using System; using System.Runtime.InteropServices; namespace Venus_RT.Devices.AdLinkEthercat { //ADLINK Structure++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ [StructLayout(LayoutKind.Sequential)] public struct STR_SAMP_DATA_4CH { public Int32 tick; public Int32 data0; //Total channel = 4 public Int32 data1; public Int32 data2; public Int32 data3; } [StructLayout(LayoutKind.Sequential)] public struct MOVE_PARA { public Int16 i16_accType; //Axis parameter public Int16 i16_decType; //Axis parameter public Int32 i32_acc; //Axis parameter public Int32 i32_dec; //Axis parameter public Int32 i32_initSpeed; //Axis parameter public Int32 i32_maxSpeed; //Axis parameter public Int32 i32_endSpeed; //Axis parameter } [StructLayout(LayoutKind.Sequential)] public struct POINT_DATA { public Int32 i32_pos; // Position data (relative or absolute) (pulse) public Int16 i16_accType; // Acceleration pattern 0: T-curve, 1: S-curve public Int16 i16_decType; // Deceleration pattern 0: T-curve, 1: S-curve public Int32 i32_acc; // Acceleration rate ( pulse / ss ) public Int32 i32_dec; // Deceleration rate ( pulse / ss ) public Int32 i32_initSpeed; // Start velocity ( pulse / s ) public Int32 i32_maxSpeed; // Maximum velocity ( pulse / s ) public Int32 i32_endSpeed; // End velocity ( pulse / s ) public Int32 i32_angle; // Arc move angle ( degree, -360 ~ 360 ) public Int32 u32_dwell; // Dwell times ( unit: ms ) public Int32 i32_opt; // Option //0xABCD , D:0 absolute, 1:relative } [StructLayout(LayoutKind.Sequential)] public struct PNT_DATA { // Point table structure (One dimension) public UInt32 u32_opt; // option, [0x00000000,0xFFFFFFFF] public Int32 i32_x; // x-axis component (pulse), [-2147483648,2147484647] public Int32 i32_theta; // x-y plane arc move angle (0.001 degree), [-360000,360000] public Int32 i32_acc; // acceleration rate (pulse/ss), [0,2147484647] public Int32 i32_dec; // deceleration rate (pulse/ss), [0,2147484647] public Int32 i32_vi; // initial velocity (pulse/s), [0,2147484647] public Int32 i32_vm; // maximum velocity (pulse/s), [0,2147484647] public Int32 i32_ve; // ending velocity (pulse/s), [0,2147484647] } [StructLayout(LayoutKind.Sequential)] public struct PNT_DATA_2D { public UInt32 u32_opt; // option, [0x00000000,0xFFFFFFFF] public Int32 i32_x; // x-axis component (pulse), [-2147483648,2147484647] public Int32 i32_y; // y-axis component (pulse), [-2147483648,2147484647] public Int32 i32_theta; // x-y plane arc move angle (0.000001 degree), [-360000,360000] public Int32 i32_acc; // acceleration rate (pulse/ss), [0,2147484647] public Int32 i32_dec; // deceleration rate (pulse/ss), [0,2147484647] public Int32 i32_vi; // initial velocity (pulse/s), [0,2147484647] public Int32 i32_vm; // maximum velocity (pulse/s), [0,2147484647] public Int32 i32_ve; // ending velocity (pulse/s), [0,2147484647] } [StructLayout(LayoutKind.Sequential)] public struct PNT_DATA_2D_F64 { public UInt32 u32_opt; // option, [0x00000000,0xFFFFFFFF] public Double f64_x; // x-axis component (pulse), [-2147483648,2147484647] public Double f64_y; // y-axis component (pulse), [-2147483648,2147484647] public Double f64_theta; // x-y plane arc move angle (0.000001 degree), [-360000,360000] public Double f64_acc; // acceleration rate (pulse/ss), [0,2147484647] public Double f64_dec; // deceleration rate (pulse/ss), [0,2147484647] public Double f64_vi; // initial velocity (pulse/s), [0,2147484647] public Double f64_vm; // maximum velocity (pulse/s), [0,2147484647] public Double f64_ve; // ending velocity (pulse/s), [0,2147484647] public Double f64_sf; // s-factor [0.0 ~ 1.0] } [StructLayout(LayoutKind.Sequential)] public struct PNT_DATA_4DL { public UInt32 u32_opt; // option, [0x00000000,0xFFFFFFFF] public Int32 i32_x; // x-axis component (pulse), [-2147483648,2147484647] public Int32 i32_y; // y-axis component (pulse), [-2147483648,2147484647] public Int32 i32_z; // z-axis component (pulse), [-2147483648,2147484647] public Int32 i32_u; // u-axis component (pulse), [-2147483648,2147484647] public Int32 i32_acc; // acceleration rate (pulse/ss), [0,2147484647] public Int32 i32_dec; // deceleration rate (pulse/ss), [0,2147484647] public Int32 i32_vi; // initial velocity (pulse/s), [0,2147484647] public Int32 i32_vm; // maximum velocity (pulse/s), [0,2147484647] public Int32 i32_ve; // ending velocity (pulse/s), [0,2147484647] } [StructLayout(LayoutKind.Sequential)] public struct POINT_DATA_EX { public Int32 i32_pos; //(Center)Position data (could be relative or absolute value) public Int16 i16_accType; //Acceleration pattern 0: T curve, 1:S curve public Int16 i16_decType; // Deceleration pattern 0: T curve, 1:S curve public Int32 i32_acc; //Acceleration rate ( pulse / sec 2 ) public Int32 i32_dec; //Deceleration rate ( pulse / sec 2 ) public Int32 i32_initSpeed; //Start velocity ( pulse / s ) public Int32 i32_maxSpeed; //Maximum velocity ( pulse / s ) public Int32 i32_endSpeed; //End velocity ( pulse / s ) public Int32 i32_angle; //Arc move angle ( degree, -360 ~ 360 ) public UInt32 u32_dwell; //dwell times ( unit: ms ) *Divided by system cycle time. public Int32 i32_opt; //Point move option. (*) public Int32 i32_pitch; // pitch for helical move public Int32 i32_totalheight; // total hight public Int16 i16_cw; // cw or ccw public Int16 i16_opt_ext; // option extend } [StructLayout(LayoutKind.Sequential, Pack = 1)] public struct POINT_DATA2 { [MarshalAs(UnmanagedType.ByValArray, SizeConst = 16)] public Int32[] i32_pos; // Position data (relative or absolute) (pulse) public Int32 i32_initSpeed; // Start velocity ( pulse / s ) public Int32 i32_maxSpeed; // Maximum velocity ( pulse / s ) public Int32 i32_angle; // Arc move angle ( degree, -360 ~ 360 ) public UInt32 u32_dwell; // Dwell times ( unit: ms ) public Int32 i32_opt; // Option //0xABCD , D:0 absolute, 1:relative } [StructLayout(LayoutKind.Sequential, Pack = 1)] public struct POINT_DATA3 { [MarshalAs(UnmanagedType.ByValArray, SizeConst = 4)] public Int32[] i32_pos; public Int32 i32_maxSpeed; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 2)] public Int32[] i32_endPos; public Int32 i32_dir; public Int32 i32_opt; } [StructLayout(LayoutKind.Sequential, Pack = 1)] public struct VAO_DATA { //Param public Int32 outputType; //Output type, [0, 3] public Int32 inputType; //Input type, [0, 1] public Int32 config; //PWM configuration according to output type public Int32 inputSrc; //Input source by axis, [0, 0xf] //Mapping table public Int32 minVel; //Minimum linear speed, [ positive ] public Int32 velInterval; //Speed interval, [ positive ] public Int32 totalPoints; //Total points, [1, 32] [MarshalAs(UnmanagedType.ByValArray, SizeConst = 32)] public Int32[] mappingDataArr; //mapping data array } [StructLayout(LayoutKind.Sequential)] public struct PTSTS { public UInt16 BitSts; //b0: Is PTB work? [1:working, 0:Stopped] //b1: Is point buffer full? [1:full, 0:not full] //b2: Is point buffer empty? [1:empty, 0:not empty] //b3, b4, b5: Reserved for future //b6~: Be always 0 public UInt16 PntBufFreeSpace; public UInt16 PntBufUsageSpace; public UInt32 RunningCnt; } [StructLayout(LayoutKind.Sequential)] public struct LPSTS { public UInt32 MotionLoopLoading; public UInt32 HostLoopLoading; public UInt32 MotionLoopLoadingMax; public UInt32 HostLoopLoadingMax; } [StructLayout(LayoutKind.Sequential)] public struct DEBUG_DATA { public UInt16 ServoOffCondition; public Double DspCmdPos; public Double DspFeedbackPos; public Double FpgaCmdPos; public Double FpgaFeedbackPos; public Double FpgaOutputVoltage; } [StructLayout(LayoutKind.Sequential)] public struct DEBUG_STATE { public UInt16 AxisState; public UInt16 GroupState; public UInt16 AxisSuperState; } [StructLayout(LayoutKind.Sequential)] public struct PTDWL { public Double DwTime; //Unit is ms } [StructLayout(LayoutKind.Sequential)] public struct PTLINE { public Int32 Dim; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)] public Double[] Pos; } [StructLayout(LayoutKind.Sequential)] public struct PTA2CA { [MarshalAs(UnmanagedType.ByValArray, SizeConst = 2)] public Byte[] Index; //Index X,Y [MarshalAs(UnmanagedType.ByValArray, SizeConst = 2)] public Double[] Center; //Center Arr public Double Angle; //Angle } //[StructLayout(LayoutKind.Sequential, Pack = 1)] [StructLayout(LayoutKind.Sequential)] public struct PTA2CE { [MarshalAs(UnmanagedType.ByValArray, SizeConst = 2)] public Byte[] Index; //Index X,Y [MarshalAs(UnmanagedType.ByValArray, SizeConst = 2)] public Double[] Center; // [MarshalAs(UnmanagedType.ByValArray, SizeConst = 2)] public Double[] End; // public Int16 Dir; // } //[StructLayout(LayoutKind.Sequential, Pack = 1)] [StructLayout(LayoutKind.Sequential)] // revised 20160801 public struct PTA3CA { [MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)] public Byte[] Index; //Index X,Y [MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)] public Double[] Center; //Center Arr [MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)] public Double[] Normal; //Normal Arr public Double Angle; //Angle } //[StructLayout(LayoutKind.Sequential, Pack = 1)] [StructLayout(LayoutKind.Sequential)] // revised 20160801 public struct PTA3CE { [MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)] public Byte[] Index; //Index X,Y [MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)] public Double[] Center; //Center Arr [MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)] public Double[] End; //End Arr public Int16 Dir; // } //[StructLayout(LayoutKind.Sequential, Pack = 1)] [StructLayout(LayoutKind.Sequential)] // revised 20160801 public struct PTHCA { [MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)] public Byte[] Index; //Index X,Y [MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)] public Double[] Center; //Center Arr [MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)] public Double[] Normal; //Normal Arr public Double Angle; //Angle public Double DeltaH; public Double FinalR; } //[StructLayout(LayoutKind.Sequential, Pack = 1)] [StructLayout(LayoutKind.Sequential)] // revised 20160801 public struct PTHCE { [MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)] public Byte[] Index; //Index X,Y [MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)] public Double[] Center; //Center Arr [MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)] public Double[] Normal; //Normal Arr [MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)] public Double[] End; //End Arr public Int16 Dir; // } [StructLayout(LayoutKind.Sequential, Pack = 1)] public struct PTINFO { public Int32 Dimension; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)] public Int32[] AxisArr; } [StructLayout(LayoutKind.Sequential, Pack = 1)] public struct STR_SAMP_DATA_8CH { public Int32 tick; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 8)] public Int32[] data; //Total channel = 8 } [StructLayout(LayoutKind.Sequential)] public struct STR_SAMP_DATA_8CH_ASYNC { public Int32 tick; public Int32 data0; public Int32 data1; public Int32 data2; public Int32 data3; public Int32 data4; public Int32 data5; public Int32 data6; public Int32 data7; } [StructLayout(LayoutKind.Sequential, Pack = 1)] public struct SAMP_PARAM { public Int32 rate; //Sampling rate public Int32 edge; //Trigger edge public Int32 level; //Trigger level public Int32 trigCh; //Trigger channel [MarshalAs(UnmanagedType.ByValArray, SizeConst = 16)] public Int32[] sourceByCh; //Sampling source by channel. E.g., // sourceByCh[0] --> Channel 0 sampling source number // sourceByCh[1] --> Chaneel 0 sampling axis number // sourceByCh[2] --> Channel 1 sampling source number // sourceByCh[3] --> Chaneel 1 sampling axis number // ..... // sourceByCh[14] --> Channel 7 sampling source number // sourceByCh[15] --> Chaneel 7 sampling axis number } [StructLayout(LayoutKind.Sequential, Pack = 1)] public struct STR_SAMP_DATA_ADV { public Int32 tick; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 16)] public Int32[] data; //Total channel = 16 } [StructLayout(LayoutKind.Sequential)] public struct STR_SAMP_DATA_ADV_ASYNC { public Int32 tick; public Int32 data0; public Int32 data1; public Int32 data2; public Int32 data3; public Int32 data4; public Int32 data5; public Int32 data6; public Int32 data7; public Int32 data8; public Int32 data9; public Int32 data10; public Int32 data11; public Int32 data12; public Int32 data13; public Int32 data14; public Int32 data15; } [StructLayout(LayoutKind.Sequential, Pack = 1)] public struct SAMP_PARAM_ADV { public Int32 rate; //Sampling rate public Int32 edge; //Trigger edge public Int32 level; //Trigger level public Int32 trigCh; //Trigger channel [MarshalAs(UnmanagedType.ByValArray, SizeConst = 32)] public Int32[] sourceByCh; //Sampling source by channel. E.g., // sourceByCh[0] --> Channel 0 sampling source number // sourceByCh[1] --> Chaneel 0 sampling axis number // sourceByCh[2] --> Channel 1 sampling source number // sourceByCh[3] --> Chaneel 1 sampling axis number // ..... // sourceByCh[30] --> Channel 15 sampling source number // sourceByCh[31] --> Chaneel 15 sampling axis number } [StructLayout(LayoutKind.Sequential)] public struct JOG_DATA { public Int16 i16_jogMode; // Jog mode. 0:Free running mode, 1:Step mode public Int16 i16_dir; // Jog direction. 0:positive, 1:negative direction public Int16 i16_accType; // Acceleration pattern 0: T-curve, 1: S-curve public Int32 i32_acc; // Acceleration rate ( pulse / ss ) public Int32 i32_dec; // Deceleration rate ( pulse / ss ) public Int32 i32_maxSpeed; // Positive value, maximum velocity ( pulse / s ) public Int32 i32_offset; // Positive value, a step (pulse) public Int32 i32_delayTime; // Delay time, ( range: 0 ~ 65535 millisecond, align by cycle time) } [StructLayout(LayoutKind.Sequential)] public struct HOME_PARA { public ushort u8_homeMode; public ushort u8_homeDir; public ushort u8_curveType; public Int32 i32_orgOffset; public Int32 i32_acceleration; public Int32 i32_startVelocity; public Int32 i32_maxVelocity; public Int32 i32_OrgVelocity; } [StructLayout(LayoutKind.Sequential)] public struct POS_DATA_2D { public UInt32 u32_opt; // option, [0x00000000,0xFFFFFFFF] public Int32 i32_x; // x-axis component (pulse), [-2147483648,2147484647] public Int32 i32_y; // y-axis component (pulse), [-2147483648,2147484647] public Int32 i32_theta; // x-y plane arc move angle (0.000001 degree), [-360000,360000] } [StructLayout(LayoutKind.Sequential)] public unsafe struct ASYNCALL { public void* h_event; public Int32 i32_ret; public Byte u8_asyncMode; } [StructLayout(LayoutKind.Sequential)] public struct TSK_INFO { public UInt16 State; // public UInt16 RunTimeErr; // public UInt16 IP; public UInt16 SP; public UInt16 BP; public UInt16 MsgQueueSts; } //New ADCNC structure define ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// [StructLayout(LayoutKind.Sequential)] public struct POS_DATA_2D_F64 { /* This structure extends original point data contents from "I32" to "F64" for internal computation. It's important to prevent data overflow. */ public UInt32 u32_opt; // option, [0x00000000, 0xFFFFFFFF] public Double f64_x; // x-axis component (pulse), [-9223372036854775808, 9223372036854775807] public Double f64_y; // y-axis component (pulse), [-9223372036854775808, 9223372036854775807] public Double f64_theta; // x-y plane arc move angle (0.000001 degree), [-360000, 360000] } [StructLayout(LayoutKind.Sequential)] public struct POS_DATA_2D_RPS { /* This structure adds another variable to record what point was be saved */ public UInt32 u32_opt; // option, [0x00000000, 0xFFFFFFFF] public Int32 i32_x; // x-axis component (pulse), [-2147483648, 2147483647] public Int32 i32_y; // y-axis component (pulse), [-2147483648, 2147483647] public Int32 i32_theta; // x-y plane arc move angle (0.000001 degree), [-360000, 360000] public UInt32 crpi; // current reading point index } [StructLayout(LayoutKind.Sequential)] public struct POS_DATA_2D_F64_RPS { /* This structure adds another variable to record what point was be saved */ public UInt32 u32_opt; // option, [0x00000000, 0xFFFFFFFF] public Double f64_x; // x-axis component (pulse), [-2147483648, 2147483647] public Double f64_y; // y-axis component (pulse), [-2147483648, 2147483647] public Double f64_theta; // x-y plane arc move angle (0.000001 degree), [-360000, 360000] public UInt32 crpi; // current reading point index } [StructLayout(LayoutKind.Sequential)] public struct PNT_DATA_2D_EXT { public UInt32 u32_opt; // option, [0x00000000,0xFFFFFFFF] public Double f64_x; // x-axis component (pulse), [-2147483648,2147484647] public Double f64_y; // y-axis component (pulse), [-2147483648,2147484647] public Double f64_theta; // x-y plane arc move angle (0.000001 degree), [-360000,360000] [MarshalAs(UnmanagedType.ByValArray, SizeConst = 4)] public Double[] f64_acc; // acceleration rate (pulse/ss), [0,2147484647] [MarshalAs(UnmanagedType.ByValArray, SizeConst = 4)] public Double[] f64_dec; // deceleration rate (pulse/ss), [0,2147484647] public Int32 crossover; public Int32 Iboundary; // initial boundary [MarshalAs(UnmanagedType.ByValArray, SizeConst = 4)] public Double[] f64_vi; // initial velocity (pulse/s), [0,2147484647] public UInt32 vi_cmpr; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 4)] public Double[] f64_vm; // maximum velocity (pulse/s), [0,2147484647] public UInt32 vm_cmpr; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 4)] public Double[] f64_ve; // ending velocity (pulse/s), [0,2147484647] public UInt32 ve_cmpr; public Int32 Eboundary; // end boundary public Double f64_dist; // point distance public Double f64_angle; // path angle between previous & current point public Double f64_radius; // point radiua (used in arc move) public Int32 i32_arcstate; public UInt32 spt; // speed profile type // unit time measured by DSP sampling period [MarshalAs(UnmanagedType.ByValArray, SizeConst = 4)] public Double[] t; // Horizontal & Vertical line flag public Int32 HorizontalFlag; public Int32 VerticalFlag; } [StructLayout(LayoutKind.Sequential)] public struct DO_DATA_EX { public UInt32 Do_ValueL; //bit[0~31] public UInt32 Do_ValueH; //bit[32~63] } [StructLayout(LayoutKind.Sequential)] public struct DI_DATA_EX { public UInt32 Di_ValueL; //bit[0~31] public UInt32 Di_ValueH; //bit[32~63] } //********************************************** // New header functions; 20151102 //********************************************** [StructLayout(LayoutKind.Sequential)] public struct MCMP_POINT { public Double axisX; // x axis data for multi-dimension comparator 0 public Double axisY; // y axis data for multi-dimension comparator 1 public Double axisZ; // z axis data for multi-dimension comparator 2 public Double axisU; // u axis data for multi-dimension comparator 3 public UInt32 chInBit; // pwm output channel in bit format; 20150609 } ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////// [StructLayout(LayoutKind.Sequential)] public struct EC_MODULE_INFO { public Int32 VendorID; public Int32 ProductCode; public Int32 RevisionNo; public Int32 TotalAxisNum; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)] public Int32[] Axis_ID; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)] public Int32[] Axis_ID_manual; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 32)] public Int32[] All_ModuleType; public Int32 DI_ModuleNum; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 32)] public Int32[] DI_ModuleType; public Int32 DO_ModuleNum; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 32)] public Int32[] DO_ModuleType; public Int32 AI_ModuleNum; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 32)] public Int32[] AI_ModuleType; public Int32 AO_ModuleNum; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 32)] public Int32[] AO_ModuleType; [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 128)] public string Name; } [StructLayout(LayoutKind.Sequential)] public struct EC_Sub_MODULE_INFO { public Int32 VendorID; public Int32 ProductCode; public Int32 RevisionNo; public Int32 TotalSubModuleNum; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 32)] public Int32[] SubModuleID; } [StructLayout(LayoutKind.Sequential)] public struct EC_Sub_MODULE_OD_INFO { [MarshalAs(UnmanagedType.ByValArray, SizeConst = 128)] public Byte[] DataName; public Int32 BitLength; public Int32 DataType; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)] public Byte[] DataTypeName; } [StructLayout(LayoutKind.Sequential)] public struct PDO_OFFSET { public UInt16 DataType; public UInt32 ByteSize; public UInt32 ByteOffset; public UInt32 Index; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 128)] public Byte[] NameArr; } [StructLayout(LayoutKind.Sequential)] public struct OD_DESC_ENTRY { public UInt32 DataTypeNum; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)] public Byte[] DataTypeName; public UInt32 BitLen; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)] public Byte[] Description; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)] public Byte[] Access; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)] public Byte[] PdoMapInfo; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)] public Byte[] UnitType; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)] public Byte[] DefaultValue; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)] public Byte[] MinValue; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)] public Byte[] MaxValue; } [StructLayout(LayoutKind.Sequential)] public struct Speed_profile { public Int32 VS; // start velocity ,range 1 ~ 4,000,000 (pulse) public Int32 Vmax; // Maximum velocity ,range 1 ~ 4,000,000 public Int32 Acc; // Acceleration ,range 1 ~ 500000000 public Int32 Dec; // Deceleration ,range 1 ~ 500000000 public Double s_factor; // range 0 ~ 10 } // For latch function, 2019.06.10 [StructLayout(LayoutKind.Sequential)] public struct LATCH_POINT { public Double position; // Latched position public Int32 ltcSrcInBit; // Latch source: bit 0~7: DI; bit 8~11: trigger channel } [StructLayout(LayoutKind.Sequential)] public struct TCMP_EX_POINT { public Int32 outputPinInBit; // Trigger output mapping public Double position_f64; //reserved public Int32 position_I32; } // For measurement descriptor [StructLayout(LayoutKind.Sequential)] public struct AD_MEAS_DESC { public UInt32 curr; public UInt32 min; public UInt32 max; public UInt32 avg; } [StructLayout(LayoutKind.Sequential)] public struct STR_MOVE_SETTING { public Byte CmdType; // Execute function define. public Double Pos; // Relative move distance or absolute move position. public Double Vs; // Acceleration rate (pulse/ss), [0,2147484647] public Double Vm; // Deceleration rate (pulse/ss), [0,2147484647] public Double Ve; // initial velocity (pulse/s), [0,2147484647] public Double Acc; // maximum velocity (pulse/s), [0,2147484647] public Double Dec; // ending velocity (pulse/s), [0,2147484647] public Double MiliSecond; // Dwell time in milisecond. } public enum E_ActionType : Byte { E_ACTION_TYPE_NOP = 0, E_ACTION_TYPE_TR, E_ACTION_TYPE_TA, E_ACTION_TYPE_SR, E_ACTION_TYPE_SA, E_ACTION_TYPE_DWELL } //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ public class APS168 { // System & Initialization [DllImport("APS168.dll")] public static extern Int32 APS_initial(ref System.Int32 BoardID_InBits, System.Int32 Mode); [DllImport("APS168.dll")] public static extern Int32 APS_close(); [DllImport("APS168.dll")] public static extern Int32 APS_version(); [DllImport("APS168.dll")] public static extern Int32 APS_device_driver_version(System.Int32 Board_ID); [DllImport("APS168.dll")] public static extern Int32 APS_get_axis_info(System.Int32 Axis_ID, ref System.Int32 Board_ID, ref System.Int32 Axis_No, ref System.Int32 Port_ID, ref System.Int32 Module_ID); [DllImport("APS168.dll")] public static extern Int32 APS_set_board_param(System.Int32 Board_ID, System.Int32 BOD_Param_No, System.Int32 BOD_Param); [DllImport("APS168.dll")] public static extern Int32 APS_get_board_param(System.Int32 Board_ID, System.Int32 BOD_Param_No, ref System.Int32 BOD_Param); [DllImport("APS168.dll")] public static extern Int32 APS_set_axis_param(System.Int32 Axis_ID, System.Int32 AXS_Param_No, System.Int32 AXS_Param); [DllImport("APS168.dll")] public static extern Int32 APS_get_axis_param(System.Int32 Axis_ID, System.Int32 AXS_Param_No, ref System.Int32 AXS_Param); [DllImport("APS168.dll")] public static extern Int32 APS_get_device_info(System.Int32 Board_ID, System.Int32 Info_No, ref System.Int32 Info); [DllImport("APS168.dll")] public static extern Int32 APS_get_card_name(System.Int32 Board_ID, ref System.Int32 CardName); [DllImport("APS168.dll")] public static extern Int32 APS_disable_device(System.Int32 DeviceName); [DllImport("APS168.dll")] public static extern Int32 APS_load_param_from_file(string pXMLFile); [DllImport("APS168.dll")] public static extern Int32 APS_get_first_axisId(System.Int32 Board_ID, ref System.Int32 StartAxisID, ref System.Int32 TotalAxisNum); [DllImport("APS168.dll")] public static extern Int32 APS_get_system_timer(System.Int32 Board_ID, ref System.Int32 Timer); [DllImport("APS168.dll")] public static extern Int32 APS_get_system_loading(System.Int32 Board_ID, ref System.Double Loading1, ref System.Double Loading2, ref System.Double Loading3, ref System.Double Loading4); [DllImport("APS168.dll")] public static extern Int32 APS_set_security_key(System.Int32 Board_ID, System.Int32 OldPassword, System.Int32 NewPassword); [DllImport("APS168.dll")] public static extern Int32 APS_check_security_key(System.Int32 Board_ID, System.Int32 Password); [DllImport("APS168.dll")] public static extern Int32 APS_reset_security_key(System.Int32 Board_ID); //Control driver mode [For PCI-8254/58] [DllImport("APS168.dll")] public static extern Int32 APS_get_curr_sys_ctrl_mode(System.Int32 Axis_ID, ref System.Int32 Mode); //Virtual board settings [For PCI-8254/58] [DllImport("APS168.dll")] public static extern Int32 APS_register_virtual_board(System.Int32 VirCardIndex, System.Int32 Count); [DllImport("APS168.dll")] public static extern Int32 APS_get_virtual_board_info(System.Int32 VirCardIndex, ref System.Int32 Count); //Parameters setting by float [For PCI-8254/58] [DllImport("APS168.dll")] public static extern Int32 APS_set_axis_param_f(System.Int32 Axis_ID, System.Int32 AXS_Param_No, System.Double AXS_Param); [DllImport("APS168.dll")] public static extern Int32 APS_get_axis_param_f(System.Int32 Axis_ID, System.Int32 AXS_Param_No, ref System.Double AXS_Param); //[For PCI-7856, MNET series] [DllImport("APS168.dll")] public static extern Int32 APS_save_param_to_file(System.Int32 Board_ID, string pXMLFile); //Motion queue status [For PCI-8254/58] [DllImport("APS168.dll")] public static extern Int32 APS_get_mq_free_space(System.Int32 Axis_ID, ref System.Int32 Space); [DllImport("APS168.dll")] public static extern Int32 APS_get_mq_usage(System.Int32 Axis_ID, ref System.Int32 Usage); //Motion stop code [For PCI-8254/58] [DllImport("APS168.dll")] public static extern Int32 APS_get_stop_code(System.Int32 Axis_ID, ref System.Int32 Code); //Helical interpolation [For PCI-8253/56] [DllImport("APS168.dll")] public static extern Int32 APS_absolute_helix_move(System.Int32 Dimension, System.Int32[] Axis_ID_Array, System.Int32[] Center_Pos_Array, System.Int32 Max_Arc_Speed, System.Int32 Pitch, System.Int32 TotalHeight, System.Int32 CwOrCcw); [DllImport("APS168.dll")] public static extern Int32 APS_relative_helix_move(System.Int32 Dimension, System.Int32[] Axis_ID_Array, System.Int32[] Center_PosOffset_Array, System.Int32 Max_Arc_Speed, System.Int32 Pitch, System.Int32 TotalHeight, System.Int32 CwOrCcw); //Helical interpolation [For PCI(e)-8154/58] [DllImport("APS168.dll")] public static extern Int32 APS_absolute_helical_move(System.Int32[] Axis_ID_Array, System.Int32[] Center_Pos_Array, System.Int32[] End_Pos_Array, System.Int32 Pitch, System.Int32 Dir, System.Int32 Max_Speed); [DllImport("APS168.dll")] public static extern Int32 APS_relative_helical_move(System.Int32[] Axis_ID_Array, System.Int32[] Center_Offset_Array, System.Int32[] End_Offset_Array, System.Int32 Pitch, System.Int32 Dir, System.Int32 Max_Speed); //Circular interpolation( Support 2D and 3D ) [For PCI-8253/56] [DllImport("APS168.dll")] public static extern Int32 APS_absolute_arc_move_3pe(System.Int32 Dimension, System.Int32[] Axis_ID_Array, System.Int32[] Pass_Pos_Array, System.Int32[] End_Pos_Array, System.Int32 Max_Arc_Speed); [DllImport("APS168.dll")] public static extern Int32 APS_relative_arc_move_3pe(System.Int32 Dimension, System.Int32[] Axis_ID_Array, System.Int32[] Pass_PosOffset_Array, System.Int32[] End_PosOffset_Array, System.Int32 Max_Arc_Speed); //Field bus motion interrupt [For PCI-7856, MNET series] [DllImport("APS168.dll")] public static extern Int32 APS_set_field_bus_int_factor_motion(System.Int32 Axis_ID, System.Int32 Factor_No, System.Int32 Enable); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_int_factor_motion(System.Int32 Axis_ID, System.Int32 Factor_No, ref System.Int32 Enable); [DllImport("APS168.dll")] public static extern Int32 APS_set_field_bus_int_factor_error(System.Int32 Axis_ID, System.Int32 Factor_No, System.Int32 Enable); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_int_factor_error(System.Int32 Axis_ID, System.Int32 Factor_No, ref System.Int32 Enable); [DllImport("APS168.dll")] public static extern Int32 APS_reset_field_bus_int_motion(System.Int32 Axis_ID); [DllImport("APS168.dll")] public static extern Int32 APS_wait_field_bus_error_int_motion(System.Int32 Axis_ID, System.Int32 Time_Out); [DllImport("APS168.dll")] public static extern Int32 APS_set_field_bus_int_factor_di(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 bitsOfCheck); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_int_factor_di(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, ref System.Int32 bitsOfCheck); //Flash functions [For PCI-8253/56, PCI-8392(H)] [DllImport("APS168.dll")] public static extern Int32 APS_save_parameter_to_flash(System.Int32 Board_ID); [DllImport("APS168.dll")] public static extern Int32 APS_load_parameter_from_flash(System.Int32 Board_ID); [DllImport("APS168.dll")] public static extern Int32 APS_load_parameter_from_default(System.Int32 Board_ID); //SSCNET-3 functions [For PCI-8392(H)] [DllImport("APS168.dll")] public static extern Int32 APS_start_sscnet(System.Int32 Board_ID, ref System.Int32 AxisFound_InBits); [DllImport("APS168.dll")] public static extern Int32 APS_stop_sscnet(System.Int32 Board_ID); [DllImport("APS168.dll")] public static extern Int32 APS_get_sscnet_servo_param(System.Int32 Axis_ID, System.Int32 Para_No1, ref System.Int32 Para_Dat1, System.Int32 Para_No2, ref System.Int32 Para_Dat2); [DllImport("APS168.dll")] public static extern Int32 APS_set_sscnet_servo_param(System.Int32 Axis_ID, System.Int32 Para_No1, System.Int32 Para_Dat1, System.Int32 Para_No2, System.Int32 Para_Dat2); [DllImport("APS168.dll")] public static extern Int32 APS_get_sscnet_servo_alarm(System.Int32 Axis_ID, ref System.Int32 Alarm_No, ref System.Int32 Alarm_Detail); [DllImport("APS168.dll")] public static extern Int32 APS_reset_sscnet_servo_alarm(System.Int32 Axis_ID); [DllImport("APS168.dll")] public static extern Int32 APS_save_sscnet_servo_param(System.Int32 Board_ID); [DllImport("APS168.dll")] public static extern Int32 APS_get_sscnet_servo_abs_position(System.Int32 Axis_ID, ref System.Int32 Cyc_Cnt, ref System.Int32 Res_Cnt); [DllImport("APS168.dll")] public static extern Int32 APS_save_sscnet_servo_abs_position(System.Int32 Board_ID); [DllImport("APS168.dll")] public static extern Int32 APS_load_sscnet_servo_abs_position(System.Int32 Axis_ID, System.Int32 Abs_Option, ref System.Int32 Cyc_Cnt, ref System.Int32 Res_Cnt); [DllImport("APS168.dll")] public static extern Int32 APS_get_sscnet_link_status(System.Int32 Board_ID, ref System.Int32 Link_Status); [DllImport("APS168.dll")] public static extern Int32 APS_set_sscnet_servo_monitor_src(System.Int32 Axis_ID, System.Int32 Mon_No, System.Int32 Mon_Src); [DllImport("APS168.dll")] public static extern Int32 APS_get_sscnet_servo_monitor_src(System.Int32 Axis_ID, System.Int32 Mon_No, ref System.Int32 Mon_Src); [DllImport("APS168.dll")] public static extern Int32 APS_get_sscnet_servo_monitor_data(System.Int32 Axis_ID, System.Int32 Arr_Size, System.Int32[] Data_Arr); [DllImport("APS168.dll")] public static extern Int32 APS_set_sscnet_control_mode(System.Int32 Axis_ID, System.Int32 Mode); [DllImport("APS168.dll")] public static extern Int32 APS_set_sscnet_abs_enable(System.Int32 Board_ID, System.Int32 Option); [DllImport("APS168.dll")] public static extern Int32 APS_set_sscnet_abs_enable_by_axis(System.Int32 Axis_ID, System.Int32 Option); //Motion IO & motion status functions [DllImport("APS168.dll")] public static extern Int32 APS_motion_status(System.Int32 Axis_ID); [DllImport("APS168.dll")] public static extern Int32 APS_motion_io_status(System.Int32 Axis_ID); //Monitor functions [DllImport("APS168.dll")] public static extern Int32 APS_get_command(System.Int32 Axis_ID, ref System.Int32 Command); [DllImport("APS168.dll")] public static extern Int32 APS_set_command(System.Int32 Axis_ID, System.Int32 Command); [DllImport("APS168.dll")] public static extern Int32 APS_set_servo_on(System.Int32 Axis_ID, System.Int32 Servo_On); [DllImport("APS168.dll")] public static extern Int32 APS_get_position(System.Int32 Axis_ID, ref System.Int32 Position); [DllImport("APS168.dll")] public static extern Int32 APS_set_position(System.Int32 Axis_ID, System.Int32 Position); [DllImport("APS168.dll")] public static extern Int32 APS_get_command_velocity(System.Int32 Axis_ID, ref System.Int32 Velocity); [DllImport("APS168.dll")] public static extern Int32 APS_get_feedback_velocity(System.Int32 Axis_ID, ref System.Int32 Velocity); [DllImport("APS168.dll")] public static extern Int32 APS_get_error_position(System.Int32 Axis_ID, ref System.Int32 Err_Pos); [DllImport("APS168.dll")] public static extern Int32 APS_get_target_position(System.Int32 Axis_ID, ref System.Int32 Targ_Pos); [DllImport("APS168.dll")] public static extern Int32 APS_get_command_f(System.Int32 Axis_ID, ref System.Double Command); [DllImport("APS168.dll")] public static extern Int32 APS_set_command_f(System.Int32 Axis_ID, System.Double Command); [DllImport("APS168.dll")] public static extern Int32 APS_get_position_f(System.Int32 Axis_ID, ref System.Double Position); [DllImport("APS168.dll")] public static extern Int32 APS_set_position_f(System.Int32 Axis_ID, System.Double Position); [DllImport("APS168.dll")] public static extern Int32 APS_get_command_velocity_f(System.Int32 Axis_ID, ref System.Double Velocity); [DllImport("APS168.dll")] public static extern Int32 APS_get_target_position_f(System.Int32 Axis_ID, ref System.Double Targ_Pos); [DllImport("APS168.dll")] public static extern Int32 APS_get_error_position_f(System.Int32 Axis_ID, ref System.Double Err_Pos); [DllImport("APS168.dll")] public static extern Int32 APS_get_feedback_velocity_f(System.Int32 Axis_ID, ref System.Double Velocity); // Single axis motion [DllImport("APS168.dll")] public static extern Int32 APS_relative_move(System.Int32 Axis_ID, System.Int32 Distance, System.Int32 Max_Speed); [DllImport("APS168.dll")] public static extern Int32 APS_absolute_move(System.Int32 Axis_ID, System.Int32 Position, System.Int32 Max_Speed); [DllImport("APS168.dll")] public static extern Int32 APS_velocity_move(System.Int32 Axis_ID, System.Int32 Max_Speed); [DllImport("APS168.dll")] public static extern Int32 APS_home_move(System.Int32 Axis_ID); [DllImport("APS168.dll")] public static extern Int32 APS_stop_move(System.Int32 Axis_ID); [DllImport("APS168.dll")] public static extern Int32 APS_emg_stop(System.Int32 Axis_ID); [DllImport("APS168.dll")] public static extern Int32 APS_relative_move2(System.Int32 Axis_ID, System.Int32 Distance, System.Int32 Start_Speed, System.Int32 Max_Speed, System.Int32 End_Speed, System.Int32 Acc_Rate, System.Int32 Dec_Rate); [DllImport("APS168.dll")] public static extern Int32 APS_absolute_move2(System.Int32 Axis_ID, System.Int32 Position, System.Int32 Start_Speed, System.Int32 Max_Speed, System.Int32 End_Speed, System.Int32 Acc_Rate, System.Int32 Dec_Rate); [DllImport("APS168.dll")] public static extern Int32 APS_home_move2(System.Int32 Axis_ID, System.Int32 Dir, System.Int32 Acc, System.Int32 Start_Speed, System.Int32 Max_Speed, System.Int32 ORG_Speed); [DllImport("APS168.dll")] public static extern Int32 APS_home_escape(System.Int32 Axis_ID); //JOG functions [For PCI-8392(H), PCI-8253/56] [DllImport("APS168.dll")] public static extern Int32 APS_set_jog_param(System.Int32 Axis_ID, ref JOG_DATA pStr_Jog, System.Int32 Mask); [DllImport("APS168.dll")] public static extern Int32 APS_get_jog_param(System.Int32 Axis_ID, ref JOG_DATA pStr_Jog); [DllImport("APS168.dll")] public static extern Int32 APS_jog_mode_switch(System.Int32 Axis_ID, System.Int32 Turn_No); [DllImport("APS168.dll")] public static extern Int32 APS_jog_start(System.Int32 Axis_ID, System.Int32 STA_On); // Interpolation [DllImport("APS168.dll")] public static extern Int32 APS_absolute_linear_move(System.Int32 Dimension, System.Int32[] Axis_ID_Array, System.Int32[] Position_Array, System.Int32 Max_Linear_Speed); [DllImport("APS168.dll")] public static extern Int32 APS_relative_linear_move(System.Int32 Dimension, System.Int32[] Axis_ID_Array, System.Int32[] Distance_Array, System.Int32 Max_Linear_Speed); [DllImport("APS168.dll")] public static extern Int32 APS_absolute_arc_move(System.Int32 Dimension, System.Int32[] Axis_ID_Array, System.Int32[] Center_Pos_Array, System.Int32 Max_Arc_Speed, System.Int32 Angle); [DllImport("APS168.dll")] public static extern Int32 APS_relative_arc_move(System.Int32 Dimension, System.Int32[] Axis_ID_Array, System.Int32[] Center_Offset_Array, System.Int32 Max_Arc_Speed, System.Int32 Angle); [DllImport("APS168.dll")] public static extern Int32 APS_absolute_arc_move_f(System.Int32 Dimension, System.Int32[] Axis_ID_Array, System.Int32[] Center_Pos_Array, System.Int32 Max_Arc_Speed, System.Double Angle); [DllImport("APS168.dll")] public static extern Int32 APS_relative_arc_move_f(System.Int32 Dimension, System.Int32[] Axis_ID_Array, System.Int32[] Center_Offset_Array, System.Int32 Max_Arc_Speed, System.Double Angle); // Interrupt functions [DllImport("APS168.dll")] public static extern Int32 APS_int_enable(System.Int32 Board_ID, System.Int32 Enable); [DllImport("APS168.dll")] public static extern Int32 APS_set_int_factor(System.Int32 Board_ID, System.Int32 Item_No, System.Int32 Factor_No, System.Int32 Enable); [DllImport("APS168.dll")] public static extern Int32 APS_get_int_factor(System.Int32 Board_ID, System.Int32 Item_No, System.Int32 Factor_No, ref System.Int32 Enable); [DllImport("APS168.dll")] public static extern Int32 APS_set_int_factorH(System.Int32 Board_ID, System.Int32 Item_No, System.Int32 Factor_No, System.Int32 Enable); [DllImport("APS168.dll")] public static extern Int32 APS_int_no_to_handle(System.Int32 Int_No); [DllImport("APS168.dll")] public static extern Int32 APS_wait_single_int(System.Int32 Int_No, System.Int32 Time_Out); [DllImport("APS168.dll")] public static extern Int32 APS_wait_multiple_int(System.Int32 Int_Count, System.Int32[] Int_No_Array, System.Int32 Wait_All, System.Int32 Time_Out); [DllImport("APS168.dll")] public static extern Int32 APS_reset_int(System.Int32 Int_No); [DllImport("APS168.dll")] public static extern Int32 APS_set_int(System.Int32 Int_No); [DllImport("APS168.dll")] public static extern Int32 APS_wait_error_int(System.Int32 Board_ID, System.Int32 Item_No, System.Int32 Time_Out); //Sampling functions [For PCI-8392(H), PCI-8253/56, PCI-8254/58] [DllImport("APS168.dll")] public static extern Int32 APS_set_sampling_param(System.Int32 Board_ID, System.Int32 ParaNum, System.Int32 ParaDat); [DllImport("APS168.dll")] public static extern Int32 APS_get_sampling_param(System.Int32 Board_ID, System.Int32 ParaNum, ref System.Int32 ParaDat); [DllImport("APS168.dll")] public static extern Int32 APS_wait_trigger_sampling(System.Int32 Board_ID, System.Int32 Length, System.Int32 PreTrgLen, System.Int32 TimeOutMs, ref STR_SAMP_DATA_4CH DataArr); [DllImport("APS168.dll")] public static extern Int32 APS_wait_trigger_sampling_async(System.Int32 Board_ID, System.Int32 Length, System.Int32 PreTrgLen, System.Int32 TimeOutMs, ref STR_SAMP_DATA_4CH DataArr); [DllImport("APS168.dll")] public static extern Int32 APS_get_sampling_count(System.Int32 Board_ID, ref System.Int32 SampCnt); [DllImport("APS168.dll")] public static extern Int32 APS_stop_wait_sampling(System.Int32 Board_ID); [DllImport("APS168.dll")] public static extern Int32 APS_auto_sampling(System.Int32 Board_ID, System.Int32 StartStop); [DllImport("APS168.dll")] public static extern Int32 APS_get_sampling_data(System.Int32 Board_ID, ref System.Int32 Length, [Out] STR_SAMP_DATA_4CH[] DataArr, ref System.Int32 Status); //Sampling functions extension [For PCI-8254/58] [DllImport("APS168.dll")] public static extern Int32 APS_set_sampling_param_ex(System.Int32 Board_ID, ref SAMP_PARAM Param); [DllImport("APS168.dll")] public static extern Int32 APS_get_sampling_param_ex(System.Int32 Board_ID, ref SAMP_PARAM Param); [DllImport("APS168.dll")] public static extern Int32 APS_wait_trigger_sampling_ex(System.Int32 Board_ID, System.Int32 Length, System.Int32 PreTrgLen, System.Int32 TimeOutMs, [Out] STR_SAMP_DATA_8CH[] DataArr); [DllImport("APS168.dll")] public static extern Int32 APS_wait_trigger_sampling_async_ex(System.Int32 Board_ID, System.Int32 Length, System.Int32 PreTrgLen, System.Int32 TimeOutMs, ref STR_SAMP_DATA_8CH_ASYNC DataArr); [DllImport("APS168.dll")] public static extern Int32 APS_get_sampling_data_ex(System.Int32 Board_ID, ref System.Int32 Length, [Out] STR_SAMP_DATA_8CH[] DataArr, ref System.Int32 Status); // Sampling functions advanced ( For PCIe-833x ) [DllImport("APS168.dll")] public static extern Int32 APS_set_sampling_param_advanced(System.Int32 Board_ID, ref SAMP_PARAM_ADV Param); [DllImport("APS168.dll")] public static extern Int32 APS_get_sampling_param_advanced(System.Int32 Board_ID, ref SAMP_PARAM_ADV Param); [DllImport("APS168.dll")] public static extern Int32 APS_wait_trigger_sampling_advanced(System.Int32 Board_ID, System.Int32 Length, System.Int32 PreTrgLen, System.Int32 TimeOutMs, [Out] STR_SAMP_DATA_ADV[] DataArr); [DllImport("APS168.dll")] public static extern Int32 APS_wait_trigger_sampling_async_advanced(System.Int32 Board_ID, System.Int32 Length, System.Int32 PreTrgLen, System.Int32 TimeOutMs, ref STR_SAMP_DATA_ADV_ASYNC DataArr); [DllImport("APS168.dll")] public static extern Int32 APS_get_sampling_data_advanced(System.Int32 Board_ID, ref System.Int32 Length, [Out] STR_SAMP_DATA_ADV[] DataArr, ref System.Int32 Status); //DIO & AIO functions [DllImport("APS168.dll")] public static extern Int32 APS_write_d_output(System.Int32 Board_ID, System.Int32 DO_Group, System.Int32 DO_Data); [DllImport("APS168.dll")] public static extern Int32 APS_read_d_output(System.Int32 Board_ID, System.Int32 DO_Group, ref System.Int32 DO_Data); [DllImport("APS168.dll")] public static extern Int32 APS_read_d_input(System.Int32 Board_ID, System.Int32 DI_Group, ref System.Int32 DI_Data); [DllImport("APS168.dll")] public static extern Int32 APS_write_d_channel_output(System.Int32 Board_ID, System.Int32 DO_Group, System.Int32 Ch_No, System.Int32 DO_Data); [DllImport("APS168.dll")] public static extern Int32 APS_read_d_channel_output(System.Int32 Board_ID, System.Int32 DO_Group, System.Int32 Ch_No, ref System.Int32 DO_Data); [DllImport("APS168.dll")] public static extern Int32 APS_read_d_channel_input(System.Int32 Board_ID, System.Int32 DI_Group, System.Int32 Ch_No, ref System.Int32 DI_Data); [DllImport("APS168.dll")] public static extern Int32 APS_read_a_input_value(System.Int32 Board_ID, System.Int32 Channel_No, ref System.Double Convert_Data); [DllImport("APS168.dll")] public static extern Int32 APS_read_a_input_data(System.Int32 Board_ID, System.Int32 Channel_No, ref System.Int32 Raw_Data); [DllImport("APS168.dll")] public static extern Int32 APS_write_a_output_value(System.Int32 Board_ID, System.Int32 Channel_No, System.Double Convert_Data); [DllImport("APS168.dll")] public static extern Int32 APS_write_a_output_data(System.Int32 Board_ID, System.Int32 Channel_No, System.Int32 Raw_Data); //AIO [For PCI-8254/58] [DllImport("APS168.dll")] public static extern Int32 APS_read_a_output_value(System.Int32 Board_ID, System.Int32 Channel_No, ref System.Double Convert_Data); //Point table move functions [For PCI-8253/56, PCI-8392(H)] [DllImport("APS168.dll")] public static extern Int32 APS_set_point_table(System.Int32 Axis_ID, System.Int32 Index, ref POINT_DATA Point); [DllImport("APS168.dll")] public static extern Int32 APS_get_point_table(System.Int32 Axis_ID, System.Int32 Index, ref POINT_DATA Point); [DllImport("APS168.dll")] public static extern Int32 APS_get_running_point_index(System.Int32 Axis_ID, ref System.Int32 Index); [DllImport("APS168.dll")] public static extern Int32 APS_get_start_point_index(System.Int32 Axis_ID, ref System.Int32 Index); [DllImport("APS168.dll")] public static extern Int32 APS_get_end_point_index(System.Int32 Axis_ID, ref System.Int32 Index); [DllImport("APS168.dll")] public static extern Int32 APS_set_table_move_pause(System.Int32 Axis_ID, System.Int32 Pause_en); [DllImport("APS168.dll")] public static extern Int32 APS_set_table_move_repeat(System.Int32 Axis_ID, System.Int32 Repeat_en); [DllImport("APS168.dll")] public static extern Int32 APS_get_table_move_repeat_count(System.Int32 Axis_ID, ref System.Int32 RepeatCnt); [DllImport("APS168.dll")] public static extern Int32 APS_point_table_move(System.Int32 Dimension, System.Int32[] Axis_ID_Array, System.Int32 StartIndex, System.Int32 EndIndex); [DllImport("APS168.dll")] public static extern Int32 APS_set_point_tableEx(System.Int32 Axis_ID, System.Int32 Index, ref PNT_DATA Point); [DllImport("APS168.dll")] public static extern Int32 APS_set_point_tableEx_2D(System.Int32 Axis_ID, System.Int32 Axis_ID_2, System.Int32 Index, ref PNT_DATA_2D Point); [DllImport("APS168.dll")] public static extern Int32 APS_set_point_table_4DL(System.Int32[] Axis_ID_Array, System.Int32 Index, ref PNT_DATA_4DL Point); //Point table + IO - Pause / Resume [For PCI-8253/56] [DllImport("APS168.dll")] public static extern Int32 APS_set_table_move_ex_pause(System.Int32 Axis_ID); [DllImport("APS168.dll")] public static extern Int32 APS_set_table_move_ex_rollback(System.Int32 Axis_ID, System.Int32 Max_Speed); [DllImport("APS168.dll")] public static extern Int32 APS_set_table_move_ex_resume(System.Int32 Axis_ID); //Point table with extend option [For PCI-8392(H)] [DllImport("APS168.dll")] public static extern Int32 APS_set_point_table_ex(System.Int32 Axis_ID, System.Int32 Index, ref POINT_DATA_EX Point); [DllImport("APS168.dll")] public static extern Int32 APS_get_point_table_ex(System.Int32 Axis_ID, System.Int32 Index, ref POINT_DATA_EX Point); //Point table Feeder [For PCI-8253/56, PCI-8392(H)] [DllImport("APS168.dll")] public static extern Int32 APS_set_feeder_group(System.Int32 GroupId, System.Int32 Dimension, System.Int32[] Axis_ID_Array); [DllImport("APS168.dll")] public static extern Int32 APS_get_feeder_group(System.Int32 GroupId, ref System.Int32 Dimension, System.Int32[] Axis_ID_Array); [DllImport("APS168.dll")] public static extern Int32 APS_free_feeder_group(System.Int32 GroupId); [DllImport("APS168.dll")] public static extern Int32 APS_reset_feeder_buffer(System.Int32 GroupId); [DllImport("APS168.dll")] public static extern Int32 APS_set_feeder_point_2D(System.Int32 GroupId, ref PNT_DATA_2D PtArray, System.Int32 Size, System.Int32 LastFlag); [DllImport("APS168.dll")] public static extern Int32 APS_set_feeder_point_2D_ex(System.Int32 GroupId, ref PNT_DATA_2D_F64 PtArray, System.Int32 Size, System.Int32 LastFlag); [DllImport("APS168.dll")] public static extern Int32 APS_start_feeder_move(System.Int32 GroupId); [DllImport("APS168.dll")] public static extern Int32 APS_get_feeder_status(System.Int32 GroupId, ref System.Int32 State, ref System.Int32 ErrCode); [DllImport("APS168.dll")] public static extern Int32 APS_get_feeder_running_index(System.Int32 GroupId, ref System.Int32 Index); [DllImport("APS168.dll")] public static extern Int32 APS_get_feeder_feed_index(System.Int32 GroupId, ref System.Int32 Index); [DllImport("APS168.dll")] public static extern Int32 APS_set_feeder_ex_pause(System.Int32 GroupId); [DllImport("APS168.dll")] public static extern Int32 APS_set_feeder_ex_rollback(System.Int32 GroupId, System.Int32 Max_Speed); [DllImport("APS168.dll")] public static extern Int32 APS_set_feeder_ex_resume(System.Int32 GroupId); [DllImport("APS168.dll")] public static extern Int32 APS_set_feeder_cfg_acc_type(System.Int32 GroupId, System.Int32 Type); //Point table functions [For MNET-4XMO-C] [DllImport("APS168.dll")] public static extern Int32 APS_set_point_table_mode2(System.Int32 Axis_ID, System.Int32 Mode); [DllImport("APS168.dll")] public static extern Int32 APS_set_point_table2(System.Int32 Dimension, System.Int32[] Axis_ID_Array, System.Int32 Index, ref POINT_DATA2 Point); [DllImport("APS168.dll")] public static extern Int32 APS_point_table_continuous_move2(System.Int32 Dimension, System.Int32[] Axis_ID_Array); [DllImport("APS168.dll")] public static extern Int32 APS_point_table_single_move2(System.Int32 Axis_ID, System.Int32 Index); [DllImport("APS168.dll")] public static extern Int32 APS_get_running_point_index2(System.Int32 Axis_ID, ref System.Int32 Index); [DllImport("APS168.dll")] public static extern Int32 APS_point_table_status2(System.Int32 Axis_ID, ref System.Int32 Status); [DllImport("APS168.dll")] public static extern Int32 APS_point_table_setting_continuous_move2(System.Int32 Dimension, System.Int32[] Axis_ID_Array, System.Int32 TotalPoints, ref POINT_DATA2 Point); [DllImport("APS168.dll")] public static extern Int32 APS_set_point_table2_maximum_speed_check(System.Int32 Dimension, System.Int32[] Axis_ID_Array, System.Int32 Index, ref POINT_DATA2 Point); //Point table functions [For HSL-4XMO] [DllImport("APS168.dll")] public static extern Int32 APS_set_point_table3(System.Int32 Dimension, System.Int32[] Axis_ID_Array, System.Int32 Index, ref POINT_DATA3 Point); [DllImport("APS168.dll")] public static extern Int32 APS_point_table_move3(System.Int32 Dimension, System.Int32[] Axis_ID_Array, System.Int32 StartIndex, System.Int32 EndIndex); [DllImport("APS168.dll")] public static extern Int32 APS_set_point_table_param3(System.Int32 FirstAxid, System.Int32 ParaNum, System.Int32 ParaDat); //Digital filter functions [For PCI-8253/56] [DllImport("APS168.dll")] public static extern Int32 APS_set_filter_param(System.Int32 Axis_ID, System.Int32 Filter_paramNo, System.Int32 param_val); [DllImport("APS168.dll")] public static extern Int32 APS_get_filter_param(System.Int32 Axis_ID, System.Int32 Filter_paramNo, ref System.Int32 param_val); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_device_info(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 Info_No, ref System.Int32 Info); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_slave_first_axisno(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, ref System.Int32 AxisNo, ref System.Int32 TotalAxes); //Field bus DIO slave functions [For PCI-8392(H)] [DllImport("APS168.dll")] public static extern Int32 APS_set_field_bus_d_channel_output(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 Ch_No, System.Int32 DO_Value); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_d_channel_output(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 Ch_No, ref System.Int32 DO_Value); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_d_channel_input(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 Ch_No, ref System.Int32 DI_Value); //Field bus AIO slave function [DllImport("APS168.dll")] public static extern Int32 APS_set_field_bus_a_output_plc(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 Ch_No, System.Double AO_Value, System.Int16 RunStep); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_a_input_plc(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 Ch_No, ref System.Double AI_Value, System.Int16 RunStep); //Field bus comparing trigger functions [DllImport("APS168.dll")] public static extern Int32 APS_set_field_bus_trigger_param(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 Param_No, System.Int32 Param_Val); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_trigger_param(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 Param_No, ref System.Int32 Param_Val); [DllImport("APS168.dll")] public static extern Int32 APS_set_field_bus_trigger_linear(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 LCmpCh, System.Int32 StartPoint, System.Int32 RepeatTimes, System.Int32 Interval); [DllImport("APS168.dll")] public static extern Int32 APS_set_field_bus_trigger_table(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 TCmpCh, System.Int32[] DataArr, System.Int32 ArraySize); [DllImport("APS168.dll")] public static extern Int32 APS_set_field_bus_trigger_manual(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 TrgCh); [DllImport("APS168.dll")] public static extern Int32 APS_set_field_bus_trigger_manual_s(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 TrgChInBit); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_trigger_table_cmp(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 TCmpCh, ref System.Int32 CmpVal); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_trigger_linear_cmp(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 LCmpCh, ref System.Int32 CmpVal); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_trigger_count(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 TrgCh, ref System.Int32 TrgCnt); [DllImport("APS168.dll")] public static extern Int32 APS_reset_field_bus_trigger_count(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 TrgCh); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_linear_cmp_remain_count(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 LCmpCh, ref System.Int32 Cnt); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_table_cmp_remain_count(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 TCmpCh, ref System.Int32 Cnt); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_encoder(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 EncCh, ref System.Int32 EncCnt); [DllImport("APS168.dll")] public static extern Int32 APS_set_field_bus_encoder(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 EncCh, System.Int32 EncCnt); // Only support [For PCIe-8338 + EtherCAT 4xMO] [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_timer_counter(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 TmrCh, ref System.Int32 Cnt); [DllImport("APS168.dll")] public static extern Int32 APS_set_field_bus_timer_counter(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 TmrCh, System.Int32 Cnt); //Field bus latch functions [DllImport("APS168.dll")] public static extern Int32 APS_enable_field_bus_ltc_fifo(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 FLtcCh, System.Int32 Enable); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_ltc_fifo_point(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 FLtcCh, ref System.Int32 ArraySize, ref LATCH_POINT LatchPoint); [DllImport("APS168.dll")] public static extern Int32 APS_set_field_bus_ltc_fifo_param(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 FLtcCh, System.Int32 Param_No, System.Int32 Param_Val); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_ltc_fifo_param(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 FLtcCh, System.Int32 Param_No, ref System.Int32 Param_Val); [DllImport("APS168.dll")] public static extern Int32 APS_reset_field_bus_ltc_fifo(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 FLtcCh); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_ltc_fifo_usage(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 FLtcCh, ref System.Int32 Usage); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_ltc_fifo_free_space(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 FLtcCh, ref System.Int32 FreeSpace); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_ltc_fifo_status(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 FLtcCh, ref System.Int32 Status); // Comparing trigger functions [DllImport("APS168.dll")] public static extern Int32 APS_reset_trigger_count(System.Int32 Board_ID, System.Int32 TrgCh); [DllImport("APS168.dll")] public static extern Int32 APS_enable_trigger_fifo_cmp(System.Int32 Board_ID, System.Int32 FCmpCh, System.Int32 Enable); [DllImport("APS168.dll")] public static extern Int32 APS_get_trigger_fifo_cmp(System.Int32 Board_ID, System.Int32 FCmpCh, ref System.Int32 CmpVal); [DllImport("APS168.dll")] public static extern Int32 APS_get_trigger_fifo_status(System.Int32 Board_ID, System.Int32 FCmpCh, ref System.Int32 FifoSts); [DllImport("APS168.dll")] public static extern Int32 APS_set_trigger_fifo_data(System.Int32 Board_ID, System.Int32 FCmpCh, System.Int32[] DataArr, System.Int32 ArraySize, System.Int32 ShiftFlag); [DllImport("APS168.dll")] public static extern Int32 APS_set_trigger_encoder_counter(System.Int32 Board_ID, System.Int32 TrgCh, System.Int32 TrgCnt); [DllImport("APS168.dll")] public static extern Int32 APS_get_trigger_encoder_counter(System.Int32 Board_ID, System.Int32 TrgCh, ref System.Int32 TrgCnt); [DllImport("APS168.dll")] public static extern Int32 APS_start_timer(System.Int32 Board_ID, System.Int32 TrgCh, System.Int32 Start); [DllImport("APS168.dll")] public static extern Int32 APS_get_timer_counter(System.Int32 Board_ID, System.Int32 TmrCh, ref System.Int32 Cnt); [DllImport("APS168.dll")] public static extern Int32 APS_set_timer_counter(System.Int32 Board_ID, System.Int32 TmrCh, System.Int32 Cnt); [DllImport("APS168.dll")] public static extern Int32 APS_start_trigger_timer(System.Int32 Board_ID, System.Int32 TrgCh, System.Int32 Start); [DllImport("APS168.dll")] public static extern Int32 APS_get_trigger_timer_counter(System.Int32 Board_ID, System.Int32 TmrCh, ref System.Int32 TmrCnt); //VAO functions [For PCI-8253/56] [DllImport("APS168.dll")] public static extern Int32 APS_set_vao_param(System.Int32 Board_ID, System.Int32 Param_No, System.Int32 Param_Val); [DllImport("APS168.dll")] public static extern Int32 APS_get_vao_param(System.Int32 Board_ID, System.Int32 Param_No, ref System.Int32 Param_Val); [DllImport("APS168.dll")] public static extern Int32 APS_set_vao_table(System.Int32 Board_ID, System.Int32 Table_No, System.Int32 MinVelocity, System.Int32 VelInterval, System.Int32 TotalPoints, System.Int32[] MappingDataArray); [DllImport("APS168.dll")] public static extern Int32 APS_switch_vao_table(System.Int32 Board_ID, System.Int32 Table_No); [DllImport("APS168.dll")] public static extern Int32 APS_start_vao(System.Int32 Board_ID, System.Int32 Output_Ch, System.Int32 Enable); [DllImport("APS168.dll")] public static extern Int32 APS_get_vao_status(System.Int32 Board_ID, ref System.Int32 Status); [DllImport("APS168.dll")] public static extern Int32 APS_check_vao_param(System.Int32 Board_ID, System.Int32 Table_No, ref System.Int32 Status); [DllImport("APS168.dll")] public static extern Int32 APS_set_vao_param_ex(System.Int32 Board_ID, System.Int32 Table_No, ref VAO_DATA VaoData); [DllImport("APS168.dll")] public static extern Int32 APS_get_vao_param_ex(System.Int32 Board_ID, System.Int32 Table_No, ref VAO_DATA VaoData); //Simultaneous move [DllImport("APS168.dll")] public static extern Int32 APS_set_relative_simultaneous_move(System.Int32 Dimension, System.Int32[] Axis_ID_Array, System.Int32[] Distance_Array, System.Int32[] Max_Speed_Array); [DllImport("APS168.dll")] public static extern Int32 APS_set_absolute_simultaneous_move(System.Int32 Dimension, System.Int32[] Axis_ID_Array, System.Int32[] Position_Array, System.Int32[] Max_Speed_Array); [DllImport("APS168.dll")] public static extern Int32 APS_start_simultaneous_move(System.Int32 Axis_ID); [DllImport("APS168.dll")] public static extern Int32 APS_stop_simultaneous_move(System.Int32 Axis_ID); [DllImport("APS168.dll")] public static extern Int32 APS_set_velocity_simultaneous_move(System.Int32 Dimension, System.Int32[] Axis_ID_Array, System.Int32[] Max_Speed_Array); [DllImport("APS168.dll")] public static extern Int32 APS_Release_simultaneous_move(System.Int32 Axis_ID); [DllImport("APS168.dll")] public static extern Int32 APS_release_simultaneous_move(System.Int32 Axis_ID); [DllImport("APS168.dll")] public static extern Int32 APS_emg_stop_simultaneous_move(System.Int32 Axis_ID); //Override functions [DllImport("APS168.dll")] public static extern Int32 APS_speed_override(System.Int32 Axis_ID, System.Int32 MaxSpeed); [DllImport("APS168.dll")] public static extern Int32 APS_relative_move_ovrd(System.Int32 Axis_ID, System.Int32 Distance, System.Int32 Max_Speed); [DllImport("APS168.dll")] public static extern Int32 APS_absolute_move_ovrd(System.Int32 Axis_ID, System.Int32 Position, System.Int32 Max_Speed); //Point table functions [For PCI-8254/58] [DllImport("APS168.dll")] public static extern Int32 APS_pt_dwell(System.Int32 Board_ID, System.Int32 PtbId, ref PTDWL Prof, ref PTSTS Status); [DllImport("APS168.dll")] public static extern Int32 APS_pt_line(System.Int32 Board_ID, System.Int32 PtbId, ref PTLINE Prof, ref PTSTS Status); [DllImport("APS168.dll")] public static extern Int32 APS_pt_arc2_ca(System.Int32 Board_ID, System.Int32 PtbId, ref PTA2CA Prof, ref PTSTS Status); [DllImport("APS168.dll")] public static extern Int32 APS_pt_arc2_ce(System.Int32 Board_ID, System.Int32 PtbId, ref PTA2CE Prof, ref PTSTS Status); [DllImport("APS168.dll")] public static extern Int32 APS_pt_arc3_ca(System.Int32 Board_ID, System.Int32 PtbId, ref PTA3CA Prof, ref PTSTS Status); [DllImport("APS168.dll")] public static extern Int32 APS_pt_arc3_ce(System.Int32 Board_ID, System.Int32 PtbId, ref PTA3CE Prof, ref PTSTS Status); [DllImport("APS168.dll")] public static extern Int32 APS_pt_spiral_ca(System.Int32 Board_ID, System.Int32 PtbId, ref PTHCA Prof, ref PTSTS Status); [DllImport("APS168.dll")] public static extern Int32 APS_pt_spiral_ce(System.Int32 Board_ID, System.Int32 PtbId, ref PTHCE Prof, ref PTSTS Status); [DllImport("APS168.dll")] public static extern Int32 APS_pt_enable(System.Int32 Board_ID, System.Int32 PtbId, System.Int32 Dimension, System.Int32[] AxisArr); [DllImport("APS168.dll")] public static extern Int32 APS_pt_disable(System.Int32 Board_ID, System.Int32 PtbId); [DllImport("APS168.dll")] public static extern Int32 APS_get_pt_info(System.Int32 Board_ID, System.Int32 PtbId, ref PTINFO Info); [DllImport("APS168.dll")] public static extern Int32 APS_pt_set_vs(System.Int32 Board_ID, System.Int32 PtbId, System.Double Vs); [DllImport("APS168.dll")] public static extern Int32 APS_pt_get_vs(System.Int32 Board_ID, System.Int32 PtbId, ref System.Double Vs); [DllImport("APS168.dll")] public static extern Int32 APS_pt_start(System.Int32 Board_ID, System.Int32 PtbId); [DllImport("APS168.dll")] public static extern Int32 APS_pt_stop(System.Int32 Board_ID, System.Int32 PtbId); [DllImport("APS168.dll")] public static extern Int32 APS_get_pt_status(System.Int32 Board_ID, System.Int32 PtbId, ref PTSTS Status); [DllImport("APS168.dll")] public static extern Int32 APS_reset_pt_buffer(System.Int32 Board_ID, System.Int32 PtbId); [DllImport("APS168.dll")] public static extern Int32 APS_pt_roll_back(System.Int32 Board_ID, System.Int32 PtbId, System.Double Max_Speed); [DllImport("APS168.dll")] public static extern Int32 APS_pt_get_error(System.Int32 Board_ID, System.Int32 PtbId, ref System.Int32 ErrCode); //Cmd buffer setting [DllImport("APS168.dll")] public static extern Int32 APS_pt_ext_set_do_ch(System.Int32 Board_ID, System.Int32 PtbId, System.Int32 Channel, System.Int32 OnOff); [DllImport("APS168.dll")] public static extern Int32 APS_pt_ext_set_table_no(System.Int32 Board_ID, System.Int32 PtbId, System.Int32 CtrlNo, System.Int32 TableNo); //Profile buffer setting [DllImport("APS168.dll")] public static extern Int32 APS_pt_set_absolute(System.Int32 Board_ID, System.Int32 PtbId); [DllImport("APS168.dll")] public static extern Int32 APS_pt_set_relative(System.Int32 Board_ID, System.Int32 PtbId); [DllImport("APS168.dll")] public static extern Int32 APS_pt_set_trans_buffered(System.Int32 Board_ID, System.Int32 PtbId); [DllImport("APS168.dll")] public static extern Int32 APS_pt_set_trans_inp(System.Int32 Board_ID, System.Int32 PtbId); [DllImport("APS168.dll")] public static extern Int32 APS_pt_set_trans_blend_dec(System.Int32 Board_ID, System.Int32 PtbId, System.Double Bp); [DllImport("APS168.dll")] public static extern Int32 APS_pt_set_trans_blend_dist(System.Int32 Board_ID, System.Int32 PtbId, System.Double Bp); [DllImport("APS168.dll")] public static extern Int32 APS_pt_set_trans_blend_pcnt(System.Int32 Board_ID, System.Int32 PtbId, System.Double Bp); [DllImport("APS168.dll")] public static extern Int32 APS_pt_set_acc(System.Int32 Board_ID, System.Int32 PtbId, System.Double Acc); [DllImport("APS168.dll")] public static extern Int32 APS_pt_set_dec(System.Int32 Board_ID, System.Int32 PtbId, System.Double Dec); [DllImport("APS168.dll")] public static extern Int32 APS_pt_set_acc_dec(System.Int32 Board_ID, System.Int32 PtbId, System.Double AccDec); [DllImport("APS168.dll")] public static extern Int32 APS_pt_set_s(System.Int32 Board_ID, System.Int32 PtbId, System.Double Sf); [DllImport("APS168.dll")] public static extern Int32 APS_pt_set_vm(System.Int32 Board_ID, System.Int32 PtbId, System.Double Vm); [DllImport("APS168.dll")] public static extern Int32 APS_pt_set_ve(System.Int32 Board_ID, System.Int32 PtbId, System.Double Ve); //Program download functions [DllImport("APS168.dll")] public static extern Int32 APS_load_vmc_program(System.Int32 Board_ID, System.Int32 TaskNum, string pFile, System.Int32 Password); [DllImport("APS168.dll")] public static extern Int32 APS_save_vmc_program(System.Int32 Board_ID, System.Int32 TaskNum, string pFile, System.Int32 Password); [DllImport("APS168.dll")] public static extern Int32 APS_load_amc_program(System.Int32 Board_ID, System.Int32 TaskNum, string pFile, System.Int32 Password); [DllImport("APS168.dll")] public static extern Int32 APS_save_amc_program(System.Int32 Board_ID, System.Int32 TaskNum, string pFile, System.Int32 Password); [DllImport("APS168.dll")] public static extern Int32 APS_set_task_mode(System.Int32 Board_ID, System.Int32 TaskNum, System.Byte Mode, System.UInt16 LastIP); [DllImport("APS168.dll")] public static extern Int32 APS_get_task_mode(System.Int32 Board_ID, System.Int32 TaskNum, ref System.Byte Mode, ref System.UInt16 LastIP); [DllImport("APS168.dll")] public static extern Int32 APS_start_task(System.Int32 Board_ID, System.Int32 TaskNum, System.Int32 CtrlCmd); [DllImport("APS168.dll")] public static extern Int32 APS_get_task_info(System.Int32 Board_ID, System.Int32 TaskNum, ref TSK_INFO Info); [DllImport("APS168.dll")] public static extern Int32 APS_get_task_msg(System.Int32 Board_ID, ref System.UInt16 QueueSts, ref System.UInt16 ActualSize, System.Byte[] CharArr); //Latch functions [DllImport("APS168.dll")] public static extern Int32 APS_get_encoder(System.Int32 Axis_ID, ref System.Int32 Encoder); [DllImport("APS168.dll")] public static extern Int32 APS_get_latch_counter(System.Int32 Axis_ID, System.Int32 Src, ref System.Int32 Counter); [DllImport("APS168.dll")] public static extern Int32 APS_get_latch_event(System.Int32 Axis_ID, System.Int32 Src, ref System.Int32 Event); //Raw command counter [For PCI-8254/58] [DllImport("APS168.dll")] public static extern Int32 APS_get_command_counter(System.Int32 Axis_ID, ref System.Int32 Counter); //Reset raw command counter [For PCIe-8338] [DllImport("APS168.dll")] public static extern Int32 APS_reset_command_counter(System.Int32 Axis_ID); //Watch dog timer [DllImport("APS168.dll")] public static extern Int32 APS_wdt_start(System.Int32 Board_ID, System.Int32 TimerNo, System.Int32 TimeOut); [DllImport("APS168.dll")] public static extern Int32 APS_wdt_get_timeout_period(System.Int32 Board_ID, System.Int32 TimerNo, ref System.Int32 TimeOut); [DllImport("APS168.dll")] public static extern Int32 APS_wdt_reset_counter(System.Int32 Board_ID, System.Int32 TimerNo); [DllImport("APS168.dll")] public static extern Int32 APS_wdt_get_counter(System.Int32 Board_ID, System.Int32 TimerNo, ref System.Int32 Counter); [DllImport("APS168.dll")] public static extern Int32 APS_wdt_set_action_event(System.Int32 Board_ID, System.Int32 TimerNo, System.Int32 EventByBit); [DllImport("APS168.dll")] public static extern Int32 APS_wdt_get_action_event(System.Int32 Board_ID, System.Int32 TimerNo, ref System.Int32 EventByBit); //Multi-axes simultaneuos move start/stop [For PCI-8254/58] [DllImport("APS168.dll")] public static extern Int32 APS_move_trigger(System.Int32 Dimension, System.Int32[] Axis_ID_Array); [DllImport("APS168.dll")] public static extern Int32 APS_stop_move_multi(System.Int32 Dimension, System.Int32[] Axis_ID_Array); [DllImport("APS168.dll")] public static extern Int32 APS_emg_stop_multi(System.Int32 Dimension, System.Int32[] Axis_ID_Array); //Gear/Gantry functions [For PCI-8254/58] [DllImport("APS168.dll")] public static extern Int32 APS_start_gear(System.Int32 Axis_ID, System.Int32 Mode); [DllImport("APS168.dll")] public static extern Int32 APS_get_gear_status(System.Int32 Axis_ID, ref System.Int32 Status); //Multi-latch functions [DllImport("APS168.dll")] public static extern Int32 APS_set_ltc_counter(System.Int32 Board_ID, System.Int32 CntNum, System.Int32 CntValue); [DllImport("APS168.dll")] public static extern Int32 APS_get_ltc_counter(System.Int32 Board_ID, System.Int32 CntNum, ref System.Int32 CntValue); [DllImport("APS168.dll")] public static extern Int32 APS_set_ltc_fifo_param(System.Int32 Board_ID, System.Int32 FLtcCh, System.Int32 Param_No, System.Int32 Param_Val); [DllImport("APS168.dll")] public static extern Int32 APS_get_ltc_fifo_param(System.Int32 Board_ID, System.Int32 FLtcCh, System.Int32 Param_No, ref System.Int32 Param_Val); [DllImport("APS168.dll")] public static extern Int32 APS_manual_latch(System.Int32 Board_ID, System.Int32 LatchSignalInBits); [DllImport("APS168.dll")] public static extern Int32 APS_enable_ltc_fifo(System.Int32 Board_ID, System.Int32 FLtcCh, System.Int32 Enable); [DllImport("APS168.dll")] public static extern Int32 APS_reset_ltc_fifo(System.Int32 Board_ID, System.Int32 FLtcCh); [DllImport("APS168.dll")] public static extern Int32 APS_get_ltc_fifo_data(System.Int32 Board_ID, System.Int32 FLtcCh, ref System.Int32 Data); [DllImport("APS168.dll")] public static extern Int32 APS_get_ltc_fifo_usage(System.Int32 Board_ID, System.Int32 FLtcCh, ref System.Int32 Usage); [DllImport("APS168.dll")] public static extern Int32 APS_get_ltc_fifo_free_space(System.Int32 Board_ID, System.Int32 FLtcCh, ref System.Int32 FreeSpace); [DllImport("APS168.dll")] public static extern Int32 APS_get_ltc_fifo_status(System.Int32 Board_ID, System.Int32 FLtcCh, ref System.Int32 Status); [DllImport("APS168.dll")] public static extern Int32 APS_get_ltc_fifo_point(System.Int32 Board_ID, System.Int32 FLtcCh, ref System.Int32 ArraySize, [In, Out] LATCH_POINT[] LatchPoint); //Single latch functions [DllImport("APS168.dll")] public static extern Int32 APS_manual_latch2(System.Int32 Axis_ID); [DllImport("APS168.dll")] public static extern Int32 APS_get_latch_data2(System.Int32 Axis_ID, System.Int32 LatchNum, ref System.Int32 LatchData); [DllImport("APS168.dll")] public static extern Int32 APS_set_backlash_en(System.Int32 Axis_ID, System.Int32 Enable); [DllImport("APS168.dll")] public static extern Int32 APS_get_backlash_en(System.Int32 Axis_ID, ref System.Int32 Enable); //ODM functions for Mechatrolink [DllImport("APS168.dll")] public static extern Int32 APS_start_mlink(System.Int32 Board_ID, ref System.Int32 AxisFound_InBits); [DllImport("APS168.dll")] public static extern Int32 APS_stop_mlink(System.Int32 Board_ID); [DllImport("APS168.dll")] public static extern Int32 APS_set_mlink_servo_param(System.Int32 Axis_ID, System.Int32 Para_No, System.Int32 Para_Dat); [DllImport("APS168.dll")] public static extern Int32 APS_get_mlink_servo_param(System.Int32 Axis_ID, System.Int32 Para_No, ref System.Int32 Para_Dat); [DllImport("APS168.dll")] public static extern Int32 APS_config_mlink(System.Int32 Board_ID, System.Int32 TotalAxes, ref System.Int32 AxesArray); [DllImport("APS168.dll")] public static extern Int32 APS_get_mlink_rv_ptr(System.Int32 Axis_ID, out IntPtr rptr); [DllImport("APS168.dll")] public static extern Int32 APS_get_mlink_sd_ptr(System.Int32 Axis_ID, out IntPtr sptr); [DllImport("APS168.dll")] public static extern Int32 APS_get_mlink_servo_alarm(System.Int32 Axis_ID, System.Int32 Alarm_No, ref System.Int32 Alarm_Detail); [DllImport("APS168.dll")] public static extern Int32 APS_reset_mlink_servo_alarm(System.Int32 Axis_ID); [DllImport("APS168.dll")] public static extern Int32 APS_set_mlink_pulse_per_rev(System.Int32 Axis_ID, System.Int32 PPR); //Apply smooth servo off [For PCI-8254/58] [DllImport("APS168.dll")] public static extern Int32 APS_smooth_servo_off(System.Int32 Axis_ID, System.Double Decay_Rate); [DllImport("APS168.dll")] public static extern Int32 APS_set_smooth_servo_off(System.Int32 Board_ID, System.Int32 Axis_ID, System.Int32 cnt_Max, ref System.Int32 cnt_Err); //ODM functions [DllImport("APS168.dll")] public static extern Int32 APS_relative_move_wait(System.Int32 Axis_ID, System.Int32 Distance, System.Int32 Max_Speed, System.Int32 Time_Out, System.Int32 Delay_Time, ref System.Int32 MotionSts); [DllImport("APS168.dll")] public static extern Int32 APS_absolute_move_wait(System.Int32 Axis_ID, System.Int32 Position, System.Int32 Max_Speed, System.Int32 Time_Out, System.Int32 Delay_Time, ref System.Int32 MotionSts); [DllImport("APS168.dll")] public static extern Int32 APS_relative_linear_move_wait(System.Int32 Dimension, System.Int32[] Axis_ID_Array, System.Int32[] Distance_Array, System.Int32 Max_Linear_Speed, System.Int32 Time_Out, System.Int32 Delay_Time, ref System.Int32 MotionSts); [DllImport("APS168.dll")] public static extern Int32 APS_absolute_linear_move_wait(System.Int32 Dimension, System.Int32[] Axis_ID_Array, System.Int32[] Position_Array, System.Int32 Max_Linear_Speed, System.Int32 Time_Out, System.Int32 Delay_Time, ref System.Int32 MotionSts); [DllImport("APS168.dll")] public static extern Int32 APS_relative_move_non_wait(System.Int32 Axis_ID, System.Int32 Distance, System.Int32 Max_Speed, System.Int32 Time_Out, System.Int32 Delay_Time); [DllImport("APS168.dll")] public static extern Int32 APS_absolute_move_non_wait(System.Int32 Axis_ID, System.Int32 Position, System.Int32 Max_Speed, System.Int32 Time_Out, System.Int32 Delay_Time); [DllImport("APS168.dll")] public static extern Int32 APS_relative_linear_move_non_wait(System.Int32 Dimension, System.Int32[] Axis_ID_Array, System.Int32[] Distance_Array, System.Int32 Max_Linear_Speed, System.Int32 Time_Out, System.Int32 Delay_Time); [DllImport("APS168.dll")] public static extern Int32 APS_absolute_linear_move_non_wait(System.Int32 Dimension, System.Int32[] Axis_ID_Array, System.Int32[] Position_Array, System.Int32 Max_Linear_Speed, System.Int32 Time_Out, System.Int32 Delay_Time); [DllImport("APS168.dll")] public static extern Int32 APS_wait_move_done(System.Int32 Axis_ID, ref System.Int32 MotionSts); //ODM functions [For MNET-4XMO-C] [DllImport("APS168.dll")] public static extern Int32 APS_absolute_arc_move_ex(System.Int32 Dimension, System.Int32[] Axis_ID_Array, System.Int32[] Center_Pos_Array, System.Int32[] End_Pos_Array, System.Int32 CwOrCcw, System.Int32 Max_Arc_Speed); [DllImport("APS168.dll")] public static extern Int32 APS_motion_status_ex(System.Int32 Axis_ID); [DllImport("APS168.dll")] public static extern Int32 APS_motion_io_status_ex(System.Int32 Axis_ID); //Gantry functions [For PCI-8392(H), PCI-8253/56] [DllImport("APS168.dll")] public static extern Int32 APS_set_gantry_param(System.Int32 Board_ID, System.Int32 GroupNum, System.Int32 ParaNum, System.Int32 ParaDat); [DllImport("APS168.dll")] public static extern Int32 APS_get_gantry_param(System.Int32 Board_ID, System.Int32 GroupNum, System.Int32 ParaNum, ref System.Int32 ParaDat); [DllImport("APS168.dll")] public static extern Int32 APS_set_gantry_axis(System.Int32 Board_ID, System.Int32 GroupNum, System.Int32 Master_Axis_ID, System.Int32 Slave_Axis_ID); [DllImport("APS168.dll")] public static extern Int32 APS_get_gantry_axis(System.Int32 Board_ID, System.Int32 GroupNum, ref System.Int32 Master_Axis_ID, ref System.Int32 Slave_Axis_ID); [DllImport("APS168.dll")] public static extern Int32 APS_get_gantry_error(System.Int32 Board_ID, System.Int32 GroupNum, ref System.Int32 GentryError); //Field bus master functions [DllImport("APS168.dll")] public static extern Int32 APS_set_field_bus_param(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 BUS_Param_No, System.Int32 BUS_Param); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_param(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 BUS_Param_No, ref System.Int32 BUS_Param); [DllImport("APS168.dll")] public static extern Int32 APS_start_field_bus(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 Start_Axis_ID); [DllImport("APS168.dll")] public static extern Int32 APS_scan_field_bus(System.Int32 Board_ID, System.Int32 BUS_No); [DllImport("APS168.dll")] public static extern Int32 APS_stop_field_bus(System.Int32 Board_ID, System.Int32 BUS_No); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_master_status(System.Int32 Board_ID, System.Int32 BUS_No, ref System.UInt32 Status); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_last_scan_info(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32[] Info_Array, System.Int32 Array_Size, ref System.Int32 Info_Count); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_master_type(System.Int32 Board_ID, System.Int32 BUS_No, ref System.Int32 BUS_Type); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_slave_type(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, ref System.Int32 MOD_Type); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_slave_name(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, ref System.Int32 MOD_Name); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_slave_serialID(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, ref System.Int16 Serial_ID); // Diagnostic functions [Only for PCIe-833x] [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_frame_loss_diagnostic(System.Int32 Board_ID, System.Int32 BUS_No, ref System.Int32 Result); [DllImport("APS168.dll")] public static extern Int32 APS_reset_field_bus_frame_loss_diagnostic(System.Int32 Board_ID, System.Int32 BUS_No); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_slave_connecting_diagnostic(System.Int32 Board_ID, System.Int32 BUS_No, ref System.Int32 Result, ref System.UInt16 NumOfDisconnect, ref IntPtr DisconnectIDArray); //Field bus slave functions [DllImport("APS168.dll")] public static extern Int32 APS_set_field_bus_slave_param(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 Ch_No, System.Int32 ParaNum, System.Int32 ParaDat); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_slave_param(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 Ch_No, System.Int32 ParaNum, ref System.Int32 ParaDat); [DllImport("APS168.dll")] public static extern Int32 APS_get_slave_connect_quality(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, ref System.Int32 Sts_data); [DllImport("APS168.dll")] public static extern Int32 APS_get_slave_online_status(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, ref System.Int32 Live); [DllImport("APS168.dll")] public static extern Int32 APS_set_field_bus_slave_recovery(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_ESC_register(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 RegOffset, System.Int32 DataSize, ref System.Int32 DataValue); [DllImport("APS168.dll")] public static extern Int32 APS_set_field_bus_ESC_register(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 RegOffset, System.Int32 DataSize, ref System.Int32 DataValue); //Field bus DIO slave functions [For PCI-8392(H)] [DllImport("APS168.dll")] public static extern Int32 APS_set_field_bus_d_output(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 DO_Value); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_d_output(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, ref System.Int32 DO_Value); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_d_input(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, ref System.Int32 DI_Value); //Modules be 64 bits gpio [DllImport("APS168.dll")] public static extern Int32 APS_set_field_bus_d_output_ex(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, DO_DATA_EX DO_Value); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_d_output_ex(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, ref DO_DATA_EX DO_Value); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_d_input_ex(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, ref DI_DATA_EX DI_Value); //Field bus AIO slave functions [DllImport("APS168.dll")] public static extern Int32 APS_set_field_bus_a_output(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 Ch_No, System.Double AO_Value); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_a_output(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 Ch_No, ref System.Double AO_Value); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_a_input(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 Ch_No, ref System.Double AI_Value); //ODM functions [DllImport("APS168.dll")] public static extern Int32 APS_start_vao_by_mode(System.Int32 Board_ID, System.Int32 ChannelInBit, System.Int32 Mode, System.Int32 Enable); [DllImport("APS168.dll")] public static extern Int32 APS_set_vao_pwm_burst_count(System.Int32 Board_ID, System.Int32 Table_No, System.Int32 Count); //PWM functions [DllImport("APS168.dll")] public static extern Int32 APS_set_pwm_width(System.Int32 Board_ID, System.Int32 PWM_Ch, System.Int32 Width); [DllImport("APS168.dll")] public static extern Int32 APS_get_pwm_width(System.Int32 Board_ID, System.Int32 PWM_Ch, ref System.Int32 Width); [DllImport("APS168.dll")] public static extern Int32 APS_set_pwm_frequency(System.Int32 Board_ID, System.Int32 PWM_Ch, System.Int32 Frequency); [DllImport("APS168.dll")] public static extern Int32 APS_get_pwm_frequency(System.Int32 Board_ID, System.Int32 PWM_Ch, ref System.Int32 Frequency); [DllImport("APS168.dll")] public static extern Int32 APS_set_pwm_on(System.Int32 Board_ID, System.Int32 PWM_Ch, System.Int32 PWM_On); // Comparing trigger functions [DllImport("APS168.dll")] public static extern Int32 APS_set_trigger_param(System.Int32 Board_ID, System.Int32 Param_No, System.Int32 Param_Val); [DllImport("APS168.dll")] public static extern Int32 APS_get_trigger_param(System.Int32 Board_ID, System.Int32 Param_No, ref System.Int32 Param_Val); [DllImport("APS168.dll")] public static extern Int32 APS_set_trigger_linear(System.Int32 Board_ID, System.Int32 LCmpCh, System.Int32 StartPoint, System.Int32 RepeatTimes, System.Int32 Interval); [DllImport("APS168.dll")] public static extern Int32 APS_set_trigger_table(System.Int32 Board_ID, System.Int32 TCmpCh, System.Int32[] DataArr, System.Int32 ArraySize); [DllImport("APS168.dll")] public static extern Int32 APS_set_trigger_manual(System.Int32 Board_ID, System.Int32 TrgCh); [DllImport("APS168.dll")] public static extern Int32 APS_set_trigger_manual_s(System.Int32 Board_ID, System.Int32 TrgChInBit); [DllImport("APS168.dll")] public static extern Int32 APS_get_trigger_table_cmp(System.Int32 Board_ID, System.Int32 TCmpCh, ref System.Int32 CmpVal); [DllImport("APS168.dll")] public static extern Int32 APS_get_trigger_linear_cmp(System.Int32 Board_ID, System.Int32 LCmpCh, ref System.Int32 CmpVal); [DllImport("APS168.dll")] public static extern Int32 APS_get_trigger_count(System.Int32 Board_ID, System.Int32 TrgCh, ref System.Int32 TrgCnt); //Pulser counter functions [DllImport("APS168.dll")] public static extern Int32 APS_get_pulser_counter(System.Int32 Board_ID, ref System.Int32 Counter); [DllImport("APS168.dll")] public static extern Int32 APS_set_pulser_counter(System.Int32 Board_ID, System.Int32 Counter); //Reserved functions [Legacy functions] [DllImport("APS168.dll")] public static extern Int32 APS_field_bus_slave_set_param(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 Ch_No, System.Int32 ParaNum, System.Int32 ParaDat); [DllImport("APS168.dll")] public static extern Int32 APS_field_bus_slave_get_param(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 Ch_No, System.Int32 ParaNum, ref System.Int32 ParaDat); [DllImport("APS168.dll")] public static extern Int32 APS_field_bus_d_set_output(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 DO_Value); [DllImport("APS168.dll")] public static extern Int32 APS_field_bus_d_get_output(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, ref System.Int32 DO_Value); [DllImport("APS168.dll")] public static extern Int32 APS_field_bus_d_get_input(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, ref System.Int32 DI_Value); [DllImport("APS168.dll")] public static extern Int32 APS_field_bus_A_set_output(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 Ch_No, System.Double AO_Value); [DllImport("APS168.dll")] public static extern Int32 APS_field_bus_A_get_output(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 Ch_No, ref System.Double AO_Value); [DllImport("APS168.dll")] public static extern Int32 APS_field_bus_A_get_input(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 Ch_No, ref System.Double AI_Value); [DllImport("APS168.dll")] public static extern Int32 APS_field_bus_A_set_output_plc(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 Ch_No, System.Double AO_Value, System.Int16 RunStep); [DllImport("APS168.dll")] public static extern Int32 APS_field_bus_A_get_input_plc(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 Ch_No, ref System.Double AI_Value, System.Int16 RunStep); [DllImport("APS168.dll")] public static extern Int32 APS_get_eep_curr_drv_ctrl_mode(System.Int32 Board_ID, ref System.Int32 ModeInBit); //DPAC functions [DllImport("APS168.dll")] public static extern Int32 APS_rescan_CF(System.Int32 Board_ID); [DllImport("APS168.dll")] public static extern Int32 APS_get_battery_status(System.Int32 Board_ID, ref System.Int32 Battery_status); //DPAC display & Display button [DllImport("APS168.dll")] public static extern Int32 APS_get_display_data(System.Int32 Board_ID, System.Int32 displayDigit, ref System.Int32 displayIndex); [DllImport("APS168.dll")] public static extern Int32 APS_set_display_data(System.Int32 Board_ID, System.Int32 displayDigit, System.Int32 displayIndex); [DllImport("APS168.dll")] public static extern Int32 APS_get_button_status(System.Int32 Board_ID, ref System.Int32 buttonstatus); //NV RAM functions [DllImport("APS168.dll")] public static extern Int32 APS_set_nv_ram(System.Int32 Board_ID, System.Int32 RamNo, System.Int32 DataWidth, System.Int32 Offset, System.Int32 Data); [DllImport("APS168.dll")] public static extern Int32 APS_get_nv_ram(System.Int32 Board_ID, System.Int32 RamNo, System.Int32 DataWidth, System.Int32 Offset, ref System.Int32 Data); [DllImport("APS168.dll")] public static extern Int32 APS_clear_nv_ram(System.Int32 Board_ID, System.Int32 RamNo); //Advanced single move & interpolation [For PCI-8254/58] [DllImport("APS168.dll")] public static extern Int32 APS_ptp(System.Int32 Axis_ID, System.Int32 Option, System.Double Position, ref ASYNCALL Wait); [DllImport("APS168.dll")] public static extern Int32 APS_ptp_v(System.Int32 Axis_ID, System.Int32 Option, System.Double Position, System.Double Vm, ref ASYNCALL Wait); [DllImport("APS168.dll")] public static extern Int32 APS_ptp_all(System.Int32 Axis_ID, System.Int32 Option, System.Double Position, System.Double Vs, System.Double Vm, System.Double Ve, System.Double Acc, System.Double Dec, System.Double SFac, ref ASYNCALL Wait); [DllImport("APS168.dll")] public static extern Int32 APS_vel(System.Int32 Axis_ID, System.Int32 Option, System.Double Vm, ref ASYNCALL Wait); [DllImport("APS168.dll")] public static extern Int32 APS_vel_all(System.Int32 Axis_ID, System.Int32 Option, System.Double Vs, System.Double Vm, System.Double Ve, System.Double Acc, System.Double Dec, System.Double SFac, ref ASYNCALL Wait); [DllImport("APS168.dll")] public static extern Int32 APS_line(System.Int32 Dimension, System.Int32[] Axis_ID_Array, System.Int32 Option, System.Double[] PositionArray, ref System.Double TransPara, ref ASYNCALL Wait); [DllImport("APS168.dll")] public static extern Int32 APS_line_v(System.Int32 Dimension, System.Int32[] Axis_ID_Array, System.Int32 Option, System.Double[] PositionArray, ref System.Double TransPara, System.Double Vm, ref ASYNCALL Wait); [DllImport("APS168.dll")] public static extern Int32 APS_line_all(System.Int32 Dimension, System.Int32[] Axis_ID_Array, System.Int32 Option, System.Double[] PositionArray, ref System.Double TransPara, System.Double Vs, System.Double Vm, System.Double Ve, System.Double Acc, System.Double Dec, System.Double SFac, ref ASYNCALL Wait); [DllImport("APS168.dll")] public static extern Int32 APS_arc2_ca(System.Int32[] Axis_ID_Array, System.Int32 Option, System.Double[] CenterArray, System.Double Angle, ref System.Double TransPara, ref ASYNCALL Wait); [DllImport("APS168.dll")] public static extern Int32 APS_arc2_ca_v(System.Int32[] Axis_ID_Array, System.Int32 Option, System.Double[] CenterArray, System.Double Angle, ref System.Double TransPara, System.Double Vm, ref ASYNCALL Wait); [DllImport("APS168.dll")] public static extern Int32 APS_arc2_ca_all(System.Int32[] Axis_ID_Array, System.Int32 Option, System.Double[] CenterArray, System.Double Angle, ref System.Double TransPara, System.Double Vs, System.Double Vm, System.Double Ve, System.Double Acc, System.Double Dec, System.Double SFac, ref ASYNCALL Wait); [DllImport("APS168.dll")] public static extern Int32 APS_arc2_ce(System.Int32[] Axis_ID_Array, System.Int32 Option, System.Double[] CenterArray, System.Double[] EndArray, System.Int16 Dir, ref System.Double TransPara, ref ASYNCALL Wait); [DllImport("APS168.dll")] public static extern Int32 APS_arc2_ce_v(System.Int32[] Axis_ID_Array, System.Int32 Option, System.Double[] CenterArray, System.Double[] EndArray, System.Int16 Dir, ref System.Double TransPara, System.Double Vm, ref ASYNCALL Wait); [DllImport("APS168.dll")] public static extern Int32 APS_arc2_ce_all(System.Int32[] Axis_ID_Array, System.Int32 Option, System.Double[] CenterArray, System.Double[] EndArray, System.Int16 Dir, ref System.Double TransPara, System.Double Vs, System.Double Vm, System.Double Ve, System.Double Acc, System.Double Dec, System.Double SFac, ref ASYNCALL Wait); [DllImport("APS168.dll")] public static extern Int32 APS_arc3_ca(System.Int32[] Axis_ID_Array, System.Int32 Option, System.Double[] CenterArray, System.Double[] NormalArray, System.Double Angle, ref System.Double TransPara, ref ASYNCALL Wait); [DllImport("APS168.dll")] public static extern Int32 APS_arc3_ca_v(System.Int32[] Axis_ID_Array, System.Int32 Option, System.Double[] CenterArray, System.Double[] NormalArray, System.Double Angle, ref System.Double TransPara, System.Double Vm, ref ASYNCALL Wait); [DllImport("APS168.dll")] public static extern Int32 APS_arc3_ca_all(System.Int32[] Axis_ID_Array, System.Int32 Option, System.Double[] CenterArray, System.Double[] NormalArray, System.Double Angle, ref System.Double TransPara, System.Double Vs, System.Double Vm, System.Double Ve, System.Double Acc, System.Double Dec, System.Double SFac, ref ASYNCALL Wait); [DllImport("APS168.dll")] public static extern Int32 APS_arc3_ce(System.Int32[] Axis_ID_Array, System.Int32 Option, System.Double[] CenterArray, System.Double[] EndArray, System.Int16 Dir, ref System.Double TransPara, ref ASYNCALL Wait); [DllImport("APS168.dll")] public static extern Int32 APS_arc3_ce_v(System.Int32[] Axis_ID_Array, System.Int32 Option, System.Double[] CenterArray, System.Double[] EndArray, System.Int16 Dir, ref System.Double TransPara, System.Double Vm, ref ASYNCALL Wait); [DllImport("APS168.dll")] public static extern Int32 APS_arc3_ce_all(System.Int32[] Axis_ID_Array, System.Int32 Option, System.Double[] CenterArray, System.Double[] EndArray, System.Int16 Dir, ref System.Double TransPara, System.Double Vs, System.Double Vm, System.Double Ve, System.Double Acc, System.Double Dec, System.Double SFac, ref ASYNCALL Wait); [DllImport("APS168.dll")] public static extern Int32 APS_spiral_ca(System.Int32[] Axis_ID_Array, System.Int32 Option, System.Double[] CenterArray, System.Double[] NormalArray, System.Double Angle, System.Double DeltaH, System.Double FinalR, ref System.Double TransPara, ref ASYNCALL Wait); [DllImport("APS168.dll")] public static extern Int32 APS_spiral_ca_v(System.Int32[] Axis_ID_Array, System.Int32 Option, System.Double[] CenterArray, System.Double[] NormalArray, System.Double Angle, System.Double DeltaH, System.Double FinalR, ref System.Double TransPara, System.Double Vm, ref ASYNCALL Wait); [DllImport("APS168.dll")] public static extern Int32 APS_spiral_ca_all(System.Int32[] Axis_ID_Array, System.Int32 Option, System.Double[] CenterArray, System.Double[] NormalArray, System.Double Angle, System.Double DeltaH, System.Double FinalR, ref System.Double TransPara, System.Double Vs, System.Double Vm, System.Double Ve, System.Double Acc, System.Double Dec, System.Double SFac, ref ASYNCALL Wait); [DllImport("APS168.dll")] public static extern Int32 APS_spiral_ce(System.Int32[] Axis_ID_Array, System.Int32 Option, System.Double[] CenterArray, System.Double[] NormalArray, System.Double[] EndArray, System.Int16 Dir, ref System.Double TransPara, ref ASYNCALL Wait); [DllImport("APS168.dll")] public static extern Int32 APS_spiral_ce_v(System.Int32[] Axis_ID_Array, System.Int32 Option, System.Double[] CenterArray, System.Double[] NormalArray, System.Double[] EndArray, System.Int16 Dir, ref System.Double TransPara, System.Double Vm, ref ASYNCALL Wait); [DllImport("APS168.dll")] public static extern Int32 APS_spiral_ce_all(System.Int32[] Axis_ID_Array, System.Int32 Option, System.Double[] CenterArray, System.Double[] NormalArray, System.Double[] EndArray, System.Int16 Dir, ref System.Double TransPara, System.Double Vs, System.Double Vm, System.Double Ve, System.Double Acc, System.Double Dec, System.Double SFac, ref ASYNCALL Wait); //Ring counter functions [For PCI-8154/8] [DllImport("APS168.dll")] public static extern Int32 APS_set_ring_counter(System.Int32 Axis_ID, System.Int32 RingVal); [DllImport("APS168.dll")] public static extern Int32 APS_get_ring_counter(System.Int32 Axis_ID, ref System.Int32 RingVal); //********************************************** // New header functions; 20151102 //********************************************** //Pitch error compensation [For PCI-8254/58] [DllImport("APS168.dll")] public static extern Int32 APS_set_pitch_table(System.Int32 Axis_ID, System.Int32 Comp_Type, System.Int32 Total_Points, System.Int32 MinPosition, System.UInt32 Interval, System.Int32[] Comp_Data); [DllImport("APS168.dll")] public static extern Int32 APS_get_pitch_table(System.Int32 Axis_ID, ref System.Int32 Comp_Type, ref System.Int32 Total_Points, ref System.Int32 MinPosition, ref System.UInt32 Interval, System.Int32[] Comp_Data); [DllImport("APS168.dll")] public static extern Int32 APS_start_pitch_comp(System.Int32 Axis_ID, System.Int32 Enable); //2D compensation [For PCI-8254/58] [DllImport("APS168.dll")] public static extern Int32 APS_set_2d_compensation_table(System.Int32[] AxisIdArray, System.UInt32 CompType, System.UInt32[] TotalPointArray, System.Double[] StartPosArray, System.Double[] IntervalArray, System.Double[] CompDataArrayX, System.Double[] CompDataArrayY); [DllImport("APS168.dll")] public static extern Int32 APS_get_2d_compensation_table(System.Int32[] AxisIdArray, ref System.UInt32 CompType, System.UInt32[] TotalPointArray, System.Double[] StartPosArray, System.Double[] IntervalArray, System.Double[] CompDataArrayX, System.Double[] CompDataArrayY); [DllImport("APS168.dll")] public static extern Int32 APS_start_2d_compensation(System.Int32 Axis_ID, System.Int32 Enable); [DllImport("APS168.dll")] public static extern Int32 APS_absolute_linear_move_2d_compensation(System.Int32[] Axis_ID_Array, System.Double[] Position_Array, System.Double Max_Linear_Speed); [DllImport("APS168.dll")] public static extern Int32 APS_get_2d_compensation_command_position(System.Int32 Axis_ID, ref System.Double CommandX, ref System.Double CommandY, ref System.Double PositionX, ref System.Double PositionY); //20200120 [DllImport("APS168.dll")] public static extern Int32 APS_set_trigger_table_data(System.Int32 Board_ID, System.Int32 TCmpCh, System.Int32[] DataArr, Int32 ArraySize); [DllImport("APS168.dll")] public static extern Int32 APS_get_trigger_table_status(System.Int32 Board_ID, System.Int32 TCmpCh, ref System.Int32 FreeSpace, ref System.Int32 FifoSts); [DllImport("APS168.dll")] public static extern Int32 APS_get_trigger_cmp_value(System.Int32 Board_ID, System.Int32 TCmpCh, ref System.Int32 CmpVal); [DllImport("APS168.dll")] public static extern Int32 APS_enable_trigger_table(System.Int32 Board_ID, System.Int32 TCmpCh, System.Int32 Enable); [DllImport("APS168.dll")] public static extern Int32 APS_reset_trigger_table(System.Int32 Board_ID, System.Int32 TCmpCh); //Multi-dimension comparator functions [For PCI-8254/58] [DllImport("APS168.dll")] public static extern Int32 APS_set_multi_trigger_table(System.Int32 Board_ID, System.Int32 Dimension, MCMP_POINT[] DataArr, System.Int32 ArraySize, System.Int32 Window); [DllImport("APS168.dll")] public static extern Int32 APS_get_multi_trigger_table_cmp(System.Int32 Board_ID, System.Int32 Dimension, ref MCMP_POINT CmpVal); // Only support [For PCIe-833X + ECAT-4XMO-MT, ECAT-TRG4-MT] [DllImport("APS168.dll")] public static extern Int32 APS_set_field_bus_multi_trigger_table(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 MTCmpCh, System.Int32 Dimension, MCMP_POINT[] DataArr, System.Int32 ArraySize, System.Int32 Window); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_multi_trigger_table_cmp(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 MTCmpCh, System.Int32 Dimension, ref MCMP_POINT CmpVal); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_multi_table_cmp_remain_count(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 MTCmpCh, ref System.Int32 Cnt); //Pulser functions [DllImport("APS168.dll")] public static extern Int32 APS_manual_pulser_start(System.Int32 Board_ID, System.Int32 Enable); [DllImport("APS168.dll")] public static extern Int32 APS_manual_pulser_velocity_move(System.Int32 Axis_ID, System.Double SpeedLimit); [DllImport("APS168.dll")] public static extern Int32 APS_manual_pulser_relative_move(System.Int32 Axis_ID, System.Double Distance, System.Double SpeedLimit); [DllImport("APS168.dll")] public static extern Int32 APS_manual_pulser_home_move(System.Int32 Axis_ID); // [Wei-Li suggests to remove] //********************************************** // 2D arc-interpolation for 3-point [DllImport("APS168.dll")] public static extern Int32 APS_arc2_ct_all(System.Int32[] Axis_ID_Array, System.Int32 APS_Option, System.Double[] AnyArray, System.Double[] EndArray, System.Int16 Dir, ref System.Double TransPara, System.Double Vs, System.Double Vm, System.Double Ve, System.Double Acc, System.Double Dec, System.Double SFac, ref ASYNCALL Wait); //********************************************** // [Reserved for unknown usage] //********************************************** [DllImport("APS168.dll")] public static extern Int32 APS_get_watch_timer(System.Int32 Board_ID, ref System.Int32 Timer); [DllImport("APS168.dll")] public static extern Int32 APS_reset_wdt(System.Int32 Board_ID, System.Int32 WDT_No); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_slave_mapto_AxisID(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, ref System.Int32 AxisID); //********************************************** //for 8338 [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_module_info(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, [In, Out] EC_MODULE_INFO[] Module_info); [DllImport("APS168.dll")] public static extern Int32 APS_reset_field_bus_alarm(System.Int32 Axis_ID); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_alarm(System.Int32 Axis_ID, ref System.UInt32 AlarmCode); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_pdo_offset(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, out IntPtr PPTx, ref System.UInt32 NumOfTx, out IntPtr PPRx, ref System.UInt32 NumOfRx); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_pdo(System.Int32 Board_ID, System.Int32 BUS_No, System.UInt16 ByteOffset, System.UInt16 Size, ref System.UInt32 Value); [DllImport("APS168.dll")] public static extern Int32 APS_set_field_bus_pdo(System.Int32 Board_ID, System.Int32 BUS_No, System.UInt16 ByteOffset, System.UInt16 Size, System.UInt32 Value); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_sdo( System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.UInt16 ODIndex, System.UInt16 ODSubIndex, System.Byte[] Data, System.UInt32 DataLen, ref System.UInt32 OutDatalen, System.UInt32 Timeout, System.UInt32 Flags ); [DllImport("APS168.dll")] public static extern Int32 APS_set_field_bus_sdo( System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.UInt16 ODIndex, System.UInt16 ODSubIndex, System.Byte[] Data, System.UInt32 DataLen, System.UInt32 Timeout, System.UInt32 Flags ); [DllImport("APS168.dll")] public static extern Int32 APS_set_field_bus_pdo_ODIndex(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.UInt16 ODIndex, System.UInt16 ODSubIndex, System.Byte[] Data, System.UInt32 DataLen, System.UInt32 Mask); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_pdo_ODIndex(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.UInt16 ODIndex, System.UInt16 ODSubIndex, System.Byte[] Data, System.UInt32 DataLen, ref System.UInt32 OutDatalen); [DllImport("APS168.dll")] public static extern Int32 APS_set_field_bus_sdo_req(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.UInt16 ODIndex, System.UInt16 ODSubIndex, System.UInt32 DataLen, System.Byte[] Data, ref System.Byte Handle); [DllImport("APS168.dll")] public static extern Int32 APS_set_field_bus_sdo_res(System.Int32 Board_ID, System.Int32 BUS_No, System.Byte Handle, ref System.Byte Status); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_sdo_req(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.UInt16 ODIndex, System.UInt16 ODSubIndex, ref System.Byte Handle); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_sdo_res(System.Int32 Board_ID, System.Int32 BUS_No, System.Byte Handle, System.UInt32 DataLen, System.Byte[] Data, ref System.UInt32 OutDataLen, ref System.Byte Status); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_od_num(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, ref System.UInt16 Num, out IntPtr ODList); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_od_desc(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.UInt16 ODIndex, ref System.UInt16 MaxNumSubIndex, System.Byte[] Description, System.UInt32 Size); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_od_desc_entry(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.UInt16 ODIndex, System.UInt16 ODSubIndex, [In, Out] OD_DESC_ENTRY[] pOD_DESC_ENTRY); [DllImport("APS168.dll")] public static extern Int32 APS_get_actual_torque(System.Int32 Axis_ID, ref System.Int32 Torque); [DllImport("APS168.dll")] public static extern Int32 APS_set_field_bus_d_port_output(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 Port_No, System.UInt32 DO_Value); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_d_port_input(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 Port_No, ref System.UInt32 DI_Value); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_d_port_output(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 Port_No, ref System.UInt32 DO_Value); [DllImport("APS168.dll")] public static extern Int32 APS_set_circular_limit(System.Int32 Axis_A, System.Int32 Axis_B, System.Double Center_A, System.Double Center_B, System.Double Radius, System.Int32 Stop_Mode, System.Int32 Enable); [DllImport("APS168.dll")] public static extern Int32 APS_get_circular_limit(System.Int32 Axis_A, System.Int32 Axis_B, ref System.Double Center_A, ref System.Double Center_B, ref System.Double Radius, ref System.Int32 Stop_Mode, ref System.Int32 Enable); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_loss_package(System.Int32 Board_ID, System.Int32 BUS_No, ref System.Int32 Loss_Count); [DllImport("APS168.dll")] public static extern Int32 APS_set_field_bus_od_data(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 SubMOD_No, System.Int32 ODIndex, System.UInt32 RawData); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_od_data(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 SubMOD_No, System.Int32 ODIndex, ref System.UInt32 RawData); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_od_module_info(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, [In, Out] EC_Sub_MODULE_INFO[] Sub_Module_info); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_od_number(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 SubMOD_No, ref System.Int32 TxODNum, ref System.Int32 RxODNum); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_od_tx(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 SubMOD_No, System.Int32 TxODIndex, [In, Out] EC_Sub_MODULE_OD_INFO[] Sub_MODULE_OD_INFO); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_od_rx(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 SubMOD_No, System.Int32 RxODIndex, [In, Out] EC_Sub_MODULE_OD_INFO[] Sub_MODULE_OD_INFO); // PVT function; [DllImport("APS168.dll")] public static extern Int32 APS_pvt_add_point(System.Int32 Axis_ID, System.Int32 ArraySize, System.Double[] PositionArray, System.Double[] VelocityArray, System.Double[] TimeArray); [DllImport("APS168.dll")] public static extern Int32 APS_pvt_get_status(System.Int32 Axis_ID, ref System.Int32 FreeSize, ref System.Int32 PointCount, ref System.Int32 State); [DllImport("APS168.dll")] public static extern Int32 APS_pvt_start(System.Int32 Dimension, System.Int32[] Axis_ID_Array, System.Int32 Enable); [DllImport("APS168.dll")] public static extern Int32 APS_pvt_reset(System.Int32 Axis_ID); // PT functions; [DllImport("APS168.dll")] public static extern Int32 APS_pt_motion_add_point(System.Int32 Axis_ID, System.Int32 ArraySize, System.Double[] PositionArray, System.Double[] TimeArray); [DllImport("APS168.dll")] public static extern Int32 APS_pt_motion_get_status(System.Int32 Axis_ID, ref System.Int32 FreeSize, ref System.Int32 PointCount, ref System.Int32 State); [DllImport("APS168.dll")] public static extern Int32 APS_pt_motion_start(System.Int32 Dimension, System.Int32[] Axis_ID_Array, System.Int32 Enable); [DllImport("APS168.dll")] public static extern Int32 APS_pt_motion_reset(System.Int32 Axis_ID); //Get speed profile calculation [DllImport("APS168.dll")] public static extern Int32 APS_relative_move_profile(System.Int32 Axis_ID, System.Int32 Distance, System.Int32 Max_Speed, ref System.Int32 StrVel, ref System.Int32 MaxVel, ref System.Double Tacc, ref System.Double Tdec, ref System.Double Tconst); [DllImport("APS168.dll")] public static extern Int32 APS_absolute_move_profile(System.Int32 Axis_ID, System.Int32 Position, System.Int32 Max_Speed, ref System.Int32 StrVel, ref System.Int32 MaxVel, ref System.Double Tacc, ref System.Double Tdec, ref System.Double Tconst); //ASYNC mode [DllImport("APS168.dll")] public static extern Int32 APS_get_error_code(System.Int32 Axis_ID, System.UInt32 Index, ref System.Int32 ErrorCode); [DllImport("APS168.dll")] public static extern Int32 APS_get_cmd_fifo_usage(System.Int32 Axis_ID, ref System.UInt32 Number); //Get fpga latch value [For PCI-8254/58] [DllImport("APS168.dll")] public static extern Int32 APS_get_axis_latch_data(System.Int32 Axis_ID, System.Int32 latch_channel, ref System.Int32 latch_data); [DllImport("APS168.dll")] public static extern Int32 APS_register_emx(System.Int32 emx_online, System.Int32 option); [DllImport("APS168.dll")] public static extern Int32 APS_get_deviceIP(System.Int32 Board_ID, ref string option); [DllImport("APS168.dll")] public static extern Int32 APS_reset_emx_alarm(System.Int32 Axis_ID); [DllImport("APS168.dll")] public static extern Int32 APS_check_motion_profile_emx(System.Int32 Axis_ID, ref Speed_profile profile_input, ref Speed_profile profile_output, ref System.Int32 MinDis); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_module_map(System.Int32 Board_ID, System.Int32 BUS_No, System.UInt32[] MOD_No_Arr, System.UInt32 Size); [DllImport("APS168.dll")] public static extern Int32 APS_set_field_bus_module_map(System.Int32 Board_ID, System.Int32 BUS_No, System.UInt32[] MOD_No_Arr, System.UInt32 Size); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_analysis_topology(System.Int32 Board_ID, System.Int32 BUS_No, ref System.Int32 Error_Slave_No, [In, Out] EC_MODULE_INFO[] Current_slave_info, ref System.Int32 Current_slave_num, [In, Out] EC_MODULE_INFO[] Past_slave_info, ref System.Int32 Past_slave_num); [DllImport("APS168.dll")] public static extern Int32 APS_get_gantry_number(System.Int32 Axis_ID, ref System.Int32 SlaveAxisIDSize); [DllImport("APS168.dll")] public static extern Int32 APS_get_gantry_info(System.Int32 Axis_ID, System.Int32 SlaveAxisIDSize, System.Int32[] SlaveAxisIDArray); [DllImport("APS168.dll")] public static extern Int32 APS_get_gantry_deviation(System.Int32 Axis_ID, System.Int32 SlaveAxisIDSize, System.Int32[] SlaveAxisIDArray, System.Double[] DeviationArray); [DllImport("APS168.dll")] public static extern Int32 APS_get_field_bus_slave_state(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, ref System.Int32 State); [DllImport("APS168.dll")] public static extern Int32 APS_set_field_bus_slave_state(System.Int32 Board_ID, System.Int32 BUS_No, System.Int32 MOD_No, System.Int32 State); // Coordinate transform 20190624 [DllImport("APS168.dll")] public static extern Int32 APS_set_coordTransform2D_config(System.Int32 Board_ID, System.Int32 AxisID_X, System.Int32 AxisID_Y, System.Double XYAngle, System.Int32 Enable); [DllImport("APS168.dll")] public static extern Int32 APS_get_coordTransform2D_config(System.Int32 Board_ID, ref System.Int32 AxisID_X, ref System.Int32 AxisID_Y, ref System.Double XYAngle, ref System.Int32 Enable); [DllImport("APS168.dll")] public static extern Int32 APS_get_coordTransform2D_position(System.Int32 Board_ID, ref System.Double Cmd_transform_X, ref System.Int32 Cmd_transform_Y, ref System.Double Fbk_transform_X, ref System.Double Fbk_transform_Y); // Torque control [DllImport("APS168.dll")] public static extern Int32 APS_get_torque_command(System.Int32 Axis_ID, ref System.Int32 TorqueCmd); [DllImport("APS168.dll")] public static extern Int32 APS_set_command_control_mode(System.Int32 Axis_ID, System.Byte Mode); [DllImport("APS168.dll")] public static extern Int32 APS_get_command_control_mode(System.Int32 Axis_ID, ref System.Byte Mode); [DllImport("APS168.dll")] public static extern Int32 APS_torque_move(System.Int32 Axis_ID, System.Int16 TorqueValue, System.UInt32 Slope, System.UInt16 Option, ref ASYNCALL Wait); [UnmanagedFunctionPointer(CallingConvention.Cdecl)] public delegate void callback_func(); [DllImport("APS168.dll")] public static extern Int32 APS_register_int_callback(System.Int32 ISR_No, System.Int32 Board_ID, System.Int32 Item_No, System.Int32 Factor_No, callback_func SuccessHandler, callback_func FailHandler, Int32 Action); // For asynchronous function. For PCIe-833x only. [DllImport("APS168.dll")] public static extern Int32 APS_motion_status_async(System.Int32 Axis_ID); [DllImport("APS168.dll")] public static extern Int32 APS_motion_io_status_async(System.Int32 Axis_ID); [DllImport("APS168.dll")] public static extern Int32 APS_get_command_f_async(System.Int32 Axis_ID, ref System.Double Command); [DllImport("APS168.dll")] public static extern Int32 APS_get_position_f_async(System.Int32 Axis_ID, ref System.Double Position); [DllImport("APS168.dll")] public static extern Int32 APS_get_last_error(System.Int32 Axis_ID, ref System.Int32 ErrorCode); // for AMP-304C [DllImport("APS168.dll")] public static extern Int32 APS_set_trigger_table_data_ex(System.Int32 Board_ID, System.Int32 TCmpCh, TCMP_EX_POINT[] TcmpDataArr, System.Int32 ArraySize, System.Int32 Option); // for 8364RS [DllImport("APS168.dll")] public static extern Int32 APS_set_drive_input_mapping(System.Int32 Board_ID, System.Int32 BUS_No, string pFilePath, System.Int32 option); [DllImport("APS168.dll")] public static extern Int32 APS_set_trigger_output_mapping(System.Int32 Board_ID, System.Int32 BUS_No, string pFilePath, System.Int32 option); [DllImport("APS168.dll")] public static extern Int32 APS_get_msg_size(System.Int32 Board_ID, System.Int32 ArraySize, ref System.Int32 MsgQueueSizeArr); [DllImport("APS168.dll")] public static extern Int32 APS_get_msg_data(System.Int32 Board_ID, System.Int32 MsgNo, System.Int32 MsgNum, System.Int32 MsgSize, ref System.Int32 ActualMsgNum, [Out] char[,] MsgQueueArr); // for AMP-304C and 8364RS [DllImport("APS168.dll")] public static extern Int32 APS_get_trigger_table_remain_count(System.Int32 Board_ID, System.Int32 TCmpCh, ref System.Int32 Cnt); [DllImport("APS168.dll")] public static extern Int32 APS_get_trigger_linear_remain_count(System.Int32 Board_ID, System.Int32 LCmpCh, ref System.Int32 Cnt); [DllImport("APS168.dll")] public static extern Int32 APS_load_config_from_file(System.Int32 Board_ID, string FilePath, System.Int32 Option); //Multi single table move [DllImport("APS168.dll")] public static extern Int32 APS_set_multiple_single_move_table(System.Int32 Board_ID, System.UInt32 TableIndex, System.Byte AxisIDArySize, System.Int32[] Axis_ID_Array, System.UInt32 MoveCmdSize, STR_MOVE_SETTING[] MoveTable, System.Int32 Option); [DllImport("APS168.dll")] public static extern Int32 APS_get_multiple_single_move_table_status(System.Int32 Board_ID, System.UInt32 TableIndex, ref System.Int16 Status, ref System.Int32 LastErrorCode, ref System.Byte IsBufferEmpty); } }