTN_ZeroPos(CORE_NUM, iAxisId);//清零规划位置和实际位置，并进行零漂补偿。
|
|
|
if (sRtn)
|
|
|
Logger::GetInstance()->WriteLog(0, "function:Home, GTN_ZeroPos is error");
|
|
|
|
|
|
|
|
|
if (GTN_GetEncPos(CORE_NUM, iAxisId, &encPos) == 0) {
|
|
|
//回零后编码器位置
|
|
|
std::string str = "Encoder position after clear(GTN_ZeroPos): " + std::to_string(encPos);
|
|
|
Logger::GetInstance()->WriteLog(0, str);
|
|
|
}
|
|
|
|
|
|
if (GTN_GetPrfPos(CORE_NUM, iAxisId, &prfPos) == 0) {
|
|
|
//回零后规划位置
|
|
|
std::string str = "Plan location after clear(GTN_ZeroPos): " + std::to_string(encPos);
|
|
|
Logger::GetInstance()->WriteLog(0, str);
|
|
|
}
|
|
|
|
|
|
if (GTN_SetHomingMode(CORE_NUM, iAxisId, 8))// 切换到位置控制模式,8代表位置控制模式
|
|
|
Logger::GetInstance()->WriteLog(0, "function: Home -> GTN_SetHomingMode is error");
|
|
|
|
|
|
break;
|
|
|
}
|
|
|
Sleep(200);
|
|
|
}
|
|
|
|
|
|
if (m_AxisAfterHomeFunc != nullptr)
|
|
|
{
|
|
|
if (!m_AxisAfterHomeFunc(iAxisId))
|
|
|
{
|
|
|
return 1;
|
|
|
}
|
|
|
}
|
|
|
return 0;
|
|
|
}
|
|
|
|
|
|
bool CGugaoDriver::IsHome(int iAxisId)
|
|
|
{
|
|
|
if (!m_open)
|
|
|
{
|
|
|
return false;
|
|
|
}
|
|
|
|
|
|
unsigned short sHomeSts; // 回零状态
|
|
|
short sRtn = GTN_GetEcatHomingStatus(CORE_NUM, iAxisId, &sHomeSts); //读回零状态
|
|
|
if (sHomeSts == 3) //3代表回零完成和回零成功完成
|
|
|
{
|
|
|
return true;
|
|
|
}
|
|
|
return false;
|
|
|
}
|
|
|
|
|
|
bool CGugaoDriver::IsHoming(int iAxisId)
|
|
|
{
|
|
|
if (!m_open)
|
|
|
{
|
|
|
return false;
|
|
|
}
|
|
|
|
|
|
unsigned short sHomeSts; // 回零状态
|
|
|
short sRtn = GTN_GetEcatHomingStatus(CORE_NUM, iAxisId, &sHomeSts); //读回零状态
|
|
|
if (sHomeSts == 0) //0代表正在回零
|
|
|
{
|
|
|
return true;
|
|
|
}
|
|
|
return false;
|
|
|
}
|
|
|
|
|
|
bool CGugaoDriver::IsMoveing(int iAxisId)
|
|
|
{
|
|
|
if (!m_open)
|
|
|
{
|
|
|
return false;
|
|
|
}
|
|
|
long lAxisStatus = 0;
|
|
|
// 读取AXIS轴的状态
|
|
|
short sRtn = GTN_GetSts(CORE_NUM, iAxisId, &lAxisStatus);
|
|
|
if (lAxisStatus & 0x400) //0x400正好在运动标志位
|
|
|
{
|
|
|
return true;
|
|
|
}
|
|
|
return false;
|
|
|
}
|
|
|
|
|
|
bool CGugaoDriver::IsMoveEnd(int iAxisId)
|
|
|
{
|
|
|
if (!m_open)
|
|
|
{
|
|
|
return false;
|
|
|
}
|
|
|
long lAxisStatus = 0;
|
|
|
// 读取AXIS轴的状态
|
|
|
short sRtn = GTN_GetSts(CORE_NUM, iAxisId, &lAxisStatus);
|
|
|
if (!(lAxisStatus & 0x400))//0x400正好在运动标志位,反向
|
|
|
{
|
|
|
return true;
|
|
|
}
|
|
|
return false;
|
|
|
}
|
|
|
|
|
|
bool CGugaoDriver::IsAxisEnable(int iAxisId)
|
|
|
{
|
|
|
if (!m_open)
|
|
|
{
|
|
|
return false;
|
|
|
}
|
|
|
long lAxisStatus = 0;
|
|
|
// 读取AXIS轴的状态
|
|
|
short sRtn = GTN_GetSts(CORE_NUM, iAxisId, &lAxisStatus);
|
|
|
if (lAxisStatus & 0x200)//0x200私服使能
|
|
|
{
|
|
|
return true;
|
|
|
}
|
|
|
return false;
|
|
|
}
|
|
|
|
|
|
bool CGugaoDriver::IsAxisError(int iAxisId)
|
|
|
{
|
|
|
if (!m_open)
|
|
|
{
|
|
|
return false;
|
|
|
}
|
|
|
long lAxisStatus = 0;
|
|
|
// 读取AXIS轴的状态
|
|
|
short sRtn = GTN_GetSts(CORE_NUM, iAxisId, &lAxisStatus);
|
|
|
if (lAxisStatus & 0x2) // 0x2私服报警标志
|
|
|
{
|
|
|
return true;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
return false;
|
|
|
}
|
|
|
}
|
|
|
|
|
|
bool CGugaoDriver::GetAxisErrorCode(int iAxisId)
|
|
|
{
|
|
|
return false;
|
|
|
}
|
|
|
|
|
|
bool CGugaoDriver::IsAxisPaslimit(int iAxisId)
|
|
|
{
|
|
|
if (!m_open)
|
|
|
{
|
|
|
return false;
|
|
|
}
|
|
|
long lAxisStatus = 0;
|
|
|
// 读取AXIS轴的状态
|
|
|
short sRtn = GTN_GetSts(CORE_NUM, iAxisId, &lAxisStatus);
|
|
|
// 正向限位触发
|
|
|
if (lAxisStatus & 0x20)
|
|
|
{
|
|
|
return true;
|
|
|
}
|
|
|
return false;
|
|
|
}
|
|
|
|
|
|
bool CGugaoDriver::isAxisNagLimit(int iAxisId)
|
|
|
{
|
|
|
long lAxisStatus = 0;
|
|
|
// 读取AXIS轴的状态
|
|
|
short sRtn = GTN_GetSts(CORE_NUM, iAxisId, &lAxisStatus);
|
|
|
if (lAxisStatus & 0x40)
|
|
|
{
|
|
|
return true;
|
|
|
}
|
|
|
return false;
|
|
|
}
|
