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143 lines
5.1 KiB
C++
143 lines
5.1 KiB
C++
// Motor_8134.h: interface for the CMotor_8134 class.
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//
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//////////////////////////////////////////////////////////////////////
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#if !defined(AFX_MOTOR_8134_H__C10921AB_C838_4F26_9C8B_C8E38366E641__INCLUDED_)
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#define AFX_MOTOR_8134_H__C10921AB_C838_4F26_9C8B_C8E38366E641__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 "MotorAdlinkBase.h"
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class CMotor_8134 : public CMotorAdlinkBase
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{
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public:
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CMotor_8134(CMtrProfile mtrProfile, double *dpPos, CMotionControllerBase *pBaseController);
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virtual ~CMotor_8134();
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// **************************************************************
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// Methods declaration
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// **************************************************************
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// method to close the axis
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void CloseAxis() override;
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// method to initialize and configure the axis
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void ConstructMotor() override;
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// method to On/Off motor
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bool OnMotor() override;
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bool OffMotor() override;
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// method to stop motor with decceleration
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bool DecelStop() override;
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// method to trigger Emergency stop the motor
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bool EmergStop() override;
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// method to get commanded position
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bool GetMotorCommandedPosition(int iMtrNo, double *pRaw) override;
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// method to get other motor axis IO status
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int GetMotionIOStatus(const CMtrProfile &mtrProfile) override;
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// method to get Other axis motor ready status
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BOOL IsMotorReady(const CMtrProfile &mtrProfile) override;
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// method to get Other axis Motor On status
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bool IsMtrOn(const CMtrProfile &mtrProfile) override;
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// method to get other motor axis current position
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bool GetMotorPosition(const CMtrProfile &mtrProfile, double *pRawPosition) override;
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// method to get motor axis current position error
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bool GetMotorPositionError(double *pRawPositionError) override;
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// method to do homing by limit sensor
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BOOL HomingByLimit() override;
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// method to process interrupt to decode what happen to the motor
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void ProcessInt(int nIntCode = 0) override;
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// method to set the commanded position register
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bool SetMotorCommandedPosition(double dPosition) override;
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// method to set the mechanical coversion factor
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bool RefreshMotorConversionFactor() override;
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// method to set homing modes
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bool SetMotorHomeMode(int iHomeMode) override;
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// method to force set the current position
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bool SetMotorPosition(double dPosition) override;
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bool SetupAbsoluteSimultaneousMove(int nNoOfAxis, short *sAxis, double *dPosition, double *dStartVel, double *dMaxVel, double *dAcc, double *dDec) override;
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bool SetupRelativeSimultaneousMove(int nNoOfAxis, short *sAxis, double *dPosition, double *dStartVel, double *dMaxVel, double *dAcc, double *dDec) override;
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bool StartSimultaneousMove(int nFirstAxisNo) override;
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// **************************************************************
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// Methods declaration applicable to
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// ADLINK 8134, 8164 ONLY - starts
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// **************************************************************
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// method to set the motor type and encoder input type
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bool SetMotorType(int iMtrType) override;
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// method to set the motor alarm signal logic
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bool SetMotorAlarmLogic(int iALM) override;
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// method to set the home sensor signal logic
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bool SetMotorHomeSensorLogic(int iORGI) override;
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// method to set the encoder Index signal logic
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bool SetMotorIndexLogic(int iIndexLogic) override;
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// method to set the in position signal logic
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bool SetMotorINPLogic(int iINP) override;
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// method to set clk type, out/dir or cw/ccw
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bool SetMotorClk(int iClk) override;
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bool StartHomeMove(double dStartSpeed, double dMaxSpeed, double dAcc) override;
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bool StartContinuousMove(double dStartSpeed, double dMaxSpeed, double dAcc) override;
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bool StartSContinuousMove(double dStartSpeed, double dMaxSpeed, double dAcc, double dSAcc) override;
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bool StartAbsoluteMove(double dPosition, double dStartSpeed, double dMaxSpeed, double dAcc, double dDec) override;
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bool StartSAbsoluteMove(double dPosition, double dStartSpeed, double dMaxSpeed, double dAcc, double dDec, double dSAcc, double dSDec) override;
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bool StartRelativeMove(double dPosition, double dStartSpeed, double dMaxSpeed, double dAcc, double dDec) override;
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bool StartSRelativeMove(double dPosition, double dStartSpeed, double dMaxSpeed, double dAcc, double dDec, double dSAcc, double dSDec) override;
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bool SetFixSpdRange(double dMaxVel);
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bool UnFixSpdRange();
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bool ResetMotorPositionError();
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// **************************************************************
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// Methods declaration applicable to
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// ADLINK 8134, 8164 ONLY - ends
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// **************************************************************
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private:
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short m_sMtrNo;
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bool FindLimit(HOME_DIR homeDir, MOTION_SPEED speed);
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bool EnableLimitInterrupt();
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bool DisableLimitInterrupt();
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bool GetCurrentPosition(int nMtrNo, double *pPosition);
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bool GetCurrentPosition(double *pPosition);
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bool SetHomingResetPosition(bool bEnable);
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};
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#endif // !defined(AFX_MOTOR_8134_H__C10921AB_C838_4F26_9C8B_C8E38366E641__INCLUDED_)
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