mccl_fun.h

机械手IPC控制器伺服运动程序

_declspec(dllexport)int    _stdcall MCC_SetLIOTriggerType(WORD wTriggerType, WORD wPoint, WORD wCardIndex = 0);
_declspec(dllexport)int    _stdcall MCC_EnableLIOTrigger(WORD wPoint, WORD wCardIndex = 0);
_declspec(dllexport)int    _stdcall MCC_DisableLIOTrigger(WORD wPoint, WORD wCardIndex = 0);


//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//  Coordinate Management

//  Set/Get Coordinate Unit
_declspec(dllexport)int    _stdcall MCC_SetUnit(int nUnitMode, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_GetUnit(WORD wGroupIndex = 0);

//  Set/Get Coordinate Type
_declspec(dllexport)int    _stdcall MCC_SetAbsolute(WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_SetIncrease(WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_GetCoordType(WORD wGroupIndex = 0);

//  Get Current Position & Pulse Position
_declspec(dllexport)int    _stdcall MCC_GetCurRefPos(double *pdfX, double *pdfY, double *pdfZ, double *pdfU, double *pdfV, double *pdfW, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_GetCurPos(double *pdfX, double *pdfY, double *pdfZ, double *pdfU, double *pdfV, double *pdfW, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_GetPulsePos(long *plX, long *plY, long *plZ, long *plU, long *plV, long *plW, WORD wGroupIndex = 0);

//  Coordinate Management
_declspec(dllexport)int    _stdcall MCC_DefineOrigin(WORD wChannel, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_RedefineCoord(WORD wGroupIndex = 0);


//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//  Software Over Travel Check & Hardware Limit Switch Check

//  Enable/Disable Hardware Limit Switch Check
_declspec(dllexport)int    _stdcall MCC_EnableLimitSwitchCheck(int nMode);
_declspec(dllexport)int    _stdcall MCC_DisableLimitSwitchCheck();

//  Enable/Disable Software Over Travel Check
_declspec(dllexport)int    _stdcall MCC_SetOverTravelCheck(int nOTCheck0, int nOTCheck1, int nOTCheck2, int nOTCheck3, int nOTCheck4, int nOTCheck5, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_GetOverTravelCheck(int *pnOTCheck0, int *pnOTCheck1, int *pnOTCheck2, int *pnOTCheck3, int *pnOTCheck4, int *pnOTCheck5, WORD wGroupIndex = 0);

//  Get Limit Switch Sensor Signal
_declspec(dllexport)int    _stdcall MCC_GetLimitSwitchStatus(WORD *pwStatus, WORD wUpDown, WORD wChannel, WORD wCardIndex = 0);


//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//  Trajectory Planning Characteristics

//  Set/Get Interpolation Time
_declspec(dllexport)int    _stdcall MCC_SetInterpolateTime(double dfTime);
_declspec(dllexport)double _stdcall MCC_GetInterpolateTime();

//  Set/Get Pulse Speed & Accleration
_declspec(dllexport)int    _stdcall MCC_SetMaxPulseSpeed(int nPulse0, int nPulse1, int nPulse2, int nPulse3, int nPulse4, int nPulse5);
_declspec(dllexport)int    _stdcall MCC_GetMaxPulseSpeed(int *pnSpeed0, int *pnSpeed1, int *pnSpeed2, int *pnSpeed3, int *pnSpeed4, int *pnSpeed5);
_declspec(dllexport)int    _stdcall MCC_SetMaxPulseAcc(int nPulseAcc0, int nPulseAcc1, int nPulseAcc2, int nPulseAcc3, int nPulseAcc4, int nPulseAcc5);
_declspec(dllexport)int    _stdcall MCC_GetMaxPulseAcc(int *pnPulseAcc0, int *pnPulseAcc1, int *pnPulseAcc2, int *pnPulseAcc3, int *pnPulseAcc4, int *pnPulseAcc5);

//  Link Cycle Interrupt Service Function
_declspec(dllexport)int    _stdcall MCC_SetCycleInterruptRoutine(CYCLE_INTERRUPT_ISR pfnCycleIntRoutine);


//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//  General Motions(Line, Arc, Circle Motion)

//  Set/Get Accleration & Deceleration Types
_declspec(dllexport)int    _stdcall MCC_SetAccType(char cAccType, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_GetAccType(WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_SetDecType(char cDecType, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_GetDecType(WORD wGroupIndex = 0);

//  Set/Get Accleration & Deceleration Times(Steps)
_declspec(dllexport)int    _stdcall MCC_SetAccTime(double dfAccTime, WORD wGroupIndex = 0);
_declspec(dllexport)double _stdcall MCC_GetAccTime(WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_SetDecTime(double dfDecTime, WORD wGroupIndex = 0);
_declspec(dllexport)double _stdcall MCC_GetDecTime(WORD wGroupIndex = 0);

//  Change Accleration & Deceleration Times(Steps) of Current Executing Motion
_declspec(dllexport)int    _stdcall MCC_ChangeAccTime(double dfAccTime, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_ChangeDecTime(double dfDecTime, WORD wGroupIndex = 0);


//  Set/Get Feed Speed
_declspec(dllexport)double _stdcall MCC_SetFeedSpeed(double dfFeedSpeed, WORD wGroupIndex = 0);
_declspec(dllexport)double _stdcall MCC_GetFeedSpeed(WORD wGroupIndex = 0);
_declspec(dllexport)double _stdcall MCC_GetCurFeedSpeed(WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_GetSpeed(double *pdfVel0, double *pdfVel1, double *pdfVel2, double *pdfVel3, double *pdfVel4, double *pdfVel5, WORD wGroupIndex = 0);

//  Line Motion
_declspec(dllexport)int    _stdcall MCC_Line(double dfX0, double dfX1, double dfX2, double dfX3, double dfX4, double dfX5, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_LineX(double dfX, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_LineY(double dfY, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_LineZ(double dfZ, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_LineU(double dfU, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_LineV(double dfV, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_LineW(double dfW, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_LineUVW( double dfU, double dfV, double dfW, WORD wGroupIndex = 0);

//  Arc Motion
_declspec(dllexport)int    _stdcall MCC_ArcXYZ(double dfRX0, double dfRX1, double dfRX2, double dfX0, double dfX1, double dfX2, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_ArcXY(double dfRX0, double dfRX1, double dfX0, double dfX1, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_ArcYZ(double dfRX1, double dfRX2, double dfX1, double dfX2, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_ArcZX(double dfRX2, double dfRX0, double dfX2, double dfX0, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_ArcXYZUVW(double dfRX0, double dfRX1, double dfRX2, double dfX0, double dfX1, double dfX2, double dfX3, double dfX4, double dfX5, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_ArcXYUVW(double dfRX0, double dfRX1, double dfX0, double dfX1, double dfX3, double dfX4, double dfX5, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_ArcYZUVW(double dfRX1, double dfRX2, double dfX1, double dfX2, double dfX3, double dfX4, double dfX5, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_ArcZXUVW(double dfRX2, double dfRX0, double dfX2, double dfX0, double dfX3, double dfX4, double dfX5, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_ArcThetaXY(double dfX0, double dfX1, double dfTheta, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_ArcThetaYZ(double dfX1, double dfX2, double dfTheta, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_ArcThetaZX(double dfX2, double dfX0, double dfTheta, WORD wGroupIndex = 0);

//  Circle Motion
_declspec(dllexport)int    _stdcall MCC_CircleXY(double dfCX0, double dfCX1, BYTE byCirDir, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_CircleYZ(double dfCX1, double dfCX2, BYTE byCirDir, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_CircleZX(double dfCX2, double dfCX0, BYTE byCirDir, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_CircleXYUVW(double dfCX0, double dfCX1, double dfU, double dfV, double dfW, BYTE byCirDir, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_CircleYZUVW(double dfCX1, double dfCX2, double dfU, double dfV, double dfW, BYTE byCirDir, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_CircleZXUVW(double dfCX2, double dfCX0, double dfU, double dfV, double dfW, BYTE byCirDir, WORD wGroupIndex = 0);

//  Helica Motion
_declspec(dllexport)int    _stdcall MCC_HelicaXY_Z(double dfCX, double dfCY, double dfZ, double dfPitch, BYTE byCirDir, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_HelicaYZ_X(double dfCY, double dfCZ, double dfX, double dfPitch, BYTE byCirDir, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_HelicaZX_Y(double dfCZ, double dfCX, double dfY, double dfPitch, BYTE byCirDir, WORD wGroupIndex = 0);


//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//  Point to Point Motion

//  Set/Get Accleration & Deceleration Types
_declspec(dllexport)int    _stdcall MCC_SetPtPAccType(char cAccType0, char cAccType1, char cAccType2, char cAccType3, char cAccType4, char cAccType5,  WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_GetPtPAccType(char *pcAccType0, char *pcAccType1, char *pcAccType2, char *pcAccType3, char *pcAccType4, char *pcAccType5, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_SetPtPDecType(char cDecType0, char cDecType1, char cDecType2, char cDecType3, char cDecType4, char cDecType5, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_GetPtPDecType(char *pcDecType0, char *pcDecType1, char *pcDecType2, char *pcDecType3, char *pcDecType4, char *pcDecType5, WORD wGroupIndex = 0);

//  Set/Get Accleration & Deceleration Times(Steps)
_declspec(dllexport)int    _stdcall MCC_SetPtPAccTime(double dfAccTime0, double dfAccTime1, double dfAccTime2, double dfAccTime3, double dfAccTime4, double dfAccTime5, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_GetPtPAccTime(double *pdfAccTime0, double *pdfAccTime1, double *pdfAccTime2, double *pdfAccTime3, double *pdfAccTime4, double *pdfAccTime5, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_SetPtPDecTime(double dfDecTime0, double dfDecTime1, double dfDecTime2, double dfDecTime3, double dfDecTime4, double dfDecTime5, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_GetPtPDecTime(double *pdfDecTime0, double *pdfDecTime1, double *pdfDecTime2, double *pdfDecTime3, double *pdfDecTime4, double *pdfDecTime5, WORD wGroupIndex = 0);

//  Set/Get Speed Ratio
_declspec(dllexport)double _stdcall MCC_SetPtPSpeed(double dfRatio, WORD wGroupIndex = 0);
_declspec(dllexport)double _stdcall MCC_GetPtPSpeed(WORD wGroupIndex = 0);

//  Point to Point Motion
_declspec(dllexport)int    _stdcall MCC_PtP(double dfX0, double dfX1, double dfX2, double dfX3, double dfX4, double dfX5, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_PtPX(double dfX, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_PtPY(double dfY, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_PtPZ(double dfZ, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_PtPU(double dfU, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_PtPV(double dfV, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_PtPW(double dfW, WORD wGroupIndex = 0);



//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//  JOG Motion

//  Jog Motion
_declspec(dllexport)int    _stdcall MCC_JogPulse(int nPulse, char cAxis, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_JogSpace(double dfOffset, double dfRatio, char cAxis, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_JogConti(int nDir, double dfRatio, char cAxis, WORD wGroupIndex = 0);


//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//  Motion Status

//  Get Current Motion Status
_declspec(dllexport)int    _stdcall MCC_GetMotionStatus(WORD wGroupIndex = 0);

//  Get Current Executing Motion Command
_declspec(dllexport)int    _stdcall MCC_GetCurCommand(COMMAND_INFO *pstCurCommand, WORD wGroupIndex = 0);

//  Get Motion Command Stock Count
_declspec(dllexport)int    _stdcall MCC_GetCommandCount(int *pnCmdCount, WORD wGroupIndex = 0);

_declspec(dllexport)int    _stdcall MCC_ResetCommandIndex(WORD wGroupIndex = 0);

//  Set/Get Hardware Pulse Stock Count
_declspec(dllexport)int    _stdcall MCC_SetMaxPulseStockNo(int nMinStockCount);
_declspec(dllexport)int    _stdcall MCC_GetCurPulseStockCount(WORD *pwStockCount, WORD wChannel, WORD wCardIndex = 0);

//  Get/Clear Error Code
_declspec(dllexport)int    _stdcall MCC_GetErrorCode(WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_ClearError(WORD wGroupIndex = 0);


//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//  Go Home

//  Operations 
_declspec(dllexport)int    _stdcall MCC_Home(int nXOrder, int nYOrder, int nZOrder, int nUOrder, int nVOrder, int nWOrder, WORD wCardIndex = 0);
_declspec(dllexport)int    _stdcall MCC_GetGoHomeStatus();
_declspec(dllexport)int    _stdcall MCC_AbortGoHome();

//  Get Home Sensor Signal
_declspec(dllexport)int    _stdcall MCC_GetHomeSensorStatus(WORD *pwStatus, WORD wChannel, WORD wCardIndex = 0);


//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//  Position Control

//  Set Compensation Table
_declspec(dllexport)int    _stdcall MCC_SetCompParam(SYS_COMP_PARAM *pstCompParam, WORD wChannel, WORD wCardIndex = 0);
_declspec(dllexport)int    _stdcall MCC_UpdateCompParam();

//  Set/Get P Gain for Position Control Loop
_declspec(dllexport)int    _stdcall MCC_SetPGain(WORD wGain0, WORD wGain1, WORD wGain2, WORD wGain3, WORD wGain4, WORD wGain5, WORD wCardIndex = 0);
_declspec(dllexport)int    _stdcall MCC_GetPGain(WORD *pwGain0, WORD *pwGain1, WORD *pwGain2, WORD *pwGain3, WORD *pwGain4, WORD *pwGain5, WORD wCardIndex = 0);
_declspec(dllexport)int    _stdcall MCC_GetErrorCount(int *pnErrCount0, int *pnErrCount1, int *pnErrCount2, int *pnErrCount3, int *pnErrCount4, int *pnErrCount5, WORD wCardIndex = 0);

//  In Postion Operations
_declspec(dllexport)int    _stdcall MCC_SetInPosCheckTime(WORD wTimeCount, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_EnableInPos(WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_DisableInPos(WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_SetInPosTolerance(WORD wTolerance0, WORD wTolerance1, WORD wTolerance2, WORD wTolerance3, WORD wTolerance4, WORD wTolerance5, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_GetInPosTolerance(WORD *pwTolerance0, WORD *pwTolerance1, WORD *pwTolerance2, WORD *pwTolerance3, WORD *pwTolerance4, WORD *pwTolerance5, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_GetInPosStatus(BYTE *pbyInPos0, BYTE *pbyInPos1, BYTE *pbyInPos2, BYTE *pbyInPos3, BYTE *pbyInPos4, BYTE *pbyInPos5, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_GetInPosStableTime(WORD wGroupIndex = 0);

//  Link PCL Interrupt Service Function
_declspec(dllexport)int    _stdcall MCC_SetPCLRoutine(PCLISR pfnPCLRoutine, WORD wCardIndex = 0);


//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
//  Advanced Trajectory Planning

//  Hold/Continue/Abort Motion
_declspec(dllexport)int    _stdcall MCC_HoldMotion(WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_ContiMotion(WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_AbortMotion(WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_AbortMotionEx(double dfDecTime, WORD wGroupIndex = 0);

//  Enable/Disable Motion Blending
_declspec(dllexport)int    _stdcall MCC_EnableBlend(WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_DisableBlend(WORD wGroupIndex = 0); 
_declspec(dllexport)int    _stdcall MCC_CheckBlend(WORD wGroupIndex = 0);

//  Set Delay Time
_declspec(dllexport)int    _stdcall MCC_DelayMotion(unsigned int dwTime, WORD wGroupIndex = 0);
_declspec(dllexport)int    _stdcall MCC_CheckDelay(WORD wGroupIndex = 0);