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新增光栅尺、限位位置设置。

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This commit is contained in:
TAO Cheng
2014-05-28 11:52:57 +08:00
parent 2ce93d14fa
commit 73da2cb8fc
7 changed files with 493 additions and 157 deletions
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PcDmis/Base/Interfac/Msi/Hsi/SevenOcean/SO7_Proto.cpp
+345 -62
View File
@@ -511,16 +511,6 @@ CSO7_Proto::CSO7_Proto()
g_machine.Light_Size=0;
g_machine.Light_Switch=0;
g_machine.SEQ_NUMBER=0;
g_machine.s_machine_config.x_axis._scale_resolution=0.5;
g_machine.s_machine_config.y_axis._scale_resolution=0.5;
g_machine.s_machine_config.z_axis._scale_resolution=0.5;
g_machine.s_machine_config.x_axis._neg_working_limit=0;
g_machine.s_machine_config.x_axis._pos_working_limit=400;
g_machine.s_machine_config.y_axis._neg_working_limit=0;
g_machine.s_machine_config.y_axis._pos_working_limit=300;
g_machine.s_machine_config.z_axis._neg_working_limit=0;
g_machine.s_machine_config.z_axis._pos_working_limit=200;
g_machine.s_machine_config.x_axis._MoveToSpeed[0]=0.0;
g_machine.s_machine_config.x_axis._MoveToSpeed[1]=0.0;
@@ -624,9 +614,21 @@ SSI_STATUS_MOTION CSO7_Proto::so7_config_para_set_default()
g_machine.s_machine_config.motion.m_MachineType=MACHINE_SO7_CONTROLLER;
g_machine.s_machine_config.motion.m_VideoCardType=0;
g_machine.s_machine_config.x_axis._scale_resolution=0.5;
g_machine.s_machine_config.y_axis._scale_resolution=0.5;
g_machine.s_machine_config.z_axis._scale_resolution=0.5;
g_machine.s_machine_config.x_axis._neg_working_limit=0;
g_machine.s_machine_config.x_axis._pos_working_limit=200;
g_machine.s_machine_config.y_axis._neg_working_limit=0;
g_machine.s_machine_config.y_axis._pos_working_limit=100;
g_machine.s_machine_config.z_axis._neg_working_limit=0;
g_machine.s_machine_config.z_axis._pos_working_limit=200;
g_machine.s_machine_config.motion.m_RotaryCircleDis=7.2;
g_machine.s_machine_config.motion.m_RotaryCirclePulse=14400;
g_machine.s_machine_config.motion.m_RotaryAxisNO=MACHINE_AXIS_Y;
g_machine.s_machine_config.motion.m_RotaryAxisNO=MACHINE_AXIS_NONE;
return SSI_STATUS_MOTION_NORMAL;
@@ -2022,6 +2024,7 @@ SSI_STATUS_MOTION CSO7_Proto::Load_SevenOcean_Inifile(CString cso7IniFile)
g_machine._motor_pulse_num=atoi(cTemp);
}
}
/*
//=====================[WORKTABLE]========================
else if(!_stricmp(token, "X_SCALE_RESOLUTION"))
{
@@ -2113,6 +2116,7 @@ SSI_STATUS_MOTION CSO7_Proto::Load_SevenOcean_Inifile(CString cso7IniFile)
g_machine.dRotaryCirclDis=atof(cTemp);
}
}
*/
}
}
fclose(hConfigFile);
@@ -2302,6 +2306,56 @@ SSI_STATUS_MOTION CSO7_Proto::Save_So7_Config()
fprintf(m_pOutFile, "\n");
fprintf(m_pOutFile, ";\n");
outBuff="[CUSTOM_MACHINE]";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile, "\n");
outBuff="X_SCALE_RESOLUTION=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.x_axis._scale_resolution);
fprintf(m_pOutFile, "\n");
outBuff="Y_SCALE_RESOLUTION=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.y_axis._scale_resolution);
fprintf(m_pOutFile, "\n");
outBuff="Z_SCALE_RESOLUTION=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.z_axis._scale_resolution);
fprintf(m_pOutFile, "\n");
outBuff="X_NEG_WORKING_LIMIT=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.x_axis._neg_working_limit);
fprintf(m_pOutFile, "\n");
outBuff="X_POS_WORKING_LIMIT=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.x_axis._pos_working_limit);
fprintf(m_pOutFile, "\n");
outBuff="Y_NEG_WORKING_LIMIT=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.y_axis._neg_working_limit);
fprintf(m_pOutFile, "\n");
outBuff="Y_POS_WORKING_LIMIT=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.y_axis._pos_working_limit);
fprintf(m_pOutFile, "\n");
outBuff="Z_NEG_WORKING_LIMIT=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.z_axis._neg_working_limit);
fprintf(m_pOutFile, "\n");
outBuff="Z_POS_WORKING_LIMIT=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.z_axis._pos_working_limit);
fprintf(m_pOutFile, "\n");
outBuff="ROTARY_AXIS_NUMBER=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.motion.m_RotaryAxisNO);
fprintf(m_pOutFile, "\n");
outBuff="ROTARY_CIR_DIS=";
fprintf(m_pOutFile,"%s", outBuff);
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.motion.m_RotaryCircleDis);
fprintf(m_pOutFile, "\n");
fprintf(m_pOutFile, ";\n");
fclose(m_pOutFile);
}
return SSI_STATUS_MOTION_NORMAL;
@@ -2590,54 +2644,6 @@ SSI_STATUS_MOTION CSO7_Proto::Load_So7_Config()
g_machine.s_machine_config.motion.m_DebugOutputEnable=atoi(cTemp);
}
}
//==================Motion=============================
else if(!_stricmp(token, "X_SCALE_RESOLUTION"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._scale_resolution=atof(cTemp);
}
}
else if(!_stricmp(token, "Y_SCALE_RESOLUTION"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._scale_resolution=atof(cTemp);
}
}
else if(!_stricmp(token, "Z_SCALE_RESOLUTION"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._scale_resolution=atof(cTemp);
}
}
//=================Rotary========================
else if (!_stricmp(token,"ROTARY_AXIS_NUMBER"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.motion.m_RotaryAxisNO=atoi(cTemp);
}
}
else if (!_stricmp(token,"ROTARY_CIR_DIS"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.motion.m_RotaryCircleDis=atof(cTemp);
g_machine.s_machine_config.motion.m_RotaryCirclePulse=g_machine.s_machine_config.motion.m_RotaryCircleDis/ROTARY_MMtoScale_RESOLUTION;
}
}
//=================VideoCard========================
else if (!_stricmp(token,"SDK3000_SLEEP_COUNT"))
{
@@ -2703,6 +2709,108 @@ SSI_STATUS_MOTION CSO7_Proto::Load_So7_Config()
g_machine.s_machine_config.motion.m_VideoCardType=atoi(cTemp);
}
}
//=================Custom machine========================
else if(!_stricmp(token, "X_SCALE_RESOLUTION"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._scale_resolution=atof(cTemp);
}
}
else if(!_stricmp(token, "Y_SCALE_RESOLUTION"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._scale_resolution=atof(cTemp);
}
}
else if(!_stricmp(token, "Z_SCALE_RESOLUTION"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._scale_resolution=atof(cTemp);
}
}
else if(!_stricmp(token, "X_NEG_WORKING_LIMIT"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._neg_working_limit=atof(cTemp);
}
}
else if(!_stricmp(token, "X_POS_WORKING_LIMIT"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.x_axis._pos_working_limit=atof(cTemp);
}
}
else if(!_stricmp(token, "Y_NEG_WORKING_LIMIT"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._neg_working_limit=atof(cTemp);
}
}
else if(!_stricmp(token, "Y_POS_WORKING_LIMIT"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.y_axis._pos_working_limit=atof(cTemp);
}
}
else if(!_stricmp(token, "Z_NEG_WORKING_LIMIT"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._neg_working_limit=atof(cTemp);
}
}
else if(!_stricmp(token, "Z_POS_WORKING_LIMIT"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.z_axis._pos_working_limit=atof(cTemp);
}
}
else if (!_stricmp(token,"ROTARY_AXIS_NUMBER"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.motion.m_RotaryAxisNO=atoi(cTemp);
}
}
else if (!_stricmp(token,"ROTARY_CIR_DIS"))
{
token = strtok( NULL, seps);
if (token)
{
strcpy(cTemp,token);
g_machine.s_machine_config.motion.m_RotaryCircleDis=atof(cTemp);
g_machine.s_machine_config.motion.m_RotaryCirclePulse=g_machine.s_machine_config.motion.m_RotaryCircleDis/ROTARY_MMtoScale_RESOLUTION;
}
}
}
}
fclose(hConfigFile);
@@ -3734,6 +3842,148 @@ SSI_STATUS_MOTION CSO7_Proto::_get_xyz_index(long & lX, long & lY, long & lZ)
return SSI_STATUS_MOTION_NORMAL;
};
SSI_STATUS_MOTION CSO7_Proto::so7_motion_jog(EMACHINE_AXIS cAxis,char cSpeedGear)
{
if (abs(cSpeedGear)>4)
{
if (cSpeedGear>0)
{
cSpeedGear=4;
}
else
{
cSpeedGear=-4;
}
}
if (abs(cSpeedGear)<1)
{
cSpeedGear=1;
}
switch (cAxis)
{
case MACHINE_AXIS_X:
{
if (cSpeedGear==4)
{
double dXStart(0.0), dYStart(0.0), dZStart(0.0);
so7_motion_get_position_xyz(dXStart, dYStart, dZStart);
return so7_motion_set_position_xyz(g_machine.s_machine_config.x_axis._pos_working_limit,dYStart,dZStart,false);
}
else if (cSpeedGear==-4)
{
double dXStart(0.0), dYStart(0.0), dZStart(0.0);
so7_motion_get_position_xyz(dXStart, dYStart, dZStart);
return so7_motion_set_position_xyz(g_machine.s_machine_config.x_axis._neg_working_limit,dYStart,dZStart,false);
}
else
{
return _send_cmd_SO7_CMD_MOVE_X(cSpeedGear);
}
break;
}
case MACHINE_AXIS_Y:
{
if (cSpeedGear==4)
{
double dXStart(0.0), dYStart(0.0), dZStart(0.0);
so7_motion_get_position_xyz(dXStart, dYStart, dZStart);
return so7_motion_set_position_xyz(dXStart,g_machine.s_machine_config.y_axis._pos_working_limit,dZStart,false);
}
else if (cSpeedGear==-4)
{
double dXStart(0.0), dYStart(0.0), dZStart(0.0);
so7_motion_get_position_xyz(dXStart, dYStart, dZStart);
return so7_motion_set_position_xyz(dXStart,g_machine.s_machine_config.y_axis._neg_working_limit,dZStart,false);
}
else
{
return _send_cmd_SO7_CMD_MOVE_Y(cSpeedGear);
}
break;
}
case MACHINE_AXIS_Z:
{
if (cSpeedGear==4)
{
double dXStart(0.0), dYStart(0.0), dZStart(0.0);
so7_motion_get_position_xyz(dXStart, dYStart, dZStart);
return so7_motion_set_position_xyz(dXStart,dYStart,g_machine.s_machine_config.z_axis._pos_working_limit,false);
}
else if (cSpeedGear==-4)
{
double dXStart(0.0), dYStart(0.0), dZStart(0.0);
so7_motion_get_position_xyz(dXStart, dYStart, dZStart);
return so7_motion_set_position_xyz(dXStart,dYStart,g_machine.s_machine_config.z_axis._neg_working_limit,false);
}
else
{
return _send_cmd_SO7_CMD_MOVE_Z(cSpeedGear);
}
break;
}
case MACHINE_AXIS_ZOOM:
{
if (abs(cSpeedGear)==4)
{
if (cSpeedGear>0)
{
cSpeedGear=5;
}
else
{
cSpeedGear=-5;
}
}
else if (abs(cSpeedGear)==3)
{
if (cSpeedGear>0)
{
cSpeedGear=5;
}
else
{
cSpeedGear=-5;
}
}
else if (abs(cSpeedGear)==2)
{
if (cSpeedGear>0)
{
cSpeedGear=1;
}
else
{
cSpeedGear=-1;
}
}
else if (abs(cSpeedGear)==1)
{
if (cSpeedGear>0)
{
cSpeedGear=2;
}
else
{
cSpeedGear=-2;
}
}
return _send_cmd_SO7_CMD_MOVE_ZM(cSpeedGear);
break;
}
case MACHINE_AXIS_R:
{
return so7_motion_move_R(cSpeedGear);
break;
}
default:
{
return SSI_STATUS_MOTION_INVALID_PARAMETERS;
break;
}
}
return SSI_STATUS_MOTION_NORMAL;
}
//==================================================================
SSI_STATUS_MOTION CSO7_Proto::so7_motion_get_position_xyz(double & dX, double & dY, double & dZ)
{
@@ -3776,11 +4026,44 @@ SSI_STATUS_MOTION CSO7_Proto::so7_motion_set_position_xyz(double dX, double dY,
SO7AXISMOVE Z;
X.dFromMM = dXStart;
X.dToMM = dX;
if (dX<g_machine.s_machine_config.x_axis._neg_working_limit)
{
X.dToMM=g_machine.s_machine_config.x_axis._neg_working_limit;
}
else if (dX>g_machine.s_machine_config.x_axis._pos_working_limit)
{
X.dToMM=g_machine.s_machine_config.x_axis._pos_working_limit;
}
else
{
X.dToMM = dX;
}
Y.dFromMM = dYStart;
Y.dToMM = dY;
if (dY<g_machine.s_machine_config.y_axis._neg_working_limit)
{
Y.dToMM=g_machine.s_machine_config.y_axis._neg_working_limit;
}
else if (dY>g_machine.s_machine_config.y_axis._pos_working_limit)
{
Y.dToMM=g_machine.s_machine_config.y_axis._pos_working_limit;
}
else
{
Y.dToMM = dY;
}
Z.dFromMM = dZStart;
Z.dToMM = dZ;
if (dZ<g_machine.s_machine_config.z_axis._neg_working_limit)
{
Z.dToMM=g_machine.s_machine_config.z_axis._neg_working_limit;
}
else if (dZ>g_machine.s_machine_config.z_axis._pos_working_limit)
{
Z.dToMM=g_machine.s_machine_config.z_axis._pos_working_limit;
}
else
{
Z.dToMM = dZ;
}
X.from = MMtoScale(dXStart, g_machine.s_machine_config.x_axis._scale_resolution);
X.to = MMtoScale(dX, g_machine.s_machine_config.x_axis._scale_resolution);