mitlib.pub/MITLIB/IODll/Motor_8134.h

// Motor_8134.h: interface for the CMotor_8134 class.
//
//////////////////////////////////////////////////////////////////////

#if !defined(AFX_MOTOR_8134_H__C10921AB_C838_4F26_9C8B_C8E38366E641__INCLUDED_)
#define AFX_MOTOR_8134_H__C10921AB_C838_4F26_9C8B_C8E38366E641__INCLUDED_

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000

// #include "8134ERR.H"
// #include "Pci_8134.h"
// #include "Pci8134a.h"
#include "MotorBase.h"

class CMotor_8134 : public CMotorBase
{
public:
    CMotor_8134(CMtrProfile mtrProfile, double *dpPos);
    virtual ~CMotor_8134();

// **************************************************************
// Methods declaration
// **************************************************************

// method to close the axis
    void CloseAxis();

// method to initialize and configure the axis
    void ConstructAxis() override;

//  method to On/Off motor
    int OnMtr(bool bOn);

//  method to stop motor with decceleration
    int DecStop();

//  method to trigger Emergency stop the motor
    int EStop();

// method to get commanded position
    double GetCommandPosition();

// method to get the motor axis IO status
    int GetMotionIOStatus();

// method to get the Motor Ready Status
    BOOL IsMotorReady();

// method to get the Motor Alarm Status
    BOOL IsMotorAlarm();

// method to get the Motor Negative/CCW Limit Status
    BOOL IsNegLmtHit();

// method to get the Motor Positive/CW Limit Status
    BOOL IsPosLmtHit();

// method to get the Motor Home Sensor Status
    BOOL IsHomed();

// method to check if the Motor is TURN ON
    bool IsMtrOn();

// method Check other axis home sensor
    BOOL IsHomed(CMtrProfile mtrProfile);

// method to get other motor axis IO status
    int GetMotionIOStatus(CMtrProfile mtrProfile);

// method to get Other axis motor ready status
    BOOL IsMotorReady(CMtrProfile mtrProfile);

// method to get Other axis Alarm status
    BOOL IsMotorAlarm(CMtrProfile mtrProfile);

// method to get Other axis negative/ccw limit status
    BOOL IsNegLmtHit(CMtrProfile mtrProfile);

// method to get Other axis positive/cw limit status
    BOOL IsPosLmtHit(CMtrProfile mtrProfile);

// method to get Other axis home sensor status
    bool IsMtrOn(CMtrProfile mtrProfile);

// method to get other motor axis current position
    double GetOtherAxisPosition(CMtrProfile mtrProfile);

// method to get motor axis current position error
    double GetPosErr();

// method to get the current motor position
    double GetPosition();

// method to do homing by limit sensor
    BOOL HomingByLimit();

// method to do homing by sensor as well as index
    BOOL HomeBySensorAndIndex();

// method to do homing by index signal
    BOOL HomeByIndex();

// method to do homing by Home Sensor
    BOOL HomeBySensor();

// method to move absolute
    int MoveAbs(double dPosition, int nPos = -1, int nMode = 0);

// method to move continuously
    int MoveContinuously(bool bCW = true);

// method to move relative distance
    int MoveRel(double dDistance, int nPos = -1);

// method to process interrupt to decode what happen to the motor
    void ProcessInt(int nIntCode = 0);

// method to reset single trigger
    int ResetSingleTrigger();

// method to set the commanded position register
    int SetCommandPosition(double dPosition);

// method to set the mechanical coversion factor
    int SetConversionFactor(double dUPR, double dPPR, double dEPPR);

// method to set homing modes
    int SetHomeMode(int iHomeMode);

// method to set multiple trigger
    int SetMultipleTrigger(double dStartPosition, double dStopPosition, double dIntervalDistance, int nNoOfTrigger, int nCmpSource = 1);

// method to force set the current position
    int SetPosition(double dPosition);

// method to arm controller axis for single trigger
    int SetSingleTrigger(double dPosition,  int nCmpSource = 1, int nPulseStretch = STRETCH_NON);

// method to arm multiaxis for simultaneous motion
    int SimultaneousMove(int nNoOfAxis, CMtrProfile *mtrProfile,  double *dPosition, double *dStartVel, double *dMaxVel, double *dAcc, int nMode = 0);

// method to move absolute with s-curve profile
    int SMoveAbs(double dPosition, int nPos = -1, int nMode = 0);

// method to move motor in s-curve continuously
    int SMoveContinuously(bool bCW = true);

// method to move relative distance with s-curve profile
    int SMoveRel(double dDistance, int nPos = -1);

// return: success = MOTION_END; error = MOTION_ERROR; Force Stop = MOTION_FORCE_STOP
    DWORD WaitHomeDone();

// virtual method to get the encoder index signal
    virtual BOOL IsIndex();

// **************************************************************
// Methods declaration applicable to
// ADLINK 8134, 8164 ONLY - starts
// **************************************************************
// method to set the motor type and encoder input type
    int SetMtrType(int iMtrType);

// method to set the motor alarm signal logic
    int SetALM(int iALM);

// method to set the home sensor signal logic
    int SetORGI(int iORGI);

// method to set the encoder Index signal logic
    int SetIndexLogic(int iIndexLogic);

// method to set the in position signal logic
    int SetINP(int iINP);

// method to set clk type, out/dir or cw/ccw
    int SetClk(int iClk);

// **************************************************************
// Methods declaration applicable to
// ADLINK 8134, 8164 ONLY - ends
// **************************************************************
};

#endif // !defined(AFX_MOTOR_8134_H__C10921AB_C838_4F26_9C8B_C8E38366E641__INCLUDED_)