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Chenwenxuan
2024-03-06 14:54:30 +08:00
commit edac2715f0
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28
device/control/acs/buffercode/buffer0autoexecode.cpp Normal file
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#include "buffer0autoexecode.h"
Buffer0AutoExeCode::Buffer0AutoExeCode()
{
}
QString Buffer0AutoExeCode::getCode()
{
QString code("\n");
/*
* ECUNMAPIN 此函数用于将ECIN定义的所有映射重置为特定偏移量
* ECIN 将EtherCAT偏移地址的值映射到变量
*/
code+=
"AUTOEXEC:\n"
"ECUNMAPIN(RangeSAddr)\n"
// 禁用报警
"SAFETYCONF ALL,#NT,\"-\"\n"
"ECIN(RangeSAddr, RangeVInt)\n"
"WAIT 50\n"
"WHILE 1\n"
// 测距值换算为mm
"RangeV=RangeVInt/10000\n"
"END\n"
"STOP";
return code;
}

12
device/control/acs/buffercode/buffer0autoexecode.h Normal file
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#ifndef BUFFER0AUTOEXECODE_H
#define BUFFER0AUTOEXECODE_H
#include<QString>
class Buffer0AutoExeCode
{
public:
Buffer0AutoExeCode();
QString getCode();
};
#endif // BUFFER0AUTOEXECODE_H

190
device/control/acs/buffercode/csscancode.cpp Normal file
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#include "csscancode.h"
CSScanCode::CSScanCode()
{
}
CSScanCode::~CSScanCode()
{
}
void CSScanCode::setRSToZeroXPos(double value)
{
RSToZeroXPos = value;
}
void CSScanCode::setRSToZeroYPos(double value)
{
RSToZeroYPos = value;
}
void CSScanCode::setRSToZeroZ1Pos(double value)
{
RSToZeroZ1Pos = value;
}
void CSScanCode::setXWorkRange(double value)
{
xWorkRange = value;
}
void CSScanCode::setYWorkRange(double value)
{
yWorkRange = value;
}
void CSScanCode::setXSampInterval(double value)
{
xSampInterval = value;
}
void CSScanCode::setYSampInterval(double value)
{
ySampInterval = value;
}
int CSScanCode::getSampTotalNum()
{
int xLineSegmentCounts,yLineSegmentCounts;
// y线段数比x线段数多1
yLineSegmentCounts = int(yWorkRange/ySampInterval);
xLineSegmentCounts = yLineSegmentCounts+1;
int xSampCounts,ySampCounts;
xSampCounts = (accDecSampCount+int(xWorkRange*xNumberOfUnitSamples))*xLineSegmentCounts;
ySampCounts = int(yWorkRange*yNumberOfUnitSamples)+yNumberOfLineSegmentSamples*(yLineSegmentCounts-1);
return ySampCounts + xSampCounts;
}
QString CSScanCode::getCode()
{
QString code = QString("GLOBAL REAL scanData(2)(%1),RSData(%1),xPosData(%1),xWorkRange\n").arg(getSampTotalNum())+
QString("GLOBAL INT SampTotalNum=%1\n").arg(getSampTotalNum())+
QString("GLOBAL REAL RSToZeroXPos=%1,RSToZeroYPos=%2\n").arg(RSToZeroXPos).arg(RSToZeroYPos)+
//QString("GLOBAL REAL RSToZeroZ1Pos=%1\n").arg(RSToZeroZ1Pos)+
"REAL xPos,yPos\n"+
//"REAL xStartPos,yStartPos\n"+
QString("REAL yInterval = %1\n").arg(ySampInterval)+
"ENABLE (X,Y)\n"
// 禁用Z1轴补偿
"MFLAGS(Z).#DEFCON=1\n"
// 停止buffer0运行
"STOP 0\n"
"START 0,1\n"+
// 初始化数组
QString("FILL(%1,scanData,0,0,0,%2); FILL(0, scanData,1,1,0,%2)\n").arg(rangeInitValue).arg(getSampTotalNum()-1)+
//"ACC(X)=8000;DEC(X)=8000;KDEC(X)=120000;JERK(X)=120000; ACC(Y)=8000;DEC(Y)=8000;KDEC(Y)=120000;JERK(Y)=120000;\n "
"ACC(X)=8000;DEC(X)=8000;KDEC(X)=120000;JERK(X)=120000; ACC(Y)=500;DEC(Y)=500;KDEC(Y)=5000;JERK(Y)=5000;\n "
// 设置X、Y轴到位精度,会对INPOS什么时候变为1有影响
"TARGRAD(X) = 0.0001; TARGRAD(Y) = 0.0001\n"
"WAIT 200\n"+
//"xStartPos = FPOS(X);yStartPos = FPOS(Y)\n"+
// 设置X,Y轴起始位置。Y轴的起始位置把加减速段考虑进去
QString("xPos = FPOS(X)-%1;yPos = FPOS(Y)\n").arg(AccDecDist)+
// X、Y轴走到起始位置，速度为60mm/s
"PTP/EV (X,Y),xPos,yPos,100\n"+
// Y轴的工作范围等于设置的工作范围+加速距离+减速距离
QString("xWorkRange = %1\n").arg(xWorkRange+2*AccDecDist)+
// 定义同步采集，采集测距传感器值、Y轴坐标，采集间隔为0.1ms,采集总数为sampTotalNum
QString("DC/s X,scanData,%1,1,RangeV,FPOS(X)\n").arg(getSampTotalNum())+
// 定义分段运动，起始位置为xStart,yStart,结束速度为vel
QString("XSEG/vy (X,Y),xPos,yPos,%1\n").arg(xAxisVel)+
// 循环次数等于Y线段数
QString("LOOP %1\n").arg(yWorkRange/ySampInterval+1)+
// X轴位置不变，Y轴移动工作范围距离
// 第1段运动，Y轴向正方向移动（测距头向Y负方向移动）
"xPos = xPos+xWorkRange\n"+
QString("LINE/v (X,Y),xPos,yPos,%1\n").arg(xAxisVel)+
// Y轴位置不变，X轴向正向移动一个步距
"yPos = yPos+yInterval\n"+
// /v参数定义当前和后续线段的速度，/f 定义当前线段结束时的速度
// 意思就是说X轴运动时速度为20，Y轴运动时速度为100
QString("LINE/v (X,Y),xPos,yPos,%1\n").arg(yAxisVel)+
//QString("LINE/vf (X,Y),xPos,yPos,%1,%2\n").arg(xAxisVel).arg(yAxisVel)+
// Y轴移动工作距离范围取反
"xWorkRange=(-1)*xWorkRange\n"
"END\n"
"ENDS (X,Y)\n"
// 阻塞，等待多段运动结束
"TILL ^AST(X).5 & ^AST(Y).5 & GSEG(Y) = -1\n"
// 停止采集
"STOPDC/s X\n"
"INT validDataEndIndex\n"+
// 在0~(sampTotalNum-1)范围内找到第一个最大值并返回其索引（最大值为数组初始化值，索引为采集的测距值最后一个的索引+1）
QString("validDataEndIndex=MAXI(scanData,0,0,0,%1)\n").arg(getSampTotalNum()-1)+
// 把采集的测距值拷贝到 RSData数组中，把采集的Y轴的坐标放到xPosData数组中
"COPY(scanData,RSData,0,0,0,validDataEndIndex,0,validDataEndIndex); COPY(scanData,xPosData,1,1,0,validDataEndIndex,0,validDataEndIndex)\n"
"PTP/EV (X,Y),RSToZeroXPos,RSToZeroYPos,100\n"
//"PTP/ERV (Z),RSToZeroZ1Pos,1\n"
"WAIT 200\n"
"runF = 1\n"
"STOP";
return code;
}
//{
// QString code = QString("GLOBAL REAL scanData(2)(%1),RSData(%1),yPosData(%1),yWorkRange\n").arg(getSampTotalNum())+
// QString("GLOBAL INT SampTotalNum=%1\n").arg(getSampTotalNum())+
// QString("GLOBAL REAL RSToZeroXPos=%1,RSToZeroYPos=%2\n").arg(RSToZeroXPos).arg(RSToZeroYPos)+
// "REAL xPos,yPos\n"+
// //"REAL xStartPos,yStartPos\n"+
// QString("REAL xInterval = %1\n").arg(xSampInterval)+
// "ENABLE (X,Y)\n"
// // 禁用Z1轴补偿
// "MFLAGS(Z).#DEFCON=1\n"
// // 停止buffer0运行
// "STOP 0\n"
// "START 0,1\n"+
// // 初始化数组
// QString("FILL(%1,scanData,0,0,0,%2); FILL(0, scanData,1,1,0,%2)\n").arg(rangeInitValue).arg(getSampTotalNum()-1)+
// //"ACC(X)=8000;DEC(X)=8000;KDEC(X)=120000;JERK(X)=120000; ACC(Y)=8000;DEC(Y)=8000;KDEC(Y)=120000;JERK(Y)=120000;\n "
// "ACC(X)=5000;DEC(X)=5000;KDEC(X)=5000;JERK(X)=5000; ACC(Y)=8000;DEC(Y)=8000;KDEC(Y)=120000;JERK(Y)=120000;\n "
// // 设置X、Y轴到位精度,会对INPOS什么时候变为1有影响
// "TARGRAD(X) = 0.0001; TARGRAD(Y) = 0.0001\n"
// "WAIT 200\n"+
// //"xStartPos = FPOS(X);yStartPos = FPOS(Y)\n"+
// // 设置X,Y轴起始位置。Y轴的起始位置把加减速段考虑进去
// QString("xPos = FPOS(X);yPos = FPOS(Y)-%1\n").arg(AccDecDist)+
// // X、Y轴走到起始位置，速度为60mm/s
// "PTP/EV (X,Y),xPos,yPos,60\n"+
// // Y轴的工作范围等于设置的工作范围+加速距离+减速距离
// QString("yWorkRange = %1\n").arg(yWorkRange+2*AccDecDist)+
// // 定义同步采集，采集测距传感器值、Y轴坐标，采集间隔为0.1ms,采集总数为sampTotalNum
// QString("DC/s Y,scanData,%1,1,RangeV,FPOS(Y)\n").arg(getSampTotalNum())+
// // 定义分段运动，起始位置为xStart,yStart,结束速度为vel
// QString("XSEG/vy (X,Y),xPos,yPos,%1\n").arg(yAxisVel)+
// // 循环次数等于Y线段数
// QString("LOOP %1\n").arg(xWorkRange/xSampInterval+1)+
// // X轴位置不变，Y轴移动工作范围距离
// // 第1段运动，Y轴向正方向移动（测距头向Y负方向移动）
// "yPos = yPos+yWorkRange\n"+
// QString("LINE/v (X,Y),xPos,yPos,%1\n").arg(yAxisVel)+
// // Y轴位置不变，X轴向正向移动一个步距
// "xPos = xPos+xInterval\n"+
// // /v参数定义当前和后续线段的速度，/f 定义当前线段结束时的速度
// // 意思就是说X轴运动时速度为20，Y轴运动时速度为100
// QString("LINE/vf (X,Y),xPos,yPos,%1,%2\n").arg(xAxisVel).arg(yAxisVel)+
// // Y轴移动工作距离范围取反
// "yWorkRange=(-1)*yWorkRange\n"
// "END\n"
// "ENDS (X,Y)\n"
// // 阻塞，等待多段运动结束
// "TILL ^AST(Y).5 & ^AST(X).5 & GSEG(X) = -1\n"
// // 停止采集
// "STOPDC/s Y\n"
// "INT validDataEndIndex\n"+
// // 在0~(sampTotalNum-1)范围内找到第一个最大值并返回其索引（最大值为数组初始化值，索引为采集的测距值最后一个的索引+1）
// QString("validDataEndIndex=MAXI(scanData,0,0,0,%1)\n").arg(getSampTotalNum()-1)+
// // 把采集的测距值拷贝到 RSData数组中，把采集的Y轴的坐标放到yPosData数组中
// "COPY(scanData,RSData,0,0,0,validDataEndIndex,0,validDataEndIndex); COPY(scanData,yPosData,1,1,0,validDataEndIndex,0,validDataEndIndex)\n"
// "PTP/EV (X,Y),RSToZeroXPos,RSToZeroYPos,60\n"
// "runF = 1\n"
// "STOP";
// return code;
//}

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device/control/acs/buffercode/csscancode.h Normal file
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#ifndef CSSCANCODE_H
#define CSSCANCODE_H
#include <QString>
#include <QObject>
class CSScanCode
{
public:
explicit CSScanCode();
~CSScanCode();
QString getCode();
void setXWorkRange(double value);
void setYWorkRange(double value);
void setXSampInterval(double value);
void setYSampInterval(double value);
int getSampTotalNum();
void setRSToZeroXPos(double value);
void setRSToZeroYPos(double value);
void setRSToZeroZ1Pos(double value);
private:
double xWorkRange{1.0};
double yWorkRange{1.0};
double xSampInterval{1.0};
double ySampInterval{1.0};
const int yNumberOfUnitSamples{20};
const int xNumberOfUnitSamples{12};
const int yNumberOfLineSegmentSamples{600};
const int accDecSampCount{2000};
// rangeInitValue 用于初始化保存测距值的数组
double rangeInitValue{100.0};
// 加减速距离
double AccDecDist{70};
double xAxisVel{500.0};
double yAxisVel{50.0};
double RSToZeroXPos{1.0};
double RSToZeroYPos{1.0};
double RSToZeroZ1Pos{0.0};
// const int yNumberOfUnitSamples{12};
// const int xNumberOfUnitSamples{20};
// const int xNumberOfLineSegmentSamples{200};
// const int accDecSampCount{1500};
// // rangeInitValue 用于初始化保存测距值的数组
// double rangeInitValue{100.0};
// // 加减速距离
// double AccDecDist{45.0};
// double xAxisVel{20.0};
// double yAxisVel{100.0};
// double RSToZeroXPos{1.0};
// double RSToZeroYPos{1.0};
};
#endif // CSSCANCODE_H

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device/control/acs/buffercode/machcode.cpp Normal file
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#include "machcode.h"
MachCode::MachCode()
{
}
QString MachCode::getCode()
{
QString code("\n");
code+=
"ENABLE (Z)\n"
"VEL(Z) = 2.000\n"
"ACC(Z) = 20.00\n"
"DEC(Z) = 20.00\n"
"JERK(Z) = 200.0\n"
"KDEC(Z) = 200.0\n"
"PTP/e Z,2.2\n"
"runF = 1\n"
"STOP";
return code;
}

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device/control/acs/buffercode/machcode.h Normal file
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#ifndef MACHCODE_H
#define MACHCODE_H
#include <QString>
class MachCode
{
public:
MachCode();
QString getCode();
};
#endif // MACHCODE_H

668
device/control/acs/buffercode/maxisabsmovecode.cpp Normal file
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#include "maxisabsmovecode.h"
MAxisABSMoveCode::MAxisABSMoveCode()
{
}
QString MAxisABSMoveCode::getCode_L()
{
QString code("\n");
code =
getSurCode_L()+
"runF = 1\n"
"STOP";
return code;
}
QString MAxisABSMoveCode::getCode()
{
QString code("\n");
code =
getSurCode()+
"runF = 1\n"
"STOP";
return code;
}
QString MAxisABSMoveCode::getLaserMarkCode()
{
QString code("\n");
code =
getAutoToLaserMarkCode()+
"runF = 1\n"
"STOP";
return code;
}
QString MAxisABSMoveCode::getToCameraCode()
{
QString code("\n");
code =
getAutoToCameraCode()+
"runF = 1\n"
"STOP";
return code;
}
void MAxisABSMoveCode::setXAxisTGPos(double value)
{
XTargetPos = value;
}
void MAxisABSMoveCode::setYAxisTGPos(double value)
{
YTargetPos = value;
}
void MAxisABSMoveCode::setZAxisTGPos(double value)
{
ZTargetPos = value;
}
void MAxisABSMoveCode::setZAAxisTGPos(double value)
{
ZATargetPos = value;
}
void MAxisABSMoveCode::setZ2AxisTGPos(double value)
{
Z2TargetPos = value;
}
void MAxisABSMoveCode::setZ0AxisTGPos(double value)
{
Z0TargetPos = value;
}
void MAxisABSMoveCode::setZAAxisSafePos(double value)
{
ZASafePos = value;
}
void MAxisABSMoveCode::setZAAxisToSafePosVel(double value)
{
ZAAxisToSafePosVel = value;
}
void MAxisABSMoveCode::setXAxisVel(double value)
{
XAxisVel = value;
}
void MAxisABSMoveCode::setYAxisVel(double value)
{
YAxisVel = value;
}
void MAxisABSMoveCode::setZAAxisVel(double value)
{
ZAAxisVel = value;
}
void MAxisABSMoveCode::setZ2AxisVel(double value)
{
Z2AxisVel = value;
}
void MAxisABSMoveCode::setZ0AxisVel(double value)
{
Z0AxisVel = value;
}
void MAxisABSMoveCode::setZAxisVel(double value)
{
ZAxisVel = value;
}
void MAxisABSMoveCode::setXAxisIsMove(bool value)
{
XAxisIsMove = value;
}
void MAxisABSMoveCode::setYAxisIsMove(bool value)
{
YAxisIsMove = value;
}
void MAxisABSMoveCode::setZAxisIsMove(bool value)
{
ZAxisIsMove = value;
}
void MAxisABSMoveCode::setZAAxisIsMove(bool value)
{
ZAAxisIsMove = value;
}
void MAxisABSMoveCode::setZ2AxisIsMove(bool value)
{
Z2AxisIsMove = value;
}
void MAxisABSMoveCode::setZ0AxisIsMove(bool value)
{
Z0AxisIsMove = value;
}
void MAxisABSMoveCode::disableZAAxisToSafePos(bool value)
{
disabelZAToSafePos = value;
}
void MAxisABSMoveCode::setCMRSwitch(bool value)
{
CMRHSwitch = value;
}
/***************************************************************
* 修改码：1008610010
* 日期：
* 2024.3.4
* 功能：
* 添加新接口，先移动Z0
**************************************************************/
QString MAxisABSMoveCode::getSurCode_L()
{
QString moveAxis;
if(XAxisIsMove)
moveAxis+="X";
if(YAxisIsMove)
{
if(moveAxis.isEmpty())
moveAxis+="Y";
else
moveAxis+=",Y";
}
if(ZAxisIsMove)
{
if(moveAxis.isEmpty())
moveAxis+="Z";
else
moveAxis+=",Z";
}
if(ZAAxisIsMove)
{
if(moveAxis.isEmpty())
moveAxis+="ZA";
else
moveAxis+=",ZA";
}
if(Z2AxisIsMove)
{
if(moveAxis.isEmpty())
moveAxis+="Z2";
else
moveAxis+=",Z2";
}
if(Z0AxisIsMove)
{
if(moveAxis.isEmpty())
moveAxis+="Z0";
else
moveAxis+=",Z0";
}
surCode+=
QString("ENABLE (%1)\n").arg(moveAxis);
// "REAL ZAFPos\n"
// "ZAFPos = FPOS(ZA)\n";
if(Z0AxisIsMove)
{
surCode +=
QString("VEL(Z0) = %1\n").arg(Z0AxisVel)+
QString("ACC(Z0) = %1\n").arg(Z0AxisVel*10)+
QString("DEC(Z0) = %1\n").arg(Z0AxisVel*10)+
QString("JERK(Z0) = %1\n").arg(Z0AxisVel*100)+
QString("KDEC(Z0) = %1\n").arg(Z0AxisVel*100)+
QString("PTP/e Z0,%1\n").arg(Z0TargetPos,0,'f',4);
Z0AxisIsMove = false;
}
if(!disabelZAToSafePos)
{
surCode+=
QString("VEL(ZA) = %1\n").arg(ZAAxisToSafePosVel)+
QString("ACC(ZA) = %1\n").arg(ZAAxisToSafePosVel*10)+
QString("DEC(ZA) = %1\n").arg(ZAAxisToSafePosVel*10)+
QString("JERK(ZA) = %1\n").arg(ZAAxisToSafePosVel*100)+
QString("KDEC(ZA) = %1\n").arg(ZAAxisToSafePosVel*100)+
QString("PTP/e ZA,%1\n").arg(ZASafePos,0,'f',4);
}
if(XAxisIsMove&&YAxisIsMove)
{
surCode +=
QString("VEL(X) = %1\n").arg(XAxisVel)+
QString("ACC(X) = %1\n").arg(XAxisVel*10)+
QString("DEC(X) = %1\n").arg(XAxisVel*10)+
QString("JERK(X) = %1\n").arg(XAxisVel*100)+
QString("KDEC(X) = %1\n").arg(XAxisVel*100)+
QString("VEL(Y) = %1\n").arg(YAxisVel)+
QString("ACC(Y) = %1\n").arg(YAxisVel*10)+
QString("DEC(Y) = %1\n").arg(YAxisVel*10)+
QString("JERK(Y) = %1\n").arg(YAxisVel*100)+
QString("KDEC(Y) = %1\n").arg(YAxisVel*100);
if(CMRHSwitch)
{
surCode += QString("PTP/re (X,Y),%1,%2\n").arg(XTargetPos,0,'f',4).arg(YTargetPos,0,'f',4);
}
else
{
surCode += QString("PTP/e (X,Y),%1,%2\n").arg(XTargetPos,0,'f',4).arg(YTargetPos,0,'f',4);
}
}
else
{
if(XAxisIsMove)
{
surCode+=
QString("VEL(X) = %1\n").arg(XAxisVel)+
QString("ACC(X) = %1\n").arg(XAxisVel*10)+
QString("DEC(X) = %1\n").arg(XAxisVel*10)+
QString("JERK(X) = %1\n").arg(XAxisVel*100)+
QString("KDEC(X) = %1\n").arg(XAxisVel*100)+
QString("PTP/e (X),%1\n").arg(XTargetPos,0,'f',4);
}
if(YAxisIsMove)
{
surCode+=
QString("VEL(Y) = %1\n").arg(YAxisVel)+
QString("ACC(Y) = %1\n").arg(YAxisVel*10)+
QString("DEC(Y) = %1\n").arg(YAxisVel*10)+
QString("JERK(Y) = %1\n").arg(YAxisVel*100)+
QString("KDEC(Y) = %1\n").arg(YAxisVel*100)+
QString("PTP/e (Y),%1\n").arg(YTargetPos,0,'f',4);
}
}
if(ZAAxisIsMove&&ZAxisIsMove)
{
surCode +=
QString("VEL(ZA) = %1\n").arg(ZAAxisVel)+
QString("ACC(ZA) = %1\n").arg(ZAAxisVel*10)+
QString("DEC(ZA) = %1\n").arg(ZAAxisVel*10)+
QString("JERK(ZA) = %1\n").arg(ZAAxisVel*100)+
QString("KDEC(ZA) = %1\n").arg(ZAAxisVel*100)+
QString("VEL(Z) = %1\n").arg(ZAxisVel)+
QString("ACC(Z) = %1\n").arg(ZAxisVel*10)+
QString("DEC(Z) = %1\n").arg(ZAxisVel*10)+
QString("JERK(Z) = %1\n").arg(ZAxisVel*100)+
QString("KDEC(Z) = %1\n").arg(ZAxisVel*100)+
QString("PTP/e (ZA,Z),%1,%2\n").arg(ZATargetPos,0,'f',4).arg(ZTargetPos,0,'f',4);
}
else
{
if(ZAxisIsMove)
{
surCode +=
QString("VEL(Z) = %1\n").arg(ZAxisVel)+
QString("ACC(Z) = %1\n").arg(ZAxisVel*10)+
QString("DEC(Z) = %1\n").arg(ZAxisVel*10)+
QString("JERK(Z) = %1\n").arg(ZAxisVel*100)+
QString("KDEC(Z) = %1\n").arg(ZAxisVel*100)+
QString("PTP/e Z,%1\n").arg(ZTargetPos,0,'f',4);
}
if(ZAAxisIsMove)
{
surCode +=
QString("VEL(ZA) = %1\n").arg(ZAAxisVel)+
QString("ACC(ZA) = %1\n").arg(ZAAxisVel*10)+
QString("DEC(ZA) = %1\n").arg(ZAAxisVel*10)+
QString("JERK(ZA) = %1\n").arg(ZAAxisVel*100)+
QString("KDEC(ZA) = %1\n").arg(ZAAxisVel*100)+
QString("PTP/e ZA,%1\n").arg(ZATargetPos,0,'f',4);
}
// else
// {
// surCode +=
// QString("VEL(ZA) = %1\n").arg(ZAAxisVel)+
// QString("ACC(ZA) = %1\n").arg(ZAAxisVel*10)+
// QString("DEC(ZA) = %1\n").arg(ZAAxisVel*10)+
// QString("JERK(ZA) = %1\n").arg(ZAAxisVel*100)+
// QString("KDEC(ZA) = %1\n").arg(ZAAxisVel*100)+
// //ZA回到原来位置
// "PTP/e ZA,ZAFPos\n";
// }
}
if(Z2AxisIsMove)
{
surCode +=
QString("VEL(Z2) = %1\n").arg(Z2AxisVel)+
QString("ACC(Z2) = %1\n").arg(Z2AxisVel*10)+
QString("DEC(Z2) = %1\n").arg(Z2AxisVel*10)+
QString("JERK(Z2) = %1\n").arg(Z2AxisVel*100)+
QString("KDEC(Z2) = %1\n").arg(Z2AxisVel*100)+
QString("PTP/e Z2,%1\n").arg(Z2TargetPos,0,'f',4);
Z2AxisIsMove = false;
}
return surCode;
}
QString MAxisABSMoveCode::getSurCode()
{
QString moveAxis;
if(XAxisIsMove)
moveAxis+="X";
if(YAxisIsMove)
{
if(moveAxis.isEmpty())
moveAxis+="Y";
else
moveAxis+=",Y";
}
if(ZAxisIsMove)
{
if(moveAxis.isEmpty())
moveAxis+="Z";
else
moveAxis+=",Z";
}
if(ZAAxisIsMove)
{
if(moveAxis.isEmpty())
moveAxis+="ZA";
else
moveAxis+=",ZA";
}
if(Z2AxisIsMove)
{
if(moveAxis.isEmpty())
moveAxis+="Z2";
else
moveAxis+=",Z2";
}
surCode+=
QString("ENABLE (%1)\n").arg(moveAxis);
// "REAL ZAFPos\n"
// "ZAFPos = FPOS(ZA)\n";
if(!disabelZAToSafePos)
{
surCode+=
QString("VEL(ZA) = %1\n").arg(ZAAxisToSafePosVel)+
QString("ACC(ZA) = %1\n").arg(ZAAxisToSafePosVel*10)+
QString("DEC(ZA) = %1\n").arg(ZAAxisToSafePosVel*10)+
QString("JERK(ZA) = %1\n").arg(ZAAxisToSafePosVel*100)+
QString("KDEC(ZA) = %1\n").arg(ZAAxisToSafePosVel*100)+
QString("PTP/e ZA,%1\n").arg(ZASafePos,0,'f',4);
}
if(XAxisIsMove&&YAxisIsMove)
{
surCode +=
QString("VEL(X) = %1\n").arg(XAxisVel)+
QString("ACC(X) = %1\n").arg(XAxisVel*10)+
QString("DEC(X) = %1\n").arg(XAxisVel*10)+
QString("JERK(X) = %1\n").arg(XAxisVel*100)+
QString("KDEC(X) = %1\n").arg(XAxisVel*100)+
QString("VEL(Y) = %1\n").arg(YAxisVel)+
QString("ACC(Y) = %1\n").arg(YAxisVel*10)+
QString("DEC(Y) = %1\n").arg(YAxisVel*10)+
QString("JERK(Y) = %1\n").arg(YAxisVel*100)+
QString("KDEC(Y) = %1\n").arg(YAxisVel*100);
if(CMRHSwitch)
{
surCode += QString("PTP/re (X,Y),%1,%2\n").arg(XTargetPos,0,'f',4).arg(YTargetPos,0,'f',4);
}
else
{
surCode += QString("PTP/e (X,Y),%1,%2\n").arg(XTargetPos,0,'f',4).arg(YTargetPos,0,'f',4);
}
}
else
{
if(XAxisIsMove)
{
surCode+=
QString("VEL(X) = %1\n").arg(XAxisVel)+
QString("ACC(X) = %1\n").arg(XAxisVel*10)+
QString("DEC(X) = %1\n").arg(XAxisVel*10)+
QString("JERK(X) = %1\n").arg(XAxisVel*100)+
QString("KDEC(X) = %1\n").arg(XAxisVel*100)+
QString("PTP/e (X),%1\n").arg(XTargetPos,0,'f',4);
}
if(YAxisIsMove)
{
surCode+=
QString("VEL(Y) = %1\n").arg(YAxisVel)+
QString("ACC(Y) = %1\n").arg(YAxisVel*10)+
QString("DEC(Y) = %1\n").arg(YAxisVel*10)+
QString("JERK(Y) = %1\n").arg(YAxisVel*100)+
QString("KDEC(Y) = %1\n").arg(YAxisVel*100)+
QString("PTP/e (Y),%1\n").arg(YTargetPos,0,'f',4);
}
}
if(ZAAxisIsMove&&ZAxisIsMove)
{
surCode +=
QString("VEL(ZA) = %1\n").arg(ZAAxisVel)+
QString("ACC(ZA) = %1\n").arg(ZAAxisVel*10)+
QString("DEC(ZA) = %1\n").arg(ZAAxisVel*10)+
QString("JERK(ZA) = %1\n").arg(ZAAxisVel*100)+
QString("KDEC(ZA) = %1\n").arg(ZAAxisVel*100)+
QString("VEL(Z) = %1\n").arg(ZAxisVel)+
QString("ACC(Z) = %1\n").arg(ZAxisVel*10)+
QString("DEC(Z) = %1\n").arg(ZAxisVel*10)+
QString("JERK(Z) = %1\n").arg(ZAxisVel*100)+
QString("KDEC(Z) = %1\n").arg(ZAxisVel*100)+
QString("PTP/e (ZA,Z),%1,%2\n").arg(ZATargetPos,0,'f',4).arg(ZTargetPos,0,'f',4);
}
else
{
if(ZAxisIsMove)
{
surCode +=
QString("VEL(Z) = %1\n").arg(ZAxisVel)+
QString("ACC(Z) = %1\n").arg(ZAxisVel*10)+
QString("DEC(Z) = %1\n").arg(ZAxisVel*10)+
QString("JERK(Z) = %1\n").arg(ZAxisVel*100)+
QString("KDEC(Z) = %1\n").arg(ZAxisVel*100)+
QString("PTP/e Z,%1\n").arg(ZTargetPos,0,'f',4);
}
if(ZAAxisIsMove)
{
surCode +=
QString("VEL(ZA) = %1\n").arg(ZAAxisVel)+
QString("ACC(ZA) = %1\n").arg(ZAAxisVel*10)+
QString("DEC(ZA) = %1\n").arg(ZAAxisVel*10)+
QString("JERK(ZA) = %1\n").arg(ZAAxisVel*100)+
QString("KDEC(ZA) = %1\n").arg(ZAAxisVel*100)+
QString("PTP/e ZA,%1\n").arg(ZATargetPos,0,'f',4);
}
// else
// {
// surCode +=
// QString("VEL(ZA) = %1\n").arg(ZAAxisVel)+
// QString("ACC(ZA) = %1\n").arg(ZAAxisVel*10)+
// QString("DEC(ZA) = %1\n").arg(ZAAxisVel*10)+
// QString("JERK(ZA) = %1\n").arg(ZAAxisVel*100)+
// QString("KDEC(ZA) = %1\n").arg(ZAAxisVel*100)+
// //ZA回到原来位置
// "PTP/e ZA,ZAFPos\n";
// }
}
if(Z2AxisIsMove)
{
surCode +=
QString("VEL(Z2) = %1\n").arg(Z2AxisVel)+
QString("ACC(Z2) = %1\n").arg(Z2AxisVel*10)+
QString("DEC(Z2) = %1\n").arg(Z2AxisVel*10)+
QString("JERK(Z2) = %1\n").arg(Z2AxisVel*100)+
QString("KDEC(Z2) = %1\n").arg(Z2AxisVel*100)+
QString("PTP/e Z2,%1\n").arg(Z2TargetPos,0,'f',4);
Z2AxisIsMove = false;
}
if(Z0AxisIsMove)
{
surCode +=
QString("VEL(Z0) = %1\n").arg(Z0AxisVel)+
QString("ACC(Z0) = %1\n").arg(Z0AxisVel*10)+
QString("DEC(Z0) = %1\n").arg(Z0AxisVel*10)+
QString("JERK(Z0) = %1\n").arg(Z0AxisVel*100)+
QString("KDEC(Z0) = %1\n").arg(Z0AxisVel*100)+
QString("PTP/e Z0,%1\n").arg(Z0TargetPos,0,'f',4);
Z0AxisIsMove = false;
}
return surCode;
}
QString MAxisABSMoveCode::getAutoToCameraCode()
{
QString moveAxis;
if(XAxisIsMove)
moveAxis+="X";
if(YAxisIsMove)
{
if(moveAxis.isEmpty())
moveAxis+="Y";
else
moveAxis+=",Y";
}
if(ZAxisIsMove)
{
if(moveAxis.isEmpty())
moveAxis+="Z";
else
moveAxis+=",Z";
}
if(ZAAxisIsMove)
{
if(moveAxis.isEmpty())
moveAxis+="ZA";
else
moveAxis+=",ZA";
}
if(Z2AxisIsMove)
{
if(moveAxis.isEmpty())
moveAxis+="Z2";
else
moveAxis+=",Z2";
}
surCode+=
QString("ENABLE (%1)\n").arg(moveAxis);
// "REAL ZAFPos\n"
// "ZAFPos = FPOS(ZA)\n";
if(XAxisIsMove&&YAxisIsMove)
{
surCode +=
QString("VEL(X) = %1\n").arg(XAxisVel)+
QString("ACC(X) = %1\n").arg(XAxisVel*10)+
QString("DEC(X) = %1\n").arg(XAxisVel*10)+
QString("JERK(X) = %1\n").arg(XAxisVel*100)+
QString("KDEC(X) = %1\n").arg(XAxisVel*100)+
QString("VEL(Y) = %1\n").arg(YAxisVel)+
QString("ACC(Y) = %1\n").arg(YAxisVel*10)+
QString("DEC(Y) = %1\n").arg(YAxisVel*10)+
QString("JERK(Y) = %1\n").arg(YAxisVel*100)+
QString("KDEC(Y) = %1\n").arg(YAxisVel*100);
}
{
if(ZAAxisIsMove)
{
surCode +=
QString("VEL(ZA) = %1\n").arg(ZAAxisVel)+
QString("ACC(ZA) = %1\n").arg(ZAAxisVel*10)+
QString("DEC(ZA) = %1\n").arg(ZAAxisVel*10)+
QString("JERK(ZA) = %1\n").arg(ZAAxisVel*100)+
QString("KDEC(ZA) = %1\n").arg(ZAAxisVel*100);
}
surCode += QString("PTP/e (X,Y,ZA),%1,%2,%3\n").arg(XTargetPos).arg(YTargetPos).arg(ZATargetPos);
}
return surCode;
}
QString MAxisABSMoveCode::getAutoToLaserMarkCode()
{
QString moveAxis;
if(XAxisIsMove)
moveAxis+="X";
if(YAxisIsMove)
{
if(moveAxis.isEmpty())
moveAxis+="Y";
else
moveAxis+=",Y";
}
if(ZAxisIsMove)
{
if(moveAxis.isEmpty())
moveAxis+="Z";
else
moveAxis+=",Z";
}
if(ZAAxisIsMove)
{
if(moveAxis.isEmpty())
moveAxis+="ZA";
else
moveAxis+=",ZA";
}
if(Z2AxisIsMove)
{
if(moveAxis.isEmpty())
moveAxis+="Z2";
else
moveAxis+=",Z2";
}
surCode+=
QString("ENABLE (%1)\n").arg(moveAxis);
// "REAL ZAFPos\n"
// "ZAFPos = FPOS(ZA)\n";
//if(!disabelZAToSafePos)
{
surCode+=
QString("VEL(ZA) = %1\n").arg(ZAAxisToSafePosVel)+
QString("ACC(ZA) = %1\n").arg(ZAAxisToSafePosVel*10)+
QString("DEC(ZA) = %1\n").arg(ZAAxisToSafePosVel*10)+
QString("JERK(ZA) = %1\n").arg(ZAAxisToSafePosVel*100)+
QString("KDEC(ZA) = %1\n").arg(ZAAxisToSafePosVel*100)+
QString("PTP/e ZA,%1\n").arg(ZASafePos);
}
//if(XAxisIsMove&&YAxisIsMove)
{
surCode +=
QString("VEL(X) = %1\n").arg(XAxisVel)+
QString("ACC(X) = %1\n").arg(XAxisVel*10)+
QString("DEC(X) = %1\n").arg(XAxisVel*10)+
QString("JERK(X) = %1\n").arg(XAxisVel*100)+
QString("KDEC(X) = %1\n").arg(XAxisVel*100)+
QString("VEL(Y) = %1\n").arg(YAxisVel)+
QString("ACC(Y) = %1\n").arg(YAxisVel*10)+
QString("DEC(Y) = %1\n").arg(YAxisVel*10)+
QString("JERK(Y) = %1\n").arg(YAxisVel*100)+
QString("KDEC(Y) = %1\n").arg(YAxisVel*100);
}
{
surCode +=
QString("VEL(Z2) = %1\n").arg(Z2AxisVel)+
QString("ACC(Z2) = %1\n").arg(Z2AxisVel*10)+
QString("DEC(Z2) = %1\n").arg(Z2AxisVel*10)+
QString("JERK(Z2) = %1\n").arg(Z2AxisVel*100)+
QString("KDEC(Z2) = %1\n").arg(Z2AxisVel*100)+
QString("PTP/e (X,Y,Z2),%1,%2,%3\n").arg(XTargetPos).arg(YTargetPos).arg(Z2TargetPos);
}
return surCode;
}

68
device/control/acs/buffercode/maxisabsmovecode.h Normal file
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#ifndef MAXISABSMOVECODE_H
#define MAXISABSMOVECODE_H
#include <QString>
class MAxisABSMoveCode
{
public:
explicit MAxisABSMoveCode();
QString getCode();
QString getCode_L();
QString getToCameraCode();
QString getLaserMarkCode();
void setXAxisTGPos(double value);
void setYAxisTGPos(double value);
void setZAxisTGPos(double value);
void setZAAxisTGPos(double value);
void setZ2AxisTGPos(double value);
void setZ0AxisTGPos(double value);
void setZAAxisSafePos(double value);
void setZAAxisToSafePosVel(double value);
void setXAxisVel(double value);
void setYAxisVel(double value);
void setZAAxisVel(double value);
void setZ2AxisVel(double value);
void setZ0AxisVel(double value);
void setZAxisVel(double value);
void setXAxisIsMove(bool value);
void setYAxisIsMove(bool value);
void setZAxisIsMove(bool value);
void setZAAxisIsMove(bool value);
void setZ2AxisIsMove(bool value);
void setZ0AxisIsMove(bool value);
void disableZAAxisToSafePos(bool value);
void setCMRSwitch(bool value);
private:
QString getSurCode();
QString getSurCode_L();//1008610010，光路检测绝对移动，先移动Z0
QString getAutoToLaserMarkCode();
QString getAutoToCameraCode();
private:
bool disabelZAToSafePos{false};
bool XAxisIsMove{false};
bool YAxisIsMove{false};
bool ZAxisIsMove{false};
bool ZAAxisIsMove{false};
bool Z2AxisIsMove{false};
bool Z0AxisIsMove{false};
double XTargetPos{0.0};
double YTargetPos{0.0};
double ZTargetPos{0.0};
double ZATargetPos{0.0};
double Z2TargetPos{0.0};
double Z0TargetPos{0.0};
QString surCode{""};
double ZASafePos{0.0};
double ZAAxisToSafePosVel{0.0};
double XAxisVel{0.0};
double YAxisVel{0.0};
double ZAAxisVel{0.0};
double Z2AxisVel{0.0};
double Z0AxisVel{0.0};
double ZAxisVel{0.0};
bool CMRHSwitch{false};
};
#endif // MAXISABSMOVECODE_H

141
device/control/acs/buffercode/mhcompcode.cpp Normal file
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#include "mhcompcode.h"
#include <QString>
MHCompCode::MHCompCode()
{
}
void MHCompCode::setXStartPos(double value)
{
xStartPos = value;
}
void MHCompCode::setYStartPos(double value)
{
yStartPos = value;
}
void MHCompCode::setXWorkRange(double value)
{
xWorkRange = value;
}
void MHCompCode::setYWorkRange(double value)
{
yWorkRange = value;
}
void MHCompCode::setXInterval(double value)
{
xInterval = value;
}
void MHCompCode::setYInterval(double value)
{
yInterval = value;
}
int MHCompCode::getLookupRows()
{
// 比如范围为3，间隔为1，Y方向会有4条线段
return int(xWorkRange/xInterval)+1;
}
int MHCompCode::getLookupCols()
{
return int(yWorkRange/yInterval)+1;
}
void MHCompCode::setMHRHYOffset(double value)
{
MHRHYOffset = value;
}
void MHCompCode::setMHRHXOffset(double value)
{
MHRHXOffset = value;
}
void MHCompCode::setLookupRows(int value)
{
rows = value;
}
void MHCompCode::setLookupCols(int value)
{
cols = value;
}
QString MHCompCode::getCode()
{
QString code = QString("global real LookupTable(%1)(%2),xStart,yStart\n").arg(rows).arg(cols);
code+=
"MFLAGS(Z).#DEFCON = 0\n"
"CONNECT RPOS(Z) = RPOS(Z)\n"
"DEPENDS Z, Z\n"+
//QString("SET APOS(Z) = RPOS(Z) - MAP2(FPOS(Y), FPOS(X), LookupTable, %1, %2, %3, %4)\n").arg(yStartPos+MHRHYOffset-yInterval).arg(yInterval).arg(xStartPos+MHRHXOffset-xInterval).arg(xInterval)+
//QString("CONNECT RPOS(Z) = APOS(Z) + MAP2(FPOS(Y), FPOS(X), LookupTable, %1, %2, %3, %4)\n").arg(yStartPos+MHRHYOffset-yInterval).arg(yInterval).arg(xStartPos+MHRHXOffset-xInterval).arg(xInterval)+
//QString("SET APOS(Z) = RPOS(Z) - MAP2(FPOS(Y), FPOS(X), LookupTable, %1, %2, %3, %4)\n").arg(yStartPos+MHRHYOffset).arg(yInterval).arg(xStartPos+MHRHXOffset).arg(xInterval)+
//QString("CONNECT RPOS(Z) = APOS(Z) + MAP2(FPOS(Y), FPOS(X), LookupTable, %1, %2, %3, %4)\n").arg(yStartPos+MHRHYOffset).arg(yInterval).arg(xStartPos+MHRHXOffset).arg(xInterval)+
QString("SET APOS(Z) = RPOS(Z) - MAP2(FPOS(X), FPOS(Y), LookupTable, %1, %2, %3, %4)\n").arg(xStartPos+MHRHXOffset).arg(xInterval).arg(yStartPos+MHRHYOffset).arg(yInterval)+
QString("CONNECT RPOS(Z) = APOS(Z) + MAP2(FPOS(X), FPOS(Y), LookupTable, %1, %2, %3, %4)\n").arg(xStartPos+MHRHXOffset).arg(xInterval).arg(yStartPos+MHRHYOffset).arg(yInterval)+
"DEPENDS Z, Z\n"
"runF = 1\n"
"STOP";
return code;
}
QString MHCompCode::getCode_motion()
{
QString code = QString("GLOBAL REAL MAXINlhc=%1,MAXPOS_Xlhc=%2,MINPOS_Xlhc=%3,X_OFFSETlhc=%4,myRange\n").arg(MaxCmp).arg(MaxPos_x).arg(MinPos_x).arg(x_offset);
code+=
"GLOBAL REAL XPOINT(10000),ERR_Z1(10000)\n"
"REAL tmp_data\n"
"INT i,flag,count_data\n"
"i=9999\n"
"FILL(0,ERR_Z1,0,9999)\n"
"FILL(MINPOS_Xlhc,XPOINT,0,9999)\n"
"tmp_data=0;count_data=0\n"
"MFLAGS(Z).17=0\n"
"CONNECT RPOS(Z)=APOS(Z)+MAPNS((FPOS(X)+X_OFFSETlhc),XPOINT,ERR_Z1)\n"
"DEPENDS Z, Z\n"
"WHILE 1\n"
"IF FPOS(X)>MINPOS_Xlhc & FPOS(X)<MAXPOS_Xlhc\n"
"IF MST(X).#MOVE & RVEL(X) < 0\n"
"XPOINT(i)=FPOS(X); myRange=RangeV\n"
"IF ABS(myRange)>MAXINlhc\n"
"if i<9999\n"
"myRange=ERR_Z1(i+1)\n"
"else\n"
"myRange=tmp_data\n"
"end\n"
"ELSE\n"
"IF count_data<1\n"
"tmp_data=myRange\n"
"count_data=count_data+1\n"
"END\n"
"END\n"
"ERR_Z1(i)=myRange\n"
"i=i-1\n"
"if i<0\n"
"i=0\n"
"END\n"
"END\n"
"END\n"
"IF FPOS(X)>MAXPOS_Xlhc\n"
"i=9999\n"
"count_data=0\n"
"FILL(tmp_data,ERR_Z1,0,9999)\n"
"FILL(MINPOS_Xlhc,XPOINT,0,9999)\n"
"END\n"
"END\n"
"MFLAGS(Z).17=1\n"
"STOP\n";
return code;
}

48
device/control/acs/buffercode/mhcompcode.h Normal file
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#ifndef MHCOMPCODE_H
#define MHCOMPCODE_H
#include<QString>
class MHCompCode
{
public:
MHCompCode();
QString getCode();
QString getCode_motion();
void setXStartPos(double value);
void setYStartPos(double value);
void setXWorkRange(double value);
void setYWorkRange(double value);
void setXInterval(double value);
void setYInterval(double value);
void setMHRHYOffset(double value);
void setMHRHXOffset(double value);
void setLookupRows(int value);
void setLookupCols(int value);
double MaxCmp{0.0};
double MaxPos_x{0.0};
double MinPos_x{0.0};
double x_offset{0.0};
private:
int getLookupRows();
int getLookupCols();
private:
double xStartPos{0.0};
double yStartPos{0.0};
double xInterval{0.1};
double yInterval{0.1};
double xWorkRange{1.0};
double yWorkRange{1.0};
// 加工头和测距头之间Y方向偏移
double MHRHYOffset{0.0};
// 加工头和测距头之间X方向偏移
double MHRHXOffset{0.0};
double cols{0};
double rows{0};
};
#endif // MHCOMPCODE_H

45
device/control/acs/buffercode/ptpcode.cpp Normal file
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#include "ptpcode.h"
PTPCode::PTPCode()
{
}
QString PTPCode::getCode()
{
QString code("\n");
code +=
QString("ENABLE (%1)\n").arg(moveAxis)+
QString("%1 (%2),%3\n").arg(getMoveCMDText()).arg(moveAxis).arg(targetPos)+
"runF = 1\n"
"STOP";
return code;
}
void PTPCode::setMoveType(bool value)
{
moveType = value;
}
QString PTPCode::getMoveCMDText()
{
if(moveType)
{
return ABSMove;
}
else
{
return RMove;
}
}
void PTPCode::setTargetPos(QString value)
{
targetPos = value;
}
void PTPCode::setMoveAxis(QString value)
{
moveAxis = value;
}

24
device/control/acs/buffercode/ptpcode.h Normal file
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#ifndef PTPCODE_H
#define PTPCODE_H
#include<QString>
class PTPCode
{
public:
explicit PTPCode();
QString getCode();
void setMoveType(bool value);
void setTargetPos(QString value);
void setMoveAxis(QString value);
private:
QString getMoveCMDText();
private:
QString RMove{"PTP/ER"};
QString ABSMove{"PTP/E"};
QString moveAxis{""};
QString targetPos{""};
bool moveType{false};
};
#endif // PTPCODE_H

59
device/control/acs/buffercode/rmcposswitchcode.cpp Normal file
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#include "rmcposswitchcode.h"
RMCPosSwitchCode::RMCPosSwitchCode()
{
}
QString RMCPosSwitchCode::getCode()
{
QString code("\n");
code +=
QString("VEL(ZA) = %1\n").arg(ZAAxisToSafePosVel)+
QString("ACC(ZA) = %1\n").arg(ZAAxisToSafePosVel*10)+
QString("DEC(ZA) = %1\n").arg(ZAAxisToSafePosVel*10)+
QString("JERK(ZA) = %1\n").arg(ZAAxisToSafePosVel*100)+
QString("KDEC(ZA) = %1\n").arg(ZAAxisToSafePosVel*100)+
"ENABLE ZA\n"+
QString("PTP/e ZA,%1\n").arg(ZAAxisSafePos)+
QString("VEL(X) = %1\n").arg(XAxisVel)+
QString("ACC(X) = %1\n").arg(XAxisVel*10)+
QString("DEC(X) = %1\n").arg(XAxisVel*10)+
QString("JERK(X) = %1\n").arg(XAxisVel*100)+
QString("KDEC(X) = %1\n").arg(XAxisVel*100)+
QString("VEL(Y) = %1\n").arg(YAxisVel)+
QString("ACC(Y) = %1\n").arg(YAxisVel*10)+
QString("DEC(Y) = %1\n").arg(YAxisVel*10)+
QString("JERK(Y) = %1\n").arg(YAxisVel*100)+
QString("KDEC(Y) = %1\n").arg(YAxisVel*100)+
"ENABLE (X,Y)\n"+
QString("PTP/er (X,Y),%1,%2\n").arg(XAxisTgPos).arg(YAxisTgPos)+
"runF = 1\n"
"STOP";
return code;
}
void RMCPosSwitchCode::setTargetPos(double XPos,double YPos)
{
XAxisTgPos=XPos;
YAxisTgPos=YPos;
}
void RMCPosSwitchCode::setZAAxisSafePos(double value)
{
ZAAxisSafePos = value;
}
void RMCPosSwitchCode::setZAAxisToSafePosVel(double value)
{
ZAAxisToSafePosVel = value;
}
void RMCPosSwitchCode::setXYAxisVel(double XVel,double YVel)
{
XAxisVel = XVel;
YAxisVel = YVel;
}

24
device/control/acs/buffercode/rmcposswitchcode.h Normal file
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#ifndef RMCPOSSWITCHCODE_H
#define RMCPOSSWITCHCODE_H
#include<QString>
class RMCPosSwitchCode
{
public:
RMCPosSwitchCode();
QString getCode();
void setTargetPos(double XPos,double YPos);
void setZAAxisSafePos(double value);
void setZAAxisToSafePosVel(double value);
void setXYAxisVel(double XVel,double YVel);
private:
double XAxisTgPos{0.0};
double YAxisTgPos{0.0};
double ZAAxisSafePos{0.0};
double ZAAxisToSafePosVel{0.0};
double XAxisVel{0.0};
double YAxisVel{0.0};
};
#endif // RMCPOSSWITCHCODE_H

74
device/control/acs/buffercode/rscompcode.cpp Normal file
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#include "rscompcode.h"
RSCompCode::RSCompCode()
{
}
void RSCompCode::setXStartPos(double value)
{
xStartPos = value;
}
void RSCompCode::setYStartPos(double value)
{
yStartPos = value;
}
void RSCompCode::setXInterval(double value)
{
xInterval = value;
}
void RSCompCode::setYInterval(double value)
{
yInterval = value;
}
void RSCompCode::setXWorkRange(double value)
{
xWorkRange = value;
}
void RSCompCode::setYWorkRange(double value)
{
yWorkRange = value;
}
int RSCompCode::getLookupRows()
{
// 比如范围为3，间隔为1，Y方向会有4条线段
return int(xWorkRange/xInterval)+1;
}
int RSCompCode::getLookupCols()
{
return int(yWorkRange/yInterval)+1;
}
QString RSCompCode::getCode()
{
QString code = QString("global real LookupTable(%1)(%2)\n").arg(getLookupRows()).arg(getLookupCols());
code +=
// 设置APOS和RPOS非默认连接
"MFLAGS(Z).#DEFCON = 0\n"
"CONNECT RPOS(Z) = RPOS(Z)\n"
// 执行connect命令后控制其将电机依赖重置为默认值
// 如果连接公式实际上导致电机依赖于另一轴，则需要重新指定依赖
"DEPENDS Z, Z\n"+
// 防止开启补偿的瞬间Z1轴跳动
//QString("SET APOS(Z) = RPOS(Z) - MAP2(FPOS(Y), FPOS(X), LookupTable, %1, %2, %3, %4)\n").arg(yStartPos-yInterval).arg(yInterval).arg(xStartPos-xInterval).arg(xInterval)+
//QString("CONNECT RPOS(Z) = APOS(Z) + MAP2(FPOS(Y), FPOS(X), LookupTable,%1, %2, %3, %4)\n").arg(yStartPos-yInterval).arg(yInterval).arg(xStartPos-xInterval).arg(xInterval)+
QString("SET APOS(Z) = RPOS(Z) - MAP2(FPOS(Y), FPOS(X), LookupTable, %1, %2, %3, %4)\n").arg(yStartPos).arg(yInterval).arg(xStartPos).arg(xInterval)+
QString("CONNECT RPOS(Z) = APOS(Z) + MAP2(FPOS(Y), FPOS(X), LookupTable,%1, %2, %3, %4)\n").arg(yStartPos).arg(yInterval).arg(xStartPos).arg(xInterval)+
"DEPENDS Z, Z\n"
"runF = 1\n"
"STOP";
return code;
}

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#ifndef RSCOMPCODE_H
#define RSCOMPCODE_H
#include<QString>
class RSCompCode
{
public:
RSCompCode();
QString getCode();
void setXStartPos(double value);
void setYStartPos(double value);
void setXWorkRange(double value);
void setYWorkRange(double value);
void setXInterval(double value);
void setYInterval(double value);
private:
int getLookupRows();
int getLookupCols();
private:
double xStartPos{0.0};
double yStartPos{0.0};
double xInterval{0.1};
double yInterval{0.1};
double xWorkRange{1.0};
double yWorkRange{1.0};
};
#endif // RSCOMPCODE_H

193
device/control/acs/buffercode/rsensortozero.cpp Normal file
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#include "rsensortozero.h"
RSensorToZero::RSensorToZero()
{
}
void RSensorToZero::setZAAxisSafePos(double value)
{
ZAAxisSafePos = value;
}
void RSensorToZero::setZAAxisToSafePosVel(double value)
{
ZAAxisToSafePosVel = value;
}
void RSensorToZero::setZAAxisToZero1Vel(double value)
{
ZAAxisToZero1Vel = value;
}
void RSensorToZero::setZAAxisToZero2Vel(double value)
{
ZAAxisToZero2Vel = value;
}
void RSensorToZero::setZAAxisToZero3Vel(double value)
{
ZAAxisToZero3Vel = value;
}
//QString RSensorToZero::getCode()
//{
// QString code;
// code+=
// QString("VEL(Z) = 2\n")+
// QString("ACC(Z) = 20\n")+
// QString("DEC(Z) = 20\n")+
// QString("JERK(Z) = 200\n")+
// QString("KDEC(Z) = 200\n")+
// QString("PTP/e Z, 0\n")+
// "IF RangeV<-1.5\n"+
// QString("VEL(ZA) = %1\n").arg(ZAAxisToSafePosVel)+
// QString("ACC(ZA) = %1\n").arg(ZAAxisToSafePosVel*10)+
// QString("DEC(ZA) = %1\n").arg(ZAAxisToSafePosVel*10)+
// QString("JERK(ZA) = %1\n").arg(ZAAxisToSafePosVel*100)+
// QString("KDEC(ZA) = %1\n").arg(ZAAxisToSafePosVel*100)+
// QString("PTP/e ZA, %1\n").arg(ZAAxisSafePos)+
// QString("VEL(ZA) = %1\n").arg(ZAAxisToZero1Vel)+
// QString("ACC(ZA) = %1\n").arg(ZAAxisToZero1Vel*10)+
// QString("DEC(ZA) = %1\n").arg(ZAAxisToZero1Vel*10)+
// QString("JERK(ZA) = %1\n").arg(ZAAxisToZero1Vel*100)+
// QString("KDEC(ZA) = %1\n").arg(ZAAxisToZero1Vel*100)+
// "PTP ZA, -30\n"
// "TILL ABS(RangeV) < 0.1\n"
// "HALT ZA\n"
// "WAIT 1000\n"+
// QString("VEL(ZA) = %1\n").arg(ZAAxisToZero2Vel)+
// QString("ACC(ZA) = %1\n").arg(ZAAxisToZero2Vel*10)+
// QString("DEC(ZA) = %1\n").arg(ZAAxisToZero2Vel*10)+
// QString("JERK(ZA) = %1\n").arg(ZAAxisToZero2Vel*100)+
// QString("KDEC(ZA) = %1\n").arg(ZAAxisToZero2Vel*100)+
// "PTP/er ZA, RangeV\n"
// "WAIT 1000\n"
// "ELSE\n"+
// QString("VEL(ZA) = %1\n").arg(ZAAxisToZero1Vel)+
// QString("ACC(ZA) = %1\n").arg(ZAAxisToZero1Vel*10)+
// QString("DEC(ZA) = %1\n").arg(ZAAxisToZero1Vel*10)+
// QString("JERK(ZA) = %1\n").arg(ZAAxisToZero1Vel*100)+
// QString("KDEC(ZA) = %1\n").arg(ZAAxisToZero1Vel*100)+
// "PTP/ER ZA,RangeV\n"
// "WAIT 1800\n"+
// QString("VEL(ZA) = %1\n").arg(ZAAxisToZero2Vel)+
// QString("ACC(ZA) = %1\n").arg(ZAAxisToZero2Vel*10)+
// QString("DEC(ZA) = %1\n").arg(ZAAxisToZero2Vel*10)+
// QString("JERK(ZA) = %1\n").arg(ZAAxisToZero2Vel*100)+
// QString("KDEC(ZA) = %1\n").arg(ZAAxisToZero2Vel*100)+
// "PTP/ER ZA,RangeV\n"
// "WAIT 600\n"
// "END\n"
// "IF ABS(RangeV) >= 0.0003\n"+
// QString("VEL(ZA) = %1\n").arg(ZAAxisToZero3Vel)+
// QString("ACC(ZA) = %1\n").arg(ZAAxisToZero3Vel*10)+
// QString("DEC(ZA) = %1\n").arg(ZAAxisToZero3Vel*10)+
// QString("JERK(ZA) = %1\n").arg(ZAAxisToZero3Vel*100)+
// QString("KDEC(ZA) = %1\n").arg(ZAAxisToZero3Vel*100)+
// "PTP/er ZA, RangeV\n"
// "END\n"
// "runF = 1\n"
// "STOP";
// return code;
//}
QString RSensorToZero::getCode()
{
QString strDoOpen,strDiSts1,strDoClose,strDiSts0;
if (CuCeGaoDiNum < 8)
strDiSts1 = QString("DI1.%1=1\n").arg(CuCeGaoDiNum);
else
strDiSts1 = QString("DI2.%1=1\n").arg(CuCeGaoDiNum-8);
if (CuCeGaoDiNum < 8)
strDiSts0 = QString("DI1.%1=0\n").arg(CuCeGaoDiNum);
else
strDiSts0 = QString("DI2.%1=0\n").arg(CuCeGaoDiNum-8);
if (CuCeGaoDoNum < 8)
strDoOpen = QString("DO1.%1=1\n").arg(CuCeGaoDoNum);
else
strDoOpen = QString("DO2.%1=1\n").arg(CuCeGaoDoNum-8);
if (CuCeGaoDoNum < 8)
strDoClose = QString("DO1.%1=0\n").arg(CuCeGaoDoNum);
else
strDoClose = QString("DO2.%1=0\n").arg(CuCeGaoDoNum-8);
QString code;
code+=
QString("GLOBAL INT DuiLingF=-1\n")+
QString("VEL(Z) = 2\n")+
QString("ACC(Z) = 20\n")+
QString("DEC(Z) = 20\n")+
QString("JERK(Z) = 200\n")+
QString("KDEC(Z) = 200\n")+
QString("PTP/e Z, 0\n")+
QString("VEL(Z0) = 5\n")+
QString("ACC(Z0) = 50\n")+
QString("DEC(Z0) = 50\n")+
QString("JERK(Z0) = 500\n")+
QString("KDEC(Z0) = 500\n")+
QString("PTP/e Z0, 0\n")+
strDoClose+
QString("TILL %1\n").arg(strDiSts1)+
"IF RangeV<-1.5\n"+
QString("VEL(ZA) = %1\n").arg(ZAAxisToSafePosVel)+
QString("ACC(ZA) = %1\n").arg(ZAAxisToSafePosVel*10)+
QString("DEC(ZA) = %1\n").arg(ZAAxisToSafePosVel*10)+
QString("JERK(ZA) = %1\n").arg(ZAAxisToSafePosVel*100)+
QString("KDEC(ZA) = %1\n").arg(ZAAxisToSafePosVel*100)+
QString("PTP/e ZA, %1\n").arg(ZAAxisSafePos+1)+
QString("VEL(ZA) = %1\n").arg(ZAAxisToZero1Vel)+
QString("ACC(ZA) = %1\n").arg(ZAAxisToZero1Vel*10)+
QString("DEC(ZA) = %1\n").arg(ZAAxisToZero1Vel*10)+
QString("JERK(ZA) = %1\n").arg(ZAAxisToZero1Vel*100)+
QString("KDEC(ZA) = %1\n").arg(ZAAxisToZero1Vel*100)+
"PTP ZA, -30\n"
"TILL ABS(RangeV) < 0.5 | "+
strDiSts0+
"HALT ZA\n"
"WAIT 1000\n"
"if RangeV < -10\n"
"DuiLingF=0\n"
"goto duiling\n"
"end\n"+
QString("VEL(ZA) = %1\n").arg(ZAAxisToZero2Vel)+
QString("ACC(ZA) = %1\n").arg(ZAAxisToZero2Vel*10)+
QString("DEC(ZA) = %1\n").arg(ZAAxisToZero2Vel*10)+
QString("JERK(ZA) = %1\n").arg(ZAAxisToZero2Vel*100)+
QString("KDEC(ZA) = %1\n").arg(ZAAxisToZero2Vel*100)+
"PTP/er ZA, RangeV\n"
"WAIT 1000\n"
"ELSE\n"+
QString("VEL(ZA) = %1\n").arg(ZAAxisToZero1Vel)+
QString("ACC(ZA) = %1\n").arg(ZAAxisToZero1Vel*10)+
QString("DEC(ZA) = %1\n").arg(ZAAxisToZero1Vel*10)+
QString("JERK(ZA) = %1\n").arg(ZAAxisToZero1Vel*100)+
QString("KDEC(ZA) = %1\n").arg(ZAAxisToZero1Vel*100)+
"PTP/ER ZA,RangeV\n"
"WAIT 1800\n"+
QString("VEL(ZA) = %1\n").arg(ZAAxisToZero2Vel)+
QString("ACC(ZA) = %1\n").arg(ZAAxisToZero2Vel*10)+
QString("DEC(ZA) = %1\n").arg(ZAAxisToZero2Vel*10)+
QString("JERK(ZA) = %1\n").arg(ZAAxisToZero2Vel*100)+
QString("KDEC(ZA) = %1\n").arg(ZAAxisToZero2Vel*100)+
"PTP/ER ZA,RangeV\n"
"WAIT 600\n"
"END\n"
"IF ABS(RangeV) >= 0.0003\n"+
QString("VEL(ZA) = %1\n").arg(ZAAxisToZero3Vel)+
QString("ACC(ZA) = %1\n").arg(ZAAxisToZero3Vel*10)+
QString("DEC(ZA) = %1\n").arg(ZAAxisToZero3Vel*10)+
QString("JERK(ZA) = %1\n").arg(ZAAxisToZero3Vel*100)+
QString("KDEC(ZA) = %1\n").arg(ZAAxisToZero3Vel*100)+
"PTP/er ZA, RangeV\n"
"END\n"
"DuiLingF=1\n"
"duiling:\n"+
strDoOpen+
"runF = 1\n"
"STOP";
return code;
}

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device/control/acs/buffercode/rsensortozero.h Normal file
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#ifndef RSENSORTOZERO_H
#define RSENSORTOZERO_H
#include<QString>
class RSensorToZero{
public:
RSensorToZero();
QString getCode();
void setZAAxisSafePos(double value);
void setZAAxisToSafePosVel(double value);
void setZAAxisToZero1Vel(double value);
void setZAAxisToZero2Vel(double value);
void setZAAxisToZero3Vel(double value);
int CuCeGaoDoNum{0};
int CuCeGaoDiNum{0};
private:
double ZAAxisSafePos{0.0};
double ZAAxisToSafePosVel{0.0};
double ZAAxisToZero1Vel{0.0};
double ZAAxisToZero2Vel{0.0};
double ZAAxisToZero3Vel{0.0};
};
#endif // RSENSORTOZERO_H

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device/control/acs/buffercode/sscancode.cpp Normal file
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#include "sscancode.h"
SScanCode::SScanCode()
{
}
void SScanCode::setXWorkRange(double value)
{
xWorkRange = value;
}
void SScanCode::setYWorkRange(double value)
{
yWorkRange = value;
}
void SScanCode::setXSampInterval(double value)
{
xSampInterval = value;
}
void SScanCode::setYSampInterval(double value)
{
ySampInterval = value;
}
int SScanCode::getSampTotalNum()
{
int xLineSegmentCounts,yLineSegmentCounts;
// y线段数比x线段数多1
xLineSegmentCounts = int(xWorkRange/xSampInterval);
yLineSegmentCounts = xLineSegmentCounts+1;
int xSampCounts,ySampCounts;
ySampCounts = (accDecSampCount+int(yWorkRange*yNumberOfUnitSamples))*yLineSegmentCounts;
xSampCounts = int(xWorkRange*xNumberOfUnitSamples)+xNumberOfLineSegmentSamples*(xLineSegmentCounts-1);
return ySampCounts + xSampCounts;
}
QString SScanCode::getCode()
{
QString code = QString("GLOBAL REAL scanData(2)(%1),rangeData(%1),yPosData(%1),yWorkRange\n").arg(getSampTotalNum());
code +="REAL xPos,yPos\n"+
QString("REAL xInterval = %1\n").arg(xSampInterval)+
"ENABLE (X,Y)\n"
// 停止buffer0运行
"STOP 0\n"
"START 0,1\n"+
// 初始化数组
QString("FILL(%1,scanData,0,0,0,%2); FILL(0, scanData,1,1,0,%2)\n").arg(rangeInitValue).arg(getSampTotalNum()-1)+
"ACC(X)=8000;DEC(X)=8000;KDEC(X)=120000;JERK(X)=120000; ACC(Y)=8000;DEC(Y)=8000;KDEC(Y)=120000;JERK(Y)=120000;\n "
// 设置X、Y轴到位精度,会对INPOS什么时候变为1有影响
"TARGRAD(X) = 0.0001; TARGRAD(Y) = 0.0001\n"
"WAIT 200\n"+
// 设置X,Y轴起始位置。Y轴的起始位置把加减速段考虑进去
QString("xPos = FPOS(X);yPos = FPOS(Y)-%1\n").arg(AccDecDist)+
// X、Y轴走到起始位置，速度为60mm/s
"PTP/EV (X,Y),xPos,yPos,60\n"+
// Y轴的工作范围等于设置的工作范围+加速距离+减速距离
QString("yWorkRange = %1\n").arg(yWorkRange+2*AccDecDist)+
// 定义同步采集，采集测距传感器值、Y轴坐标，采集间隔为0.1ms,采集总数为sampTotalNum
QString("DC/s Y,scanData,%1,1,RangeV,FPOS(Y)\n").arg(getSampTotalNum())+
// 定义分段运动，起始位置为xStart,yStart,结束速度为vel
QString("XSEG/vy (X,Y),xPos,yPos,%1\n").arg(yAxisVel)+
// 循环次数等于Y线段数
QString("LOOP %1\n").arg(xWorkRange/xSampInterval+1)+
// X轴位置不变，Y轴移动工作范围距离
// 第1段运动，Y轴向正方向移动（测距头向Y负方向移动）
"yPos = yPos+yWorkRange\n"+
QString("LINE/v (X,Y),xPos,yPos,%1\n").arg(yAxisVel)+
// Y轴位置不变，X轴向正向移动一个步距
"xPos = xPos+xInterval\n"+
// /v参数定义当前和后续线段的速度，/f 定义当前线段结束时的速度
// 意思就是说X轴运动时速度为20，Y轴运动时速度为100
QString("LINE/vf (X,Y),xPos,yPos,%1,%2\n").arg(xAxisVel).arg(yAxisVel)+
// Y轴移动工作距离范围取反
"yWorkRange=(-1)*yWorkRange\n"
"END\n"
"ENDS (X,Y)\n"
// 阻塞，等待多段运动结束
"TILL ^AST(Y).5 & ^AST(X).5 & GSEG(X) = -1\n"
// 停止采集
"STOPDC/s Y\n"
"INT validDataEndIndex\n"+
// 在0~(sampTotalNum-1)范围内找到第一个最大值并返回其索引（最大值为数组初始化值，索引为采集的测距值最后一个的索引+1）
QString("validDataEndIndex=MAXI(scanData,0,0,0,%1)\n").arg(getSampTotalNum()-1)+
// 把采集的测距值拷贝到 rangeData数组中，把采集的Y轴的坐标放到yPosData数组中
"COPY(scanData,rangeData,0,0,0,validDataEndIndex,0,validDataEndIndex); COPY(scanData,yPosData,1,1,0,validDataEndIndex,0,validDataEndIndex)\n"
"runF = 1\n"
"STOP";
return code;
}

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device/control/acs/buffercode/sscancode.h Normal file
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#ifndef SSCANCODE_H
#define SSCANCODE_H
#include <QString>
class SScanCode
{
public:
SScanCode();
QString getCode();
void setXWorkRange(double value);
void setYWorkRange(double value);
void setXSampInterval(double value);
void setYSampInterval(double value);
private:
int getSampTotalNum();
private:
double xWorkRange{1.0};
double yWorkRange{1.0};
double xSampInterval{1.0};
double ySampInterval{1.0};
const int yNumberOfUnitSamples{12};
const int xNumberOfUnitSamples{20};
const int xNumberOfLineSegmentSamples{200};
const int accDecSampCount{1500};
// rangeInitValue 用于初始化保存测距值的数组
double rangeInitValue{100.0};
// 加减速距离
double AccDecDist{45.0};
double xAxisVel{20.0};
double yAxisVel{100.0};
};
#endif // SSCANCODE_H

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device/control/acs/buffercode/tohomecode.cpp Normal file
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114
device/control/acs/buffercode/tohomecode.h Normal file
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#ifndef TOHOMECODE_H
#define TOHOMECODE_H
#include <QString>
#include "deviceproxy.h"
class ToHomeCode
{
public:
explicit ToHomeCode();
QString getCode();
void setZAAxisToSafePosVel(double value);
void setXAxisToHomePos(double value);
void setYAxisToHomePos(double value);
void setZAxisToHomePos(double value);
void setZAAxisToHomePos(double value);
void setDAxisToHomePos(double value);
void setZ0AxisToHomePos(double value);
void setZ2AxisToHomePos(double value);
void setXAxisFindINDVel(double value);
void setYAxisFindINDVel(double value);
void setZAxisFindINDVel(double value);
void setZAAxisFindINDVel(double value);
void setDAxisFindINDVel(double value);
void setZ0AxisFindINDVel(double value);
void setZ2AxisFindINDVel(double value);
void setXAxisINDZeroOffset(double value);
void setYAxisINDZeroOffset(double value);
void setZAxisINDZeroOffset(double value);
void setZAAxisINDZeroOffset(double value);
void setDAxisINDZeroOffset(double value);
void setZ0AxisINDZeroOffset(double value);
void setZ2AxisINDZeroOffset(double value);
void setXAxisSLLimit(double value);
void setXAxisSRLimit(double value);
void setYAxisSLLimit(double value);
void setYAxisSRLimit(double value);
void setZAxisSLLimit(double value);
void setZAxisSRLimit(double value);
void setZAAxisSLLimit(double value);
void setZAAxisSRLimit(double value);
void setDAxisSLLimit(double value);
void setDAxisSRLimit(double value);
void setZ0AxisSLLimit(double value);
void setZ0AxisSRLimit(double value);
void setZ2AxisSLLimit(double value);
void setZ2AxisSRLimit(double value);
void setXAxisVel(double value);
void setYAxisVel(double value);
void setZAxisVel(double value);
void setZAAxisVel(double value);
void setDAxisVel(double value);
void setZ0AxisVel(double value);
void setZ2AxisVel(double value);
private:
double ZAAxisToSafePosVel{0.0};
double XAxisToHomePos{0.0};
double YAxisToHomePos{0.0};
double ZAxisToHomePos{0.0};
double ZAAxisToHomePos{0.0};
double DAxisToHomePos{0.0};
double Z0AxisToHomePos{0.0};
double Z2AxisToHomePos{0.0};
double XAxisFindINDVel{0.0};
double YAxisFindINDVel{0.0};
double ZAxisFindINDVel{0.0};
double ZAAxisFindINDVel{0.0};
double DAxisFindINDVel{0.0};
double Z0AxisFindINDVel{0.0};
double Z2AxisFindINDVel{0.0};
double XAxisINDZeroOffset{0.0};
double YAxisINDZeroOffset{0.0};
double ZAxisINDZeroOffset{0.0};
double ZAAxisINDZeroOffset{0.0};
double DAxisINDZeroOffset{0.0};
double Z0AxisINDZeroOffset{0.0};
double Z2AxisINDZeroOffset{0.0};
double XAxisSLLimit{0.0};
double XAxisSRLimit{0.0};
double YAxisSLLimit{0.0};
double YAxisSRLimit{0.0};
double ZAxisSLLimit{0.0};
double ZAxisSRLimit{0.0};
double ZAAxisSLLimit{0.0};
double ZAAxisSRLimit{0.0};
double DAxisSLLimit{0.0};
double DAxisSRLimit{0.0};
double Z0AxisSLLimit{0.0};
double Z0AxisSRLimit{0.0};
double Z2AxisSLLimit{0.0};
double Z2AxisSRLimit{0.0};
double XAxisVel{0.0};
double YAxisVel{0.0};
double ZAxisVel{0.0};
double ZAAxisVel{0.0};
double DAxisVel{0.0};
double Z0AxisVel{0.0};
double Z2AxisVel{0.0};
};
#endif // TOHOMECODE_H