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69 lines
2.0 KiB
C++
69 lines
2.0 KiB
C++
// MotionController_GALIL.h: interface for the CMotionController_GALIL class.
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//
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//////////////////////////////////////////////////////////////////////
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#if !defined(AFX_MOTIONCONTROLLER_GALIL_H__CDB6D2BC_791A_4C32_B162_0BB564FFED61__INCLUDED_)
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#define AFX_MOTIONCONTROLLER_GALIL_H__CDB6D2BC_791A_4C32_B162_0BB564FFED61__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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class CMotionController_GALIL : public CMotionControllerBase
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{
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public:
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CMotionController_GALIL();
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virtual ~CMotionController_GALIL();
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virtual BOOL Init(int nCardType, CArray<stCard, stCard> &astCard, int &nNoOfMtr);
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virtual void Close(int nCardType);
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// get the IOs status of the motor
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virtual unsigned short GetMotionIOStatus(CMtrProfile mtrProfile);
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// get Motion status of motor
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virtual int GetMotionStatus(CMtrProfile mtrProfile);
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// get Motor Pos value
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virtual double GetMtrPos(CMtrProfile mtrProfile);
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// get position error value
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virtual double GetPosErr(CMtrProfile mtrProfile);
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// check if motor is at home sensor position
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virtual BOOL IsHomed(CMtrProfile mtrProfile);
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// check motor in position signal
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virtual BOOL IsInPosition(CMtrProfile mtrProfile);
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// check if motor negative/ccw limit is triggered
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virtual BOOL IsNegLimHit(CMtrProfile mtrProfile);
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// check if motor positive/cw limit hit
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virtual BOOL IsPosLimHit(CMtrProfile mtrProfile);
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// check if motor driver alarm
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virtual BOOL IsMotorAlarm(CMtrProfile mtrProfile);
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// check if Motor type is servo motor
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virtual BOOL IsServoMtrType(CMtrProfile mtrProfile);
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// check if motor is ready
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virtual BOOL IsMotorReady(CMtrProfile mtrProfile);
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// check if motor is on
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virtual BOOL IsMtrOn(CMtrProfile mtrProfile);
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void SetGalilMotionInt(int nAxisNo);
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int m_nCurrentGalilCard;
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private:
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CWinThread *m_pGalilIntThread[4];
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char m_cResponse[100];
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};
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#endif // !defined(AFX_MOTIONCONTROLLER_GALIL_H__CDB6D2BC_791A_4C32_B162_0BB564FFED61__INCLUDED_)
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