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# 对专机2支持，将 PTP运动由 toPointM 运动改为多个单轴独立运动

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This commit is contained in:
zhengxuan.zhang
2025-05-23 17:49:32 +08:00
parent ce5c58e450
commit 1ac2a8a70c
6 changed files with 50 additions and 27 deletions
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HSI_HexagonMI_EF3/HSI.cpp
+5 -1
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@@ -35,7 +35,11 @@ static bool g_bOfflineOnly = false;
//V0.1.10 2024/04/07
// ---------------------------------------
//1、配合专机2使用，增加了方向的传递接口 江苏高光半导体掩膜板瑕疵检测项目
//
//2、配合专机2使用，屏蔽了SetSpeedEx 接口，对SetPositionXyz接口 由 acsc_ToPointM 改为 acsc_ToPoint 多个单轴独立运动
//
//
//
//
////////////////////////////////////////////////////////////////////////////////////////////////////
HSI_HexagonMI_EF3/HSI.h
+1 -1
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@@ -21,7 +21,7 @@
#endif
const int HSI_APIVersionMajor = 1;
const int HSI_APIVersionMinor = 10;
const int HSI_APIVersionMinor = 9;
const int HSI_MaxStringLength = 255; // Maximum string length (buffer size - 1)
///////////////////////////////////////////////////////////////////////////////
// Interface API
HSI_HexagonMI_EF3/HSI_Motion.cpp
+38 -19
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@@ -3615,11 +3615,30 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P
//开始运动到指定位置，多轴运动
double Points[] = { PositionX, PositionY, PositionZ }; //目标位置点
if (!acsc_ToPointM(handleACS, 0, ACSAxisNumbers, Points, nullptr)) //移动到绝对位置
//if (!acsc_ToPointM(handleACS, 0, ACSAxisNumbers, Points, nullptr)) //移动到绝对位置
//{
// g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] ACS Multi Motion Error\n");
// ErrorsHandler();
//}
//使用三个轴的分别运动，替代整体运动 acsc_ToPointM，来解决多轴不同速度运动的问题
if (!acsc_ToPoint(handleACS, 0, ACSAxisNumbers[0], PositionX, nullptr)) //移动到绝对位置
{
g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] ACS Multi Motion Error\n");
g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] X轴移动出错 \n");
ErrorsHandler();
}
if (!acsc_ToPoint(handleACS, 0, ACSAxisNumbers[1], PositionY, nullptr)) //移动到绝对位置
{
g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] Y轴移动出错\n");
ErrorsHandler();
}
if (!acsc_ToPoint(handleACS, 0, ACSAxisNumbers[2], PositionZ, nullptr)) //移动到绝对位置
{
g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] Z轴移动出错\n");
ErrorsHandler();
}
//状态更新
if (eType == HSI_MOTION_MOVE_NOWAIT) //非等待
@@ -8452,24 +8471,24 @@ HSI_STATUS HSI_Motion::SetSpeedExOld(UINT AxisTypes, double Speed)
HSI_STATUS HSI_Motion::SetSpeedEx(UINT AxisTypes, double Speed)
{
auto rStatus = HSI_STATUS_NORMAL;
//g_pLogger->SendAndFlushWithTime(L"[SetSpeedEx] In\n");
short AxisNumber = AxisConvertIndex(AxisTypes);
if (Speed <= 0)
{
m_SetPotion_DriveSpeed[AxisNumber] = 0;
g_pLogger->SendAndFlushWithTime(L"[SetSpeedEx] Speed <= 0 \n");
}
g_pLogger->SendAndFlushWithTime(L"[SetSpeedEx] Method not implemented\n");
//short AxisNumber = AxisConvertIndex(AxisTypes);
//if (Speed <= 0)
//{
// m_SetPotion_DriveSpeed[AxisNumber] = 0;
// g_pLogger->SendAndFlushWithTime(L"[SetSpeedEx] Speed <= 0 \n");
//}
if (AxisNumber >= 0 && AxisNumber <= 8)
{
m_SetPotion_DriveSpeed[1] = static_cast<int>(Speed);
g_pLogger->SendAndFlushWithTime(L"[SetSpeedEx] AxisNumber = %d,Speed = %d \n", AxisNumber, m_SetPotion_DriveSpeed[1]);
}
else
{
//打印日志 轴号不在1-4之间
g_pLogger->SendAndFlushWithTime(L"[SetSpeedEx] 轴号不在0-8之间\n");
}
//if (AxisNumber >= 0 && AxisNumber <= 8)
//{
// m_SetPotion_DriveSpeed[1] = static_cast<int>(Speed);
// g_pLogger->SendAndFlushWithTime(L"[SetSpeedEx] AxisNumber = %d,Speed = %d \n", AxisNumber, m_SetPotion_DriveSpeed[1]);
//}
//else
//{
// //打印日志 轴号不在1-4之间
// g_pLogger->SendAndFlushWithTime(L"[SetSpeedEx] 轴号不在0-8之间\n");
//}
//g_pLogger->SendAndFlushWithTime(L"[SetSpeedEx] Out\n");
return rStatus;
}
HSI_HexagonMI_EF3/version.cmd
+1 -1
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@@ -5,7 +5,7 @@ echo Generate release version
::需要人工设置的版本号----------------------------------------------------------------------------------
set major_ver=0
set minor_ver=0
set revsion_ver=3
set revsion_ver=4
::------------------------------------------------------------------------------------------------------
set revfile="%~dp0version.h"
HSI_HexagonMI_EF3/version.h
+5 -5
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@@ -4,13 +4,13 @@
#define HSI_VERSION_NUM
#define HSI_VERSION_SET _T("")
///
#define HSI_VERSION "0.0.3"
#define HSI_VERSION_CSTRING _T("0.0.3")
#define HSI_VERSION "0.0.4"
#define HSI_VERSION_CSTRING _T("0.0.4")
#define HSI_VERSION_MAJOR 0
#define HSI_VERSION_MINOR 0
#define HSI_VERSION_REVISION 3
#define HSI_VERSION_REVISION 4
#define HSI_VERSION_REVNUM
#define HSI_VERSION_BUILD_DATE _T(__DATE__ )
#define HSI_VERSION_BUILD_TIME _T(__TIME__ )
#define HSI_FILE_DESCRIPTION "2025.04.07 / 16:25 "
#define HSI_FILE_CSDESCRIPTION _T("2025.04.07 / 16:25 ")
#define HSI_FILE_DESCRIPTION "2025.05.23 / 16:01 "
#define HSI_FILE_CSDESCRIPTION _T("2025.05.23 / 16:01 ")
HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/EF3_Config.ini
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