comacrsrvr.tlh

介绍控制器运动的例子

        float * fVelRes ) = 0;
    virtual HRESULT __stdcall raw_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 ) = 0;
    virtual HRESULT __stdcall raw_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 ) = 0;
    virtual HRESULT __stdcall raw_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 ) = 0;
    virtual HRESULT __stdcall raw_GetAxisLimits (
        long nAxis,
        VARIANT_BOOL * bHwPos,
        VARIANT_BOOL * bHwNeg,
        VARIANT_BOOL * bSwPos,
        float * fSwPosValue,
        VARIANT_BOOL * bSwNeg,
        float * fSwNegValue,
        float * fVelLimit ) = 0;
    virtual HRESULT __stdcall raw_PutAxisLimits (
        long nAxis,
        VARIANT_BOOL bHwPos,
        VARIANT_BOOL bHwNeg,
        VARIANT_BOOL bSwPos,
        float fSwPosValue,
        VARIANT_BOOL bSwNeg,
        float fSwNegValue,
        float fVelLimit ) = 0;
    virtual HRESULT __stdcall raw_GetAxisProfile (
        long nAxis,
        long * nProfile,
        BSTR * bstrName ) = 0;
    virtual HRESULT __stdcall raw_PutAxisProfile (
        long nAxis,
        long nProfile,
        BSTR bstrName ) = 0;
    virtual HRESULT __stdcall raw_GetSetupProfile (
        long nProfile,
        float * fVecVel,
        float * fVecAcc,
        float * fRampSTP,
        float * fRampDEC,
        VARIANT_BOOL * bSCurve,
        VARIANT_BOOL * bEstopHWLimit,
        VARIANT_BOOL * bEstopSWLimit ) = 0;
    virtual HRESULT __stdcall raw_PutSetupProfile (
        long nProfile,
        float fVecVel,
        float fVecAcc,
        float fRampSTP,
        float fRampDEC,
        VARIANT_BOOL bSCurve,
        VARIANT_BOOL bEstopHWLimit,
        VARIANT_BOOL bEstopSWLimit ) = 0;
    virtual HRESULT __stdcall raw_SaveConfig (
        VARIANT_BOOL bController,
        BSTR bstrPath ) = 0;
    virtual HRESULT __stdcall raw_LoadConfig (
        BSTR bstrPath ) = 0;
    virtual HRESULT __stdcall raw_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 ) = 0;
    virtual HRESULT __stdcall raw_PutAxisScale (
        long nAxis,
        long nUnits,
        BSTR bstrUnitsName,
        long nTrans,
        float fTransFactor,
        long nReducer,
        float fRedFactor1,
        float fRedFactor2,
        float fRedFactor3,
        float fRedFactor4,
        float fSclFactor,
        float fPPU ) = 0;
    virtual HRESULT __stdcall raw_GetAxisSignal (
        long nAxis,
        long * nSignalType,
        long * nSignalIndex,
        long * nStepMode,
        long * nDrive,
        long * nDriveRes,
        long * nMotor,
        long * nMotorPkg,
        long * nGearHead ) = 0;
    virtual HRESULT __stdcall raw_PutAxisSignal (
        long nAxis,
        long nSignalType,
        long nSignalIndex,
        long nStepMode,
        long nDrive,
        long nDriveRes,
        long nMotor,
        long nMotorPkg,
        long nGearHead ) = 0;
    virtual HRESULT __stdcall raw_GetCANopen (
        long * nMaster,
        long * nBitRate,
        long * nPeriod,
        long * nNodes ) = 0;
    virtual HRESULT __stdcall raw_PutCANopen (
        long nMaster,
        long nBitRate,
        long nPeriod,
        long nNodes ) = 0;
    virtual HRESULT __stdcall raw_Connect (
        long nTransport,
        long nIndex ) = 0;
    virtual HRESULT __stdcall raw_TestConnect (
        VARIANT_BOOL * pVal ) = 0;
    virtual HRESULT __stdcall raw_GetCANnode (
        long nNode,
        long * nNodeID,
        long * nDInput,
        long * nDOutput,
        long * nAInput,
        long * nAOutput,
        long * nType,
        long * nTimeBase,
        long * nTimeDPoint,
        long * nTimeAPoint ) = 0;
    virtual HRESULT __stdcall raw_PutCANnode (
        long nNode,
        long nNodeID,
        long nDInput,
        long nDOutput,
        long nAInput,
        long nAOutput,
        long nType,
        long nTimeBase,
        long nTimeDPoint,
        long nTimeAPoint ) = 0;
    virtual HRESULT __stdcall raw_SetWatchdog (
        long nInterval,
        long nRetries ) = 0;
};

struct __declspec(uuid("548f6282-aee7-4afa-b1f6-8c85389dd697"))
_IStatusEvents : IDispatch
{
    //
    // Wrapper methods for error-handling
    //

    // Methods:
    HRESULT StatusWaiting (
        long msgID,
        long error );
};

struct __declspec(uuid("454fe70d-5dc2-4128-a2c8-89b6d98f67c2"))
Status;
    // [ default ] interface IStatus
    // [ default, source ] dispinterface _IStatusEvents

struct __declspec(uuid("d71eadd4-66cd-44b2-a666-9a8a6d2ffd24"))
IStatus : IDispatch
{
    //
    // Property data
    //

    __declspec(property(get=GetbstrVersion))
    _bstr_t bstrVersion;
    __declspec(property(get=GetnPort,put=PutnPort))
    long nPort;
    __declspec(property(get=GetnBPS,put=PutnBPS))
    long nBPS;
    __declspec(property(get=GetbstrIP,put=PutbstrIP))
    _bstr_t bstrIP;
    __declspec(property(get=GetnBus,put=PutnBus))
    long nBus;
    __declspec(property(get=GetisOffline))
    VARIANT_BOOL isOffline;
    __declspec(property(get=GetnStatusWaitRate,put=PutnStatusWaitRate))
    long nStatusWaitRate;
    __declspec(property(get=GetbOnConnectTest,put=PutbOnConnectTest))
    VARIANT_BOOL bOnConnectTest;
    __declspec(property(get=GetnCard))
    long nCard;

    //
    // Wrapper methods for error-handling
    //

    _bstr_t GetbstrVersion ( );
    long GetnPort ( );
    void PutnPort (
        long pVal );
    long GetnBPS ( );
    void PutnBPS (
        long pVal );
    _bstr_t GetbstrIP ( );
    void PutbstrIP (
        _bstr_t pVal );
    long GetnBus ( );
    void PutnBus (
        long pVal );
    VARIANT_BOOL GetisOffline ( );
    long GetnStatusWaitRate ( );
    void PutnStatusWaitRate (
        long pVal );
    VARIANT_BOOL GetbOnConnectTest ( );
    void PutbOnConnectTest (
        VARIANT_BOOL pVal );
    long GetnCard ( );
    HRESULT Disconnect ( );
    HRESULT Connect (
        long nTransport,
        long nIndex );
    _variant_t GetACRGroup (
        _bstr_t bstrRequest );
    _variant_t GetACRCustom (
        _bstr_t bstrRequest );
    _variant_t GetACRMemory (
        long nType,
        long nAddress,
        long nCount );
    long AddACRGroup (
        _bstr_t bstrRequest );
    long AddACRCustom (
        _bstr_t bstrRequest );
    long AddACRMemory (
        long nType,
        long nAddress,
        long nCount );
    _variant_t GetStatus (
        long nMsgid );
    HRESULT DelStatus (
        long nMsgid );
    long GetLocalAddr (
        long nProg,
        long nType,
        long * nSize );
    long GetLocalArrayAddr (
        long nProg,
        long nType,
        long nArray,
        long * nSize );
    VARIANT_BOOL IsFlagSet (
        long nFlagGrp,
        long nFlagNdx );
    VARIANT_BOOL TestConnect ( );
    VARIANT_BOOL GetParmInfo (
        long nParameter,
        long * nType,
        long * nCode,
        long * nIndex,
        BSTR * bstrCatagory,
        BSTR * bstrDesc );
    HRESULT SetWatchdog (
        long nInterval,
        long nRetries );
    _variant_t GetACRGroupRaw (
        long nType,
        long nCode,
        long nIndex );
    long AddACRGroupRaw (
        long nType,
        long nCode,
        long nIndex );
    long GetParmType (
        long nParameter );
    long GetParmAddr (
        long nParameter );

    //
    // 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_nStatusWaitRate (
        long * pVal ) = 0;
    virtual HRESULT __stdcall put_nStatusWaitRate (
        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_Connect (
        long nTransport,
        long nIndex ) = 0;
    virtual HRESULT __stdcall raw_GetACRGroup (
        BSTR bstrRequest,
        VARIANT * Status ) = 0;
    virtual HRESULT __stdcall raw_GetACRCustom (
        BSTR bstrRequest,
        VARIANT * Status ) = 0;
    virtual HRESULT __stdcall raw_GetACRMemory (
        long nType,
        long nAddress,
        long nCount,
        VARIANT * Status ) = 0;
    virtual HRESULT __stdcall raw_AddACRGroup (
        BSTR bstrRequest,
        long * nMsgid ) = 0;
    virtual HRESULT __stdcall raw_AddACRCustom (
        BSTR bstrRequest,
        long * nMsgid ) = 0;
    virtual HRESULT __stdcall raw_AddACRMemory (
        long nType,
        long nAddress,
        long nCount,
        long * nMsgid ) = 0;
    virtual HRESULT __stdcall raw_GetStatus (
        long nMsgid,
        VARIANT * Status ) = 0;
    virtual HRESULT __stdcall raw_DelStatus (
        long nMsgid ) = 0;
    virtual HRESULT __stdcall raw_GetLocalAddr (
        long nProg,
        long nType,
        long * nSize,
        long * nAddr ) = 0;
    virtual HRESULT __stdcall raw_GetLocalArrayAddr (
        long nProg,