IGroupMovement.idl

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// -----------------------------------------------------------------------
// MLPI - <IGroupMovement.idl>
// -----------------------------------------------------------------------
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[
  object,
  uuid(9F4BD95D-BC11-4686-B6F5-9B253254F980),
  dual,
  nonextensible,
  helpstring("IGroupMovement Interface"),
  pointer_default(unique)
]
interface IGroupMovement : IDispatch{
#if defined(WIN32) || defined(WIN64)
  [id(1), helpstring("Method MoveLinearAbsolute")] HRESULT MoveLinearAbsolute([in] IRobotPoint *endPoint, [in] DOUBLE velocity, [in] DOUBLE acceleration, [in] DOUBLE deceleration, [in] DOUBLE jerk, [in] DOUBLE radius, [in] enum RobotSetMode setMode, [in] enum RobotSlopeType slopeType);
 
  [id(2), helpstring("Method MoveLinearRelative")] HRESULT MoveLinearRelative([in] IRobotPoint *distance, [in] DOUBLE velocity, [in] DOUBLE acceleration, [in] DOUBLE deceleration, [in] DOUBLE jerk, [in] DOUBLE radius, [in] enum RobotSetMode setMode, [in] enum RobotSlopeType slopeType);
  
  [id(3), helpstring("Method MoveDirectAbsolute")] HRESULT MoveDirectAbsolute([in] IRobotPoint *endPoint, [in] DOUBLE velocity, [in] DOUBLE acceleration, [in] DOUBLE deceleration, [in] DOUBLE jerk, [in] DOUBLE radius, [in] enum RobotSetMode setMode, [in] enum RobotSlopeType slopeType);
 
  [id(4), helpstring("Method MoveCircularAbsolute")] HRESULT MoveCircularAbsolute([in] IRobotPoint *midPoint, [in] IRobotPoint *endPoint, [in] DOUBLE velocity, [in] DOUBLE acceleration, [in] DOUBLE deceleration, [in] DOUBLE jerk, [in] DOUBLE radius, [in] enum RobotSetMode setMode, [in] enum RobotSlopeType slopeType);
 
  [id(10), helpstring("Method SyncOnWithLimits")] HRESULT SyncOnWithLimits([in] AxisRef* beltAxis, [in] DOUBLE acceleration, [in] DOUBLE jerk);

  [id(11), helpstring("Method SyncOffWithLimits")] HRESULT SyncOffWithLimits([in] AxisRef* beltAxis, [in] DOUBLE deceleration, [in] DOUBLE jerk, [in] DOUBLE radius, [in] enum RobotSetMode setMode);

  [id(12), helpstring("Method WaitForDone")] HRESULT WaitForDone([in] LONG timeout);

  [id(13), helpstring("Method WaitForActive")] HRESULT WaitForActive([in] LONG timeout);
  
  [id(14), helpstring("Method WaitForInBuffer")] HRESULT WaitForInBuffer([in] LONG timeout);

  [id(15), helpstring("Method Stop")] HRESULT Stop([in] DOUBLE deceleration, [in] DOUBLE jerk, [in] BOOL stop);

  [id(16), helpstring("Method Interrupt")] HRESULT Interrupt([in] DOUBLE deceleration, [in] DOUBLE jerk);

  [id(17), helpstring("Method Continue")] HRESULT Continue();

  [id(18), helpstring("Method JogStep")] HRESULT JogStep([in] IRobotPoint *distance, [in] DOUBLE velocity, [in] DOUBLE acceleration, [in] DOUBLE deceleration, [in] DOUBLE jerk);

  [id(19), helpstring("Method JogCont")] HRESULT JogCont([in] IRobotPoint *direction, [in] DOUBLE velocity, [in] DOUBLE acceleration, [in] DOUBLE deceleration, [in] DOUBLE jerk);

  [id(20), helpstring("Method StopCmd")] HRESULT StopCmd();
#endif
};






// -----------------------------------------------------------------------
// HISTORY
// -----------------------------------------------------------------------
// 01-Jan-2012
//   - first release
// 04-Jan-2013 STR Subject: docu update
//   - updated docu
// 21-May-2013 GB
//   - added JogStep(), JogCont(), StopCmd()
// 22-May-2013 JUR
//  - documentation update
//