mpc2810.bas

MPC2810是乐创自动化技术有限公司开发的一款高性能四轴运动控制器。 MPC2810基于PC机PCI总线

Declare Function move_pause Lib "MPC2810" (ByVal ch As Long) As Long
Declare Function move_resume Lib "MPC2810" (ByVal ch As Long) As Long
Declare Function sudden_stop_list Lib "MPC2810" () As Long
Declare Function decel_stop_list Lib "MPC2810" () As Long
Declare Function move_pause_list Lib "MPC2810" () As Long
Declare Function move_resume_list Lib "MPC2810" () As Long
Declare Function delay_time Lib "MPC2810" (ByVal time As Long) As Long
'I/O口操作函数
Declare Function checkin_byte Lib "MPC2810" (ByVal cardno As Long) As Long
Declare Function checkin_bit Lib "MPC2810" (ByVal cardno As Long, ByVal bitno As Long) As Long
Declare Function outport_bit Lib "MPC2810" (ByVal cardno As Long, ByVal bitno As Long, ByVal status As Long) As Long
Declare Function outport_byte Lib "MPC2810" (ByVal cardno As Long, ByVal bytedata As Long) As Long
Declare Function check_sfr Lib "MPC2810" (ByVal cardno As Long) As Long
Declare Function check_sfr_bit Lib "MPC2810" (ByVal cardno As Long, ByVal bitno As Long) As Long
Declare Function Outport Lib "MPC2810" (ByVal PortID As Long, ByVal OutPortData As Byte) As Long
Declare Function Inport Lib "MPC2810" (ByVal PortID As Long) As Long
'特殊功能
Declare Function set_backlash Lib "MPC2810" (ByVal ch As Long, ByVal blash As Double) As Long
Declare Function start_backlash Lib "MPC2810" (ByVal ch As Long) As Long
Declare Function end_backlash Lib "MPC2810" (ByVal ch As Long) As Long
Declare Function set_watchdog_time Lib "MPC2810" (ByVal cardno As Long, ByVal time As Long) As Long
Declare Function reset_watchdog Lib "MPC2810" (ByVal cardno As Long) As Long
Declare Function start_watchdog Lib "MPC2810" (ByVal cardno As Long) As Long
Declare Function stop_watchdog Lib "MPC2810" (ByVal cardno As Long) As Long
Declare Function get_watchdog_status Lib "MPC2810" (ByVal cardno As Long) As Long
Declare Function enable_io_pos Lib "MPC2810" (ByVal ch As Long, ByVal flag As Long) As Long
Declare Function set_poscmp_source Lib "MPC2810" (ByVal ch As Long, ByVal mode As Long) As Long
Declare Function set_io_pos Lib "MPC2810" (ByVal ch As Long, ByVal open_pos As Long, ByVal close_pos As Long) As Long
Declare Function enable_lock_enc Lib "MPC2810" (ByVal ch As Long, ByVal mode As Long) As Long
Declare Function reset_locked_flag Lib "MPC2810" (ByVal ch As Long) As Long
Declare Function get_locked_flag Lib "MPC2810" (ByVal ch As Long) As Long
Declare Function get_locked_encoder Lib "MPC2810" (ByVal ch As Long, ByVal num As Long, ByRef enc As Long) As Long
Declare Function enable_gear Lib "MPC2810" (ByVal slave As Long, ByVal master As Long, ByVal ratio As Double, ByVal mode As Long) As Long
Declare Function enable_handwheel Lib "MPC2810" (ByVal ch As Long, ByVal mul As Long, ByVal mode As Long) As Long
Declare Function enable_softlimit Lib "MPC2810" (ByVal ch As Long, ByVal mode As Long) As Long
Declare Function set_softlimit Lib "MPC2810" (ByVal ch As Long, ByVal source As Long, ByVal action As Long) As Long
Declare Function set_softlimit_data Lib "MPC2810" (ByVal ch As Long, ByVal nel As Double, ByVal pel As Double) As Long
Declare Function check_softlimit Lib "MPC2810" (ByVal ch As Long) As Long
Declare Function enable_poserr_limit Lib "MPC2810" (ByVal ch As Long, ByVal mode As Long) As Long
Declare Function set_poserr_limit Lib "MPC2810" (ByVal ch As Long, ByVal limit As Double, ByVal mul As Long) As Long
Declare Function get_poserr_limit Lib "MPC2810" (ByVal ch As Long, ByRef error As Double) As Long
Declare Function enable_input_mode Lib "MPC2810" (ByVal ch As Long, ByVal mode As Long) As Long
Declare Function set_im_deadband Lib "MPC2810" (ByVal ch As Long, ByVal db As Double) As Long
Declare Function enable_isr Lib "MPC2810" (ByVal cardno As Long, ByVal mode As Long) As Long
Declare Function set_isr_routine Lib "MPC2810" (ByVal lpMyIsr As Long) As Long
Declare Function set_isr_factor Lib "MPC2810" (ByVal ch As Long, ByVal factor As Long) As Long
Declare Function get_isr_event Lib "MPC2810" (ByVal ch As Long, ByRef nevent As Long) As Long
Declare Function set_ramp Lib "MPC2810" (ByVal ch As Long, ByRef ad As Double, ByRef ratio As Double, ByVal num As Long) As Long
Declare Function change_speed Lib "MPC2810" (ByVal ch As Long, ByVal speed As Double) As Long
Declare Function change_pos Lib "MPC2810" (ByVal ch As Long, ByVal pos As Double) As Long
'V0.2.3增加
Declare Function set_tan_flag Lib "MPC2810" (ByVal flag As Long) As Long
Declare Function set_tan_initpos Lib "MPC2810" (ByVal degree As Double) As Long
Declare Function set_tan_map Lib "MPC2810" (ByVal pulseperdeg As Double) As Long
Declare Function set_tan_axis Lib "MPC2810" (ByVal ch As Long, ByVal dir As Long) As Long

'位置和状态查询函数
Declare Function get_max_axe Lib "MPC2810" () As Long
Declare Function get_board_num Lib "MPC2810" () As Long
Declare Function get_axe Lib "MPC2810" (ByVal cardno As Long) As Long
Declare Function get_unit Lib "MPC2810" (ByVal ch As Long, ByRef dl As Double) As Long
Declare Function check_IC Lib "MPC2810" (ByVal cardno As Long) As Long
Declare Function get_abs_pos Lib "MPC2810" (ByVal ch As Long, ByRef pos As Double) As Long
Declare Function get_rel_pos Lib "MPC2810" (ByVal ch As Long, ByRef pos As Double) As Long
Declare Function get_encoder Lib "MPC2810" (ByVal ch As Long, ByRef count As Long) As Long
Declare Function get_done_source Lib "MPC2810" (ByVal ch As Long, ByRef src As Long) As Long
Declare Function get_conspeed Lib "MPC2810" (ByVal ch As Long) As Double
Declare Function get_vector_conspeed Lib "MPC2810" () As Double
Declare Function get_profile Lib "MPC2810" (ByVal ch As Long, ByRef vl As Double, ByRef vh As Double, ByRef ad As Double) As Long
Declare Function get_vector_profile Lib "MPC2810" (ByRef vec_vl As Double, ByRef vec_vh As Double, ByRef vec_ad As Double) As Long
Declare Function get_rate Lib "MPC2810" (ByVal ch As Long) As Double
Declare Function get_cur_dir Lib "MPC2810" (ByVal ch As Long) As Long
Declare Function check_status Lib "MPC2810" (ByVal ch As Long) As Long
Declare Function check_done Lib "MPC2810" (ByVal ch As Long) As Long
Declare Function check_limit Lib "MPC2810" (ByVal ch As Long) As Long
Declare Function check_home Lib "MPC2810" (ByVal ch As Long) As Long
Declare Function check_SD Lib "MPC2810" (ByVal ch As Long) As Long
Declare Function check_alarm Lib "MPC2810" (ByVal ch As Long) As Long
'V0.2.2增加
Declare Function check_delay_status Lib "MPC2810" () As Long
Declare Function get_cmd_counter Lib "MPC2810" () As Long
Declare Function reset_cmd_counter Lib "MPC2810" () As Long
'错误代码操作函数
Declare Function get_err Lib "MPC2810" (ByVal Index As Long, ByRef data As Long) As Long
Declare Function get_last_err Lib "MPC2810" () As Long
Declare Function reset_err Lib "MPC2810" () As Long
'版本获取函数
Declare Function get_lib_ver Lib "MPC2810" (ByRef major As Long, ByRef minor1 As Long, ByRef minor2 As Long) As Long
Declare Function get_sys_ver Lib "MPC2810" (ByRef major As Long, ByRef minor1 As Long, ByRef minor2 As Long) As Long
Declare Function get_card_ver Lib "MPC2810" (ByVal cardno As Long, ByRef cardtype As Long, ByRef major As Long, ByRef minor1 As Long, ByRef minor2 As Long) As Long