固高运动控制卡C#函数库 GE400

using System;
using System.Collections.Generic;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading.Tasks;

namespace ges
{
   
    class GES
    {
   
        public struct TDoublePnt
        {
   
            public double X;
            public double Y;
            public double Z;
            public double W;
        }
        #region 设置运动控制器
        /// <summary>
        /// 打开运动控制器
        /// </summary>
        /// <param name="address"></param>
        /// <returns></returns>
        [DllImport("ges.dll")]
        public static extern short GT_Open(int address = 65535);
        /// <summary>
        /// 关闭运动控制器
        /// </summary>
        /// <returns></returns>
        [DllImport("ges.dll")]
        public static extern short GT_Close();
        /// <summary>
        /// 复位运动控制器
        /// </summary>
        /// <returns></returns>
        [DllImport("ges.dll")]
        public static extern short GT_Reset();
        /// <summary>
        /// 硬件复位运动控制器
        /// </summary>
        /// <returns></returns>
        [DllImport("ges.dll")]
        public static extern short GT_HardRst();
        /// <summary>
        /// 挂接用户自定义处理函数
        /// </summary>
        /// <param name="TCommandHandle">所挂接的指令处理程序的地址</param>
        /// <returns></returns>
        [DllImport("ges.dll")]
        public static extern short GT_HookCommand(int TCommandHandle);
        #endregion

        #region 设置控制轴在这里插入代码片
        /// <summary>
        /// 控制轴驱动报警有效
        /// </summary>
        /// <param name="axis">指定控制轴编号</param>
        /// <returns></returns>
        [DllImport("ges.dll")]
        public static extern short GT_AlarmOn(short axis);
        /// <summary>
        /// 控制轴驱动报警信号无效
        /// </summary>
        /// <param name="axis">指定控制轴编号</param>
        /// <returns></returns>
        [DllImport("ges.dll")]
        public static extern short GT_AlarmOff(short axis);
        /// <summary>
        /// 控制轴限位信号有效
        /// </summary>
        /// <param name="axis">指定控制轴编号</param>
        /// <returns></returns>
        [DllImport("ges.dll")]
        public static extern short GT_LmtsOn(short axis);
        /// <summary>
        /// 控制轴限位无效
        /// </summary>
        /// <param name="axis">指定控制轴编号</param>
        /// <returns></returns>
        [DllImport("ges.dll")]
        public static extern short GT_LmtsOff(short axis);
        /// <summary>
        /// 设置运动控制器各轴限位开关触发电平（默认为0，高电平触发 ）
        /// </summary>
        /// <param name="sense">电平信号</param>
        /// <returns></returns>
        [DllImport("ges.dll")]
        public static extern short GT_LmtSns(short sense);
        /// <summary>
        /// 控制轴编码器的记数方向
        /// </summary>
        /// <param name="sense">记数方向</param>
        /// <returns></returns>
        [DllImport("ges.dll")]
        public static extern short GT_EncSns(short sense);
        /// <summary>
        /// 运动控制器各轴Home信号触发沿（默认为0，下降沿触发）
        /// </summary>
        /// <param name="sense">电平方向</param>
        /// <returns></returns>
        [DllImport("ges.dll")]
        public static extern short GT_HomeSns(short sense);
        /// <summary>
        /// 轴为模拟量输出或脉冲输出
        /// </summary>
        /// <param name="axis">指定控制轴编号</param>
        /// <param name="mode">模式</param>
        /// <returns></returns>
        [DllImport("ges.dll")]
        public static extern short GT_CtrlMode(short axis, short mode);
        /// <summary>
        /// 轴的脉冲输出模式设置为“脉冲＋方向”
        /// </summary>
        /// <param name="axis">指定控制轴编号</param>
        /// <returns></returns>
        [DllImport("ges.dll")]
        public static extern short GT_StepDir(short axis);
        /// <summary>
        /// 将指定控制轴的脉冲输出方式设置为“正负脉冲”
        /// </summary>
        /// <param name="axis">指定控制轴编号</param>
        /// <returns></returns>
        [DllImport("ges.dll")]
        public static extern short GT_StepPulse(short axis);
        /// <summary>
        /// 消除指定控制轴的伺服报警信号
        /// </summary>
        /// <param name="axis">指定控制轴编号</param>
        /// <returns></returns>
        [DllImport("ges.dll")]
        public static extern short GT_DrvRst(short axis);
        /// <summary>
        /// 打开控制轴的编码器输入
        /// </summary>
        /// <param name="axis">指定控制轴编号</param>
        /// <returns></returns>
        [DllImport("ges.dll")]
        public static extern short GT_EncOn(short axis);
        /// <summary>
        /// 关闭控制轴的编码器输入
        /// </summary>
        /// <param name="axis">指定控制轴编号</param>
        /// <returns></returns>
        [DllImport("ges.dll")]
        public static extern short GT_EncOff(short axis);
        #endregion

        #region 设置控制轴运动参数
        /// <summary>
        /// 将指定控制轴的实际位置、目标位置和规划位置设置为 0
        /// </summary>
        /// <param name="axis">指定控制轴编号</param>
        /// <returns></returns>
        [DllImport("ges.dll")]
        public static extern short GT_ZeroPos(short axis);
        /// <summary>
        /// 将指定控制轴的实际位置、目标位置和规划位置设置为指定值
        /// </summary>
        /// <param name="axis">指定控制轴编号</param>
        /// <param name="pos"></param>
        /// <returns></returns>
        [DllImport("ges.dll")]
        public static extern short GT_SetAtlPos(short axis, double pos);
        /// <summary>
        /// 读取指定控制轴的实际位置
        /// </summary>
        /// <param name="axis">指定控制轴编号</param>
        /// <param name="pos">读取指定控制轴的实际位置</param>
        /// <returns></returns>
        [DllImport("ges.dll")]
        public static extern short GT_GetAtlPos(short axis, out int pos);
        /// <summary>
        /// 获得轨迹运动中各轴的规划位置值
        /// </summary>
        /// <param name="point">各轴的内部计数值</param>
        /// <returns></returns>
        [DllImport("ges.dll")]
        public static extern short GT_GetPrfPnt(out TDoublePnt point);
        /// <summary>
        /// 读取断点位置信息
        /// </summary>
        /// <param name="point">断点的位置</param>
        /// <returns></returns>
        [DllImport("ges.dll")]
        public sta