typedef unsigned char 		BYTE ;
typedef unsigned short 		WORD ;
typedef unsigned long 		DWORD;


WORD d1410_board_init(void);

WORD d1410_set_pls_outmode(WORD axis,WORD outmode);

void d1410_set_sd(WORD axis ,WORD SdMode);
void d1410_set_sta_enable(WORD axis ,WORD sta_enable);

WORD d1410_read_inbit(WORD bitno);
WORD d1410_read_outbit(WORD bitno);
WORD d1410_write_outbit(WORD bitno,WORD on_ff);

WORD d1410_axis_status(WORD axis);
WORD d1410_check_done(WORD axis);
WORD d1410_wait_done(WORD axis);

void d1410_decel_stop(WORD axis);
void d1410_Immediate_stop(WORD axis);

double d1410_get_position(WORD axis);
void d1410_set_position(WORD axis,double Pos);

int  d1410_start_tv_move(WORD axis,double StrVel,double MaxVel,double Tacc);
int  d1410_start_tv_move_all(WORD total_axis,WORD *axis,double *star_vel,double *max_vel,double *t_accel);

int d1410_start_tr_move(WORD axis,double distance, double vl,double vh,double vt);
int d1410_start_ta_move(WORD axis,double position, double vl,double vh,double vt);

int d1410_start_tr_line(WORD total_axis,WORD *axisno,double *distance,double vl, double vh, double vt);
int d1410_start_ta_line(WORD total_axis,WORD *axisno,double *position,double vl, double vh, double vt);

int d1410_home_move(WORD axis,double vl,double vh,double vt); 

int d1410_start_sv_move(WORD axis,double vl,double vh,double vt);
int d1410_start_sr_move(WORD axis,double distance, double vl,double vh,double vt);
int d1410_start_sa_move(WORD axis,double position, double vl,double vh,double vt);


int d1410_set_limit(WORD axis,long N_Position,long P_Position);


/*
int d1410_set_timer_isr(int(*my_irq)());
int d1410_enable_timer_irq();
int d1410_disable_timer_irq();
*/
/*
void d1410_set_color(int color);
void d1410_print_text(int x,int y,char *string);
*/