TAO Cheng
2355 lines
78 KiB
C++
2355 lines
78 KiB
C++
|
|
|
|
#include "stdafx.h"
|
|
#include "Animatics_Proto.h"
|
|
#include "math.h"
|
|
|
|
|
|
#define MAX_IN_BUFF_SIZE 1024
|
|
|
|
//***** Static Data *****
|
|
static char *outBuff = NULL;
|
|
//================================================================
|
|
HANDLE g_machine_event=NULL;
|
|
|
|
//================================================================
|
|
int SmartMotor_Proto::g_machine_Thread_State=THREAD_PAUSED;
|
|
HANDLE SmartMotor_Proto::g_machine_Thread_Id=NULL;
|
|
HANDLE SmartMotor_Proto::g_machine_Serial_Mutex;
|
|
|
|
//================================================================
|
|
struct_smartmotor_machine SmartMotor_Proto::g_machine;
|
|
CLogger *SmartMotor_Proto::g_pLogger;
|
|
HANDLE SmartMotor_Proto::g_hHomedEvent = NULL;
|
|
|
|
|
|
//===========================================================================
|
|
// Worker Thread to send command to and receive data from smart motor.
|
|
//===========================================================================
|
|
unsigned __stdcall SmartMotor_Proto::g_machine_Thread(LPVOID pThis)
|
|
{
|
|
SmartMotor_Proto* _This = (SmartMotor_Proto*)pThis;
|
|
for (;;)
|
|
{
|
|
TRACE0("g_machine_Thread in loop set.\n");
|
|
if (g_machine_Thread_State == THREAD_EXIT)
|
|
ExitThread(0);
|
|
WaitForSingleObject(g_machine_event,INFINITE);
|
|
TRACE0("g_machine_Thread obtained event.\n");
|
|
switch (g_machine_Thread_State)
|
|
{
|
|
case THREAD_EXIT:
|
|
{
|
|
ExitThread(0);
|
|
}
|
|
case THREAD_PAUSED:
|
|
break;
|
|
case THREAD_RUNNING_STATE:
|
|
{
|
|
_This->smartmotor_motion_get_motion_status();
|
|
break;
|
|
}
|
|
default:
|
|
ExitThread(0);
|
|
}
|
|
};
|
|
g_machine_Thread_State = THREAD_EXIT;
|
|
ExitThread(0);
|
|
};
|
|
|
|
|
|
//******************************************************************************
|
|
SmartMotor_Proto::SmartMotor_Proto()
|
|
{
|
|
g_machine.x.address=1;
|
|
g_machine.y.address=2;
|
|
g_machine.z.address=3;
|
|
|
|
g_machine.x._Move_Speed_Gear=1;
|
|
g_machine.x._l_move_dis=0;
|
|
g_machine.x._d_move_dis=0;
|
|
g_machine.x._l_cur_pos=0;
|
|
g_machine.x._d_cur_pos=0;
|
|
g_machine.x._dSet_Zero_Pos=0;
|
|
g_machine.x._lSet_Zero_Pos=0;
|
|
g_machine.x.s_machine_status.StatusWord[0]=0;
|
|
g_machine.x.s_machine_status.StatusWord[1]=0;
|
|
g_machine.x.s_machine_status.DriverRdy=FALSE;
|
|
g_machine.x.s_machine_status.MotorOff=FALSE;
|
|
g_machine.x.s_machine_status.VoltageFault=FALSE;
|
|
g_machine.x.s_machine_status.PosErr=FALSE;
|
|
g_machine.x.s_machine_status.OverHeat=FALSE;
|
|
g_machine.x.s_machine_status.NegLimit=FALSE;
|
|
g_machine.x.s_machine_status.PosLimit=FALSE;
|
|
|
|
g_machine.y._Move_Speed_Gear=1;
|
|
g_machine.y._l_move_dis=0;
|
|
g_machine.y._d_move_dis=0;
|
|
g_machine.y._l_cur_pos=0;
|
|
g_machine.y._d_cur_pos=0;
|
|
g_machine.y._dSet_Zero_Pos=0;
|
|
g_machine.y._lSet_Zero_Pos=0;
|
|
g_machine.y.s_machine_status.StatusWord[0]=0;
|
|
g_machine.y.s_machine_status.StatusWord[1]=0;
|
|
g_machine.y.s_machine_status.DriverRdy=FALSE;
|
|
g_machine.y.s_machine_status.MotorOff=FALSE;
|
|
g_machine.y.s_machine_status.VoltageFault=FALSE;
|
|
g_machine.y.s_machine_status.PosErr=FALSE;
|
|
g_machine.y.s_machine_status.OverHeat=FALSE;
|
|
g_machine.y.s_machine_status.NegLimit=FALSE;
|
|
g_machine.y.s_machine_status.PosLimit=FALSE;
|
|
|
|
g_machine.z._Move_Speed_Gear=1;
|
|
g_machine.z._l_move_dis=0;
|
|
g_machine.z._d_move_dis=0;
|
|
g_machine.z._l_cur_pos=0;
|
|
g_machine.z._d_cur_pos=0;
|
|
g_machine.z._dSet_Zero_Pos=0;
|
|
g_machine.z._lSet_Zero_Pos=0;
|
|
g_machine.z.s_machine_status.StatusWord[0]=0;
|
|
g_machine.z.s_machine_status.StatusWord[1]=0;
|
|
g_machine.z.s_machine_status.DriverRdy=FALSE;
|
|
g_machine.z.s_machine_status.MotorOff=FALSE;
|
|
g_machine.z.s_machine_status.VoltageFault=FALSE;
|
|
g_machine.z.s_machine_status.PosErr=FALSE;
|
|
g_machine.z.s_machine_status.OverHeat=FALSE;
|
|
g_machine.z.s_machine_status.NegLimit=FALSE;
|
|
g_machine.z.s_machine_status.PosLimit=FALSE;
|
|
|
|
g_machine.s_status._bXHomed=FALSE;
|
|
g_machine.s_status._bYHomed=FALSE;
|
|
g_machine.s_status._bZHomed=FALSE;
|
|
g_machine.s_status._bXYZHomed=FALSE;
|
|
g_machine.s_status._machine_running=FALSE;
|
|
g_machine.s_status._bXMoving=FALSE;
|
|
g_machine.s_status._bYMoving=FALSE;
|
|
g_machine.s_status._bZMoving=FALSE;
|
|
g_machine.s_status._bXYZMoving=FALSE;
|
|
|
|
_reset_config_parameter();
|
|
m_bHomingActive=false;
|
|
|
|
g_pLogger = new CLogger(_T("\\UtilityDebug.Log"));
|
|
};
|
|
|
|
//******************************************************************************
|
|
SmartMotor_Proto::~SmartMotor_Proto()
|
|
{
|
|
if (g_pLogger)
|
|
{
|
|
g_pLogger->Send(_T("Destruct Csmartmotor_Proto.\r\n"));
|
|
delete g_pLogger;
|
|
g_pLogger = NULL;
|
|
}
|
|
}
|
|
|
|
|
|
//===========================================================================
|
|
double SmartMotor_Proto::ScaleToMM(long lCount, double dResolution)
|
|
{
|
|
double dMM = 0.0;
|
|
dMM = (lCount* dResolution) /1000 ;
|
|
return dMM;
|
|
}
|
|
|
|
//===========================================================================
|
|
long SmartMotor_Proto::MMtoScale(double lDistanceMM, double dResolution)
|
|
{
|
|
long lCounts(0);
|
|
if (dResolution)
|
|
lCounts = static_cast<long> (lDistanceMM *1000 / dResolution);
|
|
else
|
|
ASSERT(0);
|
|
return lCounts;
|
|
}
|
|
|
|
//=====================================================================================
|
|
long SmartMotor_Proto::_4char2long(unsigned char *cBuff)
|
|
{
|
|
union
|
|
{
|
|
long l_value;
|
|
char c_array[5];
|
|
};
|
|
memset (c_array, 0, 5);
|
|
c_array[0] = cBuff[3];
|
|
c_array[1] = cBuff[2];
|
|
c_array[2] = cBuff[1];
|
|
c_array[3] = cBuff[0];
|
|
return(l_value);
|
|
}
|
|
|
|
//=====================================================================================
|
|
long SmartMotor_Proto::_3char2long(unsigned char *cBuff)
|
|
{
|
|
union
|
|
{
|
|
long l_value;
|
|
char c_array[5];
|
|
};
|
|
memset (c_array, 0, 5);
|
|
c_array[0] = cBuff[2];
|
|
c_array[1] = cBuff[1];
|
|
c_array[2] = cBuff[0];
|
|
return(l_value);
|
|
}
|
|
//========================================================================
|
|
void SmartMotor_Proto::_reverse_dword(DWORD *dWord)
|
|
{
|
|
BYTE cBuff[4];
|
|
BYTE *dwBuff = (BYTE *)dWord;
|
|
for ( int ii = 0 ; ii < 4 ; ++ii )
|
|
cBuff[ii]= dwBuff[ii];
|
|
|
|
dwBuff[0] = cBuff[3];
|
|
dwBuff[1] = cBuff[2];
|
|
dwBuff[2] = cBuff[1];
|
|
dwBuff[3] = cBuff[0];
|
|
}
|
|
|
|
//******************************************************************************
|
|
void SmartMotor_Proto::_scale2inch(unsigned long scale, double &inch)
|
|
{
|
|
UNREFERENCED_PARAMETER(scale);
|
|
UNREFERENCED_PARAMETER(inch);
|
|
}
|
|
|
|
//******************************************************************************
|
|
void SmartMotor_Proto::_inch2scale(unsigned long &scale, double inch)
|
|
{
|
|
UNREFERENCED_PARAMETER(scale);
|
|
UNREFERENCED_PARAMETER(inch);
|
|
}
|
|
|
|
//******************************************************************************
|
|
// convert a string of characters into its binary form
|
|
void SmartMotor_Proto::_char2bin(unsigned char *cBuff, BYTE *cBytes, int iLen)
|
|
{
|
|
memset(cBytes, 0, MAX_BUFF_SIZE);
|
|
for (int i=0;i<iLen;i++)
|
|
{
|
|
sscanf_s((const char *)(cBuff+i*2), "%2x", (cBytes+i));
|
|
};
|
|
return;
|
|
}
|
|
|
|
//******************************************************************************
|
|
void SmartMotor_Proto::_swap_byte(unsigned short &Val)
|
|
{
|
|
unsigned short MSB = Val<<8;
|
|
BYTE LSB = Val>>8;
|
|
Val = MSB|LSB;
|
|
}
|
|
|
|
//******************************************************************************
|
|
double SmartMotor_Proto::TimeInSecs(void)
|
|
{
|
|
double Secs;
|
|
|
|
LARGE_INTEGER HPCounterTicksPerSecond;
|
|
BOOL HasHPCounter = QueryPerformanceFrequency(&HPCounterTicksPerSecond);
|
|
|
|
if (HasHPCounter == TRUE)
|
|
{
|
|
// Use high resolution clock.
|
|
double HPCounterTicksPersec = (DWORD)((double) HPCounterTicksPerSecond.QuadPart);
|
|
LARGE_INTEGER HPTicks;
|
|
QueryPerformanceCounter(&HPTicks);
|
|
Secs = ((double)HPTicks.QuadPart / HPCounterTicksPersec);
|
|
}
|
|
else
|
|
{
|
|
// Use clock with less resolution.
|
|
Secs = GetTickCount();
|
|
Secs /= 1000.0;
|
|
}
|
|
return Secs;
|
|
}
|
|
|
|
|
|
#pragma warning(disable:4996)
|
|
//==============================================================================
|
|
//******************************************************************************
|
|
|
|
void SmartMotor_Proto::_reset_config_parameter()
|
|
{
|
|
for(INT i=0;i<5;i++)
|
|
{
|
|
g_machine.s_machine_config.x_axis._speed_[i]=0;
|
|
g_machine.s_machine_config.x_axis._accel_[i]=0;
|
|
g_machine.s_machine_config.x_axis._decel_[i]=0;
|
|
|
|
g_machine.s_machine_config.y_axis._speed_[i]=0;
|
|
g_machine.s_machine_config.y_axis._accel_[i]=0;
|
|
g_machine.s_machine_config.y_axis._decel_[i]=0;
|
|
|
|
g_machine.s_machine_config.z_axis._speed_[i]=0;
|
|
g_machine.s_machine_config.z_axis._accel_[i]=0;
|
|
g_machine.s_machine_config.z_axis._decel_[i]=0;
|
|
}
|
|
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.x_axis._scale_resolution=0.4;
|
|
|
|
g_machine.s_machine_config.y_axis._neg_working_limit=0;
|
|
g_machine.s_machine_config.y_axis._pos_working_limit=200;
|
|
g_machine.s_machine_config.y_axis._scale_resolution=0.4;
|
|
|
|
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.z_axis._scale_resolution=0.4;
|
|
|
|
|
|
}
|
|
//=========================================================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::SaveSmartMotorConfig()
|
|
{
|
|
FILE* m_pOutFile;
|
|
char *outBuff = NULL;
|
|
// char tmp;
|
|
CString csAppPath;
|
|
GetAppPath(csAppPath);
|
|
CString csSO7ConfigFile =csAppPath+_T("\\smartmotor_config.ini");
|
|
_wfopen_s(&m_pOutFile, csSO7ConfigFile, _T("wt"));
|
|
if (!m_pOutFile)
|
|
{
|
|
free(outBuff);
|
|
};
|
|
outBuff="[HARDWARE]";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile, "\n");
|
|
//=================================X==================================
|
|
outBuff="SPEED_X1=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.x_axis._speed_[0]);
|
|
fprintf(m_pOutFile, "\n");
|
|
|
|
outBuff="ACCELERATION_X1=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.x_axis._accel_[0]);
|
|
fprintf(m_pOutFile, "\n");
|
|
|
|
outBuff="DECELERATION_X1=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.x_axis._decel_[0]);
|
|
fprintf(m_pOutFile, "\n");
|
|
fprintf(m_pOutFile,"%s", ";\n");
|
|
|
|
outBuff="SPEED_X2=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.x_axis._speed_[1]);
|
|
fprintf(m_pOutFile, "\n");
|
|
|
|
outBuff="ACCELERATION_X2=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.x_axis._accel_[1]);
|
|
fprintf(m_pOutFile, "\n");
|
|
|
|
outBuff="DECELERATION_X2=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.x_axis._decel_[1]);
|
|
fprintf(m_pOutFile, "\n");
|
|
fprintf(m_pOutFile,"%s", ";\n");
|
|
|
|
outBuff="SPEED_X3=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.x_axis._speed_[2]);
|
|
fprintf(m_pOutFile, "\n");
|
|
|
|
outBuff="ACCELERATION_X3=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.x_axis._accel_[2]);
|
|
fprintf(m_pOutFile, "\n");
|
|
|
|
outBuff="DECELERATION_X3=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.x_axis._decel_[2]);
|
|
fprintf(m_pOutFile, "\n");
|
|
fprintf(m_pOutFile,"%s", ";\n");
|
|
|
|
outBuff="SPEED_X4=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.x_axis._speed_[3]);
|
|
fprintf(m_pOutFile, "\n");
|
|
|
|
outBuff="ACCELERATION_X4=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.x_axis._accel_[3]);
|
|
fprintf(m_pOutFile, "\n");
|
|
|
|
outBuff="DECELERATION_X4=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.x_axis._decel_[3]);
|
|
fprintf(m_pOutFile, "\n");
|
|
fprintf(m_pOutFile,"%s", ";\n");
|
|
|
|
outBuff="SPEED_X5=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.x_axis._speed_[4]);
|
|
fprintf(m_pOutFile, "\n");
|
|
|
|
outBuff="ACCELERATION_X5=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.x_axis._accel_[4]);
|
|
fprintf(m_pOutFile, "\n");
|
|
|
|
outBuff="DECELERATION_X5=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.x_axis._decel_[4]);
|
|
fprintf(m_pOutFile, "\n");
|
|
fprintf(m_pOutFile,"%s", ";\n");
|
|
|
|
//=================================Y==================================
|
|
outBuff="SPEED_Y1=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.y_axis._speed_[0]);
|
|
fprintf(m_pOutFile, "\n");
|
|
|
|
outBuff="ACCELERATION_Y1=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.y_axis._accel_[0]);
|
|
fprintf(m_pOutFile, "\n");
|
|
|
|
outBuff="DECELERATION_Y1=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.y_axis._decel_[0]);
|
|
fprintf(m_pOutFile, "\n");
|
|
fprintf(m_pOutFile,"%s", ";\n");
|
|
|
|
outBuff="SPEED_Y2=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.y_axis._speed_[1]);
|
|
fprintf(m_pOutFile, "\n");
|
|
|
|
outBuff="ACCELERATION_Y2=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.y_axis._accel_[1]);
|
|
fprintf(m_pOutFile, "\n");
|
|
|
|
outBuff="DECELERATION_Y2=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.y_axis._decel_[1]);
|
|
fprintf(m_pOutFile, "\n");
|
|
fprintf(m_pOutFile,"%s", ";\n");
|
|
|
|
outBuff="SPEED_Y3=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.y_axis._speed_[2]);
|
|
fprintf(m_pOutFile, "\n");
|
|
|
|
outBuff="ACCELERATION_Y3=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.y_axis._accel_[2]);
|
|
fprintf(m_pOutFile, "\n");
|
|
|
|
outBuff="DECELERATION_Y3=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.y_axis._decel_[2]);
|
|
fprintf(m_pOutFile, "\n");
|
|
fprintf(m_pOutFile,"%s", ";\n");
|
|
|
|
outBuff="SPEED_Y4=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.y_axis._speed_[3]);
|
|
fprintf(m_pOutFile, "\n");
|
|
|
|
outBuff="ACCELERATION_Y4=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.y_axis._accel_[3]);
|
|
fprintf(m_pOutFile, "\n");
|
|
|
|
outBuff="DECELERATION_Y4=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.y_axis._decel_[3]);
|
|
fprintf(m_pOutFile, "\n");
|
|
fprintf(m_pOutFile,"%s", ";\n");
|
|
|
|
outBuff="SPEED_Y5=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.y_axis._speed_[4]);
|
|
fprintf(m_pOutFile, "\n");
|
|
|
|
outBuff="ACCELERATION_Y5=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.y_axis._accel_[4]);
|
|
fprintf(m_pOutFile, "\n");
|
|
|
|
outBuff="DECELERATION_Y5=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.y_axis._decel_[4]);
|
|
fprintf(m_pOutFile, "\n");
|
|
fprintf(m_pOutFile,"%s", ";\n");
|
|
|
|
//=================================Z==================================
|
|
outBuff="SPEED_Z1=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.z_axis._speed_[0]);
|
|
fprintf(m_pOutFile, "\n");
|
|
|
|
outBuff="ACCELERATION_Z1=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.z_axis._accel_[0]);
|
|
fprintf(m_pOutFile, "\n");
|
|
|
|
outBuff="DECELERATION_Z1=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.z_axis._decel_[0]);
|
|
fprintf(m_pOutFile, "\n");
|
|
fprintf(m_pOutFile,"%s", ";\n");
|
|
|
|
outBuff="SPEED_Z2=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.z_axis._speed_[1]);
|
|
fprintf(m_pOutFile, "\n");
|
|
|
|
outBuff="ACCELERATION_Z2=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.z_axis._accel_[1]);
|
|
fprintf(m_pOutFile, "\n");
|
|
|
|
outBuff="DECELERATION_Z2=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.z_axis._decel_[1]);
|
|
fprintf(m_pOutFile, "\n");
|
|
fprintf(m_pOutFile,"%s", ";\n");
|
|
|
|
outBuff="SPEED_Z3=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.z_axis._speed_[2]);
|
|
fprintf(m_pOutFile, "\n");
|
|
|
|
outBuff="ACCELERATION_Z3=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.z_axis._accel_[2]);
|
|
fprintf(m_pOutFile, "\n");
|
|
|
|
outBuff="DECELERATION_Z3=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.z_axis._decel_[2]);
|
|
fprintf(m_pOutFile, "\n");
|
|
fprintf(m_pOutFile,"%s", ";\n");
|
|
|
|
outBuff="SPEED_Z4=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.z_axis._speed_[3]);
|
|
fprintf(m_pOutFile, "\n");
|
|
|
|
outBuff="ACCELERATION_Z4=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.z_axis._accel_[3]);
|
|
fprintf(m_pOutFile, "\n");
|
|
|
|
outBuff="DECELERATION_Z4=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.z_axis._decel_[3]);
|
|
fprintf(m_pOutFile, "\n");
|
|
fprintf(m_pOutFile,"%s", ";\n");
|
|
|
|
outBuff="SPEED_Z5=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.z_axis._speed_[4]);
|
|
fprintf(m_pOutFile, "\n");
|
|
|
|
outBuff="ACCELERATION_Z5=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.z_axis._accel_[4]);
|
|
fprintf(m_pOutFile, "\n");
|
|
|
|
outBuff="DECELERATION_Z5=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%d", g_machine.s_machine_config.z_axis._decel_[4]);
|
|
fprintf(m_pOutFile, "\n");
|
|
fprintf(m_pOutFile,"%s", ";\n");
|
|
//===========worktable=====================
|
|
|
|
outBuff="[WORKTABLE]";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile, "\n");
|
|
|
|
outBuff="X_SCALE_RESOLUTION=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%.3f", 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,"%.3f", 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,"%.3f", g_machine.s_machine_config.z_axis._scale_resolution);
|
|
fprintf(m_pOutFile, "\n");
|
|
fprintf(m_pOutFile,"%s", ";\n");
|
|
|
|
outBuff="X_NEG_WORKING_LIMIT=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%.3f", g_machine.s_machine_config.x_axis._neg_working_limit);
|
|
fprintf(m_pOutFile, "\n");
|
|
|
|
outBuff="Y_NEG_WORKING_LIMIT=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%.3f", g_machine.s_machine_config.y_axis._neg_working_limit);
|
|
fprintf(m_pOutFile, "\n");
|
|
|
|
outBuff="Z_NEG_WORKING_LIMIT=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%.3f", g_machine.s_machine_config.z_axis._neg_working_limit);
|
|
fprintf(m_pOutFile, "\n");
|
|
fprintf(m_pOutFile,"%s", ";\n");
|
|
|
|
outBuff="X_POS_WORKING_LIMIT=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%.3f", g_machine.s_machine_config.x_axis._pos_working_limit);
|
|
fprintf(m_pOutFile, "\n");
|
|
|
|
outBuff="Y_POS_WORKING_LIMIT=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%.3f", g_machine.s_machine_config.y_axis._pos_working_limit);
|
|
fprintf(m_pOutFile, "\n");
|
|
|
|
outBuff="Z_POS_WORKING_LIMIT=";
|
|
fprintf(m_pOutFile,"%s", outBuff);
|
|
fprintf(m_pOutFile,"%.3f", g_machine.s_machine_config.z_axis._pos_working_limit);
|
|
fprintf(m_pOutFile, "\n");
|
|
fprintf(m_pOutFile,"%s", ";\n");
|
|
|
|
|
|
|
|
fclose(m_pOutFile);
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
}
|
|
//******************************************************************************
|
|
//log file shows the machine speed data
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::LoadSmartMotorConfig()
|
|
{
|
|
FILE *hConfigFile = NULL;
|
|
char szLine[MAX_BUFF_SIZE];
|
|
char *token = NULL;
|
|
char seps[] = " =,\t\n";
|
|
char cTemp[20]={0};
|
|
CString csAppPath;
|
|
GetAppPath(csAppPath);
|
|
CString csSO7ConfigFile =csAppPath+_T("\\smartmotor_config.ini");//iniFile
|
|
_wfopen_s(&hConfigFile,csSO7ConfigFile,_T("rt"));
|
|
if(hConfigFile)
|
|
{
|
|
while (!feof(hConfigFile))
|
|
{
|
|
fgets(szLine,MAX_BUFF_SIZE,hConfigFile);//read a line
|
|
if((szLine[0]!=';')&&(strlen(szLine)>2))
|
|
{
|
|
token = strtok(szLine,seps);
|
|
//============================X============================
|
|
if(!_stricmp(token,"SPEED_X1"))//
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.x_axis._speed_[0]=atoi(cTemp);
|
|
}
|
|
}
|
|
else if(!_stricmp(token,"ACCELERATION_X1"))
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.x_axis._accel_[0]=atoi(cTemp);
|
|
}
|
|
}
|
|
else if(!_stricmp(token,"DECELERATION_X1"))
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.x_axis._decel_[0]=atoi(cTemp);
|
|
}
|
|
}
|
|
//--------------------------------------------
|
|
else if(!_stricmp(token,"SPEED_X2"))//
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.x_axis._speed_[1]=atoi(cTemp);
|
|
}
|
|
}
|
|
else if(!_stricmp(token,"ACCELERATION_X2"))
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.x_axis._accel_[1]=atoi(cTemp);
|
|
}
|
|
}
|
|
else if(!_stricmp(token,"DECELERATION_X2"))
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.x_axis._decel_[1]=atoi(cTemp);
|
|
}
|
|
}
|
|
//--------------------------------------------
|
|
else if(!_stricmp(token,"SPEED_X3"))//
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.x_axis._speed_[2]=atoi(cTemp);
|
|
}
|
|
}
|
|
else if(!_stricmp(token,"ACCELERATION_X3"))
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.x_axis._accel_[2]=atoi(cTemp);
|
|
}
|
|
}
|
|
else if(!_stricmp(token,"DECELERATION_X3"))
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.x_axis._decel_[2]=atoi(cTemp);
|
|
}
|
|
}
|
|
//--------------------------------------------
|
|
else if(!_stricmp(token,"SPEED_X4"))//
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.x_axis._speed_[3]=atoi(cTemp);
|
|
}
|
|
}
|
|
else if(!_stricmp(token,"ACCELERATION_X4"))
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.x_axis._accel_[3]=atoi(cTemp);
|
|
}
|
|
}
|
|
else if(!_stricmp(token,"DECELERATION_X4"))
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.x_axis._decel_[3]=atoi(cTemp);
|
|
}
|
|
}
|
|
//--------------------------------------------
|
|
else if(!_stricmp(token,"SPEED_X5"))//
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.x_axis._speed_[4]=atoi(cTemp);
|
|
}
|
|
}
|
|
else if(!_stricmp(token,"ACCELERATION_X5"))
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.x_axis._accel_[4]=atoi(cTemp);
|
|
}
|
|
}
|
|
else if(!_stricmp(token,"DECELERATION_X5"))
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.x_axis._decel_[4]=atoi(cTemp);
|
|
}
|
|
}
|
|
//===========================Y============================
|
|
else if(!_stricmp(token,"SPEED_Y1"))//
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.y_axis._speed_[0]=atoi(cTemp);
|
|
}
|
|
}
|
|
else if(!_stricmp(token,"ACCELERATION_Y1"))
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.y_axis._accel_[0]=atoi(cTemp);
|
|
}
|
|
}
|
|
else if(!_stricmp(token,"DECELERATION_Y1"))
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.y_axis._decel_[0]=atoi(cTemp);
|
|
}
|
|
}
|
|
//--------------------------------------------
|
|
else if(!_stricmp(token,"SPEED_Y2"))//
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.y_axis._speed_[1]=atoi(cTemp);
|
|
}
|
|
}
|
|
else if(!_stricmp(token,"ACCELERATION_Y2"))
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.y_axis._accel_[1]=atoi(cTemp);
|
|
}
|
|
}
|
|
else if(!_stricmp(token,"DECELERATION_Y2"))
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.y_axis._decel_[1]=atoi(cTemp);
|
|
}
|
|
}
|
|
//--------------------------------------------
|
|
else if(!_stricmp(token,"SPEED_Y3"))//
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.y_axis._speed_[2]=atoi(cTemp);
|
|
}
|
|
}
|
|
else if(!_stricmp(token,"ACCELERATION_Y3"))
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.y_axis._accel_[2]=atoi(cTemp);
|
|
}
|
|
}
|
|
else if(!_stricmp(token,"DECELERATION_Y3"))
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.y_axis._decel_[2]=atoi(cTemp);
|
|
}
|
|
}
|
|
//--------------------------------------------
|
|
else if(!_stricmp(token,"SPEED_Y4"))//
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.y_axis._speed_[3]=atoi(cTemp);
|
|
}
|
|
}
|
|
else if(!_stricmp(token,"ACCELERATION_Y4"))
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.y_axis._accel_[3]=atoi(cTemp);
|
|
}
|
|
}
|
|
else if(!_stricmp(token,"DECELERATION_Y4"))
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.y_axis._decel_[3]=atoi(cTemp);
|
|
}
|
|
}
|
|
//--------------------------------------------
|
|
else if(!_stricmp(token,"SPEED_Y5"))//
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.y_axis._speed_[4]=atoi(cTemp);
|
|
}
|
|
}
|
|
else if(!_stricmp(token,"ACCELERATION_Y5"))
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.y_axis._accel_[4]=atoi(cTemp);
|
|
}
|
|
}
|
|
else if(!_stricmp(token,"DECELERATION_Y5"))
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.y_axis._decel_[4]=atoi(cTemp);
|
|
}
|
|
}
|
|
//===========================Z============================
|
|
else if(!_stricmp(token,"SPEED_Z1"))//
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.z_axis._speed_[0]=atoi(cTemp);
|
|
}
|
|
}
|
|
else if(!_stricmp(token,"ACCELERATION_Z1"))
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.z_axis._accel_[0]=atoi(cTemp);
|
|
}
|
|
}
|
|
else if(!_stricmp(token,"DECELERATION_Z1"))
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.z_axis._decel_[0]=atoi(cTemp);
|
|
}
|
|
}
|
|
//--------------------------------------------
|
|
else if(!_stricmp(token,"SPEED_Z2"))//
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.z_axis._speed_[1]=atoi(cTemp);
|
|
}
|
|
}
|
|
else if(!_stricmp(token,"ACCELERATION_Z2"))
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.z_axis._accel_[1]=atoi(cTemp);
|
|
}
|
|
}
|
|
else if(!_stricmp(token,"DECELERATION_Z2"))
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.z_axis._decel_[1]=atoi(cTemp);
|
|
}
|
|
}
|
|
//--------------------------------------------
|
|
else if(!_stricmp(token,"SPEED_Z3"))//
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.z_axis._speed_[2]=atoi(cTemp);
|
|
}
|
|
}
|
|
else if(!_stricmp(token,"ACCELERATION_Z3"))
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.z_axis._accel_[2]=atoi(cTemp);
|
|
}
|
|
}
|
|
else if(!_stricmp(token,"DECELERATION_Z3"))
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.z_axis._decel_[2]=atoi(cTemp);
|
|
}
|
|
}
|
|
//--------------------------------------------
|
|
else if(!_stricmp(token,"SPEED_Z4"))//
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.z_axis._speed_[3]=atoi(cTemp);
|
|
}
|
|
}
|
|
else if(!_stricmp(token,"ACCELERATION_Z4"))
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.z_axis._accel_[3]=atoi(cTemp);
|
|
}
|
|
}
|
|
else if(!_stricmp(token,"DECELERATION_Z4"))
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.z_axis._decel_[3]=atoi(cTemp);
|
|
}
|
|
}
|
|
//--------------------------------------------
|
|
else if(!_stricmp(token,"SPEED_Z5"))//
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.z_axis._speed_[4]=atoi(cTemp);
|
|
}
|
|
}
|
|
else if(!_stricmp(token,"ACCELERATION_Z5"))
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.z_axis._accel_[4]=atoi(cTemp);
|
|
}
|
|
}
|
|
else if(!_stricmp(token,"DECELERATION_Z5"))
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.z_axis._decel_[4]=atoi(cTemp);
|
|
}
|
|
}
|
|
//=====================[WORKTABLE]========================
|
|
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, "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, "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, "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_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_POS_WORKING_LIMIT"))
|
|
{
|
|
token = strtok( NULL, seps);
|
|
if (token)
|
|
{
|
|
strcpy(cTemp,token);
|
|
g_machine.s_machine_config.z_axis._pos_working_limit=atof(cTemp);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
fclose(hConfigFile);
|
|
}
|
|
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
}
|
|
|
|
//******************************************************************************
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::GetAppPath(CString &Path)
|
|
{
|
|
Path=_T(""); // Speed optimization - noticed slow in GlowCode
|
|
if (Path.IsEmpty())
|
|
{
|
|
CString tmpPath;
|
|
GetModuleFileName(NULL,tmpPath.GetBuffer(255),255);
|
|
tmpPath.ReleaseBuffer();
|
|
tmpPath.TrimRight();
|
|
int nLastSlash = tmpPath.ReverseFind('\\');
|
|
if (nLastSlash >= 0)
|
|
tmpPath = tmpPath.Left(nLastSlash);
|
|
else
|
|
tmpPath.Empty();
|
|
Path=tmpPath;
|
|
}
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
};
|
|
//******************************************************************************
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::ExtractAppPath(CString &Path)
|
|
{
|
|
CString tmpPath = Path;
|
|
tmpPath.TrimRight();
|
|
tmpPath.TrimLeft();
|
|
int nLastSlash = tmpPath.ReverseFind('\\');
|
|
if (nLastSlash > -1)
|
|
{ // complete path
|
|
tmpPath = Path.Left(nLastSlash);
|
|
Path = tmpPath;
|
|
}
|
|
else
|
|
{ // not a complete path
|
|
Path="";
|
|
};
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
};
|
|
//******************************************************************************
|
|
//set up the thread
|
|
//******************************************************************************
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::Create_thread()
|
|
{
|
|
//Set initial state of the machine
|
|
g_machine.s_status._machine_running = false;
|
|
|
|
|
|
SSI_STATUS_SMARTMOTOR Status=SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
UNREFERENCED_PARAMETER(Status);
|
|
|
|
|
|
|
|
// ********************************************************************
|
|
//
|
|
g_machine_event = CreateEvent(NULL, // default security attributes
|
|
FALSE, // manual reset event object
|
|
NULL, // signaled
|
|
NULL); // unamed object
|
|
|
|
g_machine_Thread_Id = CreateThread( (LPSECURITY_ATTRIBUTES) NULL,
|
|
0,
|
|
(LPTHREAD_START_ROUTINE) g_machine_Thread,
|
|
(LPVOID) this,
|
|
0,
|
|
NULL);
|
|
g_machine_Thread_State = THREAD_RUNNING_STATE;
|
|
|
|
// ********************************************************************
|
|
// Prepare and start EP_S07_81 Thread - Use async commit.
|
|
//
|
|
g_machine_Serial_Mutex = CreateMutex(NULL, // default security attributes
|
|
FALSE, // initial owner
|
|
NULL); // name
|
|
|
|
// *********************************************************************
|
|
g_hHomedEvent = CreateEvent(NULL, // default security attributes
|
|
TRUE, // manual reset event object
|
|
FALSE, // initial state is signaled
|
|
NULL); // unamed object
|
|
|
|
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
}
|
|
|
|
//******************************************************************************
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::Exit_thread()
|
|
{
|
|
SSI_STATUS_SMARTMOTOR Status=SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
|
|
g_machine_Thread_State = THREAD_EXIT;
|
|
|
|
SetEvent(g_machine_event);
|
|
if (g_machine_Thread_Id)
|
|
{
|
|
DWORD dwCode = STILL_ACTIVE;
|
|
while (dwCode == STILL_ACTIVE)
|
|
{
|
|
GetExitCodeThread(g_machine_Thread_Id,&dwCode);
|
|
Sleep(1);
|
|
}
|
|
}
|
|
|
|
SetEvent(g_machine_event);
|
|
CloseHandle(g_machine_event);
|
|
g_machine_Thread_State = THREAD_EXIT;
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
CloseHandle(g_machine_Serial_Mutex);
|
|
return Status;
|
|
}
|
|
|
|
|
|
|
|
//******************************************************************************
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_start_machine()
|
|
{
|
|
Create_thread();
|
|
InitSmartMotor();
|
|
StartSmartMotor();
|
|
LoadSmartMotorConfig();
|
|
//smartmotor_motion_Dcc_Home();
|
|
g_machine_Thread_State = THREAD_RUNNING_STATE;
|
|
g_machine.s_status._machine_running = true;
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
};
|
|
|
|
//===============================================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_shutdown_machine()
|
|
{
|
|
StopSmartMotor();
|
|
Exit_thread();
|
|
g_machine.s_status._machine_running = false;
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
};
|
|
|
|
|
|
//**********************************************************************//
|
|
//**********************************************************************//
|
|
//==========================================================================
|
|
BOOL SmartMotor_Proto::InitSmartMotor()
|
|
{
|
|
try
|
|
{
|
|
// Create SMIHost object and interfaces
|
|
HRESULT hr = CommInterface.CreateInstance(__uuidof(SMIHost));
|
|
if(FAILED(hr))
|
|
{
|
|
AfxMessageBox(_T("Cannot create an instance of \"SMIHost\" class!"));
|
|
return FALSE;
|
|
}
|
|
hr = CommInterface.QueryInterface(__uuidof(ISMICMotion),&CMotionInterface);
|
|
if(FAILED(hr))
|
|
{
|
|
AfxMessageBox(_T("The interface \"ISMICMotion\" not found!"));
|
|
return FALSE;
|
|
}
|
|
hr = CommInterface.QueryInterface(__uuidof(ISMIPath),&PathInterface);
|
|
if(FAILED(hr))
|
|
{
|
|
AfxMessageBox(_T("The interface \"ISMIPath\" not found!"));
|
|
return FALSE;
|
|
}
|
|
CString Str = _T("N/A");
|
|
long Version = CommInterface->EngineVersion;
|
|
if(Version)
|
|
{
|
|
Str.Format(_T("IntegMotorInterface Version: %d.%d%d%d"),
|
|
HIBYTE(HIWORD(Version)),
|
|
LOBYTE(HIWORD(Version)),
|
|
HIBYTE(LOWORD(Version)),
|
|
LOBYTE(LOWORD(Version)));
|
|
}
|
|
return TRUE;
|
|
}
|
|
catch(_com_error e)
|
|
{
|
|
MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
|
|
return FALSE;
|
|
}
|
|
}
|
|
//==========================================================================
|
|
void SmartMotor_Proto::StartSmartMotor()
|
|
{
|
|
try
|
|
{
|
|
CommInterface->BaudRate = 19200;
|
|
CommInterface->OpenPort(_bstr_t(_T("COM1")));
|
|
CommInterface->InitRS485(3, 1);
|
|
CommInterface->DefaultMotor = 0;
|
|
CommInterface->WriteCommand(("RUN"));
|
|
}
|
|
catch(_com_error e)
|
|
{
|
|
MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
|
|
}
|
|
}
|
|
//==========================================================================
|
|
void SmartMotor_Proto::StopSmartMotor()
|
|
{
|
|
try
|
|
{
|
|
CommInterface->DefaultMotor = 0;
|
|
CommInterface->WriteCommand(_bstr_t("c=1"));
|
|
CommInterface->WriteCommand(("S"));
|
|
CommInterface->WriteCommand(("OFF"));
|
|
CommInterface->ClosePort();
|
|
}
|
|
catch(_com_error e)
|
|
{
|
|
MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
|
|
}
|
|
}
|
|
//========================================================================
|
|
// Move the stage left/right until the index location is non-zero
|
|
//========================================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::smartmotor_motion_Dcc_Home()
|
|
{
|
|
try
|
|
{
|
|
g_machine.s_status._bXYZHomed=FALSE;
|
|
g_machine.s_status._bXHomed=FALSE;
|
|
g_machine.s_status._bYHomed=FALSE;
|
|
g_machine.s_status._bZHomed=FALSE;
|
|
|
|
CommInterface->DefaultMotor=0;
|
|
CommInterface->WriteCommand(_bstr_t("c=1"));
|
|
|
|
m_bHomingActive=true;
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
}
|
|
catch(_com_error e)
|
|
{
|
|
MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
|
|
return SSI_STATUS_SMARTMOTOR_COMMERR;
|
|
}
|
|
|
|
}
|
|
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::smartmotor_motion_IS_Homed()
|
|
{
|
|
try
|
|
{
|
|
if (g_machine.s_status._bXYZHomed && m_bHomingActive)
|
|
{
|
|
m_bHomingActive=false;
|
|
SetEvent(g_hHomedEvent);
|
|
}
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
}
|
|
catch(_com_error e)
|
|
{
|
|
MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
|
|
return SSI_STATUS_SMARTMOTOR_COMMERR;
|
|
}
|
|
|
|
}
|
|
//==================================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::smartmotor_motion_startup(double dScaleResolutionX, double dScaleResolutionY, double dScaleResolutionZ)
|
|
{
|
|
g_machine.s_machine_config.x_axis._scale_resolution = dScaleResolutionX;
|
|
g_machine.s_machine_config.y_axis._scale_resolution = dScaleResolutionY;
|
|
g_machine.s_machine_config.z_axis._scale_resolution = dScaleResolutionZ;
|
|
|
|
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
};
|
|
//==================================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::smartmotor_motion_get_position_xyz(double & dX, double & dY, double & dZ)
|
|
{
|
|
//WaitForSingleObject(g_hHomedEvent, INFINITE); // machine start and homing is done
|
|
|
|
_send_cmd_SMARTMOTOR_GET_POS_XYZ();
|
|
g_machine.x._d_cur_pos=ScaleToMM(g_machine.x._l_cur_pos,g_machine.s_machine_config.x_axis._scale_resolution);
|
|
g_machine.y._d_cur_pos=ScaleToMM(g_machine.y._l_cur_pos,g_machine.s_machine_config.y_axis._scale_resolution);
|
|
g_machine.z._d_cur_pos=ScaleToMM(g_machine.z._l_cur_pos,g_machine.s_machine_config.z_axis._scale_resolution);
|
|
|
|
dX=g_machine.x._d_cur_pos;
|
|
dY=g_machine.y._d_cur_pos;
|
|
dZ=g_machine.z._d_cur_pos;
|
|
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
};
|
|
//==================================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::smartmotor_motion_get_pos_pulse_xyz(long & lX, long & lY, long & lZ)
|
|
{
|
|
//WaitForSingleObject(g_hHomedEvent, INFINITE); // machine start and homing is done
|
|
|
|
_send_cmd_SMARTMOTOR_GET_POS_XYZ();
|
|
lX=g_machine.x._l_cur_pos;
|
|
lY=g_machine.y._l_cur_pos;
|
|
lZ=g_machine.z._l_cur_pos;
|
|
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
};
|
|
//==================================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::smartmotor_motion_set_position_xyz(double dX, double dY, double dZ, bool bWait)
|
|
{
|
|
WaitForSingleObject(g_hHomedEvent, INFINITE); // machine start and homing is done
|
|
|
|
_send_cmd_SMARTMOTOR_MOVETOX_ABS(dX);
|
|
_send_cmd_SMARTMOTOR_MOVETOY_ABS(dY);
|
|
_send_cmd_SMARTMOTOR_MOVETOZ_ABS(dZ);
|
|
|
|
#pragma message("Test settle wait comparing the status bit to the scale monitor")
|
|
|
|
if (bWait)
|
|
{
|
|
const long lSleep = 20;
|
|
const long lMaxLoopCnt = 10000/lSleep; // use max homing time of 20 seconds
|
|
long lLoopCnt = 0;
|
|
Sleep(lSleep);
|
|
|
|
while (g_machine.s_status._bXYZMoving && lLoopCnt < lMaxLoopCnt)
|
|
{
|
|
Sleep(lSleep);
|
|
smartmotor_motion_get_motion_status();
|
|
++lLoopCnt;
|
|
}
|
|
|
|
}
|
|
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
};
|
|
|
|
//==================================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::smartmotor_motion_move_rel_dis_xyz(double dX, double dY, double dZ, bool bWait)
|
|
{
|
|
WaitForSingleObject(g_hHomedEvent, INFINITE); // machine start and homing is done
|
|
|
|
_send_cmd_SMARTMOTOR_MOVETOX_REL(dX);
|
|
_send_cmd_SMARTMOTOR_MOVETOY_REL(dY);
|
|
_send_cmd_SMARTMOTOR_MOVETOZ_REL(dZ);
|
|
|
|
|
|
if (bWait)
|
|
{
|
|
const long lSleep = 20;
|
|
const long lMaxLoopCnt = 10000/lSleep; // use max homing time of 20 seconds
|
|
long lLoopCnt = 0;
|
|
Sleep(lSleep);
|
|
|
|
while (g_machine.s_status._bXYZMoving && lLoopCnt < lMaxLoopCnt)
|
|
{
|
|
Sleep(lSleep);
|
|
smartmotor_motion_get_motion_status();
|
|
++lLoopCnt;
|
|
}
|
|
|
|
}
|
|
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
};
|
|
//==================================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::smartmotor_motion_stop_xyz()
|
|
{
|
|
//WaitForSingleObject(g_hHomedEvent, INFINITE); // machine start and homing is done
|
|
|
|
_send_cmd_SMARTMOTOR_DECEL_STOPX();
|
|
_send_cmd_SMARTMOTOR_DECEL_STOPY();
|
|
_send_cmd_SMARTMOTOR_DECEL_STOPZ();
|
|
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
};
|
|
//==================================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::smartmotor_motion_stop_xyz_S()
|
|
{
|
|
//WaitForSingleObject(g_hHomedEvent, INFINITE); // machine start and homing is done
|
|
|
|
_send_cmd_SMARTMOTOR_ABRUPT_STOPX();
|
|
_send_cmd_SMARTMOTOR_ABRUPT_STOPY();
|
|
_send_cmd_SMARTMOTOR_ABRUPT_STOPZ();
|
|
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
};
|
|
//==================================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::smartmotor_motion_get_home_status()
|
|
{
|
|
//WaitForSingleObject(g_hHomedEvent, INFINITE); // machine start and homing is done
|
|
|
|
if(!g_machine.s_status._bXHomed)
|
|
_send_cmd_SMARTMOTOR_GET_HOME_STATUS_X();
|
|
if(!g_machine.s_status._bYHomed)
|
|
_send_cmd_SMARTMOTOR_GET_HOME_STATUS_Y();
|
|
if(!g_machine.s_status._bZHomed)
|
|
_send_cmd_SMARTMOTOR_GET_HOME_STATUS_Z();
|
|
|
|
g_machine.s_status._bXYZHomed=g_machine.s_status._bXHomed && g_machine.s_status._bYHomed && g_machine.s_status._bZHomed;
|
|
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
};
|
|
|
|
//==================================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::smartmotor_motion_get_motion_status()
|
|
{
|
|
// WaitForSingleObject(g_hHomedEvent, INFINITE); // machine start and homing is done
|
|
|
|
_send_cmd_SMARTMOTOR_GET_MOVE_STATUS_X();
|
|
_send_cmd_SMARTMOTOR_GET_MOVE_STATUS_Y();
|
|
_send_cmd_SMARTMOTOR_GET_MOVE_STATUS_Z();
|
|
|
|
g_machine.s_status._bXYZMoving=g_machine.s_status._bXMoving || g_machine.s_status._bYMoving || g_machine.s_status._bZMoving;
|
|
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
};
|
|
//==============================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::smartmotor_motion_get_status_word()
|
|
{
|
|
// WaitForSingleObject(g_hHomedEvent, INFINITE); // machine start and homing is done
|
|
|
|
_send_cmd_SMARTMOTOR_GET_STATUS_WORD0();
|
|
_send_cmd_SMARTMOTOR_GET_STATUS_WORD16();
|
|
|
|
g_machine.x.s_machine_status.DriverRdy = g_machine.x.s_machine_status.StatusWord[0] & HBIT0;
|
|
g_machine.x.s_machine_status.MotorOff = g_machine.x.s_machine_status.StatusWord[0] & HBIT1;
|
|
g_machine.x.s_machine_status.VoltageFault = g_machine.x.s_machine_status.StatusWord[0] & HBIT3;
|
|
g_machine.x.s_machine_status.PosErr = g_machine.x.s_machine_status.StatusWord[0] & HBIT6;
|
|
g_machine.x.s_machine_status.OverHeat = g_machine.x.s_machine_status.StatusWord[0] & HBIT8;
|
|
g_machine.x.s_machine_status.NegLimit = g_machine.x.s_machine_status.StatusWord[1] & HBIT3;
|
|
g_machine.x.s_machine_status.PosLimit = g_machine.x.s_machine_status.StatusWord[1] & HBIT2;
|
|
|
|
g_machine.y.s_machine_status.DriverRdy = g_machine.y.s_machine_status.StatusWord[0] & HBIT0;
|
|
g_machine.y.s_machine_status.MotorOff = g_machine.y.s_machine_status.StatusWord[0] & HBIT1;
|
|
g_machine.y.s_machine_status.VoltageFault = g_machine.y.s_machine_status.StatusWord[0] & HBIT3;
|
|
g_machine.y.s_machine_status.PosErr = g_machine.y.s_machine_status.StatusWord[0] & HBIT6;
|
|
g_machine.y.s_machine_status.OverHeat = g_machine.y.s_machine_status.StatusWord[0] & HBIT8;
|
|
g_machine.y.s_machine_status.NegLimit = g_machine.y.s_machine_status.StatusWord[1] & HBIT3;
|
|
g_machine.y.s_machine_status.PosLimit = g_machine.y.s_machine_status.StatusWord[1] & HBIT2;
|
|
|
|
g_machine.z.s_machine_status.DriverRdy = g_machine.z.s_machine_status.StatusWord[0] & HBIT0;
|
|
g_machine.z.s_machine_status.MotorOff = g_machine.z.s_machine_status.StatusWord[0] & HBIT1;
|
|
g_machine.z.s_machine_status.VoltageFault = g_machine.z.s_machine_status.StatusWord[0] & HBIT3;
|
|
g_machine.z.s_machine_status.PosErr = g_machine.z.s_machine_status.StatusWord[0] & HBIT6;
|
|
g_machine.z.s_machine_status.OverHeat = g_machine.z.s_machine_status.StatusWord[0] & HBIT8;
|
|
g_machine.z.s_machine_status.NegLimit = g_machine.z.s_machine_status.StatusWord[1] & HBIT3;
|
|
g_machine.z.s_machine_status.PosLimit = g_machine.z.s_machine_status.StatusWord[1] & HBIT2;
|
|
|
|
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
};
|
|
////========================================================================
|
|
//SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_calculate_straightline_motion(double dSpeedMM)
|
|
//{
|
|
//
|
|
// return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
//}
|
|
|
|
//**********************************************************************//
|
|
|
|
//==============================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_GET_POS_XYZ()
|
|
{
|
|
try
|
|
{
|
|
WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);
|
|
|
|
Sleep(10);
|
|
CommInterface->DefaultMotor=g_machine.x.address;
|
|
CommInterface->WriteCommand(_bstr_t("RPA"));
|
|
g_machine.x._l_cur_pos=atoi(CommInterface->ReadResponse());
|
|
Sleep(10);
|
|
CommInterface->DefaultMotor=g_machine.y.address;
|
|
CommInterface->WriteCommand(_bstr_t("RPA"));
|
|
g_machine.y._l_cur_pos=atoi(CommInterface->ReadResponse());
|
|
Sleep(10);
|
|
CommInterface->DefaultMotor=g_machine.z.address;
|
|
CommInterface->WriteCommand(_bstr_t("RPA"));
|
|
g_machine.z._l_cur_pos=atoi(CommInterface->ReadResponse());
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
}
|
|
catch(_com_error e)
|
|
{
|
|
MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_COMMERR;
|
|
}
|
|
};
|
|
|
|
//==============================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_MOVETOX_ABS(double dis)
|
|
{
|
|
try
|
|
{
|
|
WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);
|
|
|
|
CString csTmp;
|
|
CommInterface->DefaultMotor=g_machine.x.address;
|
|
CommInterface->WriteCommand(("MP"));
|
|
g_machine.x._l_move_dis=MMtoScale(dis,g_machine.s_machine_config.x_axis._scale_resolution);
|
|
csTmp.Format(_T("PT=%d"),g_machine.x._l_move_dis);
|
|
CommInterface->WriteCommand(_bstr_t(csTmp));
|
|
csTmp.Format(_T("VT=%d"),g_machine.s_machine_config.x_axis._speed_[g_machine.x._Move_Speed_Gear]);
|
|
CommInterface->WriteCommand(_bstr_t(csTmp));
|
|
csTmp.Format(_T("AT=%d"),g_machine.s_machine_config.x_axis._accel_[g_machine.x._Move_Speed_Gear]);
|
|
CommInterface->WriteCommand(_bstr_t(csTmp));
|
|
csTmp.Format(_T("DT=%d"),g_machine.s_machine_config.x_axis._decel_[g_machine.x._Move_Speed_Gear]);
|
|
CommInterface->WriteCommand(_bstr_t(csTmp));
|
|
CommInterface->WriteCommand(("ZS"));
|
|
CommInterface->WriteCommand(("G"));
|
|
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
}
|
|
catch(_com_error e)
|
|
{
|
|
MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
|
|
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_COMMERR;
|
|
}
|
|
};
|
|
|
|
//==============================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_MOVETOY_ABS(double dis)
|
|
{ try
|
|
{
|
|
WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);
|
|
|
|
CString csTmp;
|
|
CommInterface->DefaultMotor=g_machine.y.address;
|
|
CommInterface->WriteCommand(("MP"));
|
|
g_machine.y._l_move_dis=MMtoScale(dis,g_machine.s_machine_config.y_axis._scale_resolution);
|
|
csTmp.Format(_T("PT=%d"),g_machine.y._l_move_dis);
|
|
CommInterface->WriteCommand(_bstr_t(csTmp));
|
|
csTmp.Format(_T("VT=%d"),g_machine.s_machine_config.y_axis._speed_[g_machine.y._Move_Speed_Gear]);
|
|
CommInterface->WriteCommand(_bstr_t(csTmp));
|
|
csTmp.Format(_T("AT=%d"),g_machine.s_machine_config.y_axis._accel_[g_machine.y._Move_Speed_Gear]);
|
|
CommInterface->WriteCommand(_bstr_t(csTmp));
|
|
csTmp.Format(_T("DT=%d"),g_machine.s_machine_config.y_axis._decel_[g_machine.y._Move_Speed_Gear]);
|
|
CommInterface->WriteCommand(_bstr_t(csTmp));
|
|
CommInterface->WriteCommand(("ZS"));
|
|
CommInterface->WriteCommand(("G"));
|
|
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
}
|
|
catch(_com_error e)
|
|
{
|
|
MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
|
|
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_COMMERR;
|
|
}
|
|
};
|
|
//==============================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_MOVETOZ_ABS(double dis)
|
|
{
|
|
try
|
|
{
|
|
WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);
|
|
|
|
CString csTmp;
|
|
CommInterface->DefaultMotor=g_machine.z.address;
|
|
CommInterface->WriteCommand(("MP"));
|
|
g_machine.z._l_move_dis=MMtoScale(dis,g_machine.s_machine_config.z_axis._scale_resolution);
|
|
csTmp.Format(_T("PT=%d"),g_machine.z._l_move_dis);
|
|
CommInterface->WriteCommand(_bstr_t(csTmp));
|
|
csTmp.Format(_T("VT=%d"),g_machine.s_machine_config.z_axis._speed_[g_machine.z._Move_Speed_Gear]);
|
|
CommInterface->WriteCommand(_bstr_t(csTmp));
|
|
csTmp.Format(_T("AT=%d"),g_machine.s_machine_config.z_axis._accel_[g_machine.z._Move_Speed_Gear]);
|
|
CommInterface->WriteCommand(_bstr_t(csTmp));
|
|
csTmp.Format(_T("DT=%d"),g_machine.s_machine_config.z_axis._decel_[g_machine.z._Move_Speed_Gear]);
|
|
CommInterface->WriteCommand(_bstr_t(csTmp));
|
|
CommInterface->WriteCommand(("ZS"));
|
|
CommInterface->WriteCommand(("G"));
|
|
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
}
|
|
catch(_com_error e)
|
|
{
|
|
MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_COMMERR;
|
|
}
|
|
};
|
|
|
|
|
|
//==============================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_MOVETOX_REL(double dis)
|
|
{
|
|
try
|
|
{
|
|
WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);
|
|
|
|
CString csTmp;
|
|
CommInterface->DefaultMotor=g_machine.x.address;
|
|
CommInterface->WriteCommand(("MP"));
|
|
g_machine.x._l_move_dis=MMtoScale(dis,g_machine.s_machine_config.x_axis._scale_resolution);
|
|
csTmp.Format(_T("PRT=%d"),g_machine.x._l_move_dis);
|
|
CommInterface->WriteCommand(_bstr_t(csTmp));
|
|
csTmp.Format(_T("VT=%d"),g_machine.s_machine_config.x_axis._speed_[g_machine.x._Move_Speed_Gear]);
|
|
CommInterface->WriteCommand(_bstr_t(csTmp));
|
|
csTmp.Format(_T("AT=%d"),g_machine.s_machine_config.x_axis._accel_[g_machine.x._Move_Speed_Gear]);
|
|
CommInterface->WriteCommand(_bstr_t(csTmp));
|
|
csTmp.Format(_T("DT=%d"),g_machine.s_machine_config.x_axis._decel_[g_machine.x._Move_Speed_Gear]);
|
|
CommInterface->WriteCommand(_bstr_t(csTmp));
|
|
CommInterface->WriteCommand(("ZS"));
|
|
CommInterface->WriteCommand(("G"));
|
|
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
}
|
|
catch(_com_error e)
|
|
{
|
|
MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
|
|
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_COMMERR;
|
|
}
|
|
};
|
|
|
|
//==============================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_MOVETOY_REL(double dis)
|
|
{ try
|
|
{
|
|
WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);
|
|
|
|
CString csTmp;
|
|
CommInterface->DefaultMotor=g_machine.y.address;
|
|
CommInterface->WriteCommand(("MP"));
|
|
g_machine.y._l_move_dis=MMtoScale(dis,g_machine.s_machine_config.y_axis._scale_resolution);
|
|
csTmp.Format(_T("PRT=%d"),g_machine.y._l_move_dis);
|
|
CommInterface->WriteCommand(_bstr_t(csTmp));
|
|
csTmp.Format(_T("VT=%d"),g_machine.s_machine_config.y_axis._speed_[g_machine.y._Move_Speed_Gear]);
|
|
CommInterface->WriteCommand(_bstr_t(csTmp));
|
|
csTmp.Format(_T("AT=%d"),g_machine.s_machine_config.y_axis._accel_[g_machine.y._Move_Speed_Gear]);
|
|
CommInterface->WriteCommand(_bstr_t(csTmp));
|
|
csTmp.Format(_T("DT=%d"),g_machine.s_machine_config.y_axis._decel_[g_machine.y._Move_Speed_Gear]);
|
|
CommInterface->WriteCommand(_bstr_t(csTmp));
|
|
CommInterface->WriteCommand(("ZS"));
|
|
CommInterface->WriteCommand(("G"));
|
|
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
}
|
|
catch(_com_error e)
|
|
{
|
|
MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
|
|
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_COMMERR;
|
|
}
|
|
};
|
|
//==============================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_MOVETOZ_REL(double dis)
|
|
{
|
|
try
|
|
{
|
|
WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);
|
|
|
|
CString csTmp;
|
|
CommInterface->DefaultMotor=g_machine.z.address;
|
|
CommInterface->WriteCommand(("MP"));
|
|
g_machine.z._l_move_dis=MMtoScale(dis,g_machine.s_machine_config.z_axis._scale_resolution);
|
|
csTmp.Format(_T("PRT=%d"),g_machine.z._l_move_dis);
|
|
CommInterface->WriteCommand(_bstr_t(csTmp));
|
|
csTmp.Format(_T("VT=%d"),g_machine.s_machine_config.z_axis._speed_[g_machine.z._Move_Speed_Gear]);
|
|
CommInterface->WriteCommand(_bstr_t(csTmp));
|
|
csTmp.Format(_T("AT=%d"),g_machine.s_machine_config.z_axis._accel_[g_machine.z._Move_Speed_Gear]);
|
|
CommInterface->WriteCommand(_bstr_t(csTmp));
|
|
csTmp.Format(_T("DT=%d"),g_machine.s_machine_config.z_axis._decel_[g_machine.z._Move_Speed_Gear]);
|
|
CommInterface->WriteCommand(_bstr_t(csTmp));
|
|
CommInterface->WriteCommand(("ZS"));
|
|
CommInterface->WriteCommand(("G"));
|
|
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
}
|
|
catch(_com_error e)
|
|
{
|
|
MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_COMMERR;
|
|
}
|
|
};
|
|
//==============================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_MOVEX(BOOL dir)
|
|
{
|
|
try
|
|
{
|
|
WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);
|
|
|
|
CString csTmp;
|
|
CommInterface->DefaultMotor=g_machine.x.address;
|
|
CommInterface->WriteCommand(("MV"));
|
|
if (dir)
|
|
{
|
|
csTmp.Format(_T("VT=%d"),g_machine.s_machine_config.x_axis._speed_[g_machine.x._Move_Speed_Gear]);
|
|
}
|
|
else
|
|
{
|
|
csTmp.Format(_T("VT=%d"),-g_machine.s_machine_config.x_axis._speed_[g_machine.x._Move_Speed_Gear]);
|
|
}
|
|
CommInterface->WriteCommand(_bstr_t(csTmp));
|
|
csTmp.Format(_T("AT=%d"),g_machine.s_machine_config.x_axis._accel_[g_machine.x._Move_Speed_Gear]);
|
|
CommInterface->WriteCommand(_bstr_t(csTmp));
|
|
csTmp.Format(_T("DT=%d"),g_machine.s_machine_config.x_axis._decel_[g_machine.x._Move_Speed_Gear]);
|
|
CommInterface->WriteCommand(_bstr_t(csTmp));
|
|
CommInterface->WriteCommand(("XS"));
|
|
CommInterface->WriteCommand(("G"));
|
|
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
}
|
|
catch(_com_error e)
|
|
{
|
|
MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_COMMERR;
|
|
}
|
|
};
|
|
//==============================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_MOVEY(BOOL dir)
|
|
{
|
|
try
|
|
{
|
|
WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);
|
|
|
|
CString csTmp;
|
|
CommInterface->DefaultMotor=g_machine.y.address;
|
|
CommInterface->WriteCommand(("MV"));
|
|
if (dir)
|
|
{
|
|
csTmp.Format(_T("VT=%d"),g_machine.s_machine_config.y_axis._speed_[g_machine.y._Move_Speed_Gear]);
|
|
}
|
|
else
|
|
{
|
|
csTmp.Format(_T("VT=%d"),-g_machine.s_machine_config.y_axis._speed_[g_machine.y._Move_Speed_Gear]);
|
|
}
|
|
CommInterface->WriteCommand(_bstr_t(csTmp));
|
|
csTmp.Format(_T("AT=%d"),g_machine.s_machine_config.y_axis._accel_[g_machine.y._Move_Speed_Gear]);
|
|
CommInterface->WriteCommand(_bstr_t(csTmp));
|
|
csTmp.Format(_T("DT=%d"),g_machine.s_machine_config.y_axis._decel_[g_machine.y._Move_Speed_Gear]);
|
|
CommInterface->WriteCommand(_bstr_t(csTmp));
|
|
CommInterface->WriteCommand(("YS"));
|
|
CommInterface->WriteCommand(("G"));
|
|
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
}
|
|
catch(_com_error e)
|
|
{
|
|
MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_COMMERR;
|
|
}
|
|
};
|
|
//==============================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_MOVEZ(BOOL dir)
|
|
{
|
|
try
|
|
{
|
|
WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);
|
|
|
|
CString csTmp;
|
|
CommInterface->DefaultMotor=g_machine.z.address;
|
|
CommInterface->WriteCommand(("MV"));
|
|
if (dir)
|
|
{
|
|
csTmp.Format(_T("VT=%d"),g_machine.s_machine_config.z_axis._speed_[g_machine.z._Move_Speed_Gear]);
|
|
}
|
|
else
|
|
{
|
|
csTmp.Format(_T("VT=%d"),-g_machine.s_machine_config.z_axis._speed_[g_machine.z._Move_Speed_Gear]);
|
|
}
|
|
CommInterface->WriteCommand(_bstr_t(csTmp));
|
|
csTmp.Format(_T("AT=%d"),g_machine.s_machine_config.z_axis._accel_[g_machine.z._Move_Speed_Gear]);
|
|
CommInterface->WriteCommand(_bstr_t(csTmp));
|
|
csTmp.Format(_T("DT=%d"),g_machine.s_machine_config.z_axis._decel_[g_machine.z._Move_Speed_Gear]);
|
|
CommInterface->WriteCommand(_bstr_t(csTmp));
|
|
CommInterface->WriteCommand(("ZS"));
|
|
CommInterface->WriteCommand(("G"));
|
|
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
}
|
|
catch(_com_error e)
|
|
{
|
|
MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_COMMERR;
|
|
}
|
|
};
|
|
//==============================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_ABRUPT_STOPX()
|
|
{
|
|
try
|
|
{
|
|
WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);
|
|
|
|
CommInterface->DefaultMotor=g_machine.x.address;
|
|
CommInterface->WriteCommand(("S"));
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
}
|
|
catch(_com_error e)
|
|
{
|
|
MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_COMMERR;
|
|
}
|
|
};
|
|
//==============================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_ABRUPT_STOPY()
|
|
{
|
|
try
|
|
{
|
|
WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);
|
|
|
|
CommInterface->DefaultMotor=g_machine.y.address;
|
|
CommInterface->WriteCommand(("S"));
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
}
|
|
catch(_com_error e)
|
|
{
|
|
MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_COMMERR;
|
|
}
|
|
};
|
|
//==============================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_ABRUPT_STOPZ()
|
|
{
|
|
try
|
|
{
|
|
WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);
|
|
|
|
CommInterface->DefaultMotor=g_machine.z.address;
|
|
CommInterface->WriteCommand(("S"));
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
}
|
|
catch(_com_error e)
|
|
{
|
|
MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_COMMERR;
|
|
}
|
|
};
|
|
|
|
//==============================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_DECEL_STOPX()
|
|
{
|
|
try
|
|
{
|
|
WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);
|
|
|
|
CommInterface->DefaultMotor=g_machine.x.address;
|
|
CommInterface->WriteCommand(("X"));
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
}
|
|
catch(_com_error e)
|
|
{
|
|
MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_COMMERR;
|
|
}
|
|
};
|
|
//==============================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_DECEL_STOPY()
|
|
{
|
|
try
|
|
{
|
|
WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);
|
|
|
|
CommInterface->DefaultMotor=g_machine.y.address;
|
|
CommInterface->WriteCommand(("X"));
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
}
|
|
catch(_com_error e)
|
|
{
|
|
MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_COMMERR;
|
|
}
|
|
};
|
|
//==============================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_DECEL_STOPZ()
|
|
{
|
|
try
|
|
{
|
|
WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);
|
|
|
|
CommInterface->DefaultMotor=g_machine.z.address;
|
|
CommInterface->WriteCommand(("X"));
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
}
|
|
catch(_com_error e)
|
|
{
|
|
MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_COMMERR;
|
|
}
|
|
};
|
|
|
|
//==============================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_COMM_CMDX(CString _command)
|
|
{
|
|
try
|
|
{
|
|
WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);
|
|
|
|
CommInterface->DefaultMotor=g_machine.x.address;
|
|
CommInterface->WriteCommand(_bstr_t(_command));
|
|
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
}
|
|
catch(_com_error e)
|
|
{
|
|
MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_COMMERR;
|
|
}
|
|
};
|
|
//==============================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_COMM_CMDY(CString _command)
|
|
{
|
|
try
|
|
{
|
|
WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);
|
|
|
|
CommInterface->DefaultMotor=g_machine.y.address;
|
|
CommInterface->WriteCommand(_bstr_t(_command));
|
|
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
}
|
|
catch(_com_error e)
|
|
{
|
|
MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_COMMERR;
|
|
}
|
|
};
|
|
//==============================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_COMM_CMDZ(CString _command)
|
|
{
|
|
try
|
|
{
|
|
WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);
|
|
|
|
CommInterface->DefaultMotor=g_machine.z.address;
|
|
CommInterface->WriteCommand(_bstr_t(_command));
|
|
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
}
|
|
catch(_com_error e)
|
|
{
|
|
MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_COMMERR;
|
|
}
|
|
};
|
|
//==============================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_GET_COMM_RESPONSEX(CString &_response)
|
|
{
|
|
try
|
|
{
|
|
WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);
|
|
|
|
CommInterface->DefaultMotor=g_machine.x.address;
|
|
_response=static_cast<LPCTSTR>(CommInterface->ReadResponse());
|
|
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
}
|
|
catch(_com_error e)
|
|
{
|
|
MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_COMMERR;
|
|
}
|
|
};
|
|
//==============================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_GET_COMM_RESPONSEY(CString &_response)
|
|
{
|
|
try
|
|
{
|
|
WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);
|
|
|
|
CommInterface->DefaultMotor=g_machine.y.address;
|
|
_response=static_cast<LPCTSTR>(CommInterface->ReadResponse());
|
|
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
}
|
|
catch(_com_error e)
|
|
{
|
|
MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_COMMERR;
|
|
}
|
|
};
|
|
//==============================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_GET_COMM_RESPONSEZ(CString &_response)
|
|
{
|
|
try
|
|
{
|
|
WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);
|
|
|
|
CommInterface->DefaultMotor=g_machine.z.address;
|
|
_response=static_cast<LPCTSTR>(CommInterface->ReadResponse());
|
|
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
}
|
|
catch(_com_error e)
|
|
{
|
|
MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_COMMERR;
|
|
}
|
|
};
|
|
//==============================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_GET_HOME_STATUS_X()
|
|
{
|
|
try
|
|
{
|
|
WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);
|
|
|
|
CommInterface->DefaultMotor=g_machine.x.address;
|
|
CommInterface->WriteCommand(_bstr_t("Rhh"));
|
|
g_machine.s_status._bXHomed=(atoi)(CommInterface->ReadResponse());
|
|
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
}
|
|
catch(_com_error e)
|
|
{
|
|
MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_COMMERR;
|
|
}
|
|
};
|
|
//==============================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_GET_HOME_STATUS_Y()
|
|
{
|
|
try
|
|
{
|
|
WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);
|
|
|
|
CommInterface->DefaultMotor=g_machine.y.address;
|
|
CommInterface->WriteCommand(_bstr_t("Rhh"));
|
|
g_machine.s_status._bYHomed=(atoi)(CommInterface->ReadResponse());
|
|
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
}
|
|
catch(_com_error e)
|
|
{
|
|
MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_COMMERR;
|
|
}
|
|
};
|
|
//==============================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_GET_HOME_STATUS_Z()
|
|
{
|
|
try
|
|
{
|
|
WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);
|
|
|
|
CommInterface->DefaultMotor=g_machine.z.address;
|
|
CommInterface->WriteCommand(_bstr_t("Rhh"));
|
|
g_machine.s_status._bZHomed=(atoi)(CommInterface->ReadResponse());
|
|
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
}
|
|
catch(_com_error e)
|
|
{
|
|
MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_COMMERR;
|
|
}
|
|
};
|
|
//==============================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_GET_MOVE_STATUS_X()
|
|
{
|
|
try
|
|
{
|
|
WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);
|
|
|
|
CommInterface->DefaultMotor=g_machine.x.address;
|
|
CommInterface->WriteCommand(("RBt"));
|
|
g_machine.s_status._bXMoving=atoi(CommInterface->ReadResponse());
|
|
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
}
|
|
catch(_com_error e)
|
|
{
|
|
MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_COMMERR;
|
|
}
|
|
};
|
|
//==============================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_GET_MOVE_STATUS_Y()
|
|
{
|
|
try
|
|
{
|
|
WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);
|
|
|
|
CommInterface->DefaultMotor=g_machine.y.address;
|
|
CommInterface->WriteCommand(("RBt"));
|
|
g_machine.s_status._bYMoving=atoi(CommInterface->ReadResponse());
|
|
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
}
|
|
catch(_com_error e)
|
|
{
|
|
MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_COMMERR;
|
|
}
|
|
};
|
|
//==============================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_GET_MOVE_STATUS_Z()
|
|
{
|
|
try
|
|
{
|
|
WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);
|
|
|
|
CommInterface->DefaultMotor=g_machine.z.address;
|
|
CommInterface->WriteCommand(("RBt"));
|
|
g_machine.s_status._bZMoving=atoi(CommInterface->ReadResponse());
|
|
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
}
|
|
catch(_com_error e)
|
|
{
|
|
MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_COMMERR;
|
|
}
|
|
};
|
|
|
|
|
|
//==============================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_GET_STATUS_WORD0()
|
|
{
|
|
try
|
|
{
|
|
WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);
|
|
|
|
CommInterface->DefaultMotor=g_machine.x.address;
|
|
CommInterface->WriteCommand(("RW(0)"));
|
|
g_machine.x.s_machine_status.StatusWord[0]=atoi(CommInterface->ReadResponse());
|
|
|
|
CommInterface->DefaultMotor=g_machine.y.address;
|
|
CommInterface->WriteCommand(("RW(0)"));
|
|
g_machine.y.s_machine_status.StatusWord[0]=atoi(CommInterface->ReadResponse());
|
|
|
|
CommInterface->DefaultMotor=g_machine.z.address;
|
|
CommInterface->WriteCommand(("RW(0)"));
|
|
g_machine.z.s_machine_status.StatusWord[0]=atoi(CommInterface->ReadResponse());
|
|
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
}
|
|
catch(_com_error e)
|
|
{
|
|
MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_COMMERR;
|
|
}
|
|
};//==============================================================
|
|
SSI_STATUS_SMARTMOTOR SmartMotor_Proto::_send_cmd_SMARTMOTOR_GET_STATUS_WORD16()
|
|
{
|
|
try
|
|
{
|
|
WaitForSingleObject(g_machine_Serial_Mutex, INFINITE);
|
|
|
|
CommInterface->DefaultMotor=g_machine.x.address;
|
|
CommInterface->WriteCommand(("RW(16)"));
|
|
g_machine.x.s_machine_status.StatusWord[1]=atoi(CommInterface->ReadResponse());
|
|
|
|
CommInterface->DefaultMotor=g_machine.y.address;
|
|
CommInterface->WriteCommand(("RW(16)"));
|
|
g_machine.y.s_machine_status.StatusWord[1]=atoi(CommInterface->ReadResponse());
|
|
|
|
CommInterface->DefaultMotor=g_machine.z.address;
|
|
CommInterface->WriteCommand(("RW(16)"));
|
|
g_machine.z.s_machine_status.StatusWord[1]=atoi(CommInterface->ReadResponse());
|
|
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_NORMAL;
|
|
}
|
|
catch(_com_error e)
|
|
{
|
|
MessageBox(NULL,e.Description(),_T("IntegMotorInterface Error!"),MB_ICONWARNING);
|
|
ReleaseMutex(g_machine_Serial_Mutex);
|
|
return SSI_STATUS_SMARTMOTOR_COMMERR;
|
|
}
|
|
}; |