IGroupConfig.idl

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// -----------------------------------------------------------------------
// MLPI - <IGroupConfig.idl>
// -----------------------------------------------------------------------
// Copyright (c) 2012 Bosch Rexroth. All rights reserved.
// Redistribution and use in source and binary forms of this MLPI software
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[
  object,
  uuid(BCE19BC9-625A-4537-9276-FC0697CA2827),
  dual,
  nonextensible,
  helpstring("IGroupConfig Interface"),
  pointer_default(unique)
]
interface IGroupConfig : IDispatch{
#if defined(WIN32) || defined(WIN64)
  [id(1), helpstring("Method AddAllAxisToGroup")] HRESULT AddAllAxisToGroup( void );

  [id(2), helpstring("Method RemAllAxisFromGroup")] HRESULT RemAllAxisFromGroup( void );

  [id(3), helpstring("Method SetCartesianTransform")] HRESULT SetCartesianTransform([in] enum RobotCoordinateSystem coordSys, [in] DOUBLE posX, [in] DOUBLE posY, [in] DOUBLE posZ, [in] DOUBLE rotA, [in] DOUBLE rotB, [in] DOUBLE rotC);
  
  [id(4), helpstring("Method SetCylindricTransform")] HRESULT SetCylindricTransform([in] enum RobotCoordinateSystem coordSys, [in] DOUBLE posX, [in] DOUBLE posY, [in] DOUBLE posZ, [in] DOUBLE rotA, [in] DOUBLE rotB, [in] DOUBLE rotC);
  
  [id(5), helpstring("Method SetBeltConfiguration")] HRESULT SetBeltConfiguration([in] AxisRef* beltAxis, [in] DOUBLE posX, [in] DOUBLE posY, [in] DOUBLE posZ, [in] DOUBLE rotA, [in] DOUBLE rotB, [in] DOUBLE rotC, [in] DOUBLE beginLength, [in] DOUBLE totalLength);
  
  [id(6), helpstring("Method SetRotaryTableConfiguration")] HRESULT SetRotaryTableConfiguration([in] AxisRef* beltAxis, [in] DOUBLE posX, [in] DOUBLE posY, [in] DOUBLE posZ, [in] DOUBLE rotA, [in] DOUBLE rotB, [in] DOUBLE rotC, [in] DOUBLE beginLength, [in] DOUBLE totalLength);
 
  [id(7), helpstring("Method SetBeltErrorReaction")] HRESULT SetBeltErrorReaction([in] AxisRef* beltAxis, [in] enum RobotSyncErrorReactionMode errorType, [in] DOUBLE time, [in] DOUBLE deceleration, [in] DOUBLE jerk);

  [id(8), helpstring("Method SetName")] HRESULT SetName([in] BSTR name);

  [id(9), helpstring("Method SetAxisConfiguration")] HRESULT SetAxisConfiguration([in] SAFEARRAY(struct RobotAxisConfiguration) axisConfig);

  [id(10), helpstring("Method SetKinematicType")] HRESULT SetKinematicType([in]LONG type);

  [id(11), helpstring("Method Reset")] HRESULT Reset();

  [id(12), helpstring("Method SetSafeZone")] HRESULT SetSafeZone([in]SHORT zoneNumber, [in]enum RobotSafeZoneType zoneType, [in]DOUBLE maxPosX, [in]DOUBLE maxPosY, [in]DOUBLE maxPosZ, [in]DOUBLE minPosX, [in]DOUBLE minPosY, [in]DOUBLE minPosZ);

#endif
};



// -----------------------------------------------------------------------
// HISTORY
// -----------------------------------------------------------------------
// 01-Jan-2012
//   - first release
// 21-May-2013
//   - added SetSafeZone()
// 22-May-2013 JUR
//  - documentation update
//