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/***************************************************************************
file name: GT400LIB.H
contents:
This file contains various defines that is used with the GOOGOL TECH.
GT400 motion control board software source code. GT400LIB.C will include
this file. If GT400LIB.C is used in user file ,please include the file:
GT400LIB.H
****************************************************************************/
/* return explain:
-2 版本出錯 GT_VRSN_ERR
-1 通訊失敗 GT_COM_ERR
0 OK GT_CMD_OK
1 命令出錯 GT_CMD_ERR
2 半徑=0或太大 GT_RADI_ERR
3 直線長度=0或太大 GT_LEN_ERR
4 （加）速度=0或太大 GT_ANV_ERR
5 參數矛盾 GT_PRM_ANTI
6 方程無解 GT_MAP_ERR
7 過程參數錯誤 GT_PRM_ERR
*/
#if !defined(_USERLIB)
#define _USERLIB
#ifdef __cplusplus
extern "C" {
#endif
/*retrun explain:*/
#define GT_VRSN_ERR -2
#define GT_COM_ERR -1
#define GT_CMD_OK 0
#define GT_CMD_ERR 1
#define GT_RADI_ERR 2
#define GT_LEN_ERR 3
#define GT_ANV_ERR 4
#define GT_PRM_ANTI 5
#define GT_MAP_ERR 6
#define GT_PRM_ERR 7
/*****************/
/* base address */
/*****************/
short GT_SetAddr(unsigned short address);
short GT_GetAddr(unsigned short*);
/****************/
/* axis control */
/****************/
short GT_Axis(unsigned short);
short GT_AxisI(void);
/**********************/
/* profile generation */
/**********************/
short GT_PrflT(void);
short GT_PrflS(void);
short GT_PrflV(void);
short GT_PrflG(unsigned short);
short GT_SetPos(long);
short GT_SetVel(double);
short GT_SetAcc(double);
short GT_SetMAcc(double);
short GT_SetJerk(double);
short GT_SetRatio(double);
short GT_SmthStp(void);
short GT_AbptStp(void);
short GT_ZeroPos(void);
short GT_SynchPos(void);
short GT_SetAtlPos(long);
short GT_GetPos(long*);
short GT_GetVel(double*);
short GT_GetAcc(double*);
short GT_GetMAcc(double*);
short GT_GetJerk(double*);
short GT_GetRatio(double*);
short GT_GetAtlPos(long*);
short GT_GetAtlVel(double *value);
/******************/
/* digital filter */
/******************/
short GT_SetKp(double);
short GT_SetKd(double);
short GT_SetKi(double);
short GT_SetKvff(double);
short GT_SetKaff(double);
short GT_SetILmt(unsigned short);
short GT_SetMtrLmt(unsigned short);
short GT_SetMtrBias(short);
short GT_SetPosErr(unsigned short);
short GT_GetKp(double*);
short GT_GetKd(double*);
short GT_GetKi(double*);
short GT_GetKvff(double*);
short GT_GetKaff(double*);
short GT_GetILmt(unsigned short*);
short GT_GetMtrLmt(unsigned short*);
short GT_GetMtrBias(short*);
short GT_GetPosErr(unsigned short*);
short GT_GetIntgr(short*);
short GT_GetAtlErr(short*);
short GT_AuStpOn(void);
short GT_AuStpOff(void);
/********************/
/* parameter update */
/********************/
short GT_PosBrk(void);
short GT_NegBrk(void);
short GT_ExtBrk(void);
short GT_MtnBrk(void);
short GT_BrkOff(void);
short GT_SetBrkCn(long);
short GT_Update(void);
short GT_MltiUpdt(unsigned short);
short GT_AuUpdtOn(void);
short GT_AuUpdtOff(void);
short GT_GetBrkCn(long*);
/**********************/
/* interrupt process */
/**********************/
short GT_TmrIntr(void);
short GT_EvntIntr(void);
short GT_SetIntrTm(unsigned short);
short GT_SetIntrMsk(unsigned short);
short GT_RstIntr(unsigned short);
short GT_GetIntrMsk(unsigned short*);
short GT_GetIntr(unsigned short*);
short GT_GetIntrTm(unsigned short*);
/***************/
/* status/mode */
/***************/
short GT_ClrSts(void);
short GT_RstSts(unsigned short);
short GT_GetSts(unsigned short*);
short GT_GetMode(unsigned short*);
short GT_CaptHomInx(void);
/***********/
/* encoder */
/***********/
short GT_EncSns(unsigned short);
short GT_CaptIndex(void);
short GT_HomeSns(unsigned short value);
short GT_CaptHome(void);
short GT_CaptProb(void);
short GT_GetCapt(long*);
/**************/
/* axis/motor */
/**************/
short GT_CtrlMode(int Mode);
short GT_CloseLp(void);
short GT_OpenLp(void);
short GT_SetMtrCmd(short);
short GT_GetMtrCmd(short*);
short GT_AxisOn(void);
short GT_AxisOff(void);
short GT_LmtsOn(void);
short GT_LmtsOff(void);
short GT_DrvRst(void);
short GT_EncOn(void);
short GT_EncOff(void);
short GT_StepDir(void);
short GT_StepPulse(void);
short GT_AlarmOn(void);
short GT_AlarmOff(void);
/******************/
/* Extendable I/O */
/******************/
short GT_ExOpt(unsigned short);
short GT_ExInpt(unsigned short*);
/*****************/
/* miscellaneous */
/*****************/
short GT_GetCmdSts(unsigned short*);
short GT_LmtSns(unsigned short);
short GT_GetLmtSwt(unsigned short*);
short GT_SetSmplTm(double);
short GT_GetSmplTm(double*);
short GT_Reset(void);
short GT_HardRst(void);
/*************************/
/*interpolation functions*/
/*************************/
short GT_SetAccLmt(double);
short GT_GetAccLmt(double*);
short GT_MapAxis(unsigned short,double*);
short GT_StrtList(void);
short GT_AddList(void);
short GT_EndList(void);
short GT_SetSynVel(double vel);
short GT_SetSynAcc(double accel);
short GT_StrtMtn(void);
short GT_LnXY(double x,double y);
short GT_LnXYZ(double x,double y,double z);
short GT_LnXYZA(double x,double y,double z,double A);
short GT_ArcXY(double x_center,double y_center,double angle);
short GT_ArcYZ(double y_center,double z_center,double angle);
short GT_ArcZX(double z_center,double x_center,double angle);
short GT_ArcXYP(double x_end,double y_end,double r,short dir);
short GT_ArcYZP(double y_end,double z_end,double r,short dir);
short GT_ArcZXP(double z_end,double x_end,double r,short dir);
short GT_MvXY(double x,double y,double vel,double accel);
short GT_MvXYZ(double x,double y,double z,double vel,double accel);
short GT_MvXYZA(double x,double y,double z,double A,double vel,double accel);
short GT_GetBrkPnt(double *pnt);
short GT_GetPrfPnt(double* pnt);
short GT_StpMtn(void);
short GT_EStpMtn(void);
short GT_CrdAuStpOn(void);
short GT_CrdAuStpOff(void);
short GT_GetCrdSts(unsigned short*);
short GT_GetMtnNm(unsigned short*);
short GT_ArcRErrLmt(double r_err_lmt);
/*******************/
/* option function */
/*******************/
short GT_EncPos(short Enc_Num, long* Actl_Pos);
short GT_EncVel(short Enc_Num, double* Actl_Vel);
short GT_GetAdc(short channel, short* D_data);
short GT_SetAdcChn(unsigned short value);
short GT_SetTime(unsigned short value);
short GT_DutyRatio(unsigned short value);
short GT_SetEncCapt(void);
short GT_GetEncCapt(long *value);
short GT_GetEncSts(unsigned short *value);
short GT_ClrEncPos(unsigned short);
short GT_Override(double value);
short GT_SetHBFrq(unsigned short value);
short GT_GetHBCmd(unsigned short *value);
short GT_GetPrflVel(double *value);
short GT_GetPrflPos(long *value);
#ifdef __cplusplus
}
#endif
#endif //_USERLIB?? 快捷鍵說明
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