1、运动到指定点，JOG运动，运动结束的判断

2、优化测试用例

HSI_HexagonMI_EF3/HSI.h

@@ -322,36 +322,21 @@ enum HSI_MOTION_TYPE
 
 enum HSI_MOTION_AXIS_TYPE
 {
-	HSI_MOTION_AXIS_X = 0x0001,
+	HSI_MOTION_AXIS_X = 0x0001,// This is the default "Sensor level" X Axis - use on single X axis machines
-	// This is the default "Sensor level" X Axis - use on single X axis machines
+	HSI_MOTION_AXIS_Y = 0x0000,// This is the default "Sensor level" Y Axis - use on single Y axis machines
-	HSI_MOTION_AXIS_Y = 0x0002,
+	HSI_MOTION_AXIS_Z = 0x0004,// This is the default "Sensor level" Z Axis - use on single Z axis machines
-	// This is the default "Sensor level" Y Axis - use on single Y axis machines
+	HSI_MOTION_AXIS_R = 0x0008,// This is the default "Sensor level" R Axis - use on single R axis machines
-	HSI_MOTION_AXIS_Z = 0x0004,
+	HSI_MOTION_AXIS_X1 = 0x0010,// This is the 1st X Axis - use on multiple axis machines when specific axis needed
-	// This is the default "Sensor level" Z Axis - use on single Z axis machines
+	HSI_MOTION_AXIS_Y1 = 0x0020,// This is the 1st Y Axis - use on multiple axis machines when specific axis needed
-	HSI_MOTION_AXIS_R = 0x0008,
+	HSI_MOTION_AXIS_Z1 = 0x0040,// This is the 1st Z Axis - use on multiple axis machines when specific axis needed
-	// This is the default "Sensor level" R Axis - use on single R axis machines
+	HSI_MOTION_AXIS_R1 = 0x0080,// This is the 1st R Axis - use on multiple axis machines when specific axis needed
-	HSI_MOTION_AXIS_X1 = 0x0010,
+	HSI_MOTION_AXIS_X2 = 0x0100,// This is the 2nd X Axis - use on multiple axis machines when specific axis needed
-	// This is the 1st X Axis - use on multiple axis machines when specific axis needed
+	HSI_MOTION_AXIS_Y2 = 0x0200,// This is the 2nd Y Axis - use on multiple axis machines when specific axis needed
-	HSI_MOTION_AXIS_Y1 = 0x0020,
+	HSI_MOTION_AXIS_Z2 = 0x0400,// This is the 2nd Z Axis - use on multiple axis machines when specific axis needed
-	// This is the 1st Y Axis - use on multiple axis machines when specific axis needed
+	HSI_MOTION_AXIS_R2 = 0x0800,// This is the 2nd R Axis - use on multiple axis machines when specific axis needed
-	HSI_MOTION_AXIS_Z1 = 0x0040,
+	HSI_MOTION_AXIS_X3 = 0x1000,// This is the 3rd X Axis - use on multiple axis machines when specific axis needed
-	// This is the 1st Z Axis - use on multiple axis machines when specific axis needed
+	HSI_MOTION_AXIS_Y3 = 0x2000,// This is the 3rd Y Axis - use on multiple axis machines when specific axis needed
-	HSI_MOTION_AXIS_R1 = 0x0080,
+	HSI_MOTION_AXIS_Z3 = 0x4000,// This is the 3rd Z Axis - use on multiple axis machines when specific axis needed
-	// This is the 1st R Axis - use on multiple axis machines when specific axis needed
-	HSI_MOTION_AXIS_X2 = 0x0100,
-	// This is the 2nd X Axis - use on multiple axis machines when specific axis needed
-	HSI_MOTION_AXIS_Y2 = 0x0200,
-	// This is the 2nd Y Axis - use on multiple axis machines when specific axis needed
-	HSI_MOTION_AXIS_Z2 = 0x0400,
-	// This is the 2nd Z Axis - use on multiple axis machines when specific axis needed
-	HSI_MOTION_AXIS_R2 = 0x0800,
-	// This is the 2nd R Axis - use on multiple axis machines when specific axis needed
-	HSI_MOTION_AXIS_X3 = 0x1000,
-	// This is the 3rd X Axis - use on multiple axis machines when specific axis needed
-	HSI_MOTION_AXIS_Y3 = 0x2000,
-	// This is the 3rd Y Axis - use on multiple axis machines when specific axis needed
-	HSI_MOTION_AXIS_Z3 = 0x4000,
-	// This is the 3rd Z Axis - use on multiple axis machines when specific axis needed
 	HSI_MOTION_AXIS_R3 = 0x8000 // This is the 3rd R Axis - use on multiple axis machines when specific axis needed
 };
 
@@ -373,7 +358,7 @@ enum HSI_MOTION_IO_TYPE
 };
 
 //const UINT HSI_MOTION_AXIS_ALL = HSI_MOTION_AXIS_X | HSI_MOTION_AXIS_Y | HSI_MOTION_AXIS_Z;
-const UINT HSI_MOTION_AXIS_ALL = ACSC_AXIS_X | ACSC_AXIS_Y | ACSC_AXIS_Z;
+const UINT HSI_MOTION_AXIS_ALL = ACSC_AXIS_0 | ACSC_AXIS_1 | ACSC_AXIS_4;
 enum HSI_MOTION_MOVE_TYPE
 {
 	HSI_MOTION_MOVE_WAIT = 1,

HSI_HexagonMI_EF3/HSI_Motion.cpp

@@ -91,8 +91,8 @@ void ErrorsHandler()
 		))
 		{
 			ErrorStr[Received] = '\0';
-			printf("function returned error: %d (%s)\n", ErrorCode, ErrorStr);
+			printf("Motion Error: %d [%s]\n", ErrorCode, ErrorStr);
-			g_pLogger->SendAndFlushWithTime(L"[ACS Motion] motion failed {%s}\n", ErrorStr);
+			g_pLogger->SendAndFlushWithTime(L"[ACS Motion] Motion Error, {%s}\n", ErrorStr);
 		}
 	}
 	else
@@ -105,6 +105,7 @@ void ErrorsHandler()
 HSI_Motion::HSI_Motion()
 {
 	TRACE0("HSI_Motion Constructor!\n");
+
 	sEvenProp.Init();
 	sEvenProp.EventCallbackID = 0;
 	sEvenProp.EventResponse = HSI_EVENT_FUNCTION_OK;
@@ -230,11 +231,12 @@ HSI_Motion::HSI_Motion()
 	//DeleteDirectory()
 
 	CTime tm = CTime::GetCurrentTime();
-	CString csTime = tm.Format("%Y-%m-%d_%H-%M-%S"); //构造时间字符串
+	//CString csTime = tm.Format("%Y-%m-%d_%H-%M-%S"); //构造时间字符串
+	CString csTime = tm.Format("%Y-%m-%d"); //构造时间字符串
 	CString dir = L"\\Log\\" + csTime += L"_EF3.Log";
 	g_pLogger = new CLogger(dir);
 	g_pLogger2 = new CLogger(L"\\Log\\EF3_SumTime.Log");
-
+	
 	//档位参数
 	for (int i = 0; i < 5; i++)
 	{
@@ -284,9 +286,13 @@ HSI_Motion::HSI_Motion()
 		iCircleRunPnt[i] = 0; //圆弧插补时的圆心位置
 		m_ijk[i] = 0;
 	}
+
+	//是否启用日志
 	GetAppPath(m_AppPath);
 	m_LogIsOpen[0] = GetPrivateProfileInt(L"LOG", L"LOG_IS_OPEN_0", 0, m_AppPath + _T("\\Config\\EF3_Motion.ini"));
-	g_pLogger->IsEnabledLog = m_LogIsOpen[0] == 1 ? true : false; //是否启用日志
+	g_pLogger->IsEnabledLog = m_LogIsOpen[0] == 1 ? true : false; 
+	g_pLogger->SendAndFlushWithTime(L"\n");
+	g_pLogger->SendAndFlushWithTime(L"==========================================================\n");
 
 	m_Set_XYZA_Reserve = 0; //XYZA轴方向
 	m_motorType = 0; //电机类型 1为伺服电机 0为步进电机
@@ -408,14 +414,15 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly)
 			return HSI_STATUS_NORMAL;
 		}
 		g_pLogger->SendAndFlushWithTime(L"[Startup] In\n");
-		g_pLogger->SendAndFlushWithTime(L"[Startup] HMQ HSI.dll version = %s, date = %s\n", HSI_VERSION_CSTRING, HSI_FILE_CSDESCRIPTION); //输出HSI.dll 版本号
+		g_pLogger->SendAndFlushWithTime(L"[Startup] HMQ HSI.dll version = %s, date = %s\n", HSI_VERSION_CSTRING,
+		                                HSI_FILE_CSDESCRIPTION); //输出HSI.dll 版本号
 
 		GoogolMotionConfigFile = m_AppPath + _T("\\Config\\EF3_Config.ini");
 		Load_EF3_Config_Inifile(GoogolMotionConfigFile); //加载 EF3_Config.ini 配置项
 		GoogolMotionConfigFile = m_AppPath + _T("\\Config\\EF3_Motion.ini");
 		Load_EF3_Motion_Inifile(GoogolMotionConfigFile); // 加载 EF3_Motion.ini 配置项
-
+		//如果使用 EF3
-		if (m_IsUseEF3 == 1) //如果使用 EF3
+		if (m_IsUseEF3 == 1)
 		{
 			if (!m_bConnected)
 			{
@@ -434,7 +441,7 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly)
 				}
 				m_SO7_Serial.SetTimeouts(1000, 1000);
 				m_bConnected = true;
-				g_pLogger->SendAndFlushWithTime(L"[Startup] Serial: [%d] is open success\n", m_EF3COMPort);
+				g_pLogger->SendAndFlushWithTime(L"[Startup] Serial: [COM%d] is open success\n", m_EF3COMPort);
 			}
 			else
 			{
@@ -442,7 +449,8 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly)
 			}
 		}
 
-		if (m_IsUseACS == 1) //如果启用ACS
+		//如果启用ACS
+		if (m_IsUseACS == 1)
 		{
 			if (!m_bACSConnected)
 			{
@@ -469,24 +477,41 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly)
 					EventCallback(sEvenProp);
 					return HSI_STATUS_FAILED;
 				}
+
+				//使能电机
+				int Axes[] = { ACSC_AXIS_0, ACSC_AXIS_1, ACSC_AXIS_4, -1 };
+				if(!acsc_EnableM(handleACS, Axes,NULL))
+				{
+					g_pLogger->SendAndFlushWithTime(L"[ACS Motion] ACS Motors Enable Failed!\n");
+					ErrorsHandler();
+				}else
+				{
+					g_pLogger->SendAndFlushWithTime(L"[ACS Motion] ACS Motors Enable Success!\n");
+				}
+			
 				m_bACSConnected = true;
-				g_pLogger->SendAndFlushWithTime(L"[ACS Motion] ACS Established Success!\n");
+				g_pLogger->SendAndFlushWithTime(L"[ACS Motion] ACS Initialization Success!\n");
+
 
 				//获取ACS 控制器版本号, 待测试，2.70
-				char Firmware[256];
+				/*char Firmware[256];
 				int Received;
 				if (!acsc_GetFirmwareVersion(handleACS, Firmware, 255, &Received, nullptr))
 				{
 					g_pLogger->SendAndFlushWithTime(L"[ACS Motion] GET ACS Controller Version failed!\n");
 					ErrorsHandler();
 				}
-				g_pLogger->SendAndFlushWithTime(L"[ACS Motion] ACS Controller Version: %s\n",
+				Firmware[Received-1] = '\0';
-				                                convertToString(Firmware, Received));
+				g_pLogger->SendAndFlushWithTime(L"[ACS Motion] ACS Controller Version: %s\n", Firmware);*/
+
 				//获取SPiiPlus C Library version
 				unsigned int Ver = acsc_GetLibraryVersion();
-				printf("SPiiPlus C Library version is %d.%d.%d.%d\n", HIBYTE(HIWORD(Ver)), LOBYTE(HIWORD(Ver)), HIBYTE(LOWORD(Ver)),
+				printf("SPiiPlus C Library version is %d.%d.%d.%d\n", HIBYTE(HIWORD(Ver)), LOBYTE(HIWORD(Ver)),
-					LOBYTE(LOWORD(Ver)));
+				       HIBYTE(LOWORD(Ver)),
-				g_pLogger->SendAndFlushWithTime(L"[ACS Motion] SPiiPlus C Library version is %d.%d.%d.%d\n", HIBYTE(HIWORD(Ver)), LOBYTE(HIWORD(Ver)), HIBYTE(LOWORD(Ver)),LOBYTE(LOWORD(Ver)));
+				       LOBYTE(LOWORD(Ver)));
+				g_pLogger->SendAndFlushWithTime(L"[ACS Motion] SPiiPlus C Library version is %d.%d.%d.%d\n",
+				                                HIBYTE(HIWORD(Ver)), LOBYTE(HIWORD(Ver)), HIBYTE(LOWORD(Ver)),
+				                                LOBYTE(LOWORD(Ver)));
 			}
 			else
 			{
@@ -549,7 +574,7 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly)
 			Sleep(5);
 		}
 
-		g_pLogger->SendAndFlushWithTime(L"[Startup] Connected scuuess\n");
+		g_pLogger->SendAndFlushWithTime(L"[Startup] Connected success\n");
 
 		if (HSI_STATUS_FAILED == DriverAlarmStatus())
 		{
@@ -600,7 +625,8 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly)
 		//m_cSendData[12] = m_IsCollectPos; //是否从串口打印位置
 		//m_cSendData[16] = m_IsLightDebug; //是否不回家也能调试灯光
 
-		//if (m_IsStartInput == 1 && m_IsUseRocker == 2) //新摇杆,并启动脚踏功能 
+		//新摇杆,并启动脚踏功能 
+		//if (m_IsStartInput == 1 && m_IsUseRocker == 2) 
 		//{
 		//	m_cSendData[14] = m_StartInputPort >> 8 & 0xff; //外部启动端口号  H
 		//	m_cSendData[15] = m_StartInputPort & 0xff; //外部启动端口号  L 
@@ -705,7 +731,8 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly)
 			g_pLogger->SendAndFlushWithTime(L"[Startup] Set Gears Success\n");
 		}
 
-		CreateThread(); //刷新位置状态线程
+		//刷新位置状态线程
+		CreateThread();
 		SetEvent(m_hTriggerEvent);
 		m_Thread_State = HSI_THREAD_PAUSED;
 		g_pLogger->SendAndFlushWithTime(L"[Startup] SetpositionXyz Enable\n");
@@ -722,7 +749,8 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly)
 		//	m_Thread_StateJOGStop = HSI_THREAD_PAUSED;
 		//}
 
-		if (m_IsIOFuntion == 1) //是否启用IO功能线程，通过配置文件启用
+		//是否启用IO功能线程，通过配置文件启用
+		if (m_IsIOFuntion == 1)
 		{
 			m_Thread_StateIO = HSI_THREAD_RUNNING;
 			CreateThreadIO(); //IO发消息使用
@@ -731,7 +759,8 @@ HSI_STATUS HSI_Motion::Startup(HWND _hWnd, bool _bOfflineOnly)
 			SetDIO(HSI_MOTION_OUTPUT_CH1, 0xfffff);
 		}
 
-		if (m_IsProbe == 1) //是否启用探针捕获功能，通过配置文件启用
+		//是否启用探针捕获功能，通过配置文件启用
+		if (m_IsProbe == 1)
 		{
 			CreateThreadProbe(); //探针捕获功能
 			m_Thread_StateProbe = HSI_THREAD_RUNNING;
@@ -811,11 +840,14 @@ HSI_STATUS HSI_Motion::GetFirmwareVersion(byte* version)
 			version[i] = m_SO7_Serial.m_RecvData[i];
 		}
 	}
+
+	g_pLogger->SendAndFlushWithTime(L"[GetFirmwareVersion] EF3 Firmware Version %s\n", version);
 	m_Thread_StateData = HSI_THREAD_RUNNING;
 	SetEvent(m_hTriggerEventData); //触发事件，其中hEvent表示句柄，返回值：如果操作成功，则返回非零值，否则为0。
 	return HSI_STATUS_NORMAL;
 }
 
+
 //===========================================================================
 /**
  * \brief 回家
@@ -1042,9 +1074,9 @@ HSI_STATUS HSI_Motion::HomeMachine(bool bHomed)
 			return HSI_STATUS_FAILED;
 		}
 
-		CurrentHomeMachineState = E_EF3_HOME_ING;
+		CurrentHomeMachineState = E_EF3_HOME_ING; //正在回家中
 
-		//运行 ACS 控制器内buffer0 自动回家动作
+		//运行 ACS 控制器内 buffer6 自动回家动作
 		//回家后，启用正负限位
 		if (!acsc_RunBuffer(handleACS, ACSC_BUFFER_6, nullptr, ACSC_SYNCHRONOUS))
 		{
@@ -1058,7 +1090,6 @@ HSI_STATUS HSI_Motion::HomeMachine(bool bHomed)
 		if (home == true)
 		{
 			g_pLogger->SendAndFlushWithTime(L"[HomeMachine] Go Home success\n");
-			return HSI_STATUS_NORMAL;
 		}
 
 		g_pLogger->SendAndFlushWithTime(L"[HomeMachine] Out\n");
@@ -1797,7 +1828,7 @@ HSI_STATUS HSI_Motion::JogOld(UINT AxisTypes, double Speed)
 		t_start = GetTickCount();
 		m_WriteByte = Send_Command(0, (const char*)m_cSendData, m_SendDataLength);
 		jogMoving = true;
-		g_pLogger->SendAndFlushWithTime(L"[Jog] Out,bJOGDir = %d\n", bJOGDir);
+		g_pLogger->SendAndFlushWithTime(L"[Jog] Out,bJOGDir = %s\n", bJOGDir);
 	}
 	return rStatus;
 }
@@ -1807,7 +1838,7 @@ HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed)
 	auto rStatus = HSI_STATUS_NORMAL;
 	if (g_pHSI_Motion)
 	{
-		if (m_DeviceType != 3)
+		if (m_DeviceType != 3) //非转盘设备
 		{
 			m_Thread_StateJOGStop = HSI_THREAD_RUNNING;
 			SetEvent(m_hTriggerEventJOGStop);
@@ -1818,6 +1849,7 @@ HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed)
 		jogAxisNum = AxisNumber;
 		jogDirFlag = bJOGDir;
 		m_Thread_State = HSI_THREAD_PAUSED;
+
 		if (CurrentHomeMachineState == E_EF3_HOME_FINISHED)
 		{
 			//软限位
@@ -1826,14 +1858,13 @@ HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed)
 		{
 			//无效软限位
 		}
+
+		//是否回过家
 		if (m_Home_Machine_Axis[AxisNumber] == 0)
 		{
 			return rStatus;
 		}
 
-
-		//设置 JOG运动参数 加减速 JOG_SPEED_ACC_DEC
-
 		// 是否启用急停
 		//if ((StartSpeed < 250) && (DriveSpeed < 6))
 		//{
@@ -1844,15 +1875,19 @@ HSI_STATUS HSI_Motion::Jog(UINT AxisTypes, double Speed)
 		//	m_IsUseJerk = 0;
 		//}
 
+		//设置 JOG运动参数 加减速 JOG_SPEED_ACC_DEC
+
+
 		//开始JOG运动
-		int acsDirection = bJOGDir ? ACSC_POSITIVE_DIRECTION : ACSC_NEGATIVE_DIRECTION;
+		int acsDirection = bJOGDir ? ACSC_POSITIVE_DIRECTION : ACSC_NEGATIVE_DIRECTION; //正方向，或 负方向
 		if (!acsc_Jog(handleACS, 0, AxisTypes, acsDirection, nullptr))
 		{
 			g_pLogger->SendAndFlushWithTime(L"[Jog] [%d] 轴 [%s] 方向移动失败", AxisTypes, bJOGDir ? "正" : "负");
+			ErrorsHandler();
 		}
 
 		jogMoving = true;
-		g_pLogger->SendAndFlushWithTime(L"[Jog] Out,bJOGDir = %d\n", bJOGDir);
+		g_pLogger->SendAndFlushWithTime(L"[Jog] Out, bJOGDir = %s\n", bJOGDir ? "positive":"negative");
 	}
 	return rStatus;
 }
@@ -2154,10 +2189,10 @@ HSI_STATUS HSI_Motion::JoyStick(UINT AxisTypes, long Speed)
 
 //===========================================================================
 /**
- * \brief 
+ * \brief 停止Jog运动
  * \return 
  */
-HSI_STATUS HSI_Motion::StopJog()
+HSI_STATUS HSI_Motion::StopJogOld()
 {
 	WaitForSingleObject(g_Lock_JogAndTrigger, INFINITE);
 	auto rStatus = HSI_STATUS_NORMAL;
@@ -2173,7 +2208,7 @@ HSI_STATUS HSI_Motion::StopJog()
 			g_pLogger->SendAndFlushWithTime(L"[StopJog] PushButtonTime = %d\n", t_use);
 			Sleep(t_use);
 		}
-		unsigned char m_SendJogData[64] = {0};
+		unsigned char m_SendJogData[64] = { 0 };
 		if (m_IsUseJerk == 0)
 		{
 			m_SendJogData[0] = CT_MOTOR;
@@ -2203,7 +2238,7 @@ HSI_STATUS HSI_Motion::StopJog()
 	return rStatus;
 }
 
-HSI_STATUS HSI_Motion::StopJogOld()
+HSI_STATUS HSI_Motion::StopJog()
 {
 	WaitForSingleObject(g_Lock_JogAndTrigger, INFINITE);
 	auto rStatus = HSI_STATUS_NORMAL;
@@ -2220,7 +2255,9 @@ HSI_STATUS HSI_Motion::StopJogOld()
 			Sleep(t_use);
 		}
 		unsigned char m_SendJogData[64] = {0};
-		if (m_IsUseJerk == 0)
+
+		//是否启用急停
+		/*if (m_IsUseJerk == 0)
 		{
 			m_SendJogData[0] = CT_MOTOR;
 			m_SendJogData[1] = CT_STOP;
@@ -2241,7 +2278,18 @@ HSI_STATUS HSI_Motion::StopJogOld()
 			m_StopJogMode[3] == 0 ? m_SendJogData[3] = 0X4A : m_SendJogData[3] = 0X49;
 			m_StopJogMode[4] == 0 ? m_SendJogData[3] = 0X4A : m_SendJogData[3] = 0X49;
 			m_WriteByte = Send_Command(0, (const char*)m_SendJogData, m_SendDataLength);
+		}*/
+
+		int Axes[] = { ACSC_AXIS_0, ACSC_AXIS_1, ACSC_AXIS_4,  -1 };
+		if(handleACS !=ACSC_INVALID)
+		{
+			if(!acsc_HaltM(handleACS, Axes, NULL))//停止JOG运动
+			{
+				g_pLogger->SendAndFlushWithTime(L"[StopJog] ACS acsc_HaltM error!\n");
+				ErrorsHandler();
+			}
 		}
+
 		m_Thread_StateJOGStop = HSI_THREAD_PAUSED;
 		g_pLogger->SendAndFlushWithTime(L"[StopJog] Out\n");
 		ReleaseMutex(g_Lock_JogAndTrigger);
@@ -2484,23 +2532,23 @@ HSI_STATUS HSI_Motion::GetPositionXyz(UINT AxisTypes, double& PositionX, double&
 	CString tempStr;
 	bool bGetPosition = true;
 
-	if (g_pHSI_Motion &&(handleACS!=ACSC_INVALID)) //句柄有效
+	if (g_pHSI_Motion && (handleACS != ACSC_INVALID)) //句柄有效
 	{
-		if (!acsc_GetFPosition(handleACS, ACSC_AXIS_0, &PositionX, nullptr))
+		if (!acsc_GetFPosition(handleACS, ACSC_AXIS_1, &PositionX, nullptr))
 		{
 			g_pLogger->SendAndFlushWithTime(L"[GetPositionEncPrfMulti] get PositionX failed\n");
 			ErrorsHandler();
 			bGetPosition = false;
 			return HSI_ACS_ERROR;
 		}
-		if (!acsc_GetFPosition(handleACS, ACSC_AXIS_1, &PositionY, nullptr))
+		if (!acsc_GetFPosition(handleACS, ACSC_AXIS_0, &PositionY, nullptr))
 		{
 			g_pLogger->SendAndFlushWithTime(L"[GetPositionEncPrfMulti] get PositionY failed\n");
 			ErrorsHandler();
 			bGetPosition = false;
 			return HSI_ACS_ERROR;
 		}
-		if (!acsc_GetFPosition(handleACS, ACSC_AXIS_2, &PositionZ, nullptr))
+		if (!acsc_GetFPosition(handleACS, ACSC_AXIS_4, &PositionZ, nullptr))
 		{
 			g_pLogger->SendAndFlushWithTime(L"[GetPositionEncPrfMulti] get PositionZ failed\n");
 			ErrorsHandler();
@@ -2518,7 +2566,9 @@ HSI_STATUS HSI_Motion::GetPositionXyz(UINT AxisTypes, double& PositionX, double&
 			m_PosForAllAxis[2] = PositionY;
 			m_PosForAllAxis[3] = PositionZ;
 
-			g_pLogger->SendAndFlushWithTime(L"[GetPositionEncPrfMulti] GetPosition Success, Pos[1] = %.4f,Pos[2] = %.4f,Pos[3] = %.4f,Pos[4] = %.4f\n", PositionX, PositionY, PositionZ, m_PosForAllAxis[4]);
+			//g_pLogger->SendAndFlushWithTime(
+			//	L"[GetPositionEncPrfMulti] GetPosition Success, Pos[1] = %.4f, Pos[2] = %.4f, Pos[3] = %.4f\n",
+			//	PositionX, PositionY, PositionZ);
 		}
 		else //读取将之前的值进行返回
 		{
@@ -2529,8 +2579,10 @@ HSI_STATUS HSI_Motion::GetPositionXyz(UINT AxisTypes, double& PositionX, double&
 			m_PosForAllAxis[2] = m_EncPos[2];
 			m_PosForAllAxis[3] = m_EncPos[3];
 			m_PosForAllAxis[4] = m_EncPos[4];
-	
+
-			g_pLogger->SendAndFlushWithTime(L"[GetPositionEncPrfMulti] GetPosition failed, return position record before, Pos[1] = %.4f,Pos[2] = %.4f,Pos[3] = %.4f,Pos[4] = %.4f\n", m_EncPos[1], m_EncPos[2], m_EncPos[3], m_PosForAllAxis[4]);
+			g_pLogger->SendAndFlushWithTime(
+				L"[GetPositionEncPrfMulti] GetPosition failed, return position record before, Pos[1] = %.4f,Pos[2] = %.4f,Pos[3] = %.4f,Pos[4] = %.4f\n",
+				m_EncPos[1], m_EncPos[2], m_EncPos[3], m_PosForAllAxis[4]);
 		}
 
 		Time = set_end - set_start;
@@ -3189,12 +3241,13 @@ 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] Pos[1] = %.4f,Pos[2] = %.4f,Pos[3] = %.4f\n", PositionX,PositionY, PositionZ);
+		g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] Pos[1] = %.4f,Pos[2] = %.4f,Pos[3] = %.4f\n", PositionX,
-		unsigned char send_pos_data[64] = {0};
+		                                PositionY, PositionZ);
+
 		axis_start = 0;
 		unsigned char direct_pos = 0;
 		unsigned char xyzAxis = 0;
-		if (CurrentMotionState != E_SO7_MOTION_MOVETO)
+		if (CurrentMotionState != E_SO7_MOTION_MOVETO) //当前运动状态
 		{
 			CurrentMotionState = E_SO7_MOTION_MOVETO;
 			//限位功能
@@ -3202,6 +3255,7 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P
 			LimitOver(HSI_MOTION_AXIS_Y, PositionY);
 			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",PositionX, PositionY, PositionZ, m_PositionA);
 
 			//SetpositionXyz的目标位置
 			m_PosThread[1] = PositionX;
@@ -3209,33 +3263,29 @@ 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(
+		/*	g_pLogger->SendAndFlushWithTime(
-			//	L"[SetPositionXyzNowPos] Pos[1] = %.4f,Pos[2] = %.4f,Pos[3] = %.4f,Pos[4] = %.4f\n",
+				L"[SetPositionXyzNowPos] Pos[1] = %.4f,Pos[2] = %.4f,Pos[3] = %.4f,Pos[4] = %.4f, Resolution[1] = %.4f\n",
-			//	NowPos[1] * m_Resolution[1], NowPos[2] * m_Resolution[2], NowPos[3] * m_Resolution[3],
+				m_PosThread[1] * m_Resolution[1], m_PosThread[2] * m_Resolution[2], m_PosThread[3] * m_Resolution[3],
-			//	NowPos[4] * m_Resolution[4]);
+				m_PosThread[4] * m_Resolution[4], m_Resolution[1]);
 			g_pLogger->SendAndFlushWithTime(
-				L"[SetPositionXyzTagPos] Pos[1] = %.4f,Pos[2] = %.4f,Pos[3] = %.4f,Pos[4] = %.4f\n", PositionX,
+				L"[SetPositionXyzTagPos] Pos[1] = %.4f, Pos[2] = %.4f, Pos[3] = %.4f\n", PositionX,
-				PositionY, PositionZ, m_PositionA);
+				PositionY, PositionZ);*/
 
 			//打印轴当前运动参数
-			double motionParam[5] = {0};
+			double* motionParam[5] = {0};
-			GetMotorParam(AXIS_X, motionParam);
+			GetMotorParam(ACSC_AXIS_0, motionParam);
 			g_pLogger->SendAndFlushWithTime(
-				L"[SetPositionXyz] axis= %d,GetVelocity = %d,GetAcceleration= %d,GetDeceleration= %d, GetKillDeceleration= %d, GetJerk= %d\n",
+				L"[SetPositionXyz] axis= %d, GetVelocity = %d,GetAcceleration= %d,GetDeceleration= %d, GetKillDeceleration= %d, GetJerk= %d\n",
 				AXIS_X, motionParam[0], motionParam[1], motionParam[2], motionParam[3], motionParam[4]);
 
-
 			//设置轴运动速度，TO-DO
 
-	
 
-
+			//开始运动到指定位置，多轴运动
-			//开始运动到指定位置
+			int Axes[] = {ACSC_AXIS_0, ACSC_AXIS_1,ACSC_AXIS_4, -1}; //需要运动的轴
-			int Axes[] = {ACSC_AXIS_0, ACSC_AXIS_1,-1}; //需要运动的轴
+			double Points[] = {PositionY, PositionX, PositionZ}; //目标位置点
-			double Points[] = {PositionX, PositionY,-1}; //目标位置点
+			if (!acsc_ToPointM(handleACS, 0, Axes, Points, nullptr))//移动到绝对位置
-			if (!acsc_ToPointM(handleACS, 0, Axes, Points, nullptr))
 			{
 				g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] ACS Multi Motion Error\n");
 				ErrorsHandler();
@@ -3243,10 +3293,9 @@ HSI_STATUS HSI_Motion::SetPositionXyz(UINT AxisTypes, double PositionX, double P
 
 			//启动插补和定位功能
 
-
 			//圆弧插补
 
-
+			//状态更新
 			if (eType == HSI_MOTION_MOVE_NOWAIT) //非等待
 			{
 				g_pLogger->SendAndFlushWithTime(L"[SetPositionXyz] Nowait SetEvent\n");
@@ -3300,31 +3349,59 @@ int HSI_Motion::CaculateStepMotorACC(int pos, int maxacc, int minacc)
  * \param motionParam 
  * \return 
  */
-HSI_STATUS HSI_Motion::GetMotorParam(int AXIS, double motionParam[5])
+
+//&符号用来处理一个变量，但不是通常的 - 访问这个变量的内容，而是取出这个变量的地址
+//
+//int* b；此时b是一个指向int空间的指针，也就是说它是一个未分配的地址
+//int* 只用来定义，定义的变量是一个地址（索引），可以通过这个变量来对这段空间操作
+//
+//而 & 是对一个已存在的变量取地址，取完地址之后同样可以通过地址操作
+//
+//* x是找到x地址的变量，取它的值，所以 * 和 & 是反操作， & x得到x的地址 * ， * x得到x的值x
+
+//————————————————
+//版权声明：本文为CSDN博主「nick__huang」的原创文章，遵循CC 4.0 BY - SA版权协议，转载请附上原文出处链接及本声明。
+//原文链接：https ://blog.csdn.net/u012610237/article/details/58599083
+
+//void func3(void); 		//利用全局变量返回数组 
+//void func2(uchar* s); 	//利用指针返回数组 
+//uchar* func1();			//利用指针函数返回数组 
+//void func0(uchar*& r);	//利用引用返回数组 
+HSI_STATUS HSI_Motion::GetMotorParam(int AXIS, double* motionParam[5])
 {
 	auto rStatus = HSI_STATUS_NORMAL;
 	if (handleACS != ACSC_INVALID)
 	{
 		//依次是 速度、加速度、减速、杀死速度、抖动
-		if (!acsc_GetVelocity(handleACS, AXIS, motionParam, nullptr))
+		if (!acsc_GetVelocity(handleACS, AXIS, motionParam[0], nullptr))
 		{
+			g_pLogger->SendAndFlushWithTime(L"[GetMotorParam] acsc_GetVelocity error\n");
 			rStatus = HSI_ACS_ERROR;
+			ErrorsHandler();
 		}
-		if (!acsc_GetAcceleration(handleACS, AXIS, motionParam + 1, nullptr))
+		if (!acsc_GetAcceleration(handleACS, AXIS, motionParam[1], nullptr))
 		{
+			g_pLogger->SendAndFlushWithTime(L"[GetMotorParam] acsc_GetAcceleration error\n");
 			rStatus = HSI_ACS_ERROR;
+			ErrorsHandler();
 		}
-		if (!acsc_GetDeceleration(handleACS, AXIS, motionParam + 2, nullptr))
+		if (!acsc_GetDeceleration(handleACS, AXIS, motionParam[2], nullptr))
 		{
+			g_pLogger->SendAndFlushWithTime(L"[GetMotorParam] acsc_GetDeceleration error\n");
 			rStatus = HSI_ACS_ERROR;
+			ErrorsHandler();
 		}
-		if (!acsc_GetKillDeceleration(handleACS, AXIS, motionParam + 3, nullptr))
+		if (!acsc_GetKillDeceleration(handleACS, AXIS, motionParam[3], nullptr))
 		{
+			g_pLogger->SendAndFlushWithTime(L"[GetMotorParam] acsc_GetKillDeceleration error\n");
 			rStatus = HSI_ACS_ERROR;
+			ErrorsHandler();
 		}
-		if (!acsc_GetJerk(handleACS, AXIS, motionParam + 4, nullptr))
+		if (!acsc_GetJerk(handleACS, AXIS, motionParam[4], nullptr))
 		{
+			g_pLogger->SendAndFlushWithTime(L"[GetMotorParam] acsc_GetJerk error\n");
 			rStatus = HSI_ACS_ERROR;
+			ErrorsHandler();
 		}
 	}
 
@@ -3852,7 +3929,7 @@ void HSI_Motion::UpdateMotionState()
 			bool interpolationflag = false;
 			bool timeoutflag = false;
 			int timeStart = GetTickCount();
-	
+
 			//do
 			//{
 			//	if (g_IsClose)
@@ -3861,11 +3938,6 @@ void HSI_Motion::UpdateMotionState()
 			//		break;
 			//	}
 			//	//
-
-			//	printf("wait for motion end\n");
-			//	acsc_WaitMotionEnd(handleACS, ACSC_AXIS_0, INFINITE);
-			//	printf("motion end\n");
-
 			//	if (m_SO7_Serial.m_RecvData[0] == 2)
 			//	{
 			//		if ((m_SO7_Serial.m_RecvData[39] & 0x10))
@@ -3899,6 +3971,201 @@ void HSI_Motion::UpdateMotionState()
 			//	}
 			//}
 			//while (true);
+			g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] Now wait Run End\n");
+
+			printf("\nWaiting for motion end\n");
+			acsc_WaitMotionEnd(handleACS, ACSC_AXIS_0, INFINITE);
+			acsc_WaitMotionEnd(handleACS, ACSC_AXIS_1, INFINITE);
+			acsc_WaitMotionEnd(handleACS, ACSC_AXIS_4, INFINITE);
+			printf("\nMotion end\n");
+
+
+			//回家误差
+			unsigned int tempPrecision[5] = {
+				0, m_precisionCount[1], m_precisionCount[2], m_precisionCount[3], m_precisionCount[4]
+			};
+			//用于启动时需要回原点的轴号选择,读取回家误差脉冲数
+			tempPrecision[1] = m_Home_Machine_Axis[1] == 0 ? 10000000 : m_precisionCount[1]; 
+			tempPrecision[2] = m_Home_Machine_Axis[2] == 0 ? 10000000 : m_precisionCount[2];
+			tempPrecision[3] = m_Home_Machine_Axis[3] == 0 ? 10000000 : m_precisionCount[3];
+			tempPrecision[4] = m_Home_Machine_Axis[4] == 0 ? 10000000 : m_precisionCount[4];
+			int i = 0, j = 0;
+			unsigned long Count = 0;
+			double prfpos[5] = {0};
+
+
+			interpolationflag = true;
+			if (interpolationflag && m_motorType)
+			{
+				while (Count < m_SetPotion_Count[1]) //到位次数判断, 读配置文件240
+				{
+					Sleep(2); //延时2毫秒，1秒 =1000 毫秒 
+					//获取当前位置
+					GetPositionXyz(HSI_MOTION_AXIS_ALL, prfpos[1], prfpos[2], prfpos[3], prfpos[0]);
+
+					//-----------TEST Begin------------------
+					g_pLogger->SendAndFlushWithTime(
+						L"[UpdateMotionState] Moving to target, TargetPos[1] = %.4f, NowPos[2] = %.4f, fabs[3] = %.4f\n",
+						m_PosThread[1], prfpos[1], fabs(m_PosThread[1] - prfpos[1]));
+
+					//-----------TEST End--------------------
+					//目标位置  和当前位置 小于回家误差脉冲数
+					
+					if ((fabs(m_PosThread[1] - prfpos[1]) <= tempPrecision[1] * m_Resolution[1]) && (
+						fabs(m_PosThread[2] - prfpos[2]) <= tempPrecision[2] * m_Resolution[2]) && (
+						fabs(m_PosThread[3] - prfpos[3]) <= tempPrecision[3] * m_Resolution[3]) && (fabs(
+						m_PosThread[4] - m_PosForAllAxis[4]) <= tempPrecision[4] * m_Resolution[4]))
+					{
+						i++;
+						if (m_SetPotion_Count[1] > m_setPositionNum)
+						{
+							j = m_setPositionNum;
+						}
+						else
+						{
+							j = m_SetPotion_Count[1];
+						}
+						if (i == j)
+						{
+							set_end = GetTickCount();
+							break;
+						}
+					}
+					else
+					{
+					}
+					Count++;
+					//g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] m_SetPotion_Count = %d\n", Count);
+				}
+				//if (Count == m_SetPotion_Count[1]) //超时退出
+				//{
+				//	if (g_IsClose == false)
+				//	{
+				//		g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] Nowait Timeout\n");
+				//		sEvenProp.Init();
+				//		sEvenProp.EventType = HSI_EVENT_ERROR;
+				//		sEvenProp.EventID = HSI_EVENT_MOTION;
+				//		sEvenProp.EventResponse = HSI_EVENT_RESPONSE_OK;
+				//		strcpy_s(sEvenProp.EventData, HSI_MaxStringLength, "Nowait_HSI定位超时!");
+				//		EventCallback(sEvenProp);
+				//	}
+				//	else
+				//	{
+				//		g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] Nowait Timeout Is AbortMotion\n");
+				//	}
+				//}
+			}
+
+			//计算距离
+			if (interpolationflag)
+			{
+				SpCompleteTEnd = GetTickCount();
+				SpTimeCount = SpCompleteTEnd - SpCompleteTStart;
+				double dis = pow(m_PrfPos[1] - m_EncPos[1], 2.0) + pow(m_PrfPos[2] - m_EncPos[2], 2.0) + pow(
+					m_PrfPos[3] - m_EncPos[3], 2.0);
+				if (dis > 0)
+				{
+					PntToPntDistance = sqrt(dis); //欧氏距离
+				}
+				else
+				{
+					PntToPntDistance = 0.0;
+				}
+				SetPotionRunEnd = true;
+			}
+			g_pLogger->SendAndFlushWithTime(
+				L"[UpdateMotionState] m_PosThread[1] = %.4f,m_PosThread[2] = %.4f,m_PosThread[3] = %.4f\n",
+				m_PosThread[1], m_PosThread[2], m_PosThread[3]);
+			g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] Pos[1] = %.4f,Pos[2] = %.4f,Pos[3] = %.4f PntToPntDistance = %.4f\n",prfpos[1], prfpos[2], prfpos[3], PntToPntDistance);
+
+			if (timeoutflag) //定位超时
+			{
+				g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] Nowait Timeout\n");
+				sEvenProp.Init();
+				sEvenProp.EventType = HSI_EVENT_ERROR;
+				sEvenProp.EventID = HSI_EVENT_MOTION;
+				sEvenProp.EventResponse = HSI_EVENT_RESPONSE_OK;
+				strcpy_s(sEvenProp.EventData, HSI_MaxStringLength, "Nowait_EF3定位超时!");
+				EventCallback(sEvenProp);
+			}
+			switch (CurrentMotionState)
+			{
+			case E_SO7_MOTION_MOVETO:
+				{
+					g_pLogger->SendAndFlushWithTime(
+						L"[UpdateMotionState] Nowait CurrentMotionState E_SO7_MOTION_MOVETO\n");
+					m_Thread_State = HSI_THREAD_PAUSED;
+					CurrentMotionState = E_SO7_MOTION_NONE;
+					m_IsExMotion = 2;
+					SendMsgMotionFinished(); //定位完成
+					break;
+				}
+			default:
+				{
+					g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] Nowait CurrentMotionState default\n");
+					break;
+				}
+			}
+		}
+		g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] Out\n");
+	}
+}
+
+void HSI_Motion::UpdateMotionStateOld()
+{
+	if (g_pHSI_Motion && m_IsExMotion == 0)
+	{
+		g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] In\n");
+		while (m_Thread_State == HSI_THREAD_RUNNING)
+		{
+			g_IsClose = false;
+			bool interpolationflag = false;
+			bool timeoutflag = false;
+			int timeStart = GetTickCount();
+			//	bool singleaxisflag_x = false;
+			//	bool singleaxisflag_y = false;
+			//	bool singleaxisflag_z = false;
+			//	bool singleaxisflag_a = false;
+			do
+			{
+				if (g_IsClose)
+				{
+					g_IsClose = false;
+					break;
+				}
+				if (m_SO7_Serial.m_RecvData[0] == 2)
+				{
+					if ((m_SO7_Serial.m_RecvData[39] & 0x10))
+					{
+						m_SO7_Serial.m_RecvData[39] = 0;
+						SpCompleteTStart = GetTickCount();
+						interpolationflag = true;
+						break;
+					}
+					//else if ((m_SO7_Serial.m_RecvData[39] == 0x07))//axis_start
+					if ((m_SO7_Serial.m_RecvData[39] == axis_start)/* &&(m_motorType == 0)*/)
+					{
+						m_SO7_Serial.m_RecvData[39] = 0;
+						SpCompleteTStart = GetTickCount();
+						interpolationflag = true;
+						break;
+					}
+					if (m_SO7_Serial.m_RecvData[39] & 0x20)
+					{
+						m_SO7_Serial.m_RecvData[39] = 0;
+						timeoutflag = true;
+						break;
+					}
+				}
+				Sleep(1);
+				int timeEnd = GetTickCount();
+				if (timeStart - timeEnd > 10 * 1000)
+				{
+					timeoutflag = true;
+					break;
+				}
+			}
+			while (true);
 			g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] Nowait Run End\n");
 			unsigned int tempPrecision[5] = {
 				0, m_precisionCount[1], m_precisionCount[2], m_precisionCount[3], m_precisionCount[4]
@@ -4005,7 +4272,7 @@ void HSI_Motion::UpdateMotionState()
 					m_Thread_State = HSI_THREAD_PAUSED;
 					CurrentMotionState = E_SO7_MOTION_NONE;
 					m_IsExMotion = 2;
-					SendMsgMotionFinished();//定位完成
+					SendMsgMotionFinished();
 					break;
 				}
 			default:
@@ -4019,180 +4286,6 @@ void HSI_Motion::UpdateMotionState()
 	}
 }
 
-void HSI_Motion::UpdateMotionStateOld()
-{
-	if (g_pHSI_Motion && m_IsExMotion == 0)
-	{
-		g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] In\n");
-		while (m_Thread_State == HSI_THREAD_RUNNING)
-		{
-			g_IsClose = false;
-			bool interpolationflag = false;
-			bool timeoutflag = false;
-			int timeStart = GetTickCount();
-			//	bool singleaxisflag_x = false;
-			//	bool singleaxisflag_y = false;
-			//	bool singleaxisflag_z = false;
-			//	bool singleaxisflag_a = false;
-			do
-			{
-				if (g_IsClose)
-				{
-					g_IsClose = false;
-					break;
-				}
-				if (m_SO7_Serial.m_RecvData[0] == 2)
-				{
-					if ((m_SO7_Serial.m_RecvData[39] & 0x10))
-					{
-						m_SO7_Serial.m_RecvData[39] = 0;
-						SpCompleteTStart = GetTickCount();
-						interpolationflag = true;
-						break;
-					}
-					//else if ((m_SO7_Serial.m_RecvData[39] == 0x07))//axis_start
-					if ((m_SO7_Serial.m_RecvData[39] == axis_start)/* &&(m_motorType == 0)*/)
-					{
-						m_SO7_Serial.m_RecvData[39] = 0;
-						SpCompleteTStart = GetTickCount();
-						interpolationflag = true;
-						break;
-					}
-					if (m_SO7_Serial.m_RecvData[39] & 0x20)
-					{
-						m_SO7_Serial.m_RecvData[39] = 0;
-						timeoutflag = true;
-						break;
-					}
-				}
-				Sleep(1);
-				int timeEnd = GetTickCount();
-				if (timeStart - timeEnd > 10 * 1000)
-				{
-					timeoutflag = true;
-					break;
-				}
-			} while (true);
-			g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] Nowait Run End\n");
-			unsigned int tempPrecision[5] = {
-				0, m_precisionCount[1], m_precisionCount[2], m_precisionCount[3], m_precisionCount[4]
-			};
-			tempPrecision[1] = m_Home_Machine_Axis[1] == 0 ? 10000000 : m_precisionCount[1]; //用于启动时需要回原点的轴号选择,读取回家误差脉冲数
-			tempPrecision[2] = m_Home_Machine_Axis[2] == 0 ? 10000000 : m_precisionCount[2];
-			tempPrecision[3] = m_Home_Machine_Axis[3] == 0 ? 10000000 : m_precisionCount[3];
-			tempPrecision[4] = m_Home_Machine_Axis[4] == 0 ? 10000000 : m_precisionCount[4];
-			int i = 0, j = 0;
-			unsigned long Count = 0;
-			double prfpos[5] = { 0 };
-
-			//GetPositionEncPrfMulti(1, m_EncPos, m_PrfPos, 4);
-			//double EncPos[5] = { 0.0 };
-			// double ProPulse[5] = { 0.0 };
-			if (interpolationflag && m_motorType)
-			{
-				while (Count < m_SetPotion_Count[1]) //到位次数判断
-				{
-					Sleep(2);
-					GetPositionXyz(HSI_MOTION_AXIS_ALL, prfpos[1], prfpos[2], prfpos[3], prfpos[0]);
-					//目标位置  和当前位置 小于回家误差脉冲数
-					if ((fabs(m_PosThread[1] - prfpos[1]) <= tempPrecision[1] * m_Resolution[1]) && (
-						fabs(m_PosThread[2] - prfpos[2]) <= tempPrecision[2] * m_Resolution[2]) && (
-							fabs(m_PosThread[3] - prfpos[3]) <= tempPrecision[3] * m_Resolution[3]) && (fabs(
-								m_PosThread[4] - m_PosForAllAxis[4]) <= tempPrecision[4] * m_Resolution[4]))
-					{
-						i++;
-						if (m_SetPotion_Count[1] > m_setPositionNum)
-						{
-							j = m_setPositionNum;
-						}
-						else
-						{
-							j = m_SetPotion_Count[1];
-						}
-						if (i == j)
-						{
-							set_end = GetTickCount();
-							break;
-						}
-					}
-					else
-					{
-					}
-					Count++;
-					g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] m_SetPotion_Count = %d\n", Count); //打印到位轴数量
-				}
-				//if (Count == m_SetPotion_Count[1]) //超时退出
-				//{
-				//	if (g_IsClose == false)
-				//	{
-				//		g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] Nowait Timeout\n");
-				//		sEvenProp.Init();
-				//		sEvenProp.EventType = HSI_EVENT_ERROR;
-				//		sEvenProp.EventID = HSI_EVENT_MOTION;
-				//		sEvenProp.EventResponse = HSI_EVENT_RESPONSE_OK;
-				//		strcpy_s(sEvenProp.EventData, HSI_MaxStringLength, "Nowait_HSI定位超时!");
-				//		EventCallback(sEvenProp);
-				//	}
-				//	else
-				//	{
-				//		g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] Nowait Timeout Is AbortMotion\n");
-				//	}
-				//}
-			}
-			if (interpolationflag)
-			{
-				SpCompleteTEnd = GetTickCount();
-				SpTimeCount = SpCompleteTEnd - SpCompleteTStart;
-				double dis = pow(m_PrfPos[1] - m_EncPos[1], 2.0) + pow(m_PrfPos[2] - m_EncPos[2], 2.0) + pow(
-					m_PrfPos[3] - m_EncPos[3], 2.0);
-				if (dis > 0)
-				{
-					PntToPntDistance = sqrt(dis); //欧氏距离
-				}
-				else
-				{
-					PntToPntDistance = 0.0;
-				}
-				SetPotionRunEnd = true;
-			}
-			g_pLogger->SendAndFlushWithTime(
-				L"[UpdateMotionState] m_PosThread[1] = %.4f,m_PosThread[2] = %.4f,m_PosThread[3] = %.4f\n",
-				m_PosThread[1], m_PosThread[2], m_PosThread[3]);
-			g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] Pos[1] = %.4f,Pos[2] = %.4f,Pos[3] = %.4f\n",
-				prfpos[1], prfpos[2], prfpos[3]);
-			if (timeoutflag) //定位超时
-			{
-				g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] Nowait Timeout\n");
-				sEvenProp.Init();
-				sEvenProp.EventType = HSI_EVENT_ERROR;
-				sEvenProp.EventID = HSI_EVENT_MOTION;
-				sEvenProp.EventResponse = HSI_EVENT_RESPONSE_OK;
-				strcpy_s(sEvenProp.EventData, HSI_MaxStringLength, "Nowait_EF3定位超时!");
-				EventCallback(sEvenProp);
-			}
-			switch (CurrentMotionState)
-			{
-			case E_SO7_MOTION_MOVETO:
-			{
-				g_pLogger->SendAndFlushWithTime(
-					L"[UpdateMotionState] Nowait CurrentMotionState E_SO7_MOTION_MOVETO\n");
-				m_Thread_State = HSI_THREAD_PAUSED;
-				CurrentMotionState = E_SO7_MOTION_NONE;
-				m_IsExMotion = 2;
-				SendMsgMotionFinished();
-				break;
-			}
-			default:
-			{
-				g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] Nowait CurrentMotionState default\n");
-				break;
-			}
-			}
-		}
-		g_pLogger->SendAndFlushWithTime(L"[UpdateMotionState] Out\n");
-	}
-}
-
 //===========================================================================
 void HSI_Motion::UpdateMotionStateEx()
 {
@@ -4371,7 +4464,8 @@ void HSI_Motion::DoEvents()
 	MSG msg;
 	//GetMessage:从系统获取消息，将消息从系统中移除，属于阻塞函数。当系统无消息时，GetMessage会等待下一条消息。
 
-	//函数PeekMesssge是以查看的方式从系统中获取消息，可以不将消息从系统中移除，是非阻塞函数；当系统无消息时，返回FALSE，继续执行后续代码
+	//PeekMesssge是以查看的方式从系统中获取消息，可以不将消息从系统中移除，是非阻塞函数；
+	//当系统无消息时，返回FALSE，继续执行后续代码
 	while (PeekMessage(&msg, nullptr, 0, 0, PM_REMOVE))
 	{
 		__try
@@ -4576,7 +4670,7 @@ HSI_STATUS HSI_Motion::GetAxisStatus(int* _Status)
  * \brief 暂停和关闭
  * \return 
  */
-HSI_STATUS HSI_Motion::AbortMotion() //需要运动实现
+HSI_STATUS HSI_Motion::AbortMotionOld() //需要运动实现
 {
 	auto rStatus = HSI_STATUS_NORMAL;
 	if (g_pHSI_Motion)
@@ -4615,6 +4709,27 @@ HSI_STATUS HSI_Motion::AbortMotion() //
 	return rStatus;
 }
 
+HSI_STATUS HSI_Motion::AbortMotion() //需要运动实现
+{
+	auto rStatus = HSI_STATUS_NORMAL;
+	if (g_pHSI_Motion)
+	{
+		g_IsClose = true;
+		g_pLogger->SendAndFlushWithTime(L"[AbortMotion] In\n");
+
+		int Axes[] = { ACSC_AXIS_0, ACSC_AXIS_1, ACSC_AXIS_4,  -1 };
+		if (handleACS != ACSC_INVALID)
+		{
+			if (!acsc_HaltM(handleACS, Axes, NULL))//停止JOG运动
+			{
+				g_pLogger->SendAndFlushWithTime(L"[AbortMotion] ACS acsc_HaltM error!\n");
+				ErrorsHandler();
+			}
+		}
+		g_pLogger->SendAndFlushWithTime(L"[AbortMotion] Out\n");
+	}
+	return rStatus;
+}
 //===========================================================================
 /**
  * \brief 关闭
@@ -7315,7 +7430,7 @@ unsigned __stdcall HSI_Motion::m_ThreadData(LPVOID pThis)
 		case HSI_THREAD_RUNNING:
 			{
 				TRACE("HSI_THREAD_RUNNING.\r\n");
-				//_This->UpdateMotionStateData();//获取运动状态命令
+				_This->UpdateMotionStateData();//获取运动状态命令
 				break;
 			}
 		case HSI_THREAD_PAUSED:

HSI_HexagonMI_EF3/HSI_Motion.h

@@ -95,7 +95,7 @@ enum MOTOR_START_POSOTION //
 enum MOTOR_AXISCHOOES_CMD //第三级指令
 {
 	AXIS_X = 0x01,
-	AXIS_Y = 0x02,
+	AXIS_Y = 0x00,
 	AXIS_Z = 0x04,
 	AXIS_U = 0x08,
 	AXIS_XY = 0x03,
@@ -171,7 +171,6 @@ public:
 	 */
 	HSI_STATUS HomeMachine(bool bHomed);
 	HSI_STATUS HomeMachineOld(bool bHomed);
-
 	HSI_STATUS HomeJog(short AxisNumber, short Dir, bool Wait = false);
 	HSI_STATUS HomeFindIndex();
 	HSI_STATUS ZeroPos(bool bZeroPos);
@@ -183,7 +182,6 @@ public:
 	 */
 	HSI_STATUS IsHomed(bool& bHomed);
 	HSI_STATUS IsHomedOld(bool& bHomed);
-
 	HSI_STATUS GetSpeedXyz(int AxisNum, double& Speed);
 	HSI_STATUS SetSpeedXyz(double Speed);
 	HSI_STATUS GetFocusSpeed(double& Speed);
@@ -192,10 +190,8 @@ public:
 	HSI_STATUS SetAccelerationXyz(double AccelX, double AccelY, double AccelZ);
 	HSI_STATUS GetSpeedR(double& Speed);
 	HSI_STATUS SetSpeedR(double Speed);
-
 	HSI_STATUS GetScaleResolution(double& _ScaleX, double& _ScaleY, double& _ScaleZ);
 	HSI_STATUS SetScaleResolution(double _ScaleX, double _ScaleY, double _ScaleZ);
-
 	HSI_STATUS GetDeadBand(double& DeadbandX, double& DeadbandY, double& DeadbandZ, double& DeadbandR);
 	HSI_STATUS GetRefreshDeadBand(double& Deadband);
 	/**
@@ -206,7 +202,6 @@ public:
 	 */
 	HSI_STATUS Jog(UINT AxisTypes, double Speed);
 	HSI_STATUS JogOld(UINT AxisTypes, double Speed);
-
 	HSI_STATUS JoyStick(UINT AxisTypes, long Speed);
 	/**
 	 * \brief 
@@ -215,7 +210,6 @@ public:
 	HSI_STATUS StopJog();
 	HSI_STATUS StopJogOld();
 	HSI_STATUS StopJogEx(UINT AxisTypes);
-
 	HSI_STATUS GetPositionEncPrfMulti(UINT AxisTypes, double* EncPos, double* PrfPos, int Count);
 	/**
 	 * \brief 获取轴当前位置
@@ -228,7 +222,6 @@ public:
 	 */
 	HSI_STATUS GetPositionXyz(UINT AxisTypes, double& PositionX, double& PositionY, double& PositionZ, double& Time);
 	HSI_STATUS GetPositionXyzOld(UINT AxisTypes, double& PositionX, double& PositionY, double& PositionZ, double& Time);
-
 	HSI_STATUS GetPositionXyzaProbe(UINT AxisTypes, double& PositionX, double& PositionY, double& PositionZ,
 	                                double& PositionA);
 	HSI_STATUS GetEncoderXyz(long* lEncoderVal);
@@ -241,7 +234,7 @@ public:
 	 * \param motionParam 
 	 * \return 
 	 */
-	HSI_STATUS HSI_Motion::GetMotorParam(int AXIS, double motionParam[5]);
+	HSI_STATUS HSI_Motion::GetMotorParam(int AXIS, double* motionParam[5]);
 
 	/**
 	 * \brief 运行到指定位置
@@ -256,17 +249,21 @@ public:
 	HSI_STATUS SetPositionXyz(UINT AxisTypes, double PositionX, double PositionY, double PositionZ,
 	                          HSI_MOTION_MOVE_TYPE eType, double dFlyRadius);
 	HSI_STATUS SetPositionXyzOld(UINT AxisTypes, double PositionX, double PositionY, double PositionZ,
-		HSI_MOTION_MOVE_TYPE eType, double dFlyRadius);
+	                             HSI_MOTION_MOVE_TYPE eType, double dFlyRadius);
-
 	HSI_STATUS SetPositionXyza(UINT AxisTypes, double PositionX, double PositionY, double PositionZ, double PositionA,
 	                           HSI_MOTION_MOVE_TYPE eType, double dFlyRadius);
 	HSI_STATUS SetPositionXyzCache(UINT AxisTypes, HSI_MOTION_MOVE_TYPE eType, int DataCount, Point* CacheData);
 	HSI_STATUS GetPositionR(UINT AxisTypes, double& PositionR, double& Time);
 	HSI_STATUS SetPositionR(UINT AxisTypes, double PositionR, HSI_MOTION_AXIS_R_MOVE_TYPE DirectionType, bool bWait);
-	HSI_STATUS SetCircleInterpolate(double PositionX, double PositionY, double PositionZ);//圆弧插补
+	HSI_STATUS SetCircleInterpolate(double PositionX, double PositionY, double PositionZ); //圆弧插补
 	HSI_STATUS Load_EF3_Motion_Inifile(CString GoogolIniFile);
 	HSI_STATUS Load_EF3_Config_Inifile(CString GoogolIniFile);
+	/**
+	 * \brief 
+	 * \return 
+	 */
 	HSI_STATUS AbortMotion();
+	HSI_STATUS AbortMotionOld();
 
 	HSI_STATUS GetDIO(UINT IOChannel, UINT& _Status);
 	HSI_STATUS SetDIO(UINT IOChannel, UINT _Status);
@@ -278,7 +275,6 @@ public:
 	 */
 	HSI_STATUS Shutdown() override;
 	//HSI_STATUS ShutdownOld() override;
-
 	HSI_STATUS IsSupportedEx(UINT AxisTypes, UINT& Types);
 	HSI_STATUS StartupEx(UINT AxisTypes, bool bHome);
 	HSI_STATUS GetScaleResolutionEx(UINT AxisTypes, double& Scale);
@@ -290,7 +286,6 @@ public:
 	HSI_STATUS SetSpeedEx(UINT AxisTypes, double Speed);
 	HSI_STATUS GetAccelerationEx(UINT AxisTypes, double& Accel);
 	HSI_STATUS SetAccelerationEx(UINT AxisTypes, double Accel);
-
 	HSI_STATUS SetTriggerLight(int triggleNum, int delayLighting, int delayLightBefor, int triggleMode,
 	                           double* Intensities);
 	HSI_STATUS DCCPPStartPoint(double* startPoint);
@@ -298,10 +293,8 @@ public:
 	HSI_STATUS DCCScanStart();
 	HSI_STATUS DCCScanStop();
 	HSI_STATUS DCCForLightPlate();
-
 	HSI_STATUS IOStep(bool RunSts);
 	HSI_STATUS IOprogram(byte* SendData, int length);
-
 	HSI_STATUS FindOriginTest(bool state);
 
 	HSI_STATUS StartPlcJob(int* CamerasDis, int* BinsDis, int SubArea, int filterTime1, int filterTime2,
@@ -476,7 +469,7 @@ public:
 	bool bCircleRun; //圆弧插补
 	int iCircleRunPnt[5]; //圆弧插补时的圆心位置
 	int jogAxisNum; //jog运动的轴号
-	int jogspeed;//jog 运动的速度
+	int jogspeed; //jog 运动的速度
 	bool jogMoving;
 	bool jogDirFlag;
 	bool m_bEmergencyState;
@@ -502,7 +495,7 @@ public:
 	int SpCompleteTEnd;
 	int SpTimeCount;
 	bool SetPotionRunEnd;
-	double PntToPntDistance;
+	double PntToPntDistance; //欧氏距离
 
 	double m_LockPos[5];
 	double m_ijk[5];
@@ -538,10 +531,6 @@ public:
 	static unsigned __stdcall m_Thread(LPVOID pThis);
 	void CreateThread();
 	void CloseThread();
-	/**
-	 * \brief
-	 *
-	 */
 	void UpdateMotionState();
 	void UpdateMotionStateOld();
 	void UpdateMotionStateEx();
@@ -574,6 +563,11 @@ public:
 	                          int& AccCurve, int& DecCurve);
 	void HomeJogGearsChoice(int AxisType, int JogGears, int& DriveSpeed, int& StartSpeed, int& AccLine, int& DecLine,
 	                        int& AccCurve, int& DecCurve);
+	/**
+	 * \brief 
+	 * \param AxisTypes 
+	 * \return 
+	 */
 	short AxisConvertIndex(UINT AxisTypes);
 	short IndexConvertAxis(int Index);
 	double LimitOver(UINT AxisTypes, double& LimitPos);
@@ -592,7 +586,7 @@ private:
 	int iMotionDirection;
 	int begin_position[5]; //外触发到初始点需要发送的脉冲数
 	HINSTANCE m_Hinst;
-	E_SO7_MOTION_TYPE CurrentMotionState;
+	E_SO7_MOTION_TYPE CurrentMotionState; //当前运动状态
 	E_SO7_MOTION_READ_TYPE CurrentReadDataType;
 
 	//网口通信添加

HSI_HexagonMI_EF3/SevenOcean/CMMIO_SERIAL.CPP

@@ -843,7 +843,7 @@ int CPSerial::ProgramPort(int Port, int Baud, char Parity, int Bits, int StopBit
 		}
 		else
 		{
-			TRACE(_T("CmmIO> Port was not OPEN ProgramPort not done \n"));
+			TRACE(_T("CmmIO> Port was not OPEN, Program Port not done!\n"));
 			Ok = TRUE;
 		}
 	}

HSI_HexagonMI_EF3/logger.cpp

@@ -21,6 +21,7 @@ void CLogger::SendAtTime(const TCHAR* buffer)
 		_ftprintf(m_File,_T("%s"), csTime);
 		_ftprintf(m_File, _T("%s\r\n"), buffer);
 	}
+
 	LeaveCriticalSection(&m_lockLogger);
 }
 
@@ -39,6 +40,7 @@ void CLogger::Send(LPCTSTR format, ...)
 	{
 		_ftprintf(m_File, m_Str);
 	}
+	va_end(list);
 	LeaveCriticalSection(&m_lockLogger);
 }
 
@@ -59,6 +61,7 @@ void CLogger::SendAndFlush(LPCTSTR format, ...)
 		if (m_FileName.GetLength() > 0)
 			m_File = _wfsopen(m_FileName, _T("at"), _SH_DENYWR);
 	}
+	va_end(list);
 	LeaveCriticalSection(&m_lockLogger);
 }
 
@@ -71,16 +74,17 @@ void CLogger::SendAndFlushWithTime(LPCTSTR format, ...)
 	}
 	if (!m_File)
 	{
-		m_File = _wfsopen(m_FileName, _T("at"), _SH_DENYNO);
+		m_File = _wfsopen(m_FileName, _T("at"), _SH_DENYNO); //追加
 	}
 	if (m_File)
 	{
 		int length = 0;
 		va_list list;
+		//在C中，当无法列出传递函数的所有实参的类型和数目时，可以用省略号指定参数表
 		va_start(list, format);
 		length = vswprintf_s(m_Str2, 5000, format, list);
 		CTime _cTime = CTime::GetCurrentTime();
-		CString csTime = _cTime.Format("[%m/%d %H:%M:%S");
+		CString csTime = _cTime.Format("[%Y%m/%d %H:%M:%S");
 		struct _timeb timebuffer;
 		_ftime64_s(&timebuffer);
 		if (m_File)
@@ -96,7 +100,14 @@ void CLogger::SendAndFlushWithTime(LPCTSTR format, ...)
 			fclose(m_File);
 			m_File = nullptr;
 		}
+
+		va_end(list);
 	}
+	/*放弃当前线程对锁定部分的所有权。一旦锁定部分的所有权被放弃，那么请求访问临界区的下一个线程，将可以对锁定部分进行操作。每一个调用EnterCriticalSection的线程，都应该调用一次LeaveCriticalSection。
+
+	使一个线程可以使用一个临界段对象来进行互斥同步。这个过程需要优先创建一个临界区结构体变量（分配使用内存）。在使用临界区之前, 待操作临界区的进程必须调用InitializeCriticalSection 或者 InitializeCriticalSectionAndSpinCount函数来初始化临界区。
+		一个线程使用EnterCriticalSection 或TryEnterCriticalSection函数来获得关键部分对象的所有权时，该线程必须在离开临界区时调用LeaveCriticalSection。*/
+
 	LeaveCriticalSection(&m_lockLogger);
 }
 
@@ -117,31 +128,96 @@ void CLogger::SendAndFlushPerMode(LPCTSTR format, ...)
 		if (m_FileName.GetLength() > 0)
 			m_File = _wfsopen(m_FileName, _T("at"), _SH_DENYWR);
 	}
+	va_end(list);
 	LeaveCriticalSection(&m_lockLogger);
 }
 
 
-//void Getfilepath(const char* path, const char* filename, char* filepath)
+string ConvertCharToString(char* a, int size)
-//{
-//	strcpy(filepath, path);
-//	if (filepath[strlen(path) - 1] != '/')
-//		strcat(filepath, "/");
-//	strcat(filepath, filename);
-//	printf("path is = %s\n", filepath);
-//}
-
-//删除当前目录下txt文件
-void DeleteOldFile()
-{
-
-}
-
-string convertToString(char* a, int size)
 {
 	int i;
 	string s = "";
-	for (i = 0; i < size; i++) {
+	for (i = 0; i < size; i++)
+	{
 		s = s + a[i];
 	}
 	return s;
-}
+}
+
+
+//删除指定目录以及目录下的所有文件
+#include <iostream>
+#include <io.h>
+#include <direct.h>
+
+using namespace std;
+
+
+void DelFiles(string path)
+{
+	//在目录后面加上"\\*.*"进行第一次搜索
+	string newDir = path + "\\*.*";
+	//用于查找的句柄
+	intptr_t handle;
+	struct _finddata_t fileinfo;
+	//第一次查找
+	handle = _findfirst(newDir.c_str(), &fileinfo);
+
+	if (handle == -1)
+	{
+		cout << "无文件" << endl;
+		system("pause");
+		return;
+	}
+
+	do
+	{
+		if (fileinfo.attrib & _A_SUBDIR)
+		{
+			//如果为文件夹，加上文件夹路径，再次遍历
+			if (strcmp(fileinfo.name, ".") == 0 || strcmp(fileinfo.name, "..") == 0)
+				continue;
+
+			// 在目录后面加上"\\"和搜索到的目录名进行下一次搜索
+			newDir = path + "\\" + fileinfo.name;
+			DelFiles(newDir.c_str()); //先遍历删除文件夹下的文件，再删除空的文件夹
+			cout << newDir.c_str() << endl;
+			if (_rmdir(newDir.c_str()) == 0)
+			{
+				//删除空文件夹
+				cout << "delete empty dir success" << endl;
+			}
+			else
+			{
+				cout << "delete empty dir error" << endl;
+			}
+		}
+		else
+		{
+			string file_path = path + "\\" + fileinfo.name;
+			cout << file_path.c_str() << endl;
+			if (remove(file_path.c_str()) == 0)
+			{
+				//删除文件
+				cout << "delete file success" << endl;
+			}
+			else
+			{
+				cout << "delete file error" << endl;
+			}
+		}
+	}
+	while (!_findnext(handle, &fileinfo));
+
+	_findclose(handle);
+	return;
+}
+
+string ByteArrayToString(byte byteArray[])
+{
+	char str[sizeof(byteArray) + 1];
+	memcpy(str, byteArray, sizeof(byteArray));
+	str[sizeof(byteArray)] = '\0';
+
+	return str;
+}

HSI_HexagonMI_EF3/logger.h

@@ -10,12 +10,18 @@
 #include <stdio.h>
 #include <stdarg.h>
 
-using namespace  std;
+using namespace std;
 const long LOGINIT = 0x0001;
 const long LOGACTIONS = 0x0002;
 const long LOGCOMM = 0x0004;
 const long LOGFLUSH = 0x0008;
 
+extern string ConvertCharToString(char* a, int size);
+extern void DelFiles(string path);
+extern string ByteArrayToString(byte byteArray[]);
+
+
+
 class CLogger
 {
 public:
@@ -37,6 +43,13 @@ public:
 				tmpPath.Empty();
 			Path = tmpPath;
 		}
+		else //文件夹不为空
+		{
+			TRACE0("Log File Path: \n", CStringA());
+			//DelFiles(CT2A(m_Name.GetString()));
+		}
+
+
 		m_FileName = Path + m_Name; //_T("\\SO7_SSILog.txt");
 		m_lLogMask = 0;
 		InitializeCriticalSection(&m_lockLogger);
@@ -53,8 +66,8 @@ public:
 	void SendAndFlush(LPCTSTR, ...);
 	void SendAndFlushPerMode(LPCTSTR, ...);
 	void SendAndFlushWithTime(LPCTSTR, ...);
-	void DeleteOldFile();
+
-	
+
 
 	bool IsEnabledLog/* = false*/; //是否启用日志
 	CString m_FileName;
@@ -62,8 +75,8 @@ public:
 	FILE* m_File;
 	_TCHAR m_Str[20000];
 	_TCHAR m_Str2[20000];
-	CRITICAL_SECTION m_lockLogger;
+	CRITICAL_SECTION m_lockLogger;//临界区
 };
 
-extern string convertToString(char* a, int size);
+
 #endif // !defined(LOGGER_H__5142BB38_5565_4124_88A4_56EA08298154__INCLUDED_)

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          "2022.10.17 / 20:19 "  
+#define HSI_FILE_DESCRIPTION          "2022.10.19 / 20:17 "  
-#define HSI_FILE_CSDESCRIPTION        _T("2022.10.17 / 20:19 ")  
+#define HSI_FILE_CSDESCRIPTION        _T("2022.10.19 / 20:17 ")  

HSI_SEVENOCEAN_EF1_CsTest/HSI/HSI.cs

@@ -430,9 +430,12 @@ namespace HSI_SEVENOCEAN_EF1_CsTest.HSI
 
 		public enum HSI_MOTION_AXIS_TYPE
 		{
-			HSI_MOTION_AXIS_X = 0x0001, // This is the default "Sensor level" X Axis - use on single X axis machines
+			//HSI_MOTION_AXIS_X = 0x0001, // This is the default "Sensor level" X Axis - use on single X axis machines
-			HSI_MOTION_AXIS_Y = 0x0002, // This is the default "Sensor level" Y Axis - use on single Y axis machines
+			//HSI_MOTION_AXIS_Y = 0x0002, // This is the default "Sensor level" Y Axis - use on single Y axis machines
-			HSI_MOTION_AXIS_Z = 0x0004, // This is the default "Sensor level" Z Axis - use on single Z axis machines
+			//HSI_MOTION_AXIS_Z = 0x0004, // This is the default "Sensor level" Z Axis - use on single Z axis machines
+			HSI_MOTION_AXIS_X = 0x0001, //对应ACS 0轴 X
+			HSI_MOTION_AXIS_Y = 0x0000, //对应ACS 1轴 Y
+			HSI_MOTION_AXIS_Z = 0x0004, //对应ACS 4轴 Z
 			HSI_MOTION_AXIS_R = 0x0008, // This is the default "Sensor level" R Axis - use on single R axis machines
 			HSI_MOTION_AXIS_X1 = 0x0010, // This is the 1st X Axis - use on multiple axis machines when specific axis needed
 			HSI_MOTION_AXIS_Y1 = 0x0020, // This is the 1st Y Axis - use on multiple axis machines when specific axis needed

HSI_SEVENOCEAN_EF1_CsTest/Program.cs

@@ -41,17 +41,18 @@ namespace HSI_SEVENOCEAN_EF1_CsTest
 				Console.WriteLine("Motion.Startup:{0}", rStatus);
 
 				//5 获取EF3固件版本号,待测试
-				var EF3Version = new byte[20];
+				//var EF3Version = new byte[20];
-				//IntPtr intPtrEF3Version = IntPtr.Zero;
+				////IntPtr intPtrEF3Version = IntPtr.Zero;
-				IntPtr intPtrEF3Version = Marshal.StringToHGlobalAnsi("");
+				//IntPtr intPtrEF3Version = Marshal.StringToHGlobalAnsi("");
-				rStatus = Interface.MotionGetFirewareVerion(intPtrEF3Version);
+				//rStatus = Interface.MotionGetFirewareVerion(intPtrEF3Version);
-				Console.WriteLine("Interface.MotionGetFirewareVerion: {0}", rStatus);
+				//Console.WriteLine("Interface.MotionGetFirewareVerion: {0}", rStatus);
-				Marshal.Copy(intPtrEF3Version, EF3Version, 0, EF3Version.Length);
+				//Marshal.Copy(intPtrEF3Version, EF3Version, 0, EF3Version.Length);
-				Console.WriteLine("EF3 FirewareVerion Version: {0}", Encoding.UTF8.GetString(EF3Version));
+				//Console.WriteLine("EF3 FirewareVerion Version: {0}", Encoding.UTF8.GetString(EF3Version));
 
-				var bHomed = true;
+				//6 是否回家
-				rStatus = Motion.IsHomed(ref bHomed);
+				//var bHomed = true;
-				Console.WriteLine("Motion.IsHomed:{0}", rStatus);
+				//rStatus = Motion.IsHomed(ref bHomed);
+				//Console.WriteLine("Motion.IsHomed:{0}", rStatus);
 				var bexit = false;
 				var SpeedGear = 1.0;
 				var dPos = new double[3];
@@ -62,18 +63,18 @@ namespace HSI_SEVENOCEAN_EF1_CsTest
 					switch (info.Key)
 					{
 						case ConsoleKey.P:
-							dPos[0] += 10.0;
+							dPos[0] += 10.0; //X轴
-							dPos[1] += 10.0;
+							dPos[1] += 20.0; //Y轴
-							rStatus = Motion.SetPositionXyz(Def.HSI_MOTION_AXIS_ALL, dPos[0], dPos[1], dPos[2],
+							dPos[2] += 30.0; //Y轴
-								Def.HSI_MOTION_MOVE_TYPE.HSI_MOTION_MOVE_NOWAIT, 0.0);
+							rStatus = Motion.SetPositionXyz(Def.HSI_MOTION_AXIS_ALL, dPos[0], dPos[1], dPos[2],Def.HSI_MOTION_MOVE_TYPE.HSI_MOTION_MOVE_WAIT, 0.0);
-							Console.WriteLine("Motion.SetPositionXyz:{0},{1},{2} {3}", dPos[0], dPos[1], dPos[2],rStatus);
+							Console.WriteLine("Motion.SetPositionXyz:{0:f4},{1:f4},{2:f4} {3}", dPos[0], dPos[1],
-						
+								dPos[2],
+								rStatus);
 							break;
 						case ConsoleKey.Enter:
-							rStatus = Motion.GetPositionXyz(Def.HSI_MOTION_AXIS_ALL, ref dPos[0], ref dPos[1],
+							rStatus = Motion.GetPositionXyz(Def.HSI_MOTION_AXIS_ALL, ref dPos[0], ref dPos[1], ref dPos[2], ref dTime);
-								ref dPos[2], ref dTime);
 							Console.WriteLine("Motion.GetPositionXyz:{0}", rStatus);
-							Console.WriteLine("Motion.XYZ:{0},{1},{2}", dPos[0], dPos[1], dPos[2]);
+							Console.WriteLine("Motion.XYZ:{0:f4},{1:f4},{2:f4}", dPos[0], dPos[1], dPos[2]);
 							break;
 						case ConsoleKey.Escape:
 							bexit = true;
@@ -82,50 +83,71 @@ namespace HSI_SEVENOCEAN_EF1_CsTest
 							rStatus = Motion.StopJog();
 							Console.WriteLine("Motion.StopJog:{0}", rStatus);
 							break;
+
+						// Z轴运动
 						case ConsoleKey.NumPad1:
 						case ConsoleKey.D1:
-							SpeedGear = 1.0;
-							Console.WriteLine("Motion.SpeedGera:{0}", SpeedGear);
-							break;
-						case ConsoleKey.NumPad2:
-						case ConsoleKey.D2:
-							SpeedGear = 2.0;
-							Console.WriteLine("Motion.SpeedGera:{0}", SpeedGear);
-							break;
-						case ConsoleKey.NumPad3:
-						case ConsoleKey.D3:
-							SpeedGear = 3.0;
-							Console.WriteLine("Motion.SpeedGera:{0}", SpeedGear);
-							break;
-						case ConsoleKey.NumPad4:
-						case ConsoleKey.D4:
-							SpeedGear = 4.0;
-							Console.WriteLine("Motion.SpeedGera:{0}", SpeedGear);
-							break;
-						case ConsoleKey.LeftArrow:
-							rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_X, -SpeedGear);
-							Console.WriteLine("Motion.Jog(X,{1}):{0}", rStatus, SpeedGear);
-							break;
-						case ConsoleKey.RightArrow:
-							rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_X, SpeedGear);
-							Console.WriteLine("Motion.Jog(X,{1}):{0}", rStatus, SpeedGear);
-							break;
-						case ConsoleKey.DownArrow:
-							rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_Y, -SpeedGear);
-							Console.WriteLine("Motion.Jog(Y,{1}):{0}", rStatus, SpeedGear);
-							break;
-						case ConsoleKey.UpArrow:
-							rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_Y, SpeedGear);
-							Console.WriteLine("Motion.Jog(Y,{1}):{0}", rStatus, SpeedGear);
-							break;
-						case ConsoleKey.PageUp:
 							rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_Z, SpeedGear);
 							Console.WriteLine("Motion.Jog(Z,{1}):{0}", rStatus, SpeedGear);
 							break;
-						case ConsoleKey.PageDown:
+						case ConsoleKey.NumPad3:
+						case ConsoleKey.D3:
 							rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_Z, -SpeedGear);
-							Console.WriteLine("Motion.Jog(Z,{1}):{0}", rStatus, SpeedGear);
+							Console.WriteLine("Motion.Jog(Z,{1}):{0}", rStatus, -SpeedGear);
 							break;
+
+						//Y轴运动
+						case ConsoleKey.NumPad2:
+						case ConsoleKey.D2:
+							rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_Y, -SpeedGear);
+							Console.WriteLine("Motion.Jog(Y,{1}):{0}", rStatus, -SpeedGear);
+							break;
+						case ConsoleKey.NumPad8:
+						case ConsoleKey.D8:
+							rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_Y, SpeedGear);
+							Console.WriteLine("Motion.Jog(Y,{1}):{0}", rStatus, SpeedGear);
+							break;
+
+						// X轴运动
+						case ConsoleKey.NumPad4:
+						case ConsoleKey.D4:
+							rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_X, -SpeedGear);
+							Console.WriteLine("Motion.Jog(X,{1}):{0}", rStatus, -SpeedGear);
+							break;
+						case ConsoleKey.NumPad6:
+						case ConsoleKey.D6:
+							rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_X, SpeedGear);
+							Console.WriteLine("Motion.Jog(X,{1}):{0}", rStatus, SpeedGear);
+							break;
+
+						//加减速
+						case ConsoleKey.Add:
+							SpeedGear += 1.0;
+							Console.WriteLine("Motion.SpeedGera:{0}", SpeedGear);
+							break;
+
+						case ConsoleKey.Subtract:
+							SpeedGear -= 1.0;
+							if (SpeedGear < 1.0)
+							{
+								SpeedGear = 1.0;
+							}
+
+							Console.WriteLine("Motion.SpeedGera:{0}", SpeedGear);
+							break;
+
+						//case ConsoleKey.LeftArrow:
+						//	break;
+						//case ConsoleKey.RightArrow:
+						//	break;
+						//case ConsoleKey.DownArrow:
+						//	break;
+						//case ConsoleKey.UpArrow:
+						//	break;
+						//case ConsoleKey.PageUp:
+						//	break;
+						//case ConsoleKey.PageDown:
+						//	break;
 						default:
 							Console.WriteLine("Invalid");
 							break;
@@ -137,7 +159,6 @@ namespace HSI_SEVENOCEAN_EF1_CsTest
 				Console.WriteLine("Motion.Startup:{0}", rStatus);
 			}
 
-
 			rStatus = Interface.Shutdown();
 			Console.WriteLine("Interface.Shutdown:{0}", rStatus);
 

HSI_SEVENOCEAN_EF1_CsTest/bin/Debug/Config/EF3_Motion.ini

@@ -108,9 +108,12 @@ SCALE_RESOLUTION_8=0.0004
 
 [LIMIT]
 ;负限位(mm)，必须是负数
-NEG_WORKING_LIMIT_1=-260.0
+;NEG_WORKING_LIMIT_1=-260.0
-NEG_WORKING_LIMIT_2=-40.0
+;NEG_WORKING_LIMIT_2=-40.0
-NEG_WORKING_LIMIT_3=-40.0
+;NEG_WORKING_LIMIT_3=-40.0
+NEG_WORKING_LIMIT_1=-1.0
+NEG_WORKING_LIMIT_2=-1.0
+NEG_WORKING_LIMIT_3=-1.0
 NEG_WORKING_LIMIT_4=-40.0
 NEG_WORKING_LIMIT_5=-40.0
 NEG_WORKING_LIMIT_6=-40.0
@@ -118,9 +121,12 @@ NEG_WORKING_LIMIT_7=-40.0
 NEG_WORKING_LIMIT_8=-40.0
 
 ;正限位(mm)，必须是正数
-POS_WORKING_LIMIT_1=40.0
+;POS_WORKING_LIMIT_1=40.0
-POS_WORKING_LIMIT_2=160.0
+;POS_WORKING_LIMIT_2=160.0
-POS_WORKING_LIMIT_3=160.0
+;POS_WORKING_LIMIT_3=160.0
+POS_WORKING_LIMIT_1=500.0
+POS_WORKING_LIMIT_2=500.0
+POS_WORKING_LIMIT_3=250.0
 POS_WORKING_LIMIT_4=200.0
 POS_WORKING_LIMIT_5=200.0
 POS_WORKING_LIMIT_6=200.0

Motion/ACS Motion/MainForm.Designer.cs

@@ -174,42 +174,42 @@
 			this.btnSend = new System.Windows.Forms.Button();
 			this.txtCommand = new System.Windows.Forms.TextBox();
 			this.groupBox5 = new System.Windows.Forms.GroupBox();
-			this.groupBox6 = new System.Windows.Forms.GroupBox();
-			this.button1 = new System.Windows.Forms.Button();
-			this.button2 = new System.Windows.Forms.Button();
-			this.button3 = new System.Windows.Forms.Button();
-			this.groupBox7 = new System.Windows.Forms.GroupBox();
-			this.button4 = new System.Windows.Forms.Button();
-			this.button5 = new System.Windows.Forms.Button();
-			this.button6 = new System.Windows.Forms.Button();
-			this.button7 = new System.Windows.Forms.Button();
-			this.groupBox8 = new System.Windows.Forms.GroupBox();
-			this.label44 = new System.Windows.Forms.Label();
-			this.label45 = new System.Windows.Forms.Label();
-			this.label46 = new System.Windows.Forms.Label();
-			this.textBox1 = new System.Windows.Forms.TextBox();
-			this.textBox2 = new System.Windows.Forms.TextBox();
-			this.textBox3 = new System.Windows.Forms.TextBox();
-			this.checkBox1 = new System.Windows.Forms.CheckBox();
-			this.button8 = new System.Windows.Forms.Button();
 			this.groupBox9 = new System.Windows.Forms.GroupBox();
-			this.groupBox10 = new System.Windows.Forms.GroupBox();
-			this.checkBox2 = new System.Windows.Forms.CheckBox();
-			this.checkBox3 = new System.Windows.Forms.CheckBox();
-			this.checkBox4 = new System.Windows.Forms.CheckBox();
-			this.button9 = new System.Windows.Forms.Button();
-			this.button10 = new System.Windows.Forms.Button();
-			this.textBox4 = new System.Windows.Forms.TextBox();
-			this.label48 = new System.Windows.Forms.Label();
-			this.label47 = new System.Windows.Forms.Label();
-			this.label49 = new System.Windows.Forms.Label();
-			this.label50 = new System.Windows.Forms.Label();
-			this.label51 = new System.Windows.Forms.Label();
-			this.label52 = new System.Windows.Forms.Label();
-			this.label53 = new System.Windows.Forms.Label();
-			this.label54 = new System.Windows.Forms.Label();
-			this.label55 = new System.Windows.Forms.Label();
 			this.label56 = new System.Windows.Forms.Label();
+			this.label55 = new System.Windows.Forms.Label();
+			this.label54 = new System.Windows.Forms.Label();
+			this.label53 = new System.Windows.Forms.Label();
+			this.label52 = new System.Windows.Forms.Label();
+			this.label51 = new System.Windows.Forms.Label();
+			this.label50 = new System.Windows.Forms.Label();
+			this.label49 = new System.Windows.Forms.Label();
+			this.label47 = new System.Windows.Forms.Label();
+			this.groupBox8 = new System.Windows.Forms.GroupBox();
+			this.button8 = new System.Windows.Forms.Button();
+			this.checkBox1 = new System.Windows.Forms.CheckBox();
+			this.textBox3 = new System.Windows.Forms.TextBox();
+			this.textBox2 = new System.Windows.Forms.TextBox();
+			this.textBox1 = new System.Windows.Forms.TextBox();
+			this.label46 = new System.Windows.Forms.Label();
+			this.label45 = new System.Windows.Forms.Label();
+			this.label44 = new System.Windows.Forms.Label();
+			this.groupBox7 = new System.Windows.Forms.GroupBox();
+			this.button7 = new System.Windows.Forms.Button();
+			this.button6 = new System.Windows.Forms.Button();
+			this.button5 = new System.Windows.Forms.Button();
+			this.button4 = new System.Windows.Forms.Button();
+			this.groupBox6 = new System.Windows.Forms.GroupBox();
+			this.button3 = new System.Windows.Forms.Button();
+			this.button2 = new System.Windows.Forms.Button();
+			this.button1 = new System.Windows.Forms.Button();
+			this.groupBox10 = new System.Windows.Forms.GroupBox();
+			this.label48 = new System.Windows.Forms.Label();
+			this.textBox4 = new System.Windows.Forms.TextBox();
+			this.button10 = new System.Windows.Forms.Button();
+			this.button9 = new System.Windows.Forms.Button();
+			this.checkBox4 = new System.Windows.Forms.CheckBox();
+			this.checkBox3 = new System.Windows.Forms.CheckBox();
+			this.checkBox2 = new System.Windows.Forms.CheckBox();
 			this.groupBox1.SuspendLayout();
 			this.grpMotionTest.SuspendLayout();
 			this.grpMst.SuspendLayout();
@@ -223,10 +223,10 @@
 			this.groupBox3.SuspendLayout();
 			this.groupBox4.SuspendLayout();
 			this.groupBox5.SuspendLayout();
-			this.groupBox6.SuspendLayout();
-			this.groupBox7.SuspendLayout();
-			this.groupBox8.SuspendLayout();
 			this.groupBox9.SuspendLayout();
+			this.groupBox8.SuspendLayout();
+			this.groupBox7.SuspendLayout();
+			this.groupBox6.SuspendLayout();
 			this.groupBox10.SuspendLayout();
 			this.SuspendLayout();
 			// 
@@ -1713,178 +1713,6 @@
 			this.groupBox5.TabStop = false;
 			this.groupBox5.Text = "XYZ轴运动";
 			// 
-			// groupBox6
-			// 
-			this.groupBox6.Controls.Add(this.button3);
-			this.groupBox6.Controls.Add(this.button2);
-			this.groupBox6.Controls.Add(this.button1);
-			this.groupBox6.Location = new System.Drawing.Point(6, 24);
-			this.groupBox6.Name = "groupBox6";
-			this.groupBox6.Size = new System.Drawing.Size(283, 70);
-			this.groupBox6.TabIndex = 0;
-			this.groupBox6.TabStop = false;
-			this.groupBox6.Text = "动作";
-			// 
-			// button1
-			// 
-			this.button1.Location = new System.Drawing.Point(10, 24);
-			this.button1.Name = "button1";
-			this.button1.Size = new System.Drawing.Size(75, 30);
-			this.button1.TabIndex = 0;
-			this.button1.Text = "开始";
-			this.button1.UseVisualStyleBackColor = true;
-			// 
-			// button2
-			// 
-			this.button2.Location = new System.Drawing.Point(104, 24);
-			this.button2.Name = "button2";
-			this.button2.Size = new System.Drawing.Size(75, 30);
-			this.button2.TabIndex = 1;
-			this.button2.Text = "停止";
-			this.button2.UseVisualStyleBackColor = true;
-			// 
-			// button3
-			// 
-			this.button3.Location = new System.Drawing.Point(198, 24);
-			this.button3.Name = "button3";
-			this.button3.Size = new System.Drawing.Size(75, 30);
-			this.button3.TabIndex = 2;
-			this.button3.Text = "回原点";
-			this.button3.UseVisualStyleBackColor = true;
-			// 
-			// groupBox7
-			// 
-			this.groupBox7.Controls.Add(this.button7);
-			this.groupBox7.Controls.Add(this.button6);
-			this.groupBox7.Controls.Add(this.button5);
-			this.groupBox7.Controls.Add(this.button4);
-			this.groupBox7.Location = new System.Drawing.Point(6, 100);
-			this.groupBox7.Name = "groupBox7";
-			this.groupBox7.Size = new System.Drawing.Size(283, 160);
-			this.groupBox7.TabIndex = 1;
-			this.groupBox7.TabStop = false;
-			this.groupBox7.Text = "Jog";
-			// 
-			// button4
-			// 
-			this.button4.Location = new System.Drawing.Point(104, 12);
-			this.button4.Name = "button4";
-			this.button4.Size = new System.Drawing.Size(75, 35);
-			this.button4.TabIndex = 0;
-			this.button4.Text = "Y前进";
-			this.button4.UseVisualStyleBackColor = true;
-			// 
-			// button5
-			// 
-			this.button5.Location = new System.Drawing.Point(10, 61);
-			this.button5.Name = "button5";
-			this.button5.Size = new System.Drawing.Size(75, 35);
-			this.button5.TabIndex = 1;
-			this.button5.Text = "X左移";
-			this.button5.UseVisualStyleBackColor = true;
-			// 
-			// button6
-			// 
-			this.button6.Location = new System.Drawing.Point(198, 61);
-			this.button6.Name = "button6";
-			this.button6.Size = new System.Drawing.Size(75, 35);
-			this.button6.TabIndex = 2;
-			this.button6.Text = "X右移";
-			this.button6.UseVisualStyleBackColor = true;
-			// 
-			// button7
-			// 
-			this.button7.Location = new System.Drawing.Point(104, 107);
-			this.button7.Name = "button7";
-			this.button7.Size = new System.Drawing.Size(75, 35);
-			this.button7.TabIndex = 3;
-			this.button7.Text = "Y后退";
-			this.button7.UseVisualStyleBackColor = true;
-			// 
-			// groupBox8
-			// 
-			this.groupBox8.Controls.Add(this.button8);
-			this.groupBox8.Controls.Add(this.checkBox1);
-			this.groupBox8.Controls.Add(this.textBox3);
-			this.groupBox8.Controls.Add(this.textBox2);
-			this.groupBox8.Controls.Add(this.textBox1);
-			this.groupBox8.Controls.Add(this.label46);
-			this.groupBox8.Controls.Add(this.label45);
-			this.groupBox8.Controls.Add(this.label44);
-			this.groupBox8.Location = new System.Drawing.Point(6, 268);
-			this.groupBox8.Name = "groupBox8";
-			this.groupBox8.Size = new System.Drawing.Size(283, 163);
-			this.groupBox8.TabIndex = 2;
-			this.groupBox8.TabStop = false;
-			this.groupBox8.Text = "定位";
-			// 
-			// label44
-			// 
-			this.label44.AutoSize = true;
-			this.label44.Location = new System.Drawing.Point(39, 24);
-			this.label44.Name = "label44";
-			this.label44.Size = new System.Drawing.Size(59, 12);
-			this.label44.TabIndex = 0;
-			this.label44.Text = "X位置(mm)";
-			// 
-			// label45
-			// 
-			this.label45.AutoSize = true;
-			this.label45.Location = new System.Drawing.Point(39, 57);
-			this.label45.Name = "label45";
-			this.label45.Size = new System.Drawing.Size(59, 12);
-			this.label45.TabIndex = 1;
-			this.label45.Text = "Y位置(mm)";
-			// 
-			// label46
-			// 
-			this.label46.AutoSize = true;
-			this.label46.Location = new System.Drawing.Point(39, 90);
-			this.label46.Name = "label46";
-			this.label46.Size = new System.Drawing.Size(59, 12);
-			this.label46.TabIndex = 2;
-			this.label46.Text = "Z位置(mm)";
-			// 
-			// textBox1
-			// 
-			this.textBox1.Location = new System.Drawing.Point(149, 21);
-			this.textBox1.Name = "textBox1";
-			this.textBox1.Size = new System.Drawing.Size(100, 21);
-			this.textBox1.TabIndex = 3;
-			// 
-			// textBox2
-			// 
-			this.textBox2.Location = new System.Drawing.Point(149, 87);
-			this.textBox2.Name = "textBox2";
-			this.textBox2.Size = new System.Drawing.Size(100, 21);
-			this.textBox2.TabIndex = 4;
-			// 
-			// textBox3
-			// 
-			this.textBox3.Location = new System.Drawing.Point(149, 54);
-			this.textBox3.Name = "textBox3";
-			this.textBox3.Size = new System.Drawing.Size(100, 21);
-			this.textBox3.TabIndex = 5;
-			// 
-			// checkBox1
-			// 
-			this.checkBox1.AutoSize = true;
-			this.checkBox1.Location = new System.Drawing.Point(39, 133);
-			this.checkBox1.Name = "checkBox1";
-			this.checkBox1.Size = new System.Drawing.Size(48, 16);
-			this.checkBox1.TabIndex = 6;
-			this.checkBox1.Text = "等待";
-			this.checkBox1.UseVisualStyleBackColor = true;
-			// 
-			// button8
-			// 
-			this.button8.Location = new System.Drawing.Point(129, 122);
-			this.button8.Name = "button8";
-			this.button8.Size = new System.Drawing.Size(120, 37);
-			this.button8.TabIndex = 7;
-			this.button8.Text = "移动到目标位置";
-			this.button8.UseVisualStyleBackColor = true;
-			// 
 			// groupBox9
 			// 
 			this.groupBox9.Controls.Add(this.label56);
@@ -1903,6 +1731,259 @@
 			this.groupBox9.TabStop = false;
 			this.groupBox9.Text = "当前实际位置/规划位置(mm)";
 			// 
+			// label56
+			// 
+			this.label56.AutoSize = true;
+			this.label56.Location = new System.Drawing.Point(197, 95);
+			this.label56.Name = "label56";
+			this.label56.Size = new System.Drawing.Size(11, 12);
+			this.label56.TabIndex = 8;
+			this.label56.Text = "0";
+			// 
+			// label55
+			// 
+			this.label55.AutoSize = true;
+			this.label55.Location = new System.Drawing.Point(197, 65);
+			this.label55.Name = "label55";
+			this.label55.Size = new System.Drawing.Size(11, 12);
+			this.label55.TabIndex = 7;
+			this.label55.Text = "0";
+			// 
+			// label54
+			// 
+			this.label54.AutoSize = true;
+			this.label54.Location = new System.Drawing.Point(197, 34);
+			this.label54.Name = "label54";
+			this.label54.Size = new System.Drawing.Size(11, 12);
+			this.label54.TabIndex = 6;
+			this.label54.Text = "0";
+			// 
+			// label53
+			// 
+			this.label53.AutoSize = true;
+			this.label53.Location = new System.Drawing.Point(127, 95);
+			this.label53.Name = "label53";
+			this.label53.Size = new System.Drawing.Size(11, 12);
+			this.label53.TabIndex = 5;
+			this.label53.Text = "0";
+			// 
+			// label52
+			// 
+			this.label52.AutoSize = true;
+			this.label52.Location = new System.Drawing.Point(127, 65);
+			this.label52.Name = "label52";
+			this.label52.Size = new System.Drawing.Size(11, 12);
+			this.label52.TabIndex = 4;
+			this.label52.Text = "0";
+			// 
+			// label51
+			// 
+			this.label51.AutoSize = true;
+			this.label51.Location = new System.Drawing.Point(127, 34);
+			this.label51.Name = "label51";
+			this.label51.Size = new System.Drawing.Size(11, 12);
+			this.label51.TabIndex = 3;
+			this.label51.Text = "0";
+			// 
+			// label50
+			// 
+			this.label50.AutoSize = true;
+			this.label50.Location = new System.Drawing.Point(50, 95);
+			this.label50.Name = "label50";
+			this.label50.Size = new System.Drawing.Size(17, 12);
+			this.label50.TabIndex = 2;
+			this.label50.Text = "Z:";
+			// 
+			// label49
+			// 
+			this.label49.AutoSize = true;
+			this.label49.Location = new System.Drawing.Point(50, 65);
+			this.label49.Name = "label49";
+			this.label49.Size = new System.Drawing.Size(17, 12);
+			this.label49.TabIndex = 1;
+			this.label49.Text = "Y:";
+			// 
+			// label47
+			// 
+			this.label47.AutoSize = true;
+			this.label47.Location = new System.Drawing.Point(50, 34);
+			this.label47.Name = "label47";
+			this.label47.Size = new System.Drawing.Size(17, 12);
+			this.label47.TabIndex = 0;
+			this.label47.Text = "X:";
+			// 
+			// groupBox8
+			// 
+			this.groupBox8.Controls.Add(this.button8);
+			this.groupBox8.Controls.Add(this.checkBox1);
+			this.groupBox8.Controls.Add(this.textBox3);
+			this.groupBox8.Controls.Add(this.textBox2);
+			this.groupBox8.Controls.Add(this.textBox1);
+			this.groupBox8.Controls.Add(this.label46);
+			this.groupBox8.Controls.Add(this.label45);
+			this.groupBox8.Controls.Add(this.label44);
+			this.groupBox8.Location = new System.Drawing.Point(6, 268);
+			this.groupBox8.Name = "groupBox8";
+			this.groupBox8.Size = new System.Drawing.Size(283, 163);
+			this.groupBox8.TabIndex = 2;
+			this.groupBox8.TabStop = false;
+			this.groupBox8.Text = "定位";
+			// 
+			// button8
+			// 
+			this.button8.Location = new System.Drawing.Point(129, 122);
+			this.button8.Name = "button8";
+			this.button8.Size = new System.Drawing.Size(120, 37);
+			this.button8.TabIndex = 7;
+			this.button8.Text = "移动到目标位置";
+			this.button8.UseVisualStyleBackColor = true;
+			// 
+			// checkBox1
+			// 
+			this.checkBox1.AutoSize = true;
+			this.checkBox1.Location = new System.Drawing.Point(39, 133);
+			this.checkBox1.Name = "checkBox1";
+			this.checkBox1.Size = new System.Drawing.Size(48, 16);
+			this.checkBox1.TabIndex = 6;
+			this.checkBox1.Text = "等待";
+			this.checkBox1.UseVisualStyleBackColor = true;
+			// 
+			// textBox3
+			// 
+			this.textBox3.Location = new System.Drawing.Point(149, 54);
+			this.textBox3.Name = "textBox3";
+			this.textBox3.Size = new System.Drawing.Size(100, 21);
+			this.textBox3.TabIndex = 5;
+			// 
+			// textBox2
+			// 
+			this.textBox2.Location = new System.Drawing.Point(149, 87);
+			this.textBox2.Name = "textBox2";
+			this.textBox2.Size = new System.Drawing.Size(100, 21);
+			this.textBox2.TabIndex = 4;
+			// 
+			// textBox1
+			// 
+			this.textBox1.Location = new System.Drawing.Point(149, 21);
+			this.textBox1.Name = "textBox1";
+			this.textBox1.Size = new System.Drawing.Size(100, 21);
+			this.textBox1.TabIndex = 3;
+			// 
+			// label46
+			// 
+			this.label46.AutoSize = true;
+			this.label46.Location = new System.Drawing.Point(39, 90);
+			this.label46.Name = "label46";
+			this.label46.Size = new System.Drawing.Size(59, 12);
+			this.label46.TabIndex = 2;
+			this.label46.Text = "Z位置(mm)";
+			// 
+			// label45
+			// 
+			this.label45.AutoSize = true;
+			this.label45.Location = new System.Drawing.Point(39, 57);
+			this.label45.Name = "label45";
+			this.label45.Size = new System.Drawing.Size(59, 12);
+			this.label45.TabIndex = 1;
+			this.label45.Text = "Y位置(mm)";
+			// 
+			// label44
+			// 
+			this.label44.AutoSize = true;
+			this.label44.Location = new System.Drawing.Point(39, 24);
+			this.label44.Name = "label44";
+			this.label44.Size = new System.Drawing.Size(59, 12);
+			this.label44.TabIndex = 0;
+			this.label44.Text = "X位置(mm)";
+			// 
+			// groupBox7
+			// 
+			this.groupBox7.Controls.Add(this.button7);
+			this.groupBox7.Controls.Add(this.button6);
+			this.groupBox7.Controls.Add(this.button5);
+			this.groupBox7.Controls.Add(this.button4);
+			this.groupBox7.Location = new System.Drawing.Point(6, 100);
+			this.groupBox7.Name = "groupBox7";
+			this.groupBox7.Size = new System.Drawing.Size(283, 160);
+			this.groupBox7.TabIndex = 1;
+			this.groupBox7.TabStop = false;
+			this.groupBox7.Text = "Jog";
+			// 
+			// button7
+			// 
+			this.button7.Location = new System.Drawing.Point(104, 107);
+			this.button7.Name = "button7";
+			this.button7.Size = new System.Drawing.Size(75, 35);
+			this.button7.TabIndex = 3;
+			this.button7.Text = "Y后退";
+			this.button7.UseVisualStyleBackColor = true;
+			// 
+			// button6
+			// 
+			this.button6.Location = new System.Drawing.Point(198, 61);
+			this.button6.Name = "button6";
+			this.button6.Size = new System.Drawing.Size(75, 35);
+			this.button6.TabIndex = 2;
+			this.button6.Text = "X右移";
+			this.button6.UseVisualStyleBackColor = true;
+			// 
+			// button5
+			// 
+			this.button5.Location = new System.Drawing.Point(10, 61);
+			this.button5.Name = "button5";
+			this.button5.Size = new System.Drawing.Size(75, 35);
+			this.button5.TabIndex = 1;
+			this.button5.Text = "X左移";
+			this.button5.UseVisualStyleBackColor = true;
+			// 
+			// button4
+			// 
+			this.button4.Location = new System.Drawing.Point(104, 12);
+			this.button4.Name = "button4";
+			this.button4.Size = new System.Drawing.Size(75, 35);
+			this.button4.TabIndex = 0;
+			this.button4.Text = "Y前进";
+			this.button4.UseVisualStyleBackColor = true;
+			// 
+			// groupBox6
+			// 
+			this.groupBox6.Controls.Add(this.button3);
+			this.groupBox6.Controls.Add(this.button2);
+			this.groupBox6.Controls.Add(this.button1);
+			this.groupBox6.Location = new System.Drawing.Point(6, 24);
+			this.groupBox6.Name = "groupBox6";
+			this.groupBox6.Size = new System.Drawing.Size(283, 70);
+			this.groupBox6.TabIndex = 0;
+			this.groupBox6.TabStop = false;
+			this.groupBox6.Text = "动作";
+			// 
+			// button3
+			// 
+			this.button3.Location = new System.Drawing.Point(198, 24);
+			this.button3.Name = "button3";
+			this.button3.Size = new System.Drawing.Size(75, 30);
+			this.button3.TabIndex = 2;
+			this.button3.Text = "回原点";
+			this.button3.UseVisualStyleBackColor = true;
+			// 
+			// button2
+			// 
+			this.button2.Location = new System.Drawing.Point(104, 24);
+			this.button2.Name = "button2";
+			this.button2.Size = new System.Drawing.Size(75, 30);
+			this.button2.TabIndex = 1;
+			this.button2.Text = "停止";
+			this.button2.UseVisualStyleBackColor = true;
+			// 
+			// button1
+			// 
+			this.button1.Location = new System.Drawing.Point(10, 24);
+			this.button1.Name = "button1";
+			this.button1.Size = new System.Drawing.Size(75, 30);
+			this.button1.TabIndex = 0;
+			this.button1.Text = "开始";
+			this.button1.UseVisualStyleBackColor = true;
+			// 
 			// groupBox10
 			// 
 			this.groupBox10.Controls.Add(this.label48);
@@ -1919,25 +2000,39 @@
 			this.groupBox10.TabStop = false;
 			this.groupBox10.Text = "XYZ循环";
 			// 
-			// checkBox2
+			// label48
 			// 
-			this.checkBox2.AutoSize = true;
+			this.label48.AutoSize = true;
-			this.checkBox2.Location = new System.Drawing.Point(16, 21);
+			this.label48.Location = new System.Drawing.Point(220, 65);
-			this.checkBox2.Name = "checkBox2";
+			this.label48.Name = "label48";
-			this.checkBox2.Size = new System.Drawing.Size(30, 16);
+			this.label48.Size = new System.Drawing.Size(17, 12);
-			this.checkBox2.TabIndex = 0;
+			this.label48.TabIndex = 7;
-			this.checkBox2.Text = "X";
+			this.label48.Text = "次";
-			this.checkBox2.UseVisualStyleBackColor = true;
 			// 
-			// checkBox3
+			// textBox4
 			// 
-			this.checkBox3.AutoSize = true;
+			this.textBox4.Location = new System.Drawing.Point(179, 61);
-			this.checkBox3.Location = new System.Drawing.Point(100, 21);
+			this.textBox4.Name = "textBox4";
-			this.checkBox3.Name = "checkBox3";
+			this.textBox4.Size = new System.Drawing.Size(35, 21);
-			this.checkBox3.Size = new System.Drawing.Size(30, 16);
+			this.textBox4.TabIndex = 5;
-			this.checkBox3.TabIndex = 1;
+			// 
-			this.checkBox3.Text = "Y";
+			// button10
-			this.checkBox3.UseVisualStyleBackColor = true;
+			// 
+			this.button10.Location = new System.Drawing.Point(94, 60);
+			this.button10.Name = "button10";
+			this.button10.Size = new System.Drawing.Size(60, 23);
+			this.button10.TabIndex = 4;
+			this.button10.Text = "停止";
+			this.button10.UseVisualStyleBackColor = true;
+			// 
+			// button9
+			// 
+			this.button9.Location = new System.Drawing.Point(13, 60);
+			this.button9.Name = "button9";
+			this.button9.Size = new System.Drawing.Size(60, 23);
+			this.button9.TabIndex = 3;
+			this.button9.Text = "运行";
+			this.button9.UseVisualStyleBackColor = true;
 			// 
 			// checkBox4
 			// 
@@ -1949,120 +2044,25 @@
 			this.checkBox4.Text = "Z";
 			this.checkBox4.UseVisualStyleBackColor = true;
 			// 
-			// button9
+			// checkBox3
 			// 
-			this.button9.Location = new System.Drawing.Point(13, 60);
+			this.checkBox3.AutoSize = true;
-			this.button9.Name = "button9";
+			this.checkBox3.Location = new System.Drawing.Point(100, 21);
-			this.button9.Size = new System.Drawing.Size(60, 23);
+			this.checkBox3.Name = "checkBox3";
-			this.button9.TabIndex = 3;
+			this.checkBox3.Size = new System.Drawing.Size(30, 16);
-			this.button9.Text = "运行";
+			this.checkBox3.TabIndex = 1;
-			this.button9.UseVisualStyleBackColor = true;
+			this.checkBox3.Text = "Y";
+			this.checkBox3.UseVisualStyleBackColor = true;
 			// 
-			// button10
+			// checkBox2
 			// 
-			this.button10.Location = new System.Drawing.Point(94, 60);
+			this.checkBox2.AutoSize = true;
-			this.button10.Name = "button10";
+			this.checkBox2.Location = new System.Drawing.Point(16, 21);
-			this.button10.Size = new System.Drawing.Size(60, 23);
+			this.checkBox2.Name = "checkBox2";
-			this.button10.TabIndex = 4;
+			this.checkBox2.Size = new System.Drawing.Size(30, 16);
-			this.button10.Text = "停止";
+			this.checkBox2.TabIndex = 0;
-			this.button10.UseVisualStyleBackColor = true;
+			this.checkBox2.Text = "X";
-			// 
+			this.checkBox2.UseVisualStyleBackColor = true;
-			// textBox4
-			// 
-			this.textBox4.Location = new System.Drawing.Point(179, 61);
-			this.textBox4.Name = "textBox4";
-			this.textBox4.Size = new System.Drawing.Size(35, 21);
-			this.textBox4.TabIndex = 5;
-			// 
-			// label48
-			// 
-			this.label48.AutoSize = true;
-			this.label48.Location = new System.Drawing.Point(220, 65);
-			this.label48.Name = "label48";
-			this.label48.Size = new System.Drawing.Size(17, 12);
-			this.label48.TabIndex = 7;
-			this.label48.Text = "次";
-			// 
-			// label47
-			// 
-			this.label47.AutoSize = true;
-			this.label47.Location = new System.Drawing.Point(50, 34);
-			this.label47.Name = "label47";
-			this.label47.Size = new System.Drawing.Size(17, 12);
-			this.label47.TabIndex = 0;
-			this.label47.Text = "X:";
-			// 
-			// label49
-			// 
-			this.label49.AutoSize = true;
-			this.label49.Location = new System.Drawing.Point(50, 65);
-			this.label49.Name = "label49";
-			this.label49.Size = new System.Drawing.Size(17, 12);
-			this.label49.TabIndex = 1;
-			this.label49.Text = "Y:";
-			// 
-			// label50
-			// 
-			this.label50.AutoSize = true;
-			this.label50.Location = new System.Drawing.Point(50, 95);
-			this.label50.Name = "label50";
-			this.label50.Size = new System.Drawing.Size(17, 12);
-			this.label50.TabIndex = 2;
-			this.label50.Text = "Z:";
-			// 
-			// label51
-			// 
-			this.label51.AutoSize = true;
-			this.label51.Location = new System.Drawing.Point(127, 34);
-			this.label51.Name = "label51";
-			this.label51.Size = new System.Drawing.Size(11, 12);
-			this.label51.TabIndex = 3;
-			this.label51.Text = "0";
-			// 
-			// label52
-			// 
-			this.label52.AutoSize = true;
-			this.label52.Location = new System.Drawing.Point(127, 65);
-			this.label52.Name = "label52";
-			this.label52.Size = new System.Drawing.Size(11, 12);
-			this.label52.TabIndex = 4;
-			this.label52.Text = "0";
-			// 
-			// label53
-			// 
-			this.label53.AutoSize = true;
-			this.label53.Location = new System.Drawing.Point(127, 95);
-			this.label53.Name = "label53";
-			this.label53.Size = new System.Drawing.Size(11, 12);
-			this.label53.TabIndex = 5;
-			this.label53.Text = "0";
-			// 
-			// label54
-			// 
-			this.label54.AutoSize = true;
-			this.label54.Location = new System.Drawing.Point(197, 34);
-			this.label54.Name = "label54";
-			this.label54.Size = new System.Drawing.Size(11, 12);
-			this.label54.TabIndex = 6;
-			this.label54.Text = "0";
-			// 
-			// label55
-			// 
-			this.label55.AutoSize = true;
-			this.label55.Location = new System.Drawing.Point(197, 65);
-			this.label55.Name = "label55";
-			this.label55.Size = new System.Drawing.Size(11, 12);
-			this.label55.TabIndex = 7;
-			this.label55.Text = "0";
-			// 
-			// label56
-			// 
-			this.label56.AutoSize = true;
-			this.label56.Location = new System.Drawing.Point(197, 95);
-			this.label56.Name = "label56";
-			this.label56.Size = new System.Drawing.Size(11, 12);
-			this.label56.TabIndex = 8;
-			this.label56.Text = "0";
 			// 
 			// MainForm
 			// 
@@ -2106,12 +2106,12 @@
 			this.groupBox4.ResumeLayout(false);
 			this.groupBox4.PerformLayout();
 			this.groupBox5.ResumeLayout(false);
-			this.groupBox6.ResumeLayout(false);
-			this.groupBox7.ResumeLayout(false);
-			this.groupBox8.ResumeLayout(false);
-			this.groupBox8.PerformLayout();
 			this.groupBox9.ResumeLayout(false);
 			this.groupBox9.PerformLayout();
+			this.groupBox8.ResumeLayout(false);
+			this.groupBox8.PerformLayout();
+			this.groupBox7.ResumeLayout(false);
+			this.groupBox6.ResumeLayout(false);
 			this.groupBox10.ResumeLayout(false);
 			this.groupBox10.PerformLayout();
 			this.ResumeLayout(false);

Motion/ACS Motion/MainForm.cs

@@ -812,7 +812,7 @@ namespace ACS_DotNET_Library_Advanced_Demo
             lstLog.Items.Add("PROGRAM_END event enabled");
         }
 
-        void _ACS_PROGRAMEND(BufferMasks buffer)
+		void _ACS_PROGRAMEND(BufferMasks buffer)
         {
             int bit = 0x01;
             int bufferNo = 0;