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mitechlib.pub/Include/APS168.h

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#ifndef _ADLINK_SYSTEMAPI_H
#define _ADLINK_SYSTEMAPI_H
//#define _MYLINUX // Must open it when using Linux system.
#ifdef __cplusplus
extern "C" {
#endif
#if defined (_MYWIN32) || defined (_MYRTEVLIB)
#include <windows.h>
#define FNTYPE PASCAL
#elif defined (_MYLINUX)
#ifndef FNTYPE
#define FNTYPE
#endif
#elif defined(_MYRTE)
#define FNTYPE _stdcall
#elif defined(_RTX)
#define FNTYPE _stdcall
#else
#ifndef FNTYPE
#define FNTYPE PASCAL
#endif
#endif
#include "type_def.h"
// System & Initialization
I32 FNTYPE APS_initial( I32 *BoardID_InBits, I32 Mode );
#if defined (_MYLINUX)
I32 FNTYPE APS_close(void);
I32 FNTYPE APS_version(void);
#else
I32 FNTYPE APS_close(void);
I32 FNTYPE APS_version(void);
#endif
I32 FNTYPE APS_device_driver_version( I32 Board_ID );
I32 FNTYPE APS_get_axis_info( I32 Axis_ID, I32 *Board_ID, I32 *Axis_No, I32 *Port_ID, I32 *Module_ID );
I32 FNTYPE APS_set_board_param( I32 Board_ID, I32 BOD_Param_No, I32 BOD_Param );
I32 FNTYPE APS_get_board_param( I32 Board_ID, I32 BOD_Param_No, I32 *BOD_Param );
I32 FNTYPE APS_set_axis_param( I32 Axis_ID, I32 AXS_Param_No, I32 AXS_Param );
I32 FNTYPE APS_get_axis_param( I32 Axis_ID, I32 AXS_Param_No, I32 *AXS_Param );
I32 FNTYPE APS_get_system_timer( I32 Board_ID, I32 *Timer );
I32 FNTYPE APS_get_device_info( I32 Board_ID, I32 Info_No, I32 *Info );
I32 FNTYPE APS_get_card_name( I32 Board_ID, I32 *CardName );
I32 FNTYPE APS_disable_device( I32 DeviceName );
I32 FNTYPE APS_get_first_axisId( I32 Board_ID, I32 *StartAxisID, I32 *TotalAxisNum );
I32 FNTYPE APS_set_security_key( I32 Board_ID, I32 OldPassword, I32 NewPassword );
I32 FNTYPE APS_check_security_key( I32 Board_ID, I32 Password );
I32 FNTYPE APS_reset_security_key( I32 Board_ID );
I32 FNTYPE APS_load_param_from_file( const char *pXMLFile );
//Virtual board settings [For PCI-8254/58]
I32 FNTYPE APS_register_virtual_board( I32 VirCardIndex, I32 Count );
I32 FNTYPE APS_get_virtual_board_info( I32 VirCardIndex, I32 *Count );
//Parameters setting by float [For PCI-8254/58]
I32 FNTYPE APS_set_axis_param_f( I32 Axis_ID, I32 AXS_Param_No, F64 AXS_Param );
I32 FNTYPE APS_get_axis_param_f( I32 Axis_ID, I32 AXS_Param_No, F64 *AXS_Param );
I32 FNTYPE APS_get_gantry_number( I32 Axis_ID, I32 *SlaveAxisIDSize );
I32 FNTYPE APS_get_gantry_info( I32 Axis_ID, I32 SlaveAxisIDSize, I32 *SlaveAxisIDArray );
I32 FNTYPE APS_get_gantry_deviation( I32 Axis_ID, I32 SlaveAxisIDSize, I32 *SlaveAxisIDArray, F64 *DeviationArray );
// Kernel Performance
I32 FNTYPE APS_get_system_loading(I32 Board_ID,
F64* Loading1, //For 8334/8 MotionLoopLoading, unit:%
F64* Loading2, //For 8334/8 EtherCATLoopLoading unit:%
F64* Loading3, //Reserve
F64* Loading4 //Reserve
);
//Control driver mode [For PCI-8254/58]
I32 FNTYPE APS_get_curr_sys_ctrl_mode( I32 Axis_ID, I32 *Mode );
//[For PCI-7856, MNET series]
I32 FNTYPE APS_save_param_to_file( I32 Board_ID, const char *pXMLFile );
//Flash functions [For PCI-8253/56, PCI-8392(H)]
I32 FNTYPE APS_save_parameter_to_flash( I32 Board_ID );
I32 FNTYPE APS_load_parameter_from_flash( I32 Board_ID );
I32 FNTYPE APS_load_parameter_from_default( I32 Board_ID );
//SSCNET-3 functions [For PCI-8392(H)]
I32 FNTYPE APS_start_sscnet( I32 Board_ID, I32 *AxisFound_InBits );
I32 FNTYPE APS_stop_sscnet( I32 Board_ID );
I32 FNTYPE APS_get_sscnet_servo_param( I32 Axis_ID, I32 Para_No1, I32 *Para_Dat1, I32 Para_No2, I32 *Para_Dat2 );
I32 FNTYPE APS_set_sscnet_servo_param( I32 Axis_ID, I32 Para_No1, I32 Para_Dat1, I32 Para_No2, I32 Para_Dat2 );
I32 FNTYPE APS_get_sscnet_servo_alarm( I32 Axis_ID, I32 *Alarm_No, I32 *Alarm_Detail );
I32 FNTYPE APS_reset_sscnet_servo_alarm( I32 Axis_ID );
I32 FNTYPE APS_save_sscnet_servo_param( I32 Board_ID );
I32 FNTYPE APS_get_sscnet_servo_abs_position( I32 Axis_ID, I32 *Cyc_Cnt, I32 *Res_Cnt );
I32 FNTYPE APS_save_sscnet_servo_abs_position( I32 Board_ID );
I32 FNTYPE APS_load_sscnet_servo_abs_position( I32 Axis_ID, I32 Abs_Option, I32 *Cyc_Cnt, I32 *Res_Cnt );
I32 FNTYPE APS_get_sscnet_link_status( I32 Board_ID, I32 *Link_Status );
I32 FNTYPE APS_set_sscnet_servo_monitor_src( I32 Axis_ID, I32 Mon_No, I32 Mon_Src );
I32 FNTYPE APS_get_sscnet_servo_monitor_src( I32 Axis_ID, I32 Mon_No, I32 *Mon_Src );
I32 FNTYPE APS_get_sscnet_servo_monitor_data( I32 Axis_ID, I32 Arr_Size, I32 *Data_Arr );
I32 FNTYPE APS_set_sscnet_control_mode( I32 Axis_ID, I32 Mode );
I32 FNTYPE APS_set_sscnet_abs_enable( I32 Board_ID, I32 Option);
I32 FNTYPE APS_set_sscnet_abs_enable_by_axis( I32 Axis_ID, I32 Option);
//Motion IO & motion status functions
I32 FNTYPE APS_motion_status( I32 Axis_ID );
I32 FNTYPE APS_motion_io_status( I32 Axis_ID );
I32 FNTYPE APS_motion_status_async( I32 Axis_ID );
I32 FNTYPE APS_motion_io_status_async( I32 Axis_ID );
//Monitor functions
I32 FNTYPE APS_get_command( I32 Axis_ID, I32 *Command );
I32 FNTYPE APS_set_command(I32 Axis_ID, I32 Command);
I32 FNTYPE APS_set_servo_on( I32 Axis_ID, I32 Servo_On );
I32 FNTYPE APS_get_position( I32 Axis_ID, I32 *Position );
I32 FNTYPE APS_set_position(I32 Axis_ID, I32 Position);
I32 FNTYPE APS_get_command_velocity(I32 Axis_ID, I32 *Velocity );
I32 FNTYPE APS_get_feedback_velocity(I32 Axis_ID, I32 *Velocity );
I32 FNTYPE APS_get_error_position( I32 Axis_ID, I32 *Err_Pos );
I32 FNTYPE APS_get_target_position( I32 Axis_ID, I32 *Targ_Pos );
I32 FNTYPE APS_get_actual_torque( I32 Axis_ID, I32 *Torque );
I32 FNTYPE APS_get_torque_command( I32 Axis_ID, I32 *TorqueCmd );
//for EMX
I32 FNTYPE APS_register_emx(I32 emx_online, I32 option);
I32 FNTYPE APS_get_deviceIP(I32 Board_ID, char** ipAddress);
I32 FNTYPE APS_reset_emx_alarm(I32 Axis_ID);
I32 FNTYPE APS_check_motion_profile_emx( I32 Axis_ID,Speed_profile *profile_input, Speed_profile *profile_output, I32 *MinDis );
// Monitor functions by float [Only for PCI-8254/8]
I32 FNTYPE APS_get_command_f( I32 Axis_ID, F64 *Command );
I32 FNTYPE APS_set_command_f( I32 Axis_ID, F64 Command );
I32 FNTYPE APS_get_command_f_async( I32 Axis_ID, F64 *Command );
I32 FNTYPE APS_get_position_f( I32 Axis_ID, F64 *Position );
I32 FNTYPE APS_set_position_f(I32 Axis_ID, F64 Position);
I32 FNTYPE APS_get_position_f_async( I32 Axis_ID, F64 *Position );
I32 FNTYPE APS_get_command_velocity_f(I32 Axis_ID, F64 *Velocity );
I32 FNTYPE APS_get_target_position_f( I32 Axis_ID, F64 *Targ_Pos );
I32 FNTYPE APS_get_error_position_f( I32 Axis_ID, F64 *Err_Pos );
I32 FNTYPE APS_get_feedback_velocity_f(I32 Axis_ID, F64 *Velocity );
//Motion queue status [For PCI-8254/58]
I32 FNTYPE APS_get_mq_free_space( I32 Axis_ID, I32 *Space );
I32 FNTYPE APS_get_mq_usage( I32 Axis_ID, I32 *Usage );
//Motion stop code [For PCI-8254/58]
I32 FNTYPE APS_get_stop_code( I32 Axis_ID, I32 *Code );
// Single axis motion
I32 FNTYPE APS_relative_move( I32 Axis_ID, I32 Distance, I32 Max_Speed );
I32 FNTYPE APS_absolute_move( I32 Axis_ID, I32 Position, I32 Max_Speed );
I32 FNTYPE APS_velocity_move( I32 Axis_ID, I32 Max_Speed );
I32 FNTYPE APS_home_move( I32 Axis_ID );
I32 FNTYPE APS_stop_move( I32 Axis_ID );
I32 FNTYPE APS_emg_stop( I32 Axis_ID );
I32 FNTYPE APS_relative_move2( I32 Axis_ID, I32 Distance, I32 Start_Speed, I32 Max_Speed, I32 End_Speed, I32 Acc_Rate, I32 Dec_Rate );
I32 FNTYPE APS_absolute_move2( I32 Axis_ID, I32 Position, I32 Start_Speed, I32 Max_Speed, I32 End_Speed, I32 Acc_Rate, I32 Dec_Rate );
I32 FNTYPE APS_home_move2( I32 Axis_ID, I32 Dir, I32 Acc, I32 Start_Speed, I32 Max_Speed, I32 ORG_Speed );
I32 FNTYPE APS_home_escape( I32 Axis_ID );
//Multi single table move
I32 FNTYPE APS_set_multiple_single_move_table(I32 Board_ID, U32 TableIndex, U8 AxisIDArySize, I32* Axis_ID_Array, U32 MoveCmdSize, STR_MOVE_SETTING* MoveTable, I32 Option);
I32 FNTYPE APS_get_multiple_single_move_table_status(I32 Board_ID, U32 TableIndex, I16* Status, I32* LastErrorCode, U8* IsBufferEmpty);
//JOG functions [For PCI-8392(H), PCI-8253/56]
I32 FNTYPE APS_set_jog_param( I32 Axis_ID, JOG_DATA *pStr_Jog, I32 Mask );
I32 FNTYPE APS_get_jog_param( I32 Axis_ID, JOG_DATA *pStr_Jog );
I32 FNTYPE APS_jog_mode_switch( I32 Axis_ID, I32 Turn_No );
I32 FNTYPE APS_jog_start( I32 Axis_ID, I32 On );
// Interpolation
I32 FNTYPE APS_absolute_linear_move( I32 Dimension, I32 *Axis_ID_Array, I32 *Position_Array, I32 Max_Linear_Speed );
I32 FNTYPE APS_relative_linear_move( I32 Dimension, I32 *Axis_ID_Array, I32 *Distance_Array, I32 Max_Linear_Speed );
I32 FNTYPE APS_absolute_arc_move( I32 Dimension, I32 *Axis_ID_Array, I32 *Center_Pos_Array, I32 Max_Arc_Speed, I32 Angle );
I32 FNTYPE APS_absolute_arc_move_f(I32 Dimension, I32* Axis_ID_Array, I32* Center_Pos_Array, I32 Max_Arc_Speed, F64 Angle);
I32 FNTYPE APS_relative_arc_move( I32 Dimension, I32 *Axis_ID_Array, I32 *Center_Offset_Array, I32 Max_Arc_Speed, I32 Angle );
I32 FNTYPE APS_relative_arc_move_f(I32 Dimension, I32* Axis_ID_Array, I32* Center_Offset_Array, I32 Max_Arc_Speed, F64 Angle);
//Helical interpolation [For PCI-8253/56, PCI(e)-8154/58]
I32 FNTYPE APS_absolute_helix_move( I32 Dimension, I32 *Axis_ID_Array, I32 *Center_Pos_Array, I32 Max_Arc_Speed, I32 Pitch, I32 TotalHeight, I32 CwOrCcw );
I32 FNTYPE APS_relative_helix_move( I32 Dimension, I32 *Axis_ID_Array, I32 *Center_PosOffset_Array, I32 Max_Arc_Speed, I32 Pitch, I32 TotalHeight, I32 CwOrCcw );
//Helical interpolation [For PCI(e)-8154/58]
I32 FNTYPE APS_absolute_helical_move( I32 *Axis_ID_Array, I32 *Center_Pos_Array, I32 *End_Pos_Array, I32 Pitch, I32 Dir, I32 Max_Speed );
I32 FNTYPE APS_relative_helical_move( I32 *Axis_ID_Array, I32 *Center_Offset_Array, I32 *End_Offset_Array, I32 Pitch, I32 Dir, I32 Max_Speed );
//Circular interpolation( Support 2D and 3D ) [For PCI-8253/56]
I32 FNTYPE APS_absolute_arc_move_3pe(I32 Dimension, I32 *Axis_ID_Array, I32 *Pass_Pos_Array, I32 *End_Pos_Array, I32 Max_Arc_Speed );
I32 FNTYPE APS_relative_arc_move_3pe(I32 Dimension, I32 *Axis_ID_Array, I32 *Pass_PosOffset_Array, I32 *End_PosOffset_Array, I32 Max_Arc_Speed );
// Interrupt functions
I32 FNTYPE APS_int_enable( I32 Board_ID, I32 Enable );
I32 FNTYPE APS_set_int_factor( I32 Board_ID, I32 Item_No, I32 Factor_No, I32 Enable );
I32 FNTYPE APS_get_int_factor( I32 Board_ID, I32 Item_No, I32 Factor_No, I32 *Enable );
HANDLE FNTYPE APS_set_int_factorH( I32 Board_ID, I32 Item_No, I32 Factor_No, I32 Enable );
HANDLE FNTYPE APS_int_no_to_handle( I32 Int_No );
I32 FNTYPE APS_wait_single_int( I32 Int_No, I32 Time_Out );
I32 FNTYPE APS_wait_multiple_int( I32 Int_Count, I32 *Int_No_Array, I32 Wait_All, I32 Time_Out );
I32 FNTYPE APS_reset_int( I32 Int_No );
I32 FNTYPE APS_set_int( I32 Int_No );
I32 FNTYPE APS_wait_error_int( I32 Board_ID, I32 Item_No, I32 Time_Out );
//Field bus motion interrupt [For PCI-7856, MNET series]
I32 FNTYPE APS_set_field_bus_int_factor_motion( I32 Axis_ID, I32 Factor_No, I32 Enable );
I32 FNTYPE APS_get_field_bus_int_factor_motion( I32 Axis_ID, I32 Factor_No, I32 *Enable );
I32 FNTYPE APS_set_field_bus_int_factor_error( I32 Axis_ID, I32 Factor_No, I32 Enable );
I32 FNTYPE APS_get_field_bus_int_factor_error( I32 Axis_ID, I32 Factor_No, I32 *Enable );
I32 FNTYPE APS_reset_field_bus_int_motion( I32 Axis_ID );
I32 FNTYPE APS_wait_field_bus_error_int_motion( I32 Axis_ID, I32 Time_Out );
I32 FNTYPE APS_set_field_bus_int_factor_di( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 bitsOfCheck );
I32 FNTYPE APS_get_field_bus_int_factor_di( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 *bitsOfCheck );
//Sampling functions [For PCI-8392(H), PCI-8253/56, PCI-8254/58]
I32 FNTYPE APS_set_sampling_param( I32 Board_ID, I32 ParaNum, I32 ParaDat );
I32 FNTYPE APS_get_sampling_param( I32 Board_ID, I32 ParaNum, I32 *ParaDat );
I32 FNTYPE APS_wait_trigger_sampling( I32 Board_ID, I32 Length, I32 PreTrgLen, I32 TimeOutMs, STR_SAMP_DATA_4CH *DataArr );
I32 FNTYPE APS_wait_trigger_sampling_async( I32 Board_ID, I32 Length, I32 PreTrgLen, I32 TimeOutMs, STR_SAMP_DATA_4CH *DataArr );
I32 FNTYPE APS_get_sampling_count( I32 Board_ID, I32 *SampCnt );
I32 FNTYPE APS_stop_wait_sampling( I32 Board_ID );
I32 FNTYPE APS_auto_sampling( I32 Board_ID, I32 StartStop );
I32 FNTYPE APS_get_sampling_data( I32 Board_ID, I32 *Length, STR_SAMP_DATA_4CH *DataArr, I32 *Status );
//Sampling functions extension [For PCI-8254/58]
I32 FNTYPE APS_set_sampling_param_ex( I32 Board_ID, SAMP_PARAM *Param );
I32 FNTYPE APS_get_sampling_param_ex( I32 Board_ID, SAMP_PARAM *Param );
I32 FNTYPE APS_wait_trigger_sampling_ex( I32 Board_ID, I32 Length, I32 PreTrgLen, I32 TimeOutMs, STR_SAMP_DATA_8CH *DataArr );
I32 FNTYPE APS_wait_trigger_sampling_async_ex( I32 Board_ID, I32 Length, I32 PreTrgLen, I32 TimeOutMs, STR_SAMP_DATA_8CH *DataArr );
I32 FNTYPE APS_get_sampling_data_ex( I32 Board_ID, I32 *Length, STR_SAMP_DATA_8CH *DataArr, I32 *Status );
// Sampling functions advanced [For PCIe-833x]
I32 FNTYPE APS_set_sampling_param_advanced( I32 Board_ID, SAMP_PARAM_ADV *Param );
I32 FNTYPE APS_get_sampling_param_advanced( I32 Board_ID, SAMP_PARAM_ADV *Param );
I32 FNTYPE APS_wait_trigger_sampling_advanced( I32 Board_ID, I32 Length, I32 PreTrgLen, I32 TimeOutMs, STR_SAMP_DATA_ADV *DataArr );
I32 FNTYPE APS_wait_trigger_sampling_async_advanced( I32 Board_ID, I32 Length, I32 PreTrgLen, I32 TimeOutMs, STR_SAMP_DATA_ADV *DataArr );
I32 FNTYPE APS_get_sampling_data_advanced( I32 Board_ID, I32 *Length, STR_SAMP_DATA_ADV *DataArr, I32 *Status );
//DIO & AIO functions
I32 FNTYPE APS_write_d_output(I32 Board_ID, I32 DO_Group, I32 DO_Data);
I32 FNTYPE APS_read_d_output(I32 Board_ID, I32 DO_Group, I32 *DO_Data);
I32 FNTYPE APS_read_d_input(I32 Board_ID, I32 DI_Group, I32 *DI_Data);
I32 FNTYPE APS_write_d_channel_output(I32 Board_ID, I32 DO_Group, I32 Ch_No, I32 DO_Data);
I32 FNTYPE APS_read_d_channel_output(I32 Board_ID, I32 DO_Group, I32 Ch_No, I32 *DO_Data);
I32 FNTYPE APS_read_d_channel_input(I32 Board_ID, I32 DI_Group, I32 Ch_No, I32 *DI_Data );
I32 FNTYPE APS_read_a_input_value(I32 Board_ID, I32 Channel_No, F64 *Convert_Data);
I32 FNTYPE APS_read_a_input_data(I32 Board_ID, I32 Channel_No, I32 *Raw_Data);
I32 FNTYPE APS_write_a_output_value(I32 Board_ID, I32 Channel_No, F64 Convert_Data);
I32 FNTYPE APS_write_a_output_data(I32 Board_ID, I32 Channel_No, I32 Raw_Data);
//AIO [For PCI-8254/58]
I32 FNTYPE APS_read_a_output_value(I32 Board_ID, I32 Channel_No, F64 *Convert_Data);
//Point table move functions [For PCI-8253/56, PCI-8392(H)]
I32 FNTYPE APS_set_point_table( I32 Axis_ID, I32 Index, POINT_DATA *Point );
I32 FNTYPE APS_get_point_table( I32 Axis_ID, I32 Index, POINT_DATA *Point );
I32 FNTYPE APS_get_running_point_index( I32 Axis_ID, I32 *Index );
I32 FNTYPE APS_get_start_point_index( I32 Axis_ID, I32 *Index );
I32 FNTYPE APS_get_end_point_index( I32 Axis_ID, I32 *Index );
I32 FNTYPE APS_set_table_move_pause( I32 Axis_ID, I32 Pause_en );
I32 FNTYPE APS_set_table_move_repeat( I32 Axis_ID, I32 Repeat_en );
I32 FNTYPE APS_get_table_move_repeat_count( I32 Axis_ID, I32 *RepeatCnt );
I32 FNTYPE APS_point_table_move( I32 Dimension, I32 *Axis_ID_Array, I32 StartIndex, I32 EndIndex );
I32 FNTYPE APS_set_point_tableEx( I32 Axis_ID, I32 Index, PNT_DATA *Point );
I32 FNTYPE APS_set_point_tableEx_2D( I32 Axis_ID, I32 Axis_ID_2, I32 Index, PNT_DATA_2D *Point );
I32 FNTYPE APS_set_point_table_4DL( I32 *Axis_ID_Array, I32 Index, PNT_DATA_4DL *Point );
//Point table + IO - Pause / Resume [For PCI-8253/56]
I32 FNTYPE APS_set_table_move_ex_pause( I32 Axis_ID );
I32 FNTYPE APS_set_table_move_ex_rollback( I32 Axis_ID, I32 Max_Speed );
I32 FNTYPE APS_set_table_move_ex_resume( I32 Axis_ID );
//Point table with extend option [For PCI-8392(H)]
I32 FNTYPE APS_set_point_table_ex( I32 Axis_ID, I32 Index, POINT_DATA_EX *Point );
I32 FNTYPE APS_get_point_table_ex( I32 Axis_ID, I32 Index, POINT_DATA_EX *Point );
//Point table feeder [For PCI-8253/56, PCI-8392(H)]
I32 FNTYPE APS_set_feeder_group( I32 GroupId, I32 Dimension, I32 *Axis_ID_Array );
I32 FNTYPE APS_get_feeder_group( I32 GroupId, I32 *Dimension, I32 *Axis_ID_Array );
I32 FNTYPE APS_free_feeder_group( I32 GroupId );
I32 FNTYPE APS_reset_feeder_buffer( I32 GroupId );
I32 FNTYPE APS_set_feeder_point_2D( I32 GroupId, PNT_DATA_2D* PtArray, I32 Size, I32 LastFlag );
I32 FNTYPE APS_set_feeder_point_2D_ex( I32 GroupId, PNT_DATA_2D_F64* PtArray, I32 Size, I32 LastFlag );
I32 FNTYPE APS_start_feeder_move( I32 GroupId );
I32 FNTYPE APS_get_feeder_status( I32 GroupId, I32 *State, I32 *ErrCode );
I32 FNTYPE APS_get_feeder_running_index( I32 GroupId, I32 *Index );
I32 FNTYPE APS_get_feeder_feed_index( I32 GroupId, I32 *Index );
//Point table feeder [For PCI-8253/56]
I32 FNTYPE APS_set_feeder_ex_pause( I32 GroupId );
I32 FNTYPE APS_set_feeder_ex_rollback( I32 GroupId, I32 Max_Speed );
I32 FNTYPE APS_set_feeder_ex_resume( I32 GroupId );
I32 FNTYPE APS_set_feeder_cfg_acc_type( I32 GroupId, I32 Type );
//Point table functions [For MNET-4XMO-C]
I32 FNTYPE APS_set_point_table_mode2( I32 Axis_ID, I32 Mode );
I32 FNTYPE APS_set_point_table2( I32 Dimension, I32 *Axis_ID_Array, I32 Index, POINT_DATA2 *Point );
I32 FNTYPE APS_point_table_continuous_move2( I32 Dimension, I32 *Axis_ID_Array );
I32 FNTYPE APS_point_table_single_move2( I32 Axis_ID, I32 Index );
I32 FNTYPE APS_get_running_point_index2( I32 Axis_ID, I32 *Index );
I32 FNTYPE APS_point_table_status2( I32 Axis_ID, I32 *Status );
I32 FNTYPE APS_point_table_setting_continuous_move2( I32 Dimension, I32 *Axis_ID_Array, I32 TotalPoints, POINT_DATA2 *Point );
I32 FNTYPE APS_set_point_table2_maximum_speed_check( I32 Dimension, I32 *Axis_ID_Array, I32 Index, POINT_DATA2 *Point );
//Point table functions [For HSL-4XMO]
I32 FNTYPE APS_set_point_table3( I32 Dimension, I32 *Axis_ID_Array, I32 Index, POINT_DATA3 *Point );
I32 FNTYPE APS_point_table_move3( I32 Dimension, I32 *Axis_ID_Array, I32 StartIndex, I32 EndIndex );
I32 FNTYPE APS_set_point_table_param3( I32 FirstAxid, I32 ParaNum, I32 ParaDat );
//Gantry functions [For PCI-8392(H), PCI-8253/56]
I32 FNTYPE APS_set_gantry_param( I32 Board_ID, I32 GroupNum, I32 ParaNum, I32 ParaDat );
I32 FNTYPE APS_get_gantry_param( I32 Board_ID, I32 GroupNum, I32 ParaNum, I32 *ParaDat );
I32 FNTYPE APS_set_gantry_axis( I32 Board_ID, I32 GroupNum, I32 Master_Axis_ID, I32 Slave_Axis_ID );
I32 FNTYPE APS_get_gantry_axis( I32 Board_ID, I32 GroupNum, I32 *Master_Axis_ID, I32 *Slave_Axis_ID );
I32 FNTYPE APS_get_gantry_error( I32 Board_ID, I32 GroupNum, I32 *GentryError );
//Digital filter functions [For PCI-8253/56]
I32 FNTYPE APS_set_filter_param( I32 Axis_ID, I32 Filter_paramNo, I32 param_val );
I32 FNTYPE APS_get_filter_param( I32 Axis_ID, I32 Filter_paramNo, I32 *param_val );
//Field bus master functions
I32 FNTYPE APS_set_field_bus_param( I32 Board_ID, I32 BUS_No, I32 BUS_Param_No, I32 BUS_Param );
I32 FNTYPE APS_get_field_bus_param( I32 Board_ID, I32 BUS_No, I32 BUS_Param_No, I32 *BUS_Param );
I32 FNTYPE APS_start_field_bus( I32 Board_ID, I32 BUS_No, I32 Start_Axis_ID );
I32 FNTYPE APS_scan_field_bus( I32 Board_ID, I32 BUS_No );
I32 FNTYPE APS_stop_field_bus( I32 Board_ID, I32 BUS_No );
I32 FNTYPE APS_get_field_bus_master_status( I32 Board_ID, I32 BUS_No, U32 *Status );
I32 FNTYPE APS_get_field_bus_device_info( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 Info_No, I32 *Info );
I32 FNTYPE APS_get_field_bus_last_scan_info( I32 Board_ID, I32 BUS_No, I32 *Info_Array, I32 Array_Size, I32 *Info_Count );
I32 FNTYPE APS_get_field_bus_module_info(I32 Board_ID, I32 BUS_No, I32 MOD_No, PEC_MODULE_INFO Module_info );
I32 FNTYPE APS_get_field_bus_module_map( I32 Board_ID, I32 BUS_No, U32 *MOD_No_Arr, U32 Size );
I32 FNTYPE APS_get_field_bus_analysis_topology( I32 Board_ID, I32 BUS_No, I32 *Error_Slave_No,PEC_MODULE_INFO Current_slave_info,I32 *Current_slave_num,PEC_MODULE_INFO Past_slave_info,I32 * Past_slave_num);
I32 FNTYPE APS_set_field_bus_od_data( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 SubMOD_No, I32 ODIndex, U32 RawData );
I32 FNTYPE APS_get_field_bus_od_data( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 SubMOD_No, I32 ODIndex, U32 *RawData );
I32 FNTYPE APS_get_field_bus_od_module_info( I32 Board_ID, I32 BUS_No, I32 MOD_No, PEC_Sub_MODULE_INFO Sub_Module_info );
I32 FNTYPE APS_get_field_bus_od_number( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 SubMOD_No, I32 *TxODNum, I32 *RxODNum );
I32 FNTYPE APS_get_field_bus_od_tx( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 SubMOD_No, I32 TxODIndex, PEC_Sub_MODULE_OD_INFO Sub_MODULE_OD_INFO );
I32 FNTYPE APS_get_field_bus_od_rx( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 SubMOD_No, I32 RxODIndex, PEC_Sub_MODULE_OD_INFO Sub_MODULE_OD_INFO );
I32 FNTYPE APS_set_field_bus_ESC_register( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 RegOffset, I32 DataSize, U32 *DataValue);
I32 FNTYPE APS_get_field_bus_ESC_register( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 RegOffset, I32 DataSize, U32 *DataValue);
I32 FNTYPE APS_get_field_bus_master_type( I32 Board_ID, I32 BUS_No, I32 *BUS_Type );
I32 FNTYPE APS_get_field_bus_slave_type( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 *MOD_Type );
I32 FNTYPE APS_get_field_bus_slave_name( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 *MOD_Name );
I32 FNTYPE APS_get_field_bus_slave_serialID( I32 Board_ID, I32 BUS_No, I32 MOD_No, I16 *Serial_ID );
I32 FNTYPE APS_get_field_bus_slave_first_axisno( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 *AxisNo, I32 *TotalAxes );
// Diagnostic functions [Only for PCIe-833x]
I32 FNTYPE APS_get_field_bus_frame_loss_diagnostic( I32 Board_ID, I32 BUS_No, I32 *Result );
I32 FNTYPE APS_reset_field_bus_frame_loss_diagnostic( I32 Board_ID, I32 BUS_No );
I32 FNTYPE APS_get_field_bus_slave_connecting_diagnostic( I32 Board_ID, I32 BUS_No, I32 *Result, U16 *NumOfDisconnect, I32 **DisconnectIDArray );
//Field bus slave functions
I32 FNTYPE APS_set_field_bus_slave_param( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 Ch_No, I32 ParaNum, I32 ParaDat );
I32 FNTYPE APS_get_field_bus_slave_param( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 Ch_No, I32 ParaNum, I32 *ParaDat );
I32 FNTYPE APS_get_slave_connect_quality( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 *Sts_data );
I32 FNTYPE APS_get_slave_online_status( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 *Live );
I32 FNTYPE APS_set_field_bus_slave_state( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 State );
I32 FNTYPE APS_get_field_bus_slave_state( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 *State );
I32 FNTYPE APS_set_field_bus_slave_recovery ( I32 Board_ID, I32 BUS_No, I32 MOD_No );
//Field bus AIO slave functions [For HSL AIO16AO2]
I32 FNTYPE APS_set_field_bus_slave_config(I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 ParaNum, I32 ParaDat);
I32 FNTYPE APS_get_field_bus_slave_config(I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 ParaNum, I32* ParaDat);
//Field bus DIO slave functions [For PCI-8392(H)]
I32 FNTYPE APS_set_field_bus_d_output( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 DO_Value );
I32 FNTYPE APS_get_field_bus_d_output( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 *DO_Value );
I32 FNTYPE APS_get_field_bus_d_input( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 *DI_Value );
I32 FNTYPE APS_set_field_bus_d_channel_output( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 Ch_No, I32 DO_Value );
I32 FNTYPE APS_get_field_bus_d_channel_output( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 Ch_No, I32 *DO_Value );
I32 FNTYPE APS_get_field_bus_d_channel_input( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 Ch_No, I32 *DI_Value );
I32 FNTYPE APS_set_field_bus_d_port_output( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 Port_No, U32 DO_Value );
I32 FNTYPE APS_get_field_bus_d_port_input( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 Port_No, U32 *DI_Value );
I32 FNTYPE APS_get_field_bus_d_port_output( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 Port_No, U32 *DO_Value );
I32 FNTYPE APS_reset_field_bus_alarm( I32 Axis_ID );
I32 FNTYPE APS_get_field_bus_alarm( I32 Axis_ID, U32 *AlarmCode );
I32 FNTYPE APS_set_field_bus_pdo( I32 Board_ID, I32 BUS_No, U16 ByteOffset, U16 Size, U32 Value );
I32 FNTYPE APS_get_field_bus_pdo( I32 Board_ID, I32 BUS_No, U16 ByteOffset, U16 Size, U32 *Value );
I32 FNTYPE APS_get_field_bus_pdo_offset( I32 Board_ID, I32 BUS_No, I32 MOD_No,
PPDO_OFFSET *PPTx, U32 *NumOfTx,
PPDO_OFFSET *PPRx, U32 *NumOfRx
);
I32 FNTYPE APS_set_field_bus_sdo( I32 Board_ID, I32 BUS_No, I32 MOD_No, U16 ODIndex, U16 ODSubIndex, U8 *Data, U32 DataLen, U32 Timeout, U32 Flags );
I32 FNTYPE APS_get_field_bus_sdo( I32 Board_ID, I32 BUS_No, I32 MOD_No, U16 ODIndex, U16 ODSubIndex, U8 *Data, U32 DataLen, U32 *OutDatalen, U32 Timeout, U32 Flags );
I32 FNTYPE APS_set_field_bus_sdo_req( I32 Board_ID, I32 BUS_No, I32 MOD_No, U16 ODIndex, U16 ODSubIndex, U32 DataLen, U8 *Data, U8 *Handle );
I32 FNTYPE APS_set_field_bus_sdo_res( I32 Board_ID, I32 BUS_No, U8 Handle, U8 *Status );
I32 FNTYPE APS_get_field_bus_sdo_req( I32 Board_ID, I32 BUS_No, I32 MOD_No, U16 ODIndex, U16 ODSubIndex, U8 *Handle );
I32 FNTYPE APS_get_field_bus_sdo_res( I32 Board_ID, I32 BUS_No, U8 Handle, U32 DataLen, U8 *Data, U32 *OutDataLen, U8 *Status );
I32 FNTYPE APS_set_field_bus_pdo_ODIndex( I32 Board_ID, I32 BUS_No, I32 MOD_No, U16 ODIndex, U16 ODSubIndex, U8 *Data, U32 DataLen, U32 Mask );
I32 FNTYPE APS_get_field_bus_pdo_ODIndex( I32 Board_ID, I32 BUS_No, I32 MOD_No, U16 ODIndex, U16 ODSubIndex, U8 *Data, U32 DataLen, U32 *OutDatalen );
I32 FNTYPE APS_get_field_bus_od_num( I32 Board_ID, I32 BUS_No, I32 MOD_No, U16 *Num, U16 **ODList );
I32 FNTYPE APS_get_field_bus_od_desc( I32 Board_ID, I32 BUS_No, I32 MOD_No, U16 ODIndex, U16 *MaxNumSubIndex, U8 *Description, U32 Size );
I32 FNTYPE APS_get_field_bus_od_desc_entry( I32 Board_ID, I32 BUS_No, I32 MOD_No, U16 ODIndex, U16 ODSubIndex, POD_DESC_ENTRY pOD_DESC_ENTRY );
I32 FNTYPE APS_get_field_bus_loss_package( I32 Board_ID, I32 BUS_No, I32 *Loss_Count );
//Modules be 64 bits gpio
I32 FNTYPE APS_set_field_bus_d_output_ex( I32 Board_ID, I32 BUS_No, I32 MOD_No, DO_DATA_EX DO_Value );
I32 FNTYPE APS_get_field_bus_d_output_ex( I32 Board_ID, I32 BUS_No, I32 MOD_No, DO_DATA_EX *DO_Value );
I32 FNTYPE APS_get_field_bus_d_input_ex( I32 Board_ID, I32 BUS_No, I32 MOD_No, DI_DATA_EX *DI_Value );
//Field bus AIO slave functions
I32 FNTYPE APS_set_field_bus_a_output( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 Ch_No, F64 AO_Value );
I32 FNTYPE APS_set_field_bus_a_output_plc( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 Ch_No, F64 AO_Value, I16 RunStep );
I32 FNTYPE APS_get_field_bus_a_output( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 Ch_No, F64 *AO_Value );
I32 FNTYPE APS_get_field_bus_a_input( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 Ch_No, F64 *AI_Value );
I32 FNTYPE APS_get_field_bus_a_input_plc( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 Ch_No, F64 *AI_Value, I16 RunStep );
//Field bus comparing trigger functions
I32 FNTYPE APS_set_field_bus_trigger_param( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 Param_No, I32 Param_Val );
I32 FNTYPE APS_get_field_bus_trigger_param( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 Param_No, I32 *Param_Val );
I32 FNTYPE APS_set_field_bus_trigger_linear( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 LCmpCh, I32 StartPoint, I32 RepeatTimes, I32 Interval );
I32 FNTYPE APS_set_field_bus_trigger_table( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 TCmpCh, I32 *DataArr, I32 ArraySize );
I32 FNTYPE APS_set_field_bus_trigger_manual( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 TrgCh );
I32 FNTYPE APS_set_field_bus_trigger_manual_s( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 TrgChInBit );
I32 FNTYPE APS_get_field_bus_trigger_table_cmp( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 TCmpCh, I32 *CmpVal );
I32 FNTYPE APS_get_field_bus_trigger_linear_cmp( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 LCmpCh, I32 *CmpVal );
I32 FNTYPE APS_get_field_bus_trigger_count( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 TrgCh, I32 *TrgCnt );
I32 FNTYPE APS_reset_field_bus_trigger_count( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 TrgCh );
I32 FNTYPE APS_get_field_bus_linear_cmp_remain_count( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 LCmpCh, I32 *Cnt );
I32 FNTYPE APS_get_field_bus_table_cmp_remain_count( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 TCmpCh, I32 *Cnt );
I32 FNTYPE APS_get_field_bus_encoder( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 EncCh, I32 *EncCnt );
I32 FNTYPE APS_set_field_bus_encoder( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 EncCh, I32 EncCnt );
// Only support [For PCIe-8338 + EtherCAT 4xMO]
I32 FNTYPE APS_get_field_bus_timer_counter( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 TmrCh, I32 *Cnt );
I32 FNTYPE APS_set_field_bus_timer_counter( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 TmrCh, I32 Cnt );
// Only support [For PCIe-8338 + EtherCAT TRG4]
I32 FNTYPE APS_set_field_bus_ext_encoder_align(I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 AxisID, I32 EncCh);
// Only support [For PCIe-833X + ECAT-4XMO-MT, ECAT-TRG4-MT]
I32 FNTYPE APS_set_field_bus_multi_trigger_table( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 MTCmpCh, I32 Dimension, MCMP_POINT *DataArr, I32 ArraySize, I32 Window );
I32 FNTYPE APS_get_field_bus_multi_trigger_table_cmp( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 MTCmpCh, I32 Dimension, MCMP_POINT *CmpVal );
I32 FNTYPE APS_get_field_bus_multi_table_cmp_remain_count( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 MTCmpCh, I32 *Cnt );
// Field bus Latch functions [For PCIe-8338 + EtherCAT 4xMO]
I32 FNTYPE APS_enable_field_bus_ltc_fifo(I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 FLtcCh, I32 Enable );
I32 FNTYPE APS_get_field_bus_ltc_fifo_point(I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 FLtcCh, I32 *ArraySize, LATCH_POINT *LatchPoint);
I32 FNTYPE APS_set_field_bus_ltc_fifo_param(I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 FLtcCh, I32 Param_No, I32 Param_Val);
I32 FNTYPE APS_get_field_bus_ltc_fifo_param(I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 FLtcCh, I32 Param_No, I32 *Param_Val);
I32 FNTYPE APS_reset_field_bus_ltc_fifo(I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 FLtcCh);
I32 FNTYPE APS_get_field_bus_ltc_fifo_usage(I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 FLtcCh, I32 *Usage);
I32 FNTYPE APS_get_field_bus_ltc_fifo_free_space(I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 FLtcCh, I32 *FreeSpace);
I32 FNTYPE APS_get_field_bus_ltc_fifo_status(I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 FLtcCh, I32 *Status );
// Comparing trigger functions
I32 FNTYPE APS_set_trigger_param( I32 Board_ID, I32 Param_No, I32 Param_Val );
I32 FNTYPE APS_get_trigger_param( I32 Board_ID, I32 Param_No, I32 *Param_Val );
I32 FNTYPE APS_set_trigger_linear( I32 Board_ID, I32 LCmpCh, I32 StartPoint, I32 RepeatTimes, I32 Interval );
I32 FNTYPE APS_set_trigger_table( I32 Board_ID, I32 TCmpCh, I32 *DataArr, I32 ArraySize );
I32 FNTYPE APS_set_trigger_manual( I32 Board_ID, I32 TrgCh );
I32 FNTYPE APS_set_trigger_manual_s( I32 Board_ID, I32 TrgChInBit );
I32 FNTYPE APS_get_trigger_table_cmp( I32 Board_ID, I32 TCmpCh, I32 *CmpVal );
I32 FNTYPE APS_get_trigger_linear_cmp( I32 Board_ID, I32 LCmpCh, I32 *CmpVal );
I32 FNTYPE APS_get_trigger_count( I32 Board_ID, I32 TrgCh, I32 *TrgCnt );
I32 FNTYPE APS_reset_trigger_count( I32 Board_ID, I32 TrgCh );
I32 FNTYPE APS_enable_trigger_fifo_cmp( I32 Board_ID, I32 FCmpCh, I32 Enable );
I32 FNTYPE APS_get_trigger_fifo_cmp( I32 Board_ID, I32 FCmpCh, I32 *CmpVal );
I32 FNTYPE APS_get_trigger_fifo_status( I32 Board_ID, I32 FCmpCh, I32 *FifoSts );
I32 FNTYPE APS_set_trigger_fifo_data( I32 Board_ID, I32 FCmpCh, I32 *DataArr, I32 ArraySize, I32 ShiftFlag );
I32 FNTYPE APS_set_trigger_encoder_counter( I32 Board_ID, I32 TrgCh, I32 TrgCnt );
I32 FNTYPE APS_get_trigger_encoder_counter( I32 Board_ID, I32 TrgCh, I32 *TrgCnt );
I32 FNTYPE APS_start_timer( I32 Board_ID, I32 TrgCh, I32 Start );
I32 FNTYPE APS_get_timer_counter( I32 Board_ID, I32 TmrCh, I32 *Cnt );
I32 FNTYPE APS_set_timer_counter( I32 Board_ID, I32 TmrCh, I32 Cnt );
I32 FNTYPE APS_start_trigger_timer( I32 Board_ID, I32 TrgCh, I32 Start );
I32 FNTYPE APS_get_trigger_timer_counter( I32 Board_ID, I32 TmrCh, I32 *TmrCnt );
// 20200120
I32 FNTYPE APS_set_trigger_table_data( I32 Board_ID, I32 TCmpCh, I32 *DataArr, I32 ArraySize );
I32 FNTYPE APS_get_trigger_table_status( I32 Board_ID, I32 TCmpCh, I32 *FreeSpace, I32 *FifoSts );
I32 FNTYPE APS_get_trigger_cmp_value( I32 Board_ID, I32 TCmpCh, I32 *CmpVal );
I32 FNTYPE APS_enable_trigger_table( I32 Board_ID, I32 TCmpCh, I32 Enable );
I32 FNTYPE APS_reset_trigger_table( I32 Board_ID, I32 TCmpCh );
//Multi-dimension comparator functions [For PCI-8254/58]
I32 FNTYPE APS_set_multi_trigger_table( I32 Board_ID, I32 Dimension, MCMP_POINT *DataArr, I32 ArraySize, I32 Window );
I32 FNTYPE APS_get_multi_trigger_table_cmp( I32 Board_ID, I32 Dimension, MCMP_POINT *CmpVal );
//Pulser counter functions
I32 FNTYPE APS_get_pulser_counter( I32 Board_ID, I32 *Counter );
I32 FNTYPE APS_set_pulser_counter( I32 Board_ID, I32 Counter );
// Reserved functions[Legacy functions]
I32 FNTYPE APS_field_bus_slave_set_param( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 Ch_No, I32 ParaNum, I32 ParaDat );
I32 FNTYPE APS_field_bus_slave_get_param( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 Ch_No, I32 ParaNum, I32 *ParaDat );
I32 FNTYPE APS_field_bus_d_set_output( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 DO_Value );
I32 FNTYPE APS_field_bus_d_get_output( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 *DO_Value );
I32 FNTYPE APS_field_bus_d_get_input( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 *DI_Value );
I32 FNTYPE APS_field_bus_A_set_output( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 Ch_No, F64 AO_Value );
I32 FNTYPE APS_field_bus_A_set_output_plc( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 Ch_No, F64 AO_Value, I16 RunStep );
I32 FNTYPE APS_field_bus_A_get_output( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 Ch_No, F64 *AO_Value );
I32 FNTYPE APS_field_bus_A_get_input( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 Ch_No, F64 *AI_Value );
I32 FNTYPE APS_field_bus_A_get_input_plc( I32 Board_ID, I32 BUS_No, I32 MOD_No, I32 Ch_No, F64 *AI_Value, I16 RunStep );
I32 FNTYPE APS_get_eep_curr_drv_ctrl_mode( I32 Board_ID, I32 *ModeInBit );
//DPAC functions
I32 FNTYPE APS_rescan_CF( I32 Board_ID );
I32 FNTYPE APS_get_battery_status( I32 Board_ID, I32 *Battery_status);
//DPAC display & Display button
I32 FNTYPE APS_get_display_data( I32 Board_ID, I32 displayDigit, I32 *displayIndex);
I32 FNTYPE APS_set_display_data( I32 Board_ID, I32 displayDigit, I32 displayIndex);
I32 FNTYPE APS_get_button_status( I32 Board_ID, I32 *buttonstatus);
//NV RAM functions
I32 FNTYPE APS_set_nv_ram( I32 Board_ID, I32 RamNo, I32 DataWidth, I32 Offset, I32 Data );
I32 FNTYPE APS_get_nv_ram( I32 Board_ID, I32 RamNo, I32 DataWidth, I32 Offset, I32 *Data );
I32 FNTYPE APS_clear_nv_ram( I32 Board_ID, I32 RamNo );
//VAO functions [For PCI-8253/56]
I32 FNTYPE APS_set_vao_param( I32 Board_ID, I32 Param_No, I32 Param_Val );
I32 FNTYPE APS_get_vao_param( I32 Board_ID, I32 Param_No, I32 *Param_Val );
I32 FNTYPE APS_set_vao_table( I32 Board_ID, I32 Table_No, I32 MinVelocity, I32 VelInterval, I32 TotalPoints, I32 *MappingDataArray );
I32 FNTYPE APS_switch_vao_table( I32 Board_ID, I32 Table_No );
I32 FNTYPE APS_start_vao( I32 Board_ID, I32 Output_Ch, I32 Enable );
I32 FNTYPE APS_get_vao_status( I32 Board_ID, I32 *Status );
I32 FNTYPE APS_check_vao_param( I32 Board_ID, I32 Table_No, I32 *Status );
I32 FNTYPE APS_set_vao_param_ex( I32 Board_ID, I32 Table_No, VAO_DATA* VaoData );
I32 FNTYPE APS_get_vao_param_ex( I32 Board_ID, I32 Table_No, VAO_DATA* VaoData );
//ODM functions
I32 FNTYPE APS_start_vao_by_mode( I32 Board_ID, I32 ChannelInBit, I32 Mode, I32 Enable );
I32 FNTYPE APS_set_vao_pwm_burst_count( I32 Board_ID, I32 Table_No, I32 Count );
//PWM functions
I32 FNTYPE APS_set_pwm_width( I32 Board_ID, I32 PWM_Ch, I32 Width );
I32 FNTYPE APS_get_pwm_width( I32 Board_ID, I32 PWM_Ch, I32 *Width );
I32 FNTYPE APS_set_pwm_frequency( I32 Board_ID, I32 PWM_Ch, I32 Frequency );
I32 FNTYPE APS_get_pwm_frequency( I32 Board_ID, I32 PWM_Ch, I32 *Frequency );
I32 FNTYPE APS_set_pwm_on( I32 Board_ID, I32 PWM_Ch, I32 PWM_On );
//Simultaneous move
I32 FNTYPE APS_set_relative_simultaneous_move ( I32 Dimension, I32 *Axis_ID_Array, I32 *Distance_Array, I32 *Max_Speed_Array );
I32 FNTYPE APS_set_absolute_simultaneous_move ( I32 Dimension, I32 *Axis_ID_Array, I32 *Position_Array, I32 *Max_Speed_Array );
I32 FNTYPE APS_start_simultaneous_move ( I32 Axis_ID );
I32 FNTYPE APS_stop_simultaneous_move ( I32 Axis_ID );
I32 FNTYPE APS_set_velocity_simultaneous_move ( I32 Dimension, I32 *Axis_ID_Array, I32 *Max_Speed_Array );
I32 FNTYPE APS_release_simultaneous_move ( I32 Axis_ID );
I32 FNTYPE APS_emg_stop_simultaneous_move ( I32 Axis_ID );
//Override functions
I32 FNTYPE APS_speed_override( I32 Axis_ID, I32 MaxSpeed );
I32 FNTYPE APS_relative_move_ovrd( I32 Axis_ID, I32 Distance, I32 Max_Speed );
I32 FNTYPE APS_absolute_move_ovrd( I32 Axis_ID, I32 Position, I32 Max_Speed );
//Advanced single move & interpolation [For PCI-8254/58]
I32 FNTYPE APS_ptp( I32 Axis_ID, I32 Option, F64 Position, ASYNCALL *Wait);
I32 FNTYPE APS_ptp_v( I32 Axis_ID, I32 Option, F64 Position, F64 Vm, ASYNCALL *Wait);
I32 FNTYPE APS_ptp_all( I32 Axis_ID, I32 Option, F64 Position, F64 Vs, F64 Vm, F64 Ve, F64 Acc, F64 Dec, F64 SFac, ASYNCALL *Wait);
I32 FNTYPE APS_vel( I32 Axis_ID, I32 Option, F64 Vm, ASYNCALL *Wait);
I32 FNTYPE APS_vel_all( I32 Axis_ID, I32 Option, F64 Vs, F64 Vm, F64 Ve, F64 Acc, F64 Dec, F64 SFac, ASYNCALL *Wait);
I32 FNTYPE APS_line( I32 Dimension, I32 *Axis_ID_Array, I32 Option, F64 *PositionArray, F64 *TransPara, ASYNCALL *Wait);
I32 FNTYPE APS_line_v( I32 Dimension, I32 *Axis_ID_Array, I32 Option, F64 *PositionArray, F64 *TransPara, F64 Vm, ASYNCALL *Wait);
I32 FNTYPE APS_line_all( I32 Dimension, I32 *Axis_ID_Array, I32 Option, F64 *PositionArray, F64 *TransPara, F64 Vs, F64 Vm, F64 Ve, F64 Acc,F64 Dec, F64 SFac, ASYNCALL *Wait);
I32 FNTYPE APS_arc2_ca( I32 *Axis_ID_Array, I32 Option, F64 *CenterArray, F64 Angle, F64 *TransPara, ASYNCALL *Wait );
I32 FNTYPE APS_arc2_ca_v( I32 *Axis_ID_Array, I32 Option, F64 *CenterArray, F64 Angle, F64 *TransPara, F64 Vm, ASYNCALL *Wait );
I32 FNTYPE APS_arc2_ca_all( I32 *Axis_ID_Array, I32 Option, F64 *CenterArray, F64 Angle, F64 *TransPara, F64 Vs, F64 Vm, F64 Ve, F64 Acc,F64 Dec, F64 SFac, ASYNCALL *Wait );
I32 FNTYPE APS_arc2_ce( I32 *Axis_ID_Array, I32 Option, F64 *CenterArray, F64 *EndArray, I16 Dir, F64 *TransPara, ASYNCALL *Wait );
I32 FNTYPE APS_arc2_ce_v( I32 *Axis_ID_Array, I32 Option, F64 *CenterArray, F64 *EndArray, I16 Dir, F64 *TransPara, F64 Vm, ASYNCALL *Wait );
I32 FNTYPE APS_arc2_ce_all( I32 *Axis_ID_Array, I32 Option, F64 *CenterArray, F64 *EndArray, I16 Dir, F64 *TransPara, F64 Vs, F64 Vm, F64 Ve, F64 Acc,F64 Dec, F64 SFac, ASYNCALL *Wait );
I32 FNTYPE APS_arc3_ca( I32 *Axis_ID_Array, I32 Option, F64 *CenterArray, F64 *NormalArray, F64 Angle, F64 *TransPara, ASYNCALL *Wait );
I32 FNTYPE APS_arc3_ca_v( I32 *Axis_ID_Array, I32 Option, F64 *CenterArray, F64 *NormalArray, F64 Angle, F64 *TransPara, F64 Vm, ASYNCALL *Wait );
I32 FNTYPE APS_arc3_ca_all( I32 *Axis_ID_Array, I32 Option, F64 *CenterArray, F64 *NormalArray, F64 Angle, F64 *TransPara, F64 Vs, F64 Vm, F64 Ve, F64 Acc,F64 Dec, F64 SFac, ASYNCALL *Wait );
I32 FNTYPE APS_arc3_ce( I32 *Axis_ID_Array, I32 Option, F64 *CenterArray, F64 *EndArray, I16 Dir, F64 *TransPara, ASYNCALL *Wait );
I32 FNTYPE APS_arc3_ce_v( I32 *Axis_ID_Array, I32 Option, F64 *CenterArray, F64 *EndArray, I16 Dir, F64 *TransPara, F64 Vm, ASYNCALL *Wait );
I32 FNTYPE APS_arc3_ce_all( I32 *Axis_ID_Array, I32 Option, F64 *CenterArray, F64 *EndArray, I16 Dir, F64 *TransPara, F64 Vs, F64 Vm, F64 Ve, F64 Acc,F64 Dec, F64 SFac, ASYNCALL *Wait );
I32 FNTYPE APS_spiral_ca( I32 *Axis_ID_Array, I32 Option, F64 *CenterArray, F64 *NormalArray, F64 Angle, F64 DeltaH, F64 FinalR, F64 *TransPara, ASYNCALL *Wait );
I32 FNTYPE APS_spiral_ca_v( I32 *Axis_ID_Array, I32 Option, F64 *CenterArray, F64 *NormalArray, F64 Angle, F64 DeltaH, F64 FinalR, F64 *TransPara, F64 Vm, ASYNCALL *Wait );
I32 FNTYPE APS_spiral_ca_all( I32 *Axis_ID_Array, I32 Option, F64 *CenterArray, F64 *NormalArray, F64 Angle, F64 DeltaH, F64 FinalR, F64 *TransPara, F64 Vs, F64 Vm, F64 Ve, F64 Acc,F64 Dec, F64 SFac, ASYNCALL *Wait );
I32 FNTYPE APS_spiral_ce( I32 *Axis_ID_Array, I32 Option, F64 *CenterArray, F64 *NormalArray, F64 *EndArray, I16 Dir, F64 *TransPara, ASYNCALL *Wait );
I32 FNTYPE APS_spiral_ce_v( I32 *Axis_ID_Array, I32 Option, F64 *CenterArray, F64 *NormalArray, F64 *EndArray, I16 Dir, F64 *TransPara, F64 Vm, ASYNCALL *Wait );
I32 FNTYPE APS_spiral_ce_all( I32 *Axis_ID_Array, I32 Option, F64 *CenterArray, F64 *NormalArray, F64 *EndArray, I16 Dir, F64 *TransPara, F64 Vs, F64 Vm, F64 Ve, F64 Acc,F64 Dec, F64 SFac, ASYNCALL *Wait );
// Torque move in CST mode [For PCIe-833x]
I32 FNTYPE APS_torque_move( I32 Axis_ID, I16 TorqueValue, U32 Slope, U16 Option, ASYNCALL *Wait );
//Point table functions [For PCI-8254/58]
I32 FNTYPE APS_pt_dwell( I32 Board_ID, I32 PtbId, PPTDWL Prof, PPTSTS Status );
I32 FNTYPE APS_pt_line( I32 Board_ID, I32 PtbId, PPTLINE Prof, PPTSTS Status );
I32 FNTYPE APS_pt_arc2_ca( I32 Board_ID, I32 PtbId, PPTA2CA Prof, PPTSTS Status );
I32 FNTYPE APS_pt_arc2_ce( I32 Board_ID, I32 PtbId, PPTA2CE Prof, PPTSTS Status );
I32 FNTYPE APS_pt_arc3_ca( I32 Board_ID, I32 PtbId, PPTA3CA Prof, PPTSTS Status );
I32 FNTYPE APS_pt_arc3_ce( I32 Board_ID, I32 PtbId, PPTA3CE Prof, PPTSTS Status );
I32 FNTYPE APS_pt_spiral_ca( I32 Board_ID, I32 PtbId, PPTHCA Prof, PPTSTS Status );
I32 FNTYPE APS_pt_spiral_ce( I32 Board_ID, I32 PtbId, PPTHCE Prof, PPTSTS Status );
I32 FNTYPE APS_pt_enable( I32 Board_ID, I32 PtbId, I32 Dimension, I32 *AxisArr );
I32 FNTYPE APS_pt_disable( I32 Board_ID, I32 PtbId );
I32 FNTYPE APS_get_pt_info( I32 Board_ID, I32 PtbId, PPTINFO Info );
I32 FNTYPE APS_pt_set_vs( I32 Board_ID, I32 PtbId, F64 Vs );
I32 FNTYPE APS_pt_get_vs( I32 Board_ID, I32 PtbId, F64 *Vs );
I32 FNTYPE APS_pt_start( I32 Board_ID, I32 PtbId );
I32 FNTYPE APS_pt_stop( I32 Board_ID, I32 PtbId );
I32 FNTYPE APS_get_pt_status( I32 Board_ID, I32 PtbId, PPTSTS Status );
I32 FNTYPE APS_reset_pt_buffer( I32 Board_ID, I32 PtbId );
I32 FNTYPE APS_pt_roll_back( I32 Board_ID, I32 PtbId, F64 Max_Speed );
I32 FNTYPE APS_pt_get_error( I32 Board_ID, I32 PtbId, I32 *ErrCode );
//Cmd buffer setting
I32 FNTYPE APS_pt_ext_set_io_map( I32 Board_ID, I32 BUS_No, I32 PtbId, I32 MOD_No, I32 Ch_No, I32 Channel, U32 Option );
I32 FNTYPE APS_pt_ext_set_do_ch( I32 Board_ID, I32 PtbId, I32 Channel, I32 OnOff );
I32 FNTYPE APS_pt_ext_set_table_no( I32 Board_ID, I32 PtbId, I32 CtrlNo, I32 TableNo );
//Profile buffer setting
I32 FNTYPE APS_pt_set_absolute( I32 Board_ID, I32 PtbId );
I32 FNTYPE APS_pt_set_relative( I32 Board_ID, I32 PtbId );
I32 FNTYPE APS_pt_set_trans_buffered( I32 Board_ID, I32 PtbId );
I32 FNTYPE APS_pt_set_trans_inp( I32 Board_ID, I32 PtbId );
I32 FNTYPE APS_pt_set_trans_blend_dec( I32 Board_ID, I32 PtbId, F64 Bp );
I32 FNTYPE APS_pt_set_trans_blend_dist( I32 Board_ID, I32 PtbId, F64 Bp );
I32 FNTYPE APS_pt_set_trans_blend_pcnt( I32 Board_ID, I32 PtbId, F64 Bp );
I32 FNTYPE APS_pt_set_acc( I32 Board_ID, I32 PtbId, F64 Acc );
I32 FNTYPE APS_pt_set_dec( I32 Board_ID, I32 PtbId, F64 Dec );
I32 FNTYPE APS_pt_set_acc_dec( I32 Board_ID, I32 PtbId, F64 AccDec );
I32 FNTYPE APS_pt_set_s( I32 Board_ID, I32 PtbId, F64 Sf );
I32 FNTYPE APS_pt_set_vm( I32 Board_ID, I32 PtbId, F64 Vm );
I32 FNTYPE APS_pt_set_ve( I32 Board_ID, I32 PtbId, F64 Ve );
//Program download functions
I32 FNTYPE APS_load_amc_program( I32 Board_ID, I32 TaskNum, const char *pFile, I32 Password);
I32 FNTYPE APS_save_amc_program( I32 Board_ID, I32 TaskNum, const char *pFile, I32 Password);
I32 FNTYPE APS_set_task_mode( I32 Board_ID, I32 TaskNum, U8 Mode, U16 LastIP );
I32 FNTYPE APS_get_task_mode( I32 Board_ID, I32 TaskNum, U8 *Mode, U16 *LastIP );
I32 FNTYPE APS_start_task( I32 Board_ID, I32 TaskNum, I32 CtrlCmd );
I32 FNTYPE APS_get_task_info( I32 Board_ID, I32 TaskNum, TSK_INFO *Info );
I32 FNTYPE APS_get_task_msg( I32 Board_ID, U16 *QueueSts, U16 *ActualSize, U8 *CharArr );
//Latch functions
I32 FNTYPE APS_get_encoder( I32 Axis_ID, I32 *Encoder );
I32 FNTYPE APS_get_latch_counter( I32 Axis_ID, I32 Src, I32 *Counter );
I32 FNTYPE APS_get_latch_event( I32 Axis_ID, I32 Src, I32 *Event );
//Raw command counter [For PCI-8254/58]
I32 FNTYPE APS_get_command_counter( I32 Axis_ID, I32 *Counter );
//Reset raw command counter [For PCIe-8338]
I32 FNTYPE APS_reset_command_counter( I32 Axis_ID);
// Command control mode [For PCIe-833x]
I32 FNTYPE APS_set_command_control_mode( I32 Axis_ID, U8 Mode );
I32 FNTYPE APS_get_command_control_mode( I32 Axis_ID, U8 *Mode );
//Watch dog timer [For PCI-8254/58]
I32 FNTYPE APS_wdt_start( I32 Board_ID, I32 TimerNo, I32 TimeOut );
I32 FNTYPE APS_wdt_get_timeout_period( I32 Board_ID, I32 TimerNo, I32 *TimeOut );
I32 FNTYPE APS_wdt_reset_counter( I32 Board_ID, I32 TimerNo );
I32 FNTYPE APS_wdt_get_counter( I32 Board_ID, I32 TimerNo, I32 *Counter );
I32 FNTYPE APS_wdt_set_action_event( I32 Board_ID, I32 TimerNo, I32 EventByBit );
I32 FNTYPE APS_wdt_get_action_event( I32 Board_ID, I32 TimerNo, I32 *EventByBit );
//Multi-axes simultaneous move start/stop [For PCI-8254/58]
I32 FNTYPE APS_move_trigger( I32 Dimension, I32 *Axis_ID_Array );
I32 FNTYPE APS_stop_move_multi( I32 Dimension, I32 *Axis_ID_Array );
I32 FNTYPE APS_emg_stop_multi( I32 Dimension, I32 *Axis_ID_Array );
//Gear/Gantry functions [For PCI-8254/58]
I32 FNTYPE APS_start_gear( I32 Axis_ID, I32 Mode );
I32 FNTYPE APS_get_gear_status( I32 Axis_ID, I32* Status );
//Multi-latch functions
I32 FNTYPE APS_set_ltc_counter( I32 Board_ID, I32 CntNum, I32 CntValue );
I32 FNTYPE APS_get_ltc_counter( I32 Board_ID, I32 CntNum, I32 *CntValue );
I32 FNTYPE APS_set_ltc_fifo_param( I32 Board_ID, I32 FLtcCh, I32 Param_No, I32 Param_Val );
I32 FNTYPE APS_get_ltc_fifo_param( I32 Board_ID, I32 FLtcCh, I32 Param_No, I32 *Param_Val );
I32 FNTYPE APS_manual_latch( I32 Board_ID, I32 LatchSignalInBits );
I32 FNTYPE APS_enable_ltc_fifo( I32 Board_ID, I32 FLtcCh, I32 Enable );
I32 FNTYPE APS_reset_ltc_fifo( I32 Board_ID, I32 FLtcCh );
I32 FNTYPE APS_get_ltc_fifo_data( I32 Board_ID, I32 FLtcCh, I32 *Data );
I32 FNTYPE APS_get_ltc_fifo_usage( I32 Board_ID, I32 FLtcCh, I32 *Usage );
I32 FNTYPE APS_get_ltc_fifo_free_space( I32 Board_ID, I32 FLtcCh, I32 *FreeSpace );
I32 FNTYPE APS_get_ltc_fifo_status( I32 Board_ID, I32 FLtcCh, I32 *Status );
I32 FNTYPE APS_get_ltc_fifo_point( I32 Board_ID, I32 FLtcCh, I32 *ArraySize, LATCH_POINT *LatchPoint );
//Single latch functions [For PCI-8154/58, MNET-4XMO-C]
I32 FNTYPE APS_manual_latch2( I32 Axis_ID );
I32 FNTYPE APS_get_latch_data2( I32 Axis_ID, I32 LatchNum, I32 *LatchData );
I32 FNTYPE APS_set_backlash_en(I32 Axis_ID, I32 Enable );
I32 FNTYPE APS_get_backlash_en( I32 Axis_ID, I32 *Enable );
//ODM functions for Mechatrolink
I32 FNTYPE APS_start_mlink( I32 Board_ID, I32 *AxisFound_InBits );
I32 FNTYPE APS_stop_mlink( I32 Board_ID );
I32 FNTYPE APS_set_mlink_servo_param( I32 Axis_ID, I32 Para_No, I32 Para_Dat);
I32 FNTYPE APS_get_mlink_servo_param( I32 Axis_ID, I32 Para_No, I32 *Para_Dat);
I32 FNTYPE APS_config_mlink( I32 Board_ID, I32 TotalAxes, I32* AxesArray);
I32 FNTYPE APS_get_mlink_rv_ptr(I32 Axis_ID, U32 **rptr);
I32 FNTYPE APS_get_mlink_sd_ptr(I32 Axis_ID, U32 **sptr);
I32 FNTYPE APS_get_mlink_servo_alarm( I32 Axis_ID, I32 Alarm_No, I32 *Alarm_Detail );
I32 FNTYPE APS_reset_mlink_servo_alarm( I32 Axis_ID );
I32 FNTYPE APS_set_mlink_pulse_per_rev( I32 Axis_ID, I32 PPR );
//Apply smooth servo off [For PCI-8254/58]
I32 FNTYPE APS_smooth_servo_off(I32 Axis_ID, F64 Decay_Rate );
I32 FNTYPE APS_set_smooth_servo_off(I32 Board_ID, I32 Axis_ID, I32 cnt_Max, I32 *cnt_Err );
//ODM functions
I32 FNTYPE APS_relative_move_wait( I32 Axis_ID, I32 Distance, I32 Max_Speed, I32 Time_Out, I32 Delay_Time, I32 *MotionSts );
I32 FNTYPE APS_absolute_move_wait( I32 Axis_ID, I32 Position, I32 Max_Speed, I32 Time_Out, I32 Delay_Time, I32 *MotionSts );
I32 FNTYPE APS_relative_linear_move_wait( I32 Dimension, I32 *Axis_ID_Array, I32 *Distance_Array, I32 Max_Linear_Speed, I32 Time_Out, I32 Delay_Time, I32 *MotionSts );
I32 FNTYPE APS_absolute_linear_move_wait( I32 Dimension, I32 *Axis_ID_Array, I32 *Position_Array, I32 Max_Linear_Speed, I32 Time_Out, I32 Delay_Time, I32 *MotionSts );
I32 FNTYPE APS_relative_move_non_wait( I32 Axis_ID, I32 Distance, I32 Max_Speed, I32 Time_Out, I32 Delay_Time );
I32 FNTYPE APS_absolute_move_non_wait( I32 Axis_ID, I32 Position, I32 Max_Speed, I32 Time_Out, I32 Delay_Time );
I32 FNTYPE APS_relative_linear_move_non_wait( I32 Dimension, I32 *Axis_ID_Array, I32 *Distance_Array, I32 Max_Linear_Speed, I32 Time_Out, I32 Delay_Time );
I32 FNTYPE APS_absolute_linear_move_non_wait( I32 Dimension, I32 *Axis_ID_Array, I32 *Position_Array, I32 Max_Linear_Speed, I32 Time_Out, I32 Delay_Time );
I32 FNTYPE APS_wait_move_done( I32 Axis_ID, I32 *MotionSts );
//ODM functions [For MNET-4XMO-C]
I32 FNTYPE APS_absolute_arc_move_ex( I32 Dimension, I32 *Axis_ID_Array, I32 *Center_Pos_Array, I32 *End_Pos_Array, I32 CwOrCcw, I32 Max_Arc_Speed );
I32 FNTYPE APS_motion_status_ex( I32 Axis_ID );
I32 FNTYPE APS_motion_io_status_ex( I32 Axis_ID );
//Ring counter functions [For PCI-8154/8]
I32 FNTYPE APS_set_ring_counter( I32 Axis_ID, I32 RingVal );
I32 FNTYPE APS_get_ring_counter( I32 Axis_ID, I32 *RingVal );
//Circular limit functions
I32 FNTYPE APS_set_circular_limit( I32 Axis_A, I32 Axis_B, F64 Center_A, F64 Center_B, F64 Radius, I32 Stop_Mode, I32 Enable );
I32 FNTYPE APS_get_circular_limit( I32 Axis_A, I32 Axis_B, F64 *Center_A, F64 *Center_B, F64 *Radius, I32 *Stop_Mode, I32 *Enable );
//Pulser functions
I32 FNTYPE APS_manual_pulser_start( I32 Board_ID, I32 Enable );
I32 FNTYPE APS_manual_pulser_velocity_move( I32 Axis_ID, F64 SpeedLimit );
I32 FNTYPE APS_manual_pulser_relative_move( I32 Axis_ID, F64 Distance, F64 SpeedLimit );
I32 FNTYPE APS_manual_pulser_home_move( I32 Axis_ID );
//Pitch error compensation [For PCI-8254/58]
I32 FNTYPE APS_set_pitch_table( I32 Axis_ID, I32 Comp_Type, I32 Total_Points, I32 MinPosition, U32 Interval, I32 *Comp_Data);
I32 FNTYPE APS_get_pitch_table( I32 Axis_ID, I32 *Comp_Type, I32 *Total_Points, I32 *MinPosition, U32 *Interval, I32 *Comp_Data);
I32 FNTYPE APS_start_pitch_comp( I32 Axis_ID, I32 Enable );
//2D compensation [For PCI-8254/58]
I32 FNTYPE APS_set_2d_compensation_table(I32 *AxisIdArray, U32 CompType, U32 *TotalPointArray, F64 *StartPosArray, F64 *IntervalArray, F64 *CompDataArrayX, F64 *CompDataArrayY);//Ray
I32 FNTYPE APS_get_2d_compensation_table(I32 *AxisIdArray, U32 *CompType, U32 *TotalPointArray, F64 *StartPosArray, F64 *IntervalArray, F64 *CompDataArrayX, F64 *CompDataArrayY);//Ray
I32 FNTYPE APS_start_2d_compensation( I32 Axis_ID, I32 Enable );//Ray
I32 FNTYPE APS_absolute_linear_move_2d_compensation( I32 *Axis_ID_Array, F64 *Position_Array, F64 Max_Linear_Speed );//Ray
I32 FNTYPE APS_get_2d_compensation_command_position( I32 Axis_ID, F64 *CommandX, F64 *CommandY, F64 *PositionX, F64 *PositionY );//Ray
// PVT function;
I32 FNTYPE APS_pvt_add_point(I32 Axis_ID, I32 ArraySize, F64* PositionArray, F64* VelocityArray, F64* TimeArray, I32* DoChArray, I32* DoValueArray);
I32 FNTYPE APS_pvt_get_status( I32 Axis_ID, I32 *FreeSize, I32 *PointCount, I32 *State );
I32 FNTYPE APS_pvt_start( I32 Dimension, I32 *Axis_ID_Array, I32 Enable );
I32 FNTYPE APS_pvt_reset( I32 Axis_ID );
I32 FNTYPE APS_pvt_pause(I32 Dimension, I32* Axis_ID_Array, I32 Enable);
// PT function;
I32 FNTYPE APS_pt_motion_add_point(I32 Axis_ID, I32 ArraySize, F64* PositionArray, F64* TimeArray, I32* DoChArray, I32* DoValueArray);
I32 FNTYPE APS_pt_motion_get_status( I32 Axis_ID, I32 *FreeSize, I32 *PointCount, I32 *State );
I32 FNTYPE APS_pt_motion_start( I32 Dimension, I32 *Axis_ID_Array, I32 Enable );
I32 FNTYPE APS_pt_motion_reset( I32 Axis_ID );
I32 FNTYPE APS_pt_motion_pause(I32 Dimension, I32* Axis_ID_Array, I32 Enable);
//Get speed profile calculation
I32 FNTYPE APS_relative_move_profile( I32 Axis_ID, I32 Distance, I32 Max_Speed, I32 *StrVel, I32 *MaxVel, F64 *Tacc, F64 *Tdec, F64 *Tconst );
I32 FNTYPE APS_absolute_move_profile( I32 Axis_ID, I32 Position, I32 Max_Speed, I32 *StrVel, I32 *MaxVel, F64 *Tacc, F64 *Tdec, F64 *Tconst );
//ASYNC Mode
I32 FNTYPE APS_get_error_code( I32 Axis_ID, U32 Index, I32 *ErrorCode );
I32 FNTYPE APS_get_cmd_fifo_usage( I32 Axis_ID, U32 *Number );
I32 FNTYPE APS_get_last_error( I32 Axis_ID, I32 *ErrorCode );
//Get fpga latch value [For PCI-8254/58]
I32 FNTYPE APS_get_axis_latch_data(I32 Axis_ID, I32 latch_channel, I32 *latch_data);
// Coordinate transform 20190624
I32 FNTYPE APS_set_coordTransform2D_config ( I32 Board_ID, I32 AxisID_X, I32 AxisID_Y, F64 XYAngle, I32 Enable );
I32 FNTYPE APS_get_coordTransform2D_config ( I32 Board_ID, I32* AxisID_X, I32* AxisID_Y, F64* XYAngle, I32* Enable );
I32 FNTYPE APS_get_coordTransform2D_position ( I32 Board_ID, F64* Cmd_transform_X, F64* Cmd_transform_Y, F64* Fbk_transform_X, F64* Fbk_transform_Y );
// Interrupt ISR callback [For all interrupt]
I32 FNTYPE APS_register_int_callback(I32 ISR_No, I32 Board_ID, I32 Item_No, I32 Factor_No, callback_func SuccessHandler, callback_func FailHandler, I32 Action);
// for AMP-304C
I32 FNTYPE APS_set_trigger_table_data_ex(I32 Board_ID, I32 TCmpCh, TCMP_EX_POINT* TcmpDataArr, I32 ArraySize, I32 Option);
// for 8364RS
I32 FNTYPE APS_set_drive_input_mapping(I32 Board_ID, I32 BUS_No, const char* pFilePath, I32 option);
I32 FNTYPE APS_set_trigger_output_mapping(I32 Board_ID, I32 BUS_No, const char* pFilePath, I32 option);
I32 FNTYPE APS_get_msg_size(I32 Board_ID, I32 ArraySize, I32* MsgQueueSizeArr);
I32 FNTYPE APS_get_msg_data(I32 Board_ID, I32 MsgNo, I32 MsgNum, I32 MsgSize, I32* ActualMsgNum, char* MsgQueueArr);
//General API for Field Bus Data Access
I32 FNTYPE APS_get_field_bus_info(U32 Board_ID, U32 IndexLen, U32* IndexArr, U32 InfoLen, U32* InfoArr);
I32 FNTYPE APS_set_field_bus_data(U32 Board_ID, U32 IndexLen, U32* IndexArr, U32 DataLen, U32* DataArr);
I32 FNTYPE APS_get_field_bus_data(U32 Board_ID, U32 IndexLen, U32* IndexArr, U32 DataLen, U32* DataArr);
// for AMP-304C and 8364RS
I32 FNTYPE APS_get_trigger_table_remain_count(I32 Board_ID, I32 TCmpCh, I32* Cnt);
I32 FNTYPE APS_get_trigger_linear_remain_count(I32 Board_ID, I32 LCmpCh, I32* Cnt);
I32 FNTYPE APS_load_config_from_file(I32 Board_ID, const char* FilePath, I32 Option);
I32 FNTYPE APS_set_axis_profidrive_table(U32 Axis_ID, U32 ParamNo, U32 DataLen, U32* DataArray);
I32 FNTYPE APS_get_axis_profidrive_table(U32 Axis_ID, U32 ParamNo, U32 DataLen, U32* DataArray);
// for cycle time param
I32 FNTYPE APS_WriteBootParamToFlash( I32 Board_ID, U32 ParamNo, U32 ParamValue );
I32 FNTYPE APS_ReadBootParamFromFlash( I32 Board_ID, U32 ParamNo, U32 *ParamValue );
// For 8364 PROFIdrive parameter R/W
I32 FNTYPE APS_read_profidrive_param(U32 Board_ID, U32 Device_No, U32 ParamNo, U32 DataType, U32 DataLen, U32* DataArray);
I32 FNTYPE APS_write_profidrive_param(U32 Board_ID, U32 Device_No, U32 ParamNo, U32 DataType, U32 DataLen, U32* DataArray);
#ifdef __cplusplus
}
#endif
#endif
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