208 lines
8.7 KiB
C++
208 lines
8.7 KiB
C++
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#include "Axis.h"
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#include "../config/ConfigManager.h"
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#include "../global.h"
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PLCAxis::PLCAxis(SysParamWrapper* params, StateCtrlWrapper* ctrl)
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{
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m_Mold = new AxisT<MainAxisState>();
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m_MoldSlave = new AxisT<SlaveAxisState>();
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m_Clean = new AxisT<MainAxisState>();
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m_CleanSlave = new AxisT<SlaveAxisState>();
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m_Arm = new AxisT<AxisState>();
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m_Load = new AxisT<AxisState>();
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m_Supply = new AxisT<AxisState>();
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m_Ele= new AxisT<MainAxisState>();
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m_EleSlave = new AxisT<SlaveAxisState>();
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AxisConfig* ac = m_Mold->GetConfig();
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ac->m_Speed = params->m_MoldMainManualSpeed;
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ac->m_Acc = params->m_MoldMainManualAcc;
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ac->m_Dec = params->m_MoldMainManualDec;
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ac->m_RefDistance = params->m_MoldMainManualRefDistance;
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ac->m_AbsPos = params->m_MoldMainManualAbsPos;
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m_Mold->GetState()->SetAxisCfg(ConfigManager::GetInstance()->GetMoldCfg());
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ac = m_MoldSlave->GetConfig();
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ac->m_Speed = params->m_MoldSlaveManualSpeed;
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ac->m_Acc = params->m_MoldSlaveManualAcc;
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ac->m_Dec = params->m_MoldSlaveManualDec;
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ac->m_RefDistance = params->m_MoldSlaveManualRefDistance;
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ac->m_AbsPos = params->m_MoldSlaveManualAbsPos;
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m_MoldSlave->GetState()->SetAxisCfg(ConfigManager::GetInstance()->GetMoldCfg());
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ac = m_Clean->GetConfig();
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ac->m_Speed = params->m_CleanMainManualSpeed;
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ac->m_Acc = params->m_CleanMainManualAcc;
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ac->m_Dec = params->m_CleanMainManualDec;
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ac->m_RefDistance = params->m_CleanMainManualRefDistance;
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ac->m_AbsPos = params->m_CleanMainManualAbsPos;
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m_Clean->GetState()->SetAxisCfg(ConfigManager::GetInstance()->GetCleanCfg());
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ac = m_CleanSlave->GetConfig();
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ac->m_Speed = params->m_CleanSlaveManualSpeed;
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ac->m_Acc = params->m_CleanSlaveManualAcc;
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ac->m_Dec = params->m_CleanSlaveManualDec;
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ac->m_RefDistance = params->m_CleanSlaveManualRefDistance;
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ac->m_AbsPos = params->m_CleanSlaveManualAbsPos;
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m_CleanSlave->GetState()->SetAxisCfg(ConfigManager::GetInstance()->GetCleanCfg());
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ac = m_Ele->GetConfig();
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ac->m_Speed = params->m_EleCylinderMainManualSpeed;
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ac->m_Acc = params->m_EleCylinderMainManualAcc;
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ac->m_Dec = params->m_EleCylinderMainManualDec;
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ac->m_RefDistance = params->m_EleCylinderMainManualRefDistance;
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ac->m_AbsPos = params->m_EleCylinderMainManualAbsPos;
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m_Ele->GetState()->SetAxisCfg(ConfigManager::GetInstance()->GetEleCfg());
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ac = m_EleSlave->GetConfig();
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ac->m_Speed = params->m_EleCylinderSlaveManualSpeed;
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ac->m_Acc = params->m_EleCylinderSlaveManualAcc;
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ac->m_Dec = params->m_EleCylinderSlaveManualDec;
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ac->m_RefDistance = params->m_EleCylinderSlaveManualRefDistance;
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ac->m_AbsPos = params->m_EleCylinderSlaveManualAbsPos;
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m_EleSlave->GetState()->SetAxisCfg(ConfigManager::GetInstance()->GetEleCfg());
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ac = m_Arm->GetConfig();
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ac->m_Speed = params->m_ArmManualSpeed;
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ac->m_Acc = params->m_ArmManualAcc;
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ac->m_Dec = params->m_ArmManualDec;
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ac->m_RefDistance = params->m_ArmManualRefDistance;
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ac->m_AbsPos = params->m_ArmManualAbsPos;
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m_Arm ->GetState()->SetAxisCfg(ConfigManager::GetInstance()->GetArmCfg());
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ac = m_Load->GetConfig();
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ac->m_Speed = params->m_LoadAxisManualSpeed;
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ac->m_Acc = params->m_LoadAxisManualAcc;
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ac->m_Dec = params->m_LoadAxisManualDec;
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ac->m_RefDistance = params->m_LoadAxisManualRefDistance;
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ac->m_AbsPos = params->m_LoadAxisManualAbsPos;
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m_Load->GetState()->SetAxisCfg( ConfigManager::GetInstance()->GetLoadCfg());
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ac = m_Supply->GetConfig();
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ac->m_Speed = params->m_SupplyManualSpeed;
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ac->m_Acc = params->m_SupplyManualAcc;
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ac->m_Dec = params->m_SupplyManualDec;
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ac->m_RefDistance = params->m_SupplyManualRefDistance;
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ac->m_AbsPos = params->m_SupplyManualAbsPos;
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m_Supply->GetState()->SetAxisCfg( ConfigManager::GetInstance()->GetSupplyCfg());
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AxisCtrl* actrl = m_Mold->GetCtrl();
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actrl->m_ServoOn = ctrl->m_MoldMainServoOn;
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actrl->m_ServoHomeIndexOn = ctrl->m_MoldMainServoHomeIndexOn;
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actrl->m_ServoReset = ctrl->m_MoldMainServoReset;
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actrl->m_MoveP = ctrl->m_MoldMainMoveUp;
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actrl->m_MoveN = ctrl->m_MoldMainMoveDown;
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actrl->m_MovePContinue = ctrl->m_MoldMainMoveUpContinue;
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actrl->m_MoveNContinue = ctrl->m_MoldMainMoveDownContinue;
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actrl->m_MoveAbsPos = ctrl->m_MoldMainMoveAbsPos;
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actrl->m_MotionStop = ctrl->m_MoldMainMotionStop;
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actrl = m_MoldSlave->GetCtrl();
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actrl->m_ServoOn = ctrl->m_MoldSlaveServoOn;
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actrl->m_ServoHomeIndexOn = ctrl->m_MoldSlaveServoHomeIndexOn;
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actrl->m_ServoReset = ctrl->m_MoldSlaveServoReset;
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actrl->m_MoveP = ctrl->m_MoldSlaveMoveUp;
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actrl->m_MoveN = ctrl->m_MoldSlaveMoveDown;
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actrl->m_MovePContinue = ctrl->m_MoldSlaveMoveUpContinue;
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actrl->m_MoveNContinue = ctrl->m_MoldSlaveMoveDownContinue;
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actrl->m_MoveAbsPos = ctrl->m_MoldSlaveMoveAbsPos;
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actrl->m_MotionStop = ctrl->m_MoldSlaveMotionStop;
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actrl = m_Clean->GetCtrl();
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actrl->m_ServoOn = ctrl->m_CleanMainServoOn;
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actrl->m_ServoHomeIndexOn = ctrl->m_CleanMainServoHomeIndexOn;
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actrl->m_ServoReset = ctrl->m_CleanMainServoReset;
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actrl->m_MoveP = ctrl->m_CleanMainMoveUp;
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actrl->m_MoveN = ctrl->m_CleanMainMoveDown;
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actrl->m_MovePContinue = ctrl->m_CleanMainMoveUpContinue;
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actrl->m_MoveNContinue = ctrl->m_CleanMainMoveDownContinue;
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actrl->m_MoveAbsPos = ctrl->m_CleanMainMoveAbsPos;
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actrl->m_MotionStop = ctrl->m_CleanMainMotionStop;
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actrl = m_CleanSlave->GetCtrl();
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actrl->m_ServoOn = ctrl->m_CleanSlaveServoOn;
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actrl->m_ServoHomeIndexOn = ctrl->m_CleanSlaveServoHomeIndexOn;
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actrl->m_ServoReset = ctrl->m_CleanSlaveServoReset;
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actrl->m_MoveP = ctrl->m_CleanSlaveMoveUp;
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actrl->m_MoveN = ctrl->m_CleanSlaveMoveDown;
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actrl->m_MovePContinue = ctrl->m_CleanSlaveMoveUpContinue;
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actrl->m_MoveNContinue = ctrl->m_CleanSlaveMoveDownContinue;
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actrl->m_MoveAbsPos = ctrl->m_CleanSlaveMoveAbsPos;
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actrl->m_MotionStop = ctrl->m_CleanSlaveMotionStop;
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/*actrl = m_Ele->GetCtrl();
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actrl->m_ServoOn = ctrl->m_EleCylinderMainServoOn;
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actrl->m_ServoHomeIndexOn = ctrl->m_EleCylinderMainServoHomeIndexOn;
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actrl->m_ServoReset = ctrl->m_EleCylinderMainServoReset;
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actrl->m_MoveP = ctrl->m_EleCylinderMainMoveUp;
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actrl->m_MoveN = ctrl->m_EleCylinderMainMoveDown;
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actrl->m_MovePContinue = ctrl->m_EleCylinderMainMoveUpContinue;
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actrl->m_MoveNContinue = ctrl->m_EleCylinderMainMoveDownContinue;
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actrl->m_MoveAbsPos = ctrl->m_EleCylinderMainMoveAbsPos;
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actrl->m_MotionStop = ctrl->m_EleCylinderMainMotionStop;
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actrl = m_EleSlave->GetCtrl();
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actrl->m_ServoOn = ctrl->m_EleCylinderSlaveServoOn;
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actrl->m_ServoHomeIndexOn = ctrl->m_EleCylinderSlaveServoHomeIndexOn;
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actrl->m_ServoReset = ctrl->m_EleCylinderSlaveServoReset;
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actrl->m_MoveP = ctrl->m_EleCylinderSlaveMoveUp;
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actrl->m_MoveN = ctrl->m_EleCylinderSlaveMoveDown;
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actrl->m_MovePContinue = ctrl->m_EleCylinderSlaveMoveUpContinue;
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actrl->m_MoveNContinue = ctrl->m_EleCylinderSlaveMoveDownContinue;
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actrl->m_MoveAbsPos = ctrl->m_EleCylinderSlaveMoveAbsPos;
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actrl->m_MotionStop = ctrl->m_EleCylinderSlaveMotionStop;
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*/
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actrl = m_Arm->GetCtrl();
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actrl->m_ServoOn = ctrl->m_ArmServoOn;
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actrl->m_ServoHomeIndexOn = ctrl->m_ArmServoHomeIndexOn;
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actrl->m_ServoReset = ctrl->m_ArmServoReset;
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actrl->m_MoveP = ctrl->m_ArmMoveFront;
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actrl->m_MoveN = ctrl->m_ArmMoveBack;
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actrl->m_MovePContinue = ctrl->m_ArmMoveFrontContinue;
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actrl->m_MoveNContinue = ctrl->m_ArmMoveBackContinue;
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actrl->m_MoveAbsPos = ctrl->m_ArmMoveAbsPos;
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actrl->m_MotionStop = ctrl->m_ArmMotionStop;
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actrl = m_Load->GetCtrl();
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actrl->m_ServoOn = ctrl->m_LoadAxisServoOn;
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actrl->m_ServoHomeIndexOn = ctrl->m_LoadAxisServoHomeIndexOn;
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actrl->m_ServoReset = ctrl->m_LoadAxisServoReset;
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actrl->m_MoveP = ctrl->m_LoadAxisMoveLeft;
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actrl->m_MoveN = ctrl->m_LoadAxisMoveRight;
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actrl->m_MovePContinue = ctrl->m_LoadAxisMoveLeftContinue;
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actrl->m_MoveNContinue = ctrl->m_LoadAxisMoveRightContinue;
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actrl->m_MoveAbsPos = ctrl->m_LoadAxisMoveAbsPos;
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actrl->m_MotionStop = ctrl->m_LoadAxisMotionStop;
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actrl = m_Supply->GetCtrl();
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actrl->m_ServoOn = ctrl->m_SupplyServoOn;
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actrl->m_ServoHomeIndexOn = ctrl->m_SupplyServoHomeIndexOn;
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actrl->m_ServoReset = ctrl->m_SupplyServoReset;
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actrl->m_MoveP = ctrl->m_SupplyMovePositive;
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actrl->m_MoveN = ctrl->m_SupplyMoveNegative;
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actrl->m_MovePContinue = ctrl->m_SupplyMovePositiveContinue;
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actrl->m_MoveNContinue = ctrl->m_SupplyMoveNegativeContinue;
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actrl->m_MoveAbsPos = ctrl->m_SupplyMoveAbsPos;
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actrl->m_MotionStop = ctrl->m_SupplyMotionStop;
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}
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void PLCAxis::StopAll(void)
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{
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m_Mold->GetCtrl()->m_MotionStop->SetValue(true);
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Sleep(100);
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m_Mold->GetCtrl()->m_MotionStop->SetValue(false);
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m_Clean->GetCtrl()->m_MotionStop->SetValue(true);
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Sleep(100);
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m_Clean->GetCtrl()->m_MotionStop->SetValue(false);
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m_Load->GetCtrl()->m_MotionStop->SetValue(true);
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Sleep(100);
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m_Load->GetCtrl()->m_MotionStop->SetValue(false);
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m_Arm->GetCtrl()->m_MotionStop->SetValue(true);
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Sleep(100);
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m_Arm->GetCtrl()->m_MotionStop->SetValue(false);
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m_Supply->GetCtrl()->m_MotionStop->SetValue(true);
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Sleep(100);
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m_Supply->GetCtrl()->m_MotionStop->SetValue(false);
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}
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