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修复Metus Jog运动错误

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This commit is contained in:
zhengxuan.zhang
2022-10-21 18:58:58 +08:00
parent 9a5ca2a7d1
commit 320f16e6fb
6 changed files with 35 additions and 368 deletions
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HSI_HexagonMI_EF3/HSI_Motion.cpp
+30 -20
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@@ -428,6 +428,7 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly)
{
//直线电机平台，采用串口通信，8个数据位，1个停止位，无奇偶校验，波特率256000
m_SO7_Serial.SetPort(m_EF3COMPort, 256000, 0, 8, 1, 0); //打开串口
#ifndef OFFLINE
if (!m_SO7_Serial.Open()) //如果串口打开失败
{
g_pLogger->SendAndFlushWithTime(L"[Startup] m_SO7_Serial.Open is false,connected failed\n");
@@ -439,6 +440,9 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly)
EventCallback(sEvenProp);
return HSI_STATUS_FAILED;
}
#endif // OFFLINE
m_SO7_Serial.SetTimeouts(1000, 1000);
m_bConnected = true;
g_pLogger->SendAndFlushWithTime(L"[Startup] Serial: [COM%d] is open success\n", m_EF3COMPort);
@@ -458,7 +462,10 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly)
g_pLogger->SendAndFlushWithTime(L"[ACS Motion] In\n");
g_pLogger->SendAndFlushWithTime(
L"[ACS Motion] Wait for opening of communication with the controller... \n");
#ifdef OFFLINE //如果定义离线模式
handleACS = acsc_OpenCommSimulator();
#else
// 10.0.0.100 - default IP address of the controller
handleACS = acsc_OpenCommEthernet("10.0.0.100", ACSC_SOCKET_DGRAM_PORT);
// for the connection to the controller via local network or Internet
@@ -477,7 +484,7 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly)
EventCallback(sEvenProp);
return HSI_STATUS_FAILED;
}
#endif
//使能电机
int Axes[] = { ACSC_AXIS_0, ACSC_AXIS_1, ACSC_AXIS_4, -1 };
if(!acsc_EnableM(handleACS, Axes,NULL))
@@ -1000,7 +1007,7 @@ HSI_STATUS HSI_Motion::HomeMachineOld(bool bHomed)
{
if (CurrentHomeMachineState == E_EF3_HOME_FINISHED)
{
byte AxisNumber = static_cast<byte>(AxisConvertIndex(AxisTypes));
byte AxisNumber = static_cast<byte>(AxisConvertIndex(AxisTypes)); //HomeMachineOld
m_cSendData[0] = CT_MOTOR;
m_cSendData[1] = CT_MOTOR_SET;
m_cSendData[2] = AxisTypes;
@@ -1563,7 +1570,7 @@ HSI_STATUS HSI_Motion::JogOld(UINT AxisTypes, double Speed)
int DecCurve(1);
int JogSpeed(1);
bool bJOGDir = Speed > 0 ? true : false;
byte AxisNumber = static_cast<byte>(AxisConvertIndex(AxisTypes));
byte AxisNumber = static_cast<byte>(AxisConvertIndex(AxisTypes));//JogOld
jogAxisNum = AxisNumber;
jogDirFlag = bJOGDir;
m_Thread_State = HSI_THREAD_PAUSED;
@@ -1836,6 +1843,7 @@ HSI_STATUS HSI_Motion::JogOld(UINT AxisTypes, double Speed)
HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed)
{
auto rStatus = HSI_STATUS_NORMAL;
g_pLogger->SendAndFlushWithTime(L"[Jog] aixs: [%d] speed:[%d]\n", AxisTypes, Speed);
if (g_pHSI_Motion)
{
if (m_DeviceType != 3) //非转盘设备
@@ -1845,7 +1853,7 @@ HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed)
}
bool bJOGDir = Speed > 0 ? true : false; //运动方向
byte AxisNumber = static_cast<byte>(AxisConvertIndex(AxisTypes));
byte AxisNumber = static_cast<byte>(AxisConvertIndex(AxisTypes));//Jog
jogAxisNum = AxisNumber;
jogDirFlag = bJOGDir;
m_Thread_State = HSI_THREAD_PAUSED;
@@ -1860,10 +1868,10 @@ HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed)
}
//是否回过家
if (m_Home_Machine_Axis[AxisNumber] == 0)
{
return rStatus;
}
//if (m_Home_Machine_Axis[AxisNumber] == 0)
//{
// return rStatus;
//}
// 是否启用急停
//if ((StartSpeed < 250) && (DriveSpeed < 6))
@@ -1880,14 +1888,15 @@ HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed)
//开始JOG运动
int acsDirection = bJOGDir ? ACSC_POSITIVE_DIRECTION : ACSC_NEGATIVE_DIRECTION; //正方向，或 负方向
if (!acsc_Jog(handleACS, 0, AxisTypes, acsDirection, nullptr))
if (!acsc_Jog(handleACS, 0, jogAxisNum, acsDirection, nullptr))
{
g_pLogger->SendAndFlushWithTime(L"[Jog] [%d] Öá [%s] ·½ÏòÒƶ¯Ê§°Ü", AxisTypes, bJOGDir ? "Õý" : "¸º");
printf("[Jog] 轴[%d] [%s] 方向移动失败", AxisTypes, bJOGDir? "正" : "负");
g_pLogger->SendAndFlushWithTime(L"[Jog] aixs:[%d] JOGDir:[%s] Jog move failed\n", AxisTypes, bJOGDir ? "P" : "N");
ErrorsHandler();
}
jogMoving = true;
g_pLogger->SendAndFlushWithTime(L"[Jog] Out, bJOGDir = %s\n", bJOGDir ? "positive":"negative");
g_pLogger->SendAndFlushWithTime(L"[Jog] Out, bJOGDir = %s\n", bJOGDir? "positive":"negative");
}
return rStatus;
}
@@ -1912,7 +1921,7 @@ HSI_STATUS HSI_Motion::JoyStick(UINT AxisTypes, long Speed)
int DecCurve(1);
int JogSpeed(1);
bool bJOGDir = Speed > 0 ? true : false;
byte AxisNumber = static_cast<byte>(AxisConvertIndex(AxisTypes));
byte AxisNumber = static_cast<byte>(AxisConvertIndex(AxisTypes));//JoyStick
jogAxisNum = AxisNumber;
jogDirFlag = bJOGDir;
m_Thread_State = HSI_THREAD_PAUSED;
@@ -2246,7 +2255,7 @@ HSI_STATUS HSI_Motion::StopJog()
{
g_pLogger->SendAndFlushWithTime(L"[StopJog] In\n");
t_end = GetTickCount();
g_pLogger->SendAndFlushWithTime(L"[StopJog] t_start = %d, t_end = %d\n", t_start, t_end);
//g_pLogger->SendAndFlushWithTime(L"[StopJog] t_start = %d, t_end = %d\n", t_start, t_end);
jogMoving = false;
if (t_end - t_start < 100)
{
@@ -2297,6 +2306,7 @@ HSI_STATUS HSI_Motion::StopJog()
return rStatus;
}
//===========================================================================
HSI_STATUS HSI_Motion::StopJogEx(UINT AxisTypes)
{
@@ -6883,19 +6893,19 @@ short HSI_Motion::AxisConvertIndex(UINT AxisTypes)
}
case HSI_MOTION_AXIS_Y:
{
AxisNumber = 0x02;
AxisNumber = 0x00;
break;
}
case HSI_MOTION_AXIS_Z:
{
AxisNumber = 0x03;
break;
}
case HSI_MOTION_AXIS_R:
{
AxisNumber = 0x04;
break;
}
//case HSI_MOTION_AXIS_R:
// {
// AxisNumber = 0x04;
// break;
// }
default:
{
g_pLogger->SendAndFlushWithTime(L"AxisConvertIndex failed,AxisTypes = %d,AxisNumber = %d\n", AxisTypes,