kpci884.h

步进伺服电机运动控制KPCI-884步进伺服电机运动控制vc测试程序

//1
  int __stdcall Init884(int num);//初始化k880卡，adr 卡基地址.返回码：(0)成功,(-1)非法参数
//2
  int __stdcall PulseOutMode(int num, unsigned short  axis,int  mode);//设置驱动脉冲输出模式，axis轴选择， mode 模式设置：0：CW/CCW方式，1：DIR方式.返回码：(0)成功,(-1)非法参数
//3
 unsigned long __stdcall ReadLP(int num, unsigned short axis);//获取逻辑位置，axis轴选择.返回码：(0)成功,(-1)非法参数
//4
   int __stdcall ReadCV(int num, unsigned short axis);//获取当前速度参数，axis轴选择.返回码：(0)成功,(-1)非法参数
//5
 int __stdcall SetCP(int num, unsigned short axis, long dwdata,UINT fs);//设置上限位，axis轴选择，dwdata数据设定.返回码：(0)成功,(-1)非法参数
//6
 int __stdcall SetCM(int num, unsigned short axis, long dwdata,UINT fs);//设置下限位，axis轴选择，dwdata数据设定.返回码：(0)成功,(-1)非法参数
//7
  int __stdcall DecStop(int num, unsigned short axis);//减速至停.返回码：(0)成功,(-1)非法参数
//8
  int __stdcall InstStop(int num, unsigned short axis);//急停.返回码：(0)成功,(-1)非法参数
//9
   int __stdcall SetA(int num, unsigned short  axis, int wdata);//加速度设置.返回码：(0)成功,(-1)非法参数
   int __stdcall SetDec(int num, unsigned short  axis, int wdata);//加速度设置.返回码：(0)成功,(-1)非法参数
//10
 int __stdcall SetSV(int num, unsigned short  axis, unsigned short  wdata);//初始速度设置.返回码：(0)成功,(-1)非法参数
//11
  int __stdcall SetV(int num, unsigned short axis, unsigned short wdata);//驱动速度设置.返回码：(0)成功,(-1)非法参数
//12
  int __stdcall Move_DV(int num, unsigned short axis,unsigned short m_v_a,unsigned short m_v_sv,unsigned short m_v_v,int fx,long m_v_p);

    int __stdcall  Set_LV(int num, unsigned short axis, short m_v_a,unsigned short m_v_sv,unsigned short m_v_v);

  int __stdcall SetLP(int num, unsigned short  axis, long dwdata);//设置逻辑位置计数器设置下限位，axis轴选择，dwdata数据设定.返回码：(0)成功,(-1)非法参数
//15
    int __stdcall RePosition(int num);//复位
//16
    int __stdcall SetP( int num, unsigned short  axis, long dwdata);//设置脉冲数，axis轴选择，dwdata数据设定.返回码：(0)成功,(-1)非法参数
//17
  int __stdcall Start_DV(int num, unsigned short axis,int  fx);//速度确定命令，axis轴选择，fx方向选择0：正方向，1：负方向。返回码：(0)成功,(-1)非法参数
//18
  int __stdcall MotorStatus(int num, unsigned short axis);//电机状态回读函数，axis轴选择返回值： 0   电机正在运行1	电机达到上限位2	电机达到下限位3	电机处于停机状态，由于外部信号-1   非法参数
//19
  int __stdcall Stopped(int num, unsigned int  axis);//判断电机是否停止0：未停，1：停止。
   int __stdcall StopOutEnable(int num, unsigned short axis);//

  int __stdcall  Move_LV(int num, unsigned short axis,unsigned short m_v_a,unsigned short m_v_sv,unsigned short m_v_v,int fx);	

  int __stdcall Start_LV(int num, unsigned short axis,int  fx);//速度确定命令，axis轴选择，fx方向选择0：正方向，1：负方向。返回码：(0)成功,(-1)非法参数
//26
 int __stdcall ReadCOMP(int num, unsigned short axis);//读限位，反回码1：达到上限位，2：达到下限位，
//27
   int __stdcall ReadCA(int num, unsigned short axis);//
//28
  int __stdcall  Set_DV(int num, unsigned short axis, short m_v_a,unsigned short m_v_sv,unsigned short m_v_v,long m_v_p);
//29
 int __stdcall ReadRR0(int num);

  long __stdcall ReadEP(int num, unsigned short axis);
//36sifu
 int __stdcall SetEP(int num, unsigned short  axis, long dwdata);
//38
  int __stdcall AutoDec(int num,unsigned short axis);	//启动自动减速
//39
  int __stdcall HandDec(int num,unsigned short axis,long  DecPulse);//启动手动减速
 //40
  int __stdcall SSet(int num,unsigned short axis);
  //41
  int __stdcall SClear(int num,unsigned short axis);
  //42
  int __stdcall FDriving(long P,unsigned V,int num,unsigned Axis);	//无S曲线加/减速的固定脉冲驱动(p-轴上的脉冲  V-速度 ）
  void  __stdcall AxisAssing(unsigned axis);	//轴插补设定

  void __stdcall SetStatusOut(int num,unsigned axis);//设置某轴OUT4-7为状态输出
  int __stdcall SetK(int num,unsigned axis,unsigned wdata);

  int __stdcall ReadEMG(int num,unsigned axis);//读外部紧急信号中止位 0：未中止 1:中止
//53
  int __stdcall ReadLMT(int num,unsigned axis);	//读硬件限位  -1：卡号错误， -2： 轴号错误，1：达到上限位，2：达到下限位 0:限位信号无效
//54
//  int __stdcall  ReadWR3(int num, unsigned short axis);
//55
  void __stdcall SetWR3(int num,unsigned short axis, unsigned short wdata);//设置寄存器wr3
//56
//  int __stdcall  ReadWR2(int num, unsigned short axis);
//57
  void __stdcall SetWR2(int num, unsigned short axis, unsigned short wdata);
//58设置MCX314倍率
  int __stdcall SetM(int num,unsigned short axis, int wdata);
//59 获得MCX314倍率
  int __stdcall ReadM(int num,unsigned short axis);

//60 启动外部信号连续运动
  int __stdcall LV_OutEnable(int num,unsigned short axis);
//61 启动外部信号定长运动
  int __stdcall DV_OutEnable(int num,unsigned short axis);
//  void __stdcall OutBIT(int num,unsigned short axis,unsigned short datawata );
  int __stdcall SetOUTBIT(int num,unsigned short axis,unsigned short wei,unsigned short data);
  int __stdcall SetOUTBYTE(int num,unsigned short axis,unsigned short data);
  int __stdcall ReadBIT(int num,unsigned short  axis,unsigned short wei);
  int __stdcall ReadBYTE(int num,unsigned short axis);
  int __stdcall Get_axis(unsigned short axis);
   BOOL __stdcall Judge_axis(unsigned short axis);

  int __stdcall GetRR5(int num);
  int __stdcall GetRR4(int num);
  int __stdcall GetRR3(int num,unsigned int axis);
  int __stdcall GetRR2(int num,unsigned int axis);
  int __stdcall GetRR1(int num,unsigned int axis);
  int __stdcall GetRR0(int num);/////////
  int __stdcall SetD(int num,unsigned short axis,unsigned short wdata);
  int __stdcall ClearCM(int num,unsigned short axis);
  int __stdcall ClearCP(int num,unsigned short axis);
  int __stdcall Line2D(int num,UINT axis1,UINT axis2,unsigned short m_v_a,unsigned short m_v_sv,unsigned short m_v_v,long m_v_p1,long m_v_p2);
  int __stdcall Line3D(int num,UINT axis1,UINT axis2,UINT axis3,unsigned short m_v_a,unsigned short m_v_sv,unsigned short m_v_v,long m_v_p1, long m_v_p2, short m_v_p3);
  int __stdcall SetMCB(int num,float fdata);
  int __stdcall GetCurrentV(int num);
  int __stdcall Circle_HandDec(int num,UINT axis1,UINT axis2,UINT fm,int m_c1,int m_c2,unsigned long m_p1,unsigned long m_p2,unsigned short m_v_a,unsigned short m_v_sv,unsigned short m_v_v,long DecPulse);
  int __stdcall BPInter2D(int num,double(*pfun)(double),long *px0,long *py0,long N,UINT pm,unsigned short m_v_a,unsigned short m_v_sv,unsigned short m_v_v);
  void __stdcall BPClear(int num);
  int __stdcall LMTMD(int num,unsigned short axis,UINT fs);
  int __stdcall HLMT(int num,unsigned axis,UINT zf,UINT dp);
  int __stdcall PulseInMode(int num,unsigned short axis,unsigned short mode,unsigned short xf);
  int __stdcall Alarm_Disable(int num,unsigned short axis);
  int __stdcall Alarm_Enable(int num,unsigned short axis,UINT dp);
  int __stdcall INP_Disable(int num,unsigned short axis);
  int __stdcall INP_Enable(int num,unsigned short axis,UINT dp);
  int __stdcall IN_Disable(int num,unsigned short axis,UINT bits);
  int __stdcall IN_Enable(int num,unsigned short axis,unsigned short bits,UINT dp);
  int __stdcall Circle_ConstSpeed(int num,UINT axis1,UINT axis2,UINT fm,int m_c1,int m_c2,unsigned long m_p1,unsigned long m_p2,unsigned short m_v_sv,unsigned short m_v_v);
  int __stdcall SetInterRupt(int CardNum,unsigned short Axis,int IntClass,void (*pf)());

  void __stdcall SetFlag();
  void __stdcall DisableFlag();
  int __stdcall Close884();