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/****************************************************************************************************
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* ZT Motion Library *
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* Copyright (C) 2023 ZHITENG (Shenzhen) Motion Technology Co.,Ltd *
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* *
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* *
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* @file ztm.cs *
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* @brief defs of struct and function *
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* *
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* *
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* @version 4.0.1R0(版本号) *
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* @date 2023.03.10 *
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* *
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* *
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****************************************************************************************************/
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using System;
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using System.Collections.Generic;
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using System.Text;
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using System.Runtime.InteropServices;
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namespace CSZTM
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{
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public class ZTM
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{
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#region 函数返回值及其含义
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public static short ZT_STAT_MC_OPENING = 2; /*正在打开控制器*/
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public static short ZT_STAT_MC_OPEND = 1; /*控制器已打开*/
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public static short ZT_ERR_OK = 0; /*无错误*/
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public static short ZT_ERR_PMVAL = -1; /*参数值错误*/
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public static short ZT_ERR_PULSEOVERFLOW = -2; /*脉冲发生器溢出*/
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public static short ZT_ERR_PMID = -3; /*参数ID不存在，无此参数*/
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public static short ZT_ERR_MCMAX = -4; /*控制器不存在，超出系统支持的最大控制器索引号*/
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public static short ZT_ERR_CHMAX = -5; /*通道号不存在，超出系统最大通道数*/
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public static short ZT_ERR_AXISMAX = -6; /*轴号不存在，超出系统最大轴数*/
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public static short ZT_ERR_NOAUTH = -7; /*控制器无授权*/
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public static short ZT_ERR_PLCADDROVERFLOW = -8; /*PLC地址溢出*/
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public static short ZT_ERR_NOFLAG = -9; /*没有此状态或标志*/
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public static short ZT_ERR_NONSTOPPED = -10; /*运动没有停止*/
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public static short ZT_ERR_MCNOFILE = -11; /*文件号打开失败。文件号不存在，或SD卡不存在。*/
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public static short ZT_ERR_HOSTNOFILE = -12; /*HOST打开文件失败*/
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public static short ZT_ERR_AXISALM = -13; /*轴伺服报警*/
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public static short ZT_ERR_AXISPOT = -14; /*轴正向硬限位*/
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public static short ZT_ERR_AXISNOT = -15; /*轴负向硬限位*/
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public static short ZT_ERR_AXISPSL = -16; /*轴正向软限位*/
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public static short ZT_ERR_AXISNSL = -17; /*轴负向软限位*/
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public static short ZT_ERR_AXISESTOP = -18; /*硬急停*/
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public static short ZT_ERR_AXISOT = -19; /*轴硬限位*/
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public static short ZT_ERR_AXISSL = -20; /*轴软限位*/
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public static short ZT_ERR_HDBUSY = -51; /*大数据传送忙*/
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public static short ZT_ERR_HDERROR = -52; /*大数据传送错误*/
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public static short ZT_ERR_FILEOPEND = -61; /*文件已打开*/
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public static short ZT_ERR_NOFILEOPEN = -62; /*文件未打开*/
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public static short ZT_ERR_CMDBUFFFULL = -100; /*BLOCK指令缓冲区满*/
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public static short ZT_ERR_COM_ADDR = -101; /*与HOST通讯的设备地址错误*/
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public static short ZT_ERR_COM_CHECKSUM = -102; /*与HOST通讯的校验和错误*/
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public static short ZT_ERR_COM_INVCMD = -103; /*与HOST通讯的命令ID错误*/
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public static short ZT_ERR_SOCKET = -104; /*HOST库中，SOCKET初始化失败*/
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public static short ZT_ERR_SHM = -105; /*HOST库中，SHM初始化失败*/
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public static short ZT_ERR_PIPE = -106; /*HOST库中，PIPE初始化失败*/
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public static short ZT_ERR_NOLIBINITD = -107; /*HOST库没有初始化*/
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public static short ZT_ERR_NOMCOPEN = -108; /*HOST库中，控制器未打开*/
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public static short ZT_ERR_MC_NONCONNECT = -110; /*HOST与控制器通讯超时，未连接*/
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public static short ZT_ERR_THREAD = -112; /*HOST库中，线程初始化失败*/
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public static short ZT_ERR_BUFFIDX = -113; /*命令缓冲区索引号错误*/
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public static short ZT_ERR_BUFFFULL = -114; /*发送缓冲区满*/
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public static short ZT_ERR_PREBUFFFULL = -115; /*BLOCK命令的预缓冲区满*/
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public static short ZT_ERR_FB_TIMEOUT = -121; /*伺服现场总线超时*/
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public static short ZT_ERR_FB_NCYCWNG = -122; /*伺服总线中非周期命令执行报警*/
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public static short ZT_ERR_FB_CCYCERR = -123; /*伺服总线中非周期命令执行错误*/
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public static short ZT_ERR_SERVICE_STOP = -230; /*控制器服务程序停止*/
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public static short ZT_ERR_UPDATE = -255; /*内部使用，更新命令*/
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#endregion 函数返回值及其含义
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#region 函数接口
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#region 控制器操作
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/// <summary>
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/// 搜索IP段的控制器
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/// </summary>
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/// <param name="host_ip">主机端IP地址 </param>
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/// <param name="mc_ip_1">搜索到的控制器的IP地址的第一段 </param>
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/// <param name="mc_ip_2">搜索到的控制器的IP地址的第二段 </param>
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/// <param name="mc_ip_3">搜索到的控制器的IP地址的第三段 </param>
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/// <param name="mc_ip_4">搜索到的控制器的IP地址的第四段 </param>
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/// <param name="timeout">搜索一个IP地址的超时时间，单位：ms </param>
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/// <returns>成功返回0</returns>
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[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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public static extern short ZT_SearchMc(char[] host_ip, ref char mc_ip_1, ref char mc_ip_2, ref char mc_ip_3, ref char mc_ip_4, short timeout = 500);
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/// <summary>
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/// 打开控制器
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/// </summary>
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/// <param name="ip">控制器的IP地址，是C类IP地址私有范围地址，192.168.0.0~192.168.255.255。 </param>
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/// <param name="mc">服务分配并返回的控制器索引，作为其它接口函数的控制器索引参数，0表示无效控制器。 </param>
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/// <param name="timeout">服务与控制器通讯握手超时时间，单位是ms，0表示超时无穷大。 </param>
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/// <returns>成功返回0</returns>
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[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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public static extern short ZT_Open(char[] ip, ref short mc, short timeout = 500);
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/// <summary>
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/// 利用索引号关闭控制器
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/// </summary>
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/// <param name="mc">控制器索引 </param>
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/// <returns>成功返回0</returns>
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[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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public static extern short ZT_Close(short mc);
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/// <summary>
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/// 利用IP关闭控制器
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/// </summary>
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/// <param name="ip">控制器IP地址 </param>
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/// <returns>成功返回0</returns>
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[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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public static extern short ZT_CloseIP(char[] ip);
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/// <summary>
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/// 控制器热复位
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/// </summary>
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/// <param name="mc">控制器索引 </param>
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/// <returns>成功返回0</returns>
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[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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public static extern short ZT_Reset(short mc);
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/// <summary>
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/// 读取控制器连接状态
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/// </summary>
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/// <param name="ip">控制器的IP地址</param>
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/// <param name="mc">服务返回的IP地址对应的控制器索引，作为其它接口函数的控制器索引参数，0表示无效控制器</param>
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/// <returns>返回控制器连接状态，0-未连接，1-已连接，2-正在连接</returns>
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[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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public static extern short ZT_GetConnectionStatus(char[] ip, ref short mc);
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/// <summary>
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/// 设置控制器的IP地址
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/// </summary>
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/// <param name="oldip">原来的IP地址</param>
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/// <param name="newip">新的IP地址</param>
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/// <returns>成功返回0</returns>
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[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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public static extern short ZT_SetIP(char[] oldip, char[] newip);
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/// <summary>
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/// 搜索IP地址对应的控制器是否存在
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/// </summary>
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/// <param name="ip">IP地址</param>
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/// <param name="timeout">超时时间，单位：ms</param>
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/// <returns>成功返回0</returns>
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[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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public static extern short ZT_FindIP(char[] ip, short timeout = 500);
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#endregion 控制器操作
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#region 回零操作
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/// <summary>
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/// 设置回零参数
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/// </summary>
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/// <param name="mc">控制器索引</param>
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/// <param name="axis">轴号</param>
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/// <param name="dir">回零方向，1-正向，0-负向</param>
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/// <param name="mode">回零模式，取值范围：
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/// 0-无效
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/// 1-HOME，零点开关一次回零
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/// 2-LMT，限位开关一次回零
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/// 3-Z，编码器Z相信号一次回零
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/// 4-HOME+Z，原点与编码器Z相信号联合回零
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/// 5-LMT+Z，限位开关与编码器Z相信号联合回零
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/// 6-LMT+HOME，限位开关与零点开关联合回零
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/// 7-LMT+HOME+Z，限位开关、零点开关与编码器Z相信号联合回零
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/// 8-原地，仅仅将轴的位置清零
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/// 12-Z2，二次编码器Z相信号回零，类似于一次零点回零
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/// </param>
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/// <param name="lo_vel">回零低速，单位：p(或物理量纲分辨率)/ms，取值范围：0.001~8000.0</param>
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/// <param name="hi_vel">回零高速，单位：p(或物理量纲分辨率)/ms，取值范围：0.001~8000.0</param>
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/// <param name="acc">回零加速度，单位：p(或物理量纲分辨率)/ms^2，取值范围：0.001~4000.0</param>
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/// <param name="offset">零点偏置，单位：p或物理量纲分辨率，取值范围：±2^31，默认值为0</param>
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/// <param name="latch_dist">锁存方式回零时搜索距离，如果值大于零，表示锁存方式回零，单位：p或物理量纲分辨率，
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/// 取值范围：0~2^31，默认值为0，表示低速搜索信号，立即停止。
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/// </param>
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/// <returns>成功返回0</returns>
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[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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public static extern short ZT_SetHomeParam(short mc, short axis, short dir, short mode, float lo_vel, float hi_vel, float acc, int offset = 0, int latch_dist = 0);
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/// <summary>
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/// 回零启动
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/// </summary>
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/// <param name="mc">控制器索引</param>
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/// <param name="axes">按位掩码的轴选择</param>
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/// <param name="rstenc">回零时清零编码器位置，1-清零编码器位置，0-不清零编码器位置</param>
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/// <returns>成功返回0</returns>
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/// <remark>对于各种伺服驱动器和步进驱动器，回零启动前，都要调用ZT_SetServoOn激活伺服使能, 以确保回零结束时回零完成信号有效</remark>
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[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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public static extern short ZT_Home(short mc, uint axes, short rstenc = 1);
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/// <summary>
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/// 设置轴正向软限位位置
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/// </summary>
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/// <param name="axis">轴号，取值范围：控制器支持的轴号</param>
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/// <param name="pos">正向软限位，单位：p或物理量纲分辨率，取值范围：±2^31</param>
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/// <returns>成功返回0</returns>
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[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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public static extern short ZT_SetPSL(short mc, short axis, int pos);
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/// <summary>
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///
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/// </summary>
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/// <param name="axis">轴号，取值范围：控制器支持的轴号</param>
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/// <param name="pos">负向软限位，单位：p或物理量纲分辨率，取值范围：±2^31</param>
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/// <returns>成功返回0</returns>
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[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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public static extern short ZT_SetNSL(short mc, short axis, int pos);
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#endregion 回零操作
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#region 点位运动
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/// <summary>
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/// 绝对式P2P运动，单轴运动
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/// </summary>
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/// <param name="mc">控制器索引</param>
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/// <param name="axis">轴号，取值范围：控制器支持的轴号</param>
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/// <param name="pos">绝对目标位置，单位：p或物理量纲分辨率，取值范围：±2^31</param>
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/// <param name="str_vel">起跳速度，单位：p(或物理量纲分辨率)/ms，取值范围：0.001~8000.000</param>
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/// <param name="max_vel">目标速度，单位：p(或物理量纲分辨率)/ms，取值范围：0.001~8000.000</param>
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/// <param name="acc">目标加速度，单位：p(或物理量纲分辨率)/ms^2，取值范围：0.001~4000.000</param>
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/// <param name="dec">目标减速度，单位：p(或物理量纲分辨率)/ms^2，取值范围：0.001~4000.000</param>
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/// <param name="end_vel">截止速度，单位：p(或物理量纲分辨率)/ms，取值范围：0.001~8000.000</param>
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/// <param name="smth">平滑时间，单位：ms，取值范围：0~65535，默认值0，表示梯形运动，大于0则为S曲线运动</param>
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/// <returns>成功返回0</returns>
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[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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public static extern short ZT_MoveA(short mc, short axis, int pos, float str_vel, float max_vel, float acc, float dec, float end_vel, ushort smth = 0);
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/// <summary>
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/// 相对式P2P运动，单轴运动
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/// </summary>
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/// <param name="mc">控制器索引</param>
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/// <param name="axis">轴号，取值范围：控制器支持的轴号</param>
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/// <param name="pos">相对目标位置，单位：p或物理量纲分辨率，取值范围：±2^31</param>
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/// <param name="str_vel">起跳速度，单位：p(或物理量纲分辨率)/ms，取值范围：0.001~8000.000</param>
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/// <param name="max_vel">目标速度，单位：p(或物理量纲分辨率)/ms，取值范围：0.001~8000.000</param>
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/// <param name="acc">目标加速度，单位：p(或物理量纲分辨率)/ms^2，取值范围：0.001~4000.000</param>
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/// <param name="dec">目标减速度，单位：p(或物理量纲分辨率)/ms^2，取值范围：0.001~4000.000</param>
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/// <param name="end_vel">截止速度，单位：p(或物理量纲分辨率)/ms，取值范围：0.001~8000.000</param>
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/// <param name="smth">平滑时间，单位：ms，取值范围：0~65535，默认值0，表示梯形运动，大于0则为S曲线运动</param>
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/// <returns>成功返回0</returns>
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[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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public static extern short ZT_MoveR(short mc, short axis, int pos, float str_vel, float max_vel, float acc, float dec, float end_vel, ushort smth = 0);
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/// <summary>
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/// 正向JOG运动
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/// </summary>
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/// <param name="mc">控制器索引</param>
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/// <param name="axis">轴号，取值范围：控制器支持的轴号</param>
|
|
|
/// <param name="str_vel">起跳速度，单位：p(或物理量纲分辨率)/ms，取值范围：0.001~8000.000</param>
|
|
|
/// <param name="max_vel">目标速度，单位：p(或物理量纲分辨率)/ms，取值范围：0.001~8000.000</param>
|
|
|
/// <param name="acc">目标加速度，单位：p(或物理量纲分辨率)/ms^2，取值范围：0.001~4000.000</param>
|
|
|
/// <param name="dec">目标减速度，单位：p(或物理量纲分辨率)/ms^2，取值范围：0.001~4000.000</param>
|
|
|
/// <param name="end_vel">截止速度，单位：p(或物理量纲分辨率)/ms，取值范围：0.001~8000.000</param>
|
|
|
/// <param name="smth">平滑时间，单位：ms，取值范围：0~65535，默认值0，表示梯形运动，大于0则为S曲线运动</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_JogP(short mc, short axis, float str_vel, float max_vel, float acc, float dec, float end_vel, ushort smth = 0);
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|
|
/// <summary>
|
|
|
/// 负向JOG运动
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="axis">轴号，取值范围：控制器支持的轴号</param>
|
|
|
/// <param name="str_vel">起跳速度，单位：p(或物理量纲分辨率)/ms，取值范围：0.001~8000.000</param>
|
|
|
/// <param name="max_vel">目标速度，单位：p(或物理量纲分辨率)/ms，取值范围：0.001~8000.000</param>
|
|
|
/// <param name="acc">目标加速度，单位：p(或物理量纲分辨率)/ms^2，取值范围：0.001~4000.000</param>
|
|
|
/// <param name="dec">目标减速度，单位：p(或物理量纲分辨率)/ms^2，取值范围：0.001~4000.000</param>
|
|
|
/// <param name="end_vel">截止速度，单位：p(或物理量纲分辨率)/ms，取值范围：0.001~8000.000</param>
|
|
|
/// <param name="smth">平滑时间，单位：ms，取值范围：0~65535，默认值0，表示梯形运动，大于0则为S曲线运动</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_JogM(short mc, short axis, float str_vel, float max_vel, float acc, float dec, float end_vel, ushort smth = 0);
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|
|
|
|
|
/// <summary>
|
|
|
/// 轴运动平滑停止
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="axes">按位掩码的轴选择</param>
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|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_Stop(short mc, uint axes);
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|
|
|
|
|
/// <summary>
|
|
|
/// 轴运动立即停止
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="axes">按位掩码的轴选择</param>
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|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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|
|
public static extern short ZT_EStop(short mc, uint axes);
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|
/// <summary>
|
|
|
/// 设置脉冲位置
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
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|
|
/// <param name="axis">轴号，取值范围：控制器支持的轴号</param>
|
|
|
/// <param name="pos">命令位置，单位：p或物理量纲分辨率，取值范围：±2^31</param>
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|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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|
|
public static extern short ZT_SetPosPulse(short mc, short axis, int pos);
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|
|
|
|
/// <summary>
|
|
|
/// 设置编码器位置
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
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|
|
/// <param name="axis">轴号，取值范围：控制器支持的轴号</param>
|
|
|
/// <param name="pos">编码器位置，单位：p或物理量纲分辨率，取值范围：±2^31</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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|
|
public static extern short ZT_SetPosEncoder(short mc, short axis, int pos);
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|
|
|
|
|
/// <summary>
|
|
|
/// 读取轴运动的当前脉冲位置
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="axis">轴号，取值范围：控制器支持的轴号</param>
|
|
|
/// <param name="pos">命令位置，单位：p或物理量纲分辨率，取值范围：±2^31</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_GetPosPulse(short mc, short axis, ref int pos);
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|
|
|
|
|
/// <summary>
|
|
|
/// 读取轴运动的当前编码器位置
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="axis">轴号，取值范围：控制器支持的轴号</param>
|
|
|
/// <param name="pos">编码器位置，单位：p或物理量纲分辨率，取值范围：±2^31</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_GetPosEncoder(short mc, short axis, ref int pos);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 读取轴运动的当前脉冲速度
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="axis">轴号，取值范围：控制器支持的轴号</param>
|
|
|
/// <param name="vel">命令速度，单位：p(或物理量纲分辨率)/ms</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_GetVelPulse(short mc, short axis, ref float vel);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 读取轴运动的当前实际速度
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="axis">轴号，取值范围：控制器支持的轴号</param>
|
|
|
/// <param name="vel">实际速度，单位：p(或物理量纲分辨率)/ms</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_GetVelEncoder(short mc, short axis, ref float vel);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 读取轴运动的当前脉冲加速度
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="axis">轴号，取值范围：控制器支持的轴号</param>
|
|
|
/// <param name="acc">命令加速度，单位：p(或物理量纲分辨率)/ms^2</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_GetAccPulse(short mc, short axis, ref float acc);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 读取轴运动的当前编码器加速度
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="axis">轴号，取值范围：控制器支持的轴号</param>
|
|
|
/// <param name="acc"> 实际加速度，单位：p(或物理量纲分辨率)/ms^2</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_GetAccEncoder(short mc, short axis, ref float acc);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 设置轴运动的最大速度
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="axis">轴号，取值范围：控制器支持的轴号</param>
|
|
|
/// <param name="vel">轴最大速度，单位：p(或物理量纲分辨率)/ms，取值范围：0.001~8000.0</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_SetMaxVel(short mc, short axis, float vel);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 设置轴运动的最大加速度
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="axis">轴号，取值范围：控制器支持的轴号</param>
|
|
|
/// <param name="acc">最大加速度，单位：p(或物理量纲分辨率)/ms^2，取值范围：0.001~4000.0</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_SetMaxAcc(short mc, short axis, float acc);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 设置轴运动的最大减速度
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="axis">轴号，取值范围：控制器支持的轴号</param>
|
|
|
/// <param name="dec">最大减速度，单位：p(或物理量纲分辨率)/ms^2，取值范围：0.001~4000.0</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_SetMaxDec(short mc, short axis, float dec);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 设值辅助编码器的初值
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="auxenc"> 辅助编码器索引，取值范围：0,1</param>
|
|
|
/// <param name="pos">初值，单位：p或物理量纲分辨率</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_SetPosAux(short mc, short auxenc, int pos);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 读取辅助编码器的计数值
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="auxenc"> 辅助编码器索引，取值范围：0,1</param>
|
|
|
/// <param name="pos">计数值，单位：p或物理量纲分辨率</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_GetPosAux(short mc, short auxenc, ref int pos);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 绝对式P2P运动启动
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器序号</param>
|
|
|
/// <param name="axes">按位掩码的轴选择</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_JogA(short mc, uint axes);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 相对式P2P运动启动
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器序号</param>
|
|
|
/// <param name="axes">按位掩码的轴选择</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_JogR(short mc, uint axes);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 正向连续点动
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="axes">按位掩码的轴选择</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_JogPlus(short mc, uint axes);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 负向连续点动
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="axes">按位掩码的轴选择</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_JogMinus(short mc, uint axes);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 设置轴运动的目标位置
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器序号</param>
|
|
|
/// <param name="axes">按位掩码的轴选择</param>
|
|
|
/// <param name="pos">目标位置</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_SetPosT(short mc, uint axes, int pos);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 设置轴运动的目标速度
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器序号</param>
|
|
|
/// <param name="axes">按位掩码的轴选择</param>
|
|
|
/// <param name="vel">目标速度，范围：0~4095.0 p/ms</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_SetVelT(short mc, uint axes, float vel);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 设置轴运动的目标加速度
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器序号</param>
|
|
|
/// <param name="axes">按位掩码的轴选择</param>
|
|
|
/// <param name="acc">目标加速度，范围：0~4095.0 p/ms^2</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_SetAccT(short mc, uint axes, float acc);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 设置轴运动的目标减速度
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器序号</param>
|
|
|
/// <param name="axes">按位掩码的轴选择</param>
|
|
|
/// <param name="dec">目标减速度，范围：0~4095.0 p/ms^2</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_SetDecT(short mc, uint axes, float dec);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 设置轴运动的速度平滑时间
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器序号</param>
|
|
|
/// <param name="axes">按位掩码的轴选择</param>
|
|
|
/// <param name="tm">平滑时间，范围：0~65535 ms</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_SetSmthT(short mc, uint axes, ushort tm);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 设置轴运动的启动速度
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器序号</param>
|
|
|
/// <param name="axes">按位掩码的轴选择</param>
|
|
|
/// <param name="vel">启动速度，范围：0~4095.0 p/ms</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_SetVelS(short mc, uint axes, float vel);
|
|
|
|
|
|
#endregion 点位运动
|
|
|
|
|
|
|
|
|
#region 插补运动
|
|
|
|
|
|
#region 通道操作
|
|
|
|
|
|
/// <summary>
|
|
|
/// 通道启动
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="chs">按位掩码的通道选择</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_ChStart(short mc, ushort chs);
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|
|
/// <summary>
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|
|
/// 通道停止
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|
|
/// </summary>
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|
|
/// <param name="mc">控制器索引</param>
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|
|
/// <param name="chs">按位掩码的通道选择</param>
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|
|
/// <returns>成功返回0</returns>
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|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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|
|
public static extern short ZT_ChStop(short mc, ushort chs);
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|
/// <summary>
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|
|
/// 通道紧急停止
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|
|
/// </summary>
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|
/// <param name="mc">控制器索引</param>
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|
|
/// <param name="chs">按位掩码的通道选择</param>
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|
|
/// <returns>成功返回0</returns>
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|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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|
|
public static extern short ZT_ChEStop(short mc, ushort chs);
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|
|
/// <summary>
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|
|
/// 通道保持
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|
|
/// </summary>
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|
|
/// <param name="mc">控制器索引</param>
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|
|
/// <param name="chs">按位掩码的通道选择</param>
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|
|
/// <returns>成功返回0</returns>
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|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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|
|
public static extern short ZT_ChHold(short mc, ushort chs);
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/// <summary>
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|
/// 通道复位
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|
/// </summary>
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|
/// <param name="mc">控制器索引</param>
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|
|
/// <param name="chs">按位掩码的通道选择</param>
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|
|
/// <returns>成功返回0</returns>
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|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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|
|
public static extern short ZT_ChReset(short mc, ushort chs);
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/// <summary>
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|
|
/// 通道单步选项
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|
/// </summary>
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|
/// <param name="mc">控制器索引</param>
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|
|
/// <param name="chs">按位掩码的通道选择</param>
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|
|
/// <param name="on">单步选项方式，取值范围：1 - 通道按单步方式运行，0 - 通道按连续方式运行，默认值为0</param>
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|
|
/// <returns>成功返回0</returns>
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|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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|
|
public static extern short ZT_ChStepOption(short mc, ushort chs, short on = 0);
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/// <summary>
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|
|
/// 设置通道对应的BLOCK命令缓冲器
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|
|
/// </summary>
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|
|
/// <param name="mc">控制器索引</param>
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|
|
/// <param name="ch">通道号，取值范围：0~3</param>
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|
|
/// <param name="buff">缓冲器索引，取值范围：0~9</param>
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|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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|
|
public static extern short ZT_ChSetBuffer(short mc, short ch, short buff);
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/// <summary>
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|
|
/// 读取通道正在执行的BLOCK命令的模式
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|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="ch">通道号，取值范围：0~3</param>
|
|
|
/// <param name="mode">BLOCK命令模式，取值范围：
|
|
|
/// 00 - 无效模式
|
|
|
/// 01 - 快速点定位
|
|
|
/// 02 - 直线插补
|
|
|
/// 03 - 空间圆弧插补
|
|
|
/// 04 - 坐标平面圆弧插补
|
|
|
/// 05 - 停留延时
|
|
|
/// 06 - 等待
|
|
|
/// 07 - 数字输出
|
|
|
/// 99 - 结束
|
|
|
/// </param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_ChGetBlockMode(short mc, short ch, ref short mode);
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|
|
|
|
|
/// <summary>
|
|
|
/// 读取通道的运行状态
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="running">按位掩码表示的通道运行标志</param>
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|
|
/// <param name="stopped">按位掩码表示的通道中各轴运动停止标志</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_ChGetStatus(short mc, ref short running, ref short stopped);
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|
|
|
|
|
/// <summary>
|
|
|
/// 读取通道的实际进给速度
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="ch">通道号，取值范围：0~3</param>
|
|
|
/// <param name="feed">实际速度，单位：物理量纲，相当于mm(deg)/s，um(0.001deg)/ms</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_ChGetActualFeed(short mc, short ch, ref float feed);
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|
|
|
|
|
/// <summary>
|
|
|
/// 读取通道的当前插补块的命令进给速度
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="ch">通道号，取值范围：0~3</param>
|
|
|
/// <param name="feed">当前命令进给速度，单位：物理量纲，相当于mm(deg)/s，um(0.001deg)/ms</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_ChGetCommandFeed(short mc, short ch, ref float feed);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 读取通道当前执行块的块号
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="ch">通道号，取值范围：0~3</param>
|
|
|
/// <param name="id">块号</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_ChGetBlockID(short mc, short ch, ref uint id);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 设置通道运动参数
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="ch">通道号，取值范围：0~3</param>
|
|
|
/// <param name="acc">加速度，取值范围：0.001~4000.0，单位：物理量纲，相当于m(Kdeg)/s^2,um(0.001deg)/ms^2</param>
|
|
|
/// <param name="str_vel">起跳速度，取值范围：0.001~8000.0，单位：物理量纲，相当于mm(deg)/s, um(0.001deg)/ms</param>
|
|
|
/// <param name="end_vel">截止速度，取值范围：0.001~8000.0，单位：物理量纲，相当于mm(deg)/s, um(0.001deg)/ms</param>
|
|
|
/// <param name="smth">速度平滑时间，取值范围：0~65535， 单位：ms</param>
|
|
|
/// <param name="bldtm">转角过渡时间，取值范围：0~65535，单位：ms</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_ChSetMoveParam(short mc, short ch, float acc, float str_vel, float end_vel, ushort smth = 0, ushort bldtm = 0);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 设置通道运动约束参数
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="ch">通道号，取值范围：0~3</param>
|
|
|
/// <param name="max_vel"> 最大速度，取值范围：0.001~8000.0，单位：物理量纲，相当于mm(deg)/s, um(0.001deg)/ms</param>
|
|
|
/// <param name="max_acc"> 最大加速度，取值范围：0.001~4000.0，单位：物理量纲，相当于m(Kdeg)/s^2,um(0.001deg)/ms^2</param>
|
|
|
/// <param name="chord_err">弓高误差，取值范围：0.001~100.0，单位：物理量纲，相当于mm（deg），默认值为1.0</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_ChSetConstraints(short mc, short ch, float max_vel, float max_acc, float chord_err = 1.0f);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 设置通道的坐标
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="ch">通道号，取值范围：0~3</param>
|
|
|
/// <param name="num">坐标数，取值范围：1~6</param>
|
|
|
/// <param name="crd_map">通道的坐标与控制器的轴号的对应关系，最大6坐标</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_ChSetCoordinate(short mc, short ch, short num, short[] crd_map);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 读取通道的坐标
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="ch">通道号，取值范围：0~3</param>
|
|
|
/// <param name="num">坐标数，取值范围：1~6</param>
|
|
|
/// <param name="crd_map">通道的坐标与控制器的轴号的对应关系，最大6坐标</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_ChGetCoordinate(short mc, short ch, ref short num, short[] crd_map);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 设置坐标系的修调率
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="ch">通道号，取值范围：0~3</param>
|
|
|
/// <param name="ovrd">修调值，取值范围：0~200， 单位：%</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_ChSetOverride(short mc, short ch, short ovrd);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 读取通道的修调率
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="ch">通道号，取值范围：0~3</param>
|
|
|
/// <param name="ovrd">修调值，单位：%</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_ChGetOverride(short mc, short ch, ref short ovrd);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 读取通道的M功能代码
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="ch">通道号，取值范围：0~3</param>
|
|
|
/// <param name="code">M功能代码号</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_ChGetMCode(short mc, short ch, ref short code);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 设置通道的M功能代码的响应值
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="ch">通道号，取值范围：0~3</param>
|
|
|
/// <param name="code">M功能代码执行结束后，做出响应的代码</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_ChSetMCodeResponse(short mc, short ch, short code);
|
|
|
|
|
|
#endregion 通道操作
|
|
|
|
|
|
#region BLOCK(插补)命令缓冲区
|
|
|
|
|
|
/// <summary>
|
|
|
/// BLOCK命令缓冲区复位
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="buff">缓冲区索引，取值范围：0~9</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_BufferReset(short mc, short buff);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 设置BLOCK命令缓冲区属性
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="buff">缓冲区索引，取值范围：0~9</param>
|
|
|
/// <param name="size">缓冲区空间，取值范围：1~20000</param>
|
|
|
/// <param name="mode">缓冲区模式，取值范围：0 - FIFO，1 - 循环队列（Round Robin），默认值为0</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_BufferSetParam(short mc, short buff, short size, short mode = 0);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 读取BLOCK命令缓冲区的空闲空间
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="buff">缓冲区索引，取值范围：0~9</param>
|
|
|
/// <param name="preb_free">预缓冲区的空闲空间</param>
|
|
|
/// <param name="buff_free">缓冲区的空闲空间</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
/// <remarks>只要预缓冲区的空闲空间大于0，就可以调用BLOCK（插补）命令</remarks>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_BufferGetSpace(short mc, short buff, ref short preb_free, ref short buff_free);
|
|
|
|
|
|
#endregion BLOCK(插补)命令缓冲区
|
|
|
|
|
|
#region BLOCK(插补)命令
|
|
|
|
|
|
/// <summary>
|
|
|
/// BLOCK命令中的快速点位运动
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="buff">缓冲区索引，取值范围：0~9</param>
|
|
|
/// <param name="bid">BLOCK命令的块号，无逻辑含义</param>
|
|
|
/// <param name="pos">坐标系中的坐标位置数组，最多6个坐标，单位：物理量纲分辨率</param>
|
|
|
/// <param name="crdmode">位掩码表示的通道中各坐标编程模式，取值范围：0-绝对坐标，1-相对坐标，默认值为0</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_BlockRapid(short mc, short buff, uint bid, int[] pos, ushort crdmode = 0);
|
|
|
|
|
|
/// <summary>
|
|
|
/// BLOCK命令中的线性插补
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="buff">缓冲区索引，取值范围：0~9</param>
|
|
|
/// <param name="bid">BLOCK命令的块号，无逻辑含义</param>
|
|
|
/// <param name="pos">坐标系中的坐标位置数组，最多6个坐标，单位：物理量纲分辨率</param>
|
|
|
/// <param name="blend">转角过渡模式，取值范围：0-减速至零停止，1-自动圆角过渡，2-起跳速度尖角过渡，3-截止速度尖角过渡，其它值-保留，默认值为0</param>
|
|
|
/// <param name="crdmode">位掩码表示的通道中各坐标编程模式，取值范围：0-绝对坐标，1-相对坐标，默认值为0</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_BlockLinear(short mc, short buff, uint bid, int[] pos, short blend = 0, ushort crdmode = 0);
|
|
|
|
|
|
/// <summary>
|
|
|
/// BLOCK命令中的任意平面圆弧插补
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="buff">缓冲区索引，取值范围：0~9</param>
|
|
|
/// <param name="bid">BLOCK命令的块号，无逻辑含义</param>
|
|
|
/// <param name="ep1,ep2,ep3">圆弧终点坐标，单位：物理量纲分辨率</param>
|
|
|
/// <param name="mp1,mp2,mp3">圆弧的中间点坐标或中心坐标，单位：物理量纲分辨率</param>
|
|
|
/// <param name="mode">圆弧表达方式，0 - 3点表达的圆弧，1 - 3点表达的整圆，2 - 圆心表达的顺时针圆弧或整圆，3 - 圆心表达的逆时针圆弧或整圆，默认值为0</param>
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/// <param name="blend"> 转角过渡模式，取值范围：0-减速至零停止，1-自动圆角过渡，2-起跳速度转角过渡，3-截止速度转角过渡，其它值-保留，默认值为0</param>
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/// <param name ="crdmode">位掩码表示的通道中各坐标编程模式，取值范围：0-绝对坐标，1-相对坐标，默认值为0</param>
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/// <returns>成功返回0</returns>
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|
|
/// <remark>3点方式的整圆表达时，终点与起点不能重合；3个坐标分别是通道坐标系中的前3个坐标</remark>
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[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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public static extern short ZT_BlockArc3(short mc, short buff, uint bid, int ep1, int ep2, int ep3, int mp1, int mp2, int mp3, short mode = 0, short blend = 0);
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/// <summary>
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/// BLOCK命令中的坐标平面内圆弧插补
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/// </summary>
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/// <param name="mc">控制器索引</param>
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/// <param name="buff">缓冲区索引，取值范围：0~9</param>
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/// <param name="bid">BLOCK命令的块号，无逻辑含义</param>
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/// <param name="ep1,ep2">圆弧终点坐标，单位：物理量纲分辨率</param>
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/// <param name="mp1,mp2">中间点圆心坐标，单位：物理量纲分辨率</param>
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/// <param name="crd1,crd2">两个坐标对应的通道坐标索引，默认值crd1=0，crd2=1</param>
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/// <param name="mode">圆弧表达方式，0 - 3点表达的圆弧，1 - 3点表达的整圆，2 - 圆心表达的顺时针圆弧或整圆，3 - 圆心表达的逆时针圆弧或整圆，默认值为0</param>
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/// <param name="blend">转角过渡模式，取值范围：0-减速至零停止，1-自动圆角过渡，2-起跳速度转角过渡，3-截止速度转角过渡，其它值-保留，默认值为0</param>
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/// <param name ="crdmode">位掩码表示的通道中各坐标编程模式，取值范围：0-绝对坐标，1-相对坐标，默认值为0</param>
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/// <returns>成功返回0</returns>
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[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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|
public static extern short ZT_BlockArc2(short mc, short buff, uint bid, int ep1, int ep2, int mp1, int mp2, short crd1 = 0, short crd2 = 1, short mode = 0, short blend = 0, short crdmode = 0);
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/// <summary>
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/// BLOCK命令中的停留
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/// </summary>
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/// <param name="mc">控制器索引</param>
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/// <param name="buff">缓冲区索引，取值范围：0~9</param>
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/// <param name="bid">BLOCK命令的块号，无逻辑含义</param>
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/// <param name="tm">停留时间，取值范围：0~65535，单位：ms</param>
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/// <returns>成功返回0</returns>
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[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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public static extern short ZT_BlockDwell(short mc, short buff, uint bid, ushort tm);
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/// <summary>
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/// BLOCK命令中的等待IO输入电平
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/// </summary>
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/// <param name="mc">控制器索引</param>
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/// <param name="buff">缓冲区索引，取值范围：0~9</param>
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/// <param name="bid">BLOCK命令的块号，无逻辑含义</param>
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/// <param name="node">IO控制器从站地址，取值范围：0~15，从站地址为0，表示运动控制器本地的IO；从站地址1~15，表示扩展的IO控制器</param>
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/// <param name="index">站内输入位索引</param>
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/// <param name="level">输入电平，取值范围：0 - 逻辑低，1 - 逻辑高</param>
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|
/// <returns>成功返回0</returns>
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|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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public static extern short ZT_BlockWait(short mc, short buff, uint bid, short node, short port, short level);
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/// <summary>
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/// BLOCK命令中的数字IO输出
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|
/// </summary>
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|
/// <param name="mc">控制器索引</param>
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/// <param name="buff">缓冲区索引，取值范围：0~9</param>
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|
/// <param name="bid">BLOCK命令的块号，无逻辑含义</param>
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|
|
/// <param name="node">IO控制器从站，取值范围：0~15，从站地址为0，表示运动控制器本地的IO；从站地址1~15，表示扩展的IO控制器</param>
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/// <param name="index">站内输出的位索引</param>
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/// <param name="level">输出电平，取值范围：0-逻辑低，1-逻辑高</param>
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/// <param name="qdelay">输出持续时间，取值范围：-1~2^31，单位：us</param>
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/// <param name="toggle">是否电平翻转，取值范围：0-不翻转，1-翻转</param>
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/// <param name="tdelay">翻转后持续时间，取值范围：-1~2^31，单位：us</param>
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|
/// <param name="count">翻转计数，取值范围：1~2^31</param>
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|
|
/// <returns>成功返回0</returns>
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|
|
/// <remark>持续时间取值为-1，表示永久时间</remark>
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|
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[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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|
public static extern short ZT_BlockDOut(short mc, short buff, uint bid, short node, short index, short level, int qdelay, short toggle, int tdelay, int count);
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/// <summary>
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|
|
/// BLOCK命令中的进给速度
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|
|
/// </summary>
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|
|
/// <param name="mc">控制器索引</param>
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|
|
/// <param name="buff">缓冲区索引，取值范围：0~9</param>
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|
|
/// <param name="bid">BLOCK命令的块号，无逻辑含义</param>
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/// <param name="feed">进给速度，取值范围：0.001~4000.0，单位：物理量纲，相当于mm/s，deg/s, um/ms, 0.001deg/ms</param>
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|
|
/// <returns>成功返回0</returns>
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|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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|
|
public static extern short ZT_BlockFeed(short mc, short buff, uint bid, float feed);
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/// <summary>
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|
|
/// BLOCK命令中的M功能代码
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|
|
/// </summary>
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|
/// <param name="mc">控制器索引</param>
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|
/// <param name="buff">缓冲区索引，取值范围：0~9</param>
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|
|
/// <param name="bid">BLOCK命令的块号，无逻辑含义</param>
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|
|
/// <param name="code">M功能代码号，取值范围：0~32767</param>
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|
|
/// <returns>成功返回0</returns>
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|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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|
|
public static extern short ZT_BlockMCode(short mc, short buff, uint bid, short code);
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/// <summary>
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|
|
/// BLOCK命令中的以方式A进行位置比较输出
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|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
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|
|
/// <param name="buff">缓冲区索引，取值范围：0~9</param>
|
|
|
/// <param name="firstorlast">第一点或最后一点，取值范围：0 - 中间点；1 - 第一点；2 - 最后一点；3 - 只有一个点。默认值为0</param>
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|
|
/// <param name="pos">比较输出的矢量长度位置，单位：物理量纲分辨率</param>
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|
|
/// <param name="port">输出端口，取值范围：0~15</param>
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|
|
/// <param name="level">输出电平，取值范围：0-逻辑低，1-逻辑高</param>
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|
|
/// <param name="possrc">位置源，取值范围：0-脉冲位置，1-编码器位置，默认值为0</param>
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|
|
/// <returns>成功返回0</returns>
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|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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|
|
public static extern short ZT_BlockComparePosA(short mc, short buff, int pos, short port, short level, short firstorlast = 0, short possrc = 0);
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|
|
/// <summary>
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|
|
/// BLOCK命令中的以方式B进行位置比较输出
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="buff">缓冲区索引，取值范围：0~9</param>
|
|
|
/// <param name="firstorlast">第一点或最后一点，取值范围：0 - 中间点；1 - 第一点；2 - 最后一点；3 - 只有一个点。默认值为0</param>
|
|
|
/// <param name="pos">比较输出的矢量长度位置，单位：物理量纲分辨率</param>
|
|
|
/// <param name="port">输出端口，取值范围：0~15</param>
|
|
|
/// <param name="level">输出电平，取值范围：0-逻辑低，1-逻辑高</param>
|
|
|
/// <param name="pwmperiod">pwm输出方式时的周期时间，取值范围：1~2^31，单位：us </param>
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|
|
/// <param name="pwmduty">pwm输出方式时的前期时间，取值范围：1~2^31， 单位：us</param>
|
|
|
/// <param name="pwmcount">pwm输出方式时的脉冲数，取值范围：1~2^31</param>
|
|
|
/// <param name="possrc">位置源，取值范围：0-脉冲位置，1-编码器位置，默认值为0</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_BlockComparePosB(short mc, short buff, short firstorlast, int pos, short port, short level, int pwmperiod, int pwmduty, int pwmcount, short possrc = 0);
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|
|
|
|
|
/// <summary>
|
|
|
/// BLOCK命令中的结束
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="buff">缓冲区索引，取值范围：0~9</param>
|
|
|
/// <param name="bid">BLOCK命令的块号，无逻辑含义</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_BlockEnd(short mc, short buff, uint bid);
|
|
|
|
|
|
#endregion BLOCK(插补)命令
|
|
|
|
|
|
#endregion 插补运动
|
|
|
|
|
|
|
|
|
#region 位置锁存
|
|
|
|
|
|
/// <summary>
|
|
|
/// 启动锁存功能
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器序号</param>
|
|
|
/// <param name="units">按位掩码的锁存单元选择</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_LatchBegin(short mc, uint units);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 结束锁存功能
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器序号</param>
|
|
|
/// <param name="units">按位掩码的锁存单元选择</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_LatchEnd(short mc, uint units);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 设置位置锁存的参数
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="unit">锁存单元号，取值范围：0~7</param>
|
|
|
/// <param name="src">位置源，1-编码器位置，0-命令位置。</param>
|
|
|
/// <param name="axis">位置源的轴号，取值范围：控制器支持的轴号</param>
|
|
|
/// <param name="trigger">触发信号源，取值范围：
|
|
|
/// 0-编码器Z相信号
|
|
|
/// 1-零点开关
|
|
|
/// 2-通用输入
|
|
|
/// 3-位置比较输出
|
|
|
/// </param>
|
|
|
/// <param name="edge">触发边沿：0-上升沿，1-下降沿，2-上升下降沿</param>
|
|
|
/// <param name="index">触发信号源的索引，取值范围：控制器支持的轴号或输入</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_SetLatchParam(short mc, short unit, short src, short axis, short trigger, short edge, short index);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 读取轴的锁存的位置
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="unit"> 锁存单元号,取值范围：0~7</param>
|
|
|
/// <param name="pos">锁存位置数组，其大小取决于用户，锁存的最大位值数256</param>
|
|
|
/// <param name="numofcapt">本次锁存过程中，已锁存的位置数</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_GetLatchPos(short mc, short unit, int[] pos, ref short numofcapt);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 读取轴的已锁存的位置个数
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="unit">锁存单元号，取值范围：0~7</param>
|
|
|
/// <param name="numofcapt">已捕捉的位置个数</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_GetLatchNum(short mc, short unit, ref short numofcapt);
|
|
|
|
|
|
#endregion 位置锁存
|
|
|
|
|
|
|
|
|
#region 位置比较
|
|
|
|
|
|
/// <summary>
|
|
|
/// 启动位置比较功能
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="units">按位掩码的比较单元选择</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_CompareBegin(short mc, uint units);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 结束位置比较功能
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="units">按位掩码的比较单元选择</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_CompareEnd(short mc, uint units);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 设置位置比较的参数
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="unit">比较单元号，取值范围：0~7</param>
|
|
|
/// <param name="src">位置源，0-命令位置，1-编码器位置</param>
|
|
|
/// <param name="axis">位置源的轴号，取值范围：控制器支持的轴号</param>
|
|
|
/// <param name="portbit">比较输出端口选择，取值范围：0~15</param>
|
|
|
/// <param name="portpol">比较输出端口极性，1-正逻辑，上升沿；0-负逻辑，下降沿</param>
|
|
|
/// <param name="porten">比较输出端口使能，1-比较输出，0-通用输出</param>
|
|
|
/// <param name="width">比较输出的宽度，取值范围：1~2^32，单位：us</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
/// <remark>位置比较单元可以关联不同的轴号</remark>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_SetCompareParam(short mc, short unit, short src, short axis, short portbit, short portpol, short porten, uint width);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 设置比较的位置
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="unit">比较单元选择，取值范围：0~7</param>
|
|
|
/// <param name="pos">比较的位置数据数组</param>
|
|
|
/// <param name="numtocmpr">比较位置的个数，取值范围：1~256</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_SetComparePos(short mc, short unit, int[] pos, short numtocmpr);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 读取轴的已完成的比较位置的个数
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="unit">比较单元号，取值范围：0~7</param>
|
|
|
/// <param name="numofcmpr">返回已完成比较位置的个数</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_GetCompareNum(short mc, short unit, ref short numofcmpr);
|
|
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|
|
#endregion 位置比较
|
|
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|
|
#region 在线更改位置和速度
|
|
|
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|
|
/// <summary>
|
|
|
/// 在线更改位置
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="axis">轴号，取值范围：控制器支持的轴号</param>
|
|
|
/// <param name="pos">绝对位置，单位：p或物理量纲分辨率，取值范围：+/-2^31</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_ChangeFlyPos(short mc, short axis, int pos);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 在线更改速度
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="axis">轴号，取值范围：控制器支持的轴号</param>
|
|
|
/// <param name="vel">速度，单位：p(或物理量纲分辨率)/ms，取值范围：0.001~8000.0</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_ChangeSpeedOnTheFly(short mc, short axis, float vel);
|
|
|
|
|
|
#endregion 在线更改位置和速度
|
|
|
|
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|
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|
|
#region 属性设置
|
|
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|
|
|
/// <summary>
|
|
|
/// 报警清除
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="axis">轴号，取值范围：控制器支持的轴号</param>
|
|
|
/// <param name="on"> 复位信号，1-设置复位，0-关闭复位</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_ResetAlarm(short mc, short axis, short on);
|
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|
|
/// <summary>
|
|
|
/// 伺服激活
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="axis">轴号，取值范围：控制器支持的轴号</param>
|
|
|
/// <param name="on"> 伺服激活，1-激活，0-失效</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_SetServoOn(short mc, short axis, short on);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 配置EMG
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="en">EMG使能，0-无效，仅作为通用输入</param>
|
|
|
/// <param name="pol">EMG的极性，0-正极性，1-负极性</param>
|
|
|
/// <param name="port"> EMG端口，取值范围：-1 - EMG专用端口，0~15 - 通用输入口0~15</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_SetEMGConfig(short mc, short en, short pol, short port = -1);
|
|
|
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|
|
/// <summary>
|
|
|
/// 设置零点开关极性
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="axis">轴号，取值范围：控制器支持的轴号</param>
|
|
|
/// <param name="pol">零点开关极性，1-正，0-负</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_SetHomePol(short mc, short axis, short pol);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 设置正向限位开关有效性
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="axis">轴号，取值范围：控制器支持的轴号</param>
|
|
|
/// <param name="on">开关，1-开，0-关</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_SetPOTOn(short mc, short axis, short on);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 设置负向限位开关有效性
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="axis">轴号，取值范围：控制器支持的轴号</param>
|
|
|
/// <param name="on">开关，1-开，0-关</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_SetNOTOn(short mc, short axis, short on);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 设置正向限位开关极性
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="axis">轴号，取值范围：控制器支持的轴号</param>
|
|
|
/// <param name="pol">极性，1-正，0-负</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_SetPOTPol(short mc, short axis, short pol);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 设置负向限位开关极性
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="axis">轴号，取值范围：控制器支持的轴号</param>
|
|
|
/// <param name="pol">极性，1-正，0-负</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_SetNOTPol(short mc, short axis, short pol);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 设置编码器有效性
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="axis">轴号，取值范围：控制器支持的轴号</param>
|
|
|
/// <param name="on">有效性，1-有效，0-无效</param>
|
|
|
/// <param name="peq_invalid">轴的脉冲当量是否无效，1-脉冲当量无效，0-脉冲当量有效</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_SetEncoderOn(short mc, short axis, short on, short peq_invalid = 0);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 设置编码器的计数极性
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="axis">轴号，取值范围：控制器支持的轴号</param>
|
|
|
/// <param name="pol">极性，1-正，0-负</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_SetEncoderPol(short mc, short axis, short pol);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 设置编码器索引信号极性
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="axis">轴号，取值范围：控制器支持的轴号</param>
|
|
|
/// <param name="pol">极性，1-正，0-负</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_SetEncoderIndexPol(short mc, short axis, short pol);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 设置报警信号有效性
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="axis">轴号，取值范围：控制器支持的轴号</param>
|
|
|
/// <param name="on">有效性，1-有效，0-无效</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_SetAlarmOn(short mc, short axis, short on);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 设置报警信号的极性
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="axis">轴号，取值范围：控制器支持的轴号</param>
|
|
|
/// <param name="pol">极性，1-正，0-负</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_SetAlarmPol(short mc, short axis, short pol);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 设置脉冲输出方式
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="axis">轴号，取值范围：控制器支持的轴号</param>
|
|
|
/// <param name="mode">模式，1-CCW+CW，0-PULSE+DIR</param>
|
|
|
/// <param name="edge">边沿，0-上升沿，1-下降沿，默认值为0</param>
|
|
|
/// <param name="dirpol">脉冲方向的极性，1-正极性，0-负极性，默认值为0</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_SetPulseMode(short mc, short axis, short mode, short edge = 0, short dirpol = 0);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 设置轴位移是按模数运动
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="axis">轴号，取值范围：控制器支持的轴号</param>
|
|
|
/// <param name="mod">是否按位移模数运动，1-按模数位移，0-按广义直线位移</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_SetModular(short mc, short axis, short mod);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 设置电子齿轮比
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="axis">轴号，取值范围：控制器支持的轴号</param>
|
|
|
/// <param name="master">主动轮齿数，取值范围：1~2^32</param>
|
|
|
/// <param name="slave">从动轮齿数，取值范围：1~2^32</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_SetGearRatio(short mc, short axis, uint master, uint slave);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 设置轴的脉冲当量
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="axis">轴号，取值范围：控制器支持的轴号</param>
|
|
|
/// <param name="pulse">脉冲数，单位：p，取值范围：1~2^32</param>
|
|
|
/// <param name="disp">位移，单位：物理量纲分辨率，取值范围：1~2^32</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_SetPulseRatio(short mc, short axis, uint pulse, uint disp);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 设置辅助编码器的脉冲当量
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="auxenc">辅助编码器索引，取值范围：0,1</param>
|
|
|
/// <param name="pulse">脉冲数，单位：p，取值范围：1~2^32</param>
|
|
|
/// <param name="disp">位移，单位：物理量纲分辨率，取值范围：1~2^32</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_SetPulseRatioAux(short mc, short auxenc, uint pulse, uint disp);
|
|
|
|
|
|
#endregion 属性设置
|
|
|
|
|
|
|
|
|
#region 电子齿轮操作
|
|
|
|
|
|
/// <summary>
|
|
|
/// 设置电子齿轮的属性
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="slave">从动轴号，取值范围：控制器支持的轴号</param>
|
|
|
/// <param name="master">主动轴号，取值范围：控制器支持的轴号</param>
|
|
|
/// <param name="dir">跟随方向，取值范围：0 - 同向，1 - 反向</param>
|
|
|
/// <param name="possrc">跟随位置源，取值范围：0 - 命令位置，1 - 实际位置</param>
|
|
|
/// <param name="mode">电子齿轮跟随模式，取值范围：0 - 位置跟随，1 - 速度跟随</param>
|
|
|
/// <param name="trans">飞行改变齿轮比的平滑过渡距离</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_EGearSetParam(short mc, short slave, short master, short dir, short possrc, short mode, int trans);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 启用电子齿轮
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="axes">按位掩码表示的从动轴的轴选择</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_EGearStart(short mc, uint axes);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 停止电子齿轮
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="axes">按位掩码表示的从动轴的轴选择</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_EGearStop(short mc, uint axes);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 读取各轴的电子齿轮激活状态
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="stat">按位掩码表示的各轴电子齿轮生效状态，各位含义：0-失效，1-激活</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_EGearGetStatus(short mc, ref uint stat);
|
|
|
|
|
|
#endregion 电子齿轮操作
|
|
|
|
|
|
#region 驱控一体A型
|
|
|
|
|
|
/****************************************************************************************
|
|
|
* @Begin 驱控一体A型
|
|
|
****************************************************************************************/
|
|
|
|
|
|
/// <summary>
|
|
|
/// 驱控一体A型参数设置
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="axis">轴号，取值范围：0~7，共8个轴</param>
|
|
|
/// <param name="resolution">细分，取值范围：1,2,4,8,16,32,64,128,256</param>
|
|
|
/// <param name="current">电流，取值范围：100~3200mA，间隔100mA</param>
|
|
|
/// <param name="torque">堵转扭矩，取值范围：0%~100%</param>
|
|
|
/// <param name="mode">工作模式，取值范围：0-位置模式，2-力矩模式</param>
|
|
|
/// <param name="noload">空载扭矩参考值，取值范围：1~1000，无量纲，默认值为400</param>
|
|
|
/// <param name="sgt">扭矩检测灵敏度，取值范围：-10~63， 无量纲，默认值为10</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
/// <remarks>当轴工作在力矩模式时，遇到堵转信号，轴就自动停止脉冲信号。其它模式下，遇到堵转信号，轴继续发送脉冲信号。</remarks>
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[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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public static extern short ZT_SetDCIAParam(short mc, short axis, short resolution, short current, short torque, short mode = 0, short noload = 400, short sgt = 10);
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/**
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* @brief 驱控一体A型状态
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* @param mc： 控制器索引
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* axis： 轴号，取值范围：0~7，共8个轴
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* sg_flag： 堵转的保持标志，范围：0 - 无堵转，1 - 已堵转
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* sg： 堵转的实时状态，范围：0 - 无堵转，1 - 已堵转
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* sg_value： 实时力矩，范围：0 ~ 100%
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* @return 成功返回0
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* @remark 只有在轴运动停止时，查询的堵转的保持标志才有效。有P2P或Jog命令时，此标志自动清除。
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*/
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/// <summary>
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/// 驱控一体A型状态
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/// </summary>
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/// <param name="mc">控制器索引</param>
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/// <param name="axis">轴号，取值范围：0~7，共8个轴</param>
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/// <param name="sg_flag">堵转的保持标志，范围：0 - 无堵转，1 - 已堵转</param>
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/// <param name="sg">堵转的实时状态，范围：0 - 无堵转，1 - 已堵转</param>
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/// <param name="sg_value">实时力矩，范围：0 ~ 100%</param>
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/// <returns>成功返回0</returns>
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/// <remarks>只有在轴运动停止时，查询的堵转的保持标志才有效。有P2P或Jog命令时，此标志自动清除。</remarks>
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//[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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//public static extern short ZT_GetDCIAStatus(short mc, short axis, short* sg_flag, short* sg, short* sg_value);
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/****************************************************************************************
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* @End 驱控一体A型
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****************************************************************************************/
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#endregion 驱控一体A型
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#region IO操作
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/// <summary>
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/// 设置IO站的配置信息
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/// </summary>
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/// <param name="mc">控制器索引</param>
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/// <param name="node">站地址，取值范围：0-控制器本地，1~15：扩展站点</param>
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/// <param name="type">站点IO类型，取值范围：0-数字IO，其它值-预留/param>
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/// <param name="bytesofin">站点的输入字节数</param>
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/// <param name="bytesofout">站点输出字节数</param>
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/// <param name="valid">站点有效性，取值范围：1-本站点有效，0-本站点无效，默认值为1</param>
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/// <returns></returns>
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[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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public static extern short ZT_SetIOConfig(short mc, short node, short type, short bytesofin, short bytesofout, short valid = 1);
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/// <summary>
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/// 读取IO站的配置状态
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/// </summary>
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/// <param name="mc">控制器索引</param>
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/// <param name="node">站地址，取值范围：0-控制器本地，1~15：扩展站点</param>
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/// <param name="type">站点IO类型，取值范围：0-数字IO，其它值-预留/param>
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/// <param name="bytesofin">站点的输入字节数</param>
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/// <param name="bytesofout">站点输出字节数</param>
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/// <param name="stat">站点的配置状态，值含义：-1 - 站通讯超时；0 - 无效站点；1 - 站通讯正常</param>
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/// <returns></returns>
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[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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public static extern short ZT_GetIOConfig(short mc, short node, ref short type, ref short bytesofin, ref short bytesofout, ref short stat);
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/// <summary>
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/// 保存IO站的配置信息
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/// </summary>
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/// <param name="mc">控制器索引</param>
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/// <returns>成功返回</returns>
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[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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public static extern short ZT_SaveIOConfig(short mc);
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/// <summary>
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/// 恢复出厂配置信息
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|
/// </summary>
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/// <param name="mc">控制器索引</param>
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/// <returns>成功返回0</returns>
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[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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public static extern short ZT_ResetIOConfig(short mc);
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/// <summary>
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/// 启动当前配置
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/// </summary>
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/// <param name="mc">控制器索引</param>
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/// <returns>成功返回0</returns>
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[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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public static extern short ZT_StartIOConfig(short mc);
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/// <summary>
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/// 设置输出的位的状态
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|
/// </summary>
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/// <param name="mc">控制器索引</param>
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/// <param name="node">站地址，取值范围：0~15</param>
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/// <param name="index">本站内的输出端口位索引</param>
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/// <param name="data"> 输出值，取值范围：0，1</param>
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/// <returns>成功返回0</returns>
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[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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public static extern short ZT_SetOutBit(short mc, short node, short index, ushort data);
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/// <summary>
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/// 按位翻转输出的端口状态
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|
/// </summary>
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|
/// <param name="mc">控制器索引</param>
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|
/// <param name="node">站地址，取值范围：0~15</param>
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|
/// <param name="index">本站内的输出端口位索引</param>
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/// <param name="data"> 输出值，取值范围：0，1</param>
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/// <param name="delay_time">延时输出时间，取值范围：0~65535，单位：ms</param>
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|
/// <param name="toggle_time">延时翻转时间，取值范围：0~65535，单位：ms</param>
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|
/// <returns>成功返回0</returns>
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|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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|
public static extern short ZT_ToggleOutBit(short mc, short node, short index, ushort data, ushort delay_time = 0, ushort toggle_time = 0);
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/// <summary>
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|
|
/// 设置输出的字节的状态
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|
|
/// </summary>
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|
/// <param name="mc">控制器索引</param>
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|
|
/// <param name="node">站地址，取值范围：0~15</param>
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|
|
/// <param name="index">本站内的输出端口的字节索引</param>
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|
/// <param name="data">输出值，取值：0~0xFF</param>
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|
/// <returns>成功返回0</returns>
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|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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|
|
public static extern short ZT_SetOutByte(short mc, short node, short index, ushort data);
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|
/// <summary>
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|
|
/// 设置输出的字的状态
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|
|
/// </summary>
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|
/// <param name="mc">控制器索引</param>
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|
/// <param name="node">站地址，取值范围：0~15</param>
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|
|
/// <param name="index">本站内的输出端口的字索引</param>
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|
/// <param name="data">输出值，取值：0~0xFFFF</param>
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|
/// <returns>成功返回0</returns>
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|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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|
|
public static extern short ZT_SetOutWord(short mc, short node, short index, ushort data);
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|
/// <summary>
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|
|
/// 设置输出的双字的状态
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|
|
/// </summary>
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|
|
/// <param name="mc">控制器索引</param>
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|
|
/// <param name="node">站地址，取值范围：0~15</param>
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|
|
/// <param name="index">本站内的输出端口的双字索引</param>
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|
|
/// <param name="data">输出值，取值：0~0xFFFFFFFF</param>
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|
|
/// <returns>成功返回0</returns>
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|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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|
|
public static extern short ZT_SetOutDWord(short mc, short node, short index, uint data);
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|
|
/// <summary>
|
|
|
/// 按位读取输出
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|
|
/// </summary>
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|
|
/// <param name="mc">控制器索引</param>
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|
|
/// <param name="node">站地址，取值范围：0~15</param>
|
|
|
/// <param name="index">本站内的输出端口的位索引</param>
|
|
|
/// <param name="data">端口状态值，返回值：0,1</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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|
|
public static extern short ZT_GetOutBit(short mc, short node, short index, ref ushort data);
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|
|
/// <summary>
|
|
|
/// 按字节读取输出
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|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
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|
|
/// <param name="node">站地址，取值范围：0~15</param>
|
|
|
/// <param name="index">本站内的输出端口的字节索引</param>
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|
|
/// <param name="data"> 端口状态值，返回值：0~0xFF</param>
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|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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|
|
public static extern short ZT_GetOutByte(short mc, short node, short index, ref ushort data);
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|
|
|
|
|
/// <summary>
|
|
|
/// 按字读取输出
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="node">站地址，取值范围：0~15</param>
|
|
|
/// <param name="index">本站内的输出端口的字索引</param>
|
|
|
/// <param name="data">端口状态值，返回值：0~0xFFFF</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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|
|
public static extern short ZT_GetOutWord(short mc, short node, short index, ref ushort data);
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|
|
|
|
/// <summary>
|
|
|
/// 按双字读取输出
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="node">站地址，取值范围：0~15</param>
|
|
|
/// <param name="index">端口状态值双字索引</param>
|
|
|
/// <param name="data">端口状态值，返回值：0~0xFFFFFFFF</param>
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|
|
/// <returns>成功返回0</returns>
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|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_GetOutDWord(short mc, short node, short index, ref uint data);
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|
|
|
|
|
/// <summary>
|
|
|
/// 按位读取输入
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="node">站地址，取值范围：0~15</param>
|
|
|
/// <param name="index">本站内输入端口的位索引</param>
|
|
|
/// <param name="data">端口状态值，返回值：0，1</param>
|
|
|
/// <returns>成功返回0</returns>
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|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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|
|
public static extern short ZT_GetInBit(short mc, short node, short index, ref ushort data);
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|
|
|
|
|
/// <summary>
|
|
|
/// 按字节读取输入
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="node">站地址，取值范围：0~15</param>
|
|
|
/// <param name="index">本站内输入端口的字节索引</param>
|
|
|
/// <param name="data">端口状态值，返回值：0，1</param>
|
|
|
/// <returns>成功返回0</returns>
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|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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|
|
public static extern short ZT_GetInByte(short mc, short node, short index, ref ushort data);
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|
|
|
|
|
/// <summary>
|
|
|
/// 按字读取输入
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="node">站地址，取值范围：0~15</param>
|
|
|
/// <param name="index">本站内输入端口的字索引</param>
|
|
|
/// <param name="data">端口状态值，返回值：0~0xFFFF</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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|
|
public static extern short ZT_GetInWord(short mc, short node, short index, ref ushort data);
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|
|
|
|
|
/// <summary>
|
|
|
/// 按双字读取输入
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="node">站地址，取值范围：0~15</param>
|
|
|
/// <param name="index">本站内输入端口的双字索引</param>
|
|
|
/// <param name="data">端口状态值，返回值：0~0xFFFFFFFF</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_GetInDWord(short mc, short node, short index, ref uint data);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 读取EMG的状态
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="level">所选择的急停端口的电平</param>
|
|
|
/// <param name="status">急停的作用状态，0-无效，1-有效</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_GetEMG(short mc, ref short level, ref short status);
|
|
|
|
|
|
#endregion IO操作
|
|
|
|
|
|
|
|
|
#region 状态操作
|
|
|
|
|
|
/// <summary>
|
|
|
/// 读取各轴正向超程开关状态
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="POT">按位掩码表示的正向超程开关状态</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_GetPOT(short mc, ref uint POT);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 读取各轴负向超程开关状态
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="NOT">按位掩码表示的负向超程开关状态</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_GetNOT(short mc, ref uint NOT);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 读取各轴的零点开关状态
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="home">按位掩码表示的各轴零点开关状态</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_GetHome(short mc, ref uint home);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 读取各轴的正在运行状态
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="running">按位掩码表示的各轴运行状态，各位含义：1-运行中，0-停止</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_GetRunning(short mc, ref uint running);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 读取各轴运动到位状态
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="reached">按位掩码表示的运动到位标志，各位含义：1-到位，0-未到位</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
/// <remarks>此标志反映的是伺服驱动器输出的到位信号</remarks>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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|
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public static extern short ZT_GetReached(short mc, ref uint reached);
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/// <summary>
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/// 读取各轴正在回零过程的状态
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|
|
/// </summary>
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|
/// <param name="mc">控制器索引</param>
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/// <param name="homing">按位掩码表示的各轴正在回零状态，1-正在回零过程，0-未在回零过程</param>
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/// <returns>成功返回0</returns>
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[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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|
|
public static extern short ZT_GetHoming(short mc, ref uint homing);
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/// <summary>
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|
/// 读取各轴已完成回零的状态
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|
/// </summary>
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|
/// <param name="mc">控制器索引</param>
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/// <param name="homed">按位掩码表示的各轴已完成回零的状态，1-已完成回零，0-未完成回零</param>
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/// <returns>成功返回0</returns>
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|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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|
|
public static extern short ZT_GetHomed(short mc, ref uint homed);
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/// <summary>
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|
/// 读取各轴电机报警信号状态
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|
/// </summary>
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/// <param name="mc">控制器索引</param>
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/// <param name="alm">按位掩码表示的电机报警状态，1-已报警，0-未报警</param>
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/// <returns>成功返回0</returns>
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[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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|
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public static extern short ZT_GetAlarm(short mc, ref uint alm);
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/// <summary>
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/// 读取各轴正向软限位标志
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|
/// </summary>
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/// <param name="mc">控制器索引</param>
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/// <param name="psl">按位掩码表示的各轴正向软限位标志，1-处于正向软限位，0-未处于正向软限位</param>
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/// <returns>成功返回0</returns>
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|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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|
public static extern short ZT_GetPSLFlag(short mc, ref uint psl);
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/// <summary>
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|
/// 读取各轴负向软限位标志
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|
/// </summary>
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|
/// <param name="mc">控制器索引</param>
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|
/// <param name="nsl">按位掩码表示的各轴负向软限位标志，1-处于负向软限位，0-未处于负向软限位</param>
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/// <returns>成功返回0</returns>
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|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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|
|
public static extern short ZT_GetNSLFlag(short mc, ref uint nsl);
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|
/// <summary>
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|
|
/// 读取各轴伺服激活状态
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|
|
/// </summary>
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|
/// <param name="mc">控制器索引</param>
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|
|
/// <param name="status">按位掩码表示的各轴伺服激活状态，各位含义：1-使能，0-未使能</param>
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|
|
/// <returns>成功返回0</returns>
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|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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|
|
public static extern short ZT_GetServoStatus(short mc, ref uint status);
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#endregion 状态操作
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|
#region 大数据传送状态检测
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|
|
/// <summary>
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|
|
/// 大数据传送的一次往返循环是否结束
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <returns>0：一次传送结束，1：一次传送未结束</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_GetHugeDataBusy(short mc);
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|
|
|
|
|
/// <summary>
|
|
|
/// 大数据传送的一次往返循环是否成功
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <returns>0：成功，非0：错误</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_GetHugeDataError(short mc);
|
|
|
|
|
|
#endregion 大数据传送状态检测
|
|
|
|
|
|
|
|
|
#region 文件操作
|
|
|
|
|
|
/// <summary>
|
|
|
/// 读取文件状态
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="index">文件索引，取值范围：</param>
|
|
|
/// <param name="status">文件状态，各位的含义：
|
|
|
/// bit0 - 文件打开标志，1：文件已打开，0：文件未打开
|
|
|
/// bit1 - 文件传送标志，1：文件正在传送，0：文件停止传送
|
|
|
/// bit2 - 文件头标志，1：文件头
|
|
|
/// bit3 - 文件尾标志，1：文件尾
|
|
|
/// bit4 - 保留
|
|
|
/// bit5 - 保留
|
|
|
/// bit6 - 文件错误标志，1：文件错误，0：文件正确
|
|
|
/// bit7 - 保留
|
|
|
/// bit8~15 - 保留
|
|
|
/// </param>
|
|
|
/// <param name="bytesofrw">已传送的字节数</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_FileGetStatus(short mc, short index, ref ushort status, ref int bytesofrw);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 打开读写文件
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="fileno">文件索引，取值范围：</param>
|
|
|
/// <param name="buf">文件缓冲区</param>
|
|
|
/// <param name="bytestorw">需要传送的字节数</param>
|
|
|
/// <param name="access">访问方式，取值范围：0（读） - 从控制器传送到服务，1（写）- 从服务传送到控制器</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_FileOpen(short mc, short index, char[] buf, int bytestorw, short access);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 文件传送启动
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_FileRW(short mc);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 关闭读写文件
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="index">文件索引，取值范围：</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_FileClose(short mc, short index);
|
|
|
|
|
|
#endregion 文件操作
|
|
|
|
|
|
|
|
|
#region 串口通讯
|
|
|
|
|
|
/// <summary>
|
|
|
/// 设置串口通讯的参数
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="com">串口索引，0-RS485，1-RS232A，2-RS232B</param>
|
|
|
/// <param name="baud">串口波特率，2400,4800,9600,19200,38400,57600,115200,等</param>
|
|
|
/// <param name="databits">串口数据位数，5,6,7,8</param>
|
|
|
/// <param name="stopbits">串口数据停止位数，1,2</param>
|
|
|
/// <param name="parity">串口数据奇偶校验，0-无校验，1-奇校验，2-偶校验</param>
|
|
|
/// <param name="mode">串口工作模式，0-自由协议模式，1-Modebus RTU Slave，2-Modbus RTU Master，15-单指令运动命令</param>
|
|
|
/// <param name="timeout">串口通讯超时设定，0~65535</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_SetComParam(short mc, short com, int baud, short databits, short stopbits, short parity, short mode, ushort timeout);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 串口通讯中数据交换的字节读
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="bptr">需要读取的数据交换区的字节地址，范围：0~63</param>
|
|
|
/// <param name="numtoread">需要读取的字节数</param>
|
|
|
/// <param name="data">用户声明的数据缓冲区</param>
|
|
|
/// <param name="numofread">已读取的字节数</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_GetComDataByte(short mc, short bptr, short numtoread, short[] data, ref short numofread);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 串口通讯中数据交换的字读
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="wptr">需要读取的数据交换区的字地址，范围：0~31</param>
|
|
|
/// <param name="numtoread">需要读取的字数</param>
|
|
|
/// <param name="data">用户声明的数据缓冲区</param>
|
|
|
/// <param name="numofread">已读取的字数</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_GetComDataWord(short mc, short wptr, short numtoread, ushort[] data, ref short numofread);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 串口通讯中数据交换的双字读
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="dwptr">需要读取的数据交换区的双字地址，范围：0~15</param>
|
|
|
/// <param name="numtoread">需要读取的双字数</param>
|
|
|
/// <param name="data">用户声明的数据缓冲区</param>
|
|
|
/// <param name="numofread">已读取的双字数</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_GetComDataDWord(short mc, short dwptr, short numtoread, uint[] data, ref short numofread);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 串口通讯中数据交换的浮点数读
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="fptr">需要读取的数据交换区的浮点数地址，范围：0~15</param>
|
|
|
/// <param name="numtoread">需要读取的浮点数的数量</param>
|
|
|
/// <param name="data">用户声明的数据缓冲区</param>
|
|
|
/// <param name="numofread">已读取的浮点数的数量</param>
|
|
|
/// <param name=""></param>
|
|
|
/// <param name=""></param>
|
|
|
/// <param name=""></param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_GetComDataFloat(short mc, short fptr, short numtoread, float[] data, ref short numofread);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 串口通讯数据交换的字节写
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="bptr">需要写的数据交换区的字节地址，范围：0~63</param>
|
|
|
/// <param name="numtowrite">需要写的字节数</param>
|
|
|
/// <param name="data">用户声明的数据缓冲区</param>
|
|
|
/// <param name="numofwritten">已写的字节数</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_SetComDataByte(short mc, short bptr, short numtowrite, short[] data, ref short numofwritten);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 串口通讯数据交换的字写
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="wptr">需要写的数据交换区的字地址，范围：0~31</param>
|
|
|
/// <param name="numtowrite">需要写的字数</param>
|
|
|
/// <param name="data">用户声明的数据缓冲区</param>
|
|
|
/// <param name="numofwritten">已写的字数</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_SetComDataWord(short mc, short wptr, short numtowrite, ushort[] data, ref short numofwritten);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 串口通讯数据交换的双字写
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="dwptr">需要写的数据交换区的双字地址，范围：0~15</param>
|
|
|
/// <param name="numtowrite">需要写的双字数</param>
|
|
|
/// <param name="data">用户声明的数据缓冲区</param>
|
|
|
/// <param name="numofwritten">已写的双字数</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_SetComDataDWord(short mc, short dwptr, short numtowrite, uint[] data, ref short numofwritten);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 串口通讯数据交换的浮点数写
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="fptr">需要写的数据交换区的浮点数地址，范围：0~15</param>
|
|
|
/// <param name="numtowrite">需要写的浮点数的数量</param>
|
|
|
/// <param name="data">用户声明的数据缓冲区</param>
|
|
|
/// <param name="numofwritten">已写的浮点数的数量</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_SetComDataFloat(short mc, short fptr, short numtowrite, float[] data, ref short numofwritten);
|
|
|
|
|
|
/// <summary>
|
|
|
/// Modbus寄存器(16bit)读命令
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="com">串口索引，0-RS485， 1-RS232A，2-RS232B</param>
|
|
|
/// <param name="addr">从站地址</param>
|
|
|
/// <param name="reg">寄存器起始地址</param>
|
|
|
/// <param name="num">寄存器数量</param>
|
|
|
/// <param name="wptr">数据交换区索引，范围：0~31</param>字
|
|
|
/// <returns>成功返回0</returns>
|
|
|
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_ModbusReadReg(short mc, short com, short addr, ushort reg, ushort num, short wptr);
|
|
|
|
|
|
/// <summary>
|
|
|
/// Modbus寄存器(16bit)写命令
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="com">串口索引，0-RS485， 1-RS232A，2-RS232B</param>
|
|
|
/// <param name="addr">从站地址</param>
|
|
|
/// <param name="reg">寄存器起始地址</param>
|
|
|
/// <param name="num">寄存器数量</param>
|
|
|
/// <param name="wptr">数据交换区字索引，范围：0~31</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_ModbusWriteReg(short mc, short com, short addr, ushort reg, ushort num, short wptr);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 启动串口通讯
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="com">串口索引，0-RS485， 1-RS232A，2-RS232B</param>
|
|
|
/// <param name="onshot">0-连续通讯方式，1-单次通讯方式</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_ComStart(short mc, short com, short oneshot);
|
|
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/// <summary>
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/// 停止串口通讯
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/// </summary>
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/// <param name="mc">控制器索引</param>
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/// <param name="com">串口索引，0-RS485， 1-RS232A，2-RS232B</param>
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/// <returns>成功返回0</returns>
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///
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[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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public static extern short ZT_ComStop(short mc, short com);
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/// <summary>
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/// 读串口通讯状态
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/// </summary>
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/// <param name="mc">控制器索引</param>
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/// <param name="com">串口索引，0-RS485，1-RS232A，2-RS232B</param>
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/// <param name="stat">串口通讯状态，状态值含义，
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/// bit 0 - 串口运行状态，0：空闲，1：正在通讯
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/// bit 1 -
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/// bit 2 -
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/// bit 3 - modbus校验错误，0：无错，1：CRC错误
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/// bit 4 -
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/// bit 5 -
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/// bit 6 -
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/// bit 7 - 串口通讯超时，0：无超时，1：超时
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/// </param>
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/// <returns>成功返回0</returns>
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[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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public static extern short ZT_GetComStatus(short mc, short com, ref short stat);
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#endregion 串口通讯
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#region 锁附指令
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/// <summary>
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/// 设置锁附轴号
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/// </summary>
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/// <param name="mc">控制器索引</param>
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/// <param name="index">锁附任务索引</param>
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/// <param name="r_axis">R轴轴号</param>
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/// <param name="enc_axis">光栅轴号</param>
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/// <returns>成功返回0</returns>
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[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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public static extern short ZT_SetLockPairAxis(short mc, short index, short r_axis, short enc_axis);
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/// <summary>
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/// 设置锁附速度
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/// </summary>
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/// <param name="mc">控制器索引</param>
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/// <param name="index">锁附任务索引</param>
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/// <param name="hivel">锁附高速，单位p/ms，取值范围：0.001~8000.0</param>
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/// <param name="lovel">锁附低速，单位p/ms，取值范围：0.001~8000.0</param>
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/// <param name="dec">锁附减速度，单位p/ms^2，取值范围：0.001~4000.0</param>
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/// <returns>成功返回0</returns>
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[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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public static extern short ZT_SetLockPairVel(short mc, short index, float hivel, float lovel, float dec);
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/// <summary>
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/// 设置锁附高度
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/// </summary>
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/// <param name="mc">控制器索引</param>
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/// <param name="index">锁附任务索引</param>
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/// <param name="lock_h">锁附高度，绝对高度，单位p</param>
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/// <param name="align_h">对位高度，相对高度，单位p</param>
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/// <param name="trqsamp_h">后段采集扭力高度，相对高度，单位p</param>
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/// <param name="lower_h">低速锁的起始高度，相对高度，单位p</param>
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/// <returns>成功返回0</returns>
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[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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public static extern short ZT_SetLockPairHeight(short mc, short index, int lock_h, int align_h, int trqsamp_h, int lower_h);
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/// <summary>
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/// 设置锁附高度偏差
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/// </summary>
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/// <param name="mc">控制器索引</param>
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/// <param name="index">锁附任务索引</param>
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/// <param name="lock_es">锁附高度上偏差，单位p</param>
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/// <param name="lock_ei">锁附高度下偏差，单位p</param>
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/// <param name="align_es">对位高度上偏差，单位p</param>
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/// <param name="align_ei">对位高度下偏差，单位p</param>
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|
/// <returns>成功返回0</returns>
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[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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|
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public static extern short ZT_SetLockPairHeightDeviation(short mc, short index, int lock_es, int lock_ei, int align_es, int align_ei);
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/// <summary>
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/// 设置锁附扭力限制
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|
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/// </summary>
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/// <param name="mc">控制器索引</param>
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/// <param name="index">锁附任务索引</param>
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/// <param name="ch">扭力通道</param>
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/// <param name="upper">扭力上限</param>
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/// <param name="lower">扭力下限</param>
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|
/// <param name="ischecking">是否启用扭力检测，取值：1-启用，0-不启用</param>
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|
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/// <returns>成功返回0</returns>
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|
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[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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public static extern short ZT_SetLockPairTrq(short mc, short index, short ch, int upper, int lower, short ischecking);
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/// <summary>
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/// 设置R轴反转角度
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|
/// </summary>
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/// <param name="mc">控制器索引</param>
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/// <param name="index">锁附任务索引</param>
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/// <param name="rev_aft_lock">锁附后反转角度，单位p</param>
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/// <param name="rev_bfr_align">对位前反转角度，单位p</param>
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|
/// <param name="is_rev_aft_lock">是否启用锁附后反转</param>
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/// <param name="is_rev_bfr_align">是否启用对位前反转</param>
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|
|
/// <returns>成功返回0</returns>
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|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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|
|
public static extern short ZT_SetLockPairReverse(short mc, short index, int rev_aft_lock, int rev_bfr_align, int is_rev_aft_lock, int is_rev_bfr_align);
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/// <summary>
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|
|
/// 设置锁附延时
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|
|
/// </summary>
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/// <param name="mc">控制器索引</param>
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|
|
/// <param name="index">锁附任务索引</param>
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|
|
/// <param name="dly_aft_lockrev">锁附反转停止后延时，单位ms</param>
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|
|
/// <param name="dly_aft_alignrev">对位反转停止后延时，单位ms</param>
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|
|
/// <returns>成功返回0</returns>
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|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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|
|
public static extern short ZT_SetLockPairDelay(short mc, short index, int dly_aft_lockrev, int dly_aft_alignrev);
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/// <summary>
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|
|
/// 设置锁附R轴旋转约束圈数
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|
|
/// </summary>
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|
|
/// <param name="mc">控制器索引</param>
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|
|
/// <param name="index">锁附任务索引</param>
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|
|
/// <param name="hivel_rev">高速锁附旋转圈数约束，单位p</param>
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|
|
/// <param name="lovel_rev">低速锁附旋转圈数约束，单位p</param>
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|
|
/// <returns>成功返回0</returns>
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|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
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|
|
public static extern short ZT_SetLockPairRestrictRev(short mc, short index, int hivel_rev, int lovel_rev);
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|
/// <summary>
|
|
|
/// 设置锁附Z轴参数
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
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|
|
/// <param name="index">锁附任务索引</param>
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|
|
/// <param name="is_z_valid">Z轴是否有效，1-有效，0-无效</param>
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|
|
/// <param name="z_axis">Z轴轴号</param>
|
|
|
/// <param name="hivel">Z轴高速，单位：p/ms</param>
|
|
|
/// <param name="lovel">Z轴低速，单位：p/ms</param>
|
|
|
/// <param name="dec">Z轴减速度，单位：p/ms^2</param>
|
|
|
/// <param name="dec_h">Z轴减速高度，单位：p</param>
|
|
|
/// <param name="r_rev_h">Z轴触发R轴回转的高度，单位：p</param>
|
|
|
/// <param name="lock_h">Z轴锁附高度</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_SetLockPairZ(short mc, short index, short is_z_valid, short z_axis, float hivel, float lovel, float dec, int dec_h, int r_rev_h, int lock_h);
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|
|
|
|
|
/// <summary>
|
|
|
/// 启动锁附
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="index">锁附任务索引</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_LockPairStart(short mc, short index);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 停止锁附
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="index">锁附任务索引</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_LockPairStop(short mc, short index);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 读取锁附过程状态
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="index">锁附任务索引</param>
|
|
|
/// <param name="running">按位掩码表示的各锁附任务的过程状态，0-空闲状态，1-正在锁附。</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_GetLockPairRunning(short mc, ref uint running);
|
|
|
|
|
|
/// <summary>
|
|
|
///
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="index">锁附任务索引</param>
|
|
|
/// <param name="res">锁附过程结果</param>
|
|
|
/// <param name="height">锁附完成的高度</param>
|
|
|
/// <param name="trq">锁附完成的扭力</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_GetLockPairResult(short mc, short index, ref int res, ref int height, ref int trq);
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|
|
|
|
|
#endregion 锁附指令
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|
|
|
|
|
|
|
|
#region 系统信息指令
|
|
|
|
|
|
/// <summary>
|
|
|
/// 读取控制器的控制周期计数
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="ticks">控制周期计数</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_GetMcTicks(short mc, ref uint ticks);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 读取控制器的特性参数
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="period">控制周期，单位：ns</param>
|
|
|
/// <param name="axis_num">控制器的最大轴数</param>
|
|
|
/// <param name="ch_max">控制器的最大通道数</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_GetMcProperty(short mc, ref uint period, ref short axis_num, ref short ch_max);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 读取控制器的接口资源
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="di_num">数字输入端口数</param>
|
|
|
/// <param name="do_num">数字输出端口数</param>
|
|
|
/// <param name="ai_num">模拟输入端口数</param>
|
|
|
/// <param name="ao_num">模拟输出端口数</param>
|
|
|
/// <param name="pi_num">脉冲输入端口数</param>
|
|
|
/// <param name="po_num">脉冲输出端口数</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_GetMcIOResource(short mc, ref short di_num, ref short do_num, ref short ai_num, ref short ao_num, ref short pi_num, ref short po_num);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 读取控制器的型号
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="model">控制器型号</param>
|
|
|
/// <param name="type">控制器功能类型</param>
|
|
|
/// <param name="ver">版本号</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_GetMcModel(short mc, ref short model, ref short type, ref ushort ver);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 读取控制器的型号
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="arm_ver">控制器型号</param>
|
|
|
/// <param name="fpga_ver">控制器功能类型</param>
|
|
|
/// <param name="service_ver">版本号</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_GetMcVersion(short mc, ref uint arm_ver, ref uint fpga_ver, ref uint service_ver);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 设置控制器时钟
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="year">年</param>
|
|
|
/// <param name="month">月</param>
|
|
|
/// <param name="mday">日</param>
|
|
|
/// <param name="wday">星期</param>
|
|
|
/// <param name="hour">小时</param>
|
|
|
/// <param name="min">分</param>
|
|
|
/// <param name="sec">秒</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_SetRTC(short mc, short year, short month, short mday, short wday, short hour, short min, short sec);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 读取控制器时钟
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="year">年</param>
|
|
|
/// <param name="month">月</param>
|
|
|
/// <param name="mday">日</param>
|
|
|
/// <param name="wday">星期</param>
|
|
|
/// <param name="hour">小时</param>
|
|
|
/// <param name="min">分</param>
|
|
|
/// <param name="sec">秒</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_GetRTC(short mc, ref short year, ref short month, ref short mday, ref short wday, ref short hour, ref short min, ref short sec);
|
|
|
|
|
|
/// <summary>
|
|
|
/// 读取控制器动态握手周期
|
|
|
/// </summary>
|
|
|
/// <param name="mc">控制器索引</param>
|
|
|
/// <param name="span">握手间隔，单位：us</param>
|
|
|
/// <returns>成功返回0</returns>
|
|
|
[DllImport("RS.dll", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.Cdecl)]
|
|
|
public static extern short ZT_GetHandshakeSpan(short mc, ref int span);
|
|
|
|
|
|
#endregion 系统信息指令
|
|
|
|
|
|
#endregion 函数接口
|
|
|
}
|
|
|
} |