commandDef.txt
37.3 KB
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/*==========================================================================*/
/*---- COMMAND ID DEFINE ---*/
/*==========================================================================*/
/*==========================================================================*/
/*----1.1 板卡的操作以及资源的获取接口 ---*/
/*==========================================================================*/
#define ID_IMC_GetCardsNum (0x8000)
#define ID_IMC_OpenCard (0x8001)
#define ID_IMC_CloseCard (0x8002)
#define ID_IMC_OpenCardHandle (0x8004)
#define ID_IMC_ScanCardECAT (0x8006)
#define ID_IMC_GetECATMasterSts (0x8007)
#define ID_IMC_CloseCardHandle (0x8005)
#define ID_IMC_ScanCard (0x8008)
#define ID_IMC_GetCardSts (0x8009)
#define ID_IMC_GetCardResource (0x8003)
#define ID_IMC_UpLoadDeviceConfig (0x8010)
#define ID_IMC_DownLoadDeviceConfig (0x8011)
#define ID_IMC_DownLoadSystemConfig (0x8012)
#define ID_IMC_GetHwVer (0x8026)
/*==========================================================================*/
/*----1.2 板卡的操作以及资源的获取接口 ---*/
/*==========================================================================*/
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
/*----1.2.1 ECAT资源设置接口 ---*/
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
#define ID_IMC_SetEcatGrpDiInverse (0x0010)
#define ID_IMC_GetEcatGrpDiInverse (0x0011)
#define ID_IMC_SetEcatGrpDoInverse (0x0012)
#define ID_IMC_GetEcatGrpDoInverse (0x0013)
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
/*----1.2.2 端子板资源设置接口 ---*/
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
#define ID_IMC_GetBoardWorkSts (0x0080)
#define ID_IMC_SetLocalDiFilterTime (0x0081)
#define ID_IMC_GetLocalDiFilterTime (0x0082)
#define ID_IMC_SetLocalHmLmtPrbFilterTime (0x008b)
#define ID_IMC_GetLocalHmLmtPrbFilterTime (0x008c)
#define ID_IMC_SetLocalSpecialIOInverse (0x008d)
#define ID_IMC_GetLocalSpecialIOInverse (0x008e)
#define ID_IMC_SetLocalDiInverse (0x0083)
#define ID_IMC_GetLocalDiInverse (0x0084)
#define ID_IMC_SetLocalDoInverse (0x0085)
#define ID_IMC_GetLocalDoInverse (0x0086)
#define ID_IMC_SetLocalEncDir (0x0087)
#define ID_IMC_GetLocalEncDir (0x0088)
#define ID_IMC_SetLocalPulseMode (0x0089)
#define ID_IMC_GetLocalPulseMode (0x008a)
#define ID_IMC_SetLocalGpoUseType (0x0092)
#define ID_IMC_GetLocalGpoUseType (0x0093)
#define ID_IMC_SetEncFilterPara (0x0094)
#define ID_IMC_GetEncFilterPara (0x0095)
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
/*----1.2.3 系统参数设置接口 ---*/
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
#define ID_IMC_GetHwSysPara (0x0202)
#define ID_IMC_ResetSysPara (0x0222)
#define ID_IMC_GetCalcLoadRatio (0x0203)
#define ID_IMC_GetVersion (0x0204)
#define ID_IMC_WriteUserCode (0x8015)
#define ID_IMC_CheckUserCode (0x8016)
#define ID_IMC_SetEmgStopMode (0x020f)
#define ID_IMC_GetEmgStopMode (0x0215)
#define ID_IMC_SetEmgFilter (0x0210)
#define ID_IMC_GetEmgFilter (0x0211)
#define ID_IMC_SetEmgTrigLevelInv (0x0212)
#define ID_IMC_GetEmgTrigLevelInv (0x0213)
#define ID_IMC_GetEmgDiLevel (0x0214)
#define ID_IMC_SetEmgDoResetFlag (0x0216)
#define ID_IMC_GetEmgDoResetFlag (0x0217)
#define ID_IMC_SetEmgSvOffVelThreshold (0x0218)
#define ID_IMC_GetEmgSvOffVelThreshold (0x0219)
#define ID_IMC_OpenWatchDog (0x0223)
#define ID_IMC_FeedWatchDog (0x0224)
#define ID_IMC_CloseWatchDog (0x0225)
#define ID_IMC_EnableCheckEcatErrCode (0x0226)
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
/*----1.2.4 轴参数设置接口 ---*/
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
#define ID_IMC_SetAxActive (0x0065)
#define ID_IMC_GetAxActive (0x0066)
#define ID_IMC_SetAxMaxMtPara (0x0031)
#define ID_IMC_GetAxMaxMtPara (0x0032)
#define ID_IMC_SetAxEquiv (0x0060)
#define ID_IMC_GetAxEquiv (0x0061)
#define ID_IMC_SetAxBondCfg (0x0041)
#define ID_IMC_GetAxBondCfg (0x0042)
#define ID_IMC_ResetAxBondCfg (0x004f)
#define ID_IMC_SetAxAttriPara (0x0043)
#define ID_IMC_GetAxAttriPara (0x0044)
#define ID_IMC_SetAxSoftLimit (0x0045)
#define ID_IMC_GetAxSoftLimit (0x0046)
#define ID_IMC_SetAxArrivalBand (0x0047)
#define ID_IMC_GetAxArrivalBand (0x0048)
#define ID_IMC_SetAxErrorPos (0x004b)
#define ID_IMC_GetAxErrorPos (0x004c)
#define ID_IMC_SetAxBacklash (0x004d)
#define ID_IMC_GetAxBacklash (0x004e)
#define ID_IMC_AxSafeCheckEnable (0x0050)
#define ID_IMC_AxSafeCheckSts (0x0051)
#define ID_IMC_AxAlarmEnable (0x0052)
#define ID_IMC_AxAlarmDisable (0x0053)
#define ID_IMC_AxSoftLmtsEnable (0x0054)
#define ID_IMC_AxSoftLmtsDisable (0x0055)
#define ID_IMC_AxHwLmtsEnable (0x0056)
#define ID_IMC_AxHwLmtsDisable (0x0057)
#define ID_IMC_AxErrPosEnable (0x0058)
#define ID_IMC_AxErrPosDisable (0x0059)
#define ID_IMC_SetEcatAxProbeMaskBit (0x0030)
#define ID_IMC_GetEcatAxProbeMaskBit (0x0033)
#define ID_IMC_SetupAxGantry (0x0062)
#define ID_IMC_AbortAxGantry (0x0063)
#define ID_IMC_GetAxGantrySts (0x0064)
#define ID_IMC_ClrAxGantrySts (0x0068)
#define ID_IMC_AxSetScrewCompTable (0x2100)
#define ID_IMC_AxGetScrewCompTable (0x2101)
#define ID_IMC_AxEnableScrewComp (0x2103)
#define ID_IMC_AxDisableScrewComp (0x2104)
#define ID_IMC_AxGetScrewCompStatus (0x2105)
#define ID_IMC_AxGetScrewCompValue (0x2106)
/*==========================================================================*/
/*----2.1 ECAT硬件操作接口 ---*/
/*==========================================================================*/
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
/*----2.1.1ECAT总线 SDO操作以及状态查询 ---*/
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
#define ID_IMC_GetSlaveCurSts (0x8017)
#define ID_IMC_GetSlaveReqSts (0x8018)
#define ID_IMC_GetEcatErrCode (0x8019)
#define ID_IMC_GetAxEcatStation (0x801a)
#define ID_IMC_GetEcatSdo (0x801b)
#define ID_IMC_SetEcatSdo (0x801c)
#define ID_IMC_GetAxEcatPidVid (0x8032)
#define ID_IMC_GetEcatStationPidVid (0x8032)
#define ID_IMC_GetAxSdo (0x8034)
#define ID_IMC_SetAxSdo (0x8033)
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
/*----2.1.2 ECAT总线 DI/DO操作 ---*/
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
#define ID_IMC_SetEcatDoBit (0x0100)
#define ID_IMC_GetEcatDoBit (0x0102)
#define ID_IMC_SetEcatGrpDo (0x0103)
#define ID_IMC_GetEcatGrpDo (0x0104)
#define ID_IMC_GetEcatDiBit (0x0105)
#define ID_IMC_GetEcatGrpDi (0x0106)
#define ID_IMC_GetEcatAdVal (0x0107)
#define ID_IMC_SetEcatDaVal (0x0108)
#define ID_IMC_GetEcatDaVal (0x0109)
#define ID_IMC_GetEcatAdSts (0x001e)
#define ID_IMC_GetEcatDaSts (0x001f)
#define ID_IMC_GetEcatPtVal (0x0113)
/*==========================================================================*/
/*----2.2 端子板硬件操作接口 ---*/
/*==========================================================================*/
#define ID_IMC_GetBoardVersion (0x0152)
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
/*----2.2.1 端子板DIO操作接口 ---*/
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
#define ID_IMC_SetLocalDoBit (0x0140)
#define ID_IMC_GetLocalDoBit (0x0141)
#define ID_IMC_SetLocalDo (0x0142)
#define ID_IMC_GetLocalDo (0x0143)
#define ID_IMC_GetLocalDiBit (0x0144)
#define ID_IMC_GetLocalDi (0x0145)
#define ID_IMC_GetLocalADVal (0x0148)
#define ID_IMC_GetLocalSpecialDi (0x0149)
#define ID_IMC_GetLocalSpecialDiBit (0x014a)
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
/*----2.2.2 端子板编码器操作接口 ---*/
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
#define ID_IMC_GetLocalCntPos (0x0150)
#define ID_IMC_GetLocalCntVel (0x0151)
#define ID_IMC_GetLocalEncPos (0x0146)
#define ID_IMC_GetLocalEncVel (0x0147)
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
/*----2.2.4 端子板位置比较输出操作接口 ---*/
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
#define ID_IMC_CompareSrcConfig (0x0180)
#define ID_IMC_CompareOutputConfig (0x0186)
#define ID_IMC_GetCompareStatus (0x0184)
#define ID_IMC_StopCompareOut (0x0185)
#define ID_IMC_StartCompareOut (0x0187)
#define ID_IMC_CompareManualOutput (0x0181)
#define ID_IMC_LinearCompare (0x0182)
#define ID_IMC_SetCompareData (0x0183)
#define ID_IMC_SetCompareDataType (0x0188)
#define ID_IMC_GetCompareDataType (0x0189)
#define ID_IMC_SetComparePosType (0x018a)
#define ID_IMC_GetComparePosType (0x018b)
#define ID_IMC_SetMultiDimensComparePara (0x018c)
#define ID_IMC_GetMultiDimensComparePara (0x018d)
#define ID_IMC_SetMultiDimensCompareData (0x018e)
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
/*----2.2.5 端子板PWM输出控制 ---*/
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
#define ID_IMC_SetPwmPara (0x0160)
#define ID_IMC_GetPwmPara (0x0161)
#define ID_IMC_SetPwmFrq (0x0162)
#define ID_IMC_SetPwmDuty (0x0163)
#define ID_IMC_SetPwmOnOff (0x0164)
#define ID_IMC_SetPwmOnDelay (0x0165)
#define ID_IMC_SetPwmOffDelay (0x0166)
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
/*----2.2.6 PSO控制 ---*/
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
#define ID_IMC_SetPSOMode0Para (0x0179)
#define ID_IMC_GetPSOMode0Para (0x017a)
#define ID_IMC_StartPSO (0x017b)
#define ID_IMC_StopPSO (0x017c)
/*==========================================================================*/
/*----3 回零操作接口 ---*/
/*==========================================================================*/
#define ID_IMC_StartHomingInUnit (0x000a)
#define ID_IMC_StartHoming (0x000a)
#define ID_IMC_StopHoming (0x000d)
#define ID_IMC_GetHomingStatus (0x000c)
#define ID_IMC_FinishHoming (0x000b)
#define ID_IMC_StartEcatAxCSPHoming (0x0024)
#define ID_IMC_StopEcatAxCSPHoming (0x0025)
#define ID_IMC_GetEcatAxCSPHomingSts (0x0026)
#define ID_IMC_FinishEcatAxCSPHoming (0x0027)
#define ID_IMC_CloseAutoHomingFinish (0x000f)
/*==========================================================================*/
/*----4 状态管理接口 ---*/
/*==========================================================================*/
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
/*----4.2 轴状态管理接口 ---*/
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
#define ID_IMC_GetAxPrfMode (0x0308)
#define ID_IMC_GetAxSts (0x0300)
#define ID_IMC_ClrAxSts (0x0301)
#define ID_IMC_GetAxPrfPos (0x0302)
#define ID_IMC_GetAxPrfVel (0x0303)
#define ID_IMC_GetAxPrfAcc (0x0304)
#define ID_IMC_GetAxEncPos (0x0305)
#define ID_IMC_GetAxcOrgEncPos (0x030f)
#define ID_IMC_GetAxEncVel (0x0306)
#define ID_IMC_GetAxEncAcc (0x0307)
#define ID_IMC_GetPrfPos (0x0309)
#define ID_IMC_GetAxType (0x030a)
#define ID_IMC_GetMultiAxArrivalSts (0x0310)
#define ID_IMC_AxServoOn (0x0320)
#define ID_IMC_AxServoOff (0x0323)
#define ID_IMC_AxMoveStop (0x0321)
#define ID_IMC_AxStopInBits (0x0322)
#define ID_IMC_SetAxCurPos (0x0330)
#define ID_IMC_SetAxCompenPos (0x0331)
#define ID_IMC_GetAxCompenPos (0x0332)
#define ID_IMC_SetAxCtrlMode (0x0360)
#define ID_IMC_GetAxCtrlMode (0x0361)
#define ID_IMC_PrfAxTorq (0x0362)
#define ID_IMC_GetAxActTorq (0x0363)
#define ID_IMC_SetAxTorqSlope (0x0364)
#define ID_IMC_GetAxTorqSlope (0x0366)
#define ID_IMC_SetAxTgtTorq (0x0367)
#define ID_IMC_GetAxTgtTorq (0x0368)
#define ID_IMC_GetAxErrCode (0x030d)
#define ID_IMC_GetAxEcatDigitalInput (0x0365)
#define ID_IMC_GetAxBacklashCmpVal (0x0369)
#define ID_IMC_SetEcatAxMaxVelLmt (0x0028)
#define ID_IMC_GetEcatAxMaxVelLmt (0x0029)
#define ID_IMC_SetEcatAxPosTorqLmt (0x002a)
#define ID_IMC_GetEcatAxPosTorqLmt (0x002b)
#define ID_IMC_SetEcatAxNegTorqLmt (0x002c)
#define ID_IMC_GetEcatAxNegTorqLmt (0x002d)
#define ID_IMC_SetEcatAxMaxTorqLmt (0x002e)
#define ID_IMC_GetEcatAxMaxTorqLmt (0x002f)
#define ID_IMC_SyncAxPos (0x030e)
#define ID_IMC_SetAxPressFitCtrlWord (0x0370)
#define ID_IMC_GetAxPressFitSts (0x0371)
#define ID_IMC_GetAxAIInputVal (0x0372)
#define ID_IMC_GetAxPressFeedback (0x0373)
#define ID_IMC_SetAxPressTgtVal (0x0374)
#define ID_IMC_StartAxTorqHoming (0x0380)
#define ID_IMC_StopAxTorqHoming (0x0381)
#define ID_IMC_GetAxTorqHomingSts (0x0382)
#define ID_IMC_FinishAxTorqHoming (0x0383)
#define ID_IMC_StartAxCsvPrf (0x0390)
#define ID_IMC_StopAxCsvPrf (0x0391)
#define ID_IMC_EstopAxCsvPrf (0x0392)
#define ID_IMC_UpdateAxCsvPrf (0x0393)
#define ID_IMC_GetAxCsvPrfStatus (0x0394)
/*==========================================================================*/
/*----5 数据采样接口 ---*/
/*==========================================================================*/
#define ID_IMC_ConfigSamplePara (0x0400)
#define ID_IMC_ConfigSampleData (0x0401)
#define ID_IMC_ConfigSampleEnable (0x0402)
#define ID_IMC_GetSampleStatus (0x0403)
#define ID_IMC_GetSampleData (0x0404)
/*==========================================================================*/
/*----6 轴位置捕获接口 ---*/
/*==========================================================================*/
#define ID_IMC_SetAxCaptMode (0x0340)
#define ID_IMC_GetAxCaptMode (0x0341)
#define ID_IMC_GetAxCaptStatus (0x0342)
/*==========================================================================*/
/*----7 运动模式接口 ---*/
/*==========================================================================*/
#define ID_IMC_SetSingleAxMvPara (0x1000)
#define ID_IMC_GetSingleAxMvPara (0x1001)
#define ID_IMC_SetSingleAxVelType (0x1002)
#define ID_IMC_GetSingleAxVelType (0x1003)
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
/*----7.1 PTP点位模式接口 ---*/
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
#define ID_IMC_StartPtpMove (0x1004)
#define ID_IMC_StartMultiPtpMove (0x1009)
#define ID_IMC_UpdatePtpTgtPos (0x1005)
#define ID_IMC_UpdatePtpMvPara (0x1006)
#define ID_IMC_UpdatePtpTgtVel (0x1008)
#define ID_IMC_PauseMove (0x1030)
#define ID_IMC_ResumeMove (0x1031)
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
/*----7.2 Jog运动模式接口 ---*/
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
#define ID_IMC_StartJogMove (0x1010)
#define ID_IMC_StartMultiJogMove (0x1013)
#define ID_IMC_UpdateJogMvPara (0x1011)
#define ID_IMC_UpdateJogTgtVel (0x1012)
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
/*----7.3 手轮跟随运动模式接口 ---*/
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
#define ID_IMC_EnterHandWheelMode (0x1200)
#define ID_IMC_ExitHandWheelMode (0x1201)
#define ID_IMC_SwitchHandWheelRatio (0x1202)
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
/*----7.4 电子齿轮 ---*/
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
#define ID_IMC_GearSetParam (0x1403)
#define ID_IMC_GearGetParam (0x1404)
#define ID_IMC_GearUpdateScale (0x1405)
#define ID_IMC_GearStart (0x1400)
#define ID_IMC_GearStop (0x1401)
#define ID_IMC_GearGetStatus (0x1402)
#define ID_IMC_GearDestroy (0x1408)
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
/*----7.5 直角坐标系插补运动模式接口 ---*/
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
#define ID_IMC_CrdSetMtSys (0x2500)
#define ID_IMC_CrdGetMtSysParam (0x2501)
#define ID_IMC_CrdDeleteMtSys (0x2502)
#define ID_IMC_CrdSetAdvParam (0x2503)
#define ID_IMC_CrdGetAdvParam (0x2504)
#define ID_IMC_CrdSetTrajVel (0x2528)
#define ID_IMC_CrdSetTrajAcc (0x2529)
#define ID_IMC_CrdSetTrajAccAndDec (0x2537)
#define ID_IMC_CrdSetZeroFlag (0x252a)
#define ID_IMC_CrdSetIncMode (0x252d)
#define ID_IMC_CrdUserVelPlan (0x252f)
#define ID_IMC_CrdSetTrajTol (0x2530)
#define ID_IMC_CrdSetTrajTurnCoef (0x2531)
#define ID_IMC_CrdSetFolVelMode (0x253a)
#define ID_IMC_CrdGetFolVelMode (0x2546)
#define ID_IMC_CrdGetTrajVel (0x2541)
#define ID_IMC_CrdGetTrajAccAndDec (0x2542)
#define ID_IMC_CrdGetZeroFlag (0x2543)
#define ID_IMC_CrdGetIncMode (0x2544)
#define ID_IMC_CrdGetUserVelPlan (0x2545)
#define ID_IMC_CrdLineXYZ (0x2505)
#define ID_IMC_CrdLineXY (0x2506)
#define ID_IMC_CrdLineZX (0x2508)
#define ID_IMC_CrdLineYZ (0x2507)
#define ID_IMC_CrdArcThreePoint (0x2509)
#define ID_IMC_Crd3DArcCenerNormal (0x250a)
#define ID_IMC_Crd3DArcRadiusNormal (0x250e)
#define ID_IMC_Crd3DArcAngleNormal (0x2527)
#define ID_IMC_CrdArcCenterXYPlane (0x250b)
#define ID_IMC_CrdArcCenterYZPlane (0x250c)
#define ID_IMC_CrdArcCenterZXPlane (0x250d)
#define ID_IMC_CrdArcRadiusXYPlane (0x250f)
#define ID_IMC_CrdArcRadiusYZPlane (0x2510)
#define ID_IMC_CrdArcRadiusZXPlane (0x2511)
#define ID_IMC_CrdArcAngleXYPlane (0x2524)
#define ID_IMC_CrdArcAngleYZPlane (0x2525)
#define ID_IMC_CrdArcAngleZXPlane (0x2526)
#define ID_IMC_CrdWaitTime (0x2512)
#define ID_IMC_CrdWaitDI (0x2513)
#define ID_IMC_CrdSetDO (0x2514)
#define ID_IMC_CrdPTPMove (0x2515)
#define ID_IMC_CrdSyncMove (0x2516)
#define ID_IMC_CrdEndData (0x2517)
#define ID_IMC_CrdWaitInPos (0x2538)
#define ID_IMC_CrdSetDistanceDO (0x254b)
#define ID_IMC_CrdSetTimeDO (0x254c)
#define ID_IMC_CrdStart (0x2518)
#define ID_IMC_CrdStop (0x2519)
#define ID_IMC_CrdGetStatus (0x251a)
#define ID_IMC_CrdSetRatio (0x251b)
#define ID_IMC_CrdGetRatio (0x251c)
#define ID_IMC_CrdGetPos (0x251d)
#define ID_IMC_CrdGetVel (0x251e)
#define ID_IMC_CrdGetUserID (0x251f)
#define ID_IMC_CrdGetSpace (0x2520)
#define ID_IMC_CrdClrData (0x2521)
#define ID_IMC_CrdClrError (0x2522)
#define ID_IMC_CrdGetTargetPos (0x2523)
#define ID_IMC_CrdGetPausePos (0x2533)
#define ID_IMC_CrdSetSmoothParam (0x252b)
#define ID_IMC_CrdGetSmoothParam (0x252c)
#define ID_IMC_CrdGetArrivalSts (0x2539)
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
/*----7.6 PTP连续运动模式接口 ---*/
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
#define ID_IMC_PTPCAddFixTData (0x1021)
#define ID_IMC_PTPCAddFixVmData (0x1022)
#define ID_IMC_PTPCInterruptData (0x1025)
#define ID_IMC_PTPCStart (0x1020)
#define ID_IMC_PTPCGetSpace (0x1023)
#define ID_IMC_PTPCClrData (0x1024)
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
/*----7.7 多轴同步运动模式接口 ---*/
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
#define ID_IMC_SetupMutiSyncSys (0x2000)
#define ID_IMC_GetMutiSyncSysInfo (0x2011)
#define ID_IMC_DeleteMutiSyncSys (0x2001)
#define ID_IMC_MutiSyncMotion (0x200c)
#define ID_IMC_MutiSyncMotionInRatio (0x200c)
#define ID_IMC_MutiSyncMotionLookaheadInRatio (0x2014)
#define ID_IMC_MutiSyncMotionInAxVelAcc (0x2012)
#define ID_IMC_MutiSyncMotionLookaheadInAxVelAcc (0x2015)
#define ID_IMC_MutiSyncMotionInSynVelAcc (0x2013)
#define ID_IMC_MutiSyncMotionLookaheadInSynVelAcc (0x2016)
#define ID_IMC_MutiSyncMotionInAccDecTime (0x2018)
#define ID_IMC_MutiSyncMotionInRunTime (0x2019)
#define ID_IMC_MutiSyncStart (0x2006)
#define ID_IMC_MutiSyncStop (0x2007)
#define ID_IMC_MutiSyncGetStatus (0x200b)
#define ID_IMC_MutiSyncSetRatio (0x2004)
#define ID_IMC_MutiSyncGetRatio (0x2005)
#define ID_IMC_MutiSyncGetUserID (0x2008)
#define ID_IMC_MutiSyncGetSpace (0x2009)
#define ID_IMC_MutiSyncClrData (0x200a)
#define ID_IMC_MutiSyncClrError (0x2010)
#define ID_IMC_MutiSyncSetType (0x200e)
#define ID_IMC_MutiSyncGetType (0x200f)
#define ID_IMC_MutiSyncGetTrajVel (0x2017)
#define ID_IMC_MutiSyncGetArrivalSts (0x201a)
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
/*----7.8 多轴插补立即运动模式接口 ---*/
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
#define ID_IMC_ImmediateLineMoveInSynVelAcc (0x2900)
#define ID_IMC_ImmediateLineMoveInAxisVelAcc (0x2901)
#define ID_IMC_ImmediateArcThreePointMove (0x2904)
#define ID_IMC_ImmediateArcCenterMove (0x2905)
#define ID_IMC_ImmediateArcRadiusMove (0x2906)
#define ID_IMC_ImmediateArcAngleMove (0x2907)
#define ID_IMC_ImmediateMoveGetVel (0x2908)
#define ID_IMC_ImmediateMoveStop (0x2902)
#define ID_IMC_ImmediateMoveEStop (0x2903)
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
/*----7.9 周期运动接口 ---*/
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
#define ID_IMC_SetCycleMovePara (0x1700)
#define ID_IMC_GetCycleMovePara (0x1701)
#define ID_IMC_StartCycleMove (0x1702)
#define ID_IMC_StopCycleMove (0x1703)
#define ID_IMC_GetCycleMovePrfPos (0x1704)
#define ID_IMC_GetCycleMoveEncPos (0x1705)
#define ID_IMC_SetCycleMoveCurPos (0x1706)
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
/*----7.10 捆绑PT运动模式接口 ---*/
/*~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
#define ID_IMC_SetupPtPackSys (0x1920)
#define ID_IMC_AddMotionPointPtPack (0x1921)
#define ID_IMC_AddDoPointPtPack (0x1929)
#define ID_IMC_StartPtPack (0x1922)
#define ID_IMC_StopPtPack (0x1923)
#define ID_IMC_GetPtPackRestSpace (0x1924)
#define ID_IMC_GetPtPackStatus (0x1925)
#define ID_IMC_DeletePtPackSys (0x1927)
#define ID_IMC_ClrPtPackData (0x1928)
#define ID_IMC_SetPtPackIncMode (0x192a)
#define ID_IMC_GetPtPackIncMode (0x192b)
#define ID_IMC_EnablePtPackNoDataProtect (0x192c)
#define ID_IMC_DisablePtPackNoDataProtect (0x192d)
#define ID_IMC_GetPtPackNoDataProtectStatus (0x192e)
#define ID_IMC_ClrPtPackError (0x192f)
#define ID_IMC_GetPtPackError (0x1930)
#define ID_IMC_PtPackGetArrivalSts (0x1932)
/*==========================================================================*/
/*----8 事件管理接口 ---*/
/*==========================================================================*/
#define ID_IMC_SetEventIO (0x1600)
#define ID_IMC_GetEventIO (0x1601)
#define ID_IMC_EnableEventIO (0x1602)
#define ID_IMC_DisableEventIO (0x1603)
#define ID_IMC_SetEventDiMotion (0x1610)
#define ID_IMC_GetEventDiMotion (0x1611)
#define ID_IMC_EnableEventDiMotion (0x1612)
#define ID_IMC_DisableEventDiMotion (0x1613)
#define ID_IMC_GetEventDiMotionSts (0x1614)
#define ID_IMC_ClearEventDiMotionSts (0x1615)
#define ID_IMC_SetEventCompareOut (0x1620)
#define ID_IMC_GetEventCompareOut (0x1621)
#define ID_IMC_EnableEventCompareOut (0x1622)
#define ID_IMC_DisableEventCompareOut (0x1623)
#define ID_IMC_SetEventVirtualIOVal (0x1630)
#define ID_IMC_GetEventVirtualIOVal (0x1631)
#define ID_IMC_GetEventVirtualIOUseSts (0x1632)