📄 aads1240.h
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// Vers Date By Notes
// ---- ---- -- -----
// 1.0 6/28/2000 GENE LIN Created
//
#define PUBLIC extern
#define PRIVATE static
#if !defined(_WIN31)
#define FEXPORT __declspec (dllexport)
#define FTYPE CALLBACK
#else
#define FEXPORT extern
#define FTYPE FAR PASCAL
#endif
#define DOUBLE double
/************************************************************************
Define Global Value
************************************************************************/
#define CW 0
#define CCW 1
#define ImmediateStop 0
#define SlowStop 1
#define RelativeCoordinate 0
#define AbsoluteCoordinate 1
#define TCurveAcceleration 0
#define SCurveAcceleration 1
/************************************************************************
Define Register ID
************************************************************************/
#define Rcnt 0x0100 /* Real position counter */
#define Lcnt 0x0101 /* Logical position counter */
#define Pcmp 0x0102 /* P direction compare register */
#define Ncmp 0x0103 /* N direction compare register */
#define Pnum 0x0104 /* Pulse number */
#define CurV 0x0105 /* current logical speed */
#define CurAC 0x0106 /* current logical acc */
#define SLDN_STOP 0x0026
#define IMME_STOP 0x0027
#define WR3_OUTSL 0x0080
#define RESET 0x8000
#define RR0 0x0200
#define RR1 0x0202
#define RR2 0x0204
#define RR3 0x0206
#define RR4 0x0208
#define RR5 0x020A
#define RR6 0x020C
#define RR7 0x020E
#define WR0 0x0210
#define WR1 0x0212
#define WR2 0x0214
#define WR3 0x0216
#define WR4 0x0218
#define WR5 0x021A
#define WR6 0x021C
#define WR7 0x021E
#define RG 0x0300
#define SV 0x0301
#define DV 0x0302
#define MDV 0x0303
#define AC 0x0304
#define DC 0x0305
#define AK 0x0306
#define PLmt 0x0307
#define NLmt 0x0308
#define HomeOffset 0x0309
#define HomeMode 0x030A
#define HomeType 0x030B
#define HomeP0_Dir 0x030C
#define HomeP0_Speed 0x030D
#define HomeP1_Dir 0x030E
#define HomeP1_Speed 0x030F
#define HomeP2_Dir 0x0310
#define HomeOffset_Speed 0x0311
#define RWSN 0x0312
/************************************************************************
Define Operation Axis
************************************************************************/
#define IPO_Axis 0x00
#define X_Axis 0x01
#define Y_Axis 0x02
#define Z_Axis 0x04
#define U_Axis 0x08
#define XY_Axis 0x03
#define XZ_Axis 0x05
#define XU_Axis 0x09
#define YZ_Axis 0x06
#define YU_Axis 0x0A
#define ZU_Axis 0x0C
#define XYZ_Axis 0x07
#define XYU_Axis 0x0B
#define XZU_axis 0x0D
#define YZU_Axis 0x0E
#define XYZU_Axis 0x0F
/************************************************************************
Path type for continue moving
************************************************************************/
#define IPO_L2 0x0030
#define IPO_L3 0x0031
#define IPO_CW 0x0032
#define IPO_CCW 0x0134
/************************************************************************
Return Code
************************************************************************/
#define BoardNumErr 0x0001
#define CreateKernelDriverFail 0x0002 //internal system error
#define CallKernelDriverFail 0x0003 //internal system error
#define RegistryOpenFail 0x0004 //Open registry file fail
#define RegistryReadFail 0x0005 //Read registry file fail
#define AxisNumErr 0x0006
#define UnderRGErr 0x0007
#define OverRGErr 0x0008
#define UnderSVErr 0x0009
#define OverSVErr 0x000a
#define OverMDVErr 0x000b
#define UnderDVErr 0x000c
#define OverDVErr 0x000d
#define UnderACErr 0x000e
#define OverACErr 0x000f
#define UnderAKErr 0x0010
#define OverAKErr 0x0011
#define OverPLmtErr 0x0012
#define OverNLmtErr 0x0013
#define MaxMoveDistErr 0x0014
#define AxisDrvBusy 0x0015
#define RegUnDefine 0x0016
#define ParaValueErr 0x0017
#define ParaValueOverRange 0x0018
#define ParaValueUnderRange 0x0019
#define AxisHomeBusy 0x001a
#define AxisExtBusy 0x001b
#define RegistryWriteFail 0x001c
#define ParaValueOverErr 0x001d
#define ParaValueUnderErr 0x001e
#define OverDCErr 0x001f
#define UnderDCErr 0x0020
#define UnderMDVErr 0x0021
#define RegistryCreateFail 0x0022
#define CreateThreadErr 0x0023 //internal system fail
#define HomeSwStop 0x0024 //P1240HomeStatus
#define ChangeSpeedErr 0x0025
#define DOPortAsDriverStatus 0x0026
#define OpenEventFail 0x0030 //Internal system fail
#define DeviceCloseErr 0x0032 //Internal system fail
#define HomeEMGStop 0x0040 //P1240HomeStatus
#define HomeLMTPStop 0x0041 //P1240HomeStatus
#define HomeLMTNStop 0x0042 //P1240HomeStatus
#define HomeALARMStop 0x0043 //P1240HomeStatus
#define AllocateBufferFail 0x0050
#define BufferReAllocate 0x0051
#define FreeBufferFail 0x0052
#define FirstPointNumberFail 0x0053
#define PointNumExceedAllocatedSize 0x0054
#define BufferNoneAllocate 0x0055
#define SequenceNumberErr 0x0056
#define PathTypeErr 0x0057
#define PathTypeMixErr 0x0060
#define BufferDataNotEnough 0x0061
/************************************************************************
External mode
************************************************************************/
#define JOGDisable 0x00
#define JOGSelfAxis 0x01
#define JOGSelect_XAxis 0x02
#define JOGSelect_YAxis 0x03
#define JOGConnect_XAxis 0x04
#define JOGConnect_YAxis 0x05
#define JOGConnect_ZAxis 0x06
#define JOGConnect_UAxis 0x07
#define HandWheelDisable 0x08
#define HandWheelSelfAxis 0x09
#define HandWheelSelect_XAxis 0x0a
#define HandWheelSelect_YAxis 0x0b
#define HandWheelFrom_XAxis 0x0c
#define HandWheelFrom_YAxis 0x0d
#define HandWheelFrom_ZAxis 0x0e
#define HandWheelFrom_UAxis 0x0f
// Line Interplation( 2 axes )
// - dwEndPoint_ax1;
// - dwEndPoint_ax2;
// - wCommand; ; IPO_L2
// Line Interplation( 3 axes )
// - dwEndPoint_ax1;
// - dwEndPoint_ax2;
// - dwEndPoint_ax3;
// - wCommand; ; IPO_L3
// Arc Interplation( only 2 axes )
// - dwEndPoint_ax1; ; Arc end point of axis 1
// - dwEndPoint_ax2; ; Arc end point of axis 2
// - dwCenPoint_ax1; ; Arc center point of axis 1
// - dwCenPoint_ax1; ; Arc center point of axis 2
// - wCommand; ; IPO_CW,IPO_CCW
typedef struct _MotMoveBuffer
{
DWORD dwEndPoint_ax1; // End position for 1'st axis
DWORD dwEndPoint_ax2; // End position for 2'nd axis
DWORD dwEndPoint_ax3; // End position for 3'rd axis
DWORD dwCenPoint_ax1; // Center position for 1'st axis
DWORD dwCenPoint_ax2; // Center position for 2'rd axis
DWORD dwPointNum; // Serial number for current data
WORD wCommand; // IPO_CW,IPO_CCW,IPO_L2,IPO_L3
WORD TempB; // For internal using
DWORD TempA; // For internal using
} MotMoveBuffer, * LPMotMoveBuffer;
typedef struct _MotionDataStruct
{
LPMotMoveBuffer lpBufIDAddr; // Buffer address
HGLOBAL hBuf; // Hanlde of Buffer
DWORD dwAllPointNum; // How many point of continue move ( get from P1240InitContiBuf)
BOOLEAN bPoint1Flag;
DWORD dwEndPointNum;
} MotDataStruct;
typedef struct _MotSpeedTable
{
DWORD dwSpeed; // speed data
DWORD dwComp; // comparator data
} MotSpeedTable, * LPMotSpeedTable;
// added by yongdong
typedef struct _VBoard_ID
{
BYTE byBoard_ID;
} VBoard_ID, * LPVBoard_ID;
#ifdef __cplusplus
extern "C"
{
#endif
FEXPORT LRESULT FTYPE P1240MotDevOpen(BYTE byBoard_ID);
FEXPORT LRESULT FTYPE P1240MotDevAvailable(DWORD *lpReturnBoardStatus);
FEXPORT LRESULT FTYPE P1240MotDevClose(BYTE byBoard_ID);
FEXPORT LRESULT FTYPE P1240MotAxisParaSet(BYTE byBoard_ID,
BYTE bySetAxis,
BYTE byTS,
DWORD dwSV,
DWORD dwDV,
DWORD dwMDV,
DWORD dwAC,
DWORD dwAK);
FEXPORT LRESULT FTYPE P1240MotChgDV(BYTE byBoard_ID,
BYTE bySetAxis,
DWORD dwSetDVValue);
FEXPORT LRESULT FTYPE P1240MotChgLineArcDV(BYTE byBoard_ID,
DWORD dwSetDVValue);
FEXPORT LRESULT FTYPE P1240MotCmove(BYTE byBoard_ID,
BYTE byCMoveAxis,
BYTE byAxisDirection);
FEXPORT LRESULT FTYPE P1240MotPtp(BYTE byBoard_ID,
BYTE byMoveAxis,
BYTE byRA,
LONG lPulseX,
LONG lPulseY,
LONG lPulseZ,
LONG lPulseU);
FEXPORT LRESULT FTYPE P1240MotLine(BYTE byBoard_ID,
BYTE byMoveAxis,
BYTE byRA,
LONG lPulseX,
LONG lPulseY,
LONG lPulseZ,
LONG lPulseU);
FEXPORT LRESULT FTYPE P1240MotArc(BYTE byBoard_ID,
BYTE byMoveAxis,
BYTE byRA,
BYTE byAxisDirection,
LONG lCenter1,
LONG lCenter2,
LONG lEnd1,
LONG lEnd2);
FEXPORT LRESULT FTYPE P1240MotArcTheta(BYTE byBoard_ID,
BYTE byMoveAxis,
BYTE byRA,
LONG lCenter1,
LONG lCenter2,
DOUBLE dMoveDeg);
FEXPORT LRESULT FTYPE P1240MotStop(BYTE byBoard_ID,
BYTE byStopAxis,
BYTE byStopMode);
FEXPORT LRESULT FTYPE P1240MotAxisBusy(BYTE byBoard_ID,
BYTE byCheckAxis);
FEXPORT LRESULT FTYPE P1240MotClrErr(BYTE byBoard_ID,
BYTE byClearAxis);
FEXPORT LRESULT FTYPE P1240MotRdReg(BYTE byBoard_ID,
BYTE byReadAxis,
WORD wCommandCode,
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