chen
0587f7ac6c
- Axis: 新增运动学/功率/错误管理属性（_position 等 10+ 项） - Axis: 新增 doPower()/readState()/cycle() 接口骨架 - MC_Power: 实现功率使能功能块（边沿检测 + 状态输出） - GlobalResource: 新增 CreateAxis/GetAxisRefById 全局轴管理 - App/CMakeLists.txt: 添加 GlobalResource.cpp 源文件 - docs: 更新 Axis 属性清单与 MC_Power 设计文档
85 lines
1.5 KiB
C++
85 lines
1.5 KiB
C++
/**
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* @file MC_Power.cpp
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* @author
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* @brief
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* @version 0.1
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* @date 2026-07-03
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*
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* @copyright Copyright (c) 2026
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*
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*/
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#include "MC_Power.h"
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#include "Types.h"
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namespace plcopen {
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MC_Power::MC_Power(AXIS_REF& axisRef)
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: _axisRef(axisRef) { }
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void MC_Power::cycle()
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{
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if(_axisRef.axis == nullptr)
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{
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Error = true;
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ErrorID = MC_ERROR_ID::mcInvalidParameter;
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Status = false;
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Busy = false;
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return;
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}
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Axis* axis = _axisRef.axis;
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Error = false;
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ErrorID = MC_ERROR_ID::mcNoError;
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// 上升沿
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if(Enable && !_prevEnable)
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{
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axis->doPower(true);
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}
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// 下降沿
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if(!Enable && _prevEnable)
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{
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axis->doPower(false);
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}
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// 在使能状态下持续更新轴状态
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if(Enable)
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{
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auto state = axis->readState();
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if(state == MC_AXIS_STATE::Standstill)
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{
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Busy = false;
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Status = true;
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}
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else if(state == MC_AXIS_STATE::ErrorStop)
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{
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Busy = false;
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Status = false;
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Error = true;
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ErrorID = MC_ERROR_ID::mcPowerFailure;
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}
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else
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{
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Status = false;
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Busy = false;
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}
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}
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// 保存前置状态
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_prevEnable = Enable;
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}
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}
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