IMovement.idl

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// -----------------------------------------------------------------------
// MLPI - <IMovement.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
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// 5. The SW may only be used in connection with a Bosch Rexroth product.
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// -----------------------------------------------------------------------
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// -----------------------------------------------------------------------



[
  object,
  uuid(4F50AEC2-401A-4BD0-AEA5-4474A7144588),
  dual,
  nonextensible,
  helpstring("IMovement Interface"),
  pointer_default(unique)
]
interface IMovement : IDispatch{

  [id(1), helpstring("Method Home")] HRESULT Home(void);

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

  [id(3), helpstring("Method Power")] HRESULT Power(VARIANT_BOOL value);

  [id(4), helpstring("Method MoveVelocity")] HRESULT MoveVelocity([in] DOUBLE velocity, [in] DOUBLE acceleration, [in] DOUBLE deceleration, [in] DOUBLE jerk);

  [id(5), helpstring("Method MoveAbsolute")] HRESULT MoveAbsolute([in] DOUBLE position, [in] DOUBLE velocity, [in] DOUBLE acceleration, [in] DOUBLE deceleration, [in] DOUBLE jerk);

  [id(6), helpstring("Method MoveRelative")] HRESULT MoveRelative([in] DOUBLE distance, [in] DOUBLE velocity, [in] DOUBLE acceleration, [in] DOUBLE deceleration, [in] DOUBLE jerk);

  [id(7), helpstring("Method MoveAdditive")] HRESULT MoveAdditive([in] DOUBLE distance, [in] DOUBLE velocity, [in] DOUBLE acceleration, [in] DOUBLE deceleration, [in] DOUBLE jerk);

  [id(8), helpstring("Method Stop")] HRESULT Stop([in] VARIANT_BOOL stop, [in] DOUBLE deceleration, [in] DOUBLE jerk);

#if defined(WIN32) || defined(WIN64)
  [id(9), helpstring("Method GearIn")] HRESULT GearIn([in] AxisRef* masterAxis, [in] LONG numerator, [in] LONG denominator, [in] DOUBLE fineadjust);
#endif

#if defined(WIN32) || defined(WIN64)
  [id(10), helpstring("Method GearInPos")] HRESULT GearInPos([in] AxisRef* masterAxis, [in] LONG numerator, [in] LONG denominator, [in] DOUBLE fineadjust, [in] StartMode startMode, [in] SyncDirection syncMode);
#endif

#if defined(WIN32) || defined(WIN64)
  [id(11), helpstring("Method FlexProfile")]HRESULT FlexProfile([in] AxisRef* masterAxis, [in] LONG numerator, [in] LONG denominator, [in] DOUBLE fineadjust, [in] LONG setSelection, [in] VARIANT_BOOL useSwitchingPos, [in] DOUBLE switchingPosition, [in] ProfileStartPoint profileEntry, [in] DOUBLE masterOffset, [in] DOUBLE slaveOffset, [in] SyncType syncMode, [in] DOUBLE syncVelocity, [in] DOUBLE syncAcceleration, [in] ProfileExecutionMode executionMode);
#endif


  [id(12), helpstring("Method Status")]HRESULT Status([out, retval] struct MotionStatus *motionStatus);


  [id(13), helpstring("Method Wait")]HRESULT Wait(VARIANT timeoutValue);

  [id(14), helpstring("Method PhasingSlave")] HRESULT PhasingSlave([in] DOUBLE phaseShift, [in] DOUBLE velocity, [in] DOUBLE acceleration, [in] DOUBLE deceleration);

  [id(15), helpstring("Method PhasingMaster")] HRESULT Phasing([in] DOUBLE phaseShift, [in] DOUBLE velocity, [in] DOUBLE acceleration, [in] DOUBLE deceleration);

  [id(16), helpstring("Method TorqueControl")]  HRESULT TorqueControl([in] DOUBLE torque, [in] DOUBLE torqueRamp);

  [id(17), helpstring("Method CamIn")] HRESULT CamIn([in] AxisRef* masterAxis, [in] LONG numerator, [in] LONG denominator, [in] DOUBLE fineadjust, [in] DOUBLE camShaftDistance, [in] SyncDirection syncMode, [in] StartMode startMode, [in] CamTableId camId);

  [id(18), helpstring("Method SynchronOut")] HRESULT SynchronOut();

  [id(19), helpstring("Method OpenCyclicPositionChannel")] HRESULT OpenCyclicPositionChannel();

  [id(20), helpstring("Method OpenCyclicVelocityChannel")] HRESULT OpenCyclicVelocityChannel();

  [id(21), helpstring("Method OpenCyclicAnalogChannel")] HRESULT OpenCyclicAnalogChannel();

  [id(22), helpstring("Method OpenCyclicTorqueChannel")] HRESULT OpenCyclicTorqueChannel();

  [id(23), helpstring("Method WriteCyclicPosition")] HRESULT WriteCyclicPosition([in] DOUBLE cyclicValue);

  [id(24), helpstring("Method WriteCyclicVelocity")] HRESULT WriteCyclicVelocity([in] DOUBLE cyclicValue);

  [id(25), helpstring("Method WriteCyclicAnalog")] HRESULT WriteCyclicAnalog([in] DOUBLE cyclicValue);
  
  [id(26), helpstring("Method WriteCyclicTorque")] HRESULT WriteCyclicTorque([in] DOUBLE cyclicValue);
};



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