using System; using System.Runtime.InteropServices; namespace GXN { public class mc_la { public const short LA_AXIS_NUM = 8; public const short LA_WORK_AXIS_NUM = 6; //轴的参数信息（各轴最大速度，各轴最大加速度，各轴最大速度变化量）是否限制速度模式 public const short AXIS_LIMIT_NONE = 0; //轴无限制 public const short AXIS_LIMIT_MAX_VEL = 1; //轴最大速度限制 public const short AXIS_LIMIT_MAX_ACC = 2; //轴最大加速度限制 public const short AXIS_LIMIT_MAX_DV = 4; //轴最大速度跳变量限制 public const short KIN_MSG_BUFFER_SIZE = 32; //速度规划模式 public enum EVelMode { T_CURVE = 0, S_CURVE, S_CURVE_NEW, //根据加加速度、最大加速度进行S曲线速度前瞻，2015.11.16 S_CURVE_SMOOTH, VEL_MODE_MAX = 0x10000, //确保长度为4Byte }; //工件坐标系下轨迹是否限制速度模式 public enum EWorkLimitMode { WORK_LIMIT_INVALID=0, //不限制 WORK_LIMIT_VALID=1, //限制生效 }; //设置的速度定义规则 public enum EVelSettingDef { NORMAL_DEF_VEL=0, //输入为轴坐标系所有轴的合成速度 NUM_DEF_VEL=1, //以NUM系统的规则定义 CUT_DEF_VEL=2, //速度为切削速度 }; //设置的加速度定义规则 public enum EAccSettingDef { NORMAL_DEF_ACC=0, //输入即输出 LONG_AXIS_ACC=1, //长轴最大速度 }; //机床类型 public enum EMachineMode { NORMAL_THREE_AXIS=0, //标准三轴机床模式 MULTI_AXES=1, //多轴联动模式 FIVE_AXIS=2, //五轴机床模式，轴坐标系为主，工件坐标系为辅 FIVE_AXIS_WORK=3, //五轴机床模式，工件坐标系为主，轴坐标系为辅 ROBOT=4, }; //前瞻参数结构体 public struct TLookAheadParameter { public int lookAheadNum; //前瞻段数 public double time; //时间常数 public double radiusRatio; //曲率限制调节参数 public double vMax1; //各轴的最大速度 public double vMax2; public double vMax3; public double vMax4; public double vMax5; public double vMax6; public double vMax7; public double vMax8; public double aMax1; //各轴的最大加速度 public double aMax2; public double aMax3; public double aMax4; public double aMax5; public double aMax6; public double aMax7; public double aMax8; public double DVMax1; //各轴的最大速度变化量（在时间常数内） public double DVMax2; public double DVMax3; public double DVMax4; public double DVMax5; public double DVMax6; public double DVMax7; public double DVMax8; public double scale1; //各轴的脉冲当量 public double scale2; public double scale3; public double scale4; public double scale5; public double scale6; public double scale7; public double scale8; public short axisRelation1; //输入坐标和内部坐标的对应关系 public short axisRelation2; public short axisRelation3; public short axisRelation4; public short axisRelation5; public short axisRelation6; public short axisRelation7; public short axisRelation8; [MarshalAs(UnmanagedType.ByValTStr,SizeConst=128)] public string machineCfgFileName; //机床配置文件名 }; ////////////////////////////////////// public struct RC_KIN_CONFIG { public short RobotType; public short reserved1; public short KinParUse1; public short KinParUse2; public short KinParUse3; public short KinParUse4; public short KinParUse5; public short KinParUse6; public short KinParUse7; public short KinParUse8; public short KinParUse9; public short KinParUse10; public short KinParUse11; public short KinParUse12; public short KinParUse13; public short KinParUse14; public short KinParUse15; public short KinParUse16; public short KinParUse17; public short KinParUse18; public double KinPar1; public double KinPar2; public double KinPar3; public double KinPar4; public double KinPar5; public double KinPar6; public double KinPar7; public double KinPar8; public double KinPar9; public double KinPar10; public double KinPar11; public double KinPar12; public double KinPar13; public double KinPar14; public double KinPar15; public double KinPar16; public double KinPar17; public double KinPar18; public short KinLimitUse1; public short KinLimitUse2; public short KinLimitUse3; public short KinLimitUse4; public short KinLimitUse5; public short KinLimitUse6; public short KinLimitUse7; public short KinLimitUse8; public short KinLimitUse9; public short KinLimitUse10; public short KinLimitUse11; public short KinLimitUse12; public double KinLimitMin1; public double KinLimitMin2; public double KinLimitMin3; public double KinLimitMin4; public double KinLimitMin5; public double KinLimitMin6; public double KinLimitMin7; public double KinLimitMin8; public double KinLimitMin9; public double KinLimitMin10; public double KinLimitMin11; public double KinLimitMin12; public double KinLimitMax1; public double KinLimitMax2; public double KinLimitMax3; public double KinLimitMax4; public double KinLimitMax5; public double KinLimitMax6; public double KinLimitMax7; public double KinLimitMax8; public double KinLimitMax9; public double KinLimitMax10; public double KinLimitMax11; public double KinLimitMax12; public double KinLimitMinShift1; public double KinLimitMinShift2; public double KinLimitMinShift3; public double KinLimitMinShift4; public double KinLimitMinShift5; public double KinLimitMinShift6; public double KinLimitMinShift7; public double KinLimitMinShift8; public double KinLimitMinShift9; public double KinLimitMinShift11; public double KinLimitMinShift12; public double KinLimitMaxShift1; public double KinLimitMaxShift2; public double KinLimitMaxShift3; public double KinLimitMaxShift4; public double KinLimitMaxShift5; public double KinLimitMaxShift6; public double KinLimitMaxShift7; public double KinLimitMaxShift8; public double KinLimitMaxShift9; public double KinLimitMaxShift10; public double KinLimitMaxShift11; public double KinLimitMaxShift12; public short AxisUse1; public short AxisUse2; public short AxisUse3; public short AxisUse4; public short AxisUse6; public short AxisUse7; public short AxisUse8; public char AxisPosSignSwitch1; public char AxisPosSignSwitch2; public char AxisPosSignSwitch3; public char AxisPosSignSwitch4; public char AxisPosSignSwitch5; public char AxisPosSignSwitch6; public char AxisPosSignSwitch7; public char AxisPosSignSwitch8; public double AxisPosOffset1; public double AxisPosOffset2; public double AxisPosOffset3; public double AxisPosOffset4; public double AxisPosOffset5; public double AxisPosOffset6; public double AxisPosOffset7; public double AxisPosOffset8; public short CartUnitUse1; public short CartUnitUse2; public short CartUnitUse3; public short CartUnitUse4; public short CartUnitUse5; public short CartUnitUse6; public char CartPosKCSSignSwitch1; public char CartPosKCSSignSwitch2; public char CartPosKCSSignSwitch3; public char CartPosKCSSignSwitch4; public char CartPosKCSSignSwitch5; public char CartPosKCSSignSwitch6; public short reserved21; public short reserved22; public short reserved23; public double CartPosKCSOffset1; public double CartPosKCSOffset2; public double CartPosKCSOffset3; public double CartPosKCSOffset4; public double CartPosKCSOffset5; public double CartPosKCSOffset6; }; public struct RC_ERROR_INTERFACE { public char Error; public short ErrorID; public string Message; }; public struct RC_MSG_BUFFER_ELEMENT { public short ErrorID; public string Message; public string LogTime; public int InternalID; }; public struct RC_MSG_BUFFER { public short LastMsgIndex; public RC_MSG_BUFFER_ELEMENT MsgElement1; public RC_MSG_BUFFER_ELEMENT MsgElement2; public RC_MSG_BUFFER_ELEMENT MsgElement3; public RC_MSG_BUFFER_ELEMENT MsgElement4; public RC_MSG_BUFFER_ELEMENT MsgElement5; public RC_MSG_BUFFER_ELEMENT MsgElement6; public RC_MSG_BUFFER_ELEMENT MsgElement7; public RC_MSG_BUFFER_ELEMENT MsgElement8; public RC_MSG_BUFFER_ELEMENT MsgElement9; public RC_MSG_BUFFER_ELEMENT MsgElement10; public RC_MSG_BUFFER_ELEMENT MsgElement11; public RC_MSG_BUFFER_ELEMENT MsgElement12; public RC_MSG_BUFFER_ELEMENT MsgElement13; public RC_MSG_BUFFER_ELEMENT MsgElement14; public RC_MSG_BUFFER_ELEMENT MsgElement15; public RC_MSG_BUFFER_ELEMENT MsgElement16; public RC_MSG_BUFFER_ELEMENT MsgElement17; public RC_MSG_BUFFER_ELEMENT MsgElement18; public RC_MSG_BUFFER_ELEMENT MsgElement19; public RC_MSG_BUFFER_ELEMENT MsgElement20; public RC_MSG_BUFFER_ELEMENT MsgElement21; public RC_MSG_BUFFER_ELEMENT MsgElement22; public RC_MSG_BUFFER_ELEMENT MsgElement23; public RC_MSG_BUFFER_ELEMENT MsgElement24; public RC_MSG_BUFFER_ELEMENT MsgElement25; public RC_MSG_BUFFER_ELEMENT MsgElement26; public RC_MSG_BUFFER_ELEMENT MsgElement27; public RC_MSG_BUFFER_ELEMENT MsgElement28; public RC_MSG_BUFFER_ELEMENT MsgElement29; public RC_MSG_BUFFER_ELEMENT MsgElement30; public RC_MSG_BUFFER_ELEMENT MsgElement31; public RC_MSG_BUFFER_ELEMENT MsgElement32; public int LastMsgID; }; //正逆解方向 public enum ETransDir { FORWARD_TRANS = 0, //正解 INVERSE_TRANS, //逆解 TRANS_DIR_MAX = 0x10000, // 确保长度为4Byte }; //旋转轴范围设置 public struct TRotationAxisRange { public int primaryAxisRangeOn; //第一旋转轴限定范围是否生效，0：不生效，1：生效 public int slaveAxisRangeOn; //第二旋转轴限定范围是否生效，0：不生效，1：生效 public double maxPrimaryAngle; //第一旋转轴最大值 public double minPrimaryAngle; //第一旋转轴最小值 public double maxSlaveAngle; //第二旋转轴最大值 public double minSlaveAgnle; //第二旋转轴最小值 }; //选解参数 public enum EGroupSelect { Continuous=0, Group_1, Group_2, }; public enum OptimizeState { OPT_OFF=0, OPT_ON=1 }; public enum OptimizeMethod { NO_OPT=0, OPT_BLENDING, OPT_CIRCLEFITTING, OPT_CUBICSPLINE, OPT_BSPLINE, }; public enum ErrorID { INIT_ERROR=1, //没有进行参数初始化 PASSWORD_ERROR, //密码错误，请在固高运动控制平台上运行 INDATA_ERROR, //输入数据错误（检查圆弧数据是否正确） PRE_PROCESS_ERROR, // TOOL_RADIUS_COMPENSATE_ERROR_INOUT, //刀具半径补偿错误：进入/结束刀补处不能是圆弧 TOOL_RADIUS_COMPENSATE_ERROR_NOCROSS, //刀具半径补偿错误：数据不合理，无法计算交点 USERDATA_ERROR, }; //轨迹优化参数结构体 public struct TOptimizeParamUser { public OptimizeState usePathOptimize; //是否使用路径优化：OPT_OFF:不使用 OPT_ON:使用 public float tolerance; //公差(suggest: rough:0.1, pre-finish:0.05, finish:0.01) public OptimizeMethod optimizeMethod; //选择曲线优化方式 public OptimizeState keepLargeArc; //是否保留大圆弧：OPT_OFF：不保留， OPT_ON：保留 public float blendingMinError; //blending的最小设定误差 public float blendingMaxAngle; //blending的最大角度限制（即当线段向量角度大于该角度时，不做blending，单位：度） }; public struct TErrorInfo { public ErrorID errorID; //错误号(INIT_ERROR:未初始化参数；PRE_PROCESS_ERROR:预处理模块错误； //TOOL_RADIUS_COMPENSATE_ERROR:刀具半径补偿错误；) public int errorRowNum; //错误行号 }; public struct TPreStartPos { public double Pos1; public double Pos2; public double Pos3; public double Pos4; public double Pos5; public double Pos6; public double Pos7; public double Pos8; }; [DllImport("gts.dll")] public static extern short GT_SetupLookAheadCrd(short crd, EMachineMode machineMode); [DllImport("gts.dll")] public static extern short GT_SetVelDefineModeLa(short crd, EVelSettingDef velDefMode); [DllImport("gts.dll")] public static extern short GT_SetAccDefineModeLa(short crd, EAccSettingDef accDefMode); [DllImport("gts.dll")] public static extern short GT_SetAxisLimitModeLa(short crd, ref int pAxisLimitMode); [DllImport("gts.dll")] public static extern short GT_SetWorkLimitModeLa(short crd, EWorkLimitMode workLimitMode); [DllImport("gts.dll")] public static extern short GT_SetAxisFollowModeLa(short crd, ref int pFollowMode); [DllImport("gts.dll")] public static extern short GT_SetAxisVelValidModeLa(short crd, int velValidAxis); [DllImport("gts.dll")] public static extern short GT_SetArcAllowErrorLa(short crd, double error); [DllImport("gts.dll")] public static extern short GT_SetMinEvenVelTime(short crd, double evenTime); [DllImport("gts.dll")] public static extern short GT_SetMinDccAngle(short crd, double dccAngle); [DllImport("gts.dll")] public static extern short GT_SetProfilePeriod(short crd, double profilePeriod); [DllImport("gts.dll")] public static extern short GT_SetFilterTime(short crd, Int32 filtNum); [DllImport("gts.dll")] public static extern short GT_SetPrecisionControl(short crd, short mode, double error); [DllImport("gts.dll")] public static extern short GT_SetVelSmoothModeLa(short crd, short smoothMode); [DllImport("gts.dll")] public static extern short GT_SetVelModeLa(short crd, EVelMode velMode); [DllImport("gts.dll")] public static extern short GT_InitLookAheadEx(short crd, ref TLookAheadParameter pLookAheadPara, short fifo, short motionMode, ref TPreStartPos pPreStartPos); [DllImport("gts.dll")] public static extern short GT_PrintLACmdLa(short crd, int printFlag, int clearFile); [DllImport("gts.dll")] public static extern short GT_GetLookAheadSegCountEx(short crd, out int pSegCount, short fifo); [DllImport("gts.dll")] public static extern short GT_GetMotionTimeEx(short crd, out double pTime, short fifo); [DllImport("gts.dll")] public static extern short GT_SetUserSegNumEx(short crd, int segNum, short fifo); [DllImport("gts.dll")] public static extern short GT_CrdDataEx(short crd, System.IntPtr pCrdData, short fifo); //调用时传入 IntPtr.Zero GTN_CrdDataEx(1, System.IntPtr.Zero, 0); [DllImport("gts.dll")] public static extern short GT_LnXYEx(short crd, double x, double y, double synVel, double synAcc, int segNum, short override2, short fifo); [DllImport("gts.dll")] public static extern short GT_LnXYG0Ex(short crd, double x, double y, double synVel, double synAcc, int segNum, short override2, short fifo); [DllImport("gts.dll")] public static extern short GT_LnXYZEx(short crd, double x, double y, double z, double synVel, double synAcc, int segNum, short override2, short fifo); [DllImport("gts.dll")] public static extern short GT_LnXYZG0Ex(short crd, double x, double y, double z, double synVel, double synAcc, int segNum, short override2, short fifo); [DllImport("gts.dll")] public static extern short GT_LnXYZAEx(short crd, double x, double y, double z, double a, double synVel, double synAcc, int segNum, short override2, short fifo); [DllImport("gts.dll")] public static extern short GT_LnXYZAG0Ex(short crd, double x, double y, double z, double a, double synVel, double synAcc, int segNum, short override2, short fifo); [DllImport("gts.dll")] public static extern short GT_LnXYZACEx(short crd, ref double pPos, short posMask, double synVel, double synAcc, int segNum, short override2, short fifo); [DllImport("gts.dll")] public static extern short GT_LnXYZACG0Ex(short crd, ref double pPos, short posMask, double synVel, double synAcc, int segNum, short override2, short fifo); [DllImport("gts.dll")] public static extern short GT_LnXYZACUVWEx(short crd, ref double pPos, short posMask, double synVel, double synAcc, int segNum, short override2, short fifo); [DllImport("gts.dll")] public static extern short GT_LnXYZACUVWG0Ex(short crd, ref double pPos, short posMask, double synVel, double synAcc, int segNum, short override2, short fifo); [DllImport("gts.dll")] public static extern short GT_ArcXYREx(short crd, double x, double y, double radius, short circleDir, double synVel, double synAcc, int segNum, short override2, short fifo); [DllImport("gts.dll")] public static extern short GT_ArcYZREx(short crd, double y, double z, double radius, short circleDir, double synVel, double synAcc, int segNum, short override2, short fifo); [DllImport("gts.dll")] public static extern short GT_ArcZXREx(short crd, double z, double x, double radius, short circleDir, double synVel, double synAcc, int segNum, short override2, short fifo); [DllImport("gts.dll")] public static extern short GT_ArcXYCEx(short crd, double x, double y, double xCenter, double yCenter, short circleDir, double synVel, double synAcc, int segNum, short override2, short fifo); [DllImport("gts.dll")] public static extern short GT_ArcYZCEx(short crd, double y, double z, double yCenter, double zCenter, short circleDir, double synVel, double synAcc, int segNum, short override2, short fifo); [DllImport("gts.dll")] public static extern short GT_ArcZXCEx(short crd, double z, double x, double zCenter, double xCenter, short circleDir, double synVel, double synAcc, int segNum, short override2, short fifo); [DllImport("gts.dll")] public static extern short GT_ArcXYZEx(short crd, double x, double y, double z, double interX, double interY, double interZ, double synVel, double synAcc, int segNum, short override2, short fifo); [DllImport("gts.dll")] public static extern short GT_HelixXYRZEx(short crd, double x, double y, double z, double radius, short circleDir, double synVel, double synAcc, int segNum, short override2, short fifo); [DllImport("gts.dll")] public static extern short GT_HelixXYCZEx(short crd, double x, double y, double z, double xCenter, double yCenter, short circleDir, double synVel, double synAcc, int segNum, short override2, short fifo); [DllImport("gts.dll")] public static extern short GT_HelixYZRXEx(short crd, double x, double y, double z, double radius, short circleDir, double synVel, double synAcc, Int32 segNum, short override2, short fifo); [DllImport("gts.dll")] public static extern short GT_HelixYZCXEx(short crd, double x, double y, double z, double yCenter, double zCenter, short circleDir, double synVel, double synAcc, Int32 segNum, short override2, short fifo); [DllImport("gts.dll")] public static extern short GT_HelixZXRYEx(short crd, double x, double y, double z, double radius, short circleDir, double synVel, double synAcc, Int32 segNum, short override2, short fifo); [DllImport("gts.dll")] public static extern short GT_HelixZXCYEx(short crd, double x, double y, double z, double zCenter, double xCenter, short circleDir, double synVel, double synAcc, Int32 segNum, short override2, short fifo); [DllImport("gts.dll")] public static extern short GT_HelixXYRMultiZEx(short crd, ref double pPos, double radius, short circleDir, double synVel, double synAcc, Int32 segNum, short override2, short fifo); [DllImport("gts.dll")] public static extern short GT_HelixXYCMultiZEx(short crd, ref double pPos, double xCenter, double yCenter, short circleDir, double synVel, double synAcc, Int32 segNum, short override2, short fifo); [DllImport("gts.dll")] public static extern short GT_HelixYZRMultiXEx(short crd, ref double pPos, double radius, short circleDir, double synVel, double synAcc, Int32 segNum, short override2, short fifo); [DllImport("gts.dll")] public static extern short GT_HelixYZCMultiXEx(short crd, ref double pPos, double yCenter, double zCenter, short circleDir, double synVel, double synAcc, Int32 segNum, short override2, short fifo); [DllImport("gts.dll")] public static extern short GT_HelixZXRMultiYEx(short crd, ref double pPos, double radius, short circleDir, double synVel, double synAcc, Int32 segNum, short override2, short fifo); [DllImport("gts.dll")] public static extern short GT_HelixZXCMultiYEx(short crd, ref double pPos, double zCenter, double xCenter, short circleDir, double synVel, double synAcc, Int32 segNum, short override2, short fifo); [DllImport("gts.dll")] public static extern short GT_BufDelayEx(short crd, ushort delayTime, short fifo); [DllImport("gts.dll")] public static extern short GT_BufIOEx(short crd, ushort doType, ushort doMask, ushort doValue, short fifo); [DllImport("gts.dll")] public static extern short GT_BufDAEx(short crd, short chn, short daValue, short fifo); [DllImport("gts.dll")] public static extern short GT_BufEnableDoBitPulseEx(short crd, short doType, short doIndex, ushort highLevelTime, ushort lowLevelTime, int pulseNum, short firstLevel, short fifo); [DllImport("gts.dll")] public static extern short GT_BufDisableDoBitPulseEx(short crd, short doType, short doIndex, short fifo); [DllImport("gts.dll")] public static extern short GT_BufGearEx(short crd, short gearAxis, double deltaPos, short fifo); [DllImport("gts.dll")] public static extern short GT_BufMoveEx(short crd, short moveAxis, double pos, double vel, double acc, short modal, short fifo); [DllImport("gts.dll")] public static extern short GT_BufFollowMasterEx(short crd, ref GTN.mc_ecat.TBufFollowMaster pBufFollowMaster, short fifo); [DllImport("gts.dll")] public static extern short GT_BufFollowEventCrossEx(short crd, ref GTN.mc_ecat.TBufFollowEventCross pEventCross, short fifo); [DllImport("gts.dll")] public static extern short GT_BufFollowEventTriggerEx(short crd, ref GTN.mc_ecat.TBufFollowEventTrigger pEventTrigger, short fifo); [DllImport("gts.dll")] public static extern short GT_BufFollowStartEx(short crd, Int32 masterSegment, Int32 slaveSegment, Int32 masterFrameWidth, short fifo); [DllImport("gts.dll")] public static extern short GT_BufFollowNextEx(short crd, Int32 width, short fifo); [DllImport("gts.dll")] public static extern short GT_BufFollowReturnEx(short crd, double vel, double acc, short smoothPercent, short fifo); [DllImport("gts.dll")] public static extern short GT_BufSmartCutterOnEx(short crd, short index, short fifo); [DllImport("gts.dll")] public static extern short GT_BufSmartCutterOffEx(short crd, short index, short fifo); [DllImport("gts.dll")] public static extern short GT_BufLaserOnEx(short crd, short fifo, short channel); [DllImport("gts.dll")] public static extern short GT_BufLaserOffEx(short crd, short fifo, short channel); [DllImport("gts.dll")] public static extern short GT_BufLaserFollowModeEx(short crd, short source, short fifo, short channel); [DllImport("gts.dll")] public static extern short GT_BufLaserFollowTableEx(short crd, short tableId, double minPower, double maxPower, short fifo, short channel); [DllImport("gts.dll")] public static extern short GT_BufLaserFollowOffEx(short crd, short fifo, short channel); [DllImport("gts.dll")] public static extern short GT_BufLaserPrfCmdEx(short crd, double laserPower, short fifo, short channel); [DllImport("gts.dll")] public static extern short GT_BufLaserFollowRatioEx(short crd, double ratio, double minPower, double maxPower, short fifo, short channel); [DllImport("gts.dll")] public static extern short GTN_SetupLookAheadCrd(short core,short crd,EMachineMode machineMode); [DllImport("gts.dll")] public static extern short GTN_SetAxisFollowModeLa(short core, short crd,ref int pFollowMode); [DllImport("gts.dll")] public static extern short GTN_SetVelDefineModeLa(short core,short crd,EVelSettingDef velDefMode); [DllImport("gts.dll")] public static extern short GTN_SetAccDefineModeLa(short core, short crd, EAccSettingDef accDefMode); [DllImport("gts.dll")] public static extern short GTN_SetAxisLimitModeLa(short core,short crd,ref int pAxisLimitMode); [DllImport("gts.dll")] public static extern short GTN_SetWorkLimitModeLa(short core,short crd,EWorkLimitMode workLimitMode); [DllImport("gts.dll")] public static extern short GTN_SetAxisVelValidModeLa(short core,short crd,int velValidAxis); [DllImport("gts.dll")] public static extern short GTN_SetVelModeLa(short core, short crd, EVelMode velMode); [DllImport("gts.dll")] public static extern short GTN_SetVelSmoothModeLa(short core, short crd, short smoothMode); [DllImport("gts.dll")] public static extern short GTN_SetVelSmoothMode(short core,int crd,int smoothMode); [DllImport("gts.dll")] public static extern short GTN_PrintLACmdLa(short core, short crd, int printFlag, int clearFile); [DllImport("gts.dll")] public static extern short GTN_InitLookAheadEx(short core, short crd, ref TLookAheadParameter pLookAheadPara, short fifo, short motionMode, ref TPreStartPos pPreStartPos); [DllImport("gts.dll")] public static extern short GTN_GetLookAheadSegCountEx(short core, short crd, out int pSegCount, short fifo); [DllImport("gts.dll")] public static extern short GTN_GetMotionTimeEx(short core, short crd, out double pTime, short fifo); [DllImport("gts.dll")] public static extern short GTN_SetUserSegNumEx(short core, short crd, int segNum, short fifo); [DllImport("gts.dll")] public static extern short GTN_CrdDataEx(short core, short crd, System.IntPtr pCrdData, short fifo); //调用时传入 IntPtr.Zero GTN_CrdDataEx(1, System.IntPtr.Zero, 0); [DllImport("gts.dll")] public static extern short GTN_LnXYEx(short core,short crd,double x,double y,double synVel,double synAcc,int segNum,short override2,short fifo); [DllImport("gts.dll")] public static extern short GTN_LnXYG0Ex(short core,short crd,double x,double y,double synVel,double synAcc,int segNum,short override2,short fifo); [DllImport("gts.dll")] public static extern short GTN_LnXYZEx(short core,short crd,double x,double y,double z,double synVel,double synAcc,int segNum,short override2,short fifo); [DllImport("gts.dll")] public static extern short GTN_LnXYZG0Ex(short core,short crd,double x,double y,double z,double synVel,double synAcc,int segNum,short override2,short fifo); [DllImport("gts.dll")] public static extern short GTN_LnXYZAEx(short core,short crd,double x,double y,double z,double a,double synVel,double synAcc,int segNum,short override2,short fifo); [DllImport("gts.dll")] public static extern short GTN_LnXYZAG0Ex(short core,short crd,double x,double y,double z,double a,double synVel,double synAcc,int segNum,short override2,short fifo); [DllImport("gts.dll")] public static extern short GTN_LnXYZACEx(short core,short crd,ref double pPos,short posMask,double synVel,double synAcc,int segNum,short override2,short fifo); [DllImport("gts.dll")] public static extern short GTN_LnXYZACG0Ex(short core,short crd,ref double pPos,short posMask,double synVel,double synAcc,int segNum,short override2,short fifo); [DllImport("gts.dll")] public static extern short GTN_LnXYZACUVWEx(short core,short crd,ref double pPos,short posMask,double synVel,double synAcc,int segNum,short override2,short fifo); [DllImport("gts.dll")] public static extern short GTN_LnXYZACUVWG0Ex(short core,short crd,ref double pPos,short posMask,double synVel,double synAcc,int segNum,short override2,short fifo); [DllImport("gts.dll")] public static extern short GTN_ArcXYREx(short core,short crd,double x,double y,double radius,short circleDir,double synVel,double synAcc,int segNum,short override2,short fifo); [DllImport("gts.dll")] public static extern short GTN_ArcYZREx(short core,short crd,double y,double z,double radius,short circleDir,double synVel,double synAcc,int segNum,short override2,short fifo); [DllImport("gts.dll")] public static extern short GTN_ArcZXREx(short core,short crd,double z,double x,double radius,short circleDir,double synVel,double synAcc,int segNum,short override2,short fifo); [DllImport("gts.dll")] public static extern short GTN_ArcXYCEx(short core,short crd,double x,double y,double xCenter,double yCenter,short circleDir,double synVel,double synAcc,int segNum,short override2,short fifo); [DllImport("gts.dll")] public static extern short GTN_ArcYZCEx(short core,short crd,double y,double z,double yCenter,double zCenter,short circleDir,double synVel,double synAcc,int segNum,short override2,short fifo); [DllImport("gts.dll")] public static extern short GTN_ArcZXCEx(short core,short crd,double z,double x,double zCenter,double xCenter,short circleDir,double synVel,double synAcc,int segNum,short override2,short fifo); [DllImport("gts.dll")] public static extern short GTN_ArcXYZEx(short core,short crd,double x,double y,double z,double interX,double interY,double interZ,double synVel,double synAcc,int segNum,short override2,short fifo); [DllImport("gts.dll")] public static extern short GTN_HelixXYRZEx(short core,short crd,double x,double y,double z,double radius,short circleDir,double synVel,double synAcc,int segNum,short override2,short fifo); [DllImport("gts.dll")] public static extern short GTN_HelixXYCZEx(short core,short crd,double x,double y,double z,double xCenter,double yCenter,short circleDir,double synVel,double synAcc,int segNum,short override2,short fifo); [DllImport("gts.dll")] public static extern short GTN_BufDelayEx(short core,short crd,ushort delayTime,short fifo); [DllImport("gts.dll")] public static extern short GTN_BufGearEx(short core,short crd,short gearAxis,double deltaPos,short fifo); [DllImport("gts.dll")] public static extern short GTN_BufMoveEx(short core,short crd,short moveAxis,double pos,double vel,double acc,short modal,short fifo); [DllImport("gts.dll")] public static extern short GTN_BufIOEx(short core,short crd,ushort doType,ushort doMask,ushort doValue,short fifo); [DllImport("gts.dll")] public static extern short GTN_BufEnableDoBitPulseEx(short core, short crd, short doType, short doIndex, ushort highLevelTime, ushort lowLevelTime, int pulseNum, short firstLevel, short fifo); [DllImport("gts.dll")] public static extern short GTN_BufDisableDoBitPulseEx(short core, short crd, short doType, short doIndex, short fifo); [DllImport("gts.dll")] public static extern short GTN_BufDAEx(short core,short crd,short chn,short daValue,short fifo); [DllImport("gts.dll")] public static extern short GTN_BufFollowMasterEx(short core, short crd, ref GTN.mc_ecat.TBufFollowMaster pBufFollowMaster, short fifo); [DllImport("gts.dll")] public static extern short GTN_BufFollowEventCrossEx(short core, short crd, ref GTN.mc_ecat.TBufFollowEventCross pEventCross, short fifo); [DllImport("gts.dll")] public static extern short GTN_BufFollowEventTriggerEx(short core, short crd, ref GTN.mc_ecat.TBufFollowEventTrigger pEventTrigger, short fifo); [DllImport("gts.dll")] public static extern short GTN_BufFollowStartEx(short core, short crd, Int32 masterSegment, Int32 slaveSegment, Int32 masterFrameWidth, short fifo); [DllImport("gts.dll")] public static extern short GTN_BufFollowNextEx(short core, short crd, Int32 width, short fifo); [DllImport("gts.dll")] public static extern short GTN_BufFollowReturnEx(short core, short crd, double vel, double acc, short smoothPercent, short fifo); [DllImport("gts.dll")] public static extern short GTN_BufSmartCutterOnEx(short core, short crd, short index, short fifo); [DllImport("gts.dll")] public static extern short GTN_BufSmartCutterOffEx(short core, short crd, short index, short fifo); [DllImport("gts.dll")] public static extern short GTN_BufLaserOnEx(short core,short crd,short fifo,short channel); [DllImport("gts.dll")] public static extern short GTN_BufLaserOffEx(short core,short crd,short fifo,short channel); [DllImport("gts.dll")] public static extern short GTN_BufLaserFollowModeEx(short core, short crd, short source, short fifo, short channel); [DllImport("gts.dll")] public static extern short GTN_BufLaserFollowTableEx(short core, short crd, short tableId, double minPower, double maxPower, short fifo, short channel); [DllImport("gts.dll")] public static extern short GTN_BufLaserFollowOffEx(short core, short crd, short fifo, short channel); [DllImport("gts.dll")] public static extern short GTN_BufLaserPrfCmdEx(short core,short crd,double laserPower,short fifo,short channel); [DllImport("gts.dll")] public static extern short GTN_BufLaserFollowRatioEx(short core,short crd,double ratio,double minPower,double maxPower,short fifo,short channel); [DllImport("gts.dll")] public static extern short GT_BufWaitDiEx(short crd, short diType, UInt16 diIndex, UInt16 level, short continueTime, Int32 overTime, short flagMode, Int32 segNum, short fifo); [DllImport("gts.dll")] public static extern short GT_BufWaitLongVarEx(short crd, short index, Int32 value, Int32 overTime, short flagMode, Int32 segNum, short fifo); [DllImport("gts.dll")] public static extern short GTN_BufWaitDiEx(short core, short crd, short diType, UInt16 diIndex, UInt16 level, short continueTime, Int32 overTime, short flagMode, Int32 segNum, short fifo); [DllImport("gts.dll")] public static extern short GTN_BufWaitLongVarEx(short core, short crd, short index, Int32 value, Int32 overTime, short flagMode, Int32 segNum, short fifo); [DllImport("gts.dll")] public static extern short GT_BufDoBitEx(short crd,UInt16 doType,UInt16 index,short value,short fifo); [DllImport("gts.dll")] public static extern short GTN_BufDoBitEx(short core,short crd, Int32 doType,UInt16 index,short value,short fifo); [DllImport("gts.dll")] public static extern short GTN_BufDoBitDelayEx(short core,short crd,UInt16 doType,UInt16 index,short value,Int32 delayTime,short fifo); [DllImport("gts.dll")] public static extern short GT_BufPosCompareStartEx(short core, short crd, short fifo, short index); [DllImport("gts.dll")] public static extern short GT_BufPosCompareStopEx(short core, short crd, short fifo, short index); [DllImport("gts.dll")] public static extern short GTN_BufPosComparePsoPrmEx(short core, short crd, short index, ref GTN.mc_ecat.TPosComparePsoPrm pPrm, short fifo); [DllImport("gts.dll")] public static extern short GTN_BufPosCompareStartEx(short core, short crd, short fifo, short index); [DllImport("gts.dll")] public static extern short GTN_BufPosCompareStopEx(short core, short crd, short fifo, short index); //新增缓存区输入输出指令 [DllImport("gts.dll")] public static extern short GTN_BufSetGLinkDoEx(short core, short crd, short slaveno,ushort offset,ref byte pData,ushort bytelength,short fifo); [DllImport("gts.dll")] public static extern short GTN_BufSetGLinkDoBitEx(short core,short crd,short slaveno,short doIndex,byte value,short fifo); [DllImport("gts.dll")] public static extern short GTN_BufSetGLinkAoEx(short core,short crd,short slaveno,ushort channel,short pData,short fifo); } }