using System; using System.Collections.Generic; using System.Text; using System.Runtime.InteropServices; namespace StageController.HDS { public class zmcaux { //ZAUX支持的最大轴数宏 //#define MAX_AXIS_AUX 32 //#define MAX_CARD_AUX 16 public const int MAX_AXIS_AUX = 32; public const int MAX_CARD_AUX = 16; /********************************************************* 数据类型定义 **********************************************************/ //typedef unsigned __int64 uint64; //typedef __int64 int64; //#define BYTE INT8U //#define WORD INT16U //#define DWORD INT32U //typedef unsigned char BYTE; //typedef unsigned short WORD; //typedef unsigned int DWORD; //#define __stdcall //typedef unsigned char uint8; /* defined for unsigned 8-bits integer variable 无符号8位整型变量 */ //typedef signed char int8; /* defined for signed 8-bits integer variable 有符号8位整型变量 */ ///typedef unsigned short uint16; /* defined for unsigned 16-bits integer variable 无符号16位整型变量 */ //typedef signed short int16; /* defined for signed 16-bits integer variable 有符号16位整型变量 */ //typedef unsigned int uint32; /* defined for unsigned 32-bits integer variable 无符号32位整型变量 */ //typedef signed int int32; /* defined for signed 32-bits integer variable 有符号32位整型变量 */ //typedef float fp32; /* single precision floating point variable (32bits) 单精度浮点数（32位长度） */ //typedef double fp64; /* double precision floating point variable (64bits) 双精度浮点数（64位长度） */ //typedef unsigned int uint; /* defined for unsigned 32-bits integer variable 无符号32位整型变量 */ /************************************************/ //错误码 /************************************************/ //#define ERR_OK 0 //#define ERROR_OK 0 //#define ERR_SUCCESS 0 //#define ERR_AUX_OFFSET 30000 //#define ERR_NOACK ERR_AUX_OFFSET //无应答 //#define ERR_ACKERROR (ERR_AUX_OFFSET+1) //应答错误 //#define ERR_AUX_PARAERR (ERR_AUX_OFFSET+2) //参数错误 //#define ERR_AUX_NOTSUPPORT (ERR_AUX_OFFSET+3) //参数错误 public const int ERR_OK = 0; public const int ERROR_OK = 0; public const int ERR_SUCCESS = 0; public const int ERR_AUX_OFFSET = 30000; public const int ERR_NOACK = ERR_AUX_OFFSET; public const int ERR_ACKERROR = (ERR_AUX_OFFSET+1); public const int ERR_AUX_PARAERR = (ERR_AUX_OFFSET+2); public const int ERR_AUX_NOTSUPPORT = (ERR_AUX_OFFSET+3); /********************************************************* 函数声明 **********************************************************/ /************************************************************* Description: //BASE指令调用 仅仅修改在线命令的BASE列表，不对控制器的运行任务的BASE进行修改. 修改后，后续的所有MOVE等指令都是以这个BASE为基础 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Base(ZMC_HANDLE handle, int imaxaxises, int *piAxislist); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Base", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Base(IntPtr handle, int imaxaxises, int[] piAxislist); /************************************************************* Description: //定义DPOS Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ // int32 __stdcall ZAux_Defpos(ZMC_HANDLE handle, int imaxaxises, float *pfDposlist); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Defpos", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Defpos(IntPtr handle, int imaxaxises, float[] pfDposlist); /************************************************************* Description: //相对插补 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Move(ZMC_HANDLE handle, int imaxaxises, float *pfDisancelist); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Move", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Move(IntPtr handle, int imaxaxises, float[] pfDisancelist); /************************************************************* Description: //相对插补 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_MoveSp(ZMC_HANDLE handle, int imaxaxises, float *pfDisancelist); [DllImport("zauxdll.dll", EntryPoint = "ZAux_MoveSp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_MoveSp(IntPtr handle, int imaxaxises, float[] pfDisancelist); /************************************************************* Description: //插补 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_MoveAbs(ZMC_HANDLE handle, int imaxaxises, float *pfDisancelist); [DllImport("zauxdll.dll", EntryPoint = "ZAux_MoveAbs", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_MoveAbs(IntPtr handle, int imaxaxises, float[] pfDisancelist); /************************************************************* Description: //插补 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_MoveAbsSp(ZMC_HANDLE handle, int imaxaxises, float *pfDisancelist); [DllImport("zauxdll.dll", EntryPoint = "ZAux_MoveAbsSp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_MoveAbsSp(IntPtr handle, int imaxaxises, float[] pfDisancelist); /************************************************************* Description: //插补 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_MoveModify(ZMC_HANDLE handle, int imaxaxises, float *pfDisancelist); [DllImport("zauxdll.dll", EntryPoint = "ZAux_MoveModify", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_MoveModify(IntPtr handle, int imaxaxises, float[] pfDisancelist); /************************************************************* Description: //插补 Input: //卡链接handle end1 第一个轴运动坐标 end2 第二个轴运动坐标 centre1 第一个轴运动圆心，相对与起始点。 centre2 第二个轴运动圆心，相对与起始点。 direction 0-逆时针，1-顺时针 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_MoveCirc(ZMC_HANDLE handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection); [DllImport("zauxdll.dll", EntryPoint = "ZAux_MoveCirc", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_MoveCirc(IntPtr handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection); /************************************************************* Description: //插补 Input: //卡链接handle end1 第一个轴运动坐标 end2 第二个轴运动坐标 centre1 第一个轴运动圆心，相对与起始点。 centre2 第二个轴运动圆心，相对与起始点。 direction 0-逆时针，1-顺时针 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_MoveCircSp(ZMC_HANDLE handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection); [DllImport("zauxdll.dll", EntryPoint = "ZAux_MoveCircSp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_MoveCircSp(IntPtr handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection); /************************************************************* Description: //插补 Input: //卡链接handle end1 第一个轴运动坐标，绝对位置 end2 第二个轴运动坐标，绝对位置 centre1 第一个轴运动圆心，绝对位置 centre2 第二个轴运动圆心，绝对位置 direction 0-逆时针，1-顺时针 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_MoveCircAbs(ZMC_HANDLE handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection); [DllImport("zauxdll.dll", EntryPoint = "ZAux_MoveCircAbs", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_MoveCircAbs(IntPtr handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection); /************************************************************* Description: //插补 Input: //卡链接handle end1 第一个轴运动坐标，绝对位置 end2 第二个轴运动坐标，绝对位置 centre1 第一个轴运动圆心，绝对位置 centre2 第二个轴运动圆心，绝对位置 direction 0-逆时针，1-顺时针 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_MoveCircAbsSp(ZMC_HANDLE handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection); [DllImport("zauxdll.dll", EntryPoint = "ZAux_MoveCircAbsSp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_MoveCircAbsSp(IntPtr handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection); /************************************************************* Description: //插补 Input: //卡链接handle mid1 第一个轴中间点，相对起始点距离 mid2 第二个轴中间点，相对起始点距离 end1 第一个轴结束点，相对起始点距离 end2 第二个轴结束点，相对起始点距离 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_MoveCirc2(ZMC_HANDLE handle, float fmid1, float fmid2, float fend1, float fend2); [DllImport("zauxdll.dll", EntryPoint = "ZAux_MoveCirc2", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_MoveCirc2(IntPtr handle,float fmid1, float fmid2, float fend1, float fend2); /************************************************************* Description: //插补 Input: //卡链接handle mid1 第一个轴中间点，相对起始点距离 mid2 第二个轴中间点，相对起始点距离 end1 第一个轴结束点，相对起始点距离 end2 第二个轴结束点，相对起始点距离 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_MoveCirc2Sp(ZMC_HANDLE handle, float fmid1, float fmid2, float fend1, float fend2); [DllImport("zauxdll.dll", EntryPoint = "ZAux_MoveCirc2Sp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_MoveCirc2Sp(IntPtr handle,float fmid1, float fmid2, float fend1, float fend2); /************************************************************* Description: //插补 Input: //卡链接handle mid1 第一个轴中间点，绝对位置 mid2 第二个轴中间点，绝对位置 end1 第一个轴结束点，绝对位置 end2 第二个轴结束点，绝对位置 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_MoveCirc2AbsSp(ZMC_HANDLE handle, float fmid1, float fmid2, float fend1, float fend2); [DllImport("zauxdll.dll", EntryPoint = "ZAux_MoveCirc2AbsSp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_MoveCirc2AbsSp(IntPtr handle,float fmid1, float fmid2, float fend1, float fend2); /************************************************************* Description: //插补 Input: //卡链接handle mid1 第一个轴中间点，绝对位置 mid2 第二个轴中间点，绝对位置 end1 第一个轴结束点，绝对位置 end2 第二个轴结束点，绝对位置 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_MoveCirc2Abs(ZMC_HANDLE handle, float fmid1, float fmid2, float fend1, float fend2); [DllImport("zauxdll.dll", EntryPoint = "ZAux_MoveCirc2Abs", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_MoveCirc2Abs(IntPtr handle,float fmid1, float fmid2, float fend1, float fend2); /************************************************************* Description: //插补 Input: //卡链接handle end1 第一个轴运动坐标 end2 第二个轴运动坐标 centre1 第一个轴运动圆心，相对与起始点 centre2 第二个轴运动圆心，相对与起始点 direction 0-逆时针，1-顺时针 distance3第三个轴运动距离。 mode 第三轴的速度计算: 0(缺省) 第三轴参与速度计算。 1 第三轴不参与速度计算。 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_MHelical(ZMC_HANDLE handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fDistance3, int imode); [DllImport("zauxdll.dll", EntryPoint = "ZAux_MHelical", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_MHelical(IntPtr handle,float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fDistance3, int imode); /************************************************************* Description: //插补 Input: //卡链接handle end1 第一个轴运动坐标 end2 第二个轴运动坐标 centre1 第一个轴运动圆心，相对与起始点 centre2 第二个轴运动圆心，相对与起始点 direction 0-逆时针，1-顺时针 distance3第三个轴运动距离。 mode 第三轴的速度计算: 0(缺省) 第三轴参与速度计算。 1 第三轴不参与速度计算。 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_MHelicalAbs(ZMC_HANDLE handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fDistance3, int imode); [DllImport("zauxdll.dll", EntryPoint = "ZAux_MHelicalAbs", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_MHelicalAbs(IntPtr handle,float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fDistance3, int imode); /************************************************************* Description: //插补 Input: //卡链接handle end1 第一个轴运动坐标 end2 第二个轴运动坐标 centre1 第一个轴运动圆心，相对与起始点 centre2 第二个轴运动圆心，相对与起始点 direction 0-逆时针，1-顺时针 distance3第三个轴运动距离。 mode 第三轴的速度计算: 0(缺省) 第三轴参与速度计算。 1 第三轴不参与速度计算。 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_MHelicalSp(ZMC_HANDLE handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fDistance3, int imode); [DllImport("zauxdll.dll", EntryPoint = "ZAux_MHelicalSp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_MHelicalSp(IntPtr handle,float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fDistance3, int imode); /************************************************************* Description: //插补 Input: //卡链接handle end1 第一个轴运动坐标 end2 第二个轴运动坐标 centre1 第一个轴运动圆心，相对与起始点 centre2 第二个轴运动圆心，相对与起始点 direction 0-逆时针，1-顺时针 distance3第三个轴运动距离。 mode 第三轴的速度计算: 0(缺省) 第三轴参与速度计算。 1 第三轴不参与速度计算。 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_MHelicalAbsSp(ZMC_HANDLE handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fDistance3, int imode); [DllImport("zauxdll.dll", EntryPoint = "ZAux_MHelicalAbsSp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_MHelicalAbsSp(IntPtr handle,float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fDistance3, int imode); /************************************************************* Description: //插补 Input: //卡链接handle mid1 第一个轴中间点 mid2 第二个轴中间点 end1 第一个轴结束点 end2 第二个轴结束点 distance3第三个轴运动距离 mode 第三轴的速度计算: Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_MHelical2(ZMC_HANDLE handle, float fmid1, float fmid2, float fend1, float fend2, float fDistance3, int imode); [DllImport("zauxdll.dll", EntryPoint = "ZAux_MHelical2", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_MHelical2(IntPtr handle,float fmid1, float fmid2, float fend1, float fend2, float fDistance3, int imode); /************************************************************* Description: //插补 Input: //卡链接handle mid1 第一个轴中间点 mid2 第二个轴中间点 end1 第一个轴结束点 end2 第二个轴结束点 distance3 第三个轴运动结束点 mode 第三轴的速度计算: Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_MHelical2Abs(ZMC_HANDLE handle, float fmid1, float fmid2, float fend1, float fend2, float fDistance3, int imode); [DllImport("zauxdll.dll", EntryPoint = "ZAux_MHelical2Abs", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_MHelical2Abs(IntPtr handle,float fmid1, float fmid2, float fend1, float fend2, float fDistance3, int imode); /************************************************************* Description: //插补 Input: //卡链接handle mid1 第一个轴中间点 mid2 第二个轴中间点 end1 第一个轴结束点 end2 第二个轴结束点 distance3第三个轴运动距离 mode 第三轴的速度计算: Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_MHelical2Sp(ZMC_HANDLE handle, float fmid1, float fmid2, float fend1, float fend2, float fDistance3, int imode); [DllImport("zauxdll.dll", EntryPoint = "ZAux_MHelical2Sp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_MHelical2Sp(IntPtr handle,float fmid1, float fmid2, float fend1, float fend2, float fDistance3, int imode); /************************************************************* Description: //插补 Input: //卡链接handle mid1 第一个轴中间点 mid2 第二个轴中间点 end1 第一个轴结束点 end2 第二个轴结束点 distance3 第三个轴运动结束点 mode 第三轴的速度计算: Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_MHelical2AbsSp(ZMC_HANDLE handle, float fmid1, float fmid2, float fend1, float fend2, float fDistance3, int imode); [DllImport("zauxdll.dll", EntryPoint = "ZAux_MHelical2AbsSp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_MHelical2AbsSp(IntPtr handle,float fmid1, float fmid2, float fend1, float fend2, float fDistance3, int imode); /************************************************************* Description: //插补 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_MEclipse(ZMC_HANDLE handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fADis, float fBDis); [DllImport("zauxdll.dll", EntryPoint = "ZAux_MEclipse", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_MEclipse(IntPtr handle,float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fADis, float fBDis); /************************************************************* Description: //插补 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_MEclipseAbs(ZMC_HANDLE handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fADis, float fBDis); [DllImport("zauxdll.dll", EntryPoint = "ZAux_MEclipseAbs", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_MEclipseAbs(IntPtr handle,float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fADis, float fBDis); /************************************************************* Description: //插补 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_MEclipseSp(ZMC_HANDLE handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fADis, float fBDis); [DllImport("zauxdll.dll", EntryPoint = "ZAux_MEclipseSp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_MEclipseSp(IntPtr handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fADis, float fBDis); /************************************************************* Description: //插补 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_MEclipseAbsSp(ZMC_HANDLE handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fADis, float fBDis); [DllImport("zauxdll.dll", EntryPoint = "ZAux_MEclipseAbsSp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_MEclipseAbsSp(IntPtr handle,float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fADis, float fBDis); /************************************************************* Description: //插补 椭圆 + 螺旋 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_MEclipseHelical(ZMC_HANDLE handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fADis, float fBDis, float fDistance3); [DllImport("zauxdll.dll", EntryPoint = "ZAux_MEclipseHelical", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_MEclipseHelical(IntPtr handle,float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fADis, float fBDis, float fDistance3); /************************************************************* Description: //插补 椭圆 + 螺旋 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_MEclipseHelicalAbs(ZMC_HANDLE handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fADis, float fBDis); [DllImport("zauxdll.dll", EntryPoint = "ZAux_MEclipseHelicalAbs", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_MEclipseHelicalAbs(IntPtr handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fADis, float fBDis); /************************************************************* Description: //插补 椭圆 + 螺旋 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_MEclipseHelicalSp(ZMC_HANDLE handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fADis, float fBDis, float fDistance3); [DllImport("zauxdll.dll", EntryPoint = "ZAux_MEclipseHelicalSp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_MEclipseHelicalSp(IntPtr handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fADis, float fBDis, float fDistance3); /************************************************************* Description: //插补 椭圆 + 螺旋 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_MEclipseHelicalAbsSp(ZMC_HANDLE handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fADis, float fBDis); [DllImport("zauxdll.dll", EntryPoint = "ZAux_MEclipseHelicalSp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_MEclipseHelicalSp(IntPtr handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fADis, float fBDis); /************************************************************* Description: //插补 空间圆弧 Input: //卡链接handle end1 第1个轴运动距离参数1 end2 第2个轴运动距离参数1 end3 第3个轴运动距离参数1 centre1 第1个轴运动距离参数2 centre2 第2个轴运动距离参数2 centre3 第3个轴运动距离参数2 mode 指定前面参数的意义 0 当前点，中间点，终点三点定圆弧，距离参数1为终点距离，距离参数2为中间点距离。 1 走最小的圆弧，距离参数1为终点距离，距离参数2为圆心的距离。 2 当前点，中间点，终点三点定圆，距离参数1为终点距离，距离参数2为中间点距离。 3 先走最小的圆弧，再继续走完整圆，距离参数1为终点距离，距离参数2为圆心的距离。 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_MSpherical(ZMC_HANDLE handle, float fend1, float fend2, float fend3, float fcenter1, float fcenter2, float fcenter3, int imode); [DllImport("zauxdll.dll", EntryPoint = "ZAux_MSpherical", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_MSpherical(IntPtr handle, float fend1, float fend2, float fend3, float fcenter1, float fcenter2, float fcenter3, int imode); /************************************************************* Description: //插补 空间圆弧 Input: //卡链接handle end1 第1个轴运动距离参数1 end2 第2个轴运动距离参数1 end3 第3个轴运动距离参数1 centre1 第1个轴运动距离参数2 centre2 第2个轴运动距离参数2 centre3 第3个轴运动距离参数2 mode 指定前面参数的意义 0 当前点，中间点，终点三点定圆弧，距离参数1为终点距离，距离参数2为中间点距离。 1 走最小的圆弧，距离参数1为终点距离，距离参数2为圆心的距离。 2 当前点，中间点，终点三点定圆，距离参数1为终点距离，距离参数2为中间点距离。 3 先走最小的圆弧，再继续走完整圆，距离参数1为终点距离，距离参数2为圆心的距离。 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_MSphericalSp(ZMC_HANDLE handle, float fend1, float fend2, float fend3, float fcenter1, float fcenter2, float fcenter3, int imode); [DllImport("zauxdll.dll", EntryPoint = "ZAux_MSphericalSp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_MSphericalSp(IntPtr handle, float fend1, float fend2, float fend3, float fcenter1, float fcenter2, float fcenter3, int imode); /************************************************************* Description: //运动暂停 Input: //卡链接handle 0（缺省） 暂停当前运动。 1 在当前运动完成后正准备执行下一条运动指令时暂停。 2 在当前运动完成后正准备执行下一条运动指令时，并且两条指令的MARK标识不一样时暂停。这个模式可以用于一个动作由多个指令来实现时，可以在一整个动作完成后暂停。 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_MovePause(ZMC_HANDLE handle, int imode); [DllImport("zauxdll.dll", EntryPoint = "ZAux_MovePause", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_MovePause(IntPtr handle, int imode); /************************************************************* Description: //运动暂停 Input: //卡链接handle 0（缺省） 暂停当前运动。 1 在当前运动完成后正准备执行下一条运动指令时暂停。 2 在当前运动完成后正准备执行下一条运动指令时，并且两条指令的MARK标识不一样时暂停。这个模式可以用于一个动作由多个指令来实现时，可以在一整个动作完成后暂停。 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_MoveResume(ZMC_HANDLE handle); [DllImport("zauxdll.dll", EntryPoint = "ZAux_MoveResume", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_MoveResume(IntPtr handle); /************************************************************* Description: //在运动缓冲中加入输出指令 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_MoveOp(ZMC_HANDLE handle, int ioutnum, int ivalue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_MoveOp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_MoveOp(IntPtr handle, int ioutnum, int ivalue); /************************************************************* Description: //在运动缓冲中加入输出指令 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_MoveOpMulti(ZMC_HANDLE handle, int ioutnumfirst, int ioutnumend, int ivalue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_MoveOpMulti", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_MoveOpMulti(IntPtr handle, int ioutnum, int ivalue); /************************************************************* Description: //在运动缓冲中加入输出指令 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_MoveOp2(ZMC_HANDLE handle, int ioutnum, int ivalue, int iofftimems); [DllImport("zauxdll.dll", EntryPoint = "ZAux_MoveOp2", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_MoveOp2(IntPtr handle,int ioutnum, int ivalue, int iofftimems); /************************************************************* Description: //在运动缓冲中加入延时指令 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_MoveDelay(ZMC_HANDLE handle, int itimems); [DllImport("zauxdll.dll", EntryPoint = "ZAux_MoveDelay", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_MoveDelay(IntPtr handle, int itimems); /************************************************************* Description: //电子凸轮 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Cam(ZMC_HANDLE handle, int istartpoint, int iendpoint, float ftablemulti, float fDistance); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Cam", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Cam(IntPtr handle, int istartpoint, int iendpoint, float ftablemulti, float fDistance); /************************************************************* Description: //电子凸轮 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Cambox(ZMC_HANDLE handle, int istartpoint, int iendpoint, float ftablemulti, float fDistance, int ilinkaxis, int ioption, float flinkstartpos); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Cambox", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Cambox(IntPtr handle,int istartpoint, int iendpoint, float ftablemulti, float fDistance, int ilinkaxis, int ioption, float flinkstartpos); /************************************************************* Description: //连接 电子齿轮 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Connpath(ZMC_HANDLE handle, float fratio, int idringaxis); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Connpath", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Connpath(IntPtr handle, float fratio, int idringaxiss); /************************************************************* Description: //连接 电子齿轮 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Connect(ZMC_HANDLE handle, float fratio, int idringaxis); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Connect", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Connect(IntPtr handle, float fratio, int idringaxiss); /************************************************************* Description: //连接 特殊凸轮 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Movelink(ZMC_HANDLE handle, float fDistance, float fLinkDis, float fLinkAcc, float fLinkDec,int iLinkaxis, int ioption, float flinkstartpos); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Movelink", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Movelink(IntPtr handle, float fDistance, float fLinkDis, float fLinkAcc, float fLinkDec,int iLinkaxis, int ioption, float flinkstartpos); /************************************************************* Description: //位置锁存指令 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Regist(ZMC_HANDLE handle, int imode); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Regist", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Regist(IntPtr handle, int imode); /************************************************************* Description: //所有轴立即停止 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Rapidstop(ZMC_HANDLE handle, int imode); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Rapidstop", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Rapidstop(IntPtr handle, int imode); /************************************************************* Description: //SP指定速度的插补运动, 可以指定起始速度，最终速度， 运行速度 运动的轴是当前的BASE轴列表 Input: //卡号 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_LineNSp(ZMC_HANDLE handle, int imaxaxis, float *pfDisancelist, float fStartSpeed, float fEndSpeed, float fForceSpeed); [DllImport("zauxdll.dll", EntryPoint = "ZAux_LineNSp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_LineNSp(IntPtr handle, int imaxaxis, float[] pfDisancelist, float fStartSpeed, float fEndSpeed, float fForceSpeed); // #if 0 //单轴运动 //#endif /************************************************************* Description: //连续运动 Input: //卡链接handle 轴号， 方向 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Singl_Vmove(ZMC_HANDLE handle, int iaxis, int idir); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Singl_Vmove", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Singl_Vmove(IntPtr handle, int iaxis, int idir); /************************************************************* Description: //单轴运动 Input: //卡链接handle 轴号， 距离 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Singl_Move(ZMC_HANDLE handle, int iaxis, float fdistance); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Singl_Move", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Singl_Move(IntPtr handle, int iaxis, float fdistance); /************************************************************* Description: //单轴运动 Input: //卡链接handle 轴号， 距离 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Singl_MoveAbs(ZMC_HANDLE handle, int iaxis, float fditancse); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Singl_MoveAbs", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Singl_MoveAbs(IntPtr handle, int iaxis, float fditance); /************************************************************* Description: //单轴运动 Input: //卡链接handle 轴号， 距离 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Singl_MoveModify(ZMC_HANDLE handle, int iaxis, float fdistance); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Singl_MoveModify", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Singl_MoveModify(IntPtr handle, int iaxis, float fditance); /************************************************************* Description: //叠加 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Singl_Addax(ZMC_HANDLE handle, int iaxis, int iaddaxis); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Singl_Addax", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Singl_Addax(IntPtr handle, int iaxis, int iaddaxis); /************************************************************* Description: //cancel Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Singl_Cancel(ZMC_HANDLE handle, int iaxis, int imode); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Singl_Cancel", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Singl_Cancel(IntPtr handle,int iaxis, int imode); /************************************************************* Description: //回零 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Singl_Datum(ZMC_HANDLE handle, int iaxis, int imode); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Singl_Datum", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Singl_Datum(IntPtr handle,int iaxis, int imode); /************************************************************* Description: //电子齿轮比设置 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Singl_EncoderRatio(ZMC_HANDLE handle, int iaxis, int imposcount, int inputcount); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Singl_EncoderRatio", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Singl_EncoderRatio(IntPtr handle, int iaxis, int imposcount, int inputcount); /************************************************************* Description: //电子齿轮比设置 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Singl_StepRatio(ZMC_HANDLE handle, int iaxis, int ioutcount, int idposcount); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Singl_StepRatio", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Singl_StepRatio(IntPtr handle, int iaxis, int ioutcount, int idposcount); // #if 0 //参数部分 //#endif /************************************************************* Description: //参数 轴类型设置， 步进轴一般不用设置 Input: //卡链接handle merge: 0/1 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_SetAtype(ZMC_HANDLE handle,int iaxis, int iset); [DllImport("zauxdll.dll", EntryPoint = "ZAux_SetAtype", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_SetAtype(IntPtr handle, int iaxis, int ioutcount, int idposcount); /************************************************************* Description: //参数 设置是否连续插补 Input: //卡链接handle merge: 0/1 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_SetMerge(ZMC_HANDLE handle,int iaxis, int iset); [DllImport("zauxdll.dll", EntryPoint = "ZAux_SetMerge", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_SetMerge(IntPtr handle,int iaxis, int iset); /************************************************************* Description: //参数 Input: //卡链接handle merge: 0/1 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_SetUnits(ZMC_HANDLE handle, int iaxis, float fset); [DllImport("zauxdll.dll", EntryPoint = "ZAux_SetUnits", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_SetUnits(IntPtr handle, int iaxis, float fset); /************************************************************* Description: //参数 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_SetSpeed(ZMC_HANDLE handle, int iaxis, float fspeed); [DllImport("zauxdll.dll", EntryPoint = "ZAux_SetSpeed", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_SetSpeed(IntPtr handle, int iaxis, float fspeed);//集成 1 1天 /************************************************************* Description: //参数 Input: //卡链接handle merge: 0/1 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_SetAccel(ZMC_HANDLE handle, int iaxis, float fspeed); [DllImport("zauxdll.dll", EntryPoint = "ZAux_SetAccel", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_SetAccel(IntPtr handle, int iaxis, float fspeed); /************************************************************* Description: //参数 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_SetDecel(ZMC_HANDLE handle, int iaxis, float fspeed); [DllImport("zauxdll.dll", EntryPoint = "ZAux_SetDecel", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_SetDecel(IntPtr handle, int iaxis, float fspeed); /************************************************************* Description: //参数 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_SetFastDec(ZMC_HANDLE handle, int iaxis, float fspeed); [DllImport("zauxdll.dll", EntryPoint = "ZAux_SetFastDec", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_SetFastDec(IntPtr handle, int iaxis, float fspeed); /************************************************************* Description: //参数 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_SetForceSpeed(ZMC_HANDLE handle, int iaxis, float fspeed); [DllImport("zauxdll.dll", EntryPoint = "ZAux_SetForceSpeed", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_SetForceSpeed(IntPtr handle, int iaxis, float fspeed); /************************************************************* Description: //参数 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_SetStartMoveSpeed(ZMC_HANDLE handle, int iaxis, float fspeed); [DllImport("zauxdll.dll", EntryPoint = "ZAux_SetStartMoveSpeed", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_SetStartMoveSpeed(IntPtr handle, int iaxis, float fspeed); /************************************************************* Description: //参数 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_SetEndMoveSpeed(ZMC_HANDLE handle, int iaxis, float fspeed); [DllImport("zauxdll.dll", EntryPoint = "ZAux_SetEndMoveSpeed", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_SetEndMoveSpeed(IntPtr handle, int iaxis, float fspeed); /************************************************************* Description: //参数 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_SetLSpeed(ZMC_HANDLE handle, int iaxis, float fspeed); [DllImport("zauxdll.dll", EntryPoint = "ZAux_SetLSpeed", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_SetLSpeed(IntPtr handle, int iaxis, float fspeed); /************************************************************* Description: //参数 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_SetCreepSpeed(ZMC_HANDLE handle, int iaxis, float fspeed); [DllImport("zauxdll.dll", EntryPoint = "ZAux_SetCreepSpeed", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_SetCreepSpeed(IntPtr handle, int iaxis, float fspeed); /************************************************************* Description: //参数 拐角减速设置 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_SetCornerMode(ZMC_HANDLE handle, int iaxis, int iset); [DllImport("zauxdll.dll", EntryPoint = "ZAux_SetCornerMode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_SetCornerMode(IntPtr handle, int iaxis, int iset); /************************************************************* Description: //参数 脉冲的设置 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_SetInvertStep(ZMC_HANDLE handle, int iaxis, int iset); [DllImport("zauxdll.dll", EntryPoint = "ZAux_SetInvertStep", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_SetInvertStep(IntPtr handle, int iaxis, int iset); /************************************************************* Description: //参数 S曲线设置 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_SetDecelAngle(ZMC_HANDLE handle, int iaxis, float fset); [DllImport("zauxdll.dll", EntryPoint = "ZAux_SetInvertStep", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_SetInvertStep(IntPtr handle, int iaxis, float fset); /************************************************************* Description: //参数 S曲线设置 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_SetStopAngle(ZMC_HANDLE handle, int iaxis, float fset); [DllImport("zauxdll.dll", EntryPoint = "ZAux_SetStopAngle", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_SetStopAngle(IntPtr handle, int iaxis, float fset); /************************************************************* Description: //参数 小圆限速的半径设置 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_SetSpRadius(ZMC_HANDLE handle, int iaxis, float fset); [DllImport("zauxdll.dll", EntryPoint = "ZAux_SetSpRadius", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_SetSpRadius(IntPtr handle, int iaxis, float fset); /************************************************************* Description: //参数 S曲线设置 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_SetSramp(ZMC_HANDLE handle, int iaxis, int iset); [DllImport("zauxdll.dll", EntryPoint = "ZAux_SetSramp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_SetSramp(IntPtr handle, int iaxis,int iset); /************************************************************* Description: //参数 DPOS修改 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_SetDpos(ZMC_HANDLE handle, int iaxis, float fpos); [DllImport("zauxdll.dll", EntryPoint = "ZAux_SetDpos", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_SetDpos(IntPtr handle,int iaxis, float fpos); /************************************************************* Description: //参数 MPOS修改 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_SetMpos(ZMC_HANDLE handle, int iaxis, float fpos); [DllImport("zauxdll.dll", EntryPoint = "ZAux_SetMpos", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_SetMpos(IntPtr handle,int iaxis, float fpos); /************************************************************* Description: //参数 相对修改坐标 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_SetOffpos(ZMC_HANDLE handle, int iaxis, float fpos); [DllImport("zauxdll.dll", EntryPoint = "ZAux_SetOffpos", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_SetOffpos(IntPtr handle, int iaxis, float fpos); //#if 0 //状态读取 //#endif /************************************************************* Description: //参数 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_GetDpos(ZMC_HANDLE handle, int iaxis, float *pfValue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_GetDpos", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_GetDpos(IntPtr handle,int iaxis,ref float pfValue);//集成 3 /************************************************************* Description: //参数 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_GetMpos(ZMC_HANDLE handle, int iaxis, float *pfValue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_GetMpos", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_GetMpos(IntPtr handle, int iaxis, ref float pfValue); /************************************************************* Description: //参数 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_GetCurSpeed(ZMC_HANDLE handle, int iaxis, float *pfValue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_GetCurSpeed", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_GetCurSpeed(IntPtr handle, int iaxis, ref float pfValue); /************************************************************* Description: //参数 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_GetMtype(ZMC_HANDLE handle, int iaxis, int *piValue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_GetMtype", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_GetMtype(IntPtr handle,int iaxis,ref float pfValue); /************************************************************* Description: //参数 轴是否运动完成 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_GetIfIdle(ZMC_HANDLE handle, int iaxis, int *piValue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_GetIfIdle", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_GetIfIdle(IntPtr handle,int iaxis,ref float pfValue); /************************************************************* Description: //参数 当前运行完成后的终点坐标, 缓冲里面的不算 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_GetEndMove(ZMC_HANDLE handle, int iaxis, float *pfValue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_GetEndMove", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_GetEndMove(IntPtr handle,int iaxis,ref float pfValue); /************************************************************* Description: //参数 当前缓冲运行完成后的终点坐标 用于转换相对绝对 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_GetEndMoveBuff(ZMC_HANDLE handle, int iaxis, float *pfValue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_GetEndMoveBuff", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_GetEndMoveBuff(IntPtr handle,int iaxis,ref float pfValue); /************************************************************* Description: //参数 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_GetAxisStatus(ZMC_HANDLE handle, int iaxis, int *piValue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_GetAxisStatus", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_GetAxisStatus(IntPtr handle,int iaxis,ref int piValue); /************************************************************* Description: //参数 内部的编码器位置 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_GetEncoder(ZMC_HANDLE handle, int iaxis, int *piValue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_GetEncoder", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_GetEncoder(IntPtr handle,int iaxis,ref int piValue); /************************************************************* Description: //参数 轴剩余的缓冲, 按直线来计算 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_GetRemain_LineBuffer(ZMC_HANDLE handle, int iaxis, int *piValue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_GetRemain_LineBuffer", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_GetRemain_LineBuffer(IntPtr handle,int iaxis,ref int piValue); /************************************************************* Description: //参数 轴剩余的缓冲, 按最复杂的空间圆弧来计算 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_GetRemain_Buffer(ZMC_HANDLE handle, int iaxis, int *piValue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_GetRemain_Buffer", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_GetRemain_Buffer(IntPtr handle,int iaxis,ref int piValue); /************************************************************* Description: //参数 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_GetRegPos(ZMC_HANDLE handle, int iaxis, float *pfValue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_GetRegPos", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_GetRegPos(IntPtr handle,int iaxis,ref float pfValue); /************************************************************* Description: //参数 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_GetMark(ZMC_HANDLE handle, int iaxis, int *piValue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_GetMark", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_GetMark(IntPtr handle,int iaxis,ref int piValue); /************************************************************* Description: //参数 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_GetMarkB(ZMC_HANDLE handle, int iaxis, int *piValue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_GetMarkB", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_GetMarkB(IntPtr handle,int iaxis,ref int piValue); /************************************************************* Description: //全局变量读取 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_GetVariablef(ZMC_HANDLE handle, const char *pname, float *pfValue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_GetVariablef", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_GetVariablef(IntPtr handle,int iaxis,ref float pfValue); /************************************************************* Description: //全局变量读取, 也可以是参数等等 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_GetVariableInt(ZMC_HANDLE handle, const char *pname, int *piValue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_GetVariableInt", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_GetVariableInt(IntPtr handle,int iaxis,ref int piValue); //#if 0 //IO指令 // 可以使用 ZMC_GetIn ZMC_GetOutput 等 //#endif /************************************************************* Description: //参数 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_GetIn(ZMC_HANDLE handle, int ionum, uint32 *piValue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_GetIn", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_GetIn(IntPtr handle,int ionum,ref UInt32 piValue); /************************************************************* Description: //参数 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_SetInvertIN(ZMC_HANDLE handle, int ionum, int bifInvert); [DllImport("zauxdll.dll", EntryPoint = "ZAux_SetInvertIN", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_SetInvertIN(IntPtr handle,int ionum, int bifInvert); /************************************************************* Description: //参数 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_SetOp(ZMC_HANDLE handle, int ionum, uint32 iValue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_SetOp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_SetOp(IntPtr handle,int ionum, UInt32 iValue); //#if 0 //通过modbus快速读取特殊寄存器 //#endif /************************************************************* Description: //参数 快速读取多个输入 Input: //卡链接handle Output: //按位存储 Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_GetModbusIn(ZMC_HANDLE handle, int ionumfirst, int ionumend, uint8 *pValueList); [DllImport("zauxdll.dll", EntryPoint = "ZAux_GetModbusIn", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_GetModbusIn(IntPtr handle, int ionumfirst, int ionumend, byte[] pValueList); /************************************************************* Description: //参数 快速读取多个当前的输出状态 Input: //卡链接handle Output: //按位存储 Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_GetModbusOut(ZMC_HANDLE handle, int ionumfirst, int ionumend, uint8 *pValueList); [DllImport("zauxdll.dll", EntryPoint = "ZAux_GetModbusOut", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_GetModbusOut(IntPtr handle, int ionumfirst, int ionumend, byte[] pValueList); /************************************************************* Description: //参数 快速读取多个当前的DPOS Input: //卡链接handle Output: //按存储 Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_GetModbusDpos(ZMC_HANDLE handle, int imaxaxises, float *pValueList); [DllImport("zauxdll.dll", EntryPoint = "ZAux_GetModbusDpos", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_GetModbusDpos(IntPtr handle, int imaxaxises, float[] pValueList); /************************************************************* Description: //参数 快速读取多个当前的MPOS Input: //卡链接handle Output: //按存储 Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_GetModbusMpos(ZMC_HANDLE handle, int imaxaxises, float *pValueList); [DllImport("zauxdll.dll", EntryPoint = "ZAux_GetModbusMpos", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_GetModbusMpos(IntPtr handle, int imaxaxises, float[] pValueList); /************************************************************* Description: //参数 快速读取多个当前的速度 Input: //卡链接handle Output: //按存储 Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_GetModbusCurSpeed(ZMC_HANDLE handle, int imaxaxises, float *pValueList); [DllImport("zauxdll.dll", EntryPoint = "ZAux_GetModbusCurSpeed", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_GetModbusCurSpeed(IntPtr handle, int imaxaxises, float[] pValueList); //#if 0 //采用ZMC_DirectCommand 来快速获取一些状态, ZMC_DirectCommand的执行比ZMC_Execute要快 // 只有参数，变量，数组元素等能使用ZMC_DirectCommand //#endif /************************************************************* Description: //参数 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_GetDpos(ZMC_HANDLE handle, int iaxis, float *pfValue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_GetDpos", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_GetDpos(IntPtr handle, int iaxis,ref float pfValue); /************************************************************* Description: //参数 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_GetMpos(ZMC_HANDLE handle, int iaxis, float *pfValue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_GetMpos", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_GetMpos(IntPtr handle, int iaxis,ref float pfValue); /************************************************************* Description: //参数 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_GetCurSpeed(ZMC_HANDLE handle, int iaxis, float *pfValue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_GetCurSpeed", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_GetCurSpeed(IntPtr handle, int iaxis,ref float pfValue); /************************************************************* Description: //参数 当前的运动类型 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_GetMtype(ZMC_HANDLE handle, int iaxis, int *piValue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_GetMtype", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_GetMtype(IntPtr handle, int iaxis,ref int piValue); /************************************************************* Description: //参数 轴是否运动完成 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_GetIfIdle(ZMC_HANDLE handle, int iaxis, int *piValue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_GetIfIdle", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_GetIfIdle(IntPtr handle, int iaxis,ref int piValue); /************************************************************* Description: //参数 当前运行完成后的终点坐标, 缓冲里面的不算 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_GetEndMove(ZMC_HANDLE handle, int iaxis, float *pfValue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_GetEndMove", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_GetEndMove(IntPtr handle, int iaxis, ref int piValue); /************************************************************* Description: //参数 当前缓冲运行完成后的终点坐标 用于转换相对绝对 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_GetEndMoveBuff(ZMC_HANDLE handle, int iaxis, float *pfValue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_GetEndMoveBuff", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_GetEndMoveBuff(IntPtr handle, int iaxis,ref float pfValue); /************************************************************* Description: //参数 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_GetAxisStatus(ZMC_HANDLE handle, int iaxis, int *piValue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_GetAxisStatus", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_GetAxisStatus(IntPtr handle, int iaxis,ref int piValue); /************************************************************* Description: //参数 内部的编码器位置 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_GetEncoder(ZMC_HANDLE handle, int iaxis, int *piValue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_GetEncoder", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_GetEncoder(IntPtr handle, int iaxis,ref int piValue); /************************************************************* Description: //参数 轴剩余的缓冲, 按直线段来计算 REMAIN_BUFFER为唯一一个可以加AXIS并用ZMC_DirectCommand获取的. Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_GetRemain_LineBuffer(ZMC_HANDLE handle, int iaxis, int *piValue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_GetRemain_LineBuffer", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_GetRemain_LineBuffer(IntPtr handle, int iaxis,ref int piValue); /************************************************************* Description: //参数 轴剩余的缓冲, 按最复杂的空间圆弧来计算 REMAIN_BUFFER为唯一一个可以加AXIS并用ZMC_DirectCommand获取的. Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_GetRemain_Buffer(ZMC_HANDLE handle, int iaxis, int *piValue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_GetRemain_Buffer", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_GetRemain_Buffer(IntPtr handle, int iaxis,ref int piValue); /************************************************************* Description: //参数 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_GetRegPos(ZMC_HANDLE handle, int iaxis, float *pfValue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_GetRegPos", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_GetRegPos(IntPtr handle, int iaxis,ref float pfValue); /************************************************************* Description: //参数 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_GetMark(ZMC_HANDLE handle, int iaxis, int *piValue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_GetMark", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_GetMark(IntPtr handle, int iaxis,ref int piValue); /************************************************************* Description: //参数 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_GetMarkB(ZMC_HANDLE handle, int iaxis, int *piValue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_GetMarkB", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_GetMarkB(IntPtr handle, int iaxis,ref int piValue); /************************************************************* Description: //全局变量读取, 也可以是参数等等 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_GetVariablef(ZMC_HANDLE handle, const char *pname, float *pfValue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_GetMarkB", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_GetMarkB(IntPtr handle,string pname,ref float pfValue); /************************************************************* Description: //全局变量读取, 也可以是参数等等 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_GetVariableInt(ZMC_HANDLE handle, const char *pname, int *piValue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_GetVariableInt", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_GetVariableInt(IntPtr handle,string pname,ref int piValue); /////////////////////// 只有下面的运动函数支持直接调用，并不是所有的指令都支持 /////////////////////// 必须 20130901 以后的控制器版本支持 /************************************************************* Description: //BASE指令调用 仅仅修改在线命令的BASE列表，不对控制器的运行任务的BASE进行修改. 修改后，后续的所有MOVE等指令都是以这个BASE为基础 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_Base(ZMC_HANDLE handle, int imaxaxises, int *piAxislist); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_Base", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_Base(IntPtr handle, int imaxaxises, ref int piAxislist); /************************************************************* Description: //相对插补 直接调用运动函数 20130901 以后的控制器版本支持 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_Move(ZMC_HANDLE handle, int imaxaxises, float *pfDisancelist); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_Move", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_Move(IntPtr handle, int imaxaxises, ref float pfDisancelist); /************************************************************* Description: //相对插补 直接调用运动函数 20130901 以后的控制器版本支持 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_MoveSp(ZMC_HANDLE handle, int imaxaxises, float *pfDisancelist); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_MoveSp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_MoveSp(IntPtr handle, int imaxaxises, ref float pfDisancelist); /************************************************************* Description: //插补 直接调用运动函数 20130901 以后的控制器版本支持 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_MoveAbs(ZMC_HANDLE handle, int imaxaxises, float *pfDisancelist); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_MoveAbs", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_MoveAbs(IntPtr handle, int imaxaxises, ref float pfDisancelist); /************************************************************* Description: //插补 直接调用运动函数 20130901 以后的控制器版本支持 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_MoveAbsSp(ZMC_HANDLE handle, int imaxaxises, float *pfDisancelist); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_MoveAbsSp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_MoveAbsSp(IntPtr handle, int imaxaxises, ref float pfDisancelist); /************************************************************* Description: //插补 直接调用运动函数 20130901 以后的控制器版本支持 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_MoveModify(ZMC_HANDLE handle, int imaxaxises, float *pfDisancelist); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_MoveModify", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_MoveModify(IntPtr handle, int imaxaxises, ref float pfDisancelist); /************************************************************* Description: //插补 直接调用运动函数 20130901 以后的控制器版本支持 Input: //卡链接handle end1 第一个轴运动坐标 end2 第二个轴运动坐标 centre1 第一个轴运动圆心，相对与起始点。 centre2 第二个轴运动圆心，相对与起始点。 direction 0-逆时针，1-顺时针 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_MoveCirc(ZMC_HANDLE handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_MoveCirc", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_MoveCirc(IntPtr handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection); /************************************************************* Description: //插补 直接调用运动函数 20130901 以后的控制器版本支持 Input: //卡链接handle end1 第一个轴运动坐标 end2 第二个轴运动坐标 centre1 第一个轴运动圆心，相对与起始点。 centre2 第二个轴运动圆心，相对与起始点。 direction 0-逆时针，1-顺时针 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_MoveCircSp(ZMC_HANDLE handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_MoveCircSp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_MoveCircSp(IntPtr handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection); /************************************************************* Description: //插补 直接调用运动函数 20130901 以后的控制器版本支持 Input: //卡链接handle end1 第一个轴运动坐标，绝对位置 end2 第二个轴运动坐标，绝对位置 centre1 第一个轴运动圆心，绝对位置 centre2 第二个轴运动圆心，绝对位置 direction 0-逆时针，1-顺时针 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_MoveCircAbs(ZMC_HANDLE handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_MoveCircAbs", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_MoveCircAbs(IntPtr handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection); /************************************************************* Description: //插补 直接调用运动函数 20130901 以后的控制器版本支持 Input: //卡链接handle end1 第一个轴运动坐标，绝对位置 end2 第二个轴运动坐标，绝对位置 centre1 第一个轴运动圆心，绝对位置 centre2 第二个轴运动圆心，绝对位置 direction 0-逆时针，1-顺时针 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_MoveCircAbsSp(ZMC_HANDLE handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_MoveCircAbsSp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_MoveCircAbsSp(IntPtr handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection); /************************************************************* Description: //插补 直接调用运动函数 20130901 以后的控制器版本支持 Input: //卡链接handle mid1 第一个轴中间点，相对起始点距离 mid2 第二个轴中间点，相对起始点距离 end1 第一个轴结束点，相对起始点距离 end2 第二个轴结束点，相对起始点距离 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_MoveCirc2(ZMC_HANDLE handle, float fmid1, float fmid2, float fend1, float fend2); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_MoveCirc2", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_MoveCirc2(IntPtr handle, float fmid1, float fmid2, float fend1, float fend2); /************************************************************* Description: //插补 直接调用运动函数 20130901 以后的控制器版本支持 Input: //卡链接handle mid1 第一个轴中间点，绝对位置 mid2 第二个轴中间点，绝对位置 end1 第一个轴结束点，绝对位置 end2 第二个轴结束点，绝对位置 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_MoveCirc2Abs(ZMC_HANDLE handle, float fmid1, float fmid2, float fend1, float fend2); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_MoveCirc2Abs", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_MoveCirc2Abs(IntPtr handle, float fmid1, float fmid2, float fend1, float fend2); /************************************************************* Description: //插补 直接调用运动函数 20130901 以后的控制器版本支持 Input: //卡链接handle mid1 第一个轴中间点，相对起始点距离 mid2 第二个轴中间点，相对起始点距离 end1 第一个轴结束点，相对起始点距离 end2 第二个轴结束点，相对起始点距离 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_MoveCirc2Sp(ZMC_HANDLE handle, float fmid1, float fmid2, float fend1, float fend2); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_MoveCirc2Sp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_MoveCirc2Sp(IntPtr handle, float fmid1, float fmid2, float fend1, float fend2); /************************************************************* Description: //插补 直接调用运动函数 20130901 以后的控制器版本支持 Input: //卡链接handle mid1 第一个轴中间点，绝对位置 mid2 第二个轴中间点，绝对位置 end1 第一个轴结束点，绝对位置 end2 第二个轴结束点，绝对位置 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_MoveCirc2AbsSp(ZMC_HANDLE handle, float fmid1, float fmid2, float fend1, float fend2); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_MoveCirc2AbsSp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_MoveCirc2AbsSp(IntPtr handle, float fmid1, float fmid2, float fend1, float fend2); /************************************************************* Description: //插补 Input: //卡链接handle end1 第一个轴运动坐标 end2 第二个轴运动坐标 centre1 第一个轴运动圆心，相对与起始点 centre2 第二个轴运动圆心，相对与起始点 direction 0-逆时针，1-顺时针 distance3第三个轴运动距离。 mode 第三轴的速度计算: 0(缺省) 第三轴参与速度计算。 1 第三轴不参与速度计算。 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_MHelical(ZMC_HANDLE handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fDistance3, int imode); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_MHelical", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_MHelical(IntPtr handle,float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fDistance3, int imode); /************************************************************* Description: //插补 Input: //卡链接handle end1 第一个轴运动坐标 end2 第二个轴运动坐标 centre1 第一个轴运动圆心，相对与起始点 centre2 第二个轴运动圆心，相对与起始点 direction 0-逆时针，1-顺时针 distance3第三个轴运动距离。 mode 第三轴的速度计算: 0(缺省) 第三轴参与速度计算。 1 第三轴不参与速度计算。 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_MHelicalAbs(ZMC_HANDLE handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fDistance3, int imode); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_MHelicalAbs", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_MHelicalAbs(IntPtr handle,float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fDistance3, int imode); /************************************************************* Description: //插补 Input: //卡链接handle end1 第一个轴运动坐标 end2 第二个轴运动坐标 centre1 第一个轴运动圆心，相对与起始点 centre2 第二个轴运动圆心，相对与起始点 direction 0-逆时针，1-顺时针 distance3第三个轴运动距离。 mode 第三轴的速度计算: 0(缺省) 第三轴参与速度计算。 1 第三轴不参与速度计算。 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_MHelicalSp(ZMC_HANDLE handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fDistance3, int imode); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_MHelicalSp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_MHelicalSp(IntPtr handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fDistance3, int imode); /************************************************************* Description: //插补 Input: //卡链接handle end1 第一个轴运动坐标 end2 第二个轴运动坐标 centre1 第一个轴运动圆心，相对与起始点 centre2 第二个轴运动圆心，相对与起始点 direction 0-逆时针，1-顺时针 distance3第三个轴运动距离。 mode 第三轴的速度计算: 0(缺省) 第三轴参与速度计算。 1 第三轴不参与速度计算。 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_MHelicalAbsSp(ZMC_HANDLE handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fDistance3, int imode); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_MHelicalAbsSp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_MHelicalAbsSp(IntPtr handle,float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fDistance3, int imode); /************************************************************* Description: //插补 Input: //卡链接handle mid1 第一个轴中间点 mid2 第二个轴中间点 end1 第一个轴结束点 end2 第二个轴结束点 distance3第三个轴运动距离 mode 第三轴的速度计算: Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_MHelical2(ZMC_HANDLE handle, float fmid1, float fmid2, float fend1, float fend2, float fDistance3, int imode); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_MHelical2", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_MHelical2(IntPtr handle, float fmid1, float fmid2, float fend1, float fend2, float fDistance3, int imode); /************************************************************* Description: //插补 Input: //卡链接handle mid1 第一个轴中间点 mid2 第二个轴中间点 end1 第一个轴结束点 end2 第二个轴结束点 distance3 第三个轴运动结束点 mode 第三轴的速度计算: Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_MHelical2Abs(ZMC_HANDLE handle, float fmid1, float fmid2, float fend1, float fend2, float fDistance3, int imode); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_MHelical2Abs", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_MHelical2Abs(IntPtr handle, float fmid1, float fmid2, float fend1, float fend2, float fDistance3, int imode); /************************************************************* Description: //插补 Input: //卡链接handle mid1 第一个轴中间点 mid2 第二个轴中间点 end1 第一个轴结束点 end2 第二个轴结束点 distance3第三个轴运动距离 mode 第三轴的速度计算: Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_MHelical2Sp(ZMC_HANDLE handle, float fmid1, float fmid2, float fend1, float fend2, float fDistance3, int imode); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_MHelical2Sp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_MHelical2Sp(IntPtr handle, float fmid1, float fmid2, float fend1, float fend2, float fDistance3, int imode); /************************************************************* Description: //插补 Input: //卡链接handle mid1 第一个轴中间点 mid2 第二个轴中间点 end1 第一个轴结束点 end2 第二个轴结束点 distance3 第三个轴运动结束点 mode 第三轴的速度计算: Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_MHelical2AbsSp(ZMC_HANDLE handle, float fmid1, float fmid2, float fend1, float fend2, float fDistance3, int imode); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_MHelical2AbsSp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_MHelical2AbsSp(IntPtr handle, float fmid1, float fmid2, float fend1, float fend2, float fDistance3, int imode); /************************************************************* Description: //插补 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_MEclipse(ZMC_HANDLE handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fADis, float fBDis); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_MHelical2AbsSp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_MHelical2AbsSp(IntPtr handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fADis, float fBDis); /************************************************************* Description: //插补 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_MEclipseAbs(ZMC_HANDLE handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fADis, float fBDis); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_MEclipseAbs", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_MEclipseAbs(IntPtr handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fADis, float fBDis); /************************************************************* Description: //插补 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_MEclipseSp(ZMC_HANDLE handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fADis, float fBDis); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_MEclipseSp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_MEclipseSp(IntPtr handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fADis, float fBDis); /************************************************************* Description: //插补 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_MEclipseAbsSp(ZMC_HANDLE handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fADis, float fBDis); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_MEclipseAbsSp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_MEclipseAbsSp(IntPtr handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fADis, float fBDis); /************************************************************* Description: //插补 椭圆 + 螺旋 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_MEclipseHelical(ZMC_HANDLE handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fADis, float fBDis, float fDistance3); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_MEclipseHelical", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_MEclipseHelical(IntPtr handle,float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fADis, float fBDis, float fDistance3); /************************************************************* Description: //插补 椭圆 + 螺旋 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_MEclipseHelicalAbs(ZMC_HANDLE handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fADis, float fBDis,float fDistance3); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_MEclipseHelicalAbs", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_MEclipseHelicalAbs(IntPtr handle,float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fADis, float fBDis, float fDistance3); /************************************************************* Description: //插补 椭圆 + 螺旋 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_MEclipseHelicalSp(ZMC_HANDLE handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fADis, float fBDis, float fDistance3); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_MEclipseHelicalSp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_MEclipseHelicalSp(IntPtr handle,float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fADis, float fBDis, float fDistance3); /************************************************************* Description: //插补 椭圆 + 螺旋 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_MEclipseHelicalAbsSp(ZMC_HANDLE handle, float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fADis, float fBDis,float fDistance3); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_MEclipseHelicalAbsSp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_MEclipseHelicalAbsSp(IntPtr handle,float fend1, float fend2, float fcenter1, float fcenter2, int idirection, float fADis, float fBDis, float fDistance3); /************************************************************* Description: //插补 空间圆弧 Input: //卡链接handle end1 第1个轴运动距离参数1 end2 第2个轴运动距离参数1 end3 第3个轴运动距离参数1 centre1 第1个轴运动距离参数2 centre2 第2个轴运动距离参数2 centre3 第3个轴运动距离参数2 mode 指定前面参数的意义 0 当前点，中间点，终点三点定圆弧，距离参数1为终点距离，距离参数2为中间点距离。 1 走最小的圆弧，距离参数1为终点距离，距离参数2为圆心的距离。 2 当前点，中间点，终点三点定圆，距离参数1为终点距离，距离参数2为中间点距离。 3 先走最小的圆弧，再继续走完整圆，距离参数1为终点距离，距离参数2为圆心的距离。 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_MSpherical(ZMC_HANDLE handle, float fend1, float fend2, float fend3, float fcenter1, float fcenter2, float fcenter3, int imode); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_MEclipseHelicalAbsSp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_MEclipseHelicalAbsSp(IntPtr handle, float fend1, float fend2, float fend3, float fcenter1, float fcenter2, float fcenter3, int imode); /************************************************************* Description: //插补 空间圆弧 Input: //卡链接handle end1 第1个轴运动距离参数1 end2 第2个轴运动距离参数1 end3 第3个轴运动距离参数1 centre1 第1个轴运动距离参数2 centre2 第2个轴运动距离参数2 centre3 第3个轴运动距离参数2 mode 指定前面参数的意义 0 当前点，中间点，终点三点定圆弧，距离参数1为终点距离，距离参数2为中间点距离。 1 走最小的圆弧，距离参数1为终点距离，距离参数2为圆心的距离。 2 当前点，中间点，终点三点定圆，距离参数1为终点距离，距离参数2为中间点距离。 3 先走最小的圆弧，再继续走完整圆，距离参数1为终点距离，距离参数2为圆心的距离。 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_MSphericalSp(ZMC_HANDLE handle, float fend1, float fend2, float fend3, float fcenter1, float fcenter2, float fcenter3, int imode); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_MSphericalSp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_MSphericalSp(IntPtr handle, float fend1, float fend2, float fend3, float fcenter1, float fcenter2, float fcenter3, int imode); /************************************************************* Description: //运动暂停 Input: //卡链接handle 0（缺省） 暂停当前运动。 1 在当前运动完成后正准备执行下一条运动指令时暂停。 2 在当前运动完成后正准备执行下一条运动指令时，并且两条指令的MARK标识不一样时暂停。这个模式可以用于一个动作由多个指令来实现时，可以在一整个动作完成后暂停。 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_MovePause(ZMC_HANDLE handle, int imode); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_MovePause", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_MovePause(IntPtr handle,int imode); /************************************************************* Description: //运动暂停 Input: //卡链接handle 0（缺省） 暂停当前运动。 1 在当前运动完成后正准备执行下一条运动指令时暂停。 2 在当前运动完成后正准备执行下一条运动指令时，并且两条指令的MARK标识不一样时暂停。这个模式可以用于一个动作由多个指令来实现时，可以在一整个动作完成后暂停。 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_MoveResume(ZMC_HANDLE handle); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_MoveResume", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_MoveResume(IntPtr handle); /************************************************************* Description: //在运动缓冲中加入输出指令 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_MoveOp(ZMC_HANDLE handle, int ioutnum, int ivalue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_MoveOp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_MoveOp(IntPtr handle, int ioutnum, int ivalue); /************************************************************* Description: //在运动缓冲中加入输出指令 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_MoveOpMulti(ZMC_HANDLE handle, int ioutnumfirst, int ioutnumend, int ivalue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_MoveOpMulti", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_MoveOpMulti(IntPtr handle, int ioutnumfirst, int ioutnumend, int ivalue); /************************************************************* Description: //在运动缓冲中加入输出指令 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_MoveOp2(ZMC_HANDLE handle, int ioutnum, int ivalue, int iofftimems); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_MoveOp2", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_MoveOp2(IntPtr handle, int ioutnum, int ivalue, int iofftimems); /************************************************************* Description: //在运动缓冲中加入延时指令 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_MoveDelay(ZMC_HANDLE handle, int itimems); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_MoveDelay", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_MoveDelay(IntPtr handle,int itimems); /************************************************************* Description: //电子凸轮 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_Cam(ZMC_HANDLE handle, int istartpoint, int iendpoint, float ftablemulti, float fDistance); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_Cam", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_Cam(IntPtr handle, int istartpoint, int iendpoint, float ftablemulti, float fDistance); /************************************************************* Description: //电子凸轮 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_Cambox(ZMC_HANDLE handle, int istartpoint, int iendpoint, float ftablemulti, float fDistance, int ilinkaxis, int ioption, float flinkstartpos); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_Cambox", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_Cambox(IntPtr handle, int istartpoint, int iendpoint, float ftablemulti, float fDistance, int ilinkaxis, int ioption, float flinkstartpos); /************************************************************* Description: //连接 特殊凸轮 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_Movelink(ZMC_HANDLE handle, float fDistance, float fLinkDis, float fLinkAcc, float fLinkDec,int iLinkaxis, int ioption, float flinkstartpos); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_Movelink", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_Movelink(IntPtr handle, float fDistance, float fLinkDis, float fLinkAcc, float fLinkDec,int iLinkaxis, int ioption, float flinkstartpos); /************************************************************* Description: //位置锁存指令 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_Regist(ZMC_HANDLE handle, int imode); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_Regist", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_Regist(IntPtr handle,int imode ); /************************************************************* Description: //所有轴立即停止 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_Rapidstop(ZMC_HANDLE handle, int imode); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_Rapidstop", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_Rapidstop(IntPtr handle,int imode ); /************************************************************* Description: //参数 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_GetIn(ZMC_HANDLE handle, int ionum, uint32 *piValue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_GetIn", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_GetIn(IntPtr handle, int ionum, ref UInt32 piValue ); /************************************************************* Description: //参数 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_SetOp(ZMC_HANDLE handle, int ionum, uint32 iValue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_SetOp", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_SetOp(IntPtr handle, int ionum, UInt32 iValue ); /************************************************************* Description: //单轴运动 Input: //卡链接handle 轴号， 距离 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_Singl_Move(ZMC_HANDLE handle, int iaxis, float fdistance); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_Singl_Move", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_Singl_Move(IntPtr handle, int iaxis, float fdistance); /************************************************************* Description: //单轴运动 Input: //卡链接handle 轴号， 距离 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Direct_Singl_MoveAbs(ZMC_HANDLE handle, int iaxis, float fdistance); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Direct_Singl_MoveAbs", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Direct_Singl_MoveAbs(IntPtr handle, int iaxis, float fdistance); // #if 0 //辅助函数 //#endif /************************************************************* Description: //字符串转为float Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_TransStringtoFloat(const char* pstringin, int inumes, float* pfvlaue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_TransStringtoFloat", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_TransStringtoFloat(string pstringin, int inumes, ref float pfvlaue); /************************************************************* Description: //字符串转为int Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_TransStringtoInt(const char* pstringin, int inumes, int* pivlaue); [DllImport("zauxdll.dll", EntryPoint = "ZAux_TransStringtoInt", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_TransStringtoInt(string pstringin, int inumes, ref int pivlaue); // /************************************************************* Description: //把卡的handle 与 卡号关联起来, 这样后面就可以直接用卡号来操作了 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Spec_Init(); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Spec_Init", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Spec_Init(); /************************************************************* Description: //把卡的handle 与 卡号关联起来, 这样后面就可以直接用卡号来操作了 Input: //卡链接handle Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Spec_SetCardHandle(WORD card, ZMC_HANDLE handle); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Spec_SetCardHandle", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Spec_SetCardHandle(UInt16 card, IntPtr handle); /************************************************************* Description: //把卡的handle 与 卡号关联起来, 这样后面就可以直接用卡号来操作了 Input: //卡号 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Spec_UnSetCardHandle(WORD card); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Spec_UnSetCardHandle", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Spec_UnSetCardHandle(UInt16 card); /************************************************************* Description: //单轴点位运动 Input: //卡号 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Spec_GetTotalAxises(WORD card); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Spec_GetTotalAxises", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Spec_GetTotalAxises(UInt16 card); /************************************************************* Description: // 设置轨迹的运动参数 Input: //卡号 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Spec_SetVectProfile(WORD card, double spara, int32 speed, int32 acc, int32 dec ); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Spec_SetVectProfile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Spec_SetVectProfile(UInt16 card,double spara, Int32 speed, Int32 acc, Int32 dec ); /************************************************************* Description: // 设置单轴的运动参数 Input: //卡号 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Spec_SetProfile(WORD card, int iaxis, int32 speed, int32 acc, int32 dec); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Spec_SetProfile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Spec_SetProfile(UInt16 card,int iaxis, Int32 speed, Int32 acc, Int32 dec); /************************************************************* Description: // 读取坐标 Input: //卡号 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Spec_SetSProfile(WORD card, int iaxis, double spara); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Spec_SetSProfile", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Spec_SetSProfile(UInt16 card,int iaxis, double spara); /************************************************************* Description: //单轴点位运动 Input: //卡号 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Spec_PMove(WORD card, int iaxis, int Length); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Spec_PMove", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Spec_PMove(UInt16 card, int iaxis, int Length); /************************************************************* Description: //单轴点位运动 Input: //卡号 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Spec_PMoveAbs(WORD card, int iaxis, int Length); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Spec_PMoveAbs", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Spec_PMoveAbs(UInt16 card, int iaxis, int Length); /************************************************************* Description: //PMOVE时动态调整位置 Input: //卡号 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Spec_ResetTargetPostion(WORD card, int iaxis, int Length); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Spec_ResetTargetPostion", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Spec_ResetTargetPostion(UInt16 card, int iaxis, int Length); /************************************************************* Description: //SP指定速度的运动 Input: //卡号 dir 1- 正向， 2-负向 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Spec_VMove(WORD card, int iaxis, int dir); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Spec_VMove", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Spec_VMove(UInt16 card,int iaxis, int dir); /************************************************************* Description: // 脉冲模式设置 Input: //卡号 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Spec_SetPulOutMode(WORD card, int iaxis, int iset); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Spec_SetPulOutMode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Spec_SetPulOutMode(UInt16 card,int iaxis, int iset); /************************************************************* Description: // 编码器模式设置，这个对应到不同的ATYPE，无法映射 Input: //卡号 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Spec_SetCounterMode(WORD card, int iaxis, int iset); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Spec_SetCounterMode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Spec_SetCounterMode(UInt16 card,int iaxis, int iset); /************************************************************* Description: // 手轮， 用编码器来模拟 Input: //卡号 AB类型还是 脉冲方向 类型 这里只配置ATYPE， 当使用扩展轴时，ATYPE类型不一样. Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Spec_SetHandle(WORD card, int iaxiscoder, int ifabmode); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Spec_SetHandle", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Spec_SetHandle(UInt16 card, int iaxiscoder, int ifabmode); /************************************************************* Description: // 手轮， 用编码器来模拟 Input: //卡号 必须先配置手轮的轴 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Spec_HandMove(WORD card, int iaxis, float fratio); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Spec_HandMove", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Spec_HandMove(UInt16 card,int iaxis, float fratio); /************************************************************* Description: // 减速停止， 立即停止时，把FASTDEC设置很大的值，再调用减速停止 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Spec_DeclStop(WORD card, int iaxis); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Spec_DeclStop", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Spec_DeclStop(UInt16 card,int iaxis); /************************************************************* Description: // 读取坐标 Input: //卡号 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Spec_GetPosition(WORD card, int iaxis); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Spec_GetPosition", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Spec_GetPosition(UInt16 card,int iaxis); /************************************************************* Description: // 读取坐标 Input: //卡号 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Spec_SetPosition(WORD card, int iaxis, int32 current_position); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Spec_SetPosition", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Spec_SetPosition(UInt16 card, int iaxis, Int32 current_position); /************************************************************* Description: // 读取坐标 Input: //卡号 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Spec_GetCurSpeed(WORD card, int iaxis); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Spec_GetCurSpeed", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Spec_GetCurSpeed(UInt16 card, int iaxis); /************************************************************* Description: // 读取坐标 Input: //卡号 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Spec_SetCurSpeed(WORD card, int iaxis, int32 speed); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Spec_SetCurSpeed", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Spec_SetCurSpeed(UInt16 card, int iaxis,Int32 speed); /************************************************************* Description: // 读取坐标 Input: //卡号 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Spec_ConfigHomeMode(WORD card, int iaxis, int home_dir, int velspeed, int Mode); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Spec_ConfigHomeMode", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Spec_ConfigHomeMode(UInt16 card, int iaxis, int home_dir, int velspeed, int Mode); /************************************************************* Description: // 读取坐标 Input: //卡号 Output: // Return: //错误码 *************************************************************/ // int32 __stdcall ZAux_Spec_HomeMove(WORD card, int iaxis); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Spec_HomeMove", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Spec_HomeMove(UInt16 card, int iaxis); /************************************************************* Description: // 减速停止 插补指令, 因为涉及到多个轴，必须修改BASE轴列表 注意连续插补的时候不要切换主轴,即BASE的第一个轴 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Spec_Line2(WORD card, int iaxis1, int iaxis2, int distance1, int distance2); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Spec_Line2", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Spec_Line2(UInt16 card, int iaxis1, int iaxis2, int distance1, int distance2); /************************************************************* Description: // 减速停止 插补指令, 因为涉及到多个轴，必须修改BASE轴列表 注意连续插补的时候不要切换主轴,即BASE的第一个轴 Output: // Return: //错误码 *************************************************************/ //int32 __stdcall ZAux_Spec_LineN(WORD card, int imaxaxis, int* iaxisList, int *distanceList); [DllImport("zauxdll.dll", EntryPoint = "ZAux_Spec_LineN", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)] public static extern Int32 ZAux_Spec_LineN(UInt16 card,int imaxaxis, int[] iaxisList, int[] distanceList); //#if 0 //额外的函数 //合成特殊的函数 //采用卡号来操作 //#endif /************* 每个卡的内部数据定义, ***************/ //额外的函数支持的插补个数, 一般的PCI卡只有一个 // #define MAX_VECT_AUX_SPECIAL 1 public const int MAX_VECT_AUX_SPECIAL = 1; //typedef struct str_ZAuxCardSpecial //{ // uint8 m_cardnum; //卡号 // ZMC_HANDLE m_handle; //句柄 //手轮的轴 //int m_iaxisHandle; // 手轮 //单轴设置 //double m_aSpeed[MAX_AXIS_AUX]; //double m_aAccel[MAX_AXIS_AUX]; //double m_aDecel[MAX_AXIS_AUX]; //double m_aSRampSet[MAX_AXIS_AUX]; // S曲线的设置 //double m_aHomeSpeed[MAX_AXIS_AUX]; // 回零的速度 //int m_aHomeDir[MAX_AXIS_AUX]; // 回零方向 //int m_aHomeMode[MAX_AXIS_AUX]; // 回零模式 //插补的设置 //double m_aVectSpeed[MAX_VECT_AUX_SPECIAL]; //double m_aVectAccel[MAX_VECT_AUX_SPECIAL]; //double m_aVectDecel[MAX_VECT_AUX_SPECIAL]; //double m_aVectSRampSet[MAX_VECT_AUX_SPECIAL]; // S曲线的设置 // //}struct_ZAuxCardSpecial; public struct str_ZAuxCardSpecial { public byte m_cardnum; //卡号 public int m_handle; //句柄 //手轮的轴 public int m_iaxisHandle; // 手轮 //单轴设置 public double[] m_aSpeed; public double[] m_aAccel ; public double [] m_aDecel ; public double[] m_aSRampSet ; // S曲线的设置 public double[] m_aHomeSpeed; // 回零的速度 public int[] m_aHomeDir; // 回零方向 public int [] m_aHomeMode; // 回零模式 //插补的设置 public double[] m_aVectSpeed ; public double[] m_aVectAccel ; public double[] m_aVectDecel ; public double[] m_aVectSRampSet ; // S曲线的设置 // } } }