765 lines
20 KiB
C++
765 lines
20 KiB
C++
#include "acscontroller.h"
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#include <QString>
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#include "myexception.h"
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#include <QDebug>
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ACSController::ACSController()
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{
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}
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ACSController::~ACSController()
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{
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}
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void ACSController::connect(char* Address, int Port)
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{
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// 关闭掉非ACS.Framework.exe应用的连接
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// terminatePrevConnect();
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disconnect();
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m_hComm = ACSC_INVALID;
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m_hComm = acsc_OpenCommEthernetTCP(Address,Port);
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// m_hComm 为void* 指针，无效时放置的地址值为-1
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if(m_hComm == ACSC_INVALID)
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{
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throw MyException("网络连接失败。",acsc_GetLastError());
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}
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}
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void ACSController::disconnect()
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{
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if(m_hComm != ACSC_INVALID)
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{
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if(!acsc_CloseComm(m_hComm))
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{
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throw MyException("关闭网络连接失败。",acsc_GetLastError());
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}
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m_hComm = ACSC_INVALID;
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}
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}
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bool ACSController::getConnectState()
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{
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ACSC_CONNECTION_INFO ConnectionInfo;
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if(!acsc_GetConnectionInfo(m_hComm,&ConnectionInfo))
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return false;
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else
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return true;
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}
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bool ACSController::getBufferRunState(int AxisNum)
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{
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int programState;
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if(!acsc_GetProgramState(m_hComm, AxisNum, &programState, ACSC_SYNCHRONOUS))
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{
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throw MyException(QString("读取buffer%1运行状态失败").arg(AxisNum),acsc_GetLastError());
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}
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return bool(programState&ACSC_PST_RUN);
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}
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bool ACSController::getMotorState(int AxisNum)
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{
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int motorState;
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if(!acsc_GetMotorState(m_hComm, AxisNum, &motorState, ACSC_SYNCHRONOUS))
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{
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throw MyException(QString("读取电机状态失败"),acsc_GetLastError());
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}
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return bool(motorState&ACSC_MST_INPOS);
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}
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void ACSController::terminatePrevConnect()
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{
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// 转义字符“\”
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char pSeperator[] = "\\";
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char *pToken = nullptr;
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char pApplicationName[256] = { 0x00, };
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int nConnections;
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// 定义一个已连接应用的列表，最大数量为10
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ACSC_CONNECTION_DESC ConnectionList[MAX_CONNECT_NUM];
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//10为最大连接数
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// 第三个参数为实际连接数的指针
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if(!acsc_GetConnectionsList(ConnectionList, MAX_CONNECT_NUM, &nConnections))
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{
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throw MyException("获取连接列表失败。",acsc_GetLastError());
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}
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for (int i = 0; i < nConnections; i++)
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{
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//原型 char *strtok(char s[], const char *delim);
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//第一个参数为待分割的字符串，第二个参数为分割符
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//功能在原字符串第一个分割符处打断，返回值为打断处之前的部分的指针
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pToken = strtok(ConnectionList[i].Application, pSeperator);
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//发送格式化输出到PApplicationName
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//把pToKen指向的文本发送到pApplicationName指向的地址
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sprintf(pApplicationName, pToken);
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//只留下应用名，去掉多余的路径信息
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while (pToken)
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{
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// 空指针可以转换为任意类型的指针
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pToken = strtok(nullptr, pSeperator); // Find next
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if(pToken != nullptr)
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{
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sprintf(pApplicationName, pToken);
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}
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}
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// 关闭掉非ACS.Framework.exe的句柄
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if((strcmp(pApplicationName, "ACS.Framework.exe")) != 0)
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{
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if(!acsc_CloseComm(ConnectionList[i].Handle))
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{
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throw MyException("关闭已连接应用失败。",acsc_GetLastError());
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}
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}
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}
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}
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QVector<double> ACSController::getVELParams(int axisNum)
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{
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QVector<double> velParams;
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velParams.append(getVEL(axisNum));
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velParams.append(getACC(axisNum));
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velParams.append(getDEC(axisNum));
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velParams.append(getJERK(axisNum));
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velParams.append(getKDEC(axisNum));
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return velParams;
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}
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double ACSController::getVEL(int axisNum)
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{
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double Vel;
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if(!acsc_GetVelocity(m_hComm, axisNum, &Vel, ACSC_SYNCHRONOUS))
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{
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throw MyException("获取轴速度失败。",acsc_GetLastError());
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}
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return Vel;
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}
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double ACSController::getACC(int axisNum)
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{
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double Acc;
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if(!acsc_GetAcceleration(m_hComm, axisNum, &Acc, ACSC_SYNCHRONOUS))
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{
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throw MyException("获取轴加速度失败。",acsc_GetLastError());
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}
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return Acc;
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}
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double ACSController::getDEC(int axisNum)
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{
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double Dec;
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if(!acsc_GetDeceleration(m_hComm, axisNum, &Dec, ACSC_SYNCHRONOUS))
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{
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throw MyException("获取减速速度失败。",acsc_GetLastError());
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}
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return Dec;
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}
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double ACSController::getJERK(int axisNum)
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{
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double Jerk;
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if(!acsc_GetJerk(m_hComm, axisNum, &Jerk,ACSC_SYNCHRONOUS))
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{
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throw MyException("获取加加速度失败。",acsc_GetLastError());
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}
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return Jerk;
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}
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double ACSController::getKDEC(int axisNum)
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{
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double KDec;
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if(!acsc_GetKillDeceleration(m_hComm, axisNum, &KDec, ACSC_SYNCHRONOUS))
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{
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throw MyException("获取减减速度失败。",acsc_GetLastError());
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}
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return KDec;
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}
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void ACSController::setVEL(int axisNum, double Vel)
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{
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if(!acsc_SetVelocity(m_hComm, axisNum, Vel,ACSC_SYNCHRONOUS))
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{
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throw MyException("设置速度失败。",acsc_GetLastError());
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}
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}
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void ACSController::setACC(int axisNum,double Acc)
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{
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if(!acsc_SetAcceleration(m_hComm, axisNum, Acc,ACSC_SYNCHRONOUS))
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{
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throw MyException("设置加速度失败。",acsc_GetLastError());
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}
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}
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void ACSController::setDEC(int axisNum,double Dec)
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{
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if(!acsc_SetDeceleration(m_hComm, axisNum, Dec,ACSC_SYNCHRONOUS))
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{
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throw MyException("设置减速度失败。",acsc_GetLastError());
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}
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}
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void ACSController::setJERK(int axisNum, double Jerk)
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{
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if(!acsc_SetJerk(m_hComm, axisNum, Jerk,ACSC_SYNCHRONOUS))
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{
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throw MyException("设置加加速度失败。",acsc_GetLastError());
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}
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}
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void ACSController::setKDEC(int axisNum,double KDec)
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{
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if(!acsc_SetKillDeceleration(m_hComm, axisNum, KDec,ACSC_SYNCHRONOUS))
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{
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throw MyException("设置减减速度失败。",acsc_GetLastError());
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}
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}
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void ACSController::setVELParams(int axisNum, double Vel)
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{
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setVEL(axisNum,Vel);
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setACC(axisNum,Vel*10);
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setDEC(axisNum,Vel*10);
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setJERK(axisNum,Vel*100);
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setKDEC(axisNum,Vel*100);
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}
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void ACSController::enable(int axisNum)
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{
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if(!acsc_Enable(m_hComm, axisNum, ACSC_SYNCHRONOUS))
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{
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throw MyException("使能失败。",acsc_GetLastError());
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}
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}
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void ACSController::disable(int axisNum)
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{
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if(!acsc_Disable(m_hComm, axisNum, ACSC_SYNCHRONOUS))
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{
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throw MyException("取消使能失败。",acsc_GetLastError());
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}
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if(!acsc_WaitMotorEnabled(m_hComm, axisNum, 0, TIMEOUT_MOTOR_ENABLED))
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{
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throw MyException("等待取消使能失败。",acsc_GetLastError());
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}
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}
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void ACSController::halt(int axisNum)
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{
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// 减速停止
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if(!acsc_Halt(m_hComm, axisNum, ACSC_SYNCHRONOUS))
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{
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throw MyException("停止轴运动失败。",acsc_GetLastError());
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}
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}
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void ACSController::jogNeg(int axisNum)
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{
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// Jog command without velocity
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if(!acsc_Jog(m_hComm, 0, axisNum, ACSC_NEGATIVE_DIRECTION, ACSC_SYNCHRONOUS))
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{
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throw MyException("负方向点动失败。",acsc_GetLastError());
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}
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}
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void ACSController::jogNeg(int axisNum, double vel)
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{
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// Jog command with velocity
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if(!acsc_Jog(m_hComm, ACSC_AMF_VELOCITY, axisNum, vel * (-1), ACSC_SYNCHRONOUS))
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{
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throw MyException("负方向点动失败。",acsc_GetLastError());
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}
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}
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void ACSController::jogPos(int axisNum)
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{
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if(!acsc_Jog(m_hComm, 0, axisNum, ACSC_POSITIVE_DIRECTION, ACSC_SYNCHRONOUS))
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{
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throw MyException("正方向点动失败。",acsc_GetLastError());
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}
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}
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void ACSController::jogPos(int axisNum,double vel)
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{
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if(!acsc_Jog(m_hComm, ACSC_AMF_VELOCITY, axisNum, vel, ACSC_SYNCHRONOUS))
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{
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throw MyException("正方向点动失败。",acsc_GetLastError());
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}
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}
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void ACSController::ABSToPoint(int axisNum,double point)
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{
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//第二个参数‘0’，绝对；立即执行，2 为相对的
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if(!acsc_ToPoint(m_hComm,0,axisNum, point,ACSC_SYNCHRONOUS))
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{
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throw MyException("点到点绝对运动失败。",acsc_GetLastError());
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}
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}
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void ACSController::ABSToPoint(int axisNum1,double point1,int axisNum2,double point2)
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{
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//第二个参数‘0’，绝对；立即执行，2 为相对的
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int Axes[] = {axisNum1,axisNum2,-1};
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double Points[] = {point1,point2};
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if(!acsc_ToPointM(m_hComm,0,Axes, Points,ACSC_SYNCHRONOUS))
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{
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throw MyException("点到点绝对运动失败。",acsc_GetLastError());
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}
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}
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void ACSController::RToPointNeg(int axisNum,double point)
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{
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// 移动相对位置（从当前位置）
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if(!acsc_ToPoint(m_hComm, ACSC_AMF_RELATIVE,axisNum, point*(-1),ACSC_SYNCHRONOUS))
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{
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throw MyException("点到点相对运动失败。",acsc_GetLastError());
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}
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}
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void ACSController::RToPointPos(int axisNum,double point)
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{
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// Move relative position (from current position)
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if(!acsc_ToPoint(m_hComm, ACSC_AMF_RELATIVE, axisNum, point, ACSC_SYNCHRONOUS))
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{
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throw MyException("点到点相对运动失败。",acsc_GetLastError());
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}
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}
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void ACSController::RToPoint(int axisNum1,double point1,int axisNum2,double point2)
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{
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//第二个参数‘0’，绝对；立即执行，2 为相对的
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int Axes[] = {axisNum1,axisNum2,-1};
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double Points[] = {point1,point2};
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if(!acsc_ToPointM(m_hComm,ACSC_AMF_RELATIVE,Axes, Points,ACSC_SYNCHRONOUS))
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{
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throw MyException("点到点相对运动失败。",acsc_GetLastError());
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}
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}
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double ACSController::getFPOS(int AxisNum)
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{
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double FPos;
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char vName[] = "FPOS";
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if(!acsc_ReadReal(m_hComm, -1, vName, AxisNum, AxisNum, -1, -1, &FPos, ACSC_SYNCHRONOUS))
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{
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throw MyException("获取轴当前位置失败。",acsc_GetLastError());
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}
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return FPos;
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}
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void ACSController::SetFPOS(int AxisNum,double fPos)
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{
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if(!acsc_SetFPosition(m_hComm, AxisNum, fPos, ACSC_SYNCHRONOUS))
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{
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throw MyException("设置轴当前位置失败。",acsc_GetLastError());
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}
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}
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bool ACSController::getEnable(int AxisNum)
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{
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double mst = getAxesMST(AxisNum);
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return bool(int(mst)&ACSC_MST_ENABLE);
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}
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LIMIT_STATE ACSController::getAxesLimitState(int AxisNum)
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{
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int m_FaultMask;
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int m_MotorFault;
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LIMIT_STATE temp = NORMAL;
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if(!acsc_GetFaultMask(m_hComm, AxisNum, &m_FaultMask, ACSC_SYNCHRONOUS))
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{
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throw MyException("获取FaultMask失败。",acsc_GetLastError());
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}
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if(!acsc_GetFault(m_hComm, AxisNum, &m_MotorFault, ACSC_SYNCHRONOUS))
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{
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throw MyException("获取Fault失败。",acsc_GetLastError());
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}
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if(m_MotorFault & ACSC_SAFETY_SRL)
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temp = RIGHT_SLIMIT;
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if(m_MotorFault& ACSC_SAFETY_SLL)
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temp = LEFT_SLIMIT;
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if(m_MotorFault & ACSC_SAFETY_LL)
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temp = LEFT_LIMIT;
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if(m_MotorFault& ACSC_SAFETY_RL)
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temp = RIGHT_LIMIT;
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return temp;
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}
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bool ACSController::getEmergencyStopState()
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{
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int m_EmergencyMask;
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int m_EmergencyFault;
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if(!acsc_GetFaultMask(m_hComm, ACSC_NONE, &m_EmergencyMask, ACSC_SYNCHRONOUS))
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{
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throw MyException("获取FaultMask失败。",acsc_GetLastError());
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}
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if(!acsc_GetFault(m_hComm, ACSC_NONE, &m_EmergencyFault, ACSC_SYNCHRONOUS))
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{
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throw MyException("获取Fault失败。",acsc_GetLastError());
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}
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if(m_EmergencyMask & ACSC_SAFETY_ES)
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return m_EmergencyFault & ACSC_SAFETY_ES;
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else
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return true;
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}
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double ACSController::getAxesMST(int AxisNum)
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{
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double reValue;
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char vName[] = "MST";
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if(!acsc_ReadReal(m_hComm, -1, vName, AxisNum, AxisNum, -1, -1, &reValue,ACSC_SYNCHRONOUS))
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{
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throw MyException("获取轴MST失败。",acsc_GetLastError());
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}
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return reValue;
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}
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void ACSController::runBuffer(int bufferNum)
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{
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// Run buffer program from first line 从第一行开始运行buffer程序
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// 第三个参数为程序label标签
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if(!acsc_RunBuffer(m_hComm, bufferNum, nullptr, ACSC_SYNCHRONOUS))
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{
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throw MyException("获取buffer运行状态失败。",acsc_GetLastError());
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}
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}
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void ACSController::stopBuffer(int bufferNum)
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{
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if(!acsc_StopBuffer(m_hComm, bufferNum, ACSC_SYNCHRONOUS))
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{
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throw MyException("停止buffer失败。",acsc_GetLastError());
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}
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}
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void ACSController::SuspendBuffer(int bufferNum)
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{
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if(!acsc_SuspendBuffer(m_hComm, bufferNum, ACSC_SYNCHRONOUS))
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{
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throw MyException("暂停buffer失败。",acsc_GetLastError());
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}
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}
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void ACSController::appendBuffer(char* codeText,int bufferNum)
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{
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// 无符号整型和有符号整型转换时，考虑最高位是否为1，如果为1则转换值会变
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if(!acsc_AppendBuffer(m_hComm,bufferNum,codeText,int(strlen(codeText)),ACSC_SYNCHRONOUS))
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{
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throw MyException("追加buffer代码失败。",acsc_GetLastError());
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}
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}
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void ACSController::clearBuffer(int bufferNum)
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{
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if(!acsc_ClearBuffer(m_hComm,bufferNum,1,100000,ACSC_SYNCHRONOUS))
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{
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throw MyException("清除buffer代码失败。",acsc_GetLastError());
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}
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}
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void ACSController::compileBuffer(int bufferNum)
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{
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if(!acsc_CompileBuffer(m_hComm,bufferNum, ACSC_SYNCHRONOUS))
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{
|
||
throw MyException("编译buffer代码失败。",acsc_GetLastError());
|
||
}
|
||
}
|
||
|
||
|
||
|
||
void ACSController::loadBuffer(int bufferNum,char* program)
|
||
{
|
||
if(!acsc_LoadBuffer(m_hComm,bufferNum,program,int(strlen(program)),ACSC_SYNCHRONOUS))
|
||
{
|
||
throw MyException("下载buffer代码失败。",acsc_GetLastError());
|
||
}
|
||
}
|
||
|
||
|
||
|
||
void ACSController::loadBuffersFromFile(char* fileName)
|
||
{
|
||
if(!acsc_LoadBuffersFromFile(m_hComm,fileName,ACSC_SYNCHRONOUS))//fileName
|
||
{
|
||
|
||
throw MyException("把文件中代码下载到buffer失败。",acsc_GetLastError());
|
||
|
||
}
|
||
}
|
||
|
||
void ACSController::suspendBuffer(int bufferNum)
|
||
{
|
||
if(!acsc_SuspendBuffer(m_hComm,bufferNum,ACSC_SYNCHRONOUS))
|
||
{
|
||
throw MyException("暂停buffer运行失败。",acsc_GetLastError());
|
||
}
|
||
}
|
||
|
||
|
||
QByteArray ACSController::uploadBuffer(int bufferNum)
|
||
{
|
||
char bufferData[10000];
|
||
int Received;
|
||
if(!acsc_UploadBuffer(m_hComm,bufferNum,0,bufferData,10000,&Received,ACSC_SYNCHRONOUS))
|
||
{
|
||
throw MyException("上传buffer代码失败。",acsc_GetLastError());
|
||
}
|
||
return QByteArray(bufferData);
|
||
|
||
}
|
||
|
||
|
||
|
||
void ACSController::setDO(int port,int bit,bool value)
|
||
{
|
||
if(!acsc_SetOutput(m_hComm,port,bit,int(value),ACSC_SYNCHRONOUS))
|
||
{
|
||
throw MyException("设置DO失败。",acsc_GetLastError());
|
||
|
||
}
|
||
}
|
||
|
||
bool ACSController::getDO(int port,int bit)
|
||
{
|
||
int value=0;
|
||
if(!acsc_GetOutput(m_hComm,port,bit,&value,ACSC_SYNCHRONOUS))
|
||
{
|
||
throw MyException("获取DO失败。",acsc_GetLastError());
|
||
|
||
}
|
||
|
||
return bool(value);
|
||
}
|
||
|
||
|
||
bool ACSController::getDI(int port,int bit)
|
||
{
|
||
int state;
|
||
// 第2参数为port
|
||
// 第3个参数为bit
|
||
// 第4个参数为指向返回值的指针
|
||
if(!acsc_GetInput(m_hComm,port,bit,&state,ACSC_SYNCHRONOUS))
|
||
{
|
||
throw MyException("获取DI失败。",acsc_GetLastError());
|
||
}
|
||
return bool(state);
|
||
}
|
||
|
||
|
||
double ACSController::getGlobalReal(char* realName)
|
||
{
|
||
double reValue;
|
||
if(!acsc_ReadReal(m_hComm,ACSC_NONE,realName,0,0,-1,-1,&reValue,ACSC_SYNCHRONOUS))
|
||
{
|
||
throw MyException("读取变量失败。",acsc_GetLastError());
|
||
}
|
||
return reValue;
|
||
}
|
||
|
||
QVector<double> ACSController::getGlobalReal(char* realName,int bufNum,int from1,int end1)
|
||
{
|
||
QVector<double> reValue(end1-from1+1);
|
||
double *reValue_ptr = reValue.data();
|
||
if(!acsc_ReadReal(m_hComm,bufNum,realName,from1,end1,-1,-1,reValue_ptr,ACSC_SYNCHRONOUS))
|
||
{
|
||
throw MyException("读取变量失败。",acsc_GetLastError());
|
||
}
|
||
return reValue;
|
||
}
|
||
|
||
void ACSController::setGlobalReal(char* realName,double value)
|
||
{
|
||
if(!acsc_WriteReal(m_hComm,ACSC_NONE,realName,0,0,-1,-1,&value,ACSC_SYNCHRONOUS))
|
||
{
|
||
throw MyException("写变量失败。",acsc_GetLastError());
|
||
}
|
||
}
|
||
|
||
void ACSController::setGlobalReal(char* realName,int from1,int end1,QVector<double> value)
|
||
{
|
||
double *value_ptr = value.data();
|
||
if(!acsc_WriteReal(m_hComm,ACSC_NONE,realName,from1,end1,-1,-1,value_ptr,ACSC_SYNCHRONOUS))
|
||
{
|
||
throw MyException("写变量失败。",acsc_GetLastError());
|
||
}
|
||
}
|
||
|
||
void ACSController::setGlobalReal(char* realName,int from1,int end1,int from2,int end2,double* value)
|
||
{
|
||
if(!acsc_WriteReal(m_hComm,ACSC_NONE,realName,from1,end1,from2,end2,value,ACSC_SYNCHRONOUS))
|
||
{
|
||
int errorCode =acsc_GetLastError();
|
||
throw MyException(QString("写全局浮点变量%1失败。").arg(QString(realName)),errorCode);
|
||
}
|
||
}
|
||
|
||
|
||
int ACSController::getGlobalInt(char *name)
|
||
{
|
||
int temp;
|
||
if(!acsc_ReadInteger(m_hComm,ACSC_NONE,name,0,0,-1,-1,&temp,ACSC_SYNCHRONOUS))
|
||
{
|
||
throw MyException("读变量值失败。",acsc_GetLastError());
|
||
}
|
||
return temp;
|
||
}
|
||
|
||
// 读取多个全局整型
|
||
QVector<int> ACSController::getGlobalInt(char* name,int from1,int end1)
|
||
{
|
||
QVector<int> reValue(end1-from1+1);
|
||
int *reValue_ptr = reValue.data();
|
||
if(!acsc_ReadInteger(m_hComm,ACSC_NONE,name,from1,end1,-1,-1,reValue_ptr,ACSC_SYNCHRONOUS))
|
||
{
|
||
throw MyException("读变量值失败。",acsc_GetLastError());
|
||
}
|
||
return reValue;
|
||
}
|
||
|
||
void ACSController::setGlobalInt(char* intName,int value)
|
||
{
|
||
if(!acsc_WriteInteger(m_hComm,ACSC_NONE,intName,0,0,-1,-1,&value,ACSC_SYNCHRONOUS))
|
||
{
|
||
throw MyException("写变量失败。",acsc_GetLastError());
|
||
}
|
||
}
|
||
|
||
void ACSController::setGlobalInt(char* intName,int from1,int to1,QVector<int> value)
|
||
{
|
||
int *value_ptr = value.data();
|
||
if(!acsc_WriteInteger(m_hComm,ACSC_NONE,intName,from1,to1,-1,-1,value_ptr,ACSC_SYNCHRONOUS))
|
||
{
|
||
throw MyException("写变量失败。",acsc_GetLastError());
|
||
}
|
||
}
|
||
|
||
|
||
int ACSController::getBufferLines(int bufferNum)
|
||
{
|
||
int temp[10];
|
||
char vName[] = "PLINES";
|
||
if(!acsc_ReadInteger(m_hComm,ACSC_NONE,vName,0,9,-1,-1,temp,ACSC_SYNCHRONOUS))
|
||
{
|
||
throw MyException("获取buffer代码行数失败。",acsc_GetLastError());
|
||
}
|
||
return temp[bufferNum];
|
||
}
|
||
|
||
|
||
|
||
void ACSController::mapEtherCatInput(int offset,QString vbName)
|
||
{
|
||
QByteArray qbVbName = vbName.toLatin1();
|
||
char* cVBName = qbVbName.data();
|
||
if(! acsc_MapEtherCATInput(m_hComm,0,offset,cVBName,ACSC_SYNCHRONOUS))
|
||
{
|
||
throw MyException("EtherCat地址映射失败。",acsc_GetLastError());
|
||
}
|
||
}
|
||
|
||
void ACSController::mapEtherCatOutput(int offset,QString vbName)
|
||
{
|
||
QByteArray qbVbName = vbName.toLatin1();
|
||
char* cVBName = qbVbName.data();
|
||
if(!acsc_MapEtherCATOutput(m_hComm,0,offset,cVBName,ACSC_SYNCHRONOUS))
|
||
{
|
||
throw MyException("EtherCat地址映射失败。",acsc_GetLastError());
|
||
}
|
||
}
|
||
|
||
void ACSController::resetMapEtherCatInputOutput()
|
||
{
|
||
if(!acsc_UnmapEtherCATInputsOutputs(m_hComm,ACSC_SYNCHRONOUS))
|
||
{
|
||
throw MyException("重置EtherCat地址映射失败。",acsc_GetLastError());
|
||
}
|
||
}
|
||
|
||
void ACSController::disableComp(int axisNum)
|
||
{
|
||
int temp;
|
||
const int DISABLE_CONNECT_MASK = 131072;
|
||
char vName[] = "MFLAGS";
|
||
if(!acsc_ReadInteger(m_hComm,ACSC_NONE,vName,axisNum,axisNum,-1,-1,&temp,ACSC_SYNCHRONOUS))
|
||
{
|
||
throw MyException("禁用补偿失败。",acsc_GetLastError());
|
||
}
|
||
temp = (temp|DISABLE_CONNECT_MASK);
|
||
if(!acsc_WriteInteger(m_hComm,ACSC_NONE,vName,axisNum,axisNum,-1,-1,&temp,ACSC_SYNCHRONOUS))
|
||
{
|
||
throw MyException("禁用补偿失败。",acsc_GetLastError());
|
||
}
|
||
|
||
if(!acsc_ReadInteger(m_hComm,ACSC_NONE,vName,axisNum,axisNum,-1,-1,&temp,ACSC_SYNCHRONOUS))
|
||
{
|
||
throw MyException("禁用补偿失败。",acsc_GetLastError());
|
||
}
|
||
|
||
}
|
||
|
||
int ACSController::getProgramError(int bufferNum)
|
||
{
|
||
int errorCode;
|
||
if(!acsc_GetProgramError(m_hComm,bufferNum,&errorCode,ACSC_SYNCHRONOUS))
|
||
{
|
||
throw MyException("禁用补偿失败。",acsc_GetLastError());
|
||
}
|
||
|
||
return errorCode;
|
||
}
|
||
|
||
int ACSController::getMotorError(int AxisNum)
|
||
{
|
||
int errorCode;
|
||
if(!acsc_GetMotorError(m_hComm,AxisNum,&errorCode,ACSC_SYNCHRONOUS))
|
||
{
|
||
throw MyException("获取电机状态失败。",acsc_GetLastError());
|
||
}
|
||
|
||
return errorCode;
|
||
}
|
||
|
||
|
||
bool ACSController::getMoveState(int AxisNum)
|
||
{
|
||
double mst = getAxesMST(AxisNum);//
|
||
return bool(int(mst)&ACSC_MST_MOVE);
|
||
}
|
||
|