eyou_harmonic_sdk  1.0
canablelibrary
类 | 宏定义 | 类型定义 | 枚举 | 函数
eu_harmonic.h 文件参考

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类

struct  _harmonic_CanMsg
 

宏定义

#define EXTERNFUNC
 
#define HARMONIC_SUCCESS   (0)
 
#define HARMONIC_FAILED_DEVICEDISABLED   (1)
 
#define HARMONIC_FAILED_OPENFAILED   (2)
 
#define HARMONIC_FAILED_UNKNOWN   (3)
 

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
 
typedef void(* harmonic_SendDataCallBack) (const harmonic_CanMsg &msg)
 
typedef void(* harmonic_ReceiveDataCallBack) (const harmonic_CanMsg &msg)
 

枚举

enum  harmonic_DeviceType { harmonic_DeviceType_USB2CAN = 4, harmonic_DeviceType_Canable = 11 }
 
enum  harmonic_Baudrate {
  harmonic_Baudrate_10 = 10, harmonic_Baudrate_20 = 20, harmonic_Baudrate_50 = 50, harmonic_Baudrate_100 = 100,
  harmonic_Baudrate_250 = 250, harmonic_Baudrate_500 = 500, harmonic_Baudrate_1000 = 1000
}
 
enum  harmonic_NMTState {
  harmonic_NMTState_Start_Node = 0x01, harmonic_NMTState_Stop_Node = 0x02, harmonic_NMTState_Enter_PreOperational = 0x80, harmonic_NMTState_Reset_Node = 0x81,
  harmonic_NMTState_Reset_Comunication = 0x82
}
 
enum  harmonic_NodeState {
  harmonic_NodeState_Initialisation = 0x00, harmonic_NodeState_Disconnected = 0x01, harmonic_NodeState_Connecting = 0x02, harmonic_NodeState_Preparing = 0x02,
  harmonic_NodeState_Stopped = 0x04, harmonic_NodeState_Operational = 0x05, harmonic_NodeState_Pre_operational = 0x7F, harmonic_NodeState_Unknown_state = 0x0F
}
 
enum  harmonic_DataType {
  harmonic_DataType_boolean = 0x01, harmonic_DataType_int8 = 0x02, harmonic_DataType_int16 = 0x03, harmonic_DataType_int32 = 0x04,
  harmonic_DataType_uint8 = 0x05, harmonic_DataType_uint16 = 0x06, harmonic_DataType_uint32 = 0x07, harmonic_DataType_real32 = 0x08
}
 
enum  harmonic_QuickStopOption {
  harmonic_QuickStopOption_Disable_Drive = 0, harmonic_QuickStopOption_Slow_Down_On_Slow_Down_Ramp = 1, harmonic_QuickStopOption_Slow_Down_On_Quick_Stop_Ramp = 2, harmonic_QuickStopOption_Slow_Down_On_the_Current_Limit = 3,
  harmonic_QuickStopOption_Slow_Down_On_the_Voltag_Limit = 4, harmonic_QuickStopOption_Slow_Down_On_Quick_Stop_Ramp_And_Stay_In_Quick_Stop = 5, harmonic_QuickStopOption_Slow_Down_On_Slow_Down_Ramp_And_Stay_In_Quick_Stop = 6, harmonic_QuickStopOption_Slow_Down_On_the_Current_Limit_And_Stay_In_Quick_Stop = 7,
  harmonic_QuickStopOption_Slow_Down_On_the_Voltag_Limit_And_Stay_In_Quick_Stop = 8
}
 
enum  harmonic_ShutdownOption { harmonic_ShutdownOption_Disable_Drive_Function = 0, harmonic_ShutdownOption_Slown_With_Slow_Down_Ramp = 1 }
 
enum  harmonic_DisableOperationOption { harmonic_DisableOperationOption_Disable_Drive_Function = 0, harmonic_DisableOperationOption_Slow_Down_With_Slow_Down_Ramp = 1 }
 
enum  harmonic_HaltOption {
  harmonic_HaltOption_Disable_Drive = 0, harmonic_HaltOption_Slow_Down_On_Slow_Down_Ramp = 1, harmonic_HaltOption_Slow_Down_On_Quick_Stop_Ramp = 2, harmonic_HaltOption_Slow_Down_On_the_Current_Limit = 3,
  harmonic_HaltOption_Slow_Down_On_the_Voltag_Limit = 4
}
 
enum  harmonic_FaultReactionOption {
  harmonic_FaultReactionOption_Disable_drive_function = 0, harmonic_FaultReactionOption_Slow_down_on_slow_down_ramp = 1, harmonic_FaultReactionOption_Slow_down_on_quick_stop_ramp = 2, harmonic_FaultReactionOption_Slow_down_on_current_limit = 3,
  harmonic_FaultReactionOption_Slow_down_on_voltage_limit = 4
}
 
enum  harmonic_OperateMode {
  harmonic_OperateMode_AutoTuning = -4, harmonic_OperateMode_INLCalibration = -3, harmonic_OperateMode_RotorAligning = -2, harmonic_OperateMode_Reserve = 0,
  harmonic_OperateMode_ProfilePosition = 1, harmonic_OperateMode_Velocity = 2, harmonic_OperateMode_ProfileVelocity = 3, harmonic_OperateMode_ProfileTorque = 4,
  harmonic_OperateMode_Homing = 6, harmonic_OperateMode_InterpolatedPosition = 7, harmonic_OperateMode_CyclicSyncPosition = 8, harmonic_OperateMode_CyclicSyncVelocity = 9,
  harmonic_OperateMode_CyclicSyncTorque = 10
}
 

函数

EXTERNFUNC int harmonic_setSendDataCallBack (harmonic_SendDataCallBack callFunc)
 
EXTERNFUNC int harmonic_setReceiveDataCallBack (harmonic_ReceiveDataCallBack callFunc)
 
EXTERNFUNC int harmonic_initDLL (harmonic_DeviceType devType, harmonic_Baudrate baudrate)
 
EXTERNFUNC int harmonic_freeDLL ()
 
EXTERNFUNC int harmonic_getNodeState (huint8 id, harmonic_NodeState *state, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setLocalNodeState (harmonic_NodeState state)
 
EXTERNFUNC int harmonic_setNodeState (huint8 id, harmonic_NMTState state)
 
EXTERNFUNC int harmonic_readLocalDirectory (huint16 index, huint8 subIndex, harmonic_DataType dataType, void *readData)
 
EXTERNFUNC int harmonic_readDirectory (huint8 id, huint16 index, huint8 subIndex, harmonic_DataType dataType, void *readData, huint32 timeout=100)
 
EXTERNFUNC int harmonic_writeLocalDirectory (huint16 index, huint8 subIndex, void *writeData, huint32 sendLen)
 
EXTERNFUNC int harmonic_writeDirectory (huint8 id, huint16 index, huint8 subIndex, harmonic_DataType dataType, void *writeData, huint32 timeout=100)
 
EXTERNFUNC int harmonic_writeCanData (huint32 cobId, const huint8 *const data, huint8 len)
 
EXTERNFUNC int harmonic_profilePositionControl (huint8 id, hint32 targetPos, huint32 vel, huint32 acc, huint32 dec, bool isRelative=false, bool isImmediately=true, bool isUpdate=false)
 
EXTERNFUNC int harmonic_profileVelocityControl (huint8 id, hint32 targetVel, huint32 acc, huint32 dec, bool isUpdate=false)
 
EXTERNFUNC int harmonic_profileTorqueControl (huint8 id, huint16 targetTorque, hint16 slope, bool isUpdate=false)
 
EXTERNFUNC int harmonic_stopControl (huint8 id)
 
EXTERNFUNC int harmonic_getLocalSyncCOBID (huint32 *cobId)
 
EXTERNFUNC int harmonic_setLocalSyncCOBID (huint32 cobId)
 
EXTERNFUNC int harmonic_getLocalSyncCycle (huint32 *cycle)
 
EXTERNFUNC int harmonic_setLocalSyncCycle (huint32 cycle)
 
EXTERNFUNC int harmonic_getLocalSyncWindow (huint32 *sWindow)
 
EXTERNFUNC int harmonic_setLocalSyncWindow (huint32 sWindow)
 
EXTERNFUNC int harmonic_getLocalServerSDONumberOfEntries (huint16 sdoServerIndex, huint8 *num)
 
EXTERNFUNC int harmonic_setLocalServerSDONumberOfEntries (huint16 sdoServerIndex, huint8 num)
 
EXTERNFUNC int harmonic_getLocalServerSDOCobIdClientToServer (huint16 sdoServerIndex, huint32 *cobId)
 
EXTERNFUNC int harmonic_setLocalServerSDOCobIdClientToServer (huint16 sdoServerIndex, huint32 cobId)
 
EXTERNFUNC int harmonic_getLocalServerSDOCobIdServerToClient (huint16 sdoServerIndex, huint32 *cobId)
 
EXTERNFUNC int harmonic_setLocalServerSDOCobIdServerToClient (huint16 sdoServerIndex, huint32 cobId)
 
EXTERNFUNC int harmonic_getLocalServerSDONodeIdOfClient (huint16 sdoServerIndex, huint8 *nodeId)
 
EXTERNFUNC int harmonic_setLocalServerSDONodeIdOfClient (huint16 sdoServerIndex, huint8 nodeId)
 
EXTERNFUNC int harmonic_getLocalClientSDONumberOfEntries (huint16 sdoClientIndex, huint8 *number)
 
EXTERNFUNC int harmonic_setLocalClientSDONumberOfEntries (huint16 sdoClientIndex, huint8 number)
 
EXTERNFUNC int harmonic_getLocalClientSDOCobIdClientToServer (huint16 sdoClientIndex, huint32 *cobId)
 
EXTERNFUNC int harmonic_setLocalClientSDOCobIdClientToServer (huint16 sdoClientIndex, huint32 cobId)
 
EXTERNFUNC int harmonic_getLocalClientSDOCobIdServerToClient (huint16 sdoClientIndex, huint32 *cobId)
 
EXTERNFUNC int harmonic_setLocalClientSDOCobIdServerToClient (huint16 sdoClientIndex, huint32 cobId)
 
EXTERNFUNC int harmonic_getLocalClientSDONodeIdOfSDOServer (huint16 sdoClientIndex, huint8 *nodeId)
 
EXTERNFUNC int harmonic_setLocalClientSDONodeIdOfSDOServer (huint16 sdoClientIndex, huint8 nodeId)
 
EXTERNFUNC int harmonic_getLocalRPDOMaxParasCount (huint16 pdoIndex, huint8 *count)
 
EXTERNFUNC int harmonic_setLocalRPDOMaxParasCount (huint16 pdoIndex, huint8 count)
 
EXTERNFUNC int harmonic_getLocalRPDOCobId (huint16 pdoIndex, huint32 *cobId)
 
EXTERNFUNC int harmonic_setLocalRPDOCobId (huint16 pdoIndex, huint32 cobId)
 
EXTERNFUNC int harmonic_getLocalRPDOTransmitType (huint16 pdoIndex, huint8 *type)
 
EXTERNFUNC int harmonic_setLocalRPDOTransmitType (huint16 pdoIndex, huint8 type)
 
EXTERNFUNC int harmonic_getLocalRPDOInhibitTime (huint16 pdoIndex, huint16 *time)
 
EXTERNFUNC int harmonic_setLocalRPDOInhibitTime (huint16 pdoIndex, huint16 time)
 
EXTERNFUNC int harmonic_getLocalRPDOEventTimer (huint16 pdoIndex, huint16 *timer)
 
EXTERNFUNC int harmonic_setLocalRPDOEventTimer (huint16 pdoIndex, huint16 timer)
 
EXTERNFUNC int harmonic_getLocalRPDOSYNCStartValue (huint16 pdoIndex, huint8 *value)
 
EXTERNFUNC int harmonic_setLocalRPDOSYNCStartValue (huint16 pdoIndex, huint8 value)
 
EXTERNFUNC int harmonic_getLocalRPDOMaxMappedCount (huint16 pdoIndex, huint8 *count)
 
EXTERNFUNC int harmonic_setLocalRPDOMaxMappedCount (huint16 pdoIndex, huint8 count)
 
EXTERNFUNC int harmonic_getLocalRPDOMapped (huint16 pdoIndex, huint8 mapIndex, huint32 *value)
 
EXTERNFUNC int harmonic_setLocalRPDOMapped (huint16 pdoIndex, huint8 mapIndex, huint32 value)
 
EXTERNFUNC int harmonic_getLocalTPDOMaxParasCount (huint16 pdoIndex, huint8 *count)
 
EXTERNFUNC int harmonic_setLocalTPDOMaxParasCount (huint16 pdoIndex, huint8 count)
 
EXTERNFUNC int harmonic_getLocalTPDOCobId (huint16 pdoIndex, huint32 *cobId)
 
EXTERNFUNC int harmonic_setLocalTPDOCobId (huint16 pdoIndex, huint32 cobId)
 
EXTERNFUNC int harmonic_getLocalTPDOTransmitType (huint16 pdoIndex, huint8 *type)
 
EXTERNFUNC int harmonic_setLocalTPDOTransmitType (huint16 pdoIndex, huint8 type)
 
EXTERNFUNC int harmonic_getLocalTPDOInhibitTime (huint16 pdoIndex, huint16 *time)
 
EXTERNFUNC int harmonic_setLocalTPDOInhibitTime (huint16 pdoIndex, huint16 time)
 
EXTERNFUNC int harmonic_getLocalTPDOEventTimer (huint16 pdoIndex, huint16 *timer)
 
EXTERNFUNC int harmonic_setLocalTPDOEventTimer (huint16 pdoIndex, huint16 timer)
 
EXTERNFUNC int harmonic_getLocalTPDOSYNCStartValue (huint16 pdoIndex, huint8 *value)
 
EXTERNFUNC int harmonic_setLocalTPDOSYNCStartValue (huint16 pdoIndex, huint8 value)
 
EXTERNFUNC int harmonic_getLocalTPDOMaxMappedCount (huint16 pdoIndex, huint8 *count)
 
EXTERNFUNC int harmonic_setLocalTPDOMaxMappedCount (huint16 pdoIndex, huint8 count)
 
EXTERNFUNC int harmonic_getLocalTPDOMapped (huint16 pdoIndex, huint8 mapIndex, huint32 *value)
 
EXTERNFUNC int harmonic_setLocalTPDOMapped (huint16 pdoIndex, huint8 mapIndex, huint32 value)
 
EXTERNFUNC int harmonic_getLocalServoTemperature (hint8 *tem)
 
EXTERNFUNC int harmonic_getLocalMutiMotorPos (huint16 index, hint32 *pos)
 
EXTERNFUNC int harmonic_getLocalMutiMotorVel (huint16 index, hint32 *vel)
 
EXTERNFUNC int harmonic_getLocalMutiMotorTorque (huint16 index, hint16 *tor)
 
EXTERNFUNC int harmonic_setLocalMutiMotorSetPos (huint16 index, hint32 pos)
 
EXTERNFUNC int harmonic_setLocalMutiMotorSetVel (huint16 index, hint32 vel)
 
EXTERNFUNC int harmonic_setLocalMutiMotorSetTorque (huint16 index, hint16 torque)
 
EXTERNFUNC int harmonic_getLocalMutiMotorStatusWord (huint16 index, huint16 *status)
 
EXTERNFUNC int harmonic_getLocalMutiMotorErrorCode (huint16 index, huint16 *error)
 
EXTERNFUNC int harmonic_getLocalServoErrorCode (huint16 *err)
 
EXTERNFUNC int harmonic_getLocalControlword (huint16 *word)
 
EXTERNFUNC int harmonic_setLocalControlword (huint16 word)
 
EXTERNFUNC int harmonic_getLocalStatusWord (huint16 *word)
 
EXTERNFUNC int harmonic_getLocalActualPos (hint32 *pos)
 
EXTERNFUNC int harmonic_getLocalActualVelocity (hint32 *velocity)
 
EXTERNFUNC int harmonic_getLocalTargetTorque (hint16 *torque)
 
EXTERNFUNC int harmonic_setLocalTargetTorque (hint16 torque)
 
EXTERNFUNC int harmonic_getLocalActualTorque (hint16 *torque)
 
EXTERNFUNC int harmonic_getLocalDCLinkCircuitVoltage (huint32 *voltage)
 
EXTERNFUNC int harmonic_getLocalTargetPos (hint32 *pos)
 
EXTERNFUNC int harmonic_setLocalTargetPos (hint32 pos)
 
EXTERNFUNC int harmonic_getLocalInterpolationDataRecord (hint32 *value)
 
EXTERNFUNC int harmonic_setLocalInterpolationDataRecord (hint32 value)
 
EXTERNFUNC int harmonic_getLocalInterpolationTimePeriodValue (huint8 *value)
 
EXTERNFUNC int harmonic_setLocalInterpolationTimePeriodValue (huint8 value)
 
EXTERNFUNC int harmonic_getLocalTargetVelocity (hint32 *vel)
 
EXTERNFUNC int harmonic_setLocalTargetVelocity (hint32 vel)
 
EXTERNFUNC int harmonic_getDeviceType (huint8 id, huint32 *deviceType, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getErrorRegister (huint8 id, huint8 *errReg, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getErrorFieldNumber (huint8 id, huint8 *number, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setErrorFieldNumber (huint8 id, huint8 number, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getErrorField (huint8 id, huint8 subIndex, huint32 *err, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getSyncCobid (huint8 id, huint32 *cobid, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setSyncCobid (huint8 id, huint32 cobid, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getSyncCycle (huint8 id, huint32 *syncCycle, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setSyncCycle (huint8 id, huint32 syncCycle, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getSyncWindow (huint8 id, huint32 *syncWindow, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setSyncWindow (huint8 id, huint32 syncWindow, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getDeviceName (huint8 id, char *devName, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getHardwareVersion (huint8 id, char *version, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getSoftwareVersion (huint8 id, char *version, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getGuardTime (huint8 id, huint16 *time, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setGuardTime (huint8 id, huint16 time, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getLifeTimeFactor (huint8 id, huint8 *factor, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setLifeTimeFactor (huint8 id, huint8 factor, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getStoreParametersNumber (huint8 id, huint8 *number, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getStoreParameters (huint8 id, huint32 *value, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setStoreParameters (huint8 id, huint32 value, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getRestoreDefaultParametersNumber (huint8 id, huint8 *number, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getRestoreDefaultParameters (huint8 id, huint32 *value, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setRestoreDefaultParameters (huint8 id, huint32 value, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getEmergencyCobid (huint8 id, huint32 *cobid, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setEmergencyCobid (huint8 id, huint32 cobid, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getEmergencyInhibitTime (huint8 id, huint16 *time, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setEmergencyInhibitTime (huint8 id, huint16 time, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getHearbeatConsumerTimeParasNum (huint8 id, huint8 *number, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getHearbeatConsumerTime (huint8 id, huint8 subIndex, huint32 *time, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setHearbeatConsumerTime (huint8 id, huint8 subIndex, huint32 time, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getProducerHeartbeatTime (huint8 id, huint16 *time, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setProducerHeartbeatTime (huint8 id, huint16 time, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getIdentityObjectNumber (huint8 id, huint8 *number, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getVendorID (huint8 id, huint32 *vId, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getProductCode (huint8 id, huint32 *pCode, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getIdentityObjectRevisionNumber (huint8 id, huint32 *revisionNum, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getSerialNumber (huint8 id, huint32 *serialNum, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getSyncCounter (huint8 id, huint8 *counter, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setSyncCounter (huint8 id, huint8 counter, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServerSDONumberOfEntries (huint8 id, huint16 sdoServerIndex, huint8 *num, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setServerSDONumberOfEntries (huint8 id, huint16 sdoServerIndex, huint8 num, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServerSDOCobIdClientToServer (huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setServerSDOCobIdClientToServer (huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServerSDOCobIdServerToClient (huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setServerSDOCobIdServerToClient (huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServerSDONodeIdOfClient (huint8 id, huint16 sdoServerIndex, huint8 *nodeId, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setServerSDONodeIdOfClient (huint8 id, huint16 sdoServerIndex, huint8 nodeId, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getClientSDONumberOfEntries (huint8 id, huint16 sdoClientIndex, huint8 *number, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setClientSDONumberOfEntries (huint8 id, huint16 sdoClientIndex, huint8 number, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getClientSDOCobIdClientToServer (huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setClientSDOCobIdClientToServer (huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getClientSDOCobIdServerToClient (huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setClientSDOCobIdServerToClient (huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getClientSDONodeIdOfSDOServer (huint8 id, huint16 sdoClientIndex, huint8 *nodeId, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setClientSDONodeIdOfSDOServer (huint8 id, huint16 sdoClientIndex, huint8 nodeId, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getRPDOMaxParasCount (huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setRPDOMaxParasCount (huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getRPDOCobId (huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setRPDOCobId (huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getRPDOTransmitType (huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setRPDOTransmitType (huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getRPDOInhibitTime (huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setRPDOInhibitTime (huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getRPDOEventTimer (huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setRPDOEventTimer (huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getRPDOSYNCStartValue (huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setRPDOSYNCStartValue (huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getRPDOMaxMappedCount (huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setRPDOMaxMappedCount (huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getRPDOMapped (huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setRPDOMapped (huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getTPDOMaxParasCount (huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setTPDOMaxParasCount (huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getTPDOCobId (huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setTPDOCobId (huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getTPDOTransmitType (huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setTPDOTransmitType (huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getTPDOInhibitTime (huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setTPDOInhibitTime (huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getTPDOEventTimer (huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setTPDOEventTimer (huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getTPDOSYNCStartValue (huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setTPDOSYNCStartValue (huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getTPDOMaxMappedCount (huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setTPDOMaxMappedCount (huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getTPDOMapped (huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setTPDOMapped (huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServoParametersNumber (huint8 id, huint8 *num, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setServoParametersNumber (huint8 id, huint8 num, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServoID (huint8 id, huint8 *servoID, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setServoID (huint8 id, huint8 servoID, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServoCanBaudrate (huint8 id, huint16 *baudrate, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setServoCanBaudrate (huint8 id, huint16 baudrate, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServoSoftwareLimitState (huint8 id, huint32 *state, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setServoSoftwareLimitState (huint8 id, huint32 state, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServoCurrentLoopPINum (huint8 id, huint8 *num, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getDefaultServoCurrentLoopKP (huint8 id, huint16 *kp, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setDefaultServoCurrentLoopKP (huint8 id, huint16 kp, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getDefaultServoCurrentLoopKI (huint8 id, huint16 *ki, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setDefaultServoCurrentLoopKI (huint8 id, huint16 ki, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServoCurrentLoopKP (huint8 id, huint16 *kp, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setServoCurrentLoopKP (huint8 id, huint16 kp, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServoCurrentLoopKI (huint8 id, huint16 *ki, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setServoCurrentLoopKI (huint8 id, huint16 ki, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServoVelocityLoopPINum (huint8 id, huint8 *num, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getDefaultServoVelocityLoopKP (huint8 id, huint16 *kp, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setDefaultServoVelocityLoopKP (huint8 id, huint16 kp, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getDefaultServoVelocityLoopKI (huint8 id, huint16 *ki, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setDefaultServoVelocityLoopKI (huint8 id, huint16 ki, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServoVelocityLoopKP (huint8 id, huint16 *kp, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setServoVelocityLoopKP (huint8 id, huint16 kp, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServoVelocityLoopKI (huint8 id, huint16 *ki, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setServoVelocityLoopKI (huint8 id, huint16 ki, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServoPositionLoopPINum (huint8 id, huint8 *num, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getDefaultServoPositionLoopKP (huint8 id, huint16 *kp, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setDefaultServoPositionLoopKP (huint8 id, huint16 kp, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getDefaultServoPositionLoopKI (huint8 id, huint16 *ki, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setDefaultServoPositionLoopKI (huint8 id, huint16 ki, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServoPositionLoopKP (huint8 id, huint16 *kp, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setServoPositionLoopKP (huint8 id, huint16 kp, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServoPositionLoopKI (huint8 id, huint16 *ki, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setServoPositionLoopKI (huint8 id, huint16 ki, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServoBrakeParaNum (huint8 id, huint8 *num, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServoBrakeControl (huint8 id, huint8 *status, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setServoBrakeControl (huint8 id, huint8 status, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getBrakeState (huint8 id, huint8 *state, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setBrakeState (huint8 id, huint8 state, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServoTemperatureParasNum (huint8 id, huint8 *num, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServoTemperature (huint8 id, hint8 *tem, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServoTemperatureLimit (huint8 id, hint8 *tem, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setServoTemperatureLimit (huint8 id, huint8 tem, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServoTemperatureLimitTime (huint8 id, huint16 *time, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setServoTemperatureLimitTime (huint8 id, huint16 time, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServoVelocityIntLimit (huint8 id, huint16 *limit, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setServoVelocityIntLimit (huint8 id, huint16 limit, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServoBlockParasNum (huint8 id, huint8 *num, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServoBlockTorque (huint8 id, huint16 *torque, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setServoBlockTorque (huint8 id, huint16 torque, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServoBlockTime (huint8 id, huint16 *time, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setServoBlockTime (huint8 id, huint16 time, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServoBlockVelocity (huint8 id, huint32 *velocity, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setServoBlockVelocity (huint8 id, huint32 velocity, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServoVelocityFlowingErrorParasNum (huint8 id, huint8 *num, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServoVelocityFlowingErrorWindows (huint8 id, huint32 *error, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setServoVelocityFlowingErrorWindows (huint8 id, huint32 error, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServoVelocityFlowingErrorTime (huint8 id, huint16 *time, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setServoVelocityFlowingErrorTime (huint8 id, huint16 time, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServoTorqueWindow (huint8 id, huint16 *window, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setServoTorqueWindow (huint8 id, huint16 window, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServoTorqueWindowTime (huint8 id, huint16 *window, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setServoTorqueWindowTime (huint8 id, huint16 window, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServoOverSpeedThreshold (huint8 id, huint32 *thre, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setServoOverSpeedThreshold (huint8 id, huint32 thre, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServoOverSpeedTime (huint8 id, huint16 *time, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setServoOverSpeedTime (huint8 id, huint16 time, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServoBrakeDelayTime (huint8 id, huint8 *time, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setServoBrakeDelayTime (huint8 id, huint8 time, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getI2tOverLoadLimit (huint8 id, huint16 *value, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setI2tOverLoadLimit (huint8 id, huint16 value, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getI2tOverLoadValue (huint8 id, huint16 *value, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServoFirstEncoderValue (huint8 id, hint32 *value, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServoSecondEncoderValue (huint8 id, hint32 *value, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServoThetaBiasValue (huint8 id, hint32 *value, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getFindPointDoneFlag (huint8 id, huint32 *flag, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setFindPointDoneFlag (huint8 id, huint32 flag, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getFindPointStart (huint8 id, huint32 *status, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setFindPointStart (huint8 id, huint32 status, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getFindPointMoveMax (huint8 id, huint32 *angle, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setFindPointMoveMax (huint8 id, huint32 angle, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getFindPointMoveAcc (huint8 id, huint32 *acc, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setFindPointMoveAcc (huint8 id, huint32 acc, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getFindPointMoveDec (huint8 id, huint32 *dec, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setFindPointMoveDec (huint8 id, huint32 dec, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getFindPointMoveVelocity (huint8 id, huint32 *vel, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setFindPointMoveVelocity (huint8 id, huint32 vel, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getTorqueFactor (huint8 id, huint16 *factor, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setTorqueFactor (huint8 id, huint16 factor, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getServoErrorCode (huint8 id, huint16 *err, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getControlword (huint8 id, huint16 *word, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setControlword (huint8 id, huint16 word, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getStatusWord (huint8 id, huint16 *word, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getQuickStopOption (huint8 id, harmonic_QuickStopOption *option, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setQuickStopOption (huint8 id, harmonic_QuickStopOption option, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getShutdownOptionCode (huint8 id, harmonic_ShutdownOption *code, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setShutdownOptionCode (huint8 id, harmonic_ShutdownOption code, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getDisableOperationOptionCode (huint8 id, harmonic_DisableOperationOption *code, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setDisableOperationOptionCode (huint8 id, harmonic_DisableOperationOption code, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getHaltOption (huint8 id, harmonic_HaltOption *option, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setHaltOption (huint8 id, harmonic_HaltOption option, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getFaultReactionOption (huint8 id, harmonic_FaultReactionOption *option, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setFaultReactionOption (huint8 id, harmonic_FaultReactionOption option, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getOperateMode (huint8 id, harmonic_OperateMode *mode, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setOperateMode (huint8 id, harmonic_OperateMode mode, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getDisplayOperateMode (huint8 id, harmonic_OperateMode *mode, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getDemandPos (huint8 id, hint32 *pos, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setDemandPos (huint8 id, hint32 pos, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getActualPos (huint8 id, hint32 *pos, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setActualPos (huint8 id, hint32 pos, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getFollowingErrorWindow (huint8 id, huint32 *eWindow, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setFollowingErrorWindow (huint8 id, huint32 eWindow, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getPositionWindow (huint8 id, huint32 *pWindow, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setPositionWindow (huint8 id, huint32 pWindow, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getPositionWindowTime (huint8 id, huint16 *pWindowTime, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setPositionWindowTime (huint8 id, huint16 pWindowTime, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getDemandVelocity (huint8 id, hint32 *dVel, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setDemandVelocity (huint8 id, hint32 dvel, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getActualVelocity (huint8 id, hint32 *vel, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setActualVelocity (huint8 id, hint32 vel, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getVelocityWindow (huint8 id, huint16 *vWindow, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setVelocityWindow (huint8 id, huint16 vWindow, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getVelocityWindowTime (huint8 id, huint16 *wTime, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setVelocityWindowTime (huint8 id, huint16 wTime, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getVelocityThreshold (huint8 id, huint16 *thres, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setVelocityThreshold (huint8 id, huint16 thres, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getVelocityThresholdTime (huint8 id, huint16 *tTime, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setVelocityThresholdTime (huint8 id, huint16 tTime, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getTargetTorque (huint8 id, hint16 *torque, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setTargetTorque (huint8 id, hint16 torque, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getTorqueLimit (huint8 id, hint16 *torque, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setTorqueLimit (huint8 id, hint16 torque, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getDemandTorque (huint8 id, hint16 *torque, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setDemandTorque (huint8 id, hint16 torque, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getMotorRatedTorque (huint8 id, huint32 *torque, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setMotorRatedTorque (huint8 id, huint32 torque, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getActualTorque (huint8 id, hint16 *torque, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setActualTorque (huint8 id, hint16 torque, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getDCLinkCircuitVoltage (huint8 id, huint32 *voltage, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setDCLinkCircuitVoltage (huint8 id, huint32 voltage, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getTargetPos (huint8 id, hint32 *pos, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setTargetPos (huint8 id, hint32 pos, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getHomeOffset (huint8 id, hint32 *offSet, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setHomeOffset (huint8 id, hint32 offSet, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getSoftwareMinimumPosition (huint8 id, hint32 *pos, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setSoftwareMinimumPosition (huint8 id, hint32 pos, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getSoftwareMaxmumPosition (huint8 id, hint32 *pos, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setSoftwareMaxmumPosition (huint8 id, hint32 pos, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getMaxProfileVelocity (huint8 id, huint32 *vel, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setMaxProfileVelocity (huint8 id, huint32 vel, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getProfileVelocity (huint8 id, huint32 *vel, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setProfileVelocity (huint8 id, huint32 vel, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getProfileAcceleration (huint8 id, huint32 *acc, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setProfileAcceleration (huint8 id, huint32 acc, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getProfileDeceleration (huint8 id, huint32 *dec, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setProfileDeceleration (huint8 id, huint32 dec, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getQuickStopDeceleration (huint8 id, huint32 *dec, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setQuickStopDeceleration (huint8 id, huint32 dec, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getTorqueSlope (huint8 id, huint32 *slope, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setTorqueSlope (huint8 id, huint32 slope, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getGearRatioMotorRevolutions (huint8 id, huint32 *rev, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setGearRatioMotorRevolutions (huint8 id, huint32 rev, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getGearRatioShaftRevolutions (huint8 id, huint32 *rev, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setGearRatioShaftRevolutions (huint8 id, huint32 rev, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getInterpolationDataRecord (huint8 id, hint32 *value, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setInterpolationDataRecord (huint8 id, hint32 value, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getInterpolationTimePeriodValue (huint8 id, huint8 *value, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setInterpolationTimePeriodValue (huint8 id, huint8 value, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getActualFollowingError (huint8 id, hint32 *error, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setActualFollowingError (huint8 id, hint32 error, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getTargetVelocity (huint8 id, hint32 *targetVel, huint32 timeout=100)
 
EXTERNFUNC int harmonic_setTargetVelocity (huint8 id, hint32 targetVel, huint32 timeout=100)
 
EXTERNFUNC int harmonic_getSupportedDriveModes (huint8 id, huint32 *modes, huint32 timeout=100)
 

宏定义说明

◆ EXTERNFUNC

#define EXTERNFUNC

◆ HARMONIC_FAILED_DEVICEDISABLED

#define HARMONIC_FAILED_DEVICEDISABLED   (1)

执行失败，设备不存在

◆ HARMONIC_FAILED_OPENFAILED

#define HARMONIC_FAILED_OPENFAILED   (2)

执行失败，设备打开失败

◆ HARMONIC_FAILED_UNKNOWN

#define HARMONIC_FAILED_UNKNOWN   (3)

执行失败，未知原因

◆ HARMONIC_SUCCESS

#define HARMONIC_SUCCESS   (0)

执行成功

类型定义说明

◆ __attribute__

typedef unsigned int huint64 __attribute__((__mode__(__DI__)))

◆ harmonic_CanMsg

typedef struct _harmonic_CanMsg harmonic_CanMsg

can数据结构

◆ harmonic_ReceiveDataCallBack

typedef void(* harmonic_ReceiveDataCallBack) (const harmonic_CanMsg &msg)

接收数据回调函数

◆ harmonic_SendDataCallBack

typedef void(* harmonic_SendDataCallBack) (const harmonic_CanMsg &msg)

发送数据回调函数

◆ hint16

typedef signed short int hint16

◆ hint24

typedef signed int hint24

◆ hint32

typedef signed int hint32

◆ hint40

typedef signed long int hint40

◆ hint48

typedef signed long int hint48

◆ hint56

typedef signed long int hint56

◆ hint64

typedef signed long int hint64

◆ hint8

typedef signed char hint8

◆ hreal32

typedef float hreal32

◆ hreal64

typedef double hreal64

枚举类型说明

◆ harmonic_Baudrate

enum harmonic_Baudrate

波特率

枚举值
harmonic_Baudrate_10 

波特率10

harmonic_Baudrate_20 

波特率20

harmonic_Baudrate_50 

波特率50

harmonic_Baudrate_100 

波特率100

harmonic_Baudrate_250 

波特率250

harmonic_Baudrate_500 

500波特率

harmonic_Baudrate_1000 

1000波特率

◆ harmonic_DataType

enum harmonic_DataType

数据类型

枚举值
harmonic_DataType_boolean 

布尔类型

harmonic_DataType_int8 

1字节有符号整形

harmonic_DataType_int16 

2字节有符号整形

harmonic_DataType_int32 

4字节有符号整形

harmonic_DataType_uint8 

1字节无符号整形

harmonic_DataType_uint16 

2字节无符号整形

harmonic_DataType_uint32 

4字节无符号整形

harmonic_DataType_real32 

4字节浮点型

◆ harmonic_DeviceType

enum harmonic_DeviceType

设备类型

枚举值
harmonic_DeviceType_USB2CAN 

创芯usb转can设备

harmonic_DeviceType_Canable 

意优canable设备

◆ harmonic_DisableOperationOption

enum harmonic_DisableOperationOption
枚举值
harmonic_DisableOperationOption_Disable_Drive_Function 
harmonic_DisableOperationOption_Slow_Down_With_Slow_Down_Ramp 

◆ harmonic_FaultReactionOption

enum harmonic_FaultReactionOption
枚举值
harmonic_FaultReactionOption_Disable_drive_function 
harmonic_FaultReactionOption_Slow_down_on_slow_down_ramp 
harmonic_FaultReactionOption_Slow_down_on_quick_stop_ramp 
harmonic_FaultReactionOption_Slow_down_on_current_limit 
harmonic_FaultReactionOption_Slow_down_on_voltage_limit 

◆ harmonic_HaltOption

enum harmonic_HaltOption
枚举值
harmonic_HaltOption_Disable_Drive 
harmonic_HaltOption_Slow_Down_On_Slow_Down_Ramp 
harmonic_HaltOption_Slow_Down_On_Quick_Stop_Ramp 
harmonic_HaltOption_Slow_Down_On_the_Current_Limit 
harmonic_HaltOption_Slow_Down_On_the_Voltag_Limit 

◆ harmonic_NMTState

enum harmonic_NMTState

NMT状态

枚举值
harmonic_NMTState_Start_Node 
harmonic_NMTState_Stop_Node 
harmonic_NMTState_Enter_PreOperational 
harmonic_NMTState_Reset_Node 
harmonic_NMTState_Reset_Comunication 

◆ harmonic_NodeState

enum harmonic_NodeState

节点状态

枚举值
harmonic_NodeState_Initialisation 

初始化状态

harmonic_NodeState_Disconnected 

掉线状态

harmonic_NodeState_Connecting 

在线状态

harmonic_NodeState_Preparing 

准备状态

harmonic_NodeState_Stopped 

停止状态

harmonic_NodeState_Operational 

操作状态

harmonic_NodeState_Pre_operational 

预操作状态

harmonic_NodeState_Unknown_state 

未知状态

◆ harmonic_OperateMode

enum harmonic_OperateMode

操作模式

枚举值
harmonic_OperateMode_AutoTuning 
harmonic_OperateMode_INLCalibration 
harmonic_OperateMode_RotorAligning 
harmonic_OperateMode_Reserve 

保留的

harmonic_OperateMode_ProfilePosition 

轮廓位置模式

harmonic_OperateMode_Velocity 

速度模式

harmonic_OperateMode_ProfileVelocity 

轮廓速度模式

harmonic_OperateMode_ProfileTorque 

轮廓力矩模式

harmonic_OperateMode_Homing 

归航模式

harmonic_OperateMode_InterpolatedPosition 

内插位置模式

harmonic_OperateMode_CyclicSyncPosition 

同步位置模式

harmonic_OperateMode_CyclicSyncVelocity 

同步速度模式

harmonic_OperateMode_CyclicSyncTorque 

同步力矩模式

◆ harmonic_QuickStopOption

enum harmonic_QuickStopOption
枚举值
harmonic_QuickStopOption_Disable_Drive 
harmonic_QuickStopOption_Slow_Down_On_Slow_Down_Ramp 
harmonic_QuickStopOption_Slow_Down_On_Quick_Stop_Ramp 
harmonic_QuickStopOption_Slow_Down_On_the_Current_Limit 
harmonic_QuickStopOption_Slow_Down_On_the_Voltag_Limit 
harmonic_QuickStopOption_Slow_Down_On_Quick_Stop_Ramp_And_Stay_In_Quick_Stop 
harmonic_QuickStopOption_Slow_Down_On_Slow_Down_Ramp_And_Stay_In_Quick_Stop 
harmonic_QuickStopOption_Slow_Down_On_the_Current_Limit_And_Stay_In_Quick_Stop 
harmonic_QuickStopOption_Slow_Down_On_the_Voltag_Limit_And_Stay_In_Quick_Stop 

◆ harmonic_ShutdownOption

enum harmonic_ShutdownOption
枚举值
harmonic_ShutdownOption_Disable_Drive_Function 
harmonic_ShutdownOption_Slown_With_Slow_Down_Ramp 

函数说明

◆ harmonic_freeDLL()

EXTERNFUNC int harmonic_freeDLL ( )

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

返回
成功返回0，失败返回其他

◆ harmonic_getActualFollowingError()

EXTERNFUNC int harmonic_getActualFollowingError ( huint8  id,
hint32 *  error,
huint32  timeout = 100 
)

读从站字典0x60F4-0

参数
id从节点id
error存放读取的值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getActualPos()

EXTERNFUNC int harmonic_getActualPos ( huint8  id,
hint32 *  pos,
huint32  timeout = 100 
)

读从站字典0x6064-0

参数

◆ harmonic_getActualTorque()

EXTERNFUNC int harmonic_getActualTorque ( huint8  id,
hint16 *  torque,
huint32  timeout = 100 
)

读从站字典0x6077-0

参数

◆ harmonic_getActualVelocity()

EXTERNFUNC int harmonic_getActualVelocity ( huint8  id,
hint32 *  vel,
huint32  timeout = 100 
)

读从站字典0x606C-0

参数

◆ harmonic_getBrakeState()

EXTERNFUNC int harmonic_getBrakeState ( huint8  id,
huint8 *  state,
huint32  timeout = 100 
)

◆ harmonic_getClientSDOCobIdClientToServer()

EXTERNFUNC int harmonic_getClientSDOCobIdClientToServer ( huint8  id,
huint16  sdoClientIndex,
huint32 *  cobId,
huint32  timeout = 100 
)

读从站字典0x1280+sdoClientIndex-0x01

参数
id从节点id
sdoClientIndexsdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getClientSDOCobIdServerToClient()

EXTERNFUNC int harmonic_getClientSDOCobIdServerToClient ( huint8  id,
huint16  sdoClientIndex,
huint32 *  cobId,
huint32  timeout = 100 
)

读从站字典0x1280+sdoClientIndex-0x02

参数
id从节点id
sdoClientIndexsdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getClientSDONodeIdOfSDOServer()

EXTERNFUNC int harmonic_getClientSDONodeIdOfSDOServer ( huint8  id,
huint16  sdoClientIndex,
huint8 *  nodeId,
huint32  timeout = 100 
)

读从站字典0x1280+sdoClientIndex-0x03

参数
id从节点id
sdoClientIndexsdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getClientSDONumberOfEntries()

EXTERNFUNC int harmonic_getClientSDONumberOfEntries ( huint8  id,
huint16  sdoClientIndex,
huint8 *  number,
huint32  timeout = 100 
)

读从站字典0x1280+sdoClientIndex-0x00

参数
id从节点id
sdoClientIndexsdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getControlword()

EXTERNFUNC int harmonic_getControlword ( huint8  id,
huint16 *  word,
huint32  timeout = 100 
)

读从站字典0x6040-0

参数

◆ harmonic_getDCLinkCircuitVoltage()

EXTERNFUNC int harmonic_getDCLinkCircuitVoltage ( huint8  id,
huint32 *  voltage,
huint32  timeout = 100 
)

读从站字典0x6079-0

参数

◆ harmonic_getDefaultServoCurrentLoopKI()

EXTERNFUNC int harmonic_getDefaultServoCurrentLoopKI ( huint8  id,
huint16 *  ki,
huint32  timeout = 100 
)

◆ harmonic_getDefaultServoCurrentLoopKP()

EXTERNFUNC int harmonic_getDefaultServoCurrentLoopKP ( huint8  id,
huint16 *  kp,
huint32  timeout = 100 
)

◆ harmonic_getDefaultServoPositionLoopKI()

EXTERNFUNC int harmonic_getDefaultServoPositionLoopKI ( huint8  id,
huint16 *  ki,
huint32  timeout = 100 
)

◆ harmonic_getDefaultServoPositionLoopKP()

EXTERNFUNC int harmonic_getDefaultServoPositionLoopKP ( huint8  id,
huint16 *  kp,
huint32  timeout = 100 
)

◆ harmonic_getDefaultServoVelocityLoopKI()

EXTERNFUNC int harmonic_getDefaultServoVelocityLoopKI ( huint8  id,
huint16 *  ki,
huint32  timeout = 100 
)

◆ harmonic_getDefaultServoVelocityLoopKP()

EXTERNFUNC int harmonic_getDefaultServoVelocityLoopKP ( huint8  id,
huint16 *  kp,
huint32  timeout = 100 
)

◆ harmonic_getDemandPos()

EXTERNFUNC int harmonic_getDemandPos ( huint8  id,
hint32 *  pos,
huint32  timeout = 100 
)

读从站字典0x6062-0

参数

◆ harmonic_getDemandTorque()

EXTERNFUNC int harmonic_getDemandTorque ( huint8  id,
hint16 *  torque,
huint32  timeout = 100 
)

读从站字典0x6074-0

参数

◆ harmonic_getDemandVelocity()

EXTERNFUNC int harmonic_getDemandVelocity ( huint8  id,
hint32 *  dVel,
huint32  timeout = 100 
)

读从站字典0x606B-0

参数

◆ harmonic_getDeviceName()

EXTERNFUNC int harmonic_getDeviceName ( huint8  id,
char *  devName,
huint32  timeout = 100 
)

读从站字典0x1008-0

参数
id从节点id
devName保存读取的值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getDeviceType()

EXTERNFUNC int harmonic_getDeviceType ( huint8  id,
huint32 *  deviceType,
huint32  timeout = 100 
)

读从站字典0x1000-0

参数
id从节点id
deviceType保存读取的设备类型
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getDisableOperationOptionCode()

EXTERNFUNC int harmonic_getDisableOperationOptionCode ( huint8  id,
harmonic_DisableOperationOption *  code,
huint32  timeout = 100 
)

读从站字典0x605C-0

参数

◆ harmonic_getDisplayOperateMode()

EXTERNFUNC int harmonic_getDisplayOperateMode ( huint8  id,
harmonic_OperateMode *  mode,
huint32  timeout = 100 
)

读从站字典0x6061-0

参数

◆ harmonic_getEmergencyCobid()

EXTERNFUNC int harmonic_getEmergencyCobid ( huint8  id,
huint32 *  cobid,
huint32  timeout = 100 
)

读从站字典0x1014-0

参数
id从节点id
cobid存放读取的值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getEmergencyInhibitTime()

EXTERNFUNC int harmonic_getEmergencyInhibitTime ( huint8  id,
huint16 *  time,
huint32  timeout = 100 
)

读从站字典0x1015-0

参数
id从节点id
time存放读取的值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getErrorField()

EXTERNFUNC int harmonic_getErrorField ( huint8  id,
huint8  subIndex,
huint32 *  err,
huint32  timeout = 100 
)

读从站字典0x1003-subIndex

参数
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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getErrorFieldNumber()

EXTERNFUNC int harmonic_getErrorFieldNumber ( huint8  id,
huint8 *  number,
huint32  timeout = 100 
)

读从站字典0x1003-0

参数
id从节点id
number保存读取的值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getErrorRegister()

EXTERNFUNC int harmonic_getErrorRegister ( huint8  id,
huint8 *  errReg,
huint32  timeout = 100 
)

读从站字典0x1001-0

参数
id从节点id
errReg保存读取的值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getFaultReactionOption()

EXTERNFUNC int harmonic_getFaultReactionOption ( huint8  id,
harmonic_FaultReactionOption *  option,
huint32  timeout = 100 
)

读从站字典0x605E-0

参数

◆ harmonic_getFindPointDoneFlag()

EXTERNFUNC int harmonic_getFindPointDoneFlag ( huint8  id,
huint32 *  flag,
huint32  timeout = 100 
)

◆ harmonic_getFindPointMoveAcc()

EXTERNFUNC int harmonic_getFindPointMoveAcc ( huint8  id,
huint32 *  acc,
huint32  timeout = 100 
)

◆ harmonic_getFindPointMoveDec()

EXTERNFUNC int harmonic_getFindPointMoveDec ( huint8  id,
huint32 *  dec,
huint32  timeout = 100 
)

◆ harmonic_getFindPointMoveMax()

EXTERNFUNC int harmonic_getFindPointMoveMax ( huint8  id,
huint32 *  angle,
huint32  timeout = 100 
)

◆ harmonic_getFindPointMoveVelocity()

EXTERNFUNC int harmonic_getFindPointMoveVelocity ( huint8  id,
huint32 *  vel,
huint32  timeout = 100 
)

◆ harmonic_getFindPointStart()

EXTERNFUNC int harmonic_getFindPointStart ( huint8  id,
huint32 *  status,
huint32  timeout = 100 
)

◆ harmonic_getFollowingErrorWindow()

EXTERNFUNC int harmonic_getFollowingErrorWindow ( huint8  id,
huint32 *  eWindow,
huint32  timeout = 100 
)

读从站字典0x6065-0

参数

◆ harmonic_getGearRatioMotorRevolutions()

EXTERNFUNC int harmonic_getGearRatioMotorRevolutions ( huint8  id,
huint32 *  rev,
huint32  timeout = 100 
)

读从站字典0x6091-1

参数

◆ harmonic_getGearRatioShaftRevolutions()

EXTERNFUNC int harmonic_getGearRatioShaftRevolutions ( huint8  id,
huint32 *  rev,
huint32  timeout = 100 
)

读从站字典0x6091-2

参数

◆ harmonic_getGuardTime()

EXTERNFUNC int harmonic_getGuardTime ( huint8  id,
huint16 *  time,
huint32  timeout = 100 
)

读从站字典0x100c-0

参数
id从节点id
time保存读取的值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getHaltOption()

EXTERNFUNC int harmonic_getHaltOption ( huint8  id,
harmonic_HaltOption *  option,
huint32  timeout = 100 
)

读从站字典0x605D-0

参数

◆ harmonic_getHardwareVersion()

EXTERNFUNC int harmonic_getHardwareVersion ( huint8  id,
char *  version,
huint32  timeout = 100 
)

读从站字典0x1009-0

参数
id从节点id
hVersion保存读取的值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getHearbeatConsumerTime()

EXTERNFUNC int harmonic_getHearbeatConsumerTime ( huint8  id,
huint8  subIndex,
huint32 *  time,
huint32  timeout = 100 
)

读从站字典0x1016-subIndex

参数
id从节点id
subIndex子索引
time存放读取的值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getHearbeatConsumerTimeParasNum()

EXTERNFUNC int harmonic_getHearbeatConsumerTimeParasNum ( huint8  id,
huint8 *  number,
huint32  timeout = 100 
)

读从站字典0x1016-0

参数
id从节点id
number存放读取的值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getHomeOffset()

EXTERNFUNC int harmonic_getHomeOffset ( huint8  id,
hint32 *  offSet,
huint32  timeout = 100 
)

读从站字典0x607C-0

参数

◆ harmonic_getI2tOverLoadLimit()

EXTERNFUNC int harmonic_getI2tOverLoadLimit ( huint8  id,
huint16 *  value,
huint32  timeout = 100 
)

◆ harmonic_getI2tOverLoadValue()

EXTERNFUNC int harmonic_getI2tOverLoadValue ( huint8  id,
huint16 *  value,
huint32  timeout = 100 
)

◆ harmonic_getIdentityObjectNumber()

EXTERNFUNC int harmonic_getIdentityObjectNumber ( huint8  id,
huint8 *  number,
huint32  timeout = 100 
)

读从站字典0x1018-0

参数
id从节点id
number存放读取的值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getIdentityObjectRevisionNumber()

EXTERNFUNC int harmonic_getIdentityObjectRevisionNumber ( huint8  id,
huint32 *  revisionNum,
huint32  timeout = 100 
)

读从站字典0x1018-3

参数
id从节点id
revisionNum存放读取的值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getInterpolationDataRecord()

EXTERNFUNC int harmonic_getInterpolationDataRecord ( huint8  id,
hint32 *  value,
huint32  timeout = 100 
)

读从站字典0x60C1-1

参数

◆ harmonic_getInterpolationTimePeriodValue()

EXTERNFUNC int harmonic_getInterpolationTimePeriodValue ( huint8  id,
huint8 *  value,
huint32  timeout = 100 
)

读从站字典0x60C2-1

参数

◆ harmonic_getLifeTimeFactor()

EXTERNFUNC int harmonic_getLifeTimeFactor ( huint8  id,
huint8 *  factor,
huint32  timeout = 100 
)

读从站字典0x100d-0

参数
id从节点id
factor保存读取的值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getLocalActualPos()

EXTERNFUNC int harmonic_getLocalActualPos ( hint32 *  pos)

读本地字典

参数

◆ harmonic_getLocalActualTorque()

EXTERNFUNC int harmonic_getLocalActualTorque ( hint16 *  torque)

读本地字典

参数

◆ harmonic_getLocalActualVelocity()

EXTERNFUNC int harmonic_getLocalActualVelocity ( hint32 *  velocity)

读本地字典

参数

◆ harmonic_getLocalClientSDOCobIdClientToServer()

EXTERNFUNC int harmonic_getLocalClientSDOCobIdClientToServer ( huint16  sdoClientIndex,
huint32 *  cobId 
)

读本地字典[1280+sdoClientIndex]-1

参数
sdoClientIndexsdo索引，为0时主索引为1280，为1时主索引为1281，以此类推
cobId存放读取的值
返回
成功返回0，失败返回其他

◆ harmonic_getLocalClientSDOCobIdServerToClient()

EXTERNFUNC int harmonic_getLocalClientSDOCobIdServerToClient ( huint16  sdoClientIndex,
huint32 *  cobId 
)

读本地字典[1280+sdoClientIndex]-2

参数
sdoClientIndexsdo索引，为0时主索引为1280，为1时主索引为1281，以此类推
cobId存放读取的值
返回
成功返回0，失败返回其他

◆ harmonic_getLocalClientSDONodeIdOfSDOServer()

EXTERNFUNC int harmonic_getLocalClientSDONodeIdOfSDOServer ( huint16  sdoClientIndex,
huint8 *  nodeId 
)

读本地字典[1280+sdoClientIndex]-3

参数
sdoClientIndexsdo索引，为0时主索引为1280，为1时主索引为1281，以此类推
nodeId存放读取的值
返回
成功返回0，失败返回其他

◆ harmonic_getLocalClientSDONumberOfEntries()

EXTERNFUNC int harmonic_getLocalClientSDONumberOfEntries ( huint16  sdoClientIndex,
huint8 *  number 
)

读本地字典[1280+sdoClientIndex]-0

参数
sdoClientIndexsdo索引，为0时主索引为1280，为1时主索引为1281，以此类推
number存放读取的值
返回
成功返回0，失败返回其他

◆ harmonic_getLocalControlword()

EXTERNFUNC int harmonic_getLocalControlword ( huint16 *  word)

读本地字典0x6040-0

参数

◆ harmonic_getLocalDCLinkCircuitVoltage()

EXTERNFUNC int harmonic_getLocalDCLinkCircuitVoltage ( huint32 *  voltage)

读本地字典0x6079-0

参数

◆ harmonic_getLocalInterpolationDataRecord()

EXTERNFUNC int harmonic_getLocalInterpolationDataRecord ( hint32 *  value)

读本地字典

参数

◆ harmonic_getLocalInterpolationTimePeriodValue()

EXTERNFUNC int harmonic_getLocalInterpolationTimePeriodValue ( huint8 *  value)

读本地字典

参数

◆ harmonic_getLocalMutiMotorErrorCode()

EXTERNFUNC int harmonic_getLocalMutiMotorErrorCode ( huint16  index,
huint16 *  error 
)

◆ harmonic_getLocalMutiMotorPos()

EXTERNFUNC int harmonic_getLocalMutiMotorPos ( huint16  index,
hint32 *  pos 
)

读本地字典0x5000

参数

◆ harmonic_getLocalMutiMotorStatusWord()

EXTERNFUNC int harmonic_getLocalMutiMotorStatusWord ( huint16  index,
huint16 *  status 
)

◆ harmonic_getLocalMutiMotorTorque()

EXTERNFUNC int harmonic_getLocalMutiMotorTorque ( huint16  index,
hint16 *  tor 
)

读本地字典

参数

◆ harmonic_getLocalMutiMotorVel()

EXTERNFUNC int harmonic_getLocalMutiMotorVel ( huint16  index,
hint32 *  vel 
)

读本地字典5001

参数

◆ harmonic_getLocalRPDOCobId()

EXTERNFUNC int harmonic_getLocalRPDOCobId ( huint16  pdoIndex,
huint32 *  cobId 
)

读本地字典[1400+pdoIndex]-1

参数
pdoIndexpdo索引，为0时主索引为1400，为1时主索引为1401，以此类推
cobId存放读取的值
返回
成功返回0，失败返回其他

◆ harmonic_getLocalRPDOEventTimer()

EXTERNFUNC int harmonic_getLocalRPDOEventTimer ( huint16  pdoIndex,
huint16 *  timer 
)

读本地字典[1400+pdoIndex]-5

参数
pdoIndexpdo索引，为0时主索引为1400，为1时主索引为1401，以此类推
timer读取的事件定时器周期
返回
成功返回0，失败返回其他

◆ harmonic_getLocalRPDOInhibitTime()

EXTERNFUNC int harmonic_getLocalRPDOInhibitTime ( huint16  pdoIndex,
huint16 *  time 
)

读本地字典[1400+pdoIndex]-3

参数
pdoIndexpdo索引，为0时主索引为1400，为1时主索引为1401，以此类推
time保存读取的inhibitTime
返回
成功返回0，失败返回其他

◆ harmonic_getLocalRPDOMapped()

EXTERNFUNC int harmonic_getLocalRPDOMapped ( huint16  pdoIndex,
huint8  mapIndex,
huint32 *  value 
)

读本地字典1600-1

参数

◆ harmonic_getLocalRPDOMaxMappedCount()

EXTERNFUNC int harmonic_getLocalRPDOMaxMappedCount ( huint16  pdoIndex,
huint8 *  count 
)

读本地字典[1600+pdoIndex]-0

参数
pdoIndexpdo索引，为0时主索引为1400，为1时主索引为1401，以此类推
count
返回
成功返回0，失败返回其他

◆ harmonic_getLocalRPDOMaxParasCount()

EXTERNFUNC int harmonic_getLocalRPDOMaxParasCount ( huint16  pdoIndex,
huint8 *  count 
)

读本地字典[1400+pdoIndex]-0

参数
pdoIndexpdo索引，为0时主索引为1400，为1时主索引为1401，以此类推
count存放读取的值
返回
成功返回0，失败返回其他

◆ harmonic_getLocalRPDOSYNCStartValue()

EXTERNFUNC int harmonic_getLocalRPDOSYNCStartValue ( huint16  pdoIndex,
huint8 *  value 
)

读本地字典[1400+pdoIndex]-6

参数
pdoIndexpdo索引，为0时主索引为1400，为1时主索引为1401，以此类推
value保存读取的值
返回
成功返回0，失败返回其他

◆ harmonic_getLocalRPDOTransmitType()

EXTERNFUNC int harmonic_getLocalRPDOTransmitType ( huint16  pdoIndex,
huint8 *  type 
)

读本地字典[1400+pdoIndex]-2

参数
pdoIndexpdo索引，为0时主索引为1400，为1时主索引为1401，以此类推
type存放读取的值
返回
成功返回0，失败返回其他

◆ harmonic_getLocalServerSDOCobIdClientToServer()

EXTERNFUNC int harmonic_getLocalServerSDOCobIdClientToServer ( huint16  sdoServerIndex,
huint32 *  cobId 
)

读本地字典[1200+sdoServerIndex]-1

参数
sdoServerIndexsdo索引，为0时主索引为1200，为1时主索引为1201，以此类推
cobId存放读取的值
返回
成功返回0，失败返回其他

◆ harmonic_getLocalServerSDOCobIdServerToClient()

EXTERNFUNC int harmonic_getLocalServerSDOCobIdServerToClient ( huint16  sdoServerIndex,
huint32 *  cobId 
)

读本地字典[1200+sdoServerIndex]-2

参数
sdoServerIndexsdo索引，为0时主索引为1200，为1时主索引为1201，以此类推
cobId存放读取的值
返回
成功返回0，失败返回其他

◆ harmonic_getLocalServerSDONodeIdOfClient()

EXTERNFUNC int harmonic_getLocalServerSDONodeIdOfClient ( huint16  sdoServerIndex,
huint8 *  nodeId 
)

读本地字典[1200+sdoServerIndex]-3

参数
sdoServerIndexsdo索引，为0时主索引为1200，为1时主索引为1201，以此类推
nodeId存放读取的值
返回
成功返回0，失败返回其他

◆ harmonic_getLocalServerSDONumberOfEntries()

EXTERNFUNC int harmonic_getLocalServerSDONumberOfEntries ( huint16  sdoServerIndex,
huint8 *  num 
)

读本地字典[1200+sdoServerIndex]-0

参数
sdoServerIndexsdo索引，为0时主索引为1200，为1时主索引为1201，以此类推
num存放读取的值
返回
成功返回0，失败返回其他

◆ harmonic_getLocalServoErrorCode()

EXTERNFUNC int harmonic_getLocalServoErrorCode ( huint16 *  err)

◆ harmonic_getLocalServoTemperature()

EXTERNFUNC int harmonic_getLocalServoTemperature ( hint8 *  tem)

读本地字典0x2016-0x01

参数

◆ harmonic_getLocalStatusWord()

EXTERNFUNC int harmonic_getLocalStatusWord ( huint16 *  word)

◆ harmonic_getLocalSyncCOBID()

EXTERNFUNC int harmonic_getLocalSyncCOBID ( huint32 *  cobId)

读本地字典1005-0

参数
cobId存放读取的值
返回
成功返回0，失败返回其他

◆ harmonic_getLocalSyncCycle()

EXTERNFUNC int harmonic_getLocalSyncCycle ( huint32 *  cycle)

读本地字典1006-0

参数
cycle存放读取的值
返回
成功返回0，失败返回其他

◆ harmonic_getLocalSyncWindow()

EXTERNFUNC int harmonic_getLocalSyncWindow ( huint32 *  sWindow)

读本地字典1007-0

参数
sWindow存放读取的值
返回
成功返回0，失败返回其他

◆ harmonic_getLocalTargetPos()

EXTERNFUNC int harmonic_getLocalTargetPos ( hint32 *  pos)

读本地字典

参数

◆ harmonic_getLocalTargetTorque()

EXTERNFUNC int harmonic_getLocalTargetTorque ( hint16 *  torque)

读本地字典

参数

◆ harmonic_getLocalTargetVelocity()

EXTERNFUNC int harmonic_getLocalTargetVelocity ( hint32 *  vel)

读本地字典0x60FF

参数

◆ harmonic_getLocalTPDOCobId()

EXTERNFUNC int harmonic_getLocalTPDOCobId ( huint16  pdoIndex,
huint32 *  cobId 
)

读本地字典1800-1

参数

◆ harmonic_getLocalTPDOEventTimer()

EXTERNFUNC int harmonic_getLocalTPDOEventTimer ( huint16  pdoIndex,
huint16 *  timer 
)

读本地字典1800-5

参数

◆ harmonic_getLocalTPDOInhibitTime()

EXTERNFUNC int harmonic_getLocalTPDOInhibitTime ( huint16  pdoIndex,
huint16 *  time 
)

读本地字典1800-3

参数

◆ harmonic_getLocalTPDOMapped()

EXTERNFUNC int harmonic_getLocalTPDOMapped ( huint16  pdoIndex,
huint8  mapIndex,
huint32 *  value 
)

读本地字典1A00-1

参数

◆ harmonic_getLocalTPDOMaxMappedCount()

EXTERNFUNC int harmonic_getLocalTPDOMaxMappedCount ( huint16  pdoIndex,
huint8 *  count 
)

读本地字典1A00-0

参数

◆ harmonic_getLocalTPDOMaxParasCount()

EXTERNFUNC int harmonic_getLocalTPDOMaxParasCount ( huint16  pdoIndex,
huint8 *  count 
)

读本地字典1800-0

参数

◆ harmonic_getLocalTPDOSYNCStartValue()

EXTERNFUNC int harmonic_getLocalTPDOSYNCStartValue ( huint16  pdoIndex,
huint8 *  value 
)

读本地字典1800-6

参数

◆ harmonic_getLocalTPDOTransmitType()

EXTERNFUNC int harmonic_getLocalTPDOTransmitType ( huint16  pdoIndex,
huint8 *  type 
)

读本地字典1800-2

参数

◆ harmonic_getMaxProfileVelocity()

EXTERNFUNC int harmonic_getMaxProfileVelocity ( huint8  id,
huint32 *  vel,
huint32  timeout = 100 
)

读从站字典0x607F-0

参数

◆ harmonic_getMotorRatedTorque()

EXTERNFUNC int harmonic_getMotorRatedTorque ( huint8  id,
huint32 *  torque,
huint32  timeout = 100 
)

读从站字典0x6076-0

参数

◆ harmonic_getNodeState()

EXTERNFUNC int harmonic_getNodeState ( huint8  id,
harmonic_NodeState *  state,
huint32  timeout = 100 
)

读从节点状态

参数
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
返回
成功返回0，失败返回其他

◆ harmonic_getOperateMode()

EXTERNFUNC int harmonic_getOperateMode ( huint8  id,
harmonic_OperateMode *  mode,
huint32  timeout = 100 
)

读从站字典0x6060-0

参数

◆ harmonic_getPositionWindow()

EXTERNFUNC int harmonic_getPositionWindow ( huint8  id,
huint32 *  pWindow,
huint32  timeout = 100 
)

读从站字典0x6067-0

参数

◆ harmonic_getPositionWindowTime()

EXTERNFUNC int harmonic_getPositionWindowTime ( huint8  id,
huint16 *  pWindowTime,
huint32  timeout = 100 
)

读从站字典0x6068-0

参数

◆ harmonic_getProducerHeartbeatTime()

EXTERNFUNC int harmonic_getProducerHeartbeatTime ( huint8  id,
huint16 *  time,
huint32  timeout = 100 
)

读从站字典0x1017-0

参数
id从节点id
time存放读取的值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getProductCode()

EXTERNFUNC int harmonic_getProductCode ( huint8  id,
huint32 *  pCode,
huint32  timeout = 100 
)

读从站字典0x1018-2

参数
id从节点id
pCode存放读取的值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getProfileAcceleration()

EXTERNFUNC int harmonic_getProfileAcceleration ( huint8  id,
huint32 *  acc,
huint32  timeout = 100 
)

读从站字典0x6083-0

参数

◆ harmonic_getProfileDeceleration()

EXTERNFUNC int harmonic_getProfileDeceleration ( huint8  id,
huint32 *  dec,
huint32  timeout = 100 
)

读从站字典0x6084-0

参数

◆ harmonic_getProfileVelocity()

EXTERNFUNC int harmonic_getProfileVelocity ( huint8  id,
huint32 *  vel,
huint32  timeout = 100 
)

读从站字典0x6081-0

参数

◆ harmonic_getQuickStopDeceleration()

EXTERNFUNC int harmonic_getQuickStopDeceleration ( huint8  id,
huint32 *  dec,
huint32  timeout = 100 
)

读从站字典0x6085-0

参数

◆ harmonic_getQuickStopOption()

EXTERNFUNC int harmonic_getQuickStopOption ( huint8  id,
harmonic_QuickStopOption *  option,
huint32  timeout = 100 
)

读从站字典0x605A-0

参数

◆ harmonic_getRestoreDefaultParameters()

EXTERNFUNC int harmonic_getRestoreDefaultParameters ( huint8  id,
huint32 *  value,
huint32  timeout = 100 
)

读从站字典0x1011-0x01

参数
id从节点id
value存放读取的值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getRestoreDefaultParametersNumber()

EXTERNFUNC int harmonic_getRestoreDefaultParametersNumber ( huint8  id,
huint8 *  number,
huint32  timeout = 100 
)

读从站字典0x1011-0

参数
id从节点id
number存放读取的值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getRPDOCobId()

EXTERNFUNC int harmonic_getRPDOCobId ( huint8  id,
huint16  pdoIndex,
huint32 *  cobId,
huint32  timeout = 100 
)

读从站字典0x1400+pdoIndex-0x01

参数
id从节点id
pdoIndexpdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getRPDOEventTimer()

EXTERNFUNC int harmonic_getRPDOEventTimer ( huint8  id,
huint16  pdoIndex,
huint16 *  timer,
huint32  timeout = 100 
)

读从站字典0x1400+pdoIndex-0x05

参数
id从节点id
pdoIndexpdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getRPDOInhibitTime()

EXTERNFUNC int harmonic_getRPDOInhibitTime ( huint8  id,
huint16  pdoIndex,
huint16 *  time,
huint32  timeout = 100 
)

读从站字典0x1400+pdoIndex-0x03

参数
id从节点id
pdoIndexpdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getRPDOMapped()

EXTERNFUNC int harmonic_getRPDOMapped ( huint8  id,
huint16  pdoIndex,
huint8  mapIndex,
huint32 *  value,
huint32  timeout = 100 
)

读从站字典0x1600+pdoIndex-0x01+mapIndex

参数
id从节点id
pdoIndexpdo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0x01, 设为1代表子索引0x02,以此类推
value存放读取的值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getRPDOMaxMappedCount()

EXTERNFUNC int harmonic_getRPDOMaxMappedCount ( huint8  id,
huint16  pdoIndex,
huint8 *  count,
huint32  timeout = 100 
)

读从站字典0x1600+pdoIndex-0x00

参数
id从节点id
pdoIndexpdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getRPDOMaxParasCount()

EXTERNFUNC int harmonic_getRPDOMaxParasCount ( huint8  id,
huint16  pdoIndex,
huint8 *  count,
huint32  timeout = 100 
)

读从站字典0x1400+pdoIndex-0x00

参数
id从节点id
pdoIndexpdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getRPDOSYNCStartValue()

EXTERNFUNC int harmonic_getRPDOSYNCStartValue ( huint8  id,
huint16  pdoIndex,
huint8 *  value,
huint32  timeout = 100 
)

读从站字典0x1400+pdoIndex-0x06

参数
id从节点id
pdoIndexpdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getRPDOTransmitType()

EXTERNFUNC int harmonic_getRPDOTransmitType ( huint8  id,
huint16  pdoIndex,
huint8 *  type,
huint32  timeout = 100 
)

读从站字典0x1400+pdoIndex-0x02

参数
id从节点id
pdoIndexpdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getSerialNumber()

EXTERNFUNC int harmonic_getSerialNumber ( huint8  id,
huint32 *  serialNum,
huint32  timeout = 100 
)

读从站字典0x1018-4

参数
id从节点id
serialNum存放读取的值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getServerSDOCobIdClientToServer()

EXTERNFUNC int harmonic_getServerSDOCobIdClientToServer ( huint8  id,
huint16  sdoServerIndex,
huint32 *  cobId,
huint32  timeout = 100 
)

读从站字典0x1200+sdoServerIndex-0x01

参数
sdoServerIndexsdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getServerSDOCobIdServerToClient()

EXTERNFUNC int harmonic_getServerSDOCobIdServerToClient ( huint8  id,
huint16  sdoServerIndex,
huint32 *  cobId,
huint32  timeout = 100 
)

读从站字典0x1200+sdoServerIndex-0x02

参数
sdoServerIndexsdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getServerSDONodeIdOfClient()

EXTERNFUNC int harmonic_getServerSDONodeIdOfClient ( huint8  id,
huint16  sdoServerIndex,
huint8 *  nodeId,
huint32  timeout = 100 
)

读从站字典0x1200+sdoServerIndex-0x03

参数
sdoServerIndexsdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getServerSDONumberOfEntries()

EXTERNFUNC int harmonic_getServerSDONumberOfEntries ( huint8  id,
huint16  sdoServerIndex,
huint8 *  num,
huint32  timeout = 100 
)

读从站字典0x1200+sdoServerIndex-0x00

参数
sdoServerIndexsdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getServoBlockParasNum()

EXTERNFUNC int harmonic_getServoBlockParasNum ( huint8  id,
huint8 *  num,
huint32  timeout = 100 
)

◆ harmonic_getServoBlockTime()

EXTERNFUNC int harmonic_getServoBlockTime ( huint8  id,
huint16 *  time,
huint32  timeout = 100 
)

◆ harmonic_getServoBlockTorque()

EXTERNFUNC int harmonic_getServoBlockTorque ( huint8  id,
huint16 *  torque,
huint32  timeout = 100 
)

◆ harmonic_getServoBlockVelocity()

EXTERNFUNC int harmonic_getServoBlockVelocity ( huint8  id,
huint32 *  velocity,
huint32  timeout = 100 
)

◆ harmonic_getServoBrakeControl()

EXTERNFUNC int harmonic_getServoBrakeControl ( huint8  id,
huint8 *  status,
huint32  timeout = 100 
)

◆ harmonic_getServoBrakeDelayTime()

EXTERNFUNC int harmonic_getServoBrakeDelayTime ( huint8  id,
huint8 *  time,
huint32  timeout = 100 
)

◆ harmonic_getServoBrakeParaNum()

EXTERNFUNC int harmonic_getServoBrakeParaNum ( huint8  id,
huint8 *  num,
huint32  timeout = 100 
)

◆ harmonic_getServoCanBaudrate()

EXTERNFUNC int harmonic_getServoCanBaudrate ( huint8  id,
huint16 *  baudrate,
huint32  timeout = 100 
)

◆ harmonic_getServoCurrentLoopKI()

EXTERNFUNC int harmonic_getServoCurrentLoopKI ( huint8  id,
huint16 *  ki,
huint32  timeout = 100 
)

◆ harmonic_getServoCurrentLoopKP()

EXTERNFUNC int harmonic_getServoCurrentLoopKP ( huint8  id,
huint16 *  kp,
huint32  timeout = 100 
)

◆ harmonic_getServoCurrentLoopPINum()

EXTERNFUNC int harmonic_getServoCurrentLoopPINum ( huint8  id,
huint8 *  num,
huint32  timeout = 100 
)

◆ harmonic_getServoErrorCode()

EXTERNFUNC int harmonic_getServoErrorCode ( huint8  id,
huint16 *  err,
huint32  timeout = 100 
)

读从站字典0x603F-0

参数

◆ harmonic_getServoFirstEncoderValue()

EXTERNFUNC int harmonic_getServoFirstEncoderValue ( huint8  id,
hint32 *  value,
huint32  timeout = 100 
)

◆ harmonic_getServoID()

EXTERNFUNC int harmonic_getServoID ( huint8  id,
huint8 *  servoID,
huint32  timeout = 100 
)

◆ harmonic_getServoOverSpeedThreshold()

EXTERNFUNC int harmonic_getServoOverSpeedThreshold ( huint8  id,
huint32 *  thre,
huint32  timeout = 100 
)

◆ harmonic_getServoOverSpeedTime()

EXTERNFUNC int harmonic_getServoOverSpeedTime ( huint8  id,
huint16 *  time,
huint32  timeout = 100 
)

◆ harmonic_getServoParametersNumber()

EXTERNFUNC int harmonic_getServoParametersNumber ( huint8  id,
huint8 *  num,
huint32  timeout = 100 
)

◆ harmonic_getServoPositionLoopKI()

EXTERNFUNC int harmonic_getServoPositionLoopKI ( huint8  id,
huint16 *  ki,
huint32  timeout = 100 
)

◆ harmonic_getServoPositionLoopKP()

EXTERNFUNC int harmonic_getServoPositionLoopKP ( huint8  id,
huint16 *  kp,
huint32  timeout = 100 
)

◆ harmonic_getServoPositionLoopPINum()

EXTERNFUNC int harmonic_getServoPositionLoopPINum ( huint8  id,
huint8 *  num,
huint32  timeout = 100 
)

◆ harmonic_getServoSecondEncoderValue()

EXTERNFUNC int harmonic_getServoSecondEncoderValue ( huint8  id,
hint32 *  value,
huint32  timeout = 100 
)

◆ harmonic_getServoSoftwareLimitState()

EXTERNFUNC int harmonic_getServoSoftwareLimitState ( huint8  id,
huint32 *  state,
huint32  timeout = 100 
)

◆ harmonic_getServoTemperature()

EXTERNFUNC int harmonic_getServoTemperature ( huint8  id,
hint8 *  tem,
huint32  timeout = 100 
)

◆ harmonic_getServoTemperatureLimit()

EXTERNFUNC int harmonic_getServoTemperatureLimit ( huint8  id,
hint8 *  tem,
huint32  timeout = 100 
)

◆ harmonic_getServoTemperatureLimitTime()

EXTERNFUNC int harmonic_getServoTemperatureLimitTime ( huint8  id,
huint16 *  time,
huint32  timeout = 100 
)

◆ harmonic_getServoTemperatureParasNum()

EXTERNFUNC int harmonic_getServoTemperatureParasNum ( huint8  id,
huint8 *  num,
huint32  timeout = 100 
)

◆ harmonic_getServoThetaBiasValue()

EXTERNFUNC int harmonic_getServoThetaBiasValue ( huint8  id,
hint32 *  value,
huint32  timeout = 100 
)

◆ harmonic_getServoTorqueWindow()

EXTERNFUNC int harmonic_getServoTorqueWindow ( huint8  id,
huint16 *  window,
huint32  timeout = 100 
)

◆ harmonic_getServoTorqueWindowTime()

EXTERNFUNC int harmonic_getServoTorqueWindowTime ( huint8  id,
huint16 *  window,
huint32  timeout = 100 
)

◆ harmonic_getServoVelocityFlowingErrorParasNum()

EXTERNFUNC int harmonic_getServoVelocityFlowingErrorParasNum ( huint8  id,
huint8 *  num,
huint32  timeout = 100 
)

◆ harmonic_getServoVelocityFlowingErrorTime()

EXTERNFUNC int harmonic_getServoVelocityFlowingErrorTime ( huint8  id,
huint16 *  time,
huint32  timeout = 100 
)

◆ harmonic_getServoVelocityFlowingErrorWindows()

EXTERNFUNC int harmonic_getServoVelocityFlowingErrorWindows ( huint8  id,
huint32 *  error,
huint32  timeout = 100 
)

◆ harmonic_getServoVelocityIntLimit()

EXTERNFUNC int harmonic_getServoVelocityIntLimit ( huint8  id,
huint16 *  limit,
huint32  timeout = 100 
)

◆ harmonic_getServoVelocityLoopKI()

EXTERNFUNC int harmonic_getServoVelocityLoopKI ( huint8  id,
huint16 *  ki,
huint32  timeout = 100 
)

◆ harmonic_getServoVelocityLoopKP()

EXTERNFUNC int harmonic_getServoVelocityLoopKP ( huint8  id,
huint16 *  kp,
huint32  timeout = 100 
)

◆ harmonic_getServoVelocityLoopPINum()

EXTERNFUNC int harmonic_getServoVelocityLoopPINum ( huint8  id,
huint8 *  num,
huint32  timeout = 100 
)

◆ harmonic_getShutdownOptionCode()

EXTERNFUNC int harmonic_getShutdownOptionCode ( huint8  id,
harmonic_ShutdownOption *  code,
huint32  timeout = 100 
)

读从站字典0x605B-0

参数

◆ harmonic_getSoftwareMaxmumPosition()

EXTERNFUNC int harmonic_getSoftwareMaxmumPosition ( huint8  id,
hint32 *  pos,
huint32  timeout = 100 
)

读从站字典0x607D-2

参数

◆ harmonic_getSoftwareMinimumPosition()

EXTERNFUNC int harmonic_getSoftwareMinimumPosition ( huint8  id,
hint32 *  pos,
huint32  timeout = 100 
)

读从站字典0x607D-1

参数

◆ harmonic_getSoftwareVersion()

EXTERNFUNC int harmonic_getSoftwareVersion ( huint8  id,
char *  version,
huint32  timeout = 100 
)

读从站字典0x100a-0

参数
id从节点id
version保存读取的值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getStatusWord()

EXTERNFUNC int harmonic_getStatusWord ( huint8  id,
huint16 *  word,
huint32  timeout = 100 
)

读从站字典0x6041-0

参数

◆ harmonic_getStoreParameters()

EXTERNFUNC int harmonic_getStoreParameters ( huint8  id,
huint32 *  value,
huint32  timeout = 100 
)

读从站字典0x1010-0x01

参数
id从节点id
value存放读取的值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getStoreParametersNumber()

EXTERNFUNC int harmonic_getStoreParametersNumber ( huint8  id,
huint8 *  number,
huint32  timeout = 100 
)

读从站字典0x1010-0

参数
id从节点id
number存放读取的值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getSupportedDriveModes()

EXTERNFUNC int harmonic_getSupportedDriveModes ( huint8  id,
huint32 *  modes,
huint32  timeout = 100 
)

◆ harmonic_getSyncCobid()

EXTERNFUNC int harmonic_getSyncCobid ( huint8  id,
huint32 *  cobid,
huint32  timeout = 100 
)

读从站字典0x1005-0

参数
id从节点id
cobid保存读取的值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getSyncCounter()

EXTERNFUNC int harmonic_getSyncCounter ( huint8  id,
huint8 *  counter,
huint32  timeout = 100 
)

读从站字典0x1019-0

参数
id从节点id
counter存放读取的值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getSyncCycle()

EXTERNFUNC int harmonic_getSyncCycle ( huint8  id,
huint32 *  syncCycle,
huint32  timeout = 100 
)

读从站字典0x1006-0

参数
id从节点id
syncCycle保存读取的值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getSyncWindow()

EXTERNFUNC int harmonic_getSyncWindow ( huint8  id,
huint32 *  syncWindow,
huint32  timeout = 100 
)

读从站字典0x1007-0

参数
id从节点id
syncWindow保存读取的值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getTargetPos()

EXTERNFUNC int harmonic_getTargetPos ( huint8  id,
hint32 *  pos,
huint32  timeout = 100 
)

读从站字典0x607A-0

参数

◆ harmonic_getTargetTorque()

EXTERNFUNC int harmonic_getTargetTorque ( huint8  id,
hint16 *  torque,
huint32  timeout = 100 
)

读从站字典0x6071-0

参数

◆ harmonic_getTargetVelocity()

EXTERNFUNC int harmonic_getTargetVelocity ( huint8  id,
hint32 *  targetVel,
huint32  timeout = 100 
)

读从站字典0x60ff-0

参数
id从节点id
targetVel保存读取的目标速度
timeout等待确认时间，单位ms
返回
成功返回0,失败返回其他

◆ harmonic_getTorqueFactor()

EXTERNFUNC int harmonic_getTorqueFactor ( huint8  id,
huint16 *  factor,
huint32  timeout = 100 
)

◆ harmonic_getTorqueLimit()

EXTERNFUNC int harmonic_getTorqueLimit ( huint8  id,
hint16 *  torque,
huint32  timeout = 100 
)

读从站字典0x6072-0

参数

◆ harmonic_getTorqueSlope()

EXTERNFUNC int harmonic_getTorqueSlope ( huint8  id,
huint32 *  slope,
huint32  timeout = 100 
)

读从站字典0x6087-0

参数

◆ harmonic_getTPDOCobId()

EXTERNFUNC int harmonic_getTPDOCobId ( huint8  id,
huint16  pdoIndex,
huint32 *  cobId,
huint32  timeout = 100 
)

读从站字典0x1800+pdoIndex-0x01

参数
id从节点id
pdoIndexpdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getTPDOEventTimer()

EXTERNFUNC int harmonic_getTPDOEventTimer ( huint8  id,
huint16  pdoIndex,
huint16 *  timer,
huint32  timeout = 100 
)

读从站字典0x1800+pdoIndex-0x05

参数
id从节点id
pdoIndexpdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getTPDOInhibitTime()

EXTERNFUNC int harmonic_getTPDOInhibitTime ( huint8  id,
huint16  pdoIndex,
huint16 *  time,
huint32  timeout = 100 
)

读从站字典0x1800+pdoIndex-0x03

参数
id从节点id
pdoIndexpdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getTPDOMapped()

EXTERNFUNC int harmonic_getTPDOMapped ( huint8  id,
huint16  pdoIndex,
huint8  mapIndex,
huint32 *  value,
huint32  timeout = 100 
)

读从站字典0x1a00+pdoIndex-0x01+mapIndex

参数
id从节点id
pdoIndexpdo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0x01,设为1代表从站字典子索引0x02,以此类推
value存放读取的值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getTPDOMaxMappedCount()

EXTERNFUNC int harmonic_getTPDOMaxMappedCount ( huint8  id,
huint16  pdoIndex,
huint8 *  count,
huint32  timeout = 100 
)

读从站字典0x1a00+pdoIndex-0x00

参数
id从节点id
pdoIndexpdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getTPDOMaxParasCount()

EXTERNFUNC int harmonic_getTPDOMaxParasCount ( huint8  id,
huint16  pdoIndex,
huint8 *  count,
huint32  timeout = 100 
)

读从站字典0x1800+pdoIndex-0x00

参数
id从节点id
pdoIndexpdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getTPDOSYNCStartValue()

EXTERNFUNC int harmonic_getTPDOSYNCStartValue ( huint8  id,
huint16  pdoIndex,
huint8 *  value,
huint32  timeout = 100 
)

读从站字典0x1800+pdoIndex-0x06

参数
id从节点id
pdoIndexpdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getTPDOTransmitType()

EXTERNFUNC int harmonic_getTPDOTransmitType ( huint8  id,
huint16  pdoIndex,
huint8 *  type,
huint32  timeout = 100 
)

读从站字典0x1800+pdoIndex-0x02

参数
id从节点id
pdoIndexpdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_getVelocityThreshold()

EXTERNFUNC int harmonic_getVelocityThreshold ( huint8  id,
huint16 *  thres,
huint32  timeout = 100 
)

读从站字典0x606F-0

参数

◆ harmonic_getVelocityThresholdTime()

EXTERNFUNC int harmonic_getVelocityThresholdTime ( huint8  id,
huint16 *  tTime,
huint32  timeout = 100 
)

读从站字典0x6070-0

参数

◆ harmonic_getVelocityWindow()

EXTERNFUNC int harmonic_getVelocityWindow ( huint8  id,
huint16 *  vWindow,
huint32  timeout = 100 
)

读从站字典0x606D-0

参数

◆ harmonic_getVelocityWindowTime()

EXTERNFUNC int harmonic_getVelocityWindowTime ( huint8  id,
huint16 *  wTime,
huint32  timeout = 100 
)

读从站字典0x606E-0

参数

◆ harmonic_getVendorID()

EXTERNFUNC int harmonic_getVendorID ( huint8  id,
huint32 *  vId,
huint32  timeout = 100 
)

读从站字典0x1018-1

参数
id从节点id
vId存放读取的值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_initDLL()

EXTERNFUNC int harmonic_initDLL ( harmonic_DeviceType  devType,
harmonic_Baudrate  baudrate 
)

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。

参数
devType设备类型，参见harmonic_DeviceType
baudrate波特率，参见harmonic_Baudrate
返回
成功返回0，失败返回其他

◆ harmonic_profilePositionControl()

EXTERNFUNC int harmonic_profilePositionControl ( 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

参数
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(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)。true:采用更新模式，false:不采用更新模式
返回
成功返回0，失败返回其他

◆ harmonic_profileTorqueControl()

EXTERNFUNC int harmonic_profileTorqueControl ( 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

参数
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(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)。true:采用更新模式，false:不采用更新模式
返回
成功返回0，失败返回其他

◆ harmonic_profileVelocityControl()

EXTERNFUNC int harmonic_profileVelocityControl ( 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

参数
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(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)。true:采用更新模式，false:不采用更新模式
返回
成功返回0，失败返回其他

◆ harmonic_readDirectory()

EXTERNFUNC int harmonic_readDirectory ( huint8  id,
huint16  index,
huint8  subIndex,
harmonic_DataType  dataType,
void *  readData,
huint32  timeout = 100 
)

读从节点字典

参数
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
返回
成功返回0，失败返回其他

◆ harmonic_readLocalDirectory()

EXTERNFUNC int harmonic_readLocalDirectory ( huint16  index,
huint8  subIndex,
harmonic_DataType  dataType,
void *  readData 
)

读本地字典

参数
index主索引
subIndex子索引
dataType数据类型
readData保存读取的数据
返回
成功返回0，失败返回其他

◆ harmonic_setActualFollowingError()

EXTERNFUNC int harmonic_setActualFollowingError ( huint8  id,
hint32  error,
huint32  timeout = 100 
)

写从站字典0x60f4-0

参数
id从节点id \error 写入值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setActualPos()

EXTERNFUNC int harmonic_setActualPos ( huint8  id,
hint32  pos,
huint32  timeout = 100 
)

写从站字典0x6064-0

参数

◆ harmonic_setActualTorque()

EXTERNFUNC int harmonic_setActualTorque ( huint8  id,
hint16  torque,
huint32  timeout = 100 
)

写从站字典0x6077-0

参数

◆ harmonic_setActualVelocity()

EXTERNFUNC int harmonic_setActualVelocity ( huint8  id,
hint32  vel,
huint32  timeout = 100 
)

写从站字典0x606C-0

参数

◆ harmonic_setBrakeState()

EXTERNFUNC int harmonic_setBrakeState ( huint8  id,
huint8  state,
huint32  timeout = 100 
)

写从站字典0x2014(设置抱闸状态)

参数
id从节点id
statetrue:为打开抱闸 false:关闭抱闸
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setClientSDOCobIdClientToServer()

EXTERNFUNC int harmonic_setClientSDOCobIdClientToServer ( huint8  id,
huint16  sdoClientIndex,
huint32  cobId,
huint32  timeout = 100 
)

写从站字典0x1280+sdoClientIndex-0x01

参数
id从节点id
sdoClientIndexsdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setClientSDOCobIdServerToClient()

EXTERNFUNC int harmonic_setClientSDOCobIdServerToClient ( huint8  id,
huint16  sdoClientIndex,
huint32  cobId,
huint32  timeout = 100 
)

写从站字典0x1280+sdoClientIndex-0x02

参数
id从节点id
sdoClientIndexsdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setClientSDONodeIdOfSDOServer()

EXTERNFUNC int harmonic_setClientSDONodeIdOfSDOServer ( huint8  id,
huint16  sdoClientIndex,
huint8  nodeId,
huint32  timeout = 100 
)

写从站字典0x1280+sdoClientIndex-0x03

参数
id从节点id
sdoClientIndexsdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setClientSDONumberOfEntries()

EXTERNFUNC int harmonic_setClientSDONumberOfEntries ( huint8  id,
huint16  sdoClientIndex,
huint8  number,
huint32  timeout = 100 
)

写从站字典0x1280+sdoClientIndex-0x00

参数
id从节点id
sdoClientIndexsdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setControlword()

EXTERNFUNC int harmonic_setControlword ( huint8  id,
huint16  word,
huint32  timeout = 100 
)

写从站字典0x6040-0

参数

◆ harmonic_setDCLinkCircuitVoltage()

EXTERNFUNC int harmonic_setDCLinkCircuitVoltage ( huint8  id,
huint32  voltage,
huint32  timeout = 100 
)

写从站字典0x6079-0

参数

◆ harmonic_setDefaultServoCurrentLoopKI()

EXTERNFUNC int harmonic_setDefaultServoCurrentLoopKI ( huint8  id,
huint16  ki,
huint32  timeout = 100 
)

◆ harmonic_setDefaultServoCurrentLoopKP()

EXTERNFUNC int harmonic_setDefaultServoCurrentLoopKP ( huint8  id,
huint16  kp,
huint32  timeout = 100 
)

◆ harmonic_setDefaultServoPositionLoopKI()

EXTERNFUNC int harmonic_setDefaultServoPositionLoopKI ( huint8  id,
huint16  ki,
huint32  timeout = 100 
)

◆ harmonic_setDefaultServoPositionLoopKP()

EXTERNFUNC int harmonic_setDefaultServoPositionLoopKP ( huint8  id,
huint16  kp,
huint32  timeout = 100 
)

◆ harmonic_setDefaultServoVelocityLoopKI()

EXTERNFUNC int harmonic_setDefaultServoVelocityLoopKI ( huint8  id,
huint16  ki,
huint32  timeout = 100 
)

◆ harmonic_setDefaultServoVelocityLoopKP()

EXTERNFUNC int harmonic_setDefaultServoVelocityLoopKP ( huint8  id,
huint16  kp,
huint32  timeout = 100 
)

◆ harmonic_setDemandPos()

EXTERNFUNC int harmonic_setDemandPos ( huint8  id,
hint32  pos,
huint32  timeout = 100 
)

写从站字典0x6062-0

参数

◆ harmonic_setDemandTorque()

EXTERNFUNC int harmonic_setDemandTorque ( huint8  id,
hint16  torque,
huint32  timeout = 100 
)

写从站字典0x6074-0

参数

◆ harmonic_setDemandVelocity()

EXTERNFUNC int harmonic_setDemandVelocity ( huint8  id,
hint32  dvel,
huint32  timeout = 100 
)

写从站字典0x606B-0

参数

◆ harmonic_setDisableOperationOptionCode()

EXTERNFUNC int harmonic_setDisableOperationOptionCode ( huint8  id,
harmonic_DisableOperationOption  code,
huint32  timeout = 100 
)

写从站字典0x605C-0

参数

◆ harmonic_setEmergencyCobid()

EXTERNFUNC int harmonic_setEmergencyCobid ( huint8  id,
huint32  cobid,
huint32  timeout = 100 
)

写从站字典0x1014-0

参数
id从节点id
cobid写入值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setEmergencyInhibitTime()

EXTERNFUNC int harmonic_setEmergencyInhibitTime ( huint8  id,
huint16  time,
huint32  timeout = 100 
)

写从站字典0x1015-0

参数
id从节点id
time存放读取的值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setErrorFieldNumber()

EXTERNFUNC int harmonic_setErrorFieldNumber ( huint8  id,
huint8  number,
huint32  timeout = 100 
)

写从站字典0x1003-0

参数
id从节点id
number写入值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setFaultReactionOption()

EXTERNFUNC int harmonic_setFaultReactionOption ( huint8  id,
harmonic_FaultReactionOption  option,
huint32  timeout = 100 
)

写从站字典0x605E-0

参数

◆ harmonic_setFindPointDoneFlag()

EXTERNFUNC int harmonic_setFindPointDoneFlag ( huint8  id,
huint32  flag,
huint32  timeout = 100 
)

◆ harmonic_setFindPointMoveAcc()

EXTERNFUNC int harmonic_setFindPointMoveAcc ( huint8  id,
huint32  acc,
huint32  timeout = 100 
)

◆ harmonic_setFindPointMoveDec()

EXTERNFUNC int harmonic_setFindPointMoveDec ( huint8  id,
huint32  dec,
huint32  timeout = 100 
)

◆ harmonic_setFindPointMoveMax()

EXTERNFUNC int harmonic_setFindPointMoveMax ( huint8  id,
huint32  angle,
huint32  timeout = 100 
)

◆ harmonic_setFindPointMoveVelocity()

EXTERNFUNC int harmonic_setFindPointMoveVelocity ( huint8  id,
huint32  vel,
huint32  timeout = 100 
)

◆ harmonic_setFindPointStart()

EXTERNFUNC int harmonic_setFindPointStart ( huint8  id,
huint32  status,
huint32  timeout = 100 
)

◆ harmonic_setFollowingErrorWindow()

EXTERNFUNC int harmonic_setFollowingErrorWindow ( huint8  id,
huint32  eWindow,
huint32  timeout = 100 
)

写从站字典0x6065-0

参数

◆ harmonic_setGearRatioMotorRevolutions()

EXTERNFUNC int harmonic_setGearRatioMotorRevolutions ( huint8  id,
huint32  rev,
huint32  timeout = 100 
)

写从站字典0x6091-1

参数

◆ harmonic_setGearRatioShaftRevolutions()

EXTERNFUNC int harmonic_setGearRatioShaftRevolutions ( huint8  id,
huint32  rev,
huint32  timeout = 100 
)

写从站字典0x6091-2

参数

◆ harmonic_setGuardTime()

EXTERNFUNC int harmonic_setGuardTime ( huint8  id,
huint16  time,
huint32  timeout = 100 
)

写从站字典0x100c-0

参数
id从节点id
time写入值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setHaltOption()

EXTERNFUNC int harmonic_setHaltOption ( huint8  id,
harmonic_HaltOption  option,
huint32  timeout = 100 
)

写从站字典0x605D-0

参数

◆ harmonic_setHearbeatConsumerTime()

EXTERNFUNC int harmonic_setHearbeatConsumerTime ( huint8  id,
huint8  subIndex,
huint32  time,
huint32  timeout = 100 
)

写从站字典0x1016-subIndex

参数
id从节点id
subIndex子索引
time写入值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setHomeOffset()

EXTERNFUNC int harmonic_setHomeOffset ( huint8  id,
hint32  offSet,
huint32  timeout = 100 
)

写从站字典0x607C-0

参数

◆ harmonic_setI2tOverLoadLimit()

EXTERNFUNC int harmonic_setI2tOverLoadLimit ( huint8  id,
huint16  value,
huint32  timeout = 100 
)

◆ harmonic_setInterpolationDataRecord()

EXTERNFUNC int harmonic_setInterpolationDataRecord ( huint8  id,
hint32  value,
huint32  timeout = 100 
)

写从站字典0x60C1-1

参数

◆ harmonic_setInterpolationTimePeriodValue()

EXTERNFUNC int harmonic_setInterpolationTimePeriodValue ( huint8  id,
huint8  value,
huint32  timeout = 100 
)

写从站字典0x60C2-1

参数

◆ harmonic_setLifeTimeFactor()

EXTERNFUNC int harmonic_setLifeTimeFactor ( huint8  id,
huint8  factor,
huint32  timeout = 100 
)

写从站字典0x100d-0

参数
id从节点id
factor写入值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setLocalClientSDOCobIdClientToServer()

EXTERNFUNC int harmonic_setLocalClientSDOCobIdClientToServer ( huint16  sdoClientIndex,
huint32  cobId 
)

写本地字典[1280+sdoClientIndex]-1

参数
sdoClientIndexsdo索引，为0时主索引为1280，为1时主索引为1281，以此类推
cobId写入值
返回
成功返回0，失败返回其他

◆ harmonic_setLocalClientSDOCobIdServerToClient()

EXTERNFUNC int harmonic_setLocalClientSDOCobIdServerToClient ( huint16  sdoClientIndex,
huint32  cobId 
)

写本地字典[1280+sdoClientIndex]-2

参数
sdoClientIndexsdo索引，为0时主索引为1280，为1时主索引为1281，以此类推
cobId写入值
返回
成功返回0，失败返回其他

◆ harmonic_setLocalClientSDONodeIdOfSDOServer()

EXTERNFUNC int harmonic_setLocalClientSDONodeIdOfSDOServer ( huint16  sdoClientIndex,
huint8  nodeId 
)

写本地字典[1280+sdoClientIndex]-3

参数
sdoClientIndexsdo索引，为0时主索引为1280，为1时主索引为1281，以此类推
nodeId写入值
返回
成功返回0，失败返回其他

◆ harmonic_setLocalClientSDONumberOfEntries()

EXTERNFUNC int harmonic_setLocalClientSDONumberOfEntries ( huint16  sdoClientIndex,
huint8  number 
)

写本地字典[1280+sdoClientIndex]-0

参数
sdoClientIndexsdo索引，为0时主索引为1280，为1时主索引为1281，以此类推
number写入值
返回
成功返回0，失败返回其他

◆ harmonic_setLocalControlword()

EXTERNFUNC int harmonic_setLocalControlword ( huint16  word)

写本地字典0x6040-0

参数

◆ harmonic_setLocalInterpolationDataRecord()

EXTERNFUNC int harmonic_setLocalInterpolationDataRecord ( hint32  value)

写本地字典

参数

◆ harmonic_setLocalInterpolationTimePeriodValue()

EXTERNFUNC int harmonic_setLocalInterpolationTimePeriodValue ( huint8  value)

写本地字典

参数

◆ harmonic_setLocalMutiMotorSetPos()

EXTERNFUNC int harmonic_setLocalMutiMotorSetPos ( huint16  index,
hint32  pos 
)

写本地字典

参数

◆ harmonic_setLocalMutiMotorSetTorque()

EXTERNFUNC int harmonic_setLocalMutiMotorSetTorque ( huint16  index,
hint16  torque 
)

写本地字典

参数

◆ harmonic_setLocalMutiMotorSetVel()

EXTERNFUNC int harmonic_setLocalMutiMotorSetVel ( huint16  index,
hint32  vel 
)

写本地字典

参数

◆ harmonic_setLocalNodeState()

EXTERNFUNC int harmonic_setLocalNodeState ( harmonic_NodeState  state)

设置本地节点状态

参数
state节点状态
返回
成功返回0，失败返回其他

◆ harmonic_setLocalRPDOCobId()

EXTERNFUNC int harmonic_setLocalRPDOCobId ( huint16  pdoIndex,
huint32  cobId 
)

写本地字典[1400+pdoIndex]-1

参数
pdoIndexpdo索引，为0时主索引为1400，为1时主索引为1401，以此类推
cobId写入值
返回
成功返回0，失败返回其他

◆ harmonic_setLocalRPDOEventTimer()

EXTERNFUNC int harmonic_setLocalRPDOEventTimer ( huint16  pdoIndex,
huint16  timer 
)

写本地字典[1400+pdoIndex]-5

参数
pdoIndexpdo索引，为0时主索引为1400，为1时主索引为1401，以此类推
timer写入值
返回
成功返回0，失败返回其他

◆ harmonic_setLocalRPDOInhibitTime()

EXTERNFUNC int harmonic_setLocalRPDOInhibitTime ( huint16  pdoIndex,
huint16  time 
)

写本地字典[1400+pdoIndex]-3

参数
pdoIndexpdo索引，为0时主索引为1400，为1时主索引为1401，以此类推
time写入的inhibitTime
返回
成功返回0，失败返回其他

◆ harmonic_setLocalRPDOMapped()

EXTERNFUNC int harmonic_setLocalRPDOMapped ( huint16  pdoIndex,
huint8  mapIndex,
huint32  value 
)

写本地字典1600-1

参数

◆ harmonic_setLocalRPDOMaxMappedCount()

EXTERNFUNC int harmonic_setLocalRPDOMaxMappedCount ( huint16  pdoIndex,
huint8  count 
)

写本地字典[1600+pdoIndex]-0

参数

◆ harmonic_setLocalRPDOMaxParasCount()

EXTERNFUNC int harmonic_setLocalRPDOMaxParasCount ( huint16  pdoIndex,
huint8  count 
)

写本地字典[1400+pdoIndex]-0

参数
pdoIndexpdo索引，为0时主索引为1400，为1时主索引为1401，以此类推
count写入值
返回
成功返回0，失败返回其他

◆ harmonic_setLocalRPDOSYNCStartValue()

EXTERNFUNC int harmonic_setLocalRPDOSYNCStartValue ( huint16  pdoIndex,
huint8  value 
)

写本地字典[1400+pdoIndex]-6

参数
pdoIndexpdo索引，为0时主索引为1400，为1时主索引为1401，以此类推
value写入值
返回
成功返回0，失败返回其他

◆ harmonic_setLocalRPDOTransmitType()

EXTERNFUNC int harmonic_setLocalRPDOTransmitType ( huint16  pdoIndex,
huint8  type 
)

写本地字典[1400+pdoIndex]-2

参数
pdoIndexpdo索引，为0时主索引为1400，为1时主索引为1401，以此类推
type写入值
返回
成功返回0，失败返回其他

◆ harmonic_setLocalServerSDOCobIdClientToServer()

EXTERNFUNC int harmonic_setLocalServerSDOCobIdClientToServer ( huint16  sdoServerIndex,
huint32  cobId 
)

写本地字典[1200+sdoServerIndex]-1

参数
sdoServerIndexsdo索引，为0时主索引为1200，为1时主索引为1201，以此类推
cobId写入值
返回
成功返回0，失败返回其他

◆ harmonic_setLocalServerSDOCobIdServerToClient()

EXTERNFUNC int harmonic_setLocalServerSDOCobIdServerToClient ( huint16  sdoServerIndex,
huint32  cobId 
)

写本地字典[1200+sdoServerIndex]-2

参数
sdoServerIndexsdo索引，为0时主索引为1200，为1时主索引为1201，以此类推
cobId写入值
返回
成功返回0，失败返回其他

◆ harmonic_setLocalServerSDONodeIdOfClient()

EXTERNFUNC int harmonic_setLocalServerSDONodeIdOfClient ( huint16  sdoServerIndex,
huint8  nodeId 
)

写本地字典[1200+sdoServerIndex]-3

参数
sdoServerIndexsdo索引，为0时主索引为1200，为1时主索引为1201，以此类推
nodeId写入值
返回
成功返回0，失败返回其他

◆ harmonic_setLocalServerSDONumberOfEntries()

EXTERNFUNC int harmonic_setLocalServerSDONumberOfEntries ( huint16  sdoServerIndex,
huint8  num 
)

写本地字典[1200+sdoServerIndex]-0

参数
sdoServerIndexsdo索引，为0时主索引为1200，为1时主索引为1201，以此类推
num写入值
返回
成功返回0，失败返回其他

◆ harmonic_setLocalSyncCOBID()

EXTERNFUNC int harmonic_setLocalSyncCOBID ( huint32  cobId)

写本地字典，1005-0

参数
cobId写入值
返回
成功返回0，失败返回其他

◆ harmonic_setLocalSyncCycle()

EXTERNFUNC int harmonic_setLocalSyncCycle ( huint32  cycle)

写本地字典1006-0

参数
cycle写入值
返回
成功返回0，失败返回其他

◆ harmonic_setLocalSyncWindow()

EXTERNFUNC int harmonic_setLocalSyncWindow ( huint32  sWindow)

写本地字典1007-0

参数
sWindow写入值
返回
成功返回0，失败返回其他

◆ harmonic_setLocalTargetPos()

EXTERNFUNC int harmonic_setLocalTargetPos ( hint32  pos)

写本地字典

参数

◆ harmonic_setLocalTargetTorque()

EXTERNFUNC int harmonic_setLocalTargetTorque ( hint16  torque)

写本地字典

参数

◆ harmonic_setLocalTargetVelocity()

EXTERNFUNC int harmonic_setLocalTargetVelocity ( hint32  vel)

写本地字典

参数

◆ harmonic_setLocalTPDOCobId()

EXTERNFUNC int harmonic_setLocalTPDOCobId ( huint16  pdoIndex,
huint32  cobId 
)

写本地字典1800-1

参数

◆ harmonic_setLocalTPDOEventTimer()

EXTERNFUNC int harmonic_setLocalTPDOEventTimer ( huint16  pdoIndex,
huint16  timer 
)

写本地字典1800-5

参数

◆ harmonic_setLocalTPDOInhibitTime()

EXTERNFUNC int harmonic_setLocalTPDOInhibitTime ( huint16  pdoIndex,
huint16  time 
)

写本地字典1800-3

参数

◆ harmonic_setLocalTPDOMapped()

EXTERNFUNC int harmonic_setLocalTPDOMapped ( huint16  pdoIndex,
huint8  mapIndex,
huint32  value 
)

写本地字典1A00-1

参数

◆ harmonic_setLocalTPDOMaxMappedCount()

EXTERNFUNC int harmonic_setLocalTPDOMaxMappedCount ( huint16  pdoIndex,
huint8  count 
)

写本地字典1A00-0

参数

◆ harmonic_setLocalTPDOMaxParasCount()

EXTERNFUNC int harmonic_setLocalTPDOMaxParasCount ( huint16  pdoIndex,
huint8  count 
)

写本地字典1800-0

参数

◆ harmonic_setLocalTPDOSYNCStartValue()

EXTERNFUNC int harmonic_setLocalTPDOSYNCStartValue ( huint16  pdoIndex,
huint8  value 
)

写本地字典1800-6

参数

◆ harmonic_setLocalTPDOTransmitType()

EXTERNFUNC int harmonic_setLocalTPDOTransmitType ( huint16  pdoIndex,
huint8  type 
)

写本地字典1800-2

参数

◆ harmonic_setMaxProfileVelocity()

EXTERNFUNC int harmonic_setMaxProfileVelocity ( huint8  id,
huint32  vel,
huint32  timeout = 100 
)

写从站字典0x607F-0

参数

◆ harmonic_setMotorRatedTorque()

EXTERNFUNC int harmonic_setMotorRatedTorque ( huint8  id,
huint32  torque,
huint32  timeout = 100 
)

写从站字典0x6076-0

参数

◆ harmonic_setNodeState()

EXTERNFUNC int harmonic_setNodeState ( huint8  id,
harmonic_NMTState  state 
)

设置从节点状态

参数
id从节点id
state节点状态
返回
成功返回0，失败返回其他

◆ harmonic_setOperateMode()

EXTERNFUNC int harmonic_setOperateMode ( huint8  id,
harmonic_OperateMode  mode,
huint32  timeout = 100 
)

写从站字典0x6060-0

参数

◆ harmonic_setPositionWindow()

EXTERNFUNC int harmonic_setPositionWindow ( huint8  id,
huint32  pWindow,
huint32  timeout = 100 
)

写从站字典0x6067-0

参数

◆ harmonic_setPositionWindowTime()

EXTERNFUNC int harmonic_setPositionWindowTime ( huint8  id,
huint16  pWindowTime,
huint32  timeout = 100 
)

写从站字典0x6068-0

参数

◆ harmonic_setProducerHeartbeatTime()

EXTERNFUNC int harmonic_setProducerHeartbeatTime ( huint8  id,
huint16  time,
huint32  timeout = 100 
)

写从站字典0x1017-0

参数
id从节点id
time写入值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setProfileAcceleration()

EXTERNFUNC int harmonic_setProfileAcceleration ( huint8  id,
huint32  acc,
huint32  timeout = 100 
)

写从站字典0x6083-0

参数

◆ harmonic_setProfileDeceleration()

EXTERNFUNC int harmonic_setProfileDeceleration ( huint8  id,
huint32  dec,
huint32  timeout = 100 
)

写从站字典0x6084-0

参数

◆ harmonic_setProfileVelocity()

EXTERNFUNC int harmonic_setProfileVelocity ( huint8  id,
huint32  vel,
huint32  timeout = 100 
)

写从站字典0x6081-0

参数

◆ harmonic_setQuickStopDeceleration()

EXTERNFUNC int harmonic_setQuickStopDeceleration ( huint8  id,
huint32  dec,
huint32  timeout = 100 
)

写从站字典0x6085-0

参数

◆ harmonic_setQuickStopOption()

EXTERNFUNC int harmonic_setQuickStopOption ( huint8  id,
harmonic_QuickStopOption  option,
huint32  timeout = 100 
)

写从站字典0x605A-0

参数

◆ harmonic_setReceiveDataCallBack()

EXTERNFUNC int harmonic_setReceiveDataCallBack ( harmonic_ReceiveDataCallBack  callFunc)

设置接收数据回调函数

参数
callFunc
返回
成功返回0，失败返回其他

◆ harmonic_setRestoreDefaultParameters()

EXTERNFUNC int harmonic_setRestoreDefaultParameters ( huint8  id,
huint32  value,
huint32  timeout = 100 
)

写从站字典0x1011-0x01

参数
id从节点id
subIndex子索引
value写入值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setRPDOCobId()

EXTERNFUNC int harmonic_setRPDOCobId ( huint8  id,
huint16  pdoIndex,
huint32  cobId,
huint32  timeout = 100 
)

写从站字典0x1400+pdoIndex-0x01

参数
id从节点id
pdoIndexpdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setRPDOEventTimer()

EXTERNFUNC int harmonic_setRPDOEventTimer ( huint8  id,
huint16  pdoIndex,
huint16  timer,
huint32  timeout = 100 
)

写从站字典0x1400+pdoIndex-0x05

参数
id从节点id
pdoIndexpdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setRPDOInhibitTime()

EXTERNFUNC int harmonic_setRPDOInhibitTime ( huint8  id,
huint16  pdoIndex,
huint16  time,
huint32  timeout = 100 
)

写从站字典0x1400+pdoIndex-0x03

参数
id从节点id
pdoIndexpdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setRPDOMapped()

EXTERNFUNC int harmonic_setRPDOMapped ( huint8  id,
huint16  pdoIndex,
huint8  mapIndex,
huint32  value,
huint32  timeout = 100 
)

写从站字典0x1600+pdoIndex-0x01+mapIndex

参数
id从节点id
pdoIndexpdo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0x01, 设为1代表子索引0x02,以此类推
value写入值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setRPDOMaxMappedCount()

EXTERNFUNC int harmonic_setRPDOMaxMappedCount ( huint8  id,
huint16  pdoIndex,
huint8  count,
huint32  timeout = 100 
)

写从站字典0x1600+pdoIndex-0x00

参数
id从节点id
pdoIndexpdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setRPDOMaxParasCount()

EXTERNFUNC int harmonic_setRPDOMaxParasCount ( huint8  id,
huint16  pdoIndex,
huint8  count,
huint32  timeout = 100 
)

写从站字典0x1400+pdoIndex-0x00

参数
id从节点id
pdoIndexpdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setRPDOSYNCStartValue()

EXTERNFUNC int harmonic_setRPDOSYNCStartValue ( huint8  id,
huint16  pdoIndex,
huint8  value,
huint32  timeout = 100 
)

写从站字典

参数

◆ harmonic_setRPDOTransmitType()

EXTERNFUNC int harmonic_setRPDOTransmitType ( huint8  id,
huint16  pdoIndex,
huint8  type,
huint32  timeout = 100 
)

写从站字典0x1400+pdoIndex-0x02

参数
id从节点id
pdoIndexpdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setSendDataCallBack()

EXTERNFUNC int harmonic_setSendDataCallBack ( harmonic_SendDataCallBack  callFunc)

设置发送数据回调函数

参数
callFunc回调函数.
返回
成功返回0，失败返回其他

◆ harmonic_setServerSDOCobIdClientToServer()

EXTERNFUNC int harmonic_setServerSDOCobIdClientToServer ( huint8  id,
huint16  sdoServerIndex,
huint32  cobId,
huint32  timeout = 100 
)

写从站字典0x1200+sdoServerIndex-0x01

参数
sdoServerIndexsdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setServerSDOCobIdServerToClient()

EXTERNFUNC int harmonic_setServerSDOCobIdServerToClient ( huint8  id,
huint16  sdoServerIndex,
huint32  cobId,
huint32  timeout = 100 
)

写从站字典0x1200+sdoServerIndex-0x02

参数
sdoServerIndexsdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setServerSDONodeIdOfClient()

EXTERNFUNC int harmonic_setServerSDONodeIdOfClient ( huint8  id,
huint16  sdoServerIndex,
huint8  nodeId,
huint32  timeout = 100 
)

写从站字典0x1200+sdoServerIndex-0x03

参数
sdoServerIndexsdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setServerSDONumberOfEntries()

EXTERNFUNC int harmonic_setServerSDONumberOfEntries ( huint8  id,
huint16  sdoServerIndex,
huint8  num,
huint32  timeout = 100 
)

写从站字典0x1200+sdoServerIndex-0x00

参数
sdoServerIndexsdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setServoBlockTime()

EXTERNFUNC int harmonic_setServoBlockTime ( huint8  id,
huint16  time,
huint32  timeout = 100 
)

◆ harmonic_setServoBlockTorque()

EXTERNFUNC int harmonic_setServoBlockTorque ( huint8  id,
huint16  torque,
huint32  timeout = 100 
)

◆ harmonic_setServoBlockVelocity()

EXTERNFUNC int harmonic_setServoBlockVelocity ( huint8  id,
huint32  velocity,
huint32  timeout = 100 
)

◆ harmonic_setServoBrakeControl()

EXTERNFUNC int harmonic_setServoBrakeControl ( huint8  id,
huint8  status,
huint32  timeout = 100 
)

◆ harmonic_setServoBrakeDelayTime()

EXTERNFUNC int harmonic_setServoBrakeDelayTime ( huint8  id,
huint8  time,
huint32  timeout = 100 
)

◆ harmonic_setServoCanBaudrate()

EXTERNFUNC int harmonic_setServoCanBaudrate ( huint8  id,
huint16  baudrate,
huint32  timeout = 100 
)

◆ harmonic_setServoCurrentLoopKI()

EXTERNFUNC int harmonic_setServoCurrentLoopKI ( huint8  id,
huint16  ki,
huint32  timeout = 100 
)

◆ harmonic_setServoCurrentLoopKP()

EXTERNFUNC int harmonic_setServoCurrentLoopKP ( huint8  id,
huint16  kp,
huint32  timeout = 100 
)

◆ harmonic_setServoID()

EXTERNFUNC int harmonic_setServoID ( huint8  id,
huint8  servoID,
huint32  timeout = 100 
)

◆ harmonic_setServoOverSpeedThreshold()

EXTERNFUNC int harmonic_setServoOverSpeedThreshold ( huint8  id,
huint32  thre,
huint32  timeout = 100 
)

◆ harmonic_setServoOverSpeedTime()

EXTERNFUNC int harmonic_setServoOverSpeedTime ( huint8  id,
huint16  time,
huint32  timeout = 100 
)

◆ harmonic_setServoParametersNumber()

EXTERNFUNC int harmonic_setServoParametersNumber ( huint8  id,
huint8  num,
huint32  timeout = 100 
)

◆ harmonic_setServoPositionLoopKI()

EXTERNFUNC int harmonic_setServoPositionLoopKI ( huint8  id,
huint16  ki,
huint32  timeout = 100 
)

◆ harmonic_setServoPositionLoopKP()

EXTERNFUNC int harmonic_setServoPositionLoopKP ( huint8  id,
huint16  kp,
huint32  timeout = 100 
)

◆ harmonic_setServoSoftwareLimitState()

EXTERNFUNC int harmonic_setServoSoftwareLimitState ( huint8  id,
huint32  state,
huint32  timeout = 100 
)

◆ harmonic_setServoTemperatureLimit()

EXTERNFUNC int harmonic_setServoTemperatureLimit ( huint8  id,
huint8  tem,
huint32  timeout = 100 
)

◆ harmonic_setServoTemperatureLimitTime()

EXTERNFUNC int harmonic_setServoTemperatureLimitTime ( huint8  id,
huint16  time,
huint32  timeout = 100 
)

◆ harmonic_setServoTorqueWindow()

EXTERNFUNC int harmonic_setServoTorqueWindow ( huint8  id,
huint16  window,
huint32  timeout = 100 
)

◆ harmonic_setServoTorqueWindowTime()

EXTERNFUNC int harmonic_setServoTorqueWindowTime ( huint8  id,
huint16  window,
huint32  timeout = 100 
)

◆ harmonic_setServoVelocityFlowingErrorTime()

EXTERNFUNC int harmonic_setServoVelocityFlowingErrorTime ( huint8  id,
huint16  time,
huint32  timeout = 100 
)

◆ harmonic_setServoVelocityFlowingErrorWindows()

EXTERNFUNC int harmonic_setServoVelocityFlowingErrorWindows ( huint8  id,
huint32  error,
huint32  timeout = 100 
)

◆ harmonic_setServoVelocityIntLimit()

EXTERNFUNC int harmonic_setServoVelocityIntLimit ( huint8  id,
huint16  limit,
huint32  timeout = 100 
)

◆ harmonic_setServoVelocityLoopKI()

EXTERNFUNC int harmonic_setServoVelocityLoopKI ( huint8  id,
huint16  ki,
huint32  timeout = 100 
)

◆ harmonic_setServoVelocityLoopKP()

EXTERNFUNC int harmonic_setServoVelocityLoopKP ( huint8  id,
huint16  kp,
huint32  timeout = 100 
)

◆ harmonic_setShutdownOptionCode()

EXTERNFUNC int harmonic_setShutdownOptionCode ( huint8  id,
harmonic_ShutdownOption  code,
huint32  timeout = 100 
)

写从站字典0x605B-0

参数

◆ harmonic_setSoftwareMaxmumPosition()

EXTERNFUNC int harmonic_setSoftwareMaxmumPosition ( huint8  id,
hint32  pos,
huint32  timeout = 100 
)

写从站字典0x607D-2

参数

◆ harmonic_setSoftwareMinimumPosition()

EXTERNFUNC int harmonic_setSoftwareMinimumPosition ( huint8  id,
hint32  pos,
huint32  timeout = 100 
)

写从站字典0x607D-1

参数

◆ harmonic_setStoreParameters()

EXTERNFUNC int harmonic_setStoreParameters ( huint8  id,
huint32  value,
huint32  timeout = 100 
)

写从站字典0x1010-0x01

参数
id从节点id
value写入值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setSyncCobid()

EXTERNFUNC int harmonic_setSyncCobid ( huint8  id,
huint32  cobid,
huint32  timeout = 100 
)

写从站字典0x1005-0

参数
id从节点id
cobid写入值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setSyncCounter()

EXTERNFUNC int harmonic_setSyncCounter ( huint8  id,
huint8  counter,
huint32  timeout = 100 
)

写从站字典0x1019-0

参数
id从节点id
counter写入值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setSyncCycle()

EXTERNFUNC int harmonic_setSyncCycle ( huint8  id,
huint32  syncCycle,
huint32  timeout = 100 
)

写从站字典0x1006-0

参数
id从节点id
syncCycle写入值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setSyncWindow()

EXTERNFUNC int harmonic_setSyncWindow ( huint8  id,
huint32  syncWindow,
huint32  timeout = 100 
)

写从站字典0x1007-0

参数
id从节点id
syncWindow写入值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setTargetPos()

EXTERNFUNC int harmonic_setTargetPos ( huint8  id,
hint32  pos,
huint32  timeout = 100 
)

写从站字典0x607A-0

参数

◆ harmonic_setTargetTorque()

EXTERNFUNC int harmonic_setTargetTorque ( huint8  id,
hint16  torque,
huint32  timeout = 100 
)

写从站字典0x6071-0

参数

◆ harmonic_setTargetVelocity()

EXTERNFUNC int harmonic_setTargetVelocity ( huint8  id,
hint32  targetVel,
huint32  timeout = 100 
)

写从站字典0x60FF-0

参数
id从节点id
targetVel写入值,目标速度
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setTorqueFactor()

EXTERNFUNC int harmonic_setTorqueFactor ( huint8  id,
huint16  factor,
huint32  timeout = 100 
)

◆ harmonic_setTorqueLimit()

EXTERNFUNC int harmonic_setTorqueLimit ( huint8  id,
hint16  torque,
huint32  timeout = 100 
)

写从站字典0x6072-0

参数

◆ harmonic_setTorqueSlope()

EXTERNFUNC int harmonic_setTorqueSlope ( huint8  id,
huint32  slope,
huint32  timeout = 100 
)

写从站字典0x6087-0

参数

◆ harmonic_setTPDOCobId()

EXTERNFUNC int harmonic_setTPDOCobId ( huint8  id,
huint16  pdoIndex,
huint32  cobId,
huint32  timeout = 100 
)

写从站字典0x1800+pdoIndex-0x01

参数
id从节点id
pdoIndexpdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setTPDOEventTimer()

EXTERNFUNC int harmonic_setTPDOEventTimer ( huint8  id,
huint16  pdoIndex,
huint16  timer,
huint32  timeout = 100 
)

写从站字典0x1800+pdoIndex-0x05

参数
id从节点id
pdoIndexpdo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

◆ harmonic_setTPDOInhibitTime()

EXTERNFUNC int harmonic_setTPDOInhibitTime ( huint8  id,
huint16  pdoIndex,
huint16  time,
huint32  timeout = 100 
)

写从站字典0x1800+pdoIndex-0x03

参数
id从节点id
pdoIndexpdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setTPDOMapped()

EXTERNFUNC int harmonic_setTPDOMapped ( huint8  id,
huint16  pdoIndex,
huint8  mapIndex,
huint32  value,
huint32  timeout = 100 
)

写从站字典0x1a00+pdoIndex-0x01+mapIndex

参数
id从节点id
pdoIndexpdo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0x01,设为1代表从站字典子索引0x02,以此类推
value写入值
timeout等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setTPDOMaxMappedCount()

EXTERNFUNC int harmonic_setTPDOMaxMappedCount ( huint8  id,
huint16  pdoIndex,
huint8  count,
huint32  timeout = 100 
)

写从站字典0x1a00+pdoIndex-0x00

参数
id从节点id
pdoIndexpdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setTPDOMaxParasCount()

EXTERNFUNC int harmonic_setTPDOMaxParasCount ( huint8  id,
huint16  pdoIndex,
huint8  count,
huint32  timeout = 100 
)

写从站字典0x1800+pdoIndex-0x00

参数
id从节点id
pdoIndexpdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setTPDOSYNCStartValue()

EXTERNFUNC int harmonic_setTPDOSYNCStartValue ( huint8  id,
huint16  pdoIndex,
huint8  value,
huint32  timeout = 100 
)

写从站字典0x1800+pdoIndex-0x06

参数
id从节点id
pdoIndexpdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setTPDOTransmitType()

EXTERNFUNC int harmonic_setTPDOTransmitType ( huint8  id,
huint16  pdoIndex,
huint8  type,
huint32  timeout = 100 
)

写从站字典0x1800+pdoIndex-0x02

参数
id从节点id
pdoIndexpdo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等待确认时间，单位ms
返回
成功返回0，失败返回其他

◆ harmonic_setVelocityThreshold()

EXTERNFUNC int harmonic_setVelocityThreshold ( huint8  id,
huint16  thres,
huint32  timeout = 100 
)

写从站字典0x606F-0

参数

◆ harmonic_setVelocityThresholdTime()

EXTERNFUNC int harmonic_setVelocityThresholdTime ( huint8  id,
huint16  tTime,
huint32  timeout = 100 
)

写从站字典0x6070-0

参数

◆ harmonic_setVelocityWindow()

EXTERNFUNC int harmonic_setVelocityWindow ( huint8  id,
huint16  vWindow,
huint32  timeout = 100 
)

写从站字典0x606D-0

参数

◆ harmonic_setVelocityWindowTime()

EXTERNFUNC int harmonic_setVelocityWindowTime ( huint8  id,
huint16  wTime,
huint32  timeout = 100 
)

写从站字典0x606E-0

参数

◆ harmonic_stopControl()

EXTERNFUNC int harmonic_stopControl ( huint8  id)

停止控制

参数
id从节点id
返回
成功返回0，失败返回其他

◆ harmonic_writeCanData()

EXTERNFUNC int harmonic_writeCanData ( huint32  cobId,
const huint8 *const  data,
huint8  len 
)

发送原始can数据

参数
cobIdcan帧id
data发送的can数据
len数据长度
返回
成功返回0，失败返回其他

◆ harmonic_writeDirectory()

EXTERNFUNC int harmonic_writeDirectory ( huint8  id,
huint16  index,
huint8  subIndex,
harmonic_DataType  dataType,
void *  writeData,
huint32  timeout = 100 
)

写从节点字典

参数
id从节点id
index主索引
subIndex子索引
dataType数据类型
writeData写入的数据
返回
成功返回0，失败返回其他

◆ harmonic_writeLocalDirectory()

EXTERNFUNC int harmonic_writeLocalDirectory ( huint16  index,
huint8  subIndex,
void *  writeData,
huint32  sendLen 
)

写本地字典

参数
index主索引
subIndex子索引
writeData写入的数据
sendLen写入字节长度
返回
成功返回0，失败返回其他
制作者   doxygen 1.8.17