├── Cia402_6axis.sdf ├── Cia402_6axis.sln ├── Cia402_6axis.v12.suo ├── Cia402_6axis ├── Cia402_6axis.tsproj ├── Cia402_6axis.tsproj.bak ├── Kinematic │ ├── KineModule.cpp │ ├── KineModule.h │ ├── Kinematic.cpp │ ├── Kinematic.h │ ├── Kinematic.rc │ ├── Kinematic.tmc │ ├── Kinematic.vcxproj │ ├── Kinematic.vcxproj.filters │ ├── KinematicClassFactory.cpp │ ├── KinematicClassFactory.h │ ├── KinematicCtrl.cpp │ ├── KinematicCtrl.h │ ├── KinematicDriver.cpp │ ├── KinematicDriver.h │ ├── KinematicInterfaces.h │ ├── KinematicServices.h │ ├── KinematicW32.cpp │ ├── KinematicW32.def │ ├── KinematicW32.idl │ ├── Resource.h │ ├── TcPch.cpp │ ├── TcPch.h │ ├── Trajplanning.cpp │ └── Trajplanning.h ├── MAIN │ ├── DUTs │ │ └── ST_CSV_Record.TcDUT │ ├── GVLs │ │ └── GVL.TcGVL │ ├── GlobalTextList.TcGTLO │ ├── MAIN.plcproj │ ├── MAIN.tmc │ ├── MAIN.tpy │ ├── POUs │ │ ├── AxisEnable.TcPOU │ │ ├── AxisMoveAbsoulte.TcPOU │ │ ├── AxisReset.TcPOU │ │ ├── AxisStop.TcPOU │ │ ├── CSV read_write in text mode │ │ │ ├── P_TextModeRead.TcPOU │ │ │ └── P_TextModeWrite.TcPOU │ │ ├── Homing.TcPOU │ │ ├── MAIN.TcPOU │ │ └── Move_JOG.TcPOU │ ├── PlcTask.TcTTO │ ├── VISU_TASK.TcTTO │ ├── VISUs │ │ └── Visualization.TcVIS │ ├── _CompileInfo │ │ └── CAECA9D3-FF73-9631-34BE-CF9433EA3F7C.compileinfo │ ├── _Libraries │ │ ├── beckhoff automation gmbh │ │ │ ├── tc2_math │ │ │ │ └── 3.3.0.0 │ │ │ │ │ └── tc2_math.compiled-library │ │ │ ├── tc2_mc2 │ │ │ │ └── 3.3.13.0 │ │ │ │ │ └── tc2_mc2.compiled-library │ │ │ ├── tc2_ncfifoaxes │ │ │ │ └── 3.3.1.0 │ │ │ │ │ └── tc2_ncfifoaxes.compiled-library │ │ │ ├── tc2_standard │ │ │ │ └── 3.3.1.0 │ │ │ │ │ └── tc2_standard.compiled-library │ │ │ ├── tc2_system │ │ │ │ └── 3.3.10.0 │ │ │ │ │ └── tc2_system.compiled-library │ │ │ ├── tc2_utilities │ │ │ │ └── 3.3.11.0 │ │ │ │ │ └── tc2_utilities.compiled-library │ │ │ ├── tc3_interfaces │ │ │ │ └── 3.3.0.0 │ │ │ │ │ └── tc3_interfaces.compiled-library │ │ │ └── tc3_module │ │ │ │ └── 3.3.8.0 │ │ │ │ └── tc3_module.compiled-library │ │ ├── intern │ │ │ ├── unit conversion interfaces │ │ │ │ └── 3.5.4.0 │ │ │ │ │ └── unitconversion_itfs.compiled-library │ │ │ ├── visuelemsdatetime interfaces │ │ │ │ └── 3.5.5.0 │ │ │ │ │ └── visuelemsdatetime_itfs.compiled-library │ │ │ └── visufplot │ │ │ │ └── 3.5.6.0 │ │ │ │ └── visufplot.compiled-library │ │ └── system │ │ │ ├── base interfaces │ │ │ └── 3.5.2.0 │ │ │ │ └── base_itfs.compiled-library │ │ │ ├── cmpapp │ │ │ └── 3.5.6.0 │ │ │ │ └── cmpapp.compiled-library │ │ │ ├── cmpbitmappool │ │ │ └── 3.5.5.0 │ │ │ │ └── cmpbitmappool.compiled-library │ │ │ ├── cmpdynamictext │ │ │ └── 3.5.3.50 │ │ │ │ └── cmpdynamictext.compiled-library │ │ │ ├── cmperrors2 interfaces │ │ │ └── 3.5.5.0 │ │ │ │ └── cmperrors2_itfs.compiled-library │ │ │ ├── cmpeventmgr │ │ │ └── 3.5.5.0 │ │ │ │ └── cmpeventmgr.compiled-library │ │ │ ├── cmplog │ │ │ └── 3.5.5.0 │ │ │ │ └── cmplog.compiled-library │ │ │ ├── cmpschedule │ │ │ └── 3.5.5.0 │ │ │ │ └── cmpschedule.compiled-library │ │ │ ├── cmptargetvisu │ │ │ └── 3.5.5.0 │ │ │ │ └── cmptargetvisu.compiled-library │ │ │ ├── cmpvisuhandler │ │ │ └── 3.5.6.0 │ │ │ │ └── cmpvisuhandler.compiled-library │ │ │ ├── collections interfaces │ │ │ └── 3.5.2.0 │ │ │ │ └── collections_itfs.compiled-library │ │ │ ├── collections │ │ │ └── 3.5.5.0 │ │ │ │ └── collections.compiled-library │ │ │ ├── component manager │ │ │ └── 3.5.5.0 │ │ │ │ └── cm.compiled-library │ │ │ ├── data server interfaces │ │ │ └── 3.5.2.0 │ │ │ │ └── dataserver_itfs.compiled-library │ │ │ ├── floatingpointutils │ │ │ └── 3.5.5.0 │ │ │ │ └── floatingpointutils.compiled-library │ │ │ ├── monitoring data interfaces │ │ │ └── 3.5.2.0 │ │ │ │ └── monitoringdata_itfs.compiled-library │ │ │ ├── stringutils │ │ │ └── 3.5.6.0 │ │ │ │ └── stringutils.compiled-library │ │ │ ├── sysdir │ │ │ └── 3.5.6.0 │ │ │ │ └── sysdir.compiled-library │ │ │ ├── sysfile │ │ │ └── 3.5.6.0 │ │ │ │ └── sysfile.compiled-library │ │ │ ├── sysmem │ │ │ └── 3.5.5.0 │ │ │ │ └── sysmem.compiled-library │ │ │ ├── sysprocess │ │ │ └── 3.5.5.0 │ │ │ │ └── sysprocess.compiled-library │ │ │ ├── sysshm │ │ │ └── 3.5.5.0 │ │ │ │ └── sysshm.compiled-library │ │ │ ├── systarget │ │ │ └── 3.5.5.0 │ │ │ │ └── systarget.compiled-library │ │ │ ├── systime │ │ │ └── 3.5.5.0 │ │ │ │ └── systime.compiled-library │ │ │ ├── systimecore │ │ │ └── 3.5.5.0 │ │ │ │ └── systimecore.compiled-library │ │ │ ├── systimertc │ │ │ └── 3.5.5.0 │ │ │ │ └── systimertc.compiled-library │ │ │ ├── systypes interfaces │ │ │ └── 3.5.2.0 │ │ │ │ └── systypes_itfs.compiled-library │ │ │ ├── systypes2 interfaces │ │ │ └── 3.5.4.0 │ │ │ │ └── systypes_itfs.compiled-library │ │ │ ├── visu interfaces │ │ │ └── 3.5.5.0 │ │ │ │ └── visu_itfs.compiled-library │ │ │ ├── visudialogs │ │ │ └── 3.5.6.0 │ │ │ │ └── visudialogs.compiled-library │ │ │ ├── visuelem3dpath │ │ │ └── 3.5.6.0 │ │ │ │ └── visuelem3dpath.compiled-library │ │ │ ├── visuelembase │ │ │ └── 3.5.6.0 │ │ │ │ └── visuelembase.compiled-library │ │ │ ├── visuelemmeter │ │ │ └── 3.5.6.0 │ │ │ │ └── visuelemmeter.compiled-library │ │ │ ├── visuelems │ │ │ └── 3.5.6.10 │ │ │ │ └── visuelems.compiled-library │ │ │ ├── visuelemsdatetime │ │ │ └── 3.5.6.0 │ │ │ │ └── visuelemsdatetime.compiled-library │ │ │ ├── visuelemsspecialcontrols │ │ │ └── 3.5.6.0 │ │ │ │ └── visuelemsspecialcontrols.compiled-library │ │ │ ├── visuelemswincontrols │ │ │ └── 3.5.6.0 │ │ │ │ └── visuelemswincontrols.compiled-library │ │ │ ├── visuelemtexteditor │ │ │ └── 3.5.6.0 │ │ │ │ └── visuelemtexteditor.compiled-library │ │ │ ├── visuinputs │ │ │ └── 3.5.6.0 │ │ │ │ └── visuinputs.compiled-library │ │ │ └── visunativecontrol │ │ │ └── 3.5.6.0 │ │ │ └── visunativecontrol.compiled-library │ └── 视图管理器.TcVMO ├── TrialLicense.tclrs ├── _Boot │ └── TwinCAT RT (x64) │ │ ├── CurrentConfig.xml │ │ └── Plc │ │ ├── Port_851.app │ │ ├── Port_851.autostart │ │ ├── Port_851.cid │ │ ├── Port_851.crc │ │ ├── Port_851.occ │ │ ├── Port_851 │ │ └── Visu │ │ │ ├── delete.bmp │ │ │ ├── dirnew.bmp │ │ │ ├── dirup.bmp │ │ │ ├── element-lamp-lamp1-yellow-off.svg │ │ │ ├── element-lamp-lamp1-yellow-on.svg │ │ │ ├── element-switch-powerswitch-gray-off.svg │ │ │ ├── element-switch-powerswitch-gray-on.svg │ │ │ ├── element-switch-powerswitch-gray-pushed.svg │ │ │ ├── file.bmp │ │ │ ├── fileopen.bmp │ │ │ ├── folder.bmp │ │ │ ├── login.bmp │ │ │ ├── navigationspanel160x80_2.jpg │ │ │ ├── navigationspanel320x160.jpg │ │ │ ├── port_851.globaltextlist.txt │ │ │ ├── textdocument.bmp │ │ │ ├── title.bmp │ │ │ ├── title2.bmp │ │ │ ├── visudialogs.globaltextlist.txt │ │ │ ├── visuelem3dpath.globaltextlist.txt │ │ │ └── visuelemsdatetime.tl_datetime.txt │ │ └── Port_851_boot.tizip └── _Deployment │ └── TwinCAT RT (x64) │ ├── Kinematic.pdb │ └── Kinematic.sys ├── README.md ├── TwinCAT Measurement Project1 ├── Scope YT NC Project1.tcscopex ├── Scope YT Project.tcscope └── TwinCAT Measurement Project1.tcmproj └── ipch └── kinematic-ec41d4bb └── kinematic-ae2f0701.ipch /Cia402_6axis.sdf: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zjw11525/RobotMotion/76b4ab8288f8c77379a3fda3812a9350f3a87965/Cia402_6axis.sdf -------------------------------------------------------------------------------- /Cia402_6axis.sln: -------------------------------------------------------------------------------- 1 |  2 | Microsoft Visual Studio Solution File, Format Version 12.00 3 | # Visual Studio 2013 4 | VisualStudioVersion = 12.0.21005.1 5 | MinimumVisualStudioVersion = 10.0.40219.1 6 | Project("{B1E792BE-AA5F-4E3C-8C82-674BF9C0715B}") = "Cia402_6axis", "Cia402_6axis\Cia402_6axis.tsproj", "{B1BB7F07-7900-4C15-A010-4C428313498F}" 7 | EndProject 8 | Project("{FD9F1D59-E000-42F3-8744-88DE1BE93C06}") = "TwinCAT Measurement Project1", "TwinCAT Measurement Project1\TwinCAT Measurement Project1.tcmproj", "{B5020E06-D41D-4DED-8B35-19122057D4D4}" 9 | EndProject 10 | Global 11 | GlobalSection(SolutionConfigurationPlatforms) = preSolution 12 | Debug|TwinCAT CE7 (ARMV7) = Debug|TwinCAT CE7 (ARMV7) 13 | Debug|TwinCAT RT (x64) = Debug|TwinCAT RT (x64) 14 | Debug|TwinCAT RT (x86) = Debug|TwinCAT RT (x86) 15 | Debug|TwinCAT UM (x64) = Debug|TwinCAT UM (x64) 16 | Debug|TwinCAT UM (x86) = Debug|TwinCAT UM (x86) 17 | Release|TwinCAT CE7 (ARMV7) = Release|TwinCAT CE7 (ARMV7) 18 | Release|TwinCAT RT (x64) = Release|TwinCAT RT (x64) 19 | Release|TwinCAT RT (x86) = Release|TwinCAT RT (x86) 20 | Release|TwinCAT UM (x64) = Release|TwinCAT UM (x64) 21 | Release|TwinCAT UM (x86) = Release|TwinCAT UM (x86) 22 | EndGlobalSection 23 | GlobalSection(ProjectConfigurationPlatforms) = postSolution 24 | {B1BB7F07-7900-4C15-A010-4C428313498F}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7) 25 | {B1BB7F07-7900-4C15-A010-4C428313498F}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7) 26 | {B1BB7F07-7900-4C15-A010-4C428313498F}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64) 27 | {B1BB7F07-7900-4C15-A010-4C428313498F}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64) 28 | {B1BB7F07-7900-4C15-A010-4C428313498F}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86) 29 | {B1BB7F07-7900-4C15-A010-4C428313498F}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86) 30 | {B1BB7F07-7900-4C15-A010-4C428313498F}.Debug|TwinCAT UM (x64).ActiveCfg = Debug|TwinCAT RT (x86) 31 | {B1BB7F07-7900-4C15-A010-4C428313498F}.Debug|TwinCAT UM (x86).ActiveCfg = Debug|TwinCAT RT (x86) 32 | {B1BB7F07-7900-4C15-A010-4C428313498F}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7) 33 | {B1BB7F07-7900-4C15-A010-4C428313498F}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7) 34 | {B1BB7F07-7900-4C15-A010-4C428313498F}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64) 35 | {B1BB7F07-7900-4C15-A010-4C428313498F}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64) 36 | {B1BB7F07-7900-4C15-A010-4C428313498F}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) 37 | {B1BB7F07-7900-4C15-A010-4C428313498F}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86) 38 | {B1BB7F07-7900-4C15-A010-4C428313498F}.Release|TwinCAT UM (x64).ActiveCfg = Release|TwinCAT RT (x86) 39 | {B1BB7F07-7900-4C15-A010-4C428313498F}.Release|TwinCAT UM (x86).ActiveCfg = Release|TwinCAT RT (x86) 40 | {B5020E06-D41D-4DED-8B35-19122057D4D4}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7) 41 | {B5020E06-D41D-4DED-8B35-19122057D4D4}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64) 42 | {B5020E06-D41D-4DED-8B35-19122057D4D4}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86) 43 | {B5020E06-D41D-4DED-8B35-19122057D4D4}.Debug|TwinCAT UM (x64).ActiveCfg = Debug|TwinCAT CE7 (ARMV7) 44 | {B5020E06-D41D-4DED-8B35-19122057D4D4}.Debug|TwinCAT UM (x86).ActiveCfg = Debug|TwinCAT CE7 (ARMV7) 45 | {B5020E06-D41D-4DED-8B35-19122057D4D4}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7) 46 | {B5020E06-D41D-4DED-8B35-19122057D4D4}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64) 47 | {B5020E06-D41D-4DED-8B35-19122057D4D4}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) 48 | {B5020E06-D41D-4DED-8B35-19122057D4D4}.Release|TwinCAT UM (x64).ActiveCfg = Release|TwinCAT CE7 (ARMV7) 49 | {B5020E06-D41D-4DED-8B35-19122057D4D4}.Release|TwinCAT UM (x86).ActiveCfg = Release|TwinCAT CE7 (ARMV7) 50 | {56091A62-D98D-4087-BF7F-3F7A42DF6CEE}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7) 51 | {56091A62-D98D-4087-BF7F-3F7A42DF6CEE}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7) 52 | {56091A62-D98D-4087-BF7F-3F7A42DF6CEE}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64) 53 | {56091A62-D98D-4087-BF7F-3F7A42DF6CEE}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64) 54 | {56091A62-D98D-4087-BF7F-3F7A42DF6CEE}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86) 55 | {56091A62-D98D-4087-BF7F-3F7A42DF6CEE}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86) 56 | {56091A62-D98D-4087-BF7F-3F7A42DF6CEE}.Debug|TwinCAT UM (x64).ActiveCfg = Debug|TwinCAT CE7 (ARMV7) 57 | {56091A62-D98D-4087-BF7F-3F7A42DF6CEE}.Debug|TwinCAT UM (x86).ActiveCfg = Debug|TwinCAT CE7 (ARMV7) 58 | {56091A62-D98D-4087-BF7F-3F7A42DF6CEE}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7) 59 | {56091A62-D98D-4087-BF7F-3F7A42DF6CEE}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7) 60 | {56091A62-D98D-4087-BF7F-3F7A42DF6CEE}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64) 61 | {56091A62-D98D-4087-BF7F-3F7A42DF6CEE}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64) 62 | {56091A62-D98D-4087-BF7F-3F7A42DF6CEE}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) 63 | {56091A62-D98D-4087-BF7F-3F7A42DF6CEE}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86) 64 | {56091A62-D98D-4087-BF7F-3F7A42DF6CEE}.Release|TwinCAT UM (x64).ActiveCfg = Release|TwinCAT CE7 (ARMV7) 65 | {56091A62-D98D-4087-BF7F-3F7A42DF6CEE}.Release|TwinCAT UM (x86).ActiveCfg = Release|TwinCAT CE7 (ARMV7) 66 | {7C0BF052-05CB-4E0D-B9D9-496CAD508DFB}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT RT (x64) 67 | {7C0BF052-05CB-4E0D-B9D9-496CAD508DFB}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64) 68 | {7C0BF052-05CB-4E0D-B9D9-496CAD508DFB}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64) 69 | {7C0BF052-05CB-4E0D-B9D9-496CAD508DFB}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86) 70 | {7C0BF052-05CB-4E0D-B9D9-496CAD508DFB}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86) 71 | {7C0BF052-05CB-4E0D-B9D9-496CAD508DFB}.Debug|TwinCAT UM (x64).ActiveCfg = Debug|TwinCAT UM (x64) 72 | {7C0BF052-05CB-4E0D-B9D9-496CAD508DFB}.Debug|TwinCAT UM (x64).Build.0 = Debug|TwinCAT UM (x64) 73 | {7C0BF052-05CB-4E0D-B9D9-496CAD508DFB}.Debug|TwinCAT UM (x86).ActiveCfg = Debug|TwinCAT UM (x86) 74 | {7C0BF052-05CB-4E0D-B9D9-496CAD508DFB}.Debug|TwinCAT UM (x86).Build.0 = Debug|TwinCAT UM (x86) 75 | {7C0BF052-05CB-4E0D-B9D9-496CAD508DFB}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT RT (x64) 76 | {7C0BF052-05CB-4E0D-B9D9-496CAD508DFB}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64) 77 | {7C0BF052-05CB-4E0D-B9D9-496CAD508DFB}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64) 78 | {7C0BF052-05CB-4E0D-B9D9-496CAD508DFB}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) 79 | {7C0BF052-05CB-4E0D-B9D9-496CAD508DFB}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86) 80 | {7C0BF052-05CB-4E0D-B9D9-496CAD508DFB}.Release|TwinCAT UM (x64).ActiveCfg = Release|TwinCAT UM (x64) 81 | {7C0BF052-05CB-4E0D-B9D9-496CAD508DFB}.Release|TwinCAT UM (x64).Build.0 = Release|TwinCAT UM (x64) 82 | {7C0BF052-05CB-4E0D-B9D9-496CAD508DFB}.Release|TwinCAT UM (x86).ActiveCfg = Release|TwinCAT UM (x86) 83 | {7C0BF052-05CB-4E0D-B9D9-496CAD508DFB}.Release|TwinCAT UM (x86).Build.0 = Release|TwinCAT UM (x86) 84 | EndGlobalSection 85 | GlobalSection(SolutionProperties) = preSolution 86 | HideSolutionNode = FALSE 87 | EndGlobalSection 88 | EndGlobal 89 | -------------------------------------------------------------------------------- /Cia402_6axis.v12.suo: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zjw11525/RobotMotion/76b4ab8288f8c77379a3fda3812a9350f3a87965/Cia402_6axis.v12.suo -------------------------------------------------------------------------------- /Cia402_6axis/Kinematic/KineModule.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zjw11525/RobotMotion/76b4ab8288f8c77379a3fda3812a9350f3a87965/Cia402_6axis/Kinematic/KineModule.cpp -------------------------------------------------------------------------------- /Cia402_6axis/Kinematic/KineModule.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zjw11525/RobotMotion/76b4ab8288f8c77379a3fda3812a9350f3a87965/Cia402_6axis/Kinematic/KineModule.h -------------------------------------------------------------------------------- /Cia402_6axis/Kinematic/Kinematic.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zjw11525/RobotMotion/76b4ab8288f8c77379a3fda3812a9350f3a87965/Cia402_6axis/Kinematic/Kinematic.cpp -------------------------------------------------------------------------------- /Cia402_6axis/Kinematic/Kinematic.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zjw11525/RobotMotion/76b4ab8288f8c77379a3fda3812a9350f3a87965/Cia402_6axis/Kinematic/Kinematic.h -------------------------------------------------------------------------------- /Cia402_6axis/Kinematic/Kinematic.rc: -------------------------------------------------------------------------------- 1 | // Microsoft Visual C++ generated resource script. 2 | // 3 | #include "resource.h" 4 | 5 | #define APSTUDIO_READONLY_SYMBOLS 6 | ///////////////////////////////////////////////////////////////////////////// 7 | // 8 | // Generated from the TEXTINCLUDE 2 resource. 9 | // 10 | #include "afxres.h" 11 | 12 | ///////////////////////////////////////////////////////////////////////////// 13 | #undef APSTUDIO_READONLY_SYMBOLS 14 | 15 | ///////////////////////////////////////////////////////////////////////////// 16 | // English (U.S.) resources 17 | 18 | #if !defined(AFX_RESOURCE_DLL) || defined(AFX_TARG_ENU) 19 | #ifdef _WIN32 20 | LANGUAGE LANG_ENGLISH, SUBLANG_ENGLISH_US 21 | #pragma code_page(1252) 22 | #endif //_WIN32 23 | 24 | #ifdef APSTUDIO_INVOKED 25 | ///////////////////////////////////////////////////////////////////////////// 26 | // 27 | // TEXTINCLUDE 28 | // 29 | 30 | 1 TEXTINCLUDE 31 | BEGIN 32 | "resource.h\0" 33 | END 34 | 35 | 2 TEXTINCLUDE 36 | BEGIN 37 | "#include ""afxres.h""\r\n" 38 | "\0" 39 | END 40 | 41 | 3 TEXTINCLUDE 42 | BEGIN 43 | "\r\n" 44 | "\0" 45 | END 46 | 47 | #endif // APSTUDIO_INVOKED 48 | 49 | 50 | ///////////////////////////////////////////////////////////////////////////// 51 | // 52 | // Version 53 | // 54 | 55 | VS_VERSION_INFO VERSIONINFO 56 | FILEVERSION 1,0,0,1 57 | PRODUCTVERSION 3,1,4018,26 58 | FILEFLAGSMASK 0x17L 59 | #ifdef _DEBUG 60 | FILEFLAGS 0x1L 61 | #else 62 | FILEFLAGS 0x0L 63 | #endif 64 | FILEOS 0x4L 65 | FILETYPE 0x1L 66 | FILESUBTYPE 0x0L 67 | BEGIN 68 | BLOCK "StringFileInfo" 69 | BEGIN 70 | BLOCK "040904b0" 71 | BEGIN 72 | VALUE "CompanyName", "TODO: Add company name " 73 | VALUE "FileDescription", "Kinematic TwinCAT C++ Driver" 74 | VALUE "FileVersion", "1, 0, 0, 1" 75 | VALUE "InternalName", "Kinematic" 76 | VALUE "LegalCopyright", "TODO: Add legal copyright" 77 | VALUE "OriginalFilename", "Kinematic.sys" 78 | VALUE "ProductName", "TODO: Add product name" 79 | VALUE "ProductVersion", "3,1,4018,26" 80 | END 81 | END 82 | BLOCK "VarFileInfo" 83 | BEGIN 84 | VALUE "Translation", 0x409, 1200 85 | END 86 | END 87 | 88 | #endif // English (U.S.) resources 89 | ///////////////////////////////////////////////////////////////////////////// 90 | 91 | 92 | 93 | #ifndef APSTUDIO_INVOKED 94 | ///////////////////////////////////////////////////////////////////////////// 95 | // 96 | // Generated from the TEXTINCLUDE 3 resource. 97 | // 98 | 99 | 100 | ///////////////////////////////////////////////////////////////////////////// 101 | #endif // not APSTUDIO_INVOKED 102 | 103 | -------------------------------------------------------------------------------- /Cia402_6axis/Kinematic/Kinematic.tmc: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | C++ Module Vendor 5 | 6 | 7 | 8 | 9 | C++ 10 | C++ Modules 11 | 12 | 13 | 14 | 15 | CKineModule 16 | {c639523d-3d34-4d57-b493-e07172640b62} 17 | 18 | 19 | {304D006A-8299-4560-AB79-438534B50288} 20 | TC3 C++ 21 | 22 | 23 | SO 24 | 25 | 26 | 1 27 | 28 | 29 | 30 | 31 | ITComObject 32 | 33 | 34 | ITcCyclic 35 | 36 | 37 | ITcADI 38 | 39 | 40 | ITcWatchSource 41 | 42 | 43 | 44 | 45 | TraceLevelMax 46 | Controls the amount of log messages. 47 | TcTraceLevel 48 | #x03002103 49 | 1 50 | 51 | 52 | Parameter 53 | 54 | data1 55 | UDINT 56 | 57 | 58 | data2 59 | UDINT 60 | 61 | 62 | data3 63 | LREAL 64 | 65 | #x00000001 66 | 1 67 | 68 | 69 | 70 | 71 | 0 72 | Inputs 73 | 1 74 | 75 | InAngle 76 | LREAL06 77 | 78 | InPosLREAL03KineModlueJobINTCPosLREAL03LineSpeedLREALCSpeedLREAL 79 | 80 | 81 | 1 82 | Outputs 83 | 1 84 | 85 | Pos_Now 86 | LREAL03 87 | 88 | 89 | OutAngle 90 | LREAL06 91 | ExtPosOKBOOLExtPosReadyBOOL 92 | 93 | 94 | 95 | 96 | #x03002060 97 | CyclicCaller 98 | ITcCyclicCaller 99 | 100 | 101 | 102 | 103 | 104 | %SOLUTIONDEPLOYMENTPATH%TwinCAT RT (x86)\%CLASSFACTORYNAME%.sys 105 | %TC_DRIVERAUTOINSTALLPATH%%CLASSFACTORYNAME%.sys 106 | 107 | 108 | %SOLUTIONDEPLOYMENTPATH%TwinCAT RT (x86)\%CLASSFACTORYNAME%.pdb 109 | %TC_DRIVERAUTOINSTALLPATH%%CLASSFACTORYNAME%.pdb 110 | 111 | 112 | %SOLUTIONDEPLOYMENTPATH%TwinCAT RT (x64)\%CLASSFACTORYNAME%.sys 113 | %TC_DRIVERAUTOINSTALLPATH%%CLASSFACTORYNAME%.sys 114 | 115 | 116 | %SOLUTIONDEPLOYMENTPATH%TwinCAT RT (x64)\%CLASSFACTORYNAME%.pdb 117 | %TC_DRIVERAUTOINSTALLPATH%%CLASSFACTORYNAME%.pdb 118 | 119 | 120 | 121 | 122 | -------------------------------------------------------------------------------- /Cia402_6axis/Kinematic/Kinematic.vcxproj: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | Debug 7 | TwinCAT RT (x64) 8 | 9 | 10 | Debug 11 | TwinCAT RT (x86) 12 | 13 | 14 | Debug 15 | TwinCAT UM (x64) 16 | 17 | 18 | Debug 19 | TwinCAT UM (x86) 20 | 21 | 22 | Release 23 | TwinCAT RT (x64) 24 | 25 | 26 | Release 27 | TwinCAT RT (x86) 28 | 29 | 30 | Release 31 | TwinCAT UM (x64) 32 | 33 | 34 | Release 35 | TwinCAT UM (x86) 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | NotUsing 53 | 54 | 55 | 56 | Create 57 | Create 58 | Create 59 | Create 60 | Create 61 | Create 62 | Create 63 | Create 64 | 65 | 66 | 67 | true 68 | true 69 | true 70 | true 71 | 72 | 73 | true 74 | true 75 | true 76 | true 77 | 78 | 79 | true 80 | true 81 | true 82 | true 83 | 84 | 85 | NotUsing 86 | 87 | 88 | 89 | 90 | 91 | 92 | 93 | 94 | 95 | 96 | 97 | true 98 | true 99 | true 100 | true 101 | 102 | 103 | 104 | {7c0bf052-05cb-4e0d-b9d9-496cad508dfb} 105 | Kinematic 106 | Win32Proj 107 | 108 | 109 | 110 | v120 111 | 112 | 113 | v120 114 | 115 | 116 | v120 117 | 118 | 119 | v120 120 | 121 | 122 | v120 123 | 124 | 125 | v120 126 | 127 | 128 | v120 129 | 130 | 131 | v120 132 | 133 | 134 | 135 | 136 | 137 | 138 | 139 | 140 | 141 | 142 | 143 | 144 | 145 | 146 | 147 | 148 | 149 | 150 | <_ProjectFileVersion>10.0.21006.1 151 | AllRules.ruleset 152 | 153 | 154 | AllRules.ruleset 155 | 156 | 157 | AllRules.ruleset 158 | 159 | 160 | AllRules.ruleset 161 | 162 | 163 | AllRules.ruleset 164 | 165 | 166 | AllRules.ruleset 167 | 168 | 169 | AllRules.ruleset 170 | 171 | 172 | AllRules.ruleset 173 | 174 | 175 | 176 | 177 | 178 | 179 | 180 | 181 | 182 | 183 | 184 | 185 | 186 | 187 | 188 | 189 | 190 | 191 | 192 | 193 | 194 | 195 | -------------------------------------------------------------------------------- /Cia402_6axis/Kinematic/Kinematic.vcxproj.filters: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | 5 | {e3ace2d7-0d12-44ca-8e18-779e8609dc38} 6 | 7 | 8 | {3be04df6-36e0-4d6b-af59-14abdf7760a1} 9 | 10 | 11 | {bfbaa3e0-608b-48e7-8ea7-4923cf0d997e} 12 | 13 | 14 | {1940138a-6095-4bb7-98c7-9cbe73d8256a} 15 | 16 | 17 | {6ed318d5-d4e5-45b3-b5b0-66dd0555436f} 18 | 19 | 20 | 21 | 22 | Header Files 23 | 24 | 25 | Header Files 26 | 27 | 28 | Header Files 29 | 30 | 31 | Header Files 32 | 33 | 34 | Header Files 35 | 36 | 37 | TwinCAT UM Files 38 | 39 | 40 | TwinCAT RT Files 41 | 42 | 43 | Header Files 44 | 45 | 46 | Header Files 47 | 48 | 49 | Header Files 50 | 51 | 52 | 53 | 54 | Source Files 55 | 56 | 57 | Source Files 58 | 59 | 60 | TwinCAT UM Files 61 | 62 | 63 | TwinCAT UM Files 64 | 65 | 66 | TwinCAT RT Files 67 | 68 | 69 | Source Files 70 | 71 | 72 | Source Files 73 | 74 | 75 | Source Files 76 | 77 | 78 | 79 | 80 | Source Files 81 | 82 | 83 | 84 | 85 | TwinCAT UM Files 86 | 87 | 88 | TMC Files 89 | 90 | 91 | 92 | 93 | TwinCAT UM Files 94 | 95 | 96 | -------------------------------------------------------------------------------- /Cia402_6axis/Kinematic/KinematicClassFactory.cpp: -------------------------------------------------------------------------------- 1 | /////////////////////////////////////////////////////////////////////////////// 2 | // KinematicClassFactory.cpp 3 | #include "TcPch.h" 4 | #pragma hdrstop 5 | 6 | #include "KinematicClassFactory.h" 7 | #include "KinematicServices.h" 8 | #include "KinematicVersion.h" 9 | #include "KineModule.h" 10 | 11 | BEGIN_CLASS_MAP(CKinematicClassFactory) 12 | /// 13 | CLASS_ENTRY(CID_KinematicCKineModule, SRVNAME_KINEMATIC "!CKineModule", CKineModule) 14 | /// 15 | END_CLASS_MAP() 16 | 17 | CKinematicClassFactory::CKinematicClassFactory() : CObjClassFactory() 18 | { 19 | TcDbgUnitSetImageName(TCDBG_UNIT_IMAGE_NAME(SRVNAME_KINEMATIC)); 20 | #if defined(TCDBG_UNIT_VERSION) 21 | TcDbgUnitSetVersion(TCDBG_UNIT_VERSION(Kinematic)); 22 | #endif //defined(TCDBG_UNIT_VERSION) 23 | } 24 | 25 | -------------------------------------------------------------------------------- /Cia402_6axis/Kinematic/KinematicClassFactory.h: -------------------------------------------------------------------------------- 1 | /////////////////////////////////////////////////////////////////////////////// 2 | // Kinematic.h 3 | 4 | #pragma once 5 | 6 | #include "ObjClassFactory.h" 7 | 8 | class CKinematicClassFactory : public CObjClassFactory 9 | { 10 | public: 11 | CKinematicClassFactory(); 12 | DECLARE_CLASS_MAP() 13 | }; 14 | 15 | 16 | -------------------------------------------------------------------------------- /Cia402_6axis/Kinematic/KinematicCtrl.cpp: -------------------------------------------------------------------------------- 1 | // KinematicCtrl.cpp : Implementation of CTcKinematicCtrl 2 | #include "TcPch.h" 3 | #pragma hdrstop 4 | 5 | #include "KinematicW32.h" 6 | #include "KinematicCtrl.h" 7 | 8 | ///////////////////////////////////////////////////////////////////////////// 9 | // CKinematicCtrl 10 | 11 | CKinematicCtrl::CKinematicCtrl() 12 | : ITcOCFCtrlImpl() 13 | { 14 | } 15 | 16 | CKinematicCtrl::~CKinematicCtrl() 17 | { 18 | } 19 | 20 | -------------------------------------------------------------------------------- /Cia402_6axis/Kinematic/KinematicCtrl.h: -------------------------------------------------------------------------------- 1 | /////////////////////////////////////////////////////////////////////////////// 2 | // KinematicCtrl.h 3 | 4 | #ifndef __KINEMATICCTRL_H__ 5 | #define __KINEMATICCTRL_H__ 6 | 7 | #include 8 | #include 9 | 10 | #define KINEMATICDRV_NAME "KINEMATIC" 11 | 12 | #include "resource.h" // main symbols 13 | #include "KinematicW32.h" 14 | #include "TcBase.h" 15 | #include "KinematicClassFactory.h" 16 | #include "TcOCFCtrlImpl.h" 17 | 18 | class CKinematicCtrl 19 | : public CComObjectRootEx 20 | , public CComCoClass 21 | , public IKinematicCtrl 22 | , public ITcOCFCtrlImpl 23 | { 24 | public: 25 | CKinematicCtrl(); 26 | virtual ~CKinematicCtrl(); 27 | 28 | DECLARE_REGISTRY_RESOURCEID(IDR_KINEMATICCTRL) 29 | DECLARE_NOT_AGGREGATABLE(CKinematicCtrl) 30 | 31 | DECLARE_PROTECT_FINAL_CONSTRUCT() 32 | 33 | BEGIN_COM_MAP(CKinematicCtrl) 34 | COM_INTERFACE_ENTRY(IKinematicCtrl) 35 | COM_INTERFACE_ENTRY(ITcCtrl) 36 | COM_INTERFACE_ENTRY(ITcCtrl2) 37 | END_COM_MAP() 38 | 39 | }; 40 | 41 | #endif // #ifndef __KINEMATICCTRL_H__ 42 | -------------------------------------------------------------------------------- /Cia402_6axis/Kinematic/KinematicDriver.cpp: -------------------------------------------------------------------------------- 1 | /////////////////////////////////////////////////////////////////////////////// 2 | // KinematicDriver.cpp 3 | #include "TcPch.h" 4 | #pragma hdrstop 5 | 6 | #include "KinematicDriver.h" 7 | #include "KinematicClassFactory.h" 8 | 9 | DECLARE_GENERIC_DEVICE(KINEMATICDRV) 10 | 11 | IOSTATUS CKinematicDriver::OnLoad( ) 12 | { 13 | TRACE(_T("CObjClassFactory::OnLoad()\n") ); 14 | m_pObjClassFactory = new CKinematicClassFactory(); 15 | 16 | return IOSTATUS_SUCCESS; 17 | } 18 | 19 | VOID CKinematicDriver::OnUnLoad( ) 20 | { 21 | delete m_pObjClassFactory; 22 | } 23 | 24 | unsigned long _cdecl CKinematicDriver::KINEMATICDRV_GetVersion( ) 25 | { 26 | return( (KINEMATICDRV_Major << 8) | KINEMATICDRV_Minor ); 27 | } 28 | 29 | -------------------------------------------------------------------------------- /Cia402_6axis/Kinematic/KinematicDriver.h: -------------------------------------------------------------------------------- 1 | /////////////////////////////////////////////////////////////////////////////// 2 | // KinematicDriver.h 3 | 4 | #ifndef __KINEMATICDRIVER_H__ 5 | #define __KINEMATICDRIVER_H__ 6 | 7 | #if _MSC_VER > 1000 8 | #pragma once 9 | #endif // _MSC_VER > 1000 10 | 11 | #include "TcBase.h" 12 | 13 | #define KINEMATICDRV_NAME "KINEMATIC" 14 | #define KINEMATICDRV_Major 1 15 | #define KINEMATICDRV_Minor 0 16 | 17 | #define DEVICE_CLASS CKinematicDriver 18 | 19 | #include "ObjDriver.h" 20 | 21 | class CKinematicDriver : public CObjDriver 22 | { 23 | public: 24 | virtual IOSTATUS OnLoad(); 25 | virtual VOID OnUnLoad(); 26 | 27 | ////////////////////////////////////////////////////// 28 | // VxD-Services exported by this driver 29 | static unsigned long _cdecl KINEMATICDRV_GetVersion(); 30 | ////////////////////////////////////////////////////// 31 | 32 | }; 33 | 34 | Begin_VxD_Service_Table(KINEMATICDRV) 35 | VxD_Service( KINEMATICDRV_GetVersion ) 36 | End_VxD_Service_Table 37 | 38 | 39 | #endif // ifndef __KINEMATICDRIVER_H__ -------------------------------------------------------------------------------- /Cia402_6axis/Kinematic/KinematicInterfaces.h: -------------------------------------------------------------------------------- 1 | /////////////////////////////////////////////////////////////////////////////// 2 | // KinematicInterfaces.h 3 | 4 | #pragma once 5 | 6 | #include "TcInterfaces.h" 7 | #include "TcIoInterfaces.h" 8 | #include "TcRtInterfaces.h" 9 | #include "KinematicServices.h" 10 | 11 | /// 12 | /// 13 | -------------------------------------------------------------------------------- /Cia402_6axis/Kinematic/KinematicServices.h: -------------------------------------------------------------------------------- 1 | /////////////////////////////////////////////////////////////////////////////// 2 | // KinematicServices.h 3 | 4 | #pragma once 5 | 6 | #include "TcServices.h" 7 | 8 | const ULONG DrvID_Kinematic = 0x3F000000; 9 | #define SRVNAME_KINEMATIC "Kinematic" 10 | 11 | /// 12 | const CTCID CID_KinematicCKineModule = {0xc639523d,0x3d34,0x4d57,{0xb4,0x93,0xe0,0x71,0x72,0x64,0x0b,0x62}}; 13 | /// 14 | 15 | /// 16 | const PTCID PID_KineModuleParameter = 0x00000001; 17 | /// 18 | 19 | /// 20 | typedef struct _KineModuleParameter 21 | { 22 | ULONG data1; 23 | ULONG data2; 24 | double data3; 25 | } KineModuleParameter, *PKineModuleParameter; 26 | 27 | #pragma pack(push,1) 28 | typedef struct _KineModuleInputs 29 | { 30 | double InAngle[6]; 31 | double InPos[3]; 32 | SHORT KineModlueJob; 33 | double CPos[3]; 34 | double LineSpeed; 35 | double CSpeed; 36 | } KineModuleInputs, *PKineModuleInputs; 37 | #pragma pack(pop) 38 | 39 | #pragma pack(push,1) 40 | typedef struct _KineModuleOutputs 41 | { 42 | double Pos_Now[3]; 43 | double OutAngle[6]; 44 | bool ExtPosOK; 45 | bool ExtPosReady; 46 | } KineModuleOutputs, *PKineModuleOutputs; 47 | #pragma pack(pop) 48 | 49 | /// 50 | 51 | 52 | 53 | /// 54 | #define ADI_KineModuleInputs 0 55 | #define ADI_KineModuleOutputs 1 56 | /// 57 | 58 | /// 59 | /// 60 | -------------------------------------------------------------------------------- /Cia402_6axis/Kinematic/KinematicW32.cpp: -------------------------------------------------------------------------------- 1 | // KinematicW32.cpp : Implementation of DLL Exports. 2 | 3 | //You may derive a class from CComModule and use it if you want to override 4 | //something, but do not change the name of _Module 5 | #include "TcPch.h" 6 | #pragma hdrstop 7 | 8 | #include "KinematicCtrl.h" 9 | #include "TcSysW32_i.c" 10 | #include "KinematicW32_i.c" 11 | 12 | #ifdef _ATL_STATIC_REGISTRY 13 | #include 14 | #endif 15 | 16 | CComModule _Module; 17 | 18 | BEGIN_OBJECT_MAP(ObjectMap) 19 | OBJECT_ENTRY(CLSID_KinematicCtrl, CKinematicCtrl) 20 | END_OBJECT_MAP() 21 | 22 | ///////////////////////////////////////////////////////////////////////////// 23 | // DLL Entry Point 24 | 25 | extern "C" 26 | BOOL WINAPI DllMain(HANDLE hInstance, DWORD dwReason, LPVOID /*lpReserved*/) 27 | { 28 | if (dwReason == DLL_PROCESS_ATTACH) 29 | { 30 | _Module.Init(ObjectMap, (HINSTANCE)hInstance); 31 | #ifndef UNDER_CE 32 | DisableThreadLibraryCalls((HINSTANCE)hInstance); 33 | #endif 34 | } 35 | else if (dwReason == DLL_PROCESS_DETACH) 36 | { 37 | _Module.Term(); 38 | } 39 | return TRUE; // ok 40 | } 41 | 42 | ///////////////////////////////////////////////////////////////////////////// 43 | // Used to determine whether the DLL can be unloaded by OLE 44 | 45 | STDAPI DllCanUnloadNow(void) 46 | { 47 | return (_Module.GetLockCount()==0) ? S_OK : S_FALSE; 48 | } 49 | 50 | ///////////////////////////////////////////////////////////////////////////// 51 | // Returns a class factory to create an object of the requested type 52 | 53 | STDAPI DllGetClassObject(REFCLSID rclsid, REFIID riid, LPVOID* ppv) 54 | { 55 | return _Module.GetClassObject(rclsid, riid, ppv); 56 | } 57 | 58 | ///////////////////////////////////////////////////////////////////////////// 59 | // DllRegisterServer - Adds entries to the system registry 60 | 61 | STDAPI DllRegisterServer(void) 62 | { 63 | // registers object, typelib and all interfaces in typelib 64 | return _Module.RegisterServer(TRUE); 65 | } 66 | 67 | ///////////////////////////////////////////////////////////////////////////// 68 | // DllUnregisterServer - Removes entries from the system registry 69 | 70 | STDAPI DllUnregisterServer(void) 71 | { 72 | _Module.UnregisterServer(); 73 | return S_OK; 74 | } 75 | 76 | ///////////////////////////////////////////////////////////////////////////// 77 | STDAPI DllGetTcCtrl(ITcCtrl** ppCtrl) 78 | { 79 | HRESULT hr = S_OK; 80 | if ( ppCtrl == NULL ) 81 | { 82 | hr = E_POINTER; 83 | } 84 | else 85 | { 86 | CComObject* pKinematicCtrl; 87 | pKinematicCtrl = new CComObject(); 88 | hr = pKinematicCtrl->QueryInterface(IID_ITcCtrl, reinterpret_cast(ppCtrl)); 89 | } 90 | return hr; 91 | } 92 | -------------------------------------------------------------------------------- /Cia402_6axis/Kinematic/KinematicW32.def: -------------------------------------------------------------------------------- 1 | ; KINEMATICW32.def : Declares the module parameters. 2 | 3 | LIBRARY "KinematicW32.DLL" 4 | 5 | EXPORTS 6 | DllCanUnloadNow PRIVATE 7 | DllGetClassObject PRIVATE 8 | DllRegisterServer PRIVATE 9 | DllUnregisterServer PRIVATE 10 | DllGetTcCtrl PRIVATE -------------------------------------------------------------------------------- /Cia402_6axis/Kinematic/KinematicW32.idl: -------------------------------------------------------------------------------- 1 | // KinematicW32.idl : IDL source for KinematicW32.dll 2 | // 3 | 4 | // This file will be processed by the MIDL tool to 5 | // produce the type library (KinematicW32.tlb) and marshalling code. 6 | 7 | import "oaidl.idl"; 8 | import "ocidl.idl"; 9 | [ 10 | object, 11 | uuid(54EDF0AC-ACDE-4456-920E-A26D15A8503A), 12 | 13 | helpstring("IKinematic Interface"), 14 | pointer_default(unique) 15 | ] 16 | interface IKinematicCtrl : IUnknown 17 | { 18 | }; 19 | 20 | [ 21 | uuid(BF6DEC14-AD1A-44a6-82E2-5913CDE2288D), 22 | version(1.0), 23 | helpstring("KinematicW32 1.0 Type Library") 24 | ] 25 | library KINEMATICW32Lib 26 | { 27 | importlib("stdole32.tlb"); 28 | importlib("stdole2.tlb"); 29 | 30 | [ 31 | uuid(F634CCE5-F3B1-47a9-8151-D2B004A4B8F3), 32 | helpstring("KinematicCtrl Class") 33 | ] 34 | coclass KinematicCtrl 35 | { 36 | [default] interface IKinematicCtrl; 37 | }; 38 | }; 39 | -------------------------------------------------------------------------------- /Cia402_6axis/Kinematic/Resource.h: -------------------------------------------------------------------------------- 1 | //{{NO_DEPENDENCIES}} 2 | // Microsoft Visual C++ generated include file. 3 | // Used by Kinematic.rc 4 | #define IDS_KINEMATIC 100 5 | #define IDR_KINEMATICCTRL 101 6 | 7 | // Next default values for new objects 8 | // 9 | #ifdef APSTUDIO_INVOKED 10 | #ifndef APSTUDIO_READONLY_SYMBOLS 11 | #define _APS_NEXT_RESOURCE_VALUE 101 12 | #define _APS_NEXT_COMMAND_VALUE 40001 13 | #define _APS_NEXT_CONTROL_VALUE 1001 14 | #define _APS_NEXT_SYMED_VALUE 101 15 | #endif 16 | #endif 17 | -------------------------------------------------------------------------------- /Cia402_6axis/Kinematic/TcPch.cpp: -------------------------------------------------------------------------------- 1 | /////////////////////////////////////////////////////////////////////////////// 2 | // TcPch.cpp includes the projects standard header files using TcPch.h 3 | // It is dedicated to create the precompiled header, which 4 | // is configured as a file specifc build option. 5 | // 6 | // - TcPch.pch will be the pre-compiled header 7 | // - TcPch.obj will contain the pre-compiled type information 8 | // 9 | // For correct precompiled header usage each *.cpp source file in 10 | // the TwinCAT driver project must start with the following two lines: 11 | 12 | #include "TcPch.h" 13 | #pragma hdrstop 14 | -------------------------------------------------------------------------------- /Cia402_6axis/Kinematic/TcPch.h: -------------------------------------------------------------------------------- 1 | /////////////////////////////////////////////////////////////////////////////// 2 | // TcPch.h includes TwinCAT standard header files, 3 | // or project specific include files that are used frequently, 4 | // but are changed infrequently 5 | 6 | #pragma once 7 | 8 | #include "TcDef.h" 9 | #include "TcBase.h" 10 | #include "TcError.h" 11 | #include "OsBase.h" 12 | -------------------------------------------------------------------------------- /Cia402_6axis/Kinematic/Trajplanning.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/zjw11525/RobotMotion/76b4ab8288f8c77379a3fda3812a9350f3a87965/Cia402_6axis/Kinematic/Trajplanning.cpp -------------------------------------------------------------------------------- /Cia402_6axis/Kinematic/Trajplanning.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | #ifndef Trajplanning_h 3 | #define Trajplanning_h 4 | #include "Kinematic.h" 5 | #include 6 | #include "TcPch.h" 7 | 8 | using namespace TC_VECTOR_NAMESPACE; 9 | 10 | #define PI 3.1415926 11 | #define PlcCycle 0.001 12 | 13 | class Trajplanning 14 | { 15 | public: 16 | Trajplanning(); 17 | Array MoveLine(Array pose_start, Array trans, double Velocity, double AccelerationTime, double t); 18 | Array CartesianMove(double PositionX, double PositionY, double PositionZ, Theta Q_Start, Array T_Start, double Velocity, double AccelerationTime, double t, double AnglePitch = 90, double AngleYaw = 0); 19 | ~Trajplanning(); 20 | private: 21 | vector ScurveGen(double Start, double End, double Velocity, double Acceleration, int Num); 22 | double SCurveScaling(double t, double V, double A, double J, vector T, double Tf); 23 | vector SineGen(double Velocity, double AccelerationTime, int Num, double Step); 24 | }; 25 | 26 | #endif -------------------------------------------------------------------------------- /Cia402_6axis/MAIN/DUTs/ST_CSV_Record.TcDUT: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | 14 | 15 | -------------------------------------------------------------------------------- /Cia402_6axis/MAIN/GVLs/GVL.TcGVL: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | 111 | 112 | -------------------------------------------------------------------------------- /Cia402_6axis/MAIN/GlobalTextList.TcGTLO: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | "10" 10 | "%.3f" 11 | 12 | 13 | 14 | "8" 15 | "%d" 16 | 17 | 18 | 19 | "30" 20 | "%f" 21 | 22 | 23 | 24 | "6" 25 | "%s" 26 | 27 | 28 | 29 | "38" 30 | "+" 31 | 32 | 33 | 34 | "40" 35 | "++" 36 | 37 | 38 | 39 | "37" 40 | "-" 41 | 42 | 43 | 44 | "39" 45 | "--" 46 | 47 | 48 | 49 | "26" 50 | "Actual Position:" 51 | 52 | 53 | 54 | "27" 55 | "Actual Speed:" 56 | 57 | 58 | 59 | "25" 60 | "ActualPosition:" 61 | 62 | 63 | 64 | "9" 65 | "Axis State" 66 | 67 | 68 | 69 | "23" 70 | "Axis1" 71 | 72 | 73 | 74 | "55" 75 | "A点" 76 | 77 | 78 | 79 | "114" 80 | "ChannelOv" 81 | 82 | 83 | 84 | "113" 85 | "ChannelOver" 86 | 87 | 88 | 89 | "116" 90 | "ChOverride" 91 | 92 | 93 | 94 | "21" 95 | "Current Job State" 96 | 97 | 98 | 99 | "22" 100 | "Current Job State:" 101 | 102 | 103 | 104 | "7" 105 | "Current Job State：" 106 | 107 | 108 | 109 | "20" 110 | "Current Job:" 111 | 112 | 113 | 114 | "5" 115 | "Current Job：" 116 | 117 | 118 | 119 | "14" 120 | "Current Position:" 121 | 122 | 123 | 124 | "15" 125 | "Current Speed:" 126 | 127 | 128 | 129 | "11" 130 | "CurrentJobState" 131 | 132 | 133 | 134 | "18" 135 | "CurrentJobState:" 136 | 137 | 138 | 139 | "119" 140 | "DisGroup" 141 | 142 | 143 | 144 | "34" 145 | "DOWN" 146 | 147 | 148 | 149 | "102" 150 | "FIFO:%d" 151 | 152 | 153 | 154 | "104" 155 | "FIFO_" 156 | 157 | 158 | 159 | "110" 160 | "FIFO_)top" 161 | 162 | 163 | 164 | "108" 165 | "FIFO_Disin" 166 | 167 | 168 | 169 | "107" 170 | "FIFO_in" 171 | 172 | 173 | 174 | "115" 175 | "FIFO_inte" 176 | 177 | 178 | 179 | "106" 180 | "FIFO_overwrite" 181 | 182 | 183 | 184 | "111" 185 | "FIFO_S" 186 | 187 | 188 | 189 | "109" 190 | "FIFO_start" 191 | 192 | 193 | 194 | "112" 195 | "FIFO_Stop" 196 | 197 | 198 | 199 | "103" 200 | "FIFO_write" 201 | 202 | 203 | 204 | "101" 205 | "FIFO长度:%d" 206 | 207 | 208 | 209 | "0" 210 | "Global State" 211 | 212 | 213 | 214 | "120" 215 | "Group" 216 | 217 | 218 | 219 | "52" 220 | "HOME" 221 | 222 | 223 | 224 | "3" 225 | "Init" 226 | 227 | 228 | 229 | "118" 230 | "Integrate" 231 | 232 | 233 | 234 | "17" 235 | "ModeOfOperation:" 236 | 237 | 238 | 239 | "4" 240 | "MOVE" 241 | 242 | 243 | 244 | "33" 245 | "MOVE DOWN" 246 | 247 | 248 | 249 | "32" 250 | "MOVE UP" 251 | 252 | 253 | 254 | "31" 255 | "moveup" 256 | 257 | 258 | 259 | "2" 260 | "OFF" 261 | 262 | 263 | 264 | "1" 265 | "ON" 266 | 267 | 268 | 269 | "28" 270 | "Operation Mode" 271 | 272 | 273 | 274 | "29" 275 | "Operation Mode:" 276 | 277 | 278 | 279 | "122" 280 | "Override" 281 | 282 | 283 | 284 | "105" 285 | "overwrite" 286 | 287 | 288 | 289 | "117" 290 | "Overwrite" 291 | 292 | 293 | 294 | "62" 295 | "READ" 296 | 297 | 298 | 299 | "78" 300 | "s" 301 | 302 | 303 | 304 | "121" 305 | "Start" 306 | 307 | 308 | 309 | "36" 310 | "Stop" 311 | 312 | 313 | 314 | "13" 315 | "Target Acceleration:" 316 | 317 | 318 | 319 | "19" 320 | "Target Distance:" 321 | 322 | 323 | 324 | "16" 325 | "Target Jerk:" 326 | 327 | 328 | 329 | "12" 330 | "Target Speed:" 331 | 332 | 333 | 334 | "35" 335 | "UP" 336 | 337 | 338 | 339 | "91" 340 | "X:" 341 | 342 | 343 | 344 | "81" 345 | "X增量" 346 | 347 | 348 | 349 | "85" 350 | "X增量:" 351 | 352 | 353 | 354 | "92" 355 | "Y:" 356 | 357 | 358 | 359 | "82" 360 | "Y增量" 361 | 362 | 363 | 364 | "84" 365 | "Y增量:" 366 | 367 | 368 | 369 | "93" 370 | "Z:" 371 | 372 | 373 | 374 | "83" 375 | "Z增量:" 376 | 377 | 378 | 379 | "44" 380 | "一号轴" 381 | 382 | 383 | 384 | "41" 385 | "使能电机" 386 | 387 | 388 | 389 | "51" 390 | "停止" 391 | 392 | 393 | 394 | "71" 395 | "全局速度:" 396 | 397 | 398 | 399 | "70" 400 | "全局速度值:" 401 | 402 | 403 | 404 | "97" 405 | "关节插补" 406 | 407 | 408 | 409 | "99" 410 | "关节规划" 411 | 412 | 413 | 414 | "58" 415 | "初始化A点" 416 | 417 | 418 | 419 | "73" 420 | "回零点" 421 | 422 | 423 | 424 | "59" 425 | "复位" 426 | 427 | 428 | 429 | "79" 430 | "外部位置:" 431 | 432 | 433 | 434 | "42" 435 | "失能电机" 436 | 437 | 438 | 439 | "125" 440 | "夹持" 441 | 442 | 443 | 444 | "60" 445 | "定零点" 446 | 447 | 448 | 449 | "86" 450 | "实时位置" 451 | 452 | 453 | 454 | "87" 455 | "实时坐标X:" 456 | 457 | 458 | 459 | "88" 460 | "实时坐标Y:" 461 | 462 | 463 | 464 | "89" 465 | "实时坐标Z:" 466 | 467 | 468 | 469 | "94" 470 | "平移增量" 471 | 472 | 473 | 474 | "123" 475 | "张开" 476 | 477 | 478 | 479 | "57" 480 | "往复运动" 481 | 482 | 483 | 484 | "75" 485 | "执行" 486 | 487 | 488 | 489 | "126" 490 | "松开" 491 | 492 | 493 | 494 | "76" 495 | "标记" 496 | 497 | 498 | 499 | "56" 500 | "标记A点" 501 | 502 | 503 | 504 | "77" 505 | "清零" 506 | 507 | 508 | 509 | "53" 510 | "状态" 511 | 512 | 513 | 514 | "54" 515 | "状态:" 516 | 517 | 518 | 519 | "45" 520 | "电机位置" 521 | 522 | 523 | 524 | "50" 525 | "电机位置:" 526 | 527 | 528 | 529 | "46" 530 | "电机速度" 531 | 532 | 533 | 534 | "49" 535 | "电机速度:" 536 | 537 | 538 | 539 | "61" 540 | "直线插补" 541 | 542 | 543 | 544 | "80" 545 | "直线规划" 546 | 547 | 548 | 549 | "90" 550 | "直线运动X增量:" 551 | 552 | 553 | 554 | "96" 555 | "笛卡尔规划" 556 | 557 | 558 | 559 | "95" 560 | "绝对位置" 561 | 562 | 563 | 564 | "24" 565 | "表格" 566 | 567 | 568 | 569 | "98" 570 | "规划" 571 | 572 | 573 | 574 | "74" 575 | "设定零点" 576 | 577 | 578 | 579 | "63" 580 | "读取CSV" 581 | 582 | 583 | 584 | "72" 585 | "读取外部位置" 586 | 587 | 588 | 589 | "64" 590 | "轴1设定值:" 591 | 592 | 593 | 594 | "65" 595 | "轴2设定值:" 596 | 597 | 598 | 599 | "66" 600 | "轴3设定值:" 601 | 602 | 603 | 604 | "67" 605 | "轴4设定值:" 606 | 607 | 608 | 609 | "68" 610 | "轴5设定值:" 611 | 612 | 613 | 614 | "69" 615 | "轴6设定值:" 616 | 617 | 618 | 619 | "43" 620 | "轴参数" 621 | 622 | 623 | 624 | "100" 625 | "轴数:%d" 626 | 627 | 628 | 629 | "47" 630 | "运动模式" 631 | 632 | 633 | 634 | "48" 635 | "运动模式:" 636 | 637 | 638 | 639 | "124" 640 | "闭合" 641 | 642 | 643 | 644 | 645 | {52d29f65-64f7-43f6-9f90-d4f42ac96949} 646 | {e53a3b1a-5d3a-4e7b-a14d-cde2036db71d} 647 | {6cf6e262-2c69-4e60-8b03-3e9d992514dd} 648 | 649 | 650 | 651 | System.Collections.ArrayList 652 | {63784cbb-9ba0-45e6-9d69-babf3f040511} 653 | System.Guid 654 | System.String 655 | {53da1be7-ad25-47c3-b0e8-e26286dad2e0} 656 | 657 | 658 | 659 | -------------------------------------------------------------------------------- /Cia402_6axis/MAIN/MAIN.plcproj: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | 1.0.0.0 5 | 2.0 6 | {56091a62-d98d-4087-bf7f-3f7a42df6cee} 7 | True 8 | MAIN 9 | 3.1.0.9 10 | {930f14b1-0040-4354-9476-b274ee4bb549} 11 | {e5713b5e-206e-4a60-94cc-1b0d9b745fcb} 12 | {1e105843-302f-4154-9728-bac5c7b3dfd4} 13 | {4e483ef6-1fd1-4d2c-b8c7-48cca14b8116} 14 | {456256e3-2c1c-40cd-b89b-af0791b265a5} 15 | {464878bb-d2bf-4677-9f29-08795af337d4} 16 | VISU_USEWSTRING 17 | 18 | 19 | 20 | Code 21 | 00000000-0000-0000-0000-000000000000 22 | 23 | 24 | Code 25 | 00000000-0000-0000-0000-000000000000 26 | 27 | 28 | Code 29 | 00000000-0000-0000-0000-000000000000 30 | 31 | 32 | Code 33 | 34 | 35 | Code 36 | 00000000-0000-0000-0000-000000000000 37 | 38 | 39 | Code 40 | 00000000-0000-0000-0000-000000000000 41 | 42 | 43 | Code 44 | 00000000-0000-0000-0000-000000000000 45 | 46 | 47 | Code 48 | 00000000-0000-0000-0000-000000000000 49 | 50 | 51 | Code 52 | 00000000-0000-0000-0000-000000000000 53 | 54 | 55 | Code 56 | 00000000-0000-0000-0000-000000000000 57 | 58 | 59 | Code 60 | 00000000-0000-0000-0000-000000000000 61 | 62 | 63 | Code 64 | 65 | 66 | Code 67 | 00000000-0000-0000-0000-000000000000 68 | 69 | 70 | Code 71 | 00000000-0000-0000-0000-000000000000 72 | 视图管理器.TcVMO 73 | 74 | 75 | Code 76 | 00000000-0000-0000-0000-000000000000 77 | 78 | 79 | Code 80 | 00000000-0000-0000-0000-000000000000 81 | 82 | 83 | 84 | 85 | 86 | 87 | 88 | 89 | 90 | 91 | 92 | VisuElem3DPath, 3.5.6.0 (System) 93 | VisuElem3DPath 94 | True 95 | 2717eb6a-dd07-4c66-8d8d-cacebd7b18ae 96 | 97 | 98 | VisuElemMeter, 3.5.6.0 (System) 99 | VisuElemMeter 100 | True 101 | 2717eb6a-dd07-4c66-8d8d-cacebd7b18ae 102 | 103 | 104 | VisuElems, 3.5.6.10 (System) 105 | VisuElems 106 | True 107 | 2717eb6a-dd07-4c66-8d8d-cacebd7b18ae 108 | 109 | 110 | VisuElemsDateTime, 3.5.6.0 (System) 111 | VisuElemsDateTime 112 | True 113 | 2717eb6a-dd07-4c66-8d8d-cacebd7b18ae 114 | 115 | 116 | VisuElemsSpecialControls, 3.5.6.0 (System) 117 | VisuElemsSpecialControls 118 | True 119 | 2717eb6a-dd07-4c66-8d8d-cacebd7b18ae 120 | 121 | 122 | VisuElemsWinControls, 3.5.6.0 (System) 123 | VisuElemsWinControls 124 | True 125 | 2717eb6a-dd07-4c66-8d8d-cacebd7b18ae 126 | 127 | 128 | VisuElemTextEditor, 3.5.6.0 (System) 129 | VisuElemTextEditor 130 | True 131 | 2717eb6a-dd07-4c66-8d8d-cacebd7b18ae 132 | 133 | 134 | visuinputs, 3.5.6.0 (system) 135 | visuinputs 136 | True 137 | 2717eb6a-dd07-4c66-8d8d-cacebd7b18ae 138 | 139 | 140 | VisuNativeControl, 3.5.6.0 (System) 141 | VisuNativeControl 142 | True 143 | 2717eb6a-dd07-4c66-8d8d-cacebd7b18ae 144 | 145 | 146 | Tc2_MC2, * (Beckhoff Automation GmbH) 147 | Tc2_MC2 148 | 149 | 150 | Tc2_NcFifoAxes, * (Beckhoff Automation GmbH) 151 | Tc2_NcFifoAxes 152 | 153 | 154 | Tc2_Standard, * (Beckhoff Automation GmbH) 155 | Tc2_Standard 156 | 157 | 158 | Tc2_System, * (Beckhoff Automation GmbH) 159 | Tc2_System 160 | 161 | 162 | Tc2_Utilities, * (Beckhoff Automation GmbH) 163 | Tc2_Utilities 164 | 165 | 166 | Tc3_Interfaces, * (Beckhoff Automation GmbH) 167 | Tc3_Interfaces 168 | 169 | 170 | Tc3_Module, * (Beckhoff Automation GmbH) 171 | Tc3_Module 172 | 173 | 174 | VisuDialogs, * (System) 175 | VisuDialogs 176 | True 177 | 178 | 179 | 180 | 181 | Content 182 | 183 | 184 | 185 | 186 | 187 | 188 | 189 | "<ProjectRoot>" 190 | 191 | {FE9F63D4-9E34-43ce-9322-D46747A00F33} 192 | 193 | "{FE9F63D4-9E34-43ce-9322-D46747A00F33}" 194 | 195 | 196 | 197 | {8F99A816-E488-41E4-9FA3-846536012284} 198 | 199 | "{8F99A816-E488-41E4-9FA3-846536012284}" 200 | 201 | 202 | 203 | {29BD8D0C-3586-4548-BB48-497B9A01693F} 204 | 205 | "{29BD8D0C-3586-4548-BB48-497B9A01693F}" 206 | 207 | Rules 208 | 209 | "Rules" 210 | 211 | 212 | 213 | 214 | 215 | 216 | {40450F57-0AA3-4216-96F3-5444ECB29763} 217 | 218 | "{40450F57-0AA3-4216-96F3-5444ECB29763}" 219 | 220 | 221 | ActiveVisuProfile 222 | 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223 | 224 | 225 | {A3BBA713-63D7-4de6-BEC2-E3BAAD8789F8} 226 | 227 | "{A3BBA713-63D7-4de6-BEC2-E3BAAD8789F8}" 228 | 229 | 230 | 231 | {C70B7845-2722-4a9b-A0EA-88C877A4B36F} 232 | 233 | "{C70B7845-2722-4a9b-A0EA-88C877A4B36F}" 234 | 235 | 236 | MaxAuthenticationTrials 237 | 3 238 | UserList 239 | 240 | 241 | 242 | {e7618ca6-c761-4693-84b9-4239497e6673} 243 | "Owner" 244 | "" 245 | "" 246 | true 247 | 248 | 249 | 250 | MaxTimeOfInactivity 251 | 10 252 | EnableMaxTimeOfInactivity 253 | true 254 | GroupList 255 | 256 | 257 | 258 | {9ee785f0-c4cc-4027-9537-f16c99c266ce} 259 | "Everyone" 260 | "" 261 | true 262 | false 263 | 264 | e7618ca6-c761-4693-84b9-4239497e6673 265 | 266 | 267 | 268 | 269 | {d2f7e627-748c-4a2a-b090-f310fe2b613b} 270 | "Owner" 271 | "" 272 | false 273 | true 274 | 275 | e7618ca6-c761-4693-84b9-4239497e6673 276 | 277 | 278 | 279 | 280 | 281 | UserAuthentication 282 | 283 | 284 | e7618ca6-c761-4693-84b9-4239497e6673 285 | d41d8cd98f00b204e9800998ecf8427e 286 | 287 | 288 | EnableMaxAuthenticationTrials 289 | true 290 | 291 | 292 | {192FAD59-8248-4824-A8DE-9177C94C195A} 293 | 294 | "{192FAD59-8248-4824-A8DE-9177C94C195A}" 295 | 296 | 297 | 298 | {246001F4-279D-43AC-B241-948EB31120E1} 299 | 300 | "{246001F4-279D-43AC-B241-948EB31120E1}" 301 | 302 | 303 | UnicodeStrings 304 | True 305 | 306 | 307 | 308 | 309 | 310 | 311 | 312 | System.Collections.ArrayList 313 | System.Boolean 314 | {daecd4be-1e2b-4335-a125-4a1ac83ea49f} 315 | {bf4dffda-f055-446d-9d7a-5f126720896b} 316 | System.Guid 317 | System.Collections.Hashtable 318 | System.Int32 319 | {54dd0eac-a6d8-46f2-8c27-2f43c7e49861} 320 | System.String 321 | {cd83029e-13b0-491e-9e4b-921adda0d86b} 322 | {3635a671-97f5-41bb-9e29-0ebb9795975c} 323 | {9fe6b547-6bc8-4f11-b589-b517860c5891} 324 | 325 | 326 | 327 | 328 | -------------------------------------------------------------------------------- /Cia402_6axis/MAIN/POUs/CSV read_write in text mode/P_TextModeRead.TcPOU: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | 26 | 27 | bError, nErrID => nErrID, hFile => hFile ); 53 | IF NOT fbFileOpen.bBusy THEN 54 | IF NOT fbFileOpen.bError THEN 55 | step := 3; 56 | ELSE(* Error: file not found? *) 57 | step := 100; 58 | END_IF 59 | END_IF 60 | 61 | 3: (* Read single line (record) *) 62 | fbFileGets( bExecute := FALSE ); 63 | fbFileGets( sNetId := sNetId, hFile := hFile, bExecute := TRUE ); 64 | step := 4; 65 | 66 | 4:(* Wait until read not busy *) 67 | fbFileGets( bExecute := FALSE, bError => bError, nErrID => nErrID, sLine => sCSVLine ); 68 | IF NOT fbFileGets.bBusy THEN 69 | IF NOT fbFileGets.bError THEN 70 | IF fbFileGets.bEOF THEN 71 | step := 10;(* End of file reached => Close source file *) 72 | ELSE 73 | 74 | (* FB_FileGets returns text line without the CR (carriage return) character. 75 | We have to restore the CR character (replace the $L character with $R$L characters) *) 76 | IF RIGHT( sCSVLine, 1 ) = '$L' THEN 77 | sCSVLine := REPLACE( sCSVLine, '$R$L', 2, LEN( sCSVLine ) ); 78 | END_IF 79 | 80 | step := 5; 81 | END_IF 82 | ELSE(* Error *) 83 | step := 100; 84 | END_IF 85 | END_IF 86 | 87 | 5:(* Parse single line (record) *) 88 | fbReader.eCmd := eEnumCmd_First;(* Read first field value *) 89 | REPEAT 90 | fbReader( pBuffer := ADR( sCSVLine ), cbBuffer := SIZEOF( sCSVLine ), getValue => sCSVField ); 91 | IF fbReader.bOk THEN 92 | fbReader.eCmd := eEnumCmd_Next;(* Read next field value *) 93 | 94 | IF ( nRow <= MAX_CSV_ROWS ) THEN 95 | IF ( nColumn <= MAX_CSV_COLUMNS ) THEN 96 | database[nRow, nColumn] := CSVFIELD_TO_STRING( sCSVField, FALSE );(* TODO: Save or use the field value in your application *) 97 | END_IF 98 | END_IF 99 | 100 | nColumn := nColumn + 1;(* Increment number of read columns *) 101 | IF fbReader.bCRLF THEN(* CRLF == TRUE => End of reacord reached *) 102 | nRow := nRow + 1;(* Increment number of read records *) 103 | nColumn := 0;(* Reset number of columns *) 104 | END_IF 105 | 106 | ELSE(* Error: End of record reached or all fields read *) 107 | step := 3;(* Try to read next line *) 108 | END_IF 109 | UNTIL NOT fbReader.bOk 110 | END_REPEAT 111 | 112 | 10: (* Close source file *) 113 | fbFileClose( bExecute := FALSE ); 114 | fbFileClose( sNetId := sNetId, hFile := hFile, bExecute := TRUE ); 115 | step := 11; 116 | 117 | 11:(* Wait until close not busy *) 118 | fbFileClose( bExecute := FALSE, bError => bError, nErrID => nErrID ); 119 | IF ( NOT fbFileClose.bBusy ) THEN 120 | hFile := 0; 121 | step := 100; 122 | END_IF 123 | 124 | 100: (* Error or ready step => cleanup *) 125 | IF ( hFile <> 0 ) THEN 126 | step := 10; (* Close the source file *) 127 | ELSE 128 | bBusy := FALSE; 129 | step := 0; (* Ready *) 130 | END_IF 131 | 132 | END_CASE 133 | 134 | 135 | 136 | ]]> 137 | 138 | 139 | -------------------------------------------------------------------------------- /Cia402_6axis/MAIN/POUs/CSV read_write in text mode/P_TextModeWrite.TcPOU: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | 27 | 28 | bError, nErrID => nErrID, hFile => hFile ); 52 | IF NOT fbFileOpen.bBusy THEN 53 | IF NOT fbFileOpen.bError THEN 54 | step := 3; 55 | ELSE(* Error: file not found? *) 56 | step := 100; 57 | END_IF 58 | END_IF 59 | 60 | 3:(* Convert one PLC record to CSV format *) 61 | sCSVLine := ''; 62 | fbWriter.eCmd := eEnumCmd_First;(* Write first field value *) 63 | IF nRow <= MAX_CSV_ROWS THEN 64 | 65 | FOR nColumn := 0 TO MAX_CSV_COLUMNS BY 1 DO 66 | 67 | sCSVField := STRING_TO_CSVFIELD( database[ nRow, nColumn ], FALSE );(* TODO: Get field value from your application *) 68 | 69 | (* Add new field to the record buffer *) 70 | fbWriter( pBuffer := ADR( sCSVLine ), cbBuffer := SIZEOF( sCSVLine ) - 1, putValue := sCSVField, pValue := 0, cbValue := 0, 71 | bCRLF := ( nColumn = MAX_CSV_COLUMNS ) );(* bCRLF == TRUE => Write CRLF after the last field value *) 72 | IF fbWriter.bOk THEN 73 | fbWriter.eCmd := eEnumCmd_Next;(* Write next field value *) 74 | ELSE(* Error *) 75 | step := 100; 76 | RETURN; 77 | END_IF 78 | 79 | END_FOR(* FOR nColumn := 0... *) 80 | 81 | (* FB_FilePuts adds allready CR (carriage return) to the written line. 82 | We have to replace the $R$L characters with $L character to avoid double CR. *) 83 | IF RIGHT( sCSVLine, 2 ) = '$R$L' THEN 84 | sCSVLine := REPLACE( sCSVLine, '$L', 2, LEN( sCSVLine ) - 1 ); 85 | END_IF 86 | 87 | nRow := nRow + 1;(* Increment number of created records (rows) *) 88 | step := 4;(* Write record to the file *) 89 | 90 | ELSE(* All rows written => Close file *) 91 | step := 10; 92 | END_IF 93 | 94 | 4: (* Write single text line *) 95 | fbFilePuts( bExecute := FALSE ); 96 | fbFilePuts( sNetId := sNetId, hFile := hFile, sLine := sCSVLine, bExecute := TRUE ); 97 | step := 5; 98 | 99 | 5:(* Wait until write not busy *) 100 | fbFilePuts( bExecute := FALSE, bError => bError, nErrID => nErrID ); 101 | IF NOT fbFilePuts.bBusy THEN 102 | IF NOT fbFilePuts.bError THEN 103 | step := 3;(* Write next record *) 104 | ELSE(* Error *) 105 | step := 100; 106 | END_IF 107 | END_IF 108 | 109 | 10: (* Close source file *) 110 | fbFileClose( bExecute := FALSE ); 111 | fbFileClose( sNetId := sNetId, hFile := hFile, bExecute := TRUE ); 112 | step := 11; 113 | 114 | 11:(* Wait until close not busy *) 115 | fbFileClose( bExecute := FALSE, bError => bError, nErrID => nErrID ); 116 | IF ( NOT fbFileClose.bBusy ) THEN 117 | hFile := 0; 118 | step := 100; 119 | END_IF 120 | 121 | 100: (* Error or ready step => cleanup *) 122 | IF ( hFile <> 0 ) THEN 123 | step := 10; (* Close the source file *) 124 | ELSE 125 | bBusy := FALSE; 126 | step := 0; (* Ready *) 127 | END_IF 128 | 129 | END_CASE 130 | 131 | 132 | 133 | ]]> 134 | 135 | 136 | -------------------------------------------------------------------------------- /Cia402_6axis/MAIN/PlcTask.TcTTO: -------------------------------------------------------------------------------- 1 |  2 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Measurement Project1/Scope YT Project.tcscope: -------------------------------------------------------------------------------- 1 |  2 | 3 | 1.0.0.4 4 | Scope YT Project 5 | <?xml version="1.0" encoding="utf-16"?> 6 | <Layout> 7 | <Window Guid="97332cdc-477f-498a-a8da-59f3e238ae5a" LastFocused="132002810758860001" DockedSize="200" PopupSize="0" FloatingLocation="-1, -1" FloatingSize="550, 400" LastOpenDockSituation="Document" LastFixedDockSituation="Document" LastFixedDockLocation="Right" LastFloatingWindowGuid="00000000-0000-0000-0000-000000000000" LastDockContainerCount="0" LastDockContainerIndex="0" DockedWorkingSize="250, 400" DockedWindowGroupGuid="00000000-0000-0000-0000-000000000000" DockedIndexInWindowGroup="0" DockedSplitPath="0" DocumentWorkingSize="250, 400" DocumentWindowGroupGuid="e3627557-a720-4c2a-9af0-d310b5d3d828" DocumentIndexInWindowGroup="0" DocumentSplitPath="0" FloatingWorkingSize="250, 400" FloatingWindowGroupGuid="00000000-0000-0000-0000-000000000000" 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0 122 | true 123 | false 124 | false 125 | 0 126 | 0 127 | 128 | 155 | -1 156 | 157 | 158 | ActPos(1) 159 | 2 160 | 161 | REAL64 162 | 16648 163 | 65538 164 | 501 165 | 8 166 | Axes.Axis 2.ActPos 167 | 168 | true 169 | 0 170 | true 171 | 192.168.1.1.1.1 172 | 10000 173 | false 174 | 0 175 | true 176 | false 177 | false 178 | 0 179 | 0 180 | 181 | 208 | -1 209 | 210 | 211 | ActPos(2) 212 | 3 213 | 214 | REAL64 215 | 16649 216 | 65538 217 | 501 218 | 8 219 | Axes.Axis 3.ActPos 220 | 221 | true 222 | 0 223 | true 224 | 192.168.1.1.1.1 225 | 10000 226 | false 227 | 0 228 | true 229 | false 230 | false 231 | 0 232 | 0 233 | 234 | 261 | -1 262 | 263 | 264 | ActPos(3) 265 | 4 266 | 267 | REAL64 268 | 16650 269 | 65538 270 | 501 271 | 8 272 | Axes.Axis 4.ActPos 273 | 274 | true 275 | 0 276 | true 277 | 192.168.1.1.1.1 278 | 10000 279 | false 280 | 0 281 | true 282 | false 283 | false 284 | 0 285 | 0 286 | 287 | 314 | -1 315 | 316 | 317 | ActPos(4) 318 | 5 319 | 320 | REAL64 321 | 16651 322 | 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