adt850.h

850运动控制卡的详细开发资料

#ifndef	_ADT850_H__
#define	_ADT850_H__

int _stdcall adt850_initial(void);
int _stdcall adt850_end(void);
int _stdcall set_stop0_mode(int cardno,int axis,int value,int logic);
int _stdcall set_stop1_mode(int cardno,int axis,int value,int logic);
int _stdcall set_stop2_mode(int cardno,int axis,int value,int logic);
int _stdcall set_actualcount_mode(int cardno,int axis,int value,int dir,int freq);
int _stdcall set_pulse_mode(int cardno,int axis,int value,int logic,int dir_logic);
int _stdcall set_limit_mode(int cardno,int axis,int value,int logic);
int _stdcall set_softlimit_mode1(int cardno,int axis,int value);
int _stdcall set_softlimit_mode2(int cardno,int axis,int value);
int _stdcall set_softlimit_mode3(int cardno,int axis,int value);
int _stdcall set_inpos_mode(int cardno,int axis,int value,int logic);
int _stdcall set_alarm_mode(int cardno,int axis,int value,int logic);
int _stdcall set_ad_mode(int cardno,int axis,int value);
int _stdcall set_dec1_mode(int cardno,int axis,int value);
int _stdcall set_dec2_mode(int cardno,int axis,int value);
int _stdcall set_circle_mode(int cardno,int axis,int value);
int _stdcall set_input_filter(int cardno,int axis,int number,int value);
int _stdcall set_filter_time(int cardno,int axis,int value);

//----------------------------------------------------//
//               驱动状态检查函数                     //
//----------------------------------------------------//

int _stdcall get_status(int cardno,int axis,int *value);
int _stdcall get_stopdata(int cardno,int axis,int *value);
int _stdcall get_inp_status(int cardno,int no,int *value);
int _stdcall get_inp_status2(int cardno,int no,int *value);

//----------------------------------------------------//
//               运动参数设定函数                     //
//----------------------------------------------------//

int _stdcall set_range(int cardno, int axis,long Value);
int _stdcall set_acac(int cardno, int axis,long Value);
int _stdcall set_acc(int cardno, int axis,long Value);
int _stdcall set_dec(int cardno, int axis,long Value);
int _stdcall set_startv(int cardno, int axis,long Value);
int _stdcall set_speed(int cardno, int axis,long Value);
int _stdcall set_command_pos(int cardno, int axis,long Value);
int _stdcall set_actual_pos(int cardno, int axis,long Value);
int _stdcall set_comp1(int cardno, int axis,long Value);
int _stdcall set_comp2(int cardno, int axis,long Value);
int _stdcall set_dec_pos(int cardno, int axis,long Value);

//----------------------------------------------------//
//               运动参数检查函数                     //
//----------------------------------------------------//

int _stdcall get_command_pos(int cardno,int axis,long *pos);
int _stdcall get_actual_pos(int cardno,int axis,long *pos);
int _stdcall get_speed(int cardno,int axis,long *pos);
int _stdcall get_ad(int cardno,int axis,long *pos);

//----------------------------------------------------//
//                   驱动函数                         //
//----------------------------------------------------//

int _stdcall pmove(int cardno,int axis,long pulse);
int _stdcall continue_move(int cardno,int axis,int dir);
int _stdcall dec_stop(int cardno,int axis);
int _stdcall sudden_stop(int cardno,int axis);
int _stdcall inp_move2(int cardno,int no,long pulse1,long pulse2);
int _stdcall inp_cw_arc(int cardno,int no,long x,long y,long i,long j);
int _stdcall inp_ccw_arc(int cardno,int no,long x,long y,long i,long j);
int _stdcall inp_move3(int cardno,long pulse1,long pulse2,long pulse3);
int _stdcall inp_move4(int cardno,long pulse1,long pulse2,long pulse3,long pulse4);
int _stdcall inp_dec_enable(int cardno, int no);
int _stdcall inp_dec_disable(int cardno, int no);
int _stdcall inp_clear(int cardno);
int _stdcall inp_errclear(int cardno);

//----------------------------------------------------//
//                开关量输入/输出函数                 //
//----------------------------------------------------//

int _stdcall read_di(int cardno,unsigned long *value);
int _stdcall write_do(int cardno,unsigned long value);
int _stdcall read_bit(int cardno,int number);
int _stdcall write_bit(int cardno,int number,int value);


int _stdcall adt850_init_board(void);
int _stdcall home1(int axis,FUNCTION pfn);
int _stdcall home2(int axis1,int axis2,FUNCTION pfn);
int _stdcall home3(int axis1,int axis2,int axis3,FUNCTION pfn);
int _stdcall home4(FUNCTION pfn);
int _stdcall work_move1(int axis,float d,int oppmode,int speedmode,FUNCTION pfn);
int _stdcall work_move2(int axis1,float d1,int axis2,float d2,int oppmode,int speedmode,FUNCTION pfn);
int _stdcall work_move3(int axis1,float d1,int axis2,float d2,int axis3,float d3,int oppmode,int speedmode,FUNCTION pfn);
int _stdcall work_move4(float d1,float d2,float d3,float d4,int oppmode,int speedmode,FUNCTION pfn);

int _stdcall work_inp2(int axis1,float d1,int axis2,float d2,int oppmode,int speedmode,FUNCTION pfn);
int _stdcall work_inp3(float d1,float d2,float d3,int oppmode,int speedmode,FUNCTION pfn);
int _stdcall work_inp4(float d1,float d2,float d3,float d4,int oppmode,int speedmode,FUNCTION pfn);
int _stdcall work_arc(int axis1,int axis2,float cood[],int speedmode,FUNCTION pfn);

int _stdcall hand_move(int axis,int dir,FUNCTION pfn);

int _stdcall continue_move1(int axis,int dir,int speedmode,FUNCTION pfn);
int _stdcall continue_move2(int axis1,int dir1,int axis2,int dir2,int speedmode,FUNCTION pfn);
int _stdcall continue_move3(int axis1,int dir1,int axis2,int dir2,int axis3,int dir3,int speedmode,FUNCTION pfn);
int _stdcall continue_move4(int dir1,int dir2,int dir3,int dir4,int speedmode,FUNCTION pfn);

int _stdcall free_move1(int axis,float d,float startv,float speed,float addtime,int oppmode,FUNCTION pfn);
int _stdcall free_move2(int axis1,float d1,float startv1,float speed1,float addtime1,int axis2,float d2,float startv2,float speed2,float addtime2,int oppmode,FUNCTION pfn);
int _stdcall free_move3(int axis1,float d1,float startv1,float speed1,float addtime1,int axis2,float d2,float startv2,float speed2,float addtime2,int axis3,float d3,float startv3,float speed3,float addtime3,int oppmode,FUNCTION pfn);
int _stdcall free_move4(float d1,float startv1,float speed1,float addtime1,float d2,float startv2,float speed2,float addtime2,float d3,float startv3,float speed3,float addtime3,float d4,float startv4,float speed4,float addtime4,int oppmode,FUNCTION pfn);

int _stdcall one_stop(int axis,int mode);
int _stdcall all_stop(int mode);

float _stdcall get_logical_pos(int axis,int mode);
float _stdcall get_fact_pos(int axis,int mode);
float _stdcall get_move_speed(int axis,int mode);
int _stdcall get_input(int number);
int _stdcall set_output(int number,int value);

#endif