195 lines
3.5 KiB
C
195 lines
3.5 KiB
C
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#include "ruanyictrl.h"
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#if (BUSCTRL_MOTO == RUANYI)
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#include "modbus_m.h"
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#include "workctrl.h"
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typedef struct
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{
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u16 motoreturndat; //电机回包数据
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u16 motoparaval; //参数设置值
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u16 zerocodeval; //零位编码值
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int curtozeroval; //当前位置与零位编码值
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u32 curtozeroabs;
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u8 zeroflag;
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s16 motocurpuspos;
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}RYDriverCtrl;
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RYDriverCtrl g_rydriverctrl;
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void InitRuanyiCom(void) //初始化
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{
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memset(&g_rydriverctrl, 0, sizeof(RYDriverCtrl));
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}
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/*移动电机到某位置 (绝对位置)
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* decIdx:电机设备地址：1-127
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* pos:目标位置（脉冲数）
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* spd:速度 0：不改变速度
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* */
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int MoveRyiToAbsolutePos(u8 devIdx, s16 pos, u16 spd)
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{
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int err = 0;
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static u16 oldRyspd = 500;
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if(spd != oldRyspd)
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{
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oldRyspd = spd;
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err = ModbusComm16(0,devIdx, MODBUS_WR, 8256, (u16)spd, &g_rydriverctrl.motoreturndat); //更改最高速度
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DelayRef(300);
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}
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if(err >= 0 &&
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pos != 0)
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{
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err = ModbusComm16(0,devIdx, MODBUS_WR, 9473, (u16)pos, &g_rydriverctrl.motoreturndat);
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if(g_rydriverctrl.motoreturndat != (u16)pos)
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{
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err = -10;
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}
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}
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return err;
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}
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/*移动电机到某位置（相对位置）
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* decIdx:电机设备地址：1-127
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* pos:目标位置（脉冲数）
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* spd:速度 0：不改变速度
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* */
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int MoveRyiToRelativePos(u8 devIdx, s16 pos, u16 spd)
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{
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int err = 0;
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static u16 oldRyspd = 1500;
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if(spd != oldRyspd)
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{
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oldRyspd = spd;
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err = ModbusComm16(0,devIdx, MODBUS_WR, 8256, (u16)spd, &g_rydriverctrl.motoreturndat); //更改最高速度
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DelayRef(300);
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}
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if(err >= 0 &&
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pos != 0)
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{
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err = ModbusComm16(0,devIdx, MODBUS_WR, 9475, (u16)pos, &g_rydriverctrl.motoreturndat);
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if(g_rydriverctrl.motoreturndat != (u16)pos)
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{
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err = -10;
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}
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}
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return err;
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}
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/*电机JOG+ 运行
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* decIdx:电机设备地址：1-127
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* spd:速度 0：不改变速度
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* */
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int MoveRyiJOGP(u8 devIdx, u16 spd)
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{
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int err = 0;
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if(spd != 0)
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{
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err = ModbusComm16(0,devIdx, MODBUS_WR, 8241, (u16)spd, &g_rydriverctrl.motoreturndat); //点动速度
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}
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if(err >= 0)
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{
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err = ModbusComm16(0,devIdx, MODBUS_WR, BITMOVEADDR, BITJOGPCMD, &g_rydriverctrl.motoreturndat);
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}
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return err;
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}
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int MoveRyiJOGN(u8 devIdx, u16 spd)
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{
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int err = 0;
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if(spd != 0)
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{
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err = ModbusComm16(0,devIdx, MODBUS_WR, 8241, (u16)spd, &g_rydriverctrl.motoreturndat); //点动速度
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}
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if(err >= 0)
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{
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err = ModbusComm16(0,devIdx, MODBUS_WR, BITMOVEADDR, BITJOGNCMD, &g_rydriverctrl.motoreturndat);
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}
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return err;
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}
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//电机停止
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int RyiMotoStop(u8 devIdx)
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{
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int err = 0;
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err = ModbusComm16(0,devIdx, MODBUS_WR, BITMOVEADDR, BITSTOPCMD, &g_rydriverctrl.motoreturndat);
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return err;
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}
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//当前位置给定
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int SetRyiCurPos(u8 devIdx, s16 pos)
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{
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int err = 0;
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err = ModbusComm16(0,devIdx, MODBUS_WR, 9472, pos, &g_rydriverctrl.motoreturndat);
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return err;
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}
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//当前位置清零
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int RyiMotoSetCurPosZero(u8 devIdx)
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{
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int err = 0;
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err = ModbusComm16(0,devIdx, MODBUS_WR, BITMOVEADDR, BITSETCPOSZEROCMD, &g_rydriverctrl.motoreturndat);
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return err;
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}
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//到对应位置
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int RyiMotoToPos(u8 devIdx, u16 pos)
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{
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int err = 0;
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err = ModbusComm16(0,devIdx, MODBUS_WR, BITTOPOSADDR, pos, &g_rydriverctrl.motoreturndat);
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return err;
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}
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//读取电机位置 单位：脉冲
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int GetCurPusPos(u8 devIdx, s16 * puspos)
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{
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int err = 0;
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u16 upuspos = 0;
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err = ModbusComm16(0,devIdx, MODBUS_RD, 9729, 0, &upuspos);
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*puspos = (s16)upuspos;
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return err;
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}
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//读取电机状态 当前指令是否完成0：未完成；1：完成 2：堵转 3：错误
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int GetCurStatus(u8 devIdx, int * statuflg)
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{
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int err = 0;
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u16 sta = 0;
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err = ModbusComm16(0,devIdx, MODBUS_RD, 9728, 0, &sta);
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if(err < 0)
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{
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return err;
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}
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else
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{
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if(sta == 1)
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{
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*statuflg = 1;
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}
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else if(sta == 0)
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{
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*statuflg = 0;
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}
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else
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{
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*statuflg = -1;
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}
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}
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return err;
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}
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#endif
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