comacrsrvr.tlh

介绍控制器运动的例子

    VARIANT_BOOL GetisOffline ( );
    VARIANT_BOOL GetbComment ( );
    void PutbComment (
        VARIANT_BOOL pVal );
    _bstr_t GetbstrPartNbr ( );
    void PutbstrPartNbr (
        _bstr_t pVal );
    long GetnDimP ( );
    void PutnDimP (
        long pVal );
    long GetnDimDef ( );
    void PutnDimDef (
        long pVal );
    VARIANT_BOOL GetbOnConnectTest ( );
    void PutbOnConnectTest (
        VARIANT_BOOL pVal );
    long GetnCard ( );
    HRESULT Disconnect ( );
    long GetDimProg (
        long nIndex );
    long GetDimProgDefault (
        long nIndex );
    HRESULT PutDimProgDefault (
        long nIndex,
        long nMemory );
    long GetDimPLC (
        long nIndex );
    long GetDimPLCDefault (
        long nIndex );
    HRESULT PutDimPLCDefault (
        long nIndex,
        long nMemory );
    HRESULT GetSetupHW (
        long * nCard,
        long * nEncoder,
        long * nServo1,
        long * nStepper1,
        long * nServo2,
        long * nStepper2,
        long * nAnalog,
        long * nAnalogMode,
        long * nIOMode,
        long * nExpandedIO );
    HRESULT PutSetupHW (
        long nCard,
        long nEncoder,
        long nServo1,
        long nStepper1,
        long nServo2,
        long nStepper2,
        long nAnalog,
        long nAnalogMode,
        long nIOMode,
        long nExpandedIO );
    HRESULT GetSetupHWex (
        long * nEncoder,
        long * nServo1,
        long * nStepper1,
        long * nServo2,
        long * nStepper2,
        long * nAnalog,
        long * nAnalogMode );
    HRESULT PutSetupHWex (
        long nEncoder,
        long nServo1,
        long nStepper1,
        long nServo2,
        long nStepper2,
        long nAnalog,
        long nAnalogMode );
    HRESULT GetAxisFeedback (
        long nAxis,
        long * nPosnType,
        long * nPosnIndex,
        long * nPosnQuad,
        long * nPosnSrc,
        long * nPosnPkg,
        float * fPosnRes,
        float * nPosSmper,
        float * nNegSmper,
        long * nVelType,
        long * nVelIndex,
        long * nVelQuad,
        long * nVelSrc,
        long * nVelPkg,
        float * fVelRes );
    HRESULT PutAxisFeedback (
        long nAxis,
        long nPosnType,
        long nPosnIndex,
        long nPosnQuad,
        long nPosnSrc,
        long nPosnPkg,
        float fPosnRes,
        float nPosSmper,
        float nNegSmper,
        long nVelType,
        long nVelIndex,
        long nVelQuad,
        long nVelSrc,
        long nVelPkg,
        float fVelRes );
    HRESULT GetAxisIO (
        long nAxis,
        long * nHwPosLimit,
        long * nHwPosLimitLevel,
        long * nHwNegLimit,
        long * nHwNegLimitLevel,
        long * nDriveFault,
        long * nDriveFaultLevel,
        long * nDriveEnable,
        long * nDriveEnableLevel,
        long * nDriveReset,
        long * nDriveResetLevel,
        VARIANT_BOOL * bOnKill );
    HRESULT PutAxisIO (
        long nAxis,
        long nHwPosLimit,
        long nHwPosLimitLevel,
        long nHwNegLimit,
        long nHwNegLimitLevel,
        long nDriveFault,
        long nDriveFaultLevel,
        long nDriveEnable,
        long nDriveEnableLevel,
        long nDriveReset,
        long nDriveResetLevel,
        VARIANT_BOOL bOnKill );
    HRESULT GetAxisLimits (
        long nAxis,
        VARIANT_BOOL * bHwPos,
        VARIANT_BOOL * bHwNeg,
        VARIANT_BOOL * bSwPos,
        float * fSwPosValue,
        VARIANT_BOOL * bSwNeg,
        float * fSwNegValue,
        float * fVelLimit );
    HRESULT PutAxisLimits (
        long nAxis,
        VARIANT_BOOL bHwPos,
        VARIANT_BOOL bHwNeg,
        VARIANT_BOOL bSwPos,
        float fSwPosValue,
        VARIANT_BOOL bSwNeg,
        float fSwNegValue,
        float fVelLimit );
    HRESULT GetAxisProfile (
        long nAxis,
        long * nProfile,
        BSTR * bstrName );
    HRESULT PutAxisProfile (
        long nAxis,
        long nProfile,
        _bstr_t bstrName );
    HRESULT GetSetupProfile (
        long nProfile,
        float * fVecVel,
        float * fVecAcc,
        float * fRampSTP,
        float * fRampDEC,
        VARIANT_BOOL * bSCurve,
        VARIANT_BOOL * bEstopHWLimit,
        VARIANT_BOOL * bEstopSWLimit );
    HRESULT PutSetupProfile (
        long nProfile,
        float fVecVel,
        float fVecAcc,
        float fRampSTP,
        float fRampDEC,
        VARIANT_BOOL bSCurve,
        VARIANT_BOOL bEstopHWLimit,
        VARIANT_BOOL bEstopSWLimit );
    HRESULT SaveConfig (
        VARIANT_BOOL bController,
        _bstr_t bstrPath );
    HRESULT LoadConfig (
        _bstr_t bstrPath );
    HRESULT GetAxisScale (
        long nAxis,
        long * nUnits,
        BSTR * bstrUnitsName,
        long * nTrans,
        float * fTransFactor,
        long * nReducer,
        float * fRedFactor1,
        float * fRedFactor2,
        float * fRedFactor3,
        float * fRedFactor4,
        float * fSclFactor,
        float * fPPU );
    HRESULT PutAxisScale (
        long nAxis,
        long nUnits,
        _bstr_t bstrUnitsName,
        long nTrans,
        float fTransFactor,
        long nReducer,
        float fRedFactor1,
        float fRedFactor2,
        float fRedFactor3,
        float fRedFactor4,
        float fSclFactor,
        float fPPU );
    HRESULT GetAxisSignal (
        long nAxis,
        long * nSignalType,
        long * nSignalIndex,
        long * nStepMode,
        long * nDrive,
        long * nDriveRes,
        long * nMotor,
        long * nMotorPkg,
        long * nGearHead );
    HRESULT PutAxisSignal (
        long nAxis,
        long nSignalType,
        long nSignalIndex,
        long nStepMode,
        long nDrive,
        long nDriveRes,
        long nMotor,
        long nMotorPkg,
        long nGearHead );
    HRESULT GetCANopen (
        long * nMaster,
        long * nBitRate,
        long * nPeriod,
        long * nNodes );
    HRESULT PutCANopen (
        long nMaster,
        long nBitRate,
        long nPeriod,
        long nNodes );
    HRESULT Connect (
        long nTransport,
        long nIndex );
    VARIANT_BOOL TestConnect ( );
    HRESULT GetCANnode (
        long nNode,
        long * nNodeID,
        long * nDInput,
        long * nDOutput,
        long * nAInput,
        long * nAOutput,
        long * nType,
        long * nTimeBase,
        long * nTimeDPoint,
        long * nTimeAPoint );
    HRESULT PutCANnode (
        long nNode,
        long nNodeID,
        long nDInput,
        long nDOutput,
        long nAInput,
        long nAOutput,
        long nType,
        long nTimeBase,
        long nTimeDPoint,
        long nTimeAPoint );
    HRESULT SetWatchdog (
        long nInterval,
        long nRetries );

    //
    // Raw methods provided by interface
    //

    virtual HRESULT __stdcall get_bstrVersion (
        BSTR * pVal ) = 0;
    virtual HRESULT __stdcall get_nPort (
        long * pVal ) = 0;
    virtual HRESULT __stdcall put_nPort (
        long pVal ) = 0;
    virtual HRESULT __stdcall get_nBPS (
        long * pVal ) = 0;
    virtual HRESULT __stdcall put_nBPS (
        long pVal ) = 0;
    virtual HRESULT __stdcall get_bstrIP (
        BSTR * pVal ) = 0;
    virtual HRESULT __stdcall put_bstrIP (
        BSTR pVal ) = 0;
    virtual HRESULT __stdcall get_nBus (
        long * pVal ) = 0;
    virtual HRESULT __stdcall put_nBus (
        long pVal ) = 0;
    virtual HRESULT __stdcall get_isOffline (
        VARIANT_BOOL * pVal ) = 0;
    virtual HRESULT __stdcall get_bComment (
        VARIANT_BOOL * pVal ) = 0;
    virtual HRESULT __stdcall put_bComment (
        VARIANT_BOOL pVal ) = 0;
    virtual HRESULT __stdcall get_bstrPartNbr (
        BSTR * pVal ) = 0;
    virtual HRESULT __stdcall put_bstrPartNbr (
        BSTR pVal ) = 0;
    virtual HRESULT __stdcall get_nDimP (
        long * pVal ) = 0;
    virtual HRESULT __stdcall put_nDimP (
        long pVal ) = 0;
    virtual HRESULT __stdcall get_nDimDef (
        long * pVal ) = 0;
    virtual HRESULT __stdcall put_nDimDef (
        long pVal ) = 0;
    virtual HRESULT __stdcall get_bOnConnectTest (
        VARIANT_BOOL * pVal ) = 0;
    virtual HRESULT __stdcall put_bOnConnectTest (
        VARIANT_BOOL pVal ) = 0;
    virtual HRESULT __stdcall get_nCard (
        long * pVal ) = 0;
    virtual HRESULT __stdcall raw_Disconnect ( ) = 0;
    virtual HRESULT __stdcall raw_GetDimProg (
        long nIndex,
        long * nMemory ) = 0;
    virtual HRESULT __stdcall raw_GetDimProgDefault (
        long nIndex,
        long * nMemory ) = 0;
    virtual HRESULT __stdcall raw_PutDimProgDefault (
        long nIndex,
        long nMemory ) = 0;
    virtual HRESULT __stdcall raw_GetDimPLC (
        long nIndex,
        long * nMemory ) = 0;
    virtual HRESULT __stdcall raw_GetDimPLCDefault (
        long nIndex,
        long * nMemory ) = 0;
    virtual HRESULT __stdcall raw_PutDimPLCDefault (
        long nIndex,
        long nMemory ) = 0;
    virtual HRESULT __stdcall raw_GetSetupHW (
        long * nCard,
        long * nEncoder,
        long * nServo1,
        long * nStepper1,
        long * nServo2,
        long * nStepper2,
        long * nAnalog,
        long * nAnalogMode,
        long * nIOMode,
        long * nExpandedIO ) = 0;
    virtual HRESULT __stdcall raw_PutSetupHW (
        long nCard,
        long nEncoder,
        long nServo1,
        long nStepper1,
        long nServo2,
        long nStepper2,
        long nAnalog,
        long nAnalogMode,
        long nIOMode,
        long nExpandedIO ) = 0;
    virtual HRESULT __stdcall raw_GetSetupHWex (
        long * nEncoder,
        long * nServo1,
        long * nStepper1,
        long * nServo2,
        long * nStepper2,
        long * nAnalog,
        long * nAnalogMode ) = 0;
    virtual HRESULT __stdcall raw_PutSetupHWex (
        long nEncoder,
        long nServo1,
        long nStepper1,
        long nServo2,
        long nStepper2,
        long nAnalog,
        long nAnalogMode ) = 0;
    virtual HRESULT __stdcall raw_GetAxisFeedback (
        long nAxis,
        long * nPosnType,
        long * nPosnIndex,
        long * nPosnQuad,
        long * nPosnSrc,
        long * nPosnPkg,
        float * fPosnRes,
        float * nPosSmper,
        float * nNegSmper,
        long * nVelType,
        long * nVelIndex,
        long * nVelQuad,
        long * nVelSrc,
        long * nVelPkg,