一个DMC3000控制卡类的完全源代码.doc

一个DMC3000控制卡类的完全源代码 07-11-12 5:43 共四部分(VC+6.0)。 一、 tag_CARD.h文件源代码 # ifndef _CONTROL_CARD_H_ # define _CONTROL_CARD_H_ # define MAX_AXIS 4 # define XCH 0 # define YCH 1 # define ZCH 2 # define UCH 3 # define NO_CARD 0 # define DMC1000 1 # define DMC2000 2 # define DMC3000 3 # define DMC1408 4 # define DMC5000 5 # define USERCARD /是否选用 struct tag_CARC/圆弧结构 tag_CARC(); tag_CARC( double ox, double oy, double ex, double ey, int dir ); double ox,oy; double ex,ey; int dir; ; struct tag_SPEED/速度结构 tag_SPEED( double start=5, double speed=10, double accel=0.1 ); /, double decel, double scc ); double start; double speed; double accel; / double decel; / double scc; ; /控制卡基类 class CCtrlCard public: CCtrlCard(); virtual CCtrlCard(); int m_nType; mutable int ORGIN; mutable int LIMIT_A, LIMIT_B; public: /单位计算 double SetUP( int nAxis, double fMM, long nPulse, double fMax );/设定脉冲当量 double P2M( int nAxis, long nPulse ); /脉冲转毫米 long M2P( int nAxis, double fMM ); /毫米转脉冲 int GetOut( int nIO ); static double SoftLimit( double fCur, int dir, double fMin, double fMax ); protected: long m_nOutStatus;/保存输出状态 struct tag_AXIS/单轴信息 double fUnitPM; /脉冲当量 long nRP; /每转脉冲数 double fMaxLen; /有效行程范围 m_axisMAX_AXIS; ; # endif 二、 tag_CARD.CPP文件源代码 # include stdafx.h # include tag_card.h tag_CARC:tag_CARC():ox(0),oy(0),ex(0),ey(0),dir(0) tag_CARC:tag_CARC( double ox, double oy, double ex, double ey, int dir ): ox(ox),oy(oy),ex(ex),ey(ey),dir(dir) tag_SPEED:tag_SPEED( double start, double speed, double accel ): /, double decel, double scc ): start(start), speed(speed), accel(accel) / decel(decel), /scc(scc) CCtrlCard:CCtrlCard():m_nType(NO_CARD), ORGIN(19), LIMIT_A(12), LIMIT_B(13) for( int i(0); i m_axisi.nRP = 3200; m_axisi.fUnitPM = m_axisi.nRP/5; m_axisi.fMaxLen = 500; m_nOutStatus = 0x00000000; CCtrlCard:CCtrlCard() int CCtrlCard:GetOut( int nIO ) static int a; a = 1(nIO-1); a &= m_nOutStatus; return a!=0; double CCtrlCard:SoftLimit( double fCur, int dir, double fMin, double fMax ) if( dir 0 ) return fMin-fCur; else return fMax-fCur; /单位计算 setunitpulse double CCtrlCard:SetUP( int nAxis, double fMM, long nPulse, double fMax )/设定脉冲当量 if( fMM 0.0001 ) fMM = 0.0001; if( nPulse = 0 ) m_axis nAxis .nRP = 360; m_axis nAxis .fUnitPM = fMM; else if( nPulse 20 ) nPulse = 20; m_axis nAxis .nRP = nPulse; m_axis nAxis .fUnitPM = double(nPulse)/fMM; m_axis nAxis .fMaxLen = fMax; return m_axis nAxis .fUnitPM; double CCtrlCard:P2M( int nAxis, long nPulse ) /脉冲转毫米 return double(nPulse) / m_axis nAxis .fUnitPM; long CCtrlCard:M2P( int nAxis, double fMM ) /毫米转脉冲 return long( fMM * m_axis nAxis .fUnitPM ); 三、 TD3000.h文件源代码 # ifndef _CONTROL_DMC3000_HEAD_ # define _CONTROL_DMC3000_HEAD_ # include tag_card.h class CD3000: public CCtrlCard public: CD3000(); CD3000(); / init card int InitBoard( int nCardType ); /驱动函数 int MoveMM( short nAxis, double fMM, const tag_SPEED &speed );/单轴运行 int MoveM2( short nAxis1, short nAxis2, double pos1, double pos2,/两轴运行 const tag_SPEED &speed, BOOL bInp = true/*联动或插补*/ ); int MoveM3( short nAxis1, short nAxis2, short nAxis3,/三轴驱动 double pos1, double pos2, double pos3, const tag_SPEED &speed, BOOL bInp = true ); int MoveES( short nAxises, short *pAxis, double *pPos,/多轴驱动 const tag_SPEED &speed, BOOL bInp = true ); int Arc( short nAxis1, short nAxis2,/圆弧插补 const tag_CARC &arc, const tag_SPEED &speed, double dt = 0.0 ); /位置处理 double SetPosition( int nAxis, double fMM, BOOL bCmd = TRUE ); double GetPosition( int nAxis, BOOL bCmd = TRUE ); /停止 int Stop( int nAxis, double fTime ); /是否在运动 int IsRunning( int nAxis = -1 ); /取得指定轴状态 int GetAxisStatus( int nAxis ); /返回当前速度 double GetSpeed( int nAxis ); /数字IO函数 int WriteBit( int nIO, int nStatus ); int ReadBit( int nIO ); ; # endif 四、 TD3000.CPP文件源代码 # include stdafx.h # include dmc3000.h # include td3000.h extern BOOL bSCavse; CD3000:CD3000() CD3000:CD3000() d3000_board_close(); int CD3000:InitBoard( int nCardType ) m_nType = nCardType; if( d3000_board_init() = 0 ) m_nType = -1; return m_nType; for( int i(0); i4; i+) d3000_set_pls_outmode( i, 0 ); d3000_set_home( i, 0, 1 ); ORGIN = (19); LIMIT_A = (12); LIMIT_B = (13); return m_nType; /驱动函数 int CD3000:MoveMM( short nAxis, double fMM, const tag_SPEED &speed )/单轴运行 / if( speed.scc 3 | nAxises 2) return 0; / bInp = true; if( bInp )/插补 short *axisArray = pAxis; double *pos = pPos; double accel = speed.accel; double decel = speed.accel; /double sc = speed.scc; if( decel 0.001 ) decel = 0.001; if( accel 0.001 ) accel = 0.002; / sc = 0.001; / if( 1 ) if( bSCavse != TRUE ) nAxises = 2 ? d3000_start_ta_line2( axisArray, M2P(axisArray0, pos0 ), M2P(axisArray1, pos1 ), M2P(axisArray0, speed.start), M2P(axisArray0, speed.speed), accel, decel):/T轴插补 d3000_start_ta_line3( axisArray, M2P(axisArray0, pos0 ), M2P(axisArray1, pos1 ), M2P(axisArray2, pos2 ), M2P(axisArray0, speed.start), M2P(axisArray0, speed.speed), accel, decel);/T三轴插补 else /S形插补 nAxises = 2 ? d3000_start_sa_line2( axisArray, M2P(axisArray0, pos0 ), M2P(axisArray1, pos1 ), M2P(axisArray0, speed.start), M2P(axisArray0, speed.speed), accel, decel):/S轴插补 d3000_start_sa_line3( axisArray, M2P(axisArray0, pos0 ), M2P(axisArray1, pos1 ), M2P(axisArray2, pos2 ), M2P(axisArray0, speed.start), M2P(axisArray0, speed.speed), accel, accel/2.0 );/S莆三轴插补 return nAxises; for(int i(0); i MoveMM( pAxisi, pPosi-GetPosition(pAxisi,true), speed ); return nAxises; int CD3000:Arc( short nAxis1, short nAxis2,/圆弧插补 const tag_CARC &arc, const tag_SPEED &speed, double dt) /* short axisArray= nAxis2, nAxis1 ; d3000_start_t_arc( axisArray, M2P(nAxis2, arc.oy), M2P(nAxis1, arc.ox), M2P(nAxis2, arc.ey), M2P(nAxis1, arc.ex), arc.dir=0?1:0, M2P(nAxis1, speed.start), M2P(nAxis1, speed.speed), speed.accel, speed.decel); /*/ short axisArray= nAxis1, nAxis2 ; d3000_start_t_arc( axisArray, M2P(nAxis1, arc.ox), M2P(nAxis2, arc.oy), M2P(nAxis1, arc.ex), M2P(nAxis2, arc.ey), arc.dir, M2P(nAxis1, speed.start), M2P(nAxis1, speed.speed), speed.accel, speed.accel); /*/ return 1; /位置处理 double CD3000:SetPosition( int nAxis, double fMM, BOOL bCmd ) long nPulse = M2P( nAxis, fMM ); double fPos = GetPosition( nAxis, bCmd ); bCmd = TRUE ? d3000_set_command_pos( nAxis, nPulse ): d3000_set_encoder_pos( nAxis, nPulse ); return fPos; double CD3000:GetPosition( int nAxis, BOOL bCmd ) static long nPulse = 0; nPulse = (bCmd = TRUE) ? d3000_get_command_pos( nAxis ): d3000_get_encoder_pos( nAxis ); return P2M( nAxis, nPulse ); /停止 int CD3000:Stop( int nAxis, double fTime ) d3000_decel_stop( nAxis, fTime ); return nAxis; /是否在运动 int CD3000:IsRunni