621 lines
62 KiB
C#
621 lines
62 KiB
C#
using System.Reflection;
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using System.Runtime.InteropServices;
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/********************************************************************************************************************************************************************
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1 每个相机可以单独设置触发参数,适应给更多不同相机
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2 物件状态实时可以存储10组数据,防止计算机不实时
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3 根据物件编号下达动作，方便用户使用
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4 吹气口各种工作，防止OK与NG占用同一个通道
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********************************************************************************************************************************************************************/
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namespace MCDLL_NET
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{
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///// <summary>
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/////
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///// </summary>
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//public static class SolidMotionCardRetCode
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//{
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// public const int RetOK = 0;
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//}
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/// <summary>
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/// 轴停止模式
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/// </summary>
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public static class AxisStopMode
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{
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/// <summary>
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/// 紧急停止
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/// </summary>
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public const int AxisStopIMD = 0;
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/// <summary>
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/// 减速停止
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/// </summary>
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public const int AxisStopDEC = 1;
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}
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public class CMCDLL_NET
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{
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/********************************************************************************************************************************************************************
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1 控制卡打开函数
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********************************************************************************************************************************************************************/
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//1.0 网络并联模式设置函数(打开卡前设置) 宏定义1.0
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_Switch_State_Net")]
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public static extern short MCF_Set_Switch_State_Net(ushort Mode = 0);
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// 网卡设置函数(打开卡前设置)
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_Card_Number_Net")]
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public static extern short MCF_Set_Card_Number_Net(ushort Card_Number = 0);
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Card_Number_Net")]
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public static extern short MCF_Get_Card_Number_Net(ref ushort Card_Number);
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//1.1 初始化函数 [1,100] [0,99] 宏定义1.1
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Open_Net")]
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public static extern short MCF_Open_Net(ushort Connection_Number, ref ushort Station_Number, ref ushort Station_Type);
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Open_Net")]
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public static extern short MCF_Get_Open_Net(ref ushort Connection_Number, ref ushort Station_Number, ref ushort Station_Type);
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Close_Net")]
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public static extern short MCF_Close_Net();
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//1.2 链接超时紧急停止函数 [0,60000]
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_Link_TimeOut_Net")]
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public static extern short MCF_Set_Link_TimeOut_Net(uint Time_1MS, uint TimeOut_Output, ushort StationNumber = 0);
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// 链接超时紧急停止触发使能函数
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_Trigger_Output_Bit_Net")]
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public static extern short MCF_Set_Trigger_Output_Bit_Net(ushort Bit_Output_Number, ushort Bit_Output_Enable, ushort StationNumber = 0);
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//1.3 链接监测函数
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Link_State_Net")]
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public static extern short MCF_Get_Link_State_Net(ushort StationNumber = 0);
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/********************************************************************************************************************************************************************
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2 通用输入输出函数
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********************************************************************************************************************************************************************/
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//2.1 通用IO全部输出函数 [OUT31,OUT0] [0,99]
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_Output_Net")]
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public static extern short MCF_Set_Output_Net(uint All_Output_Logic, ushort StationNumber = 0);
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Output_Net")]
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public static extern short MCF_Get_Output_Net(ref uint All_Output_Logic, ushort StationNumber = 0);
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//2.2 通用IO按位输出函数 宏定义2.3.1 宏定义2.3.2 [0,99]
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_Output_Bit_Net")]
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public static extern short MCF_Set_Output_Bit_Net(ushort Bit_Output_Number, ushort Bit_Output_Logic, ushort StationNumber = 0);
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Output_Bit_Net")]
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public static extern short MCF_Get_Output_Bit_Net(ushort Bit_Output_Number, ref ushort Bit_Output_Logic, ushort StationNumber = 0);
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//2.3 通用IO输出复用1：按位输出保持时间函数 宏定义2.3.1 宏定义2.3.2 [0,65535] [0,99]
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_Output_Time_Bit_Net")]
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public static extern short MCF_Set_Output_Time_Bit_Net(ushort Bit_Output_Number, ushort Bit_Output_Logic, ushort Output_Time_1MS, ushort StationNumber = 0);
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// 通用IO输出复用2：按位置输出保持时间函数 宏定义2.3.1 [0,1000] [-2^31,(2^31-1)] [0,99]
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_Compare_Output_Bit_Net")]
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public static extern short MCF_Set_Compare_Output_Bit_Net(ushort Compare_Output_Number, ushort Compare_Output_1MS, ushort Compare_dDist, ushort StationNumber = 0);
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//2.4 通用IO全部输入函数 [Input31,Input0] [Input48,Input32] [0,99]
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Input_Net")]
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public static extern short MCF_Get_Input_Net(ref uint All_Input_Logic1, ref uint All_Input_Logic2, ushort StationNumber = 0);
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//2.5 通用IO按位输入函数 宏定义2.4.1 宏定义2.4.2 [0,99]
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Input_Bit_Net")]
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public static extern short MCF_Get_Input_Bit_Net(ushort Bit_Input_Number, ref ushort Bit_Input_Logic, ushort StationNumber = 0);
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//2.6 通用IO按位输入下升沿高速捕获清除函数 [Bit_Input_0,Bit_Input_3] [0,99]
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Clear_Input_Fall_Bit_Net")]
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public static extern short MCF_Clear_Input_Fall_Bit_Net(ushort Bit_Input_Number, ushort StationNumber = 0);
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//2.7 通用IO按位输入下升沿高速捕获读取函数 [Bit_Input_0,Bit_Input_3] 宏定义2.7 [0,99]
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Input_Fall_Bit_Net")]
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public static extern short MCF_Get_Input_Fall_Bit_Net(ushort Bit_Input_Number, ref ushort Bit_Input_Fall, ushort StationNumber = 0);
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//2.9 通用IO按位输入下升沿高速计数读取函数 [Bit_Input_0,Bit_Input_3] [0,(2^32-1)] 10个最新编码器锁存数据 &Array[10] [0,99]
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Input_Fall_Count_Bit_Net")]
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public static extern short MCF_Get_Input_Fall_Count_Bit_Net(ushort Bit_Input_Number, ref uint Input_Count_Fall, ref uint Lock_Data_Buffer, ushort StationNumber = 0);
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//2.10 通用IO按位输入数据锁存保持(最近10个下升沿数据)打开函数(必须在MCF_Open_Net前面提前调用)
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Open_Input_Lock_Bit_Net")]
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public static extern short MCF_Open_Input_Lock_Bit_Net(ushort Lock_Mode = 0, ushort StationNumber = 0);
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//2.11 通用IO按位输入滤波函数 [Bit_Input_0,Bit_Input_3] [1,100]MS [0,99]
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_Input_Filter_Time_Bit_Net")]
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public static extern short MCF_Set_Input_Filter_Time_Bit_Net(ushort Bit_Input_Number, uint Filter_Time_1MS, ushort StationNumber = 0);
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/********************************************************************************************************************************************************************
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3 轴专用输入输出函数
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********************************************************************************************************************************************************************/
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//3.1 伺服使能设置函数 宏定义0.0 宏定义3.1 [0,99]
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_Servo_Enable_Net")]
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public static extern short MCF_Set_Servo_Enable_Net(ushort Axis, ushort Servo_Logic, ushort StationNumber = 0);
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Servo_Enable_Net")]
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public static extern short MCF_Get_Servo_Enable_Net(ushort Axis, ref ushort Servo_Logic, ushort StationNumber = 0);
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//3.2 伺服报警复位设置函数 宏定义0.0 宏定义3.2 [0,99]
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_Servo_Alarm_Reset_Net")]
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public static extern short MCF_Set_Servo_Alarm_Reset_Net(ushort Axis, ushort Alarm_Logic, ushort StationNumber = 0);
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Servo_Alarm_Reset_Net")]
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public static extern short MCF_Get_Servo_Alarm_Reset_Net(ushort Axis, ref ushort Alarm_Logic, ushort StationNumber = 0);
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//3.3 伺服报警输入获取函数 宏定义0.0 宏定义3.3 [0,99]
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Servo_Alarm_Net")]
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public static extern short MCF_Get_Servo_Alarm_Net(ushort Axis, ref ushort Servo_Alarm_State, ushort StationNumber = 0);
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//3.4 伺服定位完成输入获取函数 宏定义0.0 宏定义3.4 [0,99]
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Servo_INP_Net")]
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public static extern short MCF_Get_Servo_INP_Net(ushort Axis, ref ushort Servo_INP_State, ushort StationNumber = 0);
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//3.5 编码器Z相输入获取函数 宏定义0.0 宏定义3.5 [0,99]
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Z_Net")]
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public static extern short MCF_Get_Z_Net(ushort Axis, ref ushort Z_State, ushort StationNumber = 0);
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//3.6 原点输入获取函数 宏定义0.0 宏定义3.6 [0,99]
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Home_Net")]
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public static extern short MCF_Get_Home_Net(ushort Axis, ref ushort Home_State, ushort StationNumber = 0);
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//3.7 正限位输入获取函数 宏定义0.0 宏定义3.7 [0,99]
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Positive_Limit_Net")]
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public static extern short MCF_Get_Positive_Limit_Net(ushort Axis, ref ushort Positive_Limit_State, ushort StationNumber = 0);
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//3.8 负限位输入获取函数 宏定义0.0 宏定义3.8 [0,99]
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Negative_Limit_Net")]
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public static extern short MCF_Get_Negative_Limit_Net(ushort Axis, ref ushort Negative_Limit_State, ushort StationNumber = 0);
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/********************************************************************************************************************************************************************
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4 轴设置函数
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********************************************************************************************************************************************************************/
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//4.1 脉冲通道输出设置函数 宏定义0.0 宏定义4.1 [0,99]
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_Pulse_Mode_Net")]
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public static extern short MCF_Set_Pulse_Mode_Net(ushort Axis, uint Pulse_Mode, ushort StationNumber = 0);
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Pulse_Mode_Net")]
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public static extern short MCF_Get_Pulse_Mode_Net(ushort Axis, ref uint Pulse_Mode, ushort StationNumber = 0);
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//4.2 位置设置函数 宏定义0.0 [-2^31,(2^31-1)] [0,99]
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_Position_Net")]
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public static extern short MCF_Set_Position_Net(ushort Axis, int Position, ushort StationNumber = 0);
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Position_Net")]
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public static extern short MCF_Get_Position_Net(ushort Axis, ref int Position, ushort StationNumber = 0);
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//4.3 编码器设置函数 宏定义0.0 [-2^31,(2^31-1)] [0,99]
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_Encoder_Net")]
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public static extern short MCF_Set_Encoder_Net(ushort Axis, int Encoder, ushort StationNumber = 0);
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Encoder_Net")]
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public static extern short MCF_Get_Encoder_Net(ushort Axis, ref int Encoder, ushort StationNumber = 0);
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// 通过Z相清除AB编码器值
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Z_Clear_Encoder_Net")]
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public static extern short MCF_Z_Clear_Encoder_Net(ushort Axis, ushort Enable, ushort StationNumber = 0);
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// 通过Z相后固定距离输出IO 宏定义0.0 [0,255] [0,65535] [0,255]
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Z_Output_Bit_Net")]
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public static extern short MCF_Z_Output_Bit_Net(ushort Axis, ushort Number, uint dDist, ushort Time_1MS, ushort StationNumber = 0);
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//4.4 速度获取 宏定义0.0 [-2^15,(2^15-1)] [-2^15,(2^15-1)] [0,99]
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Vel_Net")]
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public static extern short MCF_Get_Vel_Net(ushort Axis, ref double Command_Vel, ref double Encode_Vel, ushort StationNumber = 0);
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/********************************************************************************************************************************************************************
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5 轴硬件触发停止运动函数
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********************************************************************************************************************************************************************/
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//5.1 5.1 通用IO输入复用：做为紧急停止函数 宏定义2.4.1 宏定义5.1 [0,99]
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_EMG_Bit_Net")]
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public static extern short MCF_Set_EMG_Bit_Net(ushort EMG_Input_Number, ushort EMG_Mode, ushort StationNumber = 0);
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_EMG_Output_Net")]
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public static extern short MCF_Set_EMG_Output_Net(ushort EMG_Input_Number, ushort EMG_Mode, uint EMG_Output, ushort StationNumber = 0);
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_EMG_Output_Enable_Net")]
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public static extern short MCF_Set_EMG_Output_Enable_Net(ushort Bit_Output_Number, ushort Bit_Output_Enable, ushort StationNumber = 0);
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// 通用IO输入复用：做为触发停止 [0,3] 宏定义0.0 [Bit_Input_0,Bit_Input_15] 宏定义5.4 [0,99]
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_Input_Trigger_Net")]
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public static extern short MCF_Set_Input_Trigger_Net(ushort Channel, ushort Axis, ushort Bit_Input_Number, uint Trigger_Mode, ushort StationNumber = 0);
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Input_Trigger_Net")]
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public static extern short MCF_Get_Input_Trigger_Net(ushort Channel, ref ushort Axis, ref ushort Bit_Input_Number, ref uint Trigger_Mode, ushort StationNumber = 0);
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//5.2 软件限位触发运动停止函数 宏定义0.0 [-2^31,2^31]P > [-2^31,2^31]P [0,99]
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_Soft_Limit_Net")]
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public static extern short MCF_Set_Soft_Limit_Net(ushort Axis, int Positive_Position, int Negative_Position, ushort StationNumber = 0);
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Soft_Limit_Net")]
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public static extern short MCF_Get_Soft_Limit_Net(ushort Axis, ref int Positive_Position, ref int Negative_Position, ushort StationNumber = 0);
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//5.3 软件限位触发运动停止开关函数 宏定义0.0 宏定义5.3 [0,99]
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_Soft_Limit_Enable_Net")]
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public static extern short MCF_Set_Soft_Limit_Enable_Net(ushort Axis, uint Soft_Limit_Enable, ushort StationNumber = 0);
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Soft_Limit_Enable_Net")]
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public static extern short MCF_Get_Soft_Limit_Enable_Net(ushort Axis, ref uint Soft_Limit_Enable, ushort StationNumber = 0);
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//5.4 伺服报警触发运动停止函数 宏定义0.0 宏定义5.4 [0,99]
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_Alarm_Trigger_Net")]
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public static extern short MCF_Set_Alarm_Trigger_Net(ushort Axis, uint Trigger_Mode, ushort StationNumber = 0);
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Alarm_Trigger_Net")]
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public static extern short MCF_Get_Alarm_Trigger_Net(ushort Axis, ref uint Trigger_Mode, ushort StationNumber = 0);
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//5.5 Index触发运动停止函数 宏定义0.0 宏定义5.4 [0,99]
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_Index_Trigger_Net")]
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public static extern short MCF_Set_Index_Trigger_Net(ushort Axis, uint Trigger_Mode, ushort StationNumber = 0);
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Index_Trigger_Net")]
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public static extern short MCF_Get_Index_Trigger_Net(ushort Axis, ref uint Trigger_Mode, ushort StationNumber = 0);
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//5.6 原点触发运动停止函数 宏定义0.0 宏定义5.4 [0,99]
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_Home_Trigger_Net")]
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public static extern short MCF_Set_Home_Trigger_Net(ushort Axis, uint Trigger_Mode, ushort StationNumber = 0);
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Home_Trigger_Net")]
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public static extern short MCF_Get_Home_Trigger_Net(ushort Axis, ref uint Trigger_Mode, ushort StationNumber = 0);
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//5.7 正限位触发运动停止函数 宏定义0.0 宏定义5.4 [0,99]
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_ELP_Trigger_Net")]
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public static extern short MCF_Set_ELP_Trigger_Net(ushort Axis, uint Trigger_Mode, ushort StationNumber = 0);
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_ELP_Trigger_Net")]
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public static extern short MCF_Get_ELP_Trigger_Net(ushort Axis, ref uint Trigger_Mode, ushort StationNumber = 0);
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//5.8 负限位触发运动停止函数 宏定义0.0 宏定义5.4 [0,99]
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_ELN_Trigger_Net")]
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public static extern short MCF_Set_ELN_Trigger_Net(ushort Axis, uint Trigger_Mode, ushort StationNumber = 0);
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_ELN_Trigger_Net")]
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public static extern short MCF_Get_ELN_Trigger_Net(ushort Axis, ref uint Trigger_Mode, ushort StationNumber = 0);
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//5.9 原点触发位置记录函数 宏定义0.0 [-2^31,(2^31-1)] [0,99] [0,99]
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Home_Rise_Position_Net")]
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public static extern short MCF_Get_Home_Rise_Position_Net(ushort Axis, ref int Position, ushort StationNumber = 0);
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Home_Fall_Position_Net")]
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public static extern short MCF_Get_Home_Fall_Position_Net(ushort Axis, ref int Position, ushort StationNumber = 0);
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Home_Rise_Encoder_Net")]
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public static extern short MCF_Get_Home_Rise_Encoder_Net(ushort Axis, ref int Encoder, ushort StationNumber = 0);
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Home_Fall_Encoder_Net")]
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public static extern short MCF_Get_Home_Fall_Encoder_Net(ushort Axis, ref int Encoder, ushort StationNumber = 0);
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//5.10 轴状态清除函数 宏定义0.0 [0,99]
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[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Clear_Axis_State_Net")]
|
||
public static extern short MCF_Clear_Axis_State_Net(ushort Axis, ushort StationNumber = 0);
|
||
//5.11 轴状态触发停止运动查询函数 宏定义0.0 MC_Retrun.h[0,28] [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Axis_State_Net")]
|
||
public static extern short MCF_Get_Axis_State_Net(ushort Axis, ref short Reason, ushort StationNumber = 0);
|
||
|
||
/********************************************************************************************************************************************************************
|
||
6 轴回原点函数
|
||
********************************************************************************************************************************************************************/
|
||
//6.1 设置回零参数 宏定义0.0 [1,65535] [1,65535]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Search_Home_dMaxA_Time_Net")]
|
||
public static extern short MCF_Search_Home_dMaxA_Time_Net(ushort Axis, ushort H_dMaxA_Time = 10, ushort L_dMaxA_Time = 10, ushort StationNumber = 0);
|
||
// 宏定义0.0 [1,35] 宏定义6.1.1 宏定义6.1.2 宏定义6.1.3 (0,10M]P/S (0,10M]P/S [-2^31,(2^31-1)] [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Search_Home_Set_Net")]
|
||
public static extern short MCF_Search_Home_Set_Net(ushort Axis, ushort Search_Home_Mode, ushort Limit_Logic, ushort Home_Logic, ushort Index_Logic, double H_dMaxV, double L_dMaxV, int Offset_Position, ushort Trigger_Source, ushort StationNumber = 0);
|
||
//6.2 设置回零启动 宏定义0.0 [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Search_Home_Start_Net")]
|
||
public static extern short MCF_Search_Home_Start_Net(ushort Axis, ushort StationNumber = 0);
|
||
//6.3 设置回零停止 宏定义0.0 [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Search_Home_Stop_Net")]
|
||
public static extern short MCF_Search_Home_Stop_Net(ushort Axis, ushort StationNumber = 0);
|
||
//6.4 获取回零状态 宏定义0.0 MC_Retrun.h{0,31,32} [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Search_Home_Get_State_Net")]
|
||
public static extern short MCF_Search_Home_Get_State_Net(ushort Axis, ref ushort Home_State, ushort StationNumber = 0);
|
||
//6.5 设置回零缓停时间 宏定义0.0 [0,1000] 单位：ms [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Search_Home_Stop_Time_Net")]
|
||
public static extern short MCF_Search_Home_Stop_Time_Net(ushort Axis, ushort Stop_Time, ushort StationNumber = 0);
|
||
//6.6 设置回零完成后保持位置值 宏定义0.0 [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Search_Home_Keep_Position_Net")]
|
||
public static extern short MCF_Search_Home_Keep_Position_Net(ushort Axis, ushort StationNumber = 0);
|
||
//6.7 设置回零完成后保持编码器值 宏定义0.0 [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Search_Home_Keep_Encoder_Net")]
|
||
public static extern short MCF_Search_Home_Keep_Encoder_Net(ushort Axis, ushort StationNumber = 0);
|
||
//6.8 设置回零在零点位置离开速度 宏定义0.0 [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Search_Home_Leave_Vel_Net")]
|
||
public static extern short MCF_Search_Home_Leave_Vel_Net(ushort Axis, double M_dMaxV, ushort StationNumber = 0);
|
||
/********************************************************************************************************************************************************************
|
||
7 点位运动控制函数
|
||
********************************************************************************************************************************************************************/
|
||
//7.1 速度控制函数 宏定义0.0 (0,10M]P/S (0,1T]P^2/S [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_JOG_Net")]
|
||
public static extern short MCF_JOG_Net(ushort Axis, double dMaxV, double dMaxA, ushort StationNumber = 0);
|
||
//7.2 单轴运动位置改变函数 宏定义0.0 [-2^31,(2^31-1)] 宏定义0.3 [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Uniaxial_dDist_Change_Net")]
|
||
public static extern short MCF_Uniaxial_dDist_Change_Net(ushort Axis, int dDist, ushort Position_Mode, ushort StationNumber = 0);
|
||
//7.3 单轴运动速度改变函数 宏定义0.0 (0,10M]P/S [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Uniaxial_dMaxV_Change_Net")]
|
||
public static extern short MCF_Uniaxial_dMaxV_Change_Net(ushort Axis, double dMaxV, ushort StationNumber = 0);
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Uniaxial_dMaxA_Change_Net")]
|
||
public static extern short MCF_Uniaxial_dMaxA_Change_Net(ushort Axis, double dMaxA, ushort StationNumber = 0);
|
||
//7.4 单轴曲线函数 宏定义0.0 [0,dMaxV] (0,10M]P/S (0,1T]P^2/S (0,100T]P^3/S [0,dMaxV] 宏定义0.4 [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_Axis_Profile_Net")]
|
||
public static extern short MCF_Set_Axis_Profile_Net(ushort Axis, double dV_ini, double dMaxV, double dMaxA, double dJerk, double dV_end, ushort Profile, ushort StationNumber = 0);
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Axis_Profile_Net")]
|
||
public static extern short MCF_Get_Axis_Profile_Net(ushort Axis, ref double dV_ini, ref double dMaxV, ref double dMaxA, ref double dJerk, ref double dV_end, ref ushort Profile, ushort StationNumber = 0);
|
||
//7.5 单轴运动函数 宏定义0.0 [-2^31,(2^31-1)] 宏定义0.3 [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Uniaxial_Net")]
|
||
public static extern short MCF_Uniaxial_Net(ushort Axis, int dDist, ushort Position_Mode, ushort StationNumber = 0);
|
||
//7.6 单轴停止曲线函数 宏定义0.0 (0,1T]P^2/S (0,100T]P^3/S 宏定义0.4 [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_Axis_Stop_Profile_Net")]
|
||
public static extern short MCF_Set_Axis_Stop_Profile_Net(ushort Axis, double dMaxA, double dJerk, ushort Profile, ushort StationNumber = 0);
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Axis_Stop_Profile_Net")]
|
||
public static extern short MCF_Get_Axis_Stop_Profile_Net(ushort Axis, ref double dMaxA, ref double dJerk, ref ushort Profile, ushort StationNumber = 0);
|
||
//7.7 轴停止函数 宏定义0.0 宏定义7.7 [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Axis_Stop_Net")]
|
||
public static extern short MCF_Axis_Stop_Net(ushort Axis, ushort Axis_Stop_Mode, ushort StationNumber = 0);
|
||
//7.8 单轴运动改变周期函数 宏定义0.0 [1,1000]MS [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Uniaxial_Cycle_Change_Net")]
|
||
public static extern short MCF_Uniaxial_Cycle_Change_Net(ushort Axis, ushort Cycle, ushort StationNumber = 0);
|
||
|
||
/********************************************************************************************************************************************************************
|
||
8 插补运动控制函数
|
||
********************************************************************************************************************************************************************/
|
||
//8.1 坐标系曲线函数 宏定义0.1 [0,dMaxV] (0,10M]P/S (0,1T]P^2/S (0,100T]P^3/S [0,dMaxV] 宏定义0.4 [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_Coordinate_Profile_Net")]
|
||
public static extern short MCF_Set_Coordinate_Profile_Net(ushort Coordinate, double dV_ini, double dMaxV, double dMaxA, double dJerk, double dV_end, ushort Profile, ushort StationNumber = 0);
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Coordinate_Profile_Net")]
|
||
public static extern short MCF_Get_Coordinate_Profile_Net(ushort Coordinate, ref double dV_ini, ref double dMaxV, ref double dMaxA, ref double dJerk, ref double dV_end, ref ushort Profile, ushort StationNumber = 0);
|
||
//8.2 圆半径插补运动函数 宏定义0.1 宏定义0.0 [-2^31,(2^31-1)] [-2^31,(2^31-1)] 宏定义0.5 宏定义0.3 [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Arc2_Radius_Net")]
|
||
public static extern short MCF_Arc2_Radius_Net(ushort Coordinate, ref ushort Axis_List, ref int dDist_List, int Arc_Radius, ushort Direction, ushort Position_Mode, ushort StationNumber = 0);
|
||
//8.3 圆圆心插补运动函数 宏定义0.1 宏定义0.0 [-2^31,(2^31-1)] [-2^31,(2^31-1)] 宏定义0.5 宏定义0.3 [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Arc2_Centre_Net")]
|
||
public static extern short MCF_Arc2_Centre_Net(ushort Coordinate, ref ushort Axis_List, ref int dDist_List, ref int Center_List, ushort Direction, ushort Position_Mode, ushort StationNumber = 0);
|
||
//8.4 直线插补运动函数 宏定义0.1 宏定义0.0 [-2^31,(2^31-1)] 宏定义0.3 [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Line2_Net")]
|
||
public static extern short MCF_Line2_Net(ushort Coordinate, ref ushort Axis_List, ref int dDist_List, ushort Position_Mode, ushort StationNumber = 0);
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Line3_Net")]
|
||
public static extern short MCF_Line3_Net(ushort Coordinate, ref ushort Axis_List, ref int dDist_List, ushort Position_Mode, ushort StationNumber = 0);
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Line4_Net")]
|
||
public static extern short MCF_Line4_Net(ushort Coordinate, ref ushort Axis_List, ref int dDist_List, ushort Position_Mode, ushort StationNumber = 0);
|
||
//8.5 坐标系停止曲线函数 宏定义0.1 (0,1T]P^2/S (0,100T]P^3/S 宏定义0.4 [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_Coordinate_Stop_Profile_Net")]
|
||
public static extern short MCF_Set_Coordinate_Stop_Profile_Net(ushort Coordinate, double dMaxA, double dJerk, ushort Profile, ushort StationNumber = 0);
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Coordinate_Stop_Profile_Net")]
|
||
public static extern short MCF_Get_Coordinate_Stop_Profile_Net(ushort Coordinate, ref double dMaxA, ref double dJerk, ref ushort Profile, ushort StationNumber = 0);
|
||
//8.6 螺旋线圆半径插补运动函数 宏定义0.1 宏定义0.0 [-2^31,(2^31-1)] [-2^31,(2^31-1)] 宏定义0.5 宏定义0.3 [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Screw3_Radius_Net")]
|
||
public static extern short MCF_Screw3_Radius_Net(ushort Coordinate, ref ushort Axis_List, ref int dDist_List, int Arc_Radius, ushort Direction, ushort Position_Mode, ushort StationNumber = 0);
|
||
//8.7 螺旋线圆圆心插补运动函数 宏定义0.1 宏定义0.0 [-2^31,(2^31-1)] [-2^31,(2^31-1)] 宏定义0.5 宏定义0.3 [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Screw3_Centre_Net")]
|
||
public static extern short MCF_Screw3_Centre_Net(ushort Coordinate, ref ushort Axis_List, ref int dDist_List, ref int Center_List, ushort Direction, ushort Position_Mode, ushort StationNumber = 0);
|
||
//8.8 坐标系停止函数 宏定义0.1 宏定义5.6 [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Coordinate_Stop_Net")]
|
||
public static extern short MCF_Coordinate_Stop_Net(ushort Coordinate, ushort Coordinate_Stop_Mode, ushort StationNumber = 0);
|
||
|
||
/********************************************************************************************************************************************************************
|
||
9 缓冲区函数
|
||
********************************************************************************************************************************************************************/
|
||
//9.1 缓冲区停止曲线函数 宏定义0.2 (0,1T]P^2/S (0,100T]P^3/S 宏定义0.4 [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Buffer_Set_Stop_Profile_Net")]
|
||
public static extern short MCF_Buffer_Set_Stop_Profile_Net(ushort Buffer_Number, double dMaxA, double dJerk, ushort Profile, ushort StationNumber = 0);
|
||
//9.2 缓冲区停止函数 宏定义0.2 宏定义9.2 [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Buffer_Stop_Net")]
|
||
public static extern short MCF_Buffer_Stop_Net(ushort Buffer_Number, ushort Buffer_Stop_Mode, ushort StationNumber = 0);
|
||
//9.3 缓冲区在线改变速度倍率 宏定义0.2 (0,10] [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Buffer_Change_Velocity_Ratio_Net")]
|
||
public static extern short MCF_Buffer_Change_Velocity_Ratio_Net(ushort Buffer_Number, double Velocity_Ratio, ushort StationNumber = 0);
|
||
//9.4 缓冲区建立开始函数 宏定义0.2 [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Buffer_Start_Net")]
|
||
public static extern short MCF_Buffer_Start_Net(ushort Buffer_Number, ushort StationNumber = 0);
|
||
//9.5 缓冲区速度倍率 宏定义0.2 宏定义9.5 [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Buffer_Set_Velocity_Ratio_Enable_Net")]
|
||
public static extern short MCF_Buffer_Set_Velocity_Ratio_Enable_Net(ushort Buffer_Number, ushort Velocity_Ratio_Enable = 0, ushort StationNumber = 0);
|
||
//9.6 缓冲区前瞻处理降速比 宏定义0.2 (0,1] [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Buffer_Set_Reduce_Ratio_Net")]
|
||
public static extern short MCF_Buffer_Set_Reduce_Ratio_Net(ushort Buffer_Number, double Reduce_Ratio = 1.0, ushort StationNumber = 0);
|
||
//9.7 缓冲区曲线函数 宏定义0.2 [0,dMaxV] (0,10M]P/S (0,1T]P^2/S (0,100T]P^3/S [0,dMaxV] 宏定义0.4 [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Buffer_Set_Profile_Net")]
|
||
public static extern short MCF_Buffer_Set_Profile_Net(ushort Buffer_Number, double dV_ini, double dMaxV, double dMaxA, double dJerk, double dV_end, ushort Profile, ushort StationNumber = 0);
|
||
//9.8 缓冲区单轴运动 宏定义0.2 宏定义0.0 [-2^31,(2^31-1)] 宏定义0.3 [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Buffer_Uniaxial_Net")]
|
||
public static extern short MCF_Buffer_Uniaxial_Net(ushort Buffer_Number, ushort Axis, int dDist, ushort Position_Mode, ushort StationNumber = 0);
|
||
//缓冲区单轴运动距离同步跟随函数
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Buffer_Sync_Follow_Net")]
|
||
public static extern short MCF_Buffer_Sync_Follow_Net(ushort Buffer_Number, ushort Axis, int dDist, ushort StationNumber = 0);
|
||
//9.9 缓冲区直线插补运动 宏定义0.2 宏定义0.0 [-2^31,(2^31-1)] 宏定义0.3 [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Buffer_Line2_Net")]
|
||
public static extern short MCF_Buffer_Line2_Net(ushort Buffer_Number, ref ushort Axis_List, ref int dDist_List, ushort Position_Mode, ushort StationNumber = 0);
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Buffer_Line3_Net")]
|
||
public static extern short MCF_Buffer_Line3_Net(ushort Buffer_Number, ref ushort Axis_List, ref int dDist_List, ushort Position_Mode, ushort StationNumber = 0);
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Buffer_Line4_Net")]
|
||
public static extern short MCF_Buffer_Line4_Net(ushort Buffer_Number, ref ushort Axis_List, ref int dDist_List, ushort Position_Mode, ushort StationNumber = 0);
|
||
//9.10 缓冲区平面圆半径插补运动函数 宏定义0.2 宏定义0.0 [-2^31,(2^31-1)] [-2^31,(2^31-1)] 宏定义0.5 宏定义0.3 [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Buffer_Arc_Radius_Net")]
|
||
public static extern short MCF_Buffer_Arc_Radius_Net(ushort Buffer_Number, ref ushort Axis_List, ref int dDist_List, int Arc_Radius, ushort Direction, ushort Position_Mode, ushort StationNumber = 0);
|
||
//9.11 缓冲区平面圆圆心插补运动函数 宏定义0.2 宏定义0.0 [-2^31,(2^31-1)] [-2^31,(2^31-1)] 宏定义0.5 宏定义0.3 [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Buffer_Arc_Centre_Net")]
|
||
public static extern short MCF_Buffer_Arc_Centre_Net(ushort Buffer_Number, ref ushort Axis_List, ref int dDist_List, ref int Center_List, ushort Direction, ushort Position_Mode, ushort StationNumber = 0);
|
||
//9.12 缓冲区延时函数 宏定义0.2 [0,2^31-1] [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Buffer_Delay_Net")]
|
||
public static extern short MCF_Buffer_Delay_Net(ushort Buffer_Number, uint number, ushort StationNumber = 0);
|
||
//9.13 缓冲区IO输出函数 宏定义0.2 宏定义2.3.1 宏定义2.3.2 [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Buffer_Set_Output_Bit_Net")]
|
||
public static extern short MCF_Buffer_Set_Output_Bit_Net(ushort Buffer_Number, ushort Bit_Number, ushort output, ushort StationNumber = 0);
|
||
//9.14 缓冲区IO等待函数 宏定义0.2 宏定义2.4.1 宏定义2.4.2 (0,2^15-1] [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Buffer_Wait_Input_Bit_Net")]
|
||
public static extern short MCF_Buffer_Wait_Input_Bit_Net(ushort Buffer_Number, ushort Bit_Number, ushort Logic, ushort Time_Out, ushort StationNumber = 0);
|
||
//9.15 缓冲区建立结束 宏定义0.2 [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Buffer_End_Net")]
|
||
public static extern short MCF_Buffer_End_Net(ushort Buffer_Number, ushort StationNumber = 0);
|
||
//9.16 缓冲区执行函数 宏定义0.2 宏定义9.16 [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Buffer_Execute_Net")]
|
||
public static extern short MCF_Buffer_Execute_Net(ushort Buffer_Number, ushort Execute_Mode, ushort StationNumber = 0);
|
||
//9.17 缓冲区断点启动函数 宏定义0.2 [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Buffer_Execute_BreakPoint_Net")]
|
||
public static extern short MCF_Buffer_Execute_BreakPoint_Net(ushort Buffer_Number, ushort StationNumber = 0);
|
||
//9.18 缓冲区状态查询函数 宏定义0.2 MC_Retrun.h{0,29,30} [0,2^15-1]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Buffer_Get_State_Net")]
|
||
public static extern short MCF_Buffer_Get_State_Net(ushort Buffer_Number, ref ushort Execute_State, ref ushort Execute_Number, ushort StationNumber = 0);
|
||
//9.19 缓冲区剩余可插入指令空间百分比查询 宏定义0.2 [0,100]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Buffer_Get_Remainder_Space_Net")]
|
||
public static extern short MCF_Buffer_Get_Remainder_Space_Net(ushort Buffer_Number, ref ushort Remainder_Space_Ratio, ushort StationNumber = 0);
|
||
//9.20 缓冲区开始插入(建议查询到剩余有一半以上空间) 宏定义0.2 [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Buffer_Insert_Start_Net")]
|
||
public static extern short MCF_Buffer_Insert_Start_Net(ushort Buffer_Number, ushort StationNumber = 0);
|
||
//9.22 缓冲区结束插入 宏定义0.2 [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Buffer_Insert_End_Net")]
|
||
public static extern short MCF_Buffer_Insert_End_Net(ushort Buffer_Number, ushort StationNumber = 0);
|
||
//9.23 计算加入指令所占用的空间百分比 宏定义0.2 [0,100] [0,99]
|
||
// 在MCF_Buffer_Start_Net或者MCF_Buffer_Insert_Start_Net后开始从0计算
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Buffer_Count_Occupy_Space_Net")]
|
||
public static extern short MCF_Buffer_Count_Occupy_Space_Net(ushort Buffer_Number, ref ushort Occupy_Space_Ratio, ushort StationNumber = 0);
|
||
|
||
/********************************************************************************************************************************************************************
|
||
10 示波器10K采样频率数据捕捉函数
|
||
********************************************************************************************************************************************************************/
|
||
//10.1 数据捕捉打开/关闭函数(必须在MCF_Open_Net前面提前调用,而且只支持一个运动控制卡)
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Capture_Open_Net")]
|
||
public static extern short MCF_Capture_Open_Net(ushort Capture_Mode = 0);
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Capture_Close_Net")]
|
||
public static extern short MCF_Capture_Close_Net();
|
||
//10.2 数据捕捉检查数据更新函数 宏定义10.2
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Capture_State_Net")]
|
||
public static extern short MCF_Capture_State_Net(ref ushort Capture_State);
|
||
//10.3 读取采样连续的1000个位置命令数据 宏定义0.0 &Array[Capture_Frequency*Capture_Time_1MS]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Capture_Read_Command_Net")]
|
||
public static extern short MCF_Capture_Read_Command_Net(ushort Axis, ref int Command);
|
||
//10.4 读取采样连续的1000个编码器数据 宏定义0.0 &Array[Capture_Frequency*Capture_Time_1MS]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Capture_Read_Encoder_Net")]
|
||
public static extern short MCF_Capture_Read_Encoder_Net(ushort Axis, ref int Encoder);
|
||
//10.5 读取采样连续的1000个模拟量数据 宏定义0.0 &Array[Capture_Frequency*Capture_Time_1MS]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Capture_Read_AD_Net")]
|
||
public static extern short MCF_Capture_Read_AD_Net(ushort Axis, ref int AD);
|
||
//10.6 ADC采样滤波 宏定义0.0 [0,1]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Capture_Filter_AD_Net")]
|
||
public static extern short MCF_Capture_Filter_AD_Net(ushort Axis, double Filter_Coefficient = 1);
|
||
//10.7 数据捕捉频率设置 宏定义10.7
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Capture_Frequency_Net")]
|
||
public static extern short MCF_Capture_Frequency_Net(ushort Capture_Frequency = 1, ushort StationNumber = 0);
|
||
//10.8 数据捕捉缓存时间设置 [2,1000] 2的倍数
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Capture_Time_Net")]
|
||
public static extern short MCF_Capture_Time_Net(ushort Capture_Time_1MS = 100, ushort StationNumber = 0);
|
||
/********************************************************************************************************************************************************************
|
||
11 电子齿轮控制函数
|
||
********************************************************************************************************************************************************************/
|
||
//11.1 电子齿轮设置函数 宏定义0.0 宏定义0.0 (0,(2^31-1)] (0,(2^31-1)] 宏定义11.1.1 宏定义11.1.2 [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_Gear_Net")]
|
||
public static extern short MCF_Set_Gear_Net(ushort Axis, ushort Follow_Axis, uint Denominator, uint Molecule, ushort Follow_Source, ushort Dir, ushort StationNumber = 0);
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Gear_Net")]
|
||
public static extern short MCF_Get_Gear_Net(ushort Axis, ref ushort Follow_Axis, ref uint Denominator, ref uint Molecule, ref ushort Follow_Source, ref ushort Dir, ushort StationNumber = 0);
|
||
//11.2 电子齿轮开关函数 宏定义0.0 宏定义11.2 [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_Gear_Enable_Net")]
|
||
public static extern short MCF_Set_Gear_Enable_Net(ushort Axis, ushort Gear_Enable, ushort StationNumber = 0);
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Gear_Enable_Net")]
|
||
public static extern short MCF_Get_Gear_Enable_Net(ushort Axis, ref ushort Gear_Enable, ushort StationNumber = 0);
|
||
//11.3 电子齿轮运动距离后自动关闭 宏定义0.0 [-2^31,(2^31-1)] [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_Gear_Auto_Disable_Net")]
|
||
public static extern short MCF_Set_Gear_Auto_Disable_Net(ushort Axis, int dDist, ushort StationNumber = 0);
|
||
|
||
/********************************************************************************************************************************************************************
|
||
12 位置比较输出函数
|
||
********************************************************************************************************************************************************************/
|
||
//12.1 设置一维位置比较器 宏定义0.0
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_Compare_Config_Net")]
|
||
public static extern short MCF_Set_Compare_Config_Net(ushort Axis, ushort Enable, ushort Compare_Source, ushort StationNumber = 0);
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Compare_Config_Net")]
|
||
public static extern short MCF_Get_Compare_Config_Net(ushort Axis, ref ushort Enable, ref ushort Compare_Source, ushort StationNumber = 0);
|
||
//12.2 清除一维位置所有/当前比较点/关闭任意点 宏定义0.0
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Clear_Compare_Points_Net")]
|
||
public static extern short MCF_Clear_Compare_Points_Net(ushort Axis, ushort StationNumber = 0);
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Clear_Compare_Current_Points_Net")]
|
||
public static extern short MCF_Clear_Compare_Current_Points_Net(ushort Axis, ushort StationNumber = 0);
|
||
// 按照 MCF_Add_Compare_Point_Net 数据累加计算 宏定义0.0 [1,(2^31-1)}
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Disable_Compare_Any_Points_Net")]
|
||
public static extern short MCF_Disable_Compare_Any_Points_Net(ushort Axis, uint Point_Number, ushort StationNumber = 0);
|
||
//12.3 添加一维位置比较点 宏定义0.0
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Add_Compare_Point_Net")]
|
||
public static extern short MCF_Add_Compare_Point_Net(ushort Axis, int Position, ushort Dir, ushort Action, ushort Actpara, ushort StationNumber = 0);
|
||
//12.4 读取当前一维比较点位置 宏定义0.0
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Compare_Current_Point_Net")]
|
||
public static extern short MCF_Get_Compare_Current_Point_Net(ushort Axis, ref int Position, ushort StationNumber = 0);
|
||
//12.5 查询已经比较过的一维比较点个数(注意数据溢出) 宏定义0.0 [0,256]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Compare_Points_Runned_Net")]
|
||
public static extern short MCF_Get_Compare_Points_Runned_Net(ushort Axis, ref ushort Point_Number, ushort StationNumber = 0);
|
||
//12.6 查询可以加入的一维比较点个数 宏定义0.0 [0,256]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Compare_Points_Remained_Net")]
|
||
public static extern short MCF_Get_Compare_Points_Remained_Net(ushort Axis, ref ushort Point_Number, ushort StationNumber = 0);
|
||
//12.7 查询所有未完成一维比较点个数和位置 宏定义0.0
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Compare_Points_Incomplete_Net")]
|
||
public static extern short MCF_Get_Compare_Points_Incomplete_Net(ushort Axis, ref ushort Incomplete_Number, ref int Incomplete_Position, ushort StationNumber = 0);
|
||
|
||
|
||
|
||
/********************************************************************************************************************************************************************
|
||
13 PWM输出函数
|
||
********************************************************************************************************************************************************************/
|
||
//13.1 设置PWM输出参数 宏定义13.1.1 宏定义13.1.2 宏定义13.1.3 宏定义13.1.4
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_Pwm_Config_Net")]
|
||
public static extern short MCF_Set_Pwm_Config_Net(ushort Channel, ushort Enable, ushort Output_Port_Config, ushort Output_Start_Logic, ushort StationNumber = 0);
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Pwm_Config_Net")]
|
||
public static extern short MCF_Get_Pwm_Config_Net(ushort Channel, ref ushort Enable, ref ushort Output_Port_Config, ref ushort Output_Start_Logic, ushort StationNumber = 0);
|
||
//13.2 输出PWM信号 宏定义13.1.1 [0,1000000] [0,100] (0,(2^31-1)]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_Pwm_Output_Net")]
|
||
public static extern short MCF_Set_Pwm_Output_Net(ushort Channel, uint Frequency, uint DutyCycle, uint Pwm_Number, ushort StationNumber = 0);
|
||
//13.3 PWM完成信号 宏定义13.1.1 宏定义13.3.1
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Pwm_State_Net")]
|
||
public static extern short MCF_Get_Pwm_State_Net(ushort Channel, ref ushort Finish, ushort StationNumber = 0);
|
||
|
||
/********************************************************************************************************************************************************************
|
||
14 手轮函数
|
||
********************************************************************************************************************************************************************/
|
||
//14.1 开启手轮功能 宏定义11.1.2
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Hand_Wheel_Open_Net")]
|
||
public static extern short MCF_Hand_Wheel_Open_Net(ushort Dir, ushort StationNumber = 0);
|
||
//14.2 关闭手轮功能
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Hand_Wheel_Close_Net")]
|
||
public static extern short MCF_Hand_Wheel_Close_Net(ushort StationNumber = 0);
|
||
//14.3 设置硬件手轮编码器通道 宏定义0.0
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Hand_Wheel_Config_Encoder_Net")]
|
||
public static extern short MCF_Hand_Wheel_Config_Encoder_Net(ushort Axis, ushort StationNumber = 0);
|
||
//14.4 设置硬件手轮速率配置输入点 宏定义2.4.1
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Hand_Wheel_Config_X1_Net")]
|
||
public static extern short MCF_Hand_Wheel_Config_X1_Net(ushort Bit_Input_Number, ushort StationNumber = 0);
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Hand_Wheel_Config_X10_Net")]
|
||
public static extern short MCF_Hand_Wheel_Config_X10_Net(ushort Bit_Input_Number, ushort StationNumber = 0);
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Hand_Wheel_Config_X100_Net")]
|
||
public static extern short MCF_Hand_Wheel_Config_X100_Net(ushort Bit_Input_Number, ushort StationNumber = 0);
|
||
// 设置硬件手轮速率大小 [1,100]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Hand_Wheel_Speed_X1_Net")]
|
||
public static extern short MCF_Hand_Wheel_Speed_X1_Net(ushort Speed_X = 1, ushort StationNumber = 0);
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Hand_Wheel_Speed_X10_Net")]
|
||
public static extern short MCF_Hand_Wheel_Speed_X10_Net(ushort Speed_X = 10, ushort StationNumber = 0);
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Hand_Wheel_Speed_X100_Net")]
|
||
public static extern short MCF_Hand_Wheel_Speed_X100_Net(ushort Speed_X = 100, ushort StationNumber = 0);
|
||
//14.4 设置硬件手轮轴号配置输入点 宏定义0.0 宏定义2.4.1
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Hand_Wheel_Config_Axis_Net")]
|
||
public static extern short MCF_Hand_Wheel_Config_Axis_Net(ushort Axis, ushort Bit_Input_Number, ushort StationNumber = 0);
|
||
//14.5 设置手轮运动平滑滤波时间 宏定义0.0 [1,1000]MS
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Hand_Wheel_Config_Filter_Time_Net")]
|
||
public static extern short MCF_Hand_Wheel_Config_Filter_Time_Net(ushort Axis, uint Filter_Time_1MS, ushort StationNumber = 0);
|
||
/********************************************************************************************************************************************************************
|
||
15 模拟量输入输出函数
|
||
********************************************************************************************************************************************************************/
|
||
//15.1 读取单次ADC采样 宏定义0.0 [-2^15,(2^15-1)]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Single_Read_AD_Net")]
|
||
public static extern short MCF_Single_Read_AD_Net(ushort Channel, ref short AD, ushort StationNumber = 0);
|
||
//15.2 读取单次DAC输出 宏定义0.0 [-2^15,(2^15-1)]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Single_Write_DA_Net")]
|
||
public static extern short MCF_Single_Write_DA_Net(ushort Channel, short DA, ushort StationNumber = 0);
|
||
//15.3 设置AD双向比较器停止对应轴
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_AD_Compare_Net")]
|
||
public static extern short MCF_Set_AD_Compare_Net(ushort Channel, short AD_Compare, ushort Stop_Axis, ushort StationNumber = 0);
|
||
//15.4 设置AD触发数值 [0,7]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_AD_Capture_Net")]
|
||
public static extern short MCF_Set_AD_Capture_Net(ushort Channel, short AD_Capture, ushort StationNumber = 0);
|
||
// 0：保持不变 1：清除复位
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Clear_AD_Capture_Net")]
|
||
public static extern short MCF_Clear_AD_Capture_Net(ushort C_1, ushort C_2, ushort C_3, ushort C_4,
|
||
ushort C_5, ushort C_6, ushort C_7, ushort C_8, ushort StationNumber = 0);
|
||
// 读取到达设置AD值捕获到的对应通道的AD值和轴X位置
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Capture_AD_1_Net")]
|
||
public static extern short MCF_Get_Capture_AD_1_Net(ref short AD_5, ref int Position_1, ushort StationNumber = 0);
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Capture_AD_2_Net")]
|
||
public static extern short MCF_Get_Capture_AD_2_Net(ref short AD_6, ref int Position_1, ushort StationNumber = 0);
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Capture_AD_3_Net")]
|
||
public static extern short MCF_Get_Capture_AD_3_Net(ref short AD_7, ref int Position_1, ushort StationNumber = 0);
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Capture_AD_4_Net")]
|
||
public static extern short MCF_Get_Capture_AD_4_Net(ref short AD_8, ref int Position_1, ushort StationNumber = 0);
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Capture_AD_5_Net")]
|
||
public static extern short MCF_Get_Capture_AD_5_Net(ref short AD_1, ref int Position_1, ushort StationNumber = 0);
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Capture_AD_6_Net")]
|
||
public static extern short MCF_Get_Capture_AD_6_Net(ref short AD_2, ref int Position_1, ushort StationNumber = 0);
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Capture_AD_7_Net")]
|
||
public static extern short MCF_Get_Capture_AD_7_Net(ref short AD_3, ref int Position_1, ushort StationNumber = 0);
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Capture_AD_8_Net")]
|
||
public static extern short MCF_Get_Capture_AD_8_Net(ref short AD_4, ref int Position_1, ushort StationNumber = 0);
|
||
//15.5 设置触发位置数值 [0,7]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_Position_Capture_AD_Net")]
|
||
public static extern short MCF_Set_Position_Capture_AD_Net(ushort Channel, int Position_1, ushort StationNumber = 0);
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Position_Capture_AD_Net")]
|
||
public static extern short MCF_Get_Position_Capture_AD_Net(ushort Channel, ref short AD, ushort StationNumber = 0);
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Clear_Position_Capture_AD_Net")]
|
||
public static extern short MCF_Clear_Position_Capture_AD_Net(ushort C_1, ushort C_2, ushort C_3, ushort C_4, ushort C_5, ushort C_6, ushort C_7, ushort C_8, ushort StationNumber = 0);
|
||
//15.6 获取AD最大值 [0,7]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Limit_AD_Net")]
|
||
public static extern short MCF_Get_Limit_AD_Net(ushort Channel, ref short MAX_AD, ref short MIN_AD, ushort StationNumber = 0);
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Clear_Limit_AD_Net")]
|
||
public static extern short MCF_Clear_Limit_AD_Net(ushort C_1, ushort C_2, ushort C_3, ushort C_4, ushort C_5, ushort C_6, ushort C_7, ushort C_8, ushort StationNumber = 0);
|
||
/********************************************************************************************************************************************************************
|
||
16 系统函数
|
||
********************************************************************************************************************************************************************/
|
||
//16.1 模块版本号 [0x00000000,0xFFFFFFFF] [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Version_Net")]
|
||
public static extern short MCF_Get_Version_Net(ref uint Version, ushort StationNumber = 0);
|
||
//16.2 序列号 [0x00000000,0xFFFFFFFF] [0,99]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Serial_Number_Net")]
|
||
public static extern short MCF_Get_Serial_Number_Net(ref long Serial_Number, ushort StationNumber = 0);
|
||
//16.3 模块运行时间 [0x00000000,0xFFFFFFFF] [0,99] 单位：秒
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Run_Time_Net")]
|
||
public static extern short MCF_Get_Run_Time_Net(ref uint Run_Time, ushort StationNumber = 0);
|
||
//16.4 Flash 读写功能目前暂时大小2Kbytes,也即定义一个 unsigned int Array[256] 存放数据
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Flash_Write_Net")]
|
||
public static extern short MCF_Flash_Write_Net(uint Pass_Word_Setup, ref uint Flash_Write_Data, ushort StationNumber = 0);
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Flash_Read_Net")]
|
||
public static extern short MCF_Flash_Read_Net(uint Pass_Word_Check, ref uint Flash_Read_Data, ushort StationNumber = 0);
|
||
//16.5 开启网络回路,一发一收，正常控制使用(默认)
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_LookBack_Enable_Net")]
|
||
public static extern short MCF_LookBack_Enable_Net();
|
||
//16.6 关闭网络回路，只发不收，测试老化模式下使用,或者检测各个级联模块是否工作
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_LookBack_Disable_Net")]
|
||
public static extern short MCF_LookBack_Disable_Net();
|
||
//16.7 通讯时间监测 &Array[12]
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Get_Connect_Time_Count_Net")]
|
||
public static extern short MCF_Get_Connect_Time_Count_Net(ref uint Connect_Count);
|
||
//16.8 系统定时回调函数
|
||
[DllImport("MCDLL_NET.DLL", EntryPoint = "MCF_Set_CallBack_Net")]
|
||
public static extern short MCF_Set_CallBack_Net(int CallBack, uint Time_1MS);
|
||
}
|
||
|
||
} |