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65 lines
1.8 KiB
C++
65 lines
1.8 KiB
C++
// MotionController_ETEL.h: interface for the CMotionController_ETEL class.
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//
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//////////////////////////////////////////////////////////////////////
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#if !defined(AFX_MOTIONCONTROLLER_ETEL_H__3E235D4B_C75D_4F13_A9B5_61EFB6BB5378__INCLUDED_)
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#define AFX_MOTIONCONTROLLER_ETEL_H__3E235D4B_C75D_4F13_A9B5_61EFB6BB5378__INCLUDED_
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#if _MSC_VER > 1000
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#pragma once
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#endif // _MSC_VER > 1000
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#include "MotionControllerBase.h"
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//#include "dsa30.h"
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class CMotionController_ETEL : public CMotionControllerBase
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{
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public:
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CMotionController_ETEL();
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virtual ~CMotionController_ETEL();
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BOOL Init(int nCardType, CArray<stCard, stCard> &astCard, int &nNoOfMtr);
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void Close(int nCardType);
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// get the IOs status of the motor
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unsigned short GetMotionIOStatus(CMtrProfile mtrProfile);
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// get Motion status of motor
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int GetMotionStatus(CMtrProfile mtrProfile);
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// get Motor Pos value
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double GetMtrPos(CMtrProfile mtrProfile);
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// get position error value
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double GetPosErr(CMtrProfile mtrProfile);
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// check if motor is at home sensor position
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BOOL IsHomed(CMtrProfile mtrProfile);
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// check motor in position signal
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BOOL IsInPosition(CMtrProfile mtrProfile);
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// check if motor negative/ccw limit is triggered
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BOOL IsNegLimHit(CMtrProfile mtrProfile);
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// check if motor positive/cw limit hit
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BOOL IsPosLimHit(CMtrProfile mtrProfile);
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// check if motor driver alarm
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BOOL IsMotorAlarm(CMtrProfile mtrProfile);
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// check if Motor type is servo motor
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BOOL IsServoMtrType(CMtrProfile mtrProfile);
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// check if motor is ready
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BOOL IsMotorReady(CMtrProfile mtrProfile);
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// check if motor is on
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BOOL IsMtrOn(CMtrProfile mtrProfile);
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private:
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DWORD GetAxisStatusM60(CMtrProfile mtrProfile);
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};
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#endif // !defined(AFX_MOTIONCONTROLLER_ETEL_H__3E235D4B_C75D_4F13_A9B5_61EFB6BB5378__INCLUDED_)
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