IMotion.idl

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// -----------------------------------------------------------------------
// MLPI - <IMotion.idl>
// -----------------------------------------------------------------------
// Copyright (c) 2012 Bosch Rexroth. All rights reserved.
// Redistribution and use in source and binary forms of this MLPI software
// (SW) provided to you, with or without modification, are permitted
// without prior approval provided that the following conditions are met:
//
// 1. Redistributions of source code of SW must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form of SW must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// 3. User recognizes and acknowledges that it acquires no right,
// title or interest in or to any of the names or trademarks used in
// connection with the SW ("names") by virtue of this License and waives
// any right to or interest in the names. User recognizes and acknowledges
// that names of companies or names or products of companies displayed
// in the documentation of SW to indicate the interoperability of products
// with the SW are the names of their respective owners. The use of such
// names in the documentation of SW does not imply any sponsorship,
// approval, or endorsement by such companies of this product.
//
// 4. Modified code versions, i.e. any addition to or deletion from
// the substance or structure of the original code of the SW running
// the MLPI must be plainly marked as such and must not be misrepresented
// as being original SW.
//
// 5. The SW may only be used in connection with a Bosch Rexroth product.
//
// THIS INFORMATION IS PROVIDED BY BOSCH REXROTH CORPORATION "AS IS"
// AND WITHOUT WARRANTY OF ANY KIND, EXPRESSED OR IMPLIED, INCLUDING
// (BUT NOTLIMITED TO) ANY IMPLIED WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR ANY PARTICULAR PURPOSE, OR NON-INFRINGEMENT. WHILE THE
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// ERRORS OR INACCURACIES.
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// THE APPLICABLE LAW FOR THIS LICENSE BOSCH REXROTH CORPORATION WILL
// NOT BE LIABLE FOR ANY DAMAGES OF ANY KIND ARISING FROM THE USE OF
// THE  SOFTWARE  DISTRIBUTED HEREUNDER, INCLUDING BUT NOT LIMITED TO
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// -----------------------------------------------------------------------
//
//
// -----------------------------------------------------------------------



[
  object,
  uuid(4F50AEC2-401A-4BD0-AEA5-D374A7144588),
  dual,
  nonextensible,
  helpstring("IMotion Interface"),
  pointer_default(unique)
]
interface IMotion : IDispatch{

  [
    uuid(6EBC6476-47D8-4c14-A9BA-0997ABE1D192)
  ]
  typedef struct AxisRef
  {
    SHORT   controlNo;    
    SHORT   axisNo;       
  }AxisRef;


  typedef [v1_enum] enum AxisType
  {
    AXISTYPE_VIRTUAL    = 0,   
    AXISTYPE_REAL       = 1,   
    AXISTYPE_ENCODER    = 2,   
    AXISTYPE_LINK       = 3,   
    AXISTYPE_CONTROLLER = 4    
  }AxisType;


  typedef [v1_enum] enum SyncDirection
  {
    SYNC_SHORTESTWAY  = 0,     
    SYNC_CATCHUP      = 1,     
    SYNC_SLOWDOWN     = 2,     
  }SyncDirection;


  typedef [v1_enum] enum SyncType
  {
    SYNC_RAMPIN_SHORTESTWAY  = 0,     
    SYNC_RAMPIN_CATCHUP      = 1,     
    SYNC_RAMPIN_SLOWDOWN     = 2,     
    SYNC_DIRECT              = 3      
  }SyncType;


  typedef [v1_enum] enum StartMode
  {
    STARTMODE_ABSOLUTE = 0,         
    STARTMODE_RELATIVE = 1,         
    STARTMODE_ABSOLUTE_RAMPIN = 2,  
    STARTMODE_RELATIVE_RAMPIN = 3   
  }StartMode;


  typedef [v1_enum] enum ProfileExecutionMode
  {
    EXECUTE_CYCLIC = 0,                                       
    EXECUTE_SINGLE = 1                                        
  }ProfileExecutionMode;


  typedef [v1_enum] enum ProfileStartPoint
  {
    SLAVE_ORIGIN_MASTER_ORIGIN    = 0,     
    SLAVE_CURRENT_MASTER_CURRENT  = 1,     
    SLAVE_ORIGIN_MASTER_CURRENT   = 2,     
    SLAVE_CURRENT_MASTER_ORIGIN   = 3,     
  SLAVE_RELATIVE_MASTER_ORIGIN  = 4      
  }ProfileStartPoint;

  typedef [v1_enum] enum AxisMode
  {
    AXIS_MODE_ACTIVE                                 = 0,    
    AXIS_MODE_PARKING                                = 1,    
    AXIS_MODE_DEACTIVATED                            = 2,    
                                                            
    AXIS_MODE_ACTIVE_DECOUPLED                       = 3,    
    AXIS_MODE_PARKING_DECOUPLED                      = 4,    
    AXIS_MODE_DEACTIVATED_DECOUPLED                  = 5,    

    AXIS_MODE_ACTIVE_PARAMETERIZATION                = 8,    
    AXIS_MODE_PARKING_PARAMETERIZATION               = 9,    
    AXIS_MODE_DEACTIVATED_PARAMETERIZATION           = 10,   

    AXIS_MODE_ACTIVE_DECOUPLED_PARAMETERIZATION      = 12,   
    AXIS_MODE_PARKING_DECOUPLED_PARAMETERIZATION     = 13,   
    AXIS_MODE_DEACTIVATED_DECOUPLED_PARAMETERIZATION = 14    
  }AxisMode;


  typedef [v1_enum] enum CamTableId
  {
    CAM_TABLE_1   =   1,
    CAM_TABLE_2   =   2,
    CAM_TABLE_3   =   3,
    CAM_TABLE_4   =   4,
    CAM_TABLE_5   =   5,
    CAM_TABLE_6   =   6,
    CAM_TABLE_7   =   7,
    CAM_TABLE_8   =   8,
    CAM_TABLE_9   =   9,
    CAM_TABLE_10  =  10,
    CAM_TABLE_11  =  11,
    CAM_TABLE_12  =  12,
    CAM_TABLE_13  =  13,
    CAM_TABLE_14  =  14,
    CAM_TABLE_15  =  15,
    CAM_TABLE_16  =  16,
    CAM_TABLE_17  =  17,
    CAM_TABLE_18  =  18,
    CAM_TABLE_19  =  19,
    CAM_TABLE_20  =  20,
    CAM_TABLE_21  =  21,
    CAM_TABLE_22  =  22,
    CAM_TABLE_23  =  23,
    CAM_TABLE_24  =  24,
    CAM_TABLE_25  =  25,
    CAM_TABLE_26  =  26,
    CAM_TABLE_27  =  27,
    CAM_TABLE_28  =  28,
    CAM_TABLE_29  =  29,
    CAM_TABLE_30  =  30,
    CAM_TABLE_31  =  31,
    CAM_TABLE_32  =  32,
    CAM_TABLE_33  =  33,
    CAM_TABLE_34  =  34,
    CAM_TABLE_35  =  35,
    CAM_TABLE_36  =  36,
    CAM_TABLE_37  =  37,
    CAM_TABLE_38  =  38,
    CAM_TABLE_39  =  39,
    CAM_TABLE_40  =  40,
    CAM_TABLE_41  =  41,
    CAM_TABLE_42  =  42,
    CAM_TABLE_43  =  43,
    CAM_TABLE_44  =  44,
    CAM_TABLE_45  =  45,
    CAM_TABLE_46  =  46,
    CAM_TABLE_47  =  47,
    CAM_TABLE_48  =  48,
    CAM_TABLE_49  =  49,
    CAM_TABLE_50  =  50,
    CAM_TABLE_51  =  51,
    CAM_TABLE_52  =  52,
    CAM_TABLE_53  =  53,
    CAM_TABLE_54  =  54,
    CAM_TABLE_55  =  55,
    CAM_TABLE_56  =  56,
    CAM_TABLE_57  =  57,
    CAM_TABLE_58  =  58,
    CAM_TABLE_59  =  59,
    CAM_TABLE_60  =  60,
    CAM_TABLE_61  =  61,
    CAM_TABLE_62  =  62,
    CAM_TABLE_63  =  63,
    CAM_TABLE_64  =  64,
    CAM_TABLE_65  =  65,
    CAM_TABLE_66  =  66,
    CAM_TABLE_67  =  67,
    CAM_TABLE_68  =  68,
    CAM_TABLE_69  =  69,
    CAM_TABLE_70  =  70,
    CAM_TABLE_71  =  71,
    CAM_TABLE_72  =  72,
    CAM_TABLE_73  =  73,
    CAM_TABLE_74  =  74,
    CAM_TABLE_75  =  75,
    CAM_TABLE_76  =  76,
    CAM_TABLE_77  =  77,
    CAM_TABLE_78  =  78,
    CAM_TABLE_79  =  79,
    CAM_TABLE_80  =  80,
    CAM_TABLE_81  =  81,
    CAM_TABLE_82  =  82,
    CAM_TABLE_83  =  83,
    CAM_TABLE_84  =  84,
    CAM_TABLE_85  =  85,
    CAM_TABLE_86  =  86,
    CAM_TABLE_87  =  87,
    CAM_TABLE_88  =  88,
    CAM_TABLE_89  =  89,
    CAM_TABLE_90  =  90,
    CAM_TABLE_91  =  91,
    CAM_TABLE_92  =  92,
    CAM_TABLE_93  =  93,
    CAM_TABLE_94  =  94,
    CAM_TABLE_95  =  95,
    CAM_TABLE_96  =  96,
    CAM_TABLE_97  =  97,
    CAM_TABLE_98  =  98,
    CAM_TABLE_99  =  99,
    CAM_TABLE_100 = 100
  }CamTableId;

  typedef [v1_enum] enum AxisCondition
  {
    AXIS_CONDITION_ACTIVE                                 =  0,  
    AXIS_CONDITION_PARKING                                =  1,  
    AXIS_CONDITION_DEACTIVATED                            =  2,  

    AXIS_CONDITION_ACTIVE_DECOUPLED                       =  4,  
    AXIS_CONDITION_PARKING_DECOUPLED                      =  5,  
    AXIS_CONDITION_DEACTIVATED_DECOUPLED                  =  6,  

    AXIS_CONDITION_ACTIVE_PARAMETERIZATION                =  8,  
    AXIS_CONDITION_PARKING_PARAMETERIZATION               =  9,  

    AXIS_CONDITION_DEACTIVATED_PARAMETERIZATION           = 10,  

    AXIS_CONDITION_ACTIVE_DECOUPLED_PARAMETERIZATION      = 12,  
    AXIS_CONDITION_PARKING_DECOUPLED_PARAMETERIZATION     = 13,  
    AXIS_CONDITION_DEACTIVATED_DECOUPLED_PARAMETERIZATION = 14   
  }AxisCondition;

  typedef [v1_enum] enum StateExtended
  {
    STATE_EXTENDED_ERRORSTOP = (1 << 0),            
    STATE_EXTENDED_STOPPING = (1 << 1),             
    STATE_EXTENDED_HOMING = (1 << 2),               
    STATE_EXTENDED_POWERON = (1 << 3),              
    STATE_EXTENDED_DISCRETEMOTION = (1 << 4),       
    STATE_EXTENDED_CONTINUOUSMOTION = (1 << 5),     
    STATE_EXTENDED_SYNCHRONIZEDMOTION = (1 << 6),   
    STATE_EXTENDED_STANDSTILL = (1 << 7),           
    STATE_EXTENDED_COORDINATEDMOTION = (1 << 8)     
  }StateExtended;

#if defined(WIN32) || defined(WIN64)
  [
    uuid(7012438C-0725-4b3a-9089-BE0EBEAC7D2A)
  ]
  struct AxisInformation
  {
    struct AxisRef  axis;           
    LONG            deviceAddress;  
    AxisType        axisType;       
    BSTR            name;           
  };

  [
    uuid(C06715E6-178A-4a79-A723-9D754E37BF64)
  ]
  struct AxisValues
  {
    DOUBLE      actualPosition;     //<! Actual position of the axis. See @ref mlpiMotionGetActualPosition or A-0-0100.
    DOUBLE      actualVelocity;     //<! Actual velocity of the axis. See @ref mlpiMotionGetActualVelocity or A-0-0102.
    DOUBLE      actualAcceleration; //<! Actual acceleration of the axis. See @ref mlpiMotionGetActualAcceleration or A-0-0103.
    DOUBLE      actualTorque;       //<! Actual torque of the axis. See @ref mlpiMotionGetActualPosition or A-0-0110.
    LONG        state;              //<! Axis state of the axis. See @ref mlpiMotionGetActualPosition or A-0-0021.
    LONG        stateExtended;      //<! Extended axis state of the axis. See @ref mlpiMotionGetActualPosition or A-0-0022.
    LONG        diagnosisNumber;    //<! Current diagnosis number of the axis. See @ref mlpiMotionGetActualPosition or A-0-0023.
    LONG        condition;          //<! Condition of the axis. See @ref mlpiMotionGetActualPosition or A-0-0024.
  };

  [
    uuid(FA535268-4D01-4e55-B7A1-C6EC83746459)
  ]
  struct AxisUnits
  {
    BSTR position;      //<! Position unit of the axis. e.g. 'Degree'.
    BSTR velocity;      //<! Velocity unit of the axis. e.g. 'Rpm'.
    BSTR acceleration;  //<! Velocity unit of the axis. e.g. 'rad/sec'.
    BSTR jerk;          //<! Velocity unit of the axis. e.g. 'rad/sec^2'.
    BSTR torque;        //<! Velocity unit of the axis. e.g. 'Nm'.
  };
#endif

  
  struct MotionStatus
  {
    VARIANT_BOOL     done;                               
    VARIANT_BOOL     active;                             
    VARIANT_BOOL     aborted;                            
    VARIANT_BOOL     error;                              
    SHORT            errorID;                            
    SHORT            table;                              
    LONG             additional1;                        
    LONG             additional2;                        
  };



  [propget, id(1), helpstring("Property Axes")] HRESULT Axes([out, retval] IAxes** Axes);

#if defined(WIN32) || defined(WIN64)
  [id(2), helpstring("Method GetConfiguredAxes")] HRESULT GetConfiguredAxes([out,retval] SAFEARRAY(struct AxisInformation) *axesInfo);

  [id(3), helpstring("Method GetAxisValues")] HRESULT GetAxisValues([in]SAFEARRAY(struct AxisRef) axes, [out,retval] SAFEARRAY(struct AxisValues) *axisValues);

  [id(4), helpstring("Method GetAxisUnits")] HRESULT GetAxisUnits([in]SAFEARRAY(struct AxisRef) axes, [out,retval] SAFEARRAY(struct AxisUnits) *axisUnits);
#endif
};



// -----------------------------------------------------------------------
// HISTORY
// -----------------------------------------------------------------------
// 01-Jan-2012
//   - first release
//