Step III_1 (In User-defined Program)

If the user wants to open and use User-defined Program and RecurDyn at the same time, RecurDyn recommends that the user uses the following step.

Library files: <Install Dir>/Toolkits/Controls/General10/CoSim_Operator.lib, CoSim_Operator.dll, CoSimGeneral.h

Interface Function

RunSimulation:

• wchar_t *ModelName

• double endtime

• int plotstep

• double interfacestep

This function must be called only one before interfacing.

Parameter Name	Unit	Input/Output	Type	Description
ModelName	[-]	Input	Wchar_t	Is the RecurDyn model name
endtime	[-]	Input	double	Is the simulation end time
plotstep	[-]	Input	int	Is the RecurDyn request step
interfacestep	[-]	Input	double	Is the sampling period

CommunicateRecurDyn:

• double sim_time

• int iNPin

• int iNPout

• double *dPIN

• double *dPOUT

• double *rd_time

• int *error

This function must be called once at interface time step.

Parameter Name	Unit	Input/Output	Type	Description
sim_time	[-]	Input	double	Is the simulation time
iNPin	[-]	Input	int	Is the number of plant input
iNPout	[-]	Input	int	Is the number of plant output
dPIN	[-]	Input	double	Is the values of plant input
dPOUT	[-]	Output	double	Is the values of plant output
rd_time	[-]	Output	double	Is the RecurDyn simulation time
error	[-]	Output	int	0: no error 1: The model is abnormally stopped 2: The RecurDyn don't respond. 3: Interface time don’t match.

GetStatusRecurDyn:

• StatusRecurDyn* statusRD

• int* error

This function must be called once at interface time step.

Parameter Name	Unit	Input/Output	Type	Description
statusRD	[-]	Output	StatusRecurDyn*	Returns the number of plant inputs and plant outputs.
error	[-]	Output	Int*	error>0 : no error

GetStringPlantInput:

• int seq

• char* chDirectory

• int* error

Parameter Name	Unit	Input/Output	Type	Description
seq	[-]	Output	int	Returns the sequence of plant input.
seq_input	[-]	Output	char*	Returns the string of plant input defined the seq.
error	[-]	Output	int*	error>0 : fails to return.

GetStringPlantOutput:

• int seq

• char* chDirectory

• int* error

Parameter Name	Unit	Input/Output	Type	Description
seq	[-]	Output	int	Returns the sequence of plant output.
seq_output	[-]	Output	char*	Returns the string of plant output defined the seq.
error	[-]	Output	int*	error>0 : fails to return.

CloseRecurDyn();

This function must be called only one after interfacing.

StopRecurDyn();

This function must be called only one after interfacing.