实例介绍
【实例简介】
【实例截图】
【核心代码】
using System.Runtime.InteropServices;
namespace gts
{
public class mc
{
public const short DLL_VERSION_0 = 2;
public const short DLL_VERSION_1 = 1;
public const short DLL_VERSION_2 = 0;
public const short DLL_VERSION_3 = 1;
public const short DLL_VERSION_4 = 5;
public const short DLL_VERSION_5 = 0;
public const short DLL_VERSION_6 = 6;
public const short DLL_VERSION_7 = 0;
public const short DLL_VERSION_8 = 7;
public const short MC_NONE = -1;
public const short MC_LIMIT_POSITIVE = 0;
public const short MC_LIMIT_NEGATIVE = 1;
public const short MC_ALARM = 2;
public const short MC_HOME = 3;
public const short MC_GPI = 4;
public const short MC_ARRIVE = 5;
public const short MC_MPG = 6;
public const short MC_ENABLE = 10;
public const short MC_CLEAR = 11;
public const short MC_GPO = 12;
public const short MC_DAC = 20;
public const short MC_STEP = 21;
public const short MC_PULSE = 22;
public const short MC_ENCODER = 23;
public const short MC_ADC = 24;
public const short MC_AXIS = 30;
public const short MC_PROFILE = 31;
public const short MC_CONTROL = 32;
public const short CAPTURE_HOME = 1;
public const short CAPTURE_INDEX = 2;
public const short CAPTURE_PROBE = 3;
public const short CAPTURE_HSIO0 = 6;
public const short CAPTURE_HSIO1 = 7;
public const short CAPTURE_HOME_GPI = 8;
public const short PT_MODE_STATIC = 0;
public const short PT_MODE_DYNAMIC = 1;
public const short PT_SEGMENT_NORMAL = 0;
public const short PT_SEGMENT_EVEN = 1;
public const short PT_SEGMENT_STOP = 2;
public const short GEAR_MASTER_ENCODER = 1;
public const short GEAR_MASTER_PROFILE = 2;
public const short GEAR_MASTER_AXIS = 3;
public const short FOLLOW_MASTER_ENCODER = 1;
public const short FOLLOW_MASTER_PROFILE = 2;
public const short FOLLOW_MASTER_AXIS = 3;
public const short FOLLOW_EVENT_START = 1;
public const short FOLLOW_EVENT_PASS = 2;
public const short GEAR_EVENT_START = 1;
public const short GEAR_EVENT_PASS = 2;
public const short GEAR_EVENT_AREA = 5;
public const short FOLLOW_SEGMENT_NORMAL = 0;
public const short FOLLOW_SEGMENT_EVEN = 1;
public const short FOLLOW_SEGMENT_STOP = 2;
public const short FOLLOW_SEGMENT_CONTINUE = 3;
public const short INTERPOLATION_AXIS_MAX = 4;
public const short CRD_FIFO_MAX = 4096;
public const short FIFO_MAX = 2;
public const short CRD_MAX = 2;
public const short CRD_OPERATION_DATA_EXT_MAX = 2;
public const short CRD_OPERATION_TYPE_NONE = 0;
public const short CRD_OPERATION_TYPE_BUF_IO_DELAY = 1;
public const short CRD_OPERATION_TYPE_LASER_ON = 2;
public const short CRD_OPERATION_TYPE_LASER_OFF = 3;
public const short CRD_OPERATION_TYPE_BUF_DA = 4;
public const short CRD_OPERATION_TYPE_LASER_CMD = 5;
public const short CRD_OPERATION_TYPE_LASER_FOLLOW = 6;
public const short CRD_OPERATION_TYPE_LMTS_ON = 7;
public const short CRD_OPERATION_TYPE_LMTS_OFF = 8;
public const short CRD_OPERATION_TYPE_SET_STOP_IO = 9;
public const short CRD_OPERATION_TYPE_BUF_MOVE = 10;
public const short CRD_OPERATION_TYPE_BUF_GEAR = 11;
public const short CRD_OPERATION_TYPE_SET_SEG_NUM = 12;
public const short CRD_OPERATION_TYPE_STOP_MOTION = 13;
public const short CRD_OPERATION_TYPE_SET_VAR_VALUE = 14;
public const short CRD_OPERATION_TYPE_JUMP_NEXT_SEG = 15;
public const short CRD_OPERATION_TYPE_SYNCH_PRF_POS = 16;
public const short CRD_OPERATION_TYPE_VIRTUAL_TO_ACTUAL = 17;
public const short CRD_OPERATION_TYPE_SET_USER_VAR = 18;
public const short CRD_OPERATION_TYPE_SET_DO_BIT_PULSE = 19;
public const short CRD_OPERATION_TYPE_BUF_COMPAREPULSE = 20;
public const short CRD_OPERATION_TYPE_LASER_ON_EX = 21;
public const short CRD_OPERATION_TYPE_LASER_OFF_EX = 22;
public const short CRD_OPERATION_TYPE_LASER_CMD_EX = 23;
public const short CRD_OPERATION_TYPE_LASER_FOLLOW_RATIO_EX = 24;
public const short CRD_OPERATION_TYPE_LASER_FOLLOW_MODE = 25;
public const short CRD_OPERATION_TYPE_LASER_FOLLOW_OFF = 26;
public const short CRD_OPERATION_TYPE_LASER_FOLLOW_OFF_EX = 27;
public const short CRD_OPERATION_TYPE_LASER_FOLLOW_SPLINE = 28;
public const short CRD_OPERATION_TYPE_MOTION_DATA = 29;
public const short CRD_OPERATION_TYPE_BUF_TREND = 50;
public const short CRD_OPERATION_TYPE_BUF_EVENT_ON = 70;
public const short CRD_OPERATION_TYPE_BUF_EVENT_OFF = 71;
public const short INTERPOLATION_MOTION_TYPE_LINE = 0;
public const short INTERPOLATION_MOTION_TYPE_CIRCLE = 1;
public const short INTERPOLATION_MOTION_TYPE_HELIX = 2;
public const short INTERPOLATION_MOTION_TYPE_CIRCLE_3D = 3;
public const short INTERPOLATION_CIRCLE_PLAT_XY = 0;
public const short INTERPOLATION_CIRCLE_PLAT_YZ = 1;
public const short INTERPOLATION_CIRCLE_PLAT_ZX = 2;
public const short INTERPOLATION_HELIX_CIRCLE_XY_LINE_Z = 0;
public const short INTERPOLATION_HELIX_CIRCLE_YZ_LINE_X = 1;
public const short INTERPOLATION_HELIX_CIRCLE_ZX_LINE_Y = 2;
public const short INTERPOLATION_CIRCLE_DIR_CW = 0;
public const short INTERPOLATION_CIRCLE_DIR_CCW = 1;
public const short COMPARE_PORT_HSIO = 0;
public const short COMPARE_PORT_GPO = 1;
public const short COMPARE2D_MODE_2D = 1;
public const short COMPARE2D_MODE_1D = 0;
public const short INTERFACEBOARD20 = 2;
public const short INTERFACEBOARD30 = 3;
public const short AXIS_LASER = 7;
public const short AXIS_LASER_EX = 8;
public const short LASER_CTRL_MODE_PWM1 = 0;
public const short LASER_CTRL_FREQUENCY = 1;
public const short LASER_CTRL_VOLTAGE = 2;
public const short LASER_CTRL_MODE_PWM2 = 3;
public const short CRD_BUFFER_MODE_DYNAMIC_DEFAULT = 0;
public const short CRD_BUFFER_MODE_DYNAMIC_KEEP = 1;
public const short CRD_BUFFER_MODE_STATIC_INPUT = 11;
public const short CRD_BUFFER_MODE_STATIC_READY = 12;
public const short CRD_BUFFER_MODE_STATIC_START = 13;
public const short CRD_SMOOTH_MODE_NONE = 0;
public const short CRD_SMOOTH_MODE_PERCENT = 1;
public const short CRD_SMOOTH_MODE_JERK = 2;
public struct TTrapPrm
{
public double acc;
public double dec;
public double velStart;
public short smoothTime;
}
public struct TJogPrm
{
public double acc;
public double dec;
public double smooth;
}
public struct TPid
{
public double kp;
public double ki;
public double kd;
public double kvff;
public double kaff;
public int integralLimit;
public int derivativeLimit;
public short limit;
}
public struct TThreadSts
{
public short run;
public short error;
public double result;
public short line;
}
public struct TVarInfo
{
public short id;
public short dataType;
public double dumb0;
public double dumb1;
public double dumb2;
public double dumb3;
}
public struct TCompileInfo
{
public string pFileName;
public short pLineNo1;
public short pLineNo2;
public string pMessage;
}
public struct TCrdPrm
{
public short dimension;
public short profile1;
public short profile2;
public short profile3;
public short profile4;
public short profile5;
public short profile6;
public short profile7;
public short profile8;
public double synVelMax;
public double synAccMax;
public short evenTime;
public short setOriginFlag;
public int originPos1;
public int originPos2;
public int originPos3;
public int originPos4;
public int originPos5;
public int originPos6;
public int originPos7;
public int originPos8;
}
public struct TCrdBufOperation
{
public short flag;
public ushort delay;
public short doType;
public ushort doMask;
public ushort doValue;
public ushort dataExt1;
public ushort dataExt2;
}
public struct TCrdData
{
public short motionType;
public short circlePlat;
public int pos1;
public int pos2;
public int pos3;
public int pos4;
public int pos5;
public int pos6;
public int pos7;
public int pos8;
public double radius;
public short circleDir;
public double lCenterX;
public double lCenterY;
public double lCenterZ;
public double vel;
public double acc;
public short velEndZero;
public TCrdBufOperation operation;
public double cos1;
public double cos2;
public double cos3;
public double cos4;
public double cos5;
public double cos6;
public double cos7;
public double cos8;
public double velEnd;
public double velEndAdjust;
public double r;
}
public struct TTrigger
{
public short encoder;
public short probeType;
public short probeIndex;
public short offset;
public short windowOnly;
public int firstPosition;
public int lastPosition;
}
public struct TTriggerStatus
{
public short execute;
public short done;
public int position;
}
public struct TTriggerStatusEx
{
public short execute;
public short done;
public int position;
public int clock;
public int loopCount;
}
public struct T2DCompareData
{
public int px;
public int py;
}
public struct T2DComparePrm
{
public short encx;
public short ency;
public short source;
public short outputType;
public short startLevel;
public short time;
public short maxerr;
public short threshold;
}
public struct TCrdTime
{
public double time;
public int segmentUsed;
public int segmentHead;
public int segmentTail;
}
public struct TCrdSmoothInfo
{
public short enable;
public short smoothMode;
public short percent;
public short accStartPercent;
public short decEndPercent;
public double jerkMax;
}
public struct TCrdSmooth
{
public short percent;
public short accStartPercent;
public short decEndPercent;
public double reserve;
}
public struct TBufFollowMaster
{
public short crdAxis;
public short masterIndex;
public short masterType;
}
public struct TBufFollowEventCross
{
public int masterPos;
public int pad;
}
public struct TBufFollowEventTrigger
{
public short triggerIndex;
public int triggerOffset;
public int pad;
}
public struct TCrdFollowStatus
{
public short stage;
public double slavePos;
public double slaveVel;
public unsigned long loopCount;
}
public struct TCrdFollowPrm
{
public double velRatioMax;
public double accRatioMax;
public int masterLead;
public int masterEven;
public int slaveEven;
public short dir;
public short smoothPercent;
public short synchAlign;
}
[DllImport("gts.dll")]
public static extern short GT_GetDllVersion(out string pDllVersion);
[DllImport("gts.dll")]
public static extern short GT_SetCardNo(short index);
[DllImport("gts.dll")]
public static extern short GT_GetCardNo(out short index);
[DllImport("gts.dll")]
public static extern short GT_GetVersion(out string pVersion);
[DllImport("gts.dll")]
public static extern short GT_GetInterfaceBoardSts(out short pStatus);
[DllImport("gts.dll")]
public static extern short GT_SetInterfaceBoardSts(short type);
[DllImport("gts.dll")]
public static extern short GT_Open(short channel,short param);
[DllImport("gts.dll")]
public static extern short GT_Close();
[DllImport("gts.dll")]
public static extern short GT_LoadConfig(string pFile);
[DllImport("gts.dll")]
public static extern short GT_AlarmOff(short axis);
[DllImport("gts.dll")]
public static extern short GT_AlarmOn(short axis);
[DllImport("gts.dll")]
public static extern short GT_LmtsOn(short axis, short limitType);
[DllImport("gts.dll")]
public static extern short GT_LmtsOff(short axis, short limitType);
[DllImport("gts.dll")]
public static extern short GT_ProfileScale(short axis, short alpha, short beta);
[DllImport("gts.dll")]
public static extern short GT_EncScale(short axis, short alpha, short beta);
[DllImport("gts.dll")]
public static extern short GT_StepDir(short step);
[DllImport("gts.dll")]
public static extern short GT_StepPulse(short step);
[DllImport("gts.dll")]
public static extern short GT_SetMtrBias(short dac, short bias);
[DllImport("gts.dll")]
public static extern short GT_GetMtrBias(short dac, out short pBias);
[DllImport("gts.dll")]
public static extern short GT_SetMtrLmt(short dac, short limit);
[DllImport("gts.dll")]
public static extern short GT_GetMtrLmt(short dac, out short pLimit);
[DllImport("gts.dll")]
public static extern short GT_EncSns(ushort sense);
[DllImport("gts.dll")]
public static extern short GT_EncOn(short encoder);
[DllImport("gts.dll")]
public static extern short GT_EncOff(short encoder);
[DllImport("gts.dll")]
public static extern short GT_SetPosErr(short control, int error);
[DllImport("gts.dll")]
public static extern short GT_GetPosErr(short control, out int pError);
[DllImport("gts.dll")]
public static extern short GT_SetStopDec(short profile, double decSmoothStop, double decAbruptStop);
[DllImport("gts.dll")]
public static extern short GT_GetStopDec(short profile, out double pDecSmoothStop, out double pDecAbruptStop);
[DllImport("gts.dll")]
public static extern short GT_LmtSns(ushort sense);
[DllImport("gts.dll")]
public static extern short GT_CtrlMode(short axis, short mode);
[DllImport("gts.dll")]
public static extern short GT_SetStopIo(short axis, short stopType, short inputType, short inputIndex);
[DllImport("gts.dll")]
public static extern short GT_GpiSns(ushort sense);
[DllImport("gts.dll")]
public static extern short GT_SetAdcFilter(short adc,short filterTime);
[DllImport("gts.dll")]
public static extern short GT_SetAxisPrfVelFilter(short axis,short filterNumExp);
[DllImport("gts.dll")]
public static extern short GT_GetAxisPrfVelFilter(short axis,out short pFilterNumExp);
[DllImport("gts.dll")]
public static extern short GT_SetAxisEncVelFilter(short axis,short filterNumExp);
[DllImport("gts.dll")]
public static extern short GT_GetAxisEncVelFilter(short axis,out short pFilterNumExp);
[DllImport("gts.dll")]
public static extern short GT_SetAxisInputShaping(short axis, short enable, short count, double k);
[DllImport("gts.dll")]
public static extern short GT_SetDo(short doType,int value);
[DllImport("gts.dll")]
public static extern short GT_SetDoBit(short doType,short doIndex,short value);
[DllImport("gts.dll")]
public static extern short GT_GetDo(short doType,out int pValue);
[DllImport("gts.dll")]
public static extern short GT_SetDoBitReverse(short doType,short doIndex,short value,short reverseTime);
[DllImport("gts.dll")]
public static extern short GT_SetDoMask(short doType,ushort doMask,int value);
[DllImport("gts.dll")]
public static extern short GT_EnableDoBitPulse(short doType,short doIndex,ushort highLevelTime,ushort lowLevelTime,int pulseNum,short firstLevel);
[DllImport("gts.dll")]
public static extern short GT_DisableDoBitPulse(short doType, short doIndex);
[DllImport("gts.dll")]
public static extern short GT_GetDi(short diType,out int pValue);
[DllImport("gts.dll")]
public static extern short GT_GetDiReverseCount(short diType,short diIndex,out uint reverseCount,short count);
[DllImport("gts.dll")]
public static extern short GT_SetDiReverseCount(short diType,short diIndex,ref uint reverseCount,short count);
[DllImport("gts.dll")]
public static extern short GT_GetDiRaw(short diType,out int pValue);
[DllImport("gts.dll")]
public static extern short GT_SetDac(short dac,ref short value,short count);
[DllImport("gts.dll")]
public static extern short GT_GetDac(short dac,out short value,short count,out uint pClock);
[DllImport("gts.dll")]
public static extern short GT_GetAdc(short adc,out double pValue,short count,out uint pClock);
[DllImport("gts.dll")]
public static extern short GT_GetAdcValue(short adc,out short pValue,short count,out uint pClock);
[DllImport("gts.dll")]
public static extern short GT_SetEncPos(short encoder,int encPos);
[DllImport("gts.dll")]
public static extern short GT_GetEncPos(short encoder,out double pValue,short count,out uint pClock);
[DllImport("gts.dll")]
public static extern short GT_GetEncPosPre(short encoder,out double pValue,short count,uint pClock);
[DllImport("gts.dll")]
public static extern short GT_GetEncVel(short encoder,out double pValue,short count,out uint pClock);
[DllImport("gts.dll")]
public static extern short GT_SetCaptureMode(short encoder,short mode);
[DllImport("gts.dll")]
public static extern short GT_GetCaptureMode(short encoder,out short pMode,short count);
[DllImport("gts.dll")]
public static extern short GT_StopCapture(short encoder);
[DllImport("gts.dll")]
public static extern short GT_GetCaptureStatus(short encoder,out short pStatus,out int pValue,short count,out uint pClock);
[DllImport("gts.dll")]
public static extern short GT_SetCaptureSense(short encoder, short mode,short sense);
[DllImport("gts.dll")]
public static extern short GT_ClearCaptureStatus(short encoder);
[DllImport("gts.dll")]
public static extern short GT_SetCaptureRepeat(short encoder,short count);
[DllImport("gts.dll")]
public static extern short GT_GetCaptureRepeatStatus(short encoder,out short pCount);
[DllImport("gts.dll")]
public static extern short GT_GetCaptureRepeatPos(short encoder, out int pValue, short startNum, short count);
[DllImport("gts.dll")]
public static extern short GT_SetCaptureEncoder(short trigger,short encoder);
[DllImport("gts.dll")]
public static extern short GT_GetCaptureWidth(short trigger,out short pWidth,short count);
[DllImport("gts.dll")]
public static extern short GT_GetCaptureHomeGpi(short trigger,out short pHomeSts,out short pHomePos,out short pGpiSts,out short pGpiPos,short count);
[DllImport("gts.dll")]
public static extern short GT_Reset();
[DllImport("gts.dll")]
public static extern short GT_GetClock(out uint pClock,out uint pLoop);
[DllImport("gts.dll")]
public static extern short GT_GetClockHighPrecision(out uint pClock);
[DllImport("gts.dll")]
public static extern short GT_GetSts(short axis,out int pSts,short count,out uint pClock);
[DllImport("gts.dll")]
public static extern short GT_ClrSts(short axis,short count);
[DllImport("gts.dll")]
public static extern short GT_AxisOn(short axis);
[DllImport("gts.dll")]
public static extern short GT_AxisOff(short axis);
[DllImport("gts.dll")]
public static extern short GT_Stop(int mask,int option);
[DllImport("gts.dll")]
public static extern short GT_SetPrfPos(short profile,int prfPos);
[DllImport("gts.dll")]
public static extern short GT_SynchAxisPos(int mask);
[DllImport("gts.dll")]
public static extern short GT_ZeroPos(short axis,short count);
[DllImport("gts.dll")]
public static extern short GT_SetSoftLimit(short axis,int positive,int negative);
[DllImport("gts.dll")]
public static extern short GT_GetSoftLimit(short axis,out int pPositive,out int pNegative);
[DllImport("gts.dll")]
public static extern short GT_SetAxisBand(short axis,int band,int time);
[DllImport("gts.dll")]
public static extern short GT_GetAxisBand(short axis,out int pBand,out int pTime);
[DllImport("gts.dll")]
public static extern short GT_SetBacklash(short axis,int compValue,double compChangeValue,int compDir);
[DllImport("gts.dll")]
public static extern short GT_GetBacklash(short axis,out int pCompValue,out double pCompChangeValue,out int pCompDir);
[DllImport("gts.dll")]
public static extern short GT_SetLeadScrewComp(short axis,short n,int startPos,int lenPos,out int pCompPos,out int pCompNeg);
[DllImport("gts.dll")]
public static extern short GT_EnableLeadScrewComp(short axis,short mode);
[DllImport("gts.dll")]
public static extern short GT_GetCompensate(short axis, out double pPitchError, out double pCrossError, out double pBacklashError, out double pEncPos, out double pPrfPos);
[DllImport("gts.dll")]
public static extern short GT_EnableGantry(short gantryMaster,short gantrySlave,double masterKp,double slaveKp);
[DllImport("gts.dll")]
public static extern short GT_DisableGantry();
[DllImport("gts.dll")]
public static extern short GT_SetGantryErrLmt(int gantryErrLmt);
[DllImport("gts.dll")]
public static extern short GT_GetGantryErrLmt(out int pGantryErrLmt);
[DllImport("gts.dll")]
public static extern short GT_ZeroGantryPos(short gantryMaster,short gantrySlave);
[DllImport("gts.dll")]
public static extern short GT_GetPrfPos(short profile,out double pValue,short count,out uint pClock);
[DllImport("gts.dll")]
public static extern short GT_GetPrfVel(short profile,out double pValue,short count,out uint pClock);
[DllImport("gts.dll")]
public static extern short GT_GetPrfAcc(short profile,out double pValue,short count,out uint pClock);
[DllImport("gts.dll")]
public static extern short GT_GetPrfMode(short profile,out int pValue,short count,out uint pClock);
[DllImport("gts.dll")]
public static extern short GT_GetAxisPrfPos(short axis,out double pValue,short count,out uint pClock);
[DllImport("gts.dll")]
public static extern short GT_GetAxisPrfVel(short axis,out double pValue,short count,out uint pClock);
[DllImport("gts.dll")]
public static extern short GT_GetAxisPrfAcc(short axis,out double pValue,short count,out uint pClock);
[DllImport("gts.dll")]
public static extern short GT_GetAxisEncPos(short axis,out double pValue,short count,out uint pClock);
[DllImport("gts.dll")]
public static extern short GT_GetAxisEncVel(short axis,out double pValue,short count,out uint pClock);
[DllImport("gts.dll")]
public static extern short GT_GetAxisEncAcc(short axis,out double pValue,short count,out uint pClock);
[DllImport("gts.dll")]
public static extern short GT_GetAxisError(short axis,out double pValue,short count,out uint pClock);
[DllImport("gts.dll")]
public static extern short GT_SetLongVar(short index,int value);
[DllImport("gts.dll")]
public static extern short GT_GetLongVar(short index,out int pValue);
[DllImport("gts.dll")]
public static extern short GT_SetDoubleVar(short index,double pValue);
[DllImport("gts.dll")]
public static extern short GT_GetDoubleVar(short index, out double pValue);
[DllImport("gts.dll")]
public static extern short GT_SetControlFilter(short control,short index);
[DllImport("gts.dll")]
public static extern short GT_GetControlFilter(short control,out short pIndex);
[DllImport("gts.dll")]
public static extern short GT_SetPid(short control,short index,ref TPid pPid);
[DllImport("gts.dll")]
public static extern short GT_GetPid(short control,short index,out TPid pPid);
[DllImport("gts.dll")]
public static extern short GT_SetKvffFilter(short control,short index,short kvffFilterExp,double accMax);
[DllImport("gts.dll")]
public static extern short GT_GetKvffFilter(short control, short index, out short pKvffFilterExp, out double pAccMax);
[DllImport("gts.dll")]
public static extern short GT_Update(int mask);
[DllImport("gts.dll")]
public static extern short GT_SetPos(short profile,int pos);
[DllImport("gts.dll")]
public static extern short GT_GetPos(short profile,out int pPos);
[DllImport("gts.dll")]
public static extern short GT_SetVel(short profile,double vel);
[DllImport("gts.dll")]
public static extern short GT_GetVel(short profile,out double pVel);
[DllImport("gts.dll")]
public static extern short GT_PrfTrap(short profile);
[DllImport("gts.dll")]
public static extern short GT_SetTrapPrm(short profile,ref TTrapPrm pPrm);
[DllImport("gts.dll")]
public static extern short GT_GetTrapPrm(short profile,out TTrapPrm pPrm);
[DllImport("gts.dll")]
public static extern short GT_PrfJog(short profile);
[DllImport("gts.dll")]
public static extern short GT_SetJogPrm(short profile,ref TJogPrm pPrm);
[DllImport("gts.dll")]
public static extern short GT_GetJogPrm(short profile,out TJogPrm pPrm);
[DllImport("gts.dll")]
public static extern short GT_PrfPt(short profile,short mode);
[DllImport("gts.dll")]
public static extern short GT_SetPtLoop(short profile,int loop);
[DllImport("gts.dll")]
public static extern short GT_GetPtLoop(short profile,out int pLoop);
[DllImport("gts.dll")]
public static extern short GT_PtSpace(short profile,out short pSpace,short fifo);
[DllImport("gts.dll")]
public static extern short GT_PtData(short profile,double pos,int time,short type,short fifo);
[DllImport("gts.dll")]
public static extern short GT_PtDataWN(short profile,double pos,int time,short type,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_PtClear(short profile,short fifo);
[DllImport("gts.dll")]
public static extern short GT_PtStart(int mask,int option);
[DllImport("gts.dll")]
public static extern short GT_SetPtMemory(short profile,short memory);
[DllImport("gts.dll")]
public static extern short GT_GetPtMemory(short profile,out short pMemory);
[DllImport("gts.dll")]
public static extern short GT_PtGetSegNum(short profile, out int pSegNum);
[DllImport("gts.dll")]
public static extern short GT_SetPtPrecisionMode(short profile,short precisionMode);
[DllImport("gts.dll")]
public static extern short GT_GetPtPrecisionMode(short profile,out short pPrecisionMode);
[DllImport("gts.dll")]
public static extern short GT_SetPtVel(short profile,double velLast,short fifo);
[DllImport("gts.dll")]
public static extern short GT_SetPtLink(short profile,short fifo,short list);
[DllImport("gts.dll")]
public static extern short GT_GetPtLink(short profile,short fifo,out short pList);
[DllImport("gts.dll")]
public static extern short GT_PtDoBit(short profile,short doType,short index,short value,short fifo);
[DllImport("gts.dll")]
public static extern short GT_PtAo(short profile,short aoType,short index,double value,short fifo);
[DllImport("gts.dll")]
public static extern short GT_PrfGear(short profile,short dir);
[DllImport("gts.dll")]
public static extern short GT_SetGearMaster(short profile,short masterIndex,short masterType,short masterItem);
[DllImport("gts.dll")]
public static extern short GT_GetGearMaster(short profile,out short pMasterIndex,out short pMasterType,out short pMasterItem);
[DllImport("gts.dll")]
public static extern short GT_SetGearRatio(short profile,int masterEven,int slaveEven,int masterSlope);
[DllImport("gts.dll")]
public static extern short GT_GetGearRatio(short profile,out int pMasterEven,out int pSlaveEven,out int pMasterSlope);
[DllImport("gts.dll")]
public static extern short GT_GearStart(int mask);
[DllImport("gts.dll")]
public static extern short GT_SetGearEvent(short profile,short gearEvent,int startPara0,int startPara1);
[DllImport("gts.dll")]
public static extern short GT_GetGearEvent(short profile, out short pEvent,out int pStartPara0, out int pStartPara1);
[DllImport("gts.dll")]
public static extern short GT_PrfFollow(short profile,short dir);
[DllImport("gts.dll")]
public static extern short GT_SetFollowMaster(short profile,short masterIndex,short masterType,short masterItem);
[DllImport("gts.dll")]
public static extern short GT_GetFollowMaster(short profile,out short pMasterIndex,out short pMasterType,out short pMasterItem);
[DllImport("gts.dll")]
public static extern short GT_SetFollowLoop(short profile,int loop);
[DllImport("gts.dll")]
public static extern short GT_GetFollowLoop(short profile,out int pLoop);
[DllImport("gts.dll")]
public static extern short GT_SetFollowEvent(short profile,short followEvent,short masterDir,int pos);
[DllImport("gts.dll")]
public static extern short GT_GetFollowEvent(short profile,out short pFollowEvent,out short pMasterDir,out int pPos);
[DllImport("gts.dll")]
public static extern short GT_FollowSpace(short profile,out short pSpace,short fifo);
[DllImport("gts.dll")]
public static extern short GT_FollowData(short profile,int masterSegment,double slaveSegment,short type,short fifo);
[DllImport("gts.dll")]
public static extern short GT_FollowClear(short profile,short fifo);
[DllImport("gts.dll")]
public static extern short GT_FollowStart(int mask,int option);
[DllImport("gts.dll")]
public static extern short GT_FollowSwitch(int mask);
[DllImport("gts.dll")]
public static extern short GT_SetFollowMemory(short profile,short memory);
[DllImport("gts.dll")]
public static extern short GT_GetFollowMemory(short profile,out short memory);
[DllImport("gts.dll")]
public static extern short GT_GetFollowStatus(short profile, out short pFifoNum, out short pSwitchStatus);
[DllImport("gts.dll")]
public static extern short GT_SetFollowPhasing(short profile, short profilePhasing);
[DllImport("gts.dll")]
public static extern short GT_GetFollowPhasing(short profile, out short pProfilePhasing);
[DllImport("gts.dll")]
public static extern short GT_BufFollowMaster(short crd,ref TBufFollowMaster pBufFollowMaster,short fifo=0);
[DllImport("gts.dll")]
public static extern short GT_BufFollowEventCross(short crd,ref TBufFollowEventCross pEventCross,short fifo=0);
[DllImport("gts.dll")]
public static extern short GT_BufFollowEventTrigger(short crd,ref TBufFollowEventTrigger pEventTrigger,short fifo=0);
[DllImport("gts.dll")]
public static extern short GT_BufFollowStart(short crd,int masterSegment,int slaveSegment,int masterFrameWidth,short fifo=0);
[DllImport("gts.dll")]
public static extern short GT_BufFollowReturn(short crd,double vel,double acc,short smoothPercent,short fifo=0);
[DllImport("gts.dll")]
public static extern short GT_BufFollowNext(short crd,int width,short fifo=0);
[DllImport("gts.dll")]
public static extern short GT_GetCrdFollowStatus(short crd,out TCrdFollowStatus pStatus);
[DllImport("gts.dll")]
public static extern short GT_SetCrdFollowLoop(short crd,unsigned long loop);
[DllImport("gts.dll")]
public static extern short GT_GetCrdFollowLoop(short crd,out unsigned long pLoop);
[DllImport("gts.dll")]
public static extern short GT_SetCrdFollowPrm(short crd,ref TCrdFollowPrm pPrm);
[DllImport("gts.dll")]
public static extern short GT_GetCrdFollowPrm(short crd,out TCrdFollowPrm pPrm);
[DllImport("gts.dll")]
public static extern short GT_Compile(string pFileName, out TCompileInfo pWrongInfo);
[DllImport("gts.dll")]
public static extern short GT_Download(string pFileName);
[DllImport("gts.dll")]
public static extern short GT_GetFunId(string pFunName,out short pFunId);
[DllImport("gts.dll")]
public static extern short GT_Bind(short thread,short funId, short page);
[DllImport("gts.dll")]
public static extern short GT_RunThread(short thread);
[DllImport("gts.dll")]
public static extern short GT_StopThread(short thread);
[DllImport("gts.dll")]
public static extern short GT_PauseThread(short thread);
[DllImport("gts.dll")]
public static extern short GT_GetThreadSts(short thread,out TThreadSts pThreadSts);
[DllImport("gts.dll")]
public static extern short GT_GetVarId(string pFunName,string pVarName,out TVarInfo pVarInfo);
[DllImport("gts.dll")]
public static extern short GT_SetVarValue(short page,ref TVarInfo pVarInfo,ref double pValue,short count);
[DllImport("gts.dll")]
public static extern short GT_GetVarValue(short page,ref TVarInfo pVarInfo,out double pValue,short count);
[DllImport("gts.dll")]
public static extern short GT_SetCrdMapBase(short crd,short mapBase);
[DllImport("gts.dll")]
public static extern short GT_GetCrdMapBase(short crd,out short pMapBase);
[DllImport("gts.dll")]
public static extern short GT_SetCrdSmooth(short crd,ref TCrdSmooth pCrdSmooth);
[DllImport("gts.dll")]
public static extern short GT_GetCrdSmooth(short crd,out TCrdSmooth pCrdSmooth);
[DllImport("gts.dll")]
public static extern short GT_SetCrdJerk(short crd,double jerkMax);
[DllImport("gts.dll")]
public static extern short GT_GetCrdJerk(short crd,out double pJerkMax);
[DllImport("gts.dll")]
public static extern short GT_SetCrdPrm(short crd, ref TCrdPrm pCrdPrm);
[DllImport("gts.dll")]
public static extern short GT_GetCrdPrm(short crd,out TCrdPrm pCrdPrm);
[DllImport("gts.dll")]
public static extern short GT_SetArcAllowError(short crd,double error);
[DllImport("gts.dll")]
public static extern short GT_CrdSpace(short crd,out int pSpace,short fifo);
[DllImport("gts.dll")]
public static extern short GT_CrdData(short crd,System.IntPtr pCrdData,short fifo);
[DllImport("gts.dll")]
public static extern short GT_CrdDataCircle(short crd, ref TCrdData pCrdData, short fifo);
[DllImport("gts.dll")]
public static extern short GT_LnXY(short crd, int x, int y, double synVel, double synAcc, double velEnd, short fifo);
[DllImport("gts.dll")]
public static extern short GT_LnXYZ(short crd, int x, int y, int z, double synVel, double synAcc, double velEnd, short fifo);
[DllImport("gts.dll")]
public static extern short GT_LnXYZA(short crd, int x, int y, int z, int a, double synVel, double synAcc, double velEnd, short fifo);
[DllImport("gts.dll")]
public static extern short GT_LnXYG0(short crd, int x, int y, double synVel, double synAcc, short fifo);
[DllImport("gts.dll")]
public static extern short GT_LnXYZG0(short crd, int x, int y, int z, double synVel, double synAcc, short fifo);
[DllImport("gts.dll")]
public static extern short GT_LnXYZAG0(short crd, int x, int y, int z, int a, double synVel, double synAcc, short fifo);
[DllImport("gts.dll")]
public static extern short GT_ArcXYR(short crd, int x, int y, double radius, short circleDir, double synVel, double synAcc, double velEnd, short fifo);
[DllImport("gts.dll")]
public static extern short GT_ArcXYC(short crd, int x, int y, double xCenter, double yCenter, short circleDir, double synVel, double synAcc, double velEnd, short fifo);
[DllImport("gts.dll")]
public static extern short GT_ArcYZR(short crd, int y, int z, double radius, short circleDir, double synVel, double synAcc, double velEnd, short fifo);
[DllImport("gts.dll")]
public static extern short GT_ArcYZC(short crd, int y, int z, double yCenter, double zCenter, short circleDir, double synVel, double synAcc, double velEnd, short fifo);
[DllImport("gts.dll")]
public static extern short GT_ArcZXR(short crd, int z, int x, double radius, short circleDir, double synVel, double synAcc, double velEnd, short fifo);
[DllImport("gts.dll")]
public static extern short GT_ArcZXC(short crd, int z, int x, double zCenter, double xCenter, short circleDir, double synVel, double synAcc, double velEnd, short fifo);
[DllImport("gts.dll")]
public static extern short GT_ArcXYZ(short crd,int x,int y,int z,double interX,double interY,double interZ,double synVel,double synAcc,double velEnd,short fifo);
[DllImport("gts.dll")]
public static extern short GT_LnXYOverride2(short crd,int x,int y,double synVel,double synAcc,double velEnd,short fifo);
[DllImport("gts.dll")]
public static extern short GT_LnXYZOverride2(short crd,int x,int y,int z,double synVel,double synAcc,double velEnd,short fifo);
[DllImport("gts.dll")]
public static extern short GT_LnXYZAOverride2(short crd,int x,int y,int z,int a,double synVel,double synAcc,double velEnd,short fifo);
[DllImport("gts.dll")]
public static extern short GT_LnXYG0Override2(short crd,int x,int y,double synVel,double synAcc,short fifo);
[DllImport("gts.dll")]
public static extern short GT_LnXYZG0Override2(short crd,int x,int y,int z,double synVel,double synAcc,short fifo);
[DllImport("gts.dll")]
public static extern short GT_LnXYZAG0Override2(short crd,int x,int y,int z,int a,double synVel,double synAcc,short fifo);
[DllImport("gts.dll")]
public static extern short GT_ArcXYROverride2(short crd,int x,int y,double radius,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
[DllImport("gts.dll")]
public static extern short GT_ArcXYCOverride2(short crd,int x,int y,double xCenter,double yCenter,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
[DllImport("gts.dll")]
public static extern short GT_ArcYZROverride2(short crd,int y,int z,double radius,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
[DllImport("gts.dll")]
public static extern short GT_ArcYZCOverride2(short crd,int y,int z,double yCenter,double zCenter,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
[DllImport("gts.dll")]
public static extern short GT_ArcZXROverride2(short crd,int z,int x,double radius,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
[DllImport("gts.dll")]
public static extern short GT_ArcZXCOverride2(short crd,int z,int x,double zCenter,double xCenter,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
[DllImport("gts.dll")]
public static extern short GT_HelixXYRZ(short crd,int x,int y,int z,double radius,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
[DllImport("gts.dll")]
public static extern short GT_HelixXYCZ(short crd,int x,int y,int z,double xCenter,double yCenter,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
[DllImport("gts.dll")]
public static extern short GT_HelixYZRX(short crd,int x,int y,int z,double radius,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
[DllImport("gts.dll")]
public static extern short GT_HelixYZCX(short crd,int x,int y,int z,double yCenter,double zCenter,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
[DllImport("gts.dll")]
public static extern short GT_HelixZXRY(short crd,int x,int y,int z,double radius,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
[DllImport("gts.dll")]
public static extern short GT_HelixZXCY(short crd,int x,int y,int z,double zCenter,double xCenter,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
[DllImport("gts.dll")]
public static extern short GT_HelixXYRZOverride2(short crd,int x,int y,int z,double radius,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
[DllImport("gts.dll")]
public static extern short GT_HelixXYCZOverride2(short crd,int x,int y,int z,double xCenter,double yCenter,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
[DllImport("gts.dll")]
public static extern short GT_HelixYZRXOverride2(short crd,int x,int y,int z,double radius,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
[DllImport("gts.dll")]
public static extern short GT_HelixYZCXOverride2(short crd,int x,int y,int z,double yCenter,double zCenter,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
[DllImport("gts.dll")]
public static extern short GT_HelixZXRYOverride2(short crd,int x,int y,int z,double radius,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
[DllImport("gts.dll")]
public static extern short GT_HelixZXCYOverride2(short crd,int x,int y,int z,double zCenter,double xCenter,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
[DllImport("gts.dll")]
public static extern short GT_LnXYWN(short crd,int x,int y,double synVel,double synAcc,double velEnd,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_LnXYZWN(short crd,int x,int y,int z,double synVel,double synAcc,double velEnd,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_LnXYZAWN(short crd,int x,int y,int z,int a,double synVel,double synAcc,double velEnd,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_LnXYG0WN(short crd,int x,int y,double synVel,double synAcc,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_LnXYZG0WN(short crd,int x,int y,int z,double synVel,double synAcc,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_LnXYZAG0WN(short crd,int x,int y,int z,int a,double synVel,double synAcc,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_ArcXYRWN(short crd,int x,int y,double radius,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_ArcXYCWN(short crd,int x,int y,double xCenter,double yCenter,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_ArcYZRWN(short crd,int y,int z,double radius,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_ArcYZCWN(short crd,int y,int z,double yCenter,double zCenter,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_ArcZXRWN(short crd,int z,int x,double radius,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_ArcZXCWN(short crd,int z,int x,double zCenter,double xCenter,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_ArcXYZWN(short crd,int x,int y,int z,double interX,double interY,double interZ,double synVel,double synAcc,double velEnd,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_LnXYOverride2WN(short crd,int x,int y,double synVel,double synAcc,double velEnd,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_LnXYZOverride2WN(short crd,int x,int y,int z,double synVel,double synAcc,double velEnd,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_LnXYZAOverride2WN(short crd,int x,int y,int z,int a,double synVel,double synAcc,double velEnd,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_LnXYG0Override2WN(short crd,int x,int y,double synVel,double synAcc,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_LnXYZG0Override2WN(short crd,int x,int y,int z,double synVel,double synAcc,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_LnXYZAG0Override2WN(short crd,int x,int y,int z,int a,double synVel,double synAcc,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_ArcXYROverride2WN(short crd,int x,int y,double radius,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_ArcXYCOverride2WN(short crd,int x,int y,double xCenter,double yCenter,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_ArcYZROverride2WN(short crd,int y,int z,double radius,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_ArcYZCOverride2WN(short crd,int y,int z,double yCenter,double zCenter,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_ArcZXROverride2WN(short crd,int z,int x,double radius,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_ArcZXCOverride2WN(short crd,int z,int x,double zCenter,double xCenter,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_HelixXYRZWN(short crd,int x,int y,int z,double radius,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_HelixXYCZWN(short crd,int x,int y,int z,double xCenter,double yCenter,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_HelixYZRXWN(short crd,int x,int y,int z,double radius,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_HelixYZCXWN(short crd,int x,int y,int z,double yCenter,double zCenter,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_HelixZXRYWN(short crd,int x,int y,int z,double radius,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_HelixZXCYWN(short crd,int x,int y,int z,double zCenter,double xCenter,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_HelixXYRZOverride2WN(short crd,int x,int y,int z,double radius,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_HelixXYCZOverride2WN(short crd,int x,int y,int z,double xCenter,double yCenter,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_HelixYZRXOverride2WN(short crd,int x,int y,int z,double radius,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_HelixYZCXOverride2WN(short crd,int x,int y,int z,double yCenter,double zCenter,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_HelixZXRYOverride2WN(short crd,int x,int y,int z,double radius,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_HelixZXCYOverride2WN(short crd,int x,int y,int z,double zCenter,double xCenter,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_BufTrend(short crd,uint trendSegNum,double trendDistance,double trendVelEnd,short fifo);
[DllImport("gts.dll")]
public static extern short GT_BufIO(short crd, ushort doType, ushort doMask, ushort doValue, short fifo);
[DllImport("gts.dll")]
public static extern short GT_BufEnableDoBitPulse(short crd,short doType,short doIndex,ushort highLevelTime,ushort lowLevelTime,int pulseNum,short firstLevel,short fifo);
[DllImport("gts.dll")]
public static extern short GT_BufDisableDoBitPulse(short crd,short doType,short doIndex,short fifo);
[DllImport("gts.dll")]
public static extern short GT_BufDelay(short crd, ushort delayTime, short fifo);
[DllImport("gts.dll")]
public static extern short GT_BufComparePulse(short crd,short level,short outputType,short time,short fifo);
[DllImport("gts.dll")]
public static extern short GT_BufDA(short crd, short chn, short daValue, short fifo);
[DllImport("gts.dll")]
public static extern short GT_BufLmtsOn(short crd, short axis, short limitType, short fifo);
[DllImport("gts.dll")]
public static extern short GT_BufLmtsOff(short crd, short axis, short limitType, short fifo);
[DllImport("gts.dll")]
public static extern short GT_BufSetStopIo(short crd, short axis, short stopType, short inputType, short inputIndex, short fifo);
[DllImport("gts.dll")]
public static extern short GT_BufMove(short crd, short moveAxis, int pos, double vel, double acc, short modal, short fifo);
[DllImport("gts.dll")]
public static extern short GT_BufGear(short crd, short gearAxis, int pos, short fifo);
[DllImport("gts.dll")]
public static extern short GT_BufGearPercent(short crd,short gearAxis,int pos,short accPercent,short decPercent,short fifo);
[DllImport("gts.dll")]
public static extern short GT_BufStopMotion(short crd,short fifo);
[DllImport("gts.dll")]
public static extern short GT_BufSetVarValue(short crd,short pageId,out TVarInfo pVarInfo,double value,short fifo);
[DllImport("gts.dll")]
public static extern short GT_BufJumpNextSeg(short crd,short axis,short limitType,short fifo);
[DllImport("gts.dll")]
public static extern short GT_BufSynchPrfPos(short crd,short encoder,short profile,short fifo);
[DllImport("gts.dll")]
public static extern short GT_BufVirtualToActual(short crd,short fifo);
[DllImport("gts.dll")]
public static extern short GT_BufSetLongVar(short crd,short index,int value,short fifo);
[DllImport("gts.dll")]
public static extern short GT_BufSetDoubleVar(short crd,short index,double value,short fifo);
[DllImport("gts.dll")]
public static extern short GT_CrdStart(short mask,short option);
[DllImport("gts.dll")]
public static extern short GT_CrdStartStep(short mask, short option);
[DllImport("gts.dll")]
public static extern short GT_CrdStepMode(short mask, short option);
[DllImport("gts.dll")]
public static extern short GT_SetOverride(short crd,double synVelRatio);
[DllImport("gts.dll")]
public static extern short GT_SetOverride2(short crd, double synVelRatio);
[DllImport("gts.dll")]
public static extern short GT_InitLookAhead(short crd,short fifo,double T,double accMax,short n,ref TCrdData pLookAheadBuf);
[DllImport("gts.dll")]
public static extern short GT_GetLookAheadSpace(short crd,out int pSpace,short fifo);
[DllImport("gts.dll")]
public static extern short GT_GetLookAheadSegCount(short crd,out int pSegCount,short fifo);
[DllImport("gts.dll")]
public static extern short GT_CrdClear(short crd,short fifo);
[DllImport("gts.dll")]
public static extern short GT_CrdStatus(short crd,out short pRun,out int pSegment,short fifo);
[DllImport("gts.dll")]
public static extern short GT_SetUserSegNum(short crd,int segNum,short fifo);
[DllImport("gts.dll")]
public static extern short GT_GetUserSegNum(short crd,out int pSegment,short fifo);
[DllImport("gts.dll")]
public static extern short GT_GetUserSegNumWN(short crd,out int pSegment,short fifo);
[DllImport("gts.dll")]
public static extern short GT_GetRemainderSegNum(short crd,out int pSegment,short fifo);
[DllImport("gts.dll")]
public static extern short GT_SetCrdStopDec(short crd,double decSmoothStop,double decAbruptStop);
[DllImport("gts.dll")]
public static extern short GT_GetCrdStopDec(short crd,out double pDecSmoothStop,out double pDecAbruptStop);
[DllImport("gts.dll")]
public static extern short GT_SetCrdLmtStopMode(short crd,short lmtStopMode);
[DllImport("gts.dll")]
public static extern short GT_GetCrdLmtStopMode(short crd,out short pLmtStopMode);
[DllImport("gts.dll")]
public static extern short GT_GetUserTargetVel(short crd,out double pTargetVel);
[DllImport("gts.dll")]
public static extern short GT_GetSegTargetPos(short crd,out int pTargetPos);
[DllImport("gts.dll")]
public static extern short GT_GetCrdPos(short crd,out double pPos);
[DllImport("gts.dll")]
public static extern short GT_GetCrdVel(short crd,out double pSynVel);
[DllImport("gts.dll")]
public static extern short GT_SetCrdSingleMaxVel(short crd,ref double pMaxVel);
[DllImport("gts.dll")]
public static extern short GT_GetCrdSingleMaxVel(short crd,out double pMaxVel);
[DllImport("gts.dll")]
public static extern short GT_GetCmdCount(short crd, out short pResult, short fifo);
[DllImport("gts.dll")]
public static extern short GT_BufLaserOn(short crd,short fifo,short channel);
[DllImport("gts.dll")]
public static extern short GT_BufLaserOff(short crd,short fifo,short channel);
[DllImport("gts.dll")]
public static extern short GT_BufLaserPrfCmd(short crd,double laserPower,short fifo,short channel);
[DllImport("gts.dll")]
public static extern short GT_BufLaserFollowRatio(short crd,double ratio,double minPower,double maxPower,short fifo,short channel);
[DllImport("gts.dll")]
public static extern short GT_BufLaserFollowMode(short crd,short source ,short fifo,short channel,double startPower );
[DllImport("gts.dll")]
public static extern short GT_BufLaserFollowOff(short crd,short fifo,short channel);
[DllImport("gts.dll")]
public static extern short GT_BufLaserFollowSpline(short crd,short tableId,double minPower,double maxPower,short fifo,short channel);
[DllImport("gts.dll")]
public static extern short GT_PrfPvt(short profile);
[DllImport("gts.dll")]
public static extern short GT_SetPvtLoop(short profile,int loop);
[DllImport("gts.dll")]
public static extern short GT_GetPvtLoop(short profile,out int pLoopCount,out int pLoop);
[DllImport("gts.dll")]
public static extern short GT_PvtStatus(short profile,out short pTableId,out double pTime,short count);
[DllImport("gts.dll")]
public static extern short GT_PvtStart(int mask);
[DllImport("gts.dll")]
public static extern short GT_PvtTableSelect(short profile,short tableId);
[DllImport("gts.dll")]
public static extern short GT_PvtTable(short tableId,int count,ref double pTime,ref double pPos,ref double pVel);
[DllImport("gts.dll")]
public static extern short GT_PvtTableEx(short tableId,int count,ref double pTime,ref double pPos,ref double pVelBegin,ref double pVelEnd);
[DllImport("gts.dll")]
public static extern short GT_PvtTableComplete(short tableId,int count,ref double pTime,ref double pPos,ref double pA,ref double pB,ref double pC,double velBegin,double velEnd);
[DllImport("gts.dll")]
public static extern short GT_PvtTablePercent(short tableId,int count,ref double pTime,ref double pPos,ref double pPercent,double velBegin);
[DllImport("gts.dll")]
public static extern short GT_PvtPercentCalculate(int n,ref double pTime,ref double pPos,ref double pPercent,double velBegin,ref double pVel);
[DllImport("gts.dll")]
public static extern short GT_PvtTableContinuous(short tableId,int count,ref double pPos,ref double pVel,ref double pPercent,ref double pVelMax,ref double pAcc,ref double pDec,double timeBegin);
[DllImport("gts.dll")]
public static extern short GT_PvtContinuousCalculate(int n,ref double pPos,ref double pVel,ref double pPercent,ref double pVelMax,ref double pAcc,ref double pDec,ref double pTime);
[DllImport("gts.dll")]
public static extern short GT_PvtTableMovePercent(short tableId, int distance, double vm, double acc, double pa1, double pa2, double dec, double pd1, double pd2, out double pVel, out double pAcc, out double pDec, out double pTime);
[DllImport("gts.dll")]
public static extern short GT_PvtTableMovePercentEx(short tableId,int distance,double vm,double acc,double pa1,double pa2,double ma,double dec,double pd1,double pd2,double md,out double pVel,out double pAcc,out double pDec,out double pTime);
[DllImport("gts.dll")]
public static extern short GT_HomeInit();
[DllImport("gts.dll")]
public static extern short GT_Home(short axis,int pos,double vel,double acc,int offset);
[DllImport("gts.dll")]
public static extern short GT_Index(short axis,int pos,int offset);
[DllImport("gts.dll")]
public static extern short GT_HomeStop(short axis,int pos,double vel,double acc);
[DllImport("gts.dll")]
public static extern short GT_HomeSts(short axis,out ushort pStatus);
[DllImport("gts.dll")]
public static extern short GT_HandwheelInit();
[DllImport("gts.dll")]
public static extern short GT_SetHandwheelStopDec(short slave,double decSmoothStop,double decAbruptStop);
[DllImport("gts.dll")]
public static extern short GT_StartHandwheel(short slave,short master,short masterEven,short slaveEven,short intervalTime,double acc,double dec,double vel,short stopWaitTime);
[DllImport("gts.dll")]
public static extern short GT_EndHandwheel(short slave);
[DllImport("gts.dll")]
public static extern short GT_SetTrigger(short i,ref TTrigger pTrigger);
[DllImport("gts.dll")]
public static extern short GT_GetTrigger(short i,out TTrigger pTrigger);
[DllImport("gts.dll")]
public static extern short GT_GetTriggerStatus(short i,out TTriggerStatus pTriggerStatus,short count);
[DllImport("gts.dll")]
public static extern short GT_GetTriggerStatusEx(short i,out TTriggerStatusEx pTriggerStatusEx,short count);
[DllImport("gts.dll")]
public static extern short GT_ClearTriggerStatus(short i);
[DllImport("gts.dll")]
public static extern short GT_SetComparePort(short channel,short hsio0,short hsio1);
[DllImport("gts.dll")]
public static extern short GT_ComparePulse(short level,short outputType,short time);
[DllImport("gts.dll")]
public static extern short GT_CompareStop();
[DllImport("gts.dll")]
public static extern short GT_CompareStatus(out short pStatus,out int pCount);
[DllImport("gts.dll")]
public static extern short GT_CompareData(short encoder,short source,short pulseType,short startLevel,short time,int[] pBuf1,short count1,int[] pBuf2,short count2);
[DllImport("gts.dll")]
public static extern short GT_CompareLinear(short encoder,short channel,int startPos,int repeatTimes,int interval,short time,short source);
[DllImport("gts.dll")]
public static extern short GT_CompareContinuePulseMode(short mode, short count, short standTime);
[DllImport("gts.dll")]
public static extern short GT_SetEncResponseCheck(short control, short dacThreshold, double minEncVel, int time);
[DllImport("gts.dll")]
public static extern short GT_GetEncResponseCheck(short control, out short pDacThreshold, out double pMinEncVel, out int pTime);
[DllImport("gts.dll")]
public static extern short GT_EnableEncResponseCheck(short control);
[DllImport("gts.dll")]
public static extern short GT_DisableEncResponseCheck(short control);
[DllImport("gts.dll")]
public static extern short GT_2DCompareMode(short chn, short mode);
[DllImport("gts.dll")]
public static extern short GT_2DComparePulse(short chn, short level, short outputType, short time);
[DllImport("gts.dll")]
public static extern short GT_2DCompareStop(short chn);
[DllImport("gts.dll")]
public static extern short GT_2DCompareClear(short chn);
[DllImport("gts.dll")]
public static extern short GT_2DCompareStatus(short chn, out short pStatus, out int pCount, out short pFifo, out short pFifoCount, out short pBufCount);
[DllImport("gts.dll")]
public static extern short GT_2DCompareSetPrm(short chn, ref T2DComparePrm pPrm);
[DllImport("gts.dll")]
public static extern short GT_2DCompareData(short chn, short count, ref T2DCompareData pBuf, short fifo);
[DllImport("gts.dll")]
public static extern short GT_2DCompareStart(short chn);
[DllImport("gts.dll")]
public static extern short GT_2DCompareClearData(short chn);
[DllImport("gts.dll")]
public static extern short GT_2DCompareSetPreOutTime(short chn,double preOutputTime);
[DllImport("gts.dll")]
public static extern short GT_SetAxisMode(short axis, short mode);
[DllImport("gts.dll")]
public static extern short GT_GetAxisMode(short axis, out short pMode);
[DllImport("gts.dll")]
public static extern short GT_SetHSIOOpt(ushort value, short channel);
[DllImport("gts.dll")]
public static extern short GT_GetHSIOOpt(out ushort pValue, short channel);
[DllImport("gts.dll")]
public static extern short GT_LaserPowerMode(short laserPowerMode, double maxValue, double minValue, short channel, short delaymode);
[DllImport("gts.dll")]
public static extern short GT_LaserPrfCmd(double outputCmd, short channel);
[DllImport("gts.dll")]
public static extern short GT_LaserOutFrq(double outFrq, short channel);
[DllImport("gts.dll")]
public static extern short GT_SetPulseWidth(uint width, short channel);
[DllImport("gts.dll")]
public static extern short GT_SetWaitPulse(ushort mode, double waitPulseFrq, double waitPulseDuty, short channel);
[DllImport("gts.dll")]
public static extern short GT_SetPreVltg(ushort mode, double voltageValue, short channel);
[DllImport("gts.dll")]
public static extern short GT_SetLevelDelay(ushort offDelay, ushort onDelay, short channel);
[DllImport("gts.dll")]
public static extern short GT_EnaFPK(ushort time1, ushort time2, ushort laserOffDelay, short channel);
[DllImport("gts.dll")]
public static extern short GT_DisFPK(short channel);
[DllImport("gts.dll")]
public static extern short GT_SetLaserDisMode(short mode, short source, ref int pPos, ref double pScale, short channel);
[DllImport("gts.dll")]
public static extern short GT_SetLaserDisRatio(ref double pRatio, double minPower, double maxPower, short channel);
[DllImport("gts.dll")]
public static extern short GT_SetWaitPulseEx(ushort mode, double waitPulseFrq, double waitPulseDuty);
[DllImport("gts.dll")]
public static extern short GT_SetLaserMode(short mode);
[DllImport("gts.dll")]
public static extern short GT_SetLaserFollowSpline(short tableId,int n,ref double pX,ref double pY,double beginValue,double endValue,short channel);
[DllImport("gts.dll")]
public static extern short GT_GetLaserFollowSpline(short tableId,int n,out double pX,out double pY,out double pA,out double pB,out double pC,out int pCount,short channel);
//ExtMdl
[DllImport("gts.dll")]
public static extern short GT_OpenExtMdl(string pDllName);
[DllImport("gts.dll")]
public static extern short GT_CloseExtMdl();
[DllImport("gts.dll")]
public static extern short GT_SwitchtoCardNoExtMdl(short card);
[DllImport("gts.dll")]
public static extern short GT_ResetExtMdl();
[DllImport("gts.dll")]
public static extern short GT_LoadExtConfig(string pFileName);
[DllImport("gts.dll")]
public static extern short GT_SetExtIoValue(short mdl,ushort value);
[DllImport("gts.dll")]
public static extern short GT_GetExtIoValue(short mdl,out ushort pValue);
[DllImport("gts.dll")]
public static extern short GT_SetExtIoBit(short mdl,short index,ushort value);
[DllImport("gts.dll")]
public static extern short GT_GetExtIoBit(short mdl,short index,out ushort pValue);
[DllImport("gts.dll")]
public static extern short GT_GetExtAdValue(short mdl,short chn,out ushort pValue);
[DllImport("gts.dll")]
public static extern short GT_GetExtAdVoltage(short mdl,short chn,out double pValue);
[DllImport("gts.dll")]
public static extern short GT_SetExtDaValue(short mdl,short chn,ushort value);
[DllImport("gts.dll")]
public static extern short GT_SetExtDaVoltage(short mdl,short chn,double value);
[DllImport("gts.dll")]
public static extern short GT_GetStsExtMdl(short mdl,short chn,out ushort pStatus);
[DllImport("gts.dll")]
public static extern short GT_GetExtDoValue(short mdl,out ushort pValue);
[DllImport("gts.dll")]
public static extern short GT_GetExtMdlMode(out short pMode);
[DllImport("gts.dll")]
public static extern short GT_SetExtMdlMode(short mode);
[DllImport("gts.dll")]
public static extern short GT_UploadConfig();
[DllImport("gts.dll")]
public static extern short GT_DownloadConfig();
[DllImport("gts.dll")]
public static extern short GT_GetUuid(out char pCode,short count);
[DllImport("gts.dll")]
public static extern short GT_SetUuid(ref char pCode,short count);
//2D Compensate
public struct TCompensate2DTable
{
public short count1;
public short count2;
public int posBegin1;
public int posBegin2;
public int step1;
public int step2;
}
public struct TCompensate2D
{
public short enable;
public short tableIndex;
public short axisType1;
public short axisType2;
public short axisIndex1;
public short axisIndex2;
}
[DllImport("gts.dll")]
public static extern short GT_SetCompensate2DTable(short tableIndex,ref TCompensate2DTable pTable,ref int pData,short externComp);
[DllImport("gts.dll")]
public static extern short GT_GetCompensate2DTable(short tableIndex,out TCompensate2DTable pTable,out short pExternComp);
[DllImport("gts.dll")]
public static extern short GT_SetCompensate2D(short axis, ref TCompensate2D pComp2d);
[DllImport("gts.dll")]
public static extern short GT_GetCompensate2D(short axis, out TCompensate2D pComp2d);
[DllImport("gts.dll")]
public static extern short GT_GetCompensate2DValue(short axis, out double pValue);
//Smart Home
public const short HOME_STAGE_IDLE=0;
public const short HOME_STAGE_START=1;
public const short HOME_STAGE_ON_HOME_LIMIT_ESCAPE=2;
public const short HOME_STAGE_SEARCH_LIMIT=10;
public const short HOME_STAGE_SEARCH_LIMIT_STOP=11;
public const short HOME_STAGE_SEARCH_LIMIT_ESCAPE = 13;
public const short HOME_STAGE_SEARCH_LIMIT_RETURN=15;
public const short HOME_STAGE_SEARCH_LIMIT_RETURN_STOP=16;
public const short HOME_STAGE_SEARCH_HOME=20;
public const short HOME_STAGE_SEARCH_HOME_STOP=22;
public const short HOME_STAGE_SEARCH_HOME_RETURN=25;
public const short HOME_STAGE_SEARCH_INDEX=30;
public const short HOME_STAGE_SEARCH_GPI=40;
public const short HOME_STAGE_SEARCH_GPI_RETURN=45;
public const short HOME_STAGE_GO_HOME=80;
public const short HOME_STAGE_END=100;
public const short HOME_ERROR_NONE=0;
public const short HOME_ERROR_NOT_TRAP_MODE=1;
public const short HOME_ERROR_DISABLE=2;
public const short HOME_ERROR_ALARM=3;
public const short HOME_ERROR_STOP=4;
public const short HOME_ERROR_STAGE=5;
public const short HOME_ERROR_HOME_MODE=6;
public const short HOME_ERROR_SET_CAPTURE_HOME=7;
public const short HOME_ERROR_NO_HOME=8;
public const short HOME_ERROR_SET_CAPTURE_INDEX=9;
public const short HOME_ERROR_NO_INDEX=10;
public const short HOME_MODE_LIMIT=10;
public const short HOME_MODE_LIMIT_HOME=11;
public const short HOME_MODE_LIMIT_INDEX=12;
public const short HOME_MODE_LIMIT_HOME_INDEX=13;
public const short HOME_MODE_HOME=20;
public const short HOME_MODE_HOME_INDEX=22;
public const short HOME_MODE_INDEX = 30;
public const short HOME_MODE_FORCED_HOME=40;
public const short HOME_MODE_FORCED_HOME_INDEX=41;
public struct THomePrm
{
public short mode;
public short moveDir;
public short indexDir;
public short edge;
public short triggerIndex;
public short pad1_1;
public short pad1_2;
public short pad1_3;
public double velHigh;
public double velLow;
public double acc;
public double dec;
public short smoothTime;
public short pad2_1;
public short pad2_2;
public short pad2_3;
public int homeOffset;
public int searchHomeDistance;
public int searchIndexDistance;
public int escapeStep;
public int pad3_1;
public int pad3_2;
public int pad3_3;
}
public struct THomeStatus
{
public short run;
public short stage;
public short error;
public short pad1;
public int capturePos;
public int targetPos;
}
[DllImport("gts.dll")]
public static extern short GT_GoHome(short axis, ref THomePrm pHomePrm);
[DllImport("gts.dll")]
public static extern short GT_GetHomePrm(short axis, out THomePrm pHomePrm);
[DllImport("gts.dll")]
public static extern short GT_GetHomeStatus(short axis, out THomeStatus pHomeStatus);
//Extern Control
public struct TControlConfigEx
{
public short refType;
public short refIndex;
public short feedbackType;
public short feedbackIndex;
public int errorLimit;
public short feedbackSmooth;
public short controlSmooth;
}
[DllImport("gts.dll")]
public static extern short GT_SetControlConfigEx(short control, ref TControlConfigEx pControl);
[DllImport("gts.dll")]
public static extern short GT_GetControlConfigEx(short control, out TControlConfigEx pControl);
//Adc filter
public struct TAdcConfig
{
public short active;
public short reverse;
public double a;
public double b;
public short filterMode;
}
[DllImport("gts.dll")]
public static extern short GT_SetAdcConfig(short adc, ref TAdcConfig pAdc);
[DllImport("gts.dll")]
public static extern short GT_GetAdcConfig(short adc, out TAdcConfig pAdc);
[DllImport("gts.dll")]
public static extern short GT_SetAdcFilterPrm(short adc, double k);
[DllImport("gts.dll")]
public static extern short GT_GetAdcFilterPrm(short adc, out double pk);
//Superimposed
[DllImport("gts.dll")]
public static extern short GT_SetControlSuperimposed(short control, short superimposedType, short superimposedIndex);
[DllImport("gts.dll")]
public static extern short GT_GetControlSuperimposed(short control, out short pSuperimposedType, out short pSuperimposedIndex);
////////////////////
[DllImport("gts.dll")]
public static extern short GT_ZeroLaserOnTime(short channel);
[DllImport("gts.dll")]
public static extern short GT_GetLaserOnTime(short channel,out uint pTime);
[DllImport("gts.dll")]
public static extern short GT_SetProfileScale(short axis,int alpha,int beta);
[DllImport("gts.dll")]
public static extern short GT_GetProfileScale(short axis,out int pAlpha,out int pBeta);
[DllImport("gts.dll")]
public static extern short GT_SetEncoderScale(short encoder,int alpha,int beta);
[DllImport("gts.dll")]
public static extern short GT_GetEncoderScale(short encoder,out int pAlpha,out int pBeta);
[DllImport("gts.dll")]
public static extern short GT_MultiAxisOn(uint mask);
[DllImport("gts.dll")]
public static extern short GT_MultiAxisOff(uint mask);
[DllImport("gts.dll")]
public static extern short GT_SetAxisOnDelayTime(ushort ms);
[DllImport("gts.dll")]
public static extern short GT_GetAxisOnDelayTime(out ushort pMs);
[DllImport("gts.dll")]
public static extern short GT_SetLaserDisTable1D(short count,ref double pRatio,ref int pPos,double minPower,double maxPower,ref double pLimitPower,short channel);
[DllImport("gts.dll")]
public static extern short GT_SetLaserDisTable2D(short[] axisIndex,short[] count,ref double pRatio,ref int pXPos,ref int pYPos,
double minPower,double maxPower,ref double pLimitPower,short channel);
[DllImport("gts.dll")]
public static extern short GT_SetLaserDisTable2DEx(short[] axisIndex,short[] count,ref double pRatio,int[] posBegin,int[] posStep,
double minPower,double maxPower,ref double pLimitPower,short channel);
[DllImport("gts.dll")]
public static extern short GT_SetLaserCrdMap(short channel,short map);
[DllImport("gts.dll")]
public static extern short GT_GetLaserCrdMap(short channel,ref short pMap);
//////////////////////////////////////////////////////////////////////////
//AutoFocus
//////////////////////////////////////////////////////////////////////////
[DllImport("gts.dll")]
public static extern short GT_AutoFocus(ushort mode,double kp,short reverse,short chanel);
[DllImport("gts.dll")]
public static extern short GT_SetAutoFocusRefVol(double refVol,double maxVol,double minVol,short chanel);
[DllImport("gts.dll")]
public static extern short GT_GetAutoFocusStatus(out ushort pStatus,short count);
[DllImport("gts.dll")]
public static extern short GT_ConfigAutoFocus(short chnAdc,short chanel);
[DllImport("gts.dll")]
public static extern short GT_SetAutoFocusAuxPrm(double kf,double kd,double limitKd,short chanel);
[DllImport("gts.dll")]
public static extern short GT_Delay(ushort time);
[DllImport("gts.dll")]
public static extern short GT_DelayHighPrecision(ushort time);
[DllImport("gts.dll")]
public static extern short GT_SetCrdBufferMode(short crd,short bufferMode,short fifo);
[DllImport("gts.dll")]
public static extern short GT_GetCrdBufferMode(short crd,out short pBufferMode,short fifo);
[DllImport("gts.dll")]
public static extern short GT_GetCrdSegmentTime(short crd,int segmentIndex,out double pSegmentTime,out int pSegmentNumber,short fifo);
[DllImport("gts.dll")]
public static extern short GT_GetCrdTime(short crd,out TCrdTime pTime,short fifo);
[DllImport("gts.dll")]
public static extern short GT_SetLeadScrewLink(short axis,short link);
[DllImport("gts.dll")]
public static extern short GT_GetLeadScrewLink(short axis,out short pLink);
public const short GANTRY_MODE_NONE = -1;
public const short GANTRY_MODE_OPEN_LOOP_GANTRY = 1;
public const short GANTRY_MODE_DECOUPLE_POSITION_LOOP = 2;
[DllImport("gts.dll")]
public static extern short GT_SetGantryMode(short group,short master,short slave,short mode,int syncErrorLimit);
[DllImport("gts.dll")]
public static extern short GT_GetGantryMode(short group, out short pMaster, out short pSlave, out short pMode, out int pSyncErrorLimit);
[DllImport("gts.dll")]
public static extern short GT_SetGantryPid(short group, ref TPid pGantryPid, ref TPid pYawPid);
[DllImport("gts.dll")]
public static extern short GT_GetGantryPid(short group, out TPid pGantryPid, out TPid pYawPid);
[DllImport("gts.dll")]
public static extern short GT_GantryAxisOn(short group);
[DllImport("gts.dll")]
public static extern short GT_GantryAxisOff(short group);
[DllImport("gts.dll")]
public static extern short GT_GantryHoming();
//////////////////////////////////////////////////////////////////////////
//Standard Home
//////////////////////////////////////////////////////////////////////////
public const short STANDARD_HOME_STAGE_IDLE = 0;
public const short STANDARD_HOME_STAGE_START = 1;
public const short STANDARD_HOME_STAGE_SEARCH_HOME = 20;
public const short STANDARD_HOME_STAGE_SEARCH_INDEX = 30;
public const short STANDARD_HOME_STAGE_GO_HOME = 80;
public const short STANDARD_HOME_STAGE_END = 100;
public const short STANDARD_HOME_STAGE_START_CHECK = -1;
public const short STANDARD_HOME_STAGE_CHECKING = -2;
public const short STANDARD_HOME_ERROR_NONE = 0;
public const short STANDARD_HOME_ERROR_DISABLE = 10;
public const short STANDARD_HOME_ERROR_ALARM = 20;
public const short STANDARD_HOME_ERROR_STOP = 30;
public const short STANDARD_HOME_ERROR_ON_LIMIT = 40;
public const short STANDARD_HOME_ERROR_NO_HOME = 50;
public const short STANDARD_HOME_ERROR_NO_INDEX = 60;
public const short STANDARD_HOME_ERROR_NO_LIMIT = 70;
public const short STANDARD_HOME_ERROR_ENCODER_DIR_SCALE = -1;
public struct TStandardHomePrm
{
public short mode; // 回原点模式取值范围1~36
public double highSpeed; // 搜索Home的速度，单位pulse/ms
public double lowSpeed; // 搜索Index的速度，单位pulse/ms
public double acc; // 回零加速度，单位pulse/ms^2
public int offset; // 回零偏移量，单位pulse
public short check; // 是否启用自检功能，1-启用，其它值-不启用
public short autoZeroPos; // 回零完毕是否自动清零，1-自动清零，其它值-不清零
public int motorStopDelay; //电机到位延时，单位：控制周期
public short pad1; // 保留（不需要设置）
public short pad2;
public short pad3;
};
public struct TStandardHomeStatus
{
public short run; // 是正在进行回原点，0—已停止运动，1-正在回原点
public short stage; // 回原点运动的阶段
public short error; // 回原点过程的发生的错误
public short pad1; // 保留（无具体含义）
public short pad2;
public short pad3;
public int capturePos; // 捕获到Home或Index时刻的编码器位置
public int targetPos; // 需要运动到的目标位置（原点位置或者原点位置 偏移量），在搜索Limit时或者搜索Home或Index时，设置的搜索距离为0，那么该值显示为805306368
};
[DllImport("gts.dll")]
public static extern short GT_ExecuteStandardHome(short axis,ref TStandardHomePrm pHomePrm);
[DllImport("gts.dll")]
public static extern short GT_GetStandardHomePrm(short axis,out TStandardHomePrm pHomePrm);
[DllImport("gts.dll")]
public static extern short GT_GetStandardHomeStatus(short axis,out TStandardHomeStatus pHomeStatus);
//DMA
[DllImport("gts.dll")]
public static extern short GT_CrdHsOn(short crd,short fifo,short link,ushort threshold,short lookAheadInMc);
[DllImport("gts.dll")]
public static extern short GT_CrdHsOff(short crd,short fifo);
}
}
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