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LaserCut-2Head-Server/LaiPuLaser/MotionCard_PCI1245.cpp

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添加项目文件。
5 years ago
#include "StdAfx.h"
#include "MotionCard_PCI1245.h"
#include "Propertie.h"
#include "PropertieMgr.h"
#include "AuthorityMgr.h"
#include "LogMgr.h"
#include "Motor.h"
#include "PlatformXY.h"
#include "MsgBox.h"
#include "FileMgr.h"
#include "SinglechipCardMgr.h"
#include "PciCh365Mgr.h"
#include "CommPortMgr.h"
#include "FileMgr.h"
#include "WorkTime.h"
#ifdef _DEBUG
#define new DEBUG_NEW
#undef THIS_FILE
static char THIS_FILE[] = __FILE__;
#endif
#include "general.h"
#pragma comment( lib, "Version.lib" )
#pragma comment( lib, "ADVMOT.lib" )
#define MAX_ASIX_IDX 3 //<2F>˶<EFBFBD><CBB6><EFBFBD><EFBFBD>ƿ<EFBFBD><C6BF><EFBFBD><EFBFBD><EFBFBD>֧<EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define CFG_FILE_PATH _T("\\Parameter\\MotionCard_PCI1245\\PCI_1245.cfg")
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬<D7B4><CCAC><EFBFBD>߳<EFBFBD>
UINT CheckAsixStateThread(LPVOID pParam)
{
MotionCard_PCI1245 *p = (MotionCard_PCI1245 *)pParam;
p->CheckAsixState();
return 0;
}
MotionCard_PCI1245 *gMotionCard_PCI1245 = new MotionCard_PCI1245;
MotionCard_PCI1245::MotionCard_PCI1245(void)
{
m_bUsed = false;//<2F>Ƿ<EFBFBD>ʹ<EFBFBD><CAB9>
m_bArcCut = false;//Բ<><D4B2><EFBFBD>岹
m_Devhand = 0;
memset(m_Axishand,0,sizeof(m_Axishand));
for (int i=0;i<32;i++)
{
m_End[i]=0;
}
m_ulAxisCount=0;
m_bServoOn =FALSE;
m_bInit=FALSE;
m_CurGpIdx = 0;//<2F><>ǰʹ<C7B0>õ<EFBFBD><C3B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
m_GpHand=0;
AxCount=0;
m_EndNum =0;
m_MotorXAsixIdx = 1;//X<><58><EFBFBD><EFBFBD>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
m_MotorX2AsixIdx = 3;//X 2<><32><EFBFBD><EFBFBD>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
m_MotorYAsixIdx = 0;//Y<><59><EFBFBD><EFBFBD>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
m_MotorZAsixIdx = 2;//Z<><5A><EFBFBD><EFBFBD>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
m_bGroupAisxRev = false;//<2F>岹<EFBFBD><E5B2B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
m_CheckDelay = 20;//<2F>ȴ<EFBFBD><C8B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱms
m_bInited = false;//<2F>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>
m_bMotorXMoveStop = true;//<2F><><EFBFBD>Ƿ<EFBFBD><C7B7>˶<EFBFBD>ֹͣ
m_bMotorX2MoveStop = true;//
m_bMotorYMoveStop = true;//
m_bMotorZMoveStop = true;//
m_bAutoCloseSevon = false;//<2F>رճ<D8B1><D5B3><EFBFBD>ʱ<EFBFBD>Զ<EFBFBD><D4B6>ر<EFBFBD>sevon
m_bCheckActCoord = true;//<2F>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD>ʵ<EFBFBD>ʹ<EFBFBD>դ<EFBFBD>ߵ<EFBFBD><DFB5><EFBFBD><EFBFBD><EFBFBD>
m_MaxActCoordErr = 10;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>դ<EFBFBD><D5A4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
m_XYFindOriginByLimit = true;//XY<58><59>ͨ<EFBFBD><CDA8><EFBFBD>Ҽ<EFBFBD><D2BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԭ<EFBFBD><D4AD>(<28><>β<EFBFBD><CEB2><EFBFBD><EFBFBD>6̨<36><CCA8>)
}
MotionCard_PCI1245::~MotionCard_PCI1245(void)
{
}
CMFCPropertyGridProperty *MotionCard_PCI1245::CreatGridProperty()
{
CString PropertyName;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CString Description;//<2F><><EFBFBD><EFBFBD>
CString Path = _T("MotionCard_PCI1245");//<2F>洢·<E6B4A2><C2B7>
CString Name;
//-------------------------------------------------------------------------------//
PropertyName = _T("PCI 1245L <20>˶<EFBFBD><CBB6><EFBFBD><EFBFBD>ƿ<EFBFBD>");
CMFCPropertyGridProperty* pGroup = new CMFCPropertyGridProperty(PropertyName);
//-------------------------------------------------------------------------------//
if(gAuthorityMgr->CheckAuthority(_FACTORY))
{
{
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1><EFBFBD>ӳ<EFBFBD><D3B3>
Name = _T("m_bUsed");//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CPropertie *pPropertie = new CPropertie;
pPropertie->SetpVal((void*)&m_bUsed);
pPropertie->SetType(_PROP_TYPE_BOOL);
pPropertie->SetpModule(this);
pPropertie->SetPath(Path);
pPropertie->SetName(Name);
pPropertie->WriteRead(true);//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
PropertyName = _T("<EFBFBD>Ƿ<EFBFBD>ʹ<EFBFBD><EFBFBD>");
Description = _T("<EFBFBD>Ƿ<EFBFBD>ʹ<EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD><EFBFBD><EFBFBD>");
CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_bUsed, Description);
pGroup->AddSubItem(p1);
gDevicePropertieMgr.Insert(p1, pPropertie);
}
{
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1><EFBFBD>ӳ<EFBFBD><D3B3>
Name = _T("m_XYFindOriginByLimit");//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CPropertie *pPropertie = new CPropertie;
pPropertie->SetpVal((void*)&m_XYFindOriginByLimit);
pPropertie->SetType(_PROP_TYPE_BOOL);
pPropertie->SetpModule(this);
pPropertie->SetPath(Path);
pPropertie->SetName(Name);
pPropertie->WriteRead(true);//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
PropertyName = _T("<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԭ<EFBFBD><EFBFBD>");
Description = _T("<EFBFBD>Ƿ<EFBFBD>XY<EFBFBD><EFBFBD>ͨ<EFBFBD><EFBFBD><EFBFBD>Ҽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԭ<EFBFBD><EFBFBD>");
CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_XYFindOriginByLimit, Description);
pGroup->AddSubItem(p1);
gDevicePropertieMgr.Insert(p1, pPropertie);
}
{
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1><EFBFBD>ӳ<EFBFBD><D3B3>
Name = _T("m_bCheckActCoord");//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CPropertie *pPropertie = new CPropertie;
pPropertie->SetpVal((void*)&m_bCheckActCoord);
pPropertie->SetType(_PROP_TYPE_BOOL);
pPropertie->SetpModule(this);
pPropertie->SetPath(Path);
pPropertie->SetName(Name);
pPropertie->WriteRead(true);//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
PropertyName = _T("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>դ<EFBFBD><EFBFBD>");
Description = _T("<EFBFBD>Ƿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>դ<EFBFBD>ߵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>");
CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_bCheckActCoord, Description);
pGroup->AddSubItem(p1);
gDevicePropertieMgr.Insert(p1, pPropertie);
}
{
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1><EFBFBD>ӳ<EFBFBD><D3B3>
Name = _T("m_MaxActCoordErr");//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CPropertie *pPropertie = new CPropertie;
pPropertie->SetpVal((void*)&m_MaxActCoordErr);
pPropertie->SetType(_PROP_TYPE_DOUBLE);
pPropertie->SetpModule(this);
pPropertie->SetPath(Path);
pPropertie->SetName(Name);
pPropertie->WriteRead(true);//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
PropertyName = _T("<EFBFBD><EFBFBD>դ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>");
Description = _T("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>դ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>");
CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_MaxActCoordErr, Description);
pGroup->AddSubItem(p1);
gDevicePropertieMgr.Insert(p1, pPropertie);
}
{
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1><EFBFBD>ӳ<EFBFBD><D3B3>
Name = _T("m_bAutoCloseSevon");//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CPropertie *pPropertie = new CPropertie;
pPropertie->SetpVal((void*)&m_bAutoCloseSevon);
pPropertie->SetType(_PROP_TYPE_BOOL);
pPropertie->SetpModule(this);
pPropertie->SetPath(Path);
pPropertie->SetName(Name);
pPropertie->WriteRead(true);//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
PropertyName = _T("<EFBFBD>˳<EFBFBD>ʱ<EFBFBD>ر<EFBFBD>sevon");
Description = _T("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˳<EFBFBD>ʱ<EFBFBD>Զ<EFBFBD><EFBFBD>ر<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>sevon");
CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_bAutoCloseSevon, Description);
pGroup->AddSubItem(p1);
gDevicePropertieMgr.Insert(p1, pPropertie);
}
{
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1><EFBFBD>ӳ<EFBFBD><D3B3>
Name = _T("m_bArcCut");//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CPropertie *pPropertie = new CPropertie;
pPropertie->SetpVal((void*)&m_bArcCut);
pPropertie->SetType(_PROP_TYPE_BOOL);
pPropertie->SetpModule(this);
pPropertie->SetPath(Path);
pPropertie->SetName(Name);
pPropertie->WriteRead(true);//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
PropertyName = _T("Բ<EFBFBD><EFBFBD><EFBFBD>岹");
Description = _T("<EFBFBD>Ƿ<EFBFBD>ʹ<EFBFBD><EFBFBD>ƽ̨Բ<EFBFBD><EFBFBD><EFBFBD>岹");
CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_bArcCut, Description);
pGroup->AddSubItem(p1);
gDevicePropertieMgr.Insert(p1, pPropertie);
}
{
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1><EFBFBD>ӳ<EFBFBD><D3B3>
Name = _T("m_bGroupAisxRev");//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CPropertie *pPropertie = new CPropertie;
pPropertie->SetpVal((void*)&m_bGroupAisxRev);
pPropertie->SetType(_PROP_TYPE_BOOL);
pPropertie->SetpModule(this);
pPropertie->SetPath(Path);
pPropertie->SetName(Name);
pPropertie->WriteRead(true);//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
PropertyName = _T("<EFBFBD>岹<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>");
Description = _T("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>岹<EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˳<EFBFBD><CBB3>");
CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_bGroupAisxRev, Description);
pGroup->AddSubItem(p1);
gDevicePropertieMgr.Insert(p1, pPropertie);
}
{
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1><EFBFBD>ӳ<EFBFBD><D3B3>
Name = _T("m_CheckDelay");//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CPropertie *pPropertie = new CPropertie;
pPropertie->SetpVal((void*)&m_CheckDelay);
pPropertie->SetType(_PROP_TYPE_INT);
pPropertie->SetpModule(this);
pPropertie->SetPath(Path);
pPropertie->SetName(Name);
pPropertie->WriteRead(true);//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
PropertyName = _T("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ");
Description = _T("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱms");
CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_CheckDelay, Description);
pGroup->AddSubItem(p1);
gDevicePropertieMgr.Insert(p1, pPropertie);
}
{
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1><EFBFBD>ӳ<EFBFBD><D3B3>
Name = _T("m_MotorXAsixIdx");//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CPropertie *pPropertie = new CPropertie;
pPropertie->SetpVal((void*)&m_MotorXAsixIdx);
pPropertie->SetType(_PROP_TYPE_INT);
pPropertie->SetpModule(this);
pPropertie->SetPath(Path);
pPropertie->SetName(Name);
pPropertie->WriteRead(true);//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
PropertyName = _T("X <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>");
Description = _T("X <20><><EFBFBD><EFBFBD>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>");
CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_MotorXAsixIdx, Description);
pGroup->AddSubItem(p1);
gDevicePropertieMgr.Insert(p1, pPropertie);
}
{
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1><EFBFBD>ӳ<EFBFBD><D3B3>
Name = _T("m_MotorX2AsixIdx");//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CPropertie *pPropertie = new CPropertie;
pPropertie->SetpVal((void*)&m_MotorX2AsixIdx);
pPropertie->SetType(_PROP_TYPE_INT);
pPropertie->SetpModule(this);
pPropertie->SetPath(Path);
pPropertie->SetName(Name);
pPropertie->WriteRead(true);//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
PropertyName = _T("X 2<><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD>");
Description = _T("X 2<><32><EFBFBD><EFBFBD>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>");
CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_MotorX2AsixIdx, Description);
pGroup->AddSubItem(p1);
gDevicePropertieMgr.Insert(p1, pPropertie);
}
{
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1><EFBFBD>ӳ<EFBFBD><D3B3>
Name = _T("m_MotorYAsixIdx");//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CPropertie *pPropertie = new CPropertie;
pPropertie->SetpVal((void*)&m_MotorYAsixIdx);
pPropertie->SetType(_PROP_TYPE_INT);
pPropertie->SetpModule(this);
pPropertie->SetPath(Path);
pPropertie->SetName(Name);
pPropertie->WriteRead(true);//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
PropertyName = _T("Y <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>");
Description = _T("Y <20><><EFBFBD><EFBFBD>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>");
CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_MotorYAsixIdx, Description);
pGroup->AddSubItem(p1);
gDevicePropertieMgr.Insert(p1, pPropertie);
}
{
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1><EFBFBD>ӳ<EFBFBD><D3B3>
Name = _T("m_MotorZAsixIdx");//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CPropertie *pPropertie = new CPropertie;
pPropertie->SetpVal((void*)&m_MotorZAsixIdx);
pPropertie->SetType(_PROP_TYPE_INT);
pPropertie->SetpModule(this);
pPropertie->SetPath(Path);
pPropertie->SetName(Name);
pPropertie->WriteRead(true);//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
PropertyName = _T("Z <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>");
Description = _T("Z <20><><EFBFBD><EFBFBD>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>");
CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)m_MotorZAsixIdx, Description);
pGroup->AddSubItem(p1);
gDevicePropertieMgr.Insert(p1, pPropertie);
}
if(gAuthorityMgr->CheckAuthority(_FACTORY))
{
CMFCPropertyGridProperty* pGroup1;
pGroup1 = CreatSpeedGridProperty(m_OrgSpeedMotorZ,_T("Z <20><>ԭ<EFBFBD><D4AD><EFBFBD>ٶ<EFBFBD>"),_T("m_OrgSpeedMotorZ"));
pGroup->AddSubItem(pGroup1);
pGroup1 = CreatSpeedGridProperty(m_MoveSpeedMotorZ,_T("Z <20><><EFBFBD>ƶ<EFBFBD><C6B6>ٶ<EFBFBD>"),_T("m_MoveSpeedMotorZ"));
pGroup->AddSubItem(pGroup1);
pGroup1 = CreatSpeedGridProperty(m_OrgSpeedMotorXY,_T("XY <20><>ԭ<EFBFBD><D4AD><EFBFBD>ٶ<EFBFBD>"),_T("m_OrgSpeedMotorXY"));
pGroup->AddSubItem(pGroup1);
pGroup1 = CreatSpeedGridProperty(m_MoveSpeedMotorX,_T("X <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>"),_T("m_MoveSpeedMotorX"));
pGroup->AddSubItem(pGroup1);
pGroup1 = CreatSpeedGridProperty(m_WorkSpeedMotorX,_T("X <20>Ṥ<EFBFBD><E1B9A4><EFBFBD>ٶ<EFBFBD>"),_T("m_WorkSpeedMotorX"));
pGroup->AddSubItem(pGroup1);
pGroup1 = CreatSpeedGridProperty(m_MoveSpeedMotorY,_T("Y <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>"),_T("m_MoveSpeedMotorY"));
pGroup->AddSubItem(pGroup1);
pGroup1 = CreatSpeedGridProperty(m_WorkSpeedMotorY,_T("Y <20>Ṥ<EFBFBD><E1B9A4><EFBFBD>ٶ<EFBFBD>"),_T("m_WorkSpeedMotorY"));
pGroup->AddSubItem(pGroup1);
}
if(gAuthorityMgr->CheckAuthority(_FACTORY))
{
PropertyName = "<EFBFBD><EFBFBD><EFBFBD>ϻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD>";
CMFCPropertyGridProperty* pGroup1 = new CMFCPropertyGridProperty(PropertyName);
{
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1><EFBFBD>ӳ<EFBFBD><D3B3>
Name = "m_AsixNum";//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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);//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
PropertyName = _T("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>");
Description = _T("<EFBFBD><EFBFBD><EFBFBD>ڿ<EFBFBD><EFBFBD>Ƶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(0~3)");
CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName,(_variant_t)(m_InPortUnload.m_AsixNum), Description);
pGroup1->AddSubItem(p1);
gDevicePropertieMgr.Insert(p1, pPropertie);
}
{
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1><EFBFBD>ӳ<EFBFBD><D3B3>
Name = "m_PortNum";//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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);//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
PropertyName = _T("<EFBFBD>˿ں<EFBFBD>");
Description = _T("<EFBFBD><EFBFBD><EFBFBD>ڿ<EFBFBD><EFBFBD>ƵĶ˿ں<EFBFBD>(0~3)");
CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName,(_variant_t)m_InPortUnload.m_PortNum, Description);
pGroup1->AddSubItem(p1);
gDevicePropertieMgr.Insert(p1, pPropertie);
}
{
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1><EFBFBD>ӳ<EFBFBD><D3B3>
Name = "m_bRev";//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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);//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
PropertyName = _T("<EFBFBD>Ƿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>");
Description = _T("<EFBFBD>˿ڿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>");
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;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
CString Description;//<2F><><EFBFBD><EFBFBD>
CString Path = _T("MotionCard_PCI1245");//<2F>洢·<E6B4A2><C2B7>
CString Name;
CMFCPropertyGridProperty* pGroup1 = new CMFCPropertyGridProperty(SpeedName);
{
{
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1><EFBFBD>ӳ<EFBFBD><D3B3>
Name = ValName+_T("_Acc");//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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);//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
PropertyName = _T("<EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>");
Description = _T("<EFBFBD><EFBFBD>ֹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶȵļ<EFBFBD><EFBFBD>ٶ<EFBFBD>(mm/s2)");
CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)SpeedParam.m_Acc, Description);
pGroup1->AddSubItem(p1);
gDevicePropertieMgr.Insert(p1, pPropertie);
}
{
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1><EFBFBD>ӳ<EFBFBD><D3B3>
Name = ValName+_T("_Dec");//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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);//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
PropertyName = _T("<EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>");
Description = _T("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶȵ<EFBFBD><EFBFBD><EFBFBD>ֹ<EFBFBD>ļ<EFBFBD><EFBFBD>ٶ<EFBFBD>(mm/s2)");
CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)SpeedParam.m_Dec, Description);
pGroup1->AddSubItem(p1);
gDevicePropertieMgr.Insert(p1, pPropertie);
}
{
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1><EFBFBD>ӳ<EFBFBD><D3B3>
Name = ValName+_T("_VelLow");//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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);//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
PropertyName = _T("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>");
Description = _T("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>(mm/s)");
CMFCPropertyGridProperty* p1 = new CMFCPropertyGridProperty(PropertyName, (_variant_t)SpeedParam.m_VelLow, Description);
pGroup1->AddSubItem(p1);
gDevicePropertieMgr.Insert(p1, pPropertie);
}
{
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1><EFBFBD>ӳ<EFBFBD><D3B3>
Name = ValName+_T("_VelHigh");//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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);//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
PropertyName = _T("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>");
Description = _T("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>(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))//<2F><><EFBFBD><EFBFBD><EFBFBD>޷<EFBFBD><DEB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڵĻ<DAB5>˵<EFBFBD><CBB5><EFBFBD>ڱʼDZ<CABC><C7B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
return;
Comm.Close();
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ı<EFBFBD><C4B1><EFBFBD>-------------------------------------------
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);
//<2F><>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD>
if(!InitCard())
return;
//<2F>򿪿<EFBFBD><F2BFAABF><EFBFBD><EFBFBD><EFBFBD>ȡ֧<C8A1>ֵ<EFBFBD><D6B5><EFBFBD>
if(!OpenCard())
return;
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ı<EFBFBD><C4B1><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7>Ϸ<EFBFBD>
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;
}
//<2F><>ȡ<EFBFBD>˶<EFBFBD><CBB6><EFBFBD><EFBFBD>ƿ<EFBFBD><C6BF>IJ<EFBFBD><C4B2><EFBFBD><EFBFBD>ļ<EFBFBD>.cfg
LoadConfigFile();
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>XY <20><>Ϊһ<CEAA><D2BB><EFBFBD><EFBFBD>(֧<><D6A7><EFBFBD><EFBFBD><EFBFBD>Բ岹<D4B2>˶<EFBFBD>)
AddAsixToGroup(m_GpHand,m_MotorXAsixIdx);
AddAsixToGroup(m_GpHand,m_MotorYAsixIdx);
SetCurGpIdx(0);
//<2F>Զ<EFBFBD>SvOn
SetSvOn(true);
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1>״̬<D7B4><CCAC><EFBFBD>߳<EFBFBD>
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);
}
}
//<2F><>ʼ<EFBFBD><CABC><EFBFBD>˶<EFBFBD><CBB6><EFBFBD><EFBFBD>ƿ<EFBFBD>
bool MotionCard_PCI1245::InitCard()
{
U32 Result;
ULONG i=0;
ULONG deviceNumber=0;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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;//<2F><>ǰ<EFBFBD><C7B0><EFBFBD>豸<EFBFBD><E8B1B8>
gLogMgr->WriteDebugLog("Fuc---->InitMotionCard 1245L Success");
m_bInited = true;//<2F>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>
return true;
}
//<2F>򿪿<EFBFBD>
bool MotionCard_PCI1245::OpenCard()
{
U32 Result;
ULONG i=0;
CString strTemp;
CString strString;
ULONG AxisPerDev=0;
ULONG AxisNumber=0;
//<2F><><EFBFBD><EFBFBD><EFBFBD>豸m_dwDevNum ,<2C><><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>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;
}
//<2F><><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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++)
{
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><C4BE><EFBFBD>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;
}
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ij<EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD>Ϊ0
Acm_AxSetCmdPosition(m_Axishand[AxisNumber],0);
}
m_bInit = TRUE; //<2F>Ƿ<EFBFBD><C7B7>򿪳ɹ<F2BFAAB3>
gLogMgr->WriteDebugLog("Fuc---->OpenCard 1245L Success");
return true;
}
//ʹ<><CAB9><EFBFBD>˶<EFBFBD><CBB6><EFBFBD><EFBFBD>ƿ<EFBFBD><C6BF><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>Щ<EFBFBD><D0A9><EFBFBD>ܲ<EFBFBD><DCB2><EFBFBD>ʹ<EFBFBD><CAB9>
bool MotionCard_PCI1245::CheckFucCanUsed()
{
if(m_bUsed)
{
CMsgBox MsgBox;
MsgBox.Show(_T("ʹ<EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƿ<EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʹ<EFBFBD><EFBFBD>"));
return false;
}
return true;
}
//<2F><>ȡ<EFBFBD>˶<EFBFBD><CBB6><EFBFBD><EFBFBD>ƿ<EFBFBD><C6BF>IJ<EFBFBD><C4B2><EFBFBD><EFBFBD>ļ<EFBFBD>.cfg
void MotionCard_PCI1245::LoadConfigFile()
{
CString strTemp;
CFileMgr FileMgr;
FileMgr.GetFullFilePath(strTemp,CFG_FILE_PATH);//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>·<EFBFBD><C2B7>
//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//<2F><><EFBFBD>˶<EFBFBD>
//<2F><><EFBFBD><EFBFBD><EFBFBD>ᵽ<EFBFBD><E1B5BD>
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;
}
//<2F><><EFBFBD>õ<EFBFBD>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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);
//ͬʱ<CDAC><CAB1><EFBFBD>ù<EFBFBD>դ<EFBFBD>ߵ<EFBFBD><DFB5><EFBFBD><EFBFBD><EFBFBD>
Acm_AxSetActualPosition(m_Axishand[m_MotorXAsixIdx],0);
Acm_AxSetActualPosition(m_Axishand[m_MotorX2AsixIdx],0);
Acm_AxSetActualPosition(m_Axishand[m_MotorYAsixIdx],0);
//֪ͨ<CDA8>۲<EFBFBD><DBB2><EFBFBD>ƽ̨<C6BD><CCA8><EFBFBD><EFBFBD><EFBFBD>仯<EFBFBD><E4BBAF>
gPlatformXY->NotifyObservers();
}
//<2F><><EFBFBD>˶<EFBFBD><CBB6><EFBFBD><EFBFBD>ƿ<EFBFBD><C6BF><EFBFBD>ȡƽ̨<C6BD><CCA8>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
Dbxy MotionCard_PCI1245::GetPlatformXYCoord()
{
Dbxy Coord;
Dbxy OnePulseDis = gPlatformXY->GetMotorXYOnePulseDis();
//<2F><>ȡ<EFBFBD><C8A1><EFBFBD>ƿ<EFBFBD><C6BF><EFBFBD><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>
int MotorXAsixIdx = (m_CurGpIdx==0)?m_MotorXAsixIdx:m_MotorX2AsixIdx;
Acm_AxGetCmdPosition(m_Axishand[MotorXAsixIdx],&Coord.x);
Acm_AxGetCmdPosition(m_Axishand[m_MotorYAsixIdx],&Coord.y);
//<2F><><EFBFBD><EFBFBD>Ϊmm <20><>λ
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;
}
//ǿ<><C7BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƽ̨<C6BD>ĵ<EFBFBD>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD>
void MotionCard_PCI1245::SetCoord(Dbxy coord)
{
if(!m_bUsed)
return;
//mm ת<><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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 ת<><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD>嵥λ<E5B5A5><CEBB><EFBFBD><EFBFBD>
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;
}
//<2F>ȴ<EFBFBD>ƽ̨<C6BD>ƶ<EFBFBD>ֹͣ
void MotionCard_PCI1245::WaitPlatfromStop()
{
//<2F>ȴ<EFBFBD>ֱ<EFBFBD><D6B1><EFBFBD>ƶ<EFBFBD><C6B6><EFBFBD><EFBFBD><EFBFBD>----------------------
int TotalTimes = 0;
while(1)
{
if(TotalTimes++>100000)//<2F><>ֹ<EFBFBD><D6B9>ѭ<EFBFBD><D1AD>
{
break;
}
Sleep(m_CheckDelay);
//Get the Group's current state
U16 GpState;
Acm_GpGetState(m_GpHand, &GpState);
if(GpState != 4)//STA_GP_MOTION <20><>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD>״̬
{
break;
}
}
}
//ֱ<>߲岹<DFB2>ƶ<EFBFBD>ƽ̨XY ---------------------------------------------------
Dbxy MotionCard_PCI1245::MovePlatformXY(Dbxy Coord)
{
//<2F><><EFBFBD><EFBFBD><EFBFBD>ƶ<EFBFBD>
{
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;//<2F><>Ҫ<EFBFBD>ƶ<EFBFBD>ʱ<EFBFBD>ŵ<EFBFBD><C5B5><EFBFBD>,<2C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>׿<EFBFBD><D7BF><EFBFBD>
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("Coord x : %f,Coord y : %f",Coord.y);
gLogMgr->WriteDebugLog(strTemp);
//<2F><><EFBFBD>˶<EFBFBD><CBB6><EFBFBD><EFBFBD>ƿ<EFBFBD><C6BF><EFBFBD>ȡƽ̨<C6BD><CCA8>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD>---------------
return GetPlatformXYCoord();
}
//<2F><><EFBFBD><EFBFBD>ƽֱ̨<CCA8>߲岹<DFB2><E5B2B9><EFBFBD>˶<EFBFBD><CBB6>ٶ<EFBFBD>(bWorkSpeed <20>Ƿ<EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>)
void MotionCard_PCI1245::SetPlatformSpeed(bool bWorkSpeed)
{
}
//mm <20><>λת<CEBB><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD>嵥λ
PCI1245_SpeedParam MotionCard_PCI1245::MM2PulseParam(PCI1245_SpeedParam &SpeedParam,double OnePulseDis)
{
PCI1245_SpeedParam Param;
Param.m_Acc = SpeedParam.m_Acc/OnePulseDis;//<2F><><EFBFBD>ٶ<EFBFBD>(mm/s2)
Param.m_Dec = SpeedParam.m_Dec/OnePulseDis;//<2F><><EFBFBD>ٶ<EFBFBD>(mm/s2)
Param.m_VelLow = SpeedParam.m_VelLow/OnePulseDis;//<2F><><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>(mm/s)
Param.m_VelHigh = SpeedParam.m_VelHigh/OnePulseDis;//<2F><><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>(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;//<2F><><EFBFBD>ٷ<EFBFBD>ʽ
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//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԭ<EFBFBD><D4AD>
bool MotionCard_PCI1245::FindOrigin(CMotor &Motor)
{
bool ret;
if(m_XYFindOriginByLimit)
{
if(Motor.Name() == MOTOR_Z)//Z <20><>ԭ<EFBFBD>㻹<EFBFBD><E3BBB9><EFBFBD><EFBFBD>
ret = FindOriginExt(Motor);
else//XY<58><59>ʹ<EFBFBD><CAB9><EFBFBD>Ҽ<EFBFBD><D2BC>޵ķ<DEB5>ʽ
ret = FindOriginByLimit(Motor);
}
else
{
ret = FindOriginExt(Motor);
}
return ret;
}
//<2F><>ԭ<EFBFBD>㿪<EFBFBD>صķ<D8B5>ʽ
bool MotionCard_PCI1245::FindOriginExt(CMotor &Motor)
{
int AsixIdx = Motor.GetAsixIdx();//<2F><><EFBFBD>ı<EFBFBD><C4B1><EFBFBD>
if(!CheckRange(AsixIdx,0,MAX_ASIX_IDX))
return false;
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ0
Acm_AxSetCmdPosition(m_Axishand[AsixIdx],0);
U32 HomeMode = 6;//<2F><>ԭ<EFBFBD><D4AD><EFBFBD><EFBFBD>ģʽ(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԭ<EFBFBD><D4AD><EFBFBD><EFBFBD>,<2C>ȷ<EFBFBD><C8B7><EFBFBD><EFBFBD>Ƴ<EFBFBD>ԭ<EFBFBD><D4AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)
U32 DirMode = (Motor.GetFindOriginDir())?1:0;//<2F><>ԭ<EFBFBD>㷽<EFBFBD><E3B7BD>
Acm_AxHome(m_Axishand[AsixIdx],HomeMode,DirMode);
//<2F>ȴ<EFBFBD><C8B4><EFBFBD>ԭ<EFBFBD><D4AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
int TotalTimes = 0;
while(1)
{
if(TotalTimes++>100000)//<2F><>ֹ<EFBFBD><D6B9>ѭ<EFBFBD><D1AD>
{
return false;
}
Sleep(m_CheckDelay);
//Get the Group's current state
U16 GpState;
Acm_AxGetState(m_Axishand[AsixIdx],&GpState);
if(GpState != 4)//STA_AX_HOMING
{
break;
}
}
Sleep(1000);
CString LogStr;
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ij<EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD>Ϊ0
Acm_AxSetCmdPosition(m_Axishand[AsixIdx],0);
LogStr.Format("Fuc---->FindOrigin Success[Asix Idx]: %d",AsixIdx);
gLogMgr->WriteDebugLog(LogStr);
return true;
}
//ͨ<><CDA8><EFBFBD>Ҽ<EFBFBD><D2BC>޵ķ<DEB5>ʽ<EFBFBD><CABD><EFBFBD><EFBFBD>ԭ<EFBFBD><D4AD>
bool MotionCard_PCI1245::FindOriginByLimit(CMotor &Motor)
{
int AsixIdx = Motor.GetAsixIdx();//<2F><><EFBFBD>ı<EFBFBD><C4B1><EFBFBD>
if(!CheckRange(AsixIdx,0,MAX_ASIX_IDX))
return false;
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ0
Acm_AxSetCmdPosition(m_Axishand[AsixIdx],0);
//<2F>ƶ<EFBFBD><C6B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD>㹻<EFBFBD><E3B9BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(ֱ<><D6B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)
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);
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ij<EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD>Ϊ0
//Acm_AxSetCmdPosition(m_Axishand[AsixIdx],0);
return true;
}
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD>״̬
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]);
}
}
//<2F>ƶ<EFBFBD><C6B6><EFBFBD>ԭ<EFBFBD><D4AD>ƫ<EFBFBD><C6AB>λ<EFBFBD><CEBB>
bool MotionCard_PCI1245::MoveToOriginOffset(CMotor &Motor)
{
int AsixIdx = Motor.GetAsixIdx();//<2F><><EFBFBD>ı<EFBFBD><C4B1><EFBFBD>
if(!CheckRange(AsixIdx,0,MAX_ASIX_IDX))
return false;
double OffsetDis = Motor.GetOriginOffsetDis();//<2F><><EFBFBD><EFBFBD><EFBFBD>ƶ<EFBFBD><C6B6><EFBFBD><EFBFBD><EFBFBD>
bool bFindOriginDir = Motor.GetFindOriginDir();//<2F><>ԭ<EFBFBD><D4AD><EFBFBD>ķ<EFBFBD><C4B7><EFBFBD>
OffsetDis *= bFindOriginDir?(1):(-1);
MoveMotor(Motor,OffsetDis);
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ0
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;
}
//<2F><><EFBFBD><EFBFBD><EFBFBD>ƶ<EFBFBD><C6B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Coord(<28><><EFBFBD><EFBFBD><EFBFBD>ƶ<EFBFBD><C6B6><EFBFBD>ʽ)
bool MotionCard_PCI1245::MoveMotor(CMotor &Motor,double &Coord)
{
int AsixIdx = Motor.GetAsixIdx();//<2F><><EFBFBD>ı<EFBFBD><C4B1><EFBFBD>
if(!CheckRange(AsixIdx,0,MAX_ASIX_IDX))
return false;
U32 Result;
CString strString;
//ת<><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>----------------------------------
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;
}
//ת<><D7AA>Ϊ<EFBFBD><CEAA><EFBFBD>嵥λ
double OnePulseDis = Motor.GetOnePulseDis();
PCI1245_SpeedParam SpeedParam = MM2PulseParam(MotorSpeedParam,OnePulseDis);
return SpeedParam;
}
//<2F><><EFBFBD>õ<EFBFBD><C3B5><EFBFBD><EFBFBD>Ŀ<EFBFBD><C4BF><EFBFBD><EFBFBD>ٶ<EFBFBD>
void MotionCard_PCI1245::SetMotorSpeed(CMotor &Motor,ESpeedType SpeedType)
{
int AsixIdx = Motor.GetAsixIdx();//<2F><><EFBFBD>ı<EFBFBD><C4B1><EFBFBD>
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;
}
}
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬
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 <20><>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD>״̬
if(GpState != STA_AX_HOMING && GpState != STA_AX_PTP_MOT)
{
return true;
}
return false;
}
//<2F><>ȡ<EFBFBD><C8A1>AsixIdx <20><>Port <20>˿ڵ<CBBF>״̬(<28><><EFBFBD><EFBFBD>-1:<3A><><EFBFBD><EFBFBD>,0:<3A><>,1:<3A><>)
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; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
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 <20><>ֵΪ0 <20><>1
}
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϻ<EFBFBD>״̬(false <20><>ʾ<EFBFBD>ڹ<EFBFBD><DAB9><EFBFBD><EFBFBD><EFBFBD>,<2C><><EFBFBD><EFBFBD>ȫ)
bool MotionCard_PCI1245::CheckUnloadState()
{
int Ret = ReadIOState(m_InPortUnload);
if(Ret == 1)
return false;
return true;
}
#endif
#if 1
//<2F><><EFBFBD>˶<EFBFBD><CBB6><EFBFBD><EFBFBD>ƿ<EFBFBD><C6BF><EFBFBD>ȡ<EFBFBD><C8A1>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
double MotionCard_PCI1245::GetMotorCoord(CMotor &Motor)
{
int AsixIdx = Motor.GetAsixIdx();//<2F><><EFBFBD>ı<EFBFBD><C4B1><EFBFBD>
if(!CheckRange(AsixIdx,0,MAX_ASIX_IDX))
return -1;
double Coord;
double OnePulseDis = Motor.GetOnePulseDis();
//<2F><>ȡ<EFBFBD><C8A1><EFBFBD>ƿ<EFBFBD><C6BF><EFBFBD><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>
Acm_AxGetCmdPosition(m_Axishand[AsixIdx],&Coord);
//<2F><><EFBFBD><EFBFBD>Ϊmm <20><>λ
Coord *= OnePulseDis;
return Coord;
}
//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʵ<EFBFBD><CAB5>λ<EFBFBD><CEBB>(<28><>դ<EFBFBD>߷<EFBFBD><DFB7><EFBFBD>ֵ)
double MotionCard_PCI1245::GetMotorActCoord(CMotor &Motor)
{
int AsixIdx = Motor.GetAsixIdx();//<2F><><EFBFBD>ı<EFBFBD><C4B1><EFBFBD>
if(!CheckRange(AsixIdx,0,MAX_ASIX_IDX))
return -1;
double Coord;
//<2F><>ȡ<EFBFBD><C8A1><EFBFBD>ƿ<EFBFBD><C6BF><EFBFBD><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>
Acm_AxGetActualPosition(m_Axishand[AsixIdx],&Coord);
return Coord;
}
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>͹<EFBFBD>դ<EFBFBD><D5A4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD>һ<EFBFBD><D2BB>
bool MotionCard_PCI1245::CheckMotorActCoord(CMotor &Motor)
{
if(!m_bCheckActCoord)
return true;
int AsixIdx = Motor.GetAsixIdx();//<2F><><EFBFBD>ı<EFBFBD><C4B1><EFBFBD>
if(!CheckRange(AsixIdx,0,MAX_ASIX_IDX))
return false;
double CmdCoord;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
Acm_AxGetCmdPosition(m_Axishand[AsixIdx],&CmdCoord);
double ActualCoord;//<2F><>դ<EFBFBD><D5A4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><>ȡ<EFBFBD><C8A1><EFBFBD>ƿ<EFBFBD><C6BF><EFBFBD><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>
Acm_AxGetActualPosition(m_Axishand[AsixIdx],&ActualCoord);
if(Motor.IsbRevActCoordDir())
ActualCoord *=(-1);
double ActPluseErrCnt = CmdCoord-ActualCoord;
if(fabs(ActPluseErrCnt)>m_MaxActCoordErr)
{
return false;
}
return true;
}
#endif