/************************************************* * XPS_API.h * * * * Description: * * XPS functions * *************************************************/ #ifdef _WIN32 #ifndef DLL #define DLL _declspec(dllimport) #endif #else #define DLL #define __stdcall #endif #ifdef __cplusplus extern "C" { #else typedef int bool; /* C does not know bool, only C++ */ #endif DLL int __stdcall TCP_ConnectToServer(char *Ip_Address, int Ip_Port, double TimeOut); DLL void __stdcall TCP_SetTimeout(int SocketIndex, double Timeout); DLL void __stdcall TCP_CloseSocket(int SocketIndex); DLL char * __stdcall TCP_GetError(int SocketIndex); DLL char * __stdcall GetLibraryVersion(void); DLL int __stdcall ControllerMotionKernelMinMaxTimeLoadGet (int SocketIndex, double * MinimumCPUTotalLoadRatio, double * MaximumCPUTotalLoadRatio, double * MinimumCPUCorrectorLoadRatio, double * MaximumCPUCorrectorLoadRatio, double * MinimumCPUProfilerLoadRatio, double * MaximumCPUProfilerLoadRatio, double * MinimumCPUServitudesLoadRatio, double * MaximumCPUServitudesLoadRatio); /* Get controller motion kernel minimum and maximum time load */ DLL int __stdcall ControllerMotionKernelMinMaxTimeLoadReset (int SocketIndex); /* Reset controller motion kernel min/max time load */ DLL int __stdcall ControllerMotionKernelTimeLoadGet (int SocketIndex, double * CPUTotalLoadRatio, double * CPUCorrectorLoadRatio, double * CPUProfilerLoadRatio, double * CPUServitudesLoadRatio); /* Get controller motion kernel time load */ DLL int __stdcall ControllerRTTimeGet (int SocketIndex, double * CurrentRTPeriod, double * CurrentRTUsage); /* Get controller corrector period and calculation time */ DLL int __stdcall ControllerSlaveStatusGet (int SocketIndex, int * SlaveControllerStatus); /* Read slave controller status */ DLL int __stdcall ControllerSlaveStatusStringGet (int SocketIndex, int SlaveControllerStatusCode, char * SlaveControllerStatusString); /* Return the slave controller status string */ DLL int __stdcall ControllerSynchronizeCorrectorISR (int SocketIndex, char * ModeString); /* Synchronize controller corrector ISR */ DLL int __stdcall ControllerStatusGet (int SocketIndex, int * ControllerStatus); /* Get controller current status and reset the status */ DLL int __stdcall ControllerStatusRead (int SocketIndex, int * ControllerStatus); /* Read controller current status */ DLL int __stdcall ControllerStatusStringGet (int SocketIndex, int ControllerStatusCode, char * ControllerStatusString); /* Return the controller status string */ DLL int __stdcall ElapsedTimeGet (int SocketIndex, double * ElapsedTime); /* Return elapsed time from controller power on */ DLL int __stdcall ErrorStringGet (int SocketIndex, int ErrorCode, char * ErrorString); /* Return the error string corresponding to the error code */ DLL int __stdcall FirmwareVersionGet (int SocketIndex, char * Version); /* Return firmware version */ DLL int __stdcall TCLScriptExecute (int SocketIndex, char * TCLFileName, char * TaskName, char * ParametersList); /* Execute a TCL script from a TCL file */ DLL int __stdcall TCLScriptExecuteAndWait (int SocketIndex, char * TCLFileName, char * TaskName, char * InputParametersList, char * OutputParametersList); /* Execute a TCL script from a TCL file and wait the end of execution to return */ DLL int __stdcall TCLScriptExecuteWithPriority (int SocketIndex, char * TCLFileName, char * TaskName, char * TaskPriorityLevel, char * ParametersList); /* Execute a TCL script with defined priority */ DLL int __stdcall TCLScriptKill (int SocketIndex, char * TaskName); /* Kill TCL Task */ DLL int __stdcall TCLScriptKillAll (int SocketIndex); /* Kill all TCL Tasks */ DLL int __stdcall TimerGet (int SocketIndex, char * TimerName, int * FrequencyTicks); /* Get a timer */ DLL int __stdcall TimerSet (int SocketIndex, char * TimerName, int FrequencyTicks); /* Set a timer */ DLL int __stdcall Reboot (int SocketIndex); /* Reboot the controller */ DLL int __stdcall Login (int SocketIndex, char * Name, char * Password); /* Log in */ DLL int __stdcall CloseAllOtherSockets (int SocketIndex); /* Close all socket beside the one used to send this command */ DLL int __stdcall HardwareDateAndTimeGet (int SocketIndex, char * DateAndTime); /* Return hardware date and time */ DLL int __stdcall HardwareDateAndTimeSet (int SocketIndex, char * DateAndTime); /* Set hardware date and time */ DLL int __stdcall EventAdd (int SocketIndex, char * PositionerName, char * EventName, char * EventParameter, char * ActionName, char * ActionParameter1, char * ActionParameter2, char * ActionParameter3); /* ** OBSOLETE ** Add an event */ DLL int __stdcall EventGet (int SocketIndex, char * PositionerName, char * EventsAndActionsList); /* ** OBSOLETE ** Read events and actions list */ DLL int __stdcall EventRemove (int SocketIndex, char * PositionerName, char * EventName, char * EventParameter); /* ** OBSOLETE ** Delete an event */ DLL int __stdcall EventWait (int SocketIndex, char * PositionerName, char * EventName, char * EventParameter); /* ** OBSOLETE ** Wait an event */ DLL int __stdcall EventExtendedConfigurationTriggerSet (int SocketIndex, int NbElements, char * ExtendedEventNameList, char * EventParameter1List, char * EventParameter2List, char * EventParameter3List, char * EventParameter4List); /* Configure one or several events */ DLL int __stdcall EventExtendedConfigurationTriggerGet (int SocketIndex, char * EventTriggerConfiguration); /* Read the event configuration */ DLL int __stdcall EventExtendedConfigurationActionSet (int SocketIndex, int NbElements, char * ExtendedActionNameList, char * ActionParameter1List, char * ActionParameter2List, char * ActionParameter3List, char * ActionParameter4List); /* Configure one or several actions */ DLL int __stdcall EventExtendedConfigurationActionGet (int SocketIndex, char * ActionConfiguration); /* Read the action configuration */ DLL int __stdcall EventExtendedStart (int SocketIndex, int * ID); /* Launch the last event and action configuration and return an ID */ DLL int __stdcall EventExtendedAllGet (int SocketIndex, char * EventActionConfigurations); /* Read all event and action configurations */ DLL int __stdcall EventExtendedGet (int SocketIndex, int ID, char * EventTriggerConfiguration, char * ActionConfiguration); /* Read the event and action configuration defined by ID */ DLL int __stdcall EventExtendedRemove (int SocketIndex, int ID); /* Remove the event and action configuration defined by ID */ DLL int __stdcall EventExtendedWait (int SocketIndex); /* Wait events from the last event configuration */ DLL int __stdcall GatheringConfigurationGet (int SocketIndex, char * Type); /*Read different mnemonique type */ DLL int __stdcall GatheringConfigurationSet (int SocketIndex, int NbElements, char * TypeList); /* Configuration acquisition */ DLL int __stdcall GatheringCurrentNumberGet (int SocketIndex, int * CurrentNumber, int * MaximumSamplesNumber); /* Maximum number of samples and current number during acquisition */ DLL int __stdcall GatheringStopAndSave (int SocketIndex); /* Stop acquisition and save data */ DLL int __stdcall GatheringDataAcquire (int SocketIndex); /* Acquire a configured data */ DLL int __stdcall GatheringDataGet (int SocketIndex, int IndexPoint, char * DataBufferLine); /* Get a data line from gathering buffer */ DLL int __stdcall GatheringDataMultipleLinesGet (int SocketIndex, int IndexPoint, int NumberOfLines, char * DataBufferLine); /* Get multiple data lines from gathering buffer */ DLL int __stdcall GatheringReset (int SocketIndex); /* Empty the gathered data in memory to start new gathering from scratch */ DLL int __stdcall GatheringRun (int SocketIndex, int DataNumber, int Divisor); /* Start a new gathering */ DLL int __stdcall GatheringRunAppend (int SocketIndex); /* Re-start the stopped gathering to add new data */ DLL int __stdcall GatheringStop (int SocketIndex); /* Stop the data gathering (without saving to file) */ DLL int __stdcall GatheringExternalConfigurationSet (int SocketIndex, int NbElements, char * TypeList); /* Configuration acquisition */ DLL int __stdcall GatheringExternalConfigurationGet (int SocketIndex, char * Type); /* Read different mnemonique type */ DLL int __stdcall GatheringExternalCurrentNumberGet (int SocketIndex, int * CurrentNumber, int * MaximumSamplesNumber); /* Maximum number of samples and current number during acquisition */ DLL int __stdcall GatheringExternalDataGet (int SocketIndex, int IndexPoint, char * DataBufferLine); /* Get a data line from external gathering buffer */ DLL int __stdcall GatheringExternalStopAndSave (int SocketIndex); /* Stop acquisition and save data */ DLL int __stdcall GlobalArrayGet (int SocketIndex, int Number, char * ValueString); /* Get global array value */ DLL int __stdcall GlobalArraySet (int SocketIndex, int Number, char * ValueString); /* Set global array value */ DLL int __stdcall DoubleGlobalArrayGet (int SocketIndex, int Number, double * DoubleValue); /* Get double global array value */ DLL int __stdcall DoubleGlobalArraySet (int SocketIndex, int Number, double DoubleValue); /* Set double global array value */ DLL int __stdcall GPIOAnalogGet (int SocketIndex, int NbElements, char * GPIONameList, double AnalogValue[]); /* Read analog input or analog output for one or few input */ DLL int __stdcall GPIOAnalogSet (int SocketIndex, int NbElements, char * GPIONameList, double AnalogOutputValue[]); /* Set analog output for one or few output */ DLL int __stdcall GPIOAnalogGainGet (int SocketIndex, int NbElements, char * GPIONameList, int AnalogInputGainValue[]); /* Read analog input gain (1, 2, 4 or 8) for one or few input */ DLL int __stdcall GPIOAnalogGainSet (int SocketIndex, int NbElements, char * GPIONameList, int AnalogInputGainValue[]); /* Set analog input gain (1, 2, 4 or 8) for one or few input */ DLL int __stdcall GPIODigitalGet (int SocketIndex, char * GPIOName, unsigned short * DigitalValue); /* Read digital output or digital input */ DLL int __stdcall GPIODigitalSet (int SocketIndex, char * GPIOName, unsigned short Mask, unsigned short DigitalOutputValue); /* Set Digital Output for one or few output TTL */ DLL int __stdcall GroupAccelerationSetpointGet (int SocketIndex, char * GroupName, int NbElements, double SetpointAcceleration[]); /* Return setpoint accelerations */ DLL int __stdcall GroupAnalogTrackingModeEnable (int SocketIndex, char * GroupName, char * Type); /* Enable Analog Tracking mode on selected group */ DLL int __stdcall GroupAnalogTrackingModeDisable (int SocketIndex, char * GroupName); /* Disable Analog Tracking mode on selected group */ DLL int __stdcall GroupCorrectorOutputGet (int SocketIndex, char * GroupName, int NbElements, double CorrectorOutput[]); /* Return corrector outputs */ DLL int __stdcall GroupCurrentFollowingErrorGet (int SocketIndex, char * GroupName, int NbElements, double CurrentFollowingError[]); /* Return current following errors */ DLL int __stdcall GroupHomeSearch (int SocketIndex, char * GroupName); /* Start home search sequence */ DLL int __stdcall GroupHomeSearchAndRelativeMove (int SocketIndex, char * GroupName, int NbElements, double TargetDisplacement[]); /* Start home search sequence and execute a displacement */ DLL int __stdcall GroupInitialize (int SocketIndex, char * GroupName); /* Start the initialization */ DLL int __stdcall GroupInitializeNoEncoderReset (int SocketIndex, char * GroupName); /* Start the initialization with no encoder reset */ DLL int __stdcall GroupInitializeWithEncoderCalibration (int SocketIndex, char * GroupName); /* Start the initialization with encoder calibration */ DLL int __stdcall GroupInterlockDisable (int SocketIndex, char * GroupName); /* Set group interlock disable */ DLL int __stdcall GroupInterlockEnable (int SocketIndex, char * GroupName); /* Set group interlock enable */ DLL int __stdcall GroupJogParametersSet (int SocketIndex, char * GroupName, int NbElements, double Velocity[], double Acceleration[]); /* Modify Jog parameters on selected group and activate the continuous move */ DLL int __stdcall GroupJogParametersGet (int SocketIndex, char * GroupName, int NbElements, double Velocity[], double Acceleration[]); /* Get Jog parameters on selected group */ DLL int __stdcall GroupJogCurrentGet (int SocketIndex, char * GroupName, int NbElements, double Velocity[], double Acceleration[]); /* Get Jog current on selected group */ DLL int __stdcall GroupJogModeEnable (int SocketIndex, char * GroupName); /* Enable Jog mode on selected group */ DLL int __stdcall GroupJogModeDisable (int SocketIndex, char * GroupName); /* Disable Jog mode on selected group */ DLL int __stdcall GroupKill (int SocketIndex, char * GroupName); /* Kill the group */ DLL int __stdcall GroupMotionDisable (int SocketIndex, char * GroupName); /* Set Motion disable on selected group */ DLL int __stdcall GroupMotionEnable (int SocketIndex, char * GroupName); /* Set Motion enable on selected group */ DLL int __stdcall GroupMotionStatusGet (int SocketIndex, char * GroupName, int NbElements, int Status[]); /* Return group or positioner status */ DLL int __stdcall GroupMoveAbort (int SocketIndex, char * GroupName); /* Abort a move */ DLL int __stdcall GroupMoveAbortFast (int SocketIndex, char * GroupName, int AccelerationMultiplier); /* Abort quickly a move */ DLL int __stdcall GroupMoveAbsolute (int SocketIndex, char * GroupName, int NbElements, double TargetPosition[]); /* Do an absolute move */ DLL int __stdcall GroupMoveRelative (int SocketIndex, char * GroupName, int NbElements, double TargetDisplacement[]); /* Do a relative move */ DLL int __stdcall GroupPositionCorrectedProfilerGet (int SocketIndex, char * GroupName, double PositionX, double PositionY, double * CorrectedProfilerPositionX, double * CorrectedProfilerPositionY); /* Return corrected profiler positions */ DLL int __stdcall GroupPositionCurrentGet (int SocketIndex, char * GroupName, int NbElements, double CurrentEncoderPosition[]); /* Return current positions */ DLL int __stdcall GroupPositionPCORawEncoderGet (int SocketIndex, char * GroupName, double PositionX, double PositionY, double * PCORawPositionX, double * PCORawPositionY); /* Return PCO raw encoder positions */ DLL int __stdcall GroupPositionSetpointGet (int SocketIndex, char * GroupName, int NbElements, double SetPointPosition[]); /* Return setpoint positions */ DLL int __stdcall GroupPositionTargetGet (int SocketIndex, char * GroupName, int NbElements, double TargetPosition[]); /* Return target positions */ DLL int __stdcall GroupReferencingActionExecute (int SocketIndex, char * PositionerName, char * ReferencingAction, char * ReferencingSensor, double ReferencingParameter); /* Execute an action in referencing mode */ DLL int __stdcall GroupReferencingStart (int SocketIndex, char * GroupName); /* Enter referencing mode */ DLL int __stdcall GroupReferencingStop (int SocketIndex, char * GroupName); /* Exit referencing mode */ DLL int __stdcall GroupStatusGet (int SocketIndex, char * GroupName, int * Status); /* Return group status */ DLL int __stdcall GroupStatusStringGet (int SocketIndex, int GroupStatusCode, char * GroupStatusString); /* Return the group status string corresponding to the group status code */ DLL int __stdcall GroupVelocityCurrentGet (int SocketIndex, char * GroupName, int NbElements, double CurrentVelocity[]); /* Return current velocities */ DLL int __stdcall KillAll (int SocketIndex); /* Put all groups in 'Not initialized' state */ DLL int __stdcall RestartApplication (int SocketIndex); /* Restart the Controller */ DLL int __stdcall PositionerAnalogTrackingPositionParametersGet (int SocketIndex, char * PositionerName, char * GPIOName, double * Offset, double * Scale, double * Velocity, double * Acceleration); /* Read dynamic parameters for one axe of a group for a future analog tracking position */ DLL int __stdcall PositionerAnalogTrackingPositionParametersSet (int SocketIndex, char * PositionerName, char * GPIOName, double Offset, double Scale, double Velocity, double Acceleration); /* Update dynamic parameters for one axe of a group for a future analog tracking position */ DLL int __stdcall PositionerAnalogTrackingVelocityParametersGet (int SocketIndex, char * PositionerName, char * GPIOName, double * Offset, double * Scale, double * DeadBandThreshold, int * Order, double * Velocity, double * Acceleration); /* Read dynamic parameters for one axe of a group for a future analog tracking velocity */ DLL int __stdcall PositionerAnalogTrackingVelocityParametersSet (int SocketIndex, char * PositionerName, char * GPIOName, double Offset, double Scale, double DeadBandThreshold, int Order, double Velocity, double Acceleration); /* Update dynamic parameters for one axe of a group for a future analog tracking velocity */ DLL int __stdcall PositionerBacklashGet (int SocketIndex, char * PositionerName, double * BacklashValue, char * BacklaskStatus); /* Read backlash value and status */ DLL int __stdcall PositionerBacklashSet (int SocketIndex, char * PositionerName, double BacklashValue); /* Set backlash value */ DLL int __stdcall PositionerBacklashEnable (int SocketIndex, char * PositionerName); /* Enable the backlash */ DLL int __stdcall PositionerBacklashDisable (int SocketIndex, char * PositionerName); /* Disable the backlash */ DLL int __stdcall PositionerCompensatedPCOAbort (int SocketIndex, char * PositionerName); /* Abort CIE08 compensated PCO mode */ DLL int __stdcall PositionerCompensatedPCOCurrentStatusGet (int SocketIndex, char * PositionerName, int * Status); /* Get current status of CIE08 compensated PCO mode */ DLL int __stdcall PositionerCompensatedPCOEnable (int SocketIndex, char * PositionerName); /* Enable CIE08 compensated PCO mode execution */ DLL int __stdcall PositionerCompensatedPCOFromFile (int SocketIndex, char * PositionerName, char * DataFileName); /* Load file to CIE08 compensated PCO data buffer */ DLL int __stdcall PositionerCompensatedPCOLoadToMemory (int SocketIndex, char * PositionerName, char * DataLines); /* Load data lines to CIE08 compensated PCO data buffer */ DLL int __stdcall PositionerCompensatedPCOMemoryReset (int SocketIndex, char * PositionerName); /* Reset CIE08 compensated PCO data buffer */ DLL int __stdcall PositionerCompensatedPCOPrepare (int SocketIndex, char * PositionerName, int ScanDirection, int NbElements, double StartPosition[]); /* Prepare data for CIE08 compensated PCO mode */ DLL int __stdcall PositionerCompensatedPCOSet (int SocketIndex, char * PositionerName, double Start, double Stop, double Distance, double Width); /* Set data to CIE08 compensated PCO data buffer */ DLL int __stdcall PositionerCompensationFrequencyNotchsGet (int SocketIndex, char * PositionerName, double * NotchFrequency1, double * NotchBandwidth1, double * NotchGain1, double * NotchFrequency2, double * NotchBandwidth2, double * NotchGain2, double * NotchFrequency3, double * NotchBandwidth3, double * NotchGain3); /* Read frequency compensation notch filters parameters */ DLL int __stdcall PositionerCompensationFrequencyNotchsSet (int SocketIndex, char * PositionerName, double NotchFrequency1, double NotchBandwidth1, double NotchGain1, double NotchFrequency2, double NotchBandwidth2, double NotchGain2, double NotchFrequency3, double NotchBandwidth3, double NotchGain3); /* Update frequency compensation notch filters parameters */ DLL int __stdcall PositionerCompensationLowPassTwoFilterGet (int SocketIndex, char * PositionerName, double * CutOffFrequency); /* Read second order low-pass filter parameters */ DLL int __stdcall PositionerCompensationLowPassTwoFilterSet (int SocketIndex, char * PositionerName, double CutOffFrequency); /* Update second order low-pass filter parameters */ DLL int __stdcall PositionerCompensationNotchModeFiltersGet (int SocketIndex, char * PositionerName, double * NotchModeFr1, double * NotchModeFa1, double * NotchModeZr1, double * NotchModeZa1, double * NotchModeFr2, double * NotchModeFa2, double * NotchModeZr2, double * NotchModeZa2); /* Read notch mode filters parameters */ DLL int __stdcall PositionerCompensationNotchModeFiltersSet (int SocketIndex, char * PositionerName, double NotchModeFr1, double NotchModeFa1, double NotchModeZr1, double NotchModeZa1, double NotchModeFr2, double NotchModeFa2, double NotchModeZr2, double NotchModeZa2); /* Update notch mode filters parameters */ DLL int __stdcall PositionerCompensationPhaseCorrectionFiltersGet (int SocketIndex, char * PositionerName, double * PhaseCorrectionFn1, double * PhaseCorrectionFd1, double * PhaseCorrectionGain1, double * PhaseCorrectionFn2, double * PhaseCorrectionFd2, double * PhaseCorrectionGain2); /* Read phase correction filters parameters */ DLL int __stdcall PositionerCompensationPhaseCorrectionFiltersSet (int SocketIndex, char * PositionerName, double PhaseCorrectionFn1, double PhaseCorrectionFd1, double PhaseCorrectionGain1, double PhaseCorrectionFn2, double PhaseCorrectionFd2, double PhaseCorrectionGain2); /* Update phase correction filters parameters */ DLL int __stdcall PositionerCompensationSpatialPeriodicNotchsGet (int SocketIndex, char * PositionerName, double * SpatialNotchStep1, double * SpatialNotchBandwidth1, double * SpatialNotchGain1, double * SpatialNotchStep2, double * SpatialNotchBandwidth2, double * SpatialNotchGain2, double * SpatialNotchStep3, double * SpatialNotchBandwidth3, double * SpatialNotchGain3); /* Read spatial compensation notch filters parameters */ DLL int __stdcall PositionerCompensationSpatialPeriodicNotchsSet (int SocketIndex, char * PositionerName, double SpatialNotchStep1, double SpatialNotchBandwidth1, double SpatialNotchGain1, double SpatialNotchStep2, double SpatialNotchBandwidth2, double SpatialNotchGain2, double SpatialNotchStep3, double SpatialNotchBandwidth3, double SpatialNotchGain3); /* Update spatial compensation notch filters parameters */ DLL int __stdcall PositionerCorrectorNotchFiltersSet (int SocketIndex, char * PositionerName, double NotchFrequency1, double NotchBandwidth1, double NotchGain1, double NotchFrequency2, double NotchBandwidth2, double NotchGain2); /* Update filters parameters */ DLL int __stdcall PositionerCorrectorNotchFiltersGet (int SocketIndex, char * PositionerName, double * NotchFrequency1, double * NotchBandwidth1, double * NotchGain1, double * NotchFrequency2, double * NotchBandwidth2, double * NotchGain2); /* Read filters parameters */ DLL int __stdcall PositionerCorrectorPIDBaseSet (int SocketIndex, char * PositionerName, double MovingMass, double StaticMass, double Viscosity, double Stiffness); /* Update PIDBase parameters */ DLL int __stdcall PositionerCorrectorPIDBaseGet (int SocketIndex, char * PositionerName, double * MovingMass, double * StaticMass, double * Viscosity, double * Stiffness); /* Read PIDBase parameters */ DLL int __stdcall PositionerCorrectorPIDFFAccelerationSet (int SocketIndex, char * PositionerName, bool ClosedLoopStatus, double KP, double KI, double KD, double KS, double IntegrationTime, double DerivativeFilterCutOffFrequency, double GKP, double GKI, double GKD, double KForm, double KFeedForwardAcceleration, double KFeedForwardJerk); /* Update corrector parameters */ DLL int __stdcall PositionerCorrectorPIDFFAccelerationGet (int SocketIndex, char * PositionerName, bool * ClosedLoopStatus, double * KP, double * KI, double * KD, double * KS, double * IntegrationTime, double * DerivativeFilterCutOffFrequency, double * GKP, double * GKI, double * GKD, double * KForm, double * KFeedForwardAcceleration, double * KFeedForwardJerk); /* Read corrector parameters */ DLL int __stdcall PositionerCorrectorP2IDFFAccelerationSet (int SocketIndex, char * PositionerName, bool ClosedLoopStatus, double KP, double KI, double KI2, double KD, double KS, double IntegrationTime, double DerivativeFilterCutOffFrequency, double GKP, double GKI, double GKD, double KForm, double KFeedForwardAcceleration, double KFeedForwardJerk, double SetpointPositionDelay); /* Update corrector parameters */ DLL int __stdcall PositionerCorrectorP2IDFFAccelerationGet (int SocketIndex, char * PositionerName, bool * ClosedLoopStatus, double * KP, double * KI, double * KI2, double * KD, double * KS, double * IntegrationTime, double * DerivativeFilterCutOffFrequency, double * GKP, double * GKI, double * GKD, double * KForm, double * KFeedForwardAcceleration, double * KFeedForwardJerk, double * SetpointPositionDelay); /* Read corrector parameters */ DLL int __stdcall PositionerCorrectorPIDFFVelocitySet (int SocketIndex, char * PositionerName, bool ClosedLoopStatus, double KP, double KI, double KD, double KS, double IntegrationTime, double DerivativeFilterCutOffFrequency, double GKP, double GKI, double GKD, double KForm, double KFeedForwardVelocity); /* Update corrector parameters */ DLL int __stdcall PositionerCorrectorPIDFFVelocityGet (int SocketIndex, char * PositionerName, bool * ClosedLoopStatus, double * KP, double * KI, double * KD, double * KS, double * IntegrationTime, double * DerivativeFilterCutOffFrequency, double * GKP, double * GKI, double * GKD, double * KForm, double * KFeedForwardVelocity); /* Read corrector parameters */ DLL int __stdcall PositionerCorrectorPIDDualFFVoltageSet (int SocketIndex, char * PositionerName, bool ClosedLoopStatus, double KP, double KI, double KD, double KS, double IntegrationTime, double DerivativeFilterCutOffFrequency, double GKP, double GKI, double GKD, double KForm, double KFeedForwardVelocity, double KFeedForwardAcceleration, double Friction); /* Update corrector parameters */ DLL int __stdcall PositionerCorrectorPIDDualFFVoltageGet (int SocketIndex, char * PositionerName, bool * ClosedLoopStatus, double * KP, double * KI, double * KD, double * KS, double * IntegrationTime, double * DerivativeFilterCutOffFrequency, double * GKP, double * GKI, double * GKD, double * KForm, double * KFeedForwardVelocity, double * KFeedForwardAcceleration, double * Friction); /* Read corrector parameters */ DLL int __stdcall PositionerCorrectorPIPositionSet (int SocketIndex, char * PositionerName, bool ClosedLoopStatus, double KP, double KI, double IntegrationTime); /* Update corrector parameters */ DLL int __stdcall PositionerCorrectorPIPositionGet (int SocketIndex, char * PositionerName, bool * ClosedLoopStatus, double * KP, double * KI, double * IntegrationTime); /* Read corrector parameters */ DLL int __stdcall PositionerCorrectorSR1AccelerationSet (int SocketIndex, char * PositionerName, bool ClosedLoopStatus, double KP, double KI, double KV, double ObserverFrequency, double CompensationGainVelocity, double CompensationGainAcceleration, double CompensationGainJerk); /* Update corrector parameters */ DLL int __stdcall PositionerCorrectorSR1AccelerationGet (int SocketIndex, char * PositionerName, bool * ClosedLoopStatus, double * KP, double * KI, double * KV, double * ObserverFrequency, double * CompensationGainVelocity, double * CompensationGainAcceleration, double * CompensationGainJerk); /* Read corrector parameters */ DLL int __stdcall PositionerCorrectorSR1ObserverAccelerationSet (int SocketIndex, char * PositionerName, double ParameterA, double ParameterB, double ParameterC); /* Update SR1 corrector observer parameters */ DLL int __stdcall PositionerCorrectorSR1ObserverAccelerationGet (int SocketIndex, char * PositionerName, double * ParameterA, double * ParameterB, double * ParameterC); /* Read SR1 corrector observer parameters */ DLL int __stdcall PositionerCorrectorSR1OffsetAccelerationSet (int SocketIndex, char * PositionerName, double AccelerationOffset); /* Update SR1 corrector output acceleration offset */ DLL int __stdcall PositionerCorrectorSR1OffsetAccelerationGet (int SocketIndex, char * PositionerName, double * AccelerationOffset); /* Read SR1 corrector output acceleration offset */ DLL int __stdcall PositionerCorrectorTypeGet (int SocketIndex, char * PositionerName, char * CorrectorType); /* Read corrector type */ DLL int __stdcall PositionerCurrentVelocityAccelerationFiltersSet (int SocketIndex, char * PositionerName, double CurrentVelocityCutOffFrequency, double CurrentAccelerationCutOffFrequency); /* Set current velocity and acceleration cut off frequencies */ DLL int __stdcall PositionerCurrentVelocityAccelerationFiltersGet (int SocketIndex, char * PositionerName, double * CurrentVelocityCutOffFrequency, double * CurrentAccelerationCutOffFrequency); /* Get current velocity and acceleration cut off frequencies */ DLL int __stdcall PositionerDriverFiltersGet (int SocketIndex, char * PositionerName, double * KI, double * NotchFrequency, double * NotchBandwidth, double * NotchGain, double * LowpassFrequency); /* Get driver filters parameters */ DLL int __stdcall PositionerDriverFiltersSet (int SocketIndex, char * PositionerName, double KI, double NotchFrequency, double NotchBandwidth, double NotchGain, double LowpassFrequency); /* Set driver filters parameters */ DLL int __stdcall PositionerDriverPositionOffsetsGet (int SocketIndex, char * PositionerName, double * StagePositionOffset, double * GagePositionOffset); /* Get driver stage and gage position offset */ DLL int __stdcall PositionerDriverStatusGet (int SocketIndex, char * PositionerName, int * DriverStatus); /* Read positioner driver status */ DLL int __stdcall PositionerDriverStatusStringGet (int SocketIndex, int PositionerDriverStatus, char * PositionerDriverStatusString); /* Return the positioner driver status string corresponding to the positioner error code */ DLL int __stdcall PositionerEncoderAmplitudeValuesGet (int SocketIndex, char * PositionerName, double * CalibrationSinusAmplitude, double * CurrentSinusAmplitude, double * CalibrationCosinusAmplitude, double * CurrentCosinusAmplitude); /* Read analog interpolated encoder amplitude values */ DLL int __stdcall PositionerEncoderCalibrationParametersGet (int SocketIndex, char * PositionerName, double * SinusOffset, double * CosinusOffset, double * DifferentialGain, double * PhaseCompensation); /* Read analog interpolated encoder calibration parameters */ DLL int __stdcall PositionerErrorGet (int SocketIndex, char * PositionerName, int * ErrorCode); /* Read and clear positioner error code */ DLL int __stdcall PositionerErrorRead (int SocketIndex, char * PositionerName, int * ErrorCode); /* Read only positioner error code without clear it */ DLL int __stdcall PositionerErrorStringGet (int SocketIndex, int PositionerErrorCode, char * PositionerErrorString); /* Return the positioner status string corresponding to the positioner error code */ DLL int __stdcall PositionerExcitationSignalGet (int SocketIndex, char * PositionerName, int * Mode, double * Frequency, double * Amplitude, double * Time); /* Get excitation signal mode */ DLL int __stdcall PositionerExcitationSignalSet (int SocketIndex, char * PositionerName, int Mode, double Frequency, double Amplitude, double Time); /* Set excitation signal mode */ DLL int __stdcall PositionerHardwareStatusGet (int SocketIndex, char * PositionerName, int * HardwareStatus); /* Read positioner hardware status */ DLL int __stdcall PositionerHardwareStatusStringGet (int SocketIndex, int PositionerHardwareStatus, char * PositionerHardwareStatusString); /* Return the positioner hardware status string corresponding to the positioner error code */ DLL int __stdcall PositionerHardInterpolatorFactorGet (int SocketIndex, char * PositionerName, int * InterpolationFactor); /* Get hard interpolator parameters */ DLL int __stdcall PositionerHardInterpolatorFactorSet (int SocketIndex, char * PositionerName, int InterpolationFactor); /* Set hard interpolator parameters */ DLL int __stdcall PositionerHardInterpolatorPositionGet (int SocketIndex, char * PositionerName, double * Position); /* Read external latch position */ DLL int __stdcall PositionerMaximumVelocityAndAccelerationGet (int SocketIndex, char * PositionerName, double * MaximumVelocity, double * MaximumAcceleration); /* Return maximum velocity and acceleration of the positioner */ DLL int __stdcall PositionerMotionDoneGet (int SocketIndex, char * PositionerName, double * PositionWindow, double * VelocityWindow, double * CheckingTime, double * MeanPeriod, double * TimeOut); /* Read motion done parameters */ DLL int __stdcall PositionerMotionDoneSet (int SocketIndex, char * PositionerName, double PositionWindow, double VelocityWindow, double CheckingTime, double MeanPeriod, double TimeOut); /* Update motion done parameters */ DLL int __stdcall PositionerPositionCompareAquadBAlwaysEnable (int SocketIndex, char * PositionerName); /* Enable AquadB signal in always mode */ DLL int __stdcall PositionerPositionCompareAquadBWindowedGet (int SocketIndex, char * PositionerName, double * MinimumPosition, double * MaximumPosition, bool * EnableState); /* Read position compare AquadB windowed parameters */ DLL int __stdcall PositionerPositionCompareAquadBWindowedSet (int SocketIndex, char * PositionerName, double MinimumPosition, double MaximumPosition); /* Set position compare AquadB windowed parameters */ DLL int __stdcall PositionerPositionCompareGet (int SocketIndex, char * PositionerName, double * MinimumPosition, double * MaximumPosition, double * PositionStep, bool * EnableState); /* Read position compare parameters */ DLL int __stdcall PositionerPositionCompareSet (int SocketIndex, char * PositionerName, double MinimumPosition, double MaximumPosition, double PositionStep); /* Set position compare parameters */ DLL int __stdcall PositionerPositionCompareEnable (int SocketIndex, char * PositionerName); /* Enable position compare */ DLL int __stdcall PositionerPositionCompareDisable (int SocketIndex, char * PositionerName); /* Disable position compare */ DLL int __stdcall PositionerPositionComparePulseParametersGet (int SocketIndex, char * PositionerName, double * PCOPulseWidth, double * EncoderSettlingTime); /* Get position compare PCO pulse parameters */ DLL int __stdcall PositionerPositionComparePulseParametersSet (int SocketIndex, char * PositionerName, double PCOPulseWidth, double EncoderSettlingTime); /* Set position compare PCO pulse parameters */ DLL int __stdcall PositionerPositionCompareScanAccelerationLimitGet (int SocketIndex, char * PositionerName, double * ScanAccelerationLimit); /* Get position compare scan acceleration limit */ DLL int __stdcall PositionerPositionCompareScanAccelerationLimitSet (int SocketIndex, char * PositionerName, double ScanAccelerationLimit); /* Set position compare scan acceleration limit */ DLL int __stdcall PositionerPreCorrectorExcitationSignalGet (int SocketIndex, char * PositionerName, double * Frequency, double * Amplitude, double * Time); /* Get pre-corrector excitation signal mode */ DLL int __stdcall PositionerPreCorrectorExcitationSignalSet (int SocketIndex, char * PositionerName, double Frequency, double Amplitude, double Time); /* Set pre-corrector excitation signal mode */ DLL int __stdcall PositionerRawEncoderPositionGet (int SocketIndex, char * PositionerName, double UserEncoderPosition, double * RawEncoderPosition); /* Get the raw encoder position */ DLL int __stdcall PositionersEncoderIndexDifferenceGet (int SocketIndex, char * PositionerName, double * distance); /* Return the difference between index of primary axis and secondary axis (only after homesearch) */ DLL int __stdcall PositionerSGammaExactVelocityAjustedDisplacementGet (int SocketIndex, char * PositionerName, double DesiredDisplacement, double * AdjustedDisplacement); /* Return adjusted displacement to get exact velocity */ DLL int __stdcall PositionerSGammaParametersGet (int SocketIndex, char * PositionerName, double * Velocity, double * Acceleration, double * MinimumTjerkTime, double * MaximumTjerkTime); /* Read dynamic parameters for one axe of a group for a future displacement */ DLL int __stdcall PositionerSGammaParametersSet (int SocketIndex, char * PositionerName, double Velocity, double Acceleration, double MinimumTjerkTime, double MaximumTjerkTime); /* Update dynamic parameters for one axe of a group for a future displacement */ DLL int __stdcall PositionerSGammaPreviousMotionTimesGet (int SocketIndex, char * PositionerName, double * SettingTime, double * SettlingTime); /* Read SettingTime and SettlingTime */ DLL int __stdcall PositionerStageParameterGet (int SocketIndex, char * PositionerName, char * ParameterName, char * ParameterValue); /* Return the stage parameter */ DLL int __stdcall PositionerStageParameterSet (int SocketIndex, char * PositionerName, char * ParameterName, char * ParameterValue); /* Save the stage parameter */ DLL int __stdcall PositionerTimeFlasherGet (int SocketIndex, char * PositionerName, double * MinimumPosition, double * MaximumPosition, double * PositionStep, bool * EnableState); /* Read time flasher parameters */ DLL int __stdcall PositionerTimeFlasherSet (int SocketIndex, char * PositionerName, double MinimumPosition, double MaximumPosition, double TimeInterval); /* Set time flasher parameters */ DLL int __stdcall PositionerTimeFlasherEnable (int SocketIndex, char * PositionerName); /* Enable time flasher */ DLL int __stdcall PositionerTimeFlasherDisable (int SocketIndex, char * PositionerName); /* Disable time flasher */ DLL int __stdcall PositionerUserTravelLimitsGet (int SocketIndex, char * PositionerName, double * UserMinimumTarget, double * UserMaximumTarget); /* Read UserMinimumTarget and UserMaximumTarget */ DLL int __stdcall PositionerUserTravelLimitsSet (int SocketIndex, char * PositionerName, double UserMinimumTarget, double UserMaximumTarget); /* Update UserMinimumTarget and UserMaximumTarget */ DLL int __stdcall PositionerWarningFollowingErrorSet (int SocketIndex, char * PositionerName, double WarningFollowingError); /* Set positioner warning following error limit */ DLL int __stdcall PositionerWarningFollowingErrorGet (int SocketIndex, char * PositionerName, double * WarningFollowingError); /* Get positioner warning following error limit */ DLL int __stdcall PositionerCorrectorAutoTuning (int SocketIndex, char * PositionerName, int TuningMode, double * KP, double * KI, double * KD); /* Astrom&Hagglund based auto-tuning */ DLL int __stdcall PositionerAccelerationAutoScaling (int SocketIndex, char * PositionerName, double * Scaling); /* Astrom&Hagglund based auto-scaling */ DLL int __stdcall MultipleAxesPVTVerification (int SocketIndex, char * GroupName, char * TrajectoryFileName); /* Multiple axes PVT trajectory verification */ DLL int __stdcall MultipleAxesPVTVerificationResultGet (int SocketIndex, char * PositionerName, char * FileName, double * MinimumPosition, double * MaximumPosition, double * MaximumVelocity, double * MaximumAcceleration); /* Multiple axes PVT trajectory verification result get */ DLL int __stdcall MultipleAxesPVTExecution (int SocketIndex, char * GroupName, char * TrajectoryFileName, int ExecutionNumber); /* Multiple axes PVT trajectory execution */ DLL int __stdcall MultipleAxesPVTParametersGet (int SocketIndex, char * GroupName, char * FileName, int * CurrentElementNumber); /* Multiple axes PVT trajectory get parameters */ DLL int __stdcall MultipleAxesPVTPulseOutputSet (int SocketIndex, char * GroupName, int StartElement, int EndElement, double TimeInterval); /* Configure pulse output on trajectory */ DLL int __stdcall MultipleAxesPVTPulseOutputGet (int SocketIndex, char * GroupName, int * StartElement, int * EndElement, double * TimeInterval); /* Get pulse output on trajectory configuration */ DLL int __stdcall MultipleAxesPVTLoadToMemory (int SocketIndex, char * GroupName, char * TrajectoryPart); /* Multiple Axes Load PVT trajectory through function */ DLL int __stdcall MultipleAxesPVTResetInMemory (int SocketIndex, char * GroupName); /* Multiple Axes PVT trajectory reset in memory */ DLL int __stdcall SingleAxisSlaveModeEnable (int SocketIndex, char * GroupName); /* Enable the slave mode */ DLL int __stdcall SingleAxisSlaveModeDisable (int SocketIndex, char * GroupName); /* Disable the slave mode */ DLL int __stdcall SingleAxisSlaveParametersSet (int SocketIndex, char * GroupName, char * PositionerName, double Ratio); /* Set slave parameters */ DLL int __stdcall SingleAxisSlaveParametersGet (int SocketIndex, char * GroupName, char * PositionerName, double * Ratio); /* Get slave parameters */ DLL int __stdcall SingleAxisThetaClampDisable (int SocketIndex, char * GroupName); /* Set clamping disable on selected group */ DLL int __stdcall SingleAxisThetaClampEnable (int SocketIndex, char * GroupName); /* Set clamping enable on selected group */ DLL int __stdcall SingleAxisThetaSlaveModeEnable (int SocketIndex, char * GroupName); /* Enable the slave mode */ DLL int __stdcall SingleAxisThetaSlaveModeDisable (int SocketIndex, char * GroupName); /* Disable the slave mode */ DLL int __stdcall SingleAxisThetaSlaveParametersSet (int SocketIndex, char * GroupName, char * PositionerName, double Ratio); /* Set slave parameters */ DLL int __stdcall SingleAxisThetaSlaveParametersGet (int SocketIndex, char * GroupName, char * PositionerName, double * Ratio); /* Get slave parameters */ DLL int __stdcall SpindleSlaveModeEnable (int SocketIndex, char * GroupName); /* Enable the slave mode */ DLL int __stdcall SpindleSlaveModeDisable (int SocketIndex, char * GroupName); /* Disable the slave mode */ DLL int __stdcall SpindleSlaveParametersSet (int SocketIndex, char * GroupName, char * PositionerName, double Ratio); /* Set slave parameters */ DLL int __stdcall SpindleSlaveParametersGet (int SocketIndex, char * GroupName, char * PositionerName, double * Ratio); /* Get slave parameters */ DLL int __stdcall GroupSpinParametersSet (int SocketIndex, char * GroupName, double Velocity, double Acceleration); /* Modify Spin parameters on selected group and activate the continuous move */ DLL int __stdcall GroupSpinParametersGet (int SocketIndex, char * GroupName, double * Velocity, double * Acceleration); /* Get Spin parameters on selected group */ DLL int __stdcall GroupSpinCurrentGet (int SocketIndex, char * GroupName, double * Velocity, double * Acceleration); /* Get Spin current on selected group */ DLL int __stdcall GroupSpinModeStop (int SocketIndex, char * GroupName, double Acceleration); /* Stop Spin mode on selected group with specified acceleration */ DLL int __stdcall XYLineArcVerification (int SocketIndex, char * GroupName, char * TrajectoryFileName); /* XY trajectory verification */ DLL int __stdcall XYLineArcVerificationResultGet (int SocketIndex, char * PositionerName, char * FileName, double * MinimumPosition, double * MaximumPosition, double * MaximumVelocity, double * MaximumAcceleration); /* XY trajectory verification result get */ DLL int __stdcall XYLineArcExecution (int SocketIndex, char * GroupName, char * TrajectoryFileName, double Velocity, double Acceleration, int ExecutionNumber); /* XY trajectory execution */ DLL int __stdcall XYLineArcParametersGet (int SocketIndex, char * GroupName, char * FileName, double * Velocity, double * Acceleration, int * CurrentElementNumber); /* XY trajectory get parameters */ DLL int __stdcall XYLineArcPulseOutputSet (int SocketIndex, char * GroupName, double StartLength, double EndLength, double PathLengthInterval); /* Configure pulse output on trajectory */ DLL int __stdcall XYLineArcPulseOutputGet (int SocketIndex, char * GroupName, double * StartLength, double * EndLength, double * PathLengthInterval); /* Get pulse output on trajectory configuration */ DLL int __stdcall XYPVTVerification (int SocketIndex, char * GroupName, char * TrajectoryFileName); /* XY PVT trajectory verification */ DLL int __stdcall XYPVTVerificationResultGet (int SocketIndex, char * PositionerName, char * FileName, double * MinimumPosition, double * MaximumPosition, double * MaximumVelocity, double * MaximumAcceleration); /* XY PVT trajectory verification result get */ DLL int __stdcall XYPVTExecution (int SocketIndex, char * GroupName, char * TrajectoryFileName, int ExecutionNumber); /* XY PVT trajectory execution */ DLL int __stdcall XYPVTParametersGet (int SocketIndex, char * GroupName, char * FileName, int * CurrentElementNumber); /* XY PVT trajectory get parameters */ DLL int __stdcall XYPVTPulseOutputSet (int SocketIndex, char * GroupName, int StartElement, int EndElement, double TimeInterval); /* Configure pulse output on trajectory */ DLL int __stdcall XYPVTPulseOutputGet (int SocketIndex, char * GroupName, int * StartElement, int * EndElement, double * TimeInterval); /* Get pulse output on trajectory configuration */ DLL int __stdcall XYPVTLoadToMemory (int SocketIndex, char * GroupName, char * TrajectoryPart); /* XY Load PVT trajectory through function */ DLL int __stdcall XYPVTResetInMemory (int SocketIndex, char * GroupName); /* XY PVT trajectory reset in memory */ DLL int __stdcall XYZGroupPositionCorrectedProfilerGet (int SocketIndex, char * GroupName, double PositionX, double PositionY, double PositionZ, double * CorrectedProfilerPositionX, double * CorrectedProfilerPositionY, double * CorrectedProfilerPositionZ); /* Return corrected profiler positions */ DLL int __stdcall XYZGroupPositionPCORawEncoderGet (int SocketIndex, char * GroupName, double PositionX, double PositionY, double PositionZ, double * PCORawPositionX, double * PCORawPositionY, double * PCORawPositionZ); /* Return PCO raw encoder positions */ DLL int __stdcall XYZSplineVerification (int SocketIndex, char * GroupName, char * TrajectoryFileName); /* XYZ trajectory verifivation */ DLL int __stdcall XYZSplineVerificationResultGet (int SocketIndex, char * PositionerName, char * FileName, double * MinimumPosition, double * MaximumPosition, double * MaximumVelocity, double * MaximumAcceleration); /* XYZ trajectory verification result get */ DLL int __stdcall XYZSplineExecution (int SocketIndex, char * GroupName, char * TrajectoryFileName, double Velocity, double Acceleration); /* XYZ trajectory execution */ DLL int __stdcall XYZSplineParametersGet (int SocketIndex, char * GroupName, char * FileName, double * Velocity, double * Acceleration, int * CurrentElementNumber); /* XYZ trajectory get parameters */ DLL int __stdcall TZPVTVerification (int SocketIndex, char * GroupName, char * TrajectoryFileName); /* TZ PVT trajectory verification */ DLL int __stdcall TZPVTVerificationResultGet (int SocketIndex, char * PositionerName, char * FileName, double * MinimumPosition, double * MaximumPosition, double * MaximumVelocity, double * MaximumAcceleration); /* TZ PVT trajectory verification result get */ DLL int __stdcall TZPVTExecution (int SocketIndex, char * GroupName, char * TrajectoryFileName, int ExecutionNumber); /* TZ PVT trajectory execution */ DLL int __stdcall TZPVTParametersGet (int SocketIndex, char * GroupName, char * FileName, int * CurrentElementNumber); /* TZ PVT trajectory get parameters */ DLL int __stdcall TZPVTPulseOutputSet (int SocketIndex, char * GroupName, int StartElement, int EndElement, double TimeInterval); /* Configure pulse output on trajectory */ DLL int __stdcall TZPVTPulseOutputGet (int SocketIndex, char * GroupName, int * StartElement, int * EndElement, double * TimeInterval); /* Get pulse output on trajectory configuration */ DLL int __stdcall TZPVTLoadToMemory (int SocketIndex, char * GroupName, char * TrajectoryPart); /* TZ Load PVT trajectory through function */ DLL int __stdcall TZPVTResetInMemory (int SocketIndex, char * GroupName); /* TZ PVT trajectory reset in memory */ DLL int __stdcall TZFocusModeEnable (int SocketIndex, char * GroupName); /* Enable the focus mode */ DLL int __stdcall TZFocusModeDisable (int SocketIndex, char * GroupName); /* Disable the focus mode */ DLL int __stdcall TZTrackingUserMaximumZZZTargetDifferenceGet (int SocketIndex, char * GroupName, double * UserMaximumZZZTargetDifference); /* Get user maximum ZZZ target difference for tracking control */ DLL int __stdcall TZTrackingUserMaximumZZZTargetDifferenceSet (int SocketIndex, char * GroupName, double UserMaximumZZZTargetDifference); /* Set user maximum ZZZ target difference for tracking control */ DLL int __stdcall FocusProcessSocketReserve (int SocketIndex); /* Set user maximum ZZZ target difference for tracking control */ DLL int __stdcall FocusProcessSocketFree (int SocketIndex); /* Set user maximum ZZZ target difference for tracking control */ DLL int __stdcall PositionerMotorOutputOffsetGet (int SocketIndex, char * PositionerName, double * PrimaryDAC1, double * PrimaryDAC2, double * SecondaryDAC1, double * SecondaryDAC2); /* Get soft (user defined) motor output DAC offsets */ DLL int __stdcall PositionerMotorOutputOffsetSet (int SocketIndex, char * PositionerName, double PrimaryDAC1, double PrimaryDAC2, double SecondaryDAC1, double SecondaryDAC2); /* Set soft (user defined) motor output DAC offsets */ DLL int __stdcall SingleAxisThetaPositionRawGet (int SocketIndex, char * GroupName, double * RawEncoderPosition1, double * RawEncoderPosition2, double * RawEncoderPosition3); /* Get raw encoder positions for single axis theta encoder */ DLL int __stdcall EEPROMCIESet (int SocketIndex, int CardNumber, char * ReferenceString); /* Get raw encoder positions for single axis theta encoder */ DLL int __stdcall EEPROMDACOffsetCIESet (int SocketIndex, int PlugNumber, double DAC1Offset, double DAC2Offset); /* Get raw encoder positions for single axis theta encoder */ DLL int __stdcall EEPROMDriverSet (int SocketIndex, int PlugNumber, char * ReferenceString); /* Get raw encoder positions for single axis theta encoder */ DLL int __stdcall EEPROMINTSet (int SocketIndex, int CardNumber, char * ReferenceString); /* Get raw encoder positions for single axis theta encoder */ DLL int __stdcall CPUCoreAndBoardSupplyVoltagesGet (int SocketIndex, double * VoltageCPUCore, double * SupplyVoltage1P5V, double * SupplyVoltage3P3V, double * SupplyVoltage5V, double * SupplyVoltage12V, double * SupplyVoltageM12V, double * SupplyVoltageM5V, double * SupplyVoltage5VSB); /* Get raw encoder positions for single axis theta encoder */ DLL int __stdcall CPUTemperatureAndFanSpeedGet (int SocketIndex, double * CPUTemperature, double * CPUFanSpeed); /* Get raw encoder positions for single axis theta encoder */ DLL int __stdcall ActionListGet (int SocketIndex, char * ActionList); /* Action list */ DLL int __stdcall ActionExtendedListGet (int SocketIndex, char * ActionList); /* Action extended list */ DLL int __stdcall APIExtendedListGet (int SocketIndex, char * Method); /* API method list */ DLL int __stdcall APIListGet (int SocketIndex, char * Method); /* API method list without extended API */ DLL int __stdcall ControllerStatusListGet (int SocketIndex, char * ControllerStatusList); /* Controller status list */ DLL int __stdcall ErrorListGet (int SocketIndex, char * ErrorsList); /* Error list */ DLL int __stdcall EventListGet (int SocketIndex, char * EventList); /* General event list */ DLL int __stdcall GatheringListGet (int SocketIndex, char * list); /* Gathering type list */ DLL int __stdcall GatheringExtendedListGet (int SocketIndex, char * list); /* Gathering type extended list */ DLL int __stdcall GatheringExternalListGet (int SocketIndex, char * list); /* External Gathering type list */ DLL int __stdcall GroupStatusListGet (int SocketIndex, char * GroupStatusList); /* Group status list */ DLL int __stdcall HardwareInternalListGet (int SocketIndex, char * InternalHardwareList); /* Internal hardware list */ DLL int __stdcall HardwareDriverAndStageGet (int SocketIndex, int PlugNumber, char * DriverName, char * StageName); /* Smart hardware */ DLL int __stdcall ObjectsListGet (int SocketIndex, char * ObjectsList); /* Group name and positioner name */ DLL int __stdcall PositionerErrorListGet (int SocketIndex, char * PositionerErrorList); /* Positioner error list */ DLL int __stdcall PositionerHardwareStatusListGet (int SocketIndex, char * PositionerHardwareStatusList); /* Positioner hardware status list */ DLL int __stdcall PositionerDriverStatusListGet (int SocketIndex, char * PositionerDriverStatusList); /* Positioner driver status list */ DLL int __stdcall ReferencingActionListGet (int SocketIndex, char * list); /* Get referencing action list */ DLL int __stdcall ReferencingSensorListGet (int SocketIndex, char * list); /* Get referencing sensor list */ DLL int __stdcall GatheringUserDatasGet (int SocketIndex, double * UserData1, double * UserData2, double * UserData3, double * UserData4, double * UserData5, double * UserData6, double * UserData7, double * UserData8); /* Return UserDatas values */ DLL int __stdcall ControllerMotionKernelPeriodMinMaxGet (int SocketIndex, double * MinimumCorrectorPeriod, double * MaximumCorrectorPeriod, double * MinimumProfilerPeriod, double * MaximumProfilerPeriod, double * MinimumServitudesPeriod, double * MaximumServitudesPeriod); /* Get controller motion kernel min/max periods */ DLL int __stdcall ControllerMotionKernelPeriodMinMaxReset (int SocketIndex); /* Reset controller motion kernel min/max periods */ DLL int __stdcall SocketsStatusGet (int SocketIndex, char * SocketsStatus); /* Get sockets current status */ DLL int __stdcall TestTCP (int SocketIndex, char * InputString, char * ReturnString); /* Test TCP/IP transfert */ DLL int __stdcall OptionalModuleExecute (int SocketIndex, char * ModuleFileName); /* Execute an optional module */ DLL int __stdcall OptionalModuleKill (int SocketIndex, char * TaskName); /* Kill an optional module */ #ifdef __cplusplus } #endif