正在调试 档位速度

HSI_HexagonMI_EF3/HSI_Motion.cpp

@@ -63,17 +63,6 @@ HANDLE HSI_Motion::m_ThreadTCP_Id = nullptr;
 int HSI_Motion::m_ThreadTCP_State = TCPIP_THREAD_PAUSED;
 SOCKET m_socket[4] = {0};
 
-//===========================================================================
-//运动类构造函数，涉及 运动控制参数、插补、回家、摇杆、日志等配置信息的加载
-
-
-void ErrorsHandler(const char* ErrorMessage, BOOL fCloseComm)
-{
-	printf(ErrorMessage);
-	printf("press any key to exit.\n");
-	if (fCloseComm) acsc_CloseComm(handleACS);
-	_getch();
-};
 
 void ErrorsHandler()
 {
@@ -100,8 +89,8 @@ void ErrorsHandler()
 		g_pLogger->SendAndFlushWithTime(L"[ACS Motion] ACS Communication handle is invalid\n");
 	}
 };
-
+//===========================================================================
-
+//运动类构造函数，涉及 运动控制参数、插补、回家、摇杆、日志等配置信息的加载
 HSI_Motion::HSI_Motion()
 {
 	TRACE0("HSI_Motion Constructor!\n");
@@ -242,8 +231,8 @@ HSI_Motion::HSI_Motion()
 	{
 		for (int j = 0; j < 5; j++)
 		{
-			m_JogDriveSpeed[j][i] = 10; //表示5个档位 轴号,从1开始；5：档位
+			m_JogDriveSpeed[j][i] = 20; //表示5个档位 轴号,从1开始；5：档位
-			m_JogStartSpeed[j][i] = 10;
+			m_JogStartSpeed[j][i] = 20;
 			m_JogAccLine[j][i] = 5;
 			m_JogAccCurve[j][i] = 0;
 			m_JogDecLine[j][i] = 5;
@@ -252,6 +241,7 @@ HSI_Motion::HSI_Motion()
 		m_Home_Machine_Axis[i] = 1; //用于启动时需要回原点的轴号选择,赋值1表示该轴需要回家
 		m_Home_Pos_Axis[i] = 0; //记住关闭电源时的位置，用于判断是否还需要回原点
 	}
+
 	m_Home_Machine_Axis[4] = 0; //用于启动时需要回原点的轴号选择
 	for (int i = 0; i < 5; i++)
 	{
@@ -1047,6 +1037,7 @@ HSI_STATUS HSI_Motion::HomeMachineOld(bool bHomed)
 HSI_STATUS HSI_Motion::HomeMachine(bool bHomed)
 {
 	auto rStatus = HSI_STATUS_NORMAL;
+	g_pLogger->SendAndFlushWithTime(L"[HomeMachine] In\n");
 	if (!bHomed)
 	{
 		g_pLogger->SendAndFlushWithTime(L"[HomeMachine] bHomed No Need Reture\n");
@@ -1056,9 +1047,9 @@ HSI_STATUS HSI_Motion::HomeMachine(bool bHomed)
 	{
 		return HSI_STATUS_NORMAL;
 	}
-	if (g_pHSI_Motion)
+	if (g_pHSI_Motion &&(handleACS != ACSC_INVALID))
 	{
-		g_pLogger->SendAndFlushWithTime(L"[HomeMachine] In\n");
+		
 		//判断是否需要回家
 		bool home(false);
 		IsHomed(home);
@@ -1095,15 +1086,32 @@ HSI_STATUS HSI_Motion::HomeMachine(bool bHomed)
 			return HSI_STATUS_FAILED;
 		}
 
-		//再次读取回家标志位，或者上个动作完成回调
+		//等待运动结束 ，方式1
-		IsHomed(home);
+	/*	acsc_WaitMotionEnd(handleACS, ACSC_AXIS_1, INFINITE);
-		if (home == true)
+		g_pLogger->SendAndFlushWithTime(L"[HomeMachine] X homed\n");
-		{
-			g_pLogger->SendAndFlushWithTime(L"[HomeMachine] Go Home success\n");
-		}
 
+		acsc_WaitMotionEnd(handleACS, ACSC_AXIS_0, INFINITE);
+		g_pLogger->SendAndFlushWithTime(L"[HomeMachine] Y homed\n");
+	
+		acsc_WaitMotionEnd(handleACS, ACSC_AXIS_4, INFINITE);
+		g_pLogger->SendAndFlushWithTime(L"[HomeMachine] Z homed\n");*/
+
+		//等待运动结束 ，方式2
+		do
+		{
+			//再次读取回家标志位，或者上个动作完成回调
+			IsHomed(home);
+			Sleep(200);
+
+		} while (!home);
+			
+		g_pLogger->SendAndFlushWithTime(L"[HomeMachine] Go Home success\n");
 		g_pLogger->SendAndFlushWithTime(L"[HomeMachine] Out\n");
 	}
+	else
+	{
+		g_pLogger->SendAndFlushWithTime(L"[HomeMachine] faild, g_pHSI_Motion or handleACS not invaild! \n");
+	}
 	return rStatus;
 }
 
@@ -1474,11 +1482,11 @@ HSI_STATUS HSI_Motion::IsHomed(bool& bHomed)
 			bHomed = false;
 		}
 	
-		g_pLogger->SendAndFlushWithTime(L"[IsHomed] ACS Read YAW_HOME_DONE X:[%d] Y1:[%d] Y2:[%d] Z:[%d]\n", isHomed[0],
+		g_pLogger->SendAndFlushWithTime(L"[IsHomed] ACS Read YAW_HOME_DONE X:[%d] Y:[%d] Z:[%d]\n", isHomed[0],
-		                                isHomed[1], isHomed[2], isHomed[3]);
+		                                isHomed[1], isHomed[2]);
 
 		//如果各个轴标志位 已经回过家
-		if (isHomed[0] == 1 && isHomed[1] == 1 && isHomed[2] == 1 && isHomed[3] == 1)
+		if (isHomed[0] == 2 && isHomed[1] == 1 && isHomed[2] == 1 && isHomed[3] == 1)
 		{
 			g_pLogger->SendAndFlushWithTime(L"[IsHomed] E_GTS_HOME_FINISHED\n");
 			CurrentHomeMachineState = E_EF3_HOME_FINISHED;
@@ -1846,7 +1854,7 @@ HSI_STATUS HSI_Motion::JogOld(UINT AxisTypes, double Speed)
 HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed)
 {
 	auto rStatus = HSI_STATUS_NORMAL;
-	g_pLogger->SendAndFlushWithTime(L"[Jog] aixs: [%d]  SpeedGear: [%lf]\n", AxisTypes, Speed);
+	g_pLogger->SendAndFlushWithTime(L"[Jog] Aixs: [%d]  SpeedGear: [%lf]\n", AxisTypes, Speed);
 	if (g_pHSI_Motion)
 	{
 		if (m_DeviceType != 3) //非转盘设备
@@ -1899,7 +1907,7 @@ HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed)
 		
 		JogSpeed = abs(SpeedPercent(AxisNumber, Speed, DriveSpeed, StartSpeed, AccLine, DecLine, AccCurve, DecCurve));
 
-		g_pLogger->SendAndFlushWithTime(L"[Jog] StartSpeed: [%d], DriveSpeed: [%d], AccCurve: [%d], AccLine: [%d], DecCurve: [%d], DecLine: [%d]\n", StartSpeed, DriveSpeed, AccCurve, AccLine, DecCurve, DecLine);
+		g_pLogger->SendAndFlushWithTime(L"[Jog] Speed: [%d], DriveSpeed: [%d], AccCurve: [%d], AccLine: [%d], DecCurve: [%d], DecLine: [%d]\n", Speed, DriveSpeed, AccCurve, AccLine, DecCurve, DecLine);
 
 		if (m_DeviceType != 3)
 		{
@@ -2518,6 +2526,14 @@ int HSI_Motion::P2P(short AxisNumber, long Pos, double Speed, double Acc)
 //===========================================================================
 //运动控制部分
 //===========================================================================
+/**
+ * \brief 对比现在编码器位置和期望位置, position给上层用的, HSI内部用的是EncPrf
+ * \param AxisTypes 
+ * \param EncPos 
+ * \param PrfPos 
+ * \param Count 
+ * \return 
+ */
 HSI_STATUS HSI_Motion::GetPositionEncPrfMultiOld(UINT AxisTypes, double* EncPos, double* PrfPos, int Count)
 {
 	auto rStatus = HSI_STATUS_NORMAL;
@@ -3530,6 +3546,7 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P
 				m_Thread_State = HSI_THREAD_RUNNING;
 				SetEvent(m_hTriggerEvent);
 			}
+
 			if (eType == HSI_MOTION_MOVE_WAIT) //等待模式
 			{
 				g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] Out Success Wait Mode\n");
@@ -3905,13 +3922,15 @@ HSI_STATUS HSI_Motion::Load_EF3_Motion_Inifile(CString GoogolIniFile)
 				GetPrivateProfileString(L"JOG_SPEED", L"JOG_DRIVESPEED_" + strGear[i] + axisNum[j], L"10",
 				                        temp.GetBufferSetLength(50), 10, csAppPath);
 				float speed = (atof(T2A(temp)));
-				//m_JogDriveSpeed[j][i] = GetPrivateProfileInt(L"JOG_SPEED", L"JOG_DRIVESPEED_" , 10, csAppPath);
+				m_JogDriveSpeed[j][i] = GetPrivateProfileInt(L"JOG_SPEED", L"JOG_DRIVESPEED_" , 10, csAppPath);
-				m_JogDriveSpeed[j][i] = speed / (m_Resolution[j] * 50);
+				//m_JogDriveSpeed[j][i] = speed / (m_Resolution[j] * 50);
+				g_pLogger->SendAndFlushWithTime(L"[Load_EF3_Motion_Inifile] m_JogDriveSpeed[%d][%d]: %lf %d\n", j, i, speed,m_JogDriveSpeed[j][i]);//打印配置文件 档位速度
+			
 				GetPrivateProfileString(L"JOG_SPEED", L"JOG_STARTSPEED_" + strGear[i] + axisNum[j], L"10",
 				                        temp.GetBufferSetLength(50), 10, csAppPath);
 				speed = (atof(T2A(temp)));
-				//m_JogStartSpeed[j][i] = GetPrivateProfileInt(L"JOG_SPEED", L"JOG_STARTSPEED_" + strGear[i] + axisNum[j], 10, csAppPath);
+				m_JogStartSpeed[j][i] = GetPrivateProfileInt(L"JOG_SPEED", L"JOG_STARTSPEED_" + strGear[i] + axisNum[j], 10, csAppPath);
-				m_JogStartSpeed[j][i] = speed / (m_Resolution[j] * 50);
+				//m_JogStartSpeed[j][i] = speed / (m_Resolution[j] * 50);
 				m_JogAccLine[j][i] = GetPrivateProfileInt(L"JOG_SPEED", L"JOG_LINE_" + strGear[i] + axisNum[j], 10,
 				                                          csAppPath);
 				m_JogDecLine[j][i] = GetPrivateProfileInt(L"JOG_SPEED", L"JOG_LINE_" + strGear[i] + axisNum[j], 10,
@@ -6828,7 +6847,7 @@ HSI_STATUS HSI_Motion::GetPntsDistance(double& pDistance, int& spTimeCount)
 
 //===========================================================================
 /**
- * \brief 运动控制参数读取及设置
+ * \brief 界面挡位获取速度
  * \param AxisNum 
  * \param Speed 
  * \param DirveSpeed 
@@ -6856,6 +6875,7 @@ int HSI_Motion::SpeedPercent(int AxisNum, double& Speed, int& DirveSpeed, int& S
 		DecLine = m_JogDecLine[AxisNum][0];
 		AccCurve = m_JogAccCurve[AxisNum][0];
 		DecCurve = m_JogDecCurve[AxisNum][0];
+		g_pLogger->SendAndFlushWithTime(L"[SpeedPercent] 0.81 DriveSpeed: [%d], StartSpeed: [%d], AccLine: [%d], DecLine: [%d], AccCurve: [%d], DecCurve: [%d]\n", DirveSpeed, StartSpeed, AccLine, DecLine, AccCurve, DecCurve);
 	}
 	else if (fabs(Speed) > 0.61)
 	{
@@ -6865,6 +6885,7 @@ int HSI_Motion::SpeedPercent(int AxisNum, double& Speed, int& DirveSpeed, int& S
 		DecLine = m_JogDecLine[AxisNum][1];
 		AccCurve = m_JogAccCurve[AxisNum][1];
 		DecCurve = m_JogDecCurve[AxisNum][1];
+		g_pLogger->SendAndFlushWithTime(L"[SpeedPercent] 0.61 DriveSpeed: [%d], StartSpeed: [%d], AccLine: [%d], DecLine: [%d], AccCurve: [%d], DecCurve: [%d]\n", DirveSpeed, StartSpeed, AccLine, DecLine, AccCurve, DecCurve);
 	}
 	else if (fabs(Speed) > 0.41)
 	{
@@ -6874,6 +6895,7 @@ int HSI_Motion::SpeedPercent(int AxisNum, double& Speed, int& DirveSpeed, int& S
 		DecLine = m_JogDecLine[AxisNum][2];
 		AccCurve = m_JogAccCurve[AxisNum][2];
 		DecCurve = m_JogDecCurve[AxisNum][2];
+		g_pLogger->SendAndFlushWithTime(L"[SpeedPercent] 0.41 DriveSpeed: [%d], StartSpeed: [%d], AccLine: [%d], DecLine: [%d], AccCurve: [%d], DecCurve: [%d]\n", DirveSpeed, StartSpeed, AccLine, DecLine, AccCurve, DecCurve);
 	}
 	else if (fabs(Speed) > 0.21)
 	{
@@ -6883,6 +6905,7 @@ int HSI_Motion::SpeedPercent(int AxisNum, double& Speed, int& DirveSpeed, int& S
 		DecLine = m_JogDecLine[AxisNum][3];
 		AccCurve = m_JogAccCurve[AxisNum][3];
 		DecCurve = m_JogDecCurve[AxisNum][3];
+		g_pLogger->SendAndFlushWithTime(L"[SpeedPercent] 0.21 DriveSpeed: [%d], StartSpeed: [%d], AccLine: [%d], DecLine: [%d], AccCurve: [%d], DecCurve: [%d]\n", DirveSpeed, StartSpeed, AccLine, DecLine, AccCurve, DecCurve);
 	}
 	else if (fabs(Speed) > 0.01)
 	{
@@ -6892,6 +6915,7 @@ int HSI_Motion::SpeedPercent(int AxisNum, double& Speed, int& DirveSpeed, int& S
 		DecLine = m_JogDecLine[AxisNum][4];
 		AccCurve = m_JogAccCurve[AxisNum][4];
 		DecCurve = m_JogDecCurve[AxisNum][4];
+		g_pLogger->SendAndFlushWithTime(L"[SpeedPercent] 0.01 DriveSpeed: [%d], StartSpeed: [%d], AccLine: [%d], DecLine: [%d], AccCurve: [%d], DecCurve: [%d]\n", DirveSpeed, StartSpeed, AccLine, DecLine, AccCurve, DecCurve);
 	}
 	else
 	{

HSI_HexagonMI_EF3/HSI_Motion.h

@@ -190,7 +190,7 @@ public:
 	HSI_STATUS GetDeadBand(double& DeadbandX, double& DeadbandY, double& DeadbandZ, double& DeadbandR);
 	HSI_STATUS GetRefreshDeadBand(double& Deadband);
 	/**
-	 * \brief Jog运动
+	 * \brief Jog运动,挡位只有在JOG才有，CNC运行的速度是合成速度
 	 * \param AxisTypes 
 	 * \param Speed 
 	 * \return 
@@ -398,7 +398,6 @@ public:
 	int m_JogAccCurve[5][5];
 	int m_JogDecCurve[5][5];
 	int m_Jog_Auto_Focus; //变焦使用的速度
-
 	int m_LogIsOpen[5]; //是否打开记录，0为打开，非0为关闭
 
 	unsigned int m_precisionCount[5]; //回家误差脉冲个数
@@ -427,8 +426,7 @@ public:
 	int m_setPositionDelay; //设置定位超时 
 	int m_setPositionPrecision; //设置定位精度
 	int m_setPositionNum;
-	CString m_AppPath;
+	CString m_AppPath;//MST软件运行标志，trueMST软件已经启动，falseMST软件停止
-	//MST软件运行标志，trueMST软件已经启动，falseMST软件停止
 	bool m_MSTRunFlag;
 	int m_IsUse_HSICompensation; //是否启用HSI进行定位补偿 0为不启用 1为启用 默认为0
 	int m_Compensation_Pluse; //补偿脉冲数
@@ -461,8 +459,7 @@ public:
 	DWORD set_start; //获取定位运行开始时间
 	DWORD set_end; //获取定位运行结束时间
 	//是否启用探针捕获功能，1启用，默认0关闭
-	int m_IsProbe;
+	int m_IsProbe;//探针触发时，锁存的轴号，默认3表示锁存XYZ共3轴，4表示XYZA共4轴
-	//探针触发时，锁存的轴号，默认3表示锁存XYZ共3轴，4表示XYZA共4轴
 	int m_ProbeAllAxis;
 	long m_ProbeCapturePos[5]; //锁存各轴的位置
 	double m_ProbeReturnPos; //探针触发时，调试时返回的距离mm，点击启动按钮时不起作用,默认10.0mm
@@ -474,7 +471,6 @@ public:
 	int m_EF3COMPort; //EF3板com口，默认为2
 	int m_ForSoft; //针对使用软件 0为MST 1为Metus
 	int m_IsUseManualRunin; //是否开启手动插补（只针对步进电机）
-
 	int m_IsUseRocker; //是否启用摇杆 0为不启用 1为启用旧摇杆，2为新摇杆， 默认为0
 	int m_IsCollectPos; //是否通过串口打印位置，与摇杆2互斥
 	int m_IsCloseRocker;
@@ -580,8 +576,32 @@ public:
 	void SendMsgMotionFinished();
 	void SendMsgProbeFinished();
 	VOID EventCallback(sHSIEventProperties& sEventProp);
+	/**
+	 * \brief 界面挡位获取速度
+	 * \param AxisNum 
+	 * \param Speed 
+	 * \param DriveSpeed 
+	 * \param StartSpeed 
+	 * \param AccLine 
+	 * \param DecLine 
+	 * \param AccCurve 
+	 * \param DecCurve 
+	 * \return 
+	 */
 	int SpeedPercent(int AxisNum, double& Speed, int& DriveSpeed, int& StartSpeed, int& AccLine, int& DecLine,
 	                 int& AccCurve, int& DecCurve);
+	/**
+	 * \brief 摇杆切换的运动速度, 与上面那个互锁，动了界面的 摇杆就会失能;
+	 * \param AxisNum 
+	 * \param Speed 
+	 * \param DriveSpeed 
+	 * \param StartSpeed 
+	 * \param AccLine 
+	 * \param DecLine 
+	 * \param AccCurve 
+	 * \param DecCurve 
+	 * \return 
+	 */
 	bool SpeedPercentJoyStick(int AxisNum, long& Speed, int& DriveSpeed, int& StartSpeed, int& AccLine, int& DecLine,
 	                          int& AccCurve, int& DecCurve);
 	void HomeJogGearsChoice(int AxisType, int JogGears, int& DriveSpeed, int& StartSpeed, int& AccLine, int& DecLine,

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          "2022.11.01 / 20:15 "  
+#define HSI_FILE_DESCRIPTION          "2022.11.02 / 13:33 "  
-#define HSI_FILE_CSDESCRIPTION        _T("2022.11.01 / 20:15 ")  
+#define HSI_FILE_CSDESCRIPTION        _T("2022.11.02 / 13:33 ")  

HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/MainWindowCfg.ini

@@ -1,3 +1,3 @@
 [Default]
 MotionControlSpeed=1
-ControllerType=1
+ControllerType=3