|
eyou_harmonic_sdk
1.0
canable library
|
类 | |
| struct | _harmonic_CanMsg |
| can数据结构 更多... | |
宏定义 | |
| #define | EXTERNFUNC |
| #define | HARMONIC_SUCCESS (0) |
| #define | HARMONIC_FAILED_DEVICEDISABLED (1) |
| #define | HARMONIC_FAILED_OPENFAILED (2) |
| #define | HARMONIC_FAILED_CANSEND (3) |
| #define | HARMONIC_FAILED_CANRECEIVE (4) |
| #define | HARMONIC_FAILED_ReadLocalDict (5) |
| #define | HARMONIC_FAILED_WriteLocalDict (6) |
| #define | HARMONIC_FAILED_NoRespondR (7) |
| #define | HARMONIC_FAILED_NoRespondW (8) |
| #define | HARMONIC_FAILED_UNKNOWN (100) |
类型定义 | |
| typedef signed char | hint8 |
| typedef signed short int | hint16 |
| typedef signed int | hint24 |
| typedef signed int | hint32 |
| typedef signed long int | hint40 |
| typedef signed long int | hint48 |
| typedef signed long int | hint56 |
| typedef signed long int | hint64 |
| typedef unsigned int huint8 | __attribute__((__mode__(__QI__))) |
| typedef float | hreal32 |
| typedef double | hreal64 |
| typedef struct _harmonic_CanMsg | harmonic_CanMsg |
| can数据结构 更多... | |
| typedef void(* | harmonic_SendDataCallBack) (huint8 devIndex, const harmonic_CanMsg *msg) |
| 发送数据回调函数 更多... | |
| typedef void(* | harmonic_ReceiveDataCallBack) (huint8 devIndex, const harmonic_CanMsg *msg) |
| 接收数据回调函数 更多... | |
函数 | |
| EXTERNFUNC int | harmonic_setSendDataCallBack (harmonic_SendDataCallBack callFunc) |
| 设置发送数据回调函数 更多... | |
| EXTERNFUNC int | harmonic_setReceiveDataCallBack (harmonic_ReceiveDataCallBack callFunc) |
| 设置接收数据回调函数 更多... | |
| EXTERNFUNC int | harmonic_initDLL (harmonic_DeviceType devType, huint8 devIndex, harmonic_Baudrate baudrate, bool isCanFD=false, harmonic_DBaudrate dbaudrate=harmonic_DBaudrate::harmonic_DBaudrate_5000) |
| 初始化dll,在调用所有函数前,必须先调用该函数进行初始化,该函数会打开设备。 【注意】控制多个设备时可多次调用,多设备控制时共享一个主站,所以即使不同的通讯设备上,电机id也不能重复 更多... | |
| EXTERNFUNC int | harmonic_freeDLL (huint8 devIndex) |
| 关闭设备,释放资源,设备打开成功后需要在适当时机释放资源 如果存在多个设备,程序退出前,每个设备都需调用一次释放资源 更多... | |
| EXTERNFUNC int | harmonic_getNodeState (huint8 devIndex, huint8 id, harmonic_NodeState *state, huint32 timeout=100) |
| 读从节点状态 更多... | |
| EXTERNFUNC int | harmonic_setLocalNodeState (harmonic_NodeState state) |
| 设置本地节点状态 更多... | |
| EXTERNFUNC int | harmonic_setNodeState (huint8 devIndex, huint8 id, harmonic_NMTState state) |
| 设置从节点状态 更多... | |
| EXTERNFUNC int | harmonic_readLocalDirectory (huint16 index, huint8 subIndex, harmonic_DataType dataType, void *readData) |
| 读主站字典 更多... | |
| EXTERNFUNC int | harmonic_readDirectory (huint8 devIndex, huint8 id, huint16 index, huint8 subIndex, harmonic_DataType dataType, void *readData, huint32 timeout=100) |
| 读从站字典 更多... | |
| EXTERNFUNC int | harmonic_writeLocalDirectory (huint16 index, huint8 subIndex, harmonic_DataType dataType, void *writeData) |
| 写主站字典 更多... | |
| EXTERNFUNC int | harmonic_writeDirectory (huint8 devIndex, huint8 id, huint16 index, huint8 subIndex, harmonic_DataType dataType, void *writeData, huint32 timeout=100) |
| 写从站字典 更多... | |
| EXTERNFUNC int | harmonic_writeCanData (huint8 devIndex, huint16 cobId, const huint8 *const data, huint8 len) |
| 发送原始can数据 更多... | |
| EXTERNFUNC int | harmonic_writeCanMsg (huint8 devIndex, const harmonic_CanMsg *canMsg) |
| 发送原始can数据 更多... | |
| EXTERNFUNC int | harmonic_profilePositionControl (huint8 devIndex, huint8 id, hint32 targetPos, huint32 vel, huint32 acc, huint32 dec, bool isRelative=false, bool isImmediately=true, bool isUpdate=false) |
| 轮廓位置控制,该模式下电机内部根据给定参数生成轨迹并执行 更多... | |
| EXTERNFUNC int | harmonic_profileVelocityControl (huint8 devIndex, huint8 id, hint32 targetVel, huint32 acc, huint32 dec, bool isUpdate=false) |
| 轮廓速度控制,该模式下电机内部根据给定参数生成轨迹并执行 更多... | |
| EXTERNFUNC int | harmonic_profileTorqueControl (huint8 devIndex, huint8 id, huint16 targetTorque, hint16 slope, bool isUpdate=false) |
| 轮廓力矩控制,该模式下电机内部根据给定参数生成轨迹并执行 更多... | |
| EXTERNFUNC int | harmonic_stopControl (huint8 devIndex, huint8 id) |
| 停止控制 更多... | |
| EXTERNFUNC int | harmonic_getLocalSyncCOBID (huint32 *cobId) |
| 读本地字典0x1005-0x0 更多... | |
| EXTERNFUNC int | harmonic_setLocalSyncCOBID (huint32 cobId) |
| 读本地字典0x1005-0x0 更多... | |
| EXTERNFUNC int | harmonic_getLocalSyncCycle (huint32 *cycle) |
| 读本地字典0x1006-0x0 更多... | |
| EXTERNFUNC int | harmonic_setLocalSyncCycle (huint32 cycle) |
| 写本地字典0x1006-0x0 更多... | |
| EXTERNFUNC int | harmonic_getLocalSyncWindow (huint32 *sWindow) |
| 读本地字典0x1007-0x0 更多... | |
| EXTERNFUNC int | harmonic_setLocalSyncWindow (huint32 sWindow) |
| 写本地字典0x1007-0x0 更多... | |
| EXTERNFUNC int | harmonic_getLocalServerSDONumberOfEntries (huint16 sdoServerIndex, huint8 *num) |
| 读本地字典[0x1200+sdoServerIndex]-0x0 更多... | |
| EXTERNFUNC int | harmonic_setLocalServerSDONumberOfEntries (huint16 sdoServerIndex, huint8 num) |
| 写本地字典[0x1200+sdoServerIndex]-0x0 更多... | |
| EXTERNFUNC int | harmonic_getLocalServerSDOCobIdClientToServer (huint16 sdoServerIndex, huint32 *cobId) |
| 读本地字典[0x1200+sdoServerIndex]-0x1 更多... | |
| EXTERNFUNC int | harmonic_setLocalServerSDOCobIdClientToServer (huint16 sdoServerIndex, huint32 cobId) |
| 写本地字典[0x1200+sdoServerIndex]-0x1 更多... | |
| EXTERNFUNC int | harmonic_getLocalServerSDOCobIdServerToClient (huint16 sdoServerIndex, huint32 *cobId) |
| 读本地字典[0x1200+sdoServerIndex]-0x2 更多... | |
| EXTERNFUNC int | harmonic_setLocalServerSDOCobIdServerToClient (huint16 sdoServerIndex, huint32 cobId) |
| 写本地字典[0x1200+sdoServerIndex]-0x2 更多... | |
| EXTERNFUNC int | harmonic_getLocalServerSDONodeIdOfClient (huint16 sdoServerIndex, huint8 *nodeId) |
| 读本地字典[0x1200+sdoServerIndex]-0x3 更多... | |
| EXTERNFUNC int | harmonic_setLocalServerSDONodeIdOfClient (huint16 sdoServerIndex, huint8 nodeId) |
| 写本地字典[0x1200+sdoServerIndex]-0x3 更多... | |
| EXTERNFUNC int | harmonic_getLocalClientSDONumberOfEntries (huint16 sdoClientIndex, huint8 *number) |
| 读本地字典[0x1280+sdoClientIndex]-0x0 更多... | |
| EXTERNFUNC int | harmonic_setLocalClientSDONumberOfEntries (huint16 sdoClientIndex, huint8 number) |
| 写本地字典[0x1280+sdoClientIndex]-0x0 更多... | |
| EXTERNFUNC int | harmonic_getLocalClientSDOCobIdClientToServer (huint16 sdoClientIndex, huint32 *cobId) |
| 读本地字典[0x1280+sdoClientIndex]-0x1 更多... | |
| EXTERNFUNC int | harmonic_setLocalClientSDOCobIdClientToServer (huint16 sdoClientIndex, huint32 cobId) |
| 写本地字典[0x1280+sdoClientIndex]-0x1 更多... | |
| EXTERNFUNC int | harmonic_getLocalClientSDOCobIdServerToClient (huint16 sdoClientIndex, huint32 *cobId) |
| 读本地字典[0x1280+sdoClientIndex]-0x2 更多... | |
| EXTERNFUNC int | harmonic_setLocalClientSDOCobIdServerToClient (huint16 sdoClientIndex, huint32 cobId) |
| 写本地字典[0x1280+sdoClientIndex]-0x2 更多... | |
| EXTERNFUNC int | harmonic_getLocalClientSDONodeIdOfSDOServer (huint16 sdoClientIndex, huint8 *nodeId) |
| 读本地字典[0x1280+sdoClientIndex]-0x3 更多... | |
| EXTERNFUNC int | harmonic_setLocalClientSDONodeIdOfSDOServer (huint16 sdoClientIndex, huint8 nodeId) |
| 写本地字典[0x1280+sdoClientIndex]-0x3 更多... | |
| EXTERNFUNC int | harmonic_getLocalRPDOMaxParasCount (huint16 pdoIndex, huint8 *count) |
| 读本地字典[0x1400+pdoIndex]-0x0 更多... | |
| EXTERNFUNC int | harmonic_setLocalRPDOMaxParasCount (huint16 pdoIndex, huint8 count) |
| 写本地字典[0x1400+pdoIndex]-0x0 更多... | |
| EXTERNFUNC int | harmonic_getLocalRPDOCobId (huint16 pdoIndex, huint32 *cobId) |
| 读本地字典[0x1400+pdoIndex]-0x1 更多... | |
| EXTERNFUNC int | harmonic_setLocalRPDOCobId (huint16 pdoIndex, huint32 cobId) |
| 写本地字典[0x1400+pdoIndex]-0x1 更多... | |
| EXTERNFUNC int | harmonic_getLocalRPDOTransmitType (huint16 pdoIndex, huint8 *type) |
| 读本地字典[0x1400+pdoIndex]-0x2 更多... | |
| EXTERNFUNC int | harmonic_setLocalRPDOTransmitType (huint16 pdoIndex, huint8 type) |
| 写本地字典[0x1400+pdoIndex]-0x2 更多... | |
| EXTERNFUNC int | harmonic_getLocalRPDOInhibitTime (huint16 pdoIndex, huint16 *time) |
| 读本地字典[0x1400+pdoIndex]-0x3 更多... | |
| EXTERNFUNC int | harmonic_setLocalRPDOInhibitTime (huint16 pdoIndex, huint16 time) |
| 写本地字典[0x1400+pdoIndex]-0x3 更多... | |
| EXTERNFUNC int | harmonic_getLocalRPDOEventTimer (huint16 pdoIndex, huint16 *timer) |
| 读本地字典[0x1400+pdoIndex]-0x5 更多... | |
| EXTERNFUNC int | harmonic_setLocalRPDOEventTimer (huint16 pdoIndex, huint16 timer) |
| 写本地字典[0x1400+pdoIndex]-0x5 更多... | |
| EXTERNFUNC int | harmonic_getLocalRPDOSYNCStartValue (huint16 pdoIndex, huint8 *value) |
| 读本地字典[0x1400+pdoIndex]-0x6 更多... | |
| EXTERNFUNC int | harmonic_setLocalRPDOSYNCStartValue (huint16 pdoIndex, huint8 value) |
| 写本地字典[0x1400+pdoIndex]-0x6 更多... | |
| EXTERNFUNC int | harmonic_getLocalRPDOMaxMappedCount (huint16 pdoIndex, huint8 *count) |
| 读本地字典[0x1600+pdoIndex]-0x0 更多... | |
| EXTERNFUNC int | harmonic_setLocalRPDOMaxMappedCount (huint16 pdoIndex, huint8 count) |
| 写本地字典[0x1600+pdoIndex]-0x0 更多... | |
| EXTERNFUNC int | harmonic_getLocalRPDOMapped (huint16 pdoIndex, huint8 mapIndex, huint32 *value) |
| 读本地字典[0x1600+pdoIndex]-[0x1+mapIndex] 更多... | |
| EXTERNFUNC int | harmonic_setLocalRPDOMapped (huint16 pdoIndex, huint8 mapIndex, huint32 value) |
| 写本地字典[0x1600+pdoIndex]-[0x1+mapIndex] 更多... | |
| EXTERNFUNC int | harmonic_getLocalTPDOMaxParasCount (huint16 pdoIndex, huint8 *count) |
| 读本地字典[0x1800+pdoIndex]-0x0 更多... | |
| EXTERNFUNC int | harmonic_setLocalTPDOMaxParasCount (huint16 pdoIndex, huint8 count) |
| 写本地字典[0x1800+pdoIndex]-0x0 更多... | |
| EXTERNFUNC int | harmonic_getLocalTPDOCobId (huint16 pdoIndex, huint32 *cobId) |
| 读本地字典[0x1800+pdoIndex]-0x1 更多... | |
| EXTERNFUNC int | harmonic_setLocalTPDOCobId (huint16 pdoIndex, huint32 cobId) |
| 写本地字典[0x1800+pdoIndex]-0x1 更多... | |
| EXTERNFUNC int | harmonic_getLocalTPDOTransmitType (huint16 pdoIndex, huint8 *type) |
| 读本地字典[0x1800+pdoIndex]-0x2 更多... | |
| EXTERNFUNC int | harmonic_setLocalTPDOTransmitType (huint16 pdoIndex, huint8 type) |
| 写本地字典[0x1800+pdoIndex]-0x2 更多... | |
| EXTERNFUNC int | harmonic_getLocalTPDOInhibitTime (huint16 pdoIndex, huint16 *time) |
| 读本地字典[0x1800+pdoIndex]-0x3 更多... | |
| EXTERNFUNC int | harmonic_setLocalTPDOInhibitTime (huint16 pdoIndex, huint16 time) |
| 写本地字典[0x1800+pdoIndex]-0x3 更多... | |
| EXTERNFUNC int | harmonic_getLocalTPDOEventTimer (huint16 pdoIndex, huint16 *timer) |
| 读本地字典[0x1800+pdoIndex]-0x5 更多... | |
| EXTERNFUNC int | harmonic_setLocalTPDOEventTimer (huint16 pdoIndex, huint16 timer) |
| 写本地字典[0x1800+pdoIndex]-0x5 更多... | |
| EXTERNFUNC int | harmonic_getLocalTPDOSYNCStartValue (huint16 pdoIndex, huint8 *value) |
| 读本地字典[0x1800+pdoIndex]-0x6 更多... | |
| EXTERNFUNC int | harmonic_setLocalTPDOSYNCStartValue (huint16 pdoIndex, huint8 value) |
| 写本地字典[0x1800+pdoIndex]-0x6 更多... | |
| EXTERNFUNC int | harmonic_getLocalTPDOMaxMappedCount (huint16 pdoIndex, huint8 *count) |
| 读本地字典[0x1A00+pdoIndex]-0x0 更多... | |
| EXTERNFUNC int | harmonic_setLocalTPDOMaxMappedCount (huint16 pdoIndex, huint8 count) |
| 写本地字典[0x1A00+pdoIndex]-0x0 更多... | |
| EXTERNFUNC int | harmonic_getLocalTPDOMapped (huint16 pdoIndex, huint8 mapIndex, huint32 *value) |
| 读本地字典[0x1A00+pdoIndex]-[0x1+mapIndex] 更多... | |
| EXTERNFUNC int | harmonic_setLocalTPDOMapped (huint16 pdoIndex, huint8 mapIndex, huint32 value) |
| 写本地字典[0x1A00+pdoIndex]-[0x1+mapIndex] 更多... | |
| EXTERNFUNC int | harmonic_getLocalServoTemperature (hint8 *tem) |
| 读本地字典0x2106-0x1 更多... | |
| EXTERNFUNC int | harmonic_getLocalMitCtrlCobcmd1 (huint32 *cobcmd) |
| 读本地字典0x2130-0x0 更多... | |
| EXTERNFUNC int | harmonic_setLocalMitCtrlCobcmd1 (huint32 cobcmd) |
| 写本地字典0x2130-0x0 更多... | |
| EXTERNFUNC int | harmonic_getLocalMitCtrlCobcmd2 (huint32 *cobcmd) |
| 读本地字典0x2131-0x0 更多... | |
| EXTERNFUNC int | harmonic_setLocalMitCtrlCobcmd2 (huint32 cobcmd) |
| 写本地字典0x2131-0x0 更多... | |
| EXTERNFUNC int | harmonic_getLocalMitReplyCobdat1 (huint32 *cobdat) |
| 读本地字典0x2132-0x0 更多... | |
| EXTERNFUNC int | harmonic_setLocalMitReplyCobdat1 (huint32 cobdat) |
| 写本地字典0x2132-0x0 更多... | |
| EXTERNFUNC int | harmonic_getLocalMitReplyCobdat2 (huint32 *cobdat) |
| 读本地字典0x2133-0x0 更多... | |
| EXTERNFUNC int | harmonic_setLocalMitReplyCobdat2 (huint32 cobdat) |
| 写本地字典0x2133-0x0 更多... | |
| EXTERNFUNC int | harmonic_getLocalMutiMotorPos (huint16 motorIndex, hint32 *pos) |
| 读本地字典0x5000+[0x1+motorIndex] 更多... | |
| EXTERNFUNC int | harmonic_getLocalMutiMotorVel (huint16 motorIndex, hint32 *vel) |
| 读本地字典0x5001+[0x1+motorIndex] 更多... | |
| EXTERNFUNC int | harmonic_getLocalMutiMotorTorque (huint16 motorIndex, hint16 *tor) |
| 读本地字典0x5002+[0x1+motorIndex] 更多... | |
| EXTERNFUNC int | harmonic_setLocalMutiMotorSetPos (huint16 motorIndex, hint32 pos) |
| 写本地字典0x5003+[0x1+motorIndex] 更多... | |
| EXTERNFUNC int | harmonic_setLocalMutiMotorSetVel (huint16 motorIndex, hint32 vel) |
| 写本地字典0x5004+[0x1+motorIndex] 更多... | |
| EXTERNFUNC int | harmonic_setLocalMutiMotorSetTorque (huint16 motorIndex, hint16 torque) |
| 写本地字典0x5005+[0x1+motorIndex] 更多... | |
| EXTERNFUNC int | harmonic_getLocalMutiMotorStatusWord (huint16 motorIndex, huint16 *status) |
| 读本地字典0x5006+[0x1+motorIndex] 更多... | |
| EXTERNFUNC int | harmonic_getLocalMutiMotorErrorCode (huint16 motorIndex, huint16 *error) |
| 读本地字典0x5007+[0x1+motorIndex] 更多... | |
| EXTERNFUNC int | harmonic_getLocalMitMutiMotorGetPos (huint16 motorIndex, hreal32 *pos) |
| 读本地字典0x5008+[0x1+motorIndex] 更多... | |
| EXTERNFUNC int | harmonic_setLocalMitMutiMotorGetPos (huint16 motorIndex, hreal32 pos) |
| 写本地字典0x5008+[0x1+motorIndex] 更多... | |
| EXTERNFUNC int | harmonic_getLocalMitMutiMotorGetVel (huint16 motorIndex, hreal32 *vel) |
| 读本地字典0x5009+[0x1+motorIndex] 更多... | |
| EXTERNFUNC int | harmonic_setLocalMitMutiMotorGetVel (huint16 motorIndex, hreal32 vel) |
| 写本地字典0x5009+[0x1+motorIndex] 更多... | |
| EXTERNFUNC int | harmonic_getLocalMitMutiMotorGetTor (huint16 motorIndex, hreal32 *tor) |
| 读本地字典0x500A+[0x1+motorIndex] 更多... | |
| EXTERNFUNC int | harmonic_setLocalMitMutiMotorGetTor (huint16 motorIndex, hreal32 tor) |
| 写本地字典0x500A+[0x1+motorIndex] 更多... | |
| EXTERNFUNC int | harmonic_getLocalMitMutiMotorSetPos (huint16 motorIndex, hreal32 *pos) |
| 读本地字典0x500B+[0x1+motorIndex] 更多... | |
| EXTERNFUNC int | harmonic_setLocalMitMutiMotorSetPos (huint16 motorIndex, hreal32 pos) |
| 写本地字典0x500B+[0x1+motorIndex] 更多... | |
| EXTERNFUNC int | harmonic_getLocalMitMutiMotorSetVel (huint16 motorIndex, hreal32 *vel) |
| 读本地字典0x500C+[0x1+motorIndex] 更多... | |
| EXTERNFUNC int | harmonic_setLocalMitMutiMotorSetVel (huint16 motorIndex, hreal32 vel) |
| 写本地字典0x500C+[0x1+motorIndex] 更多... | |
| EXTERNFUNC int | harmonic_getLocalMitMutiMotorSetTor (huint16 motorIndex, hreal32 *tor) |
| 读本地字典0x500D+[0x1+motorIndex] 更多... | |
| EXTERNFUNC int | harmonic_setLocalMitMutiMotorSetTor (huint16 motorIndex, hreal32 tor) |
| 写本地字典0x500D+[0x1+motorIndex] 更多... | |
| EXTERNFUNC int | harmonic_getLocalServoErrorCode (huint16 *err) |
| 读本地字典0x603F-0x0 更多... | |
| EXTERNFUNC int | harmonic_getLocalControlword (huint16 *word) |
| 读本地字典0x6040-0x0 更多... | |
| EXTERNFUNC int | harmonic_setLocalControlword (huint16 word) |
| 写本地字典0x6040-0x0 更多... | |
| EXTERNFUNC int | harmonic_getLocalStatusWord (huint16 *word) |
| 写本地字典0x6041-0x0 更多... | |
| EXTERNFUNC int | harmonic_getLocalActualPos (hint32 *pos) |
| 读本地字典0x6064-0x0 更多... | |
| EXTERNFUNC int | harmonic_getLocalActualVelocity (hint32 *velocity) |
| 读本地字典0x606c-0x0 更多... | |
| EXTERNFUNC int | harmonic_getLocalTargetTorque (hint16 *torque) |
| 读本地字典0x6071-0x0 更多... | |
| EXTERNFUNC int | harmonic_setLocalTargetTorque (hint16 torque) |
| 写本地字典0x6071-0x0 更多... | |
| EXTERNFUNC int | harmonic_getLocalActualTorque (hint16 *torque) |
| 读本地字典0x6077-0x0 更多... | |
| EXTERNFUNC int | harmonic_getLocalDCLinkCircuitVoltage (huint32 *voltage) |
| 读本地字典0x6079-0x0 更多... | |
| EXTERNFUNC int | harmonic_getLocalTargetPos (hint32 *pos) |
| 读本地字典0x607A-0x0 更多... | |
| EXTERNFUNC int | harmonic_setLocalTargetPos (hint32 pos) |
| 写本地字典0x607A-0x0 更多... | |
| EXTERNFUNC int | harmonic_getLocalInterpolationDataRecord (hint32 *value) |
| 读本地字典0x60C1-0x1 更多... | |
| EXTERNFUNC int | harmonic_setLocalInterpolationDataRecord (hint32 value) |
| 写本地字典0x60C1-0x1 更多... | |
| EXTERNFUNC int | harmonic_getLocalInterpolationTimePeriodValue (huint8 *value) |
| 读本地字典0x60c2-0x1 更多... | |
| EXTERNFUNC int | harmonic_setLocalInterpolationTimePeriodValue (huint8 value) |
| 写本地字典0x60c2-0x1 更多... | |
| EXTERNFUNC int | harmonic_getLocalTargetVelocity (hint32 *vel) |
| 读本地字典0x60FF-0x0 更多... | |
| EXTERNFUNC int | harmonic_setLocalTargetVelocity (hint32 vel) |
| 写本地字典0x60FF-0x0 更多... | |
| EXTERNFUNC int | harmonic_getDeviceType (huint8 devIndex, huint8 id, huint32 *deviceType, huint32 timeout=100) |
| 读从站字典0x1000-0x0 更多... | |
| EXTERNFUNC int | harmonic_getErrorRegister (huint8 devIndex, huint8 id, huint8 *errReg, huint32 timeout=100) |
| 读从站字典0x1001-0x0 更多... | |
| EXTERNFUNC int | harmonic_getErrorFieldNumber (huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100) |
| 读从站字典0x1003-0x0 更多... | |
| EXTERNFUNC int | harmonic_setErrorFieldNumber (huint8 devIndex, huint8 id, huint8 number, huint32 timeout=100) |
| 写从站字典0x1003-0x0 更多... | |
| EXTERNFUNC int | harmonic_getErrorField (huint8 devIndex, huint8 id, huint8 subIndex, huint32 *err, huint32 timeout=100) |
| 读从站字典0x1003-subIndex 更多... | |
| EXTERNFUNC int | harmonic_getSyncCobid (huint8 devIndex, huint8 id, huint32 *cobid, huint32 timeout=100) |
| 读从站字典0x1005-0x0 更多... | |
| EXTERNFUNC int | harmonic_setSyncCobid (huint8 devIndex, huint8 id, huint32 cobid, huint32 timeout=100) |
| 写从站字典0x1005-0x0 更多... | |
| EXTERNFUNC int | harmonic_getSyncCycle (huint8 devIndex, huint8 id, huint32 *syncCycle, huint32 timeout=100) |
| 读从站字典0x1006-0x0 更多... | |
| EXTERNFUNC int | harmonic_setSyncCycle (huint8 devIndex, huint8 id, huint32 syncCycle, huint32 timeout=100) |
| 写从站字典0x1006-0x0 更多... | |
| EXTERNFUNC int | harmonic_getSyncWindow (huint8 devIndex, huint8 id, huint32 *syncWindow, huint32 timeout=100) |
| 读从站字典0x1007-0x0 更多... | |
| EXTERNFUNC int | harmonic_setSyncWindow (huint8 devIndex, huint8 id, huint32 syncWindow, huint32 timeout=100) |
| 写从站字典0x1007-0x0 更多... | |
| EXTERNFUNC int | harmonic_getDeviceName (huint8 devIndex, huint8 id, char *devName, huint32 timeout=100) |
| 读从站字典0x1008-0x0 更多... | |
| EXTERNFUNC int | harmonic_getHardwareVersion (huint8 devIndex, huint8 id, char *version, huint32 timeout=100) |
| 读从站字典0x1009-0x0 更多... | |
| EXTERNFUNC int | harmonic_getSoftwareVersion (huint8 devIndex, huint8 id, char *version, huint32 timeout=100) |
| 读从站字典0x100A-0x0 更多... | |
| EXTERNFUNC int | harmonic_getGuardTime (huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100) |
| 读从站字典0x100C-0x0 更多... | |
| EXTERNFUNC int | harmonic_setGuardTime (huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100) |
| 写从站字典0x100C-0x0 更多... | |
| EXTERNFUNC int | harmonic_getLifeTimeFactor (huint8 devIndex, huint8 id, huint8 *factor, huint32 timeout=100) |
| 读从站字典0x100D-0x0 更多... | |
| EXTERNFUNC int | harmonic_setLifeTimeFactor (huint8 devIndex, huint8 id, huint8 factor, huint32 timeout=100) |
| 写从站字典0x100D-0x0 更多... | |
| EXTERNFUNC int | harmonic_getStoreParametersNumber (huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100) |
| 读从站字典0x1010-0x0 更多... | |
| EXTERNFUNC int | harmonic_getStoreParameters (huint8 devIndex, huint8 id, huint32 *value, huint32 timeout=100) |
| 读从站字典0x1010-0x1 更多... | |
| EXTERNFUNC int | harmonic_setStoreParameters (huint8 devIndex, huint8 id, huint32 value, huint32 timeout=100) |
| 写从站字典0x1010-0x1 更多... | |
| EXTERNFUNC int | harmonic_getRestoreDefaultParametersNumber (huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100) |
| 读从站字典0x1011-0x0 更多... | |
| EXTERNFUNC int | harmonic_getRestoreDefaultParameters (huint8 devIndex, huint8 id, huint32 *value, huint32 timeout=100) |
| 读从站字典0x1011-0x1 更多... | |
| EXTERNFUNC int | harmonic_setRestoreDefaultParameters (huint8 devIndex, huint8 id, huint32 value, huint32 timeout=100) |
| 写从站字典0x1011-0x1 更多... | |
| EXTERNFUNC int | harmonic_getEmergencyCobid (huint8 devIndex, huint8 id, huint32 *cobid, huint32 timeout=100) |
| 读从站字典0x1014-0x0 更多... | |
| EXTERNFUNC int | harmonic_setEmergencyCobid (huint8 devIndex, huint8 id, huint32 cobid, huint32 timeout=100) |
| 写从站字典0x1014-0x0 更多... | |
| EXTERNFUNC int | harmonic_getEmergencyInhibitTime (huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100) |
| 读从站字典0x1015-0x0 更多... | |
| EXTERNFUNC int | harmonic_setEmergencyInhibitTime (huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100) |
| 写从站字典0x1015-0x0 更多... | |
| EXTERNFUNC int | harmonic_getHearbeatConsumerTimeParasNum (huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100) |
| 读从站字典0x1016-0x0 更多... | |
| EXTERNFUNC int | harmonic_getHearbeatConsumerTime (huint8 devIndex, huint8 id, huint8 subIndex, huint32 *time, huint32 timeout=100) |
| 读从站字典0x1016-subIndex 更多... | |
| EXTERNFUNC int | harmonic_setHearbeatConsumerTime (huint8 devIndex, huint8 id, huint8 subIndex, huint32 time, huint32 timeout=100) |
| 写从站字典0x1016-subIndex 更多... | |
| EXTERNFUNC int | harmonic_getProducerHeartbeatTime (huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100) |
| 读从站字典0x1017-0x0 更多... | |
| EXTERNFUNC int | harmonic_setProducerHeartbeatTime (huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100) |
| 写从站字典0x1017-0x0 更多... | |
| EXTERNFUNC int | harmonic_getIdentityObjectNumber (huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100) |
| 读从站字典0x1018-0x0 更多... | |
| EXTERNFUNC int | harmonic_getVendorID (huint8 devIndex, huint8 id, huint32 *vId, huint32 timeout=100) |
| 读从站字典0x1018-0x1 更多... | |
| EXTERNFUNC int | harmonic_getProductCode (huint8 devIndex, huint8 id, huint32 *pCode, huint32 timeout=100) |
| 读从站字典0x1018-0x2 更多... | |
| EXTERNFUNC int | harmonic_getIdentityObjectRevisionNumber (huint8 devIndex, huint8 id, huint32 *revisionNum, huint32 timeout=100) |
| 读从站字典0x1018-0x3 更多... | |
| EXTERNFUNC int | harmonic_getSerialNumber (huint8 devIndex, huint8 id, huint32 *serialNum, huint32 timeout=100) |
| 读从站字典0x1018-0x4 更多... | |
| EXTERNFUNC int | harmonic_getSyncCounter (huint8 devIndex, huint8 id, huint8 *counter, huint32 timeout=100) |
| 读从站字典0x1019-0x0 更多... | |
| EXTERNFUNC int | harmonic_setSyncCounter (huint8 devIndex, huint8 id, huint8 counter, huint32 timeout=100) |
| 写从站字典0x1019-0x0 更多... | |
| EXTERNFUNC int | harmonic_getServerSDONumberOfEntries (huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 *num, huint32 timeout=100) |
| 读从站字典[0x1200+sdoServerIndex]-0x0 更多... | |
| EXTERNFUNC int | harmonic_setServerSDONumberOfEntries (huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 num, huint32 timeout=100) |
| 写从站字典[0x1200+sdoServerIndex]-0x0 更多... | |
| EXTERNFUNC int | harmonic_getServerSDOCobIdClientToServer (huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout=100) |
| 读从站字典[0x1200+sdoServerIndex]-0x1 更多... | |
| EXTERNFUNC int | harmonic_setServerSDOCobIdClientToServer (huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout=100) |
| 写从站字典[0x1200+sdoServerIndex]-0x1 更多... | |
| EXTERNFUNC int | harmonic_getServerSDOCobIdServerToClient (huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout=100) |
| 读从站字典[0x1200+sdoServerIndex]-0x2 更多... | |
| EXTERNFUNC int | harmonic_setServerSDOCobIdServerToClient (huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout=100) |
| 写从站字典[0x1200+sdoServerIndex]-0x2 更多... | |
| EXTERNFUNC int | harmonic_getServerSDONodeIdOfClient (huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 *nodeId, huint32 timeout=100) |
| 读从站字典[0x1200+sdoServerIndex]-0x3 更多... | |
| EXTERNFUNC int | harmonic_setServerSDONodeIdOfClient (huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 nodeId, huint32 timeout=100) |
| 写从站字典[0x1200+sdoServerIndex]-0x3 更多... | |
| EXTERNFUNC int | harmonic_getClientSDONumberOfEntries (huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 *number, huint32 timeout=100) |
| 读从站字典[0x1280+sdoClientIndex]-0x0 更多... | |
| EXTERNFUNC int | harmonic_setClientSDONumberOfEntries (huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 number, huint32 timeout=100) |
| 写从站字典[0x1280+sdoClientIndex]-0x0 更多... | |
| EXTERNFUNC int | harmonic_getClientSDOCobIdClientToServer (huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout=100) |
| 读从站字典[0x1280+sdoClientIndex]-0x1 更多... | |
| EXTERNFUNC int | harmonic_setClientSDOCobIdClientToServer (huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout=100) |
| 写从站字典[0x1280+sdoClientIndex]-0x1 更多... | |
| EXTERNFUNC int | harmonic_getClientSDOCobIdServerToClient (huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout=100) |
| 读从站字典[0x1280+sdoClientIndex]-0x2 更多... | |
| EXTERNFUNC int | harmonic_setClientSDOCobIdServerToClient (huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout=100) |
| 写从站字典[0x1280+sdoClientIndex]-0x2 更多... | |
| EXTERNFUNC int | harmonic_getClientSDONodeIdOfSDOServer (huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 *nodeId, huint32 timeout=100) |
| 读从站字典[0x1280+sdoClientIndex]-0x3 更多... | |
| EXTERNFUNC int | harmonic_setClientSDONodeIdOfSDOServer (huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 nodeId, huint32 timeout=100) |
| 写从站字典[0x1280+sdoClientIndex]-0x3 更多... | |
| EXTERNFUNC int | harmonic_getRPDOMaxParasCount (huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100) |
| 读从站字典[0x1400+pdoIndex]-0x0 更多... | |
| EXTERNFUNC int | harmonic_setRPDOMaxParasCount (huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100) |
| 写从站字典[0x1400+pdoIndex]-0x0 更多... | |
| EXTERNFUNC int | harmonic_getRPDOCobId (huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout=100) |
| 读从站字典[0x1400+pdoIndex]-0x1 更多... | |
| EXTERNFUNC int | harmonic_setRPDOCobId (huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout=100) |
| 写从站字典[0x1400+pdoIndex]-0x1 更多... | |
| EXTERNFUNC int | harmonic_getRPDOTransmitType (huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout=100) |
| 读从站字典[0x1400+pdoIndex]-0x2 更多... | |
| EXTERNFUNC int | harmonic_setRPDOTransmitType (huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout=100) |
| 写从站字典[0x1400+pdoIndex]-0x2 更多... | |
| EXTERNFUNC int | harmonic_getRPDOInhibitTime (huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout=100) |
| 读从站字典[0x1400+pdoIndex]-0x3 更多... | |
| EXTERNFUNC int | harmonic_setRPDOInhibitTime (huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout=100) |
| 写从站字典[0x1400+pdoIndex]-0x3 更多... | |
| EXTERNFUNC int | harmonic_getRPDOEventTimer (huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout=100) |
| 读从站字典[0x1400+pdoIndex]-0x5 更多... | |
| EXTERNFUNC int | harmonic_setRPDOEventTimer (huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout=100) |
| 写从站字典[0x1400+pdoIndex]-0x5 更多... | |
| EXTERNFUNC int | harmonic_getRPDOSYNCStartValue (huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout=100) |
| 读从站字典[0x1400+pdoIndex]-0x6 更多... | |
| EXTERNFUNC int | harmonic_setRPDOSYNCStartValue (huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout=100) |
| 写从站字典[0x1400+pdoIndex]-0x6 更多... | |
| EXTERNFUNC int | harmonic_getRPDOMaxMappedCount (huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100) |
| 读从站字典[0x1600+pdoIndex]-0x0 更多... | |
| EXTERNFUNC int | harmonic_setRPDOMaxMappedCount (huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100) |
| 写从站字典[0x1600+pdoIndex]-0x0 更多... | |
| EXTERNFUNC int | harmonic_getRPDOMapped (huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout=100) |
| 读从站字典[0x1600+pdoIndex]-[0x1+mapIndex] 更多... | |
| EXTERNFUNC int | harmonic_setRPDOMapped (huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout=100) |
| 写从站字典[0x1600+pdoIndex]-[0x1+mapIndex] 更多... | |
| EXTERNFUNC int | harmonic_getTPDOMaxParasCount (huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100) |
| 读从站字典[0x1800+pdoIndex]-0x0 更多... | |
| EXTERNFUNC int | harmonic_setTPDOMaxParasCount (huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100) |
| 写从站字典[0x1800+pdoIndex]-0x0 更多... | |
| EXTERNFUNC int | harmonic_getTPDOCobId (huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout=100) |
| 读从站字典[0x1800+pdoIndex]-0x1 更多... | |
| EXTERNFUNC int | harmonic_setTPDOCobId (huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout=100) |
| 写从站字典[0x1800+pdoIndex]-0x1 更多... | |
| EXTERNFUNC int | harmonic_getTPDOTransmitType (huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout=100) |
| 读从站字典[0x1800+pdoIndex]-0x2 更多... | |
| EXTERNFUNC int | harmonic_setTPDOTransmitType (huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout=100) |
| 写从站字典[0x1800+pdoIndex]-0x2 更多... | |
| EXTERNFUNC int | harmonic_getTPDOInhibitTime (huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout=100) |
| 读从站字典[0x1800+pdoIndex]-0x3 更多... | |
| EXTERNFUNC int | harmonic_setTPDOInhibitTime (huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout=100) |
| 写从站字典[0x1800+pdoIndex]-0x3 更多... | |
| EXTERNFUNC int | harmonic_getTPDOEventTimer (huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout=100) |
| 读从站字典[0x1800+pdoIndex]-0x5 更多... | |
| EXTERNFUNC int | harmonic_setTPDOEventTimer (huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout=100) |
| 写从站字典[0x1800+pdoIndex]-0x5 更多... | |
| EXTERNFUNC int | harmonic_getTPDOSYNCStartValue (huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout=100) |
| 读从站字典[0x1800+pdoIndex]-0x6 更多... | |
| EXTERNFUNC int | harmonic_setTPDOSYNCStartValue (huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout=100) |
| 写从站字典[0x1800+pdoIndex]-0x6 更多... | |
| EXTERNFUNC int | harmonic_getTPDOMaxMappedCount (huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100) |
| 读从站字典[0x1A00+pdoIndex]-0x0 更多... | |
| EXTERNFUNC int | harmonic_setTPDOMaxMappedCount (huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100) |
| 写从站字典[0x1A00+pdoIndex]-0x0 更多... | |
| EXTERNFUNC int | harmonic_getTPDOMapped (huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout=100) |
| 读从站字典[0x1A00+pdoIndex]-[0x1+mapIndex] 更多... | |
| EXTERNFUNC int | harmonic_setTPDOMapped (huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout=100) |
| 写从站字典[0x1A00+pdoIndex]-[0x1+mapIndex] 更多... | |
| EXTERNFUNC int | harmonic_getServoParametersNumber (huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100) |
| 读从站字典0x2001-0x0 更多... | |
| EXTERNFUNC int | harmonic_setServoParametersNumber (huint8 devIndex, huint8 id, huint8 num, huint32 timeout=100) |
| 写从站字典0x2001-0x0 更多... | |
| EXTERNFUNC int | harmonic_getServoID (huint8 devIndex, huint8 id, huint8 *servoID, huint32 timeout=100) |
| 读从站字典0x2001-0x1 更多... | |
| EXTERNFUNC int | harmonic_setServoID (huint8 devIndex, huint8 id, huint8 servoID, huint32 timeout=100) |
| 写从站字典0x2001-0x1 更多... | |
| EXTERNFUNC int | harmonic_getServoCanBaudrate (huint8 devIndex, huint8 id, huint16 *baudrate, huint32 timeout=100) |
| 读从站字典0x2001-0x2 更多... | |
| EXTERNFUNC int | harmonic_setServoCanBaudrate (huint8 devIndex, huint8 id, huint16 baudrate, huint32 timeout=100) |
| 写从站字典0x2001-0x2 更多... | |
| EXTERNFUNC int | harmonic_getServoSoftwareLimitState (huint8 devIndex, huint8 id, huint32 *state, huint32 timeout=100) |
| 读从站字典0x2003-0x0 更多... | |
| EXTERNFUNC int | harmonic_setServoSoftwareLimitState (huint8 devIndex, huint8 id, huint32 state, huint32 timeout=100) |
| 写从站字典0x2003-0x0 更多... | |
| EXTERNFUNC int | harmonic_getServoCommunicationMode (huint8 devIndex, huint8 id, huint8 *mode, huint32 timeout=100) |
| 读从站字典0x2004-0x0 更多... | |
| EXTERNFUNC int | harmonic_setServoCommunicationMode (huint8 devIndex, huint8 id, huint8 mode, huint32 timeout=100) |
| 写从站字典0x2004-0x0 更多... | |
| EXTERNFUNC int | harmonic_getServoCurrentLoopPINum (huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100) |
| 读从站字典0x2010-0x0 更多... | |
| EXTERNFUNC int | harmonic_getDefaultServoCurrentLoopKP (huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout=100) |
| 写从站字典0x2010-0x0 更多... | |
| EXTERNFUNC int | harmonic_setDefaultServoCurrentLoopKP (huint8 devIndex, huint8 id, huint16 kp, huint32 timeout=100) |
| 写从站字典0x2010-0x1 更多... | |
| EXTERNFUNC int | harmonic_getDefaultServoCurrentLoopKI (huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout=100) |
| 读从站字典0x2010-0x2 更多... | |
| EXTERNFUNC int | harmonic_setDefaultServoCurrentLoopKI (huint8 devIndex, huint8 id, huint16 ki, huint32 timeout=100) |
| 写从站字典0x2010-0x2 更多... | |
| EXTERNFUNC int | harmonic_getServoCurrentLoopKP (huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout=100) |
| 读从站字典0x2010-0x3 更多... | |
| EXTERNFUNC int | harmonic_setServoCurrentLoopKP (huint8 devIndex, huint8 id, huint16 kp, huint32 timeout=100) |
| 写从站字典0x2010-0x3 更多... | |
| EXTERNFUNC int | harmonic_getServoCurrentLoopKI (huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout=100) |
| 读从站字典0x2010-0x4 更多... | |
| EXTERNFUNC int | harmonic_setServoCurrentLoopKI (huint8 devIndex, huint8 id, huint16 ki, huint32 timeout=100) |
| 写从站字典0x2010-0x4 更多... | |
| EXTERNFUNC int | harmonic_getServoVelocityLoopPINum (huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100) |
| 读从站字典0x2012-0x0 更多... | |
| EXTERNFUNC int | harmonic_getDefaultServoVelocityLoopKP (huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout=100) |
| 读从站字典0x2012-0x1 更多... | |
| EXTERNFUNC int | harmonic_setDefaultServoVelocityLoopKP (huint8 devIndex, huint8 id, huint16 kp, huint32 timeout=100) |
| 写从站字典0x2012-0x1 更多... | |
| EXTERNFUNC int | harmonic_getDefaultServoVelocityLoopKI (huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout=100) |
| 读从站字典0x2012-0x2 更多... | |
| EXTERNFUNC int | harmonic_setDefaultServoVelocityLoopKI (huint8 devIndex, huint8 id, huint16 ki, huint32 timeout=100) |
| 写从站字典0x2012-0x2 更多... | |
| EXTERNFUNC int | harmonic_getServoVelocityLoopKP (huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout=100) |
| 读从站字典0x2012-0x3 更多... | |
| EXTERNFUNC int | harmonic_setServoVelocityLoopKP (huint8 devIndex, huint8 id, huint16 kp, huint32 timeout=100) |
| 写从站字典0x2012-0x3 更多... | |
| EXTERNFUNC int | harmonic_getServoVelocityLoopKI (huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout=100) |
| 读从站字典0x2012-0x4 更多... | |
| EXTERNFUNC int | harmonic_setServoVelocityLoopKI (huint8 devIndex, huint8 id, huint16 ki, huint32 timeout=100) |
| 写从站字典0x2012-0x4 更多... | |
| EXTERNFUNC int | harmonic_getServoPositionLoopPINum (huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100) |
| 读从站字典0x2013-0x0 更多... | |
| EXTERNFUNC int | harmonic_getDefaultServoPositionLoopKP (huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout=100) |
| 读从站字典0x2013-0x1 更多... | |
| EXTERNFUNC int | harmonic_setDefaultServoPositionLoopKP (huint8 devIndex, huint8 id, huint16 kp, huint32 timeout=100) |
| 写从站字典0x2013-0x1 更多... | |
| EXTERNFUNC int | harmonic_getDefaultServoPositionLoopKI (huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout=100) |
| 读从站字典0x2013-0x2 更多... | |
| EXTERNFUNC int | harmonic_setDefaultServoPositionLoopKI (huint8 devIndex, huint8 id, huint16 ki, huint32 timeout=100) |
| 写从站字典0x2013-0x2 更多... | |
| EXTERNFUNC int | harmonic_getServoPositionLoopKP (huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout=100) |
| 读从站字典0x2013-0x3 更多... | |
| EXTERNFUNC int | harmonic_setServoPositionLoopKP (huint8 devIndex, huint8 id, huint16 kp, huint32 timeout=100) |
| 写从站字典0x2013-0x3 更多... | |
| EXTERNFUNC int | harmonic_getServoPositionLoopKI (huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout=100) |
| 读从站字典0x2013-0x4 更多... | |
| EXTERNFUNC int | harmonic_setServoPositionLoopKI (huint8 devIndex, huint8 id, huint16 ki, huint32 timeout=100) |
| 写从站字典0x2013-0x4 更多... | |
| EXTERNFUNC int | harmonic_getServoBrakeParaNum (huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100) |
| 读从站字典0x2014-0x0 更多... | |
| EXTERNFUNC int | harmonic_getServoBrakeControl (huint8 devIndex, huint8 id, huint8 *status, huint32 timeout=100) |
| 读从站字典0x2014-0x1 更多... | |
| EXTERNFUNC int | harmonic_setServoBrakeControl (huint8 devIndex, huint8 id, huint8 status, huint32 timeout=100) |
| 写从站字典0x2014-0x1 更多... | |
| EXTERNFUNC int | harmonic_getBrakeState (huint8 devIndex, huint8 id, huint8 *state, huint32 timeout=100) |
| 读从站字典0x2014-0x2 更多... | |
| EXTERNFUNC int | harmonic_setBrakeState (huint8 devIndex, huint8 id, huint8 state, huint32 timeout=100) |
| 写从站字典0x2014-0x2(设置抱闸状态) 更多... | |
| EXTERNFUNC int | harmonic_getServoTemperatureParasNum (huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100) |
| 读从站字典0x2016-0x0 更多... | |
| EXTERNFUNC int | harmonic_getServoTemperature (huint8 devIndex, huint8 id, hint8 *tem, huint32 timeout=100) |
| 读从站字典0x2016-0x1 更多... | |
| EXTERNFUNC int | harmonic_getServoTemperatureLimit (huint8 devIndex, huint8 id, hint8 *tem, huint32 timeout=100) |
| 读从站字典0x2016-0x2 更多... | |
| EXTERNFUNC int | harmonic_setServoTemperatureLimit (huint8 devIndex, huint8 id, huint8 tem, huint32 timeout=100) |
| 写从站字典0x2016-0x2 更多... | |
| EXTERNFUNC int | harmonic_getServoTemperatureLimitTime (huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100) |
| 读从站字典0x2016-0x3 更多... | |
| EXTERNFUNC int | harmonic_setServoTemperatureLimitTime (huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100) |
| 写从站字典0x2016-0x3 更多... | |
| EXTERNFUNC int | harmonic_getServoVelocityIntLimit (huint8 devIndex, huint8 id, huint16 *limit, huint32 timeout=100) |
| 读从站字典0x2017-0x0 更多... | |
| EXTERNFUNC int | harmonic_setServoVelocityIntLimit (huint8 devIndex, huint8 id, huint16 limit, huint32 timeout=100) |
| 写从站字典0x2017-0x0 更多... | |
| EXTERNFUNC int | harmonic_getServoBlockParasNum (huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100) |
| 读从站字典0x2020-0x0 更多... | |
| EXTERNFUNC int | harmonic_getServoBlockTorque (huint8 devIndex, huint8 id, huint16 *torque, huint32 timeout=100) |
| 读从站字典0x2020-0x1 更多... | |
| EXTERNFUNC int | harmonic_setServoBlockTorque (huint8 devIndex, huint8 id, huint16 torque, huint32 timeout=100) |
| 写从站字典0x2020-0x1 更多... | |
| EXTERNFUNC int | harmonic_getServoBlockTime (huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100) |
| 读从站字典0x2020-0x2 更多... | |
| EXTERNFUNC int | harmonic_setServoBlockTime (huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100) |
| 写从站字典0x2020-0x2 更多... | |
| EXTERNFUNC int | harmonic_getServoBlockVelocity (huint8 devIndex, huint8 id, huint32 *velocity, huint32 timeout=100) |
| 读从站字典0x2020-0x3 更多... | |
| EXTERNFUNC int | harmonic_setServoBlockVelocity (huint8 devIndex, huint8 id, huint32 velocity, huint32 timeout=100) |
| 写从站字典0x2020-0x3 更多... | |
| EXTERNFUNC int | harmonic_getServoVelocityFlowingErrorParasNum (huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100) |
| 读从站字典0x2021-0x0 更多... | |
| EXTERNFUNC int | harmonic_getServoVelocityFlowingErrorWindows (huint8 devIndex, huint8 id, huint32 *error, huint32 timeout=100) |
| 读从站字典0x2021-0x1 更多... | |
| EXTERNFUNC int | harmonic_setServoVelocityFlowingErrorWindows (huint8 devIndex, huint8 id, huint32 error, huint32 timeout=100) |
| 写从站字典0x2021-0x1 更多... | |
| EXTERNFUNC int | harmonic_getServoVelocityFlowingErrorTime (huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100) |
| 读从站字典0x2021-0x2 更多... | |
| EXTERNFUNC int | harmonic_setServoVelocityFlowingErrorTime (huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100) |
| 写从站字典0x2021-0x2 更多... | |
| EXTERNFUNC int | harmonic_getServoTorqueWindow (huint8 devIndex, huint8 id, huint16 *window, huint32 timeout=100) |
| 读从站字典0x2022-0x0 更多... | |
| EXTERNFUNC int | harmonic_setServoTorqueWindow (huint8 devIndex, huint8 id, huint16 window, huint32 timeout=100) |
| 写从站字典0x2022-0x0 更多... | |
| EXTERNFUNC int | harmonic_getServoTorqueWindowTime (huint8 devIndex, huint8 id, huint16 *window, huint32 timeout=100) |
| 读从站字典0x2023-0x0 更多... | |
| EXTERNFUNC int | harmonic_setServoTorqueWindowTime (huint8 devIndex, huint8 id, huint16 window, huint32 timeout=100) |
| 写从站字典0x2023-0x0 更多... | |
| EXTERNFUNC int | harmonic_getServoOverSpeedThreshold (huint8 devIndex, huint8 id, huint32 *thre, huint32 timeout=100) |
| 读从站字典0x2024-0x0 更多... | |
| EXTERNFUNC int | harmonic_setServoOverSpeedThreshold (huint8 devIndex, huint8 id, huint32 thre, huint32 timeout=100) |
| 写从站字典0x2024-0x0 更多... | |
| EXTERNFUNC int | harmonic_getServoOverSpeedTime (huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100) |
| 读从站字典0x2025-0x0 更多... | |
| EXTERNFUNC int | harmonic_setServoOverSpeedTime (huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100) |
| 写从站字典0x2025-0x0 更多... | |
| EXTERNFUNC int | harmonic_getServoBrakeDelayTime (huint8 devIndex, huint8 id, huint8 *time, huint32 timeout=100) |
| 读从站字典0x2026-0x0 更多... | |
| EXTERNFUNC int | harmonic_setServoBrakeDelayTime (huint8 devIndex, huint8 id, huint8 time, huint32 timeout=100) |
| 写从站字典0x2026-0x0 更多... | |
| EXTERNFUNC int | harmonic_getI2tOverLoadLimit (huint8 devIndex, huint8 id, huint16 *value, huint32 timeout=100) |
| 读从站字典0x2028-0x0 更多... | |
| EXTERNFUNC int | harmonic_setI2tOverLoadLimit (huint8 devIndex, huint8 id, huint16 value, huint32 timeout=100) |
| 写从站字典0x2028-0x0 更多... | |
| EXTERNFUNC int | harmonic_getI2tOverLoadValue (huint8 devIndex, huint8 id, huint16 *value, huint32 timeout=100) |
| 读从站字典0x2029-0x0 更多... | |
| EXTERNFUNC int | harmonic_getServoFirstEncoderValue (huint8 devIndex, huint8 id, hint32 *value, huint32 timeout=100) |
| 读从站字典0x202A-0x0 更多... | |
| EXTERNFUNC int | harmonic_getServoSecondEncoderValue (huint8 devIndex, huint8 id, hint32 *value, huint32 timeout=100) |
| 读从站字典0x202B-0x0 更多... | |
| EXTERNFUNC int | harmonic_getServoThetaBiasValue (huint8 devIndex, huint8 id, hint32 *value, huint32 timeout=100) |
| 读从站字典0x202C-0x0 更多... | |
| EXTERNFUNC int | harmonic_getDCVolageProtectionParasNumber (huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100) |
| 读从站字典0x202D-0x0 更多... | |
| EXTERNFUNC int | harmonic_getDCUnderVoltageThreshold (huint8 devIndex, huint8 id, huint32 *vol, huint32 timeout=100) |
| 读从站字典0x202D-0x1 更多... | |
| EXTERNFUNC int | harmonic_setDCUnderVoltageThreshold (huint8 devIndex, huint8 id, huint32 vol, huint32 timeout=100) |
| 写从站字典0x202D-0x1 更多... | |
| EXTERNFUNC int | harmonic_getDCUnderVoltageTime (huint8 devIndex, huint8 id, huint32 *time, huint32 timeout=100) |
| 读从站字典0x202D-0x2 更多... | |
| EXTERNFUNC int | harmonic_setDCUnderVoltageTime (huint8 devIndex, huint8 id, huint32 time, huint32 timeout=100) |
| 写从站字典0x202D-0x2 更多... | |
| EXTERNFUNC int | harmonic_getDCOverVoltageThreshold (huint8 devIndex, huint8 id, huint32 *vol, huint32 timeout=100) |
| 读从站字典0x202D-0x3 更多... | |
| EXTERNFUNC int | harmonic_setDCOverVoltageThreshold (huint8 devIndex, huint8 id, huint32 vol, huint32 timeout=100) |
| 写从站字典0x202D-0x3 更多... | |
| EXTERNFUNC int | harmonic_getDCOverVoltageTime (huint8 devIndex, huint8 id, huint32 *time, huint32 timeout=100) |
| 读从站字典0x202D-0x4 更多... | |
| EXTERNFUNC int | harmonic_setDCOverVoltageTime (huint8 devIndex, huint8 id, huint32 time, huint32 timeout=100) |
| 写从站字典0x202D-0x4 更多... | |
| EXTERNFUNC int | harmonic_getTorqueSensorValue (huint8 devIndex, huint8 id, hreal32 *value, huint32 timeout=100) |
| 读从站字典0x2030-0x0 更多... | |
| EXTERNFUNC int | harmonic_getFindPointDoneFlag (huint8 devIndex, huint8 id, huint32 *flag, huint32 timeout=100) |
| 读从站字典0x2101-0x0 更多... | |
| EXTERNFUNC int | harmonic_setFindPointDoneFlag (huint8 devIndex, huint8 id, huint32 flag, huint32 timeout=100) |
| 写从站字典0x2101-0x0 更多... | |
| EXTERNFUNC int | harmonic_getFindPointStart (huint8 devIndex, huint8 id, huint32 *status, huint32 timeout=100) |
| 读从站字典0x2102-0x0 更多... | |
| EXTERNFUNC int | harmonic_setFindPointStart (huint8 devIndex, huint8 id, huint32 status, huint32 timeout=100) |
| 写从站字典0x2102-0x0 更多... | |
| EXTERNFUNC int | harmonic_getFindPointMoveMax (huint8 devIndex, huint8 id, huint32 *angle, huint32 timeout=100) |
| 读从站字典0x2105-0x0 更多... | |
| EXTERNFUNC int | harmonic_setFindPointMoveMax (huint8 devIndex, huint8 id, huint32 angle, huint32 timeout=100) |
| 写从站字典0x2105-0x0 更多... | |
| EXTERNFUNC int | harmonic_getFindPointMoveAcc (huint8 devIndex, huint8 id, huint32 *acc, huint32 timeout=100) |
| 读从站字典0x2106-0x0 更多... | |
| EXTERNFUNC int | harmonic_setFindPointMoveAcc (huint8 devIndex, huint8 id, huint32 acc, huint32 timeout=100) |
| 写从站字典0x2106-0x0 更多... | |
| EXTERNFUNC int | harmonic_getFindPointMoveDec (huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout=100) |
| 读从站字典0x2107-0x0 更多... | |
| EXTERNFUNC int | harmonic_setFindPointMoveDec (huint8 devIndex, huint8 id, huint32 dec, huint32 timeout=100) |
| 写从站字典0x2107-0x0 更多... | |
| EXTERNFUNC int | harmonic_getFindPointMoveVelocity (huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout=100) |
| 读从站字典0x2108-0x0 更多... | |
| EXTERNFUNC int | harmonic_setFindPointMoveVelocity (huint8 devIndex, huint8 id, huint32 vel, huint32 timeout=100) |
| 写从站字典0x2108-0x0 更多... | |
| EXTERNFUNC int | harmonic_getTorqueFactor (huint8 devIndex, huint8 id, huint16 *factor, huint32 timeout=100) |
| 读从站字典0x2110-0x0 更多... | |
| EXTERNFUNC int | harmonic_setTorqueFactor (huint8 devIndex, huint8 id, huint16 factor, huint32 timeout=100) |
| 写从站字典0x2110-0x0 更多... | |
| EXTERNFUNC int | harmonic_getMitCtrlCobcmd1 (huint8 devIndex, huint8 id, huint32 *cobcmd, huint32 timeout=100) |
| 读从站字典0x2130-0x0 更多... | |
| EXTERNFUNC int | harmonic_setMitCtrlCobcmd1 (huint8 devIndex, huint8 id, huint32 cobcmd, huint32 timeout=100) |
| 写从站字典0x2130-0x0 更多... | |
| EXTERNFUNC int | harmonic_getMitCtrlCobcmd2 (huint8 devIndex, huint8 id, huint32 *cobcmd, huint32 timeout=100) |
| 读从站字典0x2131-0x0 更多... | |
| EXTERNFUNC int | harmonic_setMitCtrlCobcmd2 (huint8 devIndex, huint8 id, huint32 cobcmd, huint32 timeout=100) |
| 写从站字典0x2131-0x0 更多... | |
| EXTERNFUNC int | harmonic_getMitReplyCobdat1 (huint8 devIndex, huint8 id, huint32 *cobdat, huint32 timeout=100) |
| 读从站字典0x2132-0x0 更多... | |
| EXTERNFUNC int | harmonic_setMitReplyCobdat1 (huint8 devIndex, huint8 id, huint32 cobdat, huint32 timeout=100) |
| 写从站字典0x2132-0x0 更多... | |
| EXTERNFUNC int | harmonic_getMitReplyCobdat2 (huint8 devIndex, huint8 id, huint32 *cobdat, huint32 timeout=100) |
| 读从站字典0x2133-0x0 更多... | |
| EXTERNFUNC int | harmonic_setMitReplyCobdat2 (huint8 devIndex, huint8 id, huint32 cobdat, huint32 timeout=100) |
| 从站字典0x2133-0x0 更多... | |
| EXTERNFUNC int | harmonic_getMitPMin (huint8 devIndex, huint8 id, hreal32 *pMin, huint32 timeout=100) |
| 读从站字典0x2140-0x0 更多... | |
| EXTERNFUNC int | harmonic_setMitPMin (huint8 devIndex, huint8 id, hreal32 pMin, huint32 timeout=100) |
| 写从站字典0x2140-0x0 更多... | |
| EXTERNFUNC int | harmonic_getMitPMax (huint8 devIndex, huint8 id, hreal32 *pMax, huint32 timeout=100) |
| 读从站字典0x2141-0x0 更多... | |
| EXTERNFUNC int | harmonic_setMitPMax (huint8 devIndex, huint8 id, hreal32 pMax, huint32 timeout=100) |
| 写从站字典0x2141-0x0 更多... | |
| EXTERNFUNC int | harmonic_getMitVMin (huint8 devIndex, huint8 id, hreal32 *vMin, huint32 timeout=100) |
| 读从站字典0x2142-0x0 更多... | |
| EXTERNFUNC int | harmonic_setMitVMin (huint8 devIndex, huint8 id, hreal32 vMin, huint32 timeout=100) |
| 写从站字典0x2142-0x0 更多... | |
| EXTERNFUNC int | harmonic_getMitVMax (huint8 devIndex, huint8 id, hreal32 *vMax, huint32 timeout=100) |
| 读从站字典0x2143-0x0 更多... | |
| EXTERNFUNC int | harmonic_setMitVMax (huint8 devIndex, huint8 id, hreal32 vMax, huint32 timeout=100) |
| 写从站字典0x2143-0x0 更多... | |
| EXTERNFUNC int | harmonic_getMitKPMin (huint8 devIndex, huint8 id, hreal32 *kpMin, huint32 timeout=100) |
| 读从站字典0x2144-0x0 更多... | |
| EXTERNFUNC int | harmonic_setMitKPMin (huint8 devIndex, huint8 id, hreal32 kpMin, huint32 timeout=100) |
| 写从站字典0x2144-0x0 更多... | |
| EXTERNFUNC int | harmonic_getMitKPMax (huint8 devIndex, huint8 id, hreal32 *kpMax, huint32 timeout=100) |
| 读从站字典0x2145-0x0 更多... | |
| EXTERNFUNC int | harmonic_setMitKPMax (huint8 devIndex, huint8 id, hreal32 kpMax, huint32 timeout=100) |
| 写从站字典0x2145-0x0 更多... | |
| EXTERNFUNC int | harmonic_getMitKDMin (huint8 devIndex, huint8 id, hreal32 *kdMin, huint32 timeout=100) |
| 读从站字典0x2146-0x0 更多... | |
| EXTERNFUNC int | harmonic_setMitKDMin (huint8 devIndex, huint8 id, hreal32 kdMin, huint32 timeout=100) |
| 写从站字典0x2146-0x0 更多... | |
| EXTERNFUNC int | harmonic_getMitKDMax (huint8 devIndex, huint8 id, hreal32 *kdMax, huint32 timeout=100) |
| 读从站字典0x2147-0x0 更多... | |
| EXTERNFUNC int | harmonic_setMitKDMax (huint8 devIndex, huint8 id, hreal32 kdMax, huint32 timeout=100) |
| 写从站字典0x2147-0x0 更多... | |
| EXTERNFUNC int | harmonic_getMitTMin (huint8 devIndex, huint8 id, hreal32 *tMin, huint32 timeout=100) |
| 读从站字典0x2148-0x0 更多... | |
| EXTERNFUNC int | harmonic_setMitTMin (huint8 devIndex, huint8 id, hreal32 tMin, huint32 timeout=100) |
| 写从站字典0x2148-0x0 更多... | |
| EXTERNFUNC int | harmonic_getMitTMax (huint8 devIndex, huint8 id, hreal32 *tMin, huint32 timeout=100) |
| 读从站字典0x2149-0x0 更多... | |
| EXTERNFUNC int | harmonic_setMitTMax (huint8 devIndex, huint8 id, hreal32 tMin, huint32 timeout=100) |
| 写从站字典0x2149-0x0 更多... | |
| EXTERNFUNC int | harmonic_getServoErrorCode (huint8 devIndex, huint8 id, huint16 *err, huint32 timeout=100) |
| 读从站字典0x603F-0x0 更多... | |
| EXTERNFUNC int | harmonic_getControlword (huint8 devIndex, huint8 id, huint16 *word, huint32 timeout=100) |
| 读从站字典0x6040-0x0 更多... | |
| EXTERNFUNC int | harmonic_setControlword (huint8 devIndex, huint8 id, huint16 word, huint32 timeout=100) |
| 写从站字典0x6040-0x0 更多... | |
| EXTERNFUNC int | harmonic_getStatusWord (huint8 devIndex, huint8 id, huint16 *word, huint32 timeout=100) |
| 读从站字典0x6041-0x0 更多... | |
| EXTERNFUNC int | harmonic_getQuickStopOption (huint8 devIndex, huint8 id, harmonic_QuickStopOption *option, huint32 timeout=100) |
| 读从站字典0x605A-0x0 更多... | |
| EXTERNFUNC int | harmonic_setQuickStopOption (huint8 devIndex, huint8 id, harmonic_QuickStopOption option, huint32 timeout=100) |
| 写从站字典0x605A-0x0 更多... | |
| EXTERNFUNC int | harmonic_getShutdownOptionCode (huint8 devIndex, huint8 id, harmonic_ShutdownOption *code, huint32 timeout=100) |
| 读从站字典0x605B-0 更多... | |
| EXTERNFUNC int | harmonic_setShutdownOptionCode (huint8 devIndex, huint8 id, harmonic_ShutdownOption code, huint32 timeout=100) |
| 写从站字典0x605B-0 更多... | |
| EXTERNFUNC int | harmonic_getDisableOperationOptionCode (huint8 devIndex, huint8 id, harmonic_DisableOperationOption *code, huint32 timeout=100) |
| 读从站字典0x605C-0x0 更多... | |
| EXTERNFUNC int | harmonic_setDisableOperationOptionCode (huint8 devIndex, huint8 id, harmonic_DisableOperationOption code, huint32 timeout=100) |
| 写从站字典0x605C-0x0 更多... | |
| EXTERNFUNC int | harmonic_getHaltOption (huint8 devIndex, huint8 id, harmonic_HaltOption *option, huint32 timeout=100) |
| 读从站字典0x605D-0x0 更多... | |
| EXTERNFUNC int | harmonic_setHaltOption (huint8 devIndex, huint8 id, harmonic_HaltOption option, huint32 timeout=100) |
| 写从站字典0x605D-0x0 更多... | |
| EXTERNFUNC int | harmonic_getFaultReactionOption (huint8 devIndex, huint8 id, harmonic_FaultReactionOption *option, huint32 timeout=100) |
| 读从站字典0x605E-0x0 更多... | |
| EXTERNFUNC int | harmonic_setFaultReactionOption (huint8 devIndex, huint8 id, harmonic_FaultReactionOption option, huint32 timeout=100) |
| 写从站字典0x605E-0x0 更多... | |
| EXTERNFUNC int | harmonic_getOperateMode (huint8 devIndex, huint8 id, harmonic_OperateMode *mode, huint32 timeout=100) |
| 读从站字典0x6060-0x0 更多... | |
| EXTERNFUNC int | harmonic_setOperateMode (huint8 devIndex, huint8 id, harmonic_OperateMode mode, huint32 timeout=100) |
| 写从站字典0x6060-0x0 更多... | |
| EXTERNFUNC int | harmonic_getDisplayOperateMode (huint8 devIndex, huint8 id, harmonic_OperateMode *mode, huint32 timeout=100) |
| 读从站字典0x6061-0x0 更多... | |
| EXTERNFUNC int | harmonic_getDemandPos (huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100) |
| 读从站字典0x6062-0x0 更多... | |
| EXTERNFUNC int | harmonic_setDemandPos (huint8 devIndex, huint8 id, hint32 pos, huint32 timeout=100) |
| 写从站字典0x6062-0x0 更多... | |
| EXTERNFUNC int | harmonic_getActualPos (huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100) |
| 读从站字典0x6064-0x0 更多... | |
| EXTERNFUNC int | harmonic_getFollowingErrorWindow (huint8 devIndex, huint8 id, huint32 *eWindow, huint32 timeout=100) |
| 读从站字典0x6065-0x0 更多... | |
| EXTERNFUNC int | harmonic_setFollowingErrorWindow (huint8 devIndex, huint8 id, huint32 eWindow, huint32 timeout=100) |
| 写从站字典0x6065-0x0 更多... | |
| EXTERNFUNC int | harmonic_getPositionWindow (huint8 devIndex, huint8 id, huint32 *pWindow, huint32 timeout=100) |
| 读从站字典0x6067-0x0 更多... | |
| EXTERNFUNC int | harmonic_setPositionWindow (huint8 devIndex, huint8 id, huint32 pWindow, huint32 timeout=100) |
| 写从站字典0x6067-0x0 更多... | |
| EXTERNFUNC int | harmonic_getPositionWindowTime (huint8 devIndex, huint8 id, huint16 *pWindowTime, huint32 timeout=100) |
| 读从站字典0x6068-0x0 更多... | |
| EXTERNFUNC int | harmonic_setPositionWindowTime (huint8 devIndex, huint8 id, huint16 pWindowTime, huint32 timeout=100) |
| 写从站字典0x6068-0x0 更多... | |
| EXTERNFUNC int | harmonic_getDemandVelocity (huint8 devIndex, huint8 id, hint32 *dVel, huint32 timeout=100) |
| 读从站字典0x606B-0x0 更多... | |
| EXTERNFUNC int | harmonic_setDemandVelocity (huint8 devIndex, huint8 id, hint32 dvel, huint32 timeout=100) |
| 写从站字典0x606B-0x0 更多... | |
| EXTERNFUNC int | harmonic_getActualVelocity (huint8 devIndex, huint8 id, hint32 *vel, huint32 timeout=100) |
| 读从站字典0x606C-0x0 更多... | |
| EXTERNFUNC int | harmonic_getVelocityWindow (huint8 devIndex, huint8 id, huint16 *vWindow, huint32 timeout=100) |
| 读从站字典0x606D-0x0 更多... | |
| EXTERNFUNC int | harmonic_setVelocityWindow (huint8 devIndex, huint8 id, huint16 vWindow, huint32 timeout=100) |
| 写从站字典0x606D-0x0 更多... | |
| EXTERNFUNC int | harmonic_getVelocityWindowTime (huint8 devIndex, huint8 id, huint16 *wTime, huint32 timeout=100) |
| 读从站字典0x606E-0x0 更多... | |
| EXTERNFUNC int | harmonic_setVelocityWindowTime (huint8 devIndex, huint8 id, huint16 wTime, huint32 timeout=100) |
| 写从站字典0x606E-0x0 更多... | |
| EXTERNFUNC int | harmonic_getVelocityThreshold (huint8 devIndex, huint8 id, huint16 *thres, huint32 timeout=100) |
| 读从站字典0x606F-0x0 更多... | |
| EXTERNFUNC int | harmonic_setVelocityThreshold (huint8 devIndex, huint8 id, huint16 thres, huint32 timeout=100) |
| 写从站字典0x606F-0x0 更多... | |
| EXTERNFUNC int | harmonic_getVelocityThresholdTime (huint8 devIndex, huint8 id, huint16 *tTime, huint32 timeout=100) |
| 读从站字典0x6070-0x0 更多... | |
| EXTERNFUNC int | harmonic_setVelocityThresholdTime (huint8 devIndex, huint8 id, huint16 tTime, huint32 timeout=100) |
| 写从站字典0x6070-0x0 更多... | |
| EXTERNFUNC int | harmonic_getTargetTorque (huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout=100) |
| 读从站字典0x6071-0x0 更多... | |
| EXTERNFUNC int | harmonic_setTargetTorque (huint8 devIndex, huint8 id, hint16 torque, huint32 timeout=100) |
| 写从站字典0x6071-0x0 更多... | |
| EXTERNFUNC int | harmonic_getTorqueLimit (huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout=100) |
| 读从站字典0x6072-0x0 更多... | |
| EXTERNFUNC int | harmonic_setTorqueLimit (huint8 devIndex, huint8 id, hint16 torque, huint32 timeout=100) |
| 写从站字典0x6072-0x0 更多... | |
| EXTERNFUNC int | harmonic_getDemandTorque (huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout=100) |
| 读从站字典0x6074-0x0 更多... | |
| EXTERNFUNC int | harmonic_setDemandTorque (huint8 devIndex, huint8 id, hint16 torque, huint32 timeout=100) |
| 写从站字典0x6074-0x0 更多... | |
| EXTERNFUNC int | harmonic_getMotorRatedTorque (huint8 devIndex, huint8 id, huint32 *torque, huint32 timeout=100) |
| 读从站字典0x6076-0x0 更多... | |
| EXTERNFUNC int | harmonic_setMotorRatedTorque (huint8 devIndex, huint8 id, huint32 torque, huint32 timeout=100) |
| 写从站字典0x6076-0x0 更多... | |
| EXTERNFUNC int | harmonic_getActualTorque (huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout=100) |
| 读从站字典0x6077-0x0 更多... | |
| EXTERNFUNC int | harmonic_getCurrentActualValue (huint8 devIndex, huint8 id, hint16 *current, huint32 timeout=100) |
| 读从站字典0x6078-0x0 更多... | |
| EXTERNFUNC int | harmonic_getDCLinkCircuitVoltage (huint8 devIndex, huint8 id, huint32 *voltage, huint32 timeout=100) |
| 读从站字典0x6079-0x0 更多... | |
| EXTERNFUNC int | harmonic_setDCLinkCircuitVoltage (huint8 devIndex, huint8 id, huint32 voltage, huint32 timeout=100) |
| 写从站字典0x6079-0x0 更多... | |
| EXTERNFUNC int | harmonic_getTargetPos (huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100) |
| 0x607A-0x0 更多... | |
| EXTERNFUNC int | harmonic_setTargetPos (huint8 devIndex, huint8 id, hint32 pos, huint32 timeout=100) |
| 写从站字典0x607A-0x0 更多... | |
| EXTERNFUNC int | harmonic_getHomeOffset (huint8 devIndex, huint8 id, hint32 *offSet, huint32 timeout=100) |
| 读从站字典0x607C-0x0 更多... | |
| EXTERNFUNC int | harmonic_setHomeOffset (huint8 devIndex, huint8 id, hint32 offSet, huint32 timeout=100) |
| 写从站字典0x607C-0x0 更多... | |
| EXTERNFUNC int | harmonic_getSoftwareMinimumPosition (huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100) |
| 读从站字典0x607D-0x1 更多... | |
| EXTERNFUNC int | harmonic_setSoftwareMinimumPosition (huint8 devIndex, huint8 id, hint32 pos, huint32 timeout=100) |
| 写从站字典0x607D-0x1 更多... | |
| EXTERNFUNC int | harmonic_getSoftwareMaxmumPosition (huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100) |
| 读从站字典0x607D-0x2 更多... | |
| EXTERNFUNC int | harmonic_setSoftwareMaxmumPosition (huint8 devIndex, huint8 id, hint32 pos, huint32 timeout=100) |
| 写从站字典0x607D-0x2 更多... | |
| EXTERNFUNC int | harmonic_getMaxProfileVelocity (huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout=100) |
| 读从站字典0x607F-0x0 更多... | |
| EXTERNFUNC int | harmonic_setMaxProfileVelocity (huint8 devIndex, huint8 id, huint32 vel, huint32 timeout=100) |
| 写从站字典0x607F-0x0 更多... | |
| EXTERNFUNC int | harmonic_getProfileVelocity (huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout=100) |
| 读从站字典0x6081-0x0 更多... | |
| EXTERNFUNC int | harmonic_setProfileVelocity (huint8 devIndex, huint8 id, huint32 vel, huint32 timeout=100) |
| 写从站字典0x6081-0x0 更多... | |
| EXTERNFUNC int | harmonic_getProfileAcceleration (huint8 devIndex, huint8 id, huint32 *acc, huint32 timeout=100) |
| 读从站字典0x6083-0x0 更多... | |
| EXTERNFUNC int | harmonic_setProfileAcceleration (huint8 devIndex, huint8 id, huint32 acc, huint32 timeout=100) |
| 写从站字典0x6083-0x0 更多... | |
| EXTERNFUNC int | harmonic_getProfileDeceleration (huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout=100) |
| 读从站字典0x6084-0x0 更多... | |
| EXTERNFUNC int | harmonic_setProfileDeceleration (huint8 devIndex, huint8 id, huint32 dec, huint32 timeout=100) |
| 写从站字典0x6084-0x0 更多... | |
| EXTERNFUNC int | harmonic_getQuickStopDeceleration (huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout=100) |
| 读从站字典0x6085-0x0 更多... | |
| EXTERNFUNC int | harmonic_setQuickStopDeceleration (huint8 devIndex, huint8 id, huint32 dec, huint32 timeout=100) |
| 写从站字典0x6085-0x0 更多... | |
| EXTERNFUNC int | harmonic_getTorqueSlope (huint8 devIndex, huint8 id, huint32 *slope, huint32 timeout=100) |
| 0x6087-0x0 更多... | |
| EXTERNFUNC int | harmonic_setTorqueSlope (huint8 devIndex, huint8 id, huint32 slope, huint32 timeout=100) |
| 写从站字典0x6087-0x0 更多... | |
| EXTERNFUNC int | harmonic_getGearRatioMotorRevolutions (huint8 devIndex, huint8 id, huint32 *rev, huint32 timeout=100) |
| 读从站字典0x6091-0x1 更多... | |
| EXTERNFUNC int | harmonic_setGearRatioMotorRevolutions (huint8 devIndex, huint8 id, huint32 rev, huint32 timeout=100) |
| 写从站字典0x6091-0x1 更多... | |
| EXTERNFUNC int | harmonic_getGearRatioShaftRevolutions (huint8 devIndex, huint8 id, huint32 *rev, huint32 timeout=100) |
| 读从站字典0x6091-0x2 更多... | |
| EXTERNFUNC int | harmonic_setGearRatioShaftRevolutions (huint8 devIndex, huint8 id, huint32 rev, huint32 timeout=100) |
| 写从站字典0x6091-0x2 更多... | |
| EXTERNFUNC int | harmonic_getInterpolationDataRecord (huint8 devIndex, huint8 id, hint32 *value, huint32 timeout=100) |
| 读从站字典0x60C1-0x1 更多... | |
| EXTERNFUNC int | harmonic_setInterpolationDataRecord (huint8 devIndex, huint8 id, hint32 value, huint32 timeout=100) |
| 写从站字典0x60C1-0x1 更多... | |
| EXTERNFUNC int | harmonic_getInterpolationTimePeriodValue (huint8 devIndex, huint8 id, huint8 *value, huint32 timeout=100) |
| 读从站字典0x60C2-0x1 更多... | |
| EXTERNFUNC int | harmonic_setInterpolationTimePeriodValue (huint8 devIndex, huint8 id, huint8 value, huint32 timeout=100) |
| 写从站字典0x60C2-0x1 更多... | |
| EXTERNFUNC int | harmonic_getActualFollowingError (huint8 devIndex, huint8 id, hint32 *error, huint32 timeout=100) |
| 读从站字典0x60F4-0x0 更多... | |
| EXTERNFUNC int | harmonic_setActualFollowingError (huint8 devIndex, huint8 id, hint32 error, huint32 timeout=100) |
| 写从站字典0x60F4-0x0 更多... | |
| EXTERNFUNC int | harmonic_getTargetVelocity (huint8 devIndex, huint8 id, hint32 *targetVel, huint32 timeout=100) |
| 读从站字典0x60FF-0x0 更多... | |
| EXTERNFUNC int | harmonic_setTargetVelocity (huint8 devIndex, huint8 id, hint32 targetVel, huint32 timeout=100) |
| 写从站字典0x60FF-0x0 更多... | |
| EXTERNFUNC int | harmonic_getSupportedDriveModes (huint8 devIndex, huint8 id, huint32 *modes, huint32 timeout=100) |
| 读从站字典0x6502-0x0 更多... | |
| #define EXTERNFUNC |
| #define HARMONIC_FAILED_CANRECEIVE (4) |
执行失败,数据接收失败
| #define HARMONIC_FAILED_CANSEND (3) |
执行失败,数据发送失败
| #define HARMONIC_FAILED_DEVICEDISABLED (1) |
执行失败,设备不存在
| #define HARMONIC_FAILED_NoRespondR (7) |
执行失败,sdo'读'请求在规定时间内没有接收到回应数据
| #define HARMONIC_FAILED_NoRespondW (8) |
执行失败,sdo'写'请求在规定时间内没有接收到回应数据
| #define HARMONIC_FAILED_OPENFAILED (2) |
执行失败,设备打开失败
| #define HARMONIC_FAILED_ReadLocalDict (5) |
执行失败,读本地字典失败
| #define HARMONIC_FAILED_UNKNOWN (100) |
执行失败,未知原因
| #define HARMONIC_FAILED_WriteLocalDict (6) |
执行失败,写本地字典失败
| #define HARMONIC_SUCCESS (0) |
执行成功
| typedef unsigned int huint64 __attribute__((__mode__(__DI__))) |
| typedef struct _harmonic_CanMsg harmonic_CanMsg |
can数据结构
| typedef void(* harmonic_ReceiveDataCallBack) (huint8 devIndex, const harmonic_CanMsg *msg) |
接收数据回调函数
| typedef void(* harmonic_SendDataCallBack) (huint8 devIndex, const harmonic_CanMsg *msg) |
发送数据回调函数
| typedef signed short int hint16 |
| typedef signed int hint24 |
| typedef signed int hint32 |
| typedef signed long int hint40 |
| typedef signed long int hint48 |
| typedef signed long int hint56 |
| typedef signed long int hint64 |
| typedef signed char hint8 |
| typedef float hreal32 |
| typedef double hreal64 |
| enum harmonic_Baudrate |
| enum harmonic_DataType |
| enum harmonic_DBaudrate |
| enum harmonic_DeviceType |
故障处理选项
| enum harmonic_HaltOption |
| enum harmonic_NMTState |
| enum harmonic_NodeState |
节点状态
| enum harmonic_OperateMode |
操作模式
快速停止选项
| EXTERNFUNC int harmonic_freeDLL | ( | huint8 | devIndex | ) |
关闭设备,释放资源,设备打开成功后需要在适当时机释放资源 如果存在多个设备,程序退出前,每个设备都需调用一次释放资源
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| EXTERNFUNC int harmonic_getActualFollowingError | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hint32 * | error, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x60F4-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| error | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getActualPos | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hint32 * | pos, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x6064-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pos | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getActualTorque | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hint16 * | torque, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x6077-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| torque | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getActualVelocity | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hint32 * | vel, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x606C-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| vel | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getBrakeState | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint8 * | state, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2014-0x2
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| state | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getClientSDOCobIdClientToServer | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | sdoClientIndex, | ||
| huint32 * | cobId, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典[0x1280+sdoClientIndex]-0x1
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| sdoClientIndex | sdo索引,设为0代表从站字典主索引0x1280,设为1代表从站字典主索引0x1281,以此类推 |
| cobId | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getClientSDOCobIdServerToClient | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | sdoClientIndex, | ||
| huint32 * | cobId, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典[0x1280+sdoClientIndex]-0x2
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| sdoClientIndex | sdo索引,设为0代表从站字典主索引0x1280,设为1代表从站字典主索引0x1281,以此类推 |
| cobId | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getClientSDONodeIdOfSDOServer | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | sdoClientIndex, | ||
| huint8 * | nodeId, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典[0x1280+sdoClientIndex]-0x3
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| sdoClientIndex | sdo索引,设为0代表从站字典主索引0x1280,设为1代表从站字典主索引0x1281,以此类推 |
| nodeId | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getClientSDONumberOfEntries | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | sdoClientIndex, | ||
| huint8 * | number, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典[0x1280+sdoClientIndex]-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| sdoClientIndex | sdo索引,设为0代表从站字典主索引0x1280,设为1代表从站字典主索引0x1281,以此类推 |
| number | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getControlword | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 * | word, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x6040-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| word | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getCurrentActualValue | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hint16 * | current, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x6078-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| current | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getDCLinkCircuitVoltage | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | voltage, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x6079-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| voltage | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getDCOverVoltageThreshold | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | vol, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x202D-0x3
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| vol | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getDCOverVoltageTime | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | time, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x202D-0x4
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| time | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getDCUnderVoltageThreshold | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | vol, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x202D-0x1
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| vol | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getDCUnderVoltageTime | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | time, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x202D-0x2
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| time | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getDCVolageProtectionParasNumber | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint8 * | number, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x202D-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| number | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getDefaultServoCurrentLoopKI | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 * | ki, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2010-0x2
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| ki | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getDefaultServoCurrentLoopKP | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 * | kp, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2010-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| kp | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getDefaultServoPositionLoopKI | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 * | ki, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2013-0x2
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| ki | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getDefaultServoPositionLoopKP | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 * | kp, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2013-0x1
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| kp | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getDefaultServoVelocityLoopKI | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 * | ki, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2012-0x2
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| ki | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getDefaultServoVelocityLoopKP | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 * | kp, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2012-0x1
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| kp | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getDemandPos | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hint32 * | pos, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x6062-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pos | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getDemandTorque | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hint16 * | torque, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x6074-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| torque | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getDemandVelocity | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hint32 * | dVel, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x606B-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| dVel | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getDeviceName | ( | huint8 | devIndex, |
| huint8 | id, | ||
| char * | devName, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x1008-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| devName | 保存读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getDeviceType | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | deviceType, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x1000-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| deviceType | 保存读取的设备类型 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getDisableOperationOptionCode | ( | huint8 | devIndex, |
| huint8 | id, | ||
| harmonic_DisableOperationOption * | code, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x605C-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| code | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getDisplayOperateMode | ( | huint8 | devIndex, |
| huint8 | id, | ||
| harmonic_OperateMode * | mode, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x6061-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| mode | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getEmergencyCobid | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | cobid, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x1014-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| cobid | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getEmergencyInhibitTime | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 * | time, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x1015-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| time | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getErrorField | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint8 | subIndex, | ||
| huint32 * | err, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x1003-subIndex
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| subIndex | 字典子索引(取值范围0x01~0x7f) |
| err | 保存读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getErrorFieldNumber | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint8 * | number, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x1003-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| number | 保存读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getErrorRegister | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint8 * | errReg, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x1001-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| errReg | 保存读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getFaultReactionOption | ( | huint8 | devIndex, |
| huint8 | id, | ||
| harmonic_FaultReactionOption * | option, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x605E-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| option | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getFindPointDoneFlag | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | flag, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2101-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| flag | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getFindPointMoveAcc | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | acc, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2106-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| acc | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getFindPointMoveDec | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | dec, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2107-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| dec | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getFindPointMoveMax | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | angle, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2105-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| angle | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getFindPointMoveVelocity | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | vel, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2108-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| vel | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getFindPointStart | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | status, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2102-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| status | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getFollowingErrorWindow | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | eWindow, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x6065-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| eWindow | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getGearRatioMotorRevolutions | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | rev, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x6091-0x1
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| rev | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getGearRatioShaftRevolutions | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | rev, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x6091-0x2
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| rev | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getGuardTime | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 * | time, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x100C-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| time | 保存读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getHaltOption | ( | huint8 | devIndex, |
| huint8 | id, | ||
| harmonic_HaltOption * | option, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x605D-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| option | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getHardwareVersion | ( | huint8 | devIndex, |
| huint8 | id, | ||
| char * | version, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x1009-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| hVersion | 保存读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getHearbeatConsumerTime | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint8 | subIndex, | ||
| huint32 * | time, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x1016-subIndex
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| subIndex | 子索引 |
| time | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getHearbeatConsumerTimeParasNum | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint8 * | number, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x1016-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| number | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getHomeOffset | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hint32 * | offSet, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x607C-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| offSet | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getI2tOverLoadLimit | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 * | value, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2028-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| value | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getI2tOverLoadValue | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 * | value, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2029-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| value | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getIdentityObjectNumber | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint8 * | number, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x1018-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| number | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getIdentityObjectRevisionNumber | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | revisionNum, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x1018-0x3
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| revisionNum | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getInterpolationDataRecord | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hint32 * | value, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x60C1-0x1
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| value | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getInterpolationTimePeriodValue | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint8 * | value, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x60C2-0x1
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| value | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getLifeTimeFactor | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint8 * | factor, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x100D-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| factor | 保存读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getLocalActualPos | ( | hint32 * | pos | ) |
读本地字典0x6064-0x0
| pos | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalActualTorque | ( | hint16 * | torque | ) |
读本地字典0x6077-0x0
| torque | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalActualVelocity | ( | hint32 * | velocity | ) |
读本地字典0x606c-0x0
| velocity | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalClientSDOCobIdClientToServer | ( | huint16 | sdoClientIndex, |
| huint32 * | cobId | ||
| ) |
读本地字典[0x1280+sdoClientIndex]-0x1
| sdoClientIndex | sdo索引,为0时主索引为0x1280,为1时主索引为0x1281,以此类推 |
| cobId | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalClientSDOCobIdServerToClient | ( | huint16 | sdoClientIndex, |
| huint32 * | cobId | ||
| ) |
读本地字典[0x1280+sdoClientIndex]-0x2
| sdoClientIndex | sdo索引,为0时主索引为0x1280,为1时主索引为0x1281,以此类推 |
| cobId | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalClientSDONodeIdOfSDOServer | ( | huint16 | sdoClientIndex, |
| huint8 * | nodeId | ||
| ) |
读本地字典[0x1280+sdoClientIndex]-0x3
| sdoClientIndex | sdo索引,为0时主索引为0x1280,为1时主索引为0x1281,以此类推 |
| nodeId | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalClientSDONumberOfEntries | ( | huint16 | sdoClientIndex, |
| huint8 * | number | ||
| ) |
读本地字典[0x1280+sdoClientIndex]-0x0
| sdoClientIndex | sdo索引,为0时主索引为0x1280,为1时主索引为0x1281,以此类推 |
| number | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalControlword | ( | huint16 * | word | ) |
读本地字典0x6040-0x0
| word | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalDCLinkCircuitVoltage | ( | huint32 * | voltage | ) |
读本地字典0x6079-0x0
| voltage | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalInterpolationDataRecord | ( | hint32 * | value | ) |
读本地字典0x60C1-0x1
| value | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalInterpolationTimePeriodValue | ( | huint8 * | value | ) |
读本地字典0x60c2-0x1
| value | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalMitCtrlCobcmd1 | ( | huint32 * | cobcmd | ) |
读本地字典0x2130-0x0
| cobcmd | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalMitCtrlCobcmd2 | ( | huint32 * | cobcmd | ) |
读本地字典0x2131-0x0
| cobcmd | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalMitMutiMotorGetPos | ( | huint16 | motorIndex, |
| hreal32 * | pos | ||
| ) |
读本地字典0x5008+[0x1+motorIndex]
| motorIndex | 电机索引,为0时子索引为0x1,为1时子索引为0x2,以此类推 |
| error | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalMitMutiMotorGetTor | ( | huint16 | motorIndex, |
| hreal32 * | tor | ||
| ) |
读本地字典0x500A+[0x1+motorIndex]
| motorIndex | 电机索引,为0时子索引为0x1,为1时子索引为0x2,以此类推 |
| error | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalMitMutiMotorGetVel | ( | huint16 | motorIndex, |
| hreal32 * | vel | ||
| ) |
读本地字典0x5009+[0x1+motorIndex]
| motorIndex | 电机索引,为0时子索引为0x1,为1时子索引为0x2,以此类推 |
| error | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalMitMutiMotorSetPos | ( | huint16 | motorIndex, |
| hreal32 * | pos | ||
| ) |
读本地字典0x500B+[0x1+motorIndex]
| motorIndex | 电机索引,为0时子索引为0x1,为1时子索引为0x2,以此类推 |
| error | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalMitMutiMotorSetTor | ( | huint16 | motorIndex, |
| hreal32 * | tor | ||
| ) |
读本地字典0x500D+[0x1+motorIndex]
| motorIndex | 电机索引,为0时子索引为0x1,为1时子索引为0x2,以此类推 |
| error | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalMitMutiMotorSetVel | ( | huint16 | motorIndex, |
| hreal32 * | vel | ||
| ) |
读本地字典0x500C+[0x1+motorIndex]
| motorIndex | 电机索引,为0时子索引为0x1,为1时子索引为0x2,以此类推 |
| error | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalMitReplyCobdat1 | ( | huint32 * | cobdat | ) |
读本地字典0x2132-0x0
| cobdat | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalMitReplyCobdat2 | ( | huint32 * | cobdat | ) |
读本地字典0x2133-0x0
| cobdat | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalMutiMotorErrorCode | ( | huint16 | motorIndex, |
| huint16 * | error | ||
| ) |
读本地字典0x5007+[0x1+motorIndex]
| motorIndex | 电机索引,为0时子索引为0x1,为1时子索引为0x2,以此类推 |
| error | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalMutiMotorPos | ( | huint16 | motorIndex, |
| hint32 * | pos | ||
| ) |
读本地字典0x5000+[0x1+motorIndex]
| motorIndex | 电机索引,为0时子索引为0x1,为1时子索引为0x2,以此类推 |
| pos | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalMutiMotorStatusWord | ( | huint16 | motorIndex, |
| huint16 * | status | ||
| ) |
读本地字典0x5006+[0x1+motorIndex]
| motorIndex | 电机索引,为0时子索引为0x1,为1时子索引为0x2,以此类推 |
| status | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalMutiMotorTorque | ( | huint16 | motorIndex, |
| hint16 * | tor | ||
| ) |
读本地字典0x5002+[0x1+motorIndex]
| motorIndex | 电机索引,为0时子索引为0x1,为1时子索引为0x2,以此类推 |
| tor | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalMutiMotorVel | ( | huint16 | motorIndex, |
| hint32 * | vel | ||
| ) |
读本地字典0x5001+[0x1+motorIndex]
| motorIndex | 电机索引,为0时子索引为0x1,为1时子索引为0x2,以此类推 |
| vel | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalRPDOCobId | ( | huint16 | pdoIndex, |
| huint32 * | cobId | ||
| ) |
读本地字典[0x1400+pdoIndex]-0x1
| pdoIndex | pdo索引,为0时主索引为0x1400,为1时主索引为0x1401,以此类推 |
| cobId | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalRPDOEventTimer | ( | huint16 | pdoIndex, |
| huint16 * | timer | ||
| ) |
读本地字典[0x1400+pdoIndex]-0x5
| pdoIndex | pdo索引,为0时主索引为0x1400,为1时主索引为0x1401,以此类推 |
| timer | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalRPDOInhibitTime | ( | huint16 | pdoIndex, |
| huint16 * | time | ||
| ) |
读本地字典[0x1400+pdoIndex]-0x3
| pdoIndex | pdo索引,为0时主索引为0x1400,为1时主索引为0x1401,以此类推 |
| time | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalRPDOMapped | ( | huint16 | pdoIndex, |
| huint8 | mapIndex, | ||
| huint32 * | value | ||
| ) |
读本地字典[0x1600+pdoIndex]-[0x1+mapIndex]
| pdoIndex | pdo索引,为0时主索引为0x1600,为1时主索引为0x1601,以此类推 |
| mapIndex | pdo映射索引,为0时子索引为0x1,1时子索引为0x2,以此类推 |
| value | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalRPDOMaxMappedCount | ( | huint16 | pdoIndex, |
| huint8 * | count | ||
| ) |
读本地字典[0x1600+pdoIndex]-0x0
| pdoIndex | pdo索引,为0时主索引为0x1600,为1时主索引为0x1601,以此类推 |
| count | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalRPDOMaxParasCount | ( | huint16 | pdoIndex, |
| huint8 * | count | ||
| ) |
读本地字典[0x1400+pdoIndex]-0x0
| pdoIndex | pdo索引,为0时主索引为0x1400,为1时主索引为0x1401,以此类推 |
| count | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalRPDOSYNCStartValue | ( | huint16 | pdoIndex, |
| huint8 * | value | ||
| ) |
读本地字典[0x1400+pdoIndex]-0x6
| pdoIndex | pdo索引,为0时主索引为0x1400,为1时主索引为0x1401,以此类推 |
| value | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalRPDOTransmitType | ( | huint16 | pdoIndex, |
| huint8 * | type | ||
| ) |
读本地字典[0x1400+pdoIndex]-0x2
| pdoIndex | pdo索引,为0时主索引为0x1400,为1时主索引为0x1401,以此类推 |
| type | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalServerSDOCobIdClientToServer | ( | huint16 | sdoServerIndex, |
| huint32 * | cobId | ||
| ) |
读本地字典[0x1200+sdoServerIndex]-0x1
| sdoServerIndex | sdo索引,为0时主索引为0x1200,为1时主索引为0x1201,以此类推 |
| cobId | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalServerSDOCobIdServerToClient | ( | huint16 | sdoServerIndex, |
| huint32 * | cobId | ||
| ) |
读本地字典[0x1200+sdoServerIndex]-0x2
| sdoServerIndex | sdo索引,为0时主索引为0x1200,为1时主索引为0x1201,以此类推 |
| cobId | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalServerSDONodeIdOfClient | ( | huint16 | sdoServerIndex, |
| huint8 * | nodeId | ||
| ) |
读本地字典[0x1200+sdoServerIndex]-0x3
| sdoServerIndex | sdo索引,为0时主索引为0x1200,为1时主索引为0x1201,以此类推 |
| nodeId | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalServerSDONumberOfEntries | ( | huint16 | sdoServerIndex, |
| huint8 * | num | ||
| ) |
读本地字典[0x1200+sdoServerIndex]-0x0
| sdoServerIndex | sdo索引,为0时主索引为0x1200,为1时主索引为0x1201,以此类推 |
| num | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalServoErrorCode | ( | huint16 * | err | ) |
读本地字典0x603F-0x0
| err | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalServoTemperature | ( | hint8 * | tem | ) |
读本地字典0x2106-0x1
| tem | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalStatusWord | ( | huint16 * | word | ) |
写本地字典0x6041-0x0
| word | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalSyncCOBID | ( | huint32 * | cobId | ) |
读本地字典0x1005-0x0
| cobId | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalSyncCycle | ( | huint32 * | cycle | ) |
读本地字典0x1006-0x0
| cycle | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalSyncWindow | ( | huint32 * | sWindow | ) |
读本地字典0x1007-0x0
| sWindow | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalTargetPos | ( | hint32 * | pos | ) |
读本地字典0x607A-0x0
| pos | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalTargetTorque | ( | hint16 * | torque | ) |
读本地字典0x6071-0x0
| torque | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalTargetVelocity | ( | hint32 * | vel | ) |
读本地字典0x60FF-0x0
| vel | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalTPDOCobId | ( | huint16 | pdoIndex, |
| huint32 * | cobId | ||
| ) |
读本地字典[0x1800+pdoIndex]-0x1
| pdoIndex | pdo索引,为0时主索引为0x1800,为1时主索引为0x1801,以此类推 |
| cobId | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalTPDOEventTimer | ( | huint16 | pdoIndex, |
| huint16 * | timer | ||
| ) |
读本地字典[0x1800+pdoIndex]-0x5
| pdoIndex | pdo索引,为0时主索引为0x1800,为1时主索引为0x1801,以此类推 |
| timer | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalTPDOInhibitTime | ( | huint16 | pdoIndex, |
| huint16 * | time | ||
| ) |
读本地字典[0x1800+pdoIndex]-0x3
| pdoIndex | pdo索引,为0时主索引为0x1800,为1时主索引为0x1801,以此类推 |
| time | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalTPDOMapped | ( | huint16 | pdoIndex, |
| huint8 | mapIndex, | ||
| huint32 * | value | ||
| ) |
读本地字典[0x1A00+pdoIndex]-[0x1+mapIndex]
| pdoIndex | pdo索引,为0时主索引为0x1A00,为1时主索引为0x1A01,以此类推 |
| mapIndex | pdo映射索引,为0时子索引为0x1,为1时子索引为0x2 |
| value | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalTPDOMaxMappedCount | ( | huint16 | pdoIndex, |
| huint8 * | count | ||
| ) |
读本地字典[0x1A00+pdoIndex]-0x0
| pdoIndex | pdo索引,为0时主索引为0x1A00,为1时主索引为0x1A01,以此类推 |
| count | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalTPDOMaxParasCount | ( | huint16 | pdoIndex, |
| huint8 * | count | ||
| ) |
读本地字典[0x1800+pdoIndex]-0x0
| pdoIndex | pdo索引,为0时主索引为0x1800,为1时主索引为0x1801,以此类推 |
| count | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalTPDOSYNCStartValue | ( | huint16 | pdoIndex, |
| huint8 * | value | ||
| ) |
读本地字典[0x1800+pdoIndex]-0x6
| pdoIndex | pdo索引,为0时主索引为0x1800,为1时主索引为0x1801,以此类推 |
| value | 存放读取的值 |
| EXTERNFUNC int harmonic_getLocalTPDOTransmitType | ( | huint16 | pdoIndex, |
| huint8 * | type | ||
| ) |
读本地字典[0x1800+pdoIndex]-0x2
| pdoIndex | pdo索引,为0时主索引为0x1800,为1时主索引为0x1801,以此类推 |
| type | 存放读取的值 |
| EXTERNFUNC int harmonic_getMaxProfileVelocity | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | vel, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x607F-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| vel | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getMitCtrlCobcmd1 | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | cobcmd, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2130-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| cobcmd | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getMitCtrlCobcmd2 | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | cobcmd, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2131-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| cobcmd | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getMitKDMax | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hreal32 * | kdMax, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2147-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| kdMax | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getMitKDMin | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hreal32 * | kdMin, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2146-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| kdMin | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getMitKPMax | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hreal32 * | kpMax, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2145-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| kpMax | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getMitKPMin | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hreal32 * | kpMin, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2144-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| kpMin | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getMitPMax | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hreal32 * | pMax, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2141-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pMax | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getMitPMin | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hreal32 * | pMin, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2140-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pMin | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getMitReplyCobdat1 | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | cobdat, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2132-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| cobdat | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getMitReplyCobdat2 | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | cobdat, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2133-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| cobdat | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getMitTMax | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hreal32 * | tMin, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2149-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| tMin | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getMitTMin | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hreal32 * | tMin, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2148-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| tMin | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getMitVMax | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hreal32 * | vMax, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2143-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| vMax | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getMitVMin | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hreal32 * | vMin, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2142-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| vMin | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getMotorRatedTorque | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | torque, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x6076-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| torque | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getNodeState | ( | huint8 | devIndex, |
| huint8 | id, | ||
| harmonic_NodeState * | state, | ||
| huint32 | timeout = 100 |
||
| ) |
读从节点状态
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| state | 保存读取的从节点的节点状态 |
| timeout | 最大等待时间,单位ms |
| EXTERNFUNC int harmonic_getOperateMode | ( | huint8 | devIndex, |
| huint8 | id, | ||
| harmonic_OperateMode * | mode, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x6060-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| mode | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getPositionWindow | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | pWindow, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x6067-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pWindow | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getPositionWindowTime | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 * | pWindowTime, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x6068-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pWindowTime | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getProducerHeartbeatTime | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 * | time, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x1017-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| time | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getProductCode | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | pCode, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x1018-0x2
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pCode | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getProfileAcceleration | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | acc, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x6083-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| acc | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getProfileDeceleration | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | dec, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x6084-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| dec | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getProfileVelocity | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | vel, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x6081-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| vel | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getQuickStopDeceleration | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | dec, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x6085-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| dec | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getQuickStopOption | ( | huint8 | devIndex, |
| huint8 | id, | ||
| harmonic_QuickStopOption * | option, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x605A-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| option | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getRestoreDefaultParameters | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | value, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x1011-0x1
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| value | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getRestoreDefaultParametersNumber | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint8 * | number, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x1011-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| number | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getRPDOCobId | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | pdoIndex, | ||
| huint32 * | cobId, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典[0x1400+pdoIndex]-0x1
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pdoIndex | pdo索引,设为0代表从站字典主索引0x1400,设为1代表从站字典主索引0x1401,以此类推 |
| cobId | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getRPDOEventTimer | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | pdoIndex, | ||
| huint16 * | timer, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典[0x1400+pdoIndex]-0x5
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pdoIndex | pdo索引,设为0代表从站字典主索引0x1400,设为1代表从站字典主索引0x1401,以此类推 |
| timer | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getRPDOInhibitTime | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | pdoIndex, | ||
| huint16 * | time, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典[0x1400+pdoIndex]-0x3
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pdoIndex | pdo索引,设为0代表从站字典主索引0x1400,设为1代表从站字典主索引0x1401,以此类推 |
| time | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getRPDOMapped | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | pdoIndex, | ||
| huint8 | mapIndex, | ||
| huint32 * | value, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典[0x1600+pdoIndex]-[0x1+mapIndex]
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pdoIndex | pdo索引,设为0代表从站字典主索引0x1600,设为1代表从站字典主索引0x1601,以此类推 |
| mapIndex | 映射地址索引,设为0代表从站字典子索引0x1, 设为1代表子索引0x2,以此类推 |
| value | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getRPDOMaxMappedCount | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | pdoIndex, | ||
| huint8 * | count, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典[0x1600+pdoIndex]-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pdoIndex | pdo索引,设为0代表从站字典主索引0x1600,设为1代表从站字典主索引0x1601,以此类推 |
| count | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getRPDOMaxParasCount | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | pdoIndex, | ||
| huint8 * | count, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典[0x1400+pdoIndex]-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pdoIndex | pdo索引,设为0代表从站字典主索引0x1400,设为1代表从站字典主索引0x1401,以此类推 |
| count | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getRPDOSYNCStartValue | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | pdoIndex, | ||
| huint8 * | value, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典[0x1400+pdoIndex]-0x6
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pdoIndex | pdo索引,设为0代表从站字典主索引0x1400,设为1代表从站字典主索引0x1401,以此类推 |
| value | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getRPDOTransmitType | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | pdoIndex, | ||
| huint8 * | type, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典[0x1400+pdoIndex]-0x2
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pdoIndex | pdo索引,设为0代表从站字典主索引0x1400,设为1代表从站字典主索引0x1401,以此类推 |
| type | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getSerialNumber | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | serialNum, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x1018-0x4
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| serialNum | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServerSDOCobIdClientToServer | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | sdoServerIndex, | ||
| huint32 * | cobId, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典[0x1200+sdoServerIndex]-0x1
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| sdoServerIndex | sdo索引,设为0代表从站字典主索引0x1200,设为1代表从站字典主索引0x1201,以此类推 |
| cobId | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServerSDOCobIdServerToClient | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | sdoServerIndex, | ||
| huint32 * | cobId, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典[0x1200+sdoServerIndex]-0x2
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| sdoServerIndex | sdo索引,设为0代表从站字典主索引0x1200,设为1代表从站字典主索引0x1201,以此类推 |
| cobId | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServerSDONodeIdOfClient | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | sdoServerIndex, | ||
| huint8 * | nodeId, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典[0x1200+sdoServerIndex]-0x3
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| sdoServerIndex | sdo索引,设为0代表从站字典主索引0x1200,设为1代表从站字典主索引0x1201,以此类推 |
| nodeId | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServerSDONumberOfEntries | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | sdoServerIndex, | ||
| huint8 * | num, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典[0x1200+sdoServerIndex]-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| sdoServerIndex | sdo索引,设为0代表从站字典主索引0x1200,设为1代表从站字典主索引0x1201,以此类推 |
| num | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServoBlockParasNum | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint8 * | num, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2020-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| num | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServoBlockTime | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 * | time, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2020-0x2
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| time | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServoBlockTorque | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 * | torque, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2020-0x1
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| torque | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServoBlockVelocity | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | velocity, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2020-0x3
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| velocity | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServoBrakeControl | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint8 * | status, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2014-0x1
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| status | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServoBrakeDelayTime | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint8 * | time, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2026-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| time | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServoBrakeParaNum | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint8 * | num, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2014-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| num | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServoCanBaudrate | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 * | baudrate, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2001-0x2
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| baudrate | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServoCommunicationMode | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint8 * | mode, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2004-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| mode | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServoCurrentLoopKI | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 * | ki, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2010-0x4
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| ki | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServoCurrentLoopKP | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 * | kp, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2010-0x3
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| kp | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServoCurrentLoopPINum | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint8 * | num, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2010-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| num | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServoErrorCode | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 * | err, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x603F-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| err | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServoFirstEncoderValue | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hint32 * | value, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x202A-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| value | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServoID | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint8 * | servoID, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2001-0x1
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| servoID | 存放读取的伺服id |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServoOverSpeedThreshold | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | thre, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2024-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| thre | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServoOverSpeedTime | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 * | time, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2025-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| time | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServoParametersNumber | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint8 * | num, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2001-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| num | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServoPositionLoopKI | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 * | ki, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2013-0x4
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| ki | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServoPositionLoopKP | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 * | kp, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2013-0x3
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| kp | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServoPositionLoopPINum | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint8 * | num, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2013-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| num | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServoSecondEncoderValue | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hint32 * | value, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x202B-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| value | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServoSoftwareLimitState | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | state, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2003-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| state | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServoTemperature | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hint8 * | tem, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2016-0x1
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| tem | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServoTemperatureLimit | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hint8 * | tem, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2016-0x2
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| tem | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServoTemperatureLimitTime | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 * | time, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2016-0x3
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| time | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServoTemperatureParasNum | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint8 * | num, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2016-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| num | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServoThetaBiasValue | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hint32 * | value, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x202C-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| value | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServoTorqueWindow | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 * | window, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2022-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| window | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServoTorqueWindowTime | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 * | window, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2023-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| window | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServoVelocityFlowingErrorParasNum | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint8 * | num, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2021-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| num | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServoVelocityFlowingErrorTime | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 * | time, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2021-0x2
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| time | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServoVelocityFlowingErrorWindows | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | error, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2021-0x1
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| error | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServoVelocityIntLimit | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 * | limit, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2017-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| limit | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServoVelocityLoopKI | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 * | ki, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2012-0x4
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| ki | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServoVelocityLoopKP | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 * | kp, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2012-0x3
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| kp | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getServoVelocityLoopPINum | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint8 * | num, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2012-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| num | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getShutdownOptionCode | ( | huint8 | devIndex, |
| huint8 | id, | ||
| harmonic_ShutdownOption * | code, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x605B-0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| code | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getSoftwareMaxmumPosition | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hint32 * | pos, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x607D-0x2
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pos | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getSoftwareMinimumPosition | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hint32 * | pos, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x607D-0x1
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pos | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getSoftwareVersion | ( | huint8 | devIndex, |
| huint8 | id, | ||
| char * | version, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x100A-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| version | 保存读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getStatusWord | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 * | word, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x6041-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| word | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getStoreParameters | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | value, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x1010-0x1
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| value | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getStoreParametersNumber | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint8 * | number, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x1010-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| number | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getSupportedDriveModes | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | modes, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x6502-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| modes | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getSyncCobid | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | cobid, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x1005-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| cobid | 保存读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getSyncCounter | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint8 * | counter, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x1019-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| counter | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getSyncCycle | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | syncCycle, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x1006-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| syncCycle | 保存读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getSyncWindow | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | syncWindow, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x1007-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| syncWindow | 保存读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getTargetPos | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hint32 * | pos, | ||
| huint32 | timeout = 100 |
||
| ) |
0x607A-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pos | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getTargetTorque | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hint16 * | torque, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x6071-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| torque | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getTargetVelocity | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hint32 * | targetVel, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x60FF-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| targetVel | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getTorqueFactor | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 * | factor, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2110-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| factor | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getTorqueLimit | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hint16 * | torque, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x6072-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| torque | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getTorqueSensorValue | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hreal32 * | value, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x2030-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| value | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getTorqueSlope | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | slope, | ||
| huint32 | timeout = 100 |
||
| ) |
0x6087-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| slope | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getTPDOCobId | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | pdoIndex, | ||
| huint32 * | cobId, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典[0x1800+pdoIndex]-0x1
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pdoIndex | pdo索引,设为0代表从站字典主索引0x1800,设为1代表从站字典主索引0x1801,以此类推 |
| cobId | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getTPDOEventTimer | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | pdoIndex, | ||
| huint16 * | timer, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典[0x1800+pdoIndex]-0x5
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pdoIndex | pdo索引,设为0代表从站字典主索引0x1800,设为1代表从站字典主索引0x1801,以此类推 |
| timer | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getTPDOInhibitTime | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | pdoIndex, | ||
| huint16 * | time, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典[0x1800+pdoIndex]-0x3
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pdoIndex | pdo索引,设为0代表从站字典主索引0x1800,设为1代表从站字典主索引0x1801,以此类推 |
| time | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getTPDOMapped | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | pdoIndex, | ||
| huint8 | mapIndex, | ||
| huint32 * | value, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典[0x1A00+pdoIndex]-[0x1+mapIndex]
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pdoIndex | pdo索引,设为0代表从站字典主索引0x1A00,设为1代表从站字典主索引0x1A01,以此类推 |
| mapIndex | 映射索引,设为0代表从站字典子索引0x1,设为1代表从站字典子索引0x2,以此类推 |
| value | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getTPDOMaxMappedCount | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | pdoIndex, | ||
| huint8 * | count, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典[0x1A00+pdoIndex]-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pdoIndex | pdo索引,设为0代表从站字典主索引0x1A00,设为1代表从站字典主索引0x1A01,以此类推 |
| count | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getTPDOMaxParasCount | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | pdoIndex, | ||
| huint8 * | count, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典[0x1800+pdoIndex]-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pdoIndex | pdo索引,设为0代表从站字典主索引0x1800,设为1代表从站字典主索引0x1801,以此类推 |
| count | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getTPDOSYNCStartValue | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | pdoIndex, | ||
| huint8 * | value, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典[0x1800+pdoIndex]-0x6
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pdoIndex | pdo索引,设为0代表从站字典主索引0x1800,设为1代表从站字典主索引0x1801,以此类推 |
| value | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getTPDOTransmitType | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | pdoIndex, | ||
| huint8 * | type, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典[0x1800+pdoIndex]-0x2
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pdoIndex | pdo索引,设为0代表从站字典主索引0x1800,设为1代表从站字典主索引0x1801,以此类推 |
| type | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getVelocityThreshold | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 * | thres, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x606F-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| thres | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getVelocityThresholdTime | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 * | tTime, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x6070-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| tTime | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getVelocityWindow | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 * | vWindow, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x606D-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| vWindow | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getVelocityWindowTime | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 * | wTime, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x606E-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| wTime | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_getVendorID | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 * | vId, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典0x1018-0x1
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| vId | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_initDLL | ( | harmonic_DeviceType | devType, |
| huint8 | devIndex, | ||
| harmonic_Baudrate | baudrate, | ||
| bool | isCanFD = false, |
||
| harmonic_DBaudrate | dbaudrate = harmonic_DBaudrate::harmonic_DBaudrate_5000 |
||
| ) |
初始化dll,在调用所有函数前,必须先调用该函数进行初始化,该函数会打开设备。 【注意】控制多个设备时可多次调用,多设备控制时共享一个主站,所以即使不同的通讯设备上,电机id也不能重复
| devType | 设备类型,参见harmonic_DeviceType |
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| baudrate |
| EXTERNFUNC int harmonic_profilePositionControl | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hint32 | targetPos, | ||
| huint32 | vel, | ||
| huint32 | acc, | ||
| huint32 | dec, | ||
| bool | isRelative = false, |
||
| bool | isImmediately = true, |
||
| bool | isUpdate = false |
||
| ) |
轮廓位置控制,该模式下电机内部根据给定参数生成轨迹并执行
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| targetPos | 目标位置,单位脉冲 |
| vel | 速度,单位脉冲 |
| acc | 加速度,单位脉冲 |
| dec | 减速度,单位脉冲 |
| isRelative | 是否采用相对位置,true:采用相对位置,false:采用绝对位置 |
| isImmediately | 该函数的调用是否立即生效,true:立即生效,false:如果前一次指令没有运行到位,继续执行前一次指令,执行完毕后再执行当前指令 |
| isUpdate | 是否采用更新模式,true:采用更新模式,false:不采用更新模式 (更新模式下,pdo通信参数不会再次配置,一般相同模式下的第一次控制设为false,后面的多次控制设为true)。 |
| EXTERNFUNC int harmonic_profileTorqueControl | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | targetTorque, | ||
| hint16 | slope, | ||
| bool | isUpdate = false |
||
| ) |
轮廓力矩控制,该模式下电机内部根据给定参数生成轨迹并执行
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| targetTorque | 目标力矩,单位千分之 |
| slope | 增长斜率,单位千分之/s |
| isUpdate | 是否采用更新模式,true:采用更新模式,false:不采用更新模式 (更新模式下,pdo通信参数不会再次配置,一般相同模式下的第一次控制设为false,后面的多次控制设为true)。 |
| EXTERNFUNC int harmonic_profileVelocityControl | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hint32 | targetVel, | ||
| huint32 | acc, | ||
| huint32 | dec, | ||
| bool | isUpdate = false |
||
| ) |
轮廓速度控制,该模式下电机内部根据给定参数生成轨迹并执行
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| targetVel | 目标速度,单位脉冲 |
| acc | 加速度,单位脉冲 |
| dec | 减速度,单位脉冲 |
| isUpdate | 是否采用更新模式,true:采用更新模式,false:不采用更新模式 (更新模式下,pdo通信参数不会再次配置,一般相同模式下的第一次控制设为false,后面的多次控制设为true)。 |
| EXTERNFUNC int harmonic_readDirectory | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | index, | ||
| huint8 | subIndex, | ||
| harmonic_DataType | dataType, | ||
| void * | readData, | ||
| huint32 | timeout = 100 |
||
| ) |
读从站字典
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| index | 主索引 |
| subIndex | 子索引 |
| dataType | 数据类型 |
| readData | 保存读取的数据 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_readLocalDirectory | ( | huint16 | index, |
| huint8 | subIndex, | ||
| harmonic_DataType | dataType, | ||
| void * | readData | ||
| ) |
读主站字典
| index | 主索引 |
| subIndex | 子索引 |
| dataType | 数据类型 |
| readData | 保存读取的数据 |
| EXTERNFUNC int harmonic_setActualFollowingError | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hint32 | error, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x60F4-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| error | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setBrakeState | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint8 | state, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2014-0x2(设置抱闸状态)
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| state | 写入值,true:为打开抱闸 false:关闭抱闸 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setClientSDOCobIdClientToServer | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | sdoClientIndex, | ||
| huint32 | cobId, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典[0x1280+sdoClientIndex]-0x1
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| sdoClientIndex | sdo索引,设为0代表从站字典主索引0x1280,设为1代表从站字典主索引0x1281,以此类推 |
| cobId | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setClientSDOCobIdServerToClient | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | sdoClientIndex, | ||
| huint32 | cobId, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典[0x1280+sdoClientIndex]-0x2
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| sdoClientIndex | sdo索引,设为0代表从站字典主索引0x1280,设为1代表从站字典主索引0x1281,以此类推 |
| cobId | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setClientSDONodeIdOfSDOServer | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | sdoClientIndex, | ||
| huint8 | nodeId, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典[0x1280+sdoClientIndex]-0x3
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| sdoClientIndex | sdo索引,设为0代表从站字典主索引0x1280,设为1代表从站字典主索引0x1281,以此类推 |
| nodeId | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setClientSDONumberOfEntries | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | sdoClientIndex, | ||
| huint8 | number, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典[0x1280+sdoClientIndex]-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| sdoClientIndex | sdo索引,设为0代表从站字典主索引0x1280,设为1代表从站字典主索引0x1281,以此类推 |
| number | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setControlword | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | word, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x6040-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| word | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setDCLinkCircuitVoltage | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 | voltage, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x6079-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| voltage | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setDCOverVoltageThreshold | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 | vol, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x202D-0x3
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| vol | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setDCOverVoltageTime | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 | time, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x202D-0x4
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| time | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setDCUnderVoltageThreshold | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 | vol, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x202D-0x1
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| vol | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setDCUnderVoltageTime | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 | time, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x202D-0x2
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| time | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setDefaultServoCurrentLoopKI | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | ki, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2010-0x2
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| ki | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setDefaultServoCurrentLoopKP | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | kp, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2010-0x1
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| kp | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setDefaultServoPositionLoopKI | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | ki, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2013-0x2
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| ki | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setDefaultServoPositionLoopKP | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | kp, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2013-0x1
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| kp | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setDefaultServoVelocityLoopKI | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | ki, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2012-0x2
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| ki | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setDefaultServoVelocityLoopKP | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | kp, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2012-0x1
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| kp | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setDemandPos | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hint32 | pos, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x6062-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pos | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setDemandTorque | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hint16 | torque, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x6074-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| torque | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setDemandVelocity | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hint32 | dvel, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x606B-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| dvel | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setDisableOperationOptionCode | ( | huint8 | devIndex, |
| huint8 | id, | ||
| harmonic_DisableOperationOption | code, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x605C-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| code | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setEmergencyCobid | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 | cobid, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x1014-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| cobid | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setEmergencyInhibitTime | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | time, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x1015-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| time | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setErrorFieldNumber | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint8 | number, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x1003-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| number | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setFaultReactionOption | ( | huint8 | devIndex, |
| huint8 | id, | ||
| harmonic_FaultReactionOption | option, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x605E-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| option | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setFindPointDoneFlag | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 | flag, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2101-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| flag | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setFindPointMoveAcc | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 | acc, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2106-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| acc | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setFindPointMoveDec | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 | dec, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2107-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| dec | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setFindPointMoveMax | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 | angle, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2105-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| angle | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setFindPointMoveVelocity | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 | vel, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2108-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| vel | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setFindPointStart | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 | status, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2102-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| status | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setFollowingErrorWindow | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 | eWindow, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x6065-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| eWindow | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setGearRatioMotorRevolutions | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 | rev, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x6091-0x1
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| rev | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setGearRatioShaftRevolutions | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 | rev, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x6091-0x2
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| rev | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setGuardTime | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | time, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x100C-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| time | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setHaltOption | ( | huint8 | devIndex, |
| huint8 | id, | ||
| harmonic_HaltOption | option, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x605D-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| option | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setHearbeatConsumerTime | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint8 | subIndex, | ||
| huint32 | time, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x1016-subIndex
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| subIndex | 子索引 |
| time | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setHomeOffset | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hint32 | offSet, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x607C-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| offSet | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setI2tOverLoadLimit | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | value, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2028-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| value | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setInterpolationDataRecord | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hint32 | value, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x60C1-0x1
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| value | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setInterpolationTimePeriodValue | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint8 | value, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x60C2-0x1
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| value | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setLifeTimeFactor | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint8 | factor, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x100D-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| factor | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setLocalClientSDOCobIdClientToServer | ( | huint16 | sdoClientIndex, |
| huint32 | cobId | ||
| ) |
写本地字典[0x1280+sdoClientIndex]-0x1
| sdoClientIndex | sdo索引,为0时主索引为0x1280,为1时主索引为0x1281,以此类推 |
| cobId | 写入值 |
| EXTERNFUNC int harmonic_setLocalClientSDOCobIdServerToClient | ( | huint16 | sdoClientIndex, |
| huint32 | cobId | ||
| ) |
写本地字典[0x1280+sdoClientIndex]-0x2
| sdoClientIndex | sdo索引,为0时主索引为0x1280,为1时主索引为0x1281,以此类推 |
| cobId | 写入值 |
| EXTERNFUNC int harmonic_setLocalClientSDONodeIdOfSDOServer | ( | huint16 | sdoClientIndex, |
| huint8 | nodeId | ||
| ) |
写本地字典[0x1280+sdoClientIndex]-0x3
| sdoClientIndex | sdo索引,为0时主索引为0x1280,为1时主索引为0x1281,以此类推 |
| nodeId | 写入值 |
| EXTERNFUNC int harmonic_setLocalClientSDONumberOfEntries | ( | huint16 | sdoClientIndex, |
| huint8 | number | ||
| ) |
写本地字典[0x1280+sdoClientIndex]-0x0
| sdoClientIndex | sdo索引,为0时主索引为0x1280,为1时主索引为0x1281,以此类推 |
| number | 写入值 |
| EXTERNFUNC int harmonic_setLocalControlword | ( | huint16 | word | ) |
写本地字典0x6040-0x0
| word | 写入值 |
| EXTERNFUNC int harmonic_setLocalInterpolationDataRecord | ( | hint32 | value | ) |
写本地字典0x60C1-0x1
| value | 写入值 |
| EXTERNFUNC int harmonic_setLocalInterpolationTimePeriodValue | ( | huint8 | value | ) |
写本地字典0x60c2-0x1
| value | 写入值 |
| EXTERNFUNC int harmonic_setLocalMitCtrlCobcmd1 | ( | huint32 | cobcmd | ) |
写本地字典0x2130-0x0
| cobcmd | 写入值 |
| EXTERNFUNC int harmonic_setLocalMitCtrlCobcmd2 | ( | huint32 | cobcmd | ) |
写本地字典0x2131-0x0
| cobcmd | 写入值 |
| EXTERNFUNC int harmonic_setLocalMitMutiMotorGetPos | ( | huint16 | motorIndex, |
| hreal32 | pos | ||
| ) |
写本地字典0x5008+[0x1+motorIndex]
| motorIndex | 电机索引,为0时子索引为0x1,为1时子索引为0x2,以此类推 |
| error | 存放读取的值 |
| EXTERNFUNC int harmonic_setLocalMitMutiMotorGetTor | ( | huint16 | motorIndex, |
| hreal32 | tor | ||
| ) |
写本地字典0x500A+[0x1+motorIndex]
| motorIndex | 电机索引,为0时子索引为0x1,为1时子索引为0x2,以此类推 |
| error | 存放读取的值 |
| EXTERNFUNC int harmonic_setLocalMitMutiMotorGetVel | ( | huint16 | motorIndex, |
| hreal32 | vel | ||
| ) |
写本地字典0x5009+[0x1+motorIndex]
| motorIndex | 电机索引,为0时子索引为0x1,为1时子索引为0x2,以此类推 |
| error | 存放读取的值 |
| EXTERNFUNC int harmonic_setLocalMitMutiMotorSetPos | ( | huint16 | motorIndex, |
| hreal32 | pos | ||
| ) |
写本地字典0x500B+[0x1+motorIndex]
| motorIndex | 电机索引,为0时子索引为0x1,为1时子索引为0x2,以此类推 |
| error | 存放读取的值 |
| EXTERNFUNC int harmonic_setLocalMitMutiMotorSetTor | ( | huint16 | motorIndex, |
| hreal32 | tor | ||
| ) |
写本地字典0x500D+[0x1+motorIndex]
| motorIndex | 电机索引,为0时子索引为0x1,为1时子索引为0x2,以此类推 |
| error | 存放读取的值 |
| EXTERNFUNC int harmonic_setLocalMitMutiMotorSetVel | ( | huint16 | motorIndex, |
| hreal32 | vel | ||
| ) |
写本地字典0x500C+[0x1+motorIndex]
| motorIndex | 电机索引,为0时子索引为0x1,为1时子索引为0x2,以此类推 |
| error | 存放读取的值 |
| EXTERNFUNC int harmonic_setLocalMitReplyCobdat1 | ( | huint32 | cobdat | ) |
写本地字典0x2132-0x0
| cobdat | 写入值 |
| EXTERNFUNC int harmonic_setLocalMitReplyCobdat2 | ( | huint32 | cobdat | ) |
写本地字典0x2133-0x0
| cobdat | 写入值 |
| EXTERNFUNC int harmonic_setLocalMutiMotorSetPos | ( | huint16 | motorIndex, |
| hint32 | pos | ||
| ) |
写本地字典0x5003+[0x1+motorIndex]
| motorIndex | 电机索引,为0时子索引为0x1,为1时子索引为0x2,以此类推 |
| pos | 写入值 |
| EXTERNFUNC int harmonic_setLocalMutiMotorSetTorque | ( | huint16 | motorIndex, |
| hint16 | torque | ||
| ) |
写本地字典0x5005+[0x1+motorIndex]
| motorIndex | 电机索引,为0时子索引为0x1,为1时子索引为0x2,以此类推 |
| torque | 写入值 |
| EXTERNFUNC int harmonic_setLocalMutiMotorSetVel | ( | huint16 | motorIndex, |
| hint32 | vel | ||
| ) |
写本地字典0x5004+[0x1+motorIndex]
| motorIndex | 电机索引,为0时子索引为0x1,为1时子索引为0x2,以此类推 |
| vel | 写入值 |
| EXTERNFUNC int harmonic_setLocalNodeState | ( | harmonic_NodeState | state | ) |
设置本地节点状态
| state | 节点状态 |
| EXTERNFUNC int harmonic_setLocalRPDOCobId | ( | huint16 | pdoIndex, |
| huint32 | cobId | ||
| ) |
写本地字典[0x1400+pdoIndex]-0x1
| pdoIndex | pdo索引,为0时主索引为0x1400,为1时主索引为0x1401,以此类推 |
| cobId | 写入值 |
| EXTERNFUNC int harmonic_setLocalRPDOEventTimer | ( | huint16 | pdoIndex, |
| huint16 | timer | ||
| ) |
写本地字典[0x1400+pdoIndex]-0x5
| pdoIndex | pdo索引,为0时主索引为0x1400,为1时主索引为0x1401,以此类推 |
| timer | 写入值 |
| EXTERNFUNC int harmonic_setLocalRPDOInhibitTime | ( | huint16 | pdoIndex, |
| huint16 | time | ||
| ) |
写本地字典[0x1400+pdoIndex]-0x3
| pdoIndex | pdo索引,为0时主索引为0x1400,为1时主索引为0x1401,以此类推 |
| time | 写入值 |
| EXTERNFUNC int harmonic_setLocalRPDOMapped | ( | huint16 | pdoIndex, |
| huint8 | mapIndex, | ||
| huint32 | value | ||
| ) |
写本地字典[0x1600+pdoIndex]-[0x1+mapIndex]
| pdoIndex | pdo索引,为0时主索引为0x1600,为1时主索引为0x1601,以此类推 |
| mapIndex | pdo映射索引,为0时子索引为0x1,1时子索引为0x2,以此类推 |
| value | 写入值 |
| EXTERNFUNC int harmonic_setLocalRPDOMaxMappedCount | ( | huint16 | pdoIndex, |
| huint8 | count | ||
| ) |
写本地字典[0x1600+pdoIndex]-0x0
| pdoIndex | pdo索引,为0时主索引为0x1600,为1时主索引为0x1601,以此类推 |
| count | 写入值 |
| EXTERNFUNC int harmonic_setLocalRPDOMaxParasCount | ( | huint16 | pdoIndex, |
| huint8 | count | ||
| ) |
写本地字典[0x1400+pdoIndex]-0x0
| pdoIndex | pdo索引,为0时主索引为0x1400,为1时主索引为0x1401,以此类推 |
| count | 写入值 |
| EXTERNFUNC int harmonic_setLocalRPDOSYNCStartValue | ( | huint16 | pdoIndex, |
| huint8 | value | ||
| ) |
写本地字典[0x1400+pdoIndex]-0x6
| pdoIndex | pdo索引,为0时主索引为0x1400,为1时主索引为0x1401,以此类推 |
| value | 写入值 |
| EXTERNFUNC int harmonic_setLocalRPDOTransmitType | ( | huint16 | pdoIndex, |
| huint8 | type | ||
| ) |
写本地字典[0x1400+pdoIndex]-0x2
| pdoIndex | pdo索引,为0时主索引为0x1400,为1时主索引为0x1401,以此类推 |
| type | 写入值 |
| EXTERNFUNC int harmonic_setLocalServerSDOCobIdClientToServer | ( | huint16 | sdoServerIndex, |
| huint32 | cobId | ||
| ) |
写本地字典[0x1200+sdoServerIndex]-0x1
| sdoServerIndex | sdo索引,为0时主索引为0x1200,为1时主索引为0x1201,以此类推 |
| cobId | 写入值 |
| EXTERNFUNC int harmonic_setLocalServerSDOCobIdServerToClient | ( | huint16 | sdoServerIndex, |
| huint32 | cobId | ||
| ) |
写本地字典[0x1200+sdoServerIndex]-0x2
| sdoServerIndex | sdo索引,为0时主索引为0x1200,为1时主索引为0x1201,以此类推 |
| cobId | 写入值 |
| EXTERNFUNC int harmonic_setLocalServerSDONodeIdOfClient | ( | huint16 | sdoServerIndex, |
| huint8 | nodeId | ||
| ) |
写本地字典[0x1200+sdoServerIndex]-0x3
| sdoServerIndex | sdo索引,为0时主索引为0x1200,为1时主索引为0x1201,以此类推 |
| nodeId | 写入值 |
| EXTERNFUNC int harmonic_setLocalServerSDONumberOfEntries | ( | huint16 | sdoServerIndex, |
| huint8 | num | ||
| ) |
写本地字典[0x1200+sdoServerIndex]-0x0
| sdoServerIndex | sdo索引,为0时主索引为0x1200,为1时主索引为0x1201,以此类推 |
| num | 存放读取的值 |
| EXTERNFUNC int harmonic_setLocalSyncCOBID | ( | huint32 | cobId | ) |
读本地字典0x1005-0x0
| cobId | 存放读取的值 |
| EXTERNFUNC int harmonic_setLocalSyncCycle | ( | huint32 | cycle | ) |
写本地字典0x1006-0x0
| cycle |
| EXTERNFUNC int harmonic_setLocalSyncWindow | ( | huint32 | sWindow | ) |
写本地字典0x1007-0x0
| sWindow | 写入值 |
| EXTERNFUNC int harmonic_setLocalTargetPos | ( | hint32 | pos | ) |
写本地字典0x607A-0x0
| pos | 写入值 |
| EXTERNFUNC int harmonic_setLocalTargetTorque | ( | hint16 | torque | ) |
写本地字典0x6071-0x0
| torque | 写入值 |
| EXTERNFUNC int harmonic_setLocalTargetVelocity | ( | hint32 | vel | ) |
写本地字典0x60FF-0x0
| vel | 写入值 |
| EXTERNFUNC int harmonic_setLocalTPDOCobId | ( | huint16 | pdoIndex, |
| huint32 | cobId | ||
| ) |
写本地字典[0x1800+pdoIndex]-0x1
| pdoIndex | pdo索引,为0时主索引为0x1800,为1时主索引为0x1801,以此类推 |
| cobId | 写入值 |
| EXTERNFUNC int harmonic_setLocalTPDOEventTimer | ( | huint16 | pdoIndex, |
| huint16 | timer | ||
| ) |
写本地字典[0x1800+pdoIndex]-0x5
| pdoIndex | pdo索引,为0时主索引为0x1800,为1时主索引为0x1801,以此类推 |
| timer | 写入值 |
| EXTERNFUNC int harmonic_setLocalTPDOInhibitTime | ( | huint16 | pdoIndex, |
| huint16 | time | ||
| ) |
写本地字典[0x1800+pdoIndex]-0x3
| pdoIndex | pdo索引,为0时主索引为0x1800,为1时主索引为0x1801,以此类推 |
| time | 写入值 |
| EXTERNFUNC int harmonic_setLocalTPDOMapped | ( | huint16 | pdoIndex, |
| huint8 | mapIndex, | ||
| huint32 | value | ||
| ) |
写本地字典[0x1A00+pdoIndex]-[0x1+mapIndex]
| pdoIndex | pdo索引,为0时主索引为0x1A00,为1时主索引为0x1A01,以此类推 |
| mapIndex | pdo映射索引,为0时子索引为0x1,为1时子索引为0x2 |
| value | 写入值 |
| EXTERNFUNC int harmonic_setLocalTPDOMaxMappedCount | ( | huint16 | pdoIndex, |
| huint8 | count | ||
| ) |
写本地字典[0x1A00+pdoIndex]-0x0
| pdoIndex | pdo索引,为0时主索引为0x1A00,为1时主索引为0x1A01,以此类推 |
| count | 写入值 |
| EXTERNFUNC int harmonic_setLocalTPDOMaxParasCount | ( | huint16 | pdoIndex, |
| huint8 | count | ||
| ) |
写本地字典[0x1800+pdoIndex]-0x0
| pdoIndex | pdo索引,为0时主索引为0x1800,为1时主索引为0x1801,以此类推 |
| count | 写入值 |
| EXTERNFUNC int harmonic_setLocalTPDOSYNCStartValue | ( | huint16 | pdoIndex, |
| huint8 | value | ||
| ) |
写本地字典[0x1800+pdoIndex]-0x6
| pdoIndex | pdo索引,为0时主索引为0x1800,为1时主索引为0x1801,以此类推 |
| value | 写入值 |
| EXTERNFUNC int harmonic_setLocalTPDOTransmitType | ( | huint16 | pdoIndex, |
| huint8 | type | ||
| ) |
写本地字典[0x1800+pdoIndex]-0x2
| pdoIndex | pdo索引,为0时主索引为0x1800,为1时主索引为0x1801,以此类推 |
| type | 写入值 |
| EXTERNFUNC int harmonic_setMaxProfileVelocity | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 | vel, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x607F-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| vel | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setMitCtrlCobcmd1 | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 | cobcmd, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2130-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| cobcmd | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setMitCtrlCobcmd2 | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 | cobcmd, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2131-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| cobcmd | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setMitKDMax | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hreal32 | kdMax, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2147-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| kdMax | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setMitKDMin | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hreal32 | kdMin, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2146-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| kdMin | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setMitKPMax | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hreal32 | kpMax, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2145-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| kpMax | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setMitKPMin | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hreal32 | kpMin, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2144-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| kpMin | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setMitPMax | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hreal32 | pMax, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2141-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pMax | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setMitPMin | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hreal32 | pMin, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2140-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pMin | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setMitReplyCobdat1 | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 | cobdat, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2132-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| cobdat | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setMitReplyCobdat2 | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 | cobdat, | ||
| huint32 | timeout = 100 |
||
| ) |
从站字典0x2133-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| cobdat | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setMitTMax | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hreal32 | tMin, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2149-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| tMin | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setMitTMin | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hreal32 | tMin, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2148-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| tMin | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setMitVMax | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hreal32 | vMax, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2143-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| vMax | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setMitVMin | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hreal32 | vMin, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2142-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| vMin | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setMotorRatedTorque | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 | torque, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x6076-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| torque | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setNodeState | ( | huint8 | devIndex, |
| huint8 | id, | ||
| harmonic_NMTState | state | ||
| ) |
设置从节点状态
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| state | 节点状态 |
| EXTERNFUNC int harmonic_setOperateMode | ( | huint8 | devIndex, |
| huint8 | id, | ||
| harmonic_OperateMode | mode, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x6060-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| mode | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setPositionWindow | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 | pWindow, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x6067-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pWindow | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setPositionWindowTime | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | pWindowTime, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x6068-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pWindowTime | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setProducerHeartbeatTime | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | time, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x1017-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| time | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setProfileAcceleration | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 | acc, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x6083-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| acc | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setProfileDeceleration | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 | dec, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x6084-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| dec | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setProfileVelocity | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 | vel, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x6081-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| vel | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setQuickStopDeceleration | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 | dec, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x6085-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| dec | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setQuickStopOption | ( | huint8 | devIndex, |
| huint8 | id, | ||
| harmonic_QuickStopOption | option, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x605A-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| option | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setReceiveDataCallBack | ( | harmonic_ReceiveDataCallBack | callFunc | ) |
设置接收数据回调函数
| callFunc | 回调函数地址 |
| EXTERNFUNC int harmonic_setRestoreDefaultParameters | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 | value, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x1011-0x1
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| subIndex | 子索引 |
| value | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setRPDOCobId | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | pdoIndex, | ||
| huint32 | cobId, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典[0x1400+pdoIndex]-0x1
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pdoIndex | pdo索引,设为0代表从站字典主索引0x1400,设为1代表从站字典主索引0x1401,以此类推 |
| cobId | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setRPDOEventTimer | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | pdoIndex, | ||
| huint16 | timer, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典[0x1400+pdoIndex]-0x5
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pdoIndex | pdo索引,设为0代表从站字典主索引0x1400,设为1代表从站字典主索引0x1401,以此类推 |
| timer | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setRPDOInhibitTime | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | pdoIndex, | ||
| huint16 | time, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典[0x1400+pdoIndex]-0x3
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pdoIndex | pdo索引,设为0代表从站字典主索引0x1400,设为1代表从站字典主索引0x1401,以此类推 |
| time | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setRPDOMapped | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | pdoIndex, | ||
| huint8 | mapIndex, | ||
| huint32 | value, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典[0x1600+pdoIndex]-[0x1+mapIndex]
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pdoIndex | pdo索引,设为0代表从站字典主索引0x1600,设为1代表从站字典主索引0x1601,以此类推 |
| mapIndex | 映射地址索引,设为0代表从站字典子索引0x1, 设为1代表子索引0x2,以此类推 |
| value | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setRPDOMaxMappedCount | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | pdoIndex, | ||
| huint8 | count, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典[0x1600+pdoIndex]-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pdoIndex | pdo索引,设为0代表从站字典主索引0x1600,设为1代表从站字典主索引0x1601,以此类推 |
| count | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setRPDOMaxParasCount | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | pdoIndex, | ||
| huint8 | count, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典[0x1400+pdoIndex]-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pdoIndex | pdo索引,设为0代表从站字典主索引0x1400,设为1代表从站字典主索引0x1401,以此类推 |
| count | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setRPDOSYNCStartValue | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | pdoIndex, | ||
| huint8 | value, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典[0x1400+pdoIndex]-0x6
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pdoIndex | pdo索引,设为0代表从站字典主索引0x1400,设为1代表从站字典主索引0x1401,以此类推 |
| value | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setRPDOTransmitType | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | pdoIndex, | ||
| huint8 | type, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典[0x1400+pdoIndex]-0x2
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pdoIndex | pdo索引,设为0代表从站字典主索引0x1400,设为1代表从站字典主索引0x1401,以此类推 |
| type | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setSendDataCallBack | ( | harmonic_SendDataCallBack | callFunc | ) |
设置发送数据回调函数
| callFunc | 回调函数地址 |
| EXTERNFUNC int harmonic_setServerSDOCobIdClientToServer | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | sdoServerIndex, | ||
| huint32 | cobId, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典[0x1200+sdoServerIndex]-0x1
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| sdoServerIndex | sdo索引,设为0代表从站字典主索引0x1200,设为1代表从站字典主索引0x1201,以此类推 |
| cobId | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setServerSDOCobIdServerToClient | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | sdoServerIndex, | ||
| huint32 | cobId, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典[0x1200+sdoServerIndex]-0x2
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| sdoServerIndex | sdo索引,设为0代表从站字典主索引0x1200,设为1代表从站字典主索引0x1201,以此类推 |
| cobId | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setServerSDONodeIdOfClient | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | sdoServerIndex, | ||
| huint8 | nodeId, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典[0x1200+sdoServerIndex]-0x3
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| sdoServerIndex | sdo索引,设为0代表从站字典主索引0x1200,设为1代表从站字典主索引0x1201,以此类推 |
| nodeId | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setServerSDONumberOfEntries | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | sdoServerIndex, | ||
| huint8 | num, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典[0x1200+sdoServerIndex]-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| sdoServerIndex | sdo索引,设为0代表从站字典主索引0x1200,设为1代表从站字典主索引0x1201,以此类推 |
| num | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setServoBlockTime | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | time, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2020-0x2
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| time | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setServoBlockTorque | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | torque, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2020-0x1
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| torque | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setServoBlockVelocity | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 | velocity, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2020-0x3
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| velocity | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setServoBrakeControl | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint8 | status, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2014-0x1
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| status | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setServoBrakeDelayTime | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint8 | time, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2026-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| time | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setServoCanBaudrate | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | baudrate, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2001-0x2
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| baudrate | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setServoCommunicationMode | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint8 | mode, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2004-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| mode | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setServoCurrentLoopKI | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | ki, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2010-0x4
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| ki | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setServoCurrentLoopKP | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | kp, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2010-0x3
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| kp | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setServoID | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint8 | servoID, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2001-0x1
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| servoID | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setServoOverSpeedThreshold | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 | thre, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2024-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| thre | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setServoOverSpeedTime | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | time, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2025-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| time | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setServoParametersNumber | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint8 | num, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2001-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| num | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setServoPositionLoopKI | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | ki, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2013-0x4
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| ki | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setServoPositionLoopKP | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | kp, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2013-0x3
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| kp | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setServoSoftwareLimitState | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 | state, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2003-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| state | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setServoTemperatureLimit | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint8 | tem, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2016-0x2
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| tem | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setServoTemperatureLimitTime | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | time, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2016-0x3
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| time | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setServoTorqueWindow | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | window, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2022-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| window | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setServoTorqueWindowTime | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | window, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2023-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| window | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setServoVelocityFlowingErrorTime | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | time, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2021-0x2
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| time | 存放读取的值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setServoVelocityFlowingErrorWindows | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 | error, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2021-0x1
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| error | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setServoVelocityIntLimit | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | limit, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2017-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| limit | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setServoVelocityLoopKI | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | ki, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2012-0x4
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| ki | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setServoVelocityLoopKP | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | kp, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2012-0x3
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| kp | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setShutdownOptionCode | ( | huint8 | devIndex, |
| huint8 | id, | ||
| harmonic_ShutdownOption | code, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x605B-0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| code | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setSoftwareMaxmumPosition | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hint32 | pos, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x607D-0x2
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pos | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setSoftwareMinimumPosition | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hint32 | pos, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x607D-0x1
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pos | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setStoreParameters | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 | value, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x1010-0x1
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| value | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setSyncCobid | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 | cobid, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x1005-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| cobid | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setSyncCounter | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint8 | counter, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x1019-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| counter | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setSyncCycle | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 | syncCycle, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x1006-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| syncCycle | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setSyncWindow | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 | syncWindow, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x1007-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| syncWindow | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setTargetPos | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hint32 | pos, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x607A-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pos | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setTargetTorque | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hint16 | torque, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x6071-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| torque | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setTargetVelocity | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hint32 | targetVel, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x60FF-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| targetVel | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setTorqueFactor | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | factor, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x2110-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| factor | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setTorqueLimit | ( | huint8 | devIndex, |
| huint8 | id, | ||
| hint16 | torque, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x6072-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| torque | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setTorqueSlope | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint32 | slope, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x6087-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| slope | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setTPDOCobId | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | pdoIndex, | ||
| huint32 | cobId, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典[0x1800+pdoIndex]-0x1
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pdoIndex | pdo索引,设为0代表从站字典主索引0x1800,设为1代表从站字典主索引0x1801,以此类推 |
| cobId | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setTPDOEventTimer | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | pdoIndex, | ||
| huint16 | timer, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典[0x1800+pdoIndex]-0x5
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pdoIndex | pdo索引,设为0代表从站字典主索引0x1800,设为1代表从站字典主索引0x1801,以此类推 |
| timer | 写入值 |
| timeout | 等待确认时间,单位 |
| EXTERNFUNC int harmonic_setTPDOInhibitTime | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | pdoIndex, | ||
| huint16 | time, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典[0x1800+pdoIndex]-0x3
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pdoIndex | pdo索引,设为0代表从站字典主索引0x1800,设为1代表从站字典主索引0x1801,以此类推 |
| time | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setTPDOMapped | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | pdoIndex, | ||
| huint8 | mapIndex, | ||
| huint32 | value, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典[0x1A00+pdoIndex]-[0x1+mapIndex]
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pdoIndex | pdo索引,设为0代表从站字典主索引0x1A00,设为1代表从站字典主索引0x1A01,以此类推 |
| mapIndex | 映射索引,设为0代表从站字典子索引0x1,设为1代表从站字典子索引0x2,以此类推 |
| value | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setTPDOMaxMappedCount | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | pdoIndex, | ||
| huint8 | count, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典[0x1A00+pdoIndex]-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pdoIndex | pdo索引,设为0代表从站字典主索引0x1a00,设为1代表从站字典主索引0x1a01,以此类推 |
| count | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setTPDOMaxParasCount | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | pdoIndex, | ||
| huint8 | count, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典[0x1800+pdoIndex]-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pdoIndex | pdo索引,设为0代表从站字典主索引0x1800,设为1代表从站字典主索引0x1801,以此类推 |
| count | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setTPDOSYNCStartValue | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | pdoIndex, | ||
| huint8 | value, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典[0x1800+pdoIndex]-0x6
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pdoIndex | pdo索引,设为0代表从站字典主索引0x1800,设为1代表从站字典主索引0x1801,以此类推 |
| value | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setTPDOTransmitType | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | pdoIndex, | ||
| huint8 | type, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典[0x1800+pdoIndex]-0x2
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| pdoIndex | pdo索引,设为0代表从站字典主索引0x1800,设为1代表从站字典主索引0x1801,以此类推 |
| type | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setVelocityThreshold | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | thres, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x606F-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| thres | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setVelocityThresholdTime | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | tTime, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x6070-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| tTime | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setVelocityWindow | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | vWindow, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x606D-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| vWindow | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_setVelocityWindowTime | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | wTime, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典0x606E-0x0
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| wTime | 写入值 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_stopControl | ( | huint8 | devIndex, |
| huint8 | id | ||
| ) |
停止控制
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| EXTERNFUNC int harmonic_writeCanData | ( | huint8 | devIndex, |
| huint16 | cobId, | ||
| const huint8 *const | data, | ||
| huint8 | len | ||
| ) |
发送原始can数据
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| cobId | can帧id |
| data | 发送的can数据 |
| len | 数据长度 |
| EXTERNFUNC int harmonic_writeCanMsg | ( | huint8 | devIndex, |
| const harmonic_CanMsg * | canMsg | ||
| ) |
发送原始can数据
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| canMsg | can帧 |
| EXTERNFUNC int harmonic_writeDirectory | ( | huint8 | devIndex, |
| huint8 | id, | ||
| huint16 | index, | ||
| huint8 | subIndex, | ||
| harmonic_DataType | dataType, | ||
| void * | writeData, | ||
| huint32 | timeout = 100 |
||
| ) |
写从站字典
| devIndex | usb转can设备索引,第1个插入的设备为0,第2个为1,以此类推 |
| id | 从节点id |
| index | 主索引 |
| subIndex | 子索引 |
| dataType | 数据类型 |
| writeData | 写入的数据 |
| timeout | 超时等待时间,单位ms |
| EXTERNFUNC int harmonic_writeLocalDirectory | ( | huint16 | index, |
| huint8 | subIndex, | ||
| harmonic_DataType | dataType, | ||
| void * | writeData | ||
| ) |
写主站字典
| index | 主索引 |
| subIndex | 子索引 |
| dataType | 数据类型 |
| writeData | 写入的数据 |
| sendLen | 写入字节长度 |