void ConnectionDrive::HandlePdo3 ( const uint8_t &  node, const uint8_t *  data, const Time &  tv  )

inlineprivate

Definition at line 787 of file drivectrl.cc.

References mode.

    {
        /*
         TX1M_STATUS.0  := 1;
         TX1M_STATUS.1  := ((NOT X_in_Standstill OR NOT X_in_AntriebHalt) AND (NOT X_PC_VStart AND NOT X_in_Pos)) OR X_PC_AnnounceStartMovement;
         TX1M_STATUS.2  := X_PC_VStart;
         TX1M_STATUS.6  := NOT X_ist_freigegeben;

         TX3M_STATUS.0  := X_ist_betriebsbereit;
         TX3M_STATUS.1  := 1;
         TX3M_STATUS.2  := Not_Aus_IO;
         TX3M_STATUS.3  := UeberspannungsSchutz_OK;
         TX3M_STATUS.4  := FB_soll_drehen_links OR FB_soll_drehen_rechts OR FB_soll_schwenk_auf OR FB_soll_schwenk_ab;
         TX3M_STATUS.5  := X_ist_freigegeben;
         TX3M_STATUS.6  := 1;
         TX3M_STATUS.7  := LeistungEinAz;

         TX3M_STATUS.8  := NOT UPS_ALARM;
         TX3M_STATUS.9  := UPS_BattMode;
         TX3M_STATUS.10 := UPS_Charging;
         */

        const uint8_t sys = ((data[0] & 0x1c)<<2) | (data[1]);
        if (fStatusSys!=sys)
        {
            fStatusSys = sys;

            const bool alarm  = sys&kUpsAlarm;    // 01     TX3M.8  100
            const bool batt   = sys&kUpsBattery;  // 02     TX3M.9  200
            const bool charge = sys&kUpsCharging; // 04     TX3M.10 400
            const bool emcy   = sys&kEmergencyOk; // 10     TX3M.2  04
            const bool vltg   = sys&kOvervoltOk;  // 20     TX3M.3  08
            const bool mode   = sys&kManualMode;  // 40     TX3M.4  10

            ostringstream out;
            if (alarm)  out << " UPS-PowerLoss";
            if (batt)   out << " UPS-OnBattery";
            if (charge) out << " UPS-Charging";
            if (emcy)   out << " EmcyOk";
            if (vltg)   out << " OvervoltOk";
            if (mode)   out << " ManualMove";

            Info("New system status["+to_string(node)+"]:"+out.str());
            if (fVerbosity>1)
                Out() << "PDO3[" << (int)node << "] StatusSys=" << hex << (int)fStatusSys << dec << endl;
        }

        const uint8_t axis = (data[0]&0xa1) | (data[3]&0x06);
        if (fStatusAxis[node/2]!=axis)
        {
            fStatusAxis[node/2] = axis;

            const bool ready  = axis&kAxisBb;       // 01
            const bool move   = axis&kAxisMoving;   // 02
            const bool rpm    = axis&kAxisRpmMode;  // 04
            const bool rf     = axis&kAxisRf;       // 20
            const bool power  = axis&kAxisHasPower; // 80

            ostringstream out;
            if (ready)  out << " DKC-Ready";
            if (move)   out << " Moving";
            if (rpm)    out << " RpmMode";
            if (rf)     out << " RF";
            if (power)  out << " PowerOn";

            Info("New axis status["+to_string(node)+"]:"+out.str());
            if (fVerbosity>1)
                Out() << "PDO3[" << (int)node << "] StatusAxis=" << hex << (int)fStatusAxis[node/2] << dec << endl;
        }

        array<uint8_t, 3> arr = {{ fStatusAxis[0], fStatusAxis[1], fStatusSys }};
        UpdateStatus(tv, arr);
    }