Index: /trunk/Cosy/devdrv/dkc.cc =================================================================== --- /trunk/Cosy/devdrv/dkc.cc (revision 10028) +++ /trunk/Cosy/devdrv/dkc.cc (revision 10029) @@ -30,34 +30,34 @@ { case 0: return "offline"; - case 0xa000: - case 0xa001: - case 0xa002: - case 0xa003: return MString::Format("Communication phase %d", stat&0xf); - case 0xa010: return "Drive HALT"; - case 0xa012: return "Control and power section ready for operation"; - case 0xa013: return "Ready for power on"; - case 0xa100: return "Drive in Torque mode"; - case 0xa101: return "Drive in Velocity mode"; - case 0xa102: return "Position control mode with encoder 1"; - case 0xa103: return "Position control mode with encoder 2"; - case 0xa104: return "Position control mode with encoder 1, lagless"; - case 0xa105: return "Position control mode with encoder 2, lagless"; - case 0xa106: return "Drive controlled interpolated positioning with encoder 1"; - case 0xa107: return "Drive controlled interpolated positioning with encoder 2"; - case 0xa108: return "Drive controlled interpolated positioning with encoder 1, lagless"; - case 0xa109: return "Drive controlled interpolated positioning with encoder 2, lagless"; + case 0xa000: case 0xa0000: + case 0xa001: case 0xa0001: + case 0xa002: case 0xa0002: + case 0xa003: case 0xa0003: return MString::Format("Communication phase %d", stat&0xf); + case 0xa010: case 0xa0010: return "Drive HALT"; + case 0xa012: case 0xa0012: return "Control and power section ready for operation"; + case 0xa013: case 0xa0013: return "Ready for power on"; + case 0xa100: case 0xa0100: return "Drive in Torque mode"; + case 0xa101: case 0xa0101: return "Drive in Velocity mode"; + case 0xa102: case 0xa0102: return "Position control mode with encoder 1"; + case 0xa103: case 0xa0103: return "Position control mode with encoder 2"; + case 0xa104: case 0xa0104: return "Position control mode with encoder 1, lagless"; + case 0xa105: case 0xa0105: return "Position control mode with encoder 2, lagless"; + case 0xa106: case 0xa0106: return "Drive controlled interpolated positioning with encoder 1"; + case 0xa107: case 0xa0107: return "Drive controlled interpolated positioning with encoder 2"; + case 0xa108: case 0xa0108: return "Drive controlled interpolated positioning with encoder 1, lagless"; + case 0xa109: case 0xa0109: return "Drive controlled interpolated positioning with encoder 2, lagless"; //case 0xa146: return "Drive controlled interpolated relative positioning with encoder 1"; //case 0xa147: return "Drive controlled interpolated relative positioning with encoder 2"; //case 0xa148: return "Drive controlled interpolated relative positioning lagless with encoder 1"; //case 0xa149: return "Drive controlled interpolated relative positioning lagless with encoder 2"; - case 0xa150: return "Drive controlled positioning with encoder 1"; - case 0xa151: return "Drive controlled positioning with encoder 1, lagless"; - case 0xa152: return "Drive controlled positioning with encoder 2"; - case 0xa153: return "Drive controlled positioning with encoder 2, lagless"; - case 0xa208: return "Jog mode positive"; - case 0xa218: return "Jog mode negative"; - case 0xa400: return "Automatic drive check and adjustment"; - case 0xa401: return "Drive decelerating to standstill"; - case 0xa800: return "Unknown operation mode"; + case 0xa150: case 0xa0150: return "Drive controlled positioning with encoder 1"; + case 0xa151: case 0xa0151: return "Drive controlled positioning with encoder 1, lagless"; + case 0xa152: case 0xa0152: return "Drive controlled positioning with encoder 2"; + case 0xa153: case 0xa0153: return "Drive controlled positioning with encoder 2, lagless"; + case 0xa208: return "Jog mode positive"; + case 0xa218: return "Jog mode negative"; + case 0xa400: case 0xa4000: return "Automatic drive check and adjustment"; + case 0xa401: case 0xa4001: return "Drive decelerating to standstill"; + case 0xa800: case 0xa0800: return "Unknown operation mode"; case 0xc217: return "Motor encoder reading error"; case 0xc218: return "Shaft encoder reading error"; @@ -65,10 +65,10 @@ case 0xc221: return "Shaft encoder initialization error"; case 0xc300: return "Command: set absolute measure"; - case 0xc400: return "Switching to parameter mode"; - case 0xc401: return "Drive active, switching mode not allowed"; - case 0xc500: return "Error reset"; - case 0xc600: return "Drive controlled homi*ng procedure "; + case 0xc400: case 0xc0400: return "Switching to parameter mode"; + case 0xc401: case 0xc0401: return "Drive active, switching mode not allowed"; + case 0xc500: case 0xc0500: return "Error reset"; + case 0xc600: case 0xc0600: return "Drive controlled homing procedure"; case 0xe225: return "Motor overload"; - case 0xe249: return "Positioning command velocity exceeds limit bipolar"; + case 0xe249: case 0xe2049: return "Positioning command velocity exceeds limit bipolar"; case 0xe250: return "Drive overtemp warning"; case 0xe251: return "Motor overtemp warning"; @@ -76,4 +76,5 @@ case 0xe257: return "Continous current limit active"; case 0xe259: return "Command velocity limit active"; + case 0xe8260: return "Torque limit active"; case 0xe264: return "Target position out of numerical range"; case 0xe829: return "Positive position limit exceeded"; @@ -84,14 +85,17 @@ case 0xe843: return "Positive end-switch activated"; case 0xe844: return "Negative end-switch activated"; - case 0xf218: return "Amplifier overtemp shutdown"; - case 0xf219: return "Motor overtemp shutdown"; + case 0xf218: case 0xf2018: return "Amplifier overtemp shutdown"; + case 0xf219: case 0xf2019: return "Motor overtemp shutdown"; case 0xf220: return "Bleeder overload shutdown"; - case 0xf221: return "Motor temperature surveillance defective"; + case 0xf221: case 0xf2021: return "Motor temperature surveillance defective"; + case 0xf2022: return "Unit temperature surveillance defective"; case 0xf224: return "Maximum breaking time exceeded"; - case 0xf228: return "Excessive control deviation"; + case 0xf2025: return "Drive not ready for power on"; + case 0xf228: case 0xf2028: return "Excessive control deviation"; case 0xf250: return "Overflow of target position preset memory"; case 0xf269: return "Error during release of the motor holding brake"; case 0xf276: return "Absolute encoder out of allowed window"; - case 0xf409: return "Bus error on Profibus interface"; + case 0xf2174: return "Lost reference of motor encoder"; + case 0xf409: case 0xf4009: return "Bus error on Profibus interface"; case 0xf434: return "Emergency-Stop"; case 0xf629: return "Positive position limit exceeded"; @@ -100,6 +104,9 @@ case 0xf643: return "Positive end-switch activated"; case 0xf644: return "Negative end-switch activated"; - case 0xf870: return "24V DC error"; - case 0xf878: return "Velocity loop error"; + case 0xf8069: return "15V DC error"; + case 0xf870: case 0xf8070: return "24V DC error"; + case 0xf878: case 0xf8078: return "Velocity loop error"; + case 0xf8079: return "Velocity limit exceeded"; + case 0xf2026: return "Undervoltage in power section"; } return "unknown"; @@ -108,6 +115,6 @@ TString Dkc::GetStatus(LWORD_t val) const { - const Int_t errnum = val&0xffff; - const Int_t errinf = val>>16; + const Int_t errnum = val&0xff; + const Int_t errinf = val>>8; if (errnum!=0xff) @@ -120,13 +127,13 @@ TString str; - const Int_t type = errinf&0xf000; + const Int_t type = (errinf&0xf0000)==0 ? ((errinf>>12)&0xf) : ((errinf>>16)&0xf); switch (type) { - case 0xf000: str += "ERROR"; break; - case 0xe000: str += "WARNING"; break; - case 0xa000: str += "Status"; break; - case 0xc000: - case 0xd000: str += "Message"; break; - default: str += "Unknown"; break; + case 0xf: str += "ERROR"; break; + case 0xe: str += "WARNING"; break; + case 0xa: str += "Status"; break; + case 0xc: + case 0xd: str += "Message"; break; + default: str += "Unknown"; break; } @@ -135,5 +142,5 @@ str += "): "; str += EvalStatusDKC(errinf); - str += (type==0xf000 || type==0xe000 ? "!" : "."); + str += (type==0xf || type==0xe ? "!" : "."); return str; @@ -142,6 +149,6 @@ Bool_t Dkc::PrintStatus(LWORD_t val) const { - const Int_t errnum = val&0xffff; - const Int_t errinf = val>>16; + const Int_t errnum = val&0xff; + const Int_t errinf = val>>8; if (errnum!=0xff) @@ -151,5 +158,6 @@ // errinf==0: DKC offline. This is a fatal error - return errinf==0 ? kFALSE : (errinf&0xf000)!=0xf000; + const Int_t type = (errinf&0xf0000)==0 ? ((errinf>>12)&0xf) : ((errinf>>16)&0xf); + return errinf==0 ? kFALSE : (type&0xf)!=0xf; } @@ -356,5 +364,4 @@ Arm(); #endif - gLog << inf2 << "- " << GetNodeName() << ": Checking armed status." << endl; RequestSDO(0x1000); @@ -529,26 +536,33 @@ } - if (fStatusPdo3!=data[0]) - { - gLog << inf << MTime(-1) << ": " << GetNodeName() << " - PDO1 = "; - const Bool_t ready = data[0]&0x01; - const Bool_t fuse = data[0]&0x02; - const Bool_t emcy = data[0]&0x04; - const Bool_t vltg = data[0]&0x08; - const Bool_t mode = data[0]&0x10; - const Bool_t rf = data[0]&0x20; - const Bool_t brake = data[0]&0x40; - const Bool_t power = data[0]&0x80; - if (ready) gLog << "DKC-Ready "; - if (fuse) gLog << "FuseOk "; - if (emcy) gLog << "EmcyOk "; - if (vltg) gLog << "OvervoltOk "; - if (mode) gLog << "SwitchToManualMode "; - if (rf) gLog << "RF "; - if (brake) gLog << "BrakeOpen "; - if (power) gLog << "PowerOn "; + const LWORD_t stat = data[0] | (data[1]<<8); + if (fStatusPdo3!=stat) + { + gLog << inf << MTime(-1) << ": " << GetNodeName() << " - PDO2(0x" << hex << (int)stat << dec << ") = "; + const Bool_t ready = stat&0x001; + const Bool_t fuse = stat&0x002; + const Bool_t emcy = stat&0x004; + const Bool_t vltg = stat&0x008; + const Bool_t mode = stat&0x010; + const Bool_t rf = stat&0x020; + const Bool_t brake = stat&0x040; + const Bool_t power = stat&0x080; + const Bool_t alarm = stat&0x100; // UPS Alarm (FACT only) + const Bool_t batt = stat&0x200; // UPS on battery (FACT only) + const Bool_t charge = stat&0x400; // UPS charging (FACT only) + if (ready) gLog << "DKC-Ready "; + if (fuse) gLog << "FuseOk "; + if (emcy) gLog << "EmcyOk "; + if (vltg) gLog << "OvervoltOk "; + if (mode) gLog << "SwitchToManualMode "; + if (rf) gLog << "RF "; + if (brake) gLog << "BrakeOpen "; + if (power) gLog << "PowerOn "; + if (alarm) gLog << "UPS-PowerLoss "; + if (batt) gLog << "UPS-OnBattery "; + if (charge) gLog << "UPS-Charging "; gLog << endl; - fStatusPdo3 = data[0]; + fStatusPdo3 = stat; } } @@ -570,5 +584,6 @@ // Check if the DKC changed its status message - if (errnum==0xff && (errinf&0xf000)<=0xe000) + const Int_t type = (errinf&0xf0000)==0 ? ((errinf>>12)&0xf) : ((errinf>>16)&0xf); + if (errnum==0xff && (type&0xf)<=0xe) { CheckErrorDKC(errnum, errinf); Index: /trunk/Cosy/devdrv/dkc.h =================================================================== --- /trunk/Cosy/devdrv/dkc.h (revision 10028) +++ /trunk/Cosy/devdrv/dkc.h (revision 10029) @@ -33,5 +33,5 @@ BYTE_t fStatus; LWORD_t fStatusDKC; - BYTE_t fStatusPdo3; + WORD_t fStatusPdo3; bool fHasChangedPos1; //! @@ -52,5 +52,5 @@ Bool_t EvalStatus(UInt_t errnum, UInt_t errinf) const { - return PrintStatus(errnum|(errinf<<16)); + return PrintStatus(errnum|(errinf<<8)); } TString GetStatus(LWORD_t val) const; @@ -58,5 +58,5 @@ void CheckErrorDKC(UInt_t errnum, UInt_t errinf) { - CheckErrorDKC(errnum|(errinf<<16)); + CheckErrorDKC(errnum|(errinf<<8)); } @@ -107,6 +107,6 @@ int IsPositioning() const { return fPosActive; } - BYTE_t GetStatus() const { return fStatus; } - BYTE_t GetStatusPdo3() const { return fStatusPdo3; } + BYTE_t GetStatus() const { return fStatus; } + LWORD_t GetStatusPdo3() const { return fStatusPdo3; } LWORDS_t GetPdoPos1() const { return fPdoPos1; } @@ -119,5 +119,5 @@ LWORD_t GetPosRes() const { return fPosRes; } // Velocity units (would be 100 for %) - bool IsOperative() const { return fStatusPdo3==0xef; } + bool IsOperative() const { return (fStatusPdo3&0xff)==0xef; } bool IsRpmActive() const { return fRpmActive; }