mlpiMotionLib.h

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#ifndef __MLPIMOTIONLIB_H__
#define __MLPIMOTIONLIB_H__

// -----------------------------------------------------------------------
// MLPI - <mlpiMotionLib.h>
// -----------------------------------------------------------------------
// Copyright (c) 2013 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
// INFORMATION PROVIDED IS BELIEVED TO BE ACCURATE, IT MAY INCLUDE
// ERRORS OR INACCURACIES.
// SUBJECT TO COMPULSORY STATUTORY PROVISIONS OF THE GERMAN LAW AS
// 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
// DIRECT, INDIRECT, INCIDENTAL, PUNITIVE, AND CONSEQUENTIAL DAMAGES.
// -----------------------------------------------------------------------
//
//
// -----------------------------------------------------------------------











// -----------------------------------------------------------------------
// GLOBAL INCLUDES
// -----------------------------------------------------------------------
#include "mlpiGlobal.h"


// -----------------------------------------------------------------------
// GLOBAL TYPES
// -----------------------------------------------------------------------
typedef unsigned long long MLPIMOTIONHANDLE;            

// -----------------------------------------------------------------------
// GLOBAL CONSTANTS
// -----------------------------------------------------------------------
#define MLPI_MOTION_MAX_AXIS_NAME_LEN        (80)
#define MLPI_MOTION_MAX_UNITS_LEN            (16)

typedef enum MlpiAxisType
{
  MLPI_AXISTYPE_VIRTUAL     = 0,                        
  MLPI_AXISTYPE_REAL        = 1,                        
  MLPI_AXISTYPE_ENCODER     = 2,                        
  MLPI_AXISTYPE_LINK        = 3,                        
  MLPI_AXISTYPE_CONTROLLER  = 4                         
}MlpiAxisType;

typedef enum MlpiProfileSetSelection
{
  MLPI_PROFILE_SET_0 = 0,                               
  MLPI_PROFILE_SET_1 = 1,                               
  MLPI_PROFILE_SET_2 = 2,                               
  MLPI_PROFILE_SET_3 = 3                                
}MlpiProfileSetSelection;

typedef enum MlpiSyncDirection
{
  MLPI_SYNC_SHORTESTWAY  = 0,                           
  MLPI_SYNC_CATCHUP      = 1,                           
  MLPI_SYNC_SLOWDOWN     = 2                            
}MlpiSyncDirection;

typedef enum MlpiSyncType
{
  MLPI_SYNC_RAMPIN_SHORTESTWAY  = 0,                    
  MLPI_SYNC_RAMPIN_CATCHUP      = 1,                    
  MLPI_SYNC_RAMPIN_SLOWDOWN     = 2,                    
  MLPI_SYNC_DIRECT              = 3                     
}MlpiSyncType;

typedef enum MlpiStartMode
{
  MLPI_STARTMODE_ABSOLUTE        = 0,                   
  MLPI_STARTMODE_RELATIVE        = 1,                   
  MLPI_STARTMODE_ABSOLUTE_RAMPIN = 2,                   
  MLPI_STARTMODE_RELATIVE_RAMPIN = 3                    
}MlpiStartMode;

typedef enum MlpiProfileStartPoint
{
  MLPI_SLAVE_ORIGIN_MASTER_ORIGIN    = 0,               
  MLPI_SLAVE_CURRENT_MASTER_CURRENT  = 1,               
  MLPI_SLAVE_ORIGIN_MASTER_CURRENT   = 2,               
  MLPI_SLAVE_CURRENT_MASTER_ORIGIN   = 3,               
  MLPI_SLAVE_RELATIVE_MASTER_ORIGIN  = 4                
}MlpiProfileStartPoint;

typedef enum MlpiProfileStepType
{
  MLPI_STEP_FIX             = 0,                        
  MLPI_STEP_FLEX_REL_REL    = 1,                        
  MLPI_STEP_FLEX_REL_ABS    = 2,                        
  MLPI_STEP_FLEX_ABS_REL    = 3,                        
  MLPI_STEP_FLEX_ABS_ABS    = 4                         
}MlpiProfileStepType;

typedef enum MlpiProfileExecutionMode
{
  MLPI_EXECUTE_CYCLIC = 0,                              
  MLPI_EXECUTE_SINGLE = 1                               
}MlpiProfileExecutionMode;

typedef enum MlpiProfileMasterType
{
  MLPI_MASTER_TIME  = 0,                                
  MLPI_MASTER_AXIS0 = 1                                 
}MlpiProfileMasterType;

typedef enum MlpiCamTableId
{
  MLPI_CAM_TABLE_1    =   1,
  MLPI_CAM_TABLE_2    =   2,
  MLPI_CAM_TABLE_3    =   3,
  MLPI_CAM_TABLE_4    =   4,
  MLPI_CAM_TABLE_5    =   5,
  MLPI_CAM_TABLE_6    =   6,
  MLPI_CAM_TABLE_7    =   7,
  MLPI_CAM_TABLE_8    =   8,
  MLPI_CAM_TABLE_9    =   9,
  MLPI_CAM_TABLE_10   =  10,
  MLPI_CAM_TABLE_11   =  11,
  MLPI_CAM_TABLE_12   =  12,
  MLPI_CAM_TABLE_13   =  13,
  MLPI_CAM_TABLE_14   =  14,
  MLPI_CAM_TABLE_15   =  15,
  MLPI_CAM_TABLE_16   =  16,
  MLPI_CAM_TABLE_17   =  17,
  MLPI_CAM_TABLE_18   =  18,
  MLPI_CAM_TABLE_19   =  19,
  MLPI_CAM_TABLE_20   =  20,
  MLPI_CAM_TABLE_21   =  21,
  MLPI_CAM_TABLE_22   =  22,
  MLPI_CAM_TABLE_23   =  23,
  MLPI_CAM_TABLE_24   =  24,
  MLPI_CAM_TABLE_25   =  25,
  MLPI_CAM_TABLE_26   =  26,
  MLPI_CAM_TABLE_27   =  27,
  MLPI_CAM_TABLE_28   =  28,
  MLPI_CAM_TABLE_29   =  29,
  MLPI_CAM_TABLE_30   =  30,
  MLPI_CAM_TABLE_31   =  31,
  MLPI_CAM_TABLE_32   =  32,
  MLPI_CAM_TABLE_33   =  33,
  MLPI_CAM_TABLE_34   =  34,
  MLPI_CAM_TABLE_35   =  35,
  MLPI_CAM_TABLE_36   =  36,
  MLPI_CAM_TABLE_37   =  37,
  MLPI_CAM_TABLE_38   =  38,
  MLPI_CAM_TABLE_39   =  39,
  MLPI_CAM_TABLE_40   =  40,
  MLPI_CAM_TABLE_41   =  41,
  MLPI_CAM_TABLE_42   =  42,
  MLPI_CAM_TABLE_43   =  43,
  MLPI_CAM_TABLE_44   =  44,
  MLPI_CAM_TABLE_45   =  45,
  MLPI_CAM_TABLE_46   =  46,
  MLPI_CAM_TABLE_47   =  47,
  MLPI_CAM_TABLE_48   =  48,
  MLPI_CAM_TABLE_49   =  49,
  MLPI_CAM_TABLE_50   =  50,
  MLPI_CAM_TABLE_51   =  51,
  MLPI_CAM_TABLE_52   =  52,
  MLPI_CAM_TABLE_53   =  53,
  MLPI_CAM_TABLE_54   =  54,
  MLPI_CAM_TABLE_55   =  55,
  MLPI_CAM_TABLE_56   =  56,
  MLPI_CAM_TABLE_57   =  57,
  MLPI_CAM_TABLE_58   =  58,
  MLPI_CAM_TABLE_59   =  59,
  MLPI_CAM_TABLE_60   =  60,
  MLPI_CAM_TABLE_61   =  61,
  MLPI_CAM_TABLE_62   =  62,
  MLPI_CAM_TABLE_63   =  63,
  MLPI_CAM_TABLE_64   =  64,
  MLPI_CAM_TABLE_65   =  65,
  MLPI_CAM_TABLE_66   =  66,
  MLPI_CAM_TABLE_67   =  67,
  MLPI_CAM_TABLE_68   =  68,
  MLPI_CAM_TABLE_69   =  69,
  MLPI_CAM_TABLE_70   =  70,
  MLPI_CAM_TABLE_71   =  71,
  MLPI_CAM_TABLE_72   =  72,
  MLPI_CAM_TABLE_73   =  73,
  MLPI_CAM_TABLE_74   =  74,
  MLPI_CAM_TABLE_75   =  75,
  MLPI_CAM_TABLE_76   =  76,
  MLPI_CAM_TABLE_77   =  77,
  MLPI_CAM_TABLE_78   =  78,
  MLPI_CAM_TABLE_79   =  79,
  MLPI_CAM_TABLE_80   =  80,
  MLPI_CAM_TABLE_81   =  81,
  MLPI_CAM_TABLE_82   =  82,
  MLPI_CAM_TABLE_83   =  83,
  MLPI_CAM_TABLE_84   =  84,
  MLPI_CAM_TABLE_85   =  85,
  MLPI_CAM_TABLE_86   =  86,
  MLPI_CAM_TABLE_87   =  87,
  MLPI_CAM_TABLE_88   =  88,
  MLPI_CAM_TABLE_89   =  89,
  MLPI_CAM_TABLE_90   =  90,
  MLPI_CAM_TABLE_91   =  91,
  MLPI_CAM_TABLE_92   =  92,
  MLPI_CAM_TABLE_93   =  93,
  MLPI_CAM_TABLE_94   =  94,
  MLPI_CAM_TABLE_95   =  95,
  MLPI_CAM_TABLE_96   =  96,
  MLPI_CAM_TABLE_97   =  97,
  MLPI_CAM_TABLE_98   =  98,
  MLPI_CAM_TABLE_99   =  99,
  MLPI_CAM_TABLE_100  = 100
}MlpiCamTableId;

typedef enum MlpiLawType
{
  MLPI_REST_IN_REST_INCLINEDSINE              = 0x0000,
  MLPI_REST_IN_REST_POLY5                     = 0x0100,
  MLPI_REST_IN_VELOCITY_POLY5                 = 0x0200,
  MLPI_REST_IN_VELOCITY_POLY7                 = 0x0300,
  MLPI_VELOCITY_IN_REST_POLY5                 = 0x0400,
  MLPI_VELOCITY_IN_REST_POLY7                 = 0x0500,
  MLPI_CONSTANT_VELOCITY                      = 0x0600,
  MLPI_VELOCITY_IN_VELOCITY_POLY5             = 0x0700,
  MLPI_REST_IN_REST_LINEAR                    = 0x0800,
  MLPI_REST_IN_REST_POLY7                     = 0x0900,
  MLPI_REST_IN_REST_SINE                      = 0x0A00,
  MLPI_REST_IN_REST_GUTMANSINE                = 0x0B00,
  MLPI_REST_IN_REST_SINEACC                   = 0x0C00,
  MLPI_REST_IN_REST_SINETORQUE                = 0x0D00,
  MLPI_REST_IN_REST_MOD_TRAPEZE               = 0x0E00,
  MLPI_REST_IN_REST_MOD_SINE                  = 0x0F00,
  MLPI_VELOCITY_IN_VELOCITY_POLY7             = 0x1000,
  MLPI_VELOCITY_IN_VELOCITY_MOD_SINE          = 0x1100,
  MLPI_REST_IN_REST_POLY5_VLIM                = 0x1200,
  MLPI_REST_IN_REST_PARABOLA                  = 0x1300,
  MLPI_REST_IN_REST_POLY8                     = 0x1400,
  MLPI_MOTION_IN_MOTION_POLY5                 = 0x2000,
  MLPI_MOTION_IN_MOTION_POLY7                 = 0x2100,

  // common polynomials
  MLPI_COMMON_POLY5                           = 0x4000,
  MLPI_COMMON_POLY7                           = 0x4100,
  MLPI_COMMON_POLY2                           = 0x4200,
  MLPI_COMMON_POLY3                           = 0x4300,
  MLPI_COMMON_POLY4                           = 0x4400,
  MLPI_COMMON_POLY8                           = 0x4500,

  // extended laws
  MLPI_X_VELOCITY_IN_VELOCITY_TRAPEZE_ALIM    = 0x5000,
  MLPI_X_MOTION_IN_MOTION_POLY5_VLIM          = 0x6000,
  MLPI_X_MOTION_IN_MOTION_POLY5_SLIM          = 0x6100,
  MLPI_X_FIT_VEL_TRAPEZE_ALIM                 = 0x7000,
  MLPI_X_FIT_SINE_TRAPEZE_ALIM                = 0x7100,
  MLPI_X_FIT_ACC_TRAPEZE_ALIM                 = 0x7200,
  MLPI_X_MOTION_IN_MOTION_ACAM                = 0x8000,
  MLPI_X_MOTION_IN_MOTION_VCAM                = 0x8100,
  MLPI_X_MOTION_IN_MOTION_VCAM2_A             = 0x8200,
  MLPI_X_MOTION_IN_MOTION_VCAM2_B             = 0x8300,

  // cam tables
  MLPI_CAMTABLE_1                             =      1,
  MLPI_CAMTABLE_2                             =      2,
  MLPI_CAMTABLE_3                             =      3,
  MLPI_CAMTABLE_4                             =      4,
  MLPI_CAMTABLE_5                             =      5,
  MLPI_CAMTABLE_6                             =      6,
  MLPI_CAMTABLE_7                             =      7,
  MLPI_CAMTABLE_8                             =      8,
  MLPI_CAMTABLE_9                             =      9,
  MLPI_CAMTABLE_10                            =     10,
  MLPI_CAMTABLE_11                            =     11,
  MLPI_CAMTABLE_12                            =     12,
  MLPI_CAMTABLE_13                            =     13,
  MLPI_CAMTABLE_14                            =     14,
  MLPI_CAMTABLE_15                            =     15,
  MLPI_CAMTABLE_16                            =     16,
  MLPI_CAMTABLE_17                            =     17,
  MLPI_CAMTABLE_18                            =     18,
  MLPI_CAMTABLE_19                            =     19,
  MLPI_CAMTABLE_20                            =     20,
  MLPI_CAMTABLE_21                            =     21,
  MLPI_CAMTABLE_22                            =     22,
  MLPI_CAMTABLE_23                            =     23,
  MLPI_CAMTABLE_24                            =     24,
  MLPI_CAMTABLE_25                            =     25,
  MLPI_CAMTABLE_26                            =     26,
  MLPI_CAMTABLE_27                            =     27,
  MLPI_CAMTABLE_28                            =     28,
  MLPI_CAMTABLE_29                            =     29,
  MLPI_CAMTABLE_30                            =     30,
  MLPI_CAMTABLE_31                            =     31,
  MLPI_CAMTABLE_32                            =     32,
  MLPI_CAMTABLE_33                            =     33,
  MLPI_CAMTABLE_34                            =     34,
  MLPI_CAMTABLE_35                            =     35,
  MLPI_CAMTABLE_36                            =     36,
  MLPI_CAMTABLE_37                            =     37,
  MLPI_CAMTABLE_38                            =     38,
  MLPI_CAMTABLE_39                            =     39,
  MLPI_CAMTABLE_40                            =     40,
  MLPI_CAMTABLE_41                            =     41,
  MLPI_CAMTABLE_42                            =     42,
  MLPI_CAMTABLE_43                            =     43,
  MLPI_CAMTABLE_44                            =     44,
  MLPI_CAMTABLE_45                            =     45,
  MLPI_CAMTABLE_46                            =     46,
  MLPI_CAMTABLE_47                            =     47,
  MLPI_CAMTABLE_48                            =     48,
  MLPI_CAMTABLE_49                            =     49,
  MLPI_CAMTABLE_50                            =     50,
  MLPI_CAMTABLE_51                            =     51,
  MLPI_CAMTABLE_52                            =     52,
  MLPI_CAMTABLE_53                            =     53,
  MLPI_CAMTABLE_54                            =     54,
  MLPI_CAMTABLE_55                            =     55,
  MLPI_CAMTABLE_56                            =     56,
  MLPI_CAMTABLE_57                            =     57,
  MLPI_CAMTABLE_58                            =     58,
  MLPI_CAMTABLE_59                            =     59,
  MLPI_CAMTABLE_60                            =     60,
  MLPI_CAMTABLE_61                            =     61,
  MLPI_CAMTABLE_62                            =     62,
  MLPI_CAMTABLE_63                            =     63,
  MLPI_CAMTABLE_64                            =     64,
  MLPI_CAMTABLE_65                            =     65,
  MLPI_CAMTABLE_66                            =     66,
  MLPI_CAMTABLE_67                            =     67,
  MLPI_CAMTABLE_68                            =     68,
  MLPI_CAMTABLE_69                            =     69,
  MLPI_CAMTABLE_70                            =     70,
  MLPI_CAMTABLE_71                            =     71,
  MLPI_CAMTABLE_72                            =     72,
  MLPI_CAMTABLE_73                            =     73,
  MLPI_CAMTABLE_74                            =     74,
  MLPI_CAMTABLE_75                            =     75,
  MLPI_CAMTABLE_76                            =     76,
  MLPI_CAMTABLE_77                            =     77,
  MLPI_CAMTABLE_78                            =     78,
  MLPI_CAMTABLE_79                            =     79,
  MLPI_CAMTABLE_80                            =     80,
  MLPI_CAMTABLE_81                            =     81,
  MLPI_CAMTABLE_82                            =     82,
  MLPI_CAMTABLE_83                            =     83,
  MLPI_CAMTABLE_84                            =     84,
  MLPI_CAMTABLE_85                            =     85,
  MLPI_CAMTABLE_86                            =     86,
  MLPI_CAMTABLE_87                            =     87,
  MLPI_CAMTABLE_88                            =     88,
  MLPI_CAMTABLE_89                            =     89,
  MLPI_CAMTABLE_90                            =     90,
  MLPI_CAMTABLE_91                            =     91,
  MLPI_CAMTABLE_92                            =     92,
  MLPI_CAMTABLE_93                            =     93,
  MLPI_CAMTABLE_94                            =     94,
  MLPI_CAMTABLE_95                            =     95,
  MLPI_CAMTABLE_96                            =     96,
  MLPI_CAMTABLE_97                            =     97,
  MLPI_CAMTABLE_98                            =     98,
  MLPI_CAMTABLE_99                            =     99,
  MLPI_CAMTABLE_100                           =    100
}MlpiLawType;

typedef enum MlpiControl
{
  MLPI_LOCAL_CONTROL = 0,
  MLPI_CONTROL_1  =  1,
  MLPI_CONTROL_2  =  2,
  MLPI_CONTROL_3  =  3,
  MLPI_CONTROL_4  =  4,
  MLPI_CONTROL_5  =  5,
  MLPI_CONTROL_6  =  6,
  MLPI_CONTROL_7  =  7,
  MLPI_CONTROL_8  =  8,
  MLPI_CONTROL_9  =  9,
  MLPI_CONTROL_10 = 10,
  MLPI_CONTROL_11 = 11,
  MLPI_CONTROL_12 = 12,
  MLPI_CONTROL_13 = 13,
  MLPI_CONTROL_14 = 14,
  MLPI_CONTROL_15 = 15,
  MLPI_CONTROL_16 = 16,
  MLPI_CONTROL_17 = 17,
  MLPI_CONTROL_18 = 18,
  MLPI_CONTROL_19 = 19,
  MLPI_CONTROL_20 = 20,
  MLPI_CONTROL_21 = 21,
  MLPI_CONTROL_22 = 22,
  MLPI_CONTROL_23 = 23,
  MLPI_CONTROL_24 = 24,
  MLPI_CONTROL_25 = 25,
  MLPI_CONTROL_26 = 26,
  MLPI_CONTROL_27 = 27,
  MLPI_CONTROL_28 = 28,
  MLPI_CONTROL_29 = 29,
  MLPI_CONTROL_30 = 30,
  MLPI_CONTROL_31 = 31,
  MLPI_CONTROL_32 = 32,
  MLPI_CONTROL_33 = 33,
  MLPI_CONTROL_34 = 34,
  MLPI_CONTROL_35 = 35,
  MLPI_CONTROL_36 = 36,
  MLPI_CONTROL_37 = 37,
  MLPI_CONTROL_38 = 38,
  MLPI_CONTROL_39 = 39,
  MLPI_CONTROL_40 = 40,
  MLPI_CONTROL_41 = 41,
  MLPI_CONTROL_42 = 42,
  MLPI_CONTROL_43 = 43,
  MLPI_CONTROL_44 = 44,
  MLPI_CONTROL_45 = 45,
  MLPI_CONTROL_46 = 46,
  MLPI_CONTROL_47 = 47,
  MLPI_CONTROL_48 = 48,
  MLPI_CONTROL_49 = 49,
  MLPI_CONTROL_50 = 50,
  MLPI_CONTROL_51 = 51,
  MLPI_CONTROL_52 = 52,
  MLPI_CONTROL_53 = 53,
  MLPI_CONTROL_54 = 54,
  MLPI_CONTROL_55 = 55,
  MLPI_CONTROL_56 = 56,
  MLPI_CONTROL_57 = 57,
  MLPI_CONTROL_58 = 58,
  MLPI_CONTROL_59 = 59,
  MLPI_CONTROL_60 = 60,
  MLPI_CONTROL_61 = 61,
  MLPI_CONTROL_62 = 62,
  MLPI_CONTROL_63 = 63,
  MLPI_CONTROL_64 = 64,
  MLPI_CONTROL_65 = 65,
  MLPI_CONTROL_66 = 66,
  MLPI_CONTROL_67 = 67,
  MLPI_CONTROL_68 = 68,
  MLPI_CONTROL_69 = 69,
  MLPI_CONTROL_70 = 70,
  MLPI_CONTROL_71 = 71,
  MLPI_CONTROL_72 = 72,
  MLPI_CONTROL_73 = 73,
  MLPI_CONTROL_74 = 74,
  MLPI_CONTROL_75 = 75,
  MLPI_CONTROL_76 = 76,
  MLPI_CONTROL_77 = 77,
  MLPI_CONTROL_78 = 78,
  MLPI_CONTROL_79 = 79,
  MLPI_CONTROL_80 = 80,
  MLPI_CONTROL_81 = 81,
  MLPI_CONTROL_82 = 82,
  MLPI_CONTROL_83 = 83,
  MLPI_CONTROL_84 = 84,
  MLPI_CONTROL_85 = 85,
  MLPI_CONTROL_86 = 86,
  MLPI_CONTROL_87 = 87,
  MLPI_CONTROL_88 = 88,
  MLPI_CONTROL_89 = 89,
  MLPI_CONTROL_90 = 90,
  MLPI_CONTROL_91 = 91,
  MLPI_CONTROL_92 = 92,
  MLPI_CONTROL_93 = 93,
  MLPI_CONTROL_94 = 94,
  MLPI_CONTROL_95 = 95,
  MLPI_CONTROL_96 = 96,
  MLPI_CONTROL_97 = 97,
  MLPI_CONTROL_98 = 98,
  MLPI_CONTROL_99 = 99
}MlpiControl;

typedef enum MlpiAxisNumber
{
  MLPI_NO_OBJECT =  0,
  MLPI_AXIS_1    =  1,
  MLPI_AXIS_2    =  2,
  MLPI_AXIS_3    =  3,
  MLPI_AXIS_4    =  4,
  MLPI_AXIS_5    =  5,
  MLPI_AXIS_6    =  6,
  MLPI_AXIS_7    =  7,
  MLPI_AXIS_8    =  8,
  MLPI_AXIS_9    =  9,
  MLPI_AXIS_10   = 10,
  MLPI_AXIS_11   = 11,
  MLPI_AXIS_12   = 12,
  MLPI_AXIS_13   = 13,
  MLPI_AXIS_14   = 14,
  MLPI_AXIS_15   = 15,
  MLPI_AXIS_16   = 16,
  MLPI_AXIS_17   = 17,
  MLPI_AXIS_18   = 18,
  MLPI_AXIS_19   = 19,
  MLPI_AXIS_20   = 20,
  MLPI_AXIS_21   = 21,
  MLPI_AXIS_22   = 22,
  MLPI_AXIS_23   = 23,
  MLPI_AXIS_24   = 24,
  MLPI_AXIS_25   = 25,
  MLPI_AXIS_26   = 26,
  MLPI_AXIS_27   = 27,
  MLPI_AXIS_28   = 28,
  MLPI_AXIS_29   = 29,
  MLPI_AXIS_30   = 30,
  MLPI_AXIS_31   = 31,
  MLPI_AXIS_32   = 32,
  MLPI_AXIS_33   = 33,
  MLPI_AXIS_34   = 34,
  MLPI_AXIS_35   = 35,
  MLPI_AXIS_36   = 36,
  MLPI_AXIS_37   = 37,
  MLPI_AXIS_38   = 38,
  MLPI_AXIS_39   = 39,
  MLPI_AXIS_40   = 40,
  MLPI_AXIS_41   = 41,
  MLPI_AXIS_42   = 42,
  MLPI_AXIS_43   = 43,
  MLPI_AXIS_44   = 44,
  MLPI_AXIS_45   = 45,
  MLPI_AXIS_46   = 46,
  MLPI_AXIS_47   = 47,
  MLPI_AXIS_48   = 48,
  MLPI_AXIS_49   = 49,
  MLPI_AXIS_50   = 50,
  MLPI_AXIS_51   = 51,
  MLPI_AXIS_52   = 52,
  MLPI_AXIS_53   = 53,
  MLPI_AXIS_54   = 54,
  MLPI_AXIS_55   = 55,
  MLPI_AXIS_56   = 56,
  MLPI_AXIS_57   = 57,
  MLPI_AXIS_58   = 58,
  MLPI_AXIS_59   = 59,
  MLPI_AXIS_60   = 60,
  MLPI_AXIS_61   = 61,
  MLPI_AXIS_62   = 62,
  MLPI_AXIS_63   = 63,
  MLPI_AXIS_64   = 64,
  MLPI_AXIS_65   = 65,
  MLPI_AXIS_66   = 66,
  MLPI_AXIS_67   = 67,
  MLPI_AXIS_68   = 68,
  MLPI_AXIS_69   = 69,
  MLPI_AXIS_70   = 70,
  MLPI_AXIS_71   = 71,
  MLPI_AXIS_72   = 72,
  MLPI_AXIS_73   = 73,
  MLPI_AXIS_74   = 74,
  MLPI_AXIS_75   = 75,
  MLPI_AXIS_76   = 76,
  MLPI_AXIS_77   = 77,
  MLPI_AXIS_78   = 78,
  MLPI_AXIS_79   = 79,
  MLPI_AXIS_80   = 80,
  MLPI_AXIS_81   = 81,
  MLPI_AXIS_82   = 82,
  MLPI_AXIS_83   = 83,
  MLPI_AXIS_84   = 84,
  MLPI_AXIS_85   = 85,
  MLPI_AXIS_86   = 86,
  MLPI_AXIS_87   = 87,
  MLPI_AXIS_88   = 88,
  MLPI_AXIS_89   = 89,
  MLPI_AXIS_90   = 90,
  MLPI_AXIS_91   = 91,
  MLPI_AXIS_92   = 92,
  MLPI_AXIS_93   = 93,
  MLPI_AXIS_94   = 94,
  MLPI_AXIS_95   = 95,
  MLPI_AXIS_96   = 96,
  MLPI_AXIS_97   = 97,
  MLPI_AXIS_98   = 98,
  MLPI_AXIS_99   = 99
}MlpiAxisNumber;

typedef enum MlpiGroupNumber
{
  MLPI_NO_GROUP =  0,
  MLPI_GROUP_1  =  1,
  MLPI_GROUP_2  =  2,
  MLPI_GROUP_3  =  3,
  MLPI_GROUP_4  =  4,
  MLPI_GROUP_5  =  5,
  MLPI_GROUP_6  =  6,
  MLPI_GROUP_7  =  7,
  MLPI_GROUP_8  =  8,
  MLPI_GROUP_9  =  9,
  MLPI_GROUP_10 = 10,
  MLPI_GROUP_11 = 11,
  MLPI_GROUP_12 = 12,
  MLPI_GROUP_13 = 13,
  MLPI_GROUP_14 = 14,
  MLPI_GROUP_15 = 15,
  MLPI_GROUP_16 = 16
}MlpiGroupNumber;


// -----------------------------------------------------------------------
// GLOBAL TYPEDEFS
// -----------------------------------------------------------------------


// message packing follows 8-byte natural alignment
#if !defined(TARGET_OS_VXWORKS)
  #pragma pack(push,8)
#endif


typedef struct MlpiAxisRef
{
  MlpiAxisRef()
    : controlNo(MLPI_LOCAL_CONTROL)
    , axisNo(MLPI_NO_OBJECT)
  {}
  MlpiAxisRef(MlpiAxisNumber axisNo)
    : controlNo(MLPI_LOCAL_CONTROL)
    , axisNo(axisNo)
  {}
  MlpiAxisRef(ULONG axisNo)
    : controlNo(MLPI_LOCAL_CONTROL)
    , axisNo(static_cast<MlpiAxisNumber>(axisNo))
  {}
  MlpiAxisRef(MlpiControl controlNo, MlpiAxisNumber axisNo)
    : controlNo(controlNo)
    , axisNo(axisNo)
  {}

  MlpiControl       controlNo;                          
  MlpiAxisNumber    axisNo;                             
}MlpiAxisRef;

typedef struct MlpiGroupRef
{
  MlpiGroupRef()
    : controlNo(MLPI_LOCAL_CONTROL)
    , groupNo(MLPI_NO_GROUP)
  {}
  MlpiGroupRef(MlpiGroupNumber groupNo)
    : controlNo(MLPI_LOCAL_CONTROL)
    , groupNo(groupNo)
  {}
  MlpiGroupRef(ULONG groupNo)
    : controlNo(MLPI_LOCAL_CONTROL)
    , groupNo(static_cast<MlpiGroupNumber>(groupNo))
  {}
  MlpiGroupRef(MlpiControl controlNo, MlpiGroupNumber groupNo)
    : controlNo(controlNo)
    , groupNo(groupNo)
  {}

  MlpiControl       controlNo;                          
  MlpiGroupNumber   groupNo;                            
}MlpiGroupRef;


typedef struct MlpiMotionStatus
{
  BOOL8             done;                               
  BOOL8             active;                             
  BOOL8             aborted;                            
  BOOL8             error;                              
  USHORT            errorID;                            
  USHORT            table;                              
  ULONG             additional1;                        
  ULONG             additional2;                        
}MlpiMotionStatus;


typedef struct MlpiAxisInformation
{
  MlpiAxisRef     axis;                                 
  ULONG           deviceAddress;                        
  MlpiAxisType    axisType;                             
  WCHAR16         name[MLPI_MOTION_MAX_AXIS_NAME_LEN];  
}MlpiAxisInformation;

typedef struct MlpiAxisValues
{
  // Input Parameters
  MlpiAxisRef axis;                                     

  // Output Parameters:
  DOUBLE      actualPosition;                           
  DOUBLE      actualVelocity;                           
  DOUBLE      actualAcceleration;                       
  DOUBLE      actualTorque;                             
  ULONG       state;                                    
  ULONG       stateExtended;                            
  ULONG       diagnosisNumber;                          
  ULONG       condition;                                
}MlpiAxisValues;

typedef struct MlpiAxisUnits
{
  // Input Parameters
  MlpiAxisRef axis;                                     

  // Output Parameters:
  WCHAR16 position[MLPI_MOTION_MAX_UNITS_LEN];          
  WCHAR16 velocity[MLPI_MOTION_MAX_UNITS_LEN];          
  WCHAR16 acceleration[MLPI_MOTION_MAX_UNITS_LEN];      
  WCHAR16 jerk[MLPI_MOTION_MAX_UNITS_LEN];              
  WCHAR16 torque[MLPI_MOTION_MAX_UNITS_LEN];            
}MlpiAxisUnits;

typedef struct MlpiAxisStatus
{
  // Input Parameters
  MlpiAxisRef       MLPI_STRUCT_ALIGN_STRUCT      axis;                                     

  // Output Parameters:
  ULLONG            MLPI_STRUCT_ALIGN_ULLONG      state;                                    
  ULONG             MLPI_STRUCT_ALIGN_ULONG       stateExtended;                            
  ULONG             MLPI_STRUCT_ALIGN_ULONG       diagnosisNumber;                          
  ULONG             MLPI_STRUCT_ALIGN_ULONG       condition;                                
}MlpiAxisStatus;

typedef struct MlpiMotionStop
{
  MlpiAxisRef axis;                                     
  DOUBLE      deceleration;                             
  DOUBLE      jerk;                                     
  BOOL8       stop;                                     
}MlpiMotionStop;

typedef struct MlpiMotionPower
{
  MlpiAxisRef axis;                                     
  BOOL8       power;                                    
}MlpiMotionPower;

typedef struct MlpiMotionGearIn
{
  MlpiAxisRef axis;                                     
  ULONG       numerator;                                
  ULONG       denominator;                              
  DOUBLE      fineadjust;                               
  MlpiAxisRef master;                                   
}MlpiMotionGearIn;

typedef struct MlpiMotionGearInPos
{
  MlpiAxisRef         axis;                             
  ULONG               numerator;                        
  ULONG               denominator;                      
  DOUBLE              fineadjust;                       
  MlpiStartMode       startMode;                        
  MlpiSyncDirection   syncMode;                         
  MlpiAxisRef         master;                           
}MlpiMotionGearInPos;

typedef struct MlpiMotionCamIn
{
  MlpiAxisRef         axis;                             
  ULONG               numerator;                        
  ULONG               denominator;                      
  DOUBLE              fineadjust;                       
  DOUBLE              camShaftDistance;                 
  MlpiStartMode       startMode;                        
  MlpiSyncDirection   syncMode;                         
  MlpiCamTableId      camTable;                         
  MlpiAxisRef         master;                           
}MlpiMotionCamIn;

typedef struct MlpiMotionMotionProfile
{
  MlpiAxisRef                 axis;                 
  ULONG                       numerator;            
  ULONG                       denominator;          
  DOUBLE                      fineadjust;           
  BOOL8                       relativePositioning;  
  MlpiProfileSetSelection     setSelection;         
  MlpiStartMode               startMode;            
  MlpiSyncDirection           syncMode;             
  MlpiAxisRef                 master;               
}MlpiMotionMotionProfile;

typedef struct MlpiMotionFlexProfileStep
{
  MlpiProfileMasterType  MLPI_STRUCT_ALIGN_ENUM     master;                     
  DOUBLE                 MLPI_STRUCT_ALIGN_DOUBLE   camShaftDistance;           
  DOUBLE                 MLPI_STRUCT_ALIGN_DOUBLE   range;                      

  MlpiLawType            MLPI_STRUCT_ALIGN_ENUM     motionLaw;                  
  MlpiProfileStepType    MLPI_STRUCT_ALIGN_ENUM     stepType;                   

  DOUBLE                 MLPI_STRUCT_ALIGN_DOUBLE   startVel;                   
  DOUBLE                 MLPI_STRUCT_ALIGN_DOUBLE   startAcc;                   
  DOUBLE                 MLPI_STRUCT_ALIGN_DOUBLE   startJrk;                   

  DOUBLE                 MLPI_STRUCT_ALIGN_DOUBLE   endVel;                     
  DOUBLE                 MLPI_STRUCT_ALIGN_DOUBLE   endAcc;                     
  DOUBLE                 MLPI_STRUCT_ALIGN_DOUBLE   endJrk;                     

  DOUBLE                 MLPI_STRUCT_ALIGN_DOUBLE   travelVel;                  
  DOUBLE                 MLPI_STRUCT_ALIGN_DOUBLE   limitAcc;                   
  DOUBLE                 MLPI_STRUCT_ALIGN_DOUBLE   limitJrk;                   

  DOUBLE                 MLPI_STRUCT_ALIGN_DOUBLE   turningPointDisplacement;   
} MlpiMotionFlexProfileStep;

typedef struct MlpiMotionFlexProfile
{
  MlpiAxisRef               MLPI_STRUCT_ALIGN_STRUCT    axis;                       
  ULONG                     MLPI_STRUCT_ALIGN_ULONG     numerator;                  
  ULONG                     MLPI_STRUCT_ALIGN_ULONG     denominator;                
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE    fineadjust;                 
  MlpiProfileSetSelection   MLPI_STRUCT_ALIGN_ENUM      setSelection;               
  BOOL8                     MLPI_STRUCT_ALIGN_BOOL8     useSwitchingPositioning;    
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE    switchingPosition;          
  MlpiProfileStartPoint     MLPI_STRUCT_ALIGN_DOUBLE    profileEntry;               
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE    masterOffset;               
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE    slaveOffset;                
  MlpiSyncType              MLPI_STRUCT_ALIGN_ENUM      syncType;                   
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE    syncVelocity;               
  DOUBLE                    MLPI_STRUCT_ALIGN_DOUBLE    syncAcceleration;           
  MlpiProfileExecutionMode  MLPI_STRUCT_ALIGN_ENUM      executionMode;              
  MlpiAxisRef               MLPI_STRUCT_ALIGN_STRUCT    master;                     
}MlpiMotionFlexProfile;

typedef struct MlpiMotionMoveVelocity
{
  MlpiAxisRef axis;                                     
  DOUBLE      velocity;                                 
  DOUBLE      acceleration;                             
  DOUBLE      deceleration;                             
  DOUBLE      jerk;                                     
}MlpiMotionMoveVelocity;

typedef struct MlpiMotionPhasing
{
  MlpiAxisRef axis;                                     
  DOUBLE      phaseShift;                               
  DOUBLE      velocity;                                 
  DOUBLE      acceleration;                             
  DOUBLE      deceleration;                             
}MlpiMotionPhasing;

typedef struct MlpiMotionMoveAbsolute
{
  MlpiAxisRef axis;                                     
  DOUBLE      position;                                 
  DOUBLE      velocity;                                 
  DOUBLE      acceleration;                             
  DOUBLE      deceleration;                             
  DOUBLE      jerk;                                     
}MlpiMotionMoveAbsolute;

typedef struct MlpiMotionMoveContinuousAbsolute
{
  MlpiAxisRef axis;                                     
  DOUBLE      position;                                 
  DOUBLE      endVelocity;                              
  DOUBLE      velocity;                                 
  DOUBLE      acceleration;                             
  DOUBLE      deceleration;                             
  DOUBLE      jerk;                                     
}MlpiMotionMoveContinuousAbsolute;

typedef struct MlpiMotionMoveContinuousRelative
{
  MlpiAxisRef axis;                                     
  DOUBLE      distance;                                 
  DOUBLE      endVelocity;                              
  DOUBLE      velocity;                                 
  DOUBLE      acceleration;                             
  DOUBLE      deceleration;                             
  DOUBLE      jerk;                                     
}MlpiMotionMoveContinuousRelative;

typedef struct MlpiMotionMoveRelative
{
  MlpiAxisRef axis;                                     
  DOUBLE      distance;                                 
  DOUBLE      velocity;                                 
  DOUBLE      acceleration;                             
  DOUBLE      deceleration;                             
  DOUBLE      jerk;                                     
}MlpiMotionMoveRelative;

typedef struct MlpiMotionMoveAdditive
{
  MlpiAxisRef axis;                                     
  DOUBLE      distance;                                 
  DOUBLE      velocity;                                 
  DOUBLE      acceleration;                             
  DOUBLE      deceleration;                             
  DOUBLE      jerk;                                     
}MlpiMotionMoveAdditive;

typedef struct MlpiMotionAdminAxisGroup
{
  MlpiAxisRef             axis;                         
  MlpiGroupRef            group;                        
} MlpiMotionAdminAxisGroup;

typedef struct MlpiMotionTorqueControl
{
  MlpiAxisRef axis;                                     
  DOUBLE      torque;                                   
  DOUBLE      torqueRamp;                               
}MlpiMotionTorqueControl;

typedef struct MlpiMotionCyclic
{
  MlpiAxisRef axis;                                     
  DOUBLE      cyclicValue;                              
}MlpiMotionCyclic;

#if !defined(TARGET_OS_VXWORKS)
  #pragma pack(pop)
#endif



// -----------------------------------------------------------------------
// GLOBAL EXPORTS
// -----------------------------------------------------------------------
#ifdef MLPI_API
  #undef MLPI_API
#endif

#if defined(TARGET_OS_WINNT)
  #if defined(MLPI_EXPORTS)
    #define MLPI_API __declspec(dllexport)
  #elif defined(MLPI_IMPORTS)
    #define MLPI_API __declspec(dllimport)
  #else
    #define MLPI_API
  #endif
#else
  #if defined(MLPI_EXPORTS)
    #define MLPI_API __attribute__ ((visibility("default")))
  #elif defined(MLPI_IMPORTS)
    #define MLPI_API
  #else
    #define MLPI_API
  #endif
#endif


#ifdef __cplusplus
extern "C" {
#endif


MLPI_API MLPIRESULT mlpiMotionGetStatus(const MLPIHANDLE connection, const MlpiAxisRef axis, const MLPIMOTIONHANDLE motionHandle, MlpiMotionStatus* status);


MLPI_API MLPIRESULT mlpiMotionPower(const MLPIHANDLE connection, const MlpiMotionPower* paramSet, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiMotionStop(const MLPIHANDLE connection, const MlpiMotionStop* paramSet, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiMotionHome(const MLPIHANDLE connection, const MlpiAxisRef axis, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiMotionSetAbsoluteMeasurement(const MLPIHANDLE connection, const MlpiAxisRef axis);


MLPI_API MLPIRESULT mlpiMotionChangeFlexProfileSet(const MLPIHANDLE connection, const MlpiAxisRef axis, const MlpiMotionFlexProfileStep* paramSet, const ULONG numElements, const DOUBLE masterVel, const MlpiProfileSetSelection set);


MLPI_API MLPIRESULT mlpiMotionMoveVelocity(const MLPIHANDLE connection, const MlpiMotionMoveVelocity* paramSet, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiMotionMoveContinuousAbsolute(const MLPIHANDLE connection, const MlpiMotionMoveContinuousAbsolute* paramSet, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiMotionMoveContinuousRelative(const MLPIHANDLE connection, const MlpiMotionMoveContinuousRelative* paramSet, MLPIMOTIONHANDLE* motionHandle);

MLPI_API MLPIRESULT mlpiMotionMoveAbsolute(const MLPIHANDLE connection, const MlpiMotionMoveAbsolute* paramSet, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiMotionMoveAdditive(const MLPIHANDLE connection, const MlpiMotionMoveAdditive* paramSet, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiMotionMoveRelative(const MLPIHANDLE connection, const MlpiMotionMoveRelative* paramSet, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiMotionTorqueControl(const MLPIHANDLE connection, const MlpiMotionTorqueControl* paramSet, MLPIMOTIONHANDLE* motionHandle);



MLPI_API MLPIRESULT mlpiMotionOpenCyclicPositionChannel(const MLPIHANDLE connection, const MlpiAxisRef axis, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiMotionOpenCyclicVelocityChannel(const MLPIHANDLE connection, const MlpiAxisRef axis, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiMotionOpenCyclicAnalogChannel(const MLPIHANDLE connection, const MlpiAxisRef axis, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiMotionOpenCyclicTorqueChannel(const MLPIHANDLE connection, const MlpiAxisRef axis, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiMotionWriteCyclicPosition(const MLPIHANDLE connection, const MlpiMotionCyclic* paramSet, const ULONG numElements=1);


MLPI_API MLPIRESULT mlpiMotionWriteCyclicVelocity(const MLPIHANDLE connection, const MlpiMotionCyclic* paramSet, const ULONG numElements=1);


MLPI_API MLPIRESULT mlpiMotionWriteCyclicAnalog(const MLPIHANDLE connection, const MlpiMotionCyclic* paramSet, const ULONG numElements=1);


MLPI_API MLPIRESULT mlpiMotionWriteCyclicTorque(const MLPIHANDLE connection, const MlpiMotionCyclic* paramSet, const ULONG numElements=1);


MLPI_API MLPIRESULT mlpiMotionControlOn(const MLPIHANDLE connection, const MlpiAxisRef axis, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiMotionControlOff(const MLPIHANDLE connection, const MlpiAxisRef axis, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiMotionAddAxisToGroup(const MLPIHANDLE connection, const MlpiMotionAdminAxisGroup* paramSet, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiMotionRemAxisFromGroup(const MLPIHANDLE connection, const MlpiMotionAdminAxisGroup* paramSet, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiMotionGearIn(const MLPIHANDLE connection, const MlpiMotionGearIn* paramSet, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiMotionGearInPos(const MLPIHANDLE connection, const MlpiMotionGearInPos* paramSet, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiMotionCamIn(const MLPIHANDLE connection, const MlpiMotionCamIn* paramSet, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiMotionMotionProfile(const MLPIHANDLE connection, const MlpiMotionMotionProfile* paramSet, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiMotionFlexProfile(const MLPIHANDLE connection, const MlpiMotionFlexProfile* paramSet, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiMotionSynchronOut(const MLPIHANDLE connection, const MlpiAxisRef axis, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiMotionPhasing(const MLPIHANDLE connection, const MlpiMotionPhasing* paramSet, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiMotionPhasingSlave(const MLPIHANDLE connection, const MlpiMotionPhasing* paramSet, MLPIMOTIONHANDLE* motionHandle);


MLPI_API MLPIRESULT mlpiMotionGetConfiguredAxes(const MLPIHANDLE connection, MlpiAxisInformation* configAxes, const ULONG numElements, ULONG *numElementsRet);


MLPI_API MLPIRESULT mlpiMotionGetAxisValues(const MLPIHANDLE connection, MlpiAxisValues* axisValues, const ULONG numElements);


MLPI_API MLPIRESULT mlpiMotionGetAxisUnits(const MLPIHANDLE connection, MlpiAxisUnits* axisUnits, const ULONG numElements);

MLPI_API MLPIRESULT mlpiMotionGetAxisStatus(const MLPIHANDLE connection, MlpiAxisStatus* axisStatus, const ULONG numElements);

MLPI_API MLPIRESULT mlpiMotionCreateAxis(const MLPIHANDLE connection, const MlpiAxisType axisType, const WCHAR16* name, const MlpiAxisRef axis, const ULONG deviceAddress);


MLPI_API MLPIRESULT mlpiMotionDestroyAxis(const MLPIHANDLE connection, const MlpiAxisRef axis);


MLPI_API MLPIRESULT mlpiMotionGetActualPosition(const MLPIHANDLE connection, const MlpiAxisRef axis, DOUBLE* value);


MLPI_API MLPIRESULT mlpiMotionGetActualVelocity(const MLPIHANDLE connection, const MlpiAxisRef axis, DOUBLE* value);


MLPI_API MLPIRESULT mlpiMotionGetActualAcceleration(const MLPIHANDLE connection, const MlpiAxisRef axis, DOUBLE* value);


MLPI_API MLPIRESULT mlpiMotionGetActualTorque(const MLPIHANDLE connection, const MlpiAxisRef axis, DOUBLE* value);


MLPI_API MLPIRESULT mlpiMotionGetInterpolatedPosition(const MLPIHANDLE connection, const MlpiAxisRef axis, DOUBLE* value);


MLPI_API MLPIRESULT mlpiMotionGetInterpolatedVelocity(const MLPIHANDLE connection, const MlpiAxisRef axis, DOUBLE* value);


MLPI_API MLPIRESULT mlpiMotionGetInterpolatedTorque(const MLPIHANDLE connection, const MlpiAxisRef axis, DOUBLE* value);


MLPI_API MLPIRESULT mlpiMotionGetPositionLimitPos(const MLPIHANDLE connection, const MlpiAxisRef axis, DOUBLE* value);


MLPI_API MLPIRESULT mlpiMotionSetPositionLimitPos(const MLPIHANDLE connection, const MlpiAxisRef axis, const DOUBLE value);


MLPI_API MLPIRESULT mlpiMotionGetPositionLimitNeg(const MLPIHANDLE connection, const MlpiAxisRef axis, DOUBLE* value);


MLPI_API MLPIRESULT mlpiMotionSetPositionLimitNeg(const MLPIHANDLE connection, const MlpiAxisRef axis, const DOUBLE value);


MLPI_API MLPIRESULT mlpiMotionGetVelocityLimitPos(const MLPIHANDLE connection, const MlpiAxisRef axis, DOUBLE* value);


MLPI_API MLPIRESULT mlpiMotionSetVelocityLimitPos(const MLPIHANDLE connection, const MlpiAxisRef axis, const DOUBLE value);


MLPI_API MLPIRESULT mlpiMotionGetVelocityLimitNeg(const MLPIHANDLE connection, const MlpiAxisRef axis, DOUBLE* value);


MLPI_API MLPIRESULT mlpiMotionSetVelocityLimitNeg(const MLPIHANDLE connection, const MlpiAxisRef axis, const DOUBLE value);


MLPI_API MLPIRESULT mlpiMotionGetVelocityLimitBip(const MLPIHANDLE connection, const MlpiAxisRef axis, DOUBLE* value);


MLPI_API MLPIRESULT mlpiMotionSetVelocityLimitBip(const MLPIHANDLE connection, const MlpiAxisRef axis, const DOUBLE value);


MLPI_API MLPIRESULT mlpiMotionGetAccelerationLimitBip(const MLPIHANDLE connection, const MlpiAxisRef axis, DOUBLE* value);


MLPI_API MLPIRESULT mlpiMotionSetAccelerationLimitBip(const MLPIHANDLE connection, const MlpiAxisRef axis, const DOUBLE value);


MLPI_API MLPIRESULT mlpiMotionGetJerkLimitBip(const MLPIHANDLE connection, const MlpiAxisRef axis, DOUBLE* value);


MLPI_API MLPIRESULT mlpiMotionSetJerkLimitBip(const MLPIHANDLE connection, const MlpiAxisRef axis, const DOUBLE value);


MLPI_API MLPIRESULT mlpiMotionGetTorqueLimitBip(const MLPIHANDLE connection, const MlpiAxisRef axis, DOUBLE* value);


MLPI_API MLPIRESULT mlpiMotionSetTorqueLimitBip(const MLPIHANDLE connection, const MlpiAxisRef axis, const DOUBLE value);


MLPI_API MLPIRESULT mlpiMotionGetTorqueLimitPos(const MLPIHANDLE connection, const MlpiAxisRef axis, DOUBLE* value);


MLPI_API MLPIRESULT mlpiMotionSetTorqueLimitPos(const MLPIHANDLE connection, const MlpiAxisRef axis, const DOUBLE value);


MLPI_API MLPIRESULT mlpiMotionGetTorqueLimitNeg(const MLPIHANDLE connection, const MlpiAxisRef axis, DOUBLE* value);


MLPI_API MLPIRESULT mlpiMotionSetTorqueLimitNeg(const MLPIHANDLE connection, const MlpiAxisRef axis, const DOUBLE value);


MLPI_API MLPIRESULT mlpiMotionGetPositionScaling(const MLPIHANDLE connection, const MlpiAxisRef axis, USHORT* value);


MLPI_API MLPIRESULT mlpiMotionSetPositionScaling(const MLPIHANDLE connection, const MlpiAxisRef axis, const USHORT value);


MLPI_API MLPIRESULT mlpiMotionGetVelocityScaling(const MLPIHANDLE connection, const MlpiAxisRef axis, USHORT* value);


MLPI_API MLPIRESULT mlpiMotionSetVelocityScaling(const MLPIHANDLE connection, const MlpiAxisRef axis, const USHORT value);


MLPI_API MLPIRESULT mlpiMotionGetAccelerationScaling(const MLPIHANDLE connection, const MlpiAxisRef axis, USHORT* value);


MLPI_API MLPIRESULT mlpiMotionSetAccelerationScaling(const MLPIHANDLE connection, const MlpiAxisRef axis, const USHORT value);


MLPI_API MLPIRESULT mlpiMotionGetTorqueScaling(const MLPIHANDLE connection, const MlpiAxisRef axis, USHORT* value);


MLPI_API MLPIRESULT mlpiMotionSetTorqueScaling(const MLPIHANDLE connection, const MlpiAxisRef axis, const USHORT value);


MLPI_API MLPIRESULT mlpiMotionGetModulo(const MLPIHANDLE connection, const MlpiAxisRef axis, DOUBLE* value);


MLPI_API MLPIRESULT mlpiMotionSetModulo(const MLPIHANDLE connection, const MlpiAxisRef axis, const DOUBLE value);


MLPI_API MLPIRESULT mlpiMotionGetSlaveDriveFeedTravel(const MLPIHANDLE connection, const MlpiAxisRef axis, DOUBLE* value);


MLPI_API MLPIRESULT mlpiMotionSetSlaveDriveFeedTravel(const MLPIHANDLE connection, const MlpiAxisRef axis, const DOUBLE value);


MLPI_API MLPIRESULT mlpiMotionGetState(const MLPIHANDLE connection, const MlpiAxisRef axis, ULONG* value);


MLPI_API MLPIRESULT mlpiMotionGetStateExtended(const MLPIHANDLE connection, const MlpiAxisRef axis, ULONG* value);


MLPI_API MLPIRESULT mlpiMotionGetDiagnosisNumber(const MLPIHANDLE connection, const MlpiAxisRef axis, ULONG* number);


MLPI_API MLPIRESULT mlpiMotionGetDiagnosisText(const MLPIHANDLE connection, const MlpiAxisRef axis, WCHAR16* buffer, const ULONG numElements);


MLPI_API MLPIRESULT mlpiMotionGetName(const MLPIHANDLE connection, const MlpiAxisRef axis, WCHAR16* name, const ULONG numElements);


MLPI_API MLPIRESULT mlpiMotionSetName(const MLPIHANDLE connection, const MlpiAxisRef axis, const WCHAR16* name);


MLPI_API MLPIRESULT mlpiMotionGetAxisType(const MLPIHANDLE connection, const MlpiAxisRef axis, USHORT* type);


MLPI_API MLPIRESULT mlpiMotionGetCondition(const MLPIHANDLE connection, const MlpiAxisRef axis, ULONG* value);


MLPI_API MLPIRESULT mlpiMotionSetCondition(const MLPIHANDLE connection, const MlpiAxisRef axis, const ULONG value);


MLPI_API MLPIRESULT mlpiMotionLoadDefaultParameters(const MLPIHANDLE connection, const MlpiAxisRef axis);


MLPI_API MLPIRESULT mlpiMotionClearError(const MLPIHANDLE connection, const MlpiAxisRef axis);



#ifdef __cplusplus
}
#endif



#endif // endof: #ifndef __MLPIMOTIONLIB_H__