SQAlarm1.c -- Check for AMP faults and warnings on all SynqNet drives
/* SQAlarm1.c */
/* Copyright(c) 1991-2006 by Motion Engineering, Inc. All rights reserved.
*
* This software contains proprietary and confidential information of
* Motion Engineering Inc., and its suppliers. Except as may be set forth
* in the license agreement under which this software is supplied, use,
* disclosure, or reproduction is prohibited without the prior express
* written consent of Motion Engineering, Inc.
*/
/*
:Check for AMP faults and warnings on all SynqNet drives
This program demonstrates how to retrieve SynqNet amplifier faults
and warnings from all motor objects on SynqNet nodes.
Not all SynqNet amplifiers support faults and warnings. This code
catches the MEISynqNetMessageSRVC_UNSUPPORTED_FIRST thru LAST return
codes.
Warning! This is a sample program to assist in the integration of an
MEI motion controller with your application. It may not contain all
of the logic and safety features that your application requires.
The msgCHECK(...) macros used in the following sample code are intended
to convey our strong belief that ALL error return codes should be checked.
Actual application code should use specific error handling techniques (other
than msgCHECKs) best suited to your internal error recovery methods.
*/
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include "stdmpi.h"
#include "stdmei.h"
#include "sqNodeLib.h"
#include "apputil.h"
/* Parse the command line */
long parseCommandLine(int argc,
char *argv[],
long *synqNetNumber,
MPIControlType *controlType,
MPIControlAddress *controlAddress)
{
long argIndex;
/* Command line arguments and defaults */
Arg argList[] =
{
{ "-synqNet", ArgTypeLONG, &synqNetNumber, },
{ NULL, ArgTypeINVALID, NULL, }
};
/* Parse command line for Control type and address */
argIndex =
argControl(argc,
argv,
controlType,
controlAddress);
/* Parse command line for application-specific arguments */
while (argIndex < argc) {
long argIndexNew;
argIndexNew = argSet(argList, argIndex, argc, argv);
if (argIndexNew <= argIndex) {
argIndex = argIndexNew;
break;
}
else {
argIndex = argIndexNew;
}
}
/* Check for unknown/invalid command line arguments */
if (argIndex < argc) {
fprintf(stderr,"usage: %s %s\n"
"\t\t[-synqNet # (0 .. %d)]\n",
argv[0],
ArgUSAGE,
MEIXmpMaxSynqNets - 1);
exit(MPIMessageARG_INVALID);
}
return 0;
}
/* Create and initialize MPI objects */
void programInit(MPIControl *control,
MPIControlType controlType,
MPIControlAddress *controlAddress,
MEISynqNet *synqNet,
long synqNetNumber)
{
long returnValue;
/* Create motion controller object */
*control =
mpiControlCreate(controlType,
controlAddress);
msgCHECK(mpiControlValidate(*control));
/* Initialize motion controller */
returnValue =
mpiControlInit(*control);
msgCHECK(returnValue);
/* Create SynqNet object */
*synqNet =
meiSynqNetCreate(*control,
synqNetNumber);
msgCHECK(meiSynqNetValidate(*synqNet));
}
/* Perform certain cleanup actions and delete MPI objects */
void programCleanup(MPIControl *control,
MEISynqNet *synqNet)
{
long returnValue;
returnValue =
meiSynqNetDelete(*synqNet);
msgCHECK(returnValue);
*synqNet = MPIHandleVOID;
/* Delete control handle */
returnValue =
mpiControlDelete(*control);
msgCHECK(returnValue);
*control = MPIHandleVOID;
}
/* Report Motor Faults */
void reportMotorFaults(MPIMotor motor,
long nodeNumber,
MEISqNodeInfo sqNodeInfo)
{
MEIMotorInfo motorInfo;
MEIMotorAmpFaults faults;
MEIMotorAmpWarnings warnings;
long returnValue;
long motorNumber;
returnValue =
mpiMotorNumber(motor, &motorNumber);
msgCHECK(returnValue);
printf("\n\n"
"Node[%d] - %s, Motor %d\n"
"========================================\n",
nodeNumber,
sqNodeInfo.id.nodeName,
motorNumber);
returnValue =
meiMotorInfo(motor,
&motorInfo);
msgCHECK(returnValue);
/* read faults */
returnValue =
meiMotorAmpFault(motor, &faults);
if (returnValue != MPIMessageUNSUPPORTED) {
if (returnValue == MPIMessageOK) {
/* display faults */
if (faults.count != 0) {
long nodeIndex;
printf("Faults:\n");
for (nodeIndex=0; nodeIndex<faults.count; nodeIndex++) {
printf(" code %3.3x : Msg: %s\n",
faults.code[nodeIndex],
faults.message[nodeIndex]);
}
}
else {
printf("No Faults\n");
}
}
}
else {
printf("Fault codes not supported\n");
returnValue = MPIMessageOK;
}
/* read warnings */
returnValue =
meiMotorAmpWarning(motor, &warnings);
if (returnValue != MPIMessageUNSUPPORTED) {
if (returnValue == MPIMessageOK) {
/* display warnings */
if (warnings.count != 0) {
long nodeIndex;
printf("Warnings:\n");
for (nodeIndex=0; nodeIndex<warnings.count; nodeIndex++) {
printf(" code %3.3x : Msg: %s\n",
warnings.code[nodeIndex],
warnings.message[nodeIndex]);
}
}
else {
printf("No Warnings\n");
}
}
}
else {
printf("Warning codes not supported\n");
returnValue = MPIMessageOK;
}
msgCHECK(returnValue);
}
/* For each motor on a SynqNet network, call reportMotorFaults */
void forEachMotorOnSyqnNet_ReportMotorFaults(MPIControl control,
MEISynqNet synqNet)
{
MPIMotor motor;
MEISqNode sqNode;
MEISqNodeInfo sqNodeInfo;
MEISynqNetInfo synqNetInfo;
long returnValue;
long nodeIndex, motorIndex;
long motorFirst, motorLast;
returnValue =
meiSynqNetInfo(synqNet,
&synqNetInfo);
msgCHECK(returnValue);
/* loop over nodes */
for (nodeIndex=0; nodeIndex<synqNetInfo.nodeCount; nodeIndex++) {
sqNode =
meiSqNodeCreate(control, nodeIndex);
msgCHECK(meiSqNodeValidate(sqNode));
returnValue =
meiSqNodeInfo(sqNode, &sqNodeInfo);
msgCHECK(returnValue);
motorFirst = sqNodeInfo.motorOffset;
motorLast = sqNodeInfo.motorOffset + sqNodeInfo.motorCount;
/* loop over motors */
for (motorIndex=motorFirst; motorIndex<motorLast; motorIndex++) {
/* create motor */
printf("\n Motor[%d]\n",motorIndex);
motor =
mpiMotorCreate(control, motorIndex);
msgCHECK(mpiMotorValidate(motor));
/* Report Motor Faults */
reportMotorFaults(motor, nodeIndex, sqNodeInfo);
returnValue =
mpiMotorDelete(motor);
msgCHECK(returnValue)
}
returnValue =
meiSqNodeDelete(sqNode);
msgCHECK(returnValue)
}
}
int main(int argc,
char *argv[])
{
MPIControl control;
MPIControlType controlType;
MPIControlAddress controlAddress;
MEISynqNet synqNet;
long synqNetNumber = 0;
long returnValue;
/* Parse command line */
returnValue =
parseCommandLine(argc,
argv,
&synqNetNumber,
&controlType,
&controlAddress);
msgCHECK(returnValue);
/* Create and initialize MPI objects */
programInit(&control,
controlType,
&controlAddress,
&synqNet,
synqNetNumber);
/* For each motor on a SynqNet network, call reportMotorFaults */
forEachMotorOnSyqnNet_ReportMotorFaults(control,
synqNet);
/* Perform certain cleanup actions and delete MPI objects */
programCleanup(&control,
&synqNet);
return ((int)returnValue);
}
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