#pragma once #define GT_API extern "C" short __stdcall #define DLL_VERSION_0 2 #define DLL_VERSION_1 1 #define DLL_VERSION_2 0 #define DLL_VERSION_3 1 #define DLL_VERSION_4 5 #define DLL_VERSION_5 0 #define DLL_VERSION_6 6 #define DLL_VERSION_7 0 #define DLL_VERSION_8 7 #define MC_NONE -1 #define MC_LIMIT_POSITIVE 0 #define MC_LIMIT_NEGATIVE 1 #define MC_ALARM 2 #define MC_HOME 3 #define MC_GPI 4 #define MC_ARRIVE 5 #define MC_MPG 6 #define MC_ENABLE 10 #define MC_CLEAR 11 #define MC_GPO 12 #define MC_DAC 20 #define MC_STEP 21 #define MC_PULSE 22 #define MC_ENCODER 23 #define MC_ADC 24 #define MC_AXIS 30 #define MC_PROFILE 31 #define MC_CONTROL 32 #define CAPTURE_HOME 1 #define CAPTURE_INDEX 2 #define CAPTURE_PROBE 3 #define CAPTURE_HSIO0 6 #define CAPTURE_HSIO1 7 #define CAPTURE_HOME_GPI 8 #define PT_MODE_STATIC 0 #define PT_MODE_DYNAMIC 1 #define PT_SEGMENT_NORMAL 0 #define PT_SEGMENT_EVEN 1 #define PT_SEGMENT_STOP 2 #define GEAR_MASTER_ENCODER 1 #define GEAR_MASTER_PROFILE 2 #define GEAR_MASTER_AXIS 3 #define FOLLOW_MASTER_ENCODER 1 #define FOLLOW_MASTER_PROFILE 2 #define FOLLOW_MASTER_AXIS 3 #define FOLLOW_EVENT_START 1 #define FOLLOW_EVENT_PASS 2 #define GEAR_EVENT_START 1 #define GEAR_EVENT_PASS 2 #define GEAR_EVENT_AREA 5 #define FOLLOW_SEGMENT_NORMAL 0 #define FOLLOW_SEGMENT_EVEN 1 #define FOLLOW_SEGMENT_STOP 2 #define FOLLOW_SEGMENT_CONTINUE 3 #define INTERPOLATION_AXIS_MAX 4 #define CRD_FIFO_MAX 4096 #define FIFO_MAX 2 #define CRD_MAX 2 #define CRD_OPERATION_DATA_EXT_MAX 2 #define CRD_OPERATION_TYPE_NONE 0 #define CRD_OPERATION_TYPE_BUF_IO_DELAY 1 #define CRD_OPERATION_TYPE_LASER_ON 2 #define CRD_OPERATION_TYPE_LASER_OFF 3 #define CRD_OPERATION_TYPE_BUF_DA 4 #define CRD_OPERATION_TYPE_LASER_CMD 5 #define CRD_OPERATION_TYPE_LASER_FOLLOW_RATIO 6 #define CRD_OPERATION_TYPE_LMTS_ON 7 #define CRD_OPERATION_TYPE_LMTS_OFF 8 #define CRD_OPERATION_TYPE_SET_STOP_IO 9 #define CRD_OPERATION_TYPE_BUF_MOVE 10 #define CRD_OPERATION_TYPE_BUF_GEAR 11 #define CRD_OPERATION_TYPE_SET_SEG_NUM 12 #define CRD_OPERATION_TYPE_STOP_MOTION 13 #define CRD_OPERATION_TYPE_SET_VAR_VALUE 14 #define CRD_OPERATION_TYPE_JUMP_NEXT_SEG 15 #define CRD_OPERATION_TYPE_SYNCH_PRF_POS 16 #define CRD_OPERATION_TYPE_VIRTUAL_TO_ACTUAL 17 #define CRD_OPERATION_TYPE_SET_USER_VAR 18 #define CRD_OPERATION_TYPE_SET_DO_BIT_PULSE 19 #define CRD_OPERATION_TYPE_BUF_COMPAREPULSE 20 #define CRD_OPERATION_TYPE_LASER_ON_EX 21 #define CRD_OPERATION_TYPE_LASER_OFF_EX 22 #define CRD_OPERATION_TYPE_LASER_CMD_EX 23 #define CRD_OPERATION_TYPE_LASER_FOLLOW_RATIO_EX 24 #define CRD_OPERATION_TYPE_LASER_FOLLOW_MODE 25 #define CRD_OPERATION_TYPE_LASER_FOLLOW_OFF 26 #define CRD_OPERATION_TYPE_LASER_FOLLOW_OFF_EX 27 #define CRD_OPERATION_TYPE_LASER_FOLLOW_SPLINE 28 #define CRD_OPERATION_TYPE_MOTION_DATA 29 #define INTERPOLATION_MOTION_TYPE_LINE 0 #define INTERPOLATION_MOTION_TYPE_CIRCLE 1 #define INTERPOLATION_MOTION_TYPE_HELIX 2 #define INTERPOLATION_MOTION_TYPE_CIRCLE_3D 3 #define INTERPOLATION_CIRCLE_PLAT_XY 0 #define INTERPOLATION_CIRCLE_PLAT_YZ 1 #define INTERPOLATION_CIRCLE_PLAT_ZX 2 #define INTERPOLATION_HELIX_CIRCLE_XY_LINE_Z 0 #define INTERPOLATION_HELIX_CIRCLE_YZ_LINE_X 1 #define INTERPOLATION_HELIX_CIRCLE_ZX_LINE_Y 2 #define INTERPOLATION_CIRCLE_DIR_CW 0 #define INTERPOLATION_CIRCLE_DIR_CCW 1 #define COMPARE_PORT_HSIO (0) //??zW??HSIO? #define COMPARE_PORT_GPO (1) //??zW??GPO? #define COMPARE2D_MODE_2D 1 #define COMPARE2D_MODE_1D 0 #define INTERFACEBOARD20 2 #define INTERFACEBOARD30 3 #define AXIS_LASER 7 #define AXIS_LASER_EX 8 #define LASER_CTRL_MODE_PWM1 (0) // ??:PWM1 #define LASER_CTRL_FREQUENCY (1) // ??:? #define LASER_CTRL_VOLTAGE (2) // ??:? #define LASER_CTRL_MODE_PWM2 (3) // ??:PWM2 typedef struct TrapPrm { double acc; double dec; double velStart; short smoothTime; } TTrapPrm; typedef struct JogPrm { double acc; double dec; double smooth; } TJogPrm; typedef struct Pid { double kp; double ki; double kd; double kvff; double kaff; long integralLimit; long derivativeLimit; short limit; } TPid; typedef struct ThreadSts { short run; short error; double result; short line; } TThreadSts; typedef struct VarInfo { short id; short dataType; char name[32]; } TVarInfo; typedef struct CompileInfo { char *pFileName; short *pLineNo; char *pMessage; } TCompileInfo; typedef struct CrdPrm { short dimension; // 坐标系维数 short profile[8]; // 关联profile和坐标轴 double synVelMax; // 最大合成速度 double synAccMax; // 最大合成加速度 short evenTime; // 最小匀速时间 short setOriginFlag; // 设置原点坐标值标志,0:默认当前规划位置为原点位置;1:用户指定原点位置 long originPos[8]; // 用户指定的原点位置 }TCrdPrm; typedef struct CrdBufOperation { short flag; // 标志该插补段是否含有IO和延时 unsigned short delay; // 延时时间 short doType; // 缓存区IO的类型,0:不输出IO unsigned short doMask; // 缓存区IO的输出控制掩码 unsigned short doValue; // 缓存区IO的输出值 unsigned short dataExt[CRD_OPERATION_DATA_EXT_MAX]; // 辅助操作扩展数据 }TCrdBufOperation; typedef struct CrdData { short motionType; // 运动类型,0:直线插补,1:圆弧插补 short circlePlat; // 圆弧插补的平面 long pos[INTERPOLATION_AXIS_MAX]; // 当前段各轴终点位置 double radius; // 圆弧插补的半径 short circleDir; // 圆弧旋转方向,0:顺时针;1:逆时针 double center[3]; // 圆弧插补的圆心坐标 double vel; // 当前段合成目标速度 double acc; // 当前段合成加速度 short velEndZero; // 标志当前段的终点速度是否强制为0,0:不强制为0;1:强制为0 TCrdBufOperation operation; // 缓存区延时和IO结构体 double cos[INTERPOLATION_AXIS_MAX]; // 当前段各轴对应的余弦值 double velEnd; // 当前段合成终点速度 double velEndAdjust; // 调整终点速度时用到的变量(前瞻模块) double r; // 当前段合成位移量 }TCrdData; typedef struct Trigger { short encoder; short probeType; short probeIndex; short offset; short windowOnly; long firstPosition; long lastPosition; }TTrigger; typedef struct TriggerStatus { short execute; short done; long position; }TTriggerStatus; typedef struct { long px; long py; } T2DCompareData; typedef struct { short encx; short ency; short source; short outputType; short startLevel; short time; short maxerr; short threshold; } T2DComparePrm; GT_API GT_GetDllVersion(char **pDllVersion); GT_API GT_SetCardNo(short index); GT_API GT_GetCardNo(short *pIndex); GT_API GT_GetVersion(short cardNum,char **pVersion); GT_API GT_GetInterfaceBoardSts(short cardNum,short *pStatus); GT_API GT_SetInterfaceBoardSts(short cardNum,short type); GT_API GT_Open(short cardNum,short channel=0,short param=1); GT_API GT_Close(short cardNum); GT_API GT_LoadConfig(short cardNum,char *pFile); GT_API GT_AlarmOff(short cardNum,short axis); GT_API GT_AlarmOn(short cardNum,short axis); GT_API GT_LmtsOn(short cardNum,short axis,short limitType=-1); GT_API GT_LmtsOff(short cardNum,short axis,short limitType=-1); GT_API GT_ProfileScale(short cardNum,short axis,short alpha,short beta); GT_API GT_EncScale(short cardNum,short axis,short alpha,short beta); GT_API GT_StepDir(short cardNum,short step); GT_API GT_StepPulse(short cardNum,short step); GT_API GT_SetMtrBias(short cardNum,short dac,short bias); GT_API GT_GetMtrBias(short cardNum,short dac,short *pBias); GT_API GT_SetMtrLmt(short cardNum,short dac,short limit); GT_API GT_GetMtrLmt(short cardNum,short dac,short *pLimit); GT_API GT_EncSns(short cardNum,unsigned short sense); GT_API GT_EncOn(short cardNum,short encoder); GT_API GT_EncOff(short cardNum,short encoder); GT_API GT_SetPosErr(short cardNum,short control,long error); GT_API GT_GetPosErr(short cardNum,short control,long *pError); GT_API GT_SetStopDec(short cardNum,short profile,double decSmoothStop,double decAbruptStop); GT_API GT_GetStopDec(short cardNum,short profile,double *pDecSmoothStop,double *pDecAbruptStop); GT_API GT_LmtSns(short cardNum,unsigned short sense); GT_API GT_CtrlMode(short cardNum,short axis,short mode); GT_API GT_SetStopIo(short cardNum,short axis,short stopType,short inputType,short inputIndex); GT_API GT_GpiSns(short cardNum,unsigned short sense); GT_API GT_SetAdcFilter(short cardNum,short adc,short filterTime); GT_API GT_SetAxisPrfVelFilter(short cardNum,short axis,short filterNumExp); GT_API GT_GetAxisPrfVelFilter(short cardNum,short axis,short *pFilterNumExp); GT_API GT_SetAxisEncVelFilter(short cardNum,short axis,short filterNumExp); GT_API GT_GetAxisEncVelFilter(short cardNum,short axis,short *pFilterNumExp); GT_API GT_SetAxisInputShaping(short cardNum,short axis,short enable,short count,double k); GT_API GT_SetDo(short cardNum,short doType,long value); GT_API GT_SetDoBit(short cardNum,short doType,short doIndex,short value); GT_API GT_GetDo(short cardNum,short doType,long *pValue); GT_API GT_SetDoBitReverse(short cardNum,short doType,short doIndex,short value,short reverseTime); GT_API GT_SetDoMask(short cardNum,short doType,unsigned short doMask,long value); GT_API GT_EnableDoBitPulse(short cardNum,short doType,short doIndex,unsigned short highLevelTime,unsigned short lowLevelTime,long pulseNum,short firstLevel); GT_API GT_DisableDoBitPulse(short cardNum,short doType,short doIndex); GT_API GT_GetDi(short cardNum,short diType,long *pValue); GT_API GT_GetDiReverseCount(short cardNum,short diType,short diIndex,unsigned long *pReverseCount,short count=1); GT_API GT_SetDiReverseCount(short cardNum,short diType,short diIndex,unsigned long *pReverseCount,short count=1); GT_API GT_GetDiRaw(short cardNum,short diType,long *pValue); GT_API GT_SetDac(short cardNum,short dac,short *pValue,short count=1); GT_API GT_GetDac(short cardNum,short dac,short *pValue,short count=1,unsigned long *pClock=NULL); GT_API GT_GetAdc(short cardNum,short adc,double *pValue,short count=1,unsigned long *pClock=NULL); GT_API GT_GetAdcValue(short cardNum,short adc,short *pValue,short count=1,unsigned long *pClock=NULL); GT_API GT_SetEncPos(short cardNum,short encoder,long encPos); GT_API GT_GetEncPos(short cardNum,short encoder,double *pValue,short count=1,unsigned long *pClock=NULL); GT_API GT_GetEncPosPre(short cardNum,short encoder,double *pValue,short count=1,unsigned long *pClock=NULL); GT_API GT_GetEncVel(short cardNum,short encoder,double *pValue,short count=1,unsigned long *pClock=NULL); GT_API GT_SetCaptureMode(short cardNum,short encoder,short mode); GT_API GT_GetCaptureMode(short cardNum,short encoder,short *pMode,short count=1); GT_API GT_GetCaptureStatus(short cardNum,short encoder,short *pStatus,long *pValue,short count=1,unsigned long *pClock=NULL); GT_API GT_SetCaptureSense(short cardNum,short encoder,short mode,short sense); GT_API GT_ClearCaptureStatus(short cardNum,short encoder); GT_API GT_SetCaptureRepeat(short cardNum,short encoder,short count); GT_API GT_GetCaptureRepeatStatus(short cardNum,short encoder,short *pCount); GT_API GT_GetCaptureRepeatPos(short cardNum,short encoder,long *pValue,short startNum,short count); GT_API GT_SetCaptureEncoder(short cardNum,short trigger,short encoder); GT_API GT_GetCaptureWidth(short cardNum,short trigger,short *pWidth,short count=1); GT_API GT_GetCaptureHomeGpi(short cardNum,short trigger,short pHomeSts,short *pHomePos,short pGpiSts,short *pGpiPos,short count=1); GT_API GT_Reset(short cardNum); GT_API GT_GetClock(short cardNum,unsigned long *pClock,unsigned long *pLoop=NULL); GT_API GT_GetClockHighPrecision(short cardNum,unsigned long *pClock); GT_API GT_GetSts(short cardNum,short axis,long *pSts,short count=1,unsigned long *pClock=NULL); GT_API GT_ClrSts(short cardNum,short axis,short count=1); GT_API GT_AxisOn(short cardNum,short axis); GT_API GT_AxisOff(short cardNum,short axis); GT_API GT_Stop(short cardNum,long mask,long option); GT_API GT_SetPrfPos(short cardNum,short profile,long prfPos); GT_API GT_SynchAxisPos(short cardNum,long mask); GT_API GT_ZeroPos(short cardNum,short axis,short count=1); GT_API GT_SetSoftLimit(short cardNum,short axis,long positive,long negative); GT_API GT_GetSoftLimit(short cardNum,short axis,long *pPositive,long *pNegative); GT_API GT_SetAxisBand(short cardNum,short axis,long band,long time); GT_API GT_GetAxisBand(short cardNum,short axis,long *pBand,long *pTime); GT_API GT_SetBacklash(short cardNum,short axis,long compValue,double compChangeValue,long compDir); GT_API GT_GetBacklash(short cardNum,short axis,long *pCompValue,double *pCompChangeValue,long *pCompDir); GT_API GT_SetLeadScrewComp(short cardNum,short axis,short n,long startPos,long lenPos,long *pCompPos,long *pCompNeg); GT_API GT_EnableLeadScrewComp(short cardNum,short axis,short mode); GT_API GT_GetCompensate(short cardNum,short axis,double *pPitchError,double *pCrossError,double *pBacklashError,double *pEncPos,double *pPrfPos); GT_API GT_EnableGantry(short cardNum,short gantryMaster,short gantrySlave,double masterKp,double slaveKp); GT_API GT_DisableGantry(short cardNum); GT_API GT_SetGantryErrLmt(short cardNum,long gantryErrLmt); GT_API GT_GetGantryErrLmt(short cardNum,long *pGantryErrLmt); GT_API GT_GetPrfPos(short cardNum,short profile,double *pValue,short count=1,unsigned long *pClock=NULL); GT_API GT_GetPrfVel(short cardNum,short profile,double *pValue,short count=1,unsigned long *pClock=NULL); GT_API GT_GetPrfAcc(short cardNum,short profile,double *pValue,short count=1,unsigned long *pClock=NULL); GT_API GT_GetPrfMode(short cardNum,short profile,long *pValue,short count=1,unsigned long *pClock=NULL); GT_API GT_GetAxisPrfPos(short cardNum,short axis,double *pValue,short count=1,unsigned long *pClock=NULL); GT_API GT_GetAxisPrfVel(short cardNum,short axis,double *pValue,short count=1,unsigned long *pClock=NULL); GT_API GT_GetAxisPrfAcc(short cardNum,short axis,double *pValue,short count=1,unsigned long *pClock=NULL); GT_API GT_GetAxisEncPos(short cardNum,short axis,double *pValue,short count=1,unsigned long *pClock=NULL); GT_API GT_GetAxisEncVel(short cardNum,short axis,double *pValue,short count=1,unsigned long *pClock=NULL); GT_API GT_GetAxisEncAcc(short cardNum,short axis,double *pValue,short count=1,unsigned long *pClock=NULL); GT_API GT_GetAxisError(short cardNum,short axis,double *pValue,short count=1,unsigned long *pClock=NULL); GT_API GT_SetLongVar(short cardNum,short index,long value); GT_API GT_GetLongVar(short cardNum,short index,long *pValue); GT_API GT_SetDoubleVar(short cardNum,short index,double pValue); GT_API GT_GetDoubleVar(short cardNum,short index,double *pValue); GT_API GT_SetControlFilter(short cardNum,short control,short index); GT_API GT_GetControlFilter(short cardNum,short control,short *pIndex); GT_API GT_SetPid(short cardNum,short control,short index,TPid *pPid); GT_API GT_GetPid(short cardNum,short control,short index,TPid *pPid); GT_API GT_SetKvffFilter(short cardNum,short control,short index,short kvffFilterExp,double accMax); GT_API GT_GetKvffFilter(short cardNum,short control,short index,short *pKvffFilterExp,double *pAccMax); GT_API GT_Update(short cardNum,long mask); GT_API GT_SetPos(short cardNum,short profile,long pos); GT_API GT_GetPos(short cardNum,short profile,long *pPos); GT_API GT_SetVel(short cardNum,short profile,double vel); GT_API GT_GetVel(short cardNum,short profile,double *pVel); GT_API GT_PrfTrap(short cardNum,short profile); GT_API GT_SetTrapPrm(short cardNum,short profile,TTrapPrm *pPrm); GT_API GT_GetTrapPrm(short cardNum,short profile,TTrapPrm *pPrm); GT_API GT_PrfJog(short cardNum,short profile); GT_API GT_SetJogPrm(short cardNum,short profile,TJogPrm *pPrm); GT_API GT_GetJogPrm(short cardNum,short profile,TJogPrm *pPrm); GT_API GT_PrfPt(short cardNum,short profile,short mode=PT_MODE_STATIC); GT_API GT_SetPtLoop(short cardNum,short profile,long loop); GT_API GT_GetPtLoop(short cardNum,short profile,long *pLoop); GT_API GT_PtSpace(short cardNum,short profile,short *pSpace,short fifo=0); GT_API GT_PtData(short cardNum,short profile,double pos,long time,short type=PT_SEGMENT_NORMAL,short fifo=0); GT_API GT_PtDataWN(short cardNum,short profile,double pos,long time,short type=PT_SEGMENT_NORMAL,long segNum=0,short fifo=0); GT_API GT_PtClear(short cardNum,short profile,short fifo=0); GT_API GT_PtStart(short cardNum,long mask,long option=0); GT_API GT_SetPtMemory(short cardNum,short profile,short memory); GT_API GT_GetPtMemory(short cardNum,short profile,short *pMemory); GT_API GT_PtGetSegNum(short cardNum,short profile,long *pSegNum); GT_API GT_PrfGear(short cardNum,short profile,short dir=0); GT_API GT_SetGearMaster(short cardNum,short profile,short masterIndex,short masterType=GEAR_MASTER_PROFILE,short masterItem=0); GT_API GT_GetGearMaster(short cardNum,short profile,short *pMasterIndex,short *pMasterType=NULL,short *pMasterItem=NULL); GT_API GT_SetGearRatio(short cardNum,short profile,long masterEven,long slaveEven,long masterSlope=0); GT_API GT_GetGearRatio(short cardNum,short profile,long *pMasterEven,long *pSlaveEven,long *pMasterSlope=NULL); GT_API GT_GearStart(short cardNum,long mask); GT_API GT_SetGearEvent(short cardNum,short profile,short event,long startPara0,long startPara1); GT_API GT_GetGearEvent(short cardNum,short profile,short *pEvent,long *pStartPara0,long *pStartPara1); GT_API GT_PrfFollow(short cardNum,short profile,short dir=0); GT_API GT_SetFollowMaster(short cardNum,short profile,short masterIndex,short masterType=FOLLOW_MASTER_PROFILE,short masterItem=0); GT_API GT_GetFollowMaster(short cardNum,short profile,short *pMasterIndex,short *pMasterType=NULL,short *pMasterItem=NULL); GT_API GT_SetFollowLoop(short cardNum,short profile,long loop); GT_API GT_GetFollowLoop(short cardNum,short profile,long *pLoop); GT_API GT_SetFollowEvent(short cardNum,short profile,short event,short masterDir,long pos=0); GT_API GT_GetFollowEvent(short cardNum,short profile,short *pEvent,short *pMasterDir,long *pPos=NULL); GT_API GT_FollowSpace(short cardNum,short profile,short *pSpace,short fifo=0); GT_API GT_FollowData(short cardNum,short profile,long masterSegment,double slaveSegment,short type=FOLLOW_SEGMENT_NORMAL,short fifo=0); GT_API GT_FollowClear(short cardNum,short profile,short fifo=0); GT_API GT_FollowStart(short cardNum,long mask,long option=0); GT_API GT_FollowSwitch(short cardNum,long mask); GT_API GT_SetFollowMemory(short cardNum,short profile,short memory); GT_API GT_GetFollowMemory(short cardNum,short profile,short *pMemory); GT_API GT_GetFollowStatus(short cardNum,short profile,short *pFifoNum,short *pSwitchStatus); GT_API GT_SetFollowPhasing(short cardNum,short profile,short profilePhasing); GT_API GT_GetFollowPhasing(short cardNum,short profile,short *pProfilePhasing); GT_API GT_Compile(short cardNum,char *pFileName,TCompileInfo *pWrongInfo); GT_API GT_Download(short cardNum,char *pFileName); GT_API GT_GetFunId(short cardNum,char *pFunName,short *pFunId); GT_API GT_Bind(short cardNum,short thread,short funId,short page); GT_API GT_RunThread(short cardNum,short thread); GT_API GT_StopThread(short cardNum,short thread); GT_API GT_PauseThread(short cardNum,short thread); GT_API GT_GetThreadSts(short cardNum,short thread,TThreadSts *pThreadSts); GT_API GT_GetVarId(short cardNum,char *pFunName,char *pVarName,TVarInfo *pVarInfo); GT_API GT_SetVarValue(short cardNum,short page,TVarInfo *pVarInfo,double *pValue,short count=1); GT_API GT_GetVarValue(short cardNum,short page,TVarInfo *pVarInfo,double *pValue,short count=1); GT_API GT_SetCrdPrm(short cardNum,short crd,TCrdPrm *pCrdPrm); GT_API GT_GetCrdPrm(short cardNum,short crd,TCrdPrm *pCrdPrm); GT_API GT_CrdSpace(short cardNum,short crd,long *pSpace,short fifo=0); GT_API GT_CrdData(short cardNum,short crd,TCrdData *pCrdData,short fifo=0); GT_API GT_CrdDataCircle(short cardNum,short crd,TCrdData *pCrdData,short fifo=0); GT_API GT_LnXY(short cardNum,short crd,long x,long y,double synVel,double synAcc,double velEnd=0,short fifo=0); GT_API GT_LnXYZ(short cardNum,short crd,long x,long y,long z,double synVel,double synAcc,double velEnd=0,short fifo=0); GT_API GT_LnXYZA(short cardNum,short crd,long x,long y,long z,long a,double synVel,double synAcc,double velEnd=0,short fifo=0); GT_API GT_LnXYG0(short cardNum,short crd,long x,long y,double synVel,double synAcc,short fifo=0); GT_API GT_LnXYZG0(short cardNum,short crd,long x,long y,long z,double synVel,double synAcc,short fifo=0); GT_API GT_LnXYZAG0(short cardNum,short crd,long x,long y,long z,long a,double synVel,double synAcc,short fifo=0); GT_API GT_ArcXYR(short cardNum,short crd,long x,long y,double radius,short circleDir,double synVel,double synAcc,double velEnd=0,short fifo=0); GT_API GT_ArcXYC(short cardNum,short crd,long x,long y,double xCenter,double yCenter,short circleDir,double synVel,double synAcc,double velEnd=0,short fifo=0); GT_API GT_ArcYZR(short cardNum,short crd,long y,long z,double radius,short circleDir,double synVel,double synAcc,double velEnd=0,short fifo=0); GT_API GT_ArcYZC(short cardNum,short crd,long y,long z,double yCenter,double zCenter,short circleDir,double synVel,double synAcc,double velEnd=0,short fifo=0); GT_API GT_ArcZXR(short cardNum,short crd,long z,long x,double radius,short circleDir,double synVel,double synAcc,double velEnd=0,short fifo=0); GT_API GT_ArcZXC(short cardNum,short crd,long z,long x,double zCenter,double xCenter,short circleDir,double synVel,double synAcc,double velEnd=0,short fifo=0); GT_API GT_ArcXYZ(short cardNum,short crd,long x,long y,long z,double interX,double interY,double interZ,double synVel,double synAcc,double velEnd=0,short fifo=0); GT_API GT_LnXYOverride2(short cardNum,short crd,long x,long y,double synVel,double synAcc,double velEnd=0,short fifo=0); GT_API GT_LnXYZOverride2(short cardNum,short crd,long x,long y,long z,double synVel,double synAcc,double velEnd=0,short fifo=0); GT_API GT_LnXYZAOverride2(short cardNum,short crd,long x,long y,long z,long a,double synVel,double synAcc,double velEnd=0,short fifo=0); GT_API GT_LnXYG0Override2(short cardNum,short crd,long x,long y,double synVel,double synAcc,short fifo=0); GT_API GT_LnXYZG0Override2(short cardNum,short crd,long x,long y,long z,double synVel,double synAcc,short fifo=0); GT_API GT_LnXYZAG0Override2(short cardNum,short crd,long x,long y,long z,long a,double synVel,double synAcc,short fifo=0); GT_API GT_ArcXYROverride2(short cardNum,short crd,long x,long y,double radius,short circleDir,double synVel,double synAcc,double velEnd=0,short fifo=0); GT_API GT_ArcXYCOverride2(short cardNum,short crd,long x,long y,double xCenter,double yCenter,short circleDir,double synVel,double synAcc,double velEnd=0,short fifo=0); GT_API GT_ArcYZROverride2(short cardNum,short crd,long y,long z,double radius,short circleDir,double synVel,double synAcc,double velEnd=0,short fifo=0); GT_API GT_ArcYZCOverride2(short cardNum,short crd,long y,long z,double yCenter,double zCenter,short circleDir,double synVel,double synAcc,double velEnd=0,short fifo=0); GT_API GT_ArcZXROverride2(short cardNum,short crd,long z,long x,double radius,short circleDir,double synVel,double synAcc,double velEnd=0,short fifo=0); GT_API GT_ArcZXCOverride2(short cardNum,short crd,long z,long x,double zCenter,double xCenter,short circleDir,double synVel,double synAcc,double velEnd=0,short fifo=0); GT_API GT_HelixXYRZ(short cardNum,short crd,long x,long y,long z,double radius,short circleDir,double synVel,double synAcc,double velEnd,short fifo=0); GT_API GT_HelixXYCZ(short cardNum,short crd,long x,long y,long z,double xCenter,double yCenter,short circleDir,double synVel,double synAcc,double velEnd=0,short fifo=0); GT_API GT_HelixYZRX(short cardNum,short crd,long x,long y,long z,double radius,short circleDir,double synVel,double synAcc,double velEnd=0,short fifo=0); GT_API GT_HelixYZCX(short cardNum,short crd,long x,long y,long z,double yCenter,double zCenter,short circleDir,double synVel,double synAcc,double velEnd=0,short fifo=0); GT_API GT_HelixZXRY(short cardNum,short crd,long x,long y,long z,double radius,short circleDir,double synVel,double synAcc,double velEnd=0,short fifo=0); GT_API GT_HelixZXCY(short cardNum,short crd,long x,long y,long z,double zCenter,double xCenter,short circleDir,double synVel,double synAcc,double velEnd=0,short fifo=0); GT_API GT_HelixXYRZOverride2(short cardNum,short crd,long x,long y,long z,double radius,short circleDir,double synVel,double synAcc,double velEnd=0,short fifo=0); GT_API GT_HelixXYCZOverride2(short cardNum,short crd,long x,long y,long z,double xCenter,double yCenter,short circleDir,double synVel,double synAcc,double velEnd=0,short fifo=0); GT_API GT_HelixYZRXOverride2(short cardNum,short crd,long x,long y,long z,double radius,short circleDir,double synVel,double synAcc,double velEnd=0,short fifo=0); GT_API GT_HelixYZCXOverride2(short cardNum,short crd,long x,long y,long z,double yCenter,double zCenter,short circleDir,double synVel,double synAcc,double velEnd=0,short fifo=0); GT_API GT_HelixZXRYOverride2(short cardNum,short crd,long x,long y,long z,double radius,short circleDir,double synVel,double synAcc,double velEnd=0,short fifo=0); GT_API GT_HelixZXCYOverride2(short cardNum,short crd,long x,long y,long z,double zCenter,double xCenter,short circleDir,double synVel,double synAcc,double velEnd=0,short fifo=0); GT_API GT_LnXYWN(short cardNum,short crd,long x,long y,double synVel,double synAcc,double velEnd=0,long segNum=0,short fifo=0); GT_API GT_LnXYZWN(short cardNum,short crd,long x,long y,long z,double synVel,double synAcc,double velEnd=0,long segNum=0,short fifo=0); GT_API GT_LnXYZAWN(short cardNum,short crd,long x,long y,long z,long a,double synVel,double synAcc,double velEnd=0,long segNum=0,short fifo=0); GT_API GT_LnXYG0WN(short cardNum,short crd,long x,long y,double synVel,double synAcc,long segNum=0,short fifo=0); GT_API GT_LnXYZG0WN(short cardNum,short crd,long x,long y,long z,double synVel,double synAcc,long segNum=0,short fifo=0); GT_API GT_LnXYZAG0WN(short cardNum,short crd,long x,long y,long z,long a,double synVel,double synAcc,long segNum=0,short fifo=0); GT_API GT_ArcXYRWN(short cardNum,short crd,long x,long y,double radius,short circleDir,double synVel,double synAcc,double velEnd=0,long segNum=0,short fifo=0); GT_API GT_ArcXYCWN(short cardNum,short crd,long x,long y,double xCenter,double yCenter,short circleDir,double synVel,double synAcc,double velEnd=0,long segNum=0,short fifo=0); GT_API GT_ArcYZRWN(short cardNum,short crd,long y,long z,double radius,short circleDir,double synVel,double synAcc,double velEnd=0,long segNum=0,short fifo=0); GT_API GT_ArcYZCWN(short cardNum,short crd,long y,long z,double yCenter,double zCenter,short circleDir,double synVel,double synAcc,double velEnd=0,long segNum=0,short fifo=0); GT_API GT_ArcZXRWN(short cardNum,short crd,long z,long x,double radius,short circleDir,double synVel,double synAcc,double velEnd=0,long segNum=0,short fifo=0); GT_API GT_ArcZXCWN(short cardNum,short crd,long z,long x,double zCenter,double xCenter,short circleDir,double synVel,double synAcc,double velEnd=0,long segNum=0,short fifo=0); GT_API GT_ArcXYZWN(short cardNum,short crd,long x,long y,long z,double interX,double interY,double interZ,double synVel,double synAcc,double velEnd=0,long segNum=0,short fifo=0); GT_API GT_LnXYOverride2WN(short cardNum,short crd,long x,long y,double synVel,double synAcc,double velEnd=0,long segNum=0,short fifo=0); GT_API GT_LnXYZOverride2WN(short cardNum,short crd,long x,long y,long z,double synVel,double synAcc,double velEnd=0,long segNum=0,short fifo=0); GT_API GT_LnXYZAOverride2WN(short cardNum,short crd,long x,long y,long z,long a,double synVel,double synAcc,double velEnd=0,long segNum=0,short fifo=0); GT_API GT_LnXYG0Override2WN(short cardNum,short crd,long x,long y,double synVel,double synAcc,long segNum=0,short fifo=0); GT_API GT_LnXYZG0Override2WN(short cardNum,short crd,long x,long y,long z,double synVel,double synAcc,long segNum=0,short fifo=0); GT_API GT_LnXYZAG0Override2WN(short cardNum,short crd,long x,long y,long z,long a,double synVel,double synAcc,long segNum=0,short fifo=0); GT_API GT_ArcXYROverride2WN(short cardNum,short crd,long x,long y,double radius,short circleDir,double synVel,double synAcc,double velEnd=0,long segNum=0,short fifo=0); GT_API GT_ArcXYCOverride2WN(short cardNum,short crd,long x,long y,double xCenter,double yCenter,short circleDir,double synVel,double synAcc,double velEnd=0,long segNum=0,short fifo=0); GT_API GT_ArcYZROverride2WN(short cardNum,short crd,long y,long z,double radius,short circleDir,double synVel,double synAcc,double velEnd=0,long segNum=0,short fifo=0); GT_API GT_ArcYZCOverride2WN(short cardNum,short crd,long y,long z,double yCenter,double zCenter,short circleDir,double synVel,double synAcc,double velEnd=0,long segNum=0,short fifo=0); GT_API GT_ArcZXROverride2WN(short cardNum,short crd,long z,long x,double radius,short circleDir,double synVel,double synAcc,double velEnd=0,long segNum=0,short fifo=0); GT_API GT_ArcZXCOverride2WN(short cardNum,short crd,long z,long x,double zCenter,double xCenter,short circleDir,double synVel,double synAcc,double velEnd=0,long segNum=0,short fifo=0); GT_API GT_HelixXYRZWN(short cardNum,short crd,long x,long y,long z,double radius,short circleDir,double synVel,double synAcc,double velEnd=0,long segNum=0,short fifo=0); GT_API GT_HelixXYCZWN(short cardNum,short crd,long x,long y,long z,double xCenter,double yCenter,short circleDir,double synVel,double synAcc,double velEnd=0,long segNum=0,short fifo=0); GT_API GT_HelixYZRXWN(short cardNum,short crd,long x,long y,long z,double radius,short circleDir,double synVel,double synAcc,double velEnd=0,long segNum=0,short fifo=0); GT_API GT_HelixYZCXWN(short cardNum,short crd,long x,long y,long z,double yCenter,double zCenter,short circleDir,double synVel,double synAcc,double velEnd=0,long segNum=0,short fifo=0); GT_API GT_HelixZXRYWN(short cardNum,short crd,long x,long y,long z,double radius,short circleDir,double synVel,double synAcc,double velEnd=0,long segNum=0,short fifo=0); GT_API GT_HelixZXCYWN(short cardNum,short crd,long x,long y,long z,double zCenter,double xCenter,short circleDir,double synVel,double synAcc,double velEnd=0,long segNum=0,short fifo=0); GT_API GT_HelixXYRZOverride2WN(short cardNum,short crd,long x,long y,long z,double radius,short circleDir,double synVel,double synAcc,double velEnd=0,long segNum=0,short fifo=0); GT_API GT_HelixXYCZOverride2WN(short cardNum,short crd,long x,long y,long z,double xCenter,double yCenter,short circleDir,double synVel,double synAcc,double velEnd=0,long segNum=0,short fifo=0); GT_API GT_HelixYZRXOverride2WN(short cardNum,short crd,long x,long y,long z,double radius,short circleDir,double synVel,double synAcc,double velEnd=0,long segNum=0,short fifo=0); GT_API GT_HelixYZCXOverride2WN(short cardNum,short crd,long x,long y,long z,double yCenter,double zCenter,short circleDir,double synVel,double synAcc,double velEnd=0,long segNum=0,short fifo=0); GT_API GT_HelixZXRYOverride2WN(short cardNum,short crd,long x,long y,long z,double radius,short circleDir,double synVel,double synAcc,double velEnd=0,long segNum=0,short fifo=0); GT_API GT_HelixZXCYOverride2WN(short cardNum,short crd,long x,long y,long z,double zCenter,double xCenter,short circleDir,double synVel,double synAcc,double velEnd=0,long segNum=0,short fifo=0); GT_API GT_BufIO(short cardNum,short crd,unsigned short doType,unsigned short doMask,unsigned short doValue,short fifo=0); GT_API GT_BufEnableDoBitPulse(short cardNum,short crd,short doType,short doIndex,unsigned short highLevelTime,unsigned short lowLevelTime,long pulseNum,short firstLevel,short fifo=0); GT_API GT_BufDisableDoBitPulse(short cardNum,short crd,short doType,short doIndex,short fifo=0); GT_API GT_BufDelay(short cardNum,short crd,unsigned short delayTime,short fifo=0); GT_API GT_BufComparePulse(short cardNum,short crd,short level,short outputType,short time,short fifo=0); GT_API GT_BufDA(short cardNum,short crd,short chn,short daValue,short fifo=0); GT_API GT_BufLmtsOn(short cardNum,short crd,short axis,short limitType,short fifo=0); GT_API GT_BufLmtsOff(short cardNum,short crd,short axis,short limitType,short fifo=0); GT_API GT_BufSetStopIo(short cardNum,short crd,short axis,short stopType,short inputType,short inputIndex,short fifo=0); GT_API GT_BufMove(short cardNum,short crd,short moveAxis,long pos,double vel,double acc,short modal,short fifo=0); GT_API GT_BufGear(short cardNum,short crd,short gearAxis,long pos,short fifo=0); GT_API GT_BufGearPercent(short cardNum,short crd,short gearAxis,long pos,short accPercent,short decPercent,short fifo=0); GT_API GT_BufStopMotion(short cardNum,short crd,short fifo=0); GT_API GT_BufSetVarValue(short cardNum,short crd,short pageId,TVarInfo *pVarInfo,double value,short fifo=0); GT_API GT_BufJumpNextSeg(short cardNum,short crd,short axis,short limitType,short fifo=0); GT_API GT_BufSynchPrfPos(short cardNum,short crd,short encoder,short profile,short fifo=0); GT_API GT_BufVirtualToActual(short cardNum,short crd,short fifo=0); GT_API GT_BufSetLongVar(short cardNum,short crd,short index,long value,short fifo=0); GT_API GT_BufSetDoubleVar(short cardNum,short crd,short index,double value,short fifo=0); GT_API GT_CrdStart(short cardNum,short mask,short option); GT_API GT_CrdStartStep(short cardNum,short mask,short option); GT_API GT_CrdStepMode(short cardNum,short mask,short option); GT_API GT_SetOverride(short cardNum,short crd,double synVelRatio); GT_API GT_SetOverride2(short cardNum,short crd,double synVelRatio); GT_API GT_InitLookAhead(short cardNum,short crd,short fifo,double T,double accMax,short n,TCrdData *pLookAheadBuf); GT_API GT_GetLookAheadSpace(short cardNum,short crd,long *pSpace,short fifo=0); GT_API GT_GetLookAheadSegCount(short cardNum,short crd,long *pSegCount,short fifo=0); GT_API GT_CrdClear(short cardNum,short crd,short fifo); GT_API GT_CrdStatus(short cardNum,short crd,short *pRun,long *pSegment,short fifo=0); GT_API GT_SetUserSegNum(short cardNum,short crd,long segNum,short fifo=0); GT_API GT_GetUserSegNum(short cardNum,short crd,long *pSegment,short fifo=0); GT_API GT_GetUserSegNumWN(short cardNum,short crd,long *pSegment,short fifo=0); GT_API GT_GetRemainderSegNum(short cardNum,short crd,long *pSegment,short fifo=0); GT_API GT_SetCrdStopDec(short cardNum,short crd,double decSmoothStop,double decAbruptStop); GT_API GT_GetCrdStopDec(short cardNum,short crd,double *pDecSmoothStop,double *pDecAbruptStop); GT_API GT_SetCrdLmtStopMode(short cardNum,short crd,short lmtStopMode); GT_API GT_GetCrdLmtStopMode(short cardNum,short crd,short *pLmtStopMode); GT_API GT_GetUserTargetVel(short cardNum,short crd,double *pTargetVel); GT_API GT_GetSegTargetPos(short cardNum,short crd,long *pTargetPos); GT_API GT_GetCrdPos(short cardNum,short crd,double *pPos); GT_API GT_GetCrdVel(short cardNum,short crd,double *pSynVel); GT_API GT_SetCrdSingleMaxVel(short cardNum,short crd,double *pMaxVel); GT_API GT_GetCrdSingleMaxVel(short cardNum,short crd,double *pMaxVel); GT_API GT_BufLaserOn(short cardNum,short crd,short fifo=0,short channel=0); GT_API GT_BufLaserOff(short cardNum,short crd,short fifo=0,short channel=0); GT_API GT_BufLaserPrfCmd(short cardNum,short crd,double laserPower,short fifo=0,short channel=0); GT_API GT_BufLaserFollowRatio(short cardNum,short crd,double ratio,double minPower,double maxPower,short fifo=0,short channel=0); GT_API GT_BufLaserFollowMode(short cardNum,short crd,short source =0,short fifo=0,short channel=0,double startPower =0); GT_API GT_BufLaserFollowOff(short cardNum,short crd,short fifo=0,short channel=0); GT_API GT_BufLaserFollowSpline(short cardNum,short crd,short tableId,double minPower,double maxPower,short fifo=0,short channel=0); GT_API GT_PrfPvt(short cardNum,short profile); GT_API GT_SetPvtLoop(short cardNum,short profile,long loop); GT_API GT_GetPvtLoop(short cardNum,short profile,long *pLoopCount,long *pLoop); GT_API GT_PvtStatus(short cardNum,short profile,short *pTableId,double *pTime,short count=1); GT_API GT_PvtStart(short cardNum,long mask); GT_API GT_PvtTableSelect(short cardNum,short profile,short tableId); GT_API GT_PvtTable(short cardNum,short tableId,long count,double *pTime,double *pPos,double *pVel); GT_API GT_PvtTableEx(short cardNum,short tableId,long count,double *pTime,double *pPos,double *pVelBegin,double *pVelEnd); GT_API GT_PvtTableComplete(short cardNum,short tableId,long count,double *pTime,double *pPos,double *pA,double *pB,double *pC,double velBegin=0,double velEnd=0); GT_API GT_PvtTablePercent(short cardNum,short tableId,long count,double *pTime,double *pPos,double *pPercent,double velBegin=0); GT_API GT_PvtPercentCalculate(short cardNum,long n,double *pTime,double *pPos,double *pPercent,double velBegin,double *pVel); GT_API GT_PvtTableContinuous(short cardNum,short tableId,long count,double *pPos,double *pVel,double *pPercent,double *pVelMax,double *pAcc,double *pDec,double timeBegin); GT_API GT_PvtContinuousCalculate(short cardNum,long n,double *pPos,double *pVel,double *pPercent,double *pVelMax,double *pAcc,double *pDec,double *pTime); GT_API GT_PvtTableMovePercent(short cardNum,short tableId,long distance,double vm,double acc,double pa1,double pa2,double dec,double pd1,double pd2,double *pVel,double *pAcc,double *pDec,double *pTime); GT_API GT_HomeInit(short cardNum); GT_API GT_Home(short cardNum,short axis,long pos,double vel,double acc,long offset); GT_API GT_Index(short cardNum,short axis,long pos,long offset); GT_API GT_HomeStop(short cardNum,short axis,long pos,double vel,double acc); GT_API GT_HomeSts(short cardNum,short axis,unsigned short *pStatus); GT_API GT_HandwheelInit(short cardNum); GT_API GT_SetHandwheelStopDec(short cardNum,short slave,double decSmoothStop,double decAbruptStop); GT_API GT_StartHandwheel(short cardNum,short slave,short master,short masterEven,short slaveEven,short intervalTime,double acc,double dec,double vel,short stopWaitTime); GT_API GT_EndHandwheel(short cardNum,short slave); GT_API GT_SetTrigger(short cardNum,short i,TTrigger *pTrigger); GT_API GT_GetTrigger(short cardNum,short i,TTrigger *pTrigger); GT_API GT_GetTriggerStatus(short cardNum,short i,TTriggerStatus *pTriggerStatus,short count=1); GT_API GT_ClearTriggerStatus(short cardNum,short i); GT_API GT_SetComparePort(short cardNum,short channel,short hsio0,short hsio1); GT_API GT_ComparePulse(short cardNum,short level,short outputType,short time); GT_API GT_CompareStop(short cardNum); GT_API GT_CompareStatus(short cardNum,short *pStatus,long *pCount); GT_API GT_CompareData(short cardNum,short encoder,short source,short pulseType,short startLevel,short time, long *pBuf1,short count1,long *pBuf2,short count2); GT_API GT_CompareLinear(short cardNum,short encoder,short channel,long startPos,long repeatTimes,long interval,short time,short source); GT_API GT_CompareContinuePulseMode(short mode,short count,short standTime); GT_API GT_SetEncResponseCheck(short cardNum,short control,short dacThreshold,double minEncVel,long time); GT_API GT_GetEncResponseCheck(short cardNum,short control,short *pDacThreshold,double *pMinEncVel,long *pTime); GT_API GT_EnableEncResponseCheck(short cardNum,short control); GT_API GT_DisableEncResponseCheck(short cardNum,short control); GT_API GT_2DCompareMode(short cardNum,short chn,short mode); GT_API GT_2DComparePulse(short cardNum,short chn,short level,short outputType,short time); GT_API GT_2DCompareStop(short cardNum,short chn); GT_API GT_2DCompareClear(short cardNum,short chn); GT_API GT_2DCompareStatus(short cardNum,short chn,short *pStatus,long *pCount,short *pFifo,short *pFifoCount,short *pBufCount =NULL); GT_API GT_2DCompareSetPrm(short cardNum,short chn,T2DComparePrm *pPrm); GT_API GT_2DCompareData(short cardNum,short chn,short count,T2DCompareData *pBuf,short fifo); GT_API GT_2DCompareStart(short cardNum,short chn); GT_API GT_2DCompareClearData(short cardNum,short chn); GT_API GT_SetAxisMode(short cardNum,short axis,short mode); GT_API GT_GetAxisMode(short cardNum,short axis,short *pMode); GT_API GT_SetHSIOOpt(short cardNum,unsigned short value,short channel=0); GT_API GT_GetHSIOOpt(short cardNum,unsigned short *pValue,short channel=0); GT_API GT_LaserPowerMode(short cardNum,short laserPowerMode,double maxValue,double minValue,short channel=0,short delaymode =0); GT_API GT_LaserPrfCmd(short cardNum,double outputCmd,short channel=0); GT_API GT_LaserOutFrq(short cardNum,double outFrq,short channel=0); GT_API GT_SetPulseWidth(short cardNum,unsigned long width,short channel=0); GT_API GT_SetWaitPulse(short cardNum,unsigned short mode,double waitPulseFrq,double waitPulseDuty,short channel=0); GT_API GT_SetPreVltg(short cardNum,unsigned short mode,double voltageValue,short channel=0); GT_API GT_SetLevelDelay(short cardNum,unsigned short offDelay,unsigned short onDelay,short channel=0); GT_API GT_EnaFPK(short cardNum,unsigned short time1,unsigned short time2,unsigned short laserOffDelay,short channel=0); GT_API GT_DisFPK(short cardNum,short channel=0); GT_API GT_SetLaserDisMode(short cardNum,short mode,short source,long *pPos,double *pScale,short channel=0); GT_API GT_SetLaserDisRatio(short cardNum,double *pRatio,double minPower,double maxPower,short channel=0); GT_API GT_SetWaitPulseEx(short cardNum,unsigned short mode,double waitPulseFrq,double waitPulseDuty); GT_API GT_SetLaserMode(short cardNum,short mode); GT_API GT_SetLaserFollowSpline(short cardNum,short tableId,long n,double *pX,double *pY,double beginValue,double endValue,short channel=0); GT_API GT_GetLaserFollowSpline(short cardNum,short tableId,long n,double *pX,double *pY,double *pA,double *pB,double *pC,long *pCount,short channel=0); GT_API GT_OpenExtMdl(short cardNum,char *pDllName=NULL); GT_API GT_CloseExtMdl(short cardNum); GT_API GT_SwitchtoCardNoExtMdl(short cardNum,short card); GT_API GT_ResetExtMdl(short cardNum); GT_API GT_LoadExtConfig(short cardNum,char *pFileName); GT_API GT_SetExtIoValue(short cardNum,short mdl,unsigned short value); GT_API GT_GetExtIoValue(short cardNum,short mdl,unsigned short *pValue); GT_API GT_SetExtIoBit(short cardNum,short mdl,short index,unsigned short value); GT_API GT_GetExtIoBit(short cardNum,short mdl,short index,unsigned short *pValue); GT_API GT_GetExtAdValue(short cardNum,short mdl,short chn,unsigned short *pValue); GT_API GT_GetExtAdVoltage(short cardNum,short mdl,short chn,double *pValue); GT_API GT_SetExtDaValue(short cardNum,short mdl,short chn,unsigned short value); GT_API GT_SetExtDaVoltage(short cardNum,short mdl,short chn,double value); GT_API GT_GetStsExtMdl(short cardNum,short mdl,short chn,unsigned short *pStatus); GT_API GT_GetExtDoValue(short cardNum,short mdl,unsigned short *pValue); GT_API GT_GetExtMdlMode(short cardNum,short *pMode); GT_API GT_SetExtMdlMode(short cardNum,short mode); GT_API GT_UploadConfig(short cardNum); GT_API GT_DownloadConfig(short cardNum); GT_API GT_GetUuid(short cardNum,char *pCode,short count); ////////////////////////////////////////////////////////////////////////// //2D Compensate ////////////////////////////////////////////////////////////////////////// typedef struct { short count[2]; // 行数和列数，最小值为2 long posBegin[2]; // 起点位置 long step[2]; // 步长 } TCompensate2DTable; typedef struct { short enable; // 2D补偿使能标志 short tableIndex; // 所使用的2D补偿表 short axisType[2]; // 查表轴类型 short axisIndex[2]; // 查表轴索引 } TCompensate2D; GT_API GT_SetCompensate2DTable(short cardNum,short tableIndex,TCompensate2DTable *pTable,long *pData,short externComp=0); GT_API GT_GetCompensate2DTable(short cardNum,short tableIndex,TCompensate2DTable *pTable,short *pExternComp=NULL); GT_API GT_SetCompensate2D(short cardNum,short axis,TCompensate2D *pComp2d); GT_API GT_GetCompensate2D(short cardNum,short axis,TCompensate2D *pComp2d); GT_API GT_GetCompensate2DValue(short cardNum,short axis,double *pValue); ////////////////////////////////////////////////////////////////////////// //Smart Home ////////////////////////////////////////////////////////////////////////// #define HOME_STAGE_IDLE (0) #define HOME_STAGE_START (1) #define HOME_STAGE_SEARCH_LIMIT (10) #define HOME_STAGE_SEARCH_LIMIT_STOP (11) #define HOME_STAGE_SEARCH_LIMIT_ESCAPE (13) #define HOME_STAGE_SEARCH_LIMIT_RETURN (15) #define HOME_STAGE_SEARCH_LIMIT_RETURN_STOP (16) #define HOME_STAGE_SEARCH_HOME (20) #define HOME_STAGE_SEARCH_HOME_RETURN (25) #define HOME_STAGE_SEARCH_INDEX (30) #define HOME_STAGE_SEARCH_GPI (40) #define HOME_STAGE_SEARCH_GPI_RETURN (45) #define HOME_STAGE_GO_HOME (80) #define HOME_STAGE_END (100) #define HOME_ERROR_NONE (0) #define HOME_ERROR_NOT_TRAP_MODE (1) #define HOME_ERROR_DISABLE (2) #define HOME_ERROR_ALARM (3) #define HOME_ERROR_STOP (4) #define HOME_ERROR_STAGE (5) #define HOME_ERROR_HOME_MODE (6) #define HOME_ERROR_SET_CAPTURE_HOME (7) #define HOME_ERROR_NO_HOME (8) #define HOME_ERROR_SET_CAPTURE_INDEX (9) #define HOME_ERROR_NO_INDEX (10) #define HOME_MODE_LIMIT (10) #define HOME_MODE_LIMIT_HOME (11) #define HOME_MODE_LIMIT_INDEX (12) #define HOME_MODE_LIMIT_HOME_INDEX (13) #define HOME_MODE_HOME (20) #define HOME_MODE_HOME_INDEX (22) #define HOME_MODE_INDEX (30) typedef struct { short mode; // 回零模式 short moveDir; // 设置启动搜索时的运动方向 short indexDir; // 设置Index搜索方向 short edge; // 设置捕获沿 short triggerIndex; // 用于设置触发器，为-1表示和轴号对应 short pad1[3]; // 保留1 double velHigh; // Home搜索速度 double velLow; // Index搜索速度 double acc; double dec; short smoothTime; short pad2[3]; // 保留2 long homeOffset; // 原点偏移 long searchHomeDistance; // Home最大搜索距离，为0表示不限制 long searchIndexDistance; // Index最大搜索距离，为0表示不限制 long escapeStep; // 脱离步长 long pad3[2]; // 保留3 } THomePrm; typedef struct { short run; short stage; short error; short pad1; long capturePos; long targetPos; } THomeStatus; GT_API GT_GoHome(short cardNum,short axis,THomePrm *pHomePrm); GT_API GT_GetHomePrm(short cardNum,short axis,THomePrm *pHomePrm); GT_API GT_GetHomeStatus(short cardNum,short axis,THomeStatus *pHomeStatus); ////////////////////////////////////////////////////////////////////////// //Extern Control ////////////////////////////////////////////////////////////////////////// typedef struct ControlConfigEx { short refType; //输出参考类型，只能取MC_AXIS short refIndex; //输出轴号 short feedbackType; //反馈类型，为MC_ENCODER时表示反馈类型为编码器，为MC_ADC时表示反馈类型为电压 short feedbackIndex; //反馈通道号 long errorLimit; //误差极限，暂时不起作用 short feedbackSmooth; //反馈平滑系数，暂时不起作用 short controlSmooth; //控制器平滑系数，暂时不起作用 }TControlConfigEx; GT_API GT_SetControlConfigEx(short cardNum,short control,TControlConfigEx *pControl); GT_API GT_GetControlConfigEx(short cardNum,short control,TControlConfigEx *pControl); ////////////////////////////////////////////////////////////////////////// //Adc filter ////////////////////////////////////////////////////////////////////////// typedef struct AdcConfig { short active; short reverse; double a; //输入电压线性变换a值，取值为1 double b; //输入电压线性变换b值，取值为0 short filterMode; //滤波模式，0-FIR滤波模式，1-IIR滤波模式 } TAdcConfig; GT_API GT_SetAdcConfig(short cardNum,short adc,TAdcConfig *pAdc); GT_API GT_GetAdcConfig(short adc,TAdcConfig *pAdc); GT_API GT_SetAdcFilterPrm(short cardNum,short adc,double k); GT_API GT_GetAdcFilterPrm(short cardNum,short adc,double *pk); ////////////////////////////////////////////////////////////////////////// //Superimposed ////////////////////////////////////////////////////////////////////////// GT_API GT_SetControlSuperimposed(short cardNum,short control,short superimposedType,short superimposedIndex); GT_API GT_GetControlSuperimposed(short cardNum,short control,short *pSuperimposedType,short *pSuperimposedIndex); ////////////////////////////////////////////////////////////////////////// //Pci Interrupt ////////////////////////////////////////////////////////////////////////// #define PCI_INTERRUPT_SOURCE_USER (1) //PCI中断源为用户自定义 #define PCI_INTERRUPT_SOURCE_2DCOMPARE (2) //PCI中断源为二维位置比较 typedef struct { short source; //interrupt source of pci device short param; //param coming with pci interrupt short reserve; }TInterrupt; typedef short (*TInterruptCallback)(TInterrupt); GT_API GT_InterruptOn(short cardNum,TInterruptCallback pCallback); GT_API GT_InterruptOff(short cardNum); GT_API GT_SetInterruptMask(short cardNum,long mask); GT_API GT_GetInterruptMask(short cardNum,long *pMask); GT_API GT_InterruptTrigger(short cardNum,short param); ////////////////////////////////////////////////////////////////////////// GT_API GT_ZeroLaserOnTime(short cardNum,short channel); GT_API GT_GetLaserOnTime(short cardNum,short channel,unsigned long *pTime); typedef struct { short work; //是否已经设置参数 short n; //补偿点数 long startPos; //起始位置 long lenPos; //总长度 long compPos[256]; //正向补偿值 long compNeg[256]; //负向补偿值 }TLeadScrewPrm; GT_API GT_GetLeadScrewCompInnerValue(short cardNum,short axis,short dir,long pos,long *pCompValue); GT_API GT_SetProfileScale(short cardNum,short axis,long alpha,long beta); GT_API GT_GetProfileScale(short cardNum,short axis,long *pAlpha,long *pBeta);