Changeset 19416 for trunk/FACT++
- Timestamp:
- 12/05/18 20:40:02 (6 years ago)
- File:
-
- 1 edited
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trunk/FACT++/src/drivectrl.cc
r19386 r19416 805 805 kAxisRpmMode = 0x04, // SPS reports 806 806 kAxisRf = 0x20, // IndraDrive reports Rf (Regler freigegeben) 807 kAxisError = 0x40, // IndraDrive reports an error 807 808 kAxisHasPower = 0x80 // IndraDrive reports axis power on 808 809 }; … … 824 825 TX3M_STATUS.4 := FB_soll_drehen_links OR FB_soll_drehen_rechts OR FB_soll_schwenk_auf OR FB_soll_schwenk_ab; 825 826 TX3M_STATUS.5 := X_ist_freigegeben; 826 TX3M_STATUS.6 := 1;827 TX3M_STATUS.6 := NOT X_Fehler; (only in MATE, FACT==1) 827 828 TX3M_STATUS.7 := LeistungEinAz; 828 829 … … 857 858 } 858 859 859 const uint8_t axis = (data[0]&0xa1) | (data[3]&0x 06);860 const uint8_t axis = (data[0]&0xa1) | (data[3]&0x46); 860 861 if (fStatusAxis[node/2]!=axis) 861 862 { … … 866 867 const bool rpm = axis&kAxisRpmMode; // 04 867 868 const bool rf = axis&kAxisRf; // 20 869 const bool err = axis&kAxisError; // 40 868 870 const bool power = axis&kAxisHasPower; // 80 869 871 870 872 ostringstream out; 871 873 if (ready) out << " DKC-Ready"; 872 if (move) out << " Moving"; 874 if (move && !err) 875 out << " Moving"; 873 876 if (rpm) out << " RpmMode"; 874 877 if (rf) out << " RF"; 875 878 if (power) out << " PowerOn"; 879 if (err) out << " ERROR"; 876 880 877 881 Info("New axis status["+string(node==kNodeAz?"Az":"Zd")+"]:"+out.str()); … … 2916 2920 2917 2921 // Conenction commands 2918 T::AddEvent("DISCONNECT", State::kConnected )2922 T::AddEvent("DISCONNECT", State::kConnected, State::kUnavailable) 2919 2923 (bind(&StateMachineDrive::Disconnect, this)) 2920 2924 ("disconnect from ethernet"); 2921 2925 2922 T::AddEvent("RECONNECT", "O", State::kDisconnected, State::kConnected )2926 T::AddEvent("RECONNECT", "O", State::kDisconnected, State::kConnected, State::kUnavailable) 2923 2927 (bind(&StateMachineDrive::Reconnect, this, placeholders::_1)) 2924 2928 ("(Re)connect Ethernet connection to SPS, a new address can be given"
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