using System; using System.Collections.Generic; using System.Text; using System.Runtime.InteropServices; namespace csLTDMC //命名空间根据应用程序修改 { public partial class LTDMC { //--------------------- 板卡初始和配置函数 ---------------------- [DllImport("LTDMC.dll", EntryPoint = "dmc_board_init", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_board_init(); [DllImport("LTDMC.dll", EntryPoint = "dmc_board_reset", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_board_reset(); [DllImport("LTDMC.dll", EntryPoint = "dmc_board_close", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_board_close(); [DllImport("LTDMC.dll", EntryPoint = "dmc_board_init_onecard", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_board_init_onecard(ushort CardNo); [DllImport("LTDMC.dll", EntryPoint = "dmc_board_close_onecard", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_board_close_onecard(ushort CardNo); [DllImport("LTDMC.dll", EntryPoint = "dmc_board_reset_onecard", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_board_reset_onecard(ushort CardNo); [DllImport("LTDMC.dll")] public static extern short dmc_soft_reset(ushort CardNo); [DllImport("LTDMC.dll")] public static extern short dmc_cool_reset(ushort CardNo); [DllImport("LTDMC.dll", EntryPoint = "dmc_original_reset", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_original_reset(ushort CardNo); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_CardInfList", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_CardInfList(ref UInt16 CardNum, UInt32[] CardTypeList, UInt16[] CardIdList); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_card_version", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_card_version(UInt16 CardNo, ref UInt32 CardVersion); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_card_soft_version", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_card_soft_version(UInt16 CardNo, ref UInt32 FirmID, ref UInt32 SubFirmID); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_card_lib_version", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_card_lib_version(ref UInt32 LibVer); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_release_version", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_release_version(ushort ConnectNo, byte[] ReleaseVersion);//读取发布版本号 [DllImport("LTDMC.dll", EntryPoint = "dmc_get_total_axes", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_total_axes(UInt16 CardNo, ref UInt32 TotalAxis); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_total_ionum", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_total_ionum(ushort CardNo, ref ushort TotalIn, ref ushort TotalOut); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_total_adcnum", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_total_adcnum(ushort CardNo, ref ushort TotalIn, ref ushort TotalOut); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_total_liners", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_total_liners(UInt16 CardNo, ref UInt32 TotalLiner); // 轴IO映射配置 [DllImport("LTDMC.dll", EntryPoint = "dmc_set_AxisIoMap", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_AxisIoMap(UInt16 CardNo, UInt16 Axis, UInt16 IoType, UInt16 MapIoType, UInt16 MapIoIndex, UInt32 Filter); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_AxisIoMap", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_AxisIoMap(UInt16 CardNo, UInt16 Axis, UInt16 IoType, ref UInt16 MapIoType, ref UInt16 MapIoIndex, ref UInt32 Filter); //以上函数以毫秒为单位可继续使用，新函数将时间统一到秒为单位 [DllImport("LTDMC.dll", EntryPoint = "dmc_set_axis_io_map", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_axis_io_map(UInt16 CardNo, UInt16 Axis, UInt16 IoType, UInt16 MapIoType, UInt16 MapIoIndex, double Filter); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_axis_io_map", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_axis_io_map(UInt16 CardNo, UInt16 Axis, UInt16 IoType, ref UInt16 MapIoType, ref UInt16 MapIoIndex, ref double Filter); [DllImport("LTDMC.dll", EntryPoint = "dmc_set_special_input_filter", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_special_input_filter(UInt16 CardNo, double Filter); //设置所有专用IO滤波时间 // 虚拟IO映射 用于读取滤波后的IO口电平状态 [DllImport("LTDMC.dll", EntryPoint = "dmc_set_io_map_virtual", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_io_map_virtual(UInt16 CardNo, UInt16 bitno, UInt16 MapIoType, UInt16 MapIoIndex, double Filter); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_io_map_virtual", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_io_map_virtual(UInt16 CardNo, UInt16 bitno, ref UInt16 MapIoType, ref UInt16 MapIoIndex, ref double Filter); [DllImport("LTDMC.dll", EntryPoint = "dmc_read_inbit_virtual", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_read_inbit_virtual(UInt16 CardNo, UInt16 bitno); //下载参数文件 [DllImport("LTDMC.dll", EntryPoint = "dmc_download_configfile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_download_configfile(UInt16 CardNo, String FileName); //下载固件文件 [DllImport("LTDMC.dll", EntryPoint = "dmc_download_firmware", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_download_firmware(UInt16 CardNo, String FileName); //----------------------限位异常设置------------------------------- [DllImport("LTDMC.dll", EntryPoint = "dmc_set_softlimit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_softlimit(UInt16 CardNo, UInt16 axis, UInt16 enable, UInt16 source_sel, UInt16 SL_action, Int32 N_limit, Int32 P_limit); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_softlimit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_softlimit(UInt16 CardNo, UInt16 axis, ref UInt16 enable, ref UInt16 source_sel, ref UInt16 SL_action, ref Int32 N_limit, ref Int32 P_limit); [DllImport("LTDMC.dll", EntryPoint = "dmc_set_el_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_el_mode(UInt16 CardNo, UInt16 axis, UInt16 el_enable, UInt16 el_logic, UInt16 el_mode); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_el_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_el_mode(UInt16 CardNo, UInt16 axis, ref UInt16 el_enable, ref UInt16 el_logic, ref UInt16 el_mode); [DllImport("LTDMC.dll", EntryPoint = "dmc_set_emg_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_emg_mode(UInt16 CardNo, UInt16 axis, UInt16 enable, UInt16 emg_logic); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_emg_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_emg_mode(UInt16 CardNo, UInt16 axis, ref UInt16 enbale, ref UInt16 emg_logic); //外部减速停止信号及减速停止时间设置 [DllImport("LTDMC.dll", EntryPoint = "dmc_set_dstp_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_dstp_mode(UInt16 CardNo, UInt16 axis, UInt16 enable, UInt16 logic, UInt32 time); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_dstp_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_dstp_mode(UInt16 CardNo, UInt16 axis, ref UInt16 enable, ref UInt16 logic, ref UInt32 time); [DllImport("LTDMC.dll", EntryPoint = "dmc_set_dstp_time", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_dstp_time(UInt16 CardNo, UInt16 axis, UInt32 time); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_dstp_time", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_dstp_time(UInt16 CardNo, UInt16 axis, ref UInt32 time); //以上函数以毫秒为单位可继续使用，新函数将时间统一到秒为单位 [DllImport("LTDMC.dll", EntryPoint = "dmc_set_io_dstp_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_io_dstp_mode(UInt16 CardNo, UInt16 axis, UInt16 enable, UInt16 logic); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_io_dstp_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_io_dstp_mode(UInt16 CardNo, UInt16 axis, ref UInt16 enable, ref UInt16 logic); [DllImport("LTDMC.dll", EntryPoint = "dmc_set_dec_stop_time", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_dec_stop_time(UInt16 CardNo, UInt16 axis, double stop_time); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_dec_stop_time", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_dec_stop_time(UInt16 CardNo, UInt16 axis, ref double stop_time); [DllImport("LTDMC.dll")] public static extern short dmc_set_vector_dec_stop_time(UInt16 CardNo, UInt16 Crd, double stop_time); [DllImport("LTDMC.dll")] public static extern short dmc_get_vector_dec_stop_time(UInt16 CardNo, UInt16 Crd, ref double stop_time); [DllImport("LTDMC.dll")] public static extern short dmc_set_dec_stop_dist(UInt16 CardNo, UInt16 axis, Int32 dist); [DllImport("LTDMC.dll")] public static extern short dmc_get_dec_stop_dist(UInt16 CardNo, UInt16 axis, ref Int32 dist); [DllImport("LTDMC.dll")] public static extern short dmc_set_io_dstp_bitno(UInt16 CardNo, UInt16 axis, UInt16 bitno, double filter); [DllImport("LTDMC.dll")] public static extern short dmc_get_io_dstp_bitno(UInt16 CardNo, UInt16 axis, ref UInt16 bitno, ref double filter); //---------------------------速度设置---------------------- [DllImport("LTDMC.dll", EntryPoint = "dmc_set_profile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_profile(UInt16 CardNo, UInt16 axis, double Min_Vel, double Max_Vel, double Tacc, double Tdec, double stop_vel); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_profile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_profile(UInt16 CardNo, UInt16 axis, ref double Min_Vel, ref double Max_Vel, ref double Tacc, ref double Tdec, ref double stop_vel); [DllImport("LTDMC.dll", EntryPoint = "dmc_set_acc_profile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_acc_profile(UInt16 CardNo, UInt16 axis, double Min_Vel, double Max_Vel, double Tacc, double Tdec, double stop_vel); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_acc_profile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_acc_profile(UInt16 CardNo, UInt16 axis, ref double Min_Vel, ref double Max_Vel, ref double Tacc, ref double Tdec, ref double stop_vel); [DllImport("LTDMC.dll", EntryPoint = "dmc_set_s_profile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_s_profile(UInt16 CardNo, UInt16 axis, UInt16 s_mode, double s_para); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_s_profile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_s_profile(UInt16 CardNo, UInt16 axis, UInt16 s_mode, ref double s_para); [DllImport("LTDMC.dll", EntryPoint = "dmc_set_vector_profile_multicoor", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_vector_profile_multicoor(UInt16 CardNo, UInt16 Crd, double Min_Vel, double Max_Vel, double Tacc, double Tdec, double Stop_Vel); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_vector_profile_multicoor", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_vector_profile_multicoor(UInt16 CardNo, UInt16 Crd, ref double Min_Vel, ref double Max_Vel, ref double Taccdec, ref double Tdec, ref double Stop_Vel); [DllImport("LTDMC.dll")] public static extern short dmc_set_vector_s_profile_multicoor(UInt16 CardNo, UInt16 Crd, UInt16 s_mode, double s_para); [DllImport("LTDMC.dll")] public static extern short dmc_get_vector_s_profile_multicoor(UInt16 CardNo, UInt16 Crd, UInt16 s_mode, ref double s_para); //---------------------运动模块脉冲模式------------------ [DllImport("LTDMC.dll", EntryPoint = "dmc_set_pulse_outmode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_pulse_outmode(UInt16 CardNo, UInt16 axis, UInt16 outmode); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_pulse_outmode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_pulse_outmode(UInt16 CardNo, UInt16 axis, ref UInt16 outmode); //-----------------------点位运动----------------------- [DllImport("LTDMC.dll", EntryPoint = "dmc_pmove", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_pmove(UInt16 CardNo, UInt16 axis, Int32 Dist, UInt16 posi_mode); [DllImport("LTDMC.dll")] public static extern short dmc_pmove_extern(UInt16 CardNo, UInt16 axis, double dist, double Min_Vel, double Max_Vel, double Tacc, double Tdec, double stop_Vel, double s_para, UInt16 posi_mode); [DllImport("LTDMC.dll", EntryPoint = "dmc_reset_target_position", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_reset_target_position(UInt16 CardNo, UInt16 axis, Int32 dist, UInt16 posi_mode); [DllImport("LTDMC.dll", EntryPoint = "dmc_change_speed", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_change_speed(UInt16 CardNo, UInt16 axis, double Curr_Vel, double Taccdec); [DllImport("LTDMC.dll", EntryPoint = "dmc_update_target_position", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_update_target_position(UInt16 CardNo, UInt16 axis, Int32 dist, UInt16 posi_mode); //----------------------PVT运动--------------------------- [DllImport("LTDMC.dll", EntryPoint = "dmc_PvtTable", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_PvtTable(UInt16 CardNo, UInt16 iaxis, UInt32 count, double[] pTime, Int32[] pPos, double[] pVel); [DllImport("LTDMC.dll", EntryPoint = "dmc_PtsTable", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_PtsTable(UInt16 CardNo, UInt16 iaxis, UInt32 count, double[] pTime, Int32[] pPos, double[] pPercent); [DllImport("LTDMC.dll", EntryPoint = "dmc_PvtsTable", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_PvtsTable(UInt16 CardNo, UInt16 iaxis, UInt32 count, double[] pTime, Int32[] pPos, double velBegin, double velEnd); [DllImport("LTDMC.dll", EntryPoint = "dmc_PttTable", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_PttTable(UInt16 CardNo, UInt16 iaxis, UInt32 count, double[] pTime, int[] pPos); [DllImport("LTDMC.dll", EntryPoint = "dmc_PvtMove", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_PvtMove(UInt16 CardNo, UInt16 AxisNum, UInt16[] AxisList); [DllImport("LTDMC.dll")] public static extern short dmc_PttTable_add(UInt16 CardNo, UInt16 iaxis, UInt16 count, double[] pTime, long[] pPos); [DllImport("LTDMC.dll")] public static extern short dmc_PtsTable_add(UInt16 CardNo, UInt16 iaxis, UInt16 count, double[] pTime, long[] pPos, double[] pPercent); [DllImport("LTDMC.dll")] public static extern short dmc_pvt_get_remain_space(UInt16 CardNo, UInt16 iaxis); [DllImport("LTDMC.dll")] public static extern short dmc_pvt_table_unit(UInt16 CardNo, UInt16 iaxis, UInt32 count, double[] pTime, double[] pPos, double[] pVel); [DllImport("LTDMC.dll")] public static extern short dmc_pts_table_unit(UInt16 CardNo, UInt16 iaxis, UInt32 count, double[] pTime, double[] pPos, double[] pPercent); [DllImport("LTDMC.dll")] public static extern short dmc_pvts_table_unit(UInt16 CardNo, UInt16 iaxis, UInt32 count, double[] pTime, double[] pPos, double velBegin, double velEnd); [DllImport("LTDMC.dll")] public static extern short dmc_ptt_table_unit(UInt16 CardNo, UInt16 iaxis, UInt32 count, double[] pTime, double[] pPos); [DllImport("LTDMC.dll")] public static extern short dmc_pvt_move(UInt16 CardNo, UInt16 AxisNum, UInt16[] AxisList); [DllImport("LTDMC.dll")] public static extern short dmc_SetGearProfile(UInt16 CardNo, UInt16 axis, UInt16 MasterType, UInt16 MasterIndex, Int32 MasterEven, Int32 SlaveEven, UInt32 MasterSlope); [DllImport("LTDMC.dll")] public static extern short dmc_GetGearProfile(UInt16 CardNo, UInt16 axis, ref UInt16 MasterType, ref UInt16 MasterIndex, ref UInt32 MasterEven, ref UInt32 SlaveEven, ref UInt32 MasterSlope); [DllImport("LTDMC.dll")] public static extern short dmc_GearMove(UInt16 CardNo, UInt16 AxisNum, UInt16[] AxisList); //---------------------JOG运动-------------------- [DllImport("LTDMC.dll", EntryPoint = "dmc_vmove", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_vmove(UInt16 CardNo, UInt16 axis, UInt16 dir); //直线插补 [DllImport("LTDMC.dll", EntryPoint = "dmc_line_multicoor", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_line_multicoor(UInt16 CardNo, UInt16 crd, UInt16 axisNum, UInt16[] axisList, Int32[] DistList, UInt16 posi_mode); //平面圆弧 [DllImport("LTDMC.dll", EntryPoint = "dmc_arc_move_multicoor", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_arc_move_multicoor(UInt16 CardNo, UInt16 crd, UInt16[] AxisList, Int32[] Target_Pos, Int32[] Cen_Pos, UInt16 Arc_Dir, UInt16 posi_mode); //--------------------回零运动--------------------- [DllImport("LTDMC.dll", EntryPoint = "dmc_set_home_pin_logic", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_home_pin_logic(UInt16 CardNo, UInt16 axis, UInt16 org_logic, double filter); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_home_pin_logic", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_home_pin_logic(UInt16 CardNo, UInt16 axis, ref UInt16 org_logic, ref double filter); [DllImport("LTDMC.dll", EntryPoint = "dmc_set_homemode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_homemode(UInt16 CardNo, UInt16 axis, UInt16 home_dir, double vel, UInt16 mode, UInt16 EZ_count); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_homemode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_homemode(UInt16 CardNo, UInt16 axis, ref UInt16 home_dir, ref double vel, ref UInt16 home_mode, ref UInt16 EZ_count); [DllImport("LTDMC.dll", EntryPoint = "dmc_home_move", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_home_move(UInt16 CardNo, UInt16 axis); [DllImport("LTDMC.dll")] public static extern short dmc_set_home_profile_unit(ushort CardNo, ushort axis, double Low_Vel, double High_Vel, double Tacc, double Tdec); [DllImport("LTDMC.dll")] public static extern short dmc_get_home_profile_unit(ushort CardNo, ushort axis, ref double Low_Vel, ref double High_Vel, ref double Tacc, ref double Tdec); [DllImport("LTDMC.dll")] public static extern short dmc_get_home_result(UInt16 CardNo, UInt16 axis, ref UInt16 state); [DllImport("LTDMC.dll")] public static extern short dmc_set_home_position_unit(UInt16 CardNo, UInt16 axis, UInt16 enable, double position); [DllImport("LTDMC.dll")] public static extern short dmc_get_home_position_unit(UInt16 CardNo, UInt16 axis, ref UInt16 enable, ref double position); [DllImport("LTDMC.dll")] public static extern short dmc_set_el_home(UInt16 CardNo, UInt16 axis, UInt16 mode); // 回原点减速信号配置 [DllImport("LTDMC.dll", EntryPoint = "dmc_set_sd_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_sd_mode(UInt16 CardNo, UInt16 axis, UInt16 sd_logic, UInt16 sd_mode); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_sd_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_sd_mode(UInt16 CardNo, UInt16 axis, ref UInt16 sd_logic, ref UInt16 sd_mode); //--------------------3800,3600,5800,5600专用 原点锁存------------------- [DllImport("LTDMC.dll", EntryPoint = "dmc_set_homelatch_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_homelatch_mode(UInt16 CardNo, UInt16 axis, UInt16 enable, UInt16 logic, UInt16 source); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_homelatch_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_homelatch_mode(UInt16 CardNo, UInt16 axis, ref UInt16 enable, ref UInt16 logic, ref UInt16 source); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_homelatch_flag", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_homelatch_flag(UInt16 CardNo, UInt16 axis); [DllImport("LTDMC.dll", EntryPoint = "dmc_reset_homelatch_flag", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_reset_homelatch_flag(UInt16 CardNo, UInt16 axis); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_homelatch_value", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 dmc_get_homelatch_value(UInt16 CardNo, UInt16 axis); [DllImport("LTDMC.dll")] public static extern short dmc_set_ezlatch_mode(UInt16 CardNo, UInt16 axis, UInt16 enable, UInt16 logic, UInt16 source); [DllImport("LTDMC.dll")] public static extern short dmc_get_ezlatch_mode(UInt16 CardNo, UInt16 axis, ref UInt16 enable, ref UInt16 logic, ref UInt16 source); [DllImport("LTDMC.dll")] public static extern short dmc_get_ezlatch_flag(UInt16 CardNo, UInt16 axis); [DllImport("LTDMC.dll")] public static extern short dmc_reset_ezlatch_flag(UInt16 CardNo, UInt16 axis); [DllImport("LTDMC.dll")] public static extern short dmc_get_ezlatch_value(UInt16 CardNo, UInt16 axis); //--------------------手轮运动--------------------- //3800,3600,5800,5600专用 手轮通道选择 [DllImport("LTDMC.dll", EntryPoint = "dmc_set_handwheel_channel", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_handwheel_channel(UInt16 CardNo, UInt16 index); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_handwheel_channel", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_handwheel_channel(UInt16 CardNo, ref UInt16 index); //一个手轮信号控制单个轴运动 [DllImport("LTDMC.dll", EntryPoint = "dmc_set_handwheel_inmode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_handwheel_inmode(UInt16 CardNo, UInt16 axis, UInt16 inmode, Int32 multi, double vh); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_handwheel_inmode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_handwheel_inmode(UInt16 CardNo, UInt16 axis, ref UInt16 inmode, ref Int32 multi, ref double vh); [DllImport("LTDMC.dll", EntryPoint = "dmc_set_handwheel_inmode_decimals", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_handwheel_inmode_decimals(UInt16 CardNo, UInt16 axis, UInt16 inmode, double multi, double vh); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_handwheel_inmode_decimals", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_handwheel_inmode_decimals(UInt16 CardNo, UInt16 axis, ref UInt16 inmode, ref double multi, ref double vh); //3800,3600,5800,5600专用 一个手轮信号控制多个轴运动 [DllImport("LTDMC.dll", EntryPoint = "dmc_set_handwheel_inmode_extern", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_handwheel_inmode_extern(UInt16 CardNo, UInt16 inmode, UInt16 AxisNum, UInt16[] AxisList, Int32[] multi); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_handwheel_inmode_extern", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_handwheel_inmode_extern(UInt16 CardNo, ref UInt16 inmode, ref UInt16 AxisNum, UInt16[] AxisList, Int32[] multi); [DllImport("LTDMC.dll")] public static extern short dmc_set_handwheel_inmode_extern_decimals(UInt16 CardNo, UInt16 inmode, UInt16 AxisNum, UInt16[] AxisList, double[] multi); [DllImport("LTDMC.dll")] public static extern short dmc_get_handwheel_inmode_extern_decimals(UInt16 CardNo, ref UInt16 inmode, ref UInt16 AxisNum, UInt16[] AxisList, double[] multi); //启动手轮运动 [DllImport("LTDMC.dll", EntryPoint = "dmc_handwheel_move", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_handwheel_move(UInt16 CardNo, UInt16 axis); // [DllImport("LTDMC.dll")] public static extern short dmc_set_handwheel_encoder(ushort CardNo, ushort channel, int pos); [DllImport("LTDMC.dll")] public static extern short dmc_get_handwheel_encoder(ushort CardNo, ushort channel, ref int pos); [DllImport("LTDMC.dll")] public static extern short dmc_handwheel_set_axislist(UInt16 CardNo, UInt16 AxisSelIndex, UInt16 AxisNum, UInt16[] AxisList); [DllImport("LTDMC.dll")] public static extern short dmc_handwheel_get_axislist(UInt16 CardNo, UInt16 AxisSelIndex, ref UInt16 AxisNum, UInt16[] AxisList); [DllImport("LTDMC.dll")] public static extern short dmc_handwheel_set_ratiolist(UInt16 CardNo, UInt16 AxisSelIndex, UInt16 StartRatioIndex, UInt16 RatioSelNum, double[] RatioList); [DllImport("LTDMC.dll")] public static extern short dmc_handwheel_get_ratiolist(UInt16 CardNo, UInt16 AxisSelIndex, UInt16 StartRatioIndex, UInt16 RatioSelNum, double[] RatioList); [DllImport("LTDMC.dll")] public static extern short dmc_handwheel_set_mode(UInt16 CardNo, UInt16 InMode, UInt16 IfHardEnable); [DllImport("LTDMC.dll")] public static extern short dmc_handwheel_get_mode(UInt16 CardNo, ref UInt16 InMode, ref UInt16 IfHardEnable); [DllImport("LTDMC.dll")] public static extern short dmc_handwheel_set_index(UInt16 CardNo, UInt16 AxisSelIndex, UInt16 RatioSelIndex); [DllImport("LTDMC.dll")] public static extern short dmc_handwheel_get_index(UInt16 CardNo, ref UInt16 AxisSelIndex, ref UInt16 RatioSelIndex); [DllImport("LTDMC.dll")] public static extern short dmc_handwheel_stop(UInt16 CardNo); //---------------------编码器--------------------- [DllImport("LTDMC.dll", EntryPoint = "dmc_set_counter_inmode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_counter_inmode(UInt16 CardNo, UInt16 axis, UInt16 mode); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_counter_inmode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_counter_inmode(UInt16 CardNo, UInt16 axis, ref UInt16 mode); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_encoder", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 dmc_get_encoder(UInt16 CardNo, UInt16 axis); [DllImport("LTDMC.dll", EntryPoint = "dmc_set_encoder", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_encoder(UInt16 CardNo, UInt16 axis, Int32 encoder_value); [DllImport("LTDMC.dll", EntryPoint = "dmc_set_ez_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_ez_mode(UInt16 CardNo, UInt16 axis, UInt16 ez_logic, UInt16 ez_mode, double filter); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_ez_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_ez_mode(UInt16 CardNo, UInt16 axis, ref UInt16 ez_logic, ref UInt16 ez_mode, ref double filter); //---------------------辅助编码器--------------------- [DllImport("LTDMC.dll")] public static extern short dmc_set_extra_encoder_mode(ushort CardNo, ushort channel, ushort inmode, ushort multi); [DllImport("LTDMC.dll")] public static extern short dmc_get_extra_encoder_mode(ushort CardNo, ushort channel, ref ushort inmode, ref ushort multi); [DllImport("LTDMC.dll")] public static extern short dmc_set_extra_encoder(ushort CardNo, ushort channel, int pos); [DllImport("LTDMC.dll")] public static extern short dmc_get_extra_encoder(ushort CardNo, ushort channel, ref int pos); //-------------------------高速锁存(旧)------------------- [DllImport("LTDMC.dll", EntryPoint = "dmc_set_ltc_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_ltc_mode(UInt16 CardNo, UInt16 axis, UInt16 ltc_logic, UInt16 ltc_mode, Double filter); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_ltc_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_ltc_mode(UInt16 CardNo, UInt16 axis, ref UInt16 ltc_logic, ref UInt16 ltc_mode, ref Double filter); [DllImport("LTDMC.dll", EntryPoint = "dmc_set_latch_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_latch_mode(UInt16 CardNo, UInt16 axis, UInt16 all_enable, UInt16 latch_source, UInt16 triger_chunnel); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_latch_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_latch_mode(UInt16 CardNo, UInt16 axis, ref UInt16 all_enable, ref UInt16 latch_source, ref UInt16 triger_chunnel); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_latch_value", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 dmc_get_latch_value(UInt16 CardNo, UInt16 axis); [DllImport("LTDMC.dll")] public static extern short dmc_get_latch_value_unit(UInt16 CardNo, UInt16 axis, ref double pos_by_mm); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_latch_flag", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_latch_flag(UInt16 CardNo, UInt16 axis); [DllImport("LTDMC.dll", EntryPoint = "dmc_reset_latch_flag", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_reset_latch_flag(UInt16 CardNo, UInt16 axis); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_latch_value_extern", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 dmc_get_latch_value_extern(UInt16 CardNo, UInt16 axis, UInt16 Index); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_latch_flag_extern", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_latch_flag_extern(UInt16 CardNo, UInt16 axis); [DllImport("LTDMC.dll", EntryPoint = "dmc_SetLtcOutMode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_SetLtcOutMode(UInt16 CardNo, UInt16 axis, UInt16 enable, UInt16 bitno); [DllImport("LTDMC.dll", EntryPoint = "dmc_GetLtcOutMode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_GetLtcOutMode(UInt16 CardNo, UInt16 axis, ref UInt16 enable, ref UInt16 bitno); //LTC端口触发延时急停时间 单位us [DllImport("LTDMC.dll", EntryPoint = "dmc_set_latch_stop_time", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_latch_stop_time(UInt16 CardNo, UInt16 axis, Int32 time); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_latch_stop_time", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_latch_stop_time(UInt16 CardNo, UInt16 axis, ref Int32 time); //----------------------高速锁存(新)--------------------------- [DllImport("LTDMC.dll")] public static extern short dmc_ltc_set_mode(ushort CardNo, ushort latch, ushort ltc_mode, ushort ltc_logic, double filter); [DllImport("LTDMC.dll")] public static extern short dmc_ltc_get_mode(ushort CardNo, ushort latch, ref ushort ltc_mode, ref ushort ltc_logic, ref double filter); [DllImport("LTDMC.dll")] public static extern short dmc_ltc_set_source(ushort CardNo, ushort latch, ushort axis, ushort ltc_source); [DllImport("LTDMC.dll")] public static extern short dmc_ltc_get_source(ushort CardNo, ushort latch, ushort axis, ref ushort ltc_source); [DllImport("LTDMC.dll")] public static extern short dmc_ltc_reset(ushort CardNo, ushort latch); [DllImport("LTDMC.dll")] public static extern short dmc_ltc_get_number(ushort CardNo, ushort latch, ushort axis, ref int number); [DllImport("LTDMC.dll")] public static extern short dmc_ltc_get_value_unit(ushort CardNo, ushort latch, ushort axis, ref double value); //-----------------------软锁存--------------------------------- [DllImport("LTDMC.dll")] public static extern short dmc_softltc_set_mode(ushort ConnectNo, ushort latch, ushort ltc_enable, ushort ltc_mode, ushort ltc_inbit, ushort ltc_logic, double filter); [DllImport("LTDMC.dll")] public static extern short dmc_softltc_get_mode(ushort ConnectNo, ushort latch, ref ushort ltc_enable, ref ushort ltc_mode, ref ushort ltc_inbit, ref ushort ltc_logic, ref double filter); [DllImport("LTDMC.dll")] public static extern short dmc_softltc_set_source(ushort ConnectNo, ushort latch, ushort axis, ushort ltc_source); [DllImport("LTDMC.dll")] public static extern short dmc_softltc_get_source(ushort ConnectNo, ushort latch, ushort axis, ref ushort ltc_source); [DllImport("LTDMC.dll")] public static extern short dmc_softltc_reset(ushort ConnectNo, ushort latch); [DllImport("LTDMC.dll")] public static extern short dmc_softltc_get_number(ushort ConnectNo, ushort latch, ushort axis, ref int number); [DllImport("LTDMC.dll")] public static extern short dmc_softltc_get_value_unit(ushort ConnectNo, ushort latch, ushort axis, ref double value); //----------------------单轴低速位置比较----------------------- [DllImport("LTDMC.dll", EntryPoint = "dmc_compare_set_config", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_compare_set_config(UInt16 CardNo, UInt16 axis, UInt16 enable, UInt16 cmp_source); [DllImport("LTDMC.dll", EntryPoint = "dmc_compare_get_config", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_compare_get_config(UInt16 CardNo, UInt16 axis, ref UInt16 enable, ref UInt16 cmp_source); [DllImport("LTDMC.dll", EntryPoint = "dmc_compare_clear_points", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_compare_clear_points(UInt16 CardNo, UInt16 axis); [DllImport("LTDMC.dll", EntryPoint = "dmc_compare_add_point", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_compare_add_point(UInt16 CardNo, UInt16 axis, int pos, UInt16 dir, UInt16 action, UInt32 actpara); [DllImport("LTDMC.dll", EntryPoint = "dmc_compare_get_current_point", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_compare_get_current_point(UInt16 CardNo, UInt16 axis, ref Int32 pos); [DllImport("LTDMC.dll", EntryPoint = "dmc_compare_get_points_runned", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_compare_get_points_runned(UInt16 CardNo, UInt16 axis, ref Int32 pointNum); [DllImport("LTDMC.dll", EntryPoint = "dmc_compare_get_points_remained", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_compare_get_points_remained(UInt16 CardNo, UInt16 axis, ref Int32 pointNum); //-------------------二维低速位置比较----------------------- [DllImport("LTDMC.dll", EntryPoint = "dmc_compare_set_config_extern", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_compare_set_config_extern(UInt16 CardNo, UInt16 enable, UInt16 cmp_source); [DllImport("LTDMC.dll", EntryPoint = "dmc_compare_get_config_extern", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_compare_get_config_extern(UInt16 CardNo, ref UInt16 enable, ref UInt16 cmp_source); [DllImport("LTDMC.dll", EntryPoint = "dmc_compare_clear_points_extern", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_compare_clear_points_extern(UInt16 CardNo); [DllImport("LTDMC.dll", EntryPoint = "dmc_compare_add_point_extern", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_compare_add_point_extern(UInt16 CardNo, UInt16[] axis, Int32[] pos, UInt16[] dir, UInt16 action, UInt32 actpara); [DllImport("LTDMC.dll", EntryPoint = "dmc_compare_get_current_point_extern", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_compare_get_current_point_extern(UInt16 CardNo, Int32[] pos); [DllImport("LTDMC.dll")] public static extern short dmc_compare_add_point_extern_unit(UInt16 CardNo, UInt16[] axis, double[] pos, UInt16[] dir, UInt16 action, UInt32 actpara); [DllImport("LTDMC.dll")] public static extern short dmc_compare_get_current_point_extern_unit(UInt16 CardNo, double[] pos); [DllImport("LTDMC.dll", EntryPoint = "dmc_compare_get_points_runned_extern", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_compare_get_points_runned_extern(UInt16 CardNo, ref Int32 pointNum); [DllImport("LTDMC.dll", EntryPoint = "dmc_compare_get_points_remained_extern", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_compare_get_points_remained_extern(UInt16 CardNo, ref Int32 pointNum); [DllImport("LTDMC.dll")] public static extern short dmc_compare_set_config_multi(UInt16 CardNo, UInt16 queue, UInt16 enable, UInt16 axis, UInt16 cmp_source); [DllImport("LTDMC.dll")] public static extern short dmc_compare_get_config_multi(UInt16 CardNo, UInt16 queue, ref UInt16 enable, ref UInt16 axis, ref UInt16 cmp_source); [DllImport("LTDMC.dll")] public static extern short dmc_compare_add_point_multi(UInt16 CardNo, UInt16 cmp, Int32 pos, UInt16 dir, UInt16 action, UInt32 actpara, double times); //----------- 单轴高速位置比较----------------------- [DllImport("LTDMC.dll", EntryPoint = "dmc_hcmp_set_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_hcmp_set_mode(UInt16 CardNo, UInt16 hcmp, UInt16 cmp_enable); [DllImport("LTDMC.dll", EntryPoint = "dmc_hcmp_get_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_hcmp_get_mode(UInt16 CardNo, UInt16 hcmp, ref UInt16 cmp_enable); [DllImport("LTDMC.dll", EntryPoint = "dmc_hcmp_set_config", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_hcmp_set_config(UInt16 CardNo, UInt16 hcmp, UInt16 axis, UInt16 cmp_source, UInt16 cmp_logic, Int32 time); [DllImport("LTDMC.dll", EntryPoint = "dmc_hcmp_get_config", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_hcmp_get_config(UInt16 CardNo, UInt16 hcmp, ref UInt16 axis, ref UInt16 cmp_source, ref UInt16 cmp_logic, ref Int32 time); [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_set_config_extern(UInt16 CardNo, UInt16 hcmp, UInt16 axis, UInt16 cmp_source, UInt16 cmp_logic, UInt16 cmp_mode, Int32 dist, Int32 time); [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_get_config_extern(UInt16 CardNo, UInt16 hcmp, ref UInt16 axis, ref UInt16 cmp_source, ref UInt16 cmp_logic, ref UInt16 cmp_mode, ref Int32 dist, ref Int32 time); [DllImport("LTDMC.dll", EntryPoint = "dmc_hcmp_add_point", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_hcmp_add_point(UInt16 CardNo, UInt16 hcmp, Int32 cmp_pos); [DllImport("LTDMC.dll", EntryPoint = "dmc_hcmp_set_liner", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_hcmp_set_liner(UInt16 CardNo, UInt16 hcmp, Int32 Increment, Int32 Count); [DllImport("LTDMC.dll", EntryPoint = "dmc_hcmp_get_liner", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_hcmp_get_liner(UInt16 CardNo, UInt16 hcmp, ref Int32 Increment, ref Int32 Count); [DllImport("LTDMC.dll", EntryPoint = "dmc_hcmp_get_current_state", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_hcmp_get_current_state(UInt16 CardNo, UInt16 hcmp, ref Int32 remained_points, ref Int32 current_point, ref Int32 runned_points); [DllImport("LTDMC.dll", EntryPoint = "dmc_hcmp_clear_points", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_hcmp_clear_points(UInt16 CardNo, UInt16 hcmp); [DllImport("LTDMC.dll", EntryPoint = "dmc_read_cmp_pin", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_read_cmp_pin(UInt16 CardNo, UInt16 hcmp); [DllImport("LTDMC.dll", EntryPoint = "dmc_write_cmp_pin", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_write_cmp_pin(UInt16 CardNo, UInt16 hcmp, UInt16 on_off); [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_2d_set_enable(UInt16 CardNo, UInt16 hcmp, UInt16 cmp_enable); [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_2d_get_enable(UInt16 CardNo, UInt16 hcmp, ref UInt16 cmp_enable); [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_2d_set_config(UInt16 CardNo, UInt16 hcmp, UInt16 cmp_mode, UInt16 x_axis, UInt16 x_cmp_source, UInt16 y_axis, UInt16 y_cmp_source, Int32 error, UInt16 cmp_logic, Int32 time, UInt16 pwm_enable, double duty, Int32 freq, UInt16 port_sel, UInt16 pwm_number); [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_2d_get_config(UInt16 CardNo, UInt16 hcmp, ref UInt16 cmp_mode, ref UInt16 x_axis, ref UInt16 x_cmp_source, ref UInt16 y_axis, ref UInt16 y_cmp_source, ref Int32 error, ref UInt16 cmp_logic, ref Int32 time, ref UInt16 pwm_enable, ref double duty, ref Int32 freq, ref UInt16 port_sel, ref UInt16 pwm_number); [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_2d_add_point(UInt16 CardNo, UInt16 hcmp, Int32 x_cmp_pos, Int32 y_cmp_pos); [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_2d_get_current_state(UInt16 CardNo, UInt16 hcmp, ref Int32 remained_points, ref Int32 x_current_point, ref Int32 y_current_point, ref Int32 runned_points, ref UInt16 current_state); [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_2d_clear_points(UInt16 CardNo, UInt16 hcmp); [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_2d_force_output(UInt16 CardNo, UInt16 hcmp, UInt16 enable); //------------------------通用IO----------------------- [DllImport("LTDMC.dll", EntryPoint = "dmc_read_inbit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_read_inbit(UInt16 CardNo, UInt16 bitno); [DllImport("LTDMC.dll", EntryPoint = "dmc_write_outbit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_write_outbit(UInt16 CardNo, UInt16 bitno, UInt16 on_off); [DllImport("LTDMC.dll", EntryPoint = "dmc_read_outbit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_read_outbit(UInt16 CardNo, UInt16 bitno); [DllImport("LTDMC.dll", EntryPoint = "dmc_read_inport", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern UInt32 dmc_read_inport(UInt16 CardNo, UInt16 portno); [DllImport("LTDMC.dll", EntryPoint = "dmc_read_outport", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern UInt32 dmc_read_outport(UInt16 CardNo, UInt16 portno); [DllImport("LTDMC.dll", EntryPoint = "dmc_write_outport", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_write_outport(UInt16 CardNo, UInt16 portno, UInt32 outport_val); [DllImport("LTDMC.dll", EntryPoint = "dmc_write_outport_16X", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_write_outport_16X(UInt16 CardNo, UInt16 portno, UInt32 outport_val); //3800,3600,5800,5600专用 IO辅助功能 [DllImport("LTDMC.dll", EntryPoint = "dmc_IO_TurnOutDelay", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_IO_TurnOutDelay(UInt16 CardNo, UInt16 bitno, UInt32 DelayTime); [DllImport("LTDMC.dll", EntryPoint = "dmc_SetIoCountMode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_SetIoCountMode(UInt16 CardNo, UInt16 bitno, UInt16 mode, UInt32 filter); [DllImport("LTDMC.dll", EntryPoint = "dmc_GetIoCountMode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_GetIoCountMode(UInt16 CardNo, UInt16 bitno, ref UInt16 mode, ref UInt32 filter); [DllImport("LTDMC.dll", EntryPoint = "dmc_SetIoCountValue", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_SetIoCountValue(UInt16 CardNo, UInt16 bitno, UInt32 CountValue); [DllImport("LTDMC.dll", EntryPoint = "dmc_GetIoCountValue", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_GetIoCountValue(UInt16 CardNo, UInt16 bitno, ref UInt32 CountValue); //以上函数以毫秒为单位可继续使用，新函数将时间统一到秒为单位 [DllImport("LTDMC.dll", EntryPoint = "dmc_reverse_outbit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_reverse_outbit(UInt16 CardNo, UInt16 bitno, double reverse_time); [DllImport("LTDMC.dll", EntryPoint = "dmc_set_io_count_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_io_count_mode(UInt16 CardNo, UInt16 bitno, UInt16 mode, double filter_time); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_io_count_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_io_count_mode(UInt16 CardNo, UInt16 bitno, ref UInt16 mode, ref double filter_time); [DllImport("LTDMC.dll", EntryPoint = "dmc_set_io_count_value", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_io_count_value(UInt16 CardNo, UInt16 bitno, UInt32 CountValue); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_io_count_value", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_io_count_value(UInt16 CardNo, UInt16 bitno, ref UInt32 CountValue); //-----------------------专用IO------------------------- [DllImport("LTDMC.dll", EntryPoint = "dmc_set_inp_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_inp_mode(UInt16 CardNo, UInt16 axis, UInt16 enable, UInt16 inp_logic); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_inp_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_inp_mode(UInt16 CardNo, UInt16 axis, ref UInt16 enable, ref UInt16 inp_logic); [DllImport("LTDMC.dll")] public static extern short dmc_set_rdy_mode(UInt16 CardNo, UInt16 axis, UInt16 enable, UInt16 rdy_logic); [DllImport("LTDMC.dll")] public static extern short dmc_get_rdy_mode(UInt16 CardNo, UInt16 axis, ref UInt16 enable, ref UInt16 rdy_logic); [DllImport("LTDMC.dll", EntryPoint = "dmc_set_erc_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_erc_mode(UInt16 CardNo, UInt16 axis, UInt16 enable, UInt16 erc_logic, UInt16 erc_width, UInt16 erc_off_time); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_erc_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_erc_mode(UInt16 CardNo, UInt16 axis, ref UInt16 enable, ref UInt16 erc_logic, ref UInt16 erc_width, ref UInt16 erc_off_time); [DllImport("LTDMC.dll", EntryPoint = "dmc_set_alm_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_alm_mode(UInt16 CardNo, UInt16 axis, UInt16 enable, UInt16 alm_logic, UInt16 alm_action); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_alm_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_alm_mode(UInt16 CardNo, UInt16 axis, ref UInt16 enable, ref UInt16 alm_logic, ref UInt16 alm_action); [DllImport("LTDMC.dll", EntryPoint = "dmc_write_sevon_pin", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_write_sevon_pin(UInt16 CardNo, UInt16 axis, UInt16 on_off); [DllImport("LTDMC.dll", EntryPoint = "dmc_read_sevon_pin", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_read_sevon_pin(UInt16 CardNo, UInt16 axis); [DllImport("LTDMC.dll", EntryPoint = "dmc_write_erc_pin", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_write_erc_pin(UInt16 CardNo, UInt16 axis, UInt16 sel); [DllImport("LTDMC.dll", EntryPoint = "dmc_read_erc_pin", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_read_erc_pin(UInt16 CardNo, UInt16 axis); [DllImport("LTDMC.dll", EntryPoint = "dmc_read_rdy_pin", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_read_rdy_pin(UInt16 CardNo, UInt16 axis); [DllImport("LTDMC.dll")] public static extern short dmc_write_sevrst_pin(UInt16 CardNo, UInt16 axis, UInt16 on_off); [DllImport("LTDMC.dll")] public static extern short dmc_read_sevrst_pin(UInt16 CardNo, UInt16 axis); //--------------------运动状态---------------------- [DllImport("LTDMC.dll", EntryPoint = "dmc_read_current_speed", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern double dmc_read_current_speed(UInt16 CardNo, UInt16 axis); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_position", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 dmc_get_position(UInt16 CardNo, UInt16 axis); [DllImport("LTDMC.dll", EntryPoint = "dmc_set_position", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_position(UInt16 CardNo, UInt16 axis, Int32 current_position); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_target_position", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 dmc_get_target_position(UInt16 CardNo, UInt16 axis); [DllImport("LTDMC.dll", EntryPoint = "dmc_check_done", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_check_done(UInt16 CardNo, UInt16 axis); [DllImport("LTDMC.dll", EntryPoint = "dmc_check_done_multicoor", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_check_done_multicoor(UInt16 CardNo, UInt16 crd); [DllImport("LTDMC.dll", EntryPoint = "dmc_axis_io_status", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern UInt32 dmc_axis_io_status(UInt16 CardNo, UInt16 axis); [DllImport("LTDMC.dll", EntryPoint = "dmc_stop", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_stop(UInt16 CardNo, UInt16 axis, UInt16 stop_mode); [DllImport("LTDMC.dll", EntryPoint = "dmc_stop_multicoor", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_stop_multicoor(UInt16 CardNo, UInt16 crd, UInt16 stop_mode); [DllImport("LTDMC.dll", EntryPoint = "dmc_emg_stop", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_emg_stop(UInt16 CardNo); //检测轴到位状态 [DllImport("LTDMC.dll", EntryPoint = "dmc_set_factor_error", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_factor_error(UInt16 CardNo, UInt16 axis, double factor, Int32 error); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_factor_error", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_factor_error(UInt16 CardNo, UInt16 axis, ref double factor, ref Int32 error); [DllImport("LTDMC.dll", EntryPoint = "dmc_check_success_pulse", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_check_success_pulse(UInt16 CardNo, UInt16 axis); [DllImport("LTDMC.dll", EntryPoint = "dmc_check_success_encoder", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_check_success_encoder(UInt16 CardNo, UInt16 axis); //3800,3600,5800,5600专用 主卡与接线盒通讯状态 [DllImport("LTDMC.dll", EntryPoint = "dmc_LinkState", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_LinkState(UInt16 CardNo, ref UInt16 State); //3800,3600,5800,5600专用 CAN-IO扩展 [DllImport("LTDMC.dll", EntryPoint = "dmc_set_can_state", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_can_state(UInt16 CardNo, UInt16 NodeNum, UInt16 state, UInt16 Baud); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_can_state", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_can_state(UInt16 CardNo, ref UInt16 NodeNum, ref UInt16 state); [DllImport("LTDMC.dll", EntryPoint = "dmc_write_can_outbit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_write_can_outbit(UInt16 CardNo, UInt16 Node, UInt16 bitno, UInt16 on_off); [DllImport("LTDMC.dll", EntryPoint = "dmc_read_can_outbit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_read_can_outbit(UInt16 CardNo, UInt16 Node, UInt16 bitno); [DllImport("LTDMC.dll", EntryPoint = "dmc_read_can_inbit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_read_can_inbit(UInt16 CardNo, UInt16 Node, UInt16 bitno); [DllImport("LTDMC.dll", EntryPoint = "dmc_write_can_outport", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_write_can_outport(UInt16 CardNo, UInt16 Node, UInt16 PortNo, UInt32 outport_val); [DllImport("LTDMC.dll", EntryPoint = "dmc_read_can_outport", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern UInt32 dmc_read_can_outport(UInt16 CardNo, UInt16 Node, UInt16 PortNo); [DllImport("LTDMC.dll", EntryPoint = "dmc_read_can_inport", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern UInt32 dmc_read_can_inport(UInt16 CardNo, UInt16 Node, UInt16 PortNo); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_can_errcode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_can_errcode(UInt16 CardNo, ref UInt16 Errcode); [DllImport("LTDMC.dll")] public static extern short dmc_get_can_errcode_extern(UInt16 CardNo, ref UInt16 Errcode, ref UInt16 msg_losed, ref UInt16 emg_msg_num, ref UInt16 lostHeartB, ref UInt16 EmgMsg); //CAN-ADDA [DllImport("LTDMC.dll")] public static extern short nmc_set_da_output(ushort CardNo, ushort NoteID, ushort channel, double Value); [DllImport("LTDMC.dll")] public static extern short nmc_get_da_output(ushort CardNo, ushort NoteID, ushort channel, ref double Value); [DllImport("LTDMC.dll")] public static extern short nmc_get_ad_input(ushort CardNo, ushort NoteID, ushort channel, ref double Value); [DllImport("LTDMC.dll")] public static extern short nmc_set_ad_mode(ushort CardNo, ushort NoteID, ushort channel, ushort mode, uint buffer_nums); [DllImport("LTDMC.dll")] public static extern short nmc_get_ad_mode(ushort CardNo, ushort NoteID, ushort channel, ref ushort mode, uint buffer_nums); [DllImport("LTDMC.dll")] public static extern short nmc_write_to_flash(ushort CardNo, ushort PortNum, ushort NodeNum); [DllImport("LTDMC.dll")] public static extern short nmc_set_connect_state(UInt16 CardNo, UInt16 NodeNum, UInt16 state, UInt16 baud); [DllImport("LTDMC.dll")] public static extern short nmc_get_connect_state(UInt16 CardNo, ref UInt16 NodeNum, ref UInt16 state); //密码管理 [DllImport("LTDMC.dll", EntryPoint = "dmc_write_sn", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_write_sn(UInt16 CardNo, string new_sn); [DllImport("LTDMC.dll", EntryPoint = "dmc_check_sn", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_check_sn(UInt16 CardNo, string check_sn); //函数库打印输出 [DllImport("LTDMC.dll", EntryPoint = "dmc_set_debug_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_debug_mode(UInt16 mode, string FileName); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_debug_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_debug_mode(ref UInt16 mode, IntPtr FileName); //DMC5000系列专用，基于脉冲当量的高级运动，连续插补等功能 [DllImport("LTDMC.dll", EntryPoint = "dmc_get_axis_run_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_axis_run_mode(UInt16 CardNo, UInt16 axis, ref UInt16 run_mode); //轴运动模式 [DllImport("LTDMC.dll", EntryPoint = "dmc_set_trace", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_trace(UInt16 CardNo, UInt16 axis, UInt16 enable); //trace功能 [DllImport("LTDMC.dll", EntryPoint = "dmc_get_trace", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_trace(UInt16 CardNo, UInt16 axis, ref UInt16 enable); [DllImport("LTDMC.dll", EntryPoint = "dmc_read_trace_data", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_read_trace_data(UInt16 CardNo, UInt16 axis, UInt16 data_option, ref Int32 ReceiveSize, double[] time, double[] data, ref Int32 remain_num); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_equiv", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_equiv(UInt16 CardNo, UInt16 axis, ref double equiv); //脉冲当量 [DllImport("LTDMC.dll", EntryPoint = "dmc_set_equiv", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_equiv(UInt16 CardNo, UInt16 axis, double equiv); [DllImport("LTDMC.dll", EntryPoint = "dmc_set_backlash_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_backlash_unit(UInt16 CardNo, UInt16 axis, double backlash); //反向间隙 [DllImport("LTDMC.dll", EntryPoint = "dmc_get_backlash_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_backlash_unit(UInt16 CardNo, UInt16 axis, ref double backlash); [DllImport("LTDMC.dll", EntryPoint = "dmc_set_position_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_position_unit(UInt16 CardNo, UInt16 axis, double pos); //当前指令位置 [DllImport("LTDMC.dll", EntryPoint = "dmc_get_position_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_position_unit(UInt16 CardNo, UInt16 axis, ref double pos); [DllImport("LTDMC.dll", EntryPoint = "dmc_set_encoder_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_encoder_unit(UInt16 CardNo, UInt16 axis, double pos); //当前反馈位置 [DllImport("LTDMC.dll", EntryPoint = "dmc_get_encoder_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_encoder_unit(UInt16 CardNo, UInt16 axis, ref double pos); [DllImport("LTDMC.dll", EntryPoint = "dmc_pmove_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_pmove_unit(UInt16 CardNo, UInt16 axis, double Dist, UInt16 posi_mode); //定长 [DllImport("LTDMC.dll", EntryPoint = "dmc_t_pmove_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_t_pmove_unit(UInt16 CardNo, UInt16 axis, double Dist, UInt16 posi_mode); //对称T型定长 [DllImport("LTDMC.dll", EntryPoint = "dmc_ex_t_pmove_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_ex_t_pmove_unit(UInt16 CardNo, UInt16 axis, double Dist, UInt16 posi_mode); //非对称T型定长 [DllImport("LTDMC.dll", EntryPoint = "dmc_s_pmove_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_s_pmove_unit(UInt16 CardNo, UInt16 axis, double Dist, UInt16 posi_mode); //对称S型定长 [DllImport("LTDMC.dll", EntryPoint = "dmc_ex_s_pmove_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_ex_s_pmove_unit(UInt16 CardNo, UInt16 axis, double Dist, UInt16 posi_mode); //非对称S型定长 [DllImport("LTDMC.dll", EntryPoint = "dmc_line_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_line_unit(UInt16 CardNo, UInt16 Crd, UInt16 AxisNum, UInt16[] AxisList, double[] Target_Pos, UInt16 posi_mode); //单段直线 [DllImport("LTDMC.dll", EntryPoint = "dmc_arc_move_center_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_arc_move_center_unit(UInt16 CardNo, UInt16 Crd, UInt16 AxisNum, UInt16[] AxisList, double[] Target_Pos, double[] Cen_Pos, UInt16 Arc_Dir, Int32 Circle, UInt16 posi_mode); //圆心终点式圆弧/螺旋线/渐开线 [DllImport("LTDMC.dll", EntryPoint = "dmc_arc_move_radius_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_arc_move_radius_unit(UInt16 CardNo, UInt16 Crd, UInt16 AxisNum, UInt16[] AxisList, double[] Target_Pos, double Arc_Radius, UInt16 Arc_Dir, Int32 Circle, UInt16 posi_mode); //半径终点式圆弧/螺旋线 [DllImport("LTDMC.dll", EntryPoint = "dmc_arc_move_3points_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_arc_move_3points_unit(UInt16 CardNo, UInt16 Crd, UInt16 AxisNum, UInt16[] AxisList, double[] Target_Pos, double[] Mid_Pos, Int32 Circle, UInt16 posi_mode); //三点式圆弧/螺旋线 [DllImport("LTDMC.dll", EntryPoint = "dmc_read_current_speed_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_read_current_speed_unit(UInt16 CardNo, UInt16 Axis, ref double current_speed); //轴当前运行速度 [DllImport("LTDMC.dll", EntryPoint = "dmc_set_vector_profile_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_vector_profile_unit(UInt16 CardNo, UInt16 Crd, double Min_Vel, double Max_Vel, double Tacc, double Tdec, double Stop_Vel); //单段插补速度参数 [DllImport("LTDMC.dll", EntryPoint = "dmc_get_vector_profile_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_vector_profile_unit(UInt16 CardNo, UInt16 Crd, ref double Min_Vel, ref double Max_Vel, ref double Tacc, ref double Tdec, ref double Stop_Vel); [DllImport("LTDMC.dll", EntryPoint = "dmc_set_profile_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_profile_unit(UInt16 CardNo, UInt16 Axis, double Min_Vel, double Max_Vel, double Tacc, double Tdec, double Stop_Vel); //单轴速度参数 [DllImport("LTDMC.dll", EntryPoint = "dmc_get_profile_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_profile_unit(UInt16 CardNo, UInt16 Axis, ref double Min_Vel, ref double Max_Vel, ref double Tacc, ref double Tdec, ref double Stop_Vel); [DllImport("LTDMC.dll", EntryPoint = "dmc_set_profile_unit_acc", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_profile_unit_acc(UInt16 CardNo, UInt16 Axis, double Min_Vel, double Max_Vel, double Tacc, double Tdec, double Stop_Vel); //单轴速度参数 [DllImport("LTDMC.dll", EntryPoint = "dmc_get_profile_unit_acc", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_profile_unit_acc(UInt16 CardNo, UInt16 Axis, ref double Min_Vel, ref double Max_Vel, ref double Tacc, ref double Tdec, ref double Stop_Vel); [DllImport("LTDMC.dll", EntryPoint = "dmc_reset_target_position_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_reset_target_position_unit(UInt16 CardNo, UInt16 Axis, double New_Pos); //在线变位 [DllImport("LTDMC.dll", EntryPoint = "dmc_update_target_position_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_update_target_position_unit(UInt16 CardNo, UInt16 Axis, double New_Pos); //强行变位 [DllImport("LTDMC.dll", EntryPoint = "dmc_change_speed_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_change_speed_unit(UInt16 CardNo, UInt16 Axis, double New_Vel, double Taccdec); //在线变速 //连续插补 [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_open_list", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_open_list(UInt16 CardNo, UInt16 Crd, UInt16 AxisNum, UInt16[] AxisList); //打开连续缓存区 [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_close_list", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_close_list(UInt16 CardNo, UInt16 Crd); //关闭连续缓存区 [DllImport("LTDMC.dll")] public static extern short dmc_conti_reset_list(UInt16 CardNo, UInt16 Crd); [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_stop_list", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_stop_list(UInt16 CardNo, UInt16 Crd, UInt16 stop_mode); //连续插补中停止 [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_pause_list", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_pause_list(UInt16 CardNo, UInt16 Crd); //连续插补中暂停 [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_start_list", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_start_list(UInt16 CardNo, UInt16 Crd); //开始连续插补 [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_remain_space", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 dmc_conti_remain_space(UInt16 CardNo, UInt16 Crd); //查连续插补剩余缓存数 [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_read_current_mark", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 dmc_conti_read_current_mark(UInt16 CardNo, UInt16 Crd); //读取当前连续插补段的标号 [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_set_blend", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_set_blend(UInt16 CardNo, UInt16 Crd, UInt16 enable); //blend拐角过度模式 [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_get_blend", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_get_blend(UInt16 CardNo, UInt16 Crd, ref UInt16 enable); [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_set_lookahead_end_vel_zero", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_set_lookahead_end_vel_zero(UInt16 CardNo, UInt16 Crd, UInt16 enable); [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_set_profile_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_set_profile_unit(UInt16 CardNo, UInt16 Crd, double Min_Vel, double Max_vel, double Tacc, double Tdec, double Stop_Vel); //设置连续插补速度 [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_set_s_profile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_set_s_profile(UInt16 CardNo, UInt16 Crd, UInt16 s_mode, double s_para); //设置连续插补平滑时间 [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_get_s_profile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_get_s_profile(UInt16 CardNo, UInt16 Crd, UInt16 s_mode, ref double s_para); [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_set_pause_output", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_set_pause_output(UInt16 CardNo, UInt16 Crd, UInt16 action, Int32 mask, Int32 state); //暂停时IO输出 action 0, 不工作；1， 暂停时输出io_state; 2 暂停时输出io_state, 继续运行时首先恢复原来的io; 3,在2的基础上，停止时也生效。 [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_get_pause_output", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_get_pause_output(UInt16 CardNo, UInt16 Crd, ref UInt16 action, ref Int32 mask, ref Int32 state); [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_set_override", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_set_override(UInt16 CardNo, UInt16 Crd, double Percent); //设置每段速度比例 缓冲区指令 [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_change_speed_ratio", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_change_speed_ratio(UInt16 CardNo, UInt16 Crd, double Percent); //连续插补动态变速 [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_get_run_state", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_get_run_state(UInt16 CardNo, UInt16 Crd); //读取连续插补状态：0-运行，1-暂停，2-正常停止，3-异常停止 [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_check_done", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_check_done(UInt16 CardNo, UInt16 Crd); //检测连续插补运动状态：0-运行，1-停止 [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_wait_input", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_wait_input(UInt16 CardNo, UInt16 Crd, UInt16 bitno, UInt16 on_off, double TimeOut, Int32 mark); //设置连续插补等待输入 [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_delay_outbit_to_start", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_delay_outbit_to_start(UInt16 CardNo, UInt16 Crd, UInt16 bitno, UInt16 on_off, double delay_value, UInt16 delay_mode, double ReverseTime); //相对于轨迹段起点IO滞后输出 [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_delay_outbit_to_stop", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_delay_outbit_to_stop(UInt16 CardNo, UInt16 Crd, UInt16 bitno, UInt16 on_off, double delay_time, double ReverseTime); //相对于轨迹段终点IO滞后输出 [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_ahead_outbit_to_stop", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_ahead_outbit_to_stop(UInt16 CardNo, UInt16 Crd, UInt16 bitno, UInt16 on_off, double ahead_value, UInt16 ahead_mode, double ReverseTime); //相对轨迹段终点IO提前输出 [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_accurate_outbit_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_accurate_outbit_unit(UInt16 CardNo, UInt16 Crd, UInt16 cmp_no, UInt16 on_off, UInt16 map_axis, double abs_pos, UInt16 pos_source, double ReverseTime); //确定位置精确输出 [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_write_outbit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_write_outbit(UInt16 CardNo, UInt16 Crd, UInt16 bitno, UInt16 on_off, double ReverseTime); //缓冲区立即IO输出 [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_delay", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_delay(UInt16 CardNo, UInt16 Crd, double delay_time, Int32 mark); //添加延时指令 [DllImport("LTDMC.dll")] public static extern short dmc_conti_reverse_outbit(UInt16 CardNo, UInt16 Crd, UInt16 bitno, double reverse_time); [DllImport("LTDMC.dll")] public static extern short dmc_conti_delay_outbit(UInt16 CardNo, UInt16 Crd, UInt16 bitno, UInt16 on_off, double delay_time); [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_pmove_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_pmove_unit(UInt16 CardNo, UInt16 Crd, UInt16 Axis, double dist, UInt16 posi_mode, UInt16 mode, Int32 mark); //连续插补中控制指定外轴运动 [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_line_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_line_unit(UInt16 CardNo, UInt16 Crd, UInt16 AxisNum, UInt16[] AxisList, double[] Target_Pos, UInt16 posi_mode, Int32 mark); //连续插补直线 [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_arc_move_center_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_arc_move_center_unit(UInt16 CardNo, UInt16 Crd, UInt16 AxisNum, UInt16[] AxisList, double[] Target_Pos, double[] Cen_Pos, UInt16 Arc_Dir, Int32 Circle, UInt16 posi_mode, Int32 mark); //圆心终点式圆弧/螺旋线/渐开线 [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_arc_move_radius_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_arc_move_radius_unit(UInt16 CardNo, UInt16 Crd, UInt16 AxisNum, UInt16[] AxisList, double[] Target_Pos, double Arc_Radius, UInt16 Arc_Dir, Int32 Circle, UInt16 posi_mode, Int32 mark); //半径终点式圆弧/螺旋线 [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_arc_move_3points_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_arc_move_3points_unit(UInt16 CardNo, UInt16 Crd, UInt16 AxisNum, UInt16[] AxisList, double[] Target_Pos, double[] Mid_Pos, Int32 Circle, UInt16 posi_mode, Int32 mark); //三点式圆弧/螺旋线 [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_clear_io_action", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_clear_io_action(UInt16 CardNo, UInt16 Crd, UInt32 IoMask); //清除段内未执行完的IO动作 [DllImport("LTDMC.dll", EntryPoint = "dmc_get_stop_reason", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_stop_reason(UInt16 CardNo, UInt16 axis, ref Int32 StopReason); //读取轴停止原因 [DllImport("LTDMC.dll", EntryPoint = "dmc_clear_stop_reason", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_clear_stop_reason(UInt16 CardNo, UInt16 axis); //清除轴停止原因 [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_set_involute_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_set_involute_mode(UInt16 CardNo, UInt16 Crd, UInt16 mode); //设置螺旋线是否封闭 [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_get_involute_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_get_involute_mode(UInt16 CardNo, UInt16 Crd, ref UInt16 mode); //读取螺旋线是否封闭设置 [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_rectangle_move_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_rectangle_move_unit(UInt16 CardNo, UInt16 Crd, UInt16 AxisNum, UInt16[] AxisList, double[] TargetPos, double[] MaskPos, Int32 Count, UInt16 rect_mode, UInt16 posi_mode, Int32 mark); //矩形区域插补，连续插补指令 [DllImport("LTDMC.dll", EntryPoint = "dmc_calculate_arclength_center", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_calculate_arclength_center(double[] start_pos, double[] target_pos, double[] cen_pos, UInt16 arc_dir, double circle, ref double ArcLength); //计算圆心圆弧弧长 [DllImport("LTDMC.dll", EntryPoint = "dmc_calculate_arclength_3point", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_calculate_arclength_3point(double[] start_pos, double[] mid_pos, double[] target_pos, double circle, ref double ArcLength); //计算三点圆弧弧长 [DllImport("LTDMC.dll", EntryPoint = "dmc_calculate_arclength_radius", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_calculate_arclength_radius(double[] start_pos, double[] target_pos, double arc_radius, UInt16 arc_dir, double circle, ref double ArcLength); //计算半径圆弧弧长 [DllImport("LTDMC.dll", EntryPoint = "dmc_rectangle_move_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_rectangle_move_unit(UInt16 CardNo, UInt16 Crd, UInt16 AxisNum, UInt16[] AxisList, double[] TargetPos, double[] MaskPos, Int32 Count, UInt16 rect_mode, UInt16 posi_mode); //矩形区域插补，单段插补指令 [DllImport("LTDMC.dll")] public static extern short dmc_set_gear_follow_profile(UInt16 CardNo, UInt16 axis, UInt16 enable, UInt16 master_axis, double ratio);//双Z轴 [DllImport("LTDMC.dll")] public static extern short dmc_get_gear_follow_profile(UInt16 CardNo, UInt16 axis, ref UInt16 enable, ref UInt16 master_axis, ref double ratio); [DllImport("LTDMC.dll")] public static extern short dmc_conti_line_unit_extern(UInt16 CardNo, UInt16 Crd, UInt16 AxisNum, UInt16[] AxisList, double[] Target_Pos, double[] Cen_Pos, UInt16 posi_mode, Int32 mark); [DllImport("LTDMC.dll")] public static extern short dmc_conti_arc_move_center_unit_extern(UInt16 CardNo, UInt16 Crd, UInt16 AxisNum, UInt16[] AxisList, double[] Target_Pos, double[] Cen_Pos, double Arc_Radius, UInt16 posi_mode, Int32 mark); //DA输出 [DllImport("LTDMC.dll", EntryPoint = "dmc_set_da_enable", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_da_enable(UInt16 CardNo, UInt16 enable);//开启DA输出 [DllImport("LTDMC.dll", EntryPoint = "dmc_get_da_enable", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_da_enable(UInt16 CardNo, ref UInt16 enable); [DllImport("LTDMC.dll", EntryPoint = "dmc_set_da_output", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_da_output(UInt16 CardNo, UInt16 channel, double Vout);//设置DA输出 [DllImport("LTDMC.dll", EntryPoint = "dmc_get_da_output", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_da_output(UInt16 CardNo, UInt16 channel, ref double Vout); //DA跟随 [DllImport("LTDMC.dll")] public static extern short dmc_conti_set_da_output(UInt16 CardNo, UInt16 Crd, UInt16 channel, double Vout); [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_set_da_enable", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_set_da_enable(ushort CardNo, ushort Crd, ushort enable, ushort channel, int mark); [DllImport("LTDMC.dll", EntryPoint = "dmc_set_encoder_da_follow_enable", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_encoder_da_follow_enable(ushort CardNo, ushort axis, ushort enable); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_encoder_da_follow_enable", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_encoder_da_follow_enable(ushort CardNo, ushort axis, ref ushort enable); [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_set_da_follow_speed", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_set_da_follow_speed(ushort CardNo, ushort Crd, ushort da_no, double MaxVel, double MaxValue, double acc_offset, double dec_offset, double acc_dist, double dec_dist); [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_get_da_follow_speed", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_get_da_follow_speed(ushort CardNo, ushort Crd, ushort da_no, ref double MaxVel, ref double MaxValue, ref double acc_offset, ref double dec_offset, ref double acc_dist, ref double dec_dist); [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_set_encoder_da_follow_enable", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_set_encoder_da_follow_enable(ushort CardNo, ushort Crd, ushort axis, ushort enable); [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_get_encoder_da_follow_enable", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_get_encoder_da_follow_enable(ushort CardNo, ushort Crd, ushort axis, ref ushort enable); //AD输入 [DllImport("LTDMC.dll")] public static extern short dmc_get_ad_input(ushort CardNo, ushort channel, ref double Vout); //设置插补运动速度曲线的平滑时间 [DllImport("LTDMC.dll", EntryPoint = "dmc_set_vector_s_profile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_vector_s_profile(UInt16 CardNo, UInt16 Crd, UInt16 s_mode, double s_para); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_vector_s_profile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_vector_s_profile(UInt16 CardNo, UInt16 Crd, UInt16 s_mode, ref double s_para); [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_set_lookahead_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_set_lookahead_mode(UInt16 CardNo, UInt16 Crd, UInt16 enable, Int32 LookaheadSegments, double PathError, double LookaheadAcc); [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_get_lookahead_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_get_lookahead_mode(UInt16 CardNo, UInt16 Crd, ref UInt16 enable, ref Int32 LookaheadSegments, ref double PathError, ref double LookaheadAcc); //PWM输出 [DllImport("LTDMC.dll")] public static extern short dmc_set_pwm_pin(UInt16 CardNo, UInt16 portno, UInt16 ON_OFF, double dfreqency, double dduty); [DllImport("LTDMC.dll")] public static extern short dmc_get_pwm_pin(UInt16 CardNo, UInt16 portno, ref UInt16 ON_OFF, ref double dfreqency, ref double dduty); [DllImport("LTDMC.dll", EntryPoint = "dmc_set_pwm_enable", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_pwm_enable(UInt16 CardNo, UInt16 enable); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_pwm_enable", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_pwm_enable(UInt16 CardNo, ref UInt16 enable); [DllImport("LTDMC.dll", EntryPoint = "dmc_set_pwm_output", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_pwm_output(UInt16 CardNo, UInt16 pwm_no, double fDuty, double fFre); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_pwm_output", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_pwm_output(UInt16 CardNo, UInt16 pwm_no, ref double fDuty, ref double fFre); //连续插补PWM输出 [DllImport("LTDMC.dll", EntryPoint = "dmc_set_pwm_onoff_duty", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_pwm_onoff_duty(UInt16 CardNo, UInt16 PwmNo, double fOnDuty, double fOffDuty); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_pwm_onoff_duty", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_pwm_onoff_duty(UInt16 CardNo, UInt16 PwmNo, ref double fOnDuty, ref double fOffDuty); [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_set_pwm_output", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_set_pwm_output(UInt16 CardNo, UInt16 Crd, UInt16 pwm_no, double fDuty, double fFre); [DllImport("LTDMC.dll")] public static extern short dmc_set_pwm_enable_extern(UInt16 CardNo, UInt16 channel, UInt16 enable); [DllImport("LTDMC.dll")] public static extern short dmc_get_pwm_enable_extern(UInt16 CardNo, UInt16 channel, ref UInt16 enable); [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_set_pwm_follow_speed", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_set_pwm_follow_speed(UInt16 CardNo, UInt16 Crd, UInt16 pwm_no, UInt16 mode, double MaxVel, double MaxValue, double OutValue); [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_get_pwm_follow_speed", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_get_pwm_follow_speed(UInt16 CardNo, UInt16 Crd, UInt16 pwm_no, ref UInt16 mode, ref double MaxVel, ref double MaxValue, ref double OutValue); [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_delay_pwm_to_start", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_delay_pwm_to_start(UInt16 CardNo, UInt16 Crd, UInt16 pwmno, UInt16 on_off, double delay_value, UInt16 delay_mode, double ReverseTime); [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_ahead_pwm_to_stop", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_ahead_pwm_to_stop(UInt16 CardNo, UInt16 Crd, UInt16 pwmno, UInt16 on_off, double ahead_value, UInt16 ahead_mode, double ReverseTime); [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_write_pwm", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_write_pwm(UInt16 CardNo, UInt16 Crd, UInt16 pwmno, UInt16 on_off, double ReverseTime); [DllImport("LTDMC.dll", EntryPoint = "dmc_set_arc_limit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_arc_limit(UInt16 CardNo, UInt16 Crd, UInt16 Enable, double MaxCenAcc, double MaxArcError); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_arc_limit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_arc_limit(UInt16 CardNo, UInt16 Crd, ref UInt16 Enable, ref double MaxCenAcc, ref double MaxArcError); //trace [DllImport("LTDMC.dll")] public static extern short dmc_trace_start(ushort CardNo, ushort AxisNum, ushort[] AxisList); [DllImport("LTDMC.dll")] public static extern short dmc_trace_stop(ushort CardNo); [DllImport("LTDMC.dll")] public static extern short dmc_set_IoFilter(UInt16 CardNo, UInt16 bitno, double filter); [DllImport("LTDMC.dll")] public static extern short dmc_get_IoFilter(UInt16 CardNo, UInt16 bitno, ref double filter); [DllImport("LTDMC.dll")] public static extern short dmc_set_lsc_index_value(UInt16 CardNo, UInt16 axis, UInt16 IndexID, Int32 IndexValue); [DllImport("LTDMC.dll")] public static extern short dmc_get_lsc_index_value(UInt16 CardNo, UInt16 axis, UInt16 IndexID, ref Int32 IndexValue); [DllImport("LTDMC.dll")] public static extern short dmc_set_lsc_config(UInt16 CardNo, UInt16 axis, UInt16 Origin, UInt32 Interal, UInt32 NegIndex, UInt32 PosIndex, double Ratio); [DllImport("LTDMC.dll")] public static extern short dmc_get_lsc_config(UInt16 CardNo, UInt16 axis, ref UInt16 Origin, ref UInt32 Interal, ref UInt32 NegIndex, ref UInt32 PosIndex, ref double Ratio); [DllImport("LTDMC.dll")] public static extern short dmc_set_watchdog(UInt16 CardNo, UInt16 enable, UInt32 time); [DllImport("LTDMC.dll")] public static extern short dmc_call_watchdog(UInt16 CardNo); [DllImport("LTDMC.dll")] public static extern short dmc_read_diagnoseData(UInt16 CardNo); [DllImport("LTDMC.dll")] public static extern short dmc_conti_set_cmd_end(UInt16 CardNo, UInt16 Crd, UInt16 enable); [DllImport("LTDMC.dll")] public static extern short dmc_set_zone_limit_config(UInt16 CardNo, UInt16[] axis, UInt16[] Source, Int32 x_pos_p, Int32 x_pos_n, Int32 y_pos_p, Int32 y_pos_n, UInt16 action_para); [DllImport("LTDMC.dll")] public static extern short dmc_get_zone_limit_config(UInt16 CardNo, UInt16[] axis, UInt16[] Source, ref Int32 x_pos_p, ref Int32 x_pos_n, ref Int32 y_pos_p, ref Int32 y_pos_n, ref UInt16 action_para); [DllImport("LTDMC.dll")] public static extern short dmc_set_zone_limit_enable(UInt16 CardNo, UInt16 enable); [DllImport("LTDMC.dll")] public static extern short dmc_set_interlock_config(UInt16 CardNo, UInt16[] axis, UInt16[] Source, Int32 delta_pos, UInt16 action_para); [DllImport("LTDMC.dll")] public static extern short dmc_get_interlock_config(UInt16 CardNo, UInt16[] axis, UInt16[] Source, ref Int32 delta_pos, ref UInt16 action_para); [DllImport("LTDMC.dll")] public static extern short dmc_set_interlock_enable(UInt16 CardNo, UInt16 enable); [DllImport("LTDMC.dll")] public static extern short dmc_set_grant_error_protect(UInt16 CardNo, UInt16 axis, UInt16 enable, UInt32 dstp_error, UInt32 emg_error); [DllImport("LTDMC.dll")] public static extern short dmc_get_grant_error_protect(UInt16 CardNo, UInt16 axis, ref UInt16 enable, ref UInt32 dstp_error, ref UInt32 emg_error); [DllImport("LTDMC.dll")] public static extern short dmc_set_camerablow_config(UInt16 CardNo, UInt16 camerablow_en, Int32 cameraPos, UInt16 piece_num, Int32 piece_distance, UInt16 axis_sel, Int32 latch_distance_min); [DllImport("LTDMC.dll")] public static extern short dmc_get_camerablow_config(UInt16 CardNo, ref UInt16 camerablow_en, ref Int32 cameraPos, ref UInt16 piece_num, ref Int32 piece_distance, ref UInt16 axis_sel, ref Int32 latch_distance_min); [DllImport("LTDMC.dll")] public static extern short dmc_clear_camerablow_errorcode(UInt16 CardNo); [DllImport("LTDMC.dll")] public static extern short dmc_get_camerablow_errorcode(UInt16 CardNo, ref UInt16 errorcode); [DllImport("LTDMC.dll")] public static extern short dmc_set_io_limit_config(UInt16 CardNo, UInt16 portno, UInt16 enable, UInt16 axis_sel, UInt16 el_mode, UInt16 el_logic); [DllImport("LTDMC.dll")] public static extern short dmc_get_io_limit_config(UInt16 CardNo, UInt16 portno, ref UInt16 enable, ref UInt16 axis_sel, ref UInt16 el_mode, ref UInt16 el_logic); [DllImport("LTDMC.dll")] public static extern short dmc_set_handwheel_filter(UInt16 CardNo, UInt16 axis, double filter_factor); [DllImport("LTDMC.dll")] public static extern short dmc_get_handwheel_filter(UInt16 CardNo, UInt16 axis, ref double filter_factor); [DllImport("LTDMC.dll")] public static extern short dmc_conti_get_interp_map(UInt16 CardNo, UInt16 Crd, ref UInt16 AxisNum, UInt16[] AxisList, double[] pPosList); [DllImport("LTDMC.dll")] public static extern short dmc_conti_get_crd_errcode(UInt16 CardNo, UInt16 Crd, ref UInt16 errcode); [DllImport("LTDMC.dll")] public static extern short dmc_line_unit_follow(UInt16 CardNo, UInt16 Crd, UInt16 AxisNum, UInt16[] AxisList, double[] Dist, UInt16 posi_mode); [DllImport("LTDMC.dll")] public static extern short dmc_conti_line_unit_follow(UInt16 CardNo, UInt16 Crd, UInt16 AxisNum, UInt16[] AxisList, double[] pPosList, UInt16 posi_mode, Int32 mark); [DllImport("LTDMC.dll")] public static extern short dmc_conti_set_da_action(UInt16 CardNo, UInt16 Crd, UInt16 mode, UInt16 portno, double dvalue); [DllImport("LTDMC.dll")] public static extern short dmc_read_encoder_speed(UInt16 CardNo, UInt16 Axis, ref double current_speed); [DllImport("LTDMC.dll")] public static extern short dmc_axis_follow_line_enable(UInt16 CardNo, UInt16 Crd, UInt16 enable_flag); [DllImport("LTDMC.dll")] public static extern short dmc_set_interp_compensation(UInt16 CardNo, UInt16 axis, double dvalue, double time); [DllImport("LTDMC.dll")] public static extern short dmc_get_interp_compensation(UInt16 CardNo, UInt16 axis, ref double dvalue, ref double time); [DllImport("LTDMC.dll")] public static extern short dmc_set_io_exactstop(UInt16 CardNo, UInt16 axis, UInt16 ioNum, UInt16[] ioList, UInt16 enable, UInt16 valid_logic, UInt16 action); [DllImport("LTDMC.dll")] public static extern short dmc_get_distance_to_start(UInt16 CardNo, UInt16 Crd, ref double distance_x, ref double distance_y, Int32 imark); [DllImport("LTDMC.dll")] public static extern short dmc_set_start_distance_flag(UInt16 CardNo, UInt16 Crd, UInt16 flag); [DllImport("LTDMC.dll")] public static extern short dmc_set_home_soft_limit(UInt16 CardNo, UInt16 Axis, Int32 N_limit, Int32 P_limit); [DllImport("LTDMC.dll")] public static extern short dmc_get_home_soft_limit(UInt16 CardNo, UInt16 Axis, ref Int32 N_limit, ref Int32 P_limit); [DllImport("LTDMC.dll")] public static extern short dmc_conti_gear_unit(UInt16 CardNo, UInt16 Crd, UInt16 axis, double dist, UInt16 follow_mode, Int32 imark); //轨迹拟合使能设置 [DllImport("LTDMC.dll")] public static extern short dmc_set_path_fitting_enable(UInt16 CardNo, UInt16 Crd, UInt16 enable); //螺距补偿功能(新) [DllImport("LTDMC.dll")] public static extern short dmc_enable_leadscrew_comp(UInt16 CardNo, UInt16 axis, UInt16 enable); [DllImport("LTDMC.dll")] public static extern short dmc_set_leadscrew_comp_config(UInt16 CardNo, UInt16 axis, UInt16 n, Int32 startpos, Int32 lenpos, Int32[] pCompPos, Int32[] pCompNeg); //指定轴做定长位移运动 按固定曲线运动 [DllImport("LTDMC.dll")] public static extern short dmc_t_pmove_extern(UInt16 CardNo, UInt16 axis, double MidPos, double TargetPos, double Min_Vel, double Max_Vel, double stop_Vel, double acc, double dec, UInt16 posi_mode); [DllImport("LTDMC.dll")] public static extern short dmc_set_pulse_encoder_count_error(UInt16 CardNo, UInt16 axis, UInt16 error); [DllImport("LTDMC.dll")] public static extern short dmc_get_pulse_encoder_count_error(UInt16 CardNo, UInt16 axis, ref UInt16 error); [DllImport("LTDMC.dll")] public static extern short dmc_check_pulse_encoder_count_error(UInt16 CardNo, UInt16 axis, ref Int32 pulse_position, ref Int32 enc_position); [DllImport("LTDMC.dll")] public static extern short dmc_update_target_position_extern(UInt16 CardNo, UInt16 axis, double mid_pos, double aim_pos, double vel, UInt16 posi_mode); //新物件分拣功能 [DllImport("LTDMC.dll")] public static extern short dmc_sorting_close(UInt16 CardNo); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_start(UInt16 CardNo); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_set_init_config(UInt16 CardNo, UInt16 cameraCount, Int32[] pCameraPos, UInt16[] pCamIONo, UInt32 cameraTime, UInt16 cameraTrigLevel, UInt16 blowCount, Int32[] pBlowPos, UInt16[] pBlowIONo, UInt32 blowTime, UInt16 blowTrigLevel, UInt16 axis, UInt16 dir, UInt16 checkMode); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_set_camera_trig_count(UInt16 CardNo, UInt16 cameraNum, UInt32 cameraTrigCnt); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_get_camera_trig_count(UInt16 CardNo, UInt16 cameraNum, ref UInt32 pCameraTrigCnt, UInt16 count); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_set_blow_trig_count(UInt16 CardNo, UInt16 blowNum, UInt32 blowTrigCnt); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_get_blow_trig_count(UInt16 CardNo, UInt16 blowNum, ref UInt32 pBlowTrigCnt, UInt16 count); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_get_camera_config(UInt16 CardNo, UInt16 index, ref Int32 pos, ref UInt32 trigTime, ref UInt16 ioNo, ref UInt16 trigLevel); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_get_blow_config(UInt16 CardNo, UInt16 index, ref Int32 pos, ref UInt32 trigTime, ref UInt16 ioNo, ref UInt16 trigLevel); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_get_blow_status(UInt16 CardNo, ref Int32 trigCntAll, ref UInt16 trigMore, ref UInt16 trigLess); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_trig_blow(UInt16 CardNo, UInt16 blowNum); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_set_blow_enable(UInt16 CardNo, UInt16 blowNum, UInt16 enable); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_set_piece_config(UInt16 CardNo, UInt32 maxWidth, UInt32 minWidth, UInt32 minDistance, UInt32 minTimeIntervel); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_get_piece_status(UInt16 CardNo, ref UInt32 pieceFind, ref UInt32 piecePassCam, ref UInt32 dist2next, ref UInt32 pieceWidth); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_set_cam_trig_phase(UInt16 CardNo, UInt16 blowNo, double coef); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_set_blow_trig_phase(UInt16 CardNo, UInt16 blowNo, double coef); [DllImport("LTDMC.dll")] public static extern short dmc_set_sevon_enable(UInt16 CardNo, UInt16 axis, UInt16 on_off); [DllImport("LTDMC.dll")] public static extern short dmc_get_sevon_enable(UInt16 CardNo, UInt16 axis); [DllImport("LTDMC.dll")] public static extern short dmc_compare_add_point_cycle(UInt16 CardNo, UInt16 cmp, Int32 pos, UInt16 dir, UInt32 bitno, UInt32 cycle, UInt16 level);//添加比较点 //通用文件下载 [DllImport("LTDMC.dll", EntryPoint = "dmc_download_file", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_download_file(ushort CardNo, string pfilename, byte[] pfilenameinControl, ushort filetype); [DllImport("LTDMC.dll", EntryPoint = "dmc_download_memfile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_download_memfile(ushort CardNo, byte[] pbuffer, uint buffsize, byte[] pfilenameinControl, ushort filetype); [DllImport("LTDMC.dll", EntryPoint = "dmc_upload_file", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_upload_file(ushort CardNo, string pfilename, byte[] pfilenameinControl, ushort filetype); [DllImport("LTDMC.dll", EntryPoint = "dmc_upload_memfile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_upload_memfile(ushort CardNo, byte[] pbuffer, uint buffsize, byte[] pfilenameinControl, ref uint puifilesize, ushort filetype); [DllImport("LTDMC.dll")] public static extern short dmc_get_progress(ushort CardNo, ref float process); //总线参数 [DllImport("LTDMC.dll", EntryPoint = "nmc_download_configfile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short nmc_download_configfile(UInt16 CardNo, UInt16 PortNum, String FileName);//总线ENI配置文件 [DllImport("LTDMC.dll", EntryPoint = "nmc_download_mapfile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short nmc_download_mapfile(UInt16 CardNo, String FileName); [DllImport("LTDMC.dll")] public static extern short nmc_upload_configfile(UInt16 CardNo, UInt16 PortNum, String FileName); [DllImport("LTDMC.dll", EntryPoint = "nmc_set_manager_para", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short nmc_set_manager_para(UInt16 CardNo, UInt16 PortNum, Int32 baudrate, UInt16 ManagerID); [DllImport("LTDMC.dll", EntryPoint = "nmc_get_manager_para", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short nmc_get_manager_para(UInt16 CardNo, UInt16 PortNum, ref UInt32 baudrate, ref UInt16 ManagerID); [DllImport("LTDMC.dll", EntryPoint = "nmc_set_manager_od", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short nmc_set_manager_od(UInt16 CardNo, UInt16 PortNum, UInt16 index, UInt16 subindex, UInt16 valuelength, UInt32 value); [DllImport("LTDMC.dll", EntryPoint = "nmc_get_manager_od", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short nmc_get_manager_od(UInt16 CardNo, UInt16 PortNum, UInt16 index, UInt16 subindex, UInt16 valuelength, ref UInt32 value); [DllImport("LTDMC.dll", EntryPoint = "nmc_get_total_axes", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short nmc_get_total_axes(ushort CardNo, ref uint TotalAxis); [DllImport("LTDMC.dll", EntryPoint = "nmc_get_total_ionum", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short nmc_get_total_ionum(UInt16 CardNo, ref UInt16 TotalIn, ref UInt16 TotalOut); [DllImport("LTDMC.dll", EntryPoint = "nmc_get_LostHeartbeat_Nodes", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short nmc_get_LostHeartbeat_Nodes(UInt16 CardNo, UInt16 PortNum, UInt16[] NodeID, ref UInt16 NodeNum); [DllImport("LTDMC.dll", EntryPoint = "nmc_get_EmergeneyMessege_Nodes", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short nmc_get_EmergeneyMessege_Nodes(UInt16 CardNo, UInt16 PortNum, UInt32[] NodeMsg, ref UInt16 MsgNum); [DllImport("LTDMC.dll", EntryPoint = "nmc_SendNmtCommand", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short nmc_SendNmtCommand(UInt16 CardNo, UInt16 PortNum, UInt16 NodeID, UInt16 NmtCommand); [DllImport("LTDMC.dll", EntryPoint = "nmc_syn_move", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short nmc_syn_move(UInt16 CardNo, UInt16 AxisNum, UInt16[] AxisList, Int32[] Position, UInt16[] PosiMode); // [DllImport("LTDMC.dll")] public static extern short nmc_syn_move_unit(UInt16 CardNo, UInt16 AxisNum, UInt16[] AxisList, double[] Position, UInt16[] PosiMode); [DllImport("LTDMC.dll")] public static extern short nmc_sync_pmove_unit(UInt16 CardNo, UInt16 AxisNum, UInt16[] AxisList, double[] Dist, UInt16[] PosiMode); [DllImport("LTDMC.dll")] public static extern short nmc_sync_vmove_unit(UInt16 CardNo, UInt16 AxisNum, UInt16[] AxisList, UInt16[] Dir); [DllImport("LTDMC.dll")] public static extern short nmc_set_master_para(UInt16 CardNo, UInt16 PortNum, UInt16 Baudrate, UInt32 NodeCnt, UInt16 MasterId); [DllImport("LTDMC.dll")] public static extern short nmc_get_master_para(UInt16 CardNo, UInt16 PortNum, ref UInt16 Baudrate, ref UInt32 NodeCnt, ref UInt16 MasterId); [DllImport("LTDMC.dll")] public static extern short nmc_get_total_adcnum(ushort CardNo, ref ushort TotalIn, ref ushort TotalOut); [DllImport("LTDMC.dll")] public static extern short nmc_set_controller_workmode(ushort CardNo, ushort controller_mode); [DllImport("LTDMC.dll")] public static extern short nmc_get_controller_workmode(ushort CardNo, ref ushort controller_mode); [DllImport("LTDMC.dll")] public static extern short nmc_set_cycletime(ushort CardNo, ushort FieldbusType, int CycleTime); [DllImport("LTDMC.dll")] public static extern short nmc_get_cycletime(ushort CardNo, ushort FieldbusType, ref int CycleTime); [DllImport("LTDMC.dll")] public static extern short nmc_get_node_od(ushort CardNo, ushort PortNum, ushort nodenum, ushort index, ushort subindex, ushort valuelength, ref int value); [DllImport("LTDMC.dll")] public static extern short nmc_set_node_od(ushort CardNo, ushort PortNum, ushort nodenum, ushort index, ushort subindex, ushort valuelength, int value); [DllImport("LTDMC.dll")] public static extern short nmc_reset_to_factory(ushort CardNo, ushort PortNum, ushort NodeNum); [DllImport("LTDMC.dll")] public static extern short nmc_set_alarm_clear(ushort CardNo, ushort PortNum, ushort nodenum); [DllImport("LTDMC.dll")] public static extern short nmc_get_slave_nodes(ushort CardNo, ushort PortNum, ushort BaudRate, ref ushort NodeId, ref ushort NodeNum); [DllImport("LTDMC.dll")] public static extern short nmc_write_outbit(ushort CardNo, ushort NodeID, ushort IoBit, ushort IoValue); [DllImport("LTDMC.dll")] public static extern short nmc_read_outbit(ushort CardNo, ushort NodeID, ushort IoBit, ref ushort IoValue); [DllImport("LTDMC.dll")] public static extern short nmc_read_inbit(ushort CardNo, ushort NodeID, ushort IoBit, ref ushort IoValue); [DllImport("LTDMC.dll")] public static extern short nmc_write_outport(ushort CardNo, ushort NodeID, ushort PortNo, int IoValue); [DllImport("LTDMC.dll")] public static extern short nmc_read_outport(ushort CardNo, ushort NodeID, ushort PortNo, ref int IoValue); [DllImport("LTDMC.dll")] public static extern short nmc_read_inport(ushort CardNo, ushort NodeID, ushort PortNo, ref int IoValue); [DllImport("LTDMC.dll")] public static extern short nmc_get_axis_state_machine(ushort CardNo, ushort axis, ref ushort Axis_StateMachine); [DllImport("LTDMC.dll")] public static extern short nmc_get_axis_statusword(ushort CardNo, ushort axis, ref int statusword); [DllImport("LTDMC.dll")] public static extern short nmc_get_axis_setting_contrlmode(ushort CardNo, ushort axis, ref int contrlmode); [DllImport("LTDMC.dll")] public static extern short nmc_get_axis_contrlword(ushort CardNo, ushort axis, ref int contrlword); [DllImport("LTDMC.dll")] public static extern short nmc_get_axis_type(ushort CardNo, ushort axis, ref ushort Axis_Type); [DllImport("LTDMC.dll")] public static extern short nmc_get_consume_time_fieldbus(ushort CardNo, ushort Fieldbustype, ref uint Average_time, ref uint Max_time, ref UInt64 Cycles); [DllImport("LTDMC.dll")] public static extern short nmc_clear_consume_time_fieldbus(ushort CardNo, ushort Fieldbustype); [DllImport("LTDMC.dll")] public static extern short nmc_set_axis_enable(ushort CardNo, ushort axis); [DllImport("LTDMC.dll")] public static extern short nmc_set_axis_disable(ushort CardNo, ushort axis); [DllImport("LTDMC.dll")] public static extern short nmc_get_axis_node_address(ushort CardNo, ushort axis, ref ushort SlaveAddr, ref ushort Sub_SlaveAddr); [DllImport("LTDMC.dll")] public static extern short nmc_get_total_slaves(ushort CardNo, ushort PortNum, ref ushort TotalSlaves); [DllImport("LTDMC.dll")] public static extern short nmc_set_home_profile(ushort CardNo, ushort axis, ushort home_mode, double Low_Vel, double High_Vel, double Tacc, double Tdec, double offsetpos); [DllImport("LTDMC.dll")] public static extern short nmc_get_home_profile(ushort CardNo, ushort axis, ref ushort home_mode, ref double Low_Vel, ref double High_Vel, ref double Tacc, ref double Tdec, ref double offsetpos); [DllImport("LTDMC.dll")] public static extern short nmc_home_move(ushort CardNo, ushort axis); // [DllImport("LTDMC.dll")] public static extern short nmc_start_scan_ethercat(ushort CardNo, ushort AddressID); [DllImport("LTDMC.dll")] public static extern short nmc_stop_scan_ethercat(ushort CardNo, ushort AddressID); [DllImport("LTDMC.dll")] public static extern short nmc_set_axis_run_mode(ushort CardNo, ushort axis, ushort run_mode); // [DllImport("LTDMC.dll")] public static extern short nmc_clear_alarm_fieldbus(ushort CardNo, ushort PortNum); [DllImport("LTDMC.dll")] public static extern short nmc_stop_etc(ushort CardNo, ref ushort ETCState); [DllImport("LTDMC.dll")] public static extern short nmc_get_axis_contrlmode(ushort CardNo, ushort Axis, ref int Contrlmode); [DllImport("LTDMC.dll")] public static extern short nmc_get_axis_io_in(ushort CardNo, ushort axis); [DllImport("LTDMC.dll")] public static extern short nmc_set_axis_io_out(UInt16 CardNo, UInt16 axis, UInt32 iostate); [DllImport("LTDMC.dll")] public static extern short nmc_get_axis_io_out(UInt16 CardNo, UInt16 axis); [DllImport("LTDMC.dll")] public static extern short nmc_get_errcode(ushort CardNo, ushort channel, ref ushort errcode); [DllImport("LTDMC.dll")] public static extern short nmc_clear_errcode(ushort CardNo, ushort channel); [DllImport("LTDMC.dll")] public static extern short nmc_get_axis_errcode(ushort CardNo, ushort axis, ref ushort Errcode); [DllImport("LTDMC.dll")] public static extern short nmc_clear_axis_errcode(ushort CardNo, ushort axis); //RTEX卡添加函数 [DllImport("LTDMC.dll")] public static extern short nmc_start_connect(UInt16 CardNo, UInt16 chan, ref UInt16 info, ref UInt16 len); [DllImport("LTDMC.dll")] public static extern short nmc_get_vendor_info(UInt16 CardNo, UInt16 axis, Byte[] info, ref UInt16 len); [DllImport("LTDMC.dll")] public static extern short nmc_get_slave_type_info(UInt16 CardNo, UInt16 axis, Byte[] info, ref UInt16 len); [DllImport("LTDMC.dll")] public static extern short nmc_get_slave_name_info(UInt16 CardNo, UInt16 axis, Byte[] info, ref UInt16 len); [DllImport("LTDMC.dll")] public static extern short nmc_get_slave_version_info(UInt16 CardNo, UInt16 axis, Byte[] info, ref UInt16 len); [DllImport("LTDMC.dll")] public static extern short nmc_write_parameter(UInt16 CardNo, UInt16 axis, UInt16 index, UInt16 subindex, UInt32 para_data); /************************************************************** *功能说明：RTEX驱动器写EEPROM操作 **************************************************************/ [DllImport("LTDMC.dll")] public static extern short nmc_write_slave_eeprom(UInt16 CardNo, UInt16 axis); [DllImport("LTDMC.dll")] public static extern short nmc_read_parameter(UInt16 CardNo, UInt16 axis, UInt16 index, UInt16 subindex, ref UInt32 para_data); /************************************************************** * *index:rtex驱动器的参数分类 * *subindex:rtex驱动器在index类别下的参数编号 * *para_data:读出的参数值 * **************************************************************/ [DllImport("LTDMC.dll")] public static extern short nmc_read_parameter_attributes(UInt16 CardNo, UInt16 axis, UInt16 index, UInt16 subindex, ref UInt32 para_data); [DllImport("LTDMC.dll")] public static extern short nmc_set_cmdcycletime(UInt16 CardNo, UInt16 PortNum, UInt32 cmdtime); //设置RTEX总线周期比(us) [DllImport("LTDMC.dll")] public static extern short nmc_get_cmdcycletime(UInt16 CardNo, UInt16 PortNum, ref UInt32 cmdtime); [DllImport("LTDMC.dll")] public static extern short nmc_config_atuo_log(UInt16 CardNo, UInt16 ifenable, UInt16 dir, UInt16 byte_index, UInt16 mask, UInt16 condition, UInt32 counter); //扩展PDO [DllImport("LTDMC.dll")] public static extern short nmc_write_rxpdo_extra(UInt16 CardNo, UInt16 PortNum, UInt16 address, UInt16 DataLen, Int32 Value); [DllImport("LTDMC.dll")] public static extern short nmc_read_rxpdo_extra(UInt16 CardNo, UInt16 PortNum, UInt16 address, UInt16 DataLen, ref Int32 Value); [DllImport("LTDMC.dll")] public static extern short nmc_read_txpdo_extra(UInt16 CardNo, UInt16 PortNum, UInt16 address, UInt16 DataLen, ref Int32 Value); [DllImport("LTDMC.dll")] public static extern short nmc_write_rxpdo_extra_uint(UInt16 CardNo, UInt16 PortNum, UInt16 address, UInt16 DataLen, UInt32 Value); [DllImport("LTDMC.dll")] public static extern short nmc_read_rxpdo_extra_uint(UInt16 CardNo, UInt16 PortNum, UInt16 address, UInt16 DataLen, ref UInt32 Value); [DllImport("LTDMC.dll")] public static extern short nmc_read_txpdo_extra_uint(UInt16 CardNo, UInt16 PortNum, UInt16 address, UInt16 DataLen, ref UInt32 Value); [DllImport("LTDMC.dll")] public static extern short nmc_get_log_state(UInt16 CardNo, UInt16 chan, ref UInt32 state); [DllImport("LTDMC.dll")] public static extern short nmc_driver_reset(UInt16 CardNo, UInt16 axis); } }