mitlib.pub/MITLIB/IODll/Motor_GALIL.h

// Motor_GALIL.h: interface for the CMotor_GALIL class.
//
//////////////////////////////////////////////////////////////////////

#if !defined(AFX_MOTOR_GALIL_H__B32C658E_7AF3_44AE_A7F0_CA13719016EA__INCLUDED_)
#define AFX_MOTOR_GALIL_H__B32C658E_7AF3_44AE_A7F0_CA13719016EA__INCLUDED_

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

#include "MotorBase.h"

#define OTF_MAX_TRIGGERS    300
//#define OTF_CMD_PARAM_LEN   (strlen(",-65536"))
// #define OTF_CMD_PARAM_LEN   6
//#define OTF_CMD_PARAM_LEN   (strlen("-65536") + strlen "A0[0]=") --> 6+5 roundoff to 12
#define OTF_CMD_PARAM_LEN   12 
#define OTF_CMD_STRING_LEN  40
//#define OTF_MAX_CMD_LEN           ((OTF_MAX_TRIGGERS * OTF_CMD_PARAM_LEN) + OTF_CMD_STRING_LEN)
#define OTF_MAX_CMD_LEN     1000     //actually it is 1024 proivided in GALIL document - limhs
#define OTF_MAX_PARAM_PER_LINE    ( ((1000/OTF_CMD_PARAM_LEN)*10) /10)

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

// **************************************************************
// 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();
    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 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 with PULSE Stretch
    int SetMultipleTrigger(double dStartPosition, double dStopPosition, double dIntervalDistance, int nNoOfTrigger, int nCmpSource, int nPulseStretch);
// method to set multiple trigger
    int SetMultipleTrigger(double dStartPosition, double dStopPosition, double dIntervalDistance, int nNoOfTrigger, int nCmpSource);// method to set multiple triggers
// method to set multiple trigger based on point table
    int SetMultipleTrigger(double* pPosition, 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);

// method to set normal, slow acceleration
    int SetAcce(double dAcce, bool bHomeSlow = false);

// method to set normal, slow deceleration
    int SetDec(double dDec, bool bHomeSlow = false);

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

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

// **************************************************************
// Methods declaration applicable to GALIL ONLY - STARTS
// **************************************************************
// method to get motion stop code
    int GetStopCode();

// method to get motion stop code
    CString GetVariable(CString csVariableName);

// method to send direct command string to controller
    int SendCommand(CString csCommand);

// method to stop any running script program and stop all motion
    int StopProgramAndMotion();

// method to update motion profile
    int UpdateProfile();
// **************************************************************
// Methods declaration applicable to GALIL ONLY - ENDS
// **************************************************************

private:
    int GalilFindHomeIndex(int nDir);

    int GalilUpdateHomeSlowProfile();

    int GalilFindHomeSensor();

    int GalilAbsMove(double dPosition);

    int GalilRelMove(double dDistance);

// Gary 20Sep11, V1.29.03, cater configurable trigger pulse width
    int m_nPulseWidth;
};

#endif // !defined(AFX_MOTOR_GALIL_H__B32C658E_7AF3_44AE_A7F0_CA13719016EA__INCLUDED_)