LIBMAS/StageController/HDS/Lib/Zmcaux.cs

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

            //
    

        }

	}
}