eyou_harmonic_sdk  1.0
canable library
eu_harmonic.h
浏览该文件的文档.
1 
11 #ifndef HARMONIC_EU_HARMONIC_H
12 #define HARMONIC_EU_HARMONIC_H
13 
14 #ifdef __cplusplus
15 extern "C"
16 {
17 #endif
18 
19 #ifndef EXTERNFUNC
20 #ifdef _WIN32
21 #define EXTERNFUNC __declspec(dllexport)
22 #else
23 #define EXTERNFUNC
24 #endif
25 #endif
26 
27 #ifdef _WIN32
28  typedef char hint8;
29  typedef short hint16;
30  typedef long hint24;
31  typedef long hint32;
32  typedef long long hint40;
33  typedef long long hint48;
34  typedef long long hint56;
35  typedef long long hint64;
36  typedef unsigned char huint8;
37  typedef unsigned short huint16;
38  typedef unsigned long huint24;
39  typedef unsigned long huint32;
40  typedef unsigned long long huint40;
41  typedef unsigned long long huint48;
42  typedef unsigned long long huint56;
43  typedef unsigned long long huint64;
44  typedef float hreal32;
45  typedef double hreal64;
46 #else
47 typedef signed char hint8;
48 typedef signed short int hint16;
49 typedef signed int hint24;
50 typedef signed int hint32;
51 typedef signed long int hint40;
52 typedef signed long int hint48;
53 typedef signed long int hint56;
54 typedef signed long int hint64;
55 typedef unsigned int huint8 __attribute__((__mode__(__QI__)));
56 typedef unsigned int huint16 __attribute__((__mode__(__HI__)));
57 typedef unsigned int huint24 __attribute__((__mode__(__SI__)));
58 typedef unsigned int huint32 __attribute__((__mode__(__SI__)));
59 typedef unsigned int huint40 __attribute__((__mode__(__DI__)));
60 typedef unsigned int huint48 __attribute__((__mode__(__DI__)));
61 typedef unsigned int huint56 __attribute__((__mode__(__DI__)));
62 typedef unsigned int huint64 __attribute__((__mode__(__DI__)));
63 typedef float hreal32;
64 typedef double hreal64;
65 #endif
66 
67 #define HARMONIC_SUCCESS (0)
68 #define HARMONIC_FAILED_DEVICEDISABLED (1)
69 #define HARMONIC_FAILED_OPENFAILED (2)
70 #define HARMONIC_FAILED_CANSEND (3)
71 #define HARMONIC_FAILED_CANRECEIVE (4)
72 #define HARMONIC_FAILED_ReadLocalDict (5)
73 #define HARMONIC_FAILED_WriteLocalDict (6)
74 #define HARMONIC_FAILED_NoRespondR (7)
75 #define HARMONIC_FAILED_NoRespondW (8)
76 #define HARMONIC_FAILED_UNKNOWN (100)
83  {
87  };
88 
94  {
102  harmonic_Baudrate_1000 = 1000
103  };
104 
106  {
115  };
121  {
127  };
128 
134  {
143  };
144 
150  {
151  // harmonic_DataType_boolean = 0x01, /**< 布尔类型 */
159  };
160 
166  {
176  };
177 
183  {
186  };
187 
193  {
196  };
197 
203  {
209  };
210 
216  {
222  };
223 
229  {
244  };
245 
250  typedef struct _harmonic_CanMsg
251  {
252  huint32 canId;
253  huint8 rtr;
254  huint8 extended;
255  huint8 len;
256  huint8 data[8];
258 
263  typedef void (*harmonic_SendDataCallBack)(huint8 devIndex, const harmonic_CanMsg *msg);
264 
269  typedef void (*harmonic_ReceiveDataCallBack)(huint8 devIndex, const harmonic_CanMsg *msg);
270 
278 
286 
297 
305  EXTERNFUNC int harmonic_freeDLL(huint8 devIndex);
306 
316  EXTERNFUNC int harmonic_getNodeState(huint8 devIndex, huint8 id, harmonic_NodeState *state, huint32 timeout = 100);
317 
325 
334  EXTERNFUNC int harmonic_setNodeState(huint8 devIndex, huint8 id, harmonic_NMTState state);
335 
345  EXTERNFUNC int harmonic_readLocalDirectory(huint16 index, huint8 subIndex, harmonic_DataType dataType, void *readData);
346 
359  EXTERNFUNC int harmonic_readDirectory(huint8 devIndex, huint8 id, huint16 index, huint8 subIndex, harmonic_DataType dataType, void *readData, huint32 timeout = 100);
360 
371  EXTERNFUNC int harmonic_writeLocalDirectory(huint16 index, huint8 subIndex, harmonic_DataType dataType, void *writeData);
372 
385  EXTERNFUNC int harmonic_writeDirectory(huint8 devIndex, huint8 id, huint16 index, huint8 subIndex, harmonic_DataType dataType, void *writeData, huint32 timeout = 100);
386 
396  EXTERNFUNC int harmonic_writeCanData(huint8 devIndex, huint16 cobId, const huint8 *const data, huint8 len);
397 
405  EXTERNFUNC int harmonic_writeCanMsg(huint8 devIndex, const harmonic_CanMsg *canMsg);
406 
421  EXTERNFUNC int harmonic_profilePositionControl(huint8 devIndex, huint8 id, hint32 targetPos, huint32 vel, huint32 acc, huint32 dec, bool isRelative = false, bool isImmediately = true, bool isUpdate = false);
422 
434  EXTERNFUNC int harmonic_profileVelocityControl(huint8 devIndex, huint8 id, hint32 targetVel, huint32 acc, huint32 dec, bool isUpdate = false);
435 
446  EXTERNFUNC int harmonic_profileTorqueControl(huint8 devIndex, huint8 id, huint16 targetTorque, hint16 slope, bool isUpdate = false);
447 
455  EXTERNFUNC int harmonic_stopControl(huint8 devIndex, huint8 id);
456 
464 
472 
480 
488 
496 
504 
512  EXTERNFUNC int harmonic_getLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 *num);
513 
521  EXTERNFUNC int harmonic_setLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 num);
522 
530  EXTERNFUNC int harmonic_getLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 *cobId);
531 
539  EXTERNFUNC int harmonic_setLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 cobId);
540 
548  EXTERNFUNC int harmonic_getLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 *cobId);
549 
557  EXTERNFUNC int harmonic_setLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 cobId);
558 
566  EXTERNFUNC int harmonic_getLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 *nodeId);
567 
575  EXTERNFUNC int harmonic_setLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 nodeId);
576 
584  EXTERNFUNC int harmonic_getLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 *number);
585 
593  EXTERNFUNC int harmonic_setLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 number);
594 
602  EXTERNFUNC int harmonic_getLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 *cobId);
603 
611  EXTERNFUNC int harmonic_setLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 cobId);
612 
620  EXTERNFUNC int harmonic_getLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 *cobId);
621 
629  EXTERNFUNC int harmonic_setLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 cobId);
630 
638  EXTERNFUNC int harmonic_getLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 *nodeId);
639 
647  EXTERNFUNC int harmonic_setLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 nodeId);
648 
656  EXTERNFUNC int harmonic_getLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 *count);
657 
665  EXTERNFUNC int harmonic_setLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 count);
666 
674  EXTERNFUNC int harmonic_getLocalRPDOCobId(huint16 pdoIndex, huint32 *cobId);
675 
683  EXTERNFUNC int harmonic_setLocalRPDOCobId(huint16 pdoIndex, huint32 cobId);
684 
692  EXTERNFUNC int harmonic_getLocalRPDOTransmitType(huint16 pdoIndex, huint8 *type);
693 
701  EXTERNFUNC int harmonic_setLocalRPDOTransmitType(huint16 pdoIndex, huint8 type);
702 
710  EXTERNFUNC int harmonic_getLocalRPDOInhibitTime(huint16 pdoIndex, huint16 *time);
711 
719  EXTERNFUNC int harmonic_setLocalRPDOInhibitTime(huint16 pdoIndex, huint16 time);
720 
728  EXTERNFUNC int harmonic_getLocalRPDOEventTimer(huint16 pdoIndex, huint16 *timer);
729 
737  EXTERNFUNC int harmonic_setLocalRPDOEventTimer(huint16 pdoIndex, huint16 timer);
738 
746  EXTERNFUNC int harmonic_getLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 *value);
747 
755  EXTERNFUNC int harmonic_setLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 value);
756 
764  EXTERNFUNC int harmonic_getLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 *count);
765 
773  EXTERNFUNC int harmonic_setLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 count);
774 
783  EXTERNFUNC int harmonic_getLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value);
784 
793  EXTERNFUNC int harmonic_setLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value);
794 
802  EXTERNFUNC int harmonic_getLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 *count);
803 
811  EXTERNFUNC int harmonic_setLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 count);
812 
820  EXTERNFUNC int harmonic_getLocalTPDOCobId(huint16 pdoIndex, huint32 *cobId);
821 
829  EXTERNFUNC int harmonic_setLocalTPDOCobId(huint16 pdoIndex, huint32 cobId);
830 
838  EXTERNFUNC int harmonic_getLocalTPDOTransmitType(huint16 pdoIndex, huint8 *type);
839 
847  EXTERNFUNC int harmonic_setLocalTPDOTransmitType(huint16 pdoIndex, huint8 type);
848 
856  EXTERNFUNC int harmonic_getLocalTPDOInhibitTime(huint16 pdoIndex, huint16 *time);
857 
865  EXTERNFUNC int harmonic_setLocalTPDOInhibitTime(huint16 pdoIndex, huint16 time);
866 
874  EXTERNFUNC int harmonic_getLocalTPDOEventTimer(huint16 pdoIndex, huint16 *timer);
875 
883  EXTERNFUNC int harmonic_setLocalTPDOEventTimer(huint16 pdoIndex, huint16 timer);
884 
892  EXTERNFUNC int harmonic_getLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 *value);
893 
901  EXTERNFUNC int harmonic_setLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 value);
902 
910  EXTERNFUNC int harmonic_getLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 *count);
911 
919  EXTERNFUNC int harmonic_setLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 count);
920 
929  EXTERNFUNC int harmonic_getLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value);
930 
939  EXTERNFUNC int harmonic_setLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value);
940 
948 
956 
964 
972 
980 
988 
996 
1004 
1012 
1020  EXTERNFUNC int harmonic_getLocalMutiMotorPos(huint16 motorIndex, hint32 *pos);
1021 
1029  EXTERNFUNC int harmonic_getLocalMutiMotorVel(huint16 motorIndex, hint32 *vel);
1030 
1038  EXTERNFUNC int harmonic_getLocalMutiMotorTorque(huint16 motorIndex, hint16 *tor);
1039 
1048 
1057 
1065  EXTERNFUNC int harmonic_setLocalMutiMotorSetTorque(huint16 motorIndex, hint16 torque);
1066 
1074  EXTERNFUNC int harmonic_getLocalMutiMotorStatusWord(huint16 motorIndex, huint16 *status);
1075 
1083  EXTERNFUNC int harmonic_getLocalMutiMotorErrorCode(huint16 motorIndex, huint16 *error);
1084 
1093 
1102 
1111 
1120 
1129 
1138 
1147 
1156 
1165 
1174 
1183 
1192 
1200 
1208 
1216 
1224 
1232 
1240 
1248 
1256 
1264 
1272 
1280 
1288 
1296 
1304 
1312 
1320 
1328 
1336 
1346  EXTERNFUNC int harmonic_getDeviceType(huint8 devIndex, huint8 id, huint32 *deviceType, huint32 timeout = 100);
1347 
1357  EXTERNFUNC int harmonic_getErrorRegister(huint8 devIndex, huint8 id, huint8 *errReg, huint32 timeout = 100);
1358 
1368  EXTERNFUNC int harmonic_getErrorFieldNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1369 
1379  EXTERNFUNC int harmonic_setErrorFieldNumber(huint8 devIndex, huint8 id, huint8 number, huint32 timeout = 100); // 0x1003-0
1380 
1391  EXTERNFUNC int harmonic_getErrorField(huint8 devIndex, huint8 id, huint8 subIndex, huint32 *err, huint32 timeout = 100);
1392 
1402  EXTERNFUNC int harmonic_getSyncCobid(huint8 devIndex, huint8 id, huint32 *cobid, huint32 timeout = 100);
1403 
1413  EXTERNFUNC int harmonic_setSyncCobid(huint8 devIndex, huint8 id, huint32 cobid, huint32 timeout = 100);
1414 
1424  EXTERNFUNC int harmonic_getSyncCycle(huint8 devIndex, huint8 id, huint32 *syncCycle, huint32 timeout = 100);
1425 
1435  EXTERNFUNC int harmonic_setSyncCycle(huint8 devIndex, huint8 id, huint32 syncCycle, huint32 timeout = 100);
1436 
1446  EXTERNFUNC int harmonic_getSyncWindow(huint8 devIndex, huint8 id, huint32 *syncWindow, huint32 timeout = 100);
1447 
1457  EXTERNFUNC int harmonic_setSyncWindow(huint8 devIndex, huint8 id, huint32 syncWindow, huint32 timeout = 100);
1458 
1468  EXTERNFUNC int harmonic_getDeviceName(huint8 devIndex, huint8 id, char *devName, huint32 timeout = 100);
1469 
1479  EXTERNFUNC int harmonic_getHardwareVersion(huint8 devIndex, huint8 id, char *version, huint32 timeout = 100);
1480 
1490  EXTERNFUNC int harmonic_getSoftwareVersion(huint8 devIndex, huint8 id, char *version, huint32 timeout = 100);
1491 
1501  EXTERNFUNC int harmonic_getGuardTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
1502 
1512  EXTERNFUNC int harmonic_setGuardTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
1513 
1523  EXTERNFUNC int harmonic_getLifeTimeFactor(huint8 devIndex, huint8 id, huint8 *factor, huint32 timeout = 100);
1524 
1534  EXTERNFUNC int harmonic_setLifeTimeFactor(huint8 devIndex, huint8 id, huint8 factor, huint32 timeout = 100);
1535 
1545  EXTERNFUNC int harmonic_getStoreParametersNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1546 
1556  EXTERNFUNC int harmonic_getStoreParameters(huint8 devIndex, huint8 id, huint32 *value, huint32 timeout = 100);
1557 
1567  EXTERNFUNC int harmonic_setStoreParameters(huint8 devIndex, huint8 id, huint32 value, huint32 timeout = 100);
1568 
1578  EXTERNFUNC int harmonic_getRestoreDefaultParametersNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1579 
1589  EXTERNFUNC int harmonic_getRestoreDefaultParameters(huint8 devIndex, huint8 id, huint32 *value, huint32 timeout = 100);
1590 
1601  EXTERNFUNC int harmonic_setRestoreDefaultParameters(huint8 devIndex, huint8 id, huint32 value, huint32 timeout = 100);
1602 
1612  EXTERNFUNC int harmonic_getEmergencyCobid(huint8 devIndex, huint8 id, huint32 *cobid, huint32 timeout = 100);
1613 
1623  EXTERNFUNC int harmonic_setEmergencyCobid(huint8 devIndex, huint8 id, huint32 cobid, huint32 timeout = 100);
1624 
1634  EXTERNFUNC int harmonic_getEmergencyInhibitTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
1635 
1645  EXTERNFUNC int harmonic_setEmergencyInhibitTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
1646 
1656  EXTERNFUNC int harmonic_getHearbeatConsumerTimeParasNum(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1657 
1668  EXTERNFUNC int harmonic_getHearbeatConsumerTime(huint8 devIndex, huint8 id, huint8 subIndex, huint32 *time, huint32 timeout = 100);
1669 
1680  EXTERNFUNC int harmonic_setHearbeatConsumerTime(huint8 devIndex, huint8 id, huint8 subIndex, huint32 time, huint32 timeout = 100);
1681 
1691  EXTERNFUNC int harmonic_getProducerHeartbeatTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
1692 
1702  EXTERNFUNC int harmonic_setProducerHeartbeatTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
1703 
1713  EXTERNFUNC int harmonic_getIdentityObjectNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1714 
1724  EXTERNFUNC int harmonic_getVendorID(huint8 devIndex, huint8 id, huint32 *vId, huint32 timeout = 100);
1725 
1735  EXTERNFUNC int harmonic_getProductCode(huint8 devIndex, huint8 id, huint32 *pCode, huint32 timeout = 100);
1736 
1746  EXTERNFUNC int harmonic_getIdentityObjectRevisionNumber(huint8 devIndex, huint8 id, huint32 *revisionNum, huint32 timeout = 100);
1747 
1757  EXTERNFUNC int harmonic_getSerialNumber(huint8 devIndex, huint8 id, huint32 *serialNum, huint32 timeout = 100);
1758 
1768  EXTERNFUNC int harmonic_getSyncCounter(huint8 devIndex, huint8 id, huint8 *counter, huint32 timeout = 100);
1769 
1779  EXTERNFUNC int harmonic_setSyncCounter(huint8 devIndex, huint8 id, huint8 counter, huint32 timeout = 100);
1780 
1790  EXTERNFUNC int harmonic_getServerSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 *num, huint32 timeout = 100);
1791 
1801  EXTERNFUNC int harmonic_setServerSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 num, huint32 timeout = 100);
1802 
1812  EXTERNFUNC int harmonic_getServerSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout = 100);
1813 
1823  EXTERNFUNC int harmonic_setServerSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout = 100);
1824 
1834  EXTERNFUNC int harmonic_getServerSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout = 100);
1835 
1845  EXTERNFUNC int harmonic_setServerSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout = 100);
1846 
1856  EXTERNFUNC int harmonic_getServerSDONodeIdOfClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 *nodeId, huint32 timeout = 100);
1857 
1867  EXTERNFUNC int harmonic_setServerSDONodeIdOfClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 nodeId, huint32 timeout = 100);
1868 
1879  EXTERNFUNC int harmonic_getClientSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 *number, huint32 timeout = 100);
1880 
1891  EXTERNFUNC int harmonic_setClientSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 number, huint32 timeout = 100);
1892 
1903  EXTERNFUNC int harmonic_getClientSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout = 100);
1904 
1915  EXTERNFUNC int harmonic_setClientSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout = 100);
1916 
1927  EXTERNFUNC int harmonic_getClientSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout = 100);
1928 
1939  EXTERNFUNC int harmonic_setClientSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout = 100);
1940 
1951  EXTERNFUNC int harmonic_getClientSDONodeIdOfSDOServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 *nodeId, huint32 timeout = 100);
1952 
1963  EXTERNFUNC int harmonic_setClientSDONodeIdOfSDOServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 nodeId, huint32 timeout = 100);
1964 
1975  EXTERNFUNC int harmonic_getRPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
1976 
1987  EXTERNFUNC int harmonic_setRPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
1988 
1999  EXTERNFUNC int harmonic_getRPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout = 100);
2000 
2011  EXTERNFUNC int harmonic_setRPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout = 100);
2012 
2023  EXTERNFUNC int harmonic_getRPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout = 100);
2024 
2035  EXTERNFUNC int harmonic_setRPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout = 100);
2036 
2047  EXTERNFUNC int harmonic_getRPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout = 100);
2048 
2059  EXTERNFUNC int harmonic_setRPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout = 100);
2060 
2071  EXTERNFUNC int harmonic_getRPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout = 100);
2072 
2083  EXTERNFUNC int harmonic_setRPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout = 100);
2084 
2095  EXTERNFUNC int harmonic_getRPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout = 100);
2096 
2107  EXTERNFUNC int harmonic_setRPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout = 100); // 1400-6
2108 
2119  EXTERNFUNC int harmonic_getRPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
2120 
2131  EXTERNFUNC int harmonic_setRPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
2132 
2144  EXTERNFUNC int harmonic_getRPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout = 100);
2145 
2157  EXTERNFUNC int harmonic_setRPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout = 100);
2158 
2169  EXTERNFUNC int harmonic_getTPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
2170 
2181  EXTERNFUNC int harmonic_setTPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
2182 
2193  EXTERNFUNC int harmonic_getTPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout = 100);
2194 
2205  EXTERNFUNC int harmonic_setTPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout = 100);
2206 
2217  EXTERNFUNC int harmonic_getTPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout = 100);
2218 
2229  EXTERNFUNC int harmonic_setTPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout = 100);
2230 
2241  EXTERNFUNC int harmonic_getTPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout = 100);
2242 
2253  EXTERNFUNC int harmonic_setTPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout = 100);
2254 
2265  EXTERNFUNC int harmonic_getTPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout = 100);
2266 
2276  EXTERNFUNC int harmonic_setTPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout = 100);
2277 
2288  EXTERNFUNC int harmonic_getTPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout = 100);
2289 
2300  EXTERNFUNC int harmonic_setTPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout = 100);
2301 
2312  EXTERNFUNC int harmonic_getTPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
2313 
2324  EXTERNFUNC int harmonic_setTPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
2325 
2337  EXTERNFUNC int harmonic_getTPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout = 100);
2338 
2350  EXTERNFUNC int harmonic_setTPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout = 100); // 1A00-1
2351 
2361  EXTERNFUNC int harmonic_getServoParametersNumber(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2362 
2372  EXTERNFUNC int harmonic_setServoParametersNumber(huint8 devIndex, huint8 id, huint8 num, huint32 timeout = 100);
2373 
2383  EXTERNFUNC int harmonic_getServoID(huint8 devIndex, huint8 id, huint8 *servoID, huint32 timeout = 100);
2384 
2394  EXTERNFUNC int harmonic_setServoID(huint8 devIndex, huint8 id, huint8 servoID, huint32 timeout = 100);
2395 
2405  EXTERNFUNC int harmonic_getServoCanBaudrate(huint8 devIndex, huint8 id, huint16 *baudrate, huint32 timeout = 100);
2406 
2416  EXTERNFUNC int harmonic_setServoCanBaudrate(huint8 devIndex, huint8 id, huint16 baudrate, huint32 timeout = 100);
2417 
2427  EXTERNFUNC int harmonic_getServoSoftwareLimitState(huint8 devIndex, huint8 id, huint32 *state, huint32 timeout = 100);
2428 
2438  EXTERNFUNC int harmonic_setServoSoftwareLimitState(huint8 devIndex, huint8 id, huint32 state, huint32 timeout = 100);
2439 
2449  EXTERNFUNC int harmonic_getServoCommunicationMode(huint8 devIndex, huint8 id, huint8 *mode, huint32 timeout = 100);
2450 
2460  EXTERNFUNC int harmonic_setServoCommunicationMode(huint8 devIndex, huint8 id, huint8 mode, huint32 timeout = 100);
2461 
2471  EXTERNFUNC int harmonic_getServoCurrentLoopPINum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2472 
2482  EXTERNFUNC int harmonic_getDefaultServoCurrentLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout = 100);
2483 
2493  EXTERNFUNC int harmonic_setDefaultServoCurrentLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout = 100);
2494 
2504  EXTERNFUNC int harmonic_getDefaultServoCurrentLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout = 100);
2505 
2515  EXTERNFUNC int harmonic_setDefaultServoCurrentLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout = 100);
2516 
2526  EXTERNFUNC int harmonic_getServoCurrentLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout = 100);
2527 
2537  EXTERNFUNC int harmonic_setServoCurrentLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout = 100);
2538 
2548  EXTERNFUNC int harmonic_getServoCurrentLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout = 100);
2549 
2559  EXTERNFUNC int harmonic_setServoCurrentLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout = 100);
2560 
2570  EXTERNFUNC int harmonic_getServoVelocityLoopPINum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2571 
2581  EXTERNFUNC int harmonic_getDefaultServoVelocityLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout = 100);
2582 
2592  EXTERNFUNC int harmonic_setDefaultServoVelocityLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout = 100);
2593 
2603  EXTERNFUNC int harmonic_getDefaultServoVelocityLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout = 100);
2604 
2614  EXTERNFUNC int harmonic_setDefaultServoVelocityLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout = 100);
2615 
2625  EXTERNFUNC int harmonic_getServoVelocityLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout = 100);
2626 
2636  EXTERNFUNC int harmonic_setServoVelocityLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout = 100);
2637 
2647  EXTERNFUNC int harmonic_getServoVelocityLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout = 100);
2648 
2658  EXTERNFUNC int harmonic_setServoVelocityLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout = 100);
2659 
2669  EXTERNFUNC int harmonic_getServoPositionLoopPINum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2670 
2680  EXTERNFUNC int harmonic_getDefaultServoPositionLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout = 100);
2681 
2691  EXTERNFUNC int harmonic_setDefaultServoPositionLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout = 100);
2692 
2702  EXTERNFUNC int harmonic_getDefaultServoPositionLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout = 100);
2703 
2713  EXTERNFUNC int harmonic_setDefaultServoPositionLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout = 100);
2714 
2724  EXTERNFUNC int harmonic_getServoPositionLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout = 100);
2725 
2735  EXTERNFUNC int harmonic_setServoPositionLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout = 100);
2736 
2746  EXTERNFUNC int harmonic_getServoPositionLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout = 100);
2747 
2757  EXTERNFUNC int harmonic_setServoPositionLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout = 100);
2758 
2768  EXTERNFUNC int harmonic_getServoBrakeParaNum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2769 
2779  EXTERNFUNC int harmonic_getServoBrakeControl(huint8 devIndex, huint8 id, huint8 *status, huint32 timeout = 100);
2780 
2790  EXTERNFUNC int harmonic_setServoBrakeControl(huint8 devIndex, huint8 id, huint8 status, huint32 timeout = 100);
2791 
2801  EXTERNFUNC int harmonic_getBrakeState(huint8 devIndex, huint8 id, huint8 *state, huint32 timeout = 100);
2802 
2812  EXTERNFUNC int harmonic_setBrakeState(huint8 devIndex, huint8 id, huint8 state, huint32 timeout = 100);
2813 
2823  EXTERNFUNC int harmonic_getServoTemperatureParasNum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2824 
2834  EXTERNFUNC int harmonic_getServoTemperature(huint8 devIndex, huint8 id, hint8 *tem, huint32 timeout = 100);
2835 
2845  EXTERNFUNC int harmonic_getServoTemperatureLimit(huint8 devIndex, huint8 id, hint8 *tem, huint32 timeout = 100);
2846 
2856  EXTERNFUNC int harmonic_setServoTemperatureLimit(huint8 devIndex, huint8 id, huint8 tem, huint32 timeout = 100);
2857 
2867  EXTERNFUNC int harmonic_getServoTemperatureLimitTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
2868 
2878  EXTERNFUNC int harmonic_setServoTemperatureLimitTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
2879 
2889  EXTERNFUNC int harmonic_getServoVelocityIntLimit(huint8 devIndex, huint8 id, huint16 *limit, huint32 timeout = 100);
2890 
2900  EXTERNFUNC int harmonic_setServoVelocityIntLimit(huint8 devIndex, huint8 id, huint16 limit, huint32 timeout = 100);
2901 
2911  EXTERNFUNC int harmonic_getServoBlockParasNum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2912 
2922  EXTERNFUNC int harmonic_getServoBlockTorque(huint8 devIndex, huint8 id, huint16 *torque, huint32 timeout = 100);
2923 
2933  EXTERNFUNC int harmonic_setServoBlockTorque(huint8 devIndex, huint8 id, huint16 torque, huint32 timeout = 100);
2934 
2944  EXTERNFUNC int harmonic_getServoBlockTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
2945 
2955  EXTERNFUNC int harmonic_setServoBlockTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
2956 
2966  EXTERNFUNC int harmonic_getServoBlockVelocity(huint8 devIndex, huint8 id, huint32 *velocity, huint32 timeout = 100);
2967 
2977  EXTERNFUNC int harmonic_setServoBlockVelocity(huint8 devIndex, huint8 id, huint32 velocity, huint32 timeout = 100);
2978 
2988  EXTERNFUNC int harmonic_getServoVelocityFlowingErrorParasNum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2989 
2999  EXTERNFUNC int harmonic_getServoVelocityFlowingErrorWindows(huint8 devIndex, huint8 id, huint32 *error, huint32 timeout = 100);
3000 
3010  EXTERNFUNC int harmonic_setServoVelocityFlowingErrorWindows(huint8 devIndex, huint8 id, huint32 error, huint32 timeout = 100);
3011 
3021  EXTERNFUNC int harmonic_getServoVelocityFlowingErrorTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
3022 
3032  EXTERNFUNC int harmonic_setServoVelocityFlowingErrorTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
3033 
3043  EXTERNFUNC int harmonic_getServoTorqueWindow(huint8 devIndex, huint8 id, huint16 *window, huint32 timeout = 100);
3044 
3054  EXTERNFUNC int harmonic_setServoTorqueWindow(huint8 devIndex, huint8 id, huint16 window, huint32 timeout = 100);
3055 
3065  EXTERNFUNC int harmonic_getServoTorqueWindowTime(huint8 devIndex, huint8 id, huint16 *window, huint32 timeout = 100);
3066 
3076  EXTERNFUNC int harmonic_setServoTorqueWindowTime(huint8 devIndex, huint8 id, huint16 window, huint32 timeout = 100);
3077 
3087  EXTERNFUNC int harmonic_getServoOverSpeedThreshold(huint8 devIndex, huint8 id, huint32 *thre, huint32 timeout = 100);
3088 
3098  EXTERNFUNC int harmonic_setServoOverSpeedThreshold(huint8 devIndex, huint8 id, huint32 thre, huint32 timeout = 100);
3099 
3109  EXTERNFUNC int harmonic_getServoOverSpeedTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
3110 
3120  EXTERNFUNC int harmonic_setServoOverSpeedTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
3121 
3131  EXTERNFUNC int harmonic_getServoBrakeDelayTime(huint8 devIndex, huint8 id, huint8 *time, huint32 timeout = 100);
3132 
3142  EXTERNFUNC int harmonic_setServoBrakeDelayTime(huint8 devIndex, huint8 id, huint8 time, huint32 timeout = 100);
3143 
3153  EXTERNFUNC int harmonic_getI2tOverLoadLimit(huint8 devIndex, huint8 id, huint16 *value, huint32 timeout = 100);
3154 
3164  EXTERNFUNC int harmonic_setI2tOverLoadLimit(huint8 devIndex, huint8 id, huint16 value, huint32 timeout = 100);
3165 
3175  EXTERNFUNC int harmonic_getI2tOverLoadValue(huint8 devIndex, huint8 id, huint16 *value, huint32 timeout = 100);
3176 
3186  EXTERNFUNC int harmonic_getServoFirstEncoderValue(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout = 100);
3187 
3197  EXTERNFUNC int harmonic_getServoSecondEncoderValue(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout = 100);
3198 
3208  EXTERNFUNC int harmonic_getServoThetaBiasValue(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout = 100);
3209 
3219  EXTERNFUNC int harmonic_getDCVolageProtectionParasNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
3220 
3230  EXTERNFUNC int harmonic_getDCUnderVoltageThreshold(huint8 devIndex, huint8 id, huint32 *vol, huint32 timeout = 100);
3231 
3241  EXTERNFUNC int harmonic_setDCUnderVoltageThreshold(huint8 devIndex, huint8 id, huint32 vol, huint32 timeout = 100);
3242 
3252  EXTERNFUNC int harmonic_getDCUnderVoltageTime(huint8 devIndex, huint8 id, huint32 *time, huint32 timeout = 100);
3253 
3263  EXTERNFUNC int harmonic_setDCUnderVoltageTime(huint8 devIndex, huint8 id, huint32 time, huint32 timeout = 100);
3264 
3274  EXTERNFUNC int harmonic_getDCOverVoltageThreshold(huint8 devIndex, huint8 id, huint32 *vol, huint32 timeout = 100);
3275 
3285  EXTERNFUNC int harmonic_setDCOverVoltageThreshold(huint8 devIndex, huint8 id, huint32 vol, huint32 timeout = 100);
3286 
3296  EXTERNFUNC int harmonic_getDCOverVoltageTime(huint8 devIndex, huint8 id, huint32 *time, huint32 timeout = 100);
3297 
3307  EXTERNFUNC int harmonic_setDCOverVoltageTime(huint8 devIndex, huint8 id, huint32 time, huint32 timeout = 100);
3308 
3318  EXTERNFUNC int harmonic_getTorqueSensorValue(huint8 devIndex, huint8 id, hreal32 *value, huint32 timeout = 100);
3319 
3329  EXTERNFUNC int harmonic_getFindPointDoneFlag(huint8 devIndex, huint8 id, huint32 *flag, huint32 timeout = 100);
3330 
3340  EXTERNFUNC int harmonic_setFindPointDoneFlag(huint8 devIndex, huint8 id, huint32 flag, huint32 timeout = 100);
3341 
3351  EXTERNFUNC int harmonic_getFindPointStart(huint8 devIndex, huint8 id, huint32 *status, huint32 timeout = 100);
3352 
3362  EXTERNFUNC int harmonic_setFindPointStart(huint8 devIndex, huint8 id, huint32 status, huint32 timeout = 100);
3363 
3373  EXTERNFUNC int harmonic_getFindPointMoveMax(huint8 devIndex, huint8 id, huint32 *angle, huint32 timeout = 100);
3374 
3384  EXTERNFUNC int harmonic_setFindPointMoveMax(huint8 devIndex, huint8 id, huint32 angle, huint32 timeout = 100);
3385 
3395  EXTERNFUNC int harmonic_getFindPointMoveAcc(huint8 devIndex, huint8 id, huint32 *acc, huint32 timeout = 100);
3396 
3406  EXTERNFUNC int harmonic_setFindPointMoveAcc(huint8 devIndex, huint8 id, huint32 acc, huint32 timeout = 100);
3407 
3417  EXTERNFUNC int harmonic_getFindPointMoveDec(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout = 100);
3418 
3428  EXTERNFUNC int harmonic_setFindPointMoveDec(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout = 100);
3429 
3439  EXTERNFUNC int harmonic_getFindPointMoveVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout = 100);
3440 
3450  EXTERNFUNC int harmonic_setFindPointMoveVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout = 100);
3451 
3461  EXTERNFUNC int harmonic_getTorqueFactor(huint8 devIndex, huint8 id, huint16 *factor, huint32 timeout = 100);
3462 
3472  EXTERNFUNC int harmonic_setTorqueFactor(huint8 devIndex, huint8 id, huint16 factor, huint32 timeout = 100);
3473 
3483  EXTERNFUNC int harmonic_getMitCtrlCobcmd1(huint8 devIndex, huint8 id, huint32 *cobcmd, huint32 timeout = 100);
3484 
3494  EXTERNFUNC int harmonic_setMitCtrlCobcmd1(huint8 devIndex, huint8 id, huint32 cobcmd, huint32 timeout = 100);
3495 
3505  EXTERNFUNC int harmonic_getMitCtrlCobcmd2(huint8 devIndex, huint8 id, huint32 *cobcmd, huint32 timeout = 100);
3506 
3516  EXTERNFUNC int harmonic_setMitCtrlCobcmd2(huint8 devIndex, huint8 id, huint32 cobcmd, huint32 timeout = 100);
3517 
3527  EXTERNFUNC int harmonic_getMitReplyCobdat1(huint8 devIndex, huint8 id, huint32 *cobdat, huint32 timeout = 100);
3528 
3538  EXTERNFUNC int harmonic_setMitReplyCobdat1(huint8 devIndex, huint8 id, huint32 cobdat, huint32 timeout = 100);
3539 
3549  EXTERNFUNC int harmonic_getMitReplyCobdat2(huint8 devIndex, huint8 id, huint32 *cobdat, huint32 timeout = 100);
3550 
3560  EXTERNFUNC int harmonic_setMitReplyCobdat2(huint8 devIndex, huint8 id, huint32 cobdat, huint32 timeout = 100);
3561 
3571  EXTERNFUNC int harmonic_getMitPMin(huint8 devIndex, huint8 id, hreal32 *pMin, huint32 timeout = 100);
3572 
3582  EXTERNFUNC int harmonic_setMitPMin(huint8 devIndex, huint8 id, hreal32 pMin, huint32 timeout = 100);
3583 
3593  EXTERNFUNC int harmonic_getMitPMax(huint8 devIndex, huint8 id, hreal32 *pMax, huint32 timeout = 100);
3594 
3604  EXTERNFUNC int harmonic_setMitPMax(huint8 devIndex, huint8 id, hreal32 pMax, huint32 timeout = 100);
3605 
3615  EXTERNFUNC int harmonic_getMitVMin(huint8 devIndex, huint8 id, hreal32 *vMin, huint32 timeout = 100);
3616 
3626  EXTERNFUNC int harmonic_setMitVMin(huint8 devIndex, huint8 id, hreal32 vMin, huint32 timeout = 100);
3627 
3637  EXTERNFUNC int harmonic_getMitVMax(huint8 devIndex, huint8 id, hreal32 *vMax, huint32 timeout = 100);
3638 
3648  EXTERNFUNC int harmonic_setMitVMax(huint8 devIndex, huint8 id, hreal32 vMax, huint32 timeout = 100);
3649 
3659  EXTERNFUNC int harmonic_getMitKPMin(huint8 devIndex, huint8 id, hreal32 *kpMin, huint32 timeout = 100);
3660 
3670  EXTERNFUNC int harmonic_setMitKPMin(huint8 devIndex, huint8 id, hreal32 kpMin, huint32 timeout = 100);
3671 
3681  EXTERNFUNC int harmonic_getMitKPMax(huint8 devIndex, huint8 id, hreal32 *kpMax, huint32 timeout = 100);
3682 
3692  EXTERNFUNC int harmonic_setMitKPMax(huint8 devIndex, huint8 id, hreal32 kpMax, huint32 timeout = 100);
3693 
3703  EXTERNFUNC int harmonic_getMitKDMin(huint8 devIndex, huint8 id, hreal32 *kdMin, huint32 timeout = 100);
3704 
3714  EXTERNFUNC int harmonic_setMitKDMin(huint8 devIndex, huint8 id, hreal32 kdMin, huint32 timeout = 100);
3715 
3725  EXTERNFUNC int harmonic_getMitKDMax(huint8 devIndex, huint8 id, hreal32 *kdMax, huint32 timeout = 100);
3726 
3736  EXTERNFUNC int harmonic_setMitKDMax(huint8 devIndex, huint8 id, hreal32 kdMax, huint32 timeout = 100);
3737 
3747  EXTERNFUNC int harmonic_getMitTMin(huint8 devIndex, huint8 id, hreal32 *tMin, huint32 timeout = 100);
3748 
3758  EXTERNFUNC int harmonic_setMitTMin(huint8 devIndex, huint8 id, hreal32 tMin, huint32 timeout = 100);
3759 
3769  EXTERNFUNC int harmonic_getMitTMax(huint8 devIndex, huint8 id, hreal32 *tMin, huint32 timeout = 100);
3770 
3780  EXTERNFUNC int harmonic_setMitTMax(huint8 devIndex, huint8 id, hreal32 tMin, huint32 timeout = 100);
3781 
3791  EXTERNFUNC int harmonic_getServoErrorCode(huint8 devIndex, huint8 id, huint16 *err, huint32 timeout = 100);
3792 
3802  EXTERNFUNC int harmonic_getControlword(huint8 devIndex, huint8 id, huint16 *word, huint32 timeout = 100);
3803 
3813  EXTERNFUNC int harmonic_setControlword(huint8 devIndex, huint8 id, huint16 word, huint32 timeout = 100);
3814 
3824  EXTERNFUNC int harmonic_getStatusWord(huint8 devIndex, huint8 id, huint16 *word, huint32 timeout = 100);
3825 
3835  EXTERNFUNC int harmonic_getQuickStopOption(huint8 devIndex, huint8 id, harmonic_QuickStopOption *option, huint32 timeout = 100);
3836 
3846  EXTERNFUNC int harmonic_setQuickStopOption(huint8 devIndex, huint8 id, harmonic_QuickStopOption option, huint32 timeout = 100);
3847 
3857  EXTERNFUNC int harmonic_getShutdownOptionCode(huint8 devIndex, huint8 id, harmonic_ShutdownOption *code, huint32 timeout = 100);
3858 
3868  EXTERNFUNC int harmonic_setShutdownOptionCode(huint8 devIndex, huint8 id, harmonic_ShutdownOption code, huint32 timeout = 100);
3869 
3879  EXTERNFUNC int harmonic_getDisableOperationOptionCode(huint8 devIndex, huint8 id, harmonic_DisableOperationOption *code, huint32 timeout = 100);
3880 
3890  EXTERNFUNC int harmonic_setDisableOperationOptionCode(huint8 devIndex, huint8 id, harmonic_DisableOperationOption code, huint32 timeout = 100);
3891 
3901  EXTERNFUNC int harmonic_getHaltOption(huint8 devIndex, huint8 id, harmonic_HaltOption *option, huint32 timeout = 100);
3902 
3912  EXTERNFUNC int harmonic_setHaltOption(huint8 devIndex, huint8 id, harmonic_HaltOption option, huint32 timeout = 100);
3913 
3923  EXTERNFUNC int harmonic_getFaultReactionOption(huint8 devIndex, huint8 id, harmonic_FaultReactionOption *option, huint32 timeout = 100);
3924 
3934  EXTERNFUNC int harmonic_setFaultReactionOption(huint8 devIndex, huint8 id, harmonic_FaultReactionOption option, huint32 timeout = 100);
3935 
3945  EXTERNFUNC int harmonic_getOperateMode(huint8 devIndex, huint8 id, harmonic_OperateMode *mode, huint32 timeout = 100);
3946 
3956  EXTERNFUNC int harmonic_setOperateMode(huint8 devIndex, huint8 id, harmonic_OperateMode mode, huint32 timeout = 100);
3957 
3967  EXTERNFUNC int harmonic_getDisplayOperateMode(huint8 devIndex, huint8 id, harmonic_OperateMode *mode, huint32 timeout = 100);
3968 
3978  EXTERNFUNC int harmonic_getDemandPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
3979 
3989  EXTERNFUNC int harmonic_setDemandPos(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout = 100);
3990 
4000  EXTERNFUNC int harmonic_getActualPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
4001 
4011  EXTERNFUNC int harmonic_getFollowingErrorWindow(huint8 devIndex, huint8 id, huint32 *eWindow, huint32 timeout = 100);
4012 
4022  EXTERNFUNC int harmonic_setFollowingErrorWindow(huint8 devIndex, huint8 id, huint32 eWindow, huint32 timeout = 100);
4023 
4033  EXTERNFUNC int harmonic_getPositionWindow(huint8 devIndex, huint8 id, huint32 *pWindow, huint32 timeout = 100);
4034 
4044  EXTERNFUNC int harmonic_setPositionWindow(huint8 devIndex, huint8 id, huint32 pWindow, huint32 timeout = 100);
4045 
4055  EXTERNFUNC int harmonic_getPositionWindowTime(huint8 devIndex, huint8 id, huint16 *pWindowTime, huint32 timeout = 100);
4056 
4066  EXTERNFUNC int harmonic_setPositionWindowTime(huint8 devIndex, huint8 id, huint16 pWindowTime, huint32 timeout = 100);
4067 
4077  EXTERNFUNC int harmonic_getDemandVelocity(huint8 devIndex, huint8 id, hint32 *dVel, huint32 timeout = 100);
4078 
4088  EXTERNFUNC int harmonic_setDemandVelocity(huint8 devIndex, huint8 id, hint32 dvel, huint32 timeout = 100);
4089 
4099  EXTERNFUNC int harmonic_getActualVelocity(huint8 devIndex, huint8 id, hint32 *vel, huint32 timeout = 100);
4100 
4110  EXTERNFUNC int harmonic_getVelocityWindow(huint8 devIndex, huint8 id, huint16 *vWindow, huint32 timeout = 100);
4111 
4121  EXTERNFUNC int harmonic_setVelocityWindow(huint8 devIndex, huint8 id, huint16 vWindow, huint32 timeout = 100);
4122 
4132  EXTERNFUNC int harmonic_getVelocityWindowTime(huint8 devIndex, huint8 id, huint16 *wTime, huint32 timeout = 100);
4133 
4143  EXTERNFUNC int harmonic_setVelocityWindowTime(huint8 devIndex, huint8 id, huint16 wTime, huint32 timeout = 100);
4144 
4154  EXTERNFUNC int harmonic_getVelocityThreshold(huint8 devIndex, huint8 id, huint16 *thres, huint32 timeout = 100);
4155 
4165  EXTERNFUNC int harmonic_setVelocityThreshold(huint8 devIndex, huint8 id, huint16 thres, huint32 timeout = 100);
4166 
4176  EXTERNFUNC int harmonic_getVelocityThresholdTime(huint8 devIndex, huint8 id, huint16 *tTime, huint32 timeout = 100);
4177 
4187  EXTERNFUNC int harmonic_setVelocityThresholdTime(huint8 devIndex, huint8 id, huint16 tTime, huint32 timeout = 100);
4188 
4198  EXTERNFUNC int harmonic_getTargetTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout = 100);
4199 
4209  EXTERNFUNC int harmonic_setTargetTorque(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout = 100);
4210 
4220  EXTERNFUNC int harmonic_getTorqueLimit(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout = 100);
4221 
4231  EXTERNFUNC int harmonic_setTorqueLimit(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout = 100);
4232 
4242  EXTERNFUNC int harmonic_getDemandTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout = 100);
4243 
4253  EXTERNFUNC int harmonic_setDemandTorque(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout = 100);
4254 
4264  EXTERNFUNC int harmonic_getMotorRatedTorque(huint8 devIndex, huint8 id, huint32 *torque, huint32 timeout = 100);
4265 
4275  EXTERNFUNC int harmonic_setMotorRatedTorque(huint8 devIndex, huint8 id, huint32 torque, huint32 timeout = 100);
4276 
4286  EXTERNFUNC int harmonic_getActualTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout = 100);
4287 
4297  EXTERNFUNC int harmonic_getCurrentActualValue(huint8 devIndex, huint8 id, hint16 *current, huint32 timeout = 100);
4298 
4308  EXTERNFUNC int harmonic_getDCLinkCircuitVoltage(huint8 devIndex, huint8 id, huint32 *voltage, huint32 timeout = 100);
4309 
4319  EXTERNFUNC int harmonic_setDCLinkCircuitVoltage(huint8 devIndex, huint8 id, huint32 voltage, huint32 timeout = 100);
4320 
4330  EXTERNFUNC int harmonic_getTargetPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
4331 
4341  EXTERNFUNC int harmonic_setTargetPos(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout = 100);
4342 
4352  EXTERNFUNC int harmonic_getHomeOffset(huint8 devIndex, huint8 id, hint32 *offSet, huint32 timeout = 100);
4353 
4363  EXTERNFUNC int harmonic_setHomeOffset(huint8 devIndex, huint8 id, hint32 offSet, huint32 timeout = 100);
4364 
4374  EXTERNFUNC int harmonic_getSoftwareMinimumPosition(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
4375 
4385  EXTERNFUNC int harmonic_setSoftwareMinimumPosition(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout = 100);
4386 
4396  EXTERNFUNC int harmonic_getSoftwareMaxmumPosition(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
4397 
4407  EXTERNFUNC int harmonic_setSoftwareMaxmumPosition(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout = 100);
4408 
4418  EXTERNFUNC int harmonic_getMaxProfileVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout = 100);
4419 
4429  EXTERNFUNC int harmonic_setMaxProfileVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout = 100);
4430 
4440  EXTERNFUNC int harmonic_getProfileVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout = 100);
4441 
4451  EXTERNFUNC int harmonic_setProfileVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout = 100);
4452 
4462  EXTERNFUNC int harmonic_getProfileAcceleration(huint8 devIndex, huint8 id, huint32 *acc, huint32 timeout = 100);
4463 
4473  EXTERNFUNC int harmonic_setProfileAcceleration(huint8 devIndex, huint8 id, huint32 acc, huint32 timeout = 100);
4474 
4484  EXTERNFUNC int harmonic_getProfileDeceleration(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout = 100);
4485 
4495  EXTERNFUNC int harmonic_setProfileDeceleration(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout = 100);
4496 
4506  EXTERNFUNC int harmonic_getQuickStopDeceleration(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout = 100);
4507 
4517  EXTERNFUNC int harmonic_setQuickStopDeceleration(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout = 100);
4518 
4528  EXTERNFUNC int harmonic_getTorqueSlope(huint8 devIndex, huint8 id, huint32 *slope, huint32 timeout = 100);
4529 
4539  EXTERNFUNC int harmonic_setTorqueSlope(huint8 devIndex, huint8 id, huint32 slope, huint32 timeout = 100);
4540 
4550  EXTERNFUNC int harmonic_getGearRatioMotorRevolutions(huint8 devIndex, huint8 id, huint32 *rev, huint32 timeout = 100);
4551 
4561  EXTERNFUNC int harmonic_setGearRatioMotorRevolutions(huint8 devIndex, huint8 id, huint32 rev, huint32 timeout = 100);
4562 
4572  EXTERNFUNC int harmonic_getGearRatioShaftRevolutions(huint8 devIndex, huint8 id, huint32 *rev, huint32 timeout = 100);
4573 
4583  EXTERNFUNC int harmonic_setGearRatioShaftRevolutions(huint8 devIndex, huint8 id, huint32 rev, huint32 timeout = 100);
4584 
4594  EXTERNFUNC int harmonic_getInterpolationDataRecord(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout = 100);
4595 
4605  EXTERNFUNC int harmonic_setInterpolationDataRecord(huint8 devIndex, huint8 id, hint32 value, huint32 timeout = 100);
4606 
4616  EXTERNFUNC int harmonic_getInterpolationTimePeriodValue(huint8 devIndex, huint8 id, huint8 *value, huint32 timeout = 100);
4617 
4627  EXTERNFUNC int harmonic_setInterpolationTimePeriodValue(huint8 devIndex, huint8 id, huint8 value, huint32 timeout = 100);
4628 
4638  EXTERNFUNC int harmonic_getActualFollowingError(huint8 devIndex, huint8 id, hint32 *error, huint32 timeout = 100);
4639 
4649  EXTERNFUNC int harmonic_setActualFollowingError(huint8 devIndex, huint8 id, hint32 error, huint32 timeout = 100);
4650 
4660  EXTERNFUNC int harmonic_getTargetVelocity(huint8 devIndex, huint8 id, hint32 *targetVel, huint32 timeout = 100);
4661 
4671  EXTERNFUNC int harmonic_setTargetVelocity(huint8 devIndex, huint8 id, hint32 targetVel, huint32 timeout = 100);
4672 
4682  EXTERNFUNC int harmonic_getSupportedDriveModes(huint8 devIndex, huint8 id, huint32 *modes, huint32 timeout = 100);
4683 
4684 #ifdef __cplusplus
4685 }
4686 #endif
4687 
4688 #endif // EU_HARMONIC_H
EXTERNFUNC int harmonic_getServoThetaBiasValue(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout=100)
读从站字典0x202C-0x0
EXTERNFUNC int harmonic_setLocalRPDOTransmitType(huint16 pdoIndex, huint8 type)
写本地字典[0x1400+pdoIndex]-0x2
EXTERNFUNC int harmonic_setClientSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 number, huint32 timeout=100)
写从站字典[0x1280+sdoClientIndex]-0x0
EXTERNFUNC int harmonic_getFindPointDoneFlag(huint8 devIndex, huint8 id, huint32 *flag, huint32 timeout=100)
读从站字典0x2101-0x0
EXTERNFUNC int harmonic_getFaultReactionOption(huint8 devIndex, huint8 id, harmonic_FaultReactionOption *option, huint32 timeout=100)
读从站字典0x605E-0x0
EXTERNFUNC int harmonic_writeCanMsg(huint8 devIndex, const harmonic_CanMsg *canMsg)
发送原始can数据
EXTERNFUNC int harmonic_getDCUnderVoltageThreshold(huint8 devIndex, huint8 id, huint32 *vol, huint32 timeout=100)
读从站字典0x202D-0x1
EXTERNFUNC int harmonic_setShutdownOptionCode(huint8 devIndex, huint8 id, harmonic_ShutdownOption code, huint32 timeout=100)
写从站字典0x605B-0
EXTERNFUNC int harmonic_setEmergencyCobid(huint8 devIndex, huint8 id, huint32 cobid, huint32 timeout=100)
写从站字典0x1014-0x0
EXTERNFUNC int harmonic_getLocalMitReplyCobdat1(huint32 *cobdat)
读本地字典0x2132-0x0
EXTERNFUNC int harmonic_getLocalControlword(huint16 *word)
读本地字典0x6040-0x0
EXTERNFUNC int harmonic_getServerSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout=100)
读从站字典[0x1200+sdoServerIndex]-0x2
EXTERNFUNC int harmonic_setLocalMutiMotorSetVel(huint16 motorIndex, hint32 vel)
写本地字典0x5004+[0x1+motorIndex]
EXTERNFUNC int harmonic_getDeviceName(huint8 devIndex, huint8 id, char *devName, huint32 timeout=100)
读从站字典0x1008-0x0
EXTERNFUNC int harmonic_getLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 *nodeId)
读本地字典[0x1280+sdoClientIndex]-0x3
EXTERNFUNC int harmonic_getVelocityWindowTime(huint8 devIndex, huint8 id, huint16 *wTime, huint32 timeout=100)
读从站字典0x606E-0x0
EXTERNFUNC int harmonic_getMitReplyCobdat2(huint8 devIndex, huint8 id, huint32 *cobdat, huint32 timeout=100)
读从站字典0x2133-0x0
EXTERNFUNC int harmonic_setLocalTargetTorque(hint16 torque)
写本地字典0x6071-0x0
EXTERNFUNC int harmonic_getServoOverSpeedTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100)
读从站字典0x2025-0x0
EXTERNFUNC int harmonic_setLocalMitCtrlCobcmd1(huint32 cobcmd)
写本地字典0x2130-0x0
EXTERNFUNC int harmonic_getFollowingErrorWindow(huint8 devIndex, huint8 id, huint32 *eWindow, huint32 timeout=100)
读从站字典0x6065-0x0
EXTERNFUNC int harmonic_setHaltOption(huint8 devIndex, huint8 id, harmonic_HaltOption option, huint32 timeout=100)
写从站字典0x605D-0x0
EXTERNFUNC int harmonic_getFindPointMoveMax(huint8 devIndex, huint8 id, huint32 *angle, huint32 timeout=100)
读从站字典0x2105-0x0
EXTERNFUNC int harmonic_setRPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100)
写从站字典[0x1600+pdoIndex]-0x0
EXTERNFUNC int harmonic_setLocalSyncWindow(huint32 sWindow)
写本地字典0x1007-0x0
EXTERNFUNC int harmonic_getServoVelocityFlowingErrorTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100)
读从站字典0x2021-0x2
signed long int hint40
Definition: eu_harmonic.h:51
EXTERNFUNC int harmonic_getActualTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout=100)
读从站字典0x6077-0x0
EXTERNFUNC int harmonic_getRestoreDefaultParameters(huint8 devIndex, huint8 id, huint32 *value, huint32 timeout=100)
读从站字典0x1011-0x1
EXTERNFUNC int harmonic_getProfileAcceleration(huint8 devIndex, huint8 id, huint32 *acc, huint32 timeout=100)
读从站字典0x6083-0x0
EXTERNFUNC int harmonic_getServoTorqueWindow(huint8 devIndex, huint8 id, huint16 *window, huint32 timeout=100)
读从站字典0x2022-0x0
EXTERNFUNC int harmonic_setStoreParameters(huint8 devIndex, huint8 id, huint32 value, huint32 timeout=100)
写从站字典0x1010-0x1
EXTERNFUNC int harmonic_getServoTemperatureLimitTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100)
读从站字典0x2016-0x3
EXTERNFUNC int harmonic_setMaxProfileVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout=100)
写从站字典0x607F-0x0
EXTERNFUNC int harmonic_getLocalMutiMotorErrorCode(huint16 motorIndex, huint16 *error)
读本地字典0x5007+[0x1+motorIndex]
EXTERNFUNC int harmonic_getLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 *count)
读本地字典[0x1400+pdoIndex]-0x0
EXTERNFUNC int harmonic_getServoParametersNumber(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100)
读从站字典0x2001-0x0
EXTERNFUNC int harmonic_getServoBrakeControl(huint8 devIndex, huint8 id, huint8 *status, huint32 timeout=100)
读从站字典0x2014-0x1
EXTERNFUNC int harmonic_setLocalSyncCOBID(huint32 cobId)
读本地字典0x1005-0x0
EXTERNFUNC int harmonic_getLocalRPDOEventTimer(huint16 pdoIndex, huint16 *timer)
读本地字典[0x1400+pdoIndex]-0x5
EXTERNFUNC int harmonic_getServoFirstEncoderValue(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout=100)
读从站字典0x202A-0x0
EXTERNFUNC int harmonic_getLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 *nodeId)
读本地字典[0x1200+sdoServerIndex]-0x3
EXTERNFUNC int harmonic_setDCUnderVoltageThreshold(huint8 devIndex, huint8 id, huint32 vol, huint32 timeout=100)
写从站字典0x202D-0x1
EXTERNFUNC int harmonic_getLocalStatusWord(huint16 *word)
写本地字典0x6041-0x0
EXTERNFUNC int harmonic_setServoTemperatureLimitTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100)
写从站字典0x2016-0x3
EXTERNFUNC int harmonic_getDemandPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100)
读从站字典0x6062-0x0
EXTERNFUNC int harmonic_getActualVelocity(huint8 devIndex, huint8 id, hint32 *vel, huint32 timeout=100)
读从站字典0x606C-0x0
EXTERNFUNC int harmonic_setMitTMin(huint8 devIndex, huint8 id, hreal32 tMin, huint32 timeout=100)
写从站字典0x2148-0x0
EXTERNFUNC int harmonic_getRPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100)
读从站字典[0x1600+pdoIndex]-0x0
harmonic_HaltOption
暂停选项
Definition: eu_harmonic.h:203
@ harmonic_HaltOption_Slow_Down_On_the_Current_Limit
Definition: eu_harmonic.h:207
@ harmonic_HaltOption_Slow_Down_On_the_Voltag_Limit
Definition: eu_harmonic.h:208
@ harmonic_HaltOption_Disable_Drive
Definition: eu_harmonic.h:204
@ harmonic_HaltOption_Slow_Down_On_Quick_Stop_Ramp
Definition: eu_harmonic.h:206
@ harmonic_HaltOption_Slow_Down_On_Slow_Down_Ramp
Definition: eu_harmonic.h:205
EXTERNFUNC int harmonic_getLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 *value)
读本地字典[0x1800+pdoIndex]-0x6
EXTERNFUNC int harmonic_getServoBlockVelocity(huint8 devIndex, huint8 id, huint32 *velocity, huint32 timeout=100)
读从站字典0x2020-0x3
EXTERNFUNC int harmonic_setLocalRPDOCobId(huint16 pdoIndex, huint32 cobId)
写本地字典[0x1400+pdoIndex]-0x1
float hreal32
Definition: eu_harmonic.h:63
EXTERNFUNC int harmonic_setLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value)
写本地字典[0x1A00+pdoIndex]-[0x1+mapIndex]
EXTERNFUNC int harmonic_setNodeState(huint8 devIndex, huint8 id, harmonic_NMTState state)
设置从节点状态
EXTERNFUNC int harmonic_getIdentityObjectRevisionNumber(huint8 devIndex, huint8 id, huint32 *revisionNum, huint32 timeout=100)
读从站字典0x1018-0x3
EXTERNFUNC int harmonic_getLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value)
读本地字典[0x1600+pdoIndex]-[0x1+mapIndex]
EXTERNFUNC int harmonic_getTPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout=100)
读从站字典[0x1800+pdoIndex]-0x2
EXTERNFUNC int harmonic_setRPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout=100)
写从站字典[0x1400+pdoIndex]-0x5
EXTERNFUNC int harmonic_setLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 count)
写本地字典[0x1800+pdoIndex]-0x0
EXTERNFUNC int harmonic_getTPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100)
读从站字典[0x1800+pdoIndex]-0x0
EXTERNFUNC int harmonic_getFindPointMoveDec(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout=100)
读从站字典0x2107-0x0
EXTERNFUNC int harmonic_setLocalInterpolationTimePeriodValue(huint8 value)
写本地字典0x60c2-0x1
EXTERNFUNC int harmonic_setServoBlockVelocity(huint8 devIndex, huint8 id, huint32 velocity, huint32 timeout=100)
写从站字典0x2020-0x3
EXTERNFUNC int harmonic_getDCUnderVoltageTime(huint8 devIndex, huint8 id, huint32 *time, huint32 timeout=100)
读从站字典0x202D-0x2
EXTERNFUNC int harmonic_writeLocalDirectory(huint16 index, huint8 subIndex, harmonic_DataType dataType, void *writeData)
写主站字典
EXTERNFUNC int harmonic_getMitVMin(huint8 devIndex, huint8 id, hreal32 *vMin, huint32 timeout=100)
读从站字典0x2142-0x0
EXTERNFUNC int harmonic_getDefaultServoVelocityLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout=100)
读从站字典0x2012-0x1
EXTERNFUNC int harmonic_setSyncCobid(huint8 devIndex, huint8 id, huint32 cobid, huint32 timeout=100)
写从站字典0x1005-0x0
EXTERNFUNC int harmonic_setClientSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout=100)
写从站字典[0x1280+sdoClientIndex]-0x1
EXTERNFUNC int harmonic_getServoCurrentLoopPINum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100)
读从站字典0x2010-0x0
EXTERNFUNC int harmonic_getDCOverVoltageTime(huint8 devIndex, huint8 id, huint32 *time, huint32 timeout=100)
读从站字典0x202D-0x4
EXTERNFUNC int harmonic_getSupportedDriveModes(huint8 devIndex, huint8 id, huint32 *modes, huint32 timeout=100)
读从站字典0x6502-0x0
EXTERNFUNC int harmonic_getRPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout=100)
读从站字典[0x1400+pdoIndex]-0x3
EXTERNFUNC int harmonic_setServoVelocityFlowingErrorWindows(huint8 devIndex, huint8 id, huint32 error, huint32 timeout=100)
写从站字典0x2021-0x1
EXTERNFUNC int harmonic_getLocalActualVelocity(hint32 *velocity)
读本地字典0x606c-0x0
EXTERNFUNC int harmonic_setLocalRPDOInhibitTime(huint16 pdoIndex, huint16 time)
写本地字典[0x1400+pdoIndex]-0x3
EXTERNFUNC int harmonic_getActualPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100)
读从站字典0x6064-0x0
EXTERNFUNC int harmonic_getMitKPMin(huint8 devIndex, huint8 id, hreal32 *kpMin, huint32 timeout=100)
读从站字典0x2144-0x0
EXTERNFUNC int harmonic_getLocalInterpolationDataRecord(hint32 *value)
读本地字典0x60C1-0x1
EXTERNFUNC int harmonic_getDemandVelocity(huint8 devIndex, huint8 id, hint32 *dVel, huint32 timeout=100)
读从站字典0x606B-0x0
EXTERNFUNC int harmonic_getServoSoftwareLimitState(huint8 devIndex, huint8 id, huint32 *state, huint32 timeout=100)
读从站字典0x2003-0x0
EXTERNFUNC int harmonic_setMitCtrlCobcmd2(huint8 devIndex, huint8 id, huint32 cobcmd, huint32 timeout=100)
写从站字典0x2131-0x0
EXTERNFUNC int harmonic_setTargetPos(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout=100)
写从站字典0x607A-0x0
harmonic_OperateMode
操作模式
Definition: eu_harmonic.h:229
@ harmonic_OperateMode_TorquePositionFixed
Definition: eu_harmonic.h:243
@ harmonic_OperateMode_ProfileVelocity
Definition: eu_harmonic.h:236
@ harmonic_OperateMode_RotorAligning
Definition: eu_harmonic.h:232
@ harmonic_OperateMode_Homing
Definition: eu_harmonic.h:238
@ harmonic_OperateMode_CyclicSyncPosition
Definition: eu_harmonic.h:240
@ harmonic_OperateMode_Reserve
Definition: eu_harmonic.h:233
@ harmonic_OperateMode_CyclicSyncVelocity
Definition: eu_harmonic.h:241
@ harmonic_OperateMode_ProfilePosition
Definition: eu_harmonic.h:234
@ harmonic_OperateMode_InterpolatedPosition
Definition: eu_harmonic.h:239
@ harmonic_OperateMode_Velocity
Definition: eu_harmonic.h:235
@ harmonic_OperateMode_ProfileTorque
Definition: eu_harmonic.h:237
@ harmonic_OperateMode_INLCalibration
Definition: eu_harmonic.h:231
@ harmonic_OperateMode_AutoTuning
Definition: eu_harmonic.h:230
@ harmonic_OperateMode_CyclicSyncTorque
Definition: eu_harmonic.h:242
EXTERNFUNC int harmonic_getLocalMutiMotorStatusWord(huint16 motorIndex, huint16 *status)
读本地字典0x5006+[0x1+motorIndex]
EXTERNFUNC int harmonic_setLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value)
写本地字典[0x1600+pdoIndex]-[0x1+mapIndex]
EXTERNFUNC int harmonic_getLocalTargetVelocity(hint32 *vel)
读本地字典0x60FF-0x0
EXTERNFUNC int harmonic_getErrorRegister(huint8 devIndex, huint8 id, huint8 *errReg, huint32 timeout=100)
读从站字典0x1001-0x0
EXTERNFUNC int harmonic_setSoftwareMaxmumPosition(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout=100)
写从站字典0x607D-0x2
EXTERNFUNC int harmonic_setLocalMutiMotorSetPos(huint16 motorIndex, hint32 pos)
写本地字典0x5003+[0x1+motorIndex]
EXTERNFUNC int harmonic_getPositionWindowTime(huint8 devIndex, huint8 id, huint16 *pWindowTime, huint32 timeout=100)
读从站字典0x6068-0x0
EXTERNFUNC int harmonic_setServoID(huint8 devIndex, huint8 id, huint8 servoID, huint32 timeout=100)
写从站字典0x2001-0x1
EXTERNFUNC int harmonic_setDemandPos(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout=100)
写从站字典0x6062-0x0
EXTERNFUNC int harmonic_setLocalControlword(huint16 word)
写本地字典0x6040-0x0
EXTERNFUNC int harmonic_getRPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout=100)
读从站字典[0x1400+pdoIndex]-0x1
EXTERNFUNC int harmonic_freeDLL(huint8 devIndex)
关闭设备,释放资源,设备打开成功后需要在适当时机释放资源 如果存在多个设备,程序退出前,每个设备都需调用一次释放资源
EXTERNFUNC int harmonic_setTorqueLimit(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout=100)
写从站字典0x6072-0x0
EXTERNFUNC int harmonic_getSerialNumber(huint8 devIndex, huint8 id, huint32 *serialNum, huint32 timeout=100)
读从站字典0x1018-0x4
EXTERNFUNC int harmonic_getLocalTargetPos(hint32 *pos)
读本地字典0x607A-0x0
EXTERNFUNC int harmonic_setServoVelocityLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout=100)
写从站字典0x2012-0x4
EXTERNFUNC int harmonic_setOperateMode(huint8 devIndex, huint8 id, harmonic_OperateMode mode, huint32 timeout=100)
写从站字典0x6060-0x0
EXTERNFUNC int harmonic_getSyncCobid(huint8 devIndex, huint8 id, huint32 *cobid, huint32 timeout=100)
读从站字典0x1005-0x0
EXTERNFUNC int harmonic_setProfileVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout=100)
写从站字典0x6081-0x0
EXTERNFUNC int harmonic_getLocalDCLinkCircuitVoltage(huint32 *voltage)
读本地字典0x6079-0x0
EXTERNFUNC int harmonic_setProfileAcceleration(huint8 devIndex, huint8 id, huint32 acc, huint32 timeout=100)
写从站字典0x6083-0x0
EXTERNFUNC int harmonic_setLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 num)
写本地字典[0x1200+sdoServerIndex]-0x0
EXTERNFUNC int harmonic_setLocalMitReplyCobdat2(huint32 cobdat)
写本地字典0x2133-0x0
EXTERNFUNC int harmonic_setLocalMitMutiMotorGetPos(huint16 motorIndex, hreal32 pos)
写本地字典0x5008+[0x1+motorIndex]
EXTERNFUNC int harmonic_getTPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout=100)
读从站字典[0x1800+pdoIndex]-0x5
EXTERNFUNC int harmonic_getI2tOverLoadLimit(huint8 devIndex, huint8 id, huint16 *value, huint32 timeout=100)
读从站字典0x2028-0x0
EXTERNFUNC int harmonic_setLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 value)
写本地字典[0x1800+pdoIndex]-0x6
EXTERNFUNC int harmonic_getMitCtrlCobcmd1(huint8 devIndex, huint8 id, huint32 *cobcmd, huint32 timeout=100)
读从站字典0x2130-0x0
EXTERNFUNC int harmonic_getServoVelocityFlowingErrorWindows(huint8 devIndex, huint8 id, huint32 *error, huint32 timeout=100)
读从站字典0x2021-0x1
EXTERNFUNC int harmonic_getServoTorqueWindowTime(huint8 devIndex, huint8 id, huint16 *window, huint32 timeout=100)
读从站字典0x2023-0x0
EXTERNFUNC int harmonic_setLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 nodeId)
写本地字典[0x1280+sdoClientIndex]-0x3
void(* harmonic_SendDataCallBack)(huint8 devIndex, const harmonic_CanMsg *msg)
发送数据回调函数
Definition: eu_harmonic.h:263
EXTERNFUNC int harmonic_getServoVelocityFlowingErrorParasNum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100)
读从站字典0x2021-0x0
EXTERNFUNC int harmonic_getLocalMutiMotorTorque(huint16 motorIndex, hint16 *tor)
读本地字典0x5002+[0x1+motorIndex]
EXTERNFUNC int harmonic_setLifeTimeFactor(huint8 devIndex, huint8 id, huint8 factor, huint32 timeout=100)
写从站字典0x100D-0x0
double hreal64
Definition: eu_harmonic.h:64
EXTERNFUNC int harmonic_getDCLinkCircuitVoltage(huint8 devIndex, huint8 id, huint32 *voltage, huint32 timeout=100)
读从站字典0x6079-0x0
EXTERNFUNC int harmonic_getServerSDONodeIdOfClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 *nodeId, huint32 timeout=100)
读从站字典[0x1200+sdoServerIndex]-0x3
EXTERNFUNC int harmonic_setTPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100)
写从站字典[0x1800+pdoIndex]-0x0
EXTERNFUNC int harmonic_setFindPointDoneFlag(huint8 devIndex, huint8 id, huint32 flag, huint32 timeout=100)
写从站字典0x2101-0x0
EXTERNFUNC int harmonic_setLocalTPDOEventTimer(huint16 pdoIndex, huint16 timer)
写本地字典[0x1800+pdoIndex]-0x5
EXTERNFUNC int harmonic_getDCOverVoltageThreshold(huint8 devIndex, huint8 id, huint32 *vol, huint32 timeout=100)
读从站字典0x202D-0x3
EXTERNFUNC int harmonic_getInterpolationDataRecord(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout=100)
读从站字典0x60C1-0x1
EXTERNFUNC int harmonic_getLocalMitMutiMotorGetPos(huint16 motorIndex, hreal32 *pos)
读本地字典0x5008+[0x1+motorIndex]
EXTERNFUNC int harmonic_getMitPMin(huint8 devIndex, huint8 id, hreal32 *pMin, huint32 timeout=100)
读从站字典0x2140-0x0
EXTERNFUNC int harmonic_getTorqueFactor(huint8 devIndex, huint8 id, huint16 *factor, huint32 timeout=100)
读从站字典0x2110-0x0
EXTERNFUNC int harmonic_getQuickStopOption(huint8 devIndex, huint8 id, harmonic_QuickStopOption *option, huint32 timeout=100)
读从站字典0x605A-0x0
EXTERNFUNC int harmonic_setLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 cobId)
写本地字典[0x1280+sdoClientIndex]-0x1
EXTERNFUNC int harmonic_getDefaultServoPositionLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout=100)
读从站字典0x2013-0x2
EXTERNFUNC int harmonic_setServoVelocityLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout=100)
写从站字典0x2012-0x3
EXTERNFUNC int harmonic_getLocalMitMutiMotorSetTor(huint16 motorIndex, hreal32 *tor)
读本地字典0x500D+[0x1+motorIndex]
EXTERNFUNC int harmonic_getServoPositionLoopPINum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100)
读从站字典0x2013-0x0
EXTERNFUNC int harmonic_getServoBlockTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100)
读从站字典0x2020-0x2
EXTERNFUNC int harmonic_getMitTMin(huint8 devIndex, huint8 id, hreal32 *tMin, huint32 timeout=100)
读从站字典0x2148-0x0
EXTERNFUNC int harmonic_setErrorFieldNumber(huint8 devIndex, huint8 id, huint8 number, huint32 timeout=100)
写从站字典0x1003-0x0
EXTERNFUNC int harmonic_getHearbeatConsumerTime(huint8 devIndex, huint8 id, huint8 subIndex, huint32 *time, huint32 timeout=100)
读从站字典0x1016-subIndex
EXTERNFUNC int harmonic_setFindPointStart(huint8 devIndex, huint8 id, huint32 status, huint32 timeout=100)
写从站字典0x2102-0x0
EXTERNFUNC int harmonic_getTorqueSlope(huint8 devIndex, huint8 id, huint32 *slope, huint32 timeout=100)
0x6087-0x0
EXTERNFUNC int harmonic_getMitVMax(huint8 devIndex, huint8 id, hreal32 *vMax, huint32 timeout=100)
读从站字典0x2143-0x0
EXTERNFUNC int harmonic_setDefaultServoCurrentLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout=100)
写从站字典0x2010-0x1
EXTERNFUNC int harmonic_getSyncCycle(huint8 devIndex, huint8 id, huint32 *syncCycle, huint32 timeout=100)
读从站字典0x1006-0x0
EXTERNFUNC int harmonic_getControlword(huint8 devIndex, huint8 id, huint16 *word, huint32 timeout=100)
读从站字典0x6040-0x0
EXTERNFUNC int harmonic_setLocalMitMutiMotorGetTor(huint16 motorIndex, hreal32 tor)
写本地字典0x500A+[0x1+motorIndex]
EXTERNFUNC int harmonic_setMitVMin(huint8 devIndex, huint8 id, hreal32 vMin, huint32 timeout=100)
写从站字典0x2142-0x0
EXTERNFUNC int harmonic_getMitTMax(huint8 devIndex, huint8 id, hreal32 *tMin, huint32 timeout=100)
读从站字典0x2149-0x0
EXTERNFUNC int harmonic_getFindPointMoveVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout=100)
读从站字典0x2108-0x0
EXTERNFUNC int harmonic_setFaultReactionOption(huint8 devIndex, huint8 id, harmonic_FaultReactionOption option, huint32 timeout=100)
写从站字典0x605E-0x0
EXTERNFUNC int harmonic_setGuardTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100)
写从站字典0x100C-0x0
EXTERNFUNC int harmonic_getTPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout=100)
读从站字典[0x1800+pdoIndex]-0x3
EXTERNFUNC int harmonic_setServoPositionLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout=100)
写从站字典0x2013-0x4
EXTERNFUNC int harmonic_setDCOverVoltageThreshold(huint8 devIndex, huint8 id, huint32 vol, huint32 timeout=100)
写从站字典0x202D-0x3
EXTERNFUNC int harmonic_setLocalMitMutiMotorSetTor(huint16 motorIndex, hreal32 tor)
写本地字典0x500D+[0x1+motorIndex]
harmonic_NMTState
NMT状态
Definition: eu_harmonic.h:121
@ harmonic_NMTState_Start_Node
Definition: eu_harmonic.h:122
@ harmonic_NMTState_Reset_Comunication
Definition: eu_harmonic.h:126
@ harmonic_NMTState_Enter_PreOperational
Definition: eu_harmonic.h:124
@ harmonic_NMTState_Stop_Node
Definition: eu_harmonic.h:123
@ harmonic_NMTState_Reset_Node
Definition: eu_harmonic.h:125
EXTERNFUNC int harmonic_getErrorField(huint8 devIndex, huint8 id, huint8 subIndex, huint32 *err, huint32 timeout=100)
读从站字典0x1003-subIndex
EXTERNFUNC int harmonic_setEmergencyInhibitTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100)
写从站字典0x1015-0x0
EXTERNFUNC int harmonic_setSyncCounter(huint8 devIndex, huint8 id, huint8 counter, huint32 timeout=100)
写从站字典0x1019-0x0
EXTERNFUNC int harmonic_getDeviceType(huint8 devIndex, huint8 id, huint32 *deviceType, huint32 timeout=100)
读从站字典0x1000-0x0
EXTERNFUNC int harmonic_setProducerHeartbeatTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100)
写从站字典0x1017-0x0
EXTERNFUNC int harmonic_setServerSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 num, huint32 timeout=100)
写从站字典[0x1200+sdoServerIndex]-0x0
EXTERNFUNC int harmonic_readDirectory(huint8 devIndex, huint8 id, huint16 index, huint8 subIndex, harmonic_DataType dataType, void *readData, huint32 timeout=100)
读从站字典
EXTERNFUNC int harmonic_stopControl(huint8 devIndex, huint8 id)
停止控制
#define EXTERNFUNC
Definition: eu_harmonic.h:23
EXTERNFUNC int harmonic_setLocalMitMutiMotorSetPos(huint16 motorIndex, hreal32 pos)
写本地字典0x500B+[0x1+motorIndex]
EXTERNFUNC int harmonic_profilePositionControl(huint8 devIndex, huint8 id, hint32 targetPos, huint32 vel, huint32 acc, huint32 dec, bool isRelative=false, bool isImmediately=true, bool isUpdate=false)
轮廓位置控制,该模式下电机内部根据给定参数生成轨迹并执行
EXTERNFUNC int harmonic_setSendDataCallBack(harmonic_SendDataCallBack callFunc)
设置发送数据回调函数
EXTERNFUNC int harmonic_getFindPointMoveAcc(huint8 devIndex, huint8 id, huint32 *acc, huint32 timeout=100)
读从站字典0x2106-0x0
EXTERNFUNC int harmonic_getServoVelocityLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout=100)
读从站字典0x2012-0x4
EXTERNFUNC int harmonic_setServoVelocityFlowingErrorTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100)
写从站字典0x2021-0x2
signed int hint32
Definition: eu_harmonic.h:50
EXTERNFUNC int harmonic_setLocalMitCtrlCobcmd2(huint32 cobcmd)
写本地字典0x2131-0x0
EXTERNFUNC int harmonic_getLocalActualTorque(hint16 *torque)
读本地字典0x6077-0x0
EXTERNFUNC int harmonic_getLocalTPDOInhibitTime(huint16 pdoIndex, huint16 *time)
读本地字典[0x1800+pdoIndex]-0x3
EXTERNFUNC int harmonic_setDemandTorque(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout=100)
写从站字典0x6074-0x0
unsigned int huint8 __attribute__((__mode__(__QI__)))
Definition: eu_harmonic.h:55
EXTERNFUNC int harmonic_getProducerHeartbeatTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100)
读从站字典0x1017-0x0
EXTERNFUNC int harmonic_getDCVolageProtectionParasNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100)
读从站字典0x202D-0x0
EXTERNFUNC int harmonic_getGearRatioMotorRevolutions(huint8 devIndex, huint8 id, huint32 *rev, huint32 timeout=100)
读从站字典0x6091-0x1
EXTERNFUNC int harmonic_getTorqueSensorValue(huint8 devIndex, huint8 id, hreal32 *value, huint32 timeout=100)
读从站字典0x2030-0x0
EXTERNFUNC int harmonic_setTPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout=100)
写从站字典[0x1A00+pdoIndex]-[0x1+mapIndex]
EXTERNFUNC int harmonic_getTargetTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout=100)
读从站字典0x6071-0x0
harmonic_ShutdownOption
关机选项
Definition: eu_harmonic.h:183
@ harmonic_ShutdownOption_Slown_With_Slow_Down_Ramp
Definition: eu_harmonic.h:185
@ harmonic_ShutdownOption_Disable_Drive_Function
Definition: eu_harmonic.h:184
EXTERNFUNC int harmonic_getHearbeatConsumerTimeParasNum(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100)
读从站字典0x1016-0x0
EXTERNFUNC int harmonic_getLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 *count)
读本地字典[0x1A00+pdoIndex]-0x0
EXTERNFUNC int harmonic_getServoID(huint8 devIndex, huint8 id, huint8 *servoID, huint32 timeout=100)
读从站字典0x2001-0x1
EXTERNFUNC int harmonic_getLocalMitMutiMotorSetPos(huint16 motorIndex, hreal32 *pos)
读本地字典0x500B+[0x1+motorIndex]
EXTERNFUNC int harmonic_getLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 *cobId)
读本地字典[0x1200+sdoServerIndex]-0x2
void(* harmonic_ReceiveDataCallBack)(huint8 devIndex, const harmonic_CanMsg *msg)
接收数据回调函数
Definition: eu_harmonic.h:269
EXTERNFUNC int harmonic_getSyncCounter(huint8 devIndex, huint8 id, huint8 *counter, huint32 timeout=100)
读从站字典0x1019-0x0
EXTERNFUNC int harmonic_getLocalActualPos(hint32 *pos)
读本地字典0x6064-0x0
EXTERNFUNC int harmonic_profileTorqueControl(huint8 devIndex, huint8 id, huint16 targetTorque, hint16 slope, bool isUpdate=false)
轮廓力矩控制,该模式下电机内部根据给定参数生成轨迹并执行
EXTERNFUNC int harmonic_getHardwareVersion(huint8 devIndex, huint8 id, char *version, huint32 timeout=100)
读从站字典0x1009-0x0
EXTERNFUNC int harmonic_getProfileVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout=100)
读从站字典0x6081-0x0
EXTERNFUNC int harmonic_getSoftwareMaxmumPosition(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100)
读从站字典0x607D-0x2
EXTERNFUNC int harmonic_getQuickStopDeceleration(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout=100)
读从站字典0x6085-0x0
EXTERNFUNC int harmonic_getMitKDMax(huint8 devIndex, huint8 id, hreal32 *kdMax, huint32 timeout=100)
读从站字典0x2147-0x0
EXTERNFUNC int harmonic_setServerSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout=100)
写从站字典[0x1200+sdoServerIndex]-0x1
EXTERNFUNC int harmonic_setLocalSyncCycle(huint32 cycle)
写本地字典0x1006-0x0
EXTERNFUNC int harmonic_getLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 *cobId)
读本地字典[0x1280+sdoClientIndex]-0x2
EXTERNFUNC int harmonic_setPositionWindowTime(huint8 devIndex, huint8 id, huint16 pWindowTime, huint32 timeout=100)
写从站字典0x6068-0x0
EXTERNFUNC int harmonic_setFindPointMoveAcc(huint8 devIndex, huint8 id, huint32 acc, huint32 timeout=100)
写从站字典0x2106-0x0
EXTERNFUNC int harmonic_getDisableOperationOptionCode(huint8 devIndex, huint8 id, harmonic_DisableOperationOption *code, huint32 timeout=100)
读从站字典0x605C-0x0
EXTERNFUNC int harmonic_getLocalMutiMotorPos(huint16 motorIndex, hint32 *pos)
读本地字典0x5000+[0x1+motorIndex]
harmonic_Baudrate
波特率
Definition: eu_harmonic.h:94
@ harmonic_Baudrate_20
Definition: eu_harmonic.h:96
@ harmonic_Baudrate_10
Definition: eu_harmonic.h:95
@ harmonic_Baudrate_1000
Definition: eu_harmonic.h:102
@ harmonic_Baudrate_500
Definition: eu_harmonic.h:100
@ harmonic_Baudrate_100
Definition: eu_harmonic.h:98
@ harmonic_Baudrate_250
Definition: eu_harmonic.h:99
@ harmonic_Baudrate_50
Definition: eu_harmonic.h:97
@ harmonic_Baudrate_800
Definition: eu_harmonic.h:101
EXTERNFUNC int harmonic_setDCOverVoltageTime(huint8 devIndex, huint8 id, huint32 time, huint32 timeout=100)
写从站字典0x202D-0x4
EXTERNFUNC int harmonic_setLocalMitMutiMotorGetVel(huint16 motorIndex, hreal32 vel)
写本地字典0x5009+[0x1+motorIndex]
EXTERNFUNC int harmonic_setServoPositionLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout=100)
写从站字典0x2013-0x3
EXTERNFUNC int harmonic_getLocalSyncCycle(huint32 *cycle)
读本地字典0x1006-0x0
EXTERNFUNC int harmonic_getBrakeState(huint8 devIndex, huint8 id, huint8 *state, huint32 timeout=100)
读从站字典0x2014-0x2
EXTERNFUNC int harmonic_getActualFollowingError(huint8 devIndex, huint8 id, hint32 *error, huint32 timeout=100)
读从站字典0x60F4-0x0
EXTERNFUNC int harmonic_getLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 *count)
读本地字典[0x1600+pdoIndex]-0x0
EXTERNFUNC int harmonic_setTargetTorque(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout=100)
写从站字典0x6071-0x0
EXTERNFUNC int harmonic_getServoCanBaudrate(huint8 devIndex, huint8 id, huint16 *baudrate, huint32 timeout=100)
读从站字典0x2001-0x2
EXTERNFUNC int harmonic_setMitPMax(huint8 devIndex, huint8 id, hreal32 pMax, huint32 timeout=100)
写从站字典0x2141-0x0
EXTERNFUNC int harmonic_getStoreParameters(huint8 devIndex, huint8 id, huint32 *value, huint32 timeout=100)
读从站字典0x1010-0x1
EXTERNFUNC int harmonic_getRPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout=100)
读从站字典[0x1400+pdoIndex]-0x6
harmonic_NodeState
节点状态
Definition: eu_harmonic.h:134
@ harmonic_NodeState_Disconnected
Definition: eu_harmonic.h:136
@ harmonic_NodeState_Pre_operational
Definition: eu_harmonic.h:141
@ harmonic_NodeState_Operational
Definition: eu_harmonic.h:140
@ harmonic_NodeState_Unknown_state
Definition: eu_harmonic.h:142
@ harmonic_NodeState_Initialisation
Definition: eu_harmonic.h:135
@ harmonic_NodeState_Preparing
Definition: eu_harmonic.h:138
@ harmonic_NodeState_Connecting
Definition: eu_harmonic.h:137
@ harmonic_NodeState_Stopped
Definition: eu_harmonic.h:139
EXTERNFUNC int harmonic_setGearRatioShaftRevolutions(huint8 devIndex, huint8 id, huint32 rev, huint32 timeout=100)
写从站字典0x6091-0x2
EXTERNFUNC int harmonic_setRPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout=100)
写从站字典[0x1400+pdoIndex]-0x2
EXTERNFUNC int harmonic_getDemandTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout=100)
读从站字典0x6074-0x0
EXTERNFUNC int harmonic_setTorqueFactor(huint8 devIndex, huint8 id, huint16 factor, huint32 timeout=100)
写从站字典0x2110-0x0
EXTERNFUNC int harmonic_setRPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout=100)
写从站字典[0x1400+pdoIndex]-0x1
EXTERNFUNC int harmonic_getServoTemperatureLimit(huint8 devIndex, huint8 id, hint8 *tem, huint32 timeout=100)
读从站字典0x2016-0x2
EXTERNFUNC int harmonic_setQuickStopDeceleration(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout=100)
写从站字典0x6085-0x0
EXTERNFUNC int harmonic_getServoVelocityIntLimit(huint8 devIndex, huint8 id, huint16 *limit, huint32 timeout=100)
读从站字典0x2017-0x0
EXTERNFUNC int harmonic_setMitPMin(huint8 devIndex, huint8 id, hreal32 pMin, huint32 timeout=100)
写从站字典0x2140-0x0
EXTERNFUNC int harmonic_getVelocityWindow(huint8 devIndex, huint8 id, huint16 *vWindow, huint32 timeout=100)
读从站字典0x606D-0x0
EXTERNFUNC int harmonic_setMitKDMin(huint8 devIndex, huint8 id, hreal32 kdMin, huint32 timeout=100)
写从站字典0x2146-0x0
EXTERNFUNC int harmonic_getMitKPMax(huint8 devIndex, huint8 id, hreal32 *kpMax, huint32 timeout=100)
读从站字典0x2145-0x0
EXTERNFUNC int harmonic_getLifeTimeFactor(huint8 devIndex, huint8 id, huint8 *factor, huint32 timeout=100)
读从站字典0x100D-0x0
EXTERNFUNC int harmonic_getServoBrakeParaNum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100)
读从站字典0x2014-0x0
EXTERNFUNC int harmonic_setServoCurrentLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout=100)
写从站字典0x2010-0x4
EXTERNFUNC int harmonic_setTPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout=100)
写从站字典[0x1800+pdoIndex]-0x2
EXTERNFUNC int harmonic_getServoCurrentLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout=100)
读从站字典0x2010-0x3
EXTERNFUNC int harmonic_getServerSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 *num, huint32 timeout=100)
读从站字典[0x1200+sdoServerIndex]-0x0
EXTERNFUNC int harmonic_getI2tOverLoadValue(huint8 devIndex, huint8 id, huint16 *value, huint32 timeout=100)
读从站字典0x2029-0x0
signed char hint8
Definition: eu_harmonic.h:47
EXTERNFUNC int harmonic_setLocalTPDOInhibitTime(huint16 pdoIndex, huint16 time)
写本地字典[0x1800+pdoIndex]-0x3
EXTERNFUNC int harmonic_setSyncCycle(huint8 devIndex, huint8 id, huint32 syncCycle, huint32 timeout=100)
写从站字典0x1006-0x0
EXTERNFUNC int harmonic_getTPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout=100)
读从站字典[0x1800+pdoIndex]-0x1
EXTERNFUNC int harmonic_setDefaultServoVelocityLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout=100)
写从站字典0x2012-0x2
EXTERNFUNC int harmonic_getFindPointStart(huint8 devIndex, huint8 id, huint32 *status, huint32 timeout=100)
读从站字典0x2102-0x0
EXTERNFUNC int harmonic_setLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 cobId)
写本地字典[0x1280+sdoClientIndex]-0x2
EXTERNFUNC int harmonic_setRPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout=100)
写从站字典[0x1600+pdoIndex]-[0x1+mapIndex]
EXTERNFUNC int harmonic_setClientSDONodeIdOfSDOServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 nodeId, huint32 timeout=100)
写从站字典[0x1280+sdoClientIndex]-0x3
EXTERNFUNC int harmonic_setLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 count)
写本地字典[0x1A00+pdoIndex]-0x0
EXTERNFUNC int harmonic_getTargetPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100)
0x607A-0x0
harmonic_DisableOperationOption
下使能操作
Definition: eu_harmonic.h:193
@ harmonic_DisableOperationOption_Slow_Down_With_Slow_Down_Ramp
Definition: eu_harmonic.h:195
@ harmonic_DisableOperationOption_Disable_Drive_Function
Definition: eu_harmonic.h:194
EXTERNFUNC int harmonic_getServoBlockParasNum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100)
读从站字典0x2020-0x0
EXTERNFUNC int harmonic_getLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 *value)
读本地字典[0x1400+pdoIndex]-0x6
EXTERNFUNC int harmonic_setServoCommunicationMode(huint8 devIndex, huint8 id, huint8 mode, huint32 timeout=100)
写从站字典0x2004-0x0
EXTERNFUNC int harmonic_getServoCommunicationMode(huint8 devIndex, huint8 id, huint8 *mode, huint32 timeout=100)
读从站字典0x2004-0x0
EXTERNFUNC int harmonic_getLocalMitCtrlCobcmd1(huint32 *cobcmd)
读本地字典0x2130-0x0
EXTERNFUNC int harmonic_getLocalMutiMotorVel(huint16 motorIndex, hint32 *vel)
读本地字典0x5001+[0x1+motorIndex]
EXTERNFUNC int harmonic_getClientSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 *number, huint32 timeout=100)
读从站字典[0x1280+sdoClientIndex]-0x0
EXTERNFUNC int harmonic_getNodeState(huint8 devIndex, huint8 id, harmonic_NodeState *state, huint32 timeout=100)
读从节点状态
harmonic_QuickStopOption
快速停止选项
Definition: eu_harmonic.h:166
@ harmonic_QuickStopOption_Slow_Down_On_the_Current_Limit
Definition: eu_harmonic.h:170
@ harmonic_QuickStopOption_Slow_Down_On_Quick_Stop_Ramp
Definition: eu_harmonic.h:169
@ harmonic_QuickStopOption_Slow_Down_On_Quick_Stop_Ramp_And_Stay_In_Quick_Stop
Definition: eu_harmonic.h:172
@ harmonic_QuickStopOption_Slow_Down_On_the_Voltag_Limit
Definition: eu_harmonic.h:171
@ harmonic_QuickStopOption_Slow_Down_On_Slow_Down_Ramp
Definition: eu_harmonic.h:168
@ harmonic_QuickStopOption_Slow_Down_On_the_Voltag_Limit_And_Stay_In_Quick_Stop
Definition: eu_harmonic.h:175
@ harmonic_QuickStopOption_Slow_Down_On_the_Current_Limit_And_Stay_In_Quick_Stop
Definition: eu_harmonic.h:174
@ harmonic_QuickStopOption_Slow_Down_On_Slow_Down_Ramp_And_Stay_In_Quick_Stop
Definition: eu_harmonic.h:173
@ harmonic_QuickStopOption_Disable_Drive
Definition: eu_harmonic.h:167
EXTERNFUNC int harmonic_getProfileDeceleration(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout=100)
读从站字典0x6084-0x0
EXTERNFUNC int harmonic_setVelocityWindow(huint8 devIndex, huint8 id, huint16 vWindow, huint32 timeout=100)
写从站字典0x606D-0x0
EXTERNFUNC int harmonic_getHomeOffset(huint8 devIndex, huint8 id, hint32 *offSet, huint32 timeout=100)
读从站字典0x607C-0x0
EXTERNFUNC int harmonic_getSoftwareVersion(huint8 devIndex, huint8 id, char *version, huint32 timeout=100)
读从站字典0x100A-0x0
EXTERNFUNC int harmonic_setLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 nodeId)
写本地字典[0x1200+sdoServerIndex]-0x3
EXTERNFUNC int harmonic_setDefaultServoCurrentLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout=100)
写从站字典0x2010-0x2
EXTERNFUNC int harmonic_getLocalMitCtrlCobcmd2(huint32 *cobcmd)
读本地字典0x2131-0x0
EXTERNFUNC int harmonic_setRPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout=100)
写从站字典[0x1400+pdoIndex]-0x3
EXTERNFUNC int harmonic_setMitReplyCobdat1(huint8 devIndex, huint8 id, huint32 cobdat, huint32 timeout=100)
写从站字典0x2132-0x0
EXTERNFUNC int harmonic_getTargetVelocity(huint8 devIndex, huint8 id, hint32 *targetVel, huint32 timeout=100)
读从站字典0x60FF-0x0
EXTERNFUNC int harmonic_setMitKDMax(huint8 devIndex, huint8 id, hreal32 kdMax, huint32 timeout=100)
写从站字典0x2147-0x0
EXTERNFUNC int harmonic_getRPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout=100)
读从站字典[0x1600+pdoIndex]-[0x1+mapIndex]
EXTERNFUNC int harmonic_getServoPositionLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout=100)
读从站字典0x2013-0x4
EXTERNFUNC int harmonic_setMitTMax(huint8 devIndex, huint8 id, hreal32 tMin, huint32 timeout=100)
写从站字典0x2149-0x0
EXTERNFUNC int harmonic_setServoBrakeDelayTime(huint8 devIndex, huint8 id, huint8 time, huint32 timeout=100)
写从站字典0x2026-0x0
EXTERNFUNC int harmonic_getSoftwareMinimumPosition(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100)
读从站字典0x607D-0x1
EXTERNFUNC int harmonic_setLocalRPDOEventTimer(huint16 pdoIndex, huint16 timer)
写本地字典[0x1400+pdoIndex]-0x5
EXTERNFUNC int harmonic_getServoVelocityLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout=100)
读从站字典0x2012-0x3
harmonic_DataType
数据类型
Definition: eu_harmonic.h:150
@ harmonic_DataType_real32
Definition: eu_harmonic.h:158
@ harmonic_DataType_int32
Definition: eu_harmonic.h:154
@ harmonic_DataType_uint16
Definition: eu_harmonic.h:156
@ harmonic_DataType_int16
Definition: eu_harmonic.h:153
@ harmonic_DataType_int8
Definition: eu_harmonic.h:152
@ harmonic_DataType_uint8
Definition: eu_harmonic.h:155
@ harmonic_DataType_uint32
Definition: eu_harmonic.h:157
EXTERNFUNC int harmonic_getRPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout=100)
读从站字典[0x1400+pdoIndex]-0x2
EXTERNFUNC int harmonic_getLocalMitMutiMotorGetVel(huint16 motorIndex, hreal32 *vel)
读本地字典0x5009+[0x1+motorIndex]
EXTERNFUNC int harmonic_setTPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout=100)
写从站字典[0x1800+pdoIndex]-0x5
EXTERNFUNC int harmonic_getEmergencyInhibitTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100)
读从站字典0x1015-0x0
EXTERNFUNC int harmonic_setMotorRatedTorque(huint8 devIndex, huint8 id, huint32 torque, huint32 timeout=100)
写从站字典0x6076-0x0
EXTERNFUNC int harmonic_getLocalTPDOTransmitType(huint16 pdoIndex, huint8 *type)
读本地字典[0x1800+pdoIndex]-0x2
EXTERNFUNC int harmonic_setFindPointMoveVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout=100)
写从站字典0x2108-0x0
EXTERNFUNC int harmonic_getMitPMax(huint8 devIndex, huint8 id, hreal32 *pMax, huint32 timeout=100)
读从站字典0x2141-0x0
EXTERNFUNC int harmonic_getServoTemperature(huint8 devIndex, huint8 id, hint8 *tem, huint32 timeout=100)
读从站字典0x2016-0x1
EXTERNFUNC int harmonic_setLocalMitMutiMotorSetVel(huint16 motorIndex, hreal32 vel)
写本地字典0x500C+[0x1+motorIndex]
EXTERNFUNC int harmonic_getVelocityThresholdTime(huint8 devIndex, huint8 id, huint16 *tTime, huint32 timeout=100)
读从站字典0x6070-0x0
EXTERNFUNC int harmonic_getStoreParametersNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100)
读从站字典0x1010-0x0
EXTERNFUNC int harmonic_setDefaultServoPositionLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout=100)
写从站字典0x2013-0x1
EXTERNFUNC int harmonic_setServerSDONodeIdOfClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 nodeId, huint32 timeout=100)
写从站字典[0x1200+sdoServerIndex]-0x3
EXTERNFUNC int harmonic_setPositionWindow(huint8 devIndex, huint8 id, huint32 pWindow, huint32 timeout=100)
写从站字典0x6067-0x0
EXTERNFUNC int harmonic_getStatusWord(huint8 devIndex, huint8 id, huint16 *word, huint32 timeout=100)
读从站字典0x6041-0x0
EXTERNFUNC int harmonic_getTPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout=100)
读从站字典[0x1A00+pdoIndex]-[0x1+mapIndex]
harmonic_DeviceType
设备类型
Definition: eu_harmonic.h:83
@ harmonic_DeviceType_USB2CAN
Definition: eu_harmonic.h:84
@ harmonic_DeviceType_ZCAN_USBCANFD_100U
Definition: eu_harmonic.h:86
@ harmonic_DeviceType_Canable
Definition: eu_harmonic.h:85
EXTERNFUNC int harmonic_getProductCode(huint8 devIndex, huint8 id, huint32 *pCode, huint32 timeout=100)
读从站字典0x1018-0x2
EXTERNFUNC int harmonic_getLocalTargetTorque(hint16 *torque)
读本地字典0x6071-0x0
EXTERNFUNC int harmonic_getRPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout=100)
读从站字典[0x1400+pdoIndex]-0x5
EXTERNFUNC int harmonic_getClientSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout=100)
读从站字典[0x1280+sdoClientIndex]-0x1
EXTERNFUNC int harmonic_getLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value)
读本地字典[0x1A00+pdoIndex]-[0x1+mapIndex]
EXTERNFUNC int harmonic_setLocalNodeState(harmonic_NodeState state)
设置本地节点状态
EXTERNFUNC int harmonic_getLocalMitMutiMotorGetTor(huint16 motorIndex, hreal32 *tor)
读本地字典0x500A+[0x1+motorIndex]
EXTERNFUNC int harmonic_getTPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100)
读从站字典[0x1A00+pdoIndex]-0x0
EXTERNFUNC int harmonic_readLocalDirectory(huint16 index, huint8 subIndex, harmonic_DataType dataType, void *readData)
读主站字典
EXTERNFUNC int harmonic_setServoTorqueWindow(huint8 devIndex, huint8 id, huint16 window, huint32 timeout=100)
写从站字典0x2022-0x0
EXTERNFUNC int harmonic_setLocalMutiMotorSetTorque(huint16 motorIndex, hint16 torque)
写本地字典0x5005+[0x1+motorIndex]
EXTERNFUNC int harmonic_getShutdownOptionCode(huint8 devIndex, huint8 id, harmonic_ShutdownOption *code, huint32 timeout=100)
读从站字典0x605B-0
EXTERNFUNC int harmonic_getLocalRPDOTransmitType(huint16 pdoIndex, huint8 *type)
读本地字典[0x1400+pdoIndex]-0x2
EXTERNFUNC int harmonic_getClientSDONodeIdOfSDOServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 *nodeId, huint32 timeout=100)
读从站字典[0x1280+sdoClientIndex]-0x3
EXTERNFUNC int harmonic_setSoftwareMinimumPosition(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout=100)
写从站字典0x607D-0x1
EXTERNFUNC int harmonic_setProfileDeceleration(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout=100)
写从站字典0x6084-0x0
EXTERNFUNC int harmonic_getMaxProfileVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout=100)
读从站字典0x607F-0x0
EXTERNFUNC int harmonic_setTargetVelocity(huint8 devIndex, huint8 id, hint32 targetVel, huint32 timeout=100)
写从站字典0x60FF-0x0
EXTERNFUNC int harmonic_setInterpolationDataRecord(huint8 devIndex, huint8 id, hint32 value, huint32 timeout=100)
写从站字典0x60C1-0x1
EXTERNFUNC int harmonic_setDemandVelocity(huint8 devIndex, huint8 id, hint32 dvel, huint32 timeout=100)
写从站字典0x606B-0x0
EXTERNFUNC int harmonic_setMitReplyCobdat2(huint8 devIndex, huint8 id, huint32 cobdat, huint32 timeout=100)
从站字典0x2133-0x0
EXTERNFUNC int harmonic_setInterpolationTimePeriodValue(huint8 devIndex, huint8 id, huint8 value, huint32 timeout=100)
写从站字典0x60C2-0x1
EXTERNFUNC int harmonic_setDisableOperationOptionCode(huint8 devIndex, huint8 id, harmonic_DisableOperationOption code, huint32 timeout=100)
写从站字典0x605C-0x0
EXTERNFUNC int harmonic_getLocalRPDOInhibitTime(huint16 pdoIndex, huint16 *time)
读本地字典[0x1400+pdoIndex]-0x3
signed int hint24
Definition: eu_harmonic.h:49
EXTERNFUNC int harmonic_getHaltOption(huint8 devIndex, huint8 id, harmonic_HaltOption *option, huint32 timeout=100)
读从站字典0x605D-0x0
EXTERNFUNC int harmonic_getServerSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout=100)
读从站字典[0x1200+sdoServerIndex]-0x1
EXTERNFUNC int harmonic_writeCanData(huint8 devIndex, huint16 cobId, const huint8 *const data, huint8 len)
发送原始can数据
EXTERNFUNC int harmonic_getLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 *num)
读本地字典[0x1200+sdoServerIndex]-0x0
EXTERNFUNC int harmonic_getServoBrakeDelayTime(huint8 devIndex, huint8 id, huint8 *time, huint32 timeout=100)
读从站字典0x2026-0x0
EXTERNFUNC int harmonic_setServoParametersNumber(huint8 devIndex, huint8 id, huint8 num, huint32 timeout=100)
写从站字典0x2001-0x0
EXTERNFUNC int harmonic_setGearRatioMotorRevolutions(huint8 devIndex, huint8 id, huint32 rev, huint32 timeout=100)
写从站字典0x6091-0x1
harmonic_FaultReactionOption
故障处理选项
Definition: eu_harmonic.h:216
@ harmonic_FaultReactionOption_Slow_down_on_current_limit
Definition: eu_harmonic.h:220
@ harmonic_FaultReactionOption_Disable_drive_function
Definition: eu_harmonic.h:217
@ harmonic_FaultReactionOption_Slow_down_on_quick_stop_ramp
Definition: eu_harmonic.h:219
@ harmonic_FaultReactionOption_Slow_down_on_slow_down_ramp
Definition: eu_harmonic.h:218
@ harmonic_FaultReactionOption_Slow_down_on_voltage_limit
Definition: eu_harmonic.h:221
EXTERNFUNC int harmonic_getTorqueLimit(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout=100)
读从站字典0x6072-0x0
signed long int hint56
Definition: eu_harmonic.h:53
EXTERNFUNC int harmonic_setDCLinkCircuitVoltage(huint8 devIndex, huint8 id, huint32 voltage, huint32 timeout=100)
写从站字典0x6079-0x0
EXTERNFUNC int harmonic_setTPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout=100)
写从站字典[0x1800+pdoIndex]-0x3
EXTERNFUNC int harmonic_getDefaultServoPositionLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout=100)
读从站字典0x2013-0x1
EXTERNFUNC int harmonic_setServoSoftwareLimitState(huint8 devIndex, huint8 id, huint32 state, huint32 timeout=100)
写从站字典0x2003-0x0
EXTERNFUNC int harmonic_setLocalTargetVelocity(hint32 vel)
写本地字典0x60FF-0x0
EXTERNFUNC int harmonic_setLocalInterpolationDataRecord(hint32 value)
写本地字典0x60C1-0x1
EXTERNFUNC int harmonic_setLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 count)
写本地字典[0x1400+pdoIndex]-0x0
signed short int hint16
Definition: eu_harmonic.h:48
EXTERNFUNC int harmonic_getOperateMode(huint8 devIndex, huint8 id, harmonic_OperateMode *mode, huint32 timeout=100)
读从站字典0x6060-0x0
EXTERNFUNC int harmonic_setServoCanBaudrate(huint8 devIndex, huint8 id, huint16 baudrate, huint32 timeout=100)
写从站字典0x2001-0x2
EXTERNFUNC int harmonic_getLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 *cobId)
读本地字典[0x1280+sdoClientIndex]-0x1
EXTERNFUNC int harmonic_getRPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100)
读从站字典[0x1400+pdoIndex]-0x0
EXTERNFUNC int harmonic_setDCUnderVoltageTime(huint8 devIndex, huint8 id, huint32 time, huint32 timeout=100)
写从站字典0x202D-0x2
EXTERNFUNC int harmonic_getLocalServoTemperature(hint8 *tem)
读本地字典0x2106-0x1
EXTERNFUNC int harmonic_getLocalServoErrorCode(huint16 *err)
读本地字典0x603F-0x0
EXTERNFUNC int harmonic_setBrakeState(huint8 devIndex, huint8 id, huint8 state, huint32 timeout=100)
写从站字典0x2014-0x2(设置抱闸状态)
EXTERNFUNC int harmonic_setServoCurrentLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout=100)
写从站字典0x2010-0x3
EXTERNFUNC int harmonic_setLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 value)
写本地字典[0x1400+pdoIndex]-0x6
EXTERNFUNC int harmonic_getPositionWindow(huint8 devIndex, huint8 id, huint32 *pWindow, huint32 timeout=100)
读从站字典0x6067-0x0
EXTERNFUNC int harmonic_getServoBlockTorque(huint8 devIndex, huint8 id, huint16 *torque, huint32 timeout=100)
读从站字典0x2020-0x1
EXTERNFUNC int harmonic_setRestoreDefaultParameters(huint8 devIndex, huint8 id, huint32 value, huint32 timeout=100)
写从站字典0x1011-0x1
EXTERNFUNC int harmonic_getLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 *cobId)
读本地字典[0x1200+sdoServerIndex]-0x1
EXTERNFUNC int harmonic_setServoOverSpeedThreshold(huint8 devIndex, huint8 id, huint32 thre, huint32 timeout=100)
写从站字典0x2024-0x0
EXTERNFUNC int harmonic_setDefaultServoPositionLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout=100)
写从站字典0x2013-0x2
EXTERNFUNC int harmonic_getIdentityObjectNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100)
读从站字典0x1018-0x0
EXTERNFUNC int harmonic_getCurrentActualValue(huint8 devIndex, huint8 id, hint16 *current, huint32 timeout=100)
读从站字典0x6078-0x0
struct _harmonic_CanMsg harmonic_CanMsg
can数据结构
EXTERNFUNC int harmonic_getRestoreDefaultParametersNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100)
读从站字典0x1011-0x0
EXTERNFUNC int harmonic_getGuardTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100)
读从站字典0x100C-0x0
EXTERNFUNC int harmonic_setServerSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout=100)
写从站字典[0x1200+sdoServerIndex]-0x2
EXTERNFUNC int harmonic_getErrorFieldNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100)
读从站字典0x1003-0x0
EXTERNFUNC int harmonic_getVendorID(huint8 devIndex, huint8 id, huint32 *vId, huint32 timeout=100)
读从站字典0x1018-0x1
EXTERNFUNC int harmonic_getMitCtrlCobcmd2(huint8 devIndex, huint8 id, huint32 *cobcmd, huint32 timeout=100)
读从站字典0x2131-0x0
EXTERNFUNC int harmonic_getMitReplyCobdat1(huint8 devIndex, huint8 id, huint32 *cobdat, huint32 timeout=100)
读从站字典0x2132-0x0
EXTERNFUNC int harmonic_getServoOverSpeedThreshold(huint8 devIndex, huint8 id, huint32 *thre, huint32 timeout=100)
读从站字典0x2024-0x0
EXTERNFUNC int harmonic_setTPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout=100)
写从站字典[0x1800+pdoIndex]-0x6
EXTERNFUNC int harmonic_getServoCurrentLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout=100)
读从站字典0x2010-0x4
EXTERNFUNC int harmonic_setVelocityThresholdTime(huint8 devIndex, huint8 id, huint16 tTime, huint32 timeout=100)
写从站字典0x6070-0x0
EXTERNFUNC int harmonic_getServoErrorCode(huint8 devIndex, huint8 id, huint16 *err, huint32 timeout=100)
读从站字典0x603F-0x0
EXTERNFUNC int harmonic_profileVelocityControl(huint8 devIndex, huint8 id, hint32 targetVel, huint32 acc, huint32 dec, bool isUpdate=false)
轮廓速度控制,该模式下电机内部根据给定参数生成轨迹并执行
EXTERNFUNC int harmonic_getLocalSyncWindow(huint32 *sWindow)
读本地字典0x1007-0x0
EXTERNFUNC int harmonic_setI2tOverLoadLimit(huint8 devIndex, huint8 id, huint16 value, huint32 timeout=100)
写从站字典0x2028-0x0
EXTERNFUNC int harmonic_writeDirectory(huint8 devIndex, huint8 id, huint16 index, huint8 subIndex, harmonic_DataType dataType, void *writeData, huint32 timeout=100)
写从站字典
EXTERNFUNC int harmonic_setServoBrakeControl(huint8 devIndex, huint8 id, huint8 status, huint32 timeout=100)
写从站字典0x2014-0x1
signed long int hint64
Definition: eu_harmonic.h:54
EXTERNFUNC int harmonic_setMitCtrlCobcmd1(huint8 devIndex, huint8 id, huint32 cobcmd, huint32 timeout=100)
写从站字典0x2130-0x0
EXTERNFUNC int harmonic_getDefaultServoCurrentLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout=100)
写从站字典0x2010-0x0
EXTERNFUNC int harmonic_setControlword(huint8 devIndex, huint8 id, huint16 word, huint32 timeout=100)
写从站字典0x6040-0x0
EXTERNFUNC int harmonic_setLocalTPDOCobId(huint16 pdoIndex, huint32 cobId)
写本地字典[0x1800+pdoIndex]-0x1
EXTERNFUNC int harmonic_setQuickStopOption(huint8 devIndex, huint8 id, harmonic_QuickStopOption option, huint32 timeout=100)
写从站字典0x605A-0x0
EXTERNFUNC int harmonic_setFindPointMoveDec(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout=100)
写从站字典0x2107-0x0
EXTERNFUNC int harmonic_setHearbeatConsumerTime(huint8 devIndex, huint8 id, huint8 subIndex, huint32 time, huint32 timeout=100)
写从站字典0x1016-subIndex
EXTERNFUNC int harmonic_getSyncWindow(huint8 devIndex, huint8 id, huint32 *syncWindow, huint32 timeout=100)
读从站字典0x1007-0x0
EXTERNFUNC int harmonic_getEmergencyCobid(huint8 devIndex, huint8 id, huint32 *cobid, huint32 timeout=100)
读从站字典0x1014-0x0
EXTERNFUNC int harmonic_setFindPointMoveMax(huint8 devIndex, huint8 id, huint32 angle, huint32 timeout=100)
写从站字典0x2105-0x0
EXTERNFUNC int harmonic_setVelocityWindowTime(huint8 devIndex, huint8 id, huint16 wTime, huint32 timeout=100)
写从站字典0x606E-0x0
EXTERNFUNC int harmonic_getGearRatioShaftRevolutions(huint8 devIndex, huint8 id, huint32 *rev, huint32 timeout=100)
读从站字典0x6091-0x2
EXTERNFUNC int harmonic_setLocalTargetPos(hint32 pos)
写本地字典0x607A-0x0
EXTERNFUNC int harmonic_getMotorRatedTorque(huint8 devIndex, huint8 id, huint32 *torque, huint32 timeout=100)
读从站字典0x6076-0x0
EXTERNFUNC int harmonic_setLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 cobId)
写本地字典[0x1200+sdoServerIndex]-0x2
EXTERNFUNC int harmonic_getLocalMitMutiMotorSetVel(huint16 motorIndex, hreal32 *vel)
读本地字典0x500C+[0x1+motorIndex]
EXTERNFUNC int harmonic_setMitKPMin(huint8 devIndex, huint8 id, hreal32 kpMin, huint32 timeout=100)
写从站字典0x2144-0x0
EXTERNFUNC int harmonic_setSyncWindow(huint8 devIndex, huint8 id, huint32 syncWindow, huint32 timeout=100)
写从站字典0x1007-0x0
signed long int hint48
Definition: eu_harmonic.h:52
EXTERNFUNC int harmonic_setServoBlockTorque(huint8 devIndex, huint8 id, huint16 torque, huint32 timeout=100)
写从站字典0x2020-0x1
EXTERNFUNC int harmonic_getInterpolationTimePeriodValue(huint8 devIndex, huint8 id, huint8 *value, huint32 timeout=100)
读从站字典0x60C2-0x1
EXTERNFUNC int harmonic_getLocalInterpolationTimePeriodValue(huint8 *value)
读本地字典0x60c2-0x1
EXTERNFUNC int harmonic_setLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 count)
写本地字典[0x1600+pdoIndex]-0x0
EXTERNFUNC int harmonic_getLocalTPDOCobId(huint16 pdoIndex, huint32 *cobId)
读本地字典[0x1800+pdoIndex]-0x1
EXTERNFUNC int harmonic_setRPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout=100)
写从站字典[0x1400+pdoIndex]-0x6
EXTERNFUNC int harmonic_setVelocityThreshold(huint8 devIndex, huint8 id, huint16 thres, huint32 timeout=100)
写从站字典0x606F-0x0
EXTERNFUNC int harmonic_setDefaultServoVelocityLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout=100)
写从站字典0x2012-0x1
EXTERNFUNC int harmonic_setLocalTPDOTransmitType(huint16 pdoIndex, huint8 type)
写本地字典[0x1800+pdoIndex]-0x2
EXTERNFUNC int harmonic_initDLL(harmonic_DeviceType devType, huint8 devIndex, harmonic_Baudrate baudrate, bool isCanFD=false, harmonic_DBaudrate dbaudrate=harmonic_DBaudrate::harmonic_DBaudrate_5000)
初始化dll,在调用所有函数前,必须先调用该函数进行初始化,该函数会打开设备。 【注意】控制多个设备时可多次调用,多设备控制时共享一个主站,所以即使不同的通讯设备上,电机id也不能重复
EXTERNFUNC int harmonic_getServoPositionLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout=100)
读从站字典0x2013-0x3
EXTERNFUNC int harmonic_setTorqueSlope(huint8 devIndex, huint8 id, huint32 slope, huint32 timeout=100)
写从站字典0x6087-0x0
EXTERNFUNC int harmonic_getLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 *number)
读本地字典[0x1280+sdoClientIndex]-0x0
EXTERNFUNC int harmonic_setMitVMax(huint8 devIndex, huint8 id, hreal32 vMax, huint32 timeout=100)
写从站字典0x2143-0x0
EXTERNFUNC int harmonic_setLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 number)
写本地字典[0x1280+sdoClientIndex]-0x0
EXTERNFUNC int harmonic_getDisplayOperateMode(huint8 devIndex, huint8 id, harmonic_OperateMode *mode, huint32 timeout=100)
读从站字典0x6061-0x0
EXTERNFUNC int harmonic_getMitKDMin(huint8 devIndex, huint8 id, hreal32 *kdMin, huint32 timeout=100)
读从站字典0x2146-0x0
EXTERNFUNC int harmonic_getVelocityThreshold(huint8 devIndex, huint8 id, huint16 *thres, huint32 timeout=100)
读从站字典0x606F-0x0
EXTERNFUNC int harmonic_getLocalMitReplyCobdat2(huint32 *cobdat)
读本地字典0x2133-0x0
EXTERNFUNC int harmonic_setLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 cobId)
写本地字典[0x1200+sdoServerIndex]-0x1
EXTERNFUNC int harmonic_setFollowingErrorWindow(huint8 devIndex, huint8 id, huint32 eWindow, huint32 timeout=100)
写从站字典0x6065-0x0
EXTERNFUNC int harmonic_getLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 *count)
读本地字典[0x1800+pdoIndex]-0x0
EXTERNFUNC int harmonic_setServoBlockTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100)
写从站字典0x2020-0x2
EXTERNFUNC int harmonic_getDefaultServoVelocityLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout=100)
读从站字典0x2012-0x2
harmonic_DBaudrate
Definition: eu_harmonic.h:106
@ harmonic_DBaudrate_4000
Definition: eu_harmonic.h:110
@ harmonic_DBaudrate_7000
Definition: eu_harmonic.h:113
@ harmonic_DBaudrate_2000
Definition: eu_harmonic.h:108
@ harmonic_DBaudrate_6000
Definition: eu_harmonic.h:112
@ harmonic_DBaudrate_1000
Definition: eu_harmonic.h:107
@ harmonic_DBaudrate_8000
Definition: eu_harmonic.h:114
@ harmonic_DBaudrate_5000
Definition: eu_harmonic.h:111
@ harmonic_DBaudrate_3000
Definition: eu_harmonic.h:109
EXTERNFUNC int harmonic_setReceiveDataCallBack(harmonic_ReceiveDataCallBack callFunc)
设置接收数据回调函数
EXTERNFUNC int harmonic_getServoSecondEncoderValue(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout=100)
读从站字典0x202B-0x0
EXTERNFUNC int harmonic_setClientSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout=100)
写从站字典[0x1280+sdoClientIndex]-0x2
EXTERNFUNC int harmonic_getLocalSyncCOBID(huint32 *cobId)
读本地字典0x1005-0x0
EXTERNFUNC int harmonic_getDefaultServoCurrentLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout=100)
读从站字典0x2010-0x2
EXTERNFUNC int harmonic_setRPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100)
写从站字典[0x1400+pdoIndex]-0x0
EXTERNFUNC int harmonic_getServoVelocityLoopPINum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100)
读从站字典0x2012-0x0
EXTERNFUNC int harmonic_setMitKPMax(huint8 devIndex, huint8 id, hreal32 kpMax, huint32 timeout=100)
写从站字典0x2145-0x0
EXTERNFUNC int harmonic_setServoVelocityIntLimit(huint8 devIndex, huint8 id, huint16 limit, huint32 timeout=100)
写从站字典0x2017-0x0
EXTERNFUNC int harmonic_getLocalRPDOCobId(huint16 pdoIndex, huint32 *cobId)
读本地字典[0x1400+pdoIndex]-0x1
EXTERNFUNC int harmonic_setServoOverSpeedTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100)
写从站字典0x2025-0x0
EXTERNFUNC int harmonic_setServoTorqueWindowTime(huint8 devIndex, huint8 id, huint16 window, huint32 timeout=100)
写从站字典0x2023-0x0
EXTERNFUNC int harmonic_getServoTemperatureParasNum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100)
读从站字典0x2016-0x0
EXTERNFUNC int harmonic_getTPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout=100)
读从站字典[0x1800+pdoIndex]-0x6
EXTERNFUNC int harmonic_getLocalTPDOEventTimer(huint16 pdoIndex, huint16 *timer)
读本地字典[0x1800+pdoIndex]-0x5
EXTERNFUNC int harmonic_setHomeOffset(huint8 devIndex, huint8 id, hint32 offSet, huint32 timeout=100)
写从站字典0x607C-0x0
EXTERNFUNC int harmonic_setServoTemperatureLimit(huint8 devIndex, huint8 id, huint8 tem, huint32 timeout=100)
写从站字典0x2016-0x2
EXTERNFUNC int harmonic_setLocalMitReplyCobdat1(huint32 cobdat)
写本地字典0x2132-0x0
EXTERNFUNC int harmonic_getClientSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout=100)
读从站字典[0x1280+sdoClientIndex]-0x2
EXTERNFUNC int harmonic_setTPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100)
写从站字典[0x1A00+pdoIndex]-0x0
EXTERNFUNC int harmonic_setActualFollowingError(huint8 devIndex, huint8 id, hint32 error, huint32 timeout=100)
写从站字典0x60F4-0x0
EXTERNFUNC int harmonic_setTPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout=100)
写从站字典[0x1800+pdoIndex]-0x1
can数据结构
Definition: eu_harmonic.h:251
huint8 len
Definition: eu_harmonic.h:255
huint8 extended
Definition: eu_harmonic.h:254
huint32 canId
Definition: eu_harmonic.h:252
huint8 rtr
Definition: eu_harmonic.h:253
huint8 data[8]
Definition: eu_harmonic.h:256