修复 Jog运动、指定点运动中 电机使能的判断

HSI_HexagonMI_EF3/HSI_Motion.cpp

@@ -2090,6 +2090,17 @@ HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed)
 			g_pLogger->SendAndFlushWithTime(L"[Jog] No Use Jerk\n");
 		}
 
+		//使能电机
+		int Axes[] = { ACSC_AXIS_1, ACSC_AXIS_0, ACSC_AXIS_8, -1 }; //根据电气层面定义，这里的0对应X轴，1对应Y轴，8对应Z轴
+		if (!acsc_EnableM(handleACS, Axes, nullptr))
+		{
+			g_pLogger->SendAndFlushWithTime(L"[ACS Motion] ACS Motors Enable Failed!\n");
+			ErrorsHandler();
+		}
+		else
+		{
+			g_pLogger->SendAndFlushWithTime(L"[ACS Motion] ACS Motors Enable Success!\n");
+		}
 
 		//开始JOG运动
 		if (!bJOGDir)
@@ -3568,17 +3579,11 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P
 			m_PosThread[3] = PositionZ;
 			m_PosThread[4] = m_PositionA;
 
-			//打印当前位置，目标位置
-			//g_pLogger->SendAndFlushWithTime(
-			//		L"[SetPositionXyz] Pos[1] = %.4f,Pos[2] = %.4f,Pos[3] = %.4f,Pos[4] = %.4f, Resolution[1] = %.4f\n",
-			//		m_PosThread[1] * m_Resolution[1], m_PosThread[2] * m_Resolution[2], m_PosThread[3] * m_Resolution[3],
-			//		m_PosThread[4] * m_Resolution[4], m_Resolution[1]);
+			//目标位置
 			g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] PositionX = %.4f, PositionY = %.4f, PositionZ = %.4f\n", PositionX,PositionY, PositionZ);
 
 		
 			//设置速度，对应配置文件中定位合成速度 SET_POTION_DRIVESPEED_1
-
-			//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]);
 
@@ -3615,8 +3620,19 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P
 			SetSingleAxisMotionParams(ACSC_AXIS_8, Z_SetmotionParam);//设置Z轴定位速度
 
 
+			//使能电机
+			int Axes[] = { ACSC_AXIS_1, ACSC_AXIS_0, ACSC_AXIS_8, -1 }; //根据电气层面定义，这里的0对应X轴，1对应Y轴，8对应Z轴
+			if (!acsc_EnableM(handleACS, Axes, nullptr))
+			{
+				g_pLogger->SendAndFlushWithTime(L"[ACS Motion] ACS Motors Enable Failed!\n");
+				ErrorsHandler();
+			}
+			else
+			{
+				g_pLogger->SendAndFlushWithTime(L"[ACS Motion] ACS Motors Enable Success!\n");
+			}
+
 			//开始运动到指定位置，多轴运动
-			int Axes[] = {ACSC_AXIS_1, ACSC_AXIS_0,ACSC_AXIS_8, -1}; //需要运动的轴
 			double Points[] = {PositionX, PositionY, PositionZ}; //目标位置点
 			if (!acsc_ToPointM(handleACS, 0, Axes, Points, nullptr)) //移动到绝对位置
 			{

HSI_HexagonMI_EF3/version.h

@@ -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 / 14:38 "  
-#define HSI_FILE_CSDESCRIPTION        _T("2024.02.28 / 14:38 ")  
+#define HSI_FILE_DESCRIPTION          "2024.02.28 / 14:55 "  
+#define HSI_FILE_CSDESCRIPTION        _T("2024.02.28 / 14:55 ")