diff --git a/OneClick.slnx b/OneClick.slnx
new file mode 100644
index 0000000..c148ece
--- /dev/null
+++ b/OneClick.slnx
@@ -0,0 +1,3 @@
+<Solution>
+  <Project Path="OneClick/OneClick.csproj" />
+</Solution>
diff --git a/OneClick/App.xaml b/OneClick/App.xaml
new file mode 100644
index 0000000..d0f0b1f
--- /dev/null
+++ b/OneClick/App.xaml
@@ -0,0 +1,8 @@
+<Application
+    x:Class="OneClick.App"
+    xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+    xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+    xmlns:local="clr-namespace:OneClick"
+    StartupUri="MainWindow.xaml">
+    <Application.Resources />
+</Application>
diff --git a/OneClick/App.xaml.cs b/OneClick/App.xaml.cs
new file mode 100644
index 0000000..ea262df
--- /dev/null
+++ b/OneClick/App.xaml.cs
@@ -0,0 +1,16 @@
+using Prism.Ioc;
+using System.ComponentModel;
+using System.Configuration;
+using System.Data;
+using System.Windows;
+
+namespace OneClick
+{
+    /// <summary>
+    /// Interaction logic for App.xaml
+    /// </summary>
+    public partial class App : Application
+    {
+    }
+
+}
diff --git a/OneClick/AssemblyInfo.cs b/OneClick/AssemblyInfo.cs
new file mode 100644
index 0000000..b0ec827
--- /dev/null
+++ b/OneClick/AssemblyInfo.cs
@@ -0,0 +1,10 @@
+using System.Windows;
+
+[assembly: ThemeInfo(
+    ResourceDictionaryLocation.None,            //where theme specific resource dictionaries are located
+                                                //(used if a resource is not found in the page,
+                                                // or application resource dictionaries)
+    ResourceDictionaryLocation.SourceAssembly   //where the generic resource dictionary is located
+                                                //(used if a resource is not found in the page,
+                                                // app, or any theme specific resource dictionaries)
+)]
diff --git a/OneClick/AxisService.cs b/OneClick/AxisService.cs
new file mode 100644
index 0000000..c0a662b
--- /dev/null
+++ b/OneClick/AxisService.cs
@@ -0,0 +1,344 @@
+using GTN;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Reflection.Metadata;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+
+namespace OneClick
+{
+    public class AxisService
+    {
+
+        public void InitMotionCard()
+        {
+            // 初始化运动控制卡
+            int sRtn = -1;
+            short eCATStatus = -1;
+            short core = 1; // 使用第一个EtherCAT主站
+            try
+            {
+                sRtn = GTN.mc.GTN_Open(5, 2);
+                //MessageBox.Show($"运动控制卡初始化成功，返回代码{sRtn}", "信息", MessageBoxButton.OK, MessageBoxImage.Information);
+                sRtn = GTN.mc.GTN_InitEcatComm(core);
+                int waitcount = 0;
+                do
+                {
+                    sRtn = GTN.mc.GTN_IsEcatReady(core, out eCATStatus);
+                    //waitcount++;
+                    if (waitcount > 50000)
+                    {
+                        waitcount = 0;
+                        MessageBox.Show("运动控制卡以太网通信初始化失败，请检查连接！", "错误", MessageBoxButton.OK, MessageBoxImage.Error);
+                        return;
+                    }
+                } while (eCATStatus != 1 || sRtn != 0);
+                sRtn = GTN.mc.GTN_StartEcatComm(core);
+            }
+
+            catch (Exception ex)
+            {
+                MessageBox.Show($"运动控制卡初始化失败：{ex.Message}，错误代码{sRtn}", "错误", MessageBoxButton.OK, MessageBoxImage.Error);
+            }
+        }
+
+        /// <summary>
+        /// 上使能
+        /// </summary>
+        /// <param name="selectedindex">轴号</param>
+        /// <param name="core">核号</param>
+        /// returns>状态码</returns>
+        public int AxisOn(short selectedindex, short core)
+        {
+            int sRtn = -1;
+            sRtn = mc.GTN_ClrSts(core, (short)(selectedindex), 1);
+            sRtn = GTN.mc.GTN_AxisOn(core, selectedindex);
+            return sRtn;
+        }
+
+        /// <summary>
+        /// 下使能
+        /// </summary>
+        /// <param name="selectedindex">轴号</param>
+        /// <param name="core">核号</param>
+        /// <returns>状态码</returns>
+        public int AxisOff(short selectedindex, short core)
+        {
+            int sRtn = -1;
+            sRtn = GTN.mc.GTN_AxisOff(core, selectedindex);
+            return sRtn;
+        }
+
+        /// <summary>
+        /// 重置报警
+        /// </summary>
+        /// <param name="selectedindex">轴号</param>
+        /// <param name="core">核号</param>
+        /// <returns></returns>
+        public int ResetAlarm(short selectedindex, short core)
+        {
+            int sRtn = -1;
+            sRtn = mc.GTN_ClrSts(core, (short)(selectedindex), 1);
+            return sRtn;
+        }
+
+        /// <summary>
+        /// 重置位置
+        /// </summary>
+        /// <param name="selectedindex">轴号</param>
+        /// <param name="core">核号</param>
+        /// <returns></returns>
+        public int ResetPosition(short selectedindex, short core)
+        {
+            int sRtn = -1;
+            sRtn = mc.GTN_ZeroPos(core, selectedindex, 1);
+            return sRtn;
+        }
+
+
+        /// <summary>
+        /// 读取轴的状态
+        /// </summary>
+        /// <param name="core">核号</param>
+        /// <param name="axis">轴号</param>
+        /// <param name="AxisSts">轴状态</param>
+        /// <returns></returns>
+        public int ReadAxisStatus(short core, short axis, out string AxisSts)
+        {
+            int sRtn = -1;
+            Int32 psts;
+            UInt32 clock;
+            AxisSts = "";
+            // 读取轴状态
+            sRtn = mc.GTN_GetSts(core, axis, out psts, 1, out clock);
+
+            if ((psts & 0x2) != 0)
+            {
+                AxisSts += "报警\r\n";
+            }
+            if ((psts & 0x200) != 0)
+            {
+                AxisSts += "使能\r\n";
+            }
+            if ((psts & 0x40) != 0)
+            {
+                AxisSts += "负限位触发\r\n";
+            }
+            if ((psts & 0x20) != 0)
+            {
+                AxisSts += "正限位触发\r\n";
+            }
+            if ((psts & 0x400) != 0)
+            {
+                AxisSts += "正在移动\r\n";
+            }
+            if ((psts & 0x800) != 0)
+            {
+                AxisSts += "到位\r\n";
+            }
+            if ((psts & 0x10) != 0)
+            {
+                AxisSts += "跟随误差超限\r\n";
+            }
+            if ((psts & 0x80) != 0)
+            {
+                AxisSts += "平滑停止IO触发\r\n";
+            }
+            if ((psts & 0x100) != 0)
+            {
+                AxisSts += "急停触发\r\n";
+            }
+
+
+
+            return sRtn;
+
+        }
+
+        /// <summary>
+        /// Jog开始
+        /// </summary>
+        /// <param name="core">核号</param>
+        /// <param name="axis">轴号</param>
+        /// <returns></returns>
+        public int JogMove(short core, short axis,int rpm)
+        {
+            int sRtn = -1;
+            double speed;
+            Int32 mask;
+            // 设置轴为点动模式
+            sRtn = mc.GTN_PrfJog(core, axis);
+            if (sRtn != mc.CMD_SUCCESS) return sRtn;
+
+            // 将参数写死
+            mc.TJogPrm jog = new mc.TJogPrm
+            {
+                acc = 10,    // 加速度
+                dec = 10,    // 减速度
+                smooth = 0.0    // 平滑时间
+            };
+            speed = rpm*0.0667;
+            // 传入结构体引用
+            sRtn = mc.GTN_SetJogPrm(core, axis, ref jog);
+            if (sRtn != mc.CMD_SUCCESS) return sRtn;
+            // 设置点动速度
+            sRtn = mc.GTN_SetVel(1, axis, speed);
+            // 开始点动
+            mask= (int)AxisAndCoreToMask(core, axis);
+            sRtn =mc.GTN_Update(core,mask);
+            return sRtn;
+        }
+
+        /// <summary>
+        /// 停止运动
+        /// </summary>
+        /// <param name="core">核号</param>
+        /// <param name="axis">轴号</param>
+        /// <returns></returns>
+        public int AxisStop(short core, short axis)
+        {
+            int sRtn = -1;
+            Int32 mask;
+            Int32 option=0;
+            // 停止点动
+            mask = (int)AxisAndCoreToMask(core, axis);
+            sRtn = mc.GTN_Stop(core, mask,option);
+            return sRtn;
+        }
+
+
+        /// <summary>
+        /// 定时旋转
+        /// </summary>
+        /// <param name="core">核号</param>
+        /// <param name="axis">轴号</param>
+        /// <param name="rpm">速度</param>
+        /// <param name="time">时间</param>
+        /// <returns></returns>
+
+        public int TimelyRotate(short core,short axis,int rpm,int time)
+        {
+            int sRtn = -1;
+            sRtn = mc.GTN_PrfTrap(core, axis);
+
+
+            mc.TTrapPrm trap = new mc.TTrapPrm
+            {
+                acc = 10,    // 加速度
+                dec = 10,    // 减速度
+                velStart = 0.0,    // 平滑时间
+                smoothTime = 10
+            };
+            sRtn = mc.GTN_SetTrapPrm(core, axis, ref trap);
+            sRtn=mc.GTN_SetPos(core, axis, (int)((double)rpm * 0.0667*time*1000));
+            sRtn=mc.GTN_SetVel(core,axis, (double)rpm*0.0667);
+            sRtn=mc.GTN_Update(core, (int)AxisAndCoreToMask(core, axis));
+            
+
+            return sRtn;
+
+        }
+
+
+        /// <summary>
+        /// 关闭控制卡
+        /// </summary>
+        /// <param name="core">核号</param>
+        public void CloseMotionCard(short core)
+        {
+            // 关闭运动控制卡
+            int sRtn = -1;
+            try
+            {
+                sRtn = mc.GTN_TerminateEcatComm(core);
+                sRtn = GTN.mc.GTN_Close();
+                //MessageBox.Show($"运动控制卡关闭成功，返回代码{sRtn}", "信息", MessageBoxButton.OK, MessageBoxImage.Information);
+            }
+            catch (Exception ex)
+            {
+                MessageBox.Show($"运动控制卡关闭失败：{ex.Message}，错误代码{sRtn}", "错误", MessageBoxButton.OK, MessageBoxImage.Error);
+            }
+
+
+        }
+
+        /// <summary>
+        /// 将给定的 core(核号) 与 axis(轴号) 转换为 32 位掩码 (mask)。
+        /// 规则：
+        /// - core=1 映射轴 1..32 到 mask 的位 0..31（轴1 -> bit0，轴32 -> bit31）
+        /// - core=2 映射轴 33..64 到 mask 的位 0..31（轴33 -> bit0，轴64 -> bit31）
+        /// 返回值为 UInt32 掩码；当输入不合法时抛出 <see cref="ArgumentOutOfRangeException"/>。
+        /// </summary>
+        /// <param name="core">核号（目前支持 1 或 2）</param>
+        /// <param name="axis">轴号（1..64）</param>
+        /// <returns>对应的 32 位掩码</returns>
+        public static uint AxisAndCoreToMask(short core, short axis)
+        {
+            if (core < 1 || core > 2)
+            {
+                throw new ArgumentOutOfRangeException(nameof(core), "目前只支持 core=1 或 core=2。");
+            }
+
+            int baseAxis = (core - 1) * 32; // core=1 -> 0, core=2 -> 32
+            if (axis <= baseAxis || axis > baseAxis + 32)
+            {
+                throw new ArgumentOutOfRangeException(nameof(axis), $"轴号不在 core {core} 的有效范围 ({baseAxis + 1}..{baseAxis + 32})。");
+            }
+
+            int bitIndex = axis - baseAxis - 1; // 0..31
+            return 1u << bitIndex;
+        }
+
+        /// <summary>
+        /// 将 32 位掩码转换为该 core 下的轴列表。
+        /// 规则同 <see cref="AxisAndCoreToMask"/>。
+        /// 返回的轴号为全局轴号（1..64）。
+        /// </summary>
+        /// <param name="core">核号（1 或 2）</param>
+        /// <param name="mask">32 位掩码，bit0 对应该 core 的最低号轴</param>
+        /// <returns>被选中轴的列表（按升序），掩码为0时返回空列表。</returns>
+        public static List<short> MaskToAxisList(short core, uint mask)
+        {
+            var axes = new List<short>();
+
+            if (core < 1 || core > 2)
+            {
+                throw new ArgumentOutOfRangeException(nameof(core), "目前只支持 core=1 或 core=2。");
+            }
+
+            int baseAxis = (core - 1) * 32; // core=1 -> 0, core=2 -> 32
+
+            for (int bit = 0; bit < 32; bit++)
+            {
+                if ((mask & (1u << bit)) != 0)
+                {
+                    short axis = (short)(baseAxis + bit + 1);
+                    axes.Add(axis);
+                }
+            }
+
+            return axes;
+        }
+
+        /// <summary>
+        /// 尝试将 axis 和 core 转换为 mask，转换成功返回 true 并输出 mask；失败返回 false 并输出 0。
+        /// 该方法便于在不抛出异常的情况下做验证。
+        /// </summary>
+        /// <param name="core">核号</param>
+        /// <param name="axis">轴号</param>
+        /// <param name="mask">输出掩码</param>
+        /// <returns>是否成功</returns>
+        public static bool TryAxisAndCoreToMask(short core, short axis, out uint mask)
+        {
+            mask = 0;
+            if (core < 1 || core > 2) return false;
+            int baseAxis = (core - 1) * 32;
+            if (axis <= baseAxis || axis > baseAxis + 32) return false;
+            int bitIndex = axis - baseAxis - 1;
+            mask = 1u << bitIndex;
+            return true;
+        }
+    }
+}
diff --git a/OneClick/CameraService.cs b/OneClick/CameraService.cs
new file mode 100644
index 0000000..2faeeac
--- /dev/null
+++ b/OneClick/CameraService.cs
@@ -0,0 +1,171 @@
+using System;
+using System.Collections.Generic;
+using Basler.Pylon;
+
+namespace OneClick
+{
+    public interface ICameraService
+    {
+        IList<string> EnumerateDevices();
+        void Open(string deviceId);
+        void Close();
+        bool StartGrabbing(bool continuous = true);
+        void StopGrabbing();
+        IGrabResult? GrabOnePic(int timeoutMs = 2000);
+        string? CurrentDeviceId { get; }
+        event EventHandler? GrabStarted;
+        event EventHandler<ImageGrabbedEventArgs>? ImageGrabbed;
+        event EventHandler<GrabStopEventArgs>? GrabStopped;
+        event EventHandler? ConnectionLost;
+    }
+
+    public class BaslerCameraService : ICameraService
+    {
+        private Camera? _camera;
+        private readonly PixelDataConverter _converter = new PixelDataConverter();
+
+        public string? CurrentDeviceId { get; private set; }
+
+        public event EventHandler? GrabStarted;
+        public event EventHandler<ImageGrabbedEventArgs>? ImageGrabbed;
+        public event EventHandler<GrabStopEventArgs>? GrabStopped;
+        public event EventHandler? ConnectionLost;
+
+        public IList<string> EnumerateDevices()
+        {
+            var devices = CameraFinder.Enumerate();
+            var ids = new List<string>();
+            foreach (var info in devices)
+            {
+                if (info.ContainsKey(CameraInfoKey.SerialNumber))
+                {
+                    ids.Add(info[CameraInfoKey.SerialNumber]);
+                }
+            }
+            return ids;
+        }
+
+        public void Open(string deviceId)
+        {
+            if (string.IsNullOrWhiteSpace(deviceId))
+                throw new ArgumentException("�豸IDΪ�ա�", nameof(deviceId));
+
+            Close();
+
+            _camera = new Camera(deviceId);
+
+            // ע���¼�
+            _camera.ConnectionLost += Camera_ConnectionLost;
+            _camera.StreamGrabber.GrabStarted += StreamGrabber_GrabStarted;
+            _camera.StreamGrabber.ImageGrabbed += StreamGrabber_ImageGrabbed;
+            _camera.StreamGrabber.GrabStopped += StreamGrabber_GrabStopped;
+
+            _camera.Open();
+            CurrentDeviceId = deviceId;
+        }
+
+        public void Close()
+        {
+            try
+            {
+                if (_camera != null)
+                {
+                    if (_camera.StreamGrabber.IsGrabbing)
+                        _camera.StreamGrabber.Stop();
+                }
+            }
+            catch
+            {
+                // ֹͣʧ�ܲ�Ӱ������ر�
+            }
+
+            try
+            {
+                if (_camera != null)
+                {
+                    // ע���¼�
+                    _camera.ConnectionLost -= Camera_ConnectionLost;
+                    _camera.StreamGrabber.GrabStarted -= StreamGrabber_GrabStarted;
+                    _camera.StreamGrabber.ImageGrabbed -= StreamGrabber_ImageGrabbed;
+                    _camera.StreamGrabber.GrabStopped -= StreamGrabber_GrabStopped;
+
+                    _camera.Close();
+                    _camera.Dispose();
+                    _camera = null;
+                }
+            }
+            finally
+            {
+                CurrentDeviceId = null;
+            }
+        }
+
+        public bool StartGrabbing(bool continuous = true)
+        {
+            if (_camera == null)
+                throw new InvalidOperationException("���δ�򿪡�");
+
+            try
+            {
+                if (continuous)
+                {
+                    Configuration.AcquireContinuous(_camera, null);
+                    _camera.StreamGrabber.Start(GrabStrategy.OneByOne, GrabLoop.ProvidedByStreamGrabber);
+                }
+                else
+                {
+                    Configuration.AcquireSingleFrame(_camera, null);
+                    _camera.StreamGrabber.Start(1, GrabStrategy.OneByOne, GrabLoop.ProvidedByStreamGrabber);
+                }
+                return true;
+            }
+            catch
+            {
+                return false;
+            }
+        }
+
+        public void StopGrabbing()
+        {
+            if (_camera == null) return;
+
+            try
+            {
+                _camera.StreamGrabber.Stop();
+            }
+            catch
+            {
+                // ����ֹͣ�쳣
+            }
+        }
+
+        public IGrabResult? GrabOnePic(int timeoutMs = 2000)
+        {
+            if (_camera == null)
+                return null;
+
+            return _camera.StreamGrabber.GrabOne(timeoutMs);
+        }
+
+        private void Camera_ConnectionLost(object? sender, EventArgs e)
+        {
+            ConnectionLost?.Invoke(this, EventArgs.Empty);
+        }
+
+        private void StreamGrabber_GrabStarted(object? sender, EventArgs e)
+        {
+            GrabStarted?.Invoke(this, EventArgs.Empty);
+        }
+
+        private void StreamGrabber_ImageGrabbed(object? sender, ImageGrabbedEventArgs e)
+        {
+            // ֱ��ת������ UI ����ʾ�����
+            ImageGrabbed?.Invoke(this, e);
+        }
+
+        private void StreamGrabber_GrabStopped(object? sender, GrabStopEventArgs e)
+        {
+            GrabStopped?.Invoke(this, e);
+        }
+    }
+}
diff --git a/OneClick/ChangeSetting.xaml b/OneClick/ChangeSetting.xaml
new file mode 100644
index 0000000..260cab8
--- /dev/null
+++ b/OneClick/ChangeSetting.xaml
@@ -0,0 +1,420 @@
+<Window
+    x:Class="OneClick.ChangeSetting"
+    xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+    xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+    xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+    xmlns:local="clr-namespace:OneClick"
+    xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
+    Title="更改设置"
+    Width="1000"
+    Height="600"
+    MinWidth="600"
+    MinHeight="400"
+    WindowStartupLocation="CenterScreen"
+    mc:Ignorable="d">
+    <Grid Margin="12">
+        <Grid.RowDefinitions>
+            <!--  顶部：配方选择  -->
+            <RowDefinition Height="Auto" />
+            <RowDefinition Height="*" />
+            <RowDefinition Height="Auto" />
+        </Grid.RowDefinitions>
+
+        <GroupBox
+            Grid.Row="0"
+            Margin="0,0,0,12"
+            Header="配方选择">
+            <Grid Margin="10">
+                <Grid.ColumnDefinitions>
+                    <ColumnDefinition Width="Auto" />
+                    <ColumnDefinition Width="8" />
+                    <ColumnDefinition Width="*" />
+                    <ColumnDefinition Width="8" />
+                    <ColumnDefinition Width="Auto" />
+                    <ColumnDefinition Width="8" />
+                    <ColumnDefinition Width="Auto" />
+                </Grid.ColumnDefinitions>
+
+                <Label
+                    Grid.Column="0"
+                    VerticalAlignment="Center"
+                    Content="选择配方：" />
+                <ComboBox
+                    x:Name="RecipeComboBox"
+                    Grid.Column="2"
+                    MinWidth="220"
+                    IsEditable="False" />
+                <Button
+                    x:Name="AddRecipeButton"
+                    Grid.Column="4"
+                    Padding="12,4"
+                    Content="添加配方" />
+                <Button
+                    x:Name="DeleteRecipeButton"
+                    Grid.Column="6"
+                    Padding="12,4"
+                    Content="删除配方" />
+            </Grid>
+        </GroupBox>
+
+        <Grid Grid.Row="1">
+            <Grid.ColumnDefinitions>
+                <ColumnDefinition Width="*" />
+                <ColumnDefinition Width="*" />
+            </Grid.ColumnDefinitions>
+
+            <!--  左侧：相机/拍照设置 + 光源控制（光源移动到左侧）  -->
+            <StackPanel
+                Grid.Column="0"
+                Margin="0,0,8,0"
+                VerticalAlignment="Stretch"
+                Orientation="Vertical">
+                <GroupBox Margin="0,0,0,8" Header="相机与拍照设置">
+                    <Grid Margin="10">
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="Auto" />
+                            <RowDefinition Height="8" />
+                            <RowDefinition Height="Auto" />
+                            <RowDefinition Height="8" />
+                            <RowDefinition Height="Auto" />
+                            <RowDefinition Height="*" />
+                        </Grid.RowDefinitions>
+                        <Grid.ColumnDefinitions>
+                            <ColumnDefinition Width="Auto" />
+                            <ColumnDefinition Width="8" />
+                            <ColumnDefinition Width="*" />
+                            <ColumnDefinition Width="8" />
+                            <ColumnDefinition Width="Auto" />
+                        </Grid.ColumnDefinitions>
+
+                        <!--  拍照间隔（毫秒）  -->
+                        <Label
+                            Grid.Row="2"
+                            Grid.Column="0"
+                            VerticalAlignment="Center"
+                            Content="拍照间隔：" />
+                        <TextBox
+                            x:Name="CaptureIntervalTextBox"
+                            Grid.Row="2"
+                            Grid.Column="2"
+                            MinWidth="120"
+                            HorizontalAlignment="Left"
+                            VerticalAlignment="Center"
+                            ToolTip="输入拍照间隔（毫秒）" />
+                        <Label
+                            Grid.Row="2"
+                            Grid.Column="4"
+                            VerticalAlignment="Center"
+                            Content="毫秒" />
+
+                        <!--  照片保存位置 + 选择文件夹  -->
+                        <Label
+                            Grid.Row="4"
+                            Grid.Column="0"
+                            VerticalAlignment="Center"
+                            Content="保存位置：" />
+                        <TextBox
+                            x:Name="SaveFolderTextBox"
+                            Grid.Row="4"
+                            Grid.Column="2"
+                            MinWidth="100"
+                            Margin="0,0,0,0"
+                            VerticalAlignment="Center" />
+                        <Button
+                            x:Name="BrowseFolderButton"
+                            Grid.Row="4"
+                            Grid.Column="4"
+                            Padding="12,4"
+                            Content="选择..." />
+                    </Grid>
+                </GroupBox>
+
+                <!--  光源控制：已移到左侧  -->
+                <GroupBox Margin="0,0,0,8" Header="光源控制">
+                    <Grid Margin="10">
+                        <Grid.ColumnDefinitions>
+                            <ColumnDefinition Width="Auto" />
+                            <ColumnDefinition Width="8" />
+                            <ColumnDefinition Width="*" />
+                        </Grid.ColumnDefinitions>
+                        <Grid.RowDefinitions>
+                            <RowDefinition Height="Auto" />
+                            <RowDefinition Height="8" />
+                            <RowDefinition Height="Auto" />
+                            <RowDefinition Height="8" />
+                            <RowDefinition Height="Auto" />
+                            <RowDefinition Height="8" />
+                            <RowDefinition Height="Auto" />
+                        </Grid.RowDefinitions>
+
+                        <CheckBox
+                            x:Name="LightEnableCheckBox"
+                            Grid.Row="0"
+                            Grid.Column="0"
+                            Grid.ColumnSpan="3"
+                            VerticalAlignment="Center"
+                            Content="启用光源（暂时无效）" />
+
+                        <Label
+                            Grid.Row="2"
+                            Grid.Column="0"
+                            VerticalAlignment="Center"
+                            Content="亮度：" />
+                        <Slider
+                            x:Name="LightIntensitySlider"
+                            Grid.Row="2"
+                            Grid.Column="2"
+                            IsSnapToTickEnabled="False"
+                            Maximum="100"
+                            Minimum="0"
+                            TickFrequency="10"
+                            ToolTip="调整光源亮度（百分比)"
+                            Value="50" />
+
+                        <StackPanel
+                            Grid.Row="4"
+                            Grid.Column="0"
+                            Grid.ColumnSpan="3"
+                            HorizontalAlignment="Left"
+                            Orientation="Horizontal">
+                            <Label VerticalAlignment="Center" Content="模式：" />
+                            <ComboBox x:Name="LightModeComboBox" MinWidth="140">
+                                <ComboBoxItem Content="持续" />
+                                <ComboBoxItem Content="脉冲" />
+                                <ComboBoxItem Content="同步触发" />
+                            </ComboBox>
+
+                            <!--  测试光源链接按钮  -->
+                            <Button
+                                x:Name="TestLightButton"
+                                Width="110"
+                                Margin="8,0,0,0"
+                                Padding="8,4"
+                                VerticalAlignment="Center"
+                                Click="TestLightButton_Click"
+                                Content="测试光源链接" />
+                        </StackPanel>
+
+                        <!--  光源指令输入行  -->
+                        <StackPanel
+                            Grid.Row="6"
+                            Grid.Column="0"
+                            Grid.ColumnSpan="3"
+                            HorizontalAlignment="Left"
+                            Orientation="Horizontal">
+                            <Label VerticalAlignment="Center" Content="指令：" />
+                            <TextBox
+                                x:Name="LightCommandTextBox"
+                                MinWidth="150"
+                                VerticalAlignment="Center"
+                                ToolTip="在此输入要发送给光源控制器的原始指令（例如 SA0100#）" />
+                            <Button
+                                x:Name="SendLightCommandButton"
+                                Width="90"
+                                Margin="8,0,0,0"
+                                Padding="8,4"
+                                VerticalAlignment="Center"
+                                Click="SendLightCommandButton_Click"
+                                Content="发送指令" />
+                        </StackPanel>
+                    </Grid>
+                </GroupBox>
+
+                <!--  保持左侧与右侧高度一致的占位（可留空）  -->
+                <Border Height="8" Background="Transparent" />
+            </StackPanel>
+
+            <!--  右侧：仅电机参数和控制（移除位置/应用/回原点，新增使能、清警、Jog按钮）  -->
+            <GroupBox
+                Grid.Column="1"
+                Margin="8,0,0,0"
+                Header="电机参数和控制">
+                <Grid Margin="10">
+                    <Grid.ColumnDefinitions>
+                        <ColumnDefinition Width="Auto" />
+                        <ColumnDefinition Width="8" />
+                        <ColumnDefinition Width="*" />
+                        <ColumnDefinition Width="8" />
+                        <ColumnDefinition Width="Auto" />
+                    </Grid.ColumnDefinitions>
+                    <Grid.RowDefinitions>
+                        <RowDefinition Height="Auto" /> 
+                        <!--  转速行  (0) -->
+                        <RowDefinition Height="8" />  <!-- 1 -->
+                        <RowDefinition Height="Auto" /> 
+                        <!--  转动时间行  (2) -->
+                        <RowDefinition Height="8" />  <!-- 3 -->
+                        <RowDefinition Height="Auto" /> 
+                        <!--  轴选择行  (4) -->
+                        <RowDefinition Height="8" />  <!-- 5 -->
+                        <RowDefinition Height="Auto" /> 
+                        <!--  滑块行  (6) -->
+                        <RowDefinition Height="12" /> <!-- 7 -->
+                        <RowDefinition Height="Auto" /> 
+                        <!--  使能/去使能/清警  (8) -->
+                        <RowDefinition Height="8" />  <!-- 9 -->
+                        <RowDefinition Height="Auto" /> 
+                        <!--  Jog 按钮  (10) -->
+                        <RowDefinition Height="8" />  <!-- 11 -->
+                        <RowDefinition Height="Auto" /> 
+                        <!--  开始停止旋转（保留）  (12) -->
+                        <RowDefinition Height="*" />  <!-- 13 -->
+                    </Grid.RowDefinitions>
+
+                    <Label
+                        Grid.Row="0"
+                        Grid.Column="0"
+                        VerticalAlignment="Center"
+                        Content="转速：" />
+                    <TextBox
+                        x:Name="MotorSpeedTextBox"
+                        Grid.Row="0"
+                        Grid.Column="2"
+                        MinWidth="120"
+                        VerticalAlignment="Center"
+                        ToolTip="输入电机转速（RPM）" />
+                    <Label
+                        Grid.Row="0"
+                        Grid.Column="4"
+                        VerticalAlignment="Center"
+                        Content="RPM" />
+
+                    <!-- 新增：转动时间输入（毫秒） -->
+                    <Label
+                        Grid.Row="2"
+                        Grid.Column="0"
+                        VerticalAlignment="Center"
+                        Content="转动时间：" />
+                    <TextBox
+                        x:Name="RotationTimeTextBox"
+                       
+                        Grid.Row="2"
+                        Grid.Column="2"
+                        MinWidth="120"
+                        VerticalAlignment="Center"
+                        ToolTip="输入转动时间（秒）" />
+                    <Label
+                        Grid.Row="2"
+                        Grid.Column="4"
+                        VerticalAlignment="Center"
+                        Content="秒" />
+
+                    <Label
+                        Grid.Row="4"
+                        Grid.Column="0"
+                        VerticalAlignment="Center"
+                        Content="选择轴：" />
+                    <ComboBox
+                        x:Name="AxisComboBox"
+                        Grid.Row="4"
+                        Grid.Column="2"
+                        MinWidth="120"
+                        IsEditable="False"
+                        ToolTip="在此输入或选择轴编号（例如 A1 / 轴1 / 1），后台自行处理" />
+
+                    <Slider
+                        x:Name="MotorSpeedSlider"
+                        Grid.Row="6"
+                        Grid.Column="0"
+                        Grid.ColumnSpan="5"
+                        IsSnapToTickEnabled="False"
+                        Maximum="7000"
+                        Minimum="0"
+                        TickFrequency="500"
+                        ToolTip="滑动以快速调整转速（RPM）" />
+
+                    <!--  新增：选定轴上使能 / 去使能 / 清除警报和位置  -->
+                    <StackPanel
+                        Grid.Row="8"
+                        Grid.Column="0"
+                        Grid.ColumnSpan="5"
+                        Margin="0,6,0,0"
+                        HorizontalAlignment="Center"
+                        Orientation="Horizontal">
+                        <Button
+                            x:Name="EnableAxisButton"
+                            Width="130"
+                            Height="28"
+                            Margin="5"
+                            Content="选定轴上使能" Click="EnableAxisButton_Click" />
+                        <Button
+                            x:Name="DisableAxisButton"
+                            Width="130"
+                            Height="28"
+                            Margin="5"
+                            Content="选定轴去使能" Click="DisableAxisButton_Click" />
+                        <Button
+                            x:Name="ClearAlarmPositionButton"
+                            Width="150"
+                            Height="28"
+                            Margin="5"
+                            Content="清除警报和位置" Click="ClearAlarmPositionButton_Click" />
+                    </StackPanel>
+
+                    <!--  新增：Jog 正/反转（保持按住触发逻辑在后端实现）  -->
+                    <StackPanel
+                        Grid.Row="10"
+                        Grid.Column="0"
+                        Grid.ColumnSpan="5"
+                        HorizontalAlignment="Center"
+                        Orientation="Horizontal">
+                        <Button
+                            x:Name="JogForwardButton"
+                            Width="140"
+                            Height="36"
+                            Margin="10"
+                            Content="Jog运动正转" MouseDown="JogForwardButton_MouseDown" MouseUp="JogForwardButton_MouseUp" MouseLeftButtonDown="JogForwardButton_MouseLeftButtonDown"/>
+                        <Button
+                            x:Name="JogReverseButton"
+                            Width="140"
+                            Height="36"
+                            Margin="10"
+                            Content="Jog运动反转" />
+                    </StackPanel>
+
+                    <!--  保留开始/停止旋转按钮  -->
+                    <StackPanel
+                        Grid.Row="12"
+                        Grid.Column="0"
+                        Grid.ColumnSpan="5"
+                        Margin="0,8,0,0"
+                        HorizontalAlignment="Center"
+                        Orientation="Horizontal">
+                        <Button
+                            x:Name="StartRotationButton"
+                            Width="110"
+                            Height="28"
+                            Margin="0,0,10,0"
+                            Click="StartRotationButton_Click"
+                            Content="开始旋转" />
+                        <Button
+                            x:Name="StopRotationButton"
+                            Width="110"
+                            Height="28"
+                            Click="StopRotationButton_Click"
+                            Content="停止旋转" />
+                    </StackPanel>
+                </Grid>
+            </GroupBox>
+        </Grid>
+
+        <!--  底部操作按钮  -->
+        <StackPanel
+            Grid.Row="2"
+            Margin="0,12,0,0"
+            HorizontalAlignment="Right"
+            Orientation="Horizontal">
+            <Button
+                x:Name="SaveButton"
+                Margin="0,0,8,0"
+                Padding="16,6"
+                Content="保存"
+                IsDefault="True" />
+            <Button
+                x:Name="CancelButton"
+                Padding="16,6"
+                Content="取消"
+                IsCancel="True" />
+        </StackPanel>
+    </Grid>
+</Window>
diff --git a/OneClick/ChangeSetting.xaml.cs b/OneClick/ChangeSetting.xaml.cs
new file mode 100644
index 0000000..48232c5
--- /dev/null
+++ b/OneClick/ChangeSetting.xaml.cs
@@ -0,0 +1,636 @@
+using Microsoft.Win32;
+using System;
+using System.IO;
+using System.Linq;
+using System.Windows;
+using System.Windows.Controls;
+
+namespace OneClick
+{
+    /// <summary>
+    /// ChangeSetting.xaml 的交互逻辑
+    /// </summary>
+    public partial class ChangeSetting : Window
+    {
+        private readonly RecipeManager _recipeManager;
+        private Recipe? _workingRecipe;
+
+        // 新的构造函数：注入外部 RecipeManager 实例
+        public ChangeSetting(RecipeManager recipeManager)
+        {
+            _recipeManager = recipeManager ?? throw new ArgumentNullException(nameof(recipeManager));
+
+            InitializeComponent();
+
+            // 事件绑定
+            AddRecipeButton.Click += AddRecipeButton_Click;
+            DeleteRecipeButton.Click += DeleteRecipeButton_Click;
+            BrowseFolderButton.Click += BrowseFolderButton_Click;
+            SaveButton.Click += SaveButton_Click;
+
+            RecipeComboBox.SelectionChanged += RecipeComboBox_SelectionChanged;
+            MotorSpeedSlider.ValueChanged += MotorSpeedSlider_ValueChanged;
+            LightIntensitySlider.ValueChanged += LightIntensitySlider_ValueChanged;
+            AxisComboBox.SelectionChanged += AxisComboBox_SelectionChanged;
+
+            LoadRecipeNamesToCombo();
+            InitializeAxisComboItems();
+            InitializeWorkingRecipe();
+            LoadWorkingRecipeToUI();
+        }
+
+        private void LoadRecipeNamesToCombo()
+        {
+            RecipeComboBox.ItemsSource = _recipeManager.GetNames().OrderBy(x => x).ToList();
+            if (_recipeManager.CurrentRecipe != null)
+            {
+                RecipeComboBox.SelectedItem = _recipeManager.CurrentRecipe.Name;
+            }
+        }
+
+        private void InitializeAxisComboItems()
+        {
+            // 依据实际项目轴数填充，这里示例填充 1-8
+            AxisComboBox.ItemsSource = Enumerable.Range(1, 8).ToList();
+        }
+
+        private void InitializeWorkingRecipe()
+        {
+            if (_recipeManager.CurrentRecipe != null)
+            {
+                _workingRecipe = CloneRecipe(_recipeManager.CurrentRecipe);
+                return;
+            }
+
+            // 若无当前配方，创建一个默认配方
+            _workingRecipe = new Recipe
+            {
+                Name = "Default",
+                CaptureIntervalMs = 1000,
+                SaveFolder = Path.Combine(Environment.GetFolderPath(Environment.SpecialFolder.MyPictures), "OneClick"),
+                MotorSpeed = 1000,
+                SelectedAxis = 1,
+                LightIntensity = 50,
+                MotorRunTimeSec = 10
+            };
+
+            if (!_recipeManager.GetNames().Contains("Default"))
+            {
+                _recipeManager.Add(CloneRecipe(_workingRecipe));
+                _recipeManager.SetCurrent("Default");
+                LoadRecipeNamesToCombo();
+                RecipeComboBox.SelectedItem = "Default";
+            }
+        }
+
+        private void LoadWorkingRecipeToUI()
+        {
+            CaptureIntervalTextBox.Text = _workingRecipe?.CaptureIntervalMs?.ToString() ?? string.Empty;
+            SaveFolderTextBox.Text = _workingRecipe?.SaveFolder ?? string.Empty;
+            MotorSpeedTextBox.Text = _workingRecipe?.MotorSpeed?.ToString() ?? string.Empty;
+            MotorSpeedSlider.Value = _workingRecipe?.MotorSpeed.HasValue == true ? _workingRecipe!.MotorSpeed!.Value : 0;
+
+            // 光源亮度
+            LightIntensitySlider.Value = _workingRecipe?.LightIntensity.HasValue == true ? _workingRecipe!.LightIntensity!.Value : 0;
+
+            // 选择轴
+            if (_workingRecipe?.SelectedAxis.HasValue == true)
+            {
+                AxisComboBox.SelectedItem = _workingRecipe!.SelectedAxis!.Value;
+            }
+            else
+            {
+                AxisComboBox.SelectedItem = null;
+            }
+
+            // 转动时间（毫秒）
+            RotationTimeTextBox.Text = _workingRecipe?.MotorRunTimeSec?.ToString() ?? string.Empty;
+        }
+
+        private static Recipe CloneRecipe(Recipe r)
+        {
+            return new Recipe
+            {
+                Name = r.Name,
+                CaptureIntervalMs = r.CaptureIntervalMs,
+                SaveFolder = r.SaveFolder,
+                MotorSpeed = r.MotorSpeed,
+                // 包含新参数
+                SelectedAxis = r.SelectedAxis,
+                LightIntensity = r.LightIntensity,
+                MotorRunTimeSec = r.MotorRunTimeSec
+            };
+        }
+
+        private void RecipeComboBox_SelectionChanged(object sender, SelectionChangedEventArgs e)
+        {
+            var name = RecipeComboBox.SelectedItem as string;
+            if (string.IsNullOrWhiteSpace(name)) return;
+
+            var recipe = _recipeManager.Get(name);
+            if (recipe == null) return;
+
+            _workingRecipe = CloneRecipe(recipe);
+            LoadWorkingRecipeToUI();
+        }
+
+        private void AddRecipeButton_Click(object? sender, RoutedEventArgs e)
+        {
+            // 生成一个建议名称（保持与之前逻辑一致）
+            var baseName = "NewRecipe";
+            var idx = 1;
+            string suggested;
+            do
+            {
+                suggested = $"{baseName}{idx}";
+                idx++;
+            } while (_recipeManager.GetNames().Contains(suggested));
+
+            // 循环弹出输入框，直到用户取消或输入合法且不重复的名称
+            while (true)
+            {
+                var input = PromptForRecipeName(suggested);
+                if (input == null)
+                    return; // 用户取消
+
+                input = input.Trim();
+                if (string.IsNullOrWhiteSpace(input))
+                {
+                    MessageBox.Show(this, "配方名称不能为空，请重新输入。", "提示", MessageBoxButton.OK, MessageBoxImage.Warning);
+                    suggested = input == string.Empty ? suggested : input;
+                    continue;
+                }
+
+                if (ContainsInvalidFileNameChars(input))
+                {
+                    MessageBox.Show(this, "配方名称包含非法字符（例如 \\ / : * ? \" < > |  等），请使用其他名称。", "提示", MessageBoxButton.OK, MessageBoxImage.Warning);
+                    suggested = input;
+                    continue;
+                }
+
+                if (_recipeManager.GetNames().Contains(input))
+                {
+                    MessageBox.Show(this, "该配方名称已存在，请使用不同的名称。", "提示", MessageBoxButton.OK, MessageBoxImage.Warning);
+                    suggested = input;
+                    continue;
+                }
+
+                var newRecipe = new Recipe
+                {
+                    Name = input,
+                    CaptureIntervalMs = 1000,
+                    SaveFolder = Path.Combine(Environment.GetFolderPath(Environment.SpecialFolder.MyPictures), "OneClick"),
+                    MotorSpeed = 1000,
+                    SelectedAxis = 1,
+                    LightIntensity = 50,
+                    MotorRunTimeSec = 1000
+                };
+
+                if (_recipeManager.Add(newRecipe))
+                {
+                    _recipeManager.SetCurrent(input);
+                    _workingRecipe = CloneRecipe(newRecipe);
+                    LoadRecipeNamesToCombo();
+                    RecipeComboBox.SelectedItem = input;
+                    LoadWorkingRecipeToUI();
+                }
+                return;
+            }
+        }
+
+        // 在内存中弹出一个简单的输入对话框，返回 null 表示取消
+        private string? PromptForRecipeName(string defaultName)
+        {
+            var dlg = new Window
+            {
+                Title = "输入配方名称",
+                Owner = this,
+                WindowStartupLocation = WindowStartupLocation.CenterOwner,
+                Width = 420,
+                Height = 150,
+                ResizeMode = ResizeMode.NoResize,
+                WindowStyle = WindowStyle.SingleBorderWindow,
+                ShowInTaskbar = false
+            };
+
+            var panel = new Grid
+            {
+                Margin = new Thickness(10)
+            };
+            panel.RowDefinitions.Add(new RowDefinition { Height = GridLength.Auto });
+            panel.RowDefinitions.Add(new RowDefinition { Height = GridLength.Auto });
+            panel.RowDefinitions.Add(new RowDefinition { Height = GridLength.Auto });
+
+            var label = new TextBlock
+            {
+                Text = "请输入配方名称：",
+                Margin = new Thickness(0, 0, 0, 6)
+            };
+            Grid.SetRow(label, 0);
+            panel.Children.Add(label);
+
+            var textBox = new TextBox
+            {
+                Text = defaultName ?? string.Empty,
+                MinWidth = 360
+            };
+            Grid.SetRow(textBox, 1);
+            panel.Children.Add(textBox);
+
+            var btnPanel = new StackPanel
+            {
+                Orientation = Orientation.Horizontal,
+                HorizontalAlignment = HorizontalAlignment.Right,
+                Margin = new Thickness(0, 8, 0, 0)
+            };
+
+            var okBtn = new Button
+            {
+                Content = "确定",
+                Width = 80,
+                IsDefault = true,
+                Margin = new Thickness(0, 0, 8, 0)
+            };
+            var cancelBtn = new Button
+            {
+                Content = "取消",
+                Width = 80,
+                IsCancel = true
+            };
+
+            btnPanel.Children.Add(okBtn);
+            btnPanel.Children.Add(cancelBtn);
+            Grid.SetRow(btnPanel, 2);
+            panel.Children.Add(btnPanel);
+
+            dlg.Content = panel;
+
+            okBtn.Click += (_, _) =>
+            {
+                dlg.DialogResult = true;
+                dlg.Close();
+            };
+
+            cancelBtn.Click += (_, _) =>
+            {
+                dlg.DialogResult = false;
+                dlg.Close();
+            };
+
+            // 聚焦并选择全部文本，便于用户直接输入
+            dlg.Loaded += (_, _) =>
+            {
+                textBox.Focus();
+                textBox.SelectAll();
+            };
+
+            var result = dlg.ShowDialog();
+            if (result == true)
+                return textBox.Text;
+            return null;
+        }
+
+        private static bool ContainsInvalidFileNameChars(string name)
+        {
+            var invalid = Path.GetInvalidFileNameChars();
+            return name.IndexOfAny(invalid) >= 0;
+        }
+
+        private void DeleteRecipeButton_Click(object? sender, RoutedEventArgs e)
+        {
+            var name = RecipeComboBox.SelectedItem as string;
+            if (string.IsNullOrWhiteSpace(name)) return;
+
+            if (_recipeManager.Remove(name))
+            {
+                LoadRecipeNamesToCombo();
+                // 切到任意一个剩余配方
+                var next = _recipeManager.GetNames().OrderBy(x => x).FirstOrDefault();
+                if (next != null)
+                {
+                    _recipeManager.SetCurrent(next);
+                    _workingRecipe = CloneRecipe(_recipeManager.Get(next)!);
+                    RecipeComboBox.SelectedItem = next;
+                }
+                else
+                {
+                    // 没有配方，创建默认
+                    InitializeWorkingRecipe();
+                    LoadRecipeNamesToCombo();
+                }
+                LoadWorkingRecipeToUI();
+            }
+        }
+
+        private void BrowseFolderButton_Click(object? sender, RoutedEventArgs e)
+        {
+            var dlg = new OpenFolderDialog
+            {
+                Title = "选择图片保存位置"
+            };
+
+            // 根据当前文本框内容设定初始目录
+            var current = SaveFolderTextBox.Text;
+            if (!string.IsNullOrWhiteSpace(current) && Directory.Exists(current))
+            {
+                dlg.InitialDirectory = current;
+            }
+
+            var result = dlg.ShowDialog(this);
+            if (result == true)
+            {
+                SaveFolderTextBox.Text = dlg.FolderName;
+            }
+        }
+
+        private void SaveButton_Click(object? sender, RoutedEventArgs e)
+        {
+            // 将 UI 的值写回工作配方
+            if (string.IsNullOrWhiteSpace(_workingRecipe?.Name))
+            {
+                MessageBox.Show("配方名称不能为空。", "提示", MessageBoxButton.OK, MessageBoxImage.Warning);
+                return;
+            }
+
+            if (int.TryParse(CaptureIntervalTextBox.Text, out var interval))
+                _workingRecipe!.CaptureIntervalMs = interval;
+            else
+                _workingRecipe!.CaptureIntervalMs = null;
+
+            var folder = SaveFolderTextBox.Text;
+            _workingRecipe!.SaveFolder = string.IsNullOrWhiteSpace(folder) ? null : folder;
+
+            if (double.TryParse(MotorSpeedTextBox.Text, out var rpm))
+                _workingRecipe!.MotorSpeed = rpm;
+            else
+                _workingRecipe!.MotorSpeed = null;
+
+            // 新增：保存光源亮度和选择轴号
+            _workingRecipe!.LightIntensity = (int)Math.Round(LightIntensitySlider.Value);
+            var selectedAxisObj = AxisComboBox.SelectedItem;
+            if (selectedAxisObj is int axisNum)
+            {
+                _workingRecipe!.SelectedAxis = axisNum;
+            }
+            else
+            {
+                _workingRecipe!.SelectedAxis = null;
+            }
+
+            // 新增：保存转动时间（秒）
+            if (int.TryParse(RotationTimeTextBox.Text, out var rotMs))
+                _workingRecipe!.MotorRunTimeSec = rotMs;
+            else
+                _workingRecipe!.MotorRunTimeSec = null;
+
+            // 写入 RecipeManager 并设为当前
+            var exists = _recipeManager.Get(_workingRecipe!.Name!) != null;
+            if (exists)
+                _recipeManager.Update(CloneRecipe(_workingRecipe!));
+            else
+                _recipeManager.Add(CloneRecipe(_workingRecipe!));
+
+            _recipeManager.SetCurrent(_workingRecipe!.Name!);
+            _recipeManager.Save();
+
+            // 关闭并返回主界面
+            DialogResult = true;
+            Close();
+        }
+
+        private void MotorSpeedSlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
+        {
+            MotorSpeedTextBox.Text = ((int)e.NewValue).ToString();
+        }
+
+        private void LightIntensitySlider_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
+        {
+            // 若需要在界面显示当前亮度值，可在此将值显示到 ToolTip 或状态文本
+            // 保留为轻量处理：无需文本框，值直接在保存时取用
+        }
+
+        private void AxisComboBox_SelectionChanged(object sender, SelectionChangedEventArgs e)
+        {
+            // 轻量：选择变更时暂不立即写回，统一在保存时处理
+        }
+
+        private void TestLightButton_Click(object sender, RoutedEventArgs e)
+        {
+            var lightService = new LightSourceService();
+            lightService.TestSourceService();
+        }
+
+        private void SendLightCommandButton_Click(object sender, RoutedEventArgs e)
+        {
+            var cmd = LightCommandTextBox.Text?.Trim();
+            if (string.IsNullOrEmpty(cmd))
+            {
+                MessageBox.Show(this, "请输入要发送的光源指令。", "提示", MessageBoxButton.OK, MessageBoxImage.Warning);
+                LightCommandTextBox.Focus();
+                return;
+            }
+
+            var lightService = new LightSourceService();
+            try
+            {
+                var response = lightService.SendCommand(cmd);
+                if (!string.IsNullOrEmpty(response))
+                {
+                    MessageBox.Show(this, "收到响应: " + response, "光源响应", MessageBoxButton.OK, MessageBoxImage.Information);
+                }
+                else
+                {
+                    MessageBox.Show(this, "未收到响应或响应为空。", "光源响应", MessageBoxButton.OK, MessageBoxImage.Warning);
+                }
+            }
+            catch (Exception ex)
+            {
+                MessageBox.Show(this, "发送命令时发生错误: " + ex.Message, "错误", MessageBoxButton.OK, MessageBoxImage.Error);
+            }
+        }
+
+        // 新增的占位事件处理器：开始旋转（后端由你实现）
+        private void StartRotationButton_Click(object sender, RoutedEventArgs e)
+        {
+            var axisService = new AxisService();
+            int axisNum = 1;
+            int speed = (int)MotorSpeedSlider.Value;
+            int time = 0;
+            var sel = AxisComboBox.SelectedItem;
+            if (sel is int i)
+            {
+                axisNum = i;
+            }
+            else if (sel is string s && int.TryParse(s, out var parsed))
+            {
+                axisNum = parsed;
+            }
+            // 解析 RotationTimeTextBox.Text 为 int
+            if (!int.TryParse(RotationTimeTextBox.Text, out time))
+            {
+                MessageBox.Show(this, "转动时间输入无效，已默认为 0。", "提示", MessageBoxButton.OK, MessageBoxImage.Warning);
+                time = 0;
+            }
+            axisService.TimelyRotate(1, (short)axisNum, speed, time);
+            //清除位置
+            //axisService.ResetPosition((short)axisNum, 1);
+        }
+
+        // 停止旋转
+        private void StopRotationButton_Click(object sender, RoutedEventArgs e)
+        {
+            
+            var sel = AxisComboBox.SelectedItem;
+            var axisService = new AxisService();
+            if (sel is int i)
+            {
+                axisService.AxisStop(1, (short)i);
+                //axisService.ResetPosition((short)i, 1);
+            }
+            else if (sel is short s)
+            {
+                axisService.AxisStop(1, s);
+                //axisService.ResetPosition(s, 1);
+            }
+            else if (sel is string str && short.TryParse(str, out var p))
+            {
+                axisService.AxisStop(1, p);
+                //axisService.ResetPosition(p, 1);
+            }
+            else
+            {
+                // 处理未选择或不可解析的情况
+            }
+            
+        }
+
+        
+        
+
+        private void EnableAxisButton_Click(object sender, RoutedEventArgs e)
+        {
+            var axisService = new AxisService();
+            int axisToEnable;
+            var sel = AxisComboBox.SelectedItem;
+            try
+            {
+                if (sel is int i)
+                {
+                    axisToEnable = i;
+                }
+                else if (sel is string s && int.TryParse(s, out var parsed))
+                {
+                    axisToEnable = parsed;
+                }
+
+                else
+                {
+                    axisToEnable = 1;
+                    MessageBox.Show(this, "未选择轴号，默认启用轴 1。", "提示", MessageBoxButton.OK, MessageBoxImage.Information);
+                }
+
+                axisService.AxisOn((short)axisToEnable, 1);
+            }
+            catch (Exception ex)
+            {
+                MessageBox.Show(this, "启用轴时发生错误: " + ex.Message, "错误", MessageBoxButton.OK, MessageBoxImage.Error);
+            }
+        }
+
+        private void DisableAxisButton_Click(object sender, RoutedEventArgs e)
+        {
+            var axisService = new AxisService();
+            int axisToDisable;
+            var sel = AxisComboBox.SelectedItem;
+            try
+            {
+                if (sel is int i)
+                {
+                    axisToDisable = i;
+                }
+                else if (sel is string s && int.TryParse(s, out var parsed))
+                {
+                    axisToDisable = parsed;
+                }
+                else
+                {
+                    axisToDisable = 1;
+                    MessageBox.Show(this, "未选择轴号，默认禁用轴 1。", "提示", MessageBoxButton.OK, MessageBoxImage.Information);
+                }
+                axisService.AxisOff((short)axisToDisable, 1);
+            }
+            catch (Exception ex)
+            {
+                MessageBox.Show(this, "禁用轴时发生错误: " + ex.Message, "错误", MessageBoxButton.OK, MessageBoxImage.Error);
+            }
+
+        }
+
+        private void ClearAlarmPositionButton_Click(object sender, RoutedEventArgs e)
+        {
+            var axisService = new AxisService();
+            int axisToClear;
+            var sel = AxisComboBox.SelectedItem;
+            try
+            {
+                if (sel is int i)
+                {
+                    axisToClear = i;
+                }
+                else if (sel is string s && int.TryParse(s, out var parsed))
+                {
+                    axisToClear = parsed;
+                }
+                else
+                {
+                    axisToClear = 1;
+                    MessageBox.Show(this, "未选择轴号，默认清除轴 1 的报警位置。", "提示", MessageBoxButton.OK, MessageBoxImage.Information);
+                }
+                
+                axisService.ResetAlarm((short)axisToClear, 1);
+                axisService.ResetPosition((short)axisToClear, 1);
+            }
+            catch (Exception ex)
+            {
+                MessageBox.Show(this, "清除报警位置时发生错误: " + ex.Message, "错误", MessageBoxButton.OK, MessageBoxImage.Error);
+            }
+        }
+
+        private void JogForwardButton_MouseDown(object sender, System.Windows.Input.MouseButtonEventArgs e)
+        {
+            
+            var sel = AxisComboBox.SelectedItem;
+            var speed = (int)MotorSpeedSlider.Value;
+            var axisService = new AxisService();
+            axisService.JogMove(1, (short)sel,speed); 
+
+        }
+
+        private void JogForwardButton_MouseUp(object sender, System.Windows.Input.MouseButtonEventArgs e)
+        {
+            var sel = AxisComboBox.SelectedItem;
+            var axisService = new AxisService();
+            if (sel is int i)
+            {
+                axisService.AxisStop(1, (short)i);
+            }
+            else if (sel is short s)
+            {
+                axisService.AxisStop(1, s);
+            }
+            else if (sel is string str && short.TryParse(str, out var p))
+            {
+                axisService.AxisStop(1, p);
+            }
+            else
+            {
+                // 处理未选择或不可解析的情况
+            }
+        }
+
+        private void JogForwardButton_MouseLeftButtonDown(object sender, System.Windows.Input.MouseButtonEventArgs e)
+        {
+
+        }
+    }
+}
diff --git a/OneClick/LightSourceService.cs b/OneClick/LightSourceService.cs
new file mode 100644
index 0000000..fd71dde
--- /dev/null
+++ b/OneClick/LightSourceService.cs
@@ -0,0 +1,101 @@
+using System;
+using System.Net.Sockets;
+using System.Text;
+using System.Windows;
+
+namespace OneClick
+{
+    class LightSourceService
+    {
+        private static TcpClient? OpenSocket()
+        {
+            try
+            {
+                TcpClient tcpclient = new TcpClient();
+                tcpclient.Connect("192.168.0.7", 1234);
+                return tcpclient;
+            }
+            catch (Exception ex)
+            {
+                MessageBox.Show("光源连接失败: " + ex.Message, "连接错误", MessageBoxButton.OK, MessageBoxImage.Error);
+                return null;
+            }
+        }
+
+        public int TestSourceService()
+        {
+            // 使用通用发送方法测试固定命令
+            var response = SendCommand("SA0000#");
+            if (!string.IsNullOrEmpty(response) && response.StartsWith("A", StringComparison.Ordinal))
+            {
+                //MessageBox.Show("光源通信成功！收到响应: " + response, "提示", MessageBoxButton.OK, MessageBoxImage.Information);
+                return 0;
+            }
+            else if (response != null)
+            {
+                MessageBox.Show("光源响应异常，收到: " + response, "提示", MessageBoxButton.OK, MessageBoxImage.Warning);
+                return 1;
+            }
+            return 1;
+        }
+
+        /// <summary>
+        /// 发送指定的原始指令到光源控制器，并尝试读取响应。
+        /// 调用者根据返回值判断是否通信成功；方法内部会在连接失败时弹窗提示错误。
+        /// </summary>
+        /// <param name="command">要发送的命令（请包含必要的结束符，例如 #）</param>
+        /// <param name="timeoutMs">发送/接收超时（毫秒）</param>
+        /// <returns>收到的响应字符串（可能为空），连接失败或异常时返回 null</returns>
+        public string? SendCommand(string command, int timeoutMs = 2000)
+        {
+            if (string.IsNullOrEmpty(command))
+                throw new ArgumentException("command 不能为空", nameof(command));
+
+            var tcpclient = OpenSocket();
+            if (tcpclient == null)
+                return null;
+
+            NetworkStream? networkstream = null;
+            try
+            {
+                tcpclient.ReceiveTimeout = timeoutMs;
+                tcpclient.SendTimeout = timeoutMs;
+
+                networkstream = tcpclient.GetStream();
+
+                byte[] sendbytes = Encoding.ASCII.GetBytes(command);
+                networkstream.Write(sendbytes, 0, sendbytes.Length);
+                networkstream.Flush();
+
+                // 读取响应（阻塞，受 ReceiveTimeout 控制）
+                byte[] buffer = new byte[1024];
+                int bytesRead = networkstream.Read(buffer, 0, buffer.Length); // 受 tcpclient.ReceiveTimeout 控制
+
+                if (bytesRead > 0)
+                {
+                    string response = Encoding.ASCII.GetString(buffer, 0, bytesRead).Trim();
+                    return response;
+                }
+                else
+                {
+                    return string.Empty;
+                }
+            }
+            catch (SocketException se)
+            {
+                MessageBox.Show("光源通信超时或套接字错误: " + se.Message, "通信错误", MessageBoxButton.OK, MessageBoxImage.Error);
+                return null;
+            }
+            catch (Exception ex)
+            {
+                MessageBox.Show("光源通信错误: " + ex.Message, "通信错误", MessageBoxButton.OK, MessageBoxImage.Error);
+                return null;
+            }
+            finally
+            {
+                try { networkstream?.Close(); } catch { }
+                try { tcpclient.Close(); } catch { }
+            }
+        }
+    }
+}
diff --git a/OneClick/LoadingDialog.xaml b/OneClick/LoadingDialog.xaml
new file mode 100644
index 0000000..91e8710
--- /dev/null
+++ b/OneClick/LoadingDialog.xaml
@@ -0,0 +1,37 @@
+<Window
+    x:Class="OneClick.LoadingDialog"
+    xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+    xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+    xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+    xmlns:local="clr-namespace:OneClick"
+    xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
+    Title="LoadingDialog"
+    Width="400"
+    Height="200"
+    AllowsTransparency="False"
+    WindowStartupLocation="CenterScreen"
+    WindowStyle="None"
+    mc:Ignorable="d">
+    <Grid>
+        <Border
+            Padding="20"
+            Background="White"
+            BorderBrush="Gray"
+            BorderThickness="1"
+            CornerRadius="10">
+            <StackPanel HorizontalAlignment="Center" VerticalAlignment="Center">
+                <TextBlock
+                    x:Name="LoadStatusMessage"
+                    Margin="0,0,0,20"
+                    HorizontalAlignment="Center"
+                    FontSize="24"
+                    FontWeight="Bold"
+                    Text="系统启动中，请等待" />
+                <ProgressBar
+                    Width="300"
+                    Height="30"
+                    IsIndeterminate="True" />
+            </StackPanel>
+        </Border>
+    </Grid>
+</Window>
diff --git a/OneClick/LoadingDialog.xaml.cs b/OneClick/LoadingDialog.xaml.cs
new file mode 100644
index 0000000..44931a6
--- /dev/null
+++ b/OneClick/LoadingDialog.xaml.cs
@@ -0,0 +1,27 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+using System.Windows.Shapes;
+
+namespace OneClick
+{
+    /// <summary>
+    /// LoadingDialog.xaml 的交互逻辑
+    /// </summary>
+    public partial class LoadingDialog : Window
+    {
+        public LoadingDialog()
+        {
+            InitializeComponent();
+        }
+    }
+}
diff --git a/OneClick/MainWindow.xaml b/OneClick/MainWindow.xaml
new file mode 100644
index 0000000..08bb701
--- /dev/null
+++ b/OneClick/MainWindow.xaml
@@ -0,0 +1,87 @@
+<Window
+    x:Class="OneClick.MainWindow"
+    xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+    xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+    xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+    xmlns:ha="http://schemas.mvtec.com/halcondotnet"
+    xmlns:local="clr-namespace:OneClick"
+    xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
+    Title="MainWindow"
+    Width="800"
+    Height="450"
+    WindowStartupLocation="CenterScreen"
+    mc:Ignorable="d">
+    <Grid>
+        <Grid.ColumnDefinitions>
+            <ColumnDefinition Width="*" />
+            <ColumnDefinition Width="*" />
+        </Grid.ColumnDefinitions>
+        <Grid Grid.Column="0">
+            <ha:HSmartWindowControlWPF x:Name="ImageWindow" />
+        </Grid>
+        <StackPanel Grid.Column="1" Margin="10">
+            <TextBlock
+                Margin="0,20,0,20"
+                HorizontalAlignment="Center"
+                FontSize="20"
+                FontWeight="Bold"
+                Text="更改设置" />
+            <StackPanel
+                Margin="0,0,0,10"
+                HorizontalAlignment="Center"
+                Orientation="Horizontal">
+                <TextBlock
+                    Margin="0,0,10,0"
+                    VerticalAlignment="Center"
+                    Text="选择配方：" />
+                <ComboBox x:Name="SettingsListBox" Width="120" />
+            </StackPanel>
+
+            <!--  新增：选择相机与重新扫描按钮  -->
+            <StackPanel
+                Margin="0,0,0,10"
+                HorizontalAlignment="Center"
+                Orientation="Horizontal">
+                <TextBlock
+                    Margin="0,0,10,0"
+                    VerticalAlignment="Center"
+                    Text="选择相机：" />
+                <ComboBox x:Name="CameraComboBox" Width="160" />
+                <Button
+                    x:Name="RescanButton"
+                    Width="80"
+                    Height="25"
+                    Margin="10,0,0,0"
+                    Content="重新扫描" />
+            </StackPanel>
+
+            <StackPanel HorizontalAlignment="Center" Orientation="Horizontal">
+                <Button
+                    Width="100"
+                    Height="25"
+                    Margin="0,10,0,0"
+                    Click="ChangeSettingButton_Click"
+                    Content="更改设置" />
+                <Button
+                    Width="100"
+                    Height="25"
+                    Margin="10,10,0,0"
+                    Click="ResetSettingButton_Click"
+                    Content="重置设置" />
+                <Button
+                    Width="100"
+                    Height="25"
+                    Margin="10,10,0,0"
+                    Click="StartButton_Click"
+                    Content="开始" />
+            </StackPanel>
+            <Button
+                x:Name="CameraTest"
+                Height="25"
+                Margin="30"
+                Click="CameraTest_Click"
+                Content="停止" />
+
+        </StackPanel>
+    </Grid>
+</Window>
diff --git a/OneClick/MainWindow.xaml.cs b/OneClick/MainWindow.xaml.cs
new file mode 100644
index 0000000..45b7c09
--- /dev/null
+++ b/OneClick/MainWindow.xaml.cs
@@ -0,0 +1,593 @@
+using Basler.Pylon;
+using HalconDotNet;
+using System;
+using System.ComponentModel;
+using System.Diagnostics;
+using System.IO;
+using System.Linq;
+using System.Runtime.InteropServices;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Threading;
+using GTN; // 示例运动控制卡命名空间
+
+namespace OneClick
+{
+    public partial class MainWindow : Window
+    {
+        private readonly RecipeManager _recipeManager;
+        private readonly ICameraService _cameraService;
+        private HImage? image;
+
+        // 启动或刷新列表时抑制相机选择事件
+        private bool _suppressCameraSelectionChanged;
+        private readonly Stopwatch _displayStopwatch = new Stopwatch();
+        private readonly Dispatcher _uiDispatcher;
+
+        // 间隔保存相关
+        private DispatcherTimer? _captureTimer;
+        private int _captureIndex;
+        private string? _currentSaveFolder;
+
+        public MainWindow()
+        {
+            InitializeComponent();
+            
+            var dataDir = Path.Combine(Environment.GetFolderPath(Environment.SpecialFolder.LocalApplicationData), "OneClick");
+            var storePath = Path.Combine(dataDir, "recipes.json");
+
+            _recipeManager = new RecipeManager(storePath);
+            _cameraService = new BaslerCameraService();
+
+            Loaded += MainWindow_Loaded;
+            RescanButton.Click += RescanButton_Click;
+            CameraComboBox.SelectionChanged += CameraComboBox_SelectionChanged;
+            Closing += MainWindow_Closing;
+
+            _uiDispatcher = Dispatcher.CurrentDispatcher;
+
+            // 订阅相机服务事件
+            _cameraService.GrabStarted += CameraService_GrabStarted;
+            _cameraService.ImageGrabbed += CameraService_ImageGrabbed;
+            _cameraService.GrabStopped += CameraService_GrabStopped;
+            _cameraService.ConnectionLost += CameraService_ConnectionLost;
+        }
+
+        
+
+
+        private async void MainWindow_Loaded(object sender, RoutedEventArgs e)
+        {
+            // 载入配方列表到主界面下拉框
+            SettingsListBox.ItemsSource = _recipeManager.GetNames().OrderBy(x => x).ToList();
+            if (_recipeManager.CurrentRecipe != null)
+            {
+                SettingsListBox.SelectedItem = _recipeManager.CurrentRecipe.Name;
+            }
+
+            // 显示启动对话框
+            var loadingDialog = new LoadingDialog
+            {
+                Owner = this,
+                WindowStartupLocation = WindowStartupLocation.CenterOwner
+            };
+            loadingDialog.Show();
+
+            // 异步枚举相机并在 UI 线程更新列表（避免 UI 卡顿）
+            try
+            {
+                loadingDialog.LoadStatusMessage.Text = "正在初始化运动控制卡...";
+                await Task.Run(() =>
+                {
+                    var axisService = new AxisService();
+                    axisService.InitMotionCard();
+                    Thread.Sleep(500); // 模拟初始化延迟
+                });
+                
+                loadingDialog.LoadStatusMessage.Text = "正在启动光源...";
+                await Task.Run(() =>
+                {
+                    var lightservice = new LightSourceService();
+                    lightservice.TestSourceService();
+                    Thread.Sleep(500); // 模拟初始化延迟
+                });
+                
+                
+                loadingDialog.LoadStatusMessage.Text = "正在启动相机...";
+                var devices = await Task.Run(() =>
+                {
+                    try
+                    {
+                        return _cameraService.EnumerateDevices();
+                    }
+                    catch
+                    {
+                        return Enumerable.Empty<string>();
+                    }
+                });
+
+                _uiDispatcher.Invoke(() =>
+                {
+                    _suppressCameraSelectionChanged = true;
+                    try
+                    {
+                        var list = devices.ToList();
+                        CameraComboBox.ItemsSource = list;
+                        CameraComboBox.SelectedIndex = list.Count > 0 ? 0 : -1;
+                    }
+                    finally
+                    {
+                        _suppressCameraSelectionChanged = false;
+                    }
+                });
+            }
+            catch (Exception ex)
+            {
+                MessageBox.Show($"枚举相机失败：{ex.Message}", "错误", MessageBoxButton.OK, MessageBoxImage.Error);
+            }
+            finally
+            {
+                // 隐藏启动对话框
+                _uiDispatcher.BeginInvoke(new Action(() => loadingDialog.Close()));
+            }
+
+            try
+            {
+                var firstId = _cameraService.EnumerateDevices().FirstOrDefault();
+                if (!string.IsNullOrWhiteSpace(firstId))
+                {
+                    _cameraService.Open(firstId);
+                    _cameraService.Close();
+                }
+            }
+            catch (Exception ex)
+            {
+                MessageBox.Show($"相机初始化失败：{ex.Message}", "错误", MessageBoxButton.OK, MessageBoxImage.Error);
+            }
+        }
+
+        private void RefreshCameraList()
+        {
+            // 枚举相机设备
+            var devices = _cameraService.EnumerateDevices();
+
+            // 在更新列表和默认选择期间抑制 SelectionChanged 事件
+            _suppressCameraSelectionChanged = true;
+            try
+            {
+                CameraComboBox.ItemsSource = devices;
+                CameraComboBox.SelectedIndex = devices.Count > 0 ? 0 : -1;
+            }
+            finally
+            {
+                _suppressCameraSelectionChanged = false;
+            }
+        }
+
+        private void RescanButton_Click(object sender, RoutedEventArgs e)
+        {
+            RefreshCameraList();
+        }
+
+        private void CameraComboBox_SelectionChanged(object sender, System.Windows.Controls.SelectionChangedEventArgs e)
+        {
+            if (_suppressCameraSelectionChanged) return;
+
+            var id = CameraComboBox.SelectedItem as string;
+            if (string.IsNullOrWhiteSpace(id)) return;
+
+            try
+            {
+                _cameraService.StopGrabbing();
+                _cameraService.Close();
+                _cameraService.Open(id);
+            }
+            catch (Exception ex)
+            {
+                MessageBox.Show($"打开相机失败：{ex.Message}", "错误", MessageBoxButton.OK, MessageBoxImage.Error);
+            }
+        }
+
+        private void ChangeSettingButton_Click(object sender, RoutedEventArgs e)
+        {
+            // 通过构造函数注入同一个 RecipeManager 实例
+            var changeSettingWindow = new ChangeSetting(_recipeManager)
+            {
+                Owner = this,
+                WindowStartupLocation = WindowStartupLocation.CenterOwner
+            };
+
+            bool? dialogResult = changeSettingWindow.ShowDialog();
+            if (dialogResult == true)
+            {
+                // 直接从相同的 _recipeManager 刷新 UI（内存状态已被更新）
+                SettingsListBox.ItemsSource = _recipeManager.GetNames().OrderBy(x => x).ToList();
+                if (_recipeManager.CurrentRecipe != null)
+                {
+                    SettingsListBox.SelectedItem = _recipeManager.CurrentRecipe.Name;
+                }
+            }
+        }
+
+        private void ResetSettingButton_Click(object sender, RoutedEventArgs e)
+        {
+            // 简单重置当前配方（示例）
+            var currentName = SettingsListBox.SelectedItem as string;
+            if (string.IsNullOrWhiteSpace(currentName))
+            {
+                MessageBox.Show("请先选择一个配方。", "提示", MessageBoxButton.OK, MessageBoxImage.Information);
+                return;
+            }
+
+            var recipe = _recipeManager.Get(currentName);
+            if (recipe == null) return;
+
+            recipe.CaptureIntervalMs = 1000;
+            recipe.SaveFolder = Path.Combine(Environment.GetFolderPath(Environment.SpecialFolder.MyPictures), "OneClick");
+            recipe.MotorSpeed = 1000;
+
+            _recipeManager.Update(recipe);
+            _recipeManager.Save();
+
+            MessageBox.Show("已重置当前配方为默认参数。", "完成", MessageBoxButton.OK, MessageBoxImage.Information);
+        }
+
+        private async void StartButton_Click(object sender, RoutedEventArgs e)
+        {
+            var currentName = SettingsListBox.SelectedItem as string;
+            if (string.IsNullOrWhiteSpace(currentName))
+            {
+                MessageBox.Show("请先选择一个配方。", "提示", MessageBoxButton.OK, MessageBoxImage.Information);
+                return;
+            }
+
+            var recipe = _recipeManager.Get(currentName);
+            if (recipe == null)
+            {
+                MessageBox.Show("未找到所选配方。", "错误", MessageBoxButton.OK, MessageBoxImage.Error);
+                return;
+            }
+
+            if (string.IsNullOrWhiteSpace(recipe.SaveFolder))
+            {
+                MessageBox.Show("保存位置未配置。", "错误", MessageBoxButton.OK, MessageBoxImage.Error);
+                return;
+            }
+
+            Directory.CreateDirectory(recipe.SaveFolder);
+
+            var id = CameraComboBox.SelectedItem as string;
+            if (string.IsNullOrWhiteSpace(id))
+            {
+                MessageBox.Show("未选择相机。", "错误", MessageBoxButton.OK, MessageBoxImage.Error);
+                return;
+            }
+
+            try
+            {
+                _cameraService.StopGrabbing();
+                _cameraService.Close();
+                _cameraService.Open(id);
+
+                // 启动持续抓取（参考示例）
+                if (!_cameraService.StartGrabbing(continuous: true))
+                {
+                    MessageBox.Show("启动抓取失败。", "错误", MessageBoxButton.OK, MessageBoxImage.Error);
+                    return;
+                }
+
+                // 启动按配方的间隔保存
+                StartIntervalCapture(recipe);
+            }
+            catch (Exception ex)
+            {
+                MessageBox.Show($"启动抓取失败：{ex.Message}", "错误", MessageBoxButton.OK, MessageBoxImage.Error);
+                return;
+            }
+        }
+
+        private void CameraService_GrabStarted(object? sender, EventArgs e)
+        {
+            _uiDispatcher.Invoke(() =>
+            {
+                _displayStopwatch.Reset();
+            });
+        }
+
+        private void CameraService_ImageGrabbed(object? sender, ImageGrabbedEventArgs e)
+        {
+            // 与示例一致：只显示最新帧，节流到约30FPS
+            if (!_displayStopwatch.IsRunning || _displayStopwatch.ElapsedMilliseconds > 33)
+            {
+                _displayStopwatch.Restart();
+
+                // 由于该事件可能在非 UI 线程，切回 UI 线程
+                _uiDispatcher.Invoke(() =>
+                {
+                    try
+                    {
+                        using var grabResult = e.GrabResult;
+                        if (grabResult == null || !grabResult.IsValid || !grabResult.GrabSucceeded) return;
+
+                        var hImage = ConvertGrabResultToHalconImage(grabResult);
+                        if (hImage == null) return;
+
+                        image?.Dispose();
+                        image = hImage;
+
+                        // 显示到 HSmartWindowControl
+                        HOperatorSet.DispImage(image, ImageWindow.HalconWindow);
+                    }
+                    catch (Exception ex)
+                    {
+                        MessageBox.Show($"显示图像失败：{ex.Message}", "错误", MessageBoxButton.OK, MessageBoxImage.Error);
+                    }
+                });
+            }
+
+            // 释放克隆的抓取结果（仿照 WinForms 示例中 e.DisposeGrabResultIfClone）
+            e.DisposeGrabResultIfClone();
+        }
+
+        private void CameraService_GrabStopped(object? sender, GrabStopEventArgs e)
+        {
+            _uiDispatcher.Invoke(() =>
+            {
+                _displayStopwatch.Reset();
+                StopIntervalCapture();
+
+                if (e.Reason != GrabStopReason.UserRequest)
+                {
+                    MessageBox.Show($"抓取错误：{e.ErrorMessage}", "错误", MessageBoxButton.OK, MessageBoxImage.Error);
+                }
+            });
+        }
+
+        private void CameraService_ConnectionLost(object? sender, EventArgs e)
+        {
+            _uiDispatcher.Invoke(() =>
+            {
+                _cameraService.StopGrabbing();
+                _cameraService.Close();
+                StopIntervalCapture();
+                RefreshCameraList();
+                MessageBox.Show("相机连接丢失。", "错误", MessageBoxButton.OK, MessageBoxImage.Error);
+            });
+        }
+
+        public HImage? ReadBuffer()
+        {
+            IGrabResult? grabResult = null;
+            try
+            {
+                grabResult = _cameraService.GrabOnePic();
+                if (grabResult == null || !grabResult.GrabSucceeded)
+                    return null;
+
+                return ConvertGrabResultToHalconImage(grabResult);
+            }
+            finally
+            {
+                grabResult?.Dispose();
+            }
+        }
+
+        private HImage? ConvertGrabResultToHalconImage(IGrabResult grabResult)
+        {
+            var hImg = new HImage();
+
+            if (IsMonoData(grabResult))
+            {
+                // 对高位深单通道，统一转换到 Mono16 并以 16 位生成 Halcon 图像，避免 8 位截断
+                switch (grabResult.PixelTypeValue)
+                {
+                    case PixelType.Mono10:
+                    case PixelType.Mono10p:
+                    case PixelType.Mono10packed:
+                    case PixelType.Mono12:
+                    case PixelType.Mono12p:
+                    case PixelType.Mono12packed:
+                    case PixelType.Mono16:
+                    {
+                        var converter = new PixelDataConverter { OutputPixelFormat = PixelType.Mono16 };
+                        var bytes = new byte[grabResult.Width * grabResult.Height * 2]; // 16位
+                        converter.Convert(bytes, grabResult);
+
+                        var handle = GCHandle.Alloc(bytes, GCHandleType.Pinned);
+                        try
+                        {
+                            var ptr = handle.AddrOfPinnedObject();
+                            // Halcon 中 16 位无符号类型为 "uint2"
+                            hImg.GenImage1("uint2", grabResult.Width, grabResult.Height, ptr);
+                        }
+                        finally
+                        {
+                            handle.Free();
+                        }
+                        break;
+                    }
+                    default:
+                    {
+                        // 纯 8 位单通道，保持 8 位
+                        var buffer = grabResult.PixelData as byte[];
+                        if (buffer == null || buffer.Length < grabResult.Width * grabResult.Height)
+                            return null;
+
+                        var handle = GCHandle.Alloc(buffer, GCHandleType.Pinned);
+                        try
+                        {
+                            var ptr = handle.AddrOfPinnedObject();
+                            hImg.GenImage1("byte", grabResult.Width, grabResult.Height, ptr);
+                        }
+                        finally
+                        {
+                            handle.Free();
+                        }
+                        break;
+                    }
+                }
+            }
+            else
+            {
+                // 彩色：仍使用 RGB8packed（无损容器保存），若需原始 Bayer 可改为保存原始缓冲区而非去马赛克
+                var rgb = new byte[grabResult.Width * grabResult.Height * 3];
+                var converter = new PixelDataConverter { OutputPixelFormat = PixelType.RGB8packed };
+                converter.Convert(rgb, grabResult);
+
+                var handle = GCHandle.Alloc(rgb, GCHandleType.Pinned);
+                try
+                {
+                    var ptr = handle.AddrOfPinnedObject();
+                    hImg.GenImageInterleaved(ptr, "rgb", grabResult.Width, grabResult.Height, 0, "byte",
+                        grabResult.Width, grabResult.Height, 0, 0, -1, 0);
+                }
+                finally
+                {
+                    handle.Free();
+                }
+            }
+
+            return hImg;
+        }
+
+        // 窗口关闭处理：确保停止抓取并释放相机资源
+        private void MainWindow_Closing(object? sender, CancelEventArgs e)
+        {
+            try
+            {
+                // 停止抓取（若正在抓取）
+                _cameraService.StopGrabbing();
+            }
+            catch
+            {
+                // 忽略停止时的异常，仍尝试关闭资源
+            }
+
+            try
+            {
+                // 关闭并释放相机资源
+                _cameraService.Close();
+            }
+            catch
+            {
+                // 忽略关闭时的异常
+            }
+
+            StopIntervalCapture();
+
+            // 如果需要，终结 Pylon 库资源（只有在使用 Pylon.Initialize 时才需要）
+            
+        }
+
+        private bool IsMonoData(IGrabResult iGrabResult)
+        {
+            switch (iGrabResult.PixelTypeValue)
+            {
+                case PixelType.Mono1packed:
+                case PixelType.Mono2packed:
+                case PixelType.Mono4packed:
+                case PixelType.Mono8:
+                case PixelType.Mono8signed:
+                case PixelType.Mono10:
+                case PixelType.Mono10p:
+                case PixelType.Mono10packed:
+                case PixelType.Mono12:
+                case PixelType.Mono12p:
+                case PixelType.Mono12packed:
+                case PixelType.Mono16:
+                    return true;
+                default:
+                    return false;
+            }
+        }
+
+        private void CameraTest_Click(object sender, RoutedEventArgs e)
+        {
+            try
+            {
+                _cameraService.StopGrabbing();
+                StopIntervalCapture();
+                MessageBox.Show("已停止抓取。", "提示", MessageBoxButton.OK, MessageBoxImage.Information);
+            }
+            catch (Exception ex)
+            {
+                MessageBox.Show($"停止抓取失败：{ex.Message}", "错误", MessageBoxButton.OK, MessageBoxImage.Error);
+            }
+        }
+
+        // ===== 新增：间隔保存实现 =====
+        private void StartIntervalCapture(Recipe recipe)
+        {
+            StopIntervalCapture();
+
+            _currentSaveFolder = recipe.SaveFolder;
+            if (string.IsNullOrWhiteSpace(_currentSaveFolder))
+                return;
+
+            Directory.CreateDirectory(_currentSaveFolder);
+
+            _captureIndex = 0;
+            _captureTimer = new DispatcherTimer(DispatcherPriority.Background, _uiDispatcher)
+            {
+                Interval = TimeSpan.FromMilliseconds(Math.Max(50, recipe.CaptureIntervalMs ?? 1000))
+            };
+            _captureTimer.Tick += CaptureTimer_Tick;
+            _captureTimer.Start();
+        }
+
+        private void StopIntervalCapture()
+        {
+            if (_captureTimer != null)
+            {
+                _captureTimer.Tick -= CaptureTimer_Tick;
+                _captureTimer.Stop();
+                _captureTimer = null;
+            }
+        }
+
+        private void CaptureTimer_Tick(object? sender, EventArgs e)
+        {
+            if (image == null || string.IsNullOrWhiteSpace(_currentSaveFolder))
+                return;
+
+            HImage? copy = null;
+            try
+            {
+                copy = image.Clone();
+            }
+            catch
+            {
+                copy?.Dispose();
+                return;
+            }
+
+            // 改为保存 tiff，无损且支持 16 位灰度
+            var fileName = $"{DateTime.Now:yyyyMMdd_HHmmss_fff}_{_captureIndex:D5}.tiff";
+            var fullPath = Path.Combine(_currentSaveFolder!, fileName);
+            _captureIndex++;
+
+            _ = Task.Run(() =>
+            {
+                try
+                {
+                    if (copy != null)
+                    {
+                        // 第三个参数对 tiff 无效，仅用于 jpeg；此处传 0
+                        HOperatorSet.WriteImage(copy, "tiff", 0, fullPath);
+                    }
+                }
+                catch (Exception ex)
+                {
+                    _uiDispatcher.BeginInvoke(() =>
+                    {
+                        MessageBox.Show($"保存图像失败：{ex.Message}", "错误", MessageBoxButton.OK, MessageBoxImage.Error);
+                    });
+                }
+                finally
+                {
+                    copy?.Dispose();
+                }
+            });
+        }
+    }
+}
\ No newline at end of file
diff --git a/OneClick/OneClick.csproj b/OneClick/OneClick.csproj
new file mode 100644
index 0000000..ca1df38
--- /dev/null
+++ b/OneClick/OneClick.csproj
@@ -0,0 +1,36 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <OutputType>WinExe</OutputType>
+    <TargetFramework>net8.0-windows</TargetFramework>
+    <Nullable>enable</Nullable>
+    <ImplicitUsings>enable</ImplicitUsings>
+    <UseWPF>true</UseWPF>
+  </PropertyGroup>
+
+  <ItemGroup>
+    <PackageReference Include="Prism.Core" Version="9.0.537" />
+    <PackageReference Include="Prism.Unity" Version="9.0.537" />
+    <PackageReference Include="Prism.Wpf" Version="9.0.537" />
+    <PackageReference Include="System.Drawing.Common" Version="8.0.0" />
+  </ItemGroup>
+
+  <ItemGroup>
+    <Folder Include="View\" />
+    <Folder Include="ViewModel\" />
+    <Folder Include="Service\" />
+  </ItemGroup>
+
+  <ItemGroup>
+    <Reference Include="Basler.Pylon">
+      <HintPath>D:\Pylon\Development\Assemblies\Basler.Pylon\net8.0\x64\Basler.Pylon.dll</HintPath>
+    </Reference>
+    <Reference Include="halcondotnetxl">
+      <HintPath>D:\MVTec\Halcon\HALCON-25.11-Progress\bin\dotnet35\halcondotnetxl.dll</HintPath>
+    </Reference>
+    <Reference Include="hdevenginedotnetxl">
+      <HintPath>D:\MVTec\Halcon\HALCON-25.11-Progress\bin\dotnet35\hdevenginedotnetxl.dll</HintPath>
+    </Reference>
+  </ItemGroup>
+
+</Project>
diff --git a/OneClick/RecipeManager.cs b/OneClick/RecipeManager.cs
new file mode 100644
index 0000000..66729d3
--- /dev/null
+++ b/OneClick/RecipeManager.cs
@@ -0,0 +1,137 @@
+using System;
+using System.Collections.Generic;
+using System.IO;
+using System.Text.Json;
+
+namespace OneClick
+{
+    public class RecipeManager
+    {
+        private readonly Dictionary<string, Recipe> _recipes = new();
+
+        // 当前配方（可选，但非常实用）
+        public Recipe? CurrentRecipe { get; private set; }
+
+        private readonly string _storePath;
+
+        public RecipeManager(string storePath)
+        {
+            _storePath = storePath;
+            Directory.CreateDirectory(Path.GetDirectoryName(_storePath)!);
+            Load();
+        }
+
+        /// <summary>
+        /// 新增配方
+        /// </summary>
+        public bool Add(Recipe recipe)
+        {
+            if (recipe == null || string.IsNullOrWhiteSpace(recipe.Name))
+                return false;
+
+            if (_recipes.ContainsKey(recipe.Name))
+                return false;
+
+            _recipes.Add(recipe.Name, recipe);
+            Save();
+            return true;
+        }
+
+        /// <summary>
+        /// 删除配方
+        /// </summary>
+        public bool Remove(string name)
+        {
+            if (!_recipes.Remove(name))
+                return false;
+
+            if (CurrentRecipe?.Name == name)
+                CurrentRecipe = null;
+
+            Save();
+            return true;
+        }
+
+        /// <summary>
+        /// 查询配方
+        /// </summary>
+        public Recipe? Get(string name)
+        {
+            _recipes.TryGetValue(name, out var recipe);
+            return recipe;
+        }
+
+        /// <summary>
+        /// 切换当前配方
+        /// </summary>
+        public bool SetCurrent(string name)
+        {
+            var recipe = Get(name);
+            if (recipe == null)
+                return false;
+
+            CurrentRecipe = recipe;
+            return true;
+        }
+
+        /// <summary>
+        /// 修改配方（按名字整体替换）
+        /// </summary>
+        public bool Update(Recipe recipe)
+        {
+            if (recipe == null || string.IsNullOrWhiteSpace(recipe.Name))
+                return false;
+
+            if (!_recipes.ContainsKey(recipe.Name))
+                return false;
+
+            _recipes[recipe.Name] = recipe;
+
+            if (CurrentRecipe?.Name == recipe.Name)
+                CurrentRecipe = recipe;
+
+            Save();
+            return true;
+        }
+
+        /// <summary>
+        /// 获取所有配方名（给 UI / 下拉框用）
+        /// </summary>
+        public IReadOnlyCollection<string> GetNames()
+        {
+            return _recipes.Keys;
+        }
+
+        public void Save()
+        {
+            var list = new List<Recipe>(_recipes.Values);
+            var json = JsonSerializer.Serialize(list, new JsonSerializerOptions
+            {
+                WriteIndented = true
+            });
+            File.WriteAllText(_storePath, json);
+        }
+
+        public void Load()
+        {
+            if (!File.Exists(_storePath))
+                return;
+
+            try
+            {
+                var json = File.ReadAllText(_storePath);
+                var list = JsonSerializer.Deserialize<List<Recipe>>(json) ?? new List<Recipe>();
+                _recipes.Clear();
+                foreach (var r in list)
+                {
+                    if (!string.IsNullOrWhiteSpace(r.Name))
+                        _recipes[r.Name] = r;
+                }
+            }
+            catch
+            {
+                // 读失败保持空，不抛异常以避免影响启动
+            }
+        }
+    }
+}
diff --git a/OneClick/RecipePara.cs b/OneClick/RecipePara.cs
new file mode 100644
index 0000000..98a31b1
--- /dev/null
+++ b/OneClick/RecipePara.cs
@@ -0,0 +1,26 @@
+using System;
+
+namespace OneClick
+{
+    public class Recipe
+    {
+        // 配方名称
+        public string? Name { get; set; }
+        // 相机拍照间隔时间，单位毫秒
+        public int? CaptureIntervalMs { get; set; }
+        //保存文件夹路径
+        public string? SaveFolder { get; set; }
+        // 电机速度，单位RPM
+        public double? MotorSpeed { get; set; }
+        //电机转动时间,单位秒
+        public double? MotorRunTimeSec { get; set; }
+        // 光源强度，范围0-255
+        public int? LightIntensity { get; set; }
+        // 选择的轴号
+        public int? SelectedAxis { get; set; }
+        //
+
+
+        // 可根据需要扩展更多参数
+    }
+}
diff --git a/OneClick/gts.cs b/OneClick/gts.cs
new file mode 100644
index 0000000..70108d9
--- /dev/null
+++ b/OneClick/gts.cs
@@ -0,0 +1,2891 @@
+using System;
+using System.Runtime.InteropServices;
+
+namespace GTN
+{
+    public class mc
+    {
+        public const short CHANNEL_HOST=0;
+        public const short CHANNEL_UART=1;
+        public const short CHANNEL_SIM=2;
+        public const short CHANNEL_ETHER=3;
+        public const short CHANNEL_RS232=4;
+        public const short CHANNEL_PCIE=5;
+
+/*-----------------------------------------------------------*/
+/* �������                                                  */
+/*-----------------------------------------------------------*/
+
+        public const short CMD_SUCCESS=0;
+        public const short CMD_ERROR_READ_LEN= -2 ;   /* ��ȡ���ݳ��ȴ��� */
+        public const short CMD_ERROR_READ_CHECKSUM=-3 ;   /* ��ȡ����У��ʹ��� */
+        public const short CMD_ERROR_WRITE_BLOCK = -4 ;   /* д�����ݿ���� */
+        public const short CMD_ERROR_READ_BLOCK = -5 ;   /* ��ȡ���ݿ���� */
+        public const short CMD_ERROR_OPEN =-6 ;   /* ���豸���� */
+        public const short CMD_ERROR_CLOSE =-6 ;   /* �ر��豸���� */
+        public const short CMD_ERROR_DSP_BUSY = -7;    /* DSPæ */
+        public const short CMD_LOCK_ERROR = -8  ;  /*���߳���Դæ*/
+        public const short CMD_ERROR_EXECUTE = 1;
+        public const short CMD_ERROR_VERSION_NOT_MATCH = 3;
+        public const short CMD_ERROR_PARAMETER= 7;
+        public const short CMD_ERROR_UNKNOWN =8 ;   /* ��֧�ֵ�ָ�� */
+
+
+ /*-----------------------------------------------------------*/
+ /* �궨��                                                    */
+ /*-----------------------------------------------------------*/
+        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_EGPI0     =(6);
+//      public const short MC_EGPI1     = (7);
+//      public const short MC_EGPI2     =(8);
+        public const short MC_MPG       = (9);
+        public const short MC_ENABLE     = (10);
+        public const short MC_CLEAR      = (11);
+        public const short MC_GPO        = (12);
+//      public const short MC_EGPO0      = (13);
+//      public const short MC_EGPO1      = (14);
+        public const short MC_HSO        = (18);
+        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_AU_ADC     = (17);
+        public const short MC_AU_ENCODER  = (26);
+        public const short MC_ABS_ENCODER = (29);
+        public const short MC_AXIS        = (30);
+        public const short MC_PROFILE     = (31);
+        public const short MC_CONTROL     = (32);
+        public const short MC_TRIGGER     = (40);
+        public const short MC_TERMINAL    = (50);
+        public const short MC_EXT_MODULE  = (60);
+        public const short MC_EXT_DI      = (61);
+        public const short MC_EXT_DO      = (62);
+        public const short MC_EXT_AI      = (63);
+        public const short MC_EXT_AO      = (64);
+        public const short MC_SCAN_CRD    = (70);
+        public const short MC_POS_COMPARE = (80);
+        public const short MC_WATCH_VAR   = (200);
+        public const short MC_WATCH_EVENT = (201);
+
+       
+
+        public const short CORE_MODE_TIMER			=   (0);
+        public const short CORE_MODE_SYNCH			=   (1);
+        public const short CORE_MODE_EXTERNAL		=	(2);
+        public const short CORE_TASK_DEFAULT		=	(0);
+        public const short CORE_TASK_DLM			=	(1);
+        public const short SKIP_MODULE_SCAN			=	(0x001);
+        public const short SKIP_MODULE_POS_COMPARE  =	(0x002);
+        public const short SKIP_MODULE_CRD			=	(0x004);
+        public const short SKIP_MODULE_PLC			=	(0x010);
+        public const short SKIP_MODULE_DLM			=	(0x020);
+        public const short SKIP_MODULE_AXIS_CALCULATE  =(0x100);
+        public const short SKIP_MODULE_WATCH		   =(0x800);
+
+        public enum ETimeElapse
+        {
+	        TIME_ELAPSE_PROFILE = 1000,
+	        TIME_ELAPSE_HOST_COMMAND_EXECUTE = 1220,
+	        TIME_ELAPSE_ETHER_COMMAND_EXECUTE,
+	        TIME_ELAPSE_PROFILE_CALCULATE = 6000,
+	        TIME_ELAPSE_SCAN = 18000,
+	        TIME_ELAPSE_AXIS_CHECK = 20000,
+	        TIME_ELAPSE_AXIS_CALCULATE,
+	        TIME_ELAPSE_ENCODER = 30000,
+	        TIME_ELAPSE_DI = 31000,
+	        TIME_ELAPSE_DO = 32000,
+	        TIME_ELAPSE_AI = 33000,
+	        TIME_ELAPSE_AO = 34000,
+	        TIME_ELAPSE_TRIGGER = 38000,
+	        TIME_ELAPSE_CONTROL = 40000,
+	        TIME_ELAPSE_WATCH = 52000,
+	        TIME_ELAPSE_TERMINAL = 53000,
+            TIME_ELAPSE_TERMINALDET = 54000,
+       } 
+        
+        //public struct TTerminalStatus
+        //{
+        //   public ushort type;
+        //   public short id;
+        //   public Int32 status;
+        //   public UInt32 synchCount;
+        //   public UInt32 ringNetType;//��������
+        //   public UInt32 coreStatus;//ģ��˿�״̬
+        //   public UInt32 scoreDropCount;//ģ��SPORT����ʧ����
+        //   public UInt32 reserve1;
+        //   public UInt32 reserve2;
+        //   public UInt32 reserve3;
+        //   public UInt32 reserve4;
+        //   public UInt32 reserve5;
+        //   public UInt32 reserve6;
+        //   public UInt32 reserve7;
+        //} 
+
+        public struct TPid
+        {
+	       public double kp;
+	       public double ki;
+	       public double kd;
+	       public double kvff;
+	       public double kaff;
+	       public Int32  IntegralLimit;
+	       public Int32  derivativeLimit;
+	       public short  limit;
+         }
+       
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetAuDac(short core, short dac,ref short pValue, short count);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetAuDac(short core, short dac, out short pValue, short count, out UInt32 pClock);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetAuAdcValue(short core, short adc, out short pValue, short count, out UInt32 pClock);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetAuAdc(short core, short adc, out double pValue, short count, out UInt32 pClock);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetGPIOConfig(short core, short station, Int32 effectiveLevel, Int32 direction);
+
+
+        /**
+         * @brief ���˶�������,������Ĭ�����ó�ʼ�����硣
+         * @param channel ���˶��������ķ�ʽ��
+         * @param param ������  
+         * @return ������
+         */
+        [DllImport("gts.dll")]
+        public static extern short GTN_Open(short channel,short param);
+
+
+        /**
+         * @brief �ر��˶���������
+         * @return ������
+         */
+        [DllImport("gts.dll")]
+        public static extern short GTN_Close();
+
+
+        /**
+         * @brief ��ȡ�˶��������̼��İ汾�š�
+         * @param core �˺š�
+         * @param pVersion ��ȡ���˶��������Ĺ̼��汾���ַ�����
+         * @return �����롣
+         */
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetVersion(short core,out string pVersion);
+
+
+        /**
+         * @brief ��ȡ��̬��İ汾�š�
+         * @param core �˺š�
+         * @param type ���ͣ�type=0,��ȡgts.dll�İ汾��Ϣ��type=4,��ȡgt_rn.dll�İ汾��Ϣ;type=1,������version.user��λ������һ��������������������������.
+         * @param pVersion ��ȡ��̬��汾��
+         * @return �����롣
+         */
+        public struct TVersion
+        {
+            public short year;
+            public short month;
+            public short day;
+            public short version;
+            public short user;
+            public short reserve1;
+            public short reserve2;
+            public short chip;
+        }
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetVersionEx(short core,short type,out TVersion pVersion);
+
+
+        /**
+         * @brief ��λ�˶���������
+         * @param core �˺š�
+         * @return �����롣
+         */
+        [DllImport("gts.dll")]
+        public static extern short GTN_Reset(short core);
+
+
+        /**
+         * @brief ��ȡ�˶�������ϵͳʱ�ӡ�
+         * @param core �˺š�
+         * @param pClock ��ȡ���˶���������ʱ�ӣ���λ:ms��
+         * @param pLoop �ڲ�ʹ�ã�Ĭ��ֵΪ��NULL��������ȡ��ֵ��
+         * @return �����롣
+         */
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetClock(short core, out UInt32 pClock, out UInt32 pLoop);
+
+
+        /**
+         * @brief ��ȡ�˶�������ϵͳ�߾���ʱ�ӡ�
+         * @param core �˺š�
+         * @param pClock ��ȡ���˶���������ʱ�ӣ���λ�� 250us��
+         * @return �����롣
+         */
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetClockHighPrecision(short core,out UInt32 pClock);
+
+
+        [DllImport("gts.dll")]
+        public static extern short GTN_ClearTime(short core,ETimeElapse item);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetTime(short core, ETimeElapse item, out UInt32 pTime, out UInt32 pTimeMax, out UInt32 pValue);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetCoreMode(short core,short mode);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetCoreMode(short core,out short pMode);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetCoreShare(short core,short type,short index,short count);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetCoreShare(short core,short type,out short pIndex,out short pCount);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetCoreTask(short core,short task);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetCoreTask(short core,out short pTask);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetResMax(short core,short type,out short pCount);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetResCount(short core,short type,short count);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetResCount(short core,short type,out short pCount);
+
+
+        /**
+         * @brief ��ȡ��״̬��
+         * @param core �˺š�
+         * @param axis ��ʼ��ţ���������
+         * @param pSts 32 λ��״̬�֡�
+         * @param count ��ȡ��������Ĭ��Ϊ1����������1�������Զ�ȡ8·��
+         * @param pClock ��ȡ������ʱ�ӣ� Ĭ��ֵΪ��NULL�������ö�ȡ������ʱ�ӡ�
+         * @return �����롣
+         */
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetSts(short core,short axis,out Int32 pSts,short count,out UInt32 pClock);
+
+
+        /**
+         * @brief ���������������־���������Խ�ޱ�־����λ������־��
+         * @param core �˺š�
+         * @param axis ��ʼ��ţ���������
+         * @param count ���״̬��������Ĭ��Ϊ 1����������
+         * @return �����롣            
+         */
+        [DllImport("gts.dll")]
+        public static extern short GTN_ClrSts(short core,short axis,short count);
+
+
+        /**
+         * @brief ��������ʹ�ܡ�
+         * @param core �ںˣ���������
+         * @param axis ���ŷ�ʹ�ܵ���ı�š� ��������
+         * @return �����롣������ֵΪ 1��(1) ���������ļ��б�����Ч�������������Ƿ��б�����(2) ����ǰ���ڹ滮�˶��������GTN_Stopֹͣ�˶��ٵ��ø�ָ� 
+         */
+        [DllImport("gts.dll")]
+        public static extern short GTN_AxisOn(short core,short axis);
+
+
+        /**
+         * @brief �ر�������ʹ�ܡ�
+         * @param core �ںˣ���������
+         * @param axis �ر��ŷ�ʹ�ܵ���ı�š���������
+         * @return �����롣
+         */
+        [DllImport("gts.dll")]
+        public static extern short GTN_AxisOff(short core,short axis);
+
+
+        [DllImport("gts.dll")]
+        public static extern short GTN_MultiAxisOn(short core,UInt32 mask);
+        [DllImport("gts.dll")]
+        public static extern short GTN_MultiAxisOff(short core, UInt32 mask);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetAxisOnDelayTime(short core,ushort delayTime);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetAxisOnDelayTime(short core,out ushort pDelayTime);
+
+        /**
+        * @brief ֹͣһ��������Ĺ滮�˶���ֹͣ����ϵ�˶���ע�⣺�����Ҫֹͣ����ϵ����ֹͣ��Ӧ����ϵ�е��κ�һ���ἴ�ɡ�
+        * @param core �ںˣ���������
+        * @param mask ��λָʾ��Ҫֹͣ�˶�����Ż�������ϵ�š���bitλΪ1ʱ��ʾֹͣ��Ӧ�����������ϵ��
+        * @param option ��λָʾֹͣ��ʽ����bitλΪ0ʱ��ʾƽ��ֹͣ��Ӧ���������ϵ����bitλΪ1ʱ��ʾ��ͣ��Ӧ���������ϵ��
+        * @return �����롣
+        */
+        [DllImport("gts.dll")]
+        public static extern short GTN_Stop(short core, Int32 mask, Int32 option);
+
+
+        /**
+         * @brief �޸�ָ����Ĺ滮λ�á���ֹ���˶�״̬���޸Ĺ滮λ�á���
+         * @param core �ںˣ���������
+         * @param profile �滮���ţ� ��������
+         * @param prfPos ���õĹ滮λ�õ�ֵ����λ��pulse��
+         * @return �����롣
+         */
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetPrfPos(short core, short profile, Int32 prfPos);
+
+
+        /**
+         * @brief axis �ϳɹ滮λ�ú��������� profile ͬ����axis �ϳɱ�����λ�ú��������� encoder ͬ����
+         * @param core �ںˣ���������
+         * @param mask ��λ��ʶ��Ҫ����λ��ͬ������š� 0����ʾ����Ҫ����λ��ͬ���� 1����Ҫ����λ��ͬ����
+         * @return �����롣
+         */
+        [DllImport("gts.dll")]
+        public static extern short GTN_SynchAxisPos(short core, Int32 mask);
+
+
+        /**
+         * @brief ����滮λ�ú�ʵ��λ�ã���������Ư������
+         * @param core �ںˣ���������
+         * @param axis ��Ҫλ���������ʼ��ţ� ������
+         * @param count ��Ҫλ������������� Ĭ��ֵΪ 1��ȡֵ��Χͬ axis��
+         * @return �����롣
+         */
+        [DllImport("gts.dll")]
+        public static extern short GTN_ZeroPos(short core,short axis,short count);
+
+
+        [DllImport("gts.dll")]
+        public static extern short GTN_SynchPrfPosWithEncPos(short core, short profile, short encoder);
+
+
+        /**
+         * @brief ��ȡ����λ״̬��
+         * @param core �ںˣ�������
+         * @param axis ��ţ�������
+         * @param pLimitPositive Ӳ������λ����ʱ��������λ״̬��bit0����������λ����ʱ��������λ״̬��bit1��
+         * @param pLimitNegative Ӳ������λ����ʱ��������λ״̬��bit0����������λ����ʱ��������λ״̬��bit1��
+         * @return �����롣
+         */
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetLimitStatus(short core,short axis,out short pLimitPositive,out short pLimitNegative);
+
+
+        /**
+        * @brief ��������λģʽ��
+        * @param core �ںˣ���������
+        * @param axis ��ţ�������
+        * @param mode 0 SOFT_LIMIT_MODE_STOP //��Խ����λλ�ú�ʼ����ֹͣ
+                      1 SOFT_LIMIT_MODE_LIMIT //����������λ��Χ֮��
+        * @return �����롣
+        */
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetSoftLimitMode(short core,short axis,short mode);
+
+
+        /**
+       * @brief ��ȡ����λģʽ��
+       * @param core �ںˣ���������
+       * @param axis ��ţ�������
+       * @param mode 0 SOFT_LIMIT_MODE_STOP //��Խ����λλ�ú�ʼ����ֹͣ
+                     1 SOFT_LIMIT_MODE_LIMIT //����������λ��Χ֮��
+       * @return �����롣
+       */
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetSoftLimitMode(short core,short axis,out short pMode);
+
+
+        /**
+         * @brief ��������������λ�͸�������λ����
+         * @param core �ںˣ�������
+         * @param axis ��ţ�������
+         * @param positive ��������λ�����滮λ�ô��ڸ�ֵʱ������λ������Ĭ��ֵΪ�� 0x7fffffff����ʾ��������λ��Ч��
+         * @param negative Ӳ������λ����ʱ��������λ״̬��bit0����������λ����ʱ��������λ״̬��bit1��
+         * @return �����롣
+         */
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetSoftLimit(short core, short axis, Int32 positive, Int32 negative);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetSoftLimit(short core, short axis, out Int32 pPositive, out Int32 pNegative);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetAxisBand(short core, short axis, Int32 band, Int32 time);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetAxisMotionSmooth(short core, short axis, double time, double k);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetAxisBand(short core, short axis, out Int32 pBand, out Int32 pTime);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetPrfPos(short core,short profile,out double pValue,short count,out UInt32 pClock);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetPrfVel(short core,short profile,out double pValue,short count,out UInt32 pClock);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetPrfAcc(short core,short profile,out double pValue,short count,out UInt32 pClock);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetPrfMode(short core,short profile,out Int32 pValue, short count,out UInt32 pClock);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetAxisPrfPos(short core,short axis,out double pValue,short count,out UInt32 pClock);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetAxisPrfPosCompensate(short core,short axis,out double pValue,short count,out UInt32 pClock);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetAxisPrfVel(short core,short axis,out double pValue,short count,out UInt32 pClock);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetAxisPrfAcc(short core,short axis,out double pValue,short count,out UInt32 pClock);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetAxisEncPos(short core,short axis,out double pValue,short count,out UInt32 pClock);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetAxisEncVel(short core,short axis,out double pValue,short count,out UInt32 pClock);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetAxisEncAcc(short core,short axis,out double pValue,short count,out UInt32 pClock);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetAxisError(short core,short axis,out double pValue, short count,out UInt32 pClock);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetControlFilter(short core,short control,short index);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetControlFilter(short core,short control,out short pIndex);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetControlSuperimposed(short core,short control,short superimposedType,short superimposedIndex);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetControlSuperimposed(short core,short control,out short pSuperimposedType,out short pSuperimposedIndex);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetPid(short core,short control,short index,ref TPid pPid);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetPid(short core,short control,short index,out TPid pPid);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetKvffFilter(short core,short control,short index,short kvffFilterExp,double accMax);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetKvffFilter(short core,short control,short index,out short pKvffFilterExp,out double pAccMax);
+        [DllImport("gts.dll")]
+        public static extern short GTN_Delay(short core,ushort ms);
+        [DllImport("gts.dll")]
+        public static extern short GTN_DelayHighPrecision(short core,ushort profile);
+
+        public const short STEP_DIR                     =   0;
+        public const short STEP_PULSE                    =  1;
+        public const short STEP_ORTHOGONAL               =  2;
+
+       
+        [DllImport("gts.dll")]
+        public static extern short GTN_LoadConfig(short core,string pFile);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SaveConfig(short core,string pFile);
+        [DllImport("gts.dll")]
+        public static extern short GTN_LoadTerminalConfig(short core,string pFile);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SaveTerminalConfig(short core,string pFile);
+        [DllImport("gts.dll")]
+        public static extern short GTN_LoadExtModuleConfig(short core,string pFile);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SaveExtModuleConfig(short core,string pFile);
+        [DllImport("gts.dll")]
+        public static extern short GTN_AlarmOn(short core,short axis);
+        [DllImport("gts.dll")]
+        public static extern short GTN_AlarmOff(short core,short axis);
+        [DllImport("gts.dll")]
+        public static extern short GTN_LmtsOn(short core,short axis,short limitType);
+        [DllImport("gts.dll")]
+        public static extern short GTN_LmtsOff(short core,short axis,short limitType);
+        [DllImport("gts.dll")]
+        public static extern short GTN_StepDir(short core,short step);
+        [DllImport("gts.dll")]
+        public static extern short GTN_StepPulse(short core,short step);
+        [DllImport("gts.dll")]
+        public static extern short GTN_StepOrthogonal(short core,short step);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetMtrBias(short core,short dac,short bias);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetMtrBias(short core,short dac,out short pBias);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetMtrLmt(short core,short dac,short limit);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetMtrLmt(short core,short dac,out short pLimit);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetSense(short core,short dataType,short dataIndex,short value);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetSense(short core,short dataType,short dataIndex,out short pValue);
+        [DllImport("gts.dll")]
+        public static extern short GTN_EncOn(short core,short encoder);
+        [DllImport("gts.dll")]
+        public static extern short GTN_EncOff(short core,short encoder);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetPosErr(short core, short control, Int32 error);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetPosErr(short core, short control, out Int32 pError);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetStopDec(short core,short profile,double decSmoothStop,double decAbruptStop);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetStopDec(short core,short profile,out double pDecSmoothStop,out double pDecAbruptStop);
+        [DllImport("gts.dll")]
+        public static extern short GTN_CtrlMode(short core,short axis,short mode);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetStopIo(short core,short axis,short stopType,short inputType,short inputIndex);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetAdcFilterPrm(short core,short adc,double k);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetAdcFilterPrm(short core,short adc,out double pk);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetAxisPrfVelFilter(short core,short axis,short filterNumExp);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetAxisPrfVelFilter(short core,short axis,out short pFilterNumExp);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetAxisEncVelFilter(short core,short axis,short filterNumExp);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetAxisEncVelFilter(short core,short axis,out short pFilterNumExp);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetProfileScale(short core, short i, Int32 alpha, Int32 beta);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetProfileScale(short core, short i, out Int32 pAlhpa, out Int32 pBeta);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetEncoderScale(short core, short i, Int32 alpha, Int32 beta);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetEncoderScale(short core, short i, out Int32 pAlhpa, out Int32 pBeta);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetAuEncoderScale(short core, short i, Int32 alpha, Int32 beta);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetAuEncoderScale(short core, short i, out Int32 pAlhpa, out Int32 pBeta);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ReadAuEncPos(short core, short encoder, out double  pPos, short count = 1);
+        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 struct TTrigger
+           {
+	       	    public short encoder;
+	            public short probeType;
+	            public short probeIndex;
+	            public short sense;
+                public Int32 offset;
+                public UInt32 loop;
+	            public short windowOnly;
+                public Int32 firstPosition;
+                public Int32 lastPosition;
+           }
+
+        public struct TTriggerAlign
+           {
+	            public short encoder;
+	            public short probeType;
+	            public short probeIndex;
+	            public short sense;
+                public Int32 offset;
+                public UInt32 loop;
+	            public short windowOnly;
+	            public short pad2;
+                public Int32 firstPosition;
+                public Int32 lastPosition;
+           }
+
+        public struct TTriggerStatus
+           {
+	            public short execute;
+	            public short done;
+                public Int32 position;
+           }
+
+        public struct TTriggerStatusEx
+           {
+	            public short execute;
+	            public short done;
+                public Int32 position;
+                public UInt32 clock;
+                public UInt32 loopCount;
+           }
+      
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetTrigger(short core,short i,ref TTrigger pTrigger);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetTrigger(short core,short i,out TTrigger pTrigger);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetTriggerStatus(short core,short i,out TTriggerStatus pTriggerStatus,short count);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetTriggerStatusEx(short core,short i,out TTriggerStatusEx pTriggerStatusEx,short count);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ClearTriggerStatus(short core,short i);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetCaptureMode(short core,short encoder,short mode);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetCaptureMode(short core,short encoder,out short pMode,short count);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetCaptureStatus(short core,short encoder,out short pStatus,out Int32 pValue,short count,out UInt32 pClock);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetCaptureSense(short core,short encoder,short mode,short sense);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ClearCaptureStatus(short core,short encoder);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetCaptureRepeat(short core,short encoder,short count);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetCaptureRepeatStatus(short core,short encoder,out short pCount);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetCaptureRepeatPos(short core, short encoder, out Int32 pValue, short startNum, short count);
+
+        public const short TRIGGER_DELTA_MODE_DEFAULT         =   (0);
+        public const short TRIGGER_DELTA_CHECKPOINT_MODE_AUTO   = (0);
+        public const short TRIGGER_DELTA_CHECKPOINT_MODE_MANUAL = (1);
+        public struct TCheckpoint
+        {
+	        public short mode;
+            public Int32 offset;
+	        public short fifoIndex;
+            public UInt32 crossCount;
+	        public short fifoDataCount;
+	        public short dataReady;
+            public Int32 data;
+	        public short dataIndex;
+        } 
+        public struct TTriggerDeltaPrm
+        {
+	        public short mode;
+	        public short dir;
+	        public short triggerIndex0;
+            public short triggerIndex1;
+            public short triggerIndex2;
+        } 
+
+        public struct TTriggerDeltaInfo
+        {
+	        public short enable;
+	        public short checkpointCount;
+	        public short fifoDataCount;
+	        public short lostCount;
+        }
+       
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_ClearTriggerDelta(short core,short index,short mode);
+        [DllImport("gts.dll")]
+        public static extern short GTN_AddTriggerDeltaCheckpoint(short core, short index, short mode, Int32 offset, short fifo, ref short pIndex);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ReadTriggerDeltaCheckpointData(short core, short index, short checkpointIndex, out Int32 pBuf, short count, out short pReadCount);
+        [DllImport("gts.dll")]
+        public static extern short GTN_WriteTriggerDeltaCheckpointData(short core, short index, short checkpointIndex, ref Int32 pBuf, short count, ref short pWriteCount);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetTriggerDeltaPrm(short core,short index,ref TTriggerDeltaPrm pPrm);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetTriggerDeltaPrm(short core,short index,out TTriggerDeltaPrm pPrm);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetTriggerDeltaCheckpoint(short core,short index,short checkpointIndex,out TCheckpoint pCheckpoint);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetTriggerDeltaInfo(short core,short index,out TTriggerDeltaInfo pTriggerDelta);
+        [DllImport("gts.dll")]
+        public static extern short GTN_TriggerDeltaOn(short core,short index);
+        [DllImport("gts.dll")]
+        public static extern short GTN_TriggerDeltaOff(short core,short index);
+
+
+        public struct TTrapPrm
+        {
+	        public double acc;
+	        public double dec;
+	        public double velStart;
+	        public short  smoothTime;
+        } 
+       
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_Update(short core, Int32 mask);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetPos(short core, short profile, Int32 pos);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetPos(short core, short profile, out Int32 pPos);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetVel(short core,short profile,double vel);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetVel(short core,short profile,out double pVel);
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_PrfTrap(short core,short profile);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetTrapPrm(short core,short profile,ref TTrapPrm pPrm);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetTrapPrm(short core,short profile,out TTrapPrm pPrm);
+        
+
+        public struct TJogPrm
+        {
+	        public double acc;
+	        public double dec;
+	        public double smooth;
+        }
+      
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_PrfJog(short core,short profile);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetJogPrm(short core,short profile,ref TJogPrm pPrm);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetJogPrm(short core,short profile,out TJogPrm pPrm);
+
+        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 struct TPtInfo 
+        {
+	        public double prfPos;
+            public Int32 loop;
+	        public short mode;
+	        public short fifoUse;
+	        public short fifoPlace;
+	        public short segmentNumber;
+            public UInt32 segmentReceive1;
+            public UInt32 segmentReceive2;
+            public UInt32 segmentExecute1;
+            public UInt32 segmentExecute2;
+            public UInt32 bufferReceive1;
+            public UInt32 bufferReceive2;
+            public UInt32 bufferExecute1;
+            public UInt32 bufferExecute2;
+        } 
+      
+        [DllImport("gts.dll")]
+        public static extern short GTN_PrfPt(short core,short profile,short mode);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetPtLoop(short core, short profile, Int32 loop);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetPtLoop(short core, short profile, out Int32 pLoop);
+        [DllImport("gts.dll")]
+        public static extern short GTN_PtSpace(short core,short profile,out short pSpace,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_PtSpaceEx(short core,short profile,out short pSpace,out short pListSpace,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_PtData(short core,short profile,double pos,Int32 time,short type,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_PtClear(short core,short profile,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_PtStart(short core, Int32 mask, Int32 option);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetPtMemory(short core,short profile,short memory);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetPtMemory(short core,short profile,out short pMemory);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetPtPrecisionMode(short core,short profile,short precisionMode);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetPtPrecisionMode(short core,short profile,out short pPrecisionMode);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetPtInfo(short core,short profile,out TPtInfo pPtInfo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetPtLink(short core,short profile,short fifo,short list);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetPtLink(short core,short profile,short fifo,out short pList);
+        [DllImport("gts.dll")]
+        public static extern short GTN_PtDoBit(short core,short profile,short doType,short index,short value,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_PtAo(short core,short profile,short aoType,short index,double value,short fifo);
+
+
+
+        public struct TPvtTableMovePrm
+        {	
+	        public short tableId;
+            public Int32 distance;					
+	        public double vm;						
+	        public double am;						
+	        public double jm;						
+	        public double time;					
+        }
+
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_PrfPvt(short core,short profile);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetPvtLoop(short core, short profile, Int32 loop);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetPvtLoop(short core, short profile, out Int32 pLoopCount, out Int32 pLoop);
+        [DllImport("gts.dll")]
+        public static extern short GTN_PvtStatus(short core,short profile,out short pTableId,out double pTime,short count);
+        [DllImport("gts.dll")]
+        public static extern short GTN_PvtStart(short core, Int32 mask);
+        [DllImport("gts.dll")]
+        public static extern short GTN_PvtTableSelect(short core,short profile,short tableId);
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_PvtTable(short core, short tableId, Int32 count, ref double pTime, ref double pPos, ref double pVel);
+        [DllImport("gts.dll")]
+        public static extern short GTN_PvtTableEx(short core, short tableId, Int32 count, ref double pTime, ref double pPos, ref double pVelBegin, ref double pVelEnd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_PvtTableComplete(short core, short tableId, Int32 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 GTN_PvtTablePercent(short core, short tableId, Int32 count, ref double pTime, ref double pPos, ref double pPercent, double velBegin);
+        [DllImport("gts.dll")]
+        public static extern short GTN_PvtPercentCalculate(short core, Int32 n, ref double pTime, ref double pPos, ref double pPercent, double velBegin, ref double pVel);
+        [DllImport("gts.dll")]
+        public static extern short GTN_PvtTableContinuous(short core, short tableId, Int32 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 GTN_PvtContinuousCalculate(short core, Int32 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 GTN_PvtTableMove(short core, short tableId, Int32 distance, double vm, double am, double jm, ref double pTime);
+        [DllImport("gts.dll")]
+        public static extern short GTN_PvtTableMovePercent(short core, short tableId, Int32 distance, double vm,
+	    double acc,double pa1,double pa2,
+	    double dec,double pd1,double pd2,
+	    ref double pVel,ref double pAcc,ref double pDec,ref double pTime);
+        [DllImport("gts.dll")]
+        public static extern short GTN_PvtTableMovePercentEx(short core, short tableId, Int32 distance, double vm,
+	    double acc,double pa1,double pa2,double ma,
+	    double dec,double pd1,double pd2,double md,
+	    ref double pVel,ref double pAcc,ref double pDec,ref double pTime);
+        [DllImport("gts.dll")]
+        public static extern short GTN_PvtTableMoveTogether(short core,short tableCount,ref TPvtTableMovePrm pPvtTableMovePrm);
+        public const short GEAR_MASTER_ENCODER        =     1;
+        public const short GEAR_MASTER_PROFILE         =    2;
+        public const short GEAR_MASTER_AXIS            =    3;
+        public const short GEAR_MASTER_AU_ENCODER      =    4;
+
+        public const short GEAR_MASTER_ENCODER_OTHER      = 101;
+        public const short GEAR_MASTER_AXIS_OTHER        =  103;
+
+        public const short GEAR_EVENT_START             =   1;
+        public const short GEAR_EVENT_PASS               =  2;
+        public const short GEAR_EVENT_AREA               =  5;
+     
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_PrfGear(short core,short profile,short dir);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetGearMaster(short core,short profile,short masterIndex,short masterType,short masterItem);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetGearMaster(short core,short profile,out short  pMasterIndex,out short  pMasterType,out short  pMasterItem);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetGearRatio(short core, short profile, Int32 masterEven, Int32 slaveEven, Int32 masterSlope);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetGearRatio(short core, short profile, out Int32 pMasterEven, out Int32 pSlaveEven, out Int32 pMasterSlope);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GearStart(short core, Int32 mask);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetGearEvent(short core, short profile, short gearevent, Int32 startPara0, Int32 startPara1);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetGearEvent(short core, short profile, out short pEvent, out Int32 pStartPara0, out Int32 pStartPara1);
+        public const short FOLLOW_SWITCH_SEGMENT		=	(1);
+        public const short FOLLOW_SWITCH_TABLE			=	(2);
+
+        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_MASTER_AU_ENCODER     =   (4);
+
+        public const short FOLLOW_MASTER_ENCODER_OTHER    = (101);
+        public const short FOLLOW_MASTER_AXIS_OTHER      =  (103);
+
+        public const short FOLLOW_EVENT_START            =  (1);
+        public const short FOLLOW_EVENT_PASS            =   (2);
+
+        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);
+      
+        [DllImport("gts.dll")]
+        public static extern short GTN_PrfFollow(short core,short profile,short dir);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetFollowMaster(short core,short profile,short masterIndex,short masterType,short masterItem);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetFollowMaster(short core,short profile,out short  pMasterIndex,out short  pMasterType,out short  pMasterItem);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetFollowLoop(short core, short profile, Int32 loop);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetFollowLoop(short core, short profile, out Int32 pLoop);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetFollowEvent(short core, short profile, short followevent, short masterDir, Int32 pos);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetFollowEvent(short core, short profile, out short pEvent, out short pMasterDir, out Int32 pPos);
+        [DllImport("gts.dll")]
+        public static extern short GTN_FollowSpace(short core,short profile,out short  pSpace,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_FollowData(short core, short profile, Int32 masterSegment, double slaveSegment, short type, short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_FollowClear(short core,short profile,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_FollowStart(short core, Int32 mask, Int32 option);
+        [DllImport("gts.dll")]
+        public static extern short GTN_FollowSwitch(short core,Int32 mask);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetFollowMemory(short core,short profile,short memory);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetFollowMemory(short core,short profile,out short  pMemory);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetFollowStatus(short core,short profile,out short  pFifoNum,out short  pSwitchStatus);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetFollowPhasing(short core,short profile,short profilePhasing);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetFollowPhasing(short core,short profile,out short  pProfilePhasing);
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_PrfFollowEx(short core,short profile,short dir);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetFollowMasterEx(short core,short profile,short masterIndex,short masterType,short masterItem);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetFollowMasterEx(short core,short profile,out short  pMasterIndex,out short  pMasterType,out short  pMasterItem);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetFollowLoopEx(short core, short profile, Int32 loop);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetFollowLoopEx(short core, short profile, out Int32 pLoop);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetFollowEventEx(short core, short profile, short followevent, short masterDir, Int32 pos);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetFollowEventEx(short core, short profile, out short pEvent, out short pMasterDir, out Int32 pPos);
+        [DllImport("gts.dll")]
+        public static extern short GTN_FollowSpaceEx(short core,short profile,out short  pSpace,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_FollowDataPercentEx(short core,short profile,double masterSegment,double slaveSegment,short type,short percent,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_FollowClearEx(short core,short profile,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_FollowStartEx(short core, Int32 mask, Int32 option);
+        [DllImport("gts.dll")]
+        public static extern short GTN_FollowSwitchEx(short core, Int32 mask);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetFollowMemoryEx(short core,short profile,short memory);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetFollowMemoryEx(short core,short profile,out short  pMemory);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetFollowStatusEx(short core,short profile,out short  pFifoNum,out short  pSwitchStatus);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetFollowPhasingEx(short core,short profile,short profilePhasing);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetFollowPhasingEx(short core,short profile,out short  pProfilePhasing);
+        [DllImport("gts.dll")]
+        public static extern short GTN_FollowSwitchNowEx(short core,short profile,short method,short buffer,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_FollowDataPercent2Ex(short core,short profile,double masterSegment,double slaveSegment,double velBeginRatio,double velEndRatio,short percent,out short  pPercent1,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetFollowDataPercent2Ex(short core,double masterPos,double v1,double v2,double p,double p1,out double pSlavePos);
+        [DllImport("gts.dll")]
+        public static extern short GTN_FollowDoBitEx(short core,short profile,short doType,short index,short value,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_FollowDelayEx(short core,short profile,UInt32 delayTime,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_FollowDiBitEx(short core,short profile,short diType,short index,short value,UInt32 time,short fifo);
+
+
+        public struct TMoveAbsolutePrm
+        {
+	        public Int32 pos;
+	        public double vel;
+	        public double acc;
+	        public double dec;
+	        public short percent;
+        } 
+
+        public struct TMoveAbsolutePrmEx
+				{
+					public Int32 pos; /*Ŀ��λ��*/
+					public double vel; /*����ٶ�*/
+					public double acc; /*���ٶȣ���λpulse/ms2*/
+					public double dec; /*���ٶȣ���λpulse/ms2*/
+					public short percent; /*S���߰ٷֱ�*/
+					public double velStart; /*����ٶȣ���λpulse/ms*/
+					public double velEnd; /*�յ��ٶȣ���λpulse/ms*/
+					public double accStartPercent; /*���ٶ���ʼ���ٶȰٷֱ�*/
+					public double decEndPercent; /*���ٶ��յ���ٶȰٷֱ�*/
+				}
+
+				public struct TMoveVelocityPrm
+				{
+					public double vel; /*Ŀ���ٶ�*/
+					public double acc; /*���ٶȣ���λpulse/ms2*/
+					public double dec; /*���ٶȣ���λpulse/ms2*/
+					public double jerkBegin; /*��ʼjerk����λpulse/ms3*/
+					public double jerkEnd; /*����Ŀ���ٶ�ʱ��jerk����λpulse/ms3*/
+					public short direction; /*�˶�����*/
+				}
+
+        [DllImport("gts.dll")]
+        public static extern short GTN_MoveAbsolute(short core,short profile,ref TMoveAbsolutePrm pPrm);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetMoveAbsolute(short core,short profile,out TMoveAbsolutePrm pPrm);
+		[DllImport("gts.dll")]
+        public static extern short GTN_MoveAbsoluteEx(short core,short profile,ref TMoveAbsolutePrmEx pPrm);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetMoveAbsoluteEx(short core,short profile,out TMoveAbsolutePrmEx pPrm);
+        [DllImport("gts.dll")]
+        public static extern short GTN_MoveVelocity(short core,short profile,ref TMoveVelocityPrm pPrm);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetMoveVelocity(short core,short profile,out TMoveVelocityPrm pPrm);
+
+
+        public struct  TTransformOrthogonal
+        {
+	        public short source;
+	        public short enable;
+	        public short x;
+	        public short y;
+	        public double theta;		// degree
+        } 
+       
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetTransformOrthogonal(short core,short index,ref TTransformOrthogonal pOrthogonal);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetTransformOrthogonal(short core,short index,out TTransformOrthogonal pOrthogonal);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetTransformOrthogonalPosition(short core,short index,out double pPositionX,out double pPositionY);
+
+
+        public const short HOME_STAGE_IDLE		=				(0);
+        public const short HOME_STAGE_START		=			(1);
+
+        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_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 struct THomePrm
+        {
+	        public short mode;						// ����ģʽ
+	        public short moveDir;					// ������������ʱ���˶�����
+	        public short indexDir;					// ����Index��������
+	        public short edge;						// ������
+	        public short triggerIndex;				// ����������
+	        public short pad10;					// ����1
+            public short pad11;					// ����1
+            public short pad12;					// ����1
+	        public double velHigh;					// Home�����ٶ�
+	        public double velLow;					// Index�����ٶ�
+	        public double acc;
+	        public double dec;
+	        public short smoothTime;
+	        public short pad20;					// ����2
+            public short pad21;					// ����2
+            public short pad22;					// ����2
+	        public Int32 homeOffset;				// ԭ��ƫ��
+	        public Int32 searchHomeDistance;		// Home����������룬Ϊ0��ʾ������
+	        public Int32 searchIndexDistance;		// Index����������룬Ϊ0��ʾ������
+	        public Int32 escapeStep;				// ���벽��
+	        public Int32 pad31;					// ����3
+            public Int32 pad32;					// ����3
+            public Int32 pad33;					// ����3
+        } 
+
+        public struct THomeStatus
+        {
+	        public short run;
+	        public short stage;
+	        public short error;
+	        public short pad1;
+	        public Int32 capturePos;
+	        public Int32 targetPos;
+        } 
+     
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_GoHome(short core,short axis,ref THomePrm pHomePrm);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetHomePrm(short core,short axis,out THomePrm pHomePrm);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetHomeStatus(short core,short axis,out THomeStatus pHomeStatus);
+
+
+        public const short PLC_THREAD_MAX=					(32);
+        public const short PLC_PAGE_MAX	=				(32);
+        public const short PLC_LOCAL_VAR_MAX=				(1024);
+        public const short PLC_ACCESS_VAR_COUNT_MAX =       (8);
+
+        public const short PLC_TIMER_TT	=				(0);
+        public const short PLC_TIMER_TF	=				(1);
+        public const short PLC_TIMER_TTF=					(2);
+
+        public const short PLC_COUNTER_EQ=					(0);
+        public const short PLC_COUNTER_LE=					(1);
+        public const short PLC_COUNTER_GE=					(2);
+
+        public const short PLC_COUNTER_EDGE_UP=				(0);
+        public const short PLC_COUNTER_EDGE_DOWN=			(1);
+        public const short PLC_COUNTER_EDGE_UP_DOWN=		(2);
+
+        public const short PLC_FLANK_UP	=				(0);
+        public const short PLC_FLANK_DOWN=					(1);
+        public const short PLC_FLANK_UP_DOWN=				(2);
+
+        public enum EPlcBind
+        {
+	        PLC_BIND_NONE,
+	        PLC_BIND_DI,
+	        PLC_BIND_DO,
+	        PLC_BIND_TIMER,
+	        PLC_BIND_COUNTER,
+	        PLC_BIND_FLANK,
+	        PLC_BIND_SRFF,
+        }
+
+        //public struct TVarInfo
+        //{
+        // public short id;
+        // public short dataType;
+        // public string name;
+        //} 
+        public struct TVarInfo
+        {
+            public short id;
+            public short dataType;
+            [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 32)]
+            public string name;
+            //public string name;
+         }
+
+            public struct TBindDi
+        {
+	        public short diType;
+	        public short index;
+	        public short reverse;
+        } 
+
+        public struct TBindDo
+        {
+	        public short doType;
+	        public short index;
+	        public short reverse;
+        } 
+
+        public struct TBindTimer
+        {
+	        public short timerType;
+	        public Int32 delay;
+	        public short inputVarId;
+        } 
+
+        public struct TBindCounter
+        {
+	        public short counterType;
+	        public short edge;
+	        public Int32 init;
+	        public Int32 target;
+	        public Int32 begin;
+	        public Int32 end;
+	        public short dir;
+	        public Int32 unit;
+	        public short inputVarId;
+	        public short resetVarId;
+        } 
+
+        public struct TBindFlank
+        {
+	        public short flankType;
+	        public short inputVarId;
+        } 
+
+        public struct TBindSrff
+        {
+	        public short setVarId;
+	        public short resetVarId;
+        } 
+
+        public struct TCompileInfo
+        {
+	       public string pFileName;
+	       public short  pLineNo;
+	       public string pMessage;
+        } 
+
+        public struct TThreadSts
+        {
+	        public short  run;
+	        public short  error;
+	        public double result;
+	        public short  line;
+        } 
+        
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_Compile(string pFileName,out TCompileInfo pWrongInfo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_Download(short core,string pFileName);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetFunId(string pFunName,out short  pFunId);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetVarId(string pFunName,string pVarName,out TVarInfo pVarInfo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_Bind(short core,short thread,short funId,short page);
+        [DllImport("gts.dll")]
+        public static extern short GTN_RunThread(short core,short thread);
+        [DllImport("gts.dll")]
+        public static extern short GTN_RunThreadPeriod(short core,short thread,short ms,short priority);
+        [DllImport("gts.dll")]
+        public static extern short GTN_StepThread(short core,short thread);
+        [DllImport("gts.dll")]
+        public static extern short GTN_StopThread(short core,short thread);
+        [DllImport("gts.dll")]
+        public static extern short GTN_PauseThread(short core,short thread);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetThreadSts(short core,short thread,out TThreadSts pThreadSts);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetThreadTime(short core,short thread,out short  pPeriod,out double pExecuteTime,out double pExecuteTimeMax);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetVarValue(short core,short page,ref TVarInfo pVarInfo,ref double pValue,short count);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetVarValue(short core,short page,ref TVarInfo pVarInfo,out double pValue,short count);
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_UnbindVar(short core,short thread);
+        [DllImport("gts.dll")]
+        public static extern short GTN_BindDi(short core,short thread,ref TVarInfo pVarInfo,ref TBindDi pBindDi);
+        [DllImport("gts.dll")]
+        public static extern short GTN_BindDo(short core,short thread,ref TVarInfo pVarInfo,ref TBindDo pBindDo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_BindTimer(short core,short thread,ref TVarInfo pVarInfo,ref TBindTimer pBindTimer);
+        [DllImport("gts.dll")]
+        public static extern short GTN_BindCounter(short core,short thread,ref TVarInfo pVarInfo,ref TBindCounter pBindCounter);
+        [DllImport("gts.dll")]
+        public static extern short GTN_BindFlank(short core,short thread,ref TVarInfo pVarInfo,ref TBindFlank pBindFlank);
+        [DllImport("gts.dll")]
+        public static extern short GTN_BindSrff(short core,short thread,ref TVarInfo pVarInfo,ref TBindSrff pBindSrff);
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_GetBindDi(short core,out TVarInfo pVarInfo,out TBindDi pBindDi);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetBindDo(short core,out TVarInfo pVarInfo,out TBindDo pBindDo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetBindTimer(short core,out TVarInfo pVarInfo,out TBindTimer pBindTimer,out Int32  pCount);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetBindCounter(short core,out TVarInfo pVarInfo,out TBindCounter pBindCounter,out Int32  pUnitCount,out Int32  pCount);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetBindFlank(short core,out TVarInfo pVarInfo,out TBindFlank pBindFlank);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetBindSrff(short core,out TVarInfo pVarInfo,out TBindSrff pBindSrff);
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_GetBindDiCount(short core,short thread,out short  pCount);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetBindDoCount(short core,short thread,out short  pCount);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetBindTimerCount(short core,short thread,out short  pCount);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetBindCounterCount(short core,short thread,out short  pCount);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetBindFlankCount(short core,short thread,out short  pCount);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetBindSrffCount(short core,short thread,out short  pCount);
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_GetBindDiInfo(short core,short thread,short index,out short  pVar,out TBindDi pBindDi);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetBindDoInfo(short core,short thread,short index,out short  pVar,out TBindDo pBindDo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetBindTimerInfo(short core,short thread,short index,out short  pVar,out TBindTimer pBindTimer);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetBindCounterInfo(short core,short thread,short index,out short  pVar,out TBindCounter pBindCounter);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetBindFlankInfo(short core,short thread,short index,out short  pVar,out TBindFlank pBindFlank);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetBindSrffInfo(short core,short thread,short index,out short  pVar,out TBindSrff pBindSrff);
+
+
+
+        public const short INTERPOLATION_AXIS_MAX =                  (8);
+
+        public const short CRD_OPERATION_DATA_EXT_MAX  =             (2);
+
+
+        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 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 struct TCrdPrm
+        {
+	        public short dimension;                              // ����ϵά��
+	        public short profile1;                             // ����profile��������
+          public short profile2;                             // ����profile��������
+          public short profile3;                             // ����profile��������
+          public short profile4;                             // ����profile��������
+          public short profile5;                             // ����profile��������
+          public short profile6;                             // ����profile��������
+          public short profile7;                             // ����profile��������
+          public short profile8;                             // ����profile��������
+        	public double synVelMax;                             // ���ϳ��ٶ�
+	        public double synAccMax;                             // ���ϳɼ��ٶ�
+	        public short evenTime;                               // ��С����ʱ��
+	        public short setOriginFlag;                          // ����ԭ������ֵ��־,0:Ĭ�ϵ�ǰ�滮λ��Ϊԭ��λ��;1:�û�ָ��ԭ��λ��
+	        public Int32 originPos1;                            // �û�ָ����ԭ��λ��
+          public Int32 originPos2;                            // �û�ָ����ԭ��λ��
+          public Int32 originPos3;                            // �û�ָ����ԭ��λ��
+          public Int32 originPos4;                            // �û�ָ����ԭ��λ��
+          public Int32 originPos5;                            // �û�ָ����ԭ��λ��
+          public Int32 originPos6;                            // �û�ָ����ԭ��λ��
+          public Int32 originPos7;                            // �û�ָ����ԭ��λ��
+          public Int32 originPos8;                            // �û�ָ����ԭ��λ��
+        }
+
+        public struct TCrdBufOperation
+        {
+	        public short flag;                                   // ��־�ò岹���Ƿ���IO����ʱ
+	        public ushort delay;                         // ��ʱʱ��
+	        public short doType;                                 // ������IO������,0:�����IO
+          public ushort doMask;                        // ������IO�������������
+          public ushort doValue;                       // ������IO�����ֵ
+          public ushort dataExt1;     // ����������չ����
+          public ushort dataExt2;     // ����������չ����
+        }
+         
+        public struct TCrdData
+        {
+	        public short motionType;                             // �˶�����,0:ֱ�߲岹,1:Բ���岹
+	        public short circlePlat;                             // Բ���岹��ƽ��
+	        public Int32 pos1;             // ��ǰ�θ����յ�λ��
+          public Int32 pos2;             // ��ǰ�θ����յ�λ��
+          public Int32 pos3;             // ��ǰ�θ����յ�λ��
+          public Int32 pos4;             // ��ǰ�θ����յ�λ��
+          public Int32 pos5;             // ��ǰ�θ����յ�λ��
+          public Int32 pos6;             // ��ǰ�θ����յ�λ��
+          public Int32 pos7;             // ��ǰ�θ����յ�λ��
+          public Int32 pos8;             // ��ǰ�θ����յ�λ��
+	        public double radius;                                  // Բ���岹�İ뾶
+	        public short circleDir;                              // Բ����ת����,0:˳ʱ��;1:��ʱ��
+	        public double center1;                               // Բ���岹��Բ������
+          public double center2;                               // Բ���岹��Բ������
+	        public double vel;                                   // ��ǰ�κϳ�Ŀ���ٶ�
+	        public double acc;                                   // ��ǰ�κϳɼ��ٶ�
+	        public short velEndZero;                             // ��־��ǰ�ε��յ��ٶ��Ƿ�ǿ��Ϊ0,0:��ǿ��Ϊ0;1:ǿ��Ϊ0
+	        public TCrdBufOperation operation;                   // ��������ʱ��IO�ṹ��
+
+	        public double cos1;           // ��ǰ�θ����Ӧ������ֵ
+          public double cos2;           // ��ǰ�θ����Ӧ������ֵ
+          public double cos3;           // ��ǰ�θ����Ӧ������ֵ
+          public double cos4;           // ��ǰ�θ����Ӧ������ֵ
+          public double cos5;           // ��ǰ�θ����Ӧ������ֵ
+          public double cos6;           // ��ǰ�θ����Ӧ������ֵ
+          public double cos7;           // ��ǰ�θ����Ӧ������ֵ
+          public double cos8;           // ��ǰ�θ����Ӧ������ֵ
+	        public double velEnd;                                // ��ǰ�κϳ��յ��ٶ�
+	        public double velEndAdjust;                          // �����յ��ٶ�ʱ�õ��ı���(ǰհģ��)
+	        public double r;                                     // ��ǰ�κϳ�λ����
+        }
+
+        public struct  TCrdTime
+        {
+	        public double time;
+	        public Int32 segmentUsed;
+	        public Int32 segmentHead;
+	        public Int32 segmentTail;
+        } 
+
+		    public struct TBufFollowMaster
+				{
+		      public Int16 crdAxis;
+					public Int16 masterIndex;
+					public Int16 masterType;
+				}
+
+		    public struct TBufFollowEventCross
+				{
+					public Int32 masterPos;
+					public Int32 pad;
+		    }
+	
+		    public struct TBufFollowEventTrigger
+				{
+					public Int16 triggerIndex;
+					public Int32 triggerOffset;
+					public Int32 pad;
+		    }
+	
+		    public struct TCrdFollowPrm
+				{
+					public double velRatioMax;
+				    public double accRatioMax;
+					public Int32 masterLead;
+					public Int32 masterEven;
+					public Int32 slaveEven;
+					public Int16 dir;
+					public Int16 smoothPercent;
+					public Int16 synchAlign;
+		        }
+	
+		    public struct TCrdFollowStatus
+				{
+					public Int16 stage;
+					public double slavePos;
+					public double slaveVel;
+					public Int32 masterFrameWidth;
+					public Int32 masterFrameIndex;
+					public UInt32 loopCount;
+		        }
+        public struct TAxisCircularSafetyZone
+        {
+            public short axisIndex1;
+            public short axisIndex2;
+            public short reservel1;
+            public short reservel2;
+            public double radius;
+            public double center1;
+            public double center2;
+        }
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetAxisCircularSafetyZone(short core, short safetyZoneIndex,short enable, ref TAxisCircularSafetyZone TAxisCircularSafetyZone);
+        
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_SetCrdPrm(short core,short crd,ref TCrdPrm pCrdPrm);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetCrdPrm(short core,short crd,out TCrdPrm pCrdPrm);
+        [DllImport("gts.dll")]
+        public static extern short GTN_CrdSpace(short core,short crd,out Int32  pSpace,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_CrdData(short core, short crd, IntPtr pCrdData, short fifo);
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_CrdHsOn(short core, short crd, short fifo, short link, ushort threshold, short lookaheadInMc);
+        [DllImport("gts.dll")]
+        public static extern short GTN_CrdHsOff(short core, short crd, short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetCrdHsPrm(short core, short crd, short fifo, out short pEnable, out short pLink, out ushort pThreshold, out short pLookAheadInMc);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetFlashPassword(short core, out ushort pPassword);
+        [DllImport("gts.dll")]
+        public static extern short GT_GetFlashPassword(out ushort pPassword);
+      
+        [DllImport("gts.dll")]
+        public static extern short GTN_LnXY(short core,short crd,Int32 x,Int32 y,double synVel,double synAcc,double velEnd,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_LnXYOverride2(short core,short crd,Int32 x,Int32 y,double synVel,double synAcc,double velEnd,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_LnXYWN(short core,short crd,Int32 x,Int32 y,double synVel,double synAcc,double velEnd,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_LnXYOverride2WN(short core,short crd,Int32 x,Int32 y,double synVel,double synAcc,double velEnd,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_LnXYG0(short core,short crd,Int32 x,Int32 y,double synVel,double synAcc,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_LnXYG0Override2(short core,short crd,Int32 x,Int32 y,double synVel,double synAcc,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_LnXYG0WN(short core,short crd,Int32 x,Int32 y,double synVel,double synAcc,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_LnXYG0Override2WN(short core,short crd,Int32 x,Int32 y,double synVel,double synAcc,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_LnXYZ(short core,short crd,Int32 x,Int32 y,Int32 z,double synVel,double synAcc,double velEnd,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_LnXYZOverride2(short core,short crd,Int32 x,Int32 y,Int32 z,double synVel,double synAcc,double velEnd,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_LnXYZWN(short core,short crd,Int32 x,Int32 y,Int32 z,double synVel,double synAcc,double velEnd,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_LnXYZOverride2WN(short core,short crd,Int32 x,Int32 y,Int32 z,double synVel,double synAcc,double velEnd,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_LnXYZG0(short core,short crd,Int32 x,Int32 y,Int32 z,double synVel,double synAcc,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_LnXYZG0Override2(short core,short crd,Int32 x,Int32 y,Int32 z,double synVel,double synAcc,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_LnXYZG0WN(short core,short crd,Int32 x,Int32 y,Int32 z,double synVel,double synAcc,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_LnXYZG0Override2WN(short core,short crd,Int32 x,Int32 y,Int32 z,double synVel,double synAcc,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_LnXYZA(short core,short crd,Int32 x,Int32 y,Int32 z,Int32 a,double synVel,double synAcc,double velEnd,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_LnXYZAOverride2(short core,short crd,Int32 x,Int32 y,Int32 z,Int32 a,double synVel,double synAcc,double velEnd,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_LnXYZAWN(short core,short crd,Int32 x,Int32 y,Int32 z,Int32 a,double synVel,double synAcc,double velEnd,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_LnXYZAOverride2WN(short core,short crd,Int32 x,Int32 y,Int32 z,Int32 a,double synVel,double synAcc,double velEnd,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_LnXYZAG0(short core,short crd,Int32 x,Int32 y,Int32 z,Int32 a,double synVel,double synAcc,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_LnXYZAG0Override2(short core,short crd,Int32 x,Int32 y,Int32 z,Int32 a,double synVel,double synAcc,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_LnXYZAG0WN(short core,short crd,Int32 x,Int32 y,Int32 z,Int32 a,double synVel,double synAcc,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_LnXYZAG0Override2WN(short core,short crd,Int32 x,Int32 y,Int32 z,Int32 a,double synVel,double synAcc,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_LnXYZACUVW(short core,short crd,ref Int32  pPos,short posMask,double synVel,double synAcc,double velEnd,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_LnXYZACUVWOverride2(short core,short crd,ref Int32  pPos,short posMask,double synVel,double synAcc,double velEnd,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_LnXYZACUVWWN(short core,short crd,ref Int32  pPos,short posMask,double synVel,double synAcc,double velEnd,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_LnXYZACUVWOverride2WN(short core,short crd,ref Int32  pPos,short posMask,double synVel,double synAcc,double velEnd,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_ArcXYR(short core,short crd,Int32 x,Int32 y,double radius,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ArcXYROverride2(short core,short crd,Int32 x,Int32 y,double radius,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ArcXYRWN(short core,short crd,Int32 x,Int32 y,double radius,short circleDir,double synVel,double synAcc,double velEnd,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ArcXYROverride2WN(short core,short crd,Int32 x,Int32 y,double radius,short circleDir,double synVel,double synAcc,double velEnd,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_ArcXYC(short core,short crd,Int32 x,Int32 y,double xCenter,double yCenter,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ArcXYCOverride2(short core,short crd,Int32 x,Int32 y,double xCenter,double yCenter,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ArcXYCWN(short core,short crd,Int32 x,Int32 y,double xCenter,double yCenter,short circleDir,double synVel,double synAcc,double velEnd,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ArcXYCOverride2WN(short core,short crd,Int32 x,Int32 y,double xCenter,double yCenter,short circleDir,double synVel,double synAcc,double velEnd,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_ArcYZR(short core,short crd,Int32 y,Int32 z,double radius,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ArcYZROverride2(short core,short crd,Int32 y,Int32 z,double radius,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ArcYZRWN(short core,short crd,Int32 y,Int32 z,double radius,short circleDir,double synVel,double synAcc,double velEnd,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ArcYZROverride2WN(short core,short crd,Int32 y,Int32 z,double radius,short circleDir,double synVel,double synAcc,double velEnd,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_ArcYZC(short core,short crd,Int32 y,Int32 z,double yCenter,double zCenter,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ArcYZCOverride2(short core,short crd,Int32 y,Int32 z,double yCenter,double zCenter,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ArcYZCWN(short core,short crd,Int32 y,Int32 z,double yCenter,double zCenter,short circleDir,double synVel,double synAcc,double velEnd,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ArcYZCOverride2WN(short core,short crd,Int32 y,Int32 z,double yCenter,double zCenter,short circleDir,double synVel,double synAcc,double velEnd,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ArcXYZ(short core, 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 GTN_ArcZXR(short core,short crd,Int32 z,Int32 x,double radius,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ArcZXROverride2(short core,short crd,Int32 z,Int32 x,double radius,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ArcZXRWN(short core,short crd,Int32 z,Int32 x,double radius,short circleDir,double synVel,double synAcc,double velEnd,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ArcZXROverride2WN(short core,short crd,Int32 z,Int32 x,double radius,short circleDir,double synVel,double synAcc,double velEnd,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_ArcZXC(short core,short crd,Int32 z,Int32 x,double zCenter,double xCenter,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ArcZXCOverride2(short core,short crd,Int32 z,Int32 x,double zCenter,double xCenter,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ArcZXCWN(short core,short crd,Int32 z,Int32 x,double zCenter,double xCenter,short circleDir,double synVel,double synAcc,double velEnd,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ArcZXCOverride2WN(short core,short crd,Int32 z,Int32 x,double zCenter,double xCenter,short circleDir,double synVel,double synAcc,double velEnd,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_HelixXYRZ(short core,short crd,Int32 x,Int32 y,Int32 z,double radius,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_HelixXYRZOverride2(short core,short crd,Int32 x,Int32 y,Int32 z,double radius,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_HelixXYRZWN(short core,short crd,Int32 x,Int32 y,Int32 z,double radius,short circleDir,double synVel,double synAcc,double velEnd,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_HelixXYRZOverride2WN(short core,short crd,Int32 x,Int32 y,Int32 z,double radius,short circleDir,double synVel,double synAcc,double velEnd,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_HelixXYCZ(short core,short crd,Int32 x,Int32 y,Int32 z,double xCenter,double yCenter,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_HelixXYCZOverride2(short core,short crd,Int32 x,Int32 y,Int32 z,double xCenter,double yCenter,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_HelixXYCZWN(short core,short crd,Int32 x,Int32 y,Int32 z,double xCenter,double yCenter,short circleDir,double synVel,double synAcc,double velEnd,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_HelixXYCZOverride2WN(short core,short crd,Int32 x,Int32 y,Int32 z,double xCenter,double yCenter,short circleDir,double synVel,double synAcc,double velEnd,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_HelixYZRX(short core,short crd,Int32 x,Int32 y,Int32 z,double radius,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_HelixYZRXOverride2(short core,short crd,Int32 x,Int32 y,Int32 z,double radius,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_HelixYZRXWN(short core,short crd,Int32 x,Int32 y,Int32 z,double radius,short circleDir,double synVel,double synAcc,double velEnd,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_HelixYZRXOverride2WN(short core,short crd,Int32 x,Int32 y,Int32 z,double radius,short circleDir,double synVel,double synAcc,double velEnd,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_HelixYZCX(short core,short crd,Int32 x,Int32 y,Int32 z,double yCenter,double zCenter,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_HelixYZCXOverride2(short core,short crd,Int32 x,Int32 y,Int32 z,double yCenter,double zCenter,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_HelixYZCXWN(short core,short crd,Int32 x,Int32 y,Int32 z,double yCenter,double zCenter,short circleDir,double synVel,double synAcc,double velEnd,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_HelixYZCXOverride2WN(short core,short crd,Int32 x,Int32 y,Int32 z,double yCenter,double zCenter,short circleDir,double synVel,double synAcc,double velEnd,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_HelixZXRY(short core,short crd,Int32 x,Int32 y,Int32 z,double radius,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_HelixZXRYOverride2(short core,short crd,Int32 x,Int32 y,Int32 z,double radius,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_HelixZXRYWN(short core,short crd,Int32 x,Int32 y,Int32 z,double radius,short circleDir,double synVel,double synAcc,double velEnd,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_HelixZXRYOverride2WN(short core,short crd,Int32 x,Int32 y,Int32 z,double radius,short circleDir,double synVel,double synAcc,double velEnd,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_HelixZXCY(short core,short crd,Int32 x,Int32 y,Int32 z,double zCenter,double xCenter,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_HelixZXCYOverride2(short core,short crd,Int32 x,Int32 y,Int32 z,double zCenter,double xCenter,short circleDir,double synVel,double synAcc,double velEnd,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_HelixZXCYWN(short core,short crd,Int32 x,Int32 y,Int32 z,double zCenter,double xCenter,short circleDir,double synVel,double synAcc,double velEnd,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_HelixZXCYOverride2WN(short core,short crd,Int32 x,Int32 y,Int32 z,double zCenter,double xCenter,short circleDir,double synVel,double synAcc,double velEnd,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_BufIO(short core,short crd,short doType,ushort doMask,ushort doValue,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_BufDelay(short core,short crd,ushort delayTime,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_BufDA(short core,short crd,short chn,short daValue,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_BufLmtsOn(short core,short crd,short axis,short limitType,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_BufLmtsOff(short core,short crd,short axis,short limitType,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_BufSetStopIo(short core,short crd,short axis,short stopType,short inputType,short inputIndex,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_BufMove(short core,short crd,short moveAxis,Int32 pos,double vel,double acc,short modal,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_BufGear(short core,short crd,short gearAxis,Int32 pos,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_BufGearPercent(short core,short crd,short gearAxis,Int32 pos,short accPercent,short decPercent,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_BufStopMotion(short core,short crd,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_BufSetVarValue(short core,short crd,short pageId,ref TVarInfo pVarInfo,double value,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_BufJumpNextSeg(short core,short crd,short axis,short limitType,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_BufSynchPrfPos(short core,short crd,short encoder,short profile,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_BufVirtualToActual(short core,short crd,short fifo);
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_CrdStart(short core,short mask,short option);
+        [DllImport("gts.dll")]
+        public static extern short GTN_CrdStartStep(short core,short mask,short option);
+        [DllImport("gts.dll")]
+        public static extern short GTN_CrdStepMode(short core,short mask,short option);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetOverride(short core,short crd,double synVelRatio);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetOverride2(short core,short crd,double synVelRatio);
+        [DllImport("gts.dll")]
+        public static extern short GTN_InitLookAhead(short core,short crd,short fifo,double T,double accMax,short n,ref TCrdData pLookAheadBuf);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetLookAheadSpace(short core,short crd,out Int32  pSpace,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetLookAheadSegCount(short core,short crd,out Int32  pSegCount,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_CrdClear(short core,short crd,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_CrdStatus(short core,short crd,out short  pRun,out Int32  pSegment,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetUserSegNum(short core,short crd,Int32 segNum,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetUserSegNum(short core,short crd,out Int32  pSegment,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetUserSegNumWN(short core,short crd,out Int32  pSegment,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetRemainderSegNum(short core,short crd,out Int32  pSegment,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetCrdStopDec(short core,short crd,double decSmoothStop,double decAbruptStop);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetCrdStopDec(short core,short crd,out double pDecSmoothStop,out double pDecAbruptStop);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetCrdLmtStopMode(short core,short crd,short lmtStopMode);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetCrdLmtStopMode(short core,short crd,out short  pLmtStopMode);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetUserTargetVel(short core,short crd,out double pTargetVel);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetSegTargetPos(short core,short crd,out Int32  pTargetPos);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetCrdPos(short core,short crd,out double pPos);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetCrdVel(short core,short crd,out double pSynVel);
+        [DllImport("gts.dll")]
+        public static extern short GTN_BufLaserOn(short core,short crd,short fifo,short channel);
+        [DllImport("gts.dll")]
+        public static extern short GTN_BufLaserOff(short core,short crd,short fifo,short channel);
+        [DllImport("gts.dll")]
+        public static extern short GTN_BufLaserPrfCmd(short core,short crd,double laserPower,short fifo,short channel);
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_SetG0Mode(short core,short crd,short mode);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetG0Mode(short core,short crd,out short  pMode);
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_SetCrdMapBase(short core,short crd,short Mapbase);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetCrdMapBase(short core,short crd,out short  pBase);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetCrdBufferMode(short core,short crd,  short bufferMode,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetCrdBufferMode(short core,short crd,out short  pBufferMode,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetCrdSegmentTime(short core,short crd,Int32 segmentIndex,out double pSegmentTime,out Int32  pSegmentNumber,short fifo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetCrdTime(short core,short crd,out TCrdTime pTime,short fifo);
+        
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetBacklash(short core,short axis,Int32 value,double changeValue,Int32 dir);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetBacklash(short core,short axis,out Int32  pValue,out double pChangeValue,out Int32  pDir);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetLeadScrewComp(short core,short axis,short n,Int32 startPos,Int32 lenPos,ref Int32  pPositive,ref Int32  pNegative);
+        [DllImport("gts.dll")]
+        public static extern short GTN_EnableLeadScrewComp(short core,short axis,short mode);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetLeadScrewCrossComp(short core,short axis,short n,Int32 startPos,Int32 lenPos,ref Int32  pPositive,out Int32  pNegative,short link);
+        [DllImport("gts.dll")]
+        public static extern short GTN_EnableLeadScrewCrossComp(short core,short axis,short mode);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetCompensate(short core,short axis,out double pPitchError,out double pCrossError,out double pBacklashError,ref double pEncPos,ref double pPrfPos);
+        public struct TLeadScrewPrm
+        {
+	        public short n;
+	        public Int32 startPos;
+	        public Int32 lenPos;
+	        public Int32  pCompPos;
+	        public Int32  pCompNeg;
+        } 
+        
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_SetLeadScrewTable(short core,short axis,ref TLeadScrewPrm pPrm);
+        [DllImport("gts.dll")]
+        public static extern short GTN_EnableLeadScrewTable(short core,short axis,Int32 error);
+        [DllImport("gts.dll")]
+        public static extern short GTN_DisableLeadScrewTable(short core,short axis);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetLeadScrewTablePrfPosCount(short core,Int32 encPos,out TLeadScrewPrm pPrm,out short  pCountPositive,out short  pCountNegative);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetLeadScrewTablePrfPosPositive(short core,Int32 encPos,out TLeadScrewPrm pPrm,short index,out Int32  pPrfPosPositive);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetLeadScrewTablePrfPosNegative(short core,Int32 encPos,out TLeadScrewPrm pPrm,short index,out Int32  pPrfPosNegative);
+        [DllImport("gts.dll")]
+        public static extern short GTN_InitMcAxisGap(short core);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetMcAxisGap(short core,short axis, short count);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetMcAxisGap(short core, short axis,ref short pActualAxisNo, short count);
+
+
+        public struct TCompensate2DTable
+        {
+	        public short count1;                               // ��������������СֵΪ2
+            public short count2;                               // ��������������СֵΪ2
+	        public Int32 posBegin1;                             // ����
+            public Int32 posBegin2;                             // ����
+	        public Int32 step1;                                 // ����
+            public Int32 step2;                                 // ����
+        } 
+
+        public struct TCompensate2D
+        {
+	        public short enable;                                  // 2D����ʹ�ܱ�־
+	        public short tableIndex;                              // ��ʹ�õ�2D������
+	        public short axisType1;                             // ���������
+            public short axisType2;                             // ���������
+	        public short axisIndex1;                            // ���������
+            public short axisIndex2;                            // ���������
+        } 
+       
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetCompensate2DTable(short core,short tableIndex,ref TCompensate2DTable pTable,ref Int32  pData,short extend);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetCompensate2DTable(short core,short tableIndex,out TCompensate2DTable pTable,out short  pExtend);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetCompensate2D(short core,short axis,ref TCompensate2D pComp2d);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetCompensate2D(short core,short axis,out TCompensate2D pComp2d);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetCompensate2DValue(short core,short axis,out double pValue);
+     
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetDo(short core,short doType,Int32 value);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetDoEx(short core, short doType, ref Int32 pValue, short count);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetDoBit(short core,short doType,short doIndex,short value);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetDo(short core,short doType,out Int32  pValue);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetDoBitReverse(short core,short doType,short doIndex,short value,short reverseTime);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetDoBit(short core, short doType, short doIndex, out short pValue);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetDiBit(short core, short diType, short diIndex,out short pValue);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetDi(short core,short diType,out Int32  pValue);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetDiReverseCount(short core,short diType,short diIndex,out UInt32 pReverseCount,short count);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetDiReverseCount(short core,short diType,short diIndex,ref UInt32 pReverseCount,short count);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetDiRaw(short core,short diType,out Int32  pValue);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetDiEx(short core,short diType,out Int32  pValue,short count);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetDac(short core,short dac,ref short  pValue,short count);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetDac(short core,short dac,out short  pValue,short count,out UInt32 pClock);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetAdc(short core,short adc,out double pValue,short count,out UInt32 pClock);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetAdcValue(short core,short adc,out short  pValue,short count,out UInt32 pClock);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetEncPos(short core,short encoder,Int32 encPos);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetEncPos(short core,short encoder,out double pValue,short count,out UInt32 pClock);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetEncPosPre(short core,short encoder,out double pValue,short count,out UInt32 pClock);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetEncVel(short core,short encoder,out double pValue,short count,out UInt32 pClock);
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_SetPlsPos(short core,short encoder,Int32 encPos);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetPlsPos(short core,short pulse,out double pValue,short count,out UInt32 pClock);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetPlsVel(short core,short pulse,out double pValue,short count,out UInt32 pClock);
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_SetAuEncPos(short core,short encoder,Int32 encPos);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetAuEncPos(short core,short encoder,out double pValue,short count,out UInt32 pClock);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetAuEncVel(short core,short encoder,out double pValue,short count,out UInt32 pClock);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetAbsEncPos(short core,short encoder,out Int32  pValue,short mode,short param);
+        
+
+
+        public const short POS_COMPARE_MODE_FIFO   =      (0);
+        public const short POS_COMPARE_MODE_LINEAR =      (1);
+
+        public const short POS_COMPARE_OUTPUT_PULSE=      (0);
+        public const short POS_COMPARE_OUTPUT_LEVEL=      (1);
+
+        public const short POS_COMPARE_SOURCE_ENCODER =   (0);
+        public const short POS_COMPARE_SOURCE_PULSE =     (1);
+
+
+        public struct TPosCompareMode
+        {
+	        public short mode;                       // FIFOģʽ��Linearģʽ
+	        public short dimension;                  // 1D,2D
+	        public short sourceMode;                 // �����������������
+	        public short sourceX;                    // X��Ƚ�Դ
+	        public short sourceY;                    // Y��Ƚ�Դ
+	        public short outputMode;                 // ���ģʽ�����塢��ƽ
+	        public short outputCounter;              // ����������Դ
+	        public ushort outputPulseWidth;  // ���������ȣ���ƽģʽ��Ч
+            public ushort errorBand;         // ��άλ�ñȽ��������
+        } 
+
+        public struct TPosCompareLinear
+        {
+	        public UInt32 count;
+            public ushort hso;
+            public ushort gpo;
+
+	        public Int32 startPos;
+	        public Int32 interval;
+        } 
+
+        public struct TPosCompareLinear2D
+        {
+	        public UInt32 count;
+            public ushort hso;
+            public ushort gpo;
+
+	        public Int32 startPosX;
+	        public Int32 startPosY;
+	        public Int32 intervalX;
+	        public Int32 intervalY;
+        } 
+
+
+        public struct TPosCompareData
+        {
+	        public Int32 pos;
+            public ushort hso;
+            public ushort gpo;
+	        public UInt32 segmentNumber;
+        } 
+
+        public struct TPosCompareData2D
+        {
+	        public Int32 posX;
+	        public Int32 posY;
+            public ushort hso;
+            public ushort gpo;
+	        public UInt32 segmentNumber;
+        }
+        public struct TPosComparePsoPrm
+        {
+            public UInt32 count;
+            public Int16 hso;
+            public UInt16 gpo;
+            public Int32 startPosX;
+            public Int32 startPosY;
+            public Int32 syncPos;
+            public Int32 time;
+            [MarshalAs(UnmanagedType.ByValArray, SizeConst = 20)]
+            public short[] reserve;
+        }
+        public struct TPosCompareStatus
+        {
+            public ushort mode;      // 0:FIFOģʽ��1��Linearģʽ
+            public ushort run;
+            public ushort space;
+	        public UInt32 pulseCount;
+            public ushort hso;
+            public ushort gpo;
+	        public UInt32 segmentNumber;
+        } 
+
+        public struct TPosCompareInfo
+        {
+            public ushort config;
+            public ushort fifoEmpty;
+            public ushort head;
+            public ushort tail;
+	        public UInt32 commandReceive;
+	        public UInt32 commandSend;
+	        public Int32 posX;
+	        public Int32 posY;
+        } 
+
+       
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetPosComparePsoPrm(short core, short index, ref TPosComparePsoPrm pPrm);
+        [DllImport("gts.dll")]
+        public static extern short GTN_PosCompareStart(short core,short index);
+        [DllImport("gts.dll")]
+        public static extern short GTN_PosCompareStop(short core,short index);
+        [DllImport("gts.dll")]
+        public static extern short GTN_PosCompareClear(short core,short index);
+        [DllImport("gts.dll")]
+        public static extern short GTN_PosCompareStatus(short core,short index,out TPosCompareStatus pStatus);
+        [DllImport("gts.dll")]
+        public static extern short GTN_PosCompareData(short core,short index,ref TPosCompareData pData);
+        [DllImport("gts.dll")]
+        public static extern short GTN_PosCompareData2D(short core,short index,ref TPosCompareData2D pData);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetPosCompareMode(short core,short index,ref TPosCompareMode pMode);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetPosCompareMode(short core,short index,out TPosCompareMode pMode);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetPosCompareLinear(short core,short index,ref TPosCompareLinear pLinear);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetPosCompareLinear(short core,short index,out TPosCompareLinear pLinear);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetPosCompareLinear2D(short core,short index,ref TPosCompareLinear2D pLinear);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetPosCompareLinear2D(short core,short index,out TPosCompareLinear2D pLinear);
+        [DllImport("gts.dll")]
+        public static extern short GTN_PosCompareInfo(short core,short index,out TPosCompareInfo pInfo);
+
+
+
+        public const short FIFO_MODE_STATIC   =               (0);
+        public const short FIFO_MODE_DYNAMIC  =               (1);
+
+        public const short SCAN_STATUS_WAIT =                 (0);
+        public const short SCAN_STATUS_RUN=	              (1);
+        public const short SCAN_STATUS_DONE  =                (2);
+
+        public struct TScanInit
+        {
+	        public Int32 lookAheadNum;             //ǰհ����
+	        public double time;                  //ʱ�䳣��
+	        public double radiusRatio;           //�������Ƶ��ڲ���
+        }
+
+        public struct TScanInfo
+        {
+	        public UInt32 segmentNumber;
+            public ushort commandNumber;
+            public ushort prfVel;
+            public ushort fifoEmpty;
+            public ushort head;
+            public ushort tail;
+	        public UInt32 commandReceive;
+	        public UInt32 commandSend;
+	        public UInt32 reserve1;
+            public UInt32 reserve2;
+            public UInt32 reserve3;
+            public UInt32 reserve4;
+            public UInt32 reserve5;
+            public UInt32 reserve6;
+        } 
+
+        public struct TLaserInfo
+        {
+            public ushort hso;
+            public ushort powerMode;
+            public ushort power;
+            public ushort powerMax;
+            public ushort powerMin;
+            public ushort frequency;
+            public ushort pulseWidth;
+        } 
+        public struct TLaserPowerPrm
+        {
+            public short n;
+            public double startVel;
+            public double power;
+        }
+
+        public struct TLaserPowerTable
+        {
+            public short n;
+            public double startVel;
+            public double velStep;
+            public double power;
+        }
+
+       
+        [DllImport("gts.dll")]
+        public static extern short GTN_ScanInit(short core,ref TScanInit pScanInit,double jumpAcc,double markAcc,short crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ScanCrdDataEnd(short core,short crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetScanMode(short core,short mode,short crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetScanMode(short core,out short  pMode,short crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ClearScanStatus(short core,short crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ScanGetCrdPos(short core,out short  pPos,short crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ScanJump(short core,short x,short y,double vel,short crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ScanJumpPoint(short core,short x,short y,double vel,Int32 motionDelayTime,Int32 laserDelayTime,short crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ScanTimeJump(short core,short x,short y,ushort time,short crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ScanTimeJumpPoint(short core, short x, short y, ushort time, Int32 motionDelayTime, Int32 laserDelayTime, short crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ScanMark(short core,short x,short y,double vel,short crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ScanTimeMark(short core, short x, short y, ushort time, short crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetScanDaType(short core,short type,short crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ScanBufLaserPrfCmd(short core,double laserPower,short crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ScanBufIO(short core, ushort doType, ushort doMask, ushort doValue, short crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ScanBufDelay(short core,Int32 time,short crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ScanBufDA(short core, ushort chn, short value, short crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ScanBufLaserDelay(short core,short laserOnDelay,short laserOffDelay,short crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ScanBufLaserOutFrq(short core,double outFrq,short crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ScanBufSetPulseWidth(short core, ushort width, short crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ScanBufLaserOn(short core,short crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ScanBufLaserOff(short core,short crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ScanBufStop(short core,short crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ScanLaserIntervalOnList(short core,Int32 time,short crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetScanDelayTime(short core, ushort maxJumpDelay, ushort markDelay, ushort multiMarkDelayConst, short crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetScanDelayMode(short core, short multiMarkDelayMode, ushort multiMarkLaserOffDelay, ushort minJumpDelay, ushort jumpDelayLengthLimit, short crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ScanStop(short core,short stopType,short crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ScanCrdSpace(short core,out short  pSpace,short crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ScanCrdStart(short core,short crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ScanCrdClear(short core,short crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ScanCrdStatus(short core,out short  pRun,out short  pCmdId,short crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetHSIOOpt(short core, ushort value, ushort crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetHSIOOpt(short core, out short pValue, ushort crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetLaserMode(short core, ushort laserMode, ushort crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_LaserPowerMode(short core, short laserPowerMode, double maxValue, double minValue, ushort crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_LaserPrfCmd(short core, double power, ushort crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_LaserOutFrq(short core, double outFrq, ushort crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetPulseWidth(short core, ushort width, ushort crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetLevelDelay(short core, ushort highLevelDelay, ushort lowLevelDelay, ushort crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ScanInfo(short core,ref TScanInfo pScanInfo,short crd);
+        [DllImport("gts.dll")]
+        public static extern short GTN_LaserInfo(short core,ref TLaserInfo pLaserInfo,short crd);
+
+
+        public const short DLM_FUNCTION_EVENT	=						(0);
+        public const short DLM_FUNCTION_TIMER=							(1);
+        public const short DLM_FUNCTION_BACKGROUND=						(2);
+        public const short DLM_FUNCTION_COMMAND	=					(3);
+
+        public const short DLM_FUNCTION_PROCEDURE=						(7);
+
+        public const short DLM_FUNCTION_PROFILE_EVENT=					(8);
+        public const short DLM_FUNCTION_PROFILE	=					(9);
+        public const short DLM_FUNCTION_PROFILE_SUPERIMPOSED=			(10);
+        public const short DLM_FUNCTION_PROFILE_FILTER	=				(11);
+
+        public const short DLM_FUNCTION_SERVO_EVENT=					(16);
+        public const short DLM_FUNCTION_SERVO	=						(17);
+        public const short DLM_FUNCTION_SERVO_SUPERIMPOSED=				(18);
+        public const short DLM_FUNCTION_SERVO_FILTER	=				(19);
+
+        public const short DLM_LOAD_MODE_NONE	=						(0);
+        public const short DLM_LOAD_MODE_COMMAND=						(1);
+        public const short DLM_LOAD_MODE_BOOT=							(2);
+        public const short DLM_LOAD_MODE_RUN	=						(3);
+
+        public struct TDlmStatus
+        {
+	        public Int32 version;
+	        public Int32 date;
+	        public short enable;
+	        public Int32 function;
+        } 
+
+        public struct TDlmFunction
+        {
+	        public short function;
+	        public short enable;
+	        public Int32 value;
+        } 
+       
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_LoadDlm(short core,Int32 vender,Int32 module,string fileName,out short  pId);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ProgramDlm(short core,short id,short loadMode);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetDlmLoadMode(short core,short id,out short  pLoadMode);
+        [DllImport("gts.dll")]
+        public static extern short GTN_RunDlm(short core,short id);
+        [DllImport("gts.dll")]
+        public static extern short GTN_StopDlm(short core,short id);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetDlmStatus(short core,short id,out TDlmStatus pStatus);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetDlmFunction(short core,short id,ref TDlmFunction pFunction);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetDlmFunction(short core,short id,out TDlmFunction pFunction);
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_DlmCommandInit(short core,short code,Int32 index);
+        [DllImport("gts.dll")]
+        public static extern short GTN_DlmCommandAdd16(short core,short value);
+        [DllImport("gts.dll")]
+        public static extern short GTN_DlmCommandAdd32(short core,Int32 value);
+        [DllImport("gts.dll")]
+        public static extern short GTN_DlmCommandAddFloat(short core,float value);
+        [DllImport("gts.dll")]
+        public static extern short GTN_DlmCommandAddDouble(short core,double value);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SendDlmCommand(short core,short id,out short  pReturnValue);
+        [DllImport("gts.dll")]
+        public static extern short GTN_DlmCommandGet16(short core,out short  pValue);
+        [DllImport("gts.dll")]
+        public static extern short GTN_DlmCommandGet32(short core,out Int32  pValue);
+        [DllImport("gts.dll")]
+        public static extern short GTN_DlmCommandGetFloat(short core,ref float pValue);
+        [DllImport("gts.dll")]
+        public static extern short GTN_DlmCommandGetDouble(short core,out double pValue);
+
+
+        public const short WATCH_GROUP_TIMER	=				(0);
+        public const short WATCH_GROUP_BACKGROUND=				(1);
+
+        public const short WATCH_LOAD_MODE_NONE	=		    	(0);
+        public const short WATCH_LOAD_MODE_BOOT=				(2);
+        public const short WATCH_LOAD_MODE_RUN	=				(3);
+
+        public const short WATCH_MODE_STATIC=					(0);
+        public const short WATCH_MODE_LOOP=						(1);
+        public const short WATCH_MODE_DYNAMIC=					(2);
+
+        public const short WATCH_EVENT_RUN=						(1);
+        public const short WATCH_EVENT_START=					(10);
+        public const short WATCH_EVENT_STOP=					(20);
+        public const short WATCH_EVENT_OFF=						(30);
+
+        public const short WATCH_CONDITION_EQ=					(1);
+        public const short WATCH_CONDITION_NE=					(2);
+        public const short WATCH_CONDITION_GE=					(3);
+        public const short WATCH_CONDITION_LE=					(4);
+
+        public const short WATCH_CONDITION_CHANGE_TO=			(11);
+        public const short WATCH_CONDITION_CHANGE=				(12);
+        public const short WATCH_CONDITION_UP=					(13);
+        public const short WATCH_CONDITION_DOWN	=		    	(14);
+
+        public const short WATCH_CONDITION_REMAIN_AT=			(21);
+        public const short WATCH_CONDITION_REMAIN=				(22);
+        public const short WATCH_CONDITION_CROSS_POSITIVE=		(23);
+        public const short WATCH_CONDITION_CROSS_NEGATIVE=		(24);
+
+        public const short WATCH_CONDITION_NEAREST=				(31);
+        public const short WATCH_CONDITION_DELTA=				(32);
+
+        public struct TWatchVar
+        {
+            public ushort type;
+            public ushort index;
+            public ushort id;
+        } 
+
+        public struct TWatchEvent
+        {
+            public ushort type;
+            public ushort loop;
+            public ushort watchCount;
+	        public TWatchVar var;
+            public ushort condition;
+	        public double value;
+        } 
+
+        public struct TWatchVarInfo
+        {
+	        public UInt32 pAddress;
+            public ushort length;
+	        public short fraction;
+            public ushort format;
+            public ushort hex;
+            public ushort sign;
+            public ushort bit;
+        } 
+     
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_SetWatchGroup(short core,short group);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetWatchGroup(short core,out short  pGroup);
+        [DllImport("gts.dll")]
+        public static extern short GTN_LoadWatchConfig(short core,string pFile);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SaveWatchConfig(short core,short group,string pFile);
+        [DllImport("gts.dll")]
+        public static extern short GTN_PrintWatch(short core, string pFileName,Int32 start,UInt32 printCount);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ReadWatch(short core,short varIndex,ref double pBuffer,UInt32 bufferSize,ref UInt32 pReadCount);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ProgramWatch(short core,short loadMode);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetWatchLoadMode(short core,short group,out short  pLoadMode);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetMcVar(short core,out  TWatchVar pVar,out double pValue);
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_ClearWatch(short core,short mode);
+        [DllImport("gts.dll")]
+        public static extern short GTN_AddWatchVar(short core,ref  TWatchVar pVar);
+        [DllImport("gts.dll")]
+        public static extern short GTN_AddWatchEvent(short core,ref  TWatchEvent pEvent);
+        [DllImport("gts.dll")]
+        public static extern short GTN_WatchOn(short core,short interval,short mode,UInt32 count);
+        [DllImport("gts.dll")]
+        public static extern short GTN_WatchOff(short core);
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_GetWatchEvent(short core,short index,out TWatchEvent pEvent);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetWatchVar(short core,short index,out TWatchVar pVar,out TWatchVarInfo pVarInfo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetWatchModeEx(short core,short group,short mode);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetWatchIntervalEx(short core,short group,short interval);
+
+
+        public const short TASK_SET_DO_BIT=							(0x1101);
+        public const short TASK_SET_DAC	=						(0x1120);
+
+        public const short TASK_STOP=								(0x1303);
+
+        public const short TASK_UPDATE_POS=							(0x2002);
+        public const short TASK_UPDATE_VEL=							(0x2004);
+
+        public const short TASK_PT_START=							(0x2306);
+        public const short TASK_PVT_START=							(0x2346);
+        public const short TASK_MOVE_ABSOLUTE=						(0x2500);
+
+        public const short TASK_GEAR_START=							(0x3005);
+
+        public const short TASK_FOLLOW_START=						(0x310A);
+        public const short TASK_FOLLOW_SWITCH=						(0x310B);
+
+        public const short TASK_CRD_START=							(0x4004);
+        public const short TASK_SCAN_START=							(0x4102);
+
+        public const short TASK_SET_DO_BIT_MODE_NONE	=			(0);
+        public const short TASK_SET_DO_BIT_MODE_TIME=				(10);
+        public const short TASK_SET_DO_BIT_MODE_DISTANCE=			(20);
+
+
+        public struct   TTaskSetDoBit
+        {
+	        public short doType;
+	        public short doIndex;
+	        public short doValue;
+	        public short mode;
+	        public Int32 parameter1;
+            public Int32 parameter2;
+            public Int32 parameter3;
+            public Int32 parameter4;
+            public Int32 parameter5;
+            public Int32 parameter6;
+            public Int32 parameter7;
+            public Int32 parameter8;
+        } 
+
+        public struct  TTaskSetDac
+        {
+	        public short dac;
+	        public short value;
+        } 
+
+        public struct  TTaskStop
+        {
+	        public Int32 mask;
+	        public Int32 option;
+        } 
+
+        public struct  TTaskFifoOperation
+        {
+	        public short type;
+	        public short index;
+	        public short operation;
+	        public short data1;
+            public short data2;
+            public short data3;
+            public short data4;
+            public short data5;
+            public short data6;
+            public short data7;
+            public short data8;
+            public short data9;
+            public short data10;
+            public short data11;
+            public short data12;
+            public short data13;
+            public short data14;
+            public short data15;
+            public short data16;
+            public short data17;
+            public short data18;
+            public short data19;
+            public short data20;
+        } 
+
+        public struct  TTaskUpdatePos
+        {
+	        public short profile;
+	        public Int32 pos;
+        }
+        public struct TTaskUpdateDistance
+        {
+            public short profile;
+            public short triggerIndex;
+            public Int32 distance;
+        } 
+        public struct  TTaskUpdateVel
+        {
+	        public short profile;
+	        public double vel;
+        } 
+
+        public struct  TTaskPtStart
+        {
+	        public Int32 mask;
+	        public Int32 option;
+        } 
+
+        public struct  TTaskPvtStart
+        {
+	        public Int32 mask;
+        } 
+
+        public struct  TTaskGearStart
+        {
+	        public Int32 mask;
+        } 
+
+        public struct TTaskFollowStart
+        {
+	        public Int32 mask;
+	        public Int32 option;
+        } 
+
+        public struct TTaskFollowSwitch
+        {
+	      public Int32 mask;
+        } 
+
+        public struct  TTaskMoveAbsolute
+        {
+	        public short profile;
+	        public Int32 pos;
+	        public double vel;
+	        public double acc;
+	        public double dec;
+	        public short percent;
+        } 
+
+        public struct  TTaskCrdStart
+        {
+	        public short mask;
+	        public short option;
+        } 
+
+        public struct  TTaskScanStart
+        {
+	        public short core;
+	        public short index;
+	        public short count;
+        } 
+
+        public struct  TEvent
+        {
+	        public UInt32 loop;
+	        public TWatchVar var;
+            public ushort condition;
+	        public double value;
+        } 
+      
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_ClearEvent(short core);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ClearTask(short core);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ClearEventTaskLink(short core);
+        [DllImport("gts.dll")]
+        public static extern short GTN_AddTask(short core,short taskType, IntPtr pTaskData, ref short pTaskIndex);
+        [DllImport("gts.dll")]
+        public static extern short GTN_AddEvent(short core,ref TEvent pEvent,ref short  pEventIndex);
+        [DllImport("gts.dll")]
+        public static extern short GTN_AddEventTaskLink(short core,short eventIndex,short taskIndex,ref short  pLinkIndex);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetEventCount(short core,out short  pCount);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetEvent(short core,short eventIndex,out TEvent pEvent);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetEventLoop(short core,short eventIndex,out UInt32 pEventLoop);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetTaskCount(short core,out short  pCount);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetEventTaskLinkCount(short core,out short  pCount);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetEventTaskLink(short core,short linkIndex,out short  pEventIndex,out short  pTaskIndex);
+        [DllImport("gts.dll")]
+        public static extern short GTN_EventOn(short core,short eventIndex,short count);
+        [DllImport("gts.dll")]
+        public static extern short GTN_EventOff(short core,short eventIndex,short count);
+
+
+        public const short TERMINAL_LOAD_MODE_NONE  =           (0);
+        public const short TERMINAL_LOAD_MODE_BOOT  =           (2);
+       
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_TerminalInit(short core,short detect);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetTerminalVersion(short core,short index,out TVersion pTerminalVersion);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetTerminalPermit(short core,short index,short dataType,ushort permit);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetTerminalPermitEx(short core, short station, short dataType, ref short pPermit, short index, short count);
+        [DllImport("gts.dll")]
+        public static extern short GTN_PosComparePulse(short core, short index, short outputMode, short level, UInt16 outputPulseWidth);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetPosComparePulseCount(short core, short index, Int32 count);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetTerminalPermit(short core,short index,short dataType, out short  pPermit);
+        [DllImport("gts.dll")]
+        public static extern short GTN_ProgramTerminalConfig(short core,short loadMode);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetTerminalConfigLoadMode(short core,out short  pLoadMode);
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_ReadPhysicalMap();
+        [DllImport("gts.dll")]
+        public static extern short ConvertPhysical(short core,short dataType,short terminal,short index);
+        [DllImport("gts.dll")]
+
+        public static extern short GTN_SetRetainValue(short core,UInt32 address,short count,ref short  pData);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetRetainValue(short core,UInt32 address,short count,out short  pData);
+
+
+		//EtherCAT
+		public const short ECAT_STATE_OP			=			(2);
+        public const short ECAT_AXIS_MAX			=			(12);
+        public const short ECAT_MODE_HOMING		    =			(6);
+        public const short ECAT_MODE_CSP			=			(8);
+        public const short ECAT_MODE_CSV			=			(9);
+        public const short ECAT_MODE_CST			=			(10);
+        public const short ECAT_MODE_PV				=			(3);
+        public const short ECAT_MODE_PT				=			(4);
+        
+        public const short ECAT_PROBE_TRIGGER_TYPE_FIRST_EVENT		=			(0);
+        public const short ECAT_PROBE_TRIGGER_TYPE_CONTINUES		=			(1);
+        public const short ECAT_PROBE_TRIGGER_LEVEL_POS				=			(1);
+        public const short ECAT_PROBE_TRIGGER_LEVEL_NEG				=			(-1);
+        public const short ECAT_PROBE_TRIGGER_LEVEL_DUL				=			(0);
+        
+        public const short ECAT_ACT_ENC_POS			=			(0);
+        public const short ECAT_ACT_ENC_VEL			=			(1);
+        public const short ECAT_ACT_CURRENT			=			(2);
+        public const short ECAT_ACT_TORQUE			=			(3);
+        public const short ECAT_ACT_CT				=			(4);
+        
+     
+
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetEcatHomingPrm(short core,short axis,short method,double speed1,double speed2,double acc,Int32 offset,ushort probeFunction);
+		[DllImport("gts.dll")]
+        public static extern short GTN_SetEcatHomingPrmEx(short core, short axis, short method, double speed1, double speed2, double acc, Int32 offset, ushort probeFunction);
+        [DllImport("gts.dll")]
+        public static extern short GTN_StartEcatHoming(short core,short axis);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetHomingMode(short core,short axis,short mode);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetEcatHomingPrmEx(short core, short axis, IntPtr psMethod, IntPtr pdSpeed1, IntPtr pdSpeed2, IntPtr pdAcc, IntPtr plOffset, IntPtr pusProbeFunction);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetEcatHomingStatus(short core,short axis,out ushort homingStatus);
+        [DllImport("gts.dll")]
+        public static extern short GTN_StopEcatHoming(short core,short axis);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetTouchProbeFunction(short core,short axis,short ProbePrm);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetTouchProbeFunctionEx(short core,short axis,short Probe1Enable,short Probe1TriggerType,short Probe1TriggerLevel,short Probe2Enable,short Probe2TriggerType,short Probe2TriggerLevel);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetTouchProbeStatus(short core,short axis,out ushort probeStatus,out Int32 probe1PosValue,out Int32 probe1NegValue,out Int32 probe2PosValue,out Int32 probe2NegValue);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetEcatGpioConfig(short core,short effectiveLevel,short direction);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetEcatAxisOnThreshold(short core,short axis,ushort threshold);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetEcatAxisOnThreshold(short core,short axis,out ushort threshold);
+        [DllImport("gts.dll")]
+        public static extern short GTN_InitEcatComm(short core);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetEcatPdoDataMode(short core, short mode);
+        [DllImport("gts.dll")]
+        public static extern short GTN_InitEcatCommEx(short core, string eniFilePath);
+        [DllImport("gts.dll")]
+        public static extern short GTN_StartEcatComm(short core);
+        [DllImport("gts.dll")]
+        public static extern short GTN_IsEcatReady(short core,out short pStatus);
+        [DllImport("gts.dll")]
+        public static extern short GTN_TerminateEcatComm(short core);
+        [DllImport("gts.dll")]
+        public static extern short GTN_TerminateEcatCommEx(short core);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetEcatErrorCode(short core,short axis,out ushort pErrorCode);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetDcError(short core,out short pError);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetEcatAxisMode(short core,short axis,short mode);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetEcatAxisMode(short core,short axis,out ushort drvMode);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetEcatAxisPV(short core,short axis,Int32 velocity);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetEcatAxisPT(short core,short axis,short torque);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetEcatEncPos(short core,short axis,out Int32 pEncPos);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetEcatAuxEncPos(short core,short axis,out Int32 pAuxEncPos);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetEcatEncVel(short core,short axis,out Int32 pVelocity);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetEcatAxisAtlCurrent(short core,short axis,out short pCur);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetEcatAxisAtlTorque(short core,short axis,out short pTorque);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetEcatAxisAV(short core,short axis,out Int32 pVel);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetEcatAxisACT(short core,short axis,out short pCur,out short pTorque);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetEcatMCType(short core,out short pType);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetPosScale(short core,short axis,ushort posScale);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetPosScale(short core,short axis,out ushort posScale);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetEcatAxisAI(short core,short axis,short channel,out short pValue);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetEcatAxisDI(short core,short axis,out UInt32 pDi);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetEcatAxisDO(short core,short axis,UInt32 DoValue);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetEcatAxisDO(short core,short axis,out UInt32 pDo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetEcatAxisDOBit(short core,short axis,short bitOffset,byte DoBitValue);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetEcatAxisDOBit(short core,short axis,short bitOffset,out byte pDoBitValue);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetEcatSlaves(short core,out short pSlaveMotionCnt, out short pSlaveIOCnt);
+        public struct TSlaveInfo
+        {
+            public Int32 slave_cnt;
+            public Int32 slave_type;
+            public Int32 motion_cnt;
+            public Int32 io_nmap;
+            public Int32 io_length;
+            public UInt32 Vid;
+            public UInt32 Pid;
+            public Int32 io_type;
+        }
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetEcatSlaveInfo(short core,short slave,out TSlaveInfo pSlaveinfo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetEcatAxisPE(short core,short axis,out Int32 pPosErr);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetEcatRawData(short core,ushort offset,ushort nByteSize,ref byte pValue);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetEcatSlaveObjectData(short core, short slaveIndex, ushort objectIndex, ushort objectSubIndex, ref byte pValue, uint data_size, out ushort pOpModee);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetEcatRawData(short core,ushort offset,ushort nByteSize,out byte pValue);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetEcatSlaveObjectData(short core, short slaveIndex, ushort objectIndex, ushort objectSubIndex, out byte pValue, uint data_size, out ushort pOpModee);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetEcatAxisTorqueOffset(short core,short axis,short torqueOffset);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetEcatAxisTorqueOffset(short core,short axis,out short pTorqueOffset);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetEcatPdoLength(short core,out short pPdoLen);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetAuxEncoderCapture(short core,short encoder,short CapPrm);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetAuxEncoderCaptureEx(short core,short encoder,short CapUpEnable,short CapUpIO,short CapDnEnable,short CapDnIO);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetAuxEncoderCaptureStatus(short core,short encoder,out ushort CapSts,out Int32 PosValue,out Int32 NegValue);
+        [DllImport("gts.dll")]
+        public static extern short GTN_EcatSDODownload(short core,ushort slave,ushort index,byte subindex,ref byte data,UInt32 data_size,out UInt32 abort_code);
+        [DllImport("gts.dll")]
+        public static extern short GTN_EcatSDOUpload(short core,ushort slave,ushort index,byte subindex,out byte target,UInt32 target_size,out UInt32 result_size,out UInt32 abort_code);
+        [DllImport("gts.dll")]
+        public static extern short GTN_EcatIOReadInput(short core,ushort slave,ushort offset,ushort nSize,out byte pValue);
+        [DllImport("gts.dll")]
+        public static extern short GTN_EcatIOReadOutput(short core, ushort slaveno, ushort offset, ushort nSize, out byte pValue);
+        [DllImport("gts.dll")]
+        public static extern short GTN_EcatIOWriteOutput(short core,ushort slave,ushort offset,ushort nSize,ref byte pValue);
+		[DllImport ("gts.dll")]
+		public static extern short GTN_EcatIOBitWriteOutput (short core, ushort slaveno, ushort offset, short Index, byte value );
+        [DllImport("gts.dll")]
+        public static extern short GTN_EcatIOBitReadInput(short core, ushort slaveno, ushort offset, ushort Index, out byte pValue);
+        [DllImport("gts.dll")]
+        public static extern short GTN_EcatIOBitReadOutput(short core, ushort slaveno, ushort offset, ushort Index, out byte pValue);
+
+        [DllImport ("gts.dll")]
+		public static extern short GTN_EcatIOSynch (short core);
+		[DllImport ("gts.dll")]
+		public static extern short GTN_GetEcatAxisPdoData (short core,short axis, ushort objectWord, out byte pValue );
+        [DllImport("gts.dll")]
+        public static extern short GTN_RelateEcatSlaveToMcGpoBit(short core,short gpoIndex,short slave,short slaveType,short bitOffset,short pdoOffset);
+        [DllImport("gts.dll")]
+        public static extern short GTN_RelateEcatSlaveToMcGpiBit(short core, short gpi, short ecatIndex, short ecatType, short bitoffset, short pdoOffset);
+        [DllImport("gts.dll")]
+        public static extern short GTN_RelateEcatSlaveToMcAuEncoderEx(short core, short auenc, short ecatIndex, short ecatType, short pdoOffset,short pdoByteLength);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetMcEcatAxisNum(short core,ref short pNum);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetEcatAxisLmtHomeIndex(short core,short axis,short index_LimitN, short index_LimitP, short index_Home);
+
+        public struct TEcatErrInfo
+       {
+            public short dcError;
+            public short workingCountErrorCnt;
+            public short ecatCommStatus;
+            public short workingCount;
+            public short offlineFlag;
+            public short dump;
+            public short dump1;
+            public short dump2;
+       }
+    
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetEcatDcErrorEx(short core, ref TEcatErrInfo pEcatErrorInfo);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetEcatErrorCode(short core, short axis, out short pErrorCode);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetEcatSlavePdo(short core, short slaveIndex, ushort Object, ushort objectSubIndex, ref byte pValue, uint data_size);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetEcatSlavePdo(short core, short slaveIndex, ushort Object, ushort objectSubIndex, out byte pValue, uint data_size);
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetEcatRawDataPro(short core, ushort offset, ushort nByteSize, ref byte pValue, short chn);
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetEcatRawDataPro(short core, ushort offset, ushort nByteSize, short mode, out byte pValue, short chn);
+        [DllImport("gts.dll")]
+        public static extern short GTN_RelateEcatSlaveToMcMpgEncoder(short core, short mpg, short ecatAxisIndex);
+        [DllImport("gts.dll")]
+        public static extern short GTN_RelateEcatSlaveToMcAuEncoder(short core, short auenc, short ecatAxisIndex);
+        [DllImport("gts.dll")]
+        public static extern short GTN_RelateEcatSlaveToMcMpgDi(short core, short mpg, short ecatAxisIndex, short bitoffset);
+        [DllImport("gts.dll")]
+        public static extern short GTN_RelateEcatSlaveToMcMpgDiEx(short core, short mpg, short ecatIndex, short ecatType, short bitoffset, short pdoOffset);
+
+
+        [DllImport("gts.dll")]
+        public static extern short GTN_RelateEcatSlaveToMcMpgEncoderEx(short core, short mpg, short ecatIndex, short ecatType, short pdoOffset, short pdoByteLength);
+
+
+        /**
+          * @brief ��ʼ���������ֹ��ܡ�
+          * @param core �˺š�
+          * @param mode ѡ�������Դ��  MC_MPG 9,ʹ��MPG;  MC_AU_ENCODER 26 ,ʹ�ø���������;  MC_ENCODER 23,ʹ�����������
+          * @return ������
+         */
+        [DllImport("gts.dll")]
+        public static extern short GTN_HandwheelInit(short core, short mode);
+
+
+        /**
+         * @brief ������������
+         * @param core �˺š�
+         * @param slave ������ţ���1��ʼ��
+         * @param master ������ţ���1��ʼ��
+         * @param masterEven ���ᴫ����ϵ���������λ�ƣ�ȡֵ[-32768,32767]��
+         * @param slaveEven  ���ᴫ����ϵ���������λ�ơ�������ϵ���ı�ֵ���dz��ֱȣ�
+         * @param intervalTime ����λ�Ʋ���ʱ������ȡֵ[1,32767]����λ���滮���ڡ�
+         * @param acc ��������д���ļ��ٶȣ���ֵ��    
+         * @param dec ��������д���ļ��ٶȣ���ֵ��
+         * @param vel ��������д��������ٶȣ���ֵ��
+         * @param stopWaitTime �ж�ֹͣʱ�䣬ȡֵ[1,32767]����λ���滮���ڡ����ٸ���ʱ�����ἱͣ�����ᾭ������ʱ����ֹͣ����ֹ�������������
+         * @return ������   1�����������˶�   7������ȡֵ������Χ����
+         */
+        [DllImport("gts.dll")]
+        public static extern short GTN_StartHandwheel(short core, short slave, short master, short masterEven, short slaveEven, short intervalTime, double acc, double dec, double vel, short stopWaitTime);
+
+
+        /**
+         * @brief ֹͣ���ֹ��ܡ�
+         * @param core �˺š�
+         * @param slave ������ţ���1��ʼ��  
+         * @return ������
+         */
+        [DllImport("gts.dll")]
+        public static extern short GTN_EndHandwheel(short core, short slave);
+
+        public struct TMpgInfo
+        {
+            public double pos;
+            public double vel;
+            public double reserve1;
+            public double reserve2;
+            public Int32 di;
+            public Int32 reserve1_1;
+            public Int32 reserve1_2;
+            public Int32 reserve1_3;
+        };
+       [DllImport("gts.dll")]
+       public static extern short GTN_ReadMpgInfo(short core, short mpg,  ref TMpgInfo pMpgInfo);
+
+
+        /**
+         * @brief ����EtherCAT��������CSV/PVģʽ�£�Ŀ���ٶ�0x60ff�����ֵ����λ��μ���������ʹ���ֲᡣ
+         * @param core �˺š�
+         * @param axis ��ţ���1��ʼ��
+         * @param targetMaxVel Ŀ���ٶ�0x60ff�����ֵ����λ��μ���������ʹ���ֲᡣ
+         * @return ������
+        */
+        [DllImport("gts.dll")]
+        public static extern short GTN_SetEcatAxisMaxTargetVel(short core, short axis, UInt32 targetMaxVel);
+
+
+        /**
+       * @brief ��ȡ�������������õ�EtherCAT��������CSV/PVģʽ��Ŀ���ٶ�0x60ff�����ֵ����λ��μ���������ʹ���ֲᡣ
+       * @param core �˺š�
+       * @param axis ��ţ���1��ʼ��
+       * @param targetMaxVel ��ȡ�Ŀ�������������Ŀ���ٶ�0x60ff�����ֵ����λ��μ���������ʹ���ֲᡣ
+       * @return ������
+      */
+        [DllImport("gts.dll")]
+        public static extern short GTN_GetEcatAxisMaxTargetVel(short core, short axis, out UInt32 targetMaxVel);
+
+
+
+        [DllImport("gts.dll")]
+        public static extern short GTN_EC_GetPdoEntryReg(short core,ushort slaveIndex, ushort index, byte subIndex,out uint pOffset,out uint pBitPosition);
+
+
+        /**
+           * @brief �����ʽ��ʼ��EtherCAT���� ��
+           * @param core �˺�
+           * @param pPrm �����ʼ������
+           * @return ������
+          */
+        public struct TEcatInitPrm
+        {
+            public ushort skip_count; //��վ����Ԥ��������Ĭ����0
+            public ushort netOpenSts;//��ʼ���������ز����� 1����ʾָ�����ʱEtherCAT����û�г�ʼ����ָ������˳�ʼ����վ��OP״̬������ 2����ʾָ�����ʱEtherCAT�����Ѿ���ʼ����OP״̬����������ָ��δ�Դ�վ���в�����
+            public ushort slave_position;//��վ����Ԥ��������Ĭ����0
+            public string eniFilePath;//�����ļ�·��������ʹ�ÿ��ļ�Ŀ¼ʱ�������ļ�Gecat.xml����ڿ��ļ�Ŀ¼���ò�������ΪNULL��
+            [MarshalAs(UnmanagedType.ByValArray, SizeConst = 20)]
+            public ushort[] reserve2;//Ԥ��������Ĭ����0
+        }
+        [DllImport("gts.dll")]
+        public static extern short GTN_InitEcatComm_MultiTask(short core, ref TEcatInitPrm pPrm);
+
+
+        /**
+         * @brief ���������������������ָ��(�������ô���16·�����������) ��
+         * @param core �˺�
+         * @param crd  ����ϵ��
+         * @param doType ��������������͡�MC_ENABLE(�ú궨��Ϊ 10)�����������ʹ��; MC_CLEAR(�ú궨��Ϊ 11)������������������;   MC_GPO(�ú궨��Ϊ 12)�����ͨ�����
+         * @param index �����������������1��ʼ��
+         * @param doValue ���������������ֵ��Ĭ������£�1��ʾ�ߵ�ƽ��0��ʾ�͵�ƽ
+         * @param fifo �岹�������ţ�Ĭ��ֵΪ0��
+         * @return ������
+        */
+        [DllImport("gts.dll")]
+        public static extern short GTN_BufDoBit(short core, short crd, ushort doType, ushort index, short doValue, short fifo);
+
+
+    }
+}