固高GTS控制卡

using gts;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace GtsDemon2
{
    public partial class FrmMain : Form
    {
        public FrmMain()
        {
            InitializeComponent();
            //mc.GT_Open(0, 1);
            this.Load += FrmMain_Load;
        }

        private CancellationTokenSource cts = new CancellationTokenSource();

        private void FrmMain_Load(object sender, EventArgs e)
        {
            short rtn;
            // 打开运动控制器
            rtn = mc.GT_Open(0, 1);
            Commandhandler("GT_Open", rtn);
            // 复位
            rtn = mc.GT_Reset();
            Commandhandler("GT_Reset", rtn);

            //cmb_Axis.SelectedIndex = 0;
            timer1.Interval = 100; //定时器间隔100ms
            timer1.Start();        //启动定时器
        }

        public void Commandhandler(string cmd, short rtn)
        {
            if (rtn != 0)
            {
                MessageBox.Show(cmd + " = " + rtn.ToString());
            }
        }


        private void Ini_Click(object sender, EventArgs e)
        {
            short rtn;
            rtn = mc.GT_AlarmOff(1); //1轴关报警
            Commandhandler("GT_AlarmOff", rtn);
            rtn = mc.GT_LmtsOff(1, -1);//1轴关闭所有限位
            Commandhandler("GT_LmtsOff", rtn);
            rtn = mc.GT_ClrSts(1, 1);//1轴状态刷新
            Commandhandler("GT_ClrSts", rtn);
            rtn =mc.GT_AxisOn(1);//1轴使能
            Commandhandler("GT_AxisOn", rtn);
            //以此处为原点
            rtn = mc.GT_ZeroPos(1, 1); //需要位置清零的起始轴号，正整数。需要位置清零的轴数
        }

        private void timer1_Tick(object sender, EventArgs e)
        {
            short rtn,axis, run;
            int sts, space, seg;
            uint clk;
            //double prfPos;

            double[] prfPos = new double[2];
            double[] enfPos = new double[2];

            axis = 3;
            //axis = Convert.ToInt16(cmb_Axis.SelectedIndex + 1);

            //获取轴状态:
            //rtn = mc.GT_GetSts(1, out sts,1, out clk); //sts显示报警状态
            rtn = mc.GT_GetSts(axis, out sts, 1, out clk); //sts显示报警状态

            //读取规划位置。
            //起始规划轴号,规划位置,读取的轴数,读取控制器时钟
            //rtn = mc.GT_GetPrfPos(1, out prfPos, 1, out clk);
            rtn = mc.GT_GetPrfPos(axis, out prfPos[0], 2, out clk); //读取2个轴
            rtn = mc.GT_CrdSpace(axis, out space, 0);
            rtn = mc.GT_CrdStatus(axis, out run, out seg, 0);

            lbl_Space.Text = space.ToString();
            lbl_Seg.Text = seg.ToString();

            //(short crd, short *pRun, long *pSegment, short fifo=0)
            //crd  坐标系号。正整数，取值范围：[1, 2]。
            //pRun 读取插补运动状态。
            //0：该坐标系的该 FIFO 没有在运动；1：该坐标系的该 FIFO 正在进行插补运动。

            // pSegment读取当前已经完成的插补段数。
            // 当重新建立坐标系或者调用 GT_CrdClear 指令后，该值会被清零。
            //fifo  所要查询运动状态的插补缓存区号。正整数，取值范围：[0, 1]，默认值为：0
            

            lbl_XPrfPos.Text = Convert.ToInt32(prfPos[0]).ToString();
            lbl_YPrfPos.Text = Convert.ToInt32(prfPos[1]).ToString();


            //lbl_XPrfPos.Text = Convert.ToInt32(prfPos).ToString(); //读取规划位置

            //读取编码器位置
            /*
             指令原型
                short GT_GetEncPos (short encoder, double *pValue, short count=1, unsigned long
                *pClock=NULL)
                指令说明  读取编码器位置。
                指令类型  立即指令，调用后立即生效。  章节页码  108
                指令参数  该指令共有 4 个参数，参数的详细信息如下。
                encoder
                编码器起始轴号。正整数。
                对于 14 轴控制器，取值范围：[1, 14]，硬件上没有编码器接口的轴资源，软件上读不到
                编码器值。
                pValue  编码器位置。
                count
                读取的轴数。默认为 1。
                1 次最多可以读取 8 个编码器轴。
                pClock  读取控制器时钟。
             */
            rtn = mc.GT_GetEncPos(axis, out enfPos[0], 2, out clk);
            lbl_XEncPos.Text = Convert.ToInt32(enfPos[0]).ToString();
            lbl_YEncPos.Text = Convert.ToInt32(enfPos[1]).ToString();

        }

        private void btn_Trap_Click(object sender, EventArgs e)
        {
            short rtn = 0;
            uint clk = 0;
            double prfPos; //位置
            mc.TTrapPrm trap; //结构体对象
            double vel, acc, dec;
            int pos;
            vel = double.Parse(tb_Vel.Text.Trim());
            acc = double.Parse(tb_Acc.Text.Trim());
            dec = double.Parse(tb_Dec.Text.Trim());
            pos = int.Parse(tb_Pos.Text.Trim());



            rtn = mc.GT_PrfTrap(1); // 将 1 轴设为点位模式
            Commandhandler("GT_PrfTrap", rtn);
            rtn = mc.GT_GetTrapPrm(1,out trap); //读取点位运动参数(需要读取所有运动参数到上位机变量)
            Commandhandler("GT_GetTrapPrm", rtn);
            trap.acc = acc;
            trap.dec = dec;
            //trap.acc = 1;
            //trap.dec = 1;
            trap.smoothTime = 20;//范围0-50

            rtn = mc.GT_SetTrapPrm(1, ref trap); //设置点位运动参数
            Commandhandler("GT_SetTrapPrm", rtn);

            rtn = mc.GT_SetVel(1, vel);
            //rtn = mc.GT_SetVel(1, 10); //10脉冲每毫秒
            Commandhandler("GT_SetVel", rtn);

            rtn = mc.GT_GetPrfPos(1, out prfPos, 1, out clk);//获取当前位置

            //从当前位置运动, 当前位置+1000
            //rtn = mc.GT_SetPos(1, Convert.ToInt32(prfPos)+1000); //1轴 走到1000脉冲

            //设置速度
            rtn = mc.GT_SetPos(1, pos);

            Commandhandler("GT_SetPos", rtn);
            //1 << 0; // 0001 -> 0001   =  1
            //1 << 1; // 0001 -> 0010   =  2
            //1 << 2; // 0001 -> 0100   =  4

            //按位指示需要启动点位运动或 Jog 运动的轴号，bit0~bit13 分别对应 1~14 轴。
            // Axis 轴号,如果是1轴不偏移(bit0), 2轴偏移一位(000 0000 0000 0010)
            //给1号轴参数

            rtn = mc.GT_Update(1 << (1 - 1));  //mc.GT_Update(1 << (Axis - 1)); 
            Commandhandler("GT_Update", rtn);
        }

        private void btn_Stop_Click(object sender, EventArgs e)
        {
            short rtn;
            short axis;
            axis = (short)(cmb_Axis.SelectedIndex + 1);
            //停止运动
            //short GT_Stop(long mask, long option)
            //mask 按位指示需要停止运动的轴号或者坐标系号。当 bit 位为 1 时表示停止对应的轴或者坐标系。

            //option 按位指示停止方式。当 bit 位为 0 时表示平滑停止对应的轴或坐标系，
            //当 bit 位为 1 时表示急停对应的轴或坐标系。
            rtn = mc.GT_Stop(1 << (axis - 1), 0);
        }


        public short jog(short axis, double vel, double acc, double dec)
        {
            short rtn;

            rtn = mc.GT_PrfJog(axis);
            Commandhandler("GT_PrfJog", rtn);
            mc.TJogPrm jogPrm;
            rtn += mc.GT_GetJogPrm(axis, out jogPrm);
            Commandhandler("GT_GetJogPrm", rtn);
            jogPrm.acc = acc;
            jogPrm.dec = dec;
            jogPrm.smooth = 0.5;
            rtn += mc.GT_SetJogPrm(axis, ref jogPrm);
            Commandhandler("GT_SetJogPrm", rtn);
            rtn += mc.GT_SetVel(axis, vel);
            Commandhandler("GT_SetVel", rtn);
            rtn += mc.GT_Update(1 << (axis - 1));
            Commandhandler("GT_Update", rtn);
            return rtn;
        }

        private void btn_Crd_Click(object sender, EventArgs e)
        {
            mc.TCrdPrm crd = new mc.TCrdPrm(); //定义坐标系

            /*
             坐标系与规划器的映射关系。Profile[0..7]对应规划轴 1~8，如果规划轴没有对
            应到该坐标系，则 profile[x]的值为 0；如果对应到了 X 轴，则 profile[x]为 1，Y 轴对应
            为 2，Z 轴对应为 3，A 轴对应为 4。不允许多个规划轴映射到相同坐标系的相同坐标轴，
            也不允许把相同规划轴对应到不同的坐标系，否则该指令将会返回错误值。每个元素的
            取值范围：[0, 4]。
             */
            short[] profile = new short[8]; //起始规划轴号
            int[] originPos = new int[8];   //原点
           
            short rtn;
            rtn = mc.GT_GetCrdPrm(1, out crd); //查询坐标系参数
            crd.dimension = 2; //二维坐标系
            crd.evenTime = 10; //最小匀速时间 单位： 毫秒ms 每个插补段的最小匀速段时间。取值范围：[0, 32767)。单位：ms。
            crd.synAccMax = 10; //最大加速度  单位：pulse/ms²
            crd.synVelMax = 100; //最大速度   单位：pulse/ms
            for (short i = 0; i < 8; i++)
            {
                profile[i] = 0;
                originPos[i] = 0;
            }
            profile[2] = 1;   //3轴为x轴
            profile[3] = 2;  //4轴为y轴
            crd.profile = profile;      //设置xy对应轴号
            crd.setOriginFlag = 1;     //手动设置坐标原点
            crd.originPos = originPos; //设置坐标原点偏移量
            //short crd, ref TCrdPrm pCrdPrm, short crd 坐标系号，取值范围：[1, 2]。
            rtn = mc.GT_SetCrdPrm(1, ref crd); //建立坐标系  

            //XY 平面二维直线插补。
            /*
             short GT_LnXY (short crd, long x, long y, 
            double synVel, double synAcc, double velEnd=0,short fifo=0)
             
            crd  坐标系号。正整数，取值范围：[1, 2]。
            x  插补段 x 轴终点坐标值。取值范围：[-1073741823, 1073741823]，单位：pulse。
            y  插补段 y 轴终点坐标值。取值范围：[-1073741823, 1073741823]，单位：pulse。
            synVel  插补段的目标合成速度。取值范围：(0, 32767)，单位：pulse/ms。
            synAcc  插补段的合成加速度。取值范围：(0, 32767)，单位：pulse/ms 2 。
            velEnd
            插补段的终点速度。取值范围：[0, 32767)，单位：pulse/ms。该值只有在没有使用前瞻预
            处理功能时才有意义，否则该值无效。默认值为：0。
            fifo  插补缓存区号。取值范围：[0, 1]，默认值为：0。
            指令返回值  若返回值为 1：
             */
            //(short crd, long x, long y, double synVel, double synAcc, double velEnd = 0,short fifo = 0)
            rtn = mc.GT_LnXY(1, 1000, 2000, 1, 1, 10, 0); //直线插补
            rtn = mc.GT_LnXY(1, 2000, 2000, 1, 1, 0, 0);

            /*
             crd  坐标系号。正整数，取值范围：[1, 2]。
            x  圆弧插补 x 轴的终点坐标值。取值范围：[-1073741823, 1073741823]，单位：pulse。
            y  圆弧插补 y 轴的终点坐标值。取值范围：[-1073741823, 1073741823]，单位：pulse。
            xCenter  圆弧插补的圆心 x 方向相对于起点位置的偏移量。
            yCenter  圆弧插补的圆心 y 方向相对于起点位置的偏移量。
            circleDir
            圆弧的旋转方向。
            0：顺时针圆弧。
            1：逆时针圆弧。
            synVel  插补段的目标合成速度。取值范围：(0, 32767)，单位：pulse/ms。
            synAcc  插补段的合成加速度。取值范围：(0, 32767)，单位：pulse/ms 2 。
            velEnd
            插补段的终点速度。取值范围：[0, 32767)，单位：pulse/ms。该值只有在没有使用前瞻
            预处理功能时才有意义，否则该值无效。默认值为：0。
            fifo  插补缓存区号。正整数，取值范围：[0, 1]，默认值为：0。
            指令返回值
            若返回值为 1：
            (1) 检查当前坐标系是否映射了相关轴。
            (2) 检查是否向 fifo1 中传递数据，若是，则检查 fifo0 是否使用并运动，若运动，则返
            回错误。
            (3) 检查相应的 fifo 是否已满。
            其他返回值：请参照指令返回值列表。
             (short crd, long x, long y, double xCenter, double yCenter, short circleDir,double synVel, double synAcc, double velEnd=0, short fifo=0)
             */
            rtn = mc.GT_ArcXYC(1, 2000, 2000, 0, 1000, 1, 1, 1, 0, 0);//圆弧插补,x的偏移量是0,y轴偏移量1000，逆时针画圆circleDir = 1
            rtn = mc.GT_CrdStart(1, 0);
            //启动插补运动 mask：从bit0到bit1对应坐标系号。0：不启动该坐标系，1：启动该坐标系
            //option：从bit0到bit1对应缓存区编号。bit0 对应坐标系 1，bit1 对应坐标系 2。  0：启动坐标系中 FIFO0 的运动，1：启动坐标系中 FIFO1 的运动。
        }

        //连续插补
        private void continual_Click(object sender, EventArgs e)
        {
            mc.TCrdPrm crd = new mc.TCrdPrm();
            short[] profile = new short[8];
            int[] originPos = new int[8];
            short rtn;
            int space;


            rtn = mc.GT_GetCrdPrm(1, out crd);
            crd.dimension = 2;  //二维坐标系
            crd.evenTime = 10;  //最小匀速时间 ms
            crd.synAccMax = 10;  //最大加速度  pluse/ms^2
            crd.synVelMax = 100; //最大速度  pluse/ms

            for (int i = 0; i < 8; i++)
            {
                profile[i] = 0;      //坐标系与规划器的关系
                originPos[i] = 0;    //坐标原点
            }

            profile[2] = 1; //3轴为X轴
            profile[3] = 2; //4轴为Y轴
            crd.profile = profile; //设置XY轴对应的轴号
            crd.setOriginFlag = 1; //需要 /手动设置坐标原点
            crd.originPos = originPos; //设置坐标原点偏移量
            rtn = mc.GT_SetCrdPrm(1, ref crd); //建立坐标系

            //crd  坐标系号。正整数，取值范围：[1, 2]。
            //fifo 所要清除的插补缓存区号。正整数，取值范围：[0, 1]，默认值为：0。
            //若返回值为 1：
            //(1) 检查当前坐标系是否映射了相关轴。
            //(2) 检查是否向 fifo1 中传递数据，若是，则检查 fifo0 是否使用并运动，若运动，则返
            //回错误。
            rtn = mc.GT_CrdClear(1, 0);//每个坐标系有0和1两个4096的fifo,每个fifo又有2个小fifo
            

            //2个缓存区，共4096条数据。每个缓存区2048，
            //启动后先启动一个缓存区的2048，压数据会压入另外一个缓存区
            //压入2048条数据的时间一定要小于运动时间。如果大于，就会数据跑空，运动停止
            for (int i = 0; i < 4096; i++) //i:插补段号
            {
                rtn = mc.GT_LnXY(1, 1000 + i * 100, 2000 + i * 10, 1, 1, 1, 0);
            }

            rtn = mc.GT_LnXY(1, 1000, 2000, 1, 1, 1, 0); //直线插补 此时内存已满 插不如进去数据
            rtn = mc.GT_CrdStart(1, 0); //启动的坐标系, 缓存区号

            //判断,有fifo空间时候才能继续压入数据
            Task.Run(()=>
            {
                while (!cts.IsCancellationRequested)
                {
                    //short crd, long *pSpace, short fifo=0 查询插补缓存区剩余空间
                    //crd  坐标系号。正整数，取值范围：[1, 2]。
                    //pSpace  读取插补缓存区中的剩余空间。
                    //fifo  插补缓存区号。正整数，取值范围：[0, 1]，默认值为：0。
                    rtn = mc.GT_CrdSpace(1, out space, 0);
                    if (space != 0)
                        break;
                    Application.DoEvents();
                }
            },cts.Token);

            //space 不为0 才继续执行
            rtn = mc.GT_LnXY(1, 1000, 2000, 1, 1, 1, 0); //直线插补
        }

        private void btnOldFront_Click(object sender, EventArgs e)
        {
            mc.TCrdPrm crd = new mc.TCrdPrm();
            short[] profile = new short[8];
            int[] originPos = new int[8];
            short rtn;
            int space;


            rtn = mc.GT_GetCrdPrm(1, out crd);
            crd.dimension = 2;  //二维坐标系
            crd.evenTime = 10;  //最小匀速时间 ms
            crd.synAccMax = 10;  //最大加速度  pluse/ms^2
            crd.synVelMax = 100; //最大速度  pluse/ms

            for (int i = 0; i < 8; i++)
            {
                profile[i] = 0;      //坐标系与规划器的关系
                originPos[i] = 0;    //坐标原点
            }

            profile[2] = 1; //3轴为X轴
            profile[3] = 2; //4轴为Y轴
            crd.profile = profile; //设置XY轴对应的轴号
            crd.setOriginFlag = 1; //需要 /手动设置坐标原点
            crd.originPos = originPos; //设置坐标原点偏移量
            rtn = mc.GT_SetCrdPrm(1, ref crd); //建立坐标系
            rtn = mc.GT_CrdClear(1, 0);

            mc.TCrdData[] crdData = new mc.TCrdData[200]; //前瞻缓存区
            //short crd,short fifo,double T,double accMax,short n,ref TCrdData pLookAheadBuf
            rtn = mc.GT_InitLookAhead(1, 0, 5, 1, 200, ref crdData[0]); //初始化前瞻. 200:前瞻缓存区大小。取值范围：[0, 32767)。 必须大于200才能启动,200为自定义

            //压入数据大于了200条, 可以先启动GT_CrdStart, 后把前瞻缓存区的数据压入插补缓存区GT_CrdData
            //如果压入数据小于了200条,需要先GT_CrdData,再去启动GT_CrdStart
            for (int i = 0; i < 4096; i++) //i:插补段号
            {
                rtn = mc.GT_LnXY(1, 1000 + i * 100, 2000 + i * 10, 1, 1, 1, 0);
            }

            rtn = mc.GT_LnXY(1, 1000, 2000, 1, 1, 1, 0); //直线插补 此时内存已满 插不如进去数据
            rtn = mc.GT_CrdStart(1, 0); //启动的坐标系, 缓存区号

            while (true)
            {
                //用于在使用前瞻时。调用该指令表示后续没有新的数据，
                //将会一次性把前瞻缓存区的数据压入运动缓存区。
                rtn = mc.GT_CrdData(1, IntPtr.Zero, 0);
                Application.DoEvents();
                if (rtn == 0)
                    break;
            }
            //14分15
            //https://www.bilibili.com/video/BV1mu411v7ta?spm_id_from=333.999.0.0
        }
    }
}

using System.Runtime.InteropServices;

namespace gts
{
    public class mc
    {
        public const short DLL_VERSION_0 = 2;
        public const short DLL_VERSION_1 = 1;
        public const short DLL_VERSION_2 = 0;

        public const short DLL_VERSION_3 = 1;
        public const short DLL_VERSION_4 = 5;
        public const short DLL_VERSION_5 = 0;
        public const short DLL_VERSION_6 = 6;
        public const short DLL_VERSION_7 = 0;
        public const short DLL_VERSION_8 = 7;

        public const short MC_NONE = -1;

        public const short MC_LIMIT_POSITIVE = 0;
        public const short MC_LIMIT_NEGATIVE = 1;
        public const short MC_ALARM = 2;
        public const short MC_HOME = 3;
        public const short MC_GPI = 4;
        public const short MC_ARRIVE = 5;
        public const short MC_MPG = 6;

        public const short MC_ENABLE = 10;
        public const short MC_CLEAR = 11;
        public const short MC_GPO = 12;

        public const short MC_DAC = 20;
        public const short MC_STEP = 21;
        public const short MC_PULSE = 22;
        public const short MC_ENCODER = 23;
        public const short MC_ADC = 24;

        public const short MC_AXIS = 30;
        public const short MC_PROFILE = 31;
        public const short MC_CONTROL = 32;

        public const short CAPTURE_HOME = 1;
        public const short CAPTURE_INDEX = 2;
        public const short CAPTURE_PROBE = 3;
        public const short CAPTURE_HSIO0 = 6;
        public const short CAPTURE_HSIO1 = 7;
        public const short CAPTURE_HOME_GPI = 8;

        public const short PT_MODE_STATIC = 0;
        public const short PT_MODE_DYNAMIC = 1;

        public const short PT_SEGMENT_NORMAL = 0;
        public const short PT_SEGMENT_EVEN = 1;
        public const short PT_SEGMENT_STOP = 2;

        public const short GEAR_MASTER_ENCODER = 1;
        public const short GEAR_MASTER_PROFILE = 2;
        public const short GEAR_MASTER_AXIS = 3;

        public const short FOLLOW_MASTER_ENCODER = 1;
        public const short FOLLOW_MASTER_PROFILE = 2;
        public const short FOLLOW_MASTER_AXIS = 3;

        public const short FOLLOW_EVENT_START = 1;
        public const short FOLLOW_EVENT_PASS = 2;

        public const short GEAR_EVENT_START = 1;
        public const short GEAR_EVENT_PASS = 2;
        public const short GEAR_EVENT_AREA = 5;

        public const short FOLLOW_SEGMENT_NORMAL = 0;
        public const short FOLLOW_SEGMENT_EVEN = 1;
        public const short FOLLOW_SEGMENT_STOP = 2;
        public const short FOLLOW_SEGMENT_CONTINUE = 3;

        public const short INTERPOLATION_AXIS_MAX = 4;
        public const short CRD_FIFO_MAX = 4096;
        public const short FIFO_MAX = 2;
        public const short CRD_MAX = 2;
        public const short CRD_OPERATION_DATA_EXT_MAX = 2;

        public const short CRD_OPERATION_TYPE_NONE = 0;
        public const short CRD_OPERATION_TYPE_BUF_IO_DELAY = 1;
        public const short CRD_OPERATION_TYPE_LASER_ON = 2;
        public const short CRD_OPERATION_TYPE_LASER_OFF = 3;
        public const short CRD_OPERATION_TYPE_BUF_DA = 4;
        public const short CRD_OPERATION_TYPE_LASER_CMD = 5;
        public const short CRD_OPERATION_TYPE_LASER_FOLLOW = 6;
        public const short CRD_OPERATION_TYPE_LMTS_ON = 7;
        public const short CRD_OPERATION_TYPE_LMTS_OFF = 8;
        public const short CRD_OPERATION_TYPE_SET_STOP_IO = 9;
        public const short CRD_OPERATION_TYPE_BUF_MOVE = 10;
        public const short CRD_OPERATION_TYPE_BUF_GEAR = 11;
        public const short CRD_OPERATION_TYPE_SET_SEG_NUM = 12;
        public const short CRD_OPERATION_TYPE_STOP_MOTION = 13;
        public const short CRD_OPERATION_TYPE_SET_VAR_VALUE = 14;
        public const short CRD_OPERATION_TYPE_JUMP_NEXT_SEG = 15;
        public const short CRD_OPERATION_TYPE_SYNCH_PRF_POS = 16;
        public const short CRD_OPERATION_TYPE_VIRTUAL_TO_ACTUAL = 17;
        public const short CRD_OPERATION_TYPE_SET_USER_VAR = 18;
        public const short CRD_OPERATION_TYPE_SET_DO_BIT_PULSE = 19;
        public const short CRD_OPERATION_TYPE_BUF_COMPAREPULSE = 20;
        public const short CRD_OPERATION_TYPE_LASER_ON_EX = 21;
        public const short CRD_OPERATION_TYPE_LASER_OFF_EX = 22;
        public const short CRD_OPERATION_TYPE_LASER_CMD_EX = 23;
        public const short CRD_OPERATION_TYPE_LASER_FOLLOW_RATIO_EX = 24;
        public const short CRD_OPERATION_TYPE_LASER_FOLLOW_MODE = 25;
        public const short CRD_OPERATION_TYPE_LASER_FOLLOW_OFF = 26;
        public const short CRD_OPERATION_TYPE_LASER_FOLLOW_OFF_EX = 27;
        public const short CRD_OPERATION_TYPE_LASER_FOLLOW_SPLINE = 28;
        public const short CRD_OPERATION_TYPE_MOTION_DATA = 29;
        
        public const short CRD_OPERATION_TYPE_BUF_TREND = 50;
        
        public const short CRD_OPERATION_TYPE_BUF_EVENT_ON = 70;
        public const short CRD_OPERATION_TYPE_BUF_EVENT_OFF = 71;

        public const short INTERPOLATION_MOTION_TYPE_LINE = 0;
        public const short INTERPOLATION_MOTION_TYPE_CIRCLE = 1;
        public const short INTERPOLATION_MOTION_TYPE_HELIX = 2;
        public const short INTERPOLATION_MOTION_TYPE_CIRCLE_3D = 3;

        public const short INTERPOLATION_CIRCLE_PLAT_XY = 0;
        public const short INTERPOLATION_CIRCLE_PLAT_YZ = 1;
        public const short INTERPOLATION_CIRCLE_PLAT_ZX = 2;

        public const short INTERPOLATION_HELIX_CIRCLE_XY_LINE_Z = 0;
        public const short INTERPOLATION_HELIX_CIRCLE_YZ_LINE_X = 1;
        public const short INTERPOLATION_HELIX_CIRCLE_ZX_LINE_Y = 2;

        public const short INTERPOLATION_CIRCLE_DIR_CW = 0;
        public const short INTERPOLATION_CIRCLE_DIR_CCW = 1;

        public const short COMPARE_PORT_HSIO = 0;
        public const short COMPARE_PORT_GPO = 1;

        public const short COMPARE2D_MODE_2D = 1;
        public const short COMPARE2D_MODE_1D = 0;

        public const short INTERFACEBOARD20 = 2;
        public const short INTERFACEBOARD30 = 3;

        public const short AXIS_LASER = 7;
        public const short AXIS_LASER_EX = 8;

        public const short LASER_CTRL_MODE_PWM1 = 0;
        public const short LASER_CTRL_FREQUENCY = 1;
        public const short LASER_CTRL_VOLTAGE = 2;
        public const short LASER_CTRL_MODE_PWM2 = 3;
        
        public const short CRD_BUFFER_MODE_DYNAMIC_DEFAULT = 0;
        public const short CRD_BUFFER_MODE_DYNAMIC_KEEP = 1;
        public const short CRD_BUFFER_MODE_STATIC_INPUT = 11;
        public const short CRD_BUFFER_MODE_STATIC_READY = 12;
        public const short CRD_BUFFER_MODE_STATIC_START = 13;
        
        public const short CRD_SMOOTH_MODE_NONE = 0;
        public const short CRD_SMOOTH_MODE_PERCENT = 1;
        public const short CRD_SMOOTH_MODE_JERK = 2;

        public const short ELLIPSE_AUX_POINT_COUNT = 5;

        public struct TTrapPrm
        {
            public double acc;
            public double dec;
            public double velStart;
            public short  smoothTime;
        }

        public struct TJogPrm
        {
            public double acc;
            public double dec;
            public double smooth;
        }

        public struct TPid
        {
            public double kp;
            public double ki;
            public double kd;
            public double kvff;
            public double kaff;

            public int integralLimit;
            public int derivativeLimit;
            public short  limit;
        }

        public struct TThreadSts
        {
            public short run;
            public short error;
            public double result;
            public short line;
        }

        public struct TVarInfo
        {
            public short id;
            public short dataType;
            public double dumb0;
            public double dumb1;
            public double dumb2;
            public double dumb3;
        }
        public struct TCompileInfo
        {
            public string pFileName;
            public short pLineNo1;
            public short pLineNo2;
            public string pMessage;
        }
        public struct TCrdPrm
        {
            public short dimension;
            [MarshalAs(UnmanagedType.ByValArray, SizeConst = 8)]
            public short[] profile;
            //public short profile1;
            //public short profile2;
            //public short profile3;
            //public short profile4;
            //public short profile5;
            //public short profile6;
            //public short profile7;
            //public short profile8;

            public double synVelMax;
            public double synAccMax;
            public short evenTime;
            public short setOriginFlag;
            [MarshalAs(UnmanagedType.ByValArray, SizeConst = 8)]
            public int[] originPos;
            //public int originPos1;
            //public int originPos2;
            //public int originPos3;
            //public int originPos4;
            //public int originPos5;
            //public int originPos6;
            //public int originPos7;
            //public int originPos8;
        }

        public struct TCrdBufOperation
        {
            public short flag;
            public ushort delay;
            public short doType;
            public ushort doMask;
            public ushort doValue;
            public ushort dataExt1;
            public ushort dataExt2;
        }

        public struct TCrdData
        {
            public short motionType;
            public short circlePlat;
            public int pos1;
            public int pos2;
            public int pos3;
            public int pos4;
            public int pos5;
            public int pos6;
            public int pos7;
            public int pos8;
            public double radius;
            public short circleDir;
            public double lCenterX;
            public double lCenterY;
            public double lCenterZ;
            public double vel;
            public double acc;
            public short velEndZero;
            public TCrdBufOperation operation;

            public double cos1;
            public double cos2;
            public double cos3;
            public double cos4;
            public double cos5;
            public double cos6;
            public double cos7;
            public double cos8;
            public double velEnd;
            public double velEndAdjust;
            public double r;
        }

        public struct TTrigger
        {
            public short encoder;
            public short probeType;
            public short probeIndex;
            public short offset;
            public short windowOnly;
            public int firstPosition;
            public int lastPosition;
        }

        public struct TTriggerStatus
        {
            public short execute;
            public short done;
            public int position;
        }
        
        public struct TTriggerStatusEx
        {
        		public short execute;
        		public short done;
        		public int position;
        		public int clock;
        		public int loopCount;
        }

        public struct T2DCompareData
        {
            public int px;
            public int py;
        }

        public struct T2DComparePrm
        {
            public short encx;
            public short ency;
            public short source;
            public short outputType;
            public short startLevel;
            public short time;
            public short maxerr;
            public short threshold; 
        }
        
      	public struct TCrdTime
      	{
      			public double time;
      			public int segmentUsed;
      			public int segmentHead;
      			public int segmentTail;
      	}
      	
      	public struct TCrdSmoothInfo
      	{
      			public short enable;
      			public short smoothMode;
      			public short percent;
      			public short accStartPercent;
      			public short decEndPercent;
      			public double jerkMax;
      	}
      	
      	public struct TCrdSmooth
      	{
      			public short percent;
      			public short accStartPercent;
      			public short decEndPercent;
      			public double reserve;
      	}
      	
	public struct TBufFollowMaster
	{
			public short crdAxis;
			public short masterIndex; 
			public short masterType; 
	}
	public struct TBufFollowEventCross
	{
			public int masterPos;
			public int pad;
	}
	public struct TBufFollowEventTrigger
	{
			public short triggerIndex;
			public int triggerOffset;
			public int pad;
	}
	public struct TCrdFollowStatus
	{
			public short stage;
			public double slavePos;
			public double slaveVel;
			public long loopCount; 
	}
	public struct TCrdFollowPrm
	{
			public double velRatioMax;
			public double accRatioMax;
			public int masterLead;
			public int masterEven;
			public int slaveEven;
			public short dir;
			public short smoothPercent;
			public short synchAlign;
	}
        [DllImport("gts.dll")]
        public static extern short GT_GetDllVersion(out string pDllVersion);
        [DllImport("gts.dll")]
        public static extern short GT_SetCardNo(short index);
        [DllImport("gts.dll")]
        public static extern short GT_GetCardNo(out short index);

        [DllImport("gts.dll")]
        public static extern short GT_GetVersion(out string pVersion);
        [DllImport("gts.dll")]
        public static extern short GT_GetInterfaceBoardSts(out short pStatus);
        [DllImport("gts.dll")]
        public static extern short GT_SetInterfaceBoardSts(short type);

        [DllImport("gts.dll")]
        public static extern short GT_Open(short channel,short param);
        [DllImport("gts.dll")]
        public static extern short GT_Close();

        [DllImport("gts.dll")]
        public static extern short GT_LoadConfig(string pFile);

        [DllImport("gts.dll")]
        public static extern short GT_AlarmOff(short axis);
        [DllImport("gts.dll")]
        public static extern short GT_AlarmOn(short axis);
        [DllImport("gts.dll")]
        public static extern short GT_LmtsOn(short axis, short limitType);
        [DllImport("gts.dll")]
        public static extern short GT_LmtsOff(short axis, short limitType);
        [DllImport("gts.dll")]
        public static extern short GT_ProfileScale(short axis, short alpha, short beta);
        [DllImport("gts.dll")]
        public static extern short GT_EncScale(short axis, short alpha, short beta);
        [DllImport("gts.dll")]
        public static extern short GT_StepDir(short step);
        [DllImport("gts.dll")]
        public static extern short GT_StepPulse(short step);
        [DllImport("gts.dll")]
        public static extern short GT_SetMtrBias(short dac, short bias);
        [DllImport("gts.dll")]
        public static extern short GT_GetMtrBias(short dac, out short pBias);
        [DllImport("gts.dll")]
        public static extern short GT_SetMtrLmt(short dac, short limit);
        [DllImport("gts.dll")]
        public static extern short GT_GetMtrLmt(short dac, out short pLimit);
        [DllImport("gts.dll")]
        public static extern short GT_EncSns(ushort sense);
        [DllImport("gts.dll")]
        public static extern short GT_EncOn(short encoder);
        [DllImport("gts.dll")]
        public static extern short GT_EncOff(short encoder);
        [DllImport("gts.dll")]
        public static extern short GT_SetPosErr(short control, int error);
        [DllImport("gts.dll")]
        public static extern short GT_GetPosErr(short control, out int pError);
        [DllImport("gts.dll")]
        public static extern short GT_SetStopDec(short profile, double decSmoothStop, double decAbruptStop);
        [DllImport("gts.dll")]
        public static extern short GT_GetStopDec(short profile, out double pDecSmoothStop, out double pDecAbruptStop);
        [DllImport("gts.dll")]
        public static extern short GT_LmtSns(ushort sense);
        [DllImport("gts.dll")]
        public static extern short GT_CtrlMode(short axis, short mode);
        [DllImport("gts.dll")]
        public static extern short GT_SetStopIo(short axis, short stopType, short inputType, short inputIndex);
        [DllImport("gts.dll")]
        public static extern short GT_GpiSns(ushort sense);
        [DllImport("gts.dll")]
        public static extern short GT_SetAdcFilter(short adc,short filterTime);
        [DllImport("gts.dll")]
        public static extern short GT_SetAxisPrfVelFilter(short axis,short filterNumExp);
        [DllImport("gts.dll")]
        public static extern short GT_GetAxisPrfVelFilter(short axis,out short pFilterNumExp);
        [DllImport("gts.dll")]
        public static extern short GT_SetAxisEncVelFilter(short axis,short filterNumExp);
        [DllImport("gts.dll")]
        public static extern short GT_GetAxisEncVelFilter(short axis,out short pFilterNumExp);
        [DllImport("gts.dll")]
        public static extern short GT_SetAxisInputShaping(short axis, short enable, short count, double k);

        [DllImport("gts.dll")]
        public static extern short GT_SetDo(short doType,int value);
        [DllImport("gts.dll")]
        public static extern short GT_SetDoBit(short doType,short doIndex,short value);
        [DllImport("gts.dll")]
        public static extern short GT_GetDo(short doType,out int pValue);
        [DllImport("gts.dll")]
        public static extern short GT_SetDoBitReverse(short doType,short doIndex,short value,short reverseTime);
        [DllImport("gts.dll")]
        public static extern short GT_SetDoMask(short doType,ushort doMask,int value);
        [DllImport("gts.dll")]
        public static extern short GT_EnableDoBitPulse(short doType,short doIndex,ushort highLevelTime,ushort lowLevelTime,int pulseNum,short firstLevel);
        [DllImport("gts.dll")]
        public static extern short GT_DisableDoBitPulse(short doType, short doIndex);

        [DllImport("gts.dll")]
        public static extern short GT_GetDi(short diType,out int pValue);
        [DllImport("gts.dll")]
        public static extern short GT_GetDiReverseCount(short diType,short diIndex,out uint reverseCount,short count);
        [DllImport("gts.dll")]
        public static extern short GT_SetDiReverseCount(short diType,short diIndex,ref uint reverseCount,short count);
        [DllImport("gts.dll")]
        public static extern short GT_GetDiRaw(short diType,out int pValue);

        [DllImport("gts.dll")]
        public static extern short GT_SetDac(short dac,ref short value,short count);
        [DllImport("gts.dll")]
        public static extern short GT_GetDac(short dac,out short value,short count,out uint pClock);

        [DllImport("gts.dll")]
        public static extern short GT_GetAdc(short adc,out double pValue,short count,out uint pClock);
        [DllImport("gts.dll")]
        public static extern short GT_GetAdcValue(short adc,out short pValue,short count,out uint pClock);

        [DllImport("gts.dll")]
        public static extern short GT_SetEncPos(short encoder,int encPos);
        [DllImport("gts.dll")]
        public static extern short GT_GetEncPos(short encoder,out double pValue,short count,out uint pClock);
        [DllImport("gts.dll")]
        public static extern short GT_GetEncPosPre(short encoder,out double pValue,short count,uint pClock);
        [DllImport("gts.dll")]
        public static extern short GT_GetEncVel(short encoder,out double pValue,short count,out uint pClock);

        [DllImport("gts.dll")]
        public static extern short GT_SetCaptureMode(short encoder,short mode);
        [DllImport("gts.dll")]
        public static extern short GT_GetCaptureMode(short encoder,out short pMode,short count);
        [DllImport("gts.dll")]
        public static extern short GT_StopCapture(short encoder);
        [DllImport("gts.dll")]
        public static extern short GT_GetCaptureStatus(short encoder,out short pStatus,out int pValue,short count,out uint pClock);
        [DllImport("gts.dll")]
        public static extern short GT_SetCaptureSense(short encoder, short mode,short sense);
        [DllImport("gts.dll")]
        public static extern short GT_ClearCaptureStatus(short encoder);
        [DllImport("gts.dll")]
        public static extern short GT_SetCaptureRepeat(short encoder,short count);
        [DllImport("gts.dll")]
        public static extern short GT_GetCaptureRepeatStatus(short encoder,out short pCount);
        [DllImport("gts.dll")]
        public static extern short GT_GetCaptureRepeatPos(short encoder, out int pValue, short startNum, short count);
        [DllImport("gts.dll")]
        public static extern short GT_SetCaptureEncoder(short trigger,short encoder);
        [DllImport("gts.dll")]
        public static extern short GT_GetCaptureWidth(short trigger,out short pWidth,short count);
        [DllImport("gts.dll")]
        public static extern short GT_GetCaptureHomeGpi(short trigger,out short pHomeSts,out short pHomePos,out short pGpiSts,out short pGpiPos,short count);

        [DllImport("gts.dll")]
        public static extern short GT_Reset();
        [DllImport("gts.dll")]
        public static extern short GT_GetClock(out uint pClock,out uint pLoop);
        [DllImport("gts.dll")]
        public static extern short GT_GetClockHighPrecision(out uint pClock);

        [DllImport("gts.dll")]
        public static extern short GT_GetSts(short axis,out int pSts,short count,out uint pClock);
        [DllImport("gts.dll")]
        public static extern short GT_ClrSts(short axis,short count);
        [DllImport("gts.dll")]
        public static extern short GT_AxisOn(short axis);
        [DllImport("gts.dll")]
        public static extern short GT_AxisOff(short axis);
        [DllImport("gts.dll")]
        public static extern short GT_Stop(int mask,int option);
        [DllImport("gts.dll")]
        public static extern short GT_SetPrfPos(short profile,int prfPos);
        [DllImport("gts.dll")]
        public static extern short GT_SynchAxisPos(int mask);
        [DllImport("gts.dll")]
        public static extern short GT_ZeroPos(short axis,short count);

        [DllImport("gts.dll")]
        public static extern short GT_SetSoftLimit(short axis,int positive,int negative);
        [DllImport("gts.dll")]
        public static extern short GT_GetSoftLimit(short axis,out int pPositive,out int pNegative);
        [DllImport("gts.dll")]
        public static extern short GT_SetAxisBand(short axis,int band,int time);
        [DllImport("gts.dll")]
        public static extern short GT_GetAxisBand(short axis,out int pBand,out int pTime);
        [DllImport("gts.dll")]
        public static extern short GT_SetBacklash(short axis,int compValue,double compChangeValue,int compDir);
        [DllImport("gts.dll")]
        public static extern short GT_GetBacklash(short axis,out int pCompValue,out double pCompChangeValue,out int pCompDir);
        [DllImport("gts.dll")]
        public static extern short GT_SetLeadScrewComp(short axis,short n,int startPos,int lenPos,out int pCompPos,out int pCompNeg);
        [DllImport("gts.dll")]
        public static extern short GT_EnableLeadScrewComp(short axis,short mode);
        [DllImport("gts.dll")]
        public static extern short GT_GetCompensate(short axis, out double pPitchError, out double pCrossError, out double pBacklashError, out double pEncPos, out double pPrfPos);
        
        [DllImport("gts.dll")]
        public static extern short GT_EnableGantry(short gantryMaster,short gantrySlave,double masterKp,double slaveKp);
        [DllImport("gts.dll")]
        public static extern short GT_DisableGantry();
        [DllImport("gts.dll")]
        public static extern short GT_SetGantryErrLmt(int gantryErrLmt);
        [DllImport("gts.dll")]
        public static extern short GT_GetGantryErrLmt(out int pGantryErrLmt);
        [DllImport("gts.dll")]
        public static extern short GT_ZeroGantryPos(short gantryMaster,short gantrySlave);

        [DllImport("gts.dll")]
        public static extern short GT_GetPrfPos(short profile,out double pValue,short count,out uint pClock);
        [DllImport("gts.dll")]
        public static extern short GT_GetPrfVel(short profile,out double pValue,short count,out uint pClock);
        [DllImport("gts.dll")]
        public static extern short GT_GetPrfAcc(short profile,out double pValue,short count,out uint pClock);
        [DllImport("gts.dll")]
        public static extern short GT_GetPrfMode(short profile,out int pValue,short count,out uint pClock);

        [DllImport("gts.dll")]
        public static extern short GT_GetAxisPrfPos(short axis,out double pValue,short count,out uint pClock);
        [DllImport("gts.dll")]
        public static extern short GT_GetAxisPrfVel(short axis,out double pValue,short count,out uint pClock);
        [DllImport("gts.dll")]
        public static extern short GT_GetAxisPrfAcc(short axis,out double pValue,short count,out uint pClock);
        [DllImport("gts.dll")]
        public static extern short GT_GetAxisEncPos(short axis,out double pValue,short count,out uint pClock);
        [DllImport("gts.dll")]
        public static extern short GT_GetAxisEncVel(short axis,out double pValue,short count,out uint pClock);
        [DllImport("gts.dll")]
        public static extern short GT_GetAxisEncAcc(short axis,out double pValue,short count,out uint pClock);
        [DllImport("gts.dll")]
        public static extern short GT_GetAxisError(short axis,out double pValue,short count,out uint pClock);

        [DllImport("gts.dll")]
        public static extern short GT_SetLongVar(short index,int value);
        [DllImport("gts.dll")]
        public static extern short GT_GetLongVar(short index,out int pValue);
        [DllImport("gts.dll")]
        public static extern short GT_SetDoubleVar(short index,double pValue);
        [DllImport("gts.dll")]
        public static extern short GT_GetDoubleVar(short index, out double pValue);

        [DllImport("gts.dll")]
        public static extern short GT_SetControlFilter(short control,short index);
        [DllImport("gts.dll")]
        public static extern short GT_GetControlFilter(short control,out short pIndex);

        [DllImport("gts.dll")]
        public static extern short GT_SetPid(short control,short index,ref TPid pPid);
        [DllImport("gts.dll")]
        public static extern short GT_GetPid(short control,short index,out TPid pPid);

        [DllImport("gts.dll")]
        public static extern short GT_SetKvffFilter(short control,short index,short kvffFilterExp,double accMax);
        [DllImport("gts.dll")]
        public static extern short GT_GetKvffFilter(short control, short index, out short pKvffFilterExp, out double pAccMax);

        [DllImport("gts.dll")]
        public static extern short GT_Update(int mask);
        [DllImport("gts.dll")]
        public static extern short GT_SetPos(short profile,int pos);
        [DllImport("gts.dll")]
        public static extern short GT_GetPos(short profile,out int pPos);
        [DllImport("gts.dll")]
        public static extern short GT_SetVel(short profile,double vel);
        [DllImport("gts.dll")]
        public static extern short GT_GetVel(short profile,out double pVel);

        [DllImport("gts.dll")]
        public static extern short GT_PrfTrap(short profile);
        [DllImport("gts.dll")]
        public static extern short GT_SetTrapPrm(short profile,ref TTrapPrm pPrm);
        [DllImport("gts.dll")]
        public static extern short GT_GetTrapPrm(short profile,out TTrapPrm pPrm);

        [DllImport("gts.dll")]
        public static extern short GT_PrfJog(short profile);
        [DllImport("gts.dll")]
        public static extern short GT_SetJogPrm(short profile,ref TJogPrm pPrm);
        [DllImport("gts.dll")]
        public static extern short GT_GetJogPrm(short profile,out TJogPrm pPrm);

        [DllImport("gts.dll")]
        public static extern short GT_PrfPt(short profile,short mode);
        [DllImport("gts.dll")]
        public static extern short GT_SetPtLoop(short profile,int loop);
        [DllImport("gts.dll")]
        public static extern short GT_GetPtLoop(short profile,out int pLoop);
        [DllImport("gts.dll")]
        public static extern short GT_PtSpace(short profile,out short pSpace,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_PtData(short profile,double pos,int time,short type,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_PtDataWN(short profile,double pos,int time,short type,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_PtClear(short profile,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_PtStart(int mask,int option);
        [DllImport("gts.dll")]
        public static extern short GT_SetPtMemory(short profile,short memory);
        [DllImport("gts.dll")]
        public static extern short GT_GetPtMemory(short profile,out short pMemory);
        [DllImport("gts.dll")]
        public static extern short GT_PtGetSegNum(short profile, out int pSegNum);
        [DllImport("gts.dll")]
        public static extern short GT_SetPtPrecisionMode(short profile,short precisionMode);
        [DllImport("gts.dll")]
        public static extern short GT_GetPtPrecisionMode(short profile,out short pPrecisionMode);
        [DllImport("gts.dll")]
        public static extern short GT_SetPtVel(short profile,double velLast,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_SetPtLink(short profile,short fifo,short list);
        [DllImport("gts.dll")]
        public static extern short GT_GetPtLink(short profile,short fifo,out short pList);
        [DllImport("gts.dll")]
        public static extern short GT_PtDoBit(short profile,short doType,short index,short value,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_PtAo(short profile,short aoType,short index,double value,short fifo);

        [DllImport("gts.dll")]
        public static extern short GT_PrfGear(short profile,short dir);
        [DllImport("gts.dll")]
        public static extern short GT_SetGearMaster(short profile,short masterIndex,short masterType,short masterItem);
        [DllImport("gts.dll")]
        public static extern short GT_GetGearMaster(short profile,out short pMasterIndex,out short pMasterType,out short pMasterItem);
        [DllImport("gts.dll")]
        public static extern short GT_SetGearRatio(short profile,int masterEven,int slaveEven,int masterSlope);
        [DllImport("gts.dll")]
        public static extern short GT_GetGearRatio(short profile,out int pMasterEven,out int pSlaveEven,out int pMasterSlope);
        [DllImport("gts.dll")]
        public static extern short GT_GearStart(int mask);
        [DllImport("gts.dll")]
        public static extern short GT_SetGearEvent(short profile,short gearEvent,int startPara0,int startPara1);
        [DllImport("gts.dll")]
        public static extern short GT_GetGearEvent(short profile, out short pEvent,out int pStartPara0, out int pStartPara1);

        [DllImport("gts.dll")]
        public static extern short GT_PrfFollow(short profile,short dir);
        [DllImport("gts.dll")]
        public static extern short GT_SetFollowMaster(short profile,short masterIndex,short masterType,short masterItem);
        [DllImport("gts.dll")]
        public static extern short GT_GetFollowMaster(short profile,out short pMasterIndex,out short pMasterType,out short pMasterItem);
        [DllImport("gts.dll")]
        public static extern short GT_SetFollowLoop(short profile,int loop);
        [DllImport("gts.dll")]
        public static extern short GT_GetFollowLoop(short profile,out int pLoop);
        [DllImport("gts.dll")]
        public static extern short GT_SetFollowEvent(short profile,short followEvent,short masterDir,int pos);
        [DllImport("gts.dll")]
        public static extern short GT_GetFollowEvent(short profile,out short pFollowEvent,out short pMasterDir,out int pPos);
        [DllImport("gts.dll")]
        public static extern short GT_FollowSpace(short profile,out short pSpace,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_FollowData(short profile,int masterSegment,double slaveSegment,short type,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_FollowClear(short profile,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_FollowStart(int mask,int option);
        [DllImport("gts.dll")]
        public static extern short GT_FollowSwitch(int mask);
        [DllImport("gts.dll")]
        public static extern short GT_SetFollowMemory(short profile,short memory);
        [DllImport("gts.dll")]
        public static extern short GT_GetFollowMemory(short profile,out short memory);
        [DllImport("gts.dll")]
        public static extern short GT_GetFollowStatus(short profile, out short pFifoNum, out short pSwitchStatus);
        [DllImport("gts.dll")]
        public static extern short GT_SetFollowPhasing(short profile, short profilePhasing);
        [DllImport("gts.dll")]
        public static extern short GT_GetFollowPhasing(short profile, out short pProfilePhasing);

        [DllImport("gts.dll")]
        public static extern short GT_BufFollowMaster(short crd,ref TBufFollowMaster pBufFollowMaster,short fifo=0);
	[DllImport("gts.dll")]
        public static extern short GT_BufFollowEventCross(short crd,ref TBufFollowEventCross pEventCross,short fifo=0);
	[DllImport("gts.dll")]
        public static extern short GT_BufFollowEventTrigger(short crd,ref TBufFollowEventTrigger pEventTrigger,short fifo=0);
	[DllImport("gts.dll")]
        public static extern short GT_BufFollowStart(short crd,int masterSegment,int slaveSegment,int masterFrameWidth,short fifo=0);
	[DllImport("gts.dll")]
        public static extern short GT_BufFollowReturn(short crd,double vel,double acc,short smoothPercent,short fifo=0);
	[DllImport("gts.dll")]
        public static extern short GT_BufFollowNext(short crd,int width,short fifo=0);
	[DllImport("gts.dll")]
        public static extern short GT_GetCrdFollowStatus(short crd,out TCrdFollowStatus pStatus);
	[DllImport("gts.dll")]
        public static extern short GT_SetCrdFollowLoop(short crd, long loop);
	[DllImport("gts.dll")]
        public static extern short GT_GetCrdFollowLoop(short crd,out long pLoop);
	[DllImport("gts.dll")]
        public static extern short GT_SetCrdFollowPrm(short crd,ref TCrdFollowPrm pPrm);
	[DllImport("gts.dll")]
        public static extern short GT_GetCrdFollowPrm(short crd,out TCrdFollowPrm pPrm);
        [DllImport("gts.dll")]
        public static extern short GT_Compile(string pFileName, out TCompileInfo pWrongInfo);
        [DllImport("gts.dll")]
        public static extern short GT_Download(string pFileName);

        [DllImport("gts.dll")]
        public static extern short GT_GetFunId(string pFunName,out short pFunId);
        [DllImport("gts.dll")]
        public static extern short GT_Bind(short thread,short funId, short page);

        [DllImport("gts.dll")]
        public static extern short GT_RunThread(short thread);
        [DllImport("gts.dll")]
        public static extern short GT_StopThread(short thread);
        [DllImport("gts.dll")]
        public static extern short GT_PauseThread(short thread);

        [DllImport("gts.dll")]
        public static extern short GT_GetThreadSts(short thread,out TThreadSts pThreadSts);

        [DllImport("gts.dll")]
        public static extern short GT_GetVarId(string pFunName,string pVarName,out TVarInfo pVarInfo);
        [DllImport("gts.dll")]
        public static extern short GT_SetVarValue(short page,ref TVarInfo pVarInfo,ref double pValue,short count);
        [DllImport("gts.dll")]
        public static extern short GT_GetVarValue(short page,ref TVarInfo pVarInfo,out double pValue,short count);

        [DllImport("gts.dll")]
        public static extern short GT_SetCrdMapBase(short crd,short mapBase);
        [DllImport("gts.dll")]
        public static extern short GT_GetCrdMapBase(short crd,out short pMapBase);
        [DllImport("gts.dll")]
        public static extern short GT_SetCrdSmooth(short crd,ref TCrdSmooth pCrdSmooth);
        [DllImport("gts.dll")]
        public static extern short GT_GetCrdSmooth(short crd,out TCrdSmooth pCrdSmooth);
        [DllImport("gts.dll")]
        public static extern short GT_SetCrdJerk(short crd,double jerkMax);
        [DllImport("gts.dll")]
        public static extern short GT_GetCrdJerk(short crd,out double pJerkMax);
        [DllImport("gts.dll")]
        public static extern short GT_SetCrdPrm(short crd, ref TCrdPrm pCrdPrm);
        [DllImport("gts.dll")]
        public static extern short GT_GetCrdPrm(short crd,out TCrdPrm pCrdPrm);
        [DllImport("gts.dll")]
        public static extern short GT_SetArcAllowError(short crd,double error);
        [DllImport("gts.dll")]
        public static extern short GT_CrdSpace(short crd,out int pSpace,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_CrdData(short crd,System.IntPtr pCrdData,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_CrdDataCircle(short crd, ref TCrdData pCrdData, short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_LnXY(short crd, int x, int y, double synVel, double synAcc, double velEnd, short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_LnXYZ(short crd, int x, int y, int z, double synVel, double synAcc, double velEnd, short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_LnXYZA(short crd, int x, int y, int z, int a, double synVel, double synAcc, double velEnd, short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_LnXYG0(short crd, int x, int y, double synVel, double synAcc, short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_LnXYZG0(short crd, int x, int y, int z, double synVel, double synAcc, short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_LnXYZAG0(short crd, int x, int y, int z, int a, double synVel, double synAcc, short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_ArcXYR(short crd, int x, int y, double radius, short circleDir, double synVel, double synAcc, double velEnd, short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_ArcXYC(short crd, int x, int y, double xCenter, double yCenter, short circleDir, double synVel, double synAcc, double velEnd, short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_ArcYZR(short crd, int y, int z, double radius, short circleDir, double synVel, double synAcc, double velEnd, short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_ArcYZC(short crd, int y, int z, double yCenter, double zCenter, short circleDir, double synVel, double synAcc, double velEnd, short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_ArcZXR(short crd, int z, int x, double radius, short circleDir, double synVel, double synAcc, double velEnd, short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_ArcZXC(short crd, int z, int x, double zCenter, double xCenter, short circleDir, double synVel, double synAcc, double velEnd, short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_ArcXYZ(short crd,int x,int y,int z,double interX,double interY,double interZ,double synVel,double synAcc,double velEnd,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_LnXYOverride2(short crd,int x,int y,double synVel,double synAcc,double velEnd,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_LnXYZOverride2(short crd,int x,int y,int z,double synVel,double synAcc,double velEnd,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_LnXYZAOverride2(short crd,int x,int y,int z,int a,double synVel,double synAcc,double velEnd,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_LnXYG0Override2(short crd,int x,int y,double synVel,double synAcc,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_LnXYZG0Override2(short crd,int x,int y,int z,double synVel,double synAcc,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_LnXYZAG0Override2(short crd,int x,int y,int z,int a,double synVel,double synAcc,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_ArcXYROverride2(short crd,int x,int y,double radius,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_ArcXYCOverride2(short crd,int x,int y,double xCenter,double yCenter,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_ArcYZROverride2(short crd,int y,int z,double radius,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_ArcYZCOverride2(short crd,int y,int z,double yCenter,double zCenter,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_ArcZXROverride2(short crd,int z,int x,double radius,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_ArcZXCOverride2(short crd,int z,int x,double zCenter,double xCenter,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_HelixXYRZ(short crd,int x,int y,int z,double radius,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_HelixXYCZ(short crd,int x,int y,int z,double xCenter,double yCenter,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_HelixYZRX(short crd,int x,int y,int z,double radius,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_HelixYZCX(short crd,int x,int y,int z,double yCenter,double zCenter,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_HelixZXRY(short crd,int x,int y,int z,double radius,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_HelixZXCY(short crd,int x,int y,int z,double zCenter,double xCenter,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_HelixXYRZOverride2(short crd,int x,int y,int z,double radius,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_HelixXYCZOverride2(short crd,int x,int y,int z,double xCenter,double yCenter,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_HelixYZRXOverride2(short crd,int x,int y,int z,double radius,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_HelixYZCXOverride2(short crd,int x,int y,int z,double yCenter,double zCenter,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_HelixZXRYOverride2(short crd,int x,int y,int z,double radius,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_HelixZXCYOverride2(short crd,int x,int y,int z,double zCenter,double xCenter,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_LnXYWN(short crd,int x,int y,double synVel,double synAcc,double velEnd,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_LnXYZWN(short crd,int x,int y,int z,double synVel,double synAcc,double velEnd,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_LnXYZAWN(short crd,int x,int y,int z,int a,double synVel,double synAcc,double velEnd,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_LnXYG0WN(short crd,int x,int y,double synVel,double synAcc,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_LnXYZG0WN(short crd,int x,int y,int z,double synVel,double synAcc,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_LnXYZAG0WN(short crd,int x,int y,int z,int a,double synVel,double synAcc,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_ArcXYRWN(short crd,int x,int y,double radius,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_ArcXYCWN(short crd,int x,int y,double xCenter,double yCenter,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_ArcYZRWN(short crd,int y,int z,double radius,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_ArcYZCWN(short crd,int y,int z,double yCenter,double zCenter,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_ArcZXRWN(short crd,int z,int x,double radius,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_ArcZXCWN(short crd,int z,int x,double zCenter,double xCenter,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_ArcXYZWN(short crd,int x,int y,int z,double interX,double interY,double interZ,double synVel,double synAcc,double velEnd,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_LnXYOverride2WN(short crd,int x,int y,double synVel,double synAcc,double velEnd,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_LnXYZOverride2WN(short crd,int x,int y,int z,double synVel,double synAcc,double velEnd,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_LnXYZAOverride2WN(short crd,int x,int y,int z,int a,double synVel,double synAcc,double velEnd,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_LnXYG0Override2WN(short crd,int x,int y,double synVel,double synAcc,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_LnXYZG0Override2WN(short crd,int x,int y,int z,double synVel,double synAcc,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_LnXYZAG0Override2WN(short crd,int x,int y,int z,int a,double synVel,double synAcc,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_ArcXYROverride2WN(short crd,int x,int y,double radius,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_ArcXYCOverride2WN(short crd,int x,int y,double xCenter,double yCenter,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_ArcYZROverride2WN(short crd,int y,int z,double radius,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_ArcYZCOverride2WN(short crd,int y,int z,double yCenter,double zCenter,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_ArcZXROverride2WN(short crd,int z,int x,double radius,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_ArcZXCOverride2WN(short crd,int z,int x,double zCenter,double xCenter,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_HelixXYRZWN(short crd,int x,int y,int z,double radius,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_HelixXYCZWN(short crd,int x,int y,int z,double xCenter,double yCenter,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_HelixYZRXWN(short crd,int x,int y,int z,double radius,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_HelixYZCXWN(short crd,int x,int y,int z,double yCenter,double zCenter,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_HelixZXRYWN(short crd,int x,int y,int z,double radius,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_HelixZXCYWN(short crd,int x,int y,int z,double zCenter,double xCenter,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_HelixXYRZOverride2WN(short crd,int x,int y,int z,double radius,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_HelixXYCZOverride2WN(short crd,int x,int y,int z,double xCenter,double yCenter,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_HelixYZRXOverride2WN(short crd,int x,int y,int z,double radius,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_HelixYZCXOverride2WN(short crd,int x,int y,int z,double yCenter,double zCenter,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_HelixZXRYOverride2WN(short crd,int x,int y,int z,double radius,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_HelixZXCYOverride2WN(short crd,int x,int y,int z,double zCenter,double xCenter,short circleDir,double synVel,double synAcc,double velEnd,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_BufTrend(short crd,uint trendSegNum,double trendDistance,double trendVelEnd,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_BufIO(short crd, ushort doType, ushort doMask, ushort doValue, short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_BufEnableDoBitPulse(short crd,short doType,short doIndex,ushort highLevelTime,ushort lowLevelTime,int pulseNum,short firstLevel,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_BufDisableDoBitPulse(short crd,short doType,short doIndex,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_BufDelay(short crd, ushort delayTime, short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_BufComparePulse(short crd,short level,short outputType,short time,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_BufDA(short crd, short chn, short daValue, short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_BufLmtsOn(short crd, short axis, short limitType, short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_BufLmtsOff(short crd, short axis, short limitType, short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_BufSetStopIo(short crd, short axis, short stopType, short inputType, short inputIndex, short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_BufMove(short crd, short moveAxis, int pos, double vel, double acc, short modal, short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_BufGear(short crd, short gearAxis, int pos, short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_BufGearPercent(short crd,short gearAxis,int pos,short accPercent,short decPercent,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_BufStopMotion(short crd,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_BufSetVarValue(short crd,short pageId,out TVarInfo pVarInfo,double value,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_BufJumpNextSeg(short crd,short axis,short limitType,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_BufSynchPrfPos(short crd,short encoder,short profile,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_BufVirtualToActual(short crd,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_BufSetLongVar(short crd,short index,int value,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_BufSetDoubleVar(short crd,short index,double value,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_CrdStart(short mask,short option);
        [DllImport("gts.dll")]
        public static extern short GT_CrdStartStep(short mask, short option);
        [DllImport("gts.dll")]
        public static extern short GT_CrdStepMode(short mask, short option);
        [DllImport("gts.dll")]
        public static extern short GT_SetOverride(short crd,double synVelRatio);
        [DllImport("gts.dll")]
        public static extern short GT_SetOverride2(short crd, double synVelRatio);
        [DllImport("gts.dll")]
        public static extern short GT_InitLookAhead(short crd,short fifo,double T,double accMax,short n,ref TCrdData pLookAheadBuf);
        [DllImport("gts.dll")]
        public static extern short GT_GetLookAheadSpace(short crd,out int pSpace,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_GetLookAheadSegCount(short crd,out int pSegCount,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_CrdClear(short crd,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_CrdStatus(short crd,out short pRun,out int pSegment,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_SetUserSegNum(short crd,int segNum,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_GetUserSegNum(short crd,out int pSegment,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_GetUserSegNumWN(short crd,out int pSegment,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_GetRemainderSegNum(short crd,out int pSegment,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_SetCrdStopDec(short crd,double decSmoothStop,double decAbruptStop);
        [DllImport("gts.dll")]
        public static extern short GT_GetCrdStopDec(short crd,out double pDecSmoothStop,out double pDecAbruptStop);
        [DllImport("gts.dll")]
        public static extern short GT_SetCrdLmtStopMode(short crd,short lmtStopMode);
        [DllImport("gts.dll")]
        public static extern short GT_GetCrdLmtStopMode(short crd,out short pLmtStopMode);
        [DllImport("gts.dll")]
        public static extern short GT_GetUserTargetVel(short crd,out double pTargetVel);
        [DllImport("gts.dll")]
        public static extern short GT_GetSegTargetPos(short crd,out int pTargetPos);
        [DllImport("gts.dll")]
        public static extern short GT_GetCrdPos(short crd,out double pPos);
        [DllImport("gts.dll")]
        public static extern short GT_GetCrdVel(short crd,out double pSynVel);
        [DllImport("gts.dll")]
        public static extern short GT_SetCrdSingleMaxVel(short crd,ref double pMaxVel);
        [DllImport("gts.dll")]
        public static extern short GT_GetCrdSingleMaxVel(short crd,out double pMaxVel);
        [DllImport("gts.dll")]
        public static extern short GT_GetCmdCount(short crd, out short pResult, short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_BufLaserOn(short crd,short fifo,short channel);
        [DllImport("gts.dll")]
        public static extern short GT_BufLaserOff(short crd,short fifo,short channel);
        [DllImport("gts.dll")]
        public static extern short GT_BufLaserPrfCmd(short crd,double laserPower,short fifo,short channel);
        [DllImport("gts.dll")]
        public static extern short GT_BufLaserFollowRatio(short crd,double ratio,double minPower,double maxPower,short fifo,short channel);
        [DllImport("gts.dll")]
        public static extern short GT_BufLaserFollowMode(short crd,short source ,short fifo,short channel,double startPower );
        [DllImport("gts.dll")]
        public static extern short GT_BufLaserFollowOff(short crd,short fifo,short channel);
        [DllImport("gts.dll")]
        public static extern short GT_BufLaserFollowSpline(short crd,short tableId,double minPower,double maxPower,short fifo,short channel);                     
        
        [DllImport("gts.dll")]
        public static extern short GT_PrfPvt(short profile);
        [DllImport("gts.dll")]
        public static extern short GT_SetPvtLoop(short profile,int loop);
        [DllImport("gts.dll")]
        public static extern short GT_GetPvtLoop(short profile,out int pLoopCount,out int pLoop);
        [DllImport("gts.dll")]
        public static extern short GT_PvtStatus(short profile,out short pTableId,out double pTime,short count);
        [DllImport("gts.dll")]
        public static extern short GT_PvtStart(int mask);
        [DllImport("gts.dll")]
        public static extern short GT_PvtTableSelect(short profile,short tableId);

        [DllImport("gts.dll")]
        public static extern short GT_PvtTable(short tableId,int count,ref double pTime,ref double pPos,ref double pVel);
        [DllImport("gts.dll")]
        public static extern short GT_PvtTableEx(short tableId,int count,ref double pTime,ref double pPos,ref double pVelBegin,ref double pVelEnd);
        [DllImport("gts.dll")]
        public static extern short GT_PvtTableComplete(short tableId,int count,ref double pTime,ref double pPos,ref double pA,ref double pB,ref double pC,double velBegin,double velEnd);
        [DllImport("gts.dll")]
        public static extern short GT_PvtTablePercent(short tableId,int count,ref double pTime,ref double pPos,ref double pPercent,double velBegin);
        [DllImport("gts.dll")]
        public static extern short GT_PvtPercentCalculate(int n,ref double pTime,ref double pPos,ref double pPercent,double velBegin,ref double pVel);
        [DllImport("gts.dll")]
        public static extern short GT_PvtTableContinuous(short tableId,int count,ref double pPos,ref double pVel,ref double pPercent,ref double pVelMax,ref double pAcc,ref double pDec,double timeBegin);
        [DllImport("gts.dll")]
        public static extern short GT_PvtContinuousCalculate(int n,ref double pPos,ref double pVel,ref double pPercent,ref double pVelMax,ref double pAcc,ref double pDec,ref double pTime);
        [DllImport("gts.dll")]
        public static extern short GT_PvtTableMovePercent(short tableId, int distance, double vm, double acc, double pa1, double pa2, double dec, double pd1, double pd2, out double pVel, out double pAcc, out double pDec, out double pTime);
        [DllImport("gts.dll")]
        public static extern short GT_PvtTableMovePercentEx(short tableId,int distance,double vm,double acc,double pa1,double pa2,double ma,double dec,double pd1,double pd2,double md,out double pVel,out double pAcc,out double pDec,out double pTime);

        [DllImport("gts.dll")]
        public static extern short GT_HomeInit();
        [DllImport("gts.dll")]
        public static extern short GT_Home(short axis,int pos,double vel,double acc,int offset);
        [DllImport("gts.dll")]
        public static extern short GT_Index(short axis,int pos,int offset);
        [DllImport("gts.dll")]
        public static extern short GT_HomeStop(short axis,int pos,double vel,double acc);
        [DllImport("gts.dll")]
        public static extern short GT_HomeSts(short axis,out ushort pStatus);

        [DllImport("gts.dll")]
        public static extern short GT_HandwheelInit();
        [DllImport("gts.dll")]
        public static extern short GT_SetHandwheelStopDec(short slave,double decSmoothStop,double decAbruptStop);
        [DllImport("gts.dll")]
        public static extern short GT_StartHandwheel(short slave,short master,short masterEven,short slaveEven,short intervalTime,double acc,double dec,double vel,short stopWaitTime);
        [DllImport("gts.dll")]
        public static extern short GT_EndHandwheel(short slave);

        [DllImport("gts.dll")]
        public static extern short GT_SetTrigger(short i,ref TTrigger pTrigger);
        [DllImport("gts.dll")]
        public static extern short GT_GetTrigger(short i,out TTrigger pTrigger);
        [DllImport("gts.dll")]
        public static extern short GT_GetTriggerStatus(short i,out TTriggerStatus pTriggerStatus,short count);
        [DllImport("gts.dll")]
        public static extern short GT_GetTriggerStatusEx(short i,out TTriggerStatusEx pTriggerStatusEx,short count);
        [DllImport("gts.dll")]
        public static extern short GT_ClearTriggerStatus(short i);

        [DllImport("gts.dll")]
        public static extern short GT_SetComparePort(short channel,short hsio0,short hsio1);

        [DllImport("gts.dll")]
        public static extern short GT_ComparePulse(short level,short outputType,short time);
        [DllImport("gts.dll")]
        public static extern short GT_CompareStop();
        [DllImport("gts.dll")]
        public static extern short GT_CompareStatus(out short pStatus,out int pCount);
        [DllImport("gts.dll")]
        public static extern short GT_CompareData(short encoder,short source,short pulseType,short startLevel,short time,int[] pBuf1,short count1,int[] pBuf2,short count2);
        [DllImport("gts.dll")]
        public static extern short GT_CompareLinear(short encoder,short channel,int startPos,int repeatTimes,int interval,short time,short source);
        [DllImport("gts.dll")]
        public static extern short GT_CompareContinuePulseMode(short mode, short count, short standTime);

        [DllImport("gts.dll")]
        public static extern short GT_SetEncResponseCheck(short control, short dacThreshold, double minEncVel, int time);
        [DllImport("gts.dll")]
        public static extern short GT_GetEncResponseCheck(short control, out short pDacThreshold, out double pMinEncVel, out int pTime);
        [DllImport("gts.dll")]
        public static extern short GT_EnableEncResponseCheck(short control);
        [DllImport("gts.dll")]
        public static extern short GT_DisableEncResponseCheck(short control);

        [DllImport("gts.dll")]
        public static extern short GT_2DCompareMode(short chn, short mode);
        [DllImport("gts.dll")]
        public static extern short GT_2DComparePulse(short chn, short level, short outputType, short time);
        [DllImport("gts.dll")]
        public static extern short GT_2DCompareStop(short chn);
        [DllImport("gts.dll")]
        public static extern short GT_2DCompareClear(short chn);
        [DllImport("gts.dll")]
        public static extern short GT_2DCompareStatus(short chn, out short pStatus, out int pCount, out short pFifo, out short pFifoCount, out short pBufCount);
        [DllImport("gts.dll")]
        public static extern short GT_2DCompareSetPrm(short chn, ref T2DComparePrm pPrm);
        [DllImport("gts.dll")]
        public static extern short GT_2DCompareData(short chn, short count, ref T2DCompareData pBuf, short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_2DCompareStart(short chn);
        [DllImport("gts.dll")]
        public static extern short GT_2DCompareClearData(short chn);
        [DllImport("gts.dll")]
        public static extern short GT_2DCompareSetPreOutTime(short chn,double preOutputTime);

        [DllImport("gts.dll")]
        public static extern short GT_SetAxisMode(short axis, short mode);
        [DllImport("gts.dll")]
        public static extern short GT_GetAxisMode(short axis, out short pMode);
        [DllImport("gts.dll")]
        public static extern short GT_SetHSIOOpt(ushort value, short channel);
        [DllImport("gts.dll")]
        public static extern short GT_GetHSIOOpt(out ushort pValue, short channel);
        [DllImport("gts.dll")]
        public static extern short GT_LaserPowerMode(short laserPowerMode, double maxValue, double minValue, short channel, short delaymode);
        [DllImport("gts.dll")]
        public static extern short GT_LaserPrfCmd(double outputCmd, short channel);
        [DllImport("gts.dll")]
        public static extern short GT_LaserOutFrq(double outFrq, short channel);
        [DllImport("gts.dll")]
        public static extern short GT_SetPulseWidth(uint width, short channel);
        [DllImport("gts.dll")]
        public static extern short GT_SetWaitPulse(ushort mode, double waitPulseFrq, double waitPulseDuty, short channel);
        [DllImport("gts.dll")]
        public static extern short GT_SetPreVltg(ushort mode, double voltageValue, short channel);
        [DllImport("gts.dll")]
        public static extern short GT_SetLevelDelay(ushort offDelay, ushort onDelay, short channel);
        [DllImport("gts.dll")]
        public static extern short GT_EnaFPK(ushort time1, ushort time2, ushort laserOffDelay, short channel);
        [DllImport("gts.dll")]
        public static extern short GT_DisFPK(short channel);
        [DllImport("gts.dll")]
        public static extern short GT_SetLaserDisMode(short mode, short source, ref int pPos, ref double pScale, short channel);
        [DllImport("gts.dll")]
        public static extern short GT_SetLaserDisRatio(ref double pRatio, double minPower, double maxPower, short channel);
        [DllImport("gts.dll")]
        public static extern short GT_SetWaitPulseEx(ushort mode, double waitPulseFrq, double waitPulseDuty);
        [DllImport("gts.dll")]
        public static extern short GT_SetLaserMode(short mode);
        [DllImport("gts.dll")]
        public static extern short GT_SetLaserFollowSpline(short tableId,int n,ref double pX,ref double pY,double beginValue,double endValue,short channel);
        [DllImport("gts.dll")]
        public static extern short GT_GetLaserFollowSpline(short tableId,int n,out double pX,out double pY,out double pA,out double pB,out double pC,out int pCount,short channel);
        
        //ExtMdl
        [DllImport("gts.dll")]
        public static extern short GT_OpenExtMdl(string pDllName);
        [DllImport("gts.dll")]
        public static extern short GT_CloseExtMdl();
        [DllImport("gts.dll")]
        public static extern short GT_SwitchtoCardNoExtMdl(short card);
        [DllImport("gts.dll")]
        public static extern short GT_ResetExtMdl();
        [DllImport("gts.dll")]
        public static extern short GT_LoadExtConfig(string pFileName);
        [DllImport("gts.dll")]
        public static extern short GT_SetExtIoValue(short mdl,ushort value);
        [DllImport("gts.dll")]
        public static extern short GT_GetExtIoValue(short mdl,out ushort pValue);
        [DllImport("gts.dll")]
        public static extern short GT_SetExtIoBit(short mdl,short index,ushort value);
        [DllImport("gts.dll")]
        public static extern short GT_GetExtIoBit(short mdl,short index,out ushort pValue);
        [DllImport("gts.dll")]
        public static extern short GT_GetExtAdValue(short mdl,short chn,out ushort pValue);
        [DllImport("gts.dll")]
        public static extern short GT_GetExtAdVoltage(short mdl,short chn,out double pValue);
        [DllImport("gts.dll")]
        public static extern short GT_SetExtDaValue(short mdl,short chn,ushort value);
        [DllImport("gts.dll")]
        public static extern short GT_SetExtDaVoltage(short mdl,short chn,double value);
        [DllImport("gts.dll")]
        public static extern short GT_GetStsExtMdl(short mdl,short chn,out ushort pStatus);
        [DllImport("gts.dll")]
        public static extern short GT_GetExtDoValue(short mdl,out ushort pValue);
        [DllImport("gts.dll")]
        public static extern short GT_GetExtMdlMode(out short pMode);
        [DllImport("gts.dll")]
        public static extern short GT_SetExtMdlMode(short mode);
        [DllImport("gts.dll")]
        public static extern short GT_UploadConfig();
        [DllImport("gts.dll")]
        public static extern short GT_DownloadConfig();
        [DllImport("gts.dll")]
        public static extern short GT_GetUuid(out char pCode,short count);
				[DllImport("gts.dll")]
        public static extern short GT_SetUuid(ref char pCode,short count);
        
        //2D Compensate
        public struct TCompensate2DTable
        {      
            public short count1;
            public short count2;
            public int posBegin1;
            public int posBegin2;   
            public int step1;
            public int step2;
        } 
        public struct TCompensate2D 
        {
	        public short enable;                                 
	        public short tableIndex;                              
	        public short axisType1;	
            public short axisType2;              
	        public short axisIndex1;
            public short axisIndex2;              
        } 
        [DllImport("gts.dll")]
        public static extern short GT_SetCompensate2DTable(short tableIndex,ref TCompensate2DTable pTable,ref int pData,short externComp);
        [DllImport("gts.dll")]
        public static extern short GT_GetCompensate2DTable(short tableIndex,out TCompensate2DTable pTable,out short pExternComp);
        [DllImport("gts.dll")]
        public static extern short GT_SetCompensate2D(short axis, ref TCompensate2D pComp2d);
        [DllImport("gts.dll")]
        public static extern short GT_GetCompensate2D(short axis, out TCompensate2D pComp2d);
        [DllImport("gts.dll")]
        public static extern short GT_GetCompensate2DValue(short axis, out double pValue);

        //Smart Home
        public const short HOME_STAGE_IDLE=0;
        public const short HOME_STAGE_START=1;
        public const short HOME_STAGE_ON_HOME_LIMIT_ESCAPE=2;
        public const short HOME_STAGE_SEARCH_LIMIT=10;
        public const short HOME_STAGE_SEARCH_LIMIT_STOP=11;
        public const short HOME_STAGE_SEARCH_LIMIT_ESCAPE = 13;
        public const short HOME_STAGE_SEARCH_LIMIT_RETURN=15;
        public const short HOME_STAGE_SEARCH_LIMIT_RETURN_STOP=16;
        public const short HOME_STAGE_SEARCH_HOME=20;
        public const short HOME_STAGE_SEARCH_HOME_STOP=22;
        public const short HOME_STAGE_SEARCH_HOME_RETURN=25;
        public const short HOME_STAGE_SEARCH_INDEX=30;
        public const short HOME_STAGE_SEARCH_GPI=40;
        public const short HOME_STAGE_SEARCH_GPI_RETURN=45;
        public const short HOME_STAGE_GO_HOME=80;
        public const short HOME_STAGE_END=100;
        public const short HOME_ERROR_NONE=0;
        public const short HOME_ERROR_NOT_TRAP_MODE=1;
        public const short HOME_ERROR_DISABLE=2;
        public const short HOME_ERROR_ALARM=3;
        public const short HOME_ERROR_STOP=4;
        public const short HOME_ERROR_STAGE=5;
        public const short HOME_ERROR_HOME_MODE=6;
        public const short HOME_ERROR_SET_CAPTURE_HOME=7;
        public const short HOME_ERROR_NO_HOME=8;
        public const short HOME_ERROR_SET_CAPTURE_INDEX=9;
        public const short HOME_ERROR_NO_INDEX=10;
        public const short HOME_MODE_LIMIT=10;
        public const short HOME_MODE_LIMIT_HOME=11;
        public const short HOME_MODE_LIMIT_INDEX=12;
        public const short HOME_MODE_LIMIT_HOME_INDEX=13;
        public const short HOME_MODE_HOME=20;
        public const short HOME_MODE_HOME_INDEX=22;
        public const short HOME_MODE_INDEX = 30;
        public const short HOME_MODE_FORCED_HOME=40;
        public const short HOME_MODE_FORCED_HOME_INDEX=41;
        public struct THomePrm
        {
	        public short mode;						
	        public short moveDir;					
	        public short indexDir;					
	        public short edge;					
	        public short triggerIndex;			
			public short pad1_1;
	        public short pad1_2;
            public short pad1_3;
	        public double velHigh;				
	        public double velLow;				
	        public double acc;					
	        public double dec;
	        public short smoothTime;
			public short pad2_1;
		    public short pad2_2;
            public short pad2_3;
	        public int homeOffset;				
	        public int searchHomeDistance;	
	        public int searchIndexDistance;	
	        public int escapeStep;			
            public int pad3_1;
            public int pad3_2;
            public int pad3_3;
        } 
        public struct THomeStatus
        {
	        public short run;
	        public short stage;
            public short error;
            public short pad1;
	        public int capturePos;
	        public int targetPos;
        }
        [DllImport("gts.dll")]
        public static extern short GT_GoHome(short axis, ref THomePrm pHomePrm);
        [DllImport("gts.dll")]
        public static extern short GT_GetHomePrm(short axis, out THomePrm pHomePrm);
        [DllImport("gts.dll")]
        public static extern short GT_GetHomeStatus(short axis, out THomeStatus pHomeStatus);

        //Extern Control
        public struct TControlConfigEx
        {
	        public short refType;
            public short refIndex;
            public short feedbackType;
            public short feedbackIndex;
            public int errorLimit;
            public short feedbackSmooth;
            public short controlSmooth;	
        }
        [DllImport("gts.dll")]
        public static extern short GT_SetControlConfigEx(short control, ref TControlConfigEx pControl);
        [DllImport("gts.dll")]
        public static extern short GT_GetControlConfigEx(short control, out TControlConfigEx pControl);

        //Adc filter
        public struct TAdcConfig
        {
	        public short active;
            public short reverse;
            public double a;
            public double b;
            public short filterMode;	
        }
        [DllImport("gts.dll")]
        public static extern short GT_SetAdcConfig(short adc, ref TAdcConfig pAdc);
        [DllImport("gts.dll")]
        public static extern short GT_GetAdcConfig(short adc, out TAdcConfig pAdc);
        [DllImport("gts.dll")]
        public static extern short GT_SetAdcFilterPrm(short adc, double k);
        [DllImport("gts.dll")]
        public static extern short GT_GetAdcFilterPrm(short adc, out double pk);

        //Superimposed
        [DllImport("gts.dll")]
        public static extern short GT_SetControlSuperimposed(short control, short superimposedType, short superimposedIndex);
        [DllImport("gts.dll")]
        public static extern short GT_GetControlSuperimposed(short control, out short pSuperimposedType, out short pSuperimposedIndex);

        
        [DllImport("gts.dll")]
        public static extern short GT_ZeroLaserOnTime(short channel);
        [DllImport("gts.dll")]
        public static extern short GT_GetLaserOnTime(short channel,out uint pTime);
        
				[DllImport("gts.dll")]
        public static extern short GT_SetProfileScale(short axis,int alpha,int beta);
        [DllImport("gts.dll")]
        public static extern short GT_GetProfileScale(short axis,out int pAlpha,out int pBeta);
        [DllImport("gts.dll")]
        public static extern short GT_SetEncoderScale(short encoder,int alpha,int beta);
        [DllImport("gts.dll")]
        public static extern short GT_GetEncoderScale(short encoder,out int pAlpha,out int pBeta);
        [DllImport("gts.dll")]
        public static extern short GT_MultiAxisOn(uint mask);
        [DllImport("gts.dll")]
        public static extern short GT_MultiAxisOff(uint mask);
        [DllImport("gts.dll")]
        public static extern short GT_SetAxisOnDelayTime(ushort ms);
        [DllImport("gts.dll")]
        public static extern short GT_GetAxisOnDelayTime(out ushort pMs);
        [DllImport("gts.dll")]
        public static extern short GT_SetLaserDisTable1D(short count,ref double pRatio,ref int pPos,double minPower,double maxPower,ref double pLimitPower,short channel);
        [DllImport("gts.dll")]
        public static extern short GT_SetLaserDisTable2D(short[] axisIndex,short[] count,ref double pRatio,ref int pXPos,ref int pYPos, 
							 																						double minPower,double maxPower,ref double pLimitPower,short channel);
        [DllImport("gts.dll")]
        public static extern short GT_SetLaserDisTable2DEx(short[] axisIndex,short[] count,ref double pRatio,int[] posBegin,int[] posStep, 
							   																						double minPower,double maxPower,ref double pLimitPower,short channel);
        [DllImport("gts.dll")]
        public static extern short GT_SetLaserCrdMap(short channel,short map);
        [DllImport("gts.dll")]
        public static extern short GT_GetLaserCrdMap(short channel,ref short pMap);
        
        //
				//AutoFocus
				//
        [DllImport("gts.dll")]
        public static extern short GT_AutoFocus(ushort mode,double kp,short reverse,short chanel);
        [DllImport("gts.dll")]
        public static extern short GT_SetAutoFocusRefVol(double refVol,double maxVol,double minVol,short chanel);
        [DllImport("gts.dll")]
        public static extern short GT_GetAutoFocusStatus(out ushort pStatus,short count);
        [DllImport("gts.dll")]
        public static extern short GT_ConfigAutoFocus(short chnAdc,short chanel);
        [DllImport("gts.dll")]
        public static extern short GT_SetAutoFocusAuxPrm(double kf,double kd,double limitKd,short chanel);
        
        
        [DllImport("gts.dll")]
        public static extern short GT_Delay(ushort time);
        [DllImport("gts.dll")]
        public static extern short GT_DelayHighPrecision(ushort time);
        
        [DllImport("gts.dll")]
        public static extern short GT_SetCrdBufferMode(short crd,short bufferMode,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_GetCrdBufferMode(short crd,out short pBufferMode,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_GetCrdSegmentTime(short crd,int segmentIndex,out double pSegmentTime,out int pSegmentNumber,short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_GetCrdTime(short crd,out TCrdTime pTime,short fifo);
        
        [DllImport("gts.dll")]
        public static extern short GT_SetLeadScrewLink(short axis,short link);
        [DllImport("gts.dll")]
        public static extern short GT_GetLeadScrewLink(short axis,out short pLink);
        
        public const short GANTRY_MODE_NONE = -1;
        public const short GANTRY_MODE_OPEN_LOOP_GANTRY	= 1;
        public const short GANTRY_MODE_DECOUPLE_POSITION_LOOP = 2;
        [DllImport("gts.dll")]
        public static extern short GT_SetGantryMode(short group,short master,short slave,short mode,int syncErrorLimit);
        [DllImport("gts.dll")]
        public static extern short GT_GetGantryMode(short group, out short pMaster, out short pSlave, out short pMode, out int pSyncErrorLimit);
        [DllImport("gts.dll")]
        public static extern short GT_SetGantryPid(short group, ref TPid pGantryPid, ref TPid pYawPid);
        [DllImport("gts.dll")]
        public static extern short GT_GetGantryPid(short group, out TPid pGantryPid, out TPid pYawPid);
        [DllImport("gts.dll")]
        public static extern short GT_GantryAxisOn(short group);
        [DllImport("gts.dll")]
        public static extern short GT_GantryAxisOff(short group);
        [DllImport("gts.dll")]
        public static extern short GT_GantryHoming();

        //
        //Standard Home
        //

        public const short STANDARD_HOME_STAGE_IDLE = 0;
        public const short STANDARD_HOME_STAGE_START = 1;
        public const short STANDARD_HOME_STAGE_SEARCH_HOME = 20;
        public const short STANDARD_HOME_STAGE_SEARCH_INDEX = 30;
        public const short STANDARD_HOME_STAGE_GO_HOME = 80;
        public const short STANDARD_HOME_STAGE_END = 100;
        public const short STANDARD_HOME_STAGE_START_CHECK = -1;
        public const short STANDARD_HOME_STAGE_CHECKING = -2;


        public const short STANDARD_HOME_ERROR_NONE	= 0;
        public const short STANDARD_HOME_ERROR_DISABLE = 10;
        public const short STANDARD_HOME_ERROR_ALARM = 20;
        public const short STANDARD_HOME_ERROR_STOP = 30;
        public const short STANDARD_HOME_ERROR_ON_LIMIT = 40;
        public const short STANDARD_HOME_ERROR_NO_HOME = 50;
        public const short STANDARD_HOME_ERROR_NO_INDEX = 60;
        public const short STANDARD_HOME_ERROR_NO_LIMIT = 70;
        public const short STANDARD_HOME_ERROR_ENCODER_DIR_SCALE = -1;


        public struct TStandardHomePrm
        {
	        public short mode;		 // 回原点模式取值范围1~36
	        public double highSpeed; // 搜索Home的速度，单位pulse/ms
	        public double lowSpeed;	 // 搜索Index的速度，单位pulse/ms
	        public double acc;		 // 回零加速度，单位pulse/ms^2
	        public int offset;       // 回零偏移量，单位pulse
	        public short check; // 是否启用自检功能，1-启用，其它值-不启用
	        public short autoZeroPos; // 回零完毕是否自动清零，1-自动清零，其它值-不清零
	        public int motorStopDelay; //电机到位延时，单位：控制周期
	        public short pad1;	 // 保留（不需要设置）
            public short pad2;
            public short pad3;
        };

        public struct TStandardHomeStatus
        {
	        public short run;     // 是正在进行回原点，0—已停止运动，1-正在回原点
	        public short stage;   // 回原点运动的阶段
	        public short error;    // 回原点过程的发生的错误
	        public short pad1;       // 保留（无具体含义）
            public short pad2;
            public short pad3;
	        public int capturePos;  // 捕获到Home或Index时刻的编码器位置
	        public int targetPos;    // 需要运动到的目标位置（原点位置或者原点位置+偏移量），在搜索Limit时或者搜索Home或Index时，设置的搜索距离为0，那么该值显示为805306368
        };
        [DllImport("gts.dll")]
        public static extern short GT_ExecuteStandardHome(short axis,ref TStandardHomePrm pHomePrm);
        [DllImport("gts.dll")]
        public static extern short GT_GetStandardHomePrm(short axis,out TStandardHomePrm pHomePrm);
        [DllImport("gts.dll")]
        public static extern short GT_GetStandardHomeStatus(short axis,out TStandardHomeStatus pHomeStatus);
        
        //DMA
        [DllImport("gts.dll")]
        public static extern short GT_CrdHsOn(short crd,short fifo,short link,ushort threshold,short lookAheadInMc);
        [DllImport("gts.dll")]
        public static extern short GT_CrdHsOff(short crd,short fifo);

        [DllImport("gts.dll")]
        public static extern short GT_SetFlagVar(short index, short mode, short value);
        [DllImport("gts.dll")]
        public static extern short GT_GetFlagVar(short index, out short pMode, out short pValue);



        //
        //椭圆插补
        //
        //public const short ELLIPSE_AUX_POINT_COUNT = 5;

        public const short ELLIPSE_MODE_AUX_POINT_2D = 0;
        public const short ELLIPSE_MODE_STANDARD_2D = 1;
        //-------------------------------------------------------
        //功能说明：椭圆插补描述参数,模式：ELLIPSE_MODE_AUX_POINT_2D
        //plane-------------椭圆平面选择，INTERPOLATION_CIRCLE_PLAT_XY(0)：XY；INTERPOLATION_CIRCLE_PLAT_YZ(1)：YZ；INTERPOLATION_CIRCLE_PLAT_ZX(2)：ZX
        //dir---------------椭圆方向，0：顺时针；1：逆时针
        //overrideSelect----速度倍率选择，0：第1组倍率；1：第2组倍率
        //pad---------------占位变量，不需要传入
        //endPoint1----------终点坐标1,意义根据plane来定，如果palne为XY平面，则endPoint1、pos1为X坐标，endPoint2、pos2为Y坐标
        //endPoint2----------终点坐标2
        //pos1--------------椭圆上辅助点坐标1
        //pos2--------------椭圆上辅助点坐标2
        //-------------------------------------------------------
        public struct TEllipseAuxPoint2D
        {
            public short plane;
            public short dir;
            public short overrideSelect;
            public short pad;

            public double endPoint1;
            public double endPoint2;

            [MarshalAs(UnmanagedType.ByValArray, SizeConst = ELLIPSE_AUX_POINT_COUNT)]
            public double[] pos1;
            [MarshalAs(UnmanagedType.ByValArray, SizeConst = ELLIPSE_AUX_POINT_COUNT)]
            public double[] pos2;
        };

        //-------------------------------------------------------
        //功能说明：椭圆插补描述参数,模式：ELLIPSE_MODE_STANDARD_2D
        //plane--------------椭圆平面选择，INTERPOLATION_CIRCLE_PLAT_XY(0)：XY；INTERPOLATION_CIRCLE_PLAT_YZ(1)：YZ；INTERPOLATION_CIRCLE_PLAT_ZX(2)：ZX
        //dir----------------椭圆方向，0：顺时针；1：逆时针
        //overrideSelect-----速度倍率选择，0：第1组倍率；1：第2组倍率
        //pad----------------占位变量，不需要传入
        //endPoint1----------终点坐标1,意义根据plane来定，如果palne为XY平面，则endPoint1为X坐标，endPoint2为Y坐标
        //endPoint2----------终点坐标2
        //centerPoint1-------椭圆圆心坐标1，意义根据plane来定，如果palne为XY平面，则centerPoint1为X坐标，centerPoint2为Y坐标
        //centerPoint2-------椭圆圆心坐标2
        //theta--------------椭圆旋转角度，单位：度
        //a------------------椭圆长轴
        //b------------------椭圆短轴，短轴必须比长轴短
        //-------------------------------------------------------
        public struct TEllipseStandard2D
        {
            public short plane;
            public short dir;
            public short overrideSelect;
            public short pad;

            public double endPoint1;
            public double endPoint2;

            public double centerPoint1;
            public double centerPoint2;

            public double theta;
            public double a;
            public double b;
        };

        //-------------------------------------------------------
        //功能说明：椭圆插补
        //input：crd-------坐标系号
        //input：mode------椭圆描述模式，椭圆模式
        //input：pData-----椭圆描述的参数，mode = ELLIPSE_MODE_AUX_POINT_2D，传入TEllipseAuxPoint2D,mode = ELLIPSE_MODE_STANDARD_2D，传入TEllipseStandard2D
        //input：synVel----椭圆插补合成速度
        //input：synAcc----椭圆插补合成加速度
        //input：velEnd----椭圆插补终点速度
        //input：segNum----椭圆插补段号
        //input：fifo------椭圆插补缓冲区号
        //-------------------------------------------------------
        [DllImport("gts.dll")]
        public static extern short GT_EllipsePro(short crd, short mode, System.IntPtr pData, double synVel, double synAcc, double velEnd, long segNum, short fifo);
        [DllImport("gts.dll")]
        public static extern short GT_EllipseProEx(short crd, short mode, System.IntPtr pData, double synVel, double synAcc, double velEnd, long segNum, short fifo);
    }
}