ACS SPiiPlus 运动控制器的核心托管接口

原创 于 2025-05-30 10:42:56 发布 · 815 阅读 · 7 ·
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#c# 

#region 程序集 ACS.SPiiPlusNET, Version=3.13.1.20165, Culture=neutral, PublicKeyToken=null
// E:\ACS.SPiiPlusNET.dll
#endregion

using System;
using System.Collections.Generic;
using System.Net;

namespace ACS.SPiiPlusNET
{
    public class Api
    {
        public const int ACSC_NONE = -1;

        public Api();

        ~Api();

        public bool IsConnected { get; }

        public event DefaultAxisExtEventHandler SYSTEMERROR_EXT;
        public event DefaultAxisExtEventHandler SOFTWAREESTOP_EXT;
        public event BufferExtEventHandler PROGRAMEND_EXT;
        public event AxisExtEventHandler PHYSICALMOTIONEND_EXT;
        public event AxisExtEventHandler PEG_EXT;
        public event DefaultAxisExtEventHandler NEWSEGM_EXT;
        public event AxisExtEventHandler MOTORFAILURE_EXT;
        public event AxisExtEventHandler MOTIONSTART_EXT;
        public event AxisExtEventHandler MOTIONPHASECHANGE_EXT;
        public event AxisExtEventHandler MOTIONFAILURE_EXT;
        public event AxisExtEventHandler MARK2_EXT;
        public event AxisExtEventHandler TRIGGER_EXT;
        public event AxisExtEventHandler MARK1_EXT;
        public event InputExtEventHandler INPUT_EXT;
        public event DefaultAxisExtEventHandler ETHERCATERROR_EXT;
        public event DefaultAxisExtEventHandler EMERGENCY_EXT;
        public event DefaultAxisExtEventHandler CYCLE_EXT;
        public event DefaultAxisExtEventHandler COMMCHANNELCLOSED_EXT;
        public event DefaultAxisExtEventHandler ACSPLPROGRAMEX_EXT;
        public event BufferExtEventHandler ACSPLPROGRAM_EXT;
        public event DefaultAxisExtEventHandler MESSAGE_EXT;
        public event BufferEventHandler ACSPLPROGRAM;
        public event AxisExtEventHandler LOGICALMOTIONEND_EXT;
        public event DefaultAxisEventHandler COMMCHANNELCLOSED;
        public event DefaultAxisEventHandler ACSPLPROGRAMEX;
        public event AxisEventHandler TRIGGER;
        public event DefaultAxisEventHandler SYSTEMERROR;
        public event DefaultAxisEventHandler SOFTWAREESTOP;
        public event BufferEventHandler PROGRAMEND;
        public event AxisEventHandler PHYSICALMOTIONEND;
        public event AxisEventHandler PEG;
        public event AxisEventHandler MOTORFAILURE;
        public event AxisEventHandler MOTIONSTART;
        public event AxisEventHandler MOTIONPHASECHANGE;
        public event DefaultAxisEventHandler NEWSEGM;
        public event DefaultAxisEventHandler MESSAGE;
        public event DefaultAxisEventHandler CYCLE;
        public event DefaultAxisEventHandler EMERGENCY;
        public event DefaultAxisEventHandler ETHERCATERROR;
        public event AxisEventHandler MOTIONFAILURE;
        public event AxisEventHandler LOGICALMOTIONEND;
        public event InputEventHandler INPUT;
        public event AxisEventHandler MARK1;
        public event AxisEventHandler MARK2;

        public void AddMPoint(Axis axis, string name);
        public ACSC_WAITBLOCK AddMPointAsync(Axis axis, string name);
        public void AddMPointM(Axis[] axes, string name);
        public ACSC_WAITBLOCK AddMPointMAsync(Axis[] axes, string name);
        public void AddPoint(Axis axis, double point);
        public ACSC_WAITBLOCK AddPointAsync(Axis axis, double point);
        public void AddPointM(Axis[] axes, double[] point);
        public ACSC_WAITBLOCK AddPointMAsync(Axis[] axes, double[] point);
        public void AddPVPoint(Axis axis, double point, double velocity);
        public ACSC_WAITBLOCK AddPVPointAsync(Axis axis, double point, double velocity);
        public void AddPVPointM(Axis[] axis, double[] point, double[] velocity);
        public ACSC_WAITBLOCK AddPVPointMAsync(Axis[] axis, double[] point, double[] velocity);
        public void AddPVTPoint(Axis axis, double point, double velocity, double timeInterval);
        public ACSC_WAITBLOCK AddPVTPointAsync(Axis axis, double point, double velocity, double timeInterval);
        public void AddPVTPointM(Axis[] axis, double[] point, double[] velocity, double timeInterval);
        public ACSC_WAITBLOCK AddPVTPointMAsync(Axis[] axis, double[] point, double[] velocity, double timeInterval);
        public ApplicationFileInfo AnalyzeApplication(string fileName);
        public void AppendBuffer(ProgramBuffer buffer, string text);
        public ACSC_WAITBLOCK AppendBufferAsync(ProgramBuffer buffer, string text);
        public void Arc1(Axis[] axes, double[] center, double[] finalPoint, RotationDirection rotation);
        public ACSC_WAITBLOCK Arc1Async(Axis[] axes, double[] center, double[] finalPoint, RotationDirection rotation);
        public void Arc2(Axis[] axes, double[] center, double angle);
        public ACSC_WAITBLOCK Arc2Async(Axis[] axes, double[] center, double angle);
        public void AssignFastInputsNT(Axis axis, int inputIndex, int bitCode);
        public ACSC_WAITBLOCK AssignFastInputsNTAsync(Axis axis, int inputIndex, int bitCode);
        public void AssignPegNT(Axis axis, int engToEncBitCode, int gpOutsBitCode);
        public ACSC_WAITBLOCK AssignPegNTAsync(Axis axis, int engToEncBitCode, int gpOutsBitCode);
        public void AssignPegNTV2(MotionFlags flags, Axis axis, int engToEncBitCode, int gpOutsBitCode);
        public ACSC_WAITBLOCK AssignPegNTV2Async(MotionFlags flags, Axis axis, int engToEncBitCode, int gpOutsBitCode);
        public void AssignPegOutputsNT(Axis axis, int outputIndex, int bitCode);
        public ACSC_WAITBLOCK AssignPegOutputsNTAsync(Axis axis, int outputIndex, int bitCode);
        public void BlendedArc1(MotionFlags flags, Axis[] axes, double[] center, double[] finalPoint, RotationDirection rotation, double segmentTime, double accelerationTime, double jerkTime, double dwellTime);
        public ACSC_WAITBLOCK BlendedArc1Async(MotionFlags flags, Axis[] axes, double[] center, double[] finalPoint, RotationDirection rotation, double segmentTime, double accelerationTime, double jerkTime, double dwellTime);
        public void BlendedArc2(MotionFlags flags, Axis[] axes, double[] center, double angle, double segmentTime, double accelerationTime, double jerkTime, double dwellTime);
        public ACSC_WAITBLOCK BlendedArc2Async(MotionFlags flags, Axis[] axes, double[] center, double angle, double segmentTime, double accelerationTime, double jerkTime, double dwellTime);
        public void BlendedLine(MotionFlags flags, Axis[] axes, double[] point, double segmentTime, double accelerationTime, double jerkTime, double dwellTime);
        public ACSC_WAITBLOCK BlendedLineAsync(MotionFlags flags, Axis[] axes, double[] point, double segmentTime, double accelerationTime, double jerkTime, double dwellTime);
        public void BlendedSegmentMotion(MotionFlags flags, Axis[] axes, double[] point, double segmentTime, double accelerationTime, double jerkTime, double dwellTime);
        public ACSC_WAITBLOCK BlendedSegmentMotionAsync(MotionFlags flags, Axis[] axes, double[] point, double segmentTime, double accelerationTime, double jerkTime, double dwellTime);
        public void BoostedPointToPointMotion(MotionFlags flags, Axis[] axes, double[] point, double velocity, double finalVelocity, double time, double fixedTime, double motionDelay);
        public ACSC_WAITBLOCK BoostedPointToPointMotionAsync(MotionFlags flags, Axis[] axes, double[] point, double velocity, double finalVelocity, double time, double fixedTime, double motionDelay);
        public void Break(Axis axis);
        public ACSC_WAITBLOCK BreakAsync(Axis axis);
        public void BreakM(Axis[] axes);
        public ACSC_WAITBLOCK BreakMAsync(Axis[] axes);
        public void CalculateFFT(double[] @in, double[] outReal, double[] outImag);
        public void CancelOperation(ACSC_WAITBLOCK wait);
        public void CaptureComm();
        public void ClearBreakpoints(ProgramBuffer buffer, int line);
        public ACSC_WAITBLOCK ClearBreakpointsAsync(ProgramBuffer buffer, int line);
        public void ClearBuffer(ProgramBuffer buffer, int fromLine, int toLine);
        public ACSC_WAITBLOCK ClearBufferAsync(ProgramBuffer buffer, int fromLine, int toLine);
        public void ClearEtherCATSlaveRegister(EtherCATFlags flags, int slaveIndex, int offset);
        public ACSC_WAITBLOCK ClearEtherCATSlaveRegisterAsync(EtherCATFlags flags, int slaveIndex, int offset);
        public void ClearVariables();
        public ACSC_WAITBLOCK ClearVariablesAsync();
        public void CloseComm();
        public void CloseHistoryBuffer();
        public void CloseLogFile();
        public void CloseMessageBuffer();
        public void CloseSCLogFile();
        public void CloseSimulator();
        public void CollectB(DataCollectionFlags flags, string array, int nSample, int period, string vars);
        public ACSC_WAITBLOCK CollectBAsync(DataCollectionFlags flags, string array, int nSample, int period, string vars);
        public void Command(string outBuf);
        public ACSC_WAITBLOCK CommandAsync(string outBuf);
        public void Commut(Axis axis);
        public ACSC_WAITBLOCK CommutAsync(Axis axis);
        public void CommutExt(Axis axis, float current, int settle, int slope);
        public ACSC_WAITBLOCK CommutExtAsync(Axis axis, float current, int settle, int slope);
        public void CompileBuffer(ProgramBuffer buffer);
        public ACSC_WAITBLOCK CompileBufferAsync(ProgramBuffer buffer);
        public void ControllerFactoryDefault(int timeout);
        public void ControllerReboot(int timeout);
        public void ControllerSaveToFlash(Axis[] parameters, ProgramBuffer[] buffers, ServoProcessor[] sPPrograms, string userArrays);
        public void CopyFileToController(string sourceFileName, string destinationFileName);
        public ACSC_WAITBLOCK CopyFileToControllerAsync(string sourceFileName, string destinationFileName);
        public void DataCollection(DataCollectionFlags flags, Axis axis, string array, int nSample, int period, string vars);
        public ACSC_WAITBLOCK DataCollectionAsync(DataCollectionFlags flags, Axis axis, string array, int nSample, int period, string vars);
        public void DataCollectionExt(DataCollectionFlags flags, Axis axis, string array, int nSample, double period, string vars);
        public ACSC_WAITBLOCK DataCollectionExtAsync(DataCollectionFlags flags, Axis axis, string array, int nSample, double period, string vars);
        public void DeclareVariable(AcsplVariableType type, string name);
        public ACSC_WAITBLOCK DeclareVariableAsync(AcsplVariableType type, string name);
        public void DeleteFileFromController(string fileName);
        public ACSC_WAITBLOCK DeleteFileFromControllerAsync(string fileName);
        public void Disable(Axis axis);
        public void DisableAll();
        public ACSC_WAITBLOCK DisableAllAsync();
        public ACSC_WAITBLOCK DisableAsync(Axis axis);
        public void DisableEvent(Interrupts flags);
        public void DisableEventExt(Interrupts flags);
        public void DisableExt(Axis axis, int reason);
        public ACSC_WAITBLOCK DisableExtAsync(Axis axis, int reason);
        public void DisableFault(Axis axis, SafetyControlMasks fault);
        public ACSC_WAITBLOCK DisableFaultAsync(Axis axis, SafetyControlMasks fault);
        public void DisableM(Axis[] axes);
        public ACSC_WAITBLOCK DisableMAsync(Axis[] axes);
        public void DisableResponse(Axis axis, SafetyControlMasks response);
        public ACSC_WAITBLOCK DisableResponseAsync(Axis axis, SafetyControlMasks response);
        public void DownloadBuffer(ProgramBuffer buffer, string text);
        public ACSC_WAITBLOCK DownloadBufferAsync(ProgramBuffer buffer, string text);
        public void DownloadFileOverEtherCAT(string path, string filename, int slaveIndex);
        public ACSC_WAITBLOCK DownloadFileOverEtherCATAsync(string path, string filename, int slaveIndex);
        public void DynamicErrorCompensation1D(DynamicErrorCompensationFlags flags, Axis axis, Zone zone, double base0, double step0, string correctionMapVariable, int referencedAxisOrAnalogInput);
        public ACSC_WAITBLOCK DynamicErrorCompensation1DAsync(DynamicErrorCompensationFlags flags, Axis axis, Zone zone, double base0, double step0, string correctionMapVariable, int referencedAxisOrAnalogInput);
        public void DynamicErrorCompensation2D(DynamicErrorCompensationFlags flags, Axis axis0, Axis axis1, Zone zone, double base0, double step0, double base1, double step1, string correctionMapVariable, int referencedAxisOrAnalogInput0, int referencedAxisOrAnalogInput1);
        public ACSC_WAITBLOCK DynamicErrorCompensation2DAsync(DynamicErrorCompensationFlags flags, Axis axis0, Axis axis1, Zone zone, double base0, double step0, double base1, double step1, string correctionMapVariable, int referencedAxisOrAnalogInput0, int referencedAxisOrAnalogInput1);
        public void DynamicErrorCompensation3D2(DynamicErrorCompensationFlags flags, Axis axis0, Axis axis1, Axis axis2, Zone zone, double base0, double step0, double base1, double step1, double base2, double step2, string correctionMap0Variable, string correctionMap1Variable, int referencedAxisOrAnalogInput0, int referencedAxisOrAnalogInput1, int referencedAxisOrAnalogInput2);
        public ACSC_WAITBLOCK DynamicErrorCompensation3D2Async(DynamicErrorCompensationFlags flags, Axis axis0, Axis axis1, Axis axis2, Zone zone, double base0, double step0, double base1, double step1, double base2, double step2, string correctionMap0Variable, string correctionMap1Variable, int referencedAxisOrAnalogInput0, int referencedAxisOrAnalogInput1, int referencedAxisOrAnalogInput2);
        public void DynamicErrorCompensation3D3(DynamicErrorCompensationFlags flags, Axis axis0, Axis axis1, Axis axis2, Zone zone, double base0, double step0, double base1, double step1, double base2, double step2, string correctionMap0Variable, string correctionMap1Variable, string correctionMap2Variable, int referencedAxisOrAnalogInput0, int referencedAxisOrAnalogInput1, int referencedAxisOrAnalogInput2);
        public ACSC_WAITBLOCK DynamicErrorCompensation3D3Async(DynamicErrorCompensationFlags flags, Axis axis0, Axis axis1, Axis axis2, Zone zone, double base0, double step0, double base1, double step1, double base2, double step2, string correctionMap0Variable, string correctionMap1Variable, string correctionMap2Variable, int referencedAxisOrAnalogInput0, int referencedAxisOrAnalogInput1, int referencedAxisOrAnalogInput2);
        public void DynamicErrorCom
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