Public Delegate Function DMotionStudyEvents_MotorOutputTimeStepChangeNotifyEventHandler( _
   ByVal Time As System.Double, _
   ByVal MotorNames As System.Object, _
   ByVal Position As System.Object, _
   ByVal Velocity As System.Object, _
   ByVal Acceleration As System.Object, _
   ByVal ForceOrTorque As System.Object, _
   ByRef MotorValue As System.Object _
) As System.Integer

Dim instance As New DMotionStudyEvents_MotorOutputTimeStepChangeNotifyEventHandler(AddressOf HandlerMethod)

public delegate System.int DMotionStudyEvents_MotorOutputTimeStepChangeNotifyEventHandler( 
   System.double Time,
   System.object MotorNames,
   System.object Position,
   System.object Velocity,
   System.object Acceleration,
   System.object ForceOrTorque,
   ref System.object MotorValue
)

public delegate System.int DMotionStudyEvents_MotorOutputTimeStepChangeNotifyEventHandler( 
&   System.double Time,
&   System.Object^ MotorNames,
&   System.Object^ Position,
&   System.Object^ Velocity,
&   System.Object^ Acceleration,
&   System.Object^ ForceOrTorque,
&   System.Object^% MotorValue
)

Parameters

Time

Output time when the event is fired

MotorNames

Array of strings containing the names of the external motors

Position

Array of doubles indicating the position of each external motor; the order of these valeus corresponds to the order of the names of MotorNames

Velocity

Array of doubles indicating the velocity of each external motor; the order of these values corresponds to the order of the names in MotorNames

Acceleration

Array of doubles indicating the acceleration of each external motor; the order of these values corresponds to the order of the names in MotorNames

ForceOrTorque

Array of doubles indicating if an external motor is a linear motor (force) or a rotary motor (torque); the order of these values corresponds to the order of the names in MotorNames

MotorValue

Array of doubles indicating the value of the motor (position, velocity, or acceleration) at the next output time step; these values are used internally for doing interpolation during the integrator time steps; the order of these values corresponds to the order of the names in MotorNames

When the motion simulation is occurring, the solver takes two types of time steps:

• integrator
• output

Integrator time steps are taken during the solve; thus, it is not guaranteed that the solver will actually converge at that step. Output time steps are taken after the solver has converged. By default, the MotorOutputTimeStepChangeNotify event is fired at integrator time steps. If you want to fire this event at output time steps, then set IMotionStudy::SetFireOutputTimeStepEvents to true.

If developing a C++ application, then use swMotionStudyMotorOutputTimeStepChangeNotify to register for this notification.