using System.Runtime.InteropServices;
|
using System.Text;
|
|
static class NMCDEF
|
{
|
public const uint MAX_EEPROM_SIZE = 0xFFFF; //16bit max (64k)
|
public const uint ECAT_MAX_NAME = 0xFF; //255
|
public const uint MAX_BOARD_CNT = 4;
|
public const uint MAX_AXIS_CNT = 64;
|
public const uint MAX_AXIS_ID = 65535; //Ver_0c010012_6
|
public const uint MAX_NODE_CNT = 256;
|
public const uint MAX_PHYSICAL_ADDR = 65535; //Ver_0c010012_3
|
public const uint MAX_MASTER_ID = 10;
|
public const uint MAX_ERR_LEN = 128;
|
public const uint MAX_PROFILE_ITEM_COUNT = 6;
|
public const uint MAX_AXES_IN_GROUP = 8; //3->8 //v12.1.0.45
|
public const uint MAX_AXES_GROUP_CNT = 32;
|
public const uint MAX_AXES_STATUS_SIZE = 8;
|
public const uint MAX_ALL_STATUS_SIZE = 1536; //Ver_0c010019_1 : 계산식 = (MAX_AXIS_CNT + MAX_AXES_GROUP_CNT)
|
|
public const uint MAX_LOGICAL_AXIS_COUNT = 64; //v12.1.0.41
|
public const uint MAX_LOGICAL_DEVICE_COUNT = 1024; //v12.1.0.41
|
|
public const ushort INVALID_BOARD = 0xFFFF;
|
public const ushort INVALID_AXIS = 0xFFFF;
|
public const ushort INVALID_MASTERID = 0xFFFF;
|
public const uint INVALID_FLASH = 0xFFFFFFFF;
|
|
// Axis Parameter Definition
|
public const uint COMMANDED_POSITION = 1;
|
public const uint SW_LIMIT_POS = 2;
|
public const uint SW_LIMIT_NEG = 3;
|
public const uint ENABLE_LIMIT_POS = 4;
|
public const uint ENABLE_LIMIT_NEG = 5;
|
public const uint ENABLE_POS_LAG_MONITORING = 6;
|
public const uint MAX_POSITION_LAG = 7;
|
public const uint MAX_VELOCITY_SYSTEM = 8;
|
public const uint MAX_VELOCITY_APPL = 9;
|
public const uint ACTUAL_VELOCITY = 10;
|
public const uint COMMANDED_VELOCITY = 11;
|
public const uint MAX_ACCELERATION_SYSTEM = 12;
|
public const uint MAX_ACCELERATION_APPL = 13;
|
public const uint MAX_DECELERATION_SYSTEM = 14;
|
public const uint MAX_DECELERATION_APPL = 15;
|
public const uint MAX_JERK = 16;
|
public const uint ACTUAL_POSITION = 1001;
|
public const uint PROFILE_DACCEL = 1100;
|
|
// public const uint IOMAP_HEADER_SIZE = 16;
|
public const uint IOMAP_HEADER_SIZE = 28;//DSP 0.13 이상에서 변경됨 , 2014.08.26 (32 - 4)
|
public const uint IOPAGE_SIZE = 4096;
|
}
|
|
namespace MMCE_Test
|
{
|
/// <summary>
|
/// Library Class
|
/// </summary>
|
///
|
public partial class NMCSDKLib
|
{
|
// DLL name should be specified what you have.
|
public const string NMC_DLL_NAME = "NMC_Motion.dll";
|
// axis_source status
|
public enum MC_STATUS : uint
|
{
|
MC_OK = 0x00000000,
|
|
//Device Driver Error Defines
|
MC_ERROR_HW_NOT_INSTALLED = 0x000000DC,
|
MC_ERROR_DD_SEND_ERROR = 0x000000DD,
|
MC_ERROR_DD_READ_ERROR = 0x000000DE,
|
MC_DD_ERROR_SEND = 0x000000DF,
|
MC_DD_ERROR_RECV = 0x000000E0,
|
MC_DD_OPEN_FAIL = 0x000000E6,
|
MC_DD_NOT_OPENED = 0x000000E7,
|
MC_DD_CONN_FAIL = 0x000000E8,
|
MC_DD_CLIENT_START_FAIL = 0x000000E9,
|
MC_DD_OK = 0x00000000,
|
MC_CN_NOT_CONNECTED = 0x000000F0,
|
MC_CN_CONNECTED = 0x000000F1,
|
MC_CN_CONNERROR = 0x000000F2,
|
|
//PLCOpen Motion Command Response Error Defines (F/W)
|
MC_INVALID_SYSTEM_STATE = 0x00010000,
|
MC_UNSUPPORT_CMD = 0x00020000,
|
MC_INVALID_AXIS_STATE_NOT_HOMING_MODE = 0x00020047, //v12.1.0.42 Add
|
MC_INVALID_PARAM = 0x00030000,
|
MC_INVALID_PARAM_1 = 0x00030001,
|
MC_INVALID_PARAM_2 = 0x00030002,
|
MC_INVALID_PARAM_3 = 0x00030003,
|
MC_INVALID_PARAM_4 = 0x00030004,
|
MC_INVALID_PARAM_5 = 0x00030005,
|
MC_INVALID_PARAM_6 = 0x00030006,
|
MC_INVALID_PARAM_7 = 0x00030007,
|
MC_INVALID_PARAM_8 = 0x00030008,
|
MC_INVALID_PARAM_9 = 0x00030009,
|
MC_INVALID_PARAM_10 = 0x0003000A,
|
MC_INVALID_SIZE = 0x00040000,
|
MC_INVALID_AXIS_NUM = 0x00050000,
|
MC_NOT_ENOUGH_RESOURCE = 0x00060000,
|
MC_LIMIT_ERROR_PARAM = 0x00070000,
|
MC_LIMIT_ERROR_PARAM_1 = 0x00070001,
|
MC_LIMIT_ERROR_PARAM_2 = 0x00070002,
|
MC_LIMIT_ERROR_PARAM_3 = 0x00070003,
|
MC_LIMIT_ERROR_PARAM_4 = 0x00070004,
|
MC_LIMIT_ERROR_PARAM_5 = 0x00070005,
|
MC_LIMIT_ERROR_PARAM_6 = 0x00070006,
|
MC_LIMIT_ERROR_PARAM_7 = 0x00070007,
|
MC_LIMIT_ERROR_PARAM_8 = 0x00070008,
|
MC_LIMIT_ERROR_PARAM_9 = 0x00070009,
|
MC_LIMIT_ERROR_PARAM_10 = 0x0007000A,
|
MC_INVALID_DEVICE_STATE = 0x00080000,
|
MC_INVALID_DEVICE_STATE_ERROR = 0x00080001,
|
MC_INVALID_AXIS_STATE_DISABLED = 0x00090000,
|
MC_INVALID_AXIS_STATE_STANDSTILL = 0x00090001, //v12.1.0.42 Add
|
MC_INVALID_AXIS_STATE_DISCRETE_MOTION = 0x00090002, //v12.1.0.42 Add
|
MC_INVALID_AXIS_STATE_CONTINUOUS_MOTION = 0x00090003, //v12.1.0.42 Add
|
MC_INVALID_AXIS_STATE_SYNC_MOTION = 0x00090004,
|
MC_INVALID_AXIS_STATE_HOMING = 0x00090005, //v12.1.0.42 Add
|
MC_INVALID_AXIS_STATE_STOPPING = 0x00090006,
|
MC_INVALID_AXIS_STATE_ERRORSTOP = 0x00090007,
|
MC_INVALID_AXIS_STATE_MODE_CHANGE = 0x00090008, //v12.1.0.42 Add
|
MC_INVALID_AXIS_CONFIG = 0x000A0000,
|
MC_INVALID_AXIS_CONFIG_POS_LIMIT_SWITCH = 0x000A0006, //v12.1.0.42 Add
|
MC_INVALID_AXIS_CONFIG_NEG_LIMIT_SWITCH = 0x000A0009, //v12.1.0.42 Add
|
MC_INVALID_AXIS_CONFIG_HOME_SWITCH = 0x000A000B, //v12.1.0.42 Modify
|
MC_INVALID_AXIS_CONFIG_Z_PHASE_INPUT = 0x000A000D, //v12.1.0.42 Add
|
MC_INVALID_AXIS_CONFIG_HOME_SENSOR = 0x000A0010,
|
MC_INVALID_AXIS_CONFIG_MARK_PULSE = 0x000A0012,
|
MC_INVALID_AXIS_CONFIG_HOME_TYPE = 0x000A0032, //v12.1.0.42 Add
|
MC_INVALID_AXIS_CONFIG_HOME_FLAG_HANDLE = 0x000A003A, //v12.1.0.42 Add
|
MC_INVALID_AXIS_CONFIG_HOMING_MODE = 0x000A0064,
|
MC_GEARING_RULE_VIOLATION = 0x000B0000,
|
MC_LIMIT_POSITION_OVER = 0x000C0000,
|
MC_POS_HW_LIMIT_POSITION_OVER = 0x000C0001, //v12.1.0.42 Add
|
MC_NEG_HW_LIMIT_POSITION_OVER = 0x000C0002, //v12.1.0.42 Add
|
MC_POS_SW_LIMIT_POSITION_OVER = 0x000C0004, //v12.1.0.42 Add
|
MC_NEG_SW_LIMIT_POSITION_OVER = 0x000C0008, //v12.1.0.42 Add
|
MC_INVALID_AXES_GROUP_NUM = 0x000D0000,
|
MC_AXIS_ALREADY_ASSIGNED = 0x000E0002, //v12.1.0.42 Add
|
MC_IDENT_ALREADY_ASSIGNED = 0x000E0004, //v12.1.0.42 Add
|
MC_AXES_GROUP_INVALID_STATE = 0x000F0000,
|
MC_GROUP_INVALID_STATE_MOVING = 0x000F0002, //v12.1.0.42 Add
|
MC_GROUP_INVALID_STATE_HOMING = 0x000F0003, //v12.1.0.42 Add
|
MC_GROUP_INVALID_STATE_STOPPING = 0x000F0004, //v12.1.0.42 Add
|
MC_GROUP_INVALID_STATE_ERRORSTOP = 0x000F0005, //v12.1.0.42 Add
|
MC_AXIS_IN_SINGLE_MOTION_STATE = 0x00100000,
|
MC_1ST_AXIS_IN_MOTION_STATE = 0x00100001, //v12.1.0.42 Add
|
MC_2ND_AXIS_IN_MOTION_STATE = 0x00100002, //v12.1.0.42 Add
|
MC_3RD_AXIS_IN_MOTION_STATE = 0x00100003, //v12.1.0.42 Add
|
MC_4TH_AXIS_IN_MOTION_STATE = 0x00100004, //v12.1.0.42 Add
|
MC_5TH_AXIS_IN_MOTION_STATE = 0x00100005, //v12.1.0.42 Add
|
MC_6TH_AXIS_IN_MOTION_STATE = 0x00100006, //v12.1.0.42 Add
|
MC_7TH_AXIS_IN_MOTION_STATE = 0x00100007, //v12.1.0.42 Add
|
MC_8TH_AXIS_IN_MOTION_STATE = 0x00100008, //v12.1.0.42 Add
|
MC_GROUP_MEMBER_EMPTY = 0x00110000,
|
MC_1ST_AXIS_IN_GROUP_LIMIT_OVER = 0x00120000, //v12.1.0.42 Add
|
MC_2ND_AXIS_IN_GROUP_LIMIT_OVER = 0x00120001, //v12.1.0.42 Add
|
MC_3RD_AXIS_IN_GROUP_LIMIT_OVER = 0x00120002, //v12.1.0.42 Add
|
MC_4TH_AXIS_IN_GROUP_LIMIT_OVER = 0x00120003, //v12.1.0.42 Add
|
MC_5TH_AXIS_IN_GROUP_LIMIT_OVER = 0x00120004, //v12.1.0.42 Add
|
MC_6TH_AXIS_IN_GROUP_LIMIT_OVER = 0x00120005, //v12.1.0.42 Add
|
MC_7TH_AXIS_IN_GROUP_LIMIT_OVER = 0x00120006, //v12.1.0.42 Add
|
MC_8TH_AXIS_IN_GROUP_LIMIT_OVER = 0x00120007, //v12.1.0.42 Add
|
MC_GROUP_CMD_SIZE_ERROR = 0x00130000,
|
MC_GROUP_CMD_PARAMETER_SIZE_ERROR = 0x00130003, //v12.1.0.42 Add
|
MC_GROUP_MEMBER_NOT_ALLOCATED_X = 0x00140000, //v12.1.0.42 Add
|
MC_GROUP_MEMBER_NOT_ALLOCATED_Y = 0x00140001, //v12.1.0.42 Add
|
MC_AXIS_IN_GROUP_MOTION = 0x00150000,
|
|
//Motion Library Error Defines
|
MC_FAIL = 0xE00C0001,
|
MC_ERROR = 0xE00C0002,
|
MC_IOMAPING_ERR = 0xE00C0003,
|
MC_COMMINIT_ERR = 0xE00C0004,
|
MC_COMM_EVENT_INIT_ERR = 0xE00C0005,
|
MC_READ_ENI_NODE_ERR = 0xE00C0006,
|
MC_INVALID_AXIS_ERR = 0xE00C0007,
|
MC_INVALID_BOARD_ERR = 0xE00C0008,
|
MC_XML_PARSING_ERR = 0xE00C0009,
|
MC_XML_ITEM_COUNT_MISMATCH = 0xE00C000A,
|
MC_NO_BOARD_INSTALLED = 0xE00C000B,
|
MC_INVALID_DOWNLOAD_FILE_TYPE = 0xE00C000C,
|
MC_OPEN_ENI_ERR = 0xE00C000D,
|
MC_FILE_OPEN_FAIL = 0xE00C000E,
|
MC_NO_MATCHING_DOWNLOADINFORMATION = 0xE00C000F,
|
MC_NONE_OP = 0xE00C0010,
|
MC_FAIL_GEN_DOWNLOAD_FILE = 0xE00C0011,
|
MC_REG_KEY_READ_FAIL = 0xE00C0012,
|
MC_NOT_ALLOWED_IN_THIS_MASTER_MODE = 0xE00C0014,
|
MC_MASTERID_OUT_OF_RANGE = 0xE00C0015,
|
MC_BOARDNO_OUT_OF_RANGE = 0xE00C0016,
|
MC_AXISNO_OUT_OF_RANGE = 0xE00C0017,
|
MC_BOARDCNT_OUT_OF_RANGE = 0xE00C0018,
|
MC_RETURN_SIZE_NOT_EQUAL = 0xE00C001A,
|
MC_MASTERID_DUPLICATION_ERR = 0xE00C001B,
|
MC_PARAM_ERROR_FILE_IS_NULL = 0xE00C001C,
|
MC_NO_MATCHING_BOARDID_FOUND = 0xE00C001D,
|
MC_NOT_READY_NETWORK_CONFIGURATION = 0xE00C001E,
|
MC_INVALID_MASTERID_ERR = 0xE00C001F,
|
MC_MASTER_MODE_CHANGE_NOT_ALLOWED = 0xE00C0020,
|
MC_MASTER_REQUEST_PARAM_ERROR = 0xE00C0021,
|
MC_MASTER_INVALID_STATE = 0xE00C0022,
|
MC_NOT_MOTION_LIBRAY_INITIALIZED = 0xE00C0023, //2014.08.22 Ver_0c01000D_2
|
MC_IOMANAGER_NOT_RUNNING = 0xE00C0024, //2014.08.22 Ver_0c01000D_2
|
MC_ANOTHER_PROGRAM_IS_USING_NMC_LIBRARY = 0xE00C0025, //2014.10.02 Ver_0c010010_2
|
MC_SLAVE_ITEM_MISMATCH = 0xE00C0026, //
|
MC_SLAVE_ITEM_COUNT_MISMATCH = 0xE00C0027,
|
MC_AXIS_COUNT_OUT_OF_RANGE = 0xE00C0028, //v12.1.0.46
|
|
//Comm Library Error Defines
|
MC_PCICIP_GEN_10 = 0xCC100000,
|
COMM_CONNECTION_ESTABLISHED = 0xED000001,
|
COMM_CONN_CONFIG_FAILED_INVALID_NETWORK_PATH = 0xED000002,
|
COMM_CONN_CONFIG_FAILED_NO_RESPONSE = 0xED000003,
|
COMM_CONN_CONFIG_FAILED_ERROR_RESPONSE = 0xED000004,
|
COMM_CONNECTION_TIMED_OUT = 0xED000005,
|
COMM_CONNECTION_CLOSED = 0xED000006,
|
COMM_INCOMING_CONNECTION_RUN_IDLE_FLAG_CHANGED = 0xED000007,
|
COMM_ASSEMBLY_NEW_INSTANCE_DATA = 0xED000008,
|
COMM_ASSEMBLY_NEW_MEMBER_DATA = 0xED000009,
|
COMM_CONNECTION_NEW_INPUT_SCANNER_DATA = 0xED00000A,
|
COMM_CONNECTION_VERIFICATION = 0xED00000B,
|
COMM_CONNECTION_RECONFIGURED = 0xED00000C,
|
COMM_REQUEST_RESPONSE_RECEIVED = 0xED000064,
|
COMM_REQUEST_FAILED_INVALID_NETWORK_PATH = 0xED000065,
|
COMM_REQUEST_TIMED_OUT = 0xED000066,
|
COMM_CLIENT_OBJECT_REQUEST_RECEIVED = 0xED000067,
|
COMM_NEW_CLASS3_RESPONSE = 0xED000068,
|
COMM_CLIENT_PCCC_REQUEST_RECEIVED = 0xED000069,
|
COMM_NEW_LIST_IDENTITY_RESPONSE = 0xED00006A,
|
COMM_ID_RESET = 0xED00006B,
|
COMM_BACKPLANE_REQUEST_RECEIVED = 0xED00006C,
|
COMM_OUT_OF_MEMORY = 0xED0000C8,
|
COMM_UNABLE_INTIALIZE_WINSOCK = 0xED0000C9,
|
COMM_UNABLE_START_THREAD = 0xED0000CA,
|
COMM_ERROR_USING_WINSOCK = 0xED0000CB,
|
COMM_ERROR_SETTING_SOCKET_TO_NONBLOCKING = 0xED0000CC,
|
COMM_ERROR_SETTING_TIMER = 0xED0000CD,
|
COMM_SESSION_COUNT_LIMIT_REACHED = 0xED0000CE,
|
COMM_CONNECTION_COUNT_LIMIT_REACHED = 0xED0000CF,
|
COMM_PENDING_REQUESTS_LIMIT_REACHED = 0xED0000D0,
|
COMM_PENDING_REQUEST_GROUPS_LIMIT_REACHED = 0xED0000D1,
|
COMM_ERROR_UNABLE_START_MODBUS = 0xED0000D2,
|
COMM_ERROR_HW_NOT_INSTALLED = 0xED0000DC,
|
COMM_ERROR_DD_SEND_ERROR = 0xED0000DD,
|
COMM_ERROR_DD_READ_ERROR = 0xED0000DE,
|
COMM_DD_ERROR_SEND = 0xED0000DF,
|
COMM_DD_ERROR_RECV = 0xED0000E0,
|
COMM_DD_OPEN_FAIL = 0xED0000E6,
|
COMM_DD_NOT_OPENED = 0xED0000E7,
|
COMM_DD_CONN_FAIL = 0xED0000E8,
|
COMM_DD_CLIENT_START_FAIL = 0xED0000E9,
|
COMM_DD_OK = 0xED000000,
|
COMM_CN_NOT_CONNECTED = 0xED0000F0,
|
COMM_CN_CONNECTED = 0xED0000F1,
|
COMM_CN_CONNERROR = 0xED0000F2,
|
//
|
COMM_ERROR_SUCCESS = 0xEE000000,
|
COMM_ERROR_FAILURE = 0xEE010000,
|
COMM_EXT_ERR_DUPLICATE_FWD_OPEN = 0xEE010100,
|
COMM_EXT_ERR_CLASS_TRIGGER_INVALID = 0xEE010103,
|
COMM_EXT_ERR_OWNERSHIP_CONFLICT = 0xEE010106,
|
COMM_EXT_ERR_CONNECTION_NOT_FOUND = 0xEE010107,
|
COMM_EXT_ERR_INVALID_CONN_TYPE = 0xEE010108,
|
COMM_EXT_ERR_INVALID_CONN_SIZE = 0xEE010109,
|
COMM_EXT_ERR_DEVICE_NOT_CONFIGURED = 0xEE010110,
|
COMM_EXT_ERR_RPI_NOT_SUPPORTED = 0xEE010111,
|
COMM_EXT_ERR_CONNECTION_LIMIT_REACHED = 0xEE010113,
|
COMM_EXT_ERR_VENDOR_PRODUCT_CODE_MISMATCH = 0xEE010114,
|
COMM_EXT_ERR_PRODUCT_TYPE_MISMATCH = 0xEE010115,
|
COMM_EXT_ERR_REVISION_MISMATCH = 0xEE010116,
|
COMM_EXT_ERR_INVALID_CONN_POINT = 0xEE010117,
|
COMM_EXT_ERR_INVALID_CONFIG_FORMAT = 0xEE010118,
|
COMM_EXT_ERR_NO_CONTROLLING_CONNECTION = 0xEE010119,
|
COMM_EXT_ERR_TARGET_CONN_LIMIT_REACHED = 0xEE01011A,
|
COMM_EXT_ERR_RPI_SMALLER_THAN_INHIBIT = 0xEE01011B,
|
COMM_EXT_ERR_CONNECTION_TIMED_OUT = 0xEE010203,
|
COMM_EXT_ERR_UNCONNECTED_SEND_TIMED_OUT = 0xEE010204,
|
COMM_EXT_ERR_PARAMETER_ERROR = 0xEE010205,
|
COMM_EXT_ERR_MESSAGE_TOO_LARGE = 0xEE010206,
|
COMM_EXT_ERR_UNCONN_ACK_WITHOUT_REPLY = 0xEE010207,
|
COMM_EXT_ERR_NO_BUFFER_MEMORY_AVAILABLE = 0xEE010301,
|
COMM_EXT_ERR_BANDWIDTH_NOT_AVAILABLE = 0xEE010302,
|
COMM_EXT_ERR_TAG_FILTERS_NOT_AVAILABLE = 0xEE010303,
|
COMM_EXT_ERR_REAL_TIME_DATA_NOT_CONFIG = 0xEE010304,
|
COMM_EXT_ERR_PORT_NOT_AVAILABLE = 0xEE010311,
|
COMM_EXT_ERR_LINK_ADDR_NOT_AVAILABLE = 0xEE010312,
|
COMM_EXT_ERR_INVALID_SEGMENT_TYPE_VALUE = 0xEE010315,
|
COMM_EXT_ERR_PATH_CONNECTION_MISMATCH = 0xEE010316,
|
COMM_EXT_ERR_INVALID_NETWORK_SEGMENT = 0xEE010317,
|
COMM_EXT_ERR_INVALID_LINK_ADDRESS = 0xEE010318,
|
COMM_EXT_ERR_SECOND_RESOURCES_NOT_AVAILABLE = 0xEE010319,
|
COMM_EXT_ERR_CONNECTION_ALREADY_ESTABLISHED = 0xEE01031A,
|
COMM_EXT_ERR_DIRECT_CONN_ALREADY_ESTABLISHED = 0xEE01031B,
|
COMM_EXT_ERR_MISC = 0xEE01031C,
|
COMM_EXT_ERR_REDUNDANT_CONNECTION_MISMATCH = 0xEE01031D,
|
COMM_EXT_ERR_NO_MORE_CONSUMER_RESOURCES = 0xEE01031E,
|
COMM_EXT_ERR_NO_TARGET_PATH_RESOURCES = 0xEE01031F,
|
COMM_EXT_ERR_VENDOR_SPECIFIC = 0xEE010320,
|
COMM_ERROR_NO_RESOURCE = 0xEE020000,
|
COMM_ERROR_INVALID_PARAMETER_VALUE = 0xEE030000,
|
COMM_ERROR_INVALID_SEG_TYPE = 0xEE040000,
|
COMM_ERROR_INVALID_DESTINATION = 0xEE050000,
|
COMM_ERROR_PARTIAL_DATA = 0xEE060000,
|
COMM_ERROR_CONN_LOST = 0xEE070000,
|
COMM_ERROR_BAD_SERVICE = 0xEE080000,
|
COMM_ERROR_BAD_ATTR_DATA = 0xEE090000,
|
COMM_ERROR_ATTR_LIST_ERROR = 0xEE0A0000,
|
COMM_ERROR_ALREADY_IN_REQUESTED_MODE = 0xEE0B0000,
|
COMM_ERROR_OBJECT_STATE_CONFLICT = 0xEE0C0000,
|
COMM_ERROR_OBJ_ALREADY_EXISTS = 0xEE0D0000,
|
COMM_ERROR_ATTR_NOT_SETTABLE = 0xEE0E0000,
|
COMM_ERROR_PERMISSION_DENIED = 0xEE0F0000,
|
COMM_ERROR_DEV_IN_WRONG_STATE = 0xEE100000,
|
COMM_ERROR_REPLY_DATA_TOO_LARGE = 0xEE110000,
|
COMM_ERROR_FRAGMENT_PRIMITIVE = 0xEE120000,
|
COMM_ERROR_NOT_ENOUGH_DATA = 0xEE130000,
|
COMM_ERROR_ATTR_NOT_SUPPORTED = 0xEE140000,
|
COMM_ERROR_TOO_MUCH_DATA = 0xEE150000,
|
COMM_ERROR_OBJ_DOES_NOT_EXIST = 0xEE160000,
|
COMM_ERROR_NO_FRAGMENTATION = 0xEE170000,
|
COMM_ERROR_DATA_NOT_SAVED = 0xEE180000,
|
COMM_ERROR_DATA_WRITE_FAILURE = 0xEE190000,
|
COMM_ERROR_REQUEST_TOO_LARGE = 0xEE1A0000,
|
COMM_ERROR_RESPONSE_TOO_LARGE = 0xEE1B0000,
|
COMM_ERROR_MISSING_LIST_DATA = 0xEE1C0000,
|
COMM_ERROR_INVALID_LIST_STATUS = 0xEE1D0000,
|
COMM_ERROR_SERVICE_ERROR = 0xEE1E0000,
|
COMM_ERROR_VENDOR_SPECIFIC = 0xEE1F0000,
|
COMM_ERROR_INVALID_PARAMETER = 0xEE200000,
|
COMM_ERROR_WRITE_ONCE_FAILURE = 0xEE210000,
|
COMM_ERROR_INVALID_REPLY = 0xEE220000,
|
COMM_ERROR_BAD_KEY_IN_PATH = 0xEE250000,
|
COMM_ERROR_BAD_PATH_SIZE = 0xEE260000,
|
COMM_ERROR_UNEXPECTED_ATTR = 0xEE270000,
|
COMM_ERROR_INVALID_MEMBER = 0xEE280000,
|
COMM_ERROR_MEMBER_NOT_SETTABLE = 0xEE290000,
|
COMM_ERROR_UNKNOWN_MODBUS_ERROR = 0xEE2B0000,
|
COMM_ERROR_HW_NOT_INSTALLED1 = 0xEE2C0000,
|
COMM_ERROR_ENCAP_PROTOCOL = 0xEE6A0000,
|
COMM_ERROR_STILL_PROCESSING = 0xEEFF0000,
|
MC_DOWNLOAD_FAIL_DUE_TO_ANOTHER_PROGRAM_IS_RUNNING = 0xEE800000,//Ver_0c010012_1
|
}
|
public enum EcState : uint
|
{
|
eST_UNKNOWN = 0,
|
eST_INIT = 0x01, // Ver_0c010016_2
|
eST_PREOP = 0x02, // Ver_0c010016_2
|
eST_BOOTSTRAP = 0x03, // v12.1.0.48
|
eST_SAFEOP = 0x04, // Ver_0c010016_2
|
eST_OP = 0x08, // Ver_0c010016_2
|
eST_ACKERR = 0x10, // Ver_0c010016_2
|
eST_NA = 0x14 // Ver_0c010016_2
|
}
|
|
//=========================================================================================================== Hslee
|
public enum ActiveLevel : uint
|
{
|
LOW = 0,
|
HIGH
|
}
|
|
public enum Use : uint
|
{
|
UNUSED = 0,
|
USE
|
}
|
|
public enum ABSREL : uint
|
{
|
Absolute = 0,
|
Relative
|
}
|
|
public enum HOME_TYPE : uint
|
{
|
RefPulse = 0,
|
AbsSwitch,
|
LimitSwitch,
|
MC_Direct,
|
}
|
|
public enum HOME_FLAG : uint
|
{
|
Clear = 0,
|
Not_Clear,
|
Drive_Clear
|
}
|
//=========================================================================================================== Hslee
|
public enum AxisType : uint
|
{
|
OpenLoop = 0,
|
Feedback_Only,
|
OpenLoop_PositionCommand,
|
}
|
|
public enum ModuloType : uint
|
{
|
Type_Linear = 0,
|
Type_Modulo,
|
}
|
|
public enum FeedbackMode : uint
|
{
|
Type_Linear = 0,
|
Type_Modulo,
|
}
|
|
public enum EcMstMode : uint
|
{
|
eMM_IDLE = 0,
|
eMM_SCAN,
|
eMM_RUN,
|
eMM_INTRANSITION,
|
eMM_ERR,
|
eMM_LINKBROKEN,
|
eMM_FREE_RUN, //v12.1.0.54
|
}
|
|
public enum EcScanMode : uint
|
{
|
SCAN_ALL = 0,
|
SCAN_SINGLE,
|
}
|
public enum EcScanSts : uint
|
{
|
SCAN_NONE = 0,
|
SCAN_BUSY,
|
SCAN_DONE
|
}
|
public enum IOBufMode : ushort
|
{
|
BUF_OUT = 0,
|
BUF_IN = 1,
|
}
|
public enum MC_AXISSTATUS : uint
|
{
|
mcErrorStop = 0x00000001,
|
mcDisabled = 0x00000002,
|
mcStopping = 0x00000004,
|
mcStandStill = 0x00000008,
|
mcDiscreteMotion = 0x00000010,
|
mcContinuousMotion = 0x00000020,
|
mcSynchroMotion = 0x00000040,
|
mcHoming = 0x00000080,
|
mcReserved_as_8 = 0x00000100,
|
mcReserved_as_9 = 0x00000200,
|
mcConstantVelocity = 0x00000400,
|
mcAccelerating = 0x00000800,
|
mcDecelerating = 0x00001000,
|
mcDirectionPositive = 0x00002000,
|
mcDirectionNegative = 0x00004000,
|
mcLimitSwitchNeg = 0x00008000,
|
mcLimitSwitchPos = 0x00010000,
|
mcHomeAbsSwitch = 0x00020000,
|
mcLimitSwitchPosEvent = 0x00040000,
|
mcLimitSwitchNegEvent = 0x00080000,
|
mcDriveFault = 0x00100000,
|
mcSensorStop = 0x00200000,
|
mcReadyForPowerOn = 0x00400000,
|
mcPowerOn = 0x00800000,
|
mcIsHomed = 0x01000000,
|
mcAxisWarning = 0x02000000,
|
mcMotionComplete = 0x04000000,
|
mcGearing = 0x08000000,
|
mcGroupMotion = 0x10000000,
|
mcBufferFull = 0x20000000,
|
mcReserved_as_30 = 0x40000000,
|
mcReserved_as_31 = 0x80000000,
|
}
|
|
//MC_ReadStatus
|
public enum MC_Status : uint
|
{
|
mcASErrorStop = 0x00000001,
|
mcASDisabled = 0x00000002,
|
mcASStopping = 0x00000004,
|
mcASStandStill = 0x00000008,
|
mcASDiscreteMotion = 0x00000010,
|
mcASContinuousMotion = 0x00000020,
|
mcASSynchroMotion = 0x00000040,
|
mcASHoming = 0x00000080,
|
}
|
|
//MC_ReadMotionState
|
public enum MC_MOTIONSTATE : uint
|
{
|
mcMSConstantVelocity = 0x00000001,
|
mcMSAccelerating = 0x00000002,
|
mcMSDecelerating = 0x00000004,
|
mcMSDirectionPositive = 0x00000008,
|
mcMSDirectionNegative = 0x00000010,
|
}
|
//MC_ReadAxisInfo
|
public enum MC_AXISINFO : uint
|
{
|
mcAIHomeAbsSwitch = 0x00000001,
|
mcAILimitSwitchPos = 0x00000002,
|
mcAILimitSwitchNeg = 0x00000004,
|
mcAIReserved3 = 0x00000008,
|
mcAIReserved4 = 0x00000010,
|
mcAIReadyForPowerOn = 0x00000020,
|
mcAIPowerOn = 0x00000040,
|
mcAIIsHomed = 0x00000080,
|
mcAIAxisWarining = 0x00000100,
|
mcAIMotionComplete = 0x00000200,
|
mcAIGearing = 0x00000400,
|
mcAIGroupMotion = 0x00000800,
|
mcAIBufferFull = 0x00001000,
|
mcAIReseved13 = 0x00002000,
|
}
|
public enum MC_AXISERROR : uint
|
{
|
mcAxis_NO_ERROR = 0x0000,
|
mcAxis_DEVICE_ERROR = 0x0001,
|
mcAxis_INVALID_AXIS_STATE = 0x0002,
|
mcAxis_PARAMETER_INVALID = 0x0003,
|
mcAxis_UNSUPPORT_CMD_REQUEST = 0x0004,
|
mcAxis_CMD_REQUEST_FORMAT_WRONG = 0x0005,
|
mcAxis_RESOURCE_ERROR = 0x0006,
|
mcAxis_CONFIG_INVALID = 0x0007,
|
mcAxis_POSITION_FOLLOWING_ERROR = 0x0008,
|
mcAxis_VELOCITY_FOLLOWING_ERROR = 0x0009,
|
mcAxis_SYSTEM_MAX_VELOCITY_OVER_ERROR = 0x000A,
|
mcAxis_SYSTEM_MAX_ACCEL_OVER_ERROR = 0x000B,
|
mcAxis_SYSTEM_MAX_DECEL_OVER_ERROR = 0x000C,
|
mcAxis_SYSYEM_MAX_JERK_OVER_ERROR = 0x000D,
|
mcAxis_MALFUNCTION_ERROR = 0x000E,
|
mcAxis_GEARING_RULE_VIOLATION = 0x000F,
|
mcAxis_HW_LIMIT_REACHED_WARNING = 0x8001,
|
mcAxis_SW_LIMIT_REACHED_WARNING = 0x8002,
|
}
|
public struct MC_AxisErrorInfo
|
{
|
ushort ErrorId;
|
ushort ErrorInfo0;
|
ushort ErrorInfo1;
|
}
|
public struct MC_AxesGroupRawDataStatus
|
{
|
byte Mode; // Raw Data Mode
|
byte Enabled; // Enabled Flag
|
uint EmptyBufferCount; // Empty Buffer Count
|
ushort InBufferIndex; // In Buffer Index
|
ushort OutBufferIndex; // Out Buffer Index
|
uint CurrentRawDataID; // Current Out RawDataSet ID
|
byte CoordSystem; // Reserved
|
}
|
public enum MC_SOURCE : uint
|
{
|
mcSetValue = 0, //Synchronization on master set value
|
mcActualValue, //Synchronization on master actual value
|
mcSetValueFixedGear = 0x10,
|
mcActualValueFixedGear = 0x11,
|
mcSetValueFixedGear__ = 0x20,
|
mcActualValueFixedGear__ = 0x21,
|
}
|
public enum MC_EXECUTION_MODE : uint
|
{
|
mcImmediately = 0,
|
mcQueued,
|
}
|
public enum MC_BUFFER_MODE : uint
|
{
|
//0:Aborting, 1:Buffered, 2:BlendingLow, 3:BlendingPrevious, 4:BlendingNext, 5:BlendingHigh
|
mcAborting = 0,
|
mcBuffered,
|
mcBlendingLow,
|
mcBlendingPrevious,
|
mcBlendingNext,
|
mcBlendingHigh,
|
mcBufferedBlendingLow,
|
mcBufferedBlendingPrevious,
|
mcBufferedBlendingNext,
|
mcBufferedBlendingHigh,
|
}
|
public enum MC_DIRECTION : uint
|
{
|
// 0:Positive Direction, 1:Shortest_way, 2:Negative_Direction, 3:Current_Direction
|
mcPositiveDirection = 0,
|
mcShortestWay,
|
mcNegativeDirection,
|
mcCurrentDirection,
|
}
|
public enum MC_GearStatus : ushort
|
{
|
mcGearActive = 0x0001,
|
mcGearIn = 0x0002,
|
mcGearReserved2 = 0x0004,
|
mcGearReserved3 = 0x0008,
|
mcGearReserved4 = 0x0010,
|
mcGearReserved5 = 0x0020,
|
mcGearReserved6 = 0x0040,
|
mcGearReserved7 = 0x0080,
|
mcGearReserved8 = 0x0100,
|
mcGearReserved9 = 0x0200,
|
mcGearReserved10 = 0x0400,
|
mcGearReserved11 = 0x0800,
|
mcGearReserved12 = 0x1000,
|
mcGearReserved13 = 0x2000,
|
mcGearReserved14 = 0x4000,
|
mcGearReserved15 = 0x8000,
|
}
|
public enum AxisStopType : uint
|
{
|
DECE = 0,
|
IMMEDIATE
|
}
|
//Do not use!!! (Old Version)
|
public enum MC_AXIS_DIRECTION : uint
|
{
|
CW = 0,
|
CCW
|
}
|
//New Version
|
public enum MC_HOME_AXIS_DIRECTION : uint
|
{
|
HOMING_DIR_CCW = 0,
|
HOMING_DIR_CW
|
}
|
public enum MC_AXIS_CONTROL : uint
|
{
|
OL_PULSE_DIRECTION = 0,
|
OL_TWO_PULSE,
|
OL_QUDARATURE_PULSE,
|
CL_VELOCITY_LEVEL_ANALOG,
|
CL_TORQUE_LEVEL_ANALOG,
|
}
|
public enum MC_AXIS_I_MODE : uint
|
{
|
IN_STANDING = 0,
|
ALWAYS,
|
}
|
public enum BinFileType : uint
|
{
|
BIN_BOOT = 1,
|
BIN_A8OS = 2,
|
BIN_TM = 3,
|
BIN_DSPOS = 5,
|
BIN_ENI = 6
|
}
|
public enum SWVerType : ushort
|
{
|
SW_VER_MOTION = 0,
|
SW_VER_PCICIP,
|
SW_VER_DDSDK,
|
SW_VER_DD,
|
}
|
public enum MC_CoordSystem : byte
|
{
|
mcACS = 1,
|
mcMCS,
|
mcPCS,
|
}
|
public enum MC_TRANSITION_MODE : byte
|
{
|
mcTMNone = 0, //Insert no transition curve (default mode)
|
mcTMStartVelocity, //Transition with given start velocity
|
mcTMConstantVelocity, //Transition with given constant velocity
|
mcTMCornerDistance, //Transition with given corner distance
|
mcTMMaxCornerDeviation, //Transition with given maximum corner deviation
|
//5 - 9 Reserved by PLCopen
|
//10 -… Supplier specific modes
|
}
|
public enum MC_CIRC_MODE : byte
|
{
|
mcBORDER = 0,
|
mcCENTER,
|
mcRADIUS,
|
mcCENTER_ANGLE = 10,
|
mcBORDER_ANGLE = 11,
|
}
|
public enum MC_CIRC_PATHCHOICE : byte
|
{
|
mcClockWise = 0,
|
mcCounterClockWise,
|
}
|
public enum MC_RAW_DATA_MODE : byte
|
{
|
mcPositionCmdMode = 0,
|
mcVelocityCmdMode,
|
mcTorqueCmdMode,
|
}
|
public enum MC_SAVE_MODE : byte
|
{
|
mcSMAuto = 0,
|
mcSMIndex,
|
}
|
public enum MC_GroupStatus : uint
|
{
|
GroupMoving = 0x00000001,
|
GroupHoming = 0x00000002,
|
GroupErrorStop = 0x00000004,
|
GroupStandby = 0x00000008,
|
GroupStopping = 0x00000010,
|
GroupDisabled = 0x00000020,
|
ConstantVelocity = 0x00000040,
|
Accelerating = 0x00000080,
|
Decelerating = 0x00000100,
|
InPosition = 0x00000200,
|
}
|
public enum MC_ParamID : uint
|
{
|
mcpCommandedPosition = 1,
|
mcpSWLimitPos_ = 2,
|
mcpSWLimitNeg_ = 3,
|
mcpEnableLimitPos_ = 4,
|
mcpEnableLimitNeg_ = 5,
|
mcpEnablePosLagMonitoring = 6,
|
mcpMaxPositionLag_ = 7,
|
mcpMaxVelocitySystem_ = 8,
|
mcpMaxVelocityAppl_ = 9,
|
mcpActualVelocity = 10,
|
mcpCommandedVelocity = 11,
|
mcpMaxAccelerationSystem_ = 12,
|
mcpMaxAccelerationAppl = 13,
|
mcpMaxDecelerationSystem_ = 14,
|
mcpMaxDecelerationAppl = 15,
|
mcpMaxJerkSystem = 16,
|
mcpMaxJerkAppl_ = 17,
|
mcpActualPosition = 1000,
|
mcpCommandedAccel = 1001,
|
mcpActualAccel = 1002,
|
mcpCommandedJerk = 1003,
|
mcpActualJerk = 1004,
|
mcpTotalBufferCount = 1010,
|
mcpAvailableBufferCount = 1011,
|
mcpAxisType = 2002,
|
mcpModuloAxis = 2003,
|
mcpModuloValue = 2004,
|
mcpEnableHWLimitPos = 2010,
|
mcpHWLimitPosInputNum = 2011,
|
mcpHWLimitPosActLevel = 2012,
|
mcpEnableHWLimitNeg = 2013,
|
mcpHWLimitNegInputNum = 2014,
|
mcpHWLimitNegActLevel = 2015,
|
mcpHomeInputNum = 2016,
|
mcpHomeActLevel = 2017,
|
mcpMarkerInputNum = 2018,
|
mcpMarkerActLevel = 2019,
|
mcpInputActLevel = 2020,
|
mcpEnableLimitPos = 2030,
|
mcpSWLimitPos = 2031,
|
mcpEnableLimitNeg = 2032,
|
mcpSWLimitNeg = 2033,
|
mcpMaxVelocityAppl = 2034,
|
mcpMaxAccelAppl = 2035,
|
mcpMaxDecelAppl = 2036,
|
mcpMaxJerkAppl = 2037,
|
mcpMaxVelocitySystem = 2038,
|
mcpMaxAccelerationSystem = 2039,
|
mcpMaxDecelerationSystem = 2040,
|
mcpmcpMaxJerkSystem = 2041,
|
mcpmcpEStopType = 2060,
|
mcpEStopDecel = 2061,
|
mcpEStopJerk = 2062,
|
mcpInvertCmdDir = 2070,
|
mcpCmdScaleFactor = 2071,
|
mcpFeedbackMode = 2072,
|
mcpInvertFeedbackDir = 2073,
|
mcpFeedbackScaleFactor = 2074,
|
mcpPositionFeedbackFilter = 2075,
|
mcpVelocityFeedbackFilter = 2076,
|
mcpAccelerationFeedbackFilter = 2077,
|
mcpStartVelocityOffset = 2078,
|
mcpStopVelocityOffset = 2079,
|
mcpInPositionCheckType = 2080,
|
mcpInPositionWindowSize = 2081,
|
mcpInVelocityWindowSize = 2082,
|
mcpEnablePositionLagMonit = 2083,
|
mcpMaxPositionLag = 2084,
|
mcpPositionLagCalMethod = 2085,
|
mcpEnableVelocityLagMonit = 2086,
|
mcpMaxVelocityLag = 2087,
|
mcpVelocityLagCalMethod = 2088,
|
mcpHomingType = 2100,
|
mcpHomingDir = 2101,
|
mcpHomingVelocity = 2102,
|
mcpHomingAcceleration = 2103,
|
mcpHomingDeceleration = 2104,
|
mcpHomingJerk = 2105,
|
mcpHomingCreepVelocity = 2106,
|
mcpHomePositionOffset = 2107,
|
mcpHomeCompleteFlagHandle = 2108,
|
//v12.1.0.33 syna
|
mcpSensor0StopEnable = 2109,
|
mcpSensor0StopMode = 2110,
|
mcpSensor0StopIOOffset = 2111,
|
mcpSensor0StopIOSize = 2112,
|
mcpSensor0StopIOBit = 2113,
|
mcpSensor0StopPosOffset = 2114,
|
mcpSensor1StopEnable = 2115,
|
mcpSensor1StopMode = 2116,
|
mcpSensor1StopIOOffset = 2117,
|
mcpSensor1StopIOSize = 2118,
|
mcpSensor1StopIOBit = 2119,
|
mcpSensor1StopPosOffset = 2120,
|
mcpSensor2StopEnable = 2121,
|
mcpSensor2StopMode = 2122,
|
mcpSensor2StopIOOffset = 2123,
|
mcpSensor2StopIOSize = 2124,
|
mcpSensor2StopIOBit = 2125,
|
mcpSensor2StopPosOffset = 2126,
|
mcpSensor3StopEnable = 2127,
|
mcpSensor3StopMode = 2128,
|
mcpSensor3StopIOOffset = 2129,
|
mcpSensor3StopIOSize = 2130,
|
mcpSensor3StopIOBit = 2131,
|
mcpSensor3StopPosOffset = 2132,
|
mcpSensor4StopEnable = 2133,
|
mcpSensor4StopMode = 2134,
|
mcpSensor4StopIOOffset = 2135,
|
mcpSensor4StopIOSize = 2136,
|
mcpSensor4StopIOBit = 2137,
|
mcpSensor4StopPosOffset = 2138,
|
//v12.1.0.40
|
mcpPositiveLimitErrorStop = 2139,
|
mcpNegativeLimitErrorStop = 2140,
|
//
|
mcpSensor0MovingVelocity = 2141,
|
mcpSensor1MovingVelocity = 2142,
|
mcpSensor2MovingVelocity = 2143,
|
mcpSensor3MovingVelocity = 2144,
|
mcpSensor4MovingVelocity = 2145,
|
//v12.1.0.48
|
mcpPositionOffset = 2146,
|
}
|
}
|
}
|
|
namespace MMCE_Test
|
{
|
// MMC Library APIs
|
public partial class NMCSDKLib
|
{
|
|
//============================================================================
|
// > APIs <
|
//----------------------------------------------------------------------------
|
// Initialization
|
// General & Utiltiy Functions
|
//===============================================================================
|
#region Public Function
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_Init();
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_MasterInit(ushort MasterID);
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_MasterRUN(ushort MasterID);
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_MasterSTOP(ushort MasterID);
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_GetSWVersion(ushort Type, ref ushort Major, ref ushort Minor);
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_GetErrorMessage(uint ErrorCode, uint Size, StringBuilder ErrorMessage);
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_GetMasterMap(ushort[] MasterMap /*MAX_BOARD_CNT*/, ref ushort MasterCount);
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_GetMasterCount(ref ushort MasterCount);
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_GetBoardScanNo(ushort BoardID, ref ushort BoardScanNo);
|
|
//===========================================================================
|
// Master Utility APIs
|
//---------------------------------------------------------------------------
|
//============================================================================
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MasterGetCurMode(ushort BoardID, ref byte MasterMode);
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MasterGetBoardID(ushort MasterScanNo, ref ushort MasterID);
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MasterGetAxesCount(ushort BoardID, ref uint TotalAxisCount);
|
|
//Add Start (v12.1.0.38)
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MasterGetAxesID(ushort BoardID, ushort[] AxisID);
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MasterGetDeviceCount(ushort BoardID, ref uint TotalDeviceCount);
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MasterGetDeviceID(ushort BoardID, ushort[] DeviceID);
|
//Add End
|
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MasterGetOSRevision(ushort BoardID, ref byte Major, ref byte Minor);
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MasterGetMCRevision(ushort BoardID, ref byte Major, ref byte Minor);
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MasterGetSDOData(
|
ushort BoardID,
|
ushort SlaveNo,
|
ushort SDOIndex,
|
byte SubIndex,
|
uint DataSize,
|
ref uint respDataSize,
|
byte[] bDataArray
|
);
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MasterGetSDODataEcatAddr(
|
ushort BoardID,
|
ushort EcatAddr,
|
ushort SDOIndex,
|
byte SubIndex,
|
uint DataSize,
|
ref uint respDataSize,
|
byte[] bDataArray
|
);
|
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MasterSetSDOData(
|
ushort BoardID,
|
ushort SlaveNo,
|
ushort SDOIndex,
|
byte SubIndex,
|
uint DataSize,
|
ref uint respDataSize,
|
byte[] bDataArray
|
);
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MasterSetSDODataEcatAddr(
|
ushort BoardID,
|
ushort EcatAddr,
|
ushort SDOIndex,
|
byte SubIndex,
|
uint DataSize,
|
ref uint respDataSize,
|
byte[] bDataArray
|
);
|
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MasterGetLastError(
|
ushort BoardID,
|
ref uint pSequenceNo,
|
ref uint pErrorCode,
|
byte[] ExtErrorInfo
|
);
|
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MasterClearError(
|
ushort BoardID
|
);
|
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MasterECatDirectAccess(
|
ushort BoardID,
|
byte EcatCmd,
|
ushort Adp,
|
ushort Ado,
|
ushort ReqDataSize,
|
byte[] bReqDataArray,
|
ref ushort RespDataSize,
|
byte[] bRespDataArray,
|
ref ushort WC
|
);
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS SlaveGetAliasNo(
|
ushort BoardID,
|
ushort EcatAddr,
|
ref ushort AliasID
|
);
|
//Ver_0c010012_8
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS SlaveSetAliasNo(
|
ushort BoardID,
|
ushort EcatAddr,
|
ushort AliasID
|
);
|
//21
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS SlaveGetCurState(
|
ushort BoardID,
|
ushort EcatAddr,
|
ref byte data
|
);
|
|
//===========================================================================
|
// Motion APIs
|
//---------------------------------------------------------------------------
|
//5.1.1.1
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_Power(
|
ushort BoardID, // BoardID
|
ushort AxisID, //Axis number
|
bool Enable// Axis enable : 0:Disable, 1:Enable
|
);
|
//5.1.1.2
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_MoveAbsolute(
|
ushort BoardID, // BoardID
|
ushort AxisID, //Axis number
|
double Position, //Target Position
|
double Velocity, // Max Velocity
|
double Accel, // Max Acceleration
|
double Decel, // Max Deceleration
|
double Jerk, //Max Jerk
|
MC_DIRECTION Dir, // 0:Positive Direction, 1:Shortest_way, 2:Negative_Direction, 3:Current_Direction
|
MC_BUFFER_MODE BufferMode //Buffer Mode : 0:Aborting, 1:Buffered, 2:BlendingLow, 3:BlendingPrevious, 4:BlendingNext, 5:BlendingHigh
|
);
|
//5.1.1.3
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_MoveRelative(
|
ushort BoardID, // BoardID
|
ushort AxisID, //Axis number
|
double Distance, //Distance
|
double Velocity, // Max Velocity
|
double Accel, // Max Acceleration
|
double Decel, // Max Deceleration
|
double Jerk, //Max Jerk
|
MC_BUFFER_MODE BufferMode //Buffer Mode : 0:Aborting, 1:Buffered, 2:BlendingLow, 3:BlendingPrevious, 4:BlendingNext, 5:BlendingHigh
|
);
|
//5.1.1.6
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_MoveVelocity(
|
ushort BoardID, // BoardID
|
ushort AxisID, //Axis number
|
double Velocity, // Max Velocity
|
double Accel, // Max Acceleration
|
double Decel, // Max Deceleration
|
double Jerk, //Max Jerk
|
MC_DIRECTION Dir, // 0:Positive Direction, 1:Shortest_way, 2:Negative_Direction, 3:Current_Direction
|
MC_BUFFER_MODE BufferMode //Buffer Mode : 0:Aborting, 1:Buffered, 2:BlendingLow, 3:BlendingPrevious, 4:BlendingNext, 5:BlendingHigh
|
);
|
//5.1.1.7
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_Home(
|
ushort BoardID, // BoardID
|
ushort AxisID, //Axis number
|
double Position, //
|
MC_BUFFER_MODE BufferMode
|
);
|
//5.1.1.8
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_Stop(
|
ushort BoardID, // BoardID
|
ushort AxisID, //Axis number
|
bool Execute,
|
double Decel, // Max Deceleration
|
double Jerk //Max Jerk
|
);
|
//5.1.1.9 MCReadStatus
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_ReadStatus(
|
ushort BoardID, // BoardID
|
ushort AxisID, //Axis number
|
ref uint pStatus
|
);
|
//5.1.1.10
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_ReadAxisError(
|
ushort BoardID, // BoardID
|
ushort AxisID, //Axis number
|
ref ushort pErrorID,
|
ref ushort pErrorInfo,
|
ref ushort pErrorInfoExt
|
);
|
//5.1.1.11
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_Reset(
|
ushort BoardID, // BoardID
|
ushort AxisID //Axis number
|
);
|
|
//5.1.1.12 MCReadParameter
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_ReadParameter(
|
ushort BoardID, // BoardID
|
ushort AxisID, //Axis number,
|
uint ParameterNum, //PN
|
ref double pValue
|
);
|
//5.1.1.12 MCReadBoolParameter
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_ReadBoolParameter(
|
ushort BoardID, // BoardID
|
ushort AxisID, //Axis number,
|
uint ParameterNum, //PN
|
ref bool pValue
|
);
|
//5.1.1.12 MCReadIntParameter
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_ReadIntParameter(
|
ushort BoardID, // BoardID
|
ushort AxisID, //Axis number,
|
uint ParameterNum, //PN
|
ref uint pValue
|
);
|
//5.1.1.13 MCWriteParameter
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_WriteParameter(
|
ushort BoardID, // BoardID
|
ushort AxisID, //Axis number,
|
uint ParameterNum, //PN
|
double dValue
|
);
|
//5.1.1.13 MCWriteBoolParameter
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_WriteBoolParameter(
|
ushort BoardID, // BoardID
|
ushort AxisID, //Axis number,
|
uint ParameterNum, //PN
|
bool Value
|
);
|
//5.1.1.13 MCWriteIntParameter
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_WriteIntParameter(
|
ushort BoardID, // BoardID
|
ushort AxisID, //Axis number,
|
uint ParameterNum, //PN
|
uint dwValue
|
);
|
//5.1.1.14 MCReadActualPosition
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_ReadActualPosition(
|
ushort BoardID, // BoardID
|
ushort AxisID, //Axis number
|
ref double pPosition // Position Acutal Value
|
);
|
//5.1.1.21 MC_GearIn
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_GearIn(
|
ushort BoardID,
|
ushort MasterAxisID,
|
ushort SlaveAxisID,
|
uint RatioNumerator,
|
uint RatioDenominator,
|
MC_SOURCE MasterValueSource,
|
double Acceleration,
|
double Deceleration,
|
double Jerk,
|
MC_BUFFER_MODE BufferMode
|
);
|
//5.1.1.22 MC_GearOut
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_GearOut(
|
ushort BoardID,
|
ushort SlaveAxisID
|
);
|
//5.1.1.24
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_TouchProbe(
|
ushort BoardID,
|
ushort AxisID,
|
uint TriggerInput,
|
bool WindowOnly,
|
double FirstPosition,
|
double LastPosition
|
);
|
//5.1.1.25
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_AbortTrigger(
|
ushort BoardID,
|
ushort AxisID,
|
uint TriggerInput
|
);
|
//5.1.1.26
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_ReadDigitalInput(
|
ushort BoardID,
|
ushort AxisID,
|
uint InputNumber,
|
ref bool pValue
|
);
|
//5.1.1.27
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_ReadDigitalOutput(
|
ushort BoardID,
|
ushort AxisID,
|
uint OutputNumber,
|
ref bool pValue
|
);
|
//5.1.1.28
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_WriteDigitalOutput(
|
ushort BoardID,
|
ushort AxisID,
|
uint OutputNumber,
|
bool Value
|
);
|
//5.1.1.29 MCSetPosition
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_SetPosition(
|
ushort BoardID, // BoardID
|
ushort AxisID, //Axis number
|
double Position,
|
bool Relative,
|
MC_EXECUTION_MODE Mode
|
);
|
//5.1.1.31
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_ReadActualVelocity(
|
ushort BoardID, // BoardID
|
ushort AxisID, //Axis number
|
ref double pVelocity // Velocity Acutal Value
|
);
|
|
//5.1.1.37
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_Halt(
|
ushort BoardID,
|
ushort AxisID,
|
double Deceleration,
|
double Jerk,
|
MC_BUFFER_MODE BufferMode
|
);
|
//5.1.1.38
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_TriggerMonitor(
|
ushort BoardID,
|
ushort AxisID,
|
uint TriggerInput,
|
ref bool pDone,
|
ref double pRecordedPosition,
|
ref bool pProbeActive
|
);
|
//5.1.1.39
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_ReadMotionState(
|
ushort BoardID, // BoardID
|
ushort AxisID, //Axis number
|
ref uint pMotionState // MC_MOTIONSTATE
|
);
|
//5.1.1.40
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_ReadAxisInfo(
|
ushort BoardID, // BoardID
|
ushort AxisID, //Axis number
|
ref uint pAxisInfo //MC_AXISINFO
|
);
|
//5.1.1.41
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_ReadAxisStatus(
|
ushort BoardID, // BoardID
|
ushort AxisID, //Axis number
|
ref uint pAxisStatus //MC_AXISSTATUS
|
);
|
//5.1.1.42 MC_GearMonitor
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_GearMonitor(
|
ushort BoardID,
|
ushort AxisID,
|
ref ushort pStatus
|
);
|
//5.1.1.43 MC_ReadProfileData
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_ReadProfileData(
|
ushort BoardID,
|
ushort AxisID,
|
ref uint TickCount,
|
ref double Position,
|
ref double Velocity,
|
ref double Accel,
|
ref double Jerk,
|
ref double ActPos,
|
ref double ActVel
|
);
|
|
//===========================================================================
|
//GROUP Motion
|
//---------------------------------------------------------------------------
|
//5.1.1.44 MC_AddAxisToGroup [32]
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_AddAxisToGroup(
|
ushort BoardID,
|
ushort AxisID,
|
ushort AxesGroupNo,
|
ushort IDInGroup
|
);
|
//5.1.1.45 MC_RemoveAxisFromGroup [33]
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_RemoveAxisFromGroup(
|
ushort BoardID,
|
ushort AxesGroupNo,
|
ushort IDInGroup
|
);
|
//5.1.1.46 MC_UngroupAllAxes [34]
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_UngroupAllAxes(
|
ushort BoardID,
|
ushort AxesGroupNo
|
);
|
//5.1.1.47 MC_GroupReadConfiguration [35]
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_GroupReadConfiguration(
|
ushort BoardID,
|
ushort AxesGroupNo,
|
ushort IDInGroup,
|
MC_CoordSystem CoordSystem,
|
ref ushort AxisNo
|
);
|
//5.1.1.48 MC_GroupEnable [36]
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_GroupEnable(
|
ushort BoardID,
|
ushort AxesGroupNo
|
);
|
//5.1.1.49 MC_GroupDisable [37]
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_GroupDisable(
|
ushort BoardID,
|
ushort AxesGroupNo
|
);
|
//5.1.1.50 MC_MoveLinearAbsolute [43]
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_MoveLinearAbsolute(
|
ushort BoardID,
|
ushort AxesGroupNo,
|
ushort PositionCount,
|
double[] PositionData,
|
double Velocity,
|
double Acceleration,
|
double Deceleration,
|
double Jerk,
|
MC_CoordSystem CoordSystem, //Coordination System 을 지정한다. //ACS, MCS, PCS
|
MC_BUFFER_MODE BufferMode, //Buffer Mode 를 지정한다.
|
MC_TRANSITION_MODE TransitionMode, //Transition Mode 를 지정한다.
|
ushort TransitionParameterCount, //TransitionParameter 의 Count 를 명시한다.
|
double[] TransitionParameter //TransitionParameterCount 에 명시된 크기 만큼의 Data 를 입력한다.
|
);
|
//5.1.1.51 MC_GroupHalt [42]
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_GroupHalt(
|
ushort BoardID,
|
ushort AxesGroupNo,
|
double Deceleration,
|
double Jerk,
|
MC_BUFFER_MODE BufferMode //Buffer Mode 를 지정한다.
|
);
|
//5.1.1.52 MC_GroupStop [41]
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_GroupStop(
|
ushort BoardID,
|
ushort AxesGroupNo,
|
bool Execute,
|
double Deceleration,
|
double Jerk
|
);
|
//5.1.1.53 MC_MoveCircularAbsolute2D [44]
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_MoveCircularAbsolute2D(
|
ushort BoardID,
|
ushort AxesGroupNo,
|
MC_CIRC_MODE CircMode,
|
MC_CIRC_PATHCHOICE PathChoice,
|
double[] AuxPoint,
|
double[] EndPoint,
|
double Angle,
|
double Velocity,
|
double Acceleration,
|
double Deceleration,
|
double Jerk,
|
MC_CoordSystem CordSystem,
|
MC_BUFFER_MODE BufferMode,
|
MC_TRANSITION_MODE TransitionMode,
|
ushort TransitionParamCount,
|
double[] TransitionParameter
|
);
|
//5.1.1.54 MC_GroupStop [38]
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_GroupReadStatus(
|
ushort BoardID,
|
ushort AxesGroupNo,
|
ref uint pGroupStatus
|
);
|
|
//5.1.1.55 MC_GroupReadError [39]
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_GroupReadError(
|
ushort BoardID,
|
ushort AxesGroupNo,
|
ref ushort pErrorID,
|
ref ushort pErrorInfo0,
|
ref ushort pErrorInfo1
|
);
|
//5.1.1.56 MC_GroupReset [40]
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_GroupReset(
|
ushort BoardID,
|
ushort AxesGroupNo
|
);
|
|
//5.1.1.57 MC_GroupReadProfileData []
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_GroupReadProfileData(
|
ushort BoardID,
|
ushort AxesGroupNo,
|
ref ushort AxisCount,
|
ref uint TimeTick,
|
double[,] ProfileDataArray
|
);
|
|
//5.1.1.58 MC_GroupReadInfo []
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_GroupReadInfo(
|
ushort BoardID,
|
ushort AxesGroupNo,
|
ref ushort LastIdentNum,
|
ushort[] IdentAxisNumList
|
);
|
|
//5.1.1.59 MC_ReadAllStatus []
|
//[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
//public static extern MC_STATUS MC_ReadAllStatus (
|
// ushort BoardID,
|
// uint StatusData[MAX_ALL_STATUS_SIZE]
|
// );
|
|
//5.1.1.60 MC_GroupSetRawDataMode []
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_GroupSetRawDataMode(
|
ushort BoardID,
|
ushort AxesGroupNo,
|
MC_RAW_DATA_MODE Mode,
|
bool Enable, // Raw data mode enable : 0:Disable, 1:Enable
|
byte ReservedZero1, // MC_COORDSYSTEM CoordSystem,
|
byte ReservedZero2 // MC_BUFFER_MODE BufferMode
|
);
|
|
////5.1.1.61 MC_GroupReadRawDataStatus [] :
|
//[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
//public static extern MC_STATUS MC_GroupReadRawDataStatus(
|
// ushort BoardID,
|
// ushort AxesGroupNo,
|
// MC_AxesGroupRawDataStatus *AxesGroupRawDataStatus
|
// );
|
|
//5.1.1.62 MC_GroupClearRawData [] :
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_GroupClearRawData(
|
ushort BoardID,
|
ushort AxesGroupNo,
|
ushort ReservedZero1,
|
ushort ReservedZero2
|
);
|
|
//5.1.1.63 MC_GroupSetRawData [] :
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_GroupSetRawData(
|
ushort BoardID,
|
ushort AxesGroupNo,
|
MC_SAVE_MODE SaveMode,
|
ushort IndexNum,
|
ushort RawDataSize,
|
ushort RawDataCount,
|
byte[] RawDataArray,
|
ref ushort StoredNum
|
);
|
|
|
//5.1.1.64 MC_ReadRemainBuffer [] :
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_ReadRemainBuffer(
|
ushort BoardID,
|
ushort AxesNo,
|
ref uint BufferSize
|
);
|
|
//5.1.1.65 MC_GroupReadRemainBuffer [] :
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_GroupReadRemainBuffer(
|
ushort BoardID,
|
ushort AxesGroupNo,
|
ref uint BufferSize
|
);
|
|
//===========================================================================
|
// Motion APIs Add
|
//---------------------------------------------------------------------------
|
//5.1.1.66 MC_MoveAbsoluteMultiAxis [] : //v12.1.0.40
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_MoveAbsoluteMultiAxis(
|
ushort BoardID, //Board ID
|
ushort AxisCount, //Number of Axis
|
ushort[] AxisArray, //Array of Axis ID
|
double[] PositionArray, //Target Position Array
|
double Velocity, //Max Velocity
|
double Acceleration, //Max Acceleration
|
double Deceleration, //Max Deceleration
|
double Jerk, //Max Jerk
|
MC_DIRECTION[] DirectionArray, //Array of Moving Direction for each Axis(0,1,2,3)
|
byte ErrorStopMode //Mode of multi-axes Motion Stop when Error occurred in one(or more) of multi-axes.
|
); //0:Remainder axes do not Stop (Continue their Motion), 1:Remainder axes also Stop with E-Stop Parameters.
|
|
|
//5.1.1.67 MC_MoveRelativeMultiAxis [] : //v12.1.0.40
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_MoveRelativeMultiAxis(
|
ushort BoardID, //Board ID
|
ushort AxisCount, //Number of Axis
|
ushort[] AxisArray, //Array of Axis ID
|
double[] PositionArray, //Target Position Array
|
double Velocity, //Max Velocity
|
double Acceleration, //Max Acceleration
|
double Deceleration, //Max Deceleration
|
double Jerk, //Max Jerk
|
byte ErrorStopMode //Mode of multi-axes Motion Stop when Error occurred in one(or more) of multi-axes.
|
); //0:Remainder axes do not Stop (Continue their Motion), 1:Remainder axes also Stop with E-Stop Parameters.
|
|
//5.1.1.67 MC_HaltMultiAxis [] : //v12.1.0.42
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_HaltMultiAxis(
|
ushort BoardID, //Board ID
|
ushort AxisCount, //Number of Axis
|
ushort[] AxisArray, //Array of Axis ID
|
byte ErrorStopMode //Mode of multi-axes Motion Stop when Error occurred in one(or more) of multi-axes.
|
); //0:Remainder axes do not Stop (Continue their Motion), 1:Remainder axes also Stop with E-Stop Parameters.
|
|
|
//5.1.1.68 MC_SetHomeFlag [] :
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_SetHomeFlag(
|
ushort BoardID, //BoardID
|
ushort AxisID, //Axis number
|
ushort EcatAddr //Ethercat Address
|
);
|
|
//5.1.1.69 MC_GetHomeFlag [] :
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_GetHomeFlag(
|
ushort BoardID, //BoardID
|
ushort AxisID, //Axis number
|
ref uint pHomeFlag //Home Flag
|
);
|
|
//5.1.1.70 MC_ModeChange [] :
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_ModeChange(
|
ushort BoardID, //BoardID
|
ushort AxisID, //Axis number
|
byte Mode, //Mode(6:hm,8:csp)
|
byte ReservedZero //MC_BUFFER_MODE BufferMode (Reserved)
|
);
|
|
//5.1.1.71 MC_SlaveHomeSet [] :
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_SlaveHomeSet(
|
ushort BoardID, //BoardID
|
ushort EcatAddr, //Ethercat Address
|
int Offset, //Home Offset
|
byte Method, //Method
|
uint SpeedSwitch, //Speed during search for switch
|
uint SpeedZero, //Speed during search for zero
|
uint Acceleration, //Acceleration
|
byte ReservedZero //MC_BUFFER_MODE BufferMode (Reserved)
|
);
|
|
//5.1.1.72 MC_SlaveHome [] :
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_SlaveHome(
|
ushort BoardID, //BoardID
|
ushort AxisID, //Axis number
|
byte Start, //0:Stop,1:Start
|
byte ReservedZero //MC_BUFFER_MODE BufferMode (Reserved)
|
);
|
|
//5.1.1.73 MC_SlaveHomeHalt [] :
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_SlaveHomeHalt(
|
ushort BoardID, //BoardID
|
ushort AxisID, //Axis number
|
byte ReservedZero //MC_BUFFER_MODE BufferMode (Reserved)
|
);
|
|
//5.1.1.74 MC_ReadSlaveHomeStatus [] :
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_ReadSlaveHomeStatus(
|
ushort BoardID, //BoardID
|
ushort AxisID, //Axis number
|
ref uint HomeStatus //Response Data(Bit0:Homing Complete, Bit1:Homing Error)
|
);
|
|
//5.1.1.75 MC_ReadSlaveModeStatus [] :
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_ReadSlaveModeStatus(
|
ushort BoardID, //BoardID
|
ushort AxisID, //Axis number
|
ref byte ModeStatus //Response Data(6:hm,8:csp)
|
);
|
|
//5.1.1.76 MC_ReadMultiAxisStatus [] :
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_ReadMultiAxisStatus(
|
ushort BoardID, //Board ID
|
ushort AxisCount, //Number of Axis
|
ushort[] AxisArray, //Array of Axis ID
|
ref uint Status //Axis Status
|
);
|
|
//5.1.1.77 MC_ReadCommandedPosition [] :
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_ReadCommandedPosition(
|
ushort BoardID, //BoardID
|
ushort AxisID, //Axis number
|
ref double pPosition //Commmanded Position Value
|
);
|
|
//5.1.1.78 MC_ReadCommandedVelocity [] :
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_ReadCommandedVelocity(
|
ushort BoardID, //BoardID
|
ushort AxisID, //Axis number
|
ref double pVelocity //Commmanded Velocity Value
|
);
|
|
//5.1.1.79 MC_GroupWriteParameter [] :
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_GroupWriteParameter(
|
ushort BoardID, //_in BoardID
|
ushort GroupNum, //_in GroupNum
|
uint ParameterNum, //_in ParameterNum
|
double Value //_in Value
|
);
|
|
//5.1.1.80 MC_GroupReadParameter [] :
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_GroupReadParameter(
|
ushort BoardID, //_in BoardID
|
ushort GroupNum, //_in GroupNum
|
uint ParameterNum, //_in ParameterNum
|
ref double pValue //_out Value
|
);
|
|
//5.1.1.81 MC_WriteIntervalTrigParameterFM [] :
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_WriteIntervalTrigParameterFM(
|
ushort BoardID, //_in BoardID
|
ushort EcatAddr, //_in Ethercat Address
|
ushort AxisID, //_in AxisID
|
double StartPosition, //_in Start Position
|
double EndPosition, //_in End Position
|
ushort IntervalPeriod, //_in Interval Period
|
ushort PulseWidth //_in Pulse Width
|
);
|
|
//5.1.1.82 MC_WriteIntervalTrigEnableFM [] :
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_WriteIntervalTrigEnableFM(
|
ushort BoardID, //_in BoardID
|
ushort EcatAddr, //_in Ethercat Address
|
ushort AxisID, //_in AxisID
|
bool Enable //_in Configuration Enable True/False
|
);
|
|
//===========================================================================
|
//---------------------------------------------------------------------------
|
// Device IO APIs
|
//---------------------------------------------------------------------------
|
//MC_GetIOState
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_GetIOState(
|
ushort BoardID,
|
uint type,
|
ref uint State
|
);
|
|
// MC_IO_WRITE
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_IO_RAW_WRITE(
|
ushort BoardID,
|
uint Offset,
|
uint Size,
|
byte[] DataArray
|
);
|
// MC_IO_WRITE
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_IO_WRITE(
|
ushort BoardID,
|
ushort EcatAddr,
|
uint Offset,
|
uint Size,
|
byte[] DataArray
|
);
|
// MC_IO_WRITE_BIT
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_IO_WRITE_BIT(
|
ushort BoardID,
|
ushort EcatAddr,
|
uint Offset,
|
byte bitOffset,
|
bool data
|
);
|
// MC_IO_WRITE_BIT
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_IO_RAW_WRITE_BIT(
|
ushort BoardID,
|
uint Offset,
|
byte bitOffset,
|
bool data
|
);
|
// MC_IO_WRITE_BYTE
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_IO_WRITE_BYTE(
|
ushort BoardID,
|
ushort EcatAddr,
|
uint Offset,
|
byte data
|
);
|
// MC_IO_WRITE_WORD
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_IO_WRITE_WORD(
|
ushort BoardID,
|
ushort EcatAddr,
|
uint Offset,
|
ushort data
|
);
|
// MC_IO_WRITE_DWORD
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_IO_WRITE_DWORD(
|
ushort BoardID,
|
ushort EcatAddr,
|
uint Offset,
|
ushort data
|
);
|
|
// MC_IO_READ
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_IO_READ(
|
ushort BoardID,
|
ushort EcatAddr,
|
ushort BufferInOut,
|
uint Offset,
|
uint Size,
|
byte[] DataArray
|
);
|
// MC_IO_READ
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_IO_RAW_READ(
|
ushort BoardID,
|
ushort BufferInOut,
|
uint Offset,
|
uint Size,
|
byte[] DataArray
|
);
|
// MC_IO_READ_BIT
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_IO_READ_BIT(
|
ushort BoardID,
|
ushort EcatAddr,
|
ushort BufferInOut,
|
uint Offset,
|
byte BitOffset,
|
ref bool data
|
);
|
// MC_IO_READ_BIT
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_IO_RAW_READ_BIT(
|
ushort BoardID,
|
ushort BufferInOut,
|
uint Offset,
|
byte BitOffset,
|
ref bool data
|
);
|
// MC_IO_READ_BYTE
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_IO_READ_BYTE(
|
ushort BoardID,
|
ushort EcatAddr,
|
ushort BufferInOut,
|
uint Offset,
|
ref byte data
|
);
|
// MC_IO_READ_WORD
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_IO_READ_WORD(
|
ushort BoardID,
|
ushort EcatAddr,
|
ushort BufferInOut,
|
uint Offset,
|
ref ushort data
|
);
|
// MC_IO_READ_DWORD
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_IO_READ_DWORD(
|
ushort BoardID,
|
ushort EcatAddr,
|
ushort BufferInOut,
|
uint Offset,
|
ref uint data
|
);
|
|
//===========================================================================
|
//---------------------------------------------------------------------------
|
// System Performance APIs
|
//---------------------------------------------------------------------------
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_SetSystemPerformance(ushort Level);
|
|
//Master Get Analog Output Info.
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MasterGet_AO_DeviceCount(
|
ushort BoardID, //_in BoardID
|
ref ushort DeviceCount //_out AO DeviceCount
|
);
|
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MasterGet_AO_DeviceTotalChSize(
|
ushort BoardID, //_in BoardID
|
ushort DeviceID, //_in AO DeviceID (EcatAddr)
|
ref ushort DeviceTotalChSize //_out AO Device Total Channel Size
|
);
|
|
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MasterGet_IO_DevicePdoCount(
|
ushort BoardID, //_in BoardID
|
ushort DeviceID, //_in I/O DeviceID (EcatAddr)
|
ref ushort InPdoCount, //_out Input Pdo Count
|
ref ushort OutPdoCount //_out Output Pdo Count
|
);
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MasterGet_IO_DeviceInPdoData(
|
ushort BoardID, //_in BoardID
|
ushort DeviceID, //_in I/O DeviceID (EcatAddr)
|
ushort[] InPdoSizeArray, //_out Input Pdo Size Array
|
ushort[] InPdoIOOffsetArray, //_out Input Pdo IOOffset Array
|
ushort[] InPdoRawIOOffsetArray //_out Input Pdo Raw IOOffset Array
|
);
|
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MasterGet_IO_DeviceOutPdoData(
|
ushort BoardID, //_in BoardID
|
ushort DeviceID, //_in I/O DeviceID (EcatAddr)
|
ushort[] OutPdoSizeArray, //_out Output Pdo Size Array
|
ushort[] OutPdoIOOffsetArray, //_out Output Pdo IOOffset Array
|
ushort[] OutPdoRawIOOffsetArray //_out Output Pdo Raw IOOffset Array
|
);
|
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MasterGet_DI_DeviceCount(
|
ushort BoardID, //_in BoardID
|
ref ushort DeviceCount //_out DI Device Count
|
);
|
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MasterGet_DI_DeviceID(
|
ushort BoardID, //_in BoardID
|
ushort[] DeviceIDArray //_out DI DeviceID Array (EcatAddr)
|
);
|
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MasterGet_DI_DeviceTotalChSize(
|
ushort BoardID, //_in BoardID
|
ushort DeviceID, //_in DI DeviceID (EcatAddr)
|
ref ushort DeviceTotalChSize //_out DI Device Total Channel Size
|
);
|
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MasterGet_DO_DeviceCount(
|
ushort BoardID, //_in BoardID
|
ref ushort DeviceCount //_out DO Device Count
|
);
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MasterGet_DO_DeviceID(
|
ushort BoardID, //_in BoardID
|
ushort[] DeviceIDArray //_out DO DeviceID Array (EcatAddr)
|
);
|
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MasterGet_DO_DeviceTotalChSize(
|
ushort BoardID, //_in BoardID
|
ushort DeviceID, //_in DO DeviceID (EcatAddr)
|
ref ushort DeviceTotalChSize //_out DO Device Total Channel Size
|
);
|
|
//-----------------------------------------------------------------------------
|
//
|
//
|
// Error Compensation
|
//
|
//
|
//-----------------------------------------------------------------------------
|
//v12.1.0.69
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_ChangeErrorCompensationMode(
|
ushort BoardID, //_in BoardID
|
ushort AxisID, //_in AxisID (AxisID 1~65535 / Gantry:0~3 / Group:0~15)
|
byte Type, //_in Type (Axis:0, Gantry:1, Group:2)
|
ushort Mode, //_in Mode (EC Data Mode Enable:1, EC Data Mode Disable:0)
|
byte ECMapID //_in ECMapID (Range:0~3) (Table1 ~ Table4)
|
);
|
|
//v12.1.0.69
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_ReadErrorCompensationStatus(
|
ushort BoardID, //_in BoardID
|
byte ECMapID, //_in ECMapID (Range:0~3) (Table1 ~ Table4)
|
ref ushort AxisID, //_out AxisID (AxisID 1~65535 / Gantry:0~3 / Group:0~15)
|
ref byte Type, //_out Type (Axis:0, Gantry:1, Group-2D:2, Group-3D:3)
|
ref byte Status //_out Mode Status (Disabled:0, Enabled:1, Disabling:2, Enabling:3)
|
);
|
|
//v12.1.0.69
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_WriteErrorCompensationDataFile(
|
ushort BoardID, //_in BoardID
|
ushort ECType, //_in ECType (0:1D Axis or Gantry, 1:2D Group, 2:3D Group)
|
byte ECMapID, //_in ECMapID (Range:0~3) (Table1 ~ Table4)
|
StringBuilder sFullPathFileName //_in WriteFile FullPathFileName
|
);
|
|
//v12.1.0.68
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_EniFileDownload(
|
ushort BoardID, //_in BoardID
|
StringBuilder sNvsFileName, //_in eMMC.nvs Full Path File Name ex) c:\\test\\eMMC.nvs
|
StringBuilder sEniFileName //_in ENI.xml Full Path File Name ex) c:\\test\\ENI.xml
|
);
|
|
[DllImport(NMC_DLL_NAME, CallingConvention = CallingConvention.Cdecl)]
|
public static extern MC_STATUS MC_GetMismatchErrorInfo(ushort BoardID,
|
ref ushort MismatchSlaveCount,
|
ushort[] MismatchSlaveID);
|
|
|
|
|
#endregion
|
}
|
}
|
