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