?? loadmpc2810.h
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// LoadMpc2810.h: interface for the CLoadMpc2810 class.
//
//////////////////////////////////////////////////////////////////////
//#if !defined(AFX_LOADDLL_H__B8267873_59D6_11D5_B5A0_B42C742B6543__INCLUDED_)
//#define AFX_LOADDLL_H__B8267873_59D6_11D5_B5A0_B42C742B6543__INCLUDED_
#ifndef _LOADMPC2810_H_
#define _LOADMPC2810_H_
#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000
enum FUNCITEM
{
TYPE0=0, //屬性設置
SET_UNIT_FLAG,
SET_OUTMODE,
SET_HOME_MODE,
SET_DIR,
ENABLE_SD,
ENABLE_EL,
ENABLE_ORG,
ENABLE_ALM,
SET_SD_LOGIC,
SET_EL_LOGIC,
SET_ORG_LOGIC,
SET_ALM_LOGIC,
SET_GETPOS_MODE,
SET_ENCODER_MODE,
ENABLE_HANDWHEEL,
OPEN_LIST,
CLOSE_LIST,
ADD_LIST,
START_LOOKAHEAD,
END_LOOKAHEAD,
TYPE1, //參數(shù)設置
SET_MAXSPEED,
SET_CONSPEED,
SET_PROFILE,
SET_VECTOR_CONSPEED,
SET_VECTOR_PROFILE,
C_SET_VECTOR_PROFILE,
C_SET_MAX_ACCEL,
C_SET_MULTIPLE,
SET_ELLIPSE_RATIO,
SET_S_CURVE,
SET_S_SECTION,
SET_ABS_POS,
RESET_POS,
SET_STEPS_PR,
SET_ENC_THREAD,
SET_UNIT,
TYPE2, //運動指令
CON_PMOVE,
CON_PMOVE2,
CON_PMOVE3,
CON_PMOVE4,
CON_PMOVE_TO,
FAST_PMOVE,
FAST_PMOVE2,
FAST_PMOVE3,
FAST_PMOVE4,
FAST_PMOVE_TO,
CON_VMOVE,
CON_VMOVE2,
CON_VMOVE3,
CON_VMOVE4,
FAST_VMOVE,
FAST_VMOVE2,
FAST_VMOVE3,
FAST_VMOVE4,
CON_HMOVE,
CON_HMOVE2,
CON_HMOVE3,
CON_HMOVE4,
FAST_HMOVE,
FAST_HMOVE2,
FAST_HMOVE3,
FAST_HMOVE4,
CON_LINE2,
CON_LINE3,
CON_LINE4,
CON_LINEN_TO,
FAST_LINE2,
FAST_LINE3,
FAST_LINE4,
FAST_LINEN_TO,
ARC_CENTER,
FAST_ARC_CENTER,
ARC_FINAL,
HELICAL_MOVE,
TYPE3, //停止指令
SUDDEN_STOP,
SUDDEN_STOP2,
SUDDEN_STOP3,
SUDDEN_STOP4,
SUDDEN_STOP_LIST,
DECEL_STOP,
DECEL_STOP2,
DECEL_STOP3,
DECEL_STOP4,
DECEL_STOP_LIST,
MOVE_PAUSE,
MOVE_PAUSE_LIST,
MOVE_RESUME,
MOVE_RESUME_LIST,
DELAY_TIME,
TYPE4, //IO指令
CHECKIN_BYTE,
CHECKIN_BIT,
OUTPORT_BIT,
OUTPORT_BYTE,
CHECK_SFR,
CHECK_SFR_BIT,
OUTPORT,
INPORT,
TYPE5, //特殊功能
SET_BACKLASH,
START_BACKLASH,
END_BACKLASH,
SET_WATCHDOG_TIME,
RESET_WATCHDOG,
START_WATCHDOG,
STOP_WATCHDOG,
GET_WATCHDOG_STATUS,
ENABLE_IO_POS,
SET_POSCMP_SOURCE,
SET_IO_POS,
ENABLE_LOCK_ENC,
RESET_LOCKED_FLAG,
GET_LOCKED_FLAG,
GET_LOCKED_ENCODER,
ENABLE_GEAR,
ENABLE_SOFTLIMIT,
SET_SOFTLIMIT,
SET_SOFTLIMIT_DATA,
CHECK_SOFTLIMIT,
ENABLE_POSERR_LIMIT,
SET_POSERR_LIMIT,
GET_POSERR_LIMIT,
ENABLE_INPUT_MODE,
SET_IM_DEADBAND,
ENABLE_ISR,
SET_ISR_ROUTINE,
SET_ISR_FACTOR,
GET_ISR_EVENT,
SET_RAMP,
CHANGE_SPEED,
CHANGE_POS,
SET_TAN_FLAG,
SET_TAN_INITPOS,
SET_TAN_MAP,
SET_TAN_AXIS,
TYPE6, //查詢函數(shù)
GET_MAX_AXE,
GET_BOARD_NUM,
GET_AXE,
GET_UNIT,
CHECK_IC,
GET_ABS_POS,
GET_REL_POS,
GET_ENCODER,
GET_DONE_SOURCE,
GET_CONSPEED,
GET_VECTOR_CONSPEED,
GET_PROFILE,
GET_VECTOR_PROFILE,
GET_RATE,
GET_CUR_DIR,
CHECK_STATUS,
CHECK_DONE,
CHECK_LIMIT,
CHECK_HOME,
CHECK_SD,
CHECK_ALARM,
CHECK_DELAY_STATUS,
GET_CMD_COUNTER,
RESET_CMD_COUNTER,
GET_ERR,
GET_LAST_ERR,
RESET_ERR,
GET_LIB_VER,
GET_SYS_VER,
GET_CARD_VER,
};
//軸屬性設置函數(shù)
//////////////////////////////////////////////////////////////////////
//DLL函數(shù)指針類型定義
//控制卡
typedef int (CALLBACK* LPFNDLL2810_auto_set)(void);
typedef int (CALLBACK* LPFNDLL2810_init_board)(void);
typedef int (CALLBACK* LPFNDLL2810_set_unit_flag)(int flag);
//軸屬性設置函數(shù)
typedef int (CALLBACK* LPFNDLL2810_set_outmode)(int ch,int mode,int logic);
typedef int (CALLBACK* LPFNDLL2810_set_home_mode)(int ch,int origin_mode);
typedef int (CALLBACK* LPFNDLL2810_set_dir)(int ch,int dir);
typedef int (CALLBACK* LPFNDLL2810_enable_sd)(int ch,int flag);
typedef int (CALLBACK* LPFNDLL2810_enable_el)(int ch,int flag);
typedef int (CALLBACK* LPFNDLL2810_enable_org)(int ch,int flag);
typedef int (CALLBACK* LPFNDLL2810_enable_alm)(int ch,int flag);
typedef int (CALLBACK* LPFNDLL2810_set_sd_logic)(int ch,int flag);
typedef int (CALLBACK* LPFNDLL2810_set_el_logic)(int ch,int flag);
typedef int (CALLBACK* LPFNDLL2810_set_org_logic)(int ch,int flag);
typedef int (CALLBACK* LPFNDLL2810_set_alm_logic)(int ch,int flag);
//編碼器屬性設置函數(shù)
typedef int (CALLBACK* LPFNDLL2810_set_getpos_mode)(int ch,int mode);
typedef int (CALLBACK* LPFNDLL2810_set_encoder_mode)(int ch,int mode,int multip,int count_unit);
typedef int (CALLBACK* LPFNDLL2810_open_list)(void);
typedef int (CALLBACK* LPFNDLL2810_close_list)(void);
typedef int (CALLBACK* LPFNDLL2810_add_list)(void);
typedef int (CALLBACK* LPFNDLL2810_start_lookahead)(void);
typedef int (CALLBACK* LPFNDLL2810_end_lookahead)(void);
//參數(shù)設置函數(shù)
typedef int (CALLBACK* LPFNDLL2810_set_maxspeed)(int ch , double speed);
typedef int (CALLBACK* LPFNDLL2810_set_conspeed)(int ch , double conspeed);
typedef int (CALLBACK* LPFNDLL2810_set_vector_conspeed)(double conspeed);
typedef int (CALLBACK* LPFNDLL2810_set_profile)(int ch , double vl , double vh , double ad);
typedef int (CALLBACK* LPFNDLL2810_set_vector_profile)(double vec_vl , double vec_vh ,double vec_ad);
typedef int (CALLBACK* LPFNDLL2810_c_set_vector_profile)(double vec_vl , double vec_vh ,double vec_ad);
typedef int (CALLBACK* LPFNDLL2810_c_set_max_accel)(double vec_ad);
typedef int (CALLBACK* LPFNDLL2810_c_set_multiple)(double mul);
typedef int (CALLBACK* LPFNDLL2810_set_ellipse_ratio)(double ratio);
typedef int (CALLBACK* LPFNDLL2810_set_s_curve)(int ch , int mode);
typedef int (CALLBACK* LPFNDLL2810_set_s_section)(int ch ,double accel_sec, double decel_sec);
typedef int (CALLBACK* LPFNDLL2810_set_abs_pos)(int ch,double pos);
typedef int (CALLBACK* LPFNDLL2810_reset_pos)(int ch);
typedef int (CALLBACK* LPFNDLL2810_set_unit)(int ch, double dl);
typedef int (CALLBACK* LPFNDLL2810_set_steps_pr)(int ch, int rd);
typedef int (CALLBACK* LPFNDLL2810_set_enc_thread)(int ch, int rd);
//運動指令函數(shù)
typedef int (CALLBACK* LPFNDLL2810_con_pmove)(int ch,double step);
typedef int (CALLBACK* LPFNDLL2810_con_pmove2)(int ch1,double step1,int ch2,double step2);
typedef int (CALLBACK* LPFNDLL2810_con_pmove3)(int ch1,double step1,int ch2,double step2,int ch3,double step3);
typedef int (CALLBACK* LPFNDLL2810_con_pmove4)(int ch1,double step1,int ch2,double step2,int ch3,double step3,int ch4,double step4);
typedef int (CALLBACK* LPFNDLL2810_con_pmove_to)(int ch,double step);
typedef int (CALLBACK* LPFNDLL2810_fast_pmove)(int ch,double step);
typedef int (CALLBACK* LPFNDLL2810_fast_pmove2)(int ch1,double step1,int ch2,double step2);
typedef int (CALLBACK* LPFNDLL2810_fast_pmove3)(int ch1,double step1,int ch2,double step2,int ch3,double step3);
typedef int (CALLBACK* LPFNDLL2810_fast_pmove4)(int ch1,double step1,int ch2,double step2,int ch3,double step3,int ch4,double step4);
typedef int (CALLBACK* LPFNDLL2810_fast_pmove_to)(int ch,double step);
typedef int (CALLBACK* LPFNDLL2810_con_vmove)(int ch,int dir);
typedef int (CALLBACK* LPFNDLL2810_con_vmove2)(int ch1,int dir1,int ch2,int dir2);
typedef int (CALLBACK* LPFNDLL2810_con_vmove3)(int ch1,int dir1,int ch2,int dir2,int ch3,int dir3);
typedef int (CALLBACK* LPFNDLL2810_con_vmove4)(int ch1,int dir1,int ch2,int dir2,int ch3,int dir3,int ch4,int dir4);
typedef int (CALLBACK* LPFNDLL2810_fast_vmove)(int ch,int dir);
typedef int (CALLBACK* LPFNDLL2810_fast_vmove2)(int ch1,int dir1,int ch2,int dir2);
typedef int (CALLBACK* LPFNDLL2810_fast_vmove3)(int ch1,int dir1,int ch2,int dir2,int ch3,int dir3);
typedef int (CALLBACK* LPFNDLL2810_fast_vmove4)(int ch1,int dir1,int ch2,int dir2,int ch3,int dir3,int ch4,int dir4);
typedef int (CALLBACK* LPFNDLL2810_con_hmove)(int ch,int dir);
typedef int (CALLBACK* LPFNDLL2810_con_hmove2)(int ch1,int dir1,int ch2,int dir2);
typedef int (CALLBACK* LPFNDLL2810_con_hmove3)(int ch1,int dir1,int ch2,int dir2,int ch3,int dir3);
typedef int (CALLBACK* LPFNDLL2810_con_hmove4)(int ch1,int dir1,int ch2,int dir2,int ch3,int dir3,int ch4,int dir4);
typedef int (CALLBACK* LPFNDLL2810_fast_hmove)(int ch,int dir);
typedef int (CALLBACK* LPFNDLL2810_fast_hmove2)(int ch1,int dir1,int ch2,int dir2);
typedef int (CALLBACK* LPFNDLL2810_fast_hmove3)(int ch1,int dir1,int ch2,int dir2,int ch3,int dir3);
typedef int (CALLBACK* LPFNDLL2810_fast_hmove4)(int ch1,int dir1,int ch2,int dir2,int ch3,int dir3,int ch4,int dir4);
typedef int (CALLBACK* LPFNDLL2810_con_line2)(int ch1,double step1,int ch2, double step2);
typedef int (CALLBACK* LPFNDLL2810_con_line3)(int ch1,double step1,int ch2,double step2,int ch3,double step3);
typedef int (CALLBACK* LPFNDLL2810_con_line4)(int ch1,double step1,int ch2,double step2,int ch3,double step3,int ch4,double step4);
typedef int (CALLBACK* LPFNDLL2810_con_linen_to)(int chnum,int *ch, double *step);
typedef int (CALLBACK* LPFNDLL2810_fast_line2)(int ch1,double step1,int ch2, double step2);
typedef int (CALLBACK* LPFNDLL2810_fast_line3)(int ch1,double step1,int ch2, double step2,int ch3,double step3);
typedef int (CALLBACK* LPFNDLL2810_fast_line4)(int ch1,double step1,int ch2, double step2,int ch3,double step3,int ch4,double step4);
typedef int (CALLBACK* LPFNDLL2810_fast_linen_to)(int chnum,int *ch, double *step);
typedef int (CALLBACK* LPFNDLL2810_arc_center)(int ch1,int ch2,double cen1,double cen2,double angle );
typedef int (CALLBACK* LPFNDLL2810_arc_final)(int ch1,int ch2,int dir,double fx,double fy,double r);
typedef int (CALLBACK* LPFNDLL2810_fast_arc_center)(int ch1,int ch2,double cen1,double cen2,double angle );
typedef int (CALLBACK* LPFNDLL2810_helical_move)(int ch1,int ch2,int ch3,double cen1,double cen2,double angle, double pitch);
//制動函數(shù)
typedef int (CALLBACK* LPFNDLL2810_sudden_stop)(int ch);
typedef int (CALLBACK* LPFNDLL2810_sudden_stop2)(int ch1,int ch2);
typedef int (CALLBACK* LPFNDLL2810_sudden_stop3)(int ch1,int ch2,int ch3);
typedef int (CALLBACK* LPFNDLL2810_sudden_stop4)(int ch1,int ch2,int ch3,int ch4);
typedef int (CALLBACK* LPFNDLL2810_sudden_stop_list)(void);
typedef int (CALLBACK* LPFNDLL2810_decel_stop)(int ch);
typedef int (CALLBACK* LPFNDLL2810_decel_stop2)(int ch1,int ch2);
typedef int (CALLBACK* LPFNDLL2810_decel_stop3)(int ch1,int ch2,int ch3);
typedef int (CALLBACK* LPFNDLL2810_decel_stop4)(int ch1,int ch2,int ch3,int ch4);
typedef int (CALLBACK* LPFNDLL2810_decel_stop_list)(void);
typedef int (CALLBACK* LPFNDLL2810_move_pause)(int ch);
typedef int (CALLBACK* LPFNDLL2810_move_pause_list)(void);
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