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定位采用配置文件中定位合成速度；修复运动前判断电机是否使能

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This commit is contained in:
zhengxuan.zhang
2024-02-28 14:40:59 +08:00
parent 27ce323db7
commit 24568f62f9
8 changed files with 51 additions and 19 deletions
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HSI_HexagonMI_EF3/HSI_Motion.cpp
+46 -14
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@@ -532,6 +532,9 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly)
g_pLogger->SendAndFlushWithTime(
L"[ACS Motion] Communication with the controller is already established successfully!\n");
}
//如果各个轴标志位 未回过家，需要回家
rStatus = g_pHSI_Motion->HomeMachine(TRUE); //执行回家
}
// 04 05 0F 4A 04 00 04 00 00 00 00 00 00 00 00 00
@@ -1552,8 +1555,6 @@ HSI_STATUS HSI_Motion::IsHomed(bool& bHomed)
CurrentHomeMachineState = E_EF3_HOME_NONE;
bHomed = false;
//如果各个轴标志位 未回过家，需要回家
rStatus = g_pHSI_Motion->HomeMachine(TRUE); //执行回家
}
g_pLogger->SendAndFlushWithTime(L"[IsHomed] Out\n");
}
@@ -2075,7 +2076,8 @@ HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed)
//转到真实ACS平台轴号，并开始执行
byte AxisNumber = static_cast<byte>(AxisConvertIndex(AxisTypes)); //Jog
double motionParam[5] = { DriveSpeed,AccLine*10 , DecLine*10, AccCurve,DecCurve }; //速度，加速度，减速度，Kill, jerk
SetSingleAxisParam(AxisNumber, motionParam);
SetSingleAxisMotionParams(AxisNumber, motionParam);
// 急停判断
if ((StartSpeed < 250) && (DriveSpeed < 6))
{
@@ -3542,8 +3544,7 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P
if (g_pHSI_Motion)
{
g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] In\n");
g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] AxisTypes = %d, PositionX = %.4f,PositionY = %.4f,PositionZ = %.4f\n", AxisTypes,PositionX,
PositionY, PositionZ);
g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] AxisTypes = %d, PositionX = %.4f,PositionY = %.4f,PositionZ = %.4f\n", AxisTypes,PositionX, PositionY, PositionZ);
axis_start = 0;
unsigned char direct_pos = 0;
@@ -3558,7 +3559,7 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P
LimitOver(HSI_MOTION_AXIS_Z, PositionZ);
LimitOver(HSI_MOTION_AXIS_R, m_PositionA);
g_pLogger->SendAndFlushWithTime(
L"[SetPositionXyz] LimitOver, Pos[1] = %.4f, Pos[2] = %.4f, Pos[3] = %.4f, m_PositionA = %.4f\n",
L"[SetPositionXyz] LimitOver, PositionX = %.4f, PositionY = %.4f, PositionZ = %.4f, m_PositionA = %.4f\n",
PositionX, PositionY, PositionZ, m_PositionA);
//SetpositionXyz的目标位置
@@ -3575,13 +3576,43 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P
g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] PositionX = %.4f, PositionY = %.4f, PositionZ = %.4f\n", PositionX,PositionY, PositionZ);
//设置运动参数
//设置速度，对应配置文件中定位合成速度 SET_POTION_DRIVESPEED_1
//SetSingleAxisMotionParams
//打印数组 m_SetPotion_DriveSpeed
g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] DriveSpeed[0] = %.4f, DriveSpeed[1] = %.4f, DriveSpeed[2] = %.4f, DriveSpeed[3] = %.4f, DriveSpeed[4] = %.4f\n",
m_SetPotion_DriveSpeed[0], m_SetPotion_DriveSpeed[1], m_SetPotion_DriveSpeed[2], m_SetPotion_DriveSpeed[3], m_SetPotion_DriveSpeed[4]);
double X_SetmotionParam[5] = {
m_SetPotion_DriveSpeed[1],
m_SetPotion_DriveSpeed[1] * 10,
m_SetPotion_DriveSpeed[1] * 10,
0,
0
};
SetSingleAxisMotionParams(ACSC_AXIS_1, X_SetmotionParam);//设置X轴定位速度
double Y_SetmotionParam[5] = {
m_SetPotion_DriveSpeed[2],
m_SetPotion_DriveSpeed[2] * 10 ,
m_SetPotion_DriveSpeed[2] * 10,
0,
0
};
SetSingleAxisMotionParams(ACSC_AXIS_0, Y_SetmotionParam);//设置Y轴定位速度
double Z_SetmotionParam[5] = {
m_SetPotion_DriveSpeed[3],
m_SetPotion_DriveSpeed[3] * 10 ,
m_SetPotion_DriveSpeed[3] * 10,
0,
0
};
SetSingleAxisMotionParams(ACSC_AXIS_8, Z_SetmotionParam);//设置Z轴定位速度
//开始运动到指定位置，多轴运动
@@ -4095,7 +4126,11 @@ HSI_STATUS HSI_Motion::Load_EF3_Motion_Inifile(CString GoogolIniFile)
csAppPath);
m_SetPotion_DriveSpeed[i] = GetPrivateProfileInt(L"SET_POSITION_SPEED",
L"SET_POTION_DRIVESPEED_" + axisNum[i], 100, csAppPath);
m_SetPotion_DriveSpeed[i] = m_SetPotion_DriveSpeed[i] / (m_Resolution[i] * 50);
//m_SetPotion_DriveSpeed[i] = m_SetPotion_DriveSpeed[i] / (m_Resolution[i] * 50);
//打印定位合成速度
g_pLogger->SendAndFlushWithTime(L"[Load_EF3_Motion_Inifile] m_SetPotion_DriveSpeed[%d]: %d\n", i,
m_SetPotion_DriveSpeed[i]);
m_SetPotion_Line[i] = GetPrivateProfileInt(L"SET_POSITION_SPEED", L"SET_POTION_LINE_" + axisNum[i], 100,
csAppPath);
m_SetPotion_StartSpeed[i] = GetPrivateProfileInt(L"SET_POSITION_SPEED",
@@ -7994,11 +8029,8 @@ void HSI_Motion::SetSingleAxisMotionParams(UINT AxisTypes, double SetmotionParam
g_pLogger->SendAndFlushWithTime(L"[SetSingleAxisMotionParams] In\n");
double getMotionParam[5] = { 0 };
//轴号转换
byte AxisNumber = static_cast<byte>(AxisConvertIndex(AxisTypes)); //SetSingleAxisMotionParams
//打印轴当前运动参数
GetSingleAxisParam(AxisNumber, getMotionParam); //获取单轴运动参数
GetSingleAxisParam(AxisTypes, getMotionParam); //获取单轴运动参数
g_pLogger->SendAndFlushWithTime(
L"[before] Axis= %.2f, Velocity = %.2f, Acceleration= %.2f, Deceleration= %.2f, KillDeceleration= %.2f, Jerk= %.2f\n",
jogAxisNum, getMotionParam[0], getMotionParam[1], getMotionParam[2], getMotionParam[3], getMotionParam[4]);
@@ -8007,7 +8039,7 @@ void HSI_Motion::SetSingleAxisMotionParams(UINT AxisTypes, double SetmotionParam
SetSingleAxisParam(AxisTypes, SetmotionParam);
//打印轴当前运动参数
GetSingleAxisParam(AxisNumber, getMotionParam); //获取单轴运动参数
GetSingleAxisParam(AxisTypes, getMotionParam); //获取单轴运动参数
g_pLogger->SendAndFlushWithTime(
L"[after] Axis= %.2f, Velocity = %.2f, Acceleration= %.2f, Deceleration= %.2f, KillDeceleration= %.2f, Jerk= %.2f\n",
jogAxisNum, getMotionParam[0], getMotionParam[1], getMotionParam[2], getMotionParam[3], getMotionParam[4]);
HSI_HexagonMI_EF3/version.h
+2 -2
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@@ -12,5 +12,5 @@
#define HSI_VERSION_REVNUM
#define HSI_VERSION_BUILD_DATE _T(__DATE__ )
#define HSI_VERSION_BUILD_TIME _T(__TIME__ )
#define HSI_FILE_DESCRIPTION "2024.02.28 / 11:38 "
#define HSI_FILE_CSDESCRIPTION _T("2024.02.28 / 11:38 ")
#define HSI_FILE_DESCRIPTION "2024.02.28 / 14:38 "
#define HSI_FILE_CSDESCRIPTION _T("2024.02.28 / 14:38 ")
HSI_HexagonMI_EF3/x64/Debug/HSI_HexagonMI_EF3.dll
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HSI_HexagonMI_EF3/x64/Debug/HSI_HexagonMI_EF3.pdb
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HSI_SEVENOCEAN_EF1_CsTest/Program.cs
+3 -3
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@@ -75,9 +75,9 @@ namespace HSI_SEVENOCEAN_EF1_CsTest
#endregion
//6 是否回家
//var bHomed = true;
//rStatus = Motion.IsHomed(ref bHomed);
//Console.WriteLine("Motion.IsHomed:{0}", rStatus);
var bHomed = true;
rStatus = Motion.IsHomed(ref bHomed);
Console.WriteLine("Motion.IsHomed:{0}", rStatus);
var bexit = false;
var SpeedGear = 0.3;
var dPos = new double[3];
HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI.dll
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HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI_SEVENOCEAN_EF1_CsTest.exe
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HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/HSI_SEVENOCEAN_EF1_CsTest.pdb
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