📄 demo_inp_movedlg.cpp
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if(m_bIsTwoAxisInp)
{
if(m_bChkDemo_x)
{
(CButton*)GetDlgItem(IDC_CHECK_DEMO_X)->EnableWindow(TRUE);
}
if(m_bChkDemo_z)
{
(CButton*)GetDlgItem(IDC_CHECK_DEMO_Z)->EnableWindow(TRUE);
}
}
if(m_bChkDemo_x)(CButton*)GetDlgItem(IDC_EDIT_PULSE_COUNT_X)->EnableWindow(TRUE);
if(m_bChkDemo_y)(CButton*)GetDlgItem(IDC_EDIT_PULSE_COUNT_Y)->EnableWindow(TRUE);
if(m_bChkDemo_z)(CButton*)GetDlgItem(IDC_EDIT_PULSE_COUNT_Z)->EnableWindow(TRUE);
if(m_bChkDemo_w)(CButton*)GetDlgItem(IDC_EDIT_PULSE_COUNT_W)->EnableWindow(TRUE);
EnableCheckWnd(m_bDisableEquality_V);
}
CDialog::OnTimer(nIDEvent);
}
void CDemo_Inp_MoveDlg::ShowInfo()
{//获取逻辑位置和速度
long pos_x=0,pos_y=0,pos_z=0,pos_w=0;
long nCurrentSpeed_x=0,nCurrentSpeed_y=0,nCurrentSpeed_z=0,nCurrentSpeed_w=0;
get_command_pos(cardno,1,&pos_x);
get_command_pos(cardno,2,&pos_y);
get_command_pos(cardno,3,&pos_z);
get_command_pos(cardno,4,&pos_w);
if(m_bIsInpLine){
if(m_bIsTwoAxisInp){
if(m_bChkDemo_x){
get_speed(cardno,1,&nCurrentSpeed_x);
}
if(m_bChkDemo_z){
get_speed(cardno,3,&nCurrentSpeed_z);
}
}
if(m_bIsThreeAxisInp){
get_speed(cardno,1,&nCurrentSpeed_x);
nCurrentSpeed_z=0;
}
if(m_bIsFourAxisInp){
get_speed(cardno,1,&nCurrentSpeed_x);
nCurrentSpeed_z=0;
}
}
else{
if(m_bIsTwoAxisInp){
if(m_bChkDemo_x){
get_speed(cardno,1,&nCurrentSpeed_x);
}
if(m_bChkDemo_z){
get_speed(cardno,3,&nCurrentSpeed_z);
}
}
else{}
}
SetDlgItemInt(IDC_EDIT_LOGIC_POS_X,pos_x);
SetDlgItemInt(IDC_EDIT_LOGIC_POS_Y,pos_y);
SetDlgItemInt(IDC_EDIT_LOGIC_POS_Z,pos_z);
SetDlgItemInt(IDC_EDIT_LOGIC_POS_W,pos_w);
SetDlgItemInt(IDC_EDIT_VELOCITY_X,nCurrentSpeed_x*m_nRatio_x);
SetDlgItemInt(IDC_EDIT_VELOCITY_Y,nCurrentSpeed_y*m_nRatio_y);
SetDlgItemInt(IDC_EDIT_VELOCITY_Z,nCurrentSpeed_z*m_nRatio_z);
SetDlgItemInt(IDC_EDIT_VELOCITY_W,nCurrentSpeed_w*m_nRatio_w);
}
void CDemo_Inp_MoveDlg::OnBtnInpContinue()
{//连续插补
if(!m_bChkDemo_x&&!m_bChkDemo_z&&m_bIsTwoAxisInp)
{
MessageBox("请选择插补轴!");
return;
}
int s1,s2;
int no,ch;
//范围设定更新
set_range(0,1,8000000/m_nRatio_x);
set_range(0,2,8000000/m_nRatio_y);
set_range(0,3,8000000/m_nRatio_z);
set_range(0,4,8000000/m_nRatio_w);
//三轴插补和四轴插补时Z轴的倍率设置成与X轴一样
if(!m_bIsTwoAxisInp)set_range(0,3,8000000/m_nRatio_x);
SetSpeed();
m_bIsContinueInp=true;
if(m_bChkDemo_x)
{
no=1;
ch=1;
}
if(m_bIsTwoAxisInp&&m_bChkDemo_z)
{
no=2;
ch=3;
}
if(m_bDisableEquality_V)
{
SetAddSpeed();
}
inp_dec_disable(cardno,no);
//------------第一段----------------------
DemoInpMove();
while(true)
{
DoEvent();
get_stopdata(cardno,ch,&s1);
if(s1!=0)goto err;
get_inp_status2(0,no,&s2);
if(s2!=0)break;
}
//------------第二段----------------------
DemoInpMove();
while(true)
{
DoEvent();
get_stopdata(0,ch,&s1);
if(s1!=0)goto err;
get_inp_status2(cardno,no,&s2);
if(s2!=0)break;
}
//------------第三段----------------------
DemoInpMove();
while(true)
{
DoEvent();
get_stopdata(cardno,ch,&s1);
if(s1!=0)goto err;
get_inp_status2(cardno,no,&s2);
if(s2!=0)break;
}
//------------第四段----------------------
DemoInpMove();
while(true)
{
DoEvent();
get_stopdata(cardno,ch,&s1);
if(s1!=0)goto err;
get_inp_status2(cardno,no,&s2);
if(s2!=0)break;
}
//--------最后一段----------------------
if(m_bDisableEquality_V)inp_dec_enable(0,no);
DemoInpMove();
while(true)
{
DoEvent();
get_stopdata(cardno,ch,&s1);
if(s1!=0)goto err;
get_inp_status(cardno,no,&s2);
if(s2==0)break;
}
return;
err:
MessageBox("error");
return;
}
void CDemo_Inp_MoveDlg::DemoInpMove()
{
if(m_bIsInpLine){ //直线插补
if(m_bIsTwoAxisInp){
if(m_bChkDemo_x) inp_move2(cardno,1,m_nPulseCount_x,m_nPulseCount_y);
if(m_bChkDemo_z) inp_move2(cardno,2,m_nPulseCount_z,m_nPulseCount_w);
}
if(m_bIsThreeAxisInp) {
if(m_bChkDemo_x) inp_move3(cardno,m_nPulseCount_x,m_nPulseCount_y,m_nPulseCount_z);
}
if(m_bIsFourAxisInp){
if(m_bChkDemo_x) inp_move4(cardno,m_nPulseCount_x,m_nPulseCount_y,m_nPulseCount_z,m_nPulseCount_w);
}
}
else{ //圆弧插补
if(m_bIsTwoAxisInp){
if(m_bChkDemo_x) inp_cw_arc(cardno,1,m_nPulseCount_x,m_nPulseCount_y,0,10000); //圆心(0,10000) 半径R=10000
if(m_bChkDemo_z) inp_ccw_arc(cardno,2,m_nPulseCount_z,m_nPulseCount_w,10000,0);//圆心(10000,0) 半径R=10000
}
else{ //目前演示程序，不支持圆弧的三轴插补
}
}
}
void CDemo_Inp_MoveDlg::ClearAllAxisPos()
{ //各轴位置清零
set_command_pos(cardno,1,0);
set_command_pos(cardno,2,0);
set_command_pos(cardno,3,0);
set_command_pos(cardno,4,0);
}
void CDemo_Inp_MoveDlg::OnBtnInpStop()
{
// TODO: Add your control notification handler code here
//插补停止
UpdateData();
sudden_stop(cardno,1);
sudden_stop(cardno,2);
sudden_stop(cardno,3);
sudden_stop(cardno,4);
m_bIsContinueInp=FALSE;
KillTimer(2);
}
void CDemo_Inp_MoveDlg::SetAddSpeed()
{ UpdateData();
long nValue;
if(m_bDisableEquality_V){//加/减速运动
BOOL bMode_Acc;
bMode_Acc=m_bEnable_S_Move ? 1:0;
//---------------设为梯形/S形加减速.0为梯形,1为S形----------------------
set_ad_mode(cardno,1,bMode_Acc);
set_ad_mode(cardno,3,bMode_Acc);
//---------------对每轴设置,对称加减速/非对称加减速,0为对称,1为非对称----------------
bMode_Acc=m_bEnableSymmetry_Acc_x ? 1:0;
set_dec1_mode(cardno,1,bMode_Acc);
bMode_Acc=m_bEnableSymmetry_Acc_z ? 1:0;
set_dec1_mode(cardno,3,bMode_Acc);
//-----------------------采用手动减速方式-------------------------------------------------
if(m_bIsInpLine){
if( m_bIsContinueInp){ //连续插补加减速时采用手动减速，设定减速点
long nDecpos;
set_dec2_mode(cardno,1,1);
// nDecpos=m_nPulseCount_x-long((m_nDriveSpeed_x+m_nStartV_x)*m_fAccTime_x/2);
nDecpos=1500-long((m_nDriveSpeed_x+m_nStartV_x)*m_fAccTime_x/2);
set_dec_pos(cardno,1,nDecpos);
if(m_bChkDemo_z&&m_bIsTwoAxisInp){
set_dec2_mode(cardno,3,1);
// nDecpos=m_nPulseCount_z-long((m_nDriveSpeed_z+m_nStartV_z)*m_fAccTime_z/2);
nDecpos=1500-long((m_nDriveSpeed_z+m_nStartV_z)*m_fAccTime_z/2);
set_dec_pos(cardno,3,nDecpos);
}
}
else{
set_dec2_mode(cardno,1,0);
if(m_bChkDemo_z&&m_bIsTwoAxisInp)set_dec2_mode(cardno,3,0);
}
}
else{
//圆弧加减速插补时，手动设定减速点,不能采用自动减速
long nPulse_Count=long((10000/1.414)*8);
long nDecPos;
set_dec2_mode(cardno,1,1);
nDecPos=nPulse_Count-long((m_nDriveSpeed_x+m_nStartV_x)*m_fAccTime_x/2);
set_dec_pos(cardno,1,nDecPos);
if(m_bChkDemo_z&&m_bIsTwoAxisInp){
set_dec_pos(cardno,3,nDecPos);
nDecPos=nPulse_Count-long((m_nDriveSpeed_z+m_nStartV_z)*m_fAccTime_z/2);
set_dec_pos(cardno,3,nDecPos);
}
}
//-----------------------设置每轴的加速度-----------------------------------------------
//------------加速度的实际值为nValue=m_nVelocityAcc_x*125*m_nRatio_x--------------------
set_acc(cardno,1,m_nVelocityAcc_x);
//------------加速度的实际值为nValue=m_nVelocityAcc_z*125*m_nRatio_z--------------------
set_acc(cardno,3,m_nVelocityAcc_z);
//-----------------------设置每轴的减速度-----------------------------------------------
//------------减速度的实际值为nValue=m_nVelocityDec_x*125*m_nRatio_x--------------------
set_dec(cardno,1,m_nVelocityDec_x);
//------------减速度的实际值为nValue=m_nVelocityDec_z*125*m_nRatio_z--------------------
set_dec(cardno,3,m_nVelocityDec_z);
//-----------------------如果是S形加速运动,设置加速度增加率.-----------------------------
//-----------------------这里只演示完全S曲线加减速运动----------------------------------
if(m_bEnable_S_Move && m_bIsInpLine){ //圆弧插补只能采用直线加减速，不能使用S曲线加减速
int nAccValue;
if(m_bChkDemo_x)
{
if(m_fAccTime_x==0)return;
nValue=long(m_nVelocityAcc_x/m_fAccTime_x);
nAccValue=62500000 * m_nRatio_x/nValue;
set_acac(cardno,1,nAccValue);
}
if(m_bChkDemo_z&&m_bIsTwoAxisInp)
{
if(m_fAccTime_z==0)return;
nValue=long(m_nVelocityAcc_z/m_fAccTime_z);
nAccValue=62500000 * m_nRatio_z/nValue;
set_acac(cardno,3,nAccValue);
}
}
}
}
void CDemo_Inp_MoveDlg::CalAccTime()
{
m_fAccTime_w=float(m_nDriveSpeed_w-m_nStartV_w)/float(m_nVelocityAcc_w);
m_fAccTime_x=float(m_nDriveSpeed_x-m_nStartV_x)/float(m_nVelocityAcc_x);
m_fAccTime_y=float(m_nDriveSpeed_y-m_nStartV_y)/float(m_nVelocityAcc_y);
m_fAccTime_z=float(m_nDriveSpeed_z-m_nStartV_z)/float(m_nVelocityAcc_z);
}
void CDemo_Inp_MoveDlg::OnButtonClear()
{
// TODO: Add your control notification handler code here
set_command_pos(cardno,1,0);
set_command_pos(cardno,2,0);
set_command_pos(cardno,3,0);
set_command_pos(cardno,4,0);
}
void CDemo_Inp_MoveDlg::CheckNum(long &num, long min, long max)
{
//数值范围
if(num<min)num=min;
if(num>max)num=max;
}
void CDemo_Inp_MoveDlg::SetSpeed()
{
UpdateData();
if( !m_bDisableEquality_V)
{ //匀速插补
if(m_bIsTwoAxisInp){
if(m_bChkDemo_x){
set_startv(cardno,1,m_nDriveSpeed_x/m_nRatio_x);
set_speed(cardno,1,m_nDriveSpeed_x/m_nRatio_x);
}
if(m_bChkDemo_z){
set_startv(cardno,3,m_nDriveSpeed_z/m_nRatio_z);
set_speed(cardno,3,m_nDriveSpeed_z/m_nRatio_z);
}
}
else{
if(m_bChkDemo_x){
set_startv(cardno,1,m_nDriveSpeed_x/m_nRatio_x);
set_speed(cardno,1,m_nDriveSpeed_x/m_nRatio_x);
set_startv(cardno,3,m_nDriveSpeed_x/m_nRatio_x);
set_speed(cardno,3,m_nDriveSpeed_x/m_nRatio_x);
}
}
}
else {
if(m_bIsTwoAxisInp){
if(m_bChkDemo_x){
set_startv(cardno,1,m_nStartV_x/m_nRatio_x);
set_speed(cardno,1,m_nDriveSpeed_x/m_nRatio_x);
}
if(m_bChkDemo_z){
set_startv(cardno,3,m_nStartV_z/m_nRatio_z);
set_speed(cardno,3,m_nDriveSpeed_z/m_nRatio_z);
}
}
else{
set_startv(cardno,1,m_nStartV_x/m_nRatio_x);
set_startv(cardno,3,m_nStartV_z/m_nRatio_z);
set_speed(cardno,1,m_nDriveSpeed_x/m_nRatio_x);
set_speed(cardno,3,m_nDriveSpeed_z/m_nRatio_z);
}
}
}
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