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【最全，带注释版】雷赛运动控制卡库函数C#导出 您所在的位置：网站首页 › 雷赛运动控制卡用什么语言编程 › 【最全，带注释版】雷赛运动控制卡库函数C#导出

【最全，带注释版】雷赛运动控制卡库函数C#导出

2024-07-13 10:36| 来源: 网络整理| 查看: 265

发现雷赛发的最新的资料还没以前的详细，这里备份一下：

using System; using System.Collections.Generic; using System.Text; using System.Runtime.InteropServices; namespace Hardware.ImportExternal //命名空间根据应用程序修改 { public delegate uint DMC3K5K_OPERATE(IntPtr operate_data); /// /// 雷赛运动控制卡，提供的封装 /// public partial class LTDMC { //设置和读取打印模式（适用于所有脉冲/总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_debug_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_debug_mode(UInt16 mode, string FileName); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_debug_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_debug_mode(ref UInt16 mode, IntPtr FileName); //--------------------- 板卡初始和配置函数 ---------------------- //初始化控制卡（适用于所有脉冲/总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_board_init", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_board_init(); //硬件复位（适用于所有脉冲/总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_board_reset", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_board_reset(); //关闭控制卡（适用于所有脉冲/总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_board_close", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_board_close(); //控制卡热复位（适用于EtherCAT、RTEX总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_soft_reset(ushort CardNo); //控制卡冷复位（适用于所有脉冲/总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_cool_reset(ushort CardNo); //控制卡初始复位（适用于EtherCAT总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_original_reset", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_original_reset(ushort CardNo); //读取控制卡信息列表（适用于所有脉冲/总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_get_CardInfList", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_CardInfList(ref UInt16 CardNum, UInt32[] CardTypeList, UInt16[] CardIdList); //读取发布版本号（适用于DMC3000/DMC5X10系列脉冲卡、EtherCAT总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_get_card_version", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_card_version(UInt16 CardNo, ref UInt32 CardVersion); //读取控制卡硬件的固件版本（适用于所有脉冲/总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_get_card_soft_version", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_card_soft_version(UInt16 CardNo, ref UInt32 FirmID, ref UInt32 SubFirmID); //读取控制卡动态库版本（适用于所有脉冲/总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_get_card_lib_version", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_card_lib_version(ref UInt32 LibVer); //读取发布版本号（适用于DMC3000/DMC5X10系列脉冲卡、EtherCAT总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_get_release_version", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_release_version(ushort ConnectNo, byte[] ReleaseVersion); //读取指定卡轴数（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_get_total_axes", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_total_axes(UInt16 CardNo, ref UInt32 TotalAxis); //获取本地IO点数（适用于所有脉冲/总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_get_total_ionum", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_total_ionum(ushort CardNo, ref ushort TotalIn, ref ushort TotalOut); //获取本地ADDA输入输出数（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_get_total_adcnum", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_total_adcnum(ushort CardNo, ref ushort TotalIn, ref ushort TotalOut); //读取指定卡插补坐标系数（保留） [DllImport("LTDMC.dll", EntryPoint = "dmc_get_total_liners", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_total_liners(UInt16 CardNo, ref UInt32 TotalLiner); //定制类（保留） [DllImport("LTDMC.dll", EntryPoint = "dmc_board_init_onecard", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_board_init_onecard(ushort CardNo); [DllImport("LTDMC.dll", EntryPoint = "dmc_board_close_onecard", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_board_close_onecard(ushort CardNo); [DllImport("LTDMC.dll", EntryPoint = "dmc_board_reset_onecard", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_board_reset_onecard(ushort CardNo); //密码函数（适用于所有脉冲/总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_write_sn", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_write_sn(UInt16 CardNo, string new_sn); [DllImport("LTDMC.dll", EntryPoint = "dmc_check_sn", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_check_sn(UInt16 CardNo, string check_sn); //登入sn20191101（适用于DMC3000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_enter_password_ex(UInt16 CardNo, string str_pass); //---------------------运动模块脉冲模式------------------ //脉冲模式（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_pulse_outmode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_pulse_outmode(UInt16 CardNo, UInt16 axis, UInt16 outmode); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_pulse_outmode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_pulse_outmode(UInt16 CardNo, UInt16 axis, ref UInt16 outmode); //脉冲当量（适用于EtherCAT总线卡、RTEX总线卡、DMC5000/5X10系列脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_get_equiv", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_equiv(UInt16 CardNo, UInt16 axis, ref double equiv); [DllImport("LTDMC.dll", EntryPoint = "dmc_set_equiv", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_equiv(UInt16 CardNo, UInt16 axis, double equiv); //反向间隙(脉冲)（适用于DMC5000系列脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_backlash_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_backlash_unit(UInt16 CardNo, UInt16 axis, double backlash); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_backlash_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_backlash_unit(UInt16 CardNo, UInt16 axis, ref double backlash); //通用文件下载 [DllImport("LTDMC.dll", EntryPoint = "dmc_download_file", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_download_file(ushort CardNo, string pfilename, byte[] pfilenameinControl, ushort filetype); [DllImport("LTDMC.dll", EntryPoint = "dmc_upload_file", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_upload_file(ushort CardNo, string pfilename, byte[] pfilenameinControl, ushort filetype); //下载内存文件 总线卡（适用于EtherCAT总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_download_memfile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_download_memfile(ushort CardNo, byte[] pbuffer, uint buffsize, byte[] pfilenameinControl, ushort filetype); //上传内存文件（适用于EtherCAT总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_upload_memfile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_upload_memfile(ushort CardNo, byte[] pbuffer, uint buffsize, byte[] pfilenameinControl, ref uint puifilesize, ushort filetype); //文件进度（适用于所有脉冲/总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_get_progress(ushort CardNo, ref float process); //下载参数文件（适用于所有脉冲/总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_download_configfile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_download_configfile(UInt16 CardNo, String FileName); //下载固件文件（适用于所有脉冲/总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_download_firmware", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_download_firmware(UInt16 CardNo, String FileName); //----------------------限位异常设置------------------------------- //设置读取软限位参数（适用于E3032总线卡、R3032总线卡、DMC3000/5000/5X10系列脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_softlimit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_softlimit(UInt16 CardNo, UInt16 axis, UInt16 enable, UInt16 source_sel, UInt16 SL_action, Int32 N_limit, Int32 P_limit); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_softlimit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_softlimit(UInt16 CardNo, UInt16 axis, ref UInt16 enable, ref UInt16 source_sel, ref UInt16 SL_action, ref Int32 N_limit, ref Int32 P_limit); //设置读取软限位参数unit（适用于DMC5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_set_softlimit_unit(UInt16 CardNo, UInt16 axis, UInt16 enable, UInt16 source_sel, UInt16 SL_action, double N_limit, double P_limit); [DllImport("LTDMC.dll")] public static extern short dmc_get_softlimit_unit(UInt16 CardNo, UInt16 axis, ref UInt16 enable, ref UInt16 source_sel, ref UInt16 SL_action, ref double N_limit, ref double P_limit); //设置读取EL信号（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_el_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_el_mode(UInt16 CardNo, UInt16 axis, UInt16 el_enable, UInt16 el_logic, UInt16 el_mode); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_el_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_el_mode(UInt16 CardNo, UInt16 axis, ref UInt16 el_enable, ref UInt16 el_logic, ref UInt16 el_mode); //设置读取EMG信号（适用于所有脉冲/总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_emg_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_emg_mode(UInt16 CardNo, UInt16 axis, UInt16 enable, UInt16 emg_logic); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_emg_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_emg_mode(UInt16 CardNo, UInt16 axis, ref UInt16 enbale, ref UInt16 emg_logic); //外部减速停止信号及减速停止时间设置，毫秒为单位（保留） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_dstp_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_dstp_mode(UInt16 CardNo, UInt16 axis, UInt16 enable, UInt16 logic, UInt32 time); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_dstp_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_dstp_mode(UInt16 CardNo, UInt16 axis, ref UInt16 enable, ref UInt16 logic, ref UInt32 time); [DllImport("LTDMC.dll", EntryPoint = "dmc_set_dstp_time", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_dstp_time(UInt16 CardNo, UInt16 axis, UInt32 time); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_dstp_time", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_dstp_time(UInt16 CardNo, UInt16 axis, ref UInt32 time); //外部减速停止信号及减速停止时间设置，秒为单位（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_io_dstp_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_io_dstp_mode(UInt16 CardNo, UInt16 axis, UInt16 enable, UInt16 logic); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_io_dstp_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_io_dstp_mode(UInt16 CardNo, UInt16 axis, ref UInt16 enable, ref UInt16 logic); //点位运动减速停止时间设置读取（适用于所有脉冲卡、总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_dec_stop_time", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_dec_stop_time(UInt16 CardNo, UInt16 axis, double stop_time); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_dec_stop_time", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_dec_stop_time(UInt16 CardNo, UInt16 axis, ref double stop_time); //插补减速停止信号和减速时间设置（适用于DMC5X10系列脉冲卡、EthreCAT总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_set_vector_dec_stop_time(UInt16 CardNo, UInt16 Crd, double stop_time); [DllImport("LTDMC.dll")] public static extern short dmc_get_vector_dec_stop_time(UInt16 CardNo, UInt16 Crd, ref double stop_time); //IO减速停止距离（适用于DMC3000、DMC5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_set_dec_stop_dist(UInt16 CardNo, UInt16 axis, Int32 dist); [DllImport("LTDMC.dll")] public static extern short dmc_get_dec_stop_dist(UInt16 CardNo, UInt16 axis, ref Int32 dist); //IO减速停止，支持pmove/vmove运动（适用于DMC3000、DMC5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_set_io_exactstop(UInt16 CardNo, UInt16 axis, UInt16 ioNum, UInt16[] ioList, UInt16 enable, UInt16 valid_logic, UInt16 action, UInt16 move_dir); //设置通用输入口的一位减速停止IO口（保留） [DllImport("LTDMC.dll")] public static extern short dmc_set_io_dstp_bitno(UInt16 CardNo, UInt16 axis, UInt16 bitno, double filter); [DllImport("LTDMC.dll")] public static extern short dmc_get_io_dstp_bitno(UInt16 CardNo, UInt16 axis, ref UInt16 bitno, ref double filter); //---------------------------单轴运动---------------------- //设定读取速度曲线参数 （适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_profile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_profile(UInt16 CardNo, UInt16 axis, double Min_Vel, double Max_Vel, double Tacc, double Tdec, double stop_vel); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_profile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_profile(UInt16 CardNo, UInt16 axis, ref double Min_Vel, ref double Max_Vel, ref double Tacc, ref double Tdec, ref double stop_vel); //速度设置(脉冲当量)（适用于EtherCAT总线卡、RTEX总线卡、DMC5000/5X10系列脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_profile_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_profile_unit(UInt16 CardNo, UInt16 Axis, double Min_Vel, double Max_Vel, double Tacc, double Tdec, double Stop_Vel); //单轴速度参数 [DllImport("LTDMC.dll", EntryPoint = "dmc_get_profile_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_profile_unit(UInt16 CardNo, UInt16 Axis, ref double Min_Vel, ref double Max_Vel, ref double Tacc, ref double Tdec, ref double Stop_Vel); //速度曲线设置，加速度值表示(脉冲)（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_acc_profile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_acc_profile(UInt16 CardNo, UInt16 axis, double Min_Vel, double Max_Vel, double Tacc, double Tdec, double stop_vel); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_acc_profile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_acc_profile(UInt16 CardNo, UInt16 axis, ref double Min_Vel, ref double Max_Vel, ref double Tacc, ref double Tdec, ref double stop_vel); //速度曲线设置，加速度值表示(当量)（适用于EtherCAT总线卡、RTEX总线卡、DMC5000/5X10系列脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_profile_unit_acc", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_profile_unit_acc(UInt16 CardNo, UInt16 Axis, double Min_Vel, double Max_Vel, double Tacc, double Tdec, double Stop_Vel); //单轴速度参数 [DllImport("LTDMC.dll", EntryPoint = "dmc_get_profile_unit_acc", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_profile_unit_acc(UInt16 CardNo, UInt16 Axis, ref double Min_Vel, ref double Max_Vel, ref double Tacc, ref double Tdec, ref double Stop_Vel); //设置读取平滑速度曲线参数（适用于所有脉冲/总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_s_profile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_s_profile(UInt16 CardNo, UInt16 axis, UInt16 s_mode, double s_para); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_s_profile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_s_profile(UInt16 CardNo, UInt16 axis, UInt16 s_mode, ref double s_para); //点位运动(脉冲)（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_pmove", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_pmove(UInt16 CardNo, UInt16 axis, Int32 Dist, UInt16 posi_mode); //点位运动(当量)（适用于EtherCAT总线卡、RTEX总线卡、DMC5000/5X10系列脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_pmove_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_pmove_unit(UInt16 CardNo, UInt16 axis, double Dist, UInt16 posi_mode); //指定轴做定长位移运动 同时发送速度和S时间(脉冲)（适用于DMC5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_pmove_extern(UInt16 CardNo, UInt16 axis, double dist, double Min_Vel, double Max_Vel, double Tacc, double Tdec, double stop_Vel, double s_para, UInt16 posi_mode); //在线变位(脉冲)，运动中改变目标位置（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_reset_target_position", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_reset_target_position(UInt16 CardNo, UInt16 axis, Int32 dist, UInt16 posi_mode); //变速变位(当量)（适用于EtherCAT总线卡、RTEX总线卡、DMC5000/5X10系列脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_reset_target_position_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_reset_target_position_unit(UInt16 CardNo, UInt16 Axis, double New_Pos); //在线变速(脉冲)，运动中改变指定轴的当前运动速度（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_change_speed", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_change_speed(UInt16 CardNo, UInt16 axis, double Curr_Vel, double Taccdec); //在线变速(当量)，运动中改变指定轴的当前运动速度（适用于EtherCAT总线卡、RTEX总线卡、DMC5000/5X10系列脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_change_speed_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_change_speed_unit(UInt16 CardNo, UInt16 Axis, double New_Vel, double Taccdec); //无论运动与否强行改变目标位置（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_update_target_position", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_update_target_position(UInt16 CardNo, UInt16 axis, Int32 dist, UInt16 posi_mode); //强行变位扩展（适用于DMC5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_update_target_position_extern(UInt16 CardNo, UInt16 axis, double mid_pos, double aim_pos, double vel, UInt16 posi_mode); //在线变速(当量)，运动中改变指定轴的当前运动速度（适用于EtherCAT总线卡、RTEX总线卡、DMC5000/5X10系列脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_update_target_position_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_update_target_position_unit(UInt16 CardNo, UInt16 Axis, double New_Pos); //---------------------JOG运动-------------------- //单轴连续速度运动（适用于所有脉冲/总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_vmove", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_vmove(UInt16 CardNo, UInt16 axis, UInt16 dir); //---------------------插补运动-------------------- //插补速度设置(脉冲)（适用于DMC3000系列脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_vector_profile_multicoor", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_vector_profile_multicoor(UInt16 CardNo, UInt16 Crd, double Min_Vel, double Max_Vel, double Tacc, double Tdec, double Stop_Vel); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_vector_profile_multicoor", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_vector_profile_multicoor(UInt16 CardNo, UInt16 Crd, ref double Min_Vel, ref double Max_Vel, ref double Taccdec, ref double Tdec, ref double Stop_Vel); //设置读取平滑速度曲线参数（适用于DMC3000系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_set_vector_s_profile_multicoor(UInt16 CardNo, UInt16 Crd, UInt16 s_mode, double s_para); [DllImport("LTDMC.dll")] public static extern short dmc_get_vector_s_profile_multicoor(UInt16 CardNo, UInt16 Crd, UInt16 s_mode, ref double s_para); //插补速度参数(当量)（适用于EtherCAT总线卡、RTEX总线卡、DMC5000/5X10系列脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_vector_profile_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_vector_profile_unit(UInt16 CardNo, UInt16 Crd, double Min_Vel, double Max_Vel, double Tacc, double Tdec, double Stop_Vel); //单段插补速度参数 [DllImport("LTDMC.dll", EntryPoint = "dmc_get_vector_profile_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_vector_profile_unit(UInt16 CardNo, UInt16 Crd, ref double Min_Vel, ref double Max_Vel, ref double Tacc, ref double Tdec, ref double Stop_Vel); //设置平滑速度曲线参数（适用于EtherCAT总线卡、RTEX总线卡、DMC5000/5X10系列脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_vector_s_profile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_vector_s_profile(UInt16 CardNo, UInt16 Crd, UInt16 s_mode, double s_para); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_vector_s_profile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_vector_s_profile(UInt16 CardNo, UInt16 Crd, UInt16 s_mode, ref double s_para); //直线插补运动（适用于DMC3000系列脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_line_multicoor", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_line_multicoor(UInt16 CardNo, UInt16 crd, UInt16 axisNum, UInt16[] axisList, Int32[] DistList, UInt16 posi_mode); //圆弧插补运动（适用于DMC3000系列脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_arc_move_multicoor", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_arc_move_multicoor(UInt16 CardNo, UInt16 crd, UInt16[] AxisList, Int32[] Target_Pos, Int32[] Cen_Pos, UInt16 Arc_Dir, UInt16 posi_mode); //直线插补(当量)（适用于EtherCAT总线卡、RTEX总线卡、DMC5000/5X10系列脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_line_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_line_unit(UInt16 CardNo, UInt16 Crd, UInt16 AxisNum, UInt16[] AxisList, double[] Target_Pos, UInt16 posi_mode); //单段直线 //圆心圆弧插补(当量)（适用于EtherCAT总线卡、RTEX总线卡、DMC5000/5X10系列脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_arc_move_center_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_arc_move_center_unit(UInt16 CardNo, UInt16 Crd, UInt16 AxisNum, UInt16[] AxisList, double[] Target_Pos, double[] Cen_Pos, UInt16 Arc_Dir, Int32 Circle, UInt16 posi_mode); //圆心终点式圆弧/螺旋线/渐开线 //半径圆弧插补(当量)（适用于EtherCAT总线卡、RTEX总线卡、DMC5000/5X10系列脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_arc_move_radius_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_arc_move_radius_unit(UInt16 CardNo, UInt16 Crd, UInt16 AxisNum, UInt16[] AxisList, double[] Target_Pos, double Arc_Radius, UInt16 Arc_Dir, Int32 Circle, UInt16 posi_mode); //半径终点式圆弧/螺旋线 //三点圆弧插补(当量)（适用于EtherCAT总线卡、RTEX总线卡、DMC5000/5X10系列脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_arc_move_3points_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_arc_move_3points_unit(UInt16 CardNo, UInt16 Crd, UInt16 AxisNum, UInt16[] AxisList, double[] Target_Pos, double[] Mid_Pos, Int32 Circle, UInt16 posi_mode); //三点式圆弧/螺旋线 //矩形插补(当量)（适用于EtherCAT总线卡、RTEX总线卡、DMC5000/5X10系列脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_rectangle_move_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_rectangle_move_unit(UInt16 CardNo, UInt16 Crd, UInt16 AxisNum, UInt16[] AxisList, double[] TargetPos, double[] MaskPos, Int32 Count, UInt16 rect_mode, UInt16 posi_mode); //矩形区域插补，单段插补指令 //----------------------PVT运动--------------------------- //PVT运动旧版 （适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_PvtTable", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_PvtTable(UInt16 CardNo, UInt16 iaxis, UInt32 count, double[] pTime, Int32[] pPos, double[] pVel); [DllImport("LTDMC.dll", EntryPoint = "dmc_PtsTable", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_PtsTable(UInt16 CardNo, UInt16 iaxis, UInt32 count, double[] pTime, Int32[] pPos, double[] pPercent); [DllImport("LTDMC.dll", EntryPoint = "dmc_PvtsTable", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_PvtsTable(UInt16 CardNo, UInt16 iaxis, UInt32 count, double[] pTime, Int32[] pPos, double velBegin, double velEnd); [DllImport("LTDMC.dll", EntryPoint = "dmc_PttTable", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_PttTable(UInt16 CardNo, UInt16 iaxis, UInt32 count, double[] pTime, int[] pPos); [DllImport("LTDMC.dll", EntryPoint = "dmc_PvtMove", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_PvtMove(UInt16 CardNo, UInt16 AxisNum, UInt16[] AxisList); //PVT缓冲区添加 [DllImport("LTDMC.dll")] public static extern short dmc_PttTable_add(UInt16 CardNo, UInt16 iaxis, UInt16 count, double[] pTime, long[] pPos); [DllImport("LTDMC.dll")] public static extern short dmc_PtsTable_add(UInt16 CardNo, UInt16 iaxis, UInt16 count, double[] pTime, long[] pPos, double[] pPercent); //读取pvt剩余空间 [DllImport("LTDMC.dll")] public static extern short dmc_pvt_get_remain_space(UInt16 CardNo, UInt16 iaxis); //PVT运动 总线卡新规划，适用于EtherCAT总线卡 [DllImport("LTDMC.dll")] public static extern short dmc_pvt_table_unit(UInt16 CardNo, UInt16 iaxis, UInt32 count, double[] pTime, double[] pPos, double[] pVel); [DllImport("LTDMC.dll")] public static extern short dmc_pts_table_unit(UInt16 CardNo, UInt16 iaxis, UInt32 count, double[] pTime, double[] pPos, double[] pPercent); [DllImport("LTDMC.dll")] public static extern short dmc_pvts_table_unit(UInt16 CardNo, UInt16 iaxis, UInt32 count, double[] pTime, double[] pPos, double velBegin, double velEnd); [DllImport("LTDMC.dll")] public static extern short dmc_ptt_table_unit(UInt16 CardNo, UInt16 iaxis, UInt32 count, double[] pTime, double[] pPos); [DllImport("LTDMC.dll")] public static extern short dmc_pvt_move(UInt16 CardNo, UInt16 AxisNum, UInt16[] AxisList); //其它类（保留） [DllImport("LTDMC.dll")] public static extern short dmc_SetGearProfile(UInt16 CardNo, UInt16 axis, UInt16 MasterType, UInt16 MasterIndex, Int32 MasterEven, Int32 SlaveEven, UInt32 MasterSlope); [DllImport("LTDMC.dll")] public static extern short dmc_GetGearProfile(UInt16 CardNo, UInt16 axis, ref UInt16 MasterType, ref UInt16 MasterIndex, ref UInt32 MasterEven, ref UInt32 SlaveEven, ref UInt32 MasterSlope); [DllImport("LTDMC.dll")] public static extern short dmc_GearMove(UInt16 CardNo, UInt16 AxisNum, UInt16[] AxisList); //--------------------回零运动--------------------- //设置读取HOME信号（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_home_pin_logic", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_home_pin_logic(UInt16 CardNo, UInt16 axis, UInt16 org_logic, double filter); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_home_pin_logic", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_home_pin_logic(UInt16 CardNo, UInt16 axis, ref UInt16 org_logic, ref double filter); //设定读取指定轴的回原点模式（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_homemode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_homemode(UInt16 CardNo, UInt16 axis, UInt16 home_dir, double vel, UInt16 mode, UInt16 EZ_count); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_homemode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_homemode(UInt16 CardNo, UInt16 axis, ref UInt16 home_dir, ref double vel, ref UInt16 home_mode, ref UInt16 EZ_count); //设置回零遇限位是否反找（适用于DMC3000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_set_home_el_return(UInt16 CardNo, UInt16 axis, UInt16 enable); //读取参数遇限位反找使能（适用于DMC3000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_get_home_el_return(UInt16 CardNo, UInt16 axis, ref UInt16 enable); //启动回零（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_home_move", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_home_move(UInt16 CardNo, UInt16 axis); //设置读取回零速度参数（适用于Rtex总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_set_home_profile_unit(ushort CardNo, ushort axis, double Low_Vel, double High_Vel, double Tacc, double Tdec); [DllImport("LTDMC.dll")] public static extern short dmc_get_home_profile_unit(ushort CardNo, ushort axis, ref double Low_Vel, ref double High_Vel, ref double Tacc, ref double Tdec); //读取回零执行状态（适用于所有脉冲/总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_get_home_result(UInt16 CardNo, UInt16 axis, ref UInt16 state); //设置读取回零偏移量及清零模式（适用于DMC5X10脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_set_home_position_unit(UInt16 CardNo, UInt16 axis, UInt16 enable, double position); [DllImport("LTDMC.dll")] public static extern short dmc_get_home_position_unit(UInt16 CardNo, UInt16 axis, ref UInt16 enable, ref double position); //（保留） [DllImport("LTDMC.dll")] public static extern short dmc_set_el_home(UInt16 CardNo, UInt16 axis, UInt16 mode); //回零偏移模式函数（保留） [DllImport("LTDMC.dll")] public static extern short dmc_set_home_shift_param(UInt16 CardNo, UInt16 axis, UInt16 pos_clear_mode, double ShiftValue); [DllImport("LTDMC.dll")] public static extern short dmc_get_home_shift_param(UInt16 CardNo, UInt16 axis, ref UInt16 pos_clear_mode, ref double ShiftValue); //设置回零偏移量及偏移模式（适用于DMC3000系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_set_home_position(UInt16 CardNo, UInt16 axis, UInt16 enable, double position); [DllImport("LTDMC.dll")] public static extern short dmc_get_home_position(UInt16 CardNo, UInt16 axis, ref UInt16 enable, ref double position); //设置回零限位距离（保留） [DllImport("LTDMC.dll")] public static extern short dmc_set_home_soft_limit(UInt16 CardNo, UInt16 Axis, Int32 N_limit, Int32 P_limit); [DllImport("LTDMC.dll")] public static extern short dmc_get_home_soft_limit(UInt16 CardNo, UInt16 Axis, ref Int32 N_limit, ref Int32 P_limit); //--------------------原点锁存------------------- //设置读取EZ锁存模式（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_homelatch_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_homelatch_mode(UInt16 CardNo, UInt16 axis, UInt16 enable, UInt16 logic, UInt16 source); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_homelatch_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_homelatch_mode(UInt16 CardNo, UInt16 axis, ref UInt16 enable, ref UInt16 logic, ref UInt16 source); //读取原点锁存标志（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_get_homelatch_flag", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_homelatch_flag(UInt16 CardNo, UInt16 axis); //清除原点锁存标志（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_reset_homelatch_flag", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_reset_homelatch_flag(UInt16 CardNo, UInt16 axis); //读取原点锁存值（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_get_homelatch_value", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 dmc_get_homelatch_value(UInt16 CardNo, UInt16 axis); //读取原点锁存值（unit）（适用于DMC5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_get_homelatch_value_unit(UInt16 CardNo, UInt16 axis, ref double pos); //--------------------EZ锁存------------------- //设置读取EZ锁存模式（适用于所有脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_set_ezlatch_mode(UInt16 CardNo, UInt16 axis, UInt16 enable, UInt16 logic, UInt16 source); [DllImport("LTDMC.dll")] public static extern short dmc_get_ezlatch_mode(UInt16 CardNo, UInt16 axis, ref UInt16 enable, ref UInt16 logic, ref UInt16 source); //读取EZ锁存标志（适用于所有脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_get_ezlatch_flag(UInt16 CardNo, UInt16 axis); //清除EZ锁存标志（适用于所有脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_reset_ezlatch_flag(UInt16 CardNo, UInt16 axis); //读取EZ锁存值（适用于所有脉冲卡） [DllImport("LTDMC.dll")] public static extern Int32 dmc_get_ezlatch_value(UInt16 CardNo, UInt16 axis); //读取EZ锁存值（unit）（适用于DMC5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_get_ezlatch_value_unit(UInt16 CardNo, UInt16 axis, ref double pos); //--------------------手轮运动--------------------- //设置读取手轮通道（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_handwheel_channel", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_handwheel_channel(UInt16 CardNo, UInt16 index); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_handwheel_channel", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_handwheel_channel(UInt16 CardNo, ref UInt16 index); //设置读取单轴手轮脉冲信号的工作方式（适用于所有脉冲/总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_handwheel_inmode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_handwheel_inmode(UInt16 CardNo, UInt16 axis, UInt16 inmode, Int32 multi, double vh); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_handwheel_inmode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_handwheel_inmode(UInt16 CardNo, UInt16 axis, ref UInt16 inmode, ref Int32 multi, ref double vh); //设置读取单轴手轮脉冲信号的工作方式，浮点型倍率（适用于DMC5X10系列脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_handwheel_inmode_decimals", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_handwheel_inmode_decimals(UInt16 CardNo, UInt16 axis, UInt16 inmode, double multi, double vh); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_handwheel_inmode_decimals", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_handwheel_inmode_decimals(UInt16 CardNo, UInt16 axis, ref UInt16 inmode, ref double multi, ref double vh); //设置读取多轴手轮脉冲信号的工作方式（适用于所有脉冲/总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_handwheel_inmode_extern", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_handwheel_inmode_extern(UInt16 CardNo, UInt16 inmode, UInt16 AxisNum, UInt16[] AxisList, Int32[] multi); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_handwheel_inmode_extern", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_handwheel_inmode_extern(UInt16 CardNo, ref UInt16 inmode, ref UInt16 AxisNum, UInt16[] AxisList, Int32[] multi); //设置读取单轴手轮脉冲信号的工作方式，浮点型倍率（适用于DMC5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_set_handwheel_inmode_extern_decimals(UInt16 CardNo, UInt16 inmode, UInt16 AxisNum, UInt16[] AxisList, double[] multi); [DllImport("LTDMC.dll")] public static extern short dmc_get_handwheel_inmode_extern_decimals(UInt16 CardNo, ref UInt16 inmode, ref UInt16 AxisNum, UInt16[] AxisList, double[] multi); //启动手轮运动（适用于所有脉冲/总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_handwheel_move", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_handwheel_move(UInt16 CardNo, UInt16 axis); //手轮运动 新增总线的手轮模式 (保留) [DllImport("LTDMC.dll")] public static extern short dmc_handwheel_set_axislist(UInt16 CardNo, UInt16 AxisSelIndex, UInt16 AxisNum, UInt16[] AxisList); [DllImport("LTDMC.dll")] public static extern short dmc_handwheel_get_axislist(UInt16 CardNo, UInt16 AxisSelIndex, ref UInt16 AxisNum, UInt16[] AxisList); [DllImport("LTDMC.dll")] public static extern short dmc_handwheel_set_ratiolist(UInt16 CardNo, UInt16 AxisSelIndex, UInt16 StartRatioIndex, UInt16 RatioSelNum, double[] RatioList); [DllImport("LTDMC.dll")] public static extern short dmc_handwheel_get_ratiolist(UInt16 CardNo, UInt16 AxisSelIndex, UInt16 StartRatioIndex, UInt16 RatioSelNum, double[] RatioList); [DllImport("LTDMC.dll")] public static extern short dmc_handwheel_set_mode(UInt16 CardNo, UInt16 InMode, UInt16 IfHardEnable); [DllImport("LTDMC.dll")] public static extern short dmc_handwheel_get_mode(UInt16 CardNo, ref UInt16 InMode, ref UInt16 IfHardEnable); [DllImport("LTDMC.dll")] public static extern short dmc_handwheel_set_index(UInt16 CardNo, UInt16 AxisSelIndex, UInt16 RatioSelIndex); [DllImport("LTDMC.dll")] public static extern short dmc_handwheel_get_index(UInt16 CardNo, ref UInt16 AxisSelIndex, ref UInt16 RatioSelIndex); [DllImport("LTDMC.dll")] public static extern short dmc_handwheel_stop(UInt16 CardNo); //-------------------------高速锁存------------------- //设置读取指定轴的LTC信号（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_ltc_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_ltc_mode(UInt16 CardNo, UInt16 axis, UInt16 ltc_logic, UInt16 ltc_mode, Double filter); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_ltc_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_ltc_mode(UInt16 CardNo, UInt16 axis, ref UInt16 ltc_logic, ref UInt16 ltc_mode, ref Double filter); //设置读到锁存方式（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_latch_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_latch_mode(UInt16 CardNo, UInt16 axis, UInt16 all_enable, UInt16 latch_source, UInt16 triger_chunnel); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_latch_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_latch_mode(UInt16 CardNo, UInt16 axis, ref UInt16 all_enable, ref UInt16 latch_source, ref UInt16 triger_chunnel); //读取编码器锁存器的值（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_get_latch_value", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 dmc_get_latch_value(UInt16 CardNo, UInt16 axis); //读取编码器锁存器的值unit（适用于DMC5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_get_latch_value_unit(UInt16 CardNo, UInt16 axis, ref double pos_by_mm); //读取锁存器标志（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_get_latch_flag", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_latch_flag(UInt16 CardNo, UInt16 axis); //复位锁存器标志（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_reset_latch_flag", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_reset_latch_flag(UInt16 CardNo, UInt16 axis); //按索引取值（适用DMC3000系列脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_get_latch_value_extern", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 dmc_get_latch_value_extern(UInt16 CardNo, UInt16 axis, UInt16 Index); //高速锁存（预留） [DllImport("LTDMC.dll")] public static extern short dmc_get_latch_value_extern_unit(UInt16 CardNo, UInt16 axis, UInt16 index, ref double pos_by_mm);//按索引取值读取 //读取锁存个数（适用DMC3000系列脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_get_latch_flag_extern", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_latch_flag_extern(UInt16 CardNo, UInt16 axis); //设置读取LTC反相输出（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_SetLtcOutMode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_SetLtcOutMode(UInt16 CardNo, UInt16 axis, UInt16 enable, UInt16 bitno); [DllImport("LTDMC.dll", EntryPoint = "dmc_GetLtcOutMode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_GetLtcOutMode(UInt16 CardNo, UInt16 axis, ref UInt16 enable, ref UInt16 bitno); //LTC端口触发延时急停时间 单位us（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_latch_stop_time", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_latch_stop_time(UInt16 CardNo, UInt16 axis, Int32 time); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_latch_stop_time", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_latch_stop_time(UInt16 CardNo, UInt16 axis, ref Int32 time); //设置/回读LTC端口触发延时急停轴配置（适用于EtherCAT总线系列卡） [DllImport("LTDMC.dll")] public static extern short dmc_set_latch_stop_axis(ushort CardNo, ushort latch, ushort num, ushort[] axislist); [DllImport("LTDMC.dll")] public static extern short dmc_get_latch_stop_axis(ushort CardNo, ushort latch, ref ushort num, ushort[] axislist); //----------------------高速锁存 总线卡--------------------------- //配置锁存器：锁存模式0-单次锁存，1-连续锁存；锁存边沿0-下降沿，1-上升沿，2-双边沿；滤波时间，单位us（适用于所有总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_ltc_set_mode(ushort CardNo, ushort latch, ushort ltc_mode, ushort ltc_logic, double filter); [DllImport("LTDMC.dll")] public static extern short dmc_ltc_get_mode(ushort CardNo, ushort latch, ref ushort ltc_mode, ref ushort ltc_logic, ref double filter); //配置锁存源：0-指令位置，1-编码器反馈位置（适用于所有总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_ltc_set_source(ushort CardNo, ushort latch, ushort axis, ushort ltc_source); [DllImport("LTDMC.dll")] public static extern short dmc_ltc_get_source(ushort CardNo, ushort latch, ushort axis, ref ushort ltc_source); //复位锁存器（适用于所有总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_ltc_reset(ushort CardNo, ushort latch); //读取锁存个数（适用于所有总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_ltc_get_number(ushort CardNo, ushort latch, ushort axis, ref int number); //读取锁存值（适用于所有总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_ltc_get_value_unit(ushort CardNo, ushort latch, ushort axis, ref double value); //-----------------------软锁存 所有卡--------------------------------- //配置锁存器：锁存模式0-单次锁存，1-连续锁存；锁存边沿0-下降沿，1-上升沿，2-双边沿；滤波时间，单位us（适用于DMC5X10/3000系列脉冲卡、总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_softltc_set_mode(ushort ConnectNo, ushort latch, ushort ltc_enable, ushort ltc_mode, ushort ltc_inbit, ushort ltc_logic, double filter); [DllImport("LTDMC.dll")] public static extern short dmc_softltc_get_mode(ushort ConnectNo, ushort latch, ref ushort ltc_enable, ref ushort ltc_mode, ref ushort ltc_inbit, ref ushort ltc_logic, ref double filter); //配置锁存源：0-指令位置，1-编码器反馈位置（适用于DMC5X10/3000系列脉冲卡、总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_softltc_set_source(ushort ConnectNo, ushort latch, ushort axis, ushort ltc_source); [DllImport("LTDMC.dll")] public static extern short dmc_softltc_get_source(ushort ConnectNo, ushort latch, ushort axis, ref ushort ltc_source); //复位锁存器（适用于DMC5X10/3000系列脉冲卡、总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_softltc_reset(ushort ConnectNo, ushort latch); //读取锁存个数（适用于DMC5X10/3000系列脉冲卡、总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_softltc_get_number(ushort ConnectNo, ushort latch, ushort axis, ref int number); //读取锁存值（适用于DMC5X10系列脉冲卡、所有总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_softltc_get_value_unit(ushort ConnectNo, ushort latch, ushort axis, ref double value); //----------------------单轴低速位置比较----------------------- //配置读取比较器（适用于所有脉冲/总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_compare_set_config", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_compare_set_config(UInt16 CardNo, UInt16 axis, UInt16 enable, UInt16 cmp_source); [DllImport("LTDMC.dll", EntryPoint = "dmc_compare_get_config", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_compare_get_config(UInt16 CardNo, UInt16 axis, ref UInt16 enable, ref UInt16 cmp_source); //清除所有比较点（适用于所有脉冲/总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_compare_clear_points", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_compare_clear_points(UInt16 CardNo, UInt16 axis); //添加比较点（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_compare_add_point", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_compare_add_point(UInt16 CardNo, UInt16 axis, int pos, UInt16 dir, UInt16 action, UInt32 actpara); //添加比较点（适用于所有DMC5X10脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_compare_add_point_unit(UInt16 CardNo, UInt16 cmp, double pos, UInt16 dir, UInt16 action, UInt32 actpara); //添加比较点（适用于E3032/R3032） [DllImport("LTDMC.dll")] public static extern short dmc_compare_add_point_cycle(UInt16 CardNo, UInt16 cmp, Int32 pos, UInt16 dir, UInt32 bitno, UInt32 cycle, UInt16 level); //添加比较点unit（适用于E5032） [DllImport("LTDMC.dll")] public static extern short dmc_compare_add_point_cycle_unit(UInt16 CardNo, UInt16 cmp, double pos, UInt16 dir, UInt32 bitno, UInt32 cycle, UInt16 level); //读取当前比较点（适用于所有脉冲卡、Rtex总线卡、E3032卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_compare_get_current_point", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_compare_get_current_point(UInt16 CardNo, UInt16 axis, ref Int32 pos); //读取当前比较点（适用于DMC5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_compare_get_current_point_unit(UInt16 CardNo, UInt16 cmp, ref double pos); //查询已经比较过的点（适用于所有脉冲/总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_compare_get_points_runned", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_compare_get_points_runned(UInt16 CardNo, UInt16 axis, ref Int32 pointNum); //查询可以加入的比较点数量（适用于所有脉冲/总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_compare_get_points_remained", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_compare_get_points_remained(UInt16 CardNo, UInt16 axis, ref Int32 pointNum); //-------------------二维低速位置比较----------------------- //配置读取比较器（适用于所有脉冲卡、EtherCAT总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_compare_set_config_extern", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_compare_set_config_extern(UInt16 CardNo, UInt16 enable, UInt16 cmp_source); [DllImport("LTDMC.dll", EntryPoint = "dmc_compare_get_config_extern", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_compare_get_config_extern(UInt16 CardNo, ref UInt16 enable, ref UInt16 cmp_source); //清除所有比较点（适用于所有脉冲卡、EtherCAT总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_compare_clear_points_extern", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_compare_clear_points_extern(UInt16 CardNo); //添加两轴位置比较点（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_compare_add_point_extern", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_compare_add_point_extern(UInt16 CardNo, UInt16[] axis, Int32[] pos, UInt16[] dir, UInt16 action, UInt32 actpara); //读取当前比较点（适用于所有脉冲卡、EtherCAT总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_compare_get_current_point_extern", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_compare_get_current_point_extern(UInt16 CardNo, Int32[] pos); //读取当前比较点unit（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_compare_get_current_point_extern_unit(UInt16 CardNo, double[] pos); //添加两轴位置比较点（适用于DMC5X10脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_compare_add_point_extern_unit(UInt16 CardNo, UInt16[] axis, double[] pos, UInt16[] dir, UInt16 action, UInt32 actpara); //添加二维低速位置比较点（适用于EtherCAT总线系列卡） [DllImport("LTDMC.dll")] public static extern short dmc_compare_add_point_cycle_2d(ushort CardNo, ushort[] axis, double[] pos, ushort[] dir, uint bitno, uint cycle, ushort level); //查询已经比较过的点（适用于所有脉冲卡、EtherCAT总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_compare_get_points_runned_extern", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_compare_get_points_runned_extern(UInt16 CardNo, ref Int32 pointNum); //查询可以加入的比较点数量（适用于所有脉冲卡、EtherCAT总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_compare_get_points_remained_extern", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_compare_get_points_remained_extern(UInt16 CardNo, ref Int32 pointNum); //多组位置比较（保留） [DllImport("LTDMC.dll")] public static extern short dmc_compare_set_config_multi(UInt16 CardNo, UInt16 queue, UInt16 enable, UInt16 axis, UInt16 cmp_source); [DllImport("LTDMC.dll")] public static extern short dmc_compare_get_config_multi(UInt16 CardNo, UInt16 queue, ref UInt16 enable, ref UInt16 axis, ref UInt16 cmp_source); [DllImport("LTDMC.dll")] public static extern short dmc_compare_add_point_multi(UInt16 CardNo, UInt16 cmp, Int32 pos, UInt16 dir, UInt16 action, UInt32 actpara, double times); [DllImport("LTDMC.dll")] public static extern short dmc_compare_add_point_multi_unit(UInt16 CardNo, UInt16 cmp, double pos, UInt16 dir, UInt16 action, UInt32 actpara, double times);//添加比较点 增强 //----------- 单轴高速位置比较----------------------- //设置读取高速比较模式（适用于所有脉冲卡、总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_hcmp_set_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_hcmp_set_mode(UInt16 CardNo, UInt16 hcmp, UInt16 cmp_enable); [DllImport("LTDMC.dll", EntryPoint = "dmc_hcmp_get_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_hcmp_get_mode(UInt16 CardNo, UInt16 hcmp, ref UInt16 cmp_enable); //设置高速比较参数（适用于所有脉冲卡、总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_hcmp_set_config", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_hcmp_set_config(UInt16 CardNo, UInt16 hcmp, UInt16 axis, UInt16 cmp_source, UInt16 cmp_logic, Int32 time); [DllImport("LTDMC.dll", EntryPoint = "dmc_hcmp_get_config", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_hcmp_get_config(UInt16 CardNo, UInt16 hcmp, ref UInt16 axis, ref UInt16 cmp_source, ref UInt16 cmp_logic, ref Int32 time); //高速比较模式扩展（保留） [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_set_config_extern(UInt16 CardNo, UInt16 hcmp, UInt16 axis, UInt16 cmp_source, UInt16 cmp_logic, UInt16 cmp_mode, Int32 dist, Int32 time); [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_get_config_extern(UInt16 CardNo, UInt16 hcmp, ref UInt16 axis, ref UInt16 cmp_source, ref UInt16 cmp_logic, ref UInt16 cmp_mode, ref Int32 dist, ref Int32 time); //添加比较点（适用于所有脉冲卡、E3032总线卡、R3032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_hcmp_add_point", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_hcmp_add_point(UInt16 CardNo, UInt16 hcmp, Int32 cmp_pos); //添加比较点unit（适用于DMC5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_add_point_unit(UInt16 CardNo, UInt16 hcmp, double cmp_pos); //设置读取线性模式参数（适用于所有脉冲卡、E3032总线卡、R3032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_hcmp_set_liner", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_hcmp_set_liner(UInt16 CardNo, UInt16 hcmp, Int32 Increment, Int32 Count); [DllImport("LTDMC.dll", EntryPoint = "dmc_hcmp_get_liner", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_hcmp_get_liner(UInt16 CardNo, UInt16 hcmp, ref Int32 Increment, ref Int32 Count); //设置线性模式参数（适用于DMC5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_set_liner_unit(UInt16 CardNo, UInt16 hcmp, double Increment, Int32 Count); [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_get_liner_unit(UInt16 CardNo, UInt16 hcmp, ref double Increment, ref Int32 Count); //读取高速比较状态（适用于所有脉冲卡、E3032总线卡、R3032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_hcmp_get_current_state", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_hcmp_get_current_state(UInt16 CardNo, UInt16 hcmp, ref Int32 remained_points, ref Int32 current_point, ref Int32 runned_points); //读取高速比较状态（适用于DMC5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_get_current_state_unit(UInt16 CardNo, UInt16 hcmp, ref Int32 remained_points, ref double current_point, ref Int32 runned_points); //读取高速比较状态 //清除比较点（适用于所有脉冲卡、总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_hcmp_clear_points", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_hcmp_clear_points(UInt16 CardNo, UInt16 hcmp); //读取指定CMP端口的电平（保留） [DllImport("LTDMC.dll", EntryPoint = "dmc_read_cmp_pin", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_read_cmp_pin(UInt16 CardNo, UInt16 hcmp); //控制cmp端口输出（保留） [DllImport("LTDMC.dll", EntryPoint = "dmc_write_cmp_pin", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_write_cmp_pin(UInt16 CardNo, UInt16 hcmp, UInt16 on_off); //1、 启用缓存方式添加比较位置：（适用于DMC5000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_fifo_set_mode(UInt16 CardNo, UInt16 hcmp, UInt16 fifo_mode); [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_fifo_get_mode(UInt16 CardNo, UInt16 hcmp, ref UInt16 fifo_mode); //2、 读取剩余缓存状态，上位机通过此函数判断是否继续添加比较位置（适用于DMC5000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_fifo_get_state(UInt16 CardNo, UInt16 hcmp, ref long remained_points); //3、 按数组的方式批量添加比较位置（适用于DMC5000系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_fifo_add_point_unit(UInt16 CardNo, UInt16 hcmp, UInt16 num, double[] cmp_pos); //4、 清除比较位置,也会把FPGA的位置同步清除掉（适用于DMC5000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_fifo_clear_points(UInt16 CardNo, UInt16 hcmp); //添加大数据，会堵塞一段时间，指导数据添加完成（适用于DMC5000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_fifo_add_table(UInt16 CardNo, UInt16 hcmp, UInt16 num, double[] cmp_pos); //一维高速比较，队列模式添加的比较点关联运动方向，添加少量数据（适用于DMC5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_fifo_add_point_dir_unit(ushort CardNo, ushort hcmp, ushort num, double[] cmp_pos, uint dir); //一维高速比较，队列模式添加的比较点关联运动方向，添加大量数据（适用于DMC5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_fifo_add_table_dir(ushort CardNo, ushort hcmp, ushort num, double[] cmp_pos, uint dir); //----------- 二维高速位置比较----------------------- //设置读取高速比较使能（适用于所有脉冲卡、EtherCAT总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_2d_set_enable(UInt16 CardNo, UInt16 hcmp, UInt16 cmp_enable); [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_2d_get_enable(UInt16 CardNo, UInt16 hcmp, ref UInt16 cmp_enable); //配置读取二维高速比较器（适用于所有脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_2d_set_config(UInt16 CardNo, UInt16 hcmp, UInt16 cmp_mode, UInt16 x_axis, UInt16 x_cmp_source, UInt16 y_axis, UInt16 y_cmp_source, Int32 error, UInt16 cmp_logic, Int32 time, UInt16 pwm_enable, double duty, Int32 freq, UInt16 port_sel, UInt16 pwm_number); [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_2d_get_config(UInt16 CardNo, UInt16 hcmp, ref UInt16 cmp_mode, ref UInt16 x_axis, ref UInt16 x_cmp_source, ref UInt16 y_axis, ref UInt16 y_cmp_source, ref Int32 error, ref UInt16 cmp_logic, ref Int32 time, ref UInt16 pwm_enable, ref double duty, ref Int32 freq, ref UInt16 port_sel, ref UInt16 pwm_number); //配置读取二维高速比较器（适用于DMC5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_2d_set_config_unit(UInt16 CardNo, UInt16 hcmp, UInt16 cmp_mode, UInt16 x_axis, UInt16 x_cmp_source, double x_cmp_error, UInt16 y_axis, UInt16 y_cmp_source, double y_cmp_error, UInt16 cmp_logic, int time); [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_2d_get_config_unit(UInt16 CardNo, UInt16 hcmp, ref UInt16 cmp_mode, ref UInt16 x_axis, ref UInt16 x_cmp_source, ref double x_cmp_error, ref UInt16 y_axis, ref UInt16 y_cmp_source, ref double y_cmp_error, ref UInt16 cmp_logic, ref int time); //添加二维高速位置比较点（适用于所有脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_2d_add_point(UInt16 CardNo, UInt16 hcmp, Int32 x_cmp_pos, Int32 y_cmp_pos); //添加二维高速位置比较点unit（适用于DMC5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_2d_add_point_unit(UInt16 CardNo, UInt16 hcmp, double x_cmp_pos, double y_cmp_pos, UInt16 cmp_outbit); //读取二维高速比较参数（适用于所有脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_2d_get_current_state(UInt16 CardNo, UInt16 hcmp, ref Int32 remained_points, ref Int32 x_current_point, ref Int32 y_current_point, ref Int32 runned_points, ref UInt16 current_state); //读取二维高速比较参数（适用于DMC5X10系列脉冲卡、EtherCAT总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_2d_get_current_state_unit(UInt16 CardNo, UInt16 hcmp, ref int remained_points, ref double x_current_point, ref double y_current_point, ref int runned_points, ref UInt16 current_state, ref UInt16 current_outbit); //清除二维高速位置比较点（适用于所有脉冲卡、EtherCAT总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_2d_clear_points(UInt16 CardNo, UInt16 hcmp); //强制二维高速比较输出（适用于所有脉冲卡、EtherCAT总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_2d_force_output(UInt16 CardNo, UInt16 hcmp, UInt16 cmp_outbit); //配置读取二维比较PWM输出模式（适用于DMC5X10系列脉冲卡、EtherCAT总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_2d_set_pwmoutput(UInt16 CardNo, UInt16 hcmp, UInt16 pwm_enable, double duty, double freq, UInt16 pwm_number); [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_2d_get_pwmoutput(UInt16 CardNo, UInt16 hcmp, ref UInt16 pwm_enable, ref double duty, ref double freq, ref UInt16 pwm_number); //------------------------通用IO----------------------- //读取输入口的状态（适用于所有脉冲卡、总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_read_inbit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_read_inbit(UInt16 CardNo, UInt16 bitno); //设置输出口的状态（适用于所有脉冲卡、总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_write_outbit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_write_outbit(UInt16 CardNo, UInt16 bitno, UInt16 on_off); //读取输出口的状态（适用于所有脉冲卡、总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_read_outbit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_read_outbit(UInt16 CardNo, UInt16 bitno); //读取输入端口的值（适用于所有脉冲卡、总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_read_inport", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern UInt32 dmc_read_inport(UInt16 CardNo, UInt16 portno); //读取输出端口的值（适用于所有脉冲卡、总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_read_outport", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern UInt32 dmc_read_outport(UInt16 CardNo, UInt16 portno); //设置所有输出端口的值（适用于所有脉冲卡、总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_write_outport", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_write_outport(UInt16 CardNo, UInt16 portno, UInt32 outport_val); //设置通用输出端口的值（保留） [DllImport("LTDMC.dll", EntryPoint = "dmc_write_outport_16X", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_write_outport_16X(UInt16 CardNo, UInt16 portno, UInt32 outport_val); //---------------------------通用IO带返回值检测---------------------- //读取输入口的状态（适用于DMC3000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_read_inbit_ex(ushort CardNo, ushort bitno, ref ushort state); //读取输出口的状态（适用于DMC3000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_read_outbit_ex(ushort CardNo, ushort bitno, ref ushort state); //读取输入端口的值（适用于DMC3000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_read_inport_ex(ushort CardNo, ushort portno, ref UInt32 state); //读取输出端口的值（适用于DMC3000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_read_outport_ex(ushort CardNo, ushort portno, ref UInt32 state); //设置读取虚拟IO映射关系（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_io_map_virtual", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_io_map_virtual(UInt16 CardNo, UInt16 bitno, UInt16 MapIoType, UInt16 MapIoIndex, double Filter); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_io_map_virtual", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_io_map_virtual(UInt16 CardNo, UInt16 bitno, ref UInt16 MapIoType, ref UInt16 MapIoIndex, ref double Filter); //读取虚拟输入口的状态（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_read_inbit_virtual", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_read_inbit_virtual(UInt16 CardNo, UInt16 bitno); //IO延时翻转（适用于所有脉冲卡、总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_reverse_outbit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_reverse_outbit(UInt16 CardNo, UInt16 bitno, double reverse_time); //设置读取IO计数模式（适用于所有脉冲卡、总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_io_count_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_io_count_mode(UInt16 CardNo, UInt16 bitno, UInt16 mode, double filter_time); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_io_count_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_io_count_mode(UInt16 CardNo, UInt16 bitno, ref UInt16 mode, ref double filter_time); //设置IO计数值（适用于所有脉冲卡、总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_io_count_value", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_io_count_value(UInt16 CardNo, UInt16 bitno, UInt32 CountValue); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_io_count_value", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_io_count_value(UInt16 CardNo, UInt16 bitno, ref UInt32 CountValue); //-----------------------专用IO 脉冲卡专用------------------------- //设置读取轴IO映射关系（适用于所有脉冲卡、总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_axis_io_map", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_axis_io_map(UInt16 CardNo, UInt16 Axis, UInt16 IoType, UInt16 MapIoType, UInt16 MapIoIndex, double Filter); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_axis_io_map", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_axis_io_map(UInt16 CardNo, UInt16 Axis, UInt16 IoType, ref UInt16 MapIoType, ref UInt16 MapIoIndex, ref double Filter); //设置所有专用IO滤波时间（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_special_input_filter", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_special_input_filter(UInt16 CardNo, double Filter); // 回原点减速信号配置，(DMC3410专用) [DllImport("LTDMC.dll", EntryPoint = "dmc_set_sd_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_sd_mode(UInt16 CardNo, UInt16 axis, UInt16 sd_logic, UInt16 sd_mode); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_sd_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_sd_mode(UInt16 CardNo, UInt16 axis, ref UInt16 sd_logic, ref UInt16 sd_mode); //设置读取INP信号（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_inp_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_inp_mode(UInt16 CardNo, UInt16 axis, UInt16 enable, UInt16 inp_logic); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_inp_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_inp_mode(UInt16 CardNo, UInt16 axis, ref UInt16 enable, ref UInt16 inp_logic); //设置读取RDY信号（保留） [DllImport("LTDMC.dll")] public static extern short dmc_set_rdy_mode(UInt16 CardNo, UInt16 axis, UInt16 enable, UInt16 rdy_logic); [DllImport("LTDMC.dll")] public static extern short dmc_get_rdy_mode(UInt16 CardNo, UInt16 axis, ref UInt16 enable, ref UInt16 rdy_logic); //设置读取ERC信号（保留） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_erc_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_erc_mode(UInt16 CardNo, UInt16 axis, UInt16 enable, UInt16 erc_logic, UInt16 erc_width, UInt16 erc_off_time); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_erc_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_erc_mode(UInt16 CardNo, UInt16 axis, ref UInt16 enable, ref UInt16 erc_logic, ref UInt16 erc_width, ref UInt16 erc_off_time); //设置读取ALM信号（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_alm_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_alm_mode(UInt16 CardNo, UInt16 axis, UInt16 enable, UInt16 alm_logic, UInt16 alm_action); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_alm_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_alm_mode(UInt16 CardNo, UInt16 axis, ref UInt16 enable, ref UInt16 alm_logic, ref UInt16 alm_action); //设置读取EZ信号（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_ez_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_ez_mode(UInt16 CardNo, UInt16 axis, UInt16 ez_logic, UInt16 ez_mode, double filter); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_ez_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_ez_mode(UInt16 CardNo, UInt16 axis, ref UInt16 ez_logic, ref UInt16 ez_mode, ref double filter); //输出读取SEVON信号（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_write_sevon_pin", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_write_sevon_pin(UInt16 CardNo, UInt16 axis, UInt16 on_off); [DllImport("LTDMC.dll", EntryPoint = "dmc_read_sevon_pin", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_read_sevon_pin(UInt16 CardNo, UInt16 axis); //控制ERC信号输出（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_write_erc_pin", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_write_erc_pin(UInt16 CardNo, UInt16 axis, UInt16 sel); [DllImport("LTDMC.dll", EntryPoint = "dmc_read_erc_pin", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_read_erc_pin(UInt16 CardNo, UInt16 axis); //读取RDY状态（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_read_rdy_pin", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_read_rdy_pin(UInt16 CardNo, UInt16 axis); //输出伺服复位信号（保留） [DllImport("LTDMC.dll")] public static extern short dmc_write_sevrst_pin(UInt16 CardNo, UInt16 axis, UInt16 on_off); //读伺服复位信号（保留） [DllImport("LTDMC.dll")] public static extern short dmc_read_sevrst_pin(UInt16 CardNo, UInt16 axis); //---------------------编码器 脉冲卡--------------------- //设定读取编码器的计数方式（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_counter_inmode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_counter_inmode(UInt16 CardNo, UInt16 axis, UInt16 mode); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_counter_inmode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_counter_inmode(UInt16 CardNo, UInt16 axis, ref UInt16 mode); //编码器值（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_get_encoder", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 dmc_get_encoder(UInt16 CardNo, UInt16 axis); [DllImport("LTDMC.dll", EntryPoint = "dmc_set_encoder", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_encoder(UInt16 CardNo, UInt16 axis, Int32 encoder_value); //编码器值(当量)（适用于DMC5000/5X10系列脉冲卡、所有总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_encoder_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_encoder_unit(UInt16 CardNo, UInt16 axis, double pos); //当前反馈位置 [DllImport("LTDMC.dll", EntryPoint = "dmc_get_encoder_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_encoder_unit(UInt16 CardNo, UInt16 axis, ref double pos); //---------------------辅助编码器 总线卡--------------------- //手轮编码器（备用，同dmc_set_extra_encoder） [DllImport("LTDMC.dll")] public static extern short dmc_set_handwheel_encoder(ushort CardNo, ushort channel, int pos); [DllImport("LTDMC.dll")] public static extern short dmc_get_handwheel_encoder(ushort CardNo, ushort channel, ref int pos); //设置辅助编码模式（适用于所有总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_set_extra_encoder_mode(ushort CardNo, ushort channel, ushort inmode, ushort multi); [DllImport("LTDMC.dll")] public static extern short dmc_get_extra_encoder_mode(ushort CardNo, ushort channel, ref ushort inmode, ref ushort multi); //设置辅助编码器值（适用于所有总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_set_extra_encoder(ushort CardNo, ushort channel, int pos); [DllImport("LTDMC.dll")] public static extern short dmc_get_extra_encoder(ushort CardNo, ushort channel, ref int pos); //---------------------位置计数控制--------------------- //当前位置(当量)（适用于DMC5000/5X10系列脉冲卡、所有总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_position_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_position_unit(UInt16 CardNo, UInt16 axis, double pos); //当前指令位置 [DllImport("LTDMC.dll", EntryPoint = "dmc_get_position_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_position_unit(UInt16 CardNo, UInt16 axis, ref double pos); //当前位置(脉冲)（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_get_position", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 dmc_get_position(UInt16 CardNo, UInt16 axis); [DllImport("LTDMC.dll", EntryPoint = "dmc_set_position", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_position(UInt16 CardNo, UInt16 axis, Int32 current_position); //--------------------运动状态---------------------- //读取指定轴的当前速度（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_read_current_speed", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern double dmc_read_current_speed(UInt16 CardNo, UInt16 axis); //读取当前速度(当量)（适用于DMC5000/5X10系列脉冲卡、所有总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_read_current_speed_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_read_current_speed_unit(UInt16 CardNo, UInt16 Axis, ref double current_speed); //轴当前运行速度 //读取当前卡的插补速度（适用于DMC5X10系列脉冲卡、所有总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_read_vector_speed_unit(UInt16 CardNo, UInt16 Crd, ref double current_speed); //读取当前卡的插补速度 //读取指定轴的目标位置（适用于所有脉冲卡、R3032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_get_target_position", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 dmc_get_target_position(UInt16 CardNo, UInt16 axis); //读取指定轴的目标位置(当量)（适用于DMC5X10系列脉冲卡、所有EtherCAT总线系列卡） [DllImport("LTDMC.dll")] public static extern short dmc_get_target_position_unit(UInt16 CardNo, UInt16 axis, ref double pos); //读取指定轴的运动状态（适用于所有脉冲卡、总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_check_done", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_check_done(UInt16 CardNo, UInt16 axis); //读取指定轴的运动状态（适用于所有卡） [DllImport("LTDMC.dll")] public static extern short dmc_check_done_ex(ushort CardNo, ushort axis, ref ushort state); //插补运动状态（适用于所有脉冲卡、总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_check_done_multicoor", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_check_done_multicoor(UInt16 CardNo, UInt16 crd); //读取指定轴有关运动信号的状态（适用于所有脉冲卡、总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_axis_io_status", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern UInt32 dmc_axis_io_status(UInt16 CardNo, UInt16 axis); //读取指定轴有关运动信号的状态（适用于所有卡） [DllImport("LTDMC.dll")] public static extern short dmc_axis_io_status_ex(ushort CardNo, ushort axis, ref uint state); //单轴停止（适用于所有脉冲卡、总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_stop", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_stop(UInt16 CardNo, UInt16 axis, UInt16 stop_mode); //停止插补器（适用于所有脉冲卡、总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_stop_multicoor", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_stop_multicoor(UInt16 CardNo, UInt16 crd, UInt16 stop_mode); //紧急停止所有轴（适用于所有脉冲卡、总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_emg_stop", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_emg_stop(UInt16 CardNo); //脉冲卡指令 主卡与接线盒通讯状态（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_LinkState", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_LinkState(UInt16 CardNo, ref UInt16 State); //读取指定轴的运动模式（适用于DMC5000/5X10系列脉冲卡、所有总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_get_axis_run_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_axis_run_mode(UInt16 CardNo, UInt16 axis, ref UInt16 run_mode); //读取轴停止原因（适用于所有脉冲卡、总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_get_stop_reason", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_stop_reason(UInt16 CardNo, UInt16 axis, ref Int32 StopReason); //清除轴停止原因（适用于所有脉冲卡、总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_clear_stop_reason", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_clear_stop_reason(UInt16 CardNo, UInt16 axis); //trace功能（内部使用函数） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_trace", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_trace(UInt16 CardNo, UInt16 axis, UInt16 enable); //trace功能 [DllImport("LTDMC.dll", EntryPoint = "dmc_get_trace", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_trace(UInt16 CardNo, UInt16 axis, ref UInt16 enable); [DllImport("LTDMC.dll", EntryPoint = "dmc_read_trace_data", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_read_trace_data(UInt16 CardNo, UInt16 axis, UInt16 data_option, ref Int32 ReceiveSize, double[] time, double[] data, ref Int32 remain_num); [DllImport("LTDMC.dll")] public static extern short dmc_trace_start(ushort CardNo, ushort AxisNum, ushort[] AxisList); [DllImport("LTDMC.dll")] public static extern short dmc_trace_stop(ushort CardNo); //弧长计算（备用） [DllImport("LTDMC.dll", EntryPoint = "dmc_calculate_arclength_center", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_calculate_arclength_center(double[] start_pos, double[] target_pos, double[] cen_pos, UInt16 arc_dir, double circle, ref double ArcLength); //计算圆心圆弧弧长 [DllImport("LTDMC.dll", EntryPoint = "dmc_calculate_arclength_3point", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_calculate_arclength_3point(double[] start_pos, double[] mid_pos, double[] target_pos, double circle, ref double ArcLength); //计算三点圆弧弧长 [DllImport("LTDMC.dll", EntryPoint = "dmc_calculate_arclength_radius", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_calculate_arclength_radius(double[] start_pos, double[] target_pos, double arc_radius, UInt16 arc_dir, double circle, ref double ArcLength); //计算半径圆弧弧长 //--------------------CAN-IO扩展---------------------- //CAN-IO扩展，旧接口函数（保留） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_can_state", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_can_state(UInt16 CardNo, UInt16 NodeNum, UInt16 state, UInt16 Baud); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_can_state", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_can_state(UInt16 CardNo, ref UInt16 NodeNum, ref UInt16 state); [DllImport("LTDMC.dll", EntryPoint = "dmc_write_can_outbit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_write_can_outbit(UInt16 CardNo, UInt16 Node, UInt16 bitno, UInt16 on_off); [DllImport("LTDMC.dll", EntryPoint = "dmc_read_can_outbit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_read_can_outbit(UInt16 CardNo, UInt16 Node, UInt16 bitno); [DllImport("LTDMC.dll", EntryPoint = "dmc_read_can_inbit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_read_can_inbit(UInt16 CardNo, UInt16 Node, UInt16 bitno); [DllImport("LTDMC.dll", EntryPoint = "dmc_write_can_outport", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_write_can_outport(UInt16 CardNo, UInt16 Node, UInt16 PortNo, UInt32 outport_val); [DllImport("LTDMC.dll", EntryPoint = "dmc_read_can_outport", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern UInt32 dmc_read_can_outport(UInt16 CardNo, UInt16 Node, UInt16 PortNo); [DllImport("LTDMC.dll", EntryPoint = "dmc_read_can_inport", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern UInt32 dmc_read_can_inport(UInt16 CardNo, UInt16 Node, UInt16 PortNo); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_can_errcode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_can_errcode(UInt16 CardNo, ref UInt16 Errcode); [DllImport("LTDMC.dll")] public static extern short dmc_get_can_errcode_extern(UInt16 CardNo, ref UInt16 Errcode, ref UInt16 msg_losed, ref UInt16 emg_msg_num, ref UInt16 lostHeartB, ref UInt16 EmgMsg); //设置CAN io输出（适用于所有脉冲卡） [DllImport("LTDMC.dll")] public static extern short nmc_write_outbit(ushort CardNo, ushort NodeID, ushort IoBit, ushort IoValue); //读取CAN io输出（适用于所有脉冲卡） [DllImport("LTDMC.dll")] public static extern short nmc_read_outbit(ushort CardNo, ushort NodeID, ushort IoBit, ref ushort IoValue); //读取CAN io输入（适用于所有脉冲卡） [DllImport("LTDMC.dll")] public static extern short nmc_read_inbit(ushort CardNo, ushort NodeID, ushort IoBit, ref ushort IoValue); //设置CAN io输出32位（适用于所有脉冲卡） [DllImport("LTDMC.dll")] public static extern short nmc_write_outport(ushort CardNo, ushort NodeID, ushort PortNo, UInt32 IoValue); //读取CAN io输出32位（适用于所有脉冲卡） [DllImport("LTDMC.dll")] public static extern short nmc_read_outport(ushort CardNo, ushort NodeID, ushort PortNo, ref UInt32 IoValue); //读取CAN io输入32位（适用于所有脉冲卡） [DllImport("LTDMC.dll")] public static extern short nmc_read_inport(ushort CardNo, ushort NodeID, ushort PortNo, ref UInt32 IoValue); //---------------------------CAN IO带返回值检测---------------------- //设置CAN io输出（适用于DMC3000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short nmc_write_outbit_ex(ushort CardNo, ushort NoteID, ushort IoBit, ushort IoValue, ref ushort state); //读取CAN io输出（适用于DMC3000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short nmc_read_outbit_ex(ushort CardNo, ushort NoteID, ushort IoBit, ref ushort IoValue, ref ushort state); //读取CAN io输入（适用于DMC3000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short nmc_read_inbit_ex(ushort CardNo, ushort NoteID, ushort IoBit, ref ushort IoValue, ref ushort state); //设置CAN io输出32位（适用于DMC3000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short nmc_write_outport_ex(ushort CardNo, ushort NoteID, ushort portno, UInt32 outport_val, ref ushort state); //读取CAN io输出32位（适用于DMC3000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short nmc_read_outport_ex(ushort CardNo, ushort NoteID, ushort portno, ref UInt32 outport_val, ref ushort state); //读取CAN io输入32位（适用于DMC3000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short nmc_read_inport_ex(ushort CardNo, ushort NoteID, ushort portno, ref UInt32 inport_val, ref ushort state); //---------------------------CAN ADDA---------------------- //CAN ADDA指令 设置DA参数 （适用于所有脉冲卡） [DllImport("LTDMC.dll")] public static extern short nmc_set_da_output(ushort CardNo, ushort NoteID, ushort channel, double Value); //读取CAN DA参数（适用于所有脉冲卡） [DllImport("LTDMC.dll")] public static extern short nmc_get_da_output(ushort CardNo, ushort NoteID, ushort channel, ref double Value); //读取CAN AD参数（适用于所有脉冲卡） [DllImport("LTDMC.dll")] public static extern short nmc_get_ad_input(ushort CardNo, ushort NoteID, ushort channel, ref double Value); //配置CAN AD模式（适用于所有脉冲卡） [DllImport("LTDMC.dll")] public static extern short nmc_set_ad_mode(ushort CardNo, ushort NoteID, ushort channel, ushort mode, uint buffer_nums); [DllImport("LTDMC.dll")] public static extern short nmc_get_ad_mode(ushort CardNo, ushort NoteID, ushort channel, ref ushort mode, uint buffer_nums); //配置CAN DA模式（适用于所有脉冲卡） [DllImport("LTDMC.dll")] public static extern short nmc_set_da_mode(ushort CardNo, ushort NoteID, ushort channel, ushort mode, uint buffer_nums); [DllImport("LTDMC.dll")] public static extern short nmc_get_da_mode(ushort CardNo, ushort NoteID, ushort channel, ref ushort mode, uint buffer_nums); //CAN参数写入flash（适用于所有脉冲卡） [DllImport("LTDMC.dll")] public static extern short nmc_write_to_flash(ushort CardNo, ushort PortNum, ushort NodeNum); //CAN总线链接（适用于所有脉冲卡） [DllImport("LTDMC.dll")] public static extern short nmc_set_connect_state(UInt16 CardNo, UInt16 NodeNum, UInt16 state, UInt16 baud); [DllImport("LTDMC.dll")] public static extern short nmc_get_connect_state(UInt16 CardNo, ref UInt16 NodeNum, ref UInt16 state); //---------------------------CAN ADDA带返回值检测---------------------- //设置CAN DA参数（适用于DMC3000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short nmc_set_da_output_ex(ushort CardNo, ushort NoteID, ushort channel, double Value, ref ushort state); //读取CAN DA参数（适用于DMC3000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short nmc_get_da_output_ex(ushort CardNo, ushort NoteID, ushort channel, ref double Value, ref ushort state); //读取CAN AD参数（适用于DMC3000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short nmc_get_ad_input_ex(ushort CardNo, ushort NoteID, ushort channel, ref double Value, ref ushort state); //配置CAN AD模式（适用于DMC3000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short nmc_set_ad_mode_ex(ushort CardNo, ushort NoteID, ushort channel, ushort mode, UInt32 buffer_nums, ref ushort state); [DllImport("LTDMC.dll")] public static extern short nmc_get_ad_mode_ex(ushort CardNo, ushort NoteID, ushort channel, ref ushort mode, UInt32 buffer_nums, ref ushort state); //配置CAN DA模式（适用于DMC3000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short nmc_set_da_mode_ex(ushort CardNo, ushort NoteID, ushort channel, ushort mode, UInt32 buffer_nums, ref ushort state); [DllImport("LTDMC.dll")] public static extern short nmc_get_da_mode_ex(ushort CardNo, ushort NoteID, ushort channel, ref ushort mode, UInt32 buffer_nums, ref ushort state); //参数写入flash（适用于DMC3000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short nmc_write_to_flash_ex(ushort CardNo, ushort PortNum, ushort NodeNum, ref ushort state); //--------------------连续插补函数---------------------- //打开连续缓存区（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_open_list", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_open_list(UInt16 CardNo, UInt16 Crd, UInt16 AxisNum, UInt16[] AxisList); //关闭连续缓存区（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_close_list", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_close_list(UInt16 CardNo, UInt16 Crd); //复位连续缓存区（预留） [DllImport("LTDMC.dll")] public static extern short dmc_conti_reset_list(UInt16 CardNo, UInt16 Crd); //连续插补中停止（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_stop_list", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_stop_list(UInt16 CardNo, UInt16 Crd, UInt16 stop_mode); //连续插补中暂停（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_pause_list", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_pause_list(UInt16 CardNo, UInt16 Crd); //开始连续插补（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_start_list", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_start_list(UInt16 CardNo, UInt16 Crd); //检测连续插补运动状态：0-运行，1-暂停，2-正常停止（DMC5X10不支持），3-未启动，4-空闲（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_get_run_state", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_get_run_state(UInt16 CardNo, UInt16 Crd); //检测连续插补运动状态：0-运行，1-停止（预留） [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_check_done", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_check_done(UInt16 CardNo, UInt16 Crd); //查连续插补剩余缓存数（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_remain_space", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 dmc_conti_remain_space(UInt16 CardNo, UInt16 Crd); //读取当前连续插补段的标号（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_read_current_mark", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 dmc_conti_read_current_mark(UInt16 CardNo, UInt16 Crd); //blend拐角过度模式（适用于DMC5000系列脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_set_blend", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_set_blend(UInt16 CardNo, UInt16 Crd, UInt16 enable); [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_get_blend", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_get_blend(UInt16 CardNo, UInt16 Crd, ref UInt16 enable); //设置每段速度比例 缓冲区指令（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_set_override", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_set_override(UInt16 CardNo, UInt16 Crd, double Percent); //设置插补中动态变速（适用于DMC5000/5X10系列脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_change_speed_ratio", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_change_speed_ratio(UInt16 CardNo, UInt16 Crd, double Percent); //小线段前瞻（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_set_lookahead_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_set_lookahead_mode(UInt16 CardNo, UInt16 Crd, UInt16 enable, Int32 LookaheadSegments, double PathError, double LookaheadAcc); [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_get_lookahead_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_get_lookahead_mode(UInt16 CardNo, UInt16 Crd, ref UInt16 enable, ref Int32 LookaheadSegments, ref double PathError, ref double LookaheadAcc); //--------------------连续插补IO功能---------------------- //等待IO输入（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_wait_input", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_wait_input(UInt16 CardNo, UInt16 Crd, UInt16 bitno, UInt16 on_off, double TimeOut, Int32 mark); //相对于轨迹起点IO滞后输出（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_delay_outbit_to_start", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_delay_outbit_to_start(UInt16 CardNo, UInt16 Crd, UInt16 bitno, UInt16 on_off, double delay_value, UInt16 delay_mode, double ReverseTime); //相对于轨迹终点IO滞后输出（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_delay_outbit_to_stop", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_delay_outbit_to_stop(UInt16 CardNo, UInt16 Crd, UInt16 bitno, UInt16 on_off, double delay_time, double ReverseTime); //相对于轨迹终点IO提前输出（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_ahead_outbit_to_stop", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_ahead_outbit_to_stop(UInt16 CardNo, UInt16 Crd, UInt16 bitno, UInt16 on_off, double ahead_value, UInt16 ahead_mode, double ReverseTime); //连续插补精确位置CMP输出（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_accurate_outbit_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_accurate_outbit_unit(UInt16 CardNo, UInt16 Crd, UInt16 cmp_no, UInt16 on_off, UInt16 map_axis, double abs_pos, UInt16 pos_source, double ReverseTime); //连续插补立即IO输出（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_write_outbit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_write_outbit(UInt16 CardNo, UInt16 Crd, UInt16 bitno, UInt16 on_off, double ReverseTime); //清除段内未执行完的IO（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_clear_io_action", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_clear_io_action(UInt16 CardNo, UInt16 Crd, UInt32 IoMask); //连续插补暂停及异常时IO输出状态（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_set_pause_output", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_set_pause_output(UInt16 CardNo, UInt16 Crd, UInt16 action, Int32 mask, Int32 state); //暂停时IO输出 action 0, 不工作；1， 暂停时输出io_state; 2 暂停时输出io_state, 继续运行时首先恢复原来的io; 3,在2的基础上，停止时也生效。 [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_get_pause_output", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_get_pause_output(UInt16 CardNo, UInt16 Crd, ref UInt16 action, ref Int32 mask, ref Int32 state); //延时指令（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_delay", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_delay(UInt16 CardNo, UInt16 Crd, double delay_time, Int32 mark); //添加延时指令 //IO输出延时翻转（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_conti_reverse_outbit(UInt16 CardNo, UInt16 Crd, UInt16 bitno, double reverse_time); //IO延时输出（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_conti_delay_outbit(UInt16 CardNo, UInt16 Crd, UInt16 bitno, UInt16 on_off, double delay_time); //连续插补单轴运动（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_pmove_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_pmove_unit(UInt16 CardNo, UInt16 Crd, UInt16 Axis, double dist, UInt16 posi_mode, UInt16 mode, Int32 mark); //连续插补中控制指定外轴运动 //连续插补直线插补（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_line_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_line_unit(UInt16 CardNo, UInt16 Crd, UInt16 AxisNum, UInt16[] AxisList, double[] Target_Pos, UInt16 posi_mode, Int32 mark); //连续插补直线 //连续插补圆心圆弧插补（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_arc_move_center_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_arc_move_center_unit(UInt16 CardNo, UInt16 Crd, UInt16 AxisNum, UInt16[] AxisList, double[] Target_Pos, double[] Cen_Pos, UInt16 Arc_Dir, Int32 Circle, UInt16 posi_mode, Int32 mark); //连续插补半径圆弧插补（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_arc_move_radius_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_arc_move_radius_unit(UInt16 CardNo, UInt16 Crd, UInt16 AxisNum, UInt16[] AxisList, double[] Target_Pos, double Arc_Radius, UInt16 Arc_Dir, Int32 Circle, UInt16 posi_mode, Int32 mark); //连续插补3点圆弧插补（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_arc_move_3points_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_arc_move_3points_unit(UInt16 CardNo, UInt16 Crd, UInt16 AxisNum, UInt16[] AxisList, double[] Target_Pos, double[] Mid_Pos, Int32 Circle, UInt16 posi_mode, Int32 mark); //连续插补矩形插补（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_rectangle_move_unit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_rectangle_move_unit(UInt16 CardNo, UInt16 Crd, UInt16 AxisNum, UInt16[] AxisList, double[] TargetPos, double[] MaskPos, Int32 Count, UInt16 rect_mode, UInt16 posi_mode, Int32 mark); //设置螺旋线插补运动模式（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_set_involute_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_set_involute_mode(UInt16 CardNo, UInt16 Crd, UInt16 mode); //设置螺旋线是否封闭 [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_get_involute_mode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_get_involute_mode(UInt16 CardNo, UInt16 Crd, ref UInt16 mode); //读取螺旋线是否封闭设置 //（备用） [DllImport("LTDMC.dll")] public static extern short dmc_conti_line_unit_extern(UInt16 CardNo, UInt16 Crd, UInt16 AxisNum, UInt16[] AxisList, double[] Target_Pos, double[] Cen_Pos, UInt16 posi_mode, Int32 mark); [DllImport("LTDMC.dll")] public static extern short dmc_conti_arc_move_center_unit_extern(UInt16 CardNo, UInt16 Crd, UInt16 AxisNum, UInt16[] AxisList, double[] Target_Pos, double[] Cen_Pos, double Arc_Radius, UInt16 posi_mode, Int32 mark); //设置读取龙门跟随模式（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_set_gear_follow_profile(UInt16 CardNo, UInt16 axis, UInt16 enable, UInt16 master_axis, double ratio);//双Z轴 [DllImport("LTDMC.dll")] public static extern short dmc_get_gear_follow_profile(UInt16 CardNo, UInt16 axis, ref UInt16 enable, ref UInt16 master_axis, ref double ratio); //--------------------PWM控制---------------------- //PWM控制（备用） [DllImport("LTDMC.dll")] public static extern short dmc_set_pwm_pin(UInt16 CardNo, UInt16 portno, UInt16 ON_OFF, double dfreqency, double dduty); [DllImport("LTDMC.dll")] public static extern short dmc_get_pwm_pin(UInt16 CardNo, UInt16 portno, ref UInt16 ON_OFF, ref double dfreqency, ref double dduty); //设置读取PWM使能（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_pwm_enable", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_pwm_enable(UInt16 CardNo, UInt16 enable); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_pwm_enable", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_pwm_enable(UInt16 CardNo, ref UInt16 enable); //设置读取PWM立即输出（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_pwm_output", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_pwm_output(UInt16 CardNo, UInt16 pwm_no, double fDuty, double fFre); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_pwm_output", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_pwm_output(UInt16 CardNo, UInt16 pwm_no, ref double fDuty, ref double fFre); //连续插补PWM输出（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_set_pwm_output", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_set_pwm_output(UInt16 CardNo, UInt16 Crd, UInt16 pwm_no, double fDuty, double fFre); //高速PWM功能（备用） [DllImport("LTDMC.dll")] public static extern short dmc_set_pwm_enable_extern(UInt16 CardNo, UInt16 channel, UInt16 enable); [DllImport("LTDMC.dll")] public static extern short dmc_get_pwm_enable_extern(UInt16 CardNo, UInt16 channel, ref UInt16 enable); //设置PWM开关对应的占空比（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_pwm_onoff_duty", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_pwm_onoff_duty(UInt16 CardNo, UInt16 PwmNo, double fOnDuty, double fOffDuty); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_pwm_onoff_duty", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_pwm_onoff_duty(UInt16 CardNo, UInt16 PwmNo, ref double fOnDuty, ref double fOffDuty); //连续插补PWM速度跟随（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_set_pwm_follow_speed", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_set_pwm_follow_speed(UInt16 CardNo, UInt16 Crd, UInt16 pwm_no, UInt16 mode, double MaxVel, double MaxValue, double OutValue); [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_get_pwm_follow_speed", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_get_pwm_follow_speed(UInt16 CardNo, UInt16 Crd, UInt16 pwm_no, ref UInt16 mode, ref double MaxVel, ref double MaxValue, ref double OutValue); //连续插补相对轨迹起点PWM滞后输出（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_delay_pwm_to_start", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_delay_pwm_to_start(UInt16 CardNo, UInt16 Crd, UInt16 pwmno, UInt16 on_off, double delay_value, UInt16 delay_mode, double ReverseTime); //连续插补相对轨迹终点PWM提前输出（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_ahead_pwm_to_stop", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_ahead_pwm_to_stop(UInt16 CardNo, UInt16 Crd, UInt16 pwmno, UInt16 on_off, double ahead_value, UInt16 ahead_mode, double ReverseTime); //连续插补PWM立即输出（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_write_pwm", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_write_pwm(UInt16 CardNo, UInt16 Crd, UInt16 pwmno, UInt16 on_off, double ReverseTime); //--------------------ADDA输出---------------------- //控制卡接线盒DA输出，设置DA输出使能（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_da_enable", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_da_enable(UInt16 CardNo, UInt16 enable); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_da_enable", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_da_enable(UInt16 CardNo, ref UInt16 enable); //设置DA输出（适用于所有脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_da_output", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_da_output(UInt16 CardNo, UInt16 channel, double Vout); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_da_output", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_da_output(UInt16 CardNo, UInt16 channel, ref double Vout); //控制卡接线盒AD输入，读取AD输入（适用于所有脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_get_ad_input(ushort CardNo, ushort channel, ref double Vout); //设置连续DA使能（适用于DMC5000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_conti_set_da_output(UInt16 CardNo, UInt16 Crd, UInt16 channel, double Vout); //设置连续DA使能（适用于DMC5000/5X10系列脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_set_da_enable", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_set_da_enable(ushort CardNo, ushort Crd, ushort enable, ushort channel, int mark); //编码器da跟随（预留） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_encoder_da_follow_enable", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_encoder_da_follow_enable(ushort CardNo, ushort axis, ushort enable); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_encoder_da_follow_enable", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_encoder_da_follow_enable(ushort CardNo, ushort axis, ref ushort enable); //连续插补DA速度跟随（适用于DMC5000/5X10系列脉冲卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_set_da_follow_speed", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_set_da_follow_speed(ushort CardNo, ushort Crd, ushort da_no, double MaxVel, double MaxValue, double acc_offset, double dec_offset, double acc_dist, double dec_dist); [DllImport("LTDMC.dll", EntryPoint = "dmc_conti_get_da_follow_speed", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_conti_get_da_follow_speed(ushort CardNo, ushort Crd, ushort da_no, ref double MaxVel, ref double MaxValue, ref double acc_offset, ref double dec_offset, ref double acc_dist, ref double dec_dist); //小圆限速使能（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_arc_limit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_arc_limit(UInt16 CardNo, UInt16 Crd, UInt16 Enable, double MaxCenAcc, double MaxArcError); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_arc_limit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_arc_limit(UInt16 CardNo, UInt16 Crd, ref UInt16 Enable, ref double MaxCenAcc, ref double MaxArcError); //（预留） [DllImport("LTDMC.dll")] public static extern short dmc_set_IoFilter(UInt16 CardNo, UInt16 bitno, double filter); [DllImport("LTDMC.dll")] public static extern short dmc_get_IoFilter(UInt16 CardNo, UInt16 bitno, ref double filter); //螺距补偿（旧指令，不使用） [DllImport("LTDMC.dll")] public static extern short dmc_set_lsc_index_value(UInt16 CardNo, UInt16 axis, UInt16 IndexID, Int32 IndexValue); [DllImport("LTDMC.dll")] public static extern short dmc_get_lsc_index_value(UInt16 CardNo, UInt16 axis, UInt16 IndexID, ref Int32 IndexValue); [DllImport("LTDMC.dll")] public static extern short dmc_set_lsc_config(UInt16 CardNo, UInt16 axis, UInt16 Origin, UInt32 Interal, UInt32 NegIndex, UInt32 PosIndex, double Ratio); [DllImport("LTDMC.dll")] public static extern short dmc_get_lsc_config(UInt16 CardNo, UInt16 axis, ref UInt16 Origin, ref UInt32 Interal, ref UInt32 NegIndex, ref UInt32 PosIndex, ref double Ratio); //看门狗旧指令，不使用 [DllImport("LTDMC.dll")] public static extern short dmc_set_watchdog(UInt16 CardNo, UInt16 enable, UInt32 time); [DllImport("LTDMC.dll")] public static extern short dmc_call_watchdog(UInt16 CardNo); [DllImport("LTDMC.dll")] public static extern short dmc_read_diagnoseData(UInt16 CardNo); [DllImport("LTDMC.dll")] public static extern short dmc_conti_set_cmd_end(UInt16 CardNo, UInt16 Crd, UInt16 enable); //区域软限位（保留） [DllImport("LTDMC.dll")] public static extern short dmc_set_zone_limit_config(UInt16 CardNo, UInt16[] axis, UInt16[] Source, Int32 x_pos_p, Int32 x_pos_n, Int32 y_pos_p, Int32 y_pos_n, UInt16 action_para); [DllImport("LTDMC.dll")] public static extern short dmc_get_zone_limit_config(UInt16 CardNo, UInt16[] axis, UInt16[] Source, ref Int32 x_pos_p, ref Int32 x_pos_n, ref Int32 y_pos_p, ref Int32 y_pos_n, ref UInt16 action_para); [DllImport("LTDMC.dll")] public static extern short dmc_set_zone_limit_enable(UInt16 CardNo, UInt16 enable); //轴互锁功能（保留） [DllImport("LTDMC.dll")] public static extern short dmc_set_interlock_config(UInt16 CardNo, UInt16[] axis, UInt16[] Source, Int32 delta_pos, UInt16 action_para); [DllImport("LTDMC.dll")] public static extern short dmc_get_interlock_config(UInt16 CardNo, UInt16[] axis, UInt16[] Source, ref Int32 delta_pos, ref UInt16 action_para); [DllImport("LTDMC.dll")] public static extern short dmc_set_interlock_enable(UInt16 CardNo, UInt16 enable); //龙门模式的误差保护（适用于DMC5000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_set_grant_error_protect(UInt16 CardNo, UInt16 axis, UInt16 enable, UInt32 dstp_error, UInt32 emg_error); [DllImport("LTDMC.dll")] public static extern short dmc_get_grant_error_protect(UInt16 CardNo, UInt16 axis, ref UInt16 enable, ref UInt32 dstp_error, ref UInt32 emg_error); //龙门模式的误差保护当量函数（适用于DMC5000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_set_grant_error_protect_unit(UInt16 CardNo, UInt16 axis, UInt16 enable, double dstp_error, double emg_error); [DllImport("LTDMC.dll")] public static extern short dmc_get_grant_error_protect_unit(UInt16 CardNo, UInt16 axis, ref UInt16 enable, ref double dstp_error, ref double emg_error); //物件分拣功能 （分拣固件专用） [DllImport("LTDMC.dll")] public static extern short dmc_set_camerablow_config(UInt16 CardNo, UInt16 camerablow_en, Int32 cameraPos, UInt16 piece_num, Int32 piece_distance, UInt16 axis_sel, Int32 latch_distance_min); [DllImport("LTDMC.dll")] public static extern short dmc_get_camerablow_config(UInt16 CardNo, ref UInt16 camerablow_en, ref Int32 cameraPos, ref UInt16 piece_num, ref Int32 piece_distance, ref UInt16 axis_sel, ref Int32 latch_distance_min); [DllImport("LTDMC.dll")] public static extern short dmc_clear_camerablow_errorcode(UInt16 CardNo); [DllImport("LTDMC.dll")] public static extern short dmc_get_camerablow_errorcode(UInt16 CardNo, ref UInt16 errorcode); //配置通用输入（0~15）做为轴的限位信号（保留） [DllImport("LTDMC.dll")] public static extern short dmc_set_io_limit_config(UInt16 CardNo, UInt16 portno, UInt16 enable, UInt16 axis_sel, UInt16 el_mode, UInt16 el_logic); [DllImport("LTDMC.dll")] public static extern short dmc_get_io_limit_config(UInt16 CardNo, UInt16 portno, ref UInt16 enable, ref UInt16 axis_sel, ref UInt16 el_mode, ref UInt16 el_logic); //手轮滤波参数（保留） [DllImport("LTDMC.dll")] public static extern short dmc_set_handwheel_filter(UInt16 CardNo, UInt16 axis, double filter_factor); [DllImport("LTDMC.dll")] public static extern short dmc_get_handwheel_filter(UInt16 CardNo, UInt16 axis, ref double filter_factor); //读取坐标系各轴的当前规划坐标（保留） [DllImport("LTDMC.dll")] public static extern short dmc_conti_get_interp_map(UInt16 CardNo, UInt16 Crd, ref UInt16 AxisNum, UInt16[] AxisList, double[] pPosList); //坐标系错误代码 （保留） [DllImport("LTDMC.dll")] public static extern short dmc_conti_get_crd_errcode(UInt16 CardNo, UInt16 Crd, ref UInt16 errcode); //保留 [DllImport("LTDMC.dll")] public static extern short dmc_line_unit_follow(UInt16 CardNo, UInt16 Crd, UInt16 AxisNum, UInt16[] AxisList, double[] Dist, UInt16 posi_mode); [DllImport("LTDMC.dll")] public static extern short dmc_conti_line_unit_follow(UInt16 CardNo, UInt16 Crd, UInt16 AxisNum, UInt16[] AxisList, double[] pPosList, UInt16 posi_mode, Int32 mark); //连续插补缓冲区DA操作（保留） [DllImport("LTDMC.dll")] public static extern short dmc_conti_set_da_action(UInt16 CardNo, UInt16 Crd, UInt16 mode, UInt16 portno, double dvalue); //读编码器速度（保留） [DllImport("LTDMC.dll")] public static extern short dmc_read_encoder_speed(UInt16 CardNo, UInt16 Axis, ref double current_speed); [DllImport("LTDMC.dll")] public static extern short dmc_axis_follow_line_enable(UInt16 CardNo, UInt16 Crd, UInt16 enable_flag); //插补轴脉冲补偿（保留） [DllImport("LTDMC.dll")] public static extern short dmc_set_interp_compensation(UInt16 CardNo, UInt16 axis, double dvalue, double time); [DllImport("LTDMC.dll")] public static extern short dmc_get_interp_compensation(UInt16 CardNo, UInt16 axis, ref double dvalue, ref double time); //读取相对于起点的距离（保留） [DllImport("LTDMC.dll")] public static extern short dmc_get_distance_to_start(UInt16 CardNo, UInt16 Crd, ref double distance_x, ref double distance_y, Int32 imark); //设置标志位 表示是否开始计算相对起点（保留） [DllImport("LTDMC.dll")] public static extern short dmc_set_start_distance_flag(UInt16 CardNo, UInt16 Crd, UInt16 flag); //刀向跟随（适用于DMC5000/5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_conti_gear_unit(UInt16 CardNo, UInt16 Crd, UInt16 axis, double dist, UInt16 follow_mode, Int32 imark); //轨迹拟合使能设置（保留） [DllImport("LTDMC.dll")] public static extern short dmc_set_path_fitting_enable(UInt16 CardNo, UInt16 Crd, UInt16 enable); //--------------------螺距补偿---------------------- //螺距补偿功能(新)（适用于所有脉冲卡、E5032总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_enable_leadscrew_comp(UInt16 CardNo, UInt16 axis, UInt16 enable); //配置逻辑补偿参数（脉冲）（适用于所有脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_set_leadscrew_comp_config(UInt16 CardNo, UInt16 axis, UInt16 n, Int32 startpos, Int32 lenpos, Int32[] pCompPos, Int32[] pCompNeg); [DllImport("LTDMC.dll")] public static extern short dmc_get_leadscrew_comp_config(UInt16 CardNo, UInt16 axis, ref UInt16 n, ref int startpos, ref int lenpos, int[] pCompPos, int[] pCompNeg); //配置逻辑补偿参数（当量）（适用于DMC5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_set_leadscrew_comp_config_unit(UInt16 CardNo, UInt16 axis, UInt16 n, double startpos, double lenpos, double[] pCompPos, double[] pCompNeg); [DllImport("LTDMC.dll")] public static extern short dmc_get_leadscrew_comp_config_unit(UInt16 CardNo, UInt16 axis, ref UInt16 n, ref double startpos, ref double lenpos, double[] pCompPos, double[] pCompNeg); //螺距补偿前的脉冲位置，编码器位置//20191025（适用于DMC3000系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_get_position_ex(UInt16 CardNo, UInt16 axis, ref double pos); [DllImport("LTDMC.dll")] public static extern short dmc_get_encoder_ex(UInt16 CardNo, UInt16 axis, ref double pos); //螺距补偿前的脉冲位置，编码器位置 当量（适用于DMC5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_get_position_ex_unit(UInt16 CardNo, UInt16 axis, ref double pos); [DllImport("LTDMC.dll")] public static extern short dmc_get_encoder_ex_unit(UInt16 CardNo, UInt16 axis, ref double pos); //指定轴做定长位移运动 按固定曲线运动（适用于DMC3000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_t_pmove_extern(UInt16 CardNo, UInt16 axis, double MidPos, double TargetPos, double Min_Vel, double Max_Vel, double stop_Vel, double acc, double dec, UInt16 posi_mode); // [DllImport("LTDMC.dll")] public static extern short dmc_t_pmove_extern_unit(UInt16 CardNo, UInt16 axis, double MidPos, double TargetPos, double Min_Vel, double Max_Vel, double stop_Vel, double acc, double dec, UInt16 posi_mode); //设置脉冲计数值和编码器反馈值之间差值的报警阀值（适用于DMC5000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_set_pulse_encoder_count_error(UInt16 CardNo, UInt16 axis, UInt16 error); [DllImport("LTDMC.dll")] public static extern short dmc_get_pulse_encoder_count_error(UInt16 CardNo, UInt16 axis, ref UInt16 error); //检查脉冲计数值和编码器反馈值之间差值是否超过报警阀值（适用于DMC5000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_check_pulse_encoder_count_error(UInt16 CardNo, UInt16 axis, ref Int32 pulse_position, ref Int32 enc_position); //设置/回读脉冲计数值和编码器反馈值之间差值的报警阈值unit（适用于DMC5X10脉冲卡、EtherCAT总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_set_pulse_encoder_count_error_unit(ushort CardNo, ushort axis, double error); [DllImport("LTDMC.dll")] public static extern short dmc_get_pulse_encoder_count_error_unit(ushort CardNo, ushort axis, ref double error); //检查脉冲计数值和编码器反馈值之间差值是否超过报警阈值unit（适用于DMC5X10脉冲卡、EtherCAT总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_check_pulse_encoder_count_error_unit(ushort CardNo, ushort axis, ref double pulse_position, ref double enc_position); //使能和设置跟踪编码器误差不在范围内时轴的停止模式（适用于DMC5000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_set_encoder_count_error_action_config(UInt16 CardNo, UInt16 enable, UInt16 stopmode); [DllImport("LTDMC.dll")] public static extern short dmc_get_encoder_count_error_action_config(UInt16 CardNo, ref UInt16 enable, ref UInt16 stopmode); //新物件分拣功能 分拣固件专用 [DllImport("LTDMC.dll")] public static extern short dmc_sorting_close(UInt16 CardNo); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_start(UInt16 CardNo); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_set_init_config(UInt16 CardNo, UInt16 cameraCount, Int32[] pCameraPos, UInt16[] pCamIONo, UInt32 cameraTime, UInt16 cameraTrigLevel, UInt16 blowCount, Int32[] pBlowPos, UInt16[] pBlowIONo, UInt32 blowTime, UInt16 blowTrigLevel, UInt16 axis, UInt16 dir, UInt16 checkMode); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_set_camera_trig_count(UInt16 CardNo, UInt16 cameraNum, UInt32 cameraTrigCnt); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_get_camera_trig_count(UInt16 CardNo, UInt16 cameraNum, ref UInt32 pCameraTrigCnt, UInt16 count); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_set_blow_trig_count(UInt16 CardNo, UInt16 blowNum, UInt32 blowTrigCnt); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_get_blow_trig_count(UInt16 CardNo, UInt16 blowNum, ref UInt32 pBlowTrigCnt, UInt16 count); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_get_camera_config(UInt16 CardNo, UInt16 index, ref Int32 pos, ref UInt32 trigTime, ref UInt16 ioNo, ref UInt16 trigLevel); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_get_blow_config(UInt16 CardNo, UInt16 index, ref Int32 pos, ref UInt32 trigTime, ref UInt16 ioNo, ref UInt16 trigLevel); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_get_blow_status(UInt16 CardNo, ref Int32 trigCntAll, ref UInt16 trigMore, ref UInt16 trigLess); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_trig_blow(UInt16 CardNo, UInt16 blowNum); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_set_blow_enable(UInt16 CardNo, UInt16 blowNum, UInt16 enable); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_set_piece_config(UInt16 CardNo, UInt32 maxWidth, UInt32 minWidth, UInt32 minDistance, UInt32 minTimeIntervel); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_get_piece_status(UInt16 CardNo, ref UInt32 pieceFind, ref UInt32 piecePassCam, ref UInt32 dist2next, ref UInt32 pieceWidth); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_set_cam_trig_phase(UInt16 CardNo, UInt16 blowNo, double coef); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_set_blow_trig_phase(UInt16 CardNo, UInt16 blowNo, double coef); //内部使用（保留） [DllImport("LTDMC.dll")] public static extern short dmc_set_sevon_enable(UInt16 CardNo, UInt16 axis, UInt16 on_off); [DllImport("LTDMC.dll")] public static extern short dmc_get_sevon_enable(UInt16 CardNo, UInt16 axis); //连续编码器da跟随（适用于DMC5000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_conti_set_encoder_da_follow_enable(UInt16 CardNo, UInt16 Crd, UInt16 axis, UInt16 enable); [DllImport("LTDMC.dll")] public static extern short dmc_conti_get_encoder_da_follow_enable(UInt16 CardNo, UInt16 Crd, ref UInt16 axis, ref UInt16 enable); //设置位置误差带（适用于所有脉冲卡、总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_set_factor_error", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_set_factor_error(UInt16 CardNo, UInt16 axis, double factor, Int32 error); [DllImport("LTDMC.dll", EntryPoint = "dmc_get_factor_error", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_get_factor_error(UInt16 CardNo, UInt16 axis, ref double factor, ref Int32 error); //设置/回读位置误差带unit（适用于DMC5X10脉冲卡、EtherCAT总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_set_factor_error_unit(ushort CardNo, ushort axis, double factor, double error); [DllImport("LTDMC.dll")] public static extern short dmc_get_factor_error_unit(ushort CardNo, ushort axis, ref double factor, ref double error); //保留 [DllImport("LTDMC.dll")] public static extern short dmc_check_done_pos(UInt16 CardNo, UInt16 axis, UInt16 posi_mode); //保留 [DllImport("LTDMC.dll")] public static extern short dmc_set_factor(UInt16 CardNo, UInt16 axis, double factor); [DllImport("LTDMC.dll")] public static extern short dmc_set_error(UInt16 CardNo, UInt16 axis, Int32 error); //检测指令到位（适用于所有脉冲卡、总线卡） [DllImport("LTDMC.dll", EntryPoint = "dmc_check_success_pulse", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_check_success_pulse(UInt16 CardNo, UInt16 axis); [DllImport("LTDMC.dll", EntryPoint = "dmc_check_success_encoder", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short dmc_check_success_encoder(UInt16 CardNo, UInt16 axis); //IO及编码器计数功能（保留） [DllImport("LTDMC.dll")] public static extern short dmc_set_io_count_profile(UInt16 CardNo, UInt16 chan, UInt16 bitno, UInt16 mode, double filter, double count_value, UInt16[] axis_list, UInt16 axis_num, UInt16 stop_mode); [DllImport("LTDMC.dll")] public static extern short dmc_get_io_count_profile(UInt16 CardNo, UInt16 chan, ref UInt16 bitno, ref UInt16 mode, ref double filter, ref double count_value, UInt16[] axis_list, ref UInt16 axis_num, ref UInt16 stop_mode); [DllImport("LTDMC.dll")] public static extern short dmc_set_io_count_enable(UInt16 CardNo, UInt16 chan, UInt16 ifenable); [DllImport("LTDMC.dll")] public static extern short dmc_clear_io_count(UInt16 CardNo, UInt16 chan); [DllImport("LTDMC.dll")] public static extern short dmc_get_io_count_value_extern(UInt16 CardNo, UInt16 chan, ref Int32 current_value); //保留 [DllImport("LTDMC.dll")] public static extern short dmc_change_speed_extend(UInt16 CardNo, UInt16 axis, double Curr_Vel, double Taccdec, UInt16 pin_num, UInt16 trig_mode); [DllImport("LTDMC.dll")] public static extern short dmc_follow_vector_speed_move(UInt16 CardNo, UInt16 axis, UInt16 Follow_AxisNum, UInt16[] Follow_AxisList, double ratio); [DllImport("LTDMC.dll")] public static extern short dmc_conti_line_unit_extend(UInt16 CardNo, UInt16 Crd, UInt16 AxisNum, UInt16[] AxisList, double[] pPosList, UInt16 posi_mode, double Extend_Len, UInt16 enable, Int32 mark); //连续插补直线 //总线参数 [DllImport("LTDMC.dll", EntryPoint = "nmc_download_configfile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short nmc_download_configfile(UInt16 CardNo, UInt16 PortNum, String FileName);//总线ENI配置文件 [DllImport("LTDMC.dll", EntryPoint = "nmc_download_mapfile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short nmc_download_mapfile(UInt16 CardNo, String FileName); [DllImport("LTDMC.dll")] public static extern short nmc_upload_configfile(UInt16 CardNo, UInt16 PortNum, String FileName); [DllImport("LTDMC.dll", EntryPoint = "nmc_set_manager_para", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short nmc_set_manager_para(UInt16 CardNo, UInt16 PortNum, Int32 baudrate, UInt16 ManagerID); [DllImport("LTDMC.dll", EntryPoint = "nmc_get_manager_para", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short nmc_get_manager_para(UInt16 CardNo, UInt16 PortNum, ref UInt32 baudrate, ref UInt16 ManagerID); [DllImport("LTDMC.dll", EntryPoint = "nmc_set_manager_od", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short nmc_set_manager_od(UInt16 CardNo, UInt16 PortNum, UInt16 index, UInt16 subindex, UInt16 valuelength, UInt32 value); [DllImport("LTDMC.dll", EntryPoint = "nmc_get_manager_od", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short nmc_get_manager_od(UInt16 CardNo, UInt16 PortNum, UInt16 index, UInt16 subindex, UInt16 valuelength, ref UInt32 value); [DllImport("LTDMC.dll", EntryPoint = "nmc_get_total_axes", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short nmc_get_total_axes(ushort CardNo, ref uint TotalAxis); [DllImport("LTDMC.dll", EntryPoint = "nmc_get_total_ionum", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short nmc_get_total_ionum(UInt16 CardNo, ref UInt16 TotalIn, ref UInt16 TotalOut); [DllImport("LTDMC.dll", EntryPoint = "nmc_get_LostHeartbeat_Nodes", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short nmc_get_LostHeartbeat_Nodes(UInt16 CardNo, UInt16 PortNum, UInt16[] NodeID, ref UInt16 NodeNum); [DllImport("LTDMC.dll", EntryPoint = "nmc_get_EmergeneyMessege_Nodes", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short nmc_get_EmergeneyMessege_Nodes(UInt16 CardNo, UInt16 PortNum, UInt32[] NodeMsg, ref UInt16 MsgNum); [DllImport("LTDMC.dll", EntryPoint = "nmc_SendNmtCommand", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short nmc_SendNmtCommand(UInt16 CardNo, UInt16 PortNum, UInt16 NodeID, UInt16 NmtCommand); [DllImport("LTDMC.dll", EntryPoint = "nmc_syn_move", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern short nmc_syn_move(UInt16 CardNo, UInt16 AxisNum, UInt16[] AxisList, Int32[] Position, UInt16[] PosiMode); // [DllImport("LTDMC.dll")] public static extern short nmc_syn_move_unit(UInt16 CardNo, UInt16 AxisNum, UInt16[] AxisList, double[] Position, UInt16[] PosiMode); //总线多轴同步运动 [DllImport("LTDMC.dll")] public static extern short nmc_sync_pmove_unit(UInt16 CardNo, UInt16 AxisNum, UInt16[] AxisList, double[] Dist, UInt16[] PosiMode); [DllImport("LTDMC.dll")] public static extern short nmc_sync_vmove_unit(UInt16 CardNo, UInt16 AxisNum, UInt16[] AxisList, UInt16[] Dir); //设置主站参数 [DllImport("LTDMC.dll")] public static extern short nmc_set_master_para(UInt16 CardNo, UInt16 PortNum, UInt16 Baudrate, UInt32 NodeCnt, UInt16 MasterId); //读取主站参数 [DllImport("LTDMC.dll")] public static extern short nmc_get_master_para(UInt16 CardNo, UInt16 PortNum, ref UInt16 Baudrate, ref UInt32 NodeCnt, ref UInt16 MasterId); //获取总线ADDA输入输出口数 [DllImport("LTDMC.dll")] public static extern short nmc_get_total_adcnum(ushort CardNo, ref ushort TotalIn, ref ushort TotalOut); [DllImport("LTDMC.dll")] public static extern short nmc_set_controller_workmode(ushort CardNo, ushort controller_mode); [DllImport("LTDMC.dll")] public static extern short nmc_get_controller_workmode(ushort CardNo, ref ushort controller_mode); [DllImport("LTDMC.dll")] public static extern short nmc_set_cycletime(ushort CardNo, ushort FieldbusType, int CycleTime); [DllImport("LTDMC.dll")] public static extern short nmc_get_cycletime(ushort CardNo, ushort FieldbusType, ref int CycleTime); [DllImport("LTDMC.dll")] public static extern short nmc_get_node_od(ushort CardNo, ushort PortNum, ushort nodenum, ushort index, ushort subindex, ushort valuelength, ref int value); [DllImport("LTDMC.dll")] public static extern short nmc_set_node_od(ushort CardNo, ushort PortNum, ushort nodenum, ushort index, ushort subindex, ushort valuelength, int value); [DllImport("LTDMC.dll")] public static extern short nmc_reset_to_factory(ushort CardNo, ushort PortNum, ushort NodeNum); [DllImport("LTDMC.dll")] public static extern short nmc_set_alarm_clear(ushort CardNo, ushort PortNum, ushort nodenum); [DllImport("LTDMC.dll")] public static extern short nmc_get_slave_nodes(ushort CardNo, ushort PortNum, ushort BaudRate, ref ushort NodeId, ref ushort NodeNum); //轴状态机 [DllImport("LTDMC.dll")] public static extern short nmc_get_axis_state_machine(ushort CardNo, ushort axis, ref ushort Axis_StateMachine); //获取轴状态字 [DllImport("LTDMC.dll")] public static extern short nmc_get_axis_statusword(ushort CardNo, ushort axis, ref int statusword); //获取轴配置控制模式，返回值（6回零模式，8csp模式） [DllImport("LTDMC.dll")] public static extern short nmc_get_axis_setting_contrlmode(ushort CardNo, ushort axis, ref int contrlmode); //设置总线轴控制字 [DllImport("LTDMC.dll")] public static extern short nmc_set_axis_contrlword(ushort CardNo, ushort axis, int contrlword); //获取总线轴控制字 [DllImport("LTDMC.dll")] public static extern short nmc_get_axis_contrlword(ushort CardNo, ushort axis, ref int contrlword); [DllImport("LTDMC.dll")] public static extern short nmc_get_axis_type(ushort CardNo, ushort axis, ref ushort Axis_Type); //获取总线时间量，平均时间，最大时间，执行周期数 [DllImport("LTDMC.dll")] public static extern short nmc_get_consume_time_fieldbus(ushort CardNo, ushort Fieldbustype, ref uint Average_time, ref uint Max_time, ref UInt64 Cycles); //清除时间量 [DllImport("LTDMC.dll")] public static extern short nmc_clear_consume_time_fieldbus(ushort CardNo, ushort Fieldbustype); //总线单轴使能函数 255表示全使能 [DllImport("LTDMC.dll")] public static extern short nmc_set_axis_enable(ushort CardNo, ushort axis); [DllImport("LTDMC.dll")] public static extern short nmc_set_axis_disable(ushort CardNo, ushort axis); // 获取轴的从站信息 [DllImport("LTDMC.dll")] public static extern short nmc_get_axis_node_address(ushort CardNo, ushort axis, ref ushort SlaveAddr, ref ushort Sub_SlaveAddr); //获取总线轴数 [DllImport("LTDMC.dll")] public static extern short nmc_get_total_slaves(ushort CardNo, ushort PortNum, ref ushort TotalSlaves); [DllImport("LTDMC.dll")] //总线回原点函数 public static extern short nmc_set_home_profile(ushort CardNo, ushort axis, ushort home_mode, double Low_Vel, double High_Vel, double Tacc, double Tdec, double offsetpos); [DllImport("LTDMC.dll")] public static extern short nmc_get_home_profile(ushort CardNo, ushort axis, ref ushort home_mode, ref double Low_Vel, ref double High_Vel, ref double Tacc, ref double Tdec, ref double offsetpos); [DllImport("LTDMC.dll")] public static extern short nmc_home_move(ushort CardNo, ushort axis); // [DllImport("LTDMC.dll")] public static extern short nmc_start_scan_ethercat(ushort CardNo, ushort AddressID); [DllImport("LTDMC.dll")] public static extern short nmc_stop_scan_ethercat(ushort CardNo, ushort AddressID); //设置轴的运行模式 1为pp模式，6为回零模式，8为csp模式 [DllImport("LTDMC.dll")] public static extern short nmc_set_axis_run_mode(ushort CardNo, ushort axis, ushort run_mode); //清除端口报警 [DllImport("LTDMC.dll")] public static extern short nmc_clear_alarm_fieldbus(ushort CardNo, ushort PortNum); //停止ethercat总线,返回0表示成功，其他参数表示不成功 [DllImport("LTDMC.dll")] public static extern short nmc_stop_etc(ushort CardNo, ref ushort ETCState); [DllImport("LTDMC.dll")] public static extern short nmc_get_axis_contrlmode(ushort CardNo, ushort Axis, ref int Contrlmode); [DllImport("LTDMC.dll")] public static extern short nmc_get_axis_io_in(ushort CardNo, ushort axis); [DllImport("LTDMC.dll")] public static extern short nmc_set_axis_io_out(UInt16 CardNo, UInt16 axis, UInt32 iostate); [DllImport("LTDMC.dll")] public static extern short nmc_get_axis_io_out(UInt16 CardNo, UInt16 axis); // 获取总线端口错误码 [DllImport("LTDMC.dll")] public static extern short nmc_get_errcode(ushort CardNo, ushort channel, ref ushort errcode); // 清除总线端口错误码 [DllImport("LTDMC.dll")] public static extern short nmc_clear_errcode(ushort CardNo, ushort channel); // 获取总线轴错误码 [DllImport("LTDMC.dll")] public static extern short nmc_get_axis_errcode(ushort CardNo, ushort axis, ref ushort Errcode); // 清除总线轴错误码 [DllImport("LTDMC.dll")] public static extern short nmc_clear_axis_errcode(ushort CardNo, ushort axis); //RTEX卡添加函数 [DllImport("LTDMC.dll")] public static extern short nmc_start_connect(UInt16 CardNo, UInt16 chan, ref UInt16 info, ref UInt16 len); [DllImport("LTDMC.dll")] public static extern short nmc_get_vendor_info(UInt16 CardNo, UInt16 axis, Byte[] info, ref UInt16 len); [DllImport("LTDMC.dll")] public static extern short nmc_get_slave_type_info(UInt16 CardNo, UInt16 axis, Byte[] info, ref UInt16 len); [DllImport("LTDMC.dll")] public static extern short nmc_get_slave_name_info(UInt16 CardNo, UInt16 axis, Byte[] info, ref UInt16 len); [DllImport("LTDMC.dll")] public static extern short nmc_get_slave_version_info(UInt16 CardNo, UInt16 axis, Byte[] info, ref UInt16 len); [DllImport("LTDMC.dll")] public static extern short nmc_write_parameter(UInt16 CardNo, UInt16 axis, UInt16 index, UInt16 subindex, UInt32 para_data); /************************************************************** *功能说明：RTEX驱动器写EEPROM操作 **************************************************************/ [DllImport("LTDMC.dll")] public static extern short nmc_write_slave_eeprom(UInt16 CardNo, UInt16 axis); [DllImport("LTDMC.dll")] public static extern short nmc_read_parameter(UInt16 CardNo, UInt16 axis, UInt16 index, UInt16 subindex, ref UInt32 para_data); /************************************************************** * *index:rtex驱动器的参数分类 * *subindex:rtex驱动器在index类别下的参数编号 * *para_data:读出的参数值 * **************************************************************/ [DllImport("LTDMC.dll")] public static extern short nmc_read_parameter_attributes(UInt16 CardNo, UInt16 axis, UInt16 index, UInt16 subindex, ref UInt32 para_data); [DllImport("LTDMC.dll")] public static extern short nmc_set_cmdcycletime(UInt16 CardNo, UInt16 PortNum, UInt32 cmdtime); //设置RTEX总线周期比(us) [DllImport("LTDMC.dll")] public static extern short nmc_get_cmdcycletime(UInt16 CardNo, UInt16 PortNum, ref UInt32 cmdtime); [DllImport("LTDMC.dll")] public static extern short nmc_config_atuo_log(UInt16 CardNo, UInt16 ifenable, UInt16 dir, UInt16 byte_index, UInt16 mask, UInt16 condition, UInt32 counter); //扩展PDO [DllImport("LTDMC.dll")] public static extern short nmc_write_rxpdo_extra(UInt16 CardNo, UInt16 PortNum, UInt16 address, UInt16 DataLen, Int32 Value); [DllImport("LTDMC.dll")] public static extern short nmc_read_rxpdo_extra(UInt16 CardNo, UInt16 PortNum, UInt16 address, UInt16 DataLen, ref Int32 Value); [DllImport("LTDMC.dll")] public static extern short nmc_read_txpdo_extra(UInt16 CardNo, UInt16 PortNum, UInt16 address, UInt16 DataLen, ref Int32 Value); [DllImport("LTDMC.dll")] public static extern short nmc_write_rxpdo_extra_uint(UInt16 CardNo, UInt16 PortNum, UInt16 address, UInt16 DataLen, UInt32 Value); [DllImport("LTDMC.dll")] public static extern short nmc_read_rxpdo_extra_uint(UInt16 CardNo, UInt16 PortNum, UInt16 address, UInt16 DataLen, ref UInt32 Value); [DllImport("LTDMC.dll")] public static extern short nmc_read_txpdo_extra_uint(UInt16 CardNo, UInt16 PortNum, UInt16 address, UInt16 DataLen, ref UInt32 Value); [DllImport("LTDMC.dll")] public static extern short nmc_get_log_state(UInt16 CardNo, UInt16 chan, ref UInt32 state); [DllImport("LTDMC.dll")] public static extern short nmc_driver_reset(UInt16 CardNo, UInt16 axis); [DllImport("LTDMC.dll")] public static extern short nmc_set_offset_pos(UInt16 CardNo, UInt16 axis, double offset_pos); [DllImport("LTDMC.dll")] public static extern short nmc_get_offset_pos(UInt16 CardNo, UInt16 axis, ref double offset_pos); //清除rtex绝对值编码器的多圈值 [DllImport("LTDMC.dll")] public static extern short nmc_clear_abs_driver_multi_cycle(UInt16 CardNo, UInt16 axis); //---------------------------EtherCAT IO扩展模块操作指令---------------------- //设置io输出32位总线扩展 [DllImport("LTDMC.dll")] public static extern short nmc_write_outport_extern(UInt16 CardNo, UInt16 Channel, UInt16 NoteID, UInt16 portno, UInt32 outport_val); //读取io输出32位总线扩展 [DllImport("LTDMC.dll")] public static extern short nmc_read_outport_extern(UInt16 CardNo, UInt16 Channel, UInt16 NoteID, UInt16 portno, ref UInt32 outport_val); //读取io输入32位总线扩展 [DllImport("LTDMC.dll")] public static extern short nmc_read_inport_extern(UInt16 CardNo, UInt16 Channel, UInt16 NoteID, UInt16 portno, ref UInt32 inport_val); //设置io输出 [DllImport("LTDMC.dll")] public static extern short nmc_write_outbit_extern(UInt16 CardNo, UInt16 Channel, UInt16 NoteID, UInt16 IoBit, UInt16 IoValue); //读取io输出 [DllImport("LTDMC.dll")] public static extern short nmc_read_outbit_extern(UInt16 CardNo, UInt16 Channel, UInt16 NoteID, UInt16 IoBit, ref UInt16 IoValue); //读取io输入 [DllImport("LTDMC.dll")] public static extern short nmc_read_inbit_extern(UInt16 CardNo, UInt16 Channel, UInt16 NoteID, UInt16 IoBit, ref UInt16 IoValue); //返回最近错误码 [DllImport("LTDMC.dll")] public static extern short nmc_get_current_fieldbus_state_info(UInt16 CardNo, UInt16 Channel, ref UInt16 Axis, ref UInt16 ErrorType, ref UInt16 SlaveAddr, ref UInt32 ErrorFieldbusCode); // 返回历史错误码 [DllImport("LTDMC.dll")] public static extern short nmc_get_detail_fieldbus_state_info(UInt16 CardNo, UInt16 Channel, UInt32 ReadErrorNum, ref UInt32 TotalNum, ref UInt32 ActualNum, UInt16[] Axis, UInt16[] ErrorType, UInt16[] SlaveAddr, UInt32[] ErrorFieldbusCode); //启动采集 [DllImport("LTDMC.dll")] public static extern short nmc_start_pdo_trace(UInt16 CardNo, UInt16 Channel, UInt16 SlaveAddr, UInt16 Index_Num, UInt32 Trace_Len, UInt16[] Index, UInt16[] Sub_Index); //获取采集参数 [DllImport("LTDMC.dll")] public static extern short nmc_get_pdo_trace(UInt16 CardNo, UInt16 Channel, UInt16 SlaveAddr, ref UInt16 Index_Num, ref UInt32 Trace_Len, UInt16[] Index, UInt16[] Sub_Index); //设置触发采集参数 [DllImport("LTDMC.dll")] public static extern short nmc_set_pdo_trace_trig_para(UInt16 CardNo, UInt16 Channel, UInt16 SlaveAddr, UInt16 Trig_Index, UInt16 Trig_Sub_Index, int Trig_Value, UInt16 Trig_Mode); //获取触发采集参数 [DllImport("LTDMC.dll")] public static extern short nmc_get_pdo_trace_trig_para(UInt16 CardNo, UInt16 Channel, UInt16 SlaveAddr, ref UInt16 Trig_Index, ref UInt16 Trig_Sub_Index, ref int Trig_Value, ref UInt16 Trig_Mode); //采集清除 [DllImport("LTDMC.dll")] public static extern short nmc_clear_pdo_trace_data(UInt16 CardNo, UInt16 Channel, UInt16 SlaveAddr); //采集停止 [DllImport("LTDMC.dll")] public static extern short nmc_stop_pdo_trace(UInt16 CardNo, UInt16 Channel, UInt16 SlaveAddr); //采集数据读取 [DllImport("LTDMC.dll")] public static extern short nmc_read_pdo_trace_data(UInt16 CardNo, UInt16 Channel, UInt16 SlaveAddr, UInt32 StartAddr, UInt32 Readlen, ref UInt32 ActReadlen, Byte[] Data); //已采集个数 [DllImport("LTDMC.dll")] public static extern short nmc_get_pdo_trace_num(UInt16 CardNo, UInt16 Channel, UInt16 SlaveAddr, ref UInt32 Data_num, ref UInt32 Size_of_each_bag); //采集状态 [DllImport("LTDMC.dll")] public static extern short nmc_get_pdo_trace_state(UInt16 CardNo, UInt16 Channel, UInt16 SlaveAddr, ref UInt16 Trace_state); //总线专用 [DllImport("LTDMC.dll")] public static extern short nmc_reset_canopen(UInt16 CardNo); [DllImport("LTDMC.dll")] public static extern short nmc_reset_rtex(UInt16 CardNo); [DllImport("LTDMC.dll")] public static extern short nmc_reset_etc(UInt16 CardNo); //总线错误处理配置 [DllImport("LTDMC.dll")] public static extern short nmc_set_fieldbus_error_switch(UInt16 CardNo, UInt16 channel, UInt16 data); [DllImport("LTDMC.dll")] public static extern short nmc_get_fieldbus_error_switch(UInt16 CardNo, UInt16 channel, ref UInt16 data); 配置CST切换到CSP后，由于驱动器不能及时同步主站目标位置，延时时间内主站继续同步驱动器实际位置，已取消该功能 //[DllImport("LTDMC.dll")] //public static extern short nmc_torque_set_delay_cycle(ushort CardNo, ushort axis, int delay_cycle); [DllImport("LTDMC.dll")] public static extern short nmc_torque_move(UInt16 CardNo, UInt16 axis, int Torque, UInt16 PosLimitValid, double PosLimitValue, UInt16 PosMode); [DllImport("LTDMC.dll")] public static extern short nmc_change_torque(UInt16 CardNo, UInt16 axis, int Torque); //读取转矩大小 [DllImport("LTDMC.dll")] public static extern short nmc_get_torque(UInt16 CardNo, UInt16 axis, ref int Torque); //modbus函数 [DllImport("LTDMC.dll")] public static extern short dmc_modbus_active_COM1(UInt16 id, string COMID, int speed, int bits, int check, int stop); [DllImport("LTDMC.dll")] public static extern short dmc_modbus_active_COM2(UInt16 id, string COMID, int speed, int bits, int check, int stop); [DllImport("LTDMC.dll")] public static extern short dmc_modbus_active_ETH(UInt16 id, UInt16 port); [DllImport("LTDMC.dll")] public static extern short dmc_set_modbus_0x(UInt16 CardNo, UInt16 start, UInt16 inum, byte[] pdata); [DllImport("LTDMC.dll")] public static extern short dmc_get_modbus_0x(UInt16 CardNo, UInt16 start, UInt16 inum, byte[] pdata); [DllImport("LTDMC.dll")] public static extern short dmc_set_modbus_4x(UInt16 CardNo, UInt16 start, UInt16 inum, UInt16[] pdata); [DllImport("LTDMC.dll")] public static extern short dmc_get_modbus_4x(UInt16 CardNo, UInt16 start, UInt16 inum, UInt16[] pdata); [DllImport("LTDMC.dll")] public static extern short dmc_set_modbus_4x_float(UInt16 CardNo, UInt16 start, UInt16 inum, float[] pdata); [DllImport("LTDMC.dll")] public static extern short dmc_get_modbus_4x_float(UInt16 CardNo, UInt16 start, UInt16 inum, float[] pdata); [DllImport("LTDMC.dll")] public static extern short dmc_set_modbus_4x_int(UInt16 CardNo, UInt16 start, UInt16 inum, int[] pdata); [DllImport("LTDMC.dll")] public static extern short dmc_get_modbus_4x_int(UInt16 CardNo, UInt16 start, UInt16 inum, int[] pdata); //保留 [DllImport("LTDMC.dll")] public static extern short dmc_conti_line_io_union(UInt16 CardNo, UInt16 Crd, UInt16 AxisNum, UInt16[] AxisList, double[] pPosList, UInt16 posi_mode, UInt16 bitno, UInt16 on_off, double io_value, UInt16 io_mode, UInt16 MapAxis, UInt16 pos_source, double ReverseTime, long mark); //设置编码器方向（适用于DMC3000系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_set_encoder_dir(UInt16 CardNo, UInt16 axis, UInt16 dir); //圆弧区域软限位（适用于DMC3000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_set_arc_zone_limit_config(UInt16 CardNo, UInt16[] AxisList, UInt16 AxisNum, double[] Center, double Radius, UInt16 Source, UInt16 StopMode); [DllImport("LTDMC.dll")] public static extern short dmc_get_arc_zone_limit_config(UInt16 CardNo, UInt16[] AxisList, ref UInt16 AxisNum, double[] Center, ref double Radius, ref UInt16 Source, ref UInt16 StopMode); //圆形区域软限位unit（适用于DMC5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_set_arc_zone_limit_config_unit(ushort CardNo, ushort[] AxisList, ushort AxisNum, double[] Center, double Radius, ushort Source, ushort StopMode); [DllImport("LTDMC.dll")] public static extern short dmc_get_arc_zone_limit_config_unit(ushort CardNo, ushort[] AxisList, ref ushort AxisNum, double[] Center, ref double Radius, ref ushort Source, ref ushort StopMode); //查询相应轴的状态（适用于DMC3000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_get_arc_zone_limit_axis_status(UInt16 CardNo, UInt16 axis); //圆形限位使能（适用于DMC3000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_set_arc_zone_limit_enable(UInt16 CardNo, UInt16 enable); [DllImport("LTDMC.dll")] public static extern short dmc_get_arc_zone_limit_enable(UInt16 CardNo, ref UInt16 enable); //控制卡接线盒断线后是否初始化输出电平 [DllImport("LTDMC.dll")] public static extern short dmc_set_output_status_repower(UInt16 CardNo, UInt16 enable); //旧接口（软启动），不使用 [DllImport("LTDMC.dll")] public static extern short dmc_t_pmove_extern_softlanding(UInt16 CardNo, UInt16 axis, double MidPos, double TargetPos, double start_Vel, double Max_Vel, double stop_Vel, UInt32 delay_ms, double Max_Vel2, double stop_vel2, double acc_time, double dec_time, UInt16 posi_mode); //保留 [DllImport("LTDMC.dll")] public static extern short dmc_compare_add_point_XD(UInt16 CardNo, UInt16 cmp, long pos, UInt16 dir, UInt16 action, UInt32 actpara, long startPos);//硒电定制比较函数 //---------------------------ORG输入触发在线变速变位---------------------- //配置ORG输入触发在线变速变位（适用于DMC3000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_pmove_change_pos_speed_config(UInt16 CardNo, UInt16 axis, double tar_vel, double tar_rel_pos, UInt16 trig_mode, UInt16 source); [DllImport("LTDMC.dll")] public static extern short dmc_get_pmove_change_pos_speed_config(UInt16 CardNo, UInt16 axis, ref double tar_vel, ref double tar_rel_pos, ref UInt16 trig_mode, ref UInt16 source); //ORG输入触发在线变速变位使能（适用于DMC3000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_pmove_change_pos_speed_enable(UInt16 CardNo, UInt16 axis, UInt16 enable); [DllImport("LTDMC.dll")] public static extern short dmc_get_pmove_change_pos_speed_enable(UInt16 CardNo, UInt16 axis, ref UInt16 enable); //读取ORG输入触发在线变速变位的状态 trig_num 触发次数，trig_pos 触发位置（适用于DMC3000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_get_pmove_change_pos_speed_state(ushort CardNo, ushort axis, ref ushort trig_num, double[] trig_pos); //IO变速变位，配置io输入口（适用于EtherCAT总线系列卡） [DllImport("LTDMC.dll")] public static extern short dmc_pmove_change_pos_speed_inbit(ushort CardNo, ushort axis, ushort inbit, ushort enable); [DllImport("LTDMC.dll")] public static extern short dmc_get_pmove_change_pos_speed_inbit(ushort CardNo, ushort axis, ref ushort inbit, ref ushort enable); //保留 [DllImport("LTDMC.dll")] public static extern short dmc_compare_add_point_extend(UInt16 CardNo, UInt16 axis, long pos, UInt16 dir, UInt16 action, UInt16 para_num, ref UInt32 actpara, UInt32 compare_time); [DllImport("LTDMC.dll")] public static extern short dmc_get_cmd_position(UInt16 CardNo, UInt16 axis, ref double pos); //逻辑采样配置（内部使用） [DllImport("LTDMC.dll")] public static extern short dmc_set_logic_analyzer_config(UInt16 CardNo, UInt16 channel, UInt32 SampleFre, UInt32 SampleDepth, UInt16 SampleMode); [DllImport("LTDMC.dll")] public static extern short dmc_start_logic_analyzer(UInt16 CardNo, UInt16 channel, UInt16 enable); [DllImport("LTDMC.dll")] public static extern short dmc_get_logic_analyzer_counter(UInt16 CardNo, UInt16 channel, ref UInt32 counter); //20190923修改kg定制函数接口（客户定制） [DllImport("LTDMC.dll")] public static extern short dmc_read_inbit_append(UInt16 CardNo, UInt16 bitno);//读取输入口的状态 [DllImport("LTDMC.dll")] public static extern short dmc_write_outbit_append(UInt16 CardNo, UInt16 bitno, UInt16 on_off);//设置输出口的状态 [DllImport("LTDMC.dll")] public static extern short dmc_read_outbit_append(UInt16 CardNo, UInt16 bitno);//读取输出口的状态 [DllImport("LTDMC.dll")] public static extern UInt32 dmc_read_inport_append(UInt16 CardNo, UInt16 portno);//读取输入端口的值 [DllImport("LTDMC.dll")] public static extern UInt32 dmc_read_outport_append(UInt16 CardNo, UInt16 portno);//读取输出端口的值 [DllImport("LTDMC.dll")] public static extern short dmc_write_outport_append(UInt16 CardNo, UInt16 portno, UInt32 port_value);//设置所有输出端口的值 //---------------------------椭圆插补及切向跟随---------------------- // 设置坐标系切向跟随（适用于DMC5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_set_tangent_follow(UInt16 CardNo, UInt16 Crd, UInt16 axis, UInt16 follow_curve, UInt16 rotate_dir, double degree_equivalent); // 获取指定坐标系切向跟随参数（适用于DMC5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_get_tangent_follow_param(UInt16 CardNo, UInt16 Crd, ref UInt16 axis, ref UInt16 follow_curve, ref UInt16 rotate_dir, ref double degree_equivalent); // 取消坐标系跟随（适用于DMC5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_disable_follow_move(UInt16 CardNo, UInt16 Crd); // 椭圆插补（适用于DMC5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_ellipse_move(UInt16 CardNo, UInt16 Crd, UInt16 axisNum, UInt16[] Axis_List, double[] Target_Pos, double[] Cen_Pos, double A_Axis_Len, double B_Axis_Len, UInt16 Dir, UInt16 Pos_Mode); //---------------------------看门狗功能---------------------- //设置看门口触发响应事件（适用于DMC3000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_set_watchdog_action_event(UInt16 CardNo, UInt16 event_mask); [DllImport("LTDMC.dll")] public static extern short dmc_get_watchdog_action_event(UInt16 CardNo, ref UInt16 event_mask); //使能看门口保护机制（适用于DMC3000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_set_watchdog_enable(UInt16 CardNo, double timer_period, UInt16 enable); [DllImport("LTDMC.dll")] public static extern short dmc_get_watchdog_enable(UInt16 CardNo, ref double timer_period, ref UInt16 enable); //复位看门狗定时器（适用于DMC3000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_reset_watchdog_timer(UInt16 CardNo); //io定制功能（定制类） [DllImport("LTDMC.dll")] public static extern short dmc_set_io_check_control(UInt16 CardNo, UInt16 sensor_in_no, UInt16 check_mode, UInt16 A_out_no, UInt16 B_out_no, UInt16 C_out_no, UInt16 output_mode); [DllImport("LTDMC.dll")] public static extern short dmc_get_io_check_control(UInt16 CardNo, ref UInt16 sensor_in_no, ref UInt16 check_mode, ref UInt16 A_out_no, ref UInt16 B_out_no, ref UInt16 C_out_no, ref UInt16 output_mode); [DllImport("LTDMC.dll")] public static extern short dmc_stop_io_check_control(UInt16 CardNo); //设置限位反找偏移距离（适用于DMC3000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_set_el_ret_deviation(UInt16 CardNo, UInt16 axis, UInt16 enable, double deviation); [DllImport("LTDMC.dll")] public static extern short dmc_get_el_ret_deviation(UInt16 CardNo, UInt16 axis, ref UInt16 enable, ref double deviation); //两轴位置叠加，高速比较功能（测试使用） [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_set_config_overlap(UInt16 CardNo, UInt16 hcmp, UInt16 axis, UInt16 cmp_source, UInt16 cmp_logic, Int32 time, UInt16 axis_num, UInt16 aux_axis, UInt16 aux_source); [DllImport("LTDMC.dll")] public static extern short dmc_hcmp_get_config_overlap(UInt16 CardNo, UInt16 hcmp, ref UInt16 axis, ref UInt16 cmp_source, ref UInt16 cmp_logic, ref Int32 time, ref UInt16 axis_num, ref UInt16 aux_axis, ref UInt16 aux_source); //启动或者关闭RTCP功能,后续添加 //螺旋插补(测试使用，DMC5000/5X10系列脉冲卡、E5032总线卡) [DllImport("LTDMC.dll")] public static extern short dmc_conti_helix_move_unit(UInt16 CardNo, UInt16 Crd, UInt16 AxisNum, UInt16[] AixsList, double[] StartPos, double[] TargetPos, UInt16 Arc_Dir, int Circle, UInt16 mode, int mark); [DllImport("LTDMC.dll")] public static extern short dmc_helix_move_unit(UInt16 CardNo, UInt16 Crd, UInt16 AxisNum, UInt16[] AxisList, double[] StartPos, double[] TargetPos, UInt16 Arc_Dir, int Circle, UInt16 mode); //PDO缓存20190715（内部使用） [DllImport("LTDMC.dll")] public static extern short dmc_pdo_buffer_enter(UInt16 CardNo, UInt16 axis); [DllImport("LTDMC.dll")] public static extern short dmc_pdo_buffer_stop(UInt16 CardNo, UInt16 axis); [DllImport("LTDMC.dll")] public static extern short dmc_pdo_buffer_clear(UInt16 CardNo, UInt16 axis); [DllImport("LTDMC.dll")] public static extern short dmc_pdo_buffer_run_state(UInt16 CardNo, UInt16 axis, ref int RunState, ref int Remain, ref int NotRunned, ref int Runned); [DllImport("LTDMC.dll")] public static extern short dmc_pdo_buffer_add_data(UInt16 CardNo, UInt16 axis, int size, int[] data_table); [DllImport("LTDMC.dll")] public static extern short dmc_pdo_buffer_start_multi(UInt16 CardNo, UInt16 AxisNum, UInt16[] AxisList, UInt16[] ResultList); [DllImport("LTDMC.dll")] public static extern short dmc_pdo_buffer_pause_multi(UInt16 CardNo, UInt16 AxisNum, UInt16[] AxisList, UInt16[] ResultList); [DllImport("LTDMC.dll")] public static extern short dmc_pdo_buffer_stop_multi(UInt16 CardNo, UInt16 AxisNum, UInt16[] AxisList, UInt16[] ResultList); //[DllImport("LTDMC.dll")] //public static extern short dmc_pdo_buffer_add_data_multi(UInt16 CardNo, UInt16 AxisNum, UInt16[] AxisList, int size, int[][] data_table); //保留 [DllImport("LTDMC.dll")] public static extern short dmc_calculate_arccenter_3point(double[] start_pos, double[] mid_pos, double[] target_pos, double[] cen_pos); //---------------------指令缓存门型运动------------------ //指令缓存门型运动（适用于DMC3000/5000系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_m_set_muti_profile_unit(ushort card, ushort group, ushort axis_num, ushort[] axis_list, double[] start_vel, double[] max_vel, double[] tacc, double[] tdec, double[] stop_vel);//两轴速度设置 [DllImport("LTDMC.dll")] public static extern short dmc_m_set_profile_unit(ushort card, ushort group, ushort axis, double start_vel, double max_vel, double tacc, double tdec, double stop_vel);//单轴速度设置 [DllImport("LTDMC.dll")] public static extern short dmc_m_add_sigaxis_moveseg_data(ushort card, ushort group, ushort axis, double Target_pos, ushort process_mode, uint mark); [DllImport("LTDMC.dll")] public static extern short dmc_m_add_sigaxis_move_twoseg_data(ushort card, ushort group, ushort axis, double Target_pos, double second_pos, double second_vel, double second_endvel, ushort process_mode, uint mark); [DllImport("LTDMC.dll")] public static extern short dmc_m_add_mutiaxis_moveseg_data(ushort card, ushort group, ushort axisnum, ushort[] axis_list, double[] Target_pos, ushort process_mode, uint mark); [DllImport("LTDMC.dll")] public static extern short dmc_m_add_mutiaxis_move_twoseg_data(ushort card, ushort group, ushort axisnum, ushort[] axis_list, double[] Target_pos, double[] second_pos, double[] second_vel, double[] second_endvel, ushort process_mode, uint mark); [DllImport("LTDMC.dll")] public static extern short dmc_m_add_ioTrig_movseg_data(ushort card, ushort group, ushort axisNum, ushort[] axisList, double[] Target_pos, ushort process_mode, ushort trigINbit, ushort trigINstate, uint mark); [DllImport("LTDMC.dll")] public static extern short dmc_m_add_mutiposTrig_movseg_data(ushort card, ushort group, ushort axis, double Target_pos, ushort process_mode, ushort trigaxisNum, ushort[] trigAxisList, double[] trigPos, ushort[] trigPosType, ushort[] trigMode, uint mark);//位置触发移动 [DllImport("LTDMC.dll")] public static extern short dmc_m_add_mutiposTrig_mov_twoseg_data(ushort card, ushort group, ushort axis, double Target_pos, double softland_pos, double softland_vel, double softland_endvel, ushort process_mode, ushort trigAxisNum, ushort[] trigAxisList, double[] trigPos, ushort[] trigPosType, ushort[] trigMode, uint mark);//多轴位置触发移动 [DllImport("LTDMC.dll")] public static extern short dmc_m_add_upseg_data(ushort card, ushort group, ushort axis, double Target_pos, uint mark); [DllImport("LTDMC.dll")] public static extern short dmc_m_add_up_twoseg_data(ushort card, ushort group, ushort axis, double Target_pos, double second_pos, double second_vel, double second_endvel, uint mark); [DllImport("LTDMC.dll")] public static extern short dmc_m_add_ioPosTrig_movseg_data(ushort card, ushort group, ushort axisNum, ushort[] axisList, double[] Target_pos, ushort process_mode, ushort trigAxis, double trigPos, ushort trigPosType, ushort trigMode, ushort TrigINNum, ushort[] trigINList, ushort[] trigINstate, uint mark);//位置+io触发移动 [DllImport("LTDMC.dll")] public static extern short dmc_m_add_ioPosTrig_mov_twoseg_data(ushort card, ushort group, ushort axisNum, ushort[] axisList, double[] Target_pos, double[] second_pos, double[] second_vel, double[] second_endvel, ushort process_mode, ushort trigAxis, double trigPos, ushort trigPosType, ushort trigMode, ushort TrigINNum, ushort[] trigINList, ushort[] trigINstate, uint mark); [DllImport("LTDMC.dll")] public static extern short dmc_m_add_posTrig_movseg_data(ushort card, ushort group, ushort axisNum, ushort[] axisList, double[] Target_pos, ushort process_mode, ushort trigAxis, double trigPos, ushort trigPosType, ushort trigMode, uint mark);//位置触发移动 [DllImport("LTDMC.dll")] public static extern short dmc_m_add_posTrig_mov_twoseg_data(ushort card, ushort group, ushort axisNum, ushort[] axisList, double[] Target_pos, double[] second_pos, double[] second_vel, double[] second_endvel, ushort process_mode, ushort trigAxis, double trigPos, ushort trigPosType, ushort trigMode, uint mark);//位置触发移动 [DllImport("LTDMC.dll")] public static extern short dmc_m_add_ioPosTrig_down_seg_data(ushort card, ushort group, ushort axis, double safePos, double Target_pos, ushort trigAxisNum, ushort[] trigAxisList, double[] trigPos, ushort[] trigPosType, ushort[] trigMode, ushort trigIN, ushort trigINstate, uint mark); [DllImport("LTDMC.dll")] public static extern short dmc_m_add_ioPosTrig_down_twoseg_data(ushort card, ushort group, ushort axis, double safePos, double Target_pos, double second_pos, double second_vel, double second_endvel, ushort trigAxisNum, ushort[] trigAxisList, double[] trigPos, ushort[] trigPosType, ushort[] trigMode, ushort trigIN, ushort trigINstate, uint mark); [DllImport("LTDMC.dll")] public static extern short dmc_m_add_posTrig_down_seg_data(ushort card, ushort group, ushort axis, double safePos, double Target_pos, ushort trigAxisNum, ushort[] trigAxisList, double[] trigPos, ushort[] trigPosType, ushort[] trigMode, uint mark); [DllImport("LTDMC.dll")] public static extern short dmc_m_add_posTrig_down_twoseg_data(ushort card, ushort group, ushort axis, double safePos, double Target_pos, double second_pos, double second_vel, double second_endvel, ushort trigAxisNum, ushort[] trigAxisList, double[] trigPos, ushort[] trigPosType, ushort[] trigMode, uint mark); [DllImport("LTDMC.dll")] public static extern short dmc_m_add_posTrig_down_seg_cmd_data(ushort card, ushort group, ushort axis, double safePos, double Target_pos, ushort trigAxisNum, ushort[] trigAxisList, uint mark); [DllImport("LTDMC.dll")] public static extern short dmc_m_add_posTrig_down_twoseg_cmd_data(ushort card, ushort group, ushort axis, double safePos, double Target_pos, double second_pos, double second_vel, double second_endvel, ushort trigAxisNum, ushort[] trigAxisList, uint mark); [DllImport("LTDMC.dll")] public static extern short dmc_m_add_mutiposTrig_singledown_seg_data(ushort card, ushort group, ushort axis, double safePos, double Target_pos, ushort process_mode, ushort trigAxisNum, ushort[] trigAxisList, double[] trigPos, ushort[] trigPosType, ushort[] trigMode, uint mark); [DllImport("LTDMC.dll")] public static extern short dmc_m_add_mutiposTrig_mutidown_seg_data(ushort card, ushort group, ushort axisnum, ushort[] axis_list, double[] safePos, double[] Target_pos, ushort process_mode, ushort trigAxisNum, ushort[] trigAxisList, double[] trigPos, ushort[] trigPosType, ushort[] trigMode, uint mark); [DllImport("LTDMC.dll")] public static extern short dmc_m_posTrig_outbit(ushort card, ushort group, ushort bitno, ushort on_off, ushort ahead_axis, double ahead_value, ushort ahead_PosType, ushort ahead_Mode, uint mark);//位置触发IO输出 [DllImport("LTDMC.dll")] public static extern short dmc_m_mutiposTrig_outbit(ushort card, ushort group, ushort bitno, ushort on_off, ushort process_mode, ushort trigaxisNum, ushort[] trigAxisList, double[] trigPos, ushort[] trigPosType, ushort[] trigMode, uint mark); [DllImport("LTDMC.dll")] public static extern short dmc_m_immediate_write_outbit(ushort card, ushort group, ushort bitno, ushort on_off, uint mark); [DllImport("LTDMC.dll")] public static extern short dmc_m_wait_input(ushort card, ushort group, ushort bitno, ushort on_off, double time_out, uint mark); [DllImport("LTDMC.dll")] public static extern short dmc_m_delay_time(ushort card, ushort group, double delay_time, uint mark);//延时指令 [DllImport("LTDMC.dll")] public static extern short dmc_m_get_run_state(ushort card, ushort group, ref ushort state, ref ushort enable, ref uint stop_reason, ref ushort trig_phase, ref uint mark); [DllImport("LTDMC.dll")] public static extern short dmc_m_open_list(ushort card, ushort group, ushort axis_num, ushort[] axis_list); [DllImport("LTDMC.dll")] public static extern short dmc_m_close_list(ushort card, ushort group); [DllImport("LTDMC.dll")] public static extern short dmc_m_start_list(ushort card, ushort group); [DllImport("LTDMC.dll")] public static extern short dmc_m_stop_list(ushort card, ushort group, ushort stopMode); [DllImport("LTDMC.dll")] public static extern short dmc_m_pause_list(ushort card, ushort group, ushort stopMode); [DllImport("LTDMC.dll")] public static extern short dmc_m_set_encoder_error_allow(ushort card, ushort group, double allow_error); [DllImport("LTDMC.dll")] public static extern short dmc_m_get_encoder_error_allow(ushort card, ushort group, ref double allow_error); //读取所有AD输入（适用于DMC5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_get_ad_input_all(ushort CardNo, ref double Vout); //连续插补暂停后使用pmove（适用于DMC5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_conti_pmove_unit_pausemode(ushort CardNo, ushort axis, double TargetPos, double Min_Vel, double Max_Vel, double stop_Vel, double acc, double dec, double smooth_time, ushort posi_mode); //连续插补暂停使用pmove后，回到暂停位置（适用于DMC5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_conti_return_pausemode(ushort CardNo, ushort Crd, ushort axis); //检验接线盒是否支持通讯校验（适用于DMC3000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_check_if_crc_support(ushort CardNo); //轴碰撞检测功能接口 （适用于DMC3000系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_set_axis_conflict_config(ushort CardNo, ushort[] axis_list, ushort[] axis_depart_dir, double home_dist, double conflict_dist, ushort stop_mode); [DllImport("LTDMC.dll")] public static extern short dmc_get_axis_conflict_config(ushort CardNo, ushort[] axis_list, ushort[] axis_depart_dir, ref double home_dist, ref double conflict_dist, ref ushort stop_mode); [DllImport("LTDMC.dll")] public static extern short dmc_axis_conflict_config_en(ushort CardNo, ushort enable); [DllImport("LTDMC.dll")] public static extern short dmc_get_axis_conflict_config_en(ushort CardNo, ref ushort enable); //物件分拣加通道,分拣固件专用 [DllImport("LTDMC.dll")] public static extern short dmc_sorting_close_ex(ushort CardNo, ushort sortModuleNo); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_start_ex(ushort CardNo, ushort sortModuleNo); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_set_init_config_ex(ushort CardNo, ushort cameraCount, int[] pCameraPos, ushort[] pCamIONo, UInt32 cameraTime, ushort cameraTrigLevel, ushort blowCount, int[] pBlowPos, ushort[] pBlowIONo, UInt32 blowTime, ushort blowTrigLevel, ushort axis, ushort dir, ushort checkMode, ushort sortModuleNo); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_set_camera_trig_count_ex(ushort CardNo, ushort cameraNum, UInt32 cameraTrigCnt, ushort sortModuleNo); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_get_camera_trig_count_ex(ushort CardNo, ushort cameraNum, ref UInt32 pCameraTrigCnt, ushort count, ushort sortModuleNo); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_set_blow_trig_count_ex(ushort CardNo, ushort blowNum, UInt32 blowTrigCnt, ushort sortModuleNo); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_get_blow_trig_count_ex(ushort CardNo, ushort blowNum, ref UInt32 pBlowTrigCnt, ushort count, ushort sortModuleNo); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_get_camera_config_ex(ushort CardNo, ushort index, ref int pos, ref UInt32 trigTime, ref ushort ioNo, ref ushort trigLevel, ushort sortModuleNo); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_get_blow_config_ex(ushort CardNo, ushort index, ref int pos, ref UInt32 trigTime, ref ushort ioNo, ref ushort trigLevel, ushort sortModuleNo); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_get_blow_status_ex(ushort CardNo, ref UInt32 trigCntAll, ref ushort trigMore, ref ushort trigLess, ushort sortModuleNo); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_trig_blow_ex(ushort CardNo, ushort blowNum, ushort sortModuleNo); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_set_blow_enable_ex(ushort CardNo, ushort blowNum, ushort enable, ushort sortModuleNo); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_set_piece_config_ex(ushort CardNo, UInt32 maxWidth, UInt32 minWidth, UInt32 minDistance, UInt32 minTimeIntervel, ushort sortModuleNo); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_get_piece_status_ex(ushort CardNo, ref UInt32 pieceFind, ref UInt32 piecePassCam, ref UInt32 dist2next, ref UInt32 pieceWidth, ushort sortModuleNo); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_set_cam_trig_phase_ex(ushort CardNo, ushort blowNo, double coef, ushort sortModuleNo); [DllImport("LTDMC.dll")] public static extern short dmc_sorting_set_blow_trig_phase_ex(ushort CardNo, ushort blowNo, double coef, ushort sortModuleNo); //获取分拣指令数量函数 [DllImport("LTDMC.dll")] public static extern short dmc_get_sortdev_blow_cmd_cnt(ushort CardNo, ushort blowDevNum, ref long cnt); //获取未处理指令数量函数函数 [DllImport("LTDMC.dll")] public static extern short dmc_get_sortdev_blow_cmderr_cnt(ushort CardNo, ushort blowDevNum, ref long errCnt); //分拣队列状态 [DllImport("LTDMC.dll")] public static extern short dmc_get_sortqueue_status(ushort CardNo, ref long curSorQueueLen, ref long passCamWithNoCmd); // 椭圆连续插补（适用于DMC5X10系列脉冲卡、E5032总线卡） [DllImport("LTDMC.dll")] public static extern short dmc_conti_ellipse_move_unit(ushort CardNo, ushort Crd, ushort AxisNum, ushort[] AxisList, double[] Target_Pos, double[] Cen_Pos, double A_Axis_Len, double B_Axis_Len, ushort Dir, ushort Pos_Mode, long mark); //获取轴状态函数（预留） [DllImport("LTDMC.dll")] public static extern short dmc_get_axis_status_advance(ushort CardNo, ushort axis_no, ushort motion_no, ref ushort axis_plan_state, ref UInt32 ErrPlulseCnt, ref ushort fpga_busy); //连续插补vmove（DMC5000系列卡受限使用） [DllImport("LTDMC.dll")] public static extern short dmc_conti_vmove_unit(ushort CardNo, ushort Crd, ushort axis, double vel, double acc, ushort dir, Int32 imark); [DllImport("LTDMC.dll")] public static extern short dmc_conti_vmove_stop(ushort CardNo, ushort Crd, ushort axis, double dec, Int32 imark); //---------------------读写掉电保持区------------------// //写入字符数据到断电保持区（DMC3000/5000系列卡受限使用） [DllImport("LTDMC.dll")] public static extern short dmc_set_persistent_reg_byte(ushort CardNo, uint start, uint inum, byte[] pdata); //从断电保持区读取写入的字符（DMC3000/5000系列卡受限使用） [DllImport("LTDMC.dll")] public static extern short dmc_get_persistent_reg_byte(ushort CardNo, uint start, uint inum, byte[] pdata); //写入浮点型数据到断电保持区（DMC3000/5000系列卡受限使用） [DllImport("LTDMC.dll")] public static extern short dmc_set_persistent_reg_float(ushort CardNo, uint start, uint inum, float[] pdata); //从断电保持区读取写入的浮点型数据（DMC3000/5000系列卡受限使用） [DllImport("LTDMC.dll")] public static extern short dmc_get_persistent_reg_float(ushort CardNo, uint start, uint inum, float[] pdata); //写入整型数据到断电保持区（DMC3000/5000系列卡受限使用） [DllImport("LTDMC.dll")] public static extern short dmc_set_persistent_reg_int(ushort CardNo, uint start, uint inum, int[] pdata); //从断电保持区读取写入的整型数据（DMC3000/5000系列卡受限使用） [DllImport("LTDMC.dll")] public static extern short dmc_get_persistent_reg_int(ushort CardNo, uint start, uint inum, int[] pdata); //----------------------------------------------------// //EtherCAT总线复位IO模块输出保持开关设置202001（适用于所有EtherCAT总线卡） [DllImport("LTDMC.dll")] public static extern short nmc_set_slave_output_retain(ushort CardNo, ushort Enable); [DllImport("LTDMC.dll")] public static extern short nmc_get_slave_output_retain(ushort CardNo, ref ushort Enable); //轴参数配置写flash，实现断电保存急停信号配置（适用于DMC3000系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_set_persistent_param_config(ushort CardNo, ushort axis, uint item); [DllImport("LTDMC.dll")] public static extern short dmc_get_persistent_param_config(ushort CardNo, ushort axis, ref uint item); //读取运行时是启动正常固件还是备份固件（适用于DMC3000/5000/5X10系列脉冲卡） [DllImport("LTDMC.dll")] public static extern short dmc_get_firmware_boot_type(ushort CardNo, ref ushort boot_type); /**************************中断功能 （适用于DMC5X10系列脉冲卡）************************/ //开启控制卡中断功能 [DllImport("LTDMC.dll")] public static extern uint dmc_int_enable(ushort CardNo, DMC3K5K_OPERATE funcIntHandler, IntPtr operate_data); //禁止控制卡的中断 [DllImport("LTDMC.dll")] public static extern uint dmc_int_disable(ushort CardNo); //设置/读取指定控制卡中断通道使能 [DllImport("LTDMC.dll")] public static extern short dmc_set_intmode_enable(ushort Cardno, ushort Intno, ushort Enable); [DllImport("LTDMC.dll")] public static extern short dmc_get_intmode_enable(ushort Cardno, ushort Intno, ref ushort Status); //设置/读取指定控制卡中断配置 [DllImport("LTDMC.dll")] public static extern short dmc_set_intmode_config(ushort Cardno, ushort Intno, ushort IntItem, ushort IntIndex, ushort IntSubIndex, ushort Logic); [DllImport("LTDMC.dll")] public static extern short dmc_get_intmode_config(ushort Cardno, ushort Intno, ref ushort IntItem, ref ushort IntIndex, ref ushort IntSubIndex, ref ushort Logic); //读取指定控制卡中断通道的中断状态 [DllImport("LTDMC.dll")] public static extern short dmc_get_int_status(ushort Cardno, ref uint IntStatus); //复位指定控制卡输入口的中断 [DllImport("LTDMC.dll")] public static extern short dmc_reset_int_status(ushort Cardno, ushort Intno); /**************************************************************************************/ } }

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