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- #ifndef __SERVOCOM__APP_H__
- #define __SERVOCOM__APP_H__
- #define SERVO_AXISNUM 3
- #define X_USERING_TARR 1
- #define Y_USERING_TARR 1
- #define Z_USERING_TARR 1
- #define SERVO_COM_CMD_NUMBER 15
- #define SERVO_X_COM_ID 1 //x轴，Y轴同时用时ID，不能一样。
- #define SERVO_Y_COM_ID 2
- #define SERVO_Z_COM_ID 3
- #define SERVO_ADDR_HAND 0x0200+0 //伺服握手地址
- #define SERVO_ADDR_DI_MODE_SW 0x0300+4 //模式切换功能配置，原故障清除的功能更过来的，极性修改0x0309，一起修改
- #define SERVO_ADDR_DO_TARR_OV 0x0300+24 //转矩到达功能设置，原故障告警的功能更改过来，极性修改0x0325，一起修改
- #define SERVO_ADDR_MODE_SET 0x0400+0 //模式设置，要用扭矩模式+位置模式4，正常时位置模式1
- #define SERVO_ADDR_MOTOR_DIR 0x0400+1 //电机旋转方向
- #define SERVO_ADDR_ENCODE_FB 0x0900+36 //位置反馈计数（编码器），32位。
- #define SERVO_ADDR_TARR_SEL 0x1500+0 //转矩指令来源选择，设置为0；0x1501,设置为，0，内部限制；
- #define SERVO_ADDR_LIMIT_SET 0x1500+5 //转矩下的转矩限制1和2
- #define SERVO_ADDR_SPEED_SET 0x1500+11 //转矩模式下正向速度限制。0x1512，负向速度选择。
- #define SERVO_ADDR_TARBASE_SET 0x1500+16 //转矩模式下的转矩基准值设置
- #define SERVO_ADDR_ALARM_REST 0x2000+3 //伺服故障复位，（有些故障无法复位）
- #define SERVO_ADDR_SERVO_RESTART 0x2000+4 //伺服软件重启
- #define SERVO_ADDR_ALARM_CODE 0x2100+8 //当前故障码
- #define SERVO_ADDR_VDI_VALUE 0x2000+50 //VDI的设置数值 2050
- #define SERVO_ADDR_VDI_USE 0x2300+0 //VDI使能，2300~23013
- #define DI__FUNCTION_POSTARRSEL 24 //位置+转矩切换
- #define DI__FUNCTION_TARRSEL 14 //转矩选择
- #define DI_NCLOSE 1 //常闭
- #define DI_NOPEN 0 //常开
- #define DO_FUNCTION_VALUE 9 //扭矩达到输出
- #define VDI_SON_FUNCTION 1 //VDI伺服使能
- #define VDI_CLRENCODE_FUNCTION 4 //VDI清除位置超差
- #define RUN_MODE 0 //1 //0为扭矩+位置模式、1为扭矩模式
- #define CTRL_TARR_MODE 2 //模式设置为2，转矩模式
- #define CTRL_POSTOTARR_MODE 5 //模式设置为5，扭矩+位置模式
- #define HANDSHAKE 1 //伺服握手
- #define DI_MODE_SW 2 //配置DI5为转矩模式+位置模式的切换输入。
- #define DO_TARR_SW 3 //配置DO3为转矩到达输出
- #define CTRL_MODE_SET 4 //伺服控制模式设置
- #define MOTOR_DIR_SET 5 //电机旋转方向设置。
- #define TARR_SOURCE_SEL 6 //转矩指令来源
- #define TARR_LIMIT12_SET 7 //转矩下速度选择
- #define SPEED_LIMIT_SET 8 //转矩下速度限制
- #define TARR_BASE_SET 9 //转矩基准值
- #define ALARM_REST 10 //伺服故障复位
- #define SERVO_RESTART 11 //伺服软件重启
- #define ALARM_CODE 12 //伺服故障码
- #define ENCODE_FB 13 //编码器反馈
- #define VDI_VALUE_SET 14 //VDI数值设置
- #define VDI_CONFIG_SET 15 //VDI配置
- #define START_SPEED user_datas[600]
- #define STOP_SPEED user_datas[601]
- #define LOW_SPEED user_datas[602]
- #define HIGH_SPEED user_datas[603]
- #define CHANGE_SPEED user_datas[604]
- #define SERVO_STEP user_datas[605]
- #define TARR_VALUE user_datas[606]
- #define LIMIT_SPEED user_datas[607]
- #define CUR_SPEED user_datas[608]
- #define ACCDECPULSE user_datas[609]
- #define SERVO_X_ALARMCODE user_datas[610]
- #define SERVO_POSTOTARR_MODE 0//伺服位置模式+转矩模式，转矩切换用
- #define SERVO_TARR_MODE 1//伺服转矩模式，用IO切换，转矩限制
- #define POS_MODE 0 //位置模式
- #define TARR_MODE 1 //转矩模式
- #define TARR_MODE_MAXLIMIT 1
- #define TARR_MODE_MINLIMIT 0
- #define ENCODE_17BIT 0x20000 //17位编码值
- #define SERVO_TARR_CW 0 //扭矩方式正转
- #define SERVO_TARR_CCW 1 //扭矩方式正转
- typedef struct servo_com_cmd_t
- {
- char cmdcode; //命令编号
- unsigned short address; //读、写的目标地址
- unsigned short number; //读、写长度
- unsigned char * value; //对于读操作，是数值，对于写操作是要发送的值
- char id; //设备ID
- char cmd; //发送的命令
- char dir; //0单次，1循环
- int respone_timeout; //响应超时时间
- void (* servo_on_respone)(struct modbus_master_cmd * cmd, unsigned char * respone, int length); //回调函数
- } servo_com_cmd_t;
- typedef struct servo_param_t
- {
- unsigned short handshake; //握手数值,读取伺服版本-1
- unsigned short di_function_set; //设置DI功能码，-2
- unsigned short di_polarity; //设置DI极性，0为常开、1为常闭。-3
- unsigned short do_function_set; //设置DO功能码，
- unsigned short do_polarity; //设置DO极性，0为常开、1为常闭。
- unsigned short ctrl_mode_set; //模式设置，扭矩模式+位置模式4，正常时位置模式1。
- unsigned short motor_dir_set; //电机方向设置
- unsigned short tarr_source_sel; //转矩指令来源选择
- unsigned short tarr_modea_sel; //转矩指令A来源选择
- unsigned short tarr_modeb_sel; //转矩指令B来源选择
- unsigned short tarr_limit_sel; //转矩限制源的选择
- unsigned short tarr_ai_sel; //转矩模拟量的选择
- unsigned short tarr_Plimit1_sel; //正转转矩限制1；
- unsigned short tarr_Nlimit1_sel; //反转转矩限制1；
- unsigned short tarr_Plimit2_sel; //正转转矩限制2；
- unsigned short tarr_Nlimit2_sel; //反转转矩限制2；
- unsigned short speed_limit_sel; //转速模式下速度限制来源选择
- unsigned short speed_ai_sel;
- unsigned short speed_plimit_set; //转矩模式下正向速度限制。
- unsigned short speed_nlimit_set; //转矩模式下正向速度限制。
- int tarr_limit_set; //转矩模式下的转矩限制设置。
- unsigned short tarr_basis; //转矩基准值；
- unsigned short tarr_basis_up; //tarr_basis+tarr_basis_up为有效值
- unsigned short tarr_basis_dw; //tarr_basi+starr_basis_dw为无效
- unsigned short alarmrest; //伺服故障复位，（有些故障无法复位）
- unsigned short restart; //伺服重新启动；
- unsigned short alarmcode; //告警编码
- unsigned short vdi_value; //VDI的输入数值
- unsigned short vdi_use; //vdi使用
- unsigned short vdi_init; //vdi上电初始值
- unsigned short vdo_use; //vdo使用
- unsigned short vdo_init; //vdo默认值
- unsigned short vdi1_function_set; //vdi1-功能
- unsigned short vdi1_polarity; //vdi1-极性
- unsigned short vdi2_function_set; //vdi2-功能
- unsigned short vdi2_polarity; //vdi2-极性
- unsigned short vdi3_function_set; //vdi3-功能
- unsigned short vdi3_polarity; //vdi3-极性
- unsigned short vdi4_function_set; //vdi4-功能
- unsigned short vdi4_polarity; //vdi4-极性
- long encode; //编码器反馈；
- long precode; //编码器反馈上一次的值
- unsigned short init_step; //初始话步骤
- unsigned char cmd_fb[SERVO_COM_CMD_NUMBER+1];//命令通讯反馈
- unsigned char IO_TO_COM; //IO与伺服通讯标志
- sw_timer_t timer; //定时器
- unsigned char com_number; //通讯次数
- unsigned char com_ok_number; //通讯连接次数
- unsigned char alarm_flag; //伺服故障标志
- unsigned char set_tarr_OKflag; ////0失败,为1为设置1个，2为成功
- unsigned short cycle_pulse; //细分
- unsigned short cycle_length; //周长
- unsigned char alarm_Reverse; //伺服告警电平，0，为常开，1为常闭。
- unsigned char run_mode; //0为扭矩+位置模式、1为扭矩模式
- unsigned char read_alarm_en; //告警读取使能；
- unsigned char read_encode_en; //告警编码使能；
-
- } servo_param_t;
- void set_com_servo_param(unsigned short axis,unsigned short cycle_pluse,unsigned short cycle_length);
- void servo_com_respone(modbus_master_cmd_t *cmd, unsigned char *respone, int length);
- void read_encode_value_cmd(unsigned short axis,unsigned short times);
- int axis_set_com_pos(unsigned short axis,long pos );
- int set_servo_postotarr_limit(unsigned short axis,int tarr,
- unsigned short P_freq,unsigned short N_freq,
- unsigned short dir);
- int set_servo_tarr_limit(unsigned short axis,int maxtarr,int mintarr,
- unsigned short P_freq,unsigned short N_freq,
- unsigned short dir);
- int servo_com_run(void);
- int get_alarm_code(unsigned short axis);
- int servo_com_get_alarm(unsigned short axis);
- int clr_com_servo_alarm(unsigned short axis);
- long get_encode_value(unsigned short axis);
- int get_tarr_set(unsigned short axis);
- void set_com_alarm_reverse(unsigned short axis,int value);
- int GetServoComState(unsigned short axis);
- void SetServoComUse(unsigned short axis,unsigned short enable);
- void ReadServoAlarm_Enable(unsigned short axis,unsigned short en);
- void ReadServoEncode_Enable(unsigned short axis,unsigned short en);
- void Set_VDI_Value(unsigned short axis,unsigned short vdi_value);
- extern servo_param_t servo_x,servo_y,servo_z;
- #endif
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