eyou_harmonic_sdk 1.0
canable library
eu_harmonic.h
浏览该文件的文档.
1#ifndef EU_HARMONIC_H
2#define EU_HARMONIC_H
3
4#ifdef __cplusplus
5extern "C"
6{
7#endif
8
9#ifndef EXTERNFUNC
10#ifdef _WIN32
11#define EXTERNFUNC __declspec(dllexport)
12#else
13#define EXTERNFUNC
14#endif
15#endif
16
17#ifdef _WIN32
18 typedef char hint8;
19 typedef short hint16;
20 typedef long hint24;
21 typedef long hint32;
22 typedef long long hint40;
23 typedef long long hint48;
24 typedef long long hint56;
25 typedef long long hint64;
26 typedef unsigned char huint8;
27 typedef unsigned short huint16;
28 typedef unsigned long huint24;
29 typedef unsigned long huint32;
30 typedef unsigned long long huint40;
31 typedef unsigned long long huint48;
32 typedef unsigned long long huint56;
33 typedef unsigned long long huint64;
34 typedef float hreal32;
35 typedef double hreal64;
36#else
37typedef signed char hint8;
38typedef signed short int hint16;
39typedef signed int hint24;
40typedef signed int hint32;
41typedef signed long int hint40;
42typedef signed long int hint48;
43typedef signed long int hint56;
44typedef signed long int hint64;
45typedef unsigned int huint8 __attribute__((__mode__(__QI__)));
46typedef unsigned int huint16 __attribute__((__mode__(__HI__)));
47typedef unsigned int huint24 __attribute__((__mode__(__SI__)));
48typedef unsigned int huint32 __attribute__((__mode__(__SI__)));
49typedef unsigned int huint40 __attribute__((__mode__(__DI__)));
50typedef unsigned int huint48 __attribute__((__mode__(__DI__)));
51typedef unsigned int huint56 __attribute__((__mode__(__DI__)));
52typedef unsigned int huint64 __attribute__((__mode__(__DI__)));
53typedef float hreal32;
54typedef double hreal64;
55#endif
56
57#define HARMONIC_SUCCESS (0)
58#define HARMONIC_FAILED_DEVICEDISABLED (1)
59#define HARMONIC_FAILED_OPENFAILED (2)
60#define HARMONIC_FAILED_UNKNOWN (3)
70
84
96
111
126
139
145
151
160
169
189
193 typedef struct _harmonic_CanMsg
194 {
195 huint16 cob_id;
196 huint8 rtr;
197 huint8 len;
198 huint8 data[8];
200
204 typedef void (*harmonic_SendDataCallBack)(const harmonic_CanMsg &msg);
205
210
217
224
232
238
246 EXTERNFUNC int harmonic_getNodeState(huint8 id, harmonic_NodeState *state, huint32 timeout = 100);
247
254
262
271 EXTERNFUNC int harmonic_readLocalDirectory(huint16 index, huint8 subIndex, harmonic_DataType dataType, void *readData);
272
282 EXTERNFUNC int harmonic_readDirectory(huint8 id, huint16 index, huint8 subIndex, harmonic_DataType dataType, void *readData, huint32 timeout = 100);
283
292 EXTERNFUNC int harmonic_writeLocalDirectory(huint16 index, huint8 subIndex, void *writeData, huint32 sendLen);
293
303 EXTERNFUNC int harmonic_writeDirectory(huint8 id, huint16 index, huint8 subIndex, harmonic_DataType dataType, void *writeData, huint32 timeout = 100);
304
312 EXTERNFUNC int harmonic_writeCanData(huint32 cobId, const huint8 *const data, huint8 len);
313
326 EXTERNFUNC int harmonic_profilePositionControl(huint8 id, hint32 targetPos, huint32 vel, huint32 acc, huint32 dec, bool isRelative = false, bool isImmediately = true, bool isUpdate = false);
327
337 EXTERNFUNC int harmonic_profileVelocityControl(huint8 id, hint32 targetVel, huint32 acc, huint32 dec, bool isUpdate = false);
338
347 EXTERNFUNC int harmonic_profileTorqueControl(huint8 id, huint16 targetTorque, hint16 slope, bool isUpdate = false);
348
355
362
369
376
389
396
403 EXTERNFUNC int harmonic_getLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 *num);
404
411 EXTERNFUNC int harmonic_setLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 num);
412
419 EXTERNFUNC int harmonic_getLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 *cobId);
420
427 EXTERNFUNC int harmonic_setLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 cobId);
428
435 EXTERNFUNC int harmonic_getLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 *cobId);
436
443 EXTERNFUNC int harmonic_setLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 cobId);
444
451 EXTERNFUNC int harmonic_getLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 *nodeId);
452
459 EXTERNFUNC int harmonic_setLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 nodeId);
460
467 EXTERNFUNC int harmonic_getLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 *number);
468
475 EXTERNFUNC int harmonic_setLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 number);
476
483 EXTERNFUNC int harmonic_getLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 *cobId);
484
491 EXTERNFUNC int harmonic_setLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 cobId);
492
499 EXTERNFUNC int harmonic_getLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 *cobId);
500
507 EXTERNFUNC int harmonic_setLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 cobId);
508
515 EXTERNFUNC int harmonic_getLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 *nodeId);
516
523 EXTERNFUNC int harmonic_setLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 nodeId);
524
531 EXTERNFUNC int harmonic_getLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 *count);
532
539 EXTERNFUNC int harmonic_setLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 count);
540
547 EXTERNFUNC int harmonic_getLocalRPDOCobId(huint16 pdoIndex, huint32 *cobId);
548
555 EXTERNFUNC int harmonic_setLocalRPDOCobId(huint16 pdoIndex, huint32 cobId);
556
563 EXTERNFUNC int harmonic_getLocalRPDOTransmitType(huint16 pdoIndex, huint8 *type);
564
571 EXTERNFUNC int harmonic_setLocalRPDOTransmitType(huint16 pdoIndex, huint8 type);
572
579 EXTERNFUNC int harmonic_getLocalRPDOInhibitTime(huint16 pdoIndex, huint16 *time);
580
587 EXTERNFUNC int harmonic_setLocalRPDOInhibitTime(huint16 pdoIndex, huint16 time);
588
595 EXTERNFUNC int harmonic_getLocalRPDOEventTimer(huint16 pdoIndex, huint16 *timer);
596
603 EXTERNFUNC int harmonic_setLocalRPDOEventTimer(huint16 pdoIndex, huint16 timer);
604
611 EXTERNFUNC int harmonic_getLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 *value);
612
619 EXTERNFUNC int harmonic_setLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 value);
620
627 EXTERNFUNC int harmonic_getLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 *count);
628
634 EXTERNFUNC int harmonic_setLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 count);
635
641 EXTERNFUNC int harmonic_getLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value);
642
648 EXTERNFUNC int harmonic_setLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value);
649
655 EXTERNFUNC int harmonic_getLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 *count);
656
662 EXTERNFUNC int harmonic_setLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 count);
663
669 EXTERNFUNC int harmonic_getLocalTPDOCobId(huint16 pdoIndex, huint32 *cobId);
670
676 EXTERNFUNC int harmonic_setLocalTPDOCobId(huint16 pdoIndex, huint32 cobId);
677
683 EXTERNFUNC int harmonic_getLocalTPDOTransmitType(huint16 pdoIndex, huint8 *type);
684
690 EXTERNFUNC int harmonic_setLocalTPDOTransmitType(huint16 pdoIndex, huint8 type);
691
697 EXTERNFUNC int harmonic_getLocalTPDOInhibitTime(huint16 pdoIndex, huint16 *time);
698
704 EXTERNFUNC int harmonic_setLocalTPDOInhibitTime(huint16 pdoIndex, huint16 time);
705
711 EXTERNFUNC int harmonic_getLocalTPDOEventTimer(huint16 pdoIndex, huint16 *timer);
712
718 EXTERNFUNC int harmonic_setLocalTPDOEventTimer(huint16 pdoIndex, huint16 timer);
719
725 EXTERNFUNC int harmonic_getLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 *value);
731 EXTERNFUNC int harmonic_setLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 value);
732
738 EXTERNFUNC int harmonic_getLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 *count);
739
745 EXTERNFUNC int harmonic_setLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 count);
746
752 EXTERNFUNC int harmonic_getLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value);
753
759 EXTERNFUNC int harmonic_setLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value);
760
767
774
781
787 EXTERNFUNC int harmonic_getLocalMutiMotorTorque(huint16 index, hint16 *tor); // 5002
788
794 EXTERNFUNC int harmonic_setLocalMutiMotorSetPos(huint16 index, hint32 pos); // 5003
795
801 EXTERNFUNC int harmonic_setLocalMutiMotorSetVel(huint16 index, hint32 vel); // 5004
802
808 EXTERNFUNC int harmonic_setLocalMutiMotorSetTorque(huint16 index, hint16 torque); // 5005
809
810 EXTERNFUNC int harmonic_getLocalMutiMotorStatusWord(huint16 index, huint16 *status); // 5006
811
812 EXTERNFUNC int harmonic_getLocalMutiMotorErrorCode(huint16 index, huint16 *error); // 5007
813
815
830
832
839
846
853
860
867
875
882
889
896
903
910
917
924
931
939 EXTERNFUNC int harmonic_getDeviceType(huint8 id, huint32 *deviceType, huint32 timeout = 100);
940
948 EXTERNFUNC int harmonic_getErrorRegister(huint8 id, huint8 *errReg, huint32 timeout = 100);
949
957 EXTERNFUNC int harmonic_getErrorFieldNumber(huint8 id, huint8 *number, huint32 timeout = 100);
958
966 EXTERNFUNC int harmonic_setErrorFieldNumber(huint8 id, huint8 number, huint32 timeout = 100); // 0x1003-0
967
976 EXTERNFUNC int harmonic_getErrorField(huint8 id, huint8 subIndex, huint32 *err, huint32 timeout = 100);
977
985 EXTERNFUNC int harmonic_getSyncCobid(huint8 id, huint32 *cobid, huint32 timeout = 100);
986
994 EXTERNFUNC int harmonic_setSyncCobid(huint8 id, huint32 cobid, huint32 timeout = 100);
995
1003 EXTERNFUNC int harmonic_getSyncCycle(huint8 id, huint32 *syncCycle, huint32 timeout = 100);
1004
1012 EXTERNFUNC int harmonic_setSyncCycle(huint8 id, huint32 syncCycle, huint32 timeout = 100);
1013
1021 EXTERNFUNC int harmonic_getSyncWindow(huint8 id, huint32 *syncWindow, huint32 timeout = 100);
1022
1030 EXTERNFUNC int harmonic_setSyncWindow(huint8 id, huint32 syncWindow, huint32 timeout = 100);
1031
1039 EXTERNFUNC int harmonic_getDeviceName(huint8 id, char *devName, huint32 timeout = 100);
1040
1048 EXTERNFUNC int harmonic_getHardwareVersion(huint8 id, char *version, huint32 timeout = 100);
1049
1057 EXTERNFUNC int harmonic_getSoftwareVersion(huint8 id, char *version, huint32 timeout = 100);
1058
1066 EXTERNFUNC int harmonic_getGuardTime(huint8 id, huint16 *time, huint32 timeout = 100);
1067
1075 EXTERNFUNC int harmonic_setGuardTime(huint8 id, huint16 time, huint32 timeout = 100);
1076
1084 EXTERNFUNC int harmonic_getLifeTimeFactor(huint8 id, huint8 *factor, huint32 timeout = 100);
1085
1093 EXTERNFUNC int harmonic_setLifeTimeFactor(huint8 id, huint8 factor, huint32 timeout = 100);
1094
1102 EXTERNFUNC int harmonic_getStoreParametersNumber(huint8 id, huint8 *number, huint32 timeout = 100);
1103
1111 EXTERNFUNC int harmonic_getStoreParameters(huint8 id, huint32 *value, huint32 timeout = 100);
1112
1120 EXTERNFUNC int harmonic_setStoreParameters(huint8 id, huint32 value, huint32 timeout = 100);
1121
1129 EXTERNFUNC int harmonic_getRestoreDefaultParametersNumber(huint8 id, huint8 *number, huint32 timeout = 100);
1130
1138 EXTERNFUNC int harmonic_getRestoreDefaultParameters(huint8 id, huint32 *value, huint32 timeout = 100);
1139
1148 EXTERNFUNC int harmonic_setRestoreDefaultParameters(huint8 id, huint32 value, huint32 timeout = 100);
1149
1157 EXTERNFUNC int harmonic_getEmergencyCobid(huint8 id, huint32 *cobid, huint32 timeout = 100);
1158
1166 EXTERNFUNC int harmonic_setEmergencyCobid(huint8 id, huint32 cobid, huint32 timeout = 100);
1167
1175 EXTERNFUNC int harmonic_getEmergencyInhibitTime(huint8 id, huint16 *time, huint32 timeout = 100);
1176
1184 EXTERNFUNC int harmonic_setEmergencyInhibitTime(huint8 id, huint16 time, huint32 timeout = 100);
1185
1193 EXTERNFUNC int harmonic_getHearbeatConsumerTimeParasNum(huint8 id, huint8 *number, huint32 timeout = 100);
1194
1203 EXTERNFUNC int harmonic_getHearbeatConsumerTime(huint8 id, huint8 subIndex, huint32 *time, huint32 timeout = 100);
1204
1213 EXTERNFUNC int harmonic_setHearbeatConsumerTime(huint8 id, huint8 subIndex, huint32 time, huint32 timeout = 100);
1214
1222 EXTERNFUNC int harmonic_getProducerHeartbeatTime(huint8 id, huint16 *time, huint32 timeout = 100);
1223
1231 EXTERNFUNC int harmonic_setProducerHeartbeatTime(huint8 id, huint16 time, huint32 timeout = 100);
1232
1240 EXTERNFUNC int harmonic_getIdentityObjectNumber(huint8 id, huint8 *number, huint32 timeout = 100);
1241
1249 EXTERNFUNC int harmonic_getVendorID(huint8 id, huint32 *vId, huint32 timeout = 100);
1250
1258 EXTERNFUNC int harmonic_getProductCode(huint8 id, huint32 *pCode, huint32 timeout = 100);
1259
1267 EXTERNFUNC int harmonic_getIdentityObjectRevisionNumber(huint8 id, huint32 *revisionNum, huint32 timeout = 100);
1268
1276 EXTERNFUNC int harmonic_getSerialNumber(huint8 id, huint32 *serialNum, huint32 timeout = 100);
1277
1285 EXTERNFUNC int harmonic_getSyncCounter(huint8 id, huint8 *counter, huint32 timeout = 100);
1286
1294 EXTERNFUNC int harmonic_setSyncCounter(huint8 id, huint8 counter, huint32 timeout = 100);
1295
1303 EXTERNFUNC int harmonic_getServerSDONumberOfEntries(huint8 id, huint16 sdoServerIndex, huint8 *num, huint32 timeout = 100);
1304
1312 EXTERNFUNC int harmonic_setServerSDONumberOfEntries(huint8 id, huint16 sdoServerIndex, huint8 num, huint32 timeout = 100);
1313
1321 EXTERNFUNC int harmonic_getServerSDOCobIdClientToServer(huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout = 100);
1322
1330 EXTERNFUNC int harmonic_setServerSDOCobIdClientToServer(huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout = 100);
1331
1339 EXTERNFUNC int harmonic_getServerSDOCobIdServerToClient(huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout = 100);
1340
1348 EXTERNFUNC int harmonic_setServerSDOCobIdServerToClient(huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout = 100);
1349
1357 EXTERNFUNC int harmonic_getServerSDONodeIdOfClient(huint8 id, huint16 sdoServerIndex, huint8 *nodeId, huint32 timeout = 100);
1358
1366 EXTERNFUNC int harmonic_setServerSDONodeIdOfClient(huint8 id, huint16 sdoServerIndex, huint8 nodeId, huint32 timeout = 100);
1367
1376 EXTERNFUNC int harmonic_getClientSDONumberOfEntries(huint8 id, huint16 sdoClientIndex, huint8 *number, huint32 timeout = 100);
1377
1386 EXTERNFUNC int harmonic_setClientSDONumberOfEntries(huint8 id, huint16 sdoClientIndex, huint8 number, huint32 timeout = 100);
1387
1396 EXTERNFUNC int harmonic_getClientSDOCobIdClientToServer(huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout = 100);
1397
1406 EXTERNFUNC int harmonic_setClientSDOCobIdClientToServer(huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout = 100);
1407
1416 EXTERNFUNC int harmonic_getClientSDOCobIdServerToClient(huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout = 100);
1417
1426 EXTERNFUNC int harmonic_setClientSDOCobIdServerToClient(huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout = 100);
1427
1436 EXTERNFUNC int harmonic_getClientSDONodeIdOfSDOServer(huint8 id, huint16 sdoClientIndex, huint8 *nodeId, huint32 timeout = 100);
1437
1446 EXTERNFUNC int harmonic_setClientSDONodeIdOfSDOServer(huint8 id, huint16 sdoClientIndex, huint8 nodeId, huint32 timeout = 100);
1447
1456 EXTERNFUNC int harmonic_getRPDOMaxParasCount(huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
1457
1466 EXTERNFUNC int harmonic_setRPDOMaxParasCount(huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
1467
1476 EXTERNFUNC int harmonic_getRPDOCobId(huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout = 100);
1477
1486 EXTERNFUNC int harmonic_setRPDOCobId(huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout = 100);
1487
1496 EXTERNFUNC int harmonic_getRPDOTransmitType(huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout = 100);
1497
1506 EXTERNFUNC int harmonic_setRPDOTransmitType(huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout = 100);
1507
1516 EXTERNFUNC int harmonic_getRPDOInhibitTime(huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout = 100);
1517
1526 EXTERNFUNC int harmonic_setRPDOInhibitTime(huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout = 100);
1527
1536 EXTERNFUNC int harmonic_getRPDOEventTimer(huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout = 100);
1537
1546 EXTERNFUNC int harmonic_setRPDOEventTimer(huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout = 100);
1547
1556 EXTERNFUNC int harmonic_getRPDOSYNCStartValue(huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout = 100);
1557
1564 EXTERNFUNC int harmonic_setRPDOSYNCStartValue(huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout = 100); // 1400-6
1565
1574 EXTERNFUNC int harmonic_getRPDOMaxMappedCount(huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
1575
1584 EXTERNFUNC int harmonic_setRPDOMaxMappedCount(huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
1585
1595 EXTERNFUNC int harmonic_getRPDOMapped(huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout = 100);
1596
1606 EXTERNFUNC int harmonic_setRPDOMapped(huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout = 100);
1607
1616 EXTERNFUNC int harmonic_getTPDOMaxParasCount(huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
1617
1626 EXTERNFUNC int harmonic_setTPDOMaxParasCount(huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
1627
1636 EXTERNFUNC int harmonic_getTPDOCobId(huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout = 100);
1637
1646 EXTERNFUNC int harmonic_setTPDOCobId(huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout = 100);
1647
1656 EXTERNFUNC int harmonic_getTPDOTransmitType(huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout = 100);
1657
1666 EXTERNFUNC int harmonic_setTPDOTransmitType(huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout = 100);
1667
1676 EXTERNFUNC int harmonic_getTPDOInhibitTime(huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout = 100);
1677
1686 EXTERNFUNC int harmonic_setTPDOInhibitTime(huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout = 100);
1687
1696 EXTERNFUNC int harmonic_getTPDOEventTimer(huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout = 100);
1697
1705 EXTERNFUNC int harmonic_setTPDOEventTimer(huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout = 100);
1706
1715 EXTERNFUNC int harmonic_getTPDOSYNCStartValue(huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout = 100);
1716
1725 EXTERNFUNC int harmonic_setTPDOSYNCStartValue(huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout = 100);
1726
1735 EXTERNFUNC int harmonic_getTPDOMaxMappedCount(huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
1736
1745 EXTERNFUNC int harmonic_setTPDOMaxMappedCount(huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
1746
1756 EXTERNFUNC int harmonic_getTPDOMapped(huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout = 100);
1757
1767 EXTERNFUNC int harmonic_setTPDOMapped(huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout = 100); // 1A00-1
1768
1769 EXTERNFUNC int harmonic_getServoParametersNumber(huint8 id, huint8 *num, huint32 timeout = 100);
1770 EXTERNFUNC int harmonic_setServoParametersNumber(huint8 id, huint8 num, huint32 timeout = 100);
1771 EXTERNFUNC int harmonic_getServoID(huint8 id, huint8 *servoID, huint32 timeout = 100);
1772 EXTERNFUNC int harmonic_setServoID(huint8 id, huint8 servoID, huint32 timeout = 100);
1773 EXTERNFUNC int harmonic_getServoCanBaudrate(huint8 id, huint16 *baudrate, huint32 timeout = 100);
1774 EXTERNFUNC int harmonic_setServoCanBaudrate(huint8 id, huint16 baudrate, huint32 timeout = 100);
1775 EXTERNFUNC int harmonic_getServoSoftwareLimitState(huint8 id, huint32 *state, huint32 timeout = 100);
1776 EXTERNFUNC int harmonic_setServoSoftwareLimitState(huint8 id, huint32 state, huint32 timeout = 100);
1777 EXTERNFUNC int harmonic_getServoCurrentLoopPINum(huint8 id, huint8 *num, huint32 timeout = 100);
1778 EXTERNFUNC int harmonic_getDefaultServoCurrentLoopKP(huint8 id, huint16 *kp, huint32 timeout = 100);
1779 EXTERNFUNC int harmonic_setDefaultServoCurrentLoopKP(huint8 id, huint16 kp, huint32 timeout = 100);
1780 EXTERNFUNC int harmonic_getDefaultServoCurrentLoopKI(huint8 id, huint16 *ki, huint32 timeout = 100);
1781 EXTERNFUNC int harmonic_setDefaultServoCurrentLoopKI(huint8 id, huint16 ki, huint32 timeout = 100);
1782 EXTERNFUNC int harmonic_getServoCurrentLoopKP(huint8 id, huint16 *kp, huint32 timeout = 100);
1783 EXTERNFUNC int harmonic_setServoCurrentLoopKP(huint8 id, huint16 kp, huint32 timeout = 100);
1784 EXTERNFUNC int harmonic_getServoCurrentLoopKI(huint8 id, huint16 *ki, huint32 timeout = 100);
1785 EXTERNFUNC int harmonic_setServoCurrentLoopKI(huint8 id, huint16 ki, huint32 timeout = 100);
1786 EXTERNFUNC int harmonic_getServoVelocityLoopPINum(huint8 id, huint8 *num, huint32 timeout = 100);
1787 EXTERNFUNC int harmonic_getDefaultServoVelocityLoopKP(huint8 id, huint16 *kp, huint32 timeout = 100);
1788 EXTERNFUNC int harmonic_setDefaultServoVelocityLoopKP(huint8 id, huint16 kp, huint32 timeout = 100);
1789 EXTERNFUNC int harmonic_getDefaultServoVelocityLoopKI(huint8 id, huint16 *ki, huint32 timeout = 100);
1790 EXTERNFUNC int harmonic_setDefaultServoVelocityLoopKI(huint8 id, huint16 ki, huint32 timeout = 100);
1791 EXTERNFUNC int harmonic_getServoVelocityLoopKP(huint8 id, huint16 *kp, huint32 timeout = 100);
1792 EXTERNFUNC int harmonic_setServoVelocityLoopKP(huint8 id, huint16 kp, huint32 timeout = 100);
1793 EXTERNFUNC int harmonic_getServoVelocityLoopKI(huint8 id, huint16 *ki, huint32 timeout = 100);
1794 EXTERNFUNC int harmonic_setServoVelocityLoopKI(huint8 id, huint16 ki, huint32 timeout = 100);
1795 EXTERNFUNC int harmonic_getServoPositionLoopPINum(huint8 id, huint8 *num, huint32 timeout = 100);
1796 EXTERNFUNC int harmonic_getDefaultServoPositionLoopKP(huint8 id, huint16 *kp, huint32 timeout = 100);
1797 EXTERNFUNC int harmonic_setDefaultServoPositionLoopKP(huint8 id, huint16 kp, huint32 timeout = 100);
1798 EXTERNFUNC int harmonic_getDefaultServoPositionLoopKI(huint8 id, huint16 *ki, huint32 timeout = 100);
1799 EXTERNFUNC int harmonic_setDefaultServoPositionLoopKI(huint8 id, huint16 ki, huint32 timeout = 100);
1800 EXTERNFUNC int harmonic_getServoPositionLoopKP(huint8 id, huint16 *kp, huint32 timeout = 100);
1801 EXTERNFUNC int harmonic_setServoPositionLoopKP(huint8 id, huint16 kp, huint32 timeout = 100);
1802 EXTERNFUNC int harmonic_getServoPositionLoopKI(huint8 id, huint16 *ki, huint32 timeout = 100);
1803 EXTERNFUNC int harmonic_setServoPositionLoopKI(huint8 id, huint16 ki, huint32 timeout = 100);
1804 EXTERNFUNC int harmonic_getServoBrakeParaNum(huint8 id, huint8 *num, huint32 timeout = 100);
1805 EXTERNFUNC int harmonic_getServoBrakeControl(huint8 id, huint8 *status, huint32 timeout = 100);
1806 EXTERNFUNC int harmonic_setServoBrakeControl(huint8 id, huint8 status, huint32 timeout = 100);
1807 EXTERNFUNC int harmonic_getBrakeState(huint8 id, huint8 *state, huint32 timeout = 100);
1815 EXTERNFUNC int harmonic_setBrakeState(huint8 id, huint8 state, huint32 timeout = 100);
1816
1817 EXTERNFUNC int harmonic_getServoTemperatureParasNum(huint8 id, huint8 *num, huint32 timeout = 100);
1818 EXTERNFUNC int harmonic_getServoTemperature(huint8 id, hint8 *tem, huint32 timeout = 100);
1819 EXTERNFUNC int harmonic_getServoTemperatureLimit(huint8 id, hint8 *tem, huint32 timeout = 100);
1820 EXTERNFUNC int harmonic_setServoTemperatureLimit(huint8 id, huint8 tem, huint32 timeout = 100);
1821 EXTERNFUNC int harmonic_getServoTemperatureLimitTime(huint8 id, huint16 *time, huint32 timeout = 100);
1822 EXTERNFUNC int harmonic_setServoTemperatureLimitTime(huint8 id, huint16 time, huint32 timeout = 100);
1823 EXTERNFUNC int harmonic_getServoVelocityIntLimit(huint8 id, huint16 *limit, huint32 timeout = 100);
1824 EXTERNFUNC int harmonic_setServoVelocityIntLimit(huint8 id, huint16 limit, huint32 timeout = 100);
1825 EXTERNFUNC int harmonic_getServoBlockParasNum(huint8 id, huint8 *num, huint32 timeout = 100);
1826 EXTERNFUNC int harmonic_getServoBlockTorque(huint8 id, huint16 *torque, huint32 timeout = 100);
1827 EXTERNFUNC int harmonic_setServoBlockTorque(huint8 id, huint16 torque, huint32 timeout = 100);
1828 EXTERNFUNC int harmonic_getServoBlockTime(huint8 id, huint16 *time, huint32 timeout = 100);
1829 EXTERNFUNC int harmonic_setServoBlockTime(huint8 id, huint16 time, huint32 timeout = 100);
1830 EXTERNFUNC int harmonic_getServoBlockVelocity(huint8 id, huint32 *velocity, huint32 timeout = 100);
1831 EXTERNFUNC int harmonic_setServoBlockVelocity(huint8 id, huint32 velocity, huint32 timeout = 100);
1832 EXTERNFUNC int harmonic_getServoVelocityFlowingErrorParasNum(huint8 id, huint8 *num, huint32 timeout = 100);
1833 EXTERNFUNC int harmonic_getServoVelocityFlowingErrorWindows(huint8 id, huint32 *error, huint32 timeout = 100);
1834 EXTERNFUNC int harmonic_setServoVelocityFlowingErrorWindows(huint8 id, huint32 error, huint32 timeout = 100);
1835 EXTERNFUNC int harmonic_getServoVelocityFlowingErrorTime(huint8 id, huint16 *time, huint32 timeout = 100);
1836 EXTERNFUNC int harmonic_setServoVelocityFlowingErrorTime(huint8 id, huint16 time, huint32 timeout = 100);
1837 EXTERNFUNC int harmonic_getServoTorqueWindow(huint8 id, huint16 *window, huint32 timeout = 100);
1838 EXTERNFUNC int harmonic_setServoTorqueWindow(huint8 id, huint16 window, huint32 timeout = 100);
1839 EXTERNFUNC int harmonic_getServoTorqueWindowTime(huint8 id, huint16 *window, huint32 timeout = 100);
1840 EXTERNFUNC int harmonic_setServoTorqueWindowTime(huint8 id, huint16 window, huint32 timeout = 100);
1841 EXTERNFUNC int harmonic_getServoOverSpeedThreshold(huint8 id, huint32 *thre, huint32 timeout = 100);
1842 EXTERNFUNC int harmonic_setServoOverSpeedThreshold(huint8 id, huint32 thre, huint32 timeout = 100);
1843 EXTERNFUNC int harmonic_getServoOverSpeedTime(huint8 id, huint16 *time, huint32 timeout = 100);
1844 EXTERNFUNC int harmonic_setServoOverSpeedTime(huint8 id, huint16 time, huint32 timeout = 100);
1845 EXTERNFUNC int harmonic_getServoBrakeDelayTime(huint8 id, huint8 *time, huint32 timeout = 100);
1846 EXTERNFUNC int harmonic_setServoBrakeDelayTime(huint8 id, huint8 time, huint32 timeout = 100);
1847 EXTERNFUNC int harmonic_getI2tOverLoadLimit(huint8 id, huint16 *value, huint32 timeout = 100);
1848 EXTERNFUNC int harmonic_setI2tOverLoadLimit(huint8 id, huint16 value, huint32 timeout = 100);
1849 EXTERNFUNC int harmonic_getI2tOverLoadValue(huint8 id, huint16 *value, huint32 timeout = 100);
1850 EXTERNFUNC int harmonic_getServoFirstEncoderValue(huint8 id, hint32 *value, huint32 timeout = 100);
1851 EXTERNFUNC int harmonic_getServoSecondEncoderValue(huint8 id, hint32 *value, huint32 timeout = 100);
1852 EXTERNFUNC int harmonic_getServoThetaBiasValue(huint8 id, hint32 *value, huint32 timeout = 100);
1853 EXTERNFUNC int harmonic_getFindPointDoneFlag(huint8 id, huint32 *flag, huint32 timeout = 100);
1854 EXTERNFUNC int harmonic_setFindPointDoneFlag(huint8 id, huint32 flag, huint32 timeout = 100);
1855 EXTERNFUNC int harmonic_getFindPointStart(huint8 id, huint32 *status, huint32 timeout = 100);
1856 EXTERNFUNC int harmonic_setFindPointStart(huint8 id, huint32 status, huint32 timeout = 100);
1857 EXTERNFUNC int harmonic_getFindPointMoveMax(huint8 id, huint32 *angle, huint32 timeout = 100);
1858 EXTERNFUNC int harmonic_setFindPointMoveMax(huint8 id, huint32 angle, huint32 timeout = 100);
1859 EXTERNFUNC int harmonic_getFindPointMoveAcc(huint8 id, huint32 *acc, huint32 timeout = 100);
1860 EXTERNFUNC int harmonic_setFindPointMoveAcc(huint8 id, huint32 acc, huint32 timeout = 100);
1861 EXTERNFUNC int harmonic_getFindPointMoveDec(huint8 id, huint32 *dec, huint32 timeout = 100);
1862 EXTERNFUNC int harmonic_setFindPointMoveDec(huint8 id, huint32 dec, huint32 timeout = 100);
1863 EXTERNFUNC int harmonic_getFindPointMoveVelocity(huint8 id, huint32 *vel, huint32 timeout = 100);
1864 EXTERNFUNC int harmonic_setFindPointMoveVelocity(huint8 id, huint32 vel, huint32 timeout = 100);
1865 EXTERNFUNC int harmonic_getTorqueFactor(huint8 id, huint16 *factor, huint32 timeout = 100);
1866 EXTERNFUNC int harmonic_setTorqueFactor(huint8 id, huint16 factor, huint32 timeout = 100);
1873 EXTERNFUNC int harmonic_getServoErrorCode(huint8 id, huint16 *err, huint32 timeout = 100);
1874
1881 EXTERNFUNC int harmonic_getControlword(huint8 id, huint16 *word, huint32 timeout = 100);
1888 EXTERNFUNC int harmonic_setControlword(huint8 id, huint16 word, huint32 timeout = 100);
1889
1896 EXTERNFUNC int harmonic_getStatusWord(huint8 id, huint16 *word, huint32 timeout = 100);
1897
1904 EXTERNFUNC int harmonic_getQuickStopOption(huint8 id, harmonic_QuickStopOption *option, huint32 timeout = 100);
1905
1912 EXTERNFUNC int harmonic_setQuickStopOption(huint8 id, harmonic_QuickStopOption option, huint32 timeout = 100);
1913
1920 EXTERNFUNC int harmonic_getShutdownOptionCode(huint8 id, harmonic_ShutdownOption *code, huint32 timeout = 100);
1921
1928 EXTERNFUNC int harmonic_setShutdownOptionCode(huint8 id, harmonic_ShutdownOption code, huint32 timeout = 100);
1929
1937
1945
1952 EXTERNFUNC int harmonic_getHaltOption(huint8 id, harmonic_HaltOption *option, huint32 timeout = 100);
1953
1960 EXTERNFUNC int harmonic_setHaltOption(huint8 id, harmonic_HaltOption option, huint32 timeout = 100);
1961
1968 EXTERNFUNC int harmonic_getFaultReactionOption(huint8 id, harmonic_FaultReactionOption *option, huint32 timeout = 100);
1969
1976 EXTERNFUNC int harmonic_setFaultReactionOption(huint8 id, harmonic_FaultReactionOption option, huint32 timeout = 100);
1977
1984 EXTERNFUNC int harmonic_getOperateMode(huint8 id, harmonic_OperateMode *mode, huint32 timeout = 100);
1985
1992 EXTERNFUNC int harmonic_setOperateMode(huint8 id, harmonic_OperateMode mode, huint32 timeout = 100);
1993
2000 EXTERNFUNC int harmonic_getDisplayOperateMode(huint8 id, harmonic_OperateMode *mode, huint32 timeout = 100);
2001
2008 EXTERNFUNC int harmonic_getDemandPos(huint8 id, hint32 *pos, huint32 timeout = 100);
2009
2016 EXTERNFUNC int harmonic_setDemandPos(huint8 id, hint32 pos, huint32 timeout = 100);
2017
2024 EXTERNFUNC int harmonic_getActualPos(huint8 id, hint32 *pos, huint32 timeout = 100);
2025
2032 EXTERNFUNC int harmonic_setActualPos(huint8 id, hint32 pos, huint32 timeout = 100);
2033
2040 EXTERNFUNC int harmonic_getFollowingErrorWindow(huint8 id, huint32 *eWindow, huint32 timeout = 100);
2041
2048 EXTERNFUNC int harmonic_setFollowingErrorWindow(huint8 id, huint32 eWindow, huint32 timeout = 100);
2049
2056 EXTERNFUNC int harmonic_getPositionWindow(huint8 id, huint32 *pWindow, huint32 timeout = 100);
2057
2064 EXTERNFUNC int harmonic_setPositionWindow(huint8 id, huint32 pWindow, huint32 timeout = 100);
2065
2072 EXTERNFUNC int harmonic_getPositionWindowTime(huint8 id, huint16 *pWindowTime, huint32 timeout = 100);
2073
2080 EXTERNFUNC int harmonic_setPositionWindowTime(huint8 id, huint16 pWindowTime, huint32 timeout = 100);
2081
2088 EXTERNFUNC int harmonic_getDemandVelocity(huint8 id, hint32 *dVel, huint32 timeout = 100);
2089
2096 EXTERNFUNC int harmonic_setDemandVelocity(huint8 id, hint32 dvel, huint32 timeout = 100);
2097
2104 EXTERNFUNC int harmonic_getActualVelocity(huint8 id, hint32 *vel, huint32 timeout = 100);
2105
2112 EXTERNFUNC int harmonic_setActualVelocity(huint8 id, hint32 vel, huint32 timeout = 100);
2113
2120 EXTERNFUNC int harmonic_getVelocityWindow(huint8 id, huint16 *vWindow, huint32 timeout = 100);
2121
2128 EXTERNFUNC int harmonic_setVelocityWindow(huint8 id, huint16 vWindow, huint32 timeout = 100);
2129
2136 EXTERNFUNC int harmonic_getVelocityWindowTime(huint8 id, huint16 *wTime, huint32 timeout = 100);
2137
2144 EXTERNFUNC int harmonic_setVelocityWindowTime(huint8 id, huint16 wTime, huint32 timeout = 100);
2145
2152 EXTERNFUNC int harmonic_getVelocityThreshold(huint8 id, huint16 *thres, huint32 timeout = 100);
2153
2160 EXTERNFUNC int harmonic_setVelocityThreshold(huint8 id, huint16 thres, huint32 timeout = 100);
2161
2168 EXTERNFUNC int harmonic_getVelocityThresholdTime(huint8 id, huint16 *tTime, huint32 timeout = 100);
2175 EXTERNFUNC int harmonic_setVelocityThresholdTime(huint8 id, huint16 tTime, huint32 timeout = 100);
2176
2183 EXTERNFUNC int harmonic_getTargetTorque(huint8 id, hint16 *torque, huint32 timeout = 100);
2184
2191 EXTERNFUNC int harmonic_setTargetTorque(huint8 id, hint16 torque, huint32 timeout = 100);
2192
2199 EXTERNFUNC int harmonic_getTorqueLimit(huint8 id, hint16 *torque, huint32 timeout = 100);
2200
2207 EXTERNFUNC int harmonic_setTorqueLimit(huint8 id, hint16 torque, huint32 timeout = 100);
2208
2215 EXTERNFUNC int harmonic_getDemandTorque(huint8 id, hint16 *torque, huint32 timeout = 100);
2216
2223 EXTERNFUNC int harmonic_setDemandTorque(huint8 id, hint16 torque, huint32 timeout = 100);
2224
2231 EXTERNFUNC int harmonic_getMotorRatedTorque(huint8 id, huint32 *torque, huint32 timeout = 100);
2232
2239 EXTERNFUNC int harmonic_setMotorRatedTorque(huint8 id, huint32 torque, huint32 timeout = 100);
2240
2247 EXTERNFUNC int harmonic_getActualTorque(huint8 id, hint16 *torque, huint32 timeout = 100);
2248
2255 EXTERNFUNC int harmonic_setActualTorque(huint8 id, hint16 torque, huint32 timeout = 100);
2256
2263 EXTERNFUNC int harmonic_getDCLinkCircuitVoltage(huint8 id, huint32 *voltage, huint32 timeout = 100);
2264
2271 EXTERNFUNC int harmonic_setDCLinkCircuitVoltage(huint8 id, huint32 voltage, huint32 timeout = 100);
2272
2279 EXTERNFUNC int harmonic_getTargetPos(huint8 id, hint32 *pos, huint32 timeout = 100);
2280
2287 EXTERNFUNC int harmonic_setTargetPos(huint8 id, hint32 pos, huint32 timeout = 100);
2288
2295 EXTERNFUNC int harmonic_getHomeOffset(huint8 id, hint32 *offSet, huint32 timeout = 100);
2296
2303 EXTERNFUNC int harmonic_setHomeOffset(huint8 id, hint32 offSet, huint32 timeout = 100);
2310 EXTERNFUNC int harmonic_getSoftwareMinimumPosition(huint8 id, hint32 *pos, huint32 timeout = 100);
2311
2318 EXTERNFUNC int harmonic_setSoftwareMinimumPosition(huint8 id, hint32 pos, huint32 timeout = 100);
2319
2326 EXTERNFUNC int harmonic_getSoftwareMaxmumPosition(huint8 id, hint32 *pos, huint32 timeout = 100);
2327
2334 EXTERNFUNC int harmonic_setSoftwareMaxmumPosition(huint8 id, hint32 pos, huint32 timeout = 100);
2335
2342 EXTERNFUNC int harmonic_getMaxProfileVelocity(huint8 id, huint32 *vel, huint32 timeout = 100);
2343
2350 EXTERNFUNC int harmonic_setMaxProfileVelocity(huint8 id, huint32 vel, huint32 timeout = 100);
2351
2358 EXTERNFUNC int harmonic_getProfileVelocity(huint8 id, huint32 *vel, huint32 timeout = 100);
2359
2366 EXTERNFUNC int harmonic_setProfileVelocity(huint8 id, huint32 vel, huint32 timeout = 100);
2367
2374 EXTERNFUNC int harmonic_getProfileAcceleration(huint8 id, huint32 *acc, huint32 timeout = 100);
2375
2382 EXTERNFUNC int harmonic_setProfileAcceleration(huint8 id, huint32 acc, huint32 timeout = 100);
2383
2390 EXTERNFUNC int harmonic_getProfileDeceleration(huint8 id, huint32 *dec, huint32 timeout = 100);
2391
2398 EXTERNFUNC int harmonic_setProfileDeceleration(huint8 id, huint32 dec, huint32 timeout = 100);
2399
2406 EXTERNFUNC int harmonic_getQuickStopDeceleration(huint8 id, huint32 *dec, huint32 timeout = 100);
2407
2414 EXTERNFUNC int harmonic_setQuickStopDeceleration(huint8 id, huint32 dec, huint32 timeout = 100);
2415
2422 EXTERNFUNC int harmonic_getTorqueSlope(huint8 id, huint32 *slope, huint32 timeout = 100);
2423
2430 EXTERNFUNC int harmonic_setTorqueSlope(huint8 id, huint32 slope, huint32 timeout = 100);
2431
2438 EXTERNFUNC int harmonic_getGearRatioMotorRevolutions(huint8 id, huint32 *rev, huint32 timeout = 100);
2439
2446 EXTERNFUNC int harmonic_setGearRatioMotorRevolutions(huint8 id, huint32 rev, huint32 timeout = 100);
2447
2454 EXTERNFUNC int harmonic_getGearRatioShaftRevolutions(huint8 id, huint32 *rev, huint32 timeout = 100);
2461 EXTERNFUNC int harmonic_setGearRatioShaftRevolutions(huint8 id, huint32 rev, huint32 timeout = 100);
2462
2469 EXTERNFUNC int harmonic_getInterpolationDataRecord(huint8 id, hint32 *value, huint32 timeout = 100);
2470
2477 EXTERNFUNC int harmonic_setInterpolationDataRecord(huint8 id, hint32 value, huint32 timeout = 100);
2478
2485 EXTERNFUNC int harmonic_getInterpolationTimePeriodValue(huint8 id, huint8 *value, huint32 timeout = 100);
2486
2493 EXTERNFUNC int harmonic_setInterpolationTimePeriodValue(huint8 id, huint8 value, huint32 timeout = 100);
2494
2502 EXTERNFUNC int harmonic_getActualFollowingError(huint8 id, hint32 *error, huint32 timeout = 100);
2503
2511 EXTERNFUNC int harmonic_setActualFollowingError(huint8 id, hint32 error, huint32 timeout = 100);
2512
2520 EXTERNFUNC int harmonic_getTargetVelocity(huint8 id, hint32 *targetVel, huint32 timeout = 100);
2521
2529 EXTERNFUNC int harmonic_setTargetVelocity(huint8 id, hint32 targetVel, huint32 timeout = 100);
2530 EXTERNFUNC int harmonic_getSupportedDriveModes(huint8 id, huint32 *modes, huint32 timeout = 100);
2531
2532#ifdef __cplusplus
2533}
2534#endif
2535
2536#endif // EU_HARMONIC_H
EXTERNFUNC int harmonic_setLocalRPDOTransmitType(huint16 pdoIndex, huint8 type)
EXTERNFUNC int harmonic_setQuickStopOption(huint8 id, harmonic_QuickStopOption option, huint32 timeout=100)
EXTERNFUNC int harmonic_getHearbeatConsumerTimeParasNum(huint8 id, huint8 *number, huint32 timeout=100)
EXTERNFUNC int harmonic_getFindPointMoveMax(huint8 id, huint32 *angle, huint32 timeout=100)
EXTERNFUNC int harmonic_setDemandTorque(huint8 id, hint16 torque, huint32 timeout=100)
EXTERNFUNC int harmonic_setSyncWindow(huint8 id, huint32 syncWindow, huint32 timeout=100)
EXTERNFUNC int harmonic_getClientSDOCobIdServerToClient(huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout=100)
EXTERNFUNC int harmonic_setServoParametersNumber(huint8 id, huint8 num, huint32 timeout=100)
EXTERNFUNC int harmonic_getLocalControlword(huint16 *word)
EXTERNFUNC int harmonic_getLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 *nodeId)
EXTERNFUNC int harmonic_setLocalTargetTorque(hint16 torque)
EXTERNFUNC int harmonic_getLocalMutiMotorErrorCode(huint16 index, huint16 *error)
EXTERNFUNC int harmonic_setTPDOCobId(huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout=100)
EXTERNFUNC int harmonic_setLocalSyncWindow(huint32 sWindow)
signed long int hint40
定义 eu_harmonic.h:41
EXTERNFUNC int harmonic_getActualFollowingError(huint8 id, hint32 *error, huint32 timeout=100)
EXTERNFUNC int harmonic_getLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 *count)
EXTERNFUNC int harmonic_getServoBlockTorque(huint8 id, huint16 *torque, huint32 timeout=100)
EXTERNFUNC int harmonic_getServerSDOCobIdClientToServer(huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout=100)
EXTERNFUNC int harmonic_setLocalSyncCOBID(huint32 cobId)
EXTERNFUNC int harmonic_getLocalRPDOEventTimer(huint16 pdoIndex, huint16 *timer)
EXTERNFUNC int harmonic_getLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 *nodeId)
EXTERNFUNC int harmonic_getLocalStatusWord(huint16 *word)
EXTERNFUNC int harmonic_setProfileVelocity(huint8 id, huint32 vel, huint32 timeout=100)
EXTERNFUNC int harmonic_setVelocityWindow(huint8 id, huint16 vWindow, huint32 timeout=100)
harmonic_HaltOption
定义 eu_harmonic.h:153
@ harmonic_HaltOption_Slow_Down_On_the_Current_Limit
定义 eu_harmonic.h:157
@ harmonic_HaltOption_Slow_Down_On_the_Voltag_Limit
定义 eu_harmonic.h:158
@ harmonic_HaltOption_Disable_Drive
定义 eu_harmonic.h:154
@ harmonic_HaltOption_Slow_Down_On_Quick_Stop_Ramp
定义 eu_harmonic.h:156
@ harmonic_HaltOption_Slow_Down_On_Slow_Down_Ramp
定义 eu_harmonic.h:155
EXTERNFUNC int harmonic_setHaltOption(huint8 id, harmonic_HaltOption option, huint32 timeout=100)
EXTERNFUNC int harmonic_getDemandPos(huint8 id, hint32 *pos, huint32 timeout=100)
EXTERNFUNC int harmonic_getLocalMutiMotorTorque(huint16 index, hint16 *tor)
EXTERNFUNC int harmonic_getLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 *value)
EXTERNFUNC int harmonic_getStoreParameters(huint8 id, huint32 *value, huint32 timeout=100)
EXTERNFUNC int harmonic_setLocalRPDOCobId(huint16 pdoIndex, huint32 cobId)
float hreal32
定义 eu_harmonic.h:53
EXTERNFUNC int harmonic_setLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value)
EXTERNFUNC int harmonic_getLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value)
EXTERNFUNC int harmonic_getIdentityObjectRevisionNumber(huint8 id, huint32 *revisionNum, huint32 timeout=100)
EXTERNFUNC int harmonic_getShutdownOptionCode(huint8 id, harmonic_ShutdownOption *code, huint32 timeout=100)
EXTERNFUNC int harmonic_setLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 count)
EXTERNFUNC int harmonic_getMaxProfileVelocity(huint8 id, huint32 *vel, huint32 timeout=100)
EXTERNFUNC int harmonic_setTPDOMapped(huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout=100)
EXTERNFUNC int harmonic_setLocalInterpolationTimePeriodValue(huint8 value)
EXTERNFUNC int harmonic_setProfileAcceleration(huint8 id, huint32 acc, huint32 timeout=100)
EXTERNFUNC int harmonic_setLifeTimeFactor(huint8 id, huint8 factor, huint32 timeout=100)
EXTERNFUNC int harmonic_getServoCurrentLoopKP(huint8 id, huint16 *kp, huint32 timeout=100)
EXTERNFUNC int harmonic_setServoBrakeControl(huint8 id, huint8 status, huint32 timeout=100)
EXTERNFUNC int harmonic_setDemandVelocity(huint8 id, hint32 dvel, huint32 timeout=100)
EXTERNFUNC int harmonic_getSupportedDriveModes(huint8 id, huint32 *modes, huint32 timeout=100)
EXTERNFUNC int harmonic_getServoVelocityFlowingErrorTime(huint8 id, huint16 *time, huint32 timeout=100)
EXTERNFUNC int harmonic_getServoBrakeDelayTime(huint8 id, huint8 *time, huint32 timeout=100)
EXTERNFUNC int harmonic_setServoBlockTorque(huint8 id, huint16 torque, huint32 timeout=100)
EXTERNFUNC int harmonic_setServoCurrentLoopKI(huint8 id, huint16 ki, huint32 timeout=100)
EXTERNFUNC int harmonic_getLocalActualVelocity(hint32 *velocity)
EXTERNFUNC int harmonic_setRestoreDefaultParameters(huint8 id, huint32 value, huint32 timeout=100)
EXTERNFUNC int harmonic_setActualVelocity(huint8 id, hint32 vel, huint32 timeout=100)
EXTERNFUNC int harmonic_setLocalRPDOInhibitTime(huint16 pdoIndex, huint16 time)
EXTERNFUNC int harmonic_getLocalInterpolationDataRecord(hint32 *value)
EXTERNFUNC int harmonic_getSyncWindow(huint8 id, huint32 *syncWindow, huint32 timeout=100)
EXTERNFUNC int harmonic_setSoftwareMinimumPosition(huint8 id, hint32 pos, huint32 timeout=100)
EXTERNFUNC int harmonic_getTPDOEventTimer(huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout=100)
EXTERNFUNC int harmonic_getProductCode(huint8 id, huint32 *pCode, huint32 timeout=100)
harmonic_OperateMode
定义 eu_harmonic.h:174
@ harmonic_OperateMode_ProfileVelocity
定义 eu_harmonic.h:181
@ harmonic_OperateMode_RotorAligning
定义 eu_harmonic.h:177
@ harmonic_OperateMode_Homing
定义 eu_harmonic.h:183
@ harmonic_OperateMode_CyclicSyncPosition
定义 eu_harmonic.h:185
@ harmonic_OperateMode_Reserve
定义 eu_harmonic.h:178
@ harmonic_OperateMode_CyclicSyncVelocity
定义 eu_harmonic.h:186
@ harmonic_OperateMode_ProfilePosition
定义 eu_harmonic.h:179
@ harmonic_OperateMode_InterpolatedPosition
定义 eu_harmonic.h:184
@ harmonic_OperateMode_Velocity
定义 eu_harmonic.h:180
@ harmonic_OperateMode_ProfileTorque
定义 eu_harmonic.h:182
@ harmonic_OperateMode_INLCalibration
定义 eu_harmonic.h:176
@ harmonic_OperateMode_AutoTuning
定义 eu_harmonic.h:175
@ harmonic_OperateMode_CyclicSyncTorque
定义 eu_harmonic.h:187
EXTERNFUNC int harmonic_getIdentityObjectNumber(huint8 id, huint8 *number, huint32 timeout=100)
EXTERNFUNC int harmonic_setLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value)
EXTERNFUNC int harmonic_getLocalTargetVelocity(hint32 *vel)
EXTERNFUNC int harmonic_getServoErrorCode(huint8 id, huint16 *err, huint32 timeout=100)
EXTERNFUNC int harmonic_setSyncCounter(huint8 id, huint8 counter, huint32 timeout=100)
EXTERNFUNC int harmonic_setLocalControlword(huint16 word)
EXTERNFUNC int harmonic_getSoftwareMinimumPosition(huint8 id, hint32 *pos, huint32 timeout=100)
EXTERNFUNC int harmonic_getI2tOverLoadValue(huint8 id, huint16 *value, huint32 timeout=100)
EXTERNFUNC int harmonic_getLocalTargetPos(hint32 *pos)
EXTERNFUNC int harmonic_getGearRatioShaftRevolutions(huint8 id, huint32 *rev, huint32 timeout=100)
EXTERNFUNC int harmonic_getLocalDCLinkCircuitVoltage(huint32 *voltage)
EXTERNFUNC int harmonic_setProducerHeartbeatTime(huint8 id, huint16 time, huint32 timeout=100)
EXTERNFUNC int harmonic_setLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 num)
EXTERNFUNC int harmonic_getServoTemperature(huint8 id, hint8 *tem, huint32 timeout=100)
EXTERNFUNC int harmonic_getRPDOCobId(huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout=100)
EXTERNFUNC int harmonic_getFollowingErrorWindow(huint8 id, huint32 *eWindow, huint32 timeout=100)
EXTERNFUNC int harmonic_getErrorFieldNumber(huint8 id, huint8 *number, huint32 timeout=100)
EXTERNFUNC int harmonic_setLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 value)
EXTERNFUNC int harmonic_setLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 nodeId)
EXTERNFUNC int harmonic_getServoBlockParasNum(huint8 id, huint8 *num, huint32 timeout=100)
EXTERNFUNC int harmonic_getDefaultServoPositionLoopKP(huint8 id, huint16 *kp, huint32 timeout=100)
EXTERNFUNC int harmonic_setGearRatioShaftRevolutions(huint8 id, huint32 rev, huint32 timeout=100)
EXTERNFUNC int harmonic_setDefaultServoCurrentLoopKI(huint8 id, huint16 ki, huint32 timeout=100)
double hreal64
定义 eu_harmonic.h:54
EXTERNFUNC int harmonic_setSyncCobid(huint8 id, huint32 cobid, huint32 timeout=100)
EXTERNFUNC int harmonic_getRPDOSYNCStartValue(huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout=100)
EXTERNFUNC int harmonic_setLocalTPDOEventTimer(huint16 pdoIndex, huint16 timer)
EXTERNFUNC int harmonic_getTPDOCobId(huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout=100)
EXTERNFUNC int harmonic_getActualVelocity(huint8 id, hint32 *vel, huint32 timeout=100)
EXTERNFUNC int harmonic_setServerSDOCobIdServerToClient(huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout=100)
EXTERNFUNC int harmonic_setLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 cobId)
EXTERNFUNC int harmonic_setServoVelocityLoopKI(huint8 id, huint16 ki, huint32 timeout=100)
EXTERNFUNC int harmonic_getMotorRatedTorque(huint8 id, huint32 *torque, huint32 timeout=100)
EXTERNFUNC int harmonic_setRPDOMaxParasCount(huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100)
EXTERNFUNC int harmonic_getServoTemperatureParasNum(huint8 id, huint8 *num, huint32 timeout=100)
EXTERNFUNC int harmonic_getTorqueLimit(huint8 id, hint16 *torque, huint32 timeout=100)
EXTERNFUNC int harmonic_getServoTemperatureLimitTime(huint8 id, huint16 *time, huint32 timeout=100)
EXTERNFUNC int harmonic_setServoBlockTime(huint8 id, huint16 time, huint32 timeout=100)
EXTERNFUNC int harmonic_getServoBrakeParaNum(huint8 id, huint8 *num, huint32 timeout=100)
EXTERNFUNC int harmonic_setServoVelocityFlowingErrorTime(huint8 id, huint16 time, huint32 timeout=100)
EXTERNFUNC int harmonic_getDisplayOperateMode(huint8 id, harmonic_OperateMode *mode, huint32 timeout=100)
EXTERNFUNC int harmonic_setDefaultServoPositionLoopKI(huint8 id, huint16 ki, huint32 timeout=100)
EXTERNFUNC int harmonic_getPositionWindowTime(huint8 id, huint16 *pWindowTime, huint32 timeout=100)
EXTERNFUNC int harmonic_setRPDOSYNCStartValue(huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout=100)
EXTERNFUNC int harmonic_setMaxProfileVelocity(huint8 id, huint32 vel, huint32 timeout=100)
EXTERNFUNC int harmonic_writeCanData(huint32 cobId, const huint8 *const data, huint8 len)
EXTERNFUNC int harmonic_getSyncCobid(huint8 id, huint32 *cobid, huint32 timeout=100)
EXTERNFUNC int harmonic_getDemandVelocity(huint8 id, hint32 *dVel, huint32 timeout=100)
EXTERNFUNC int harmonic_setMotorRatedTorque(huint8 id, huint32 torque, huint32 timeout=100)
EXTERNFUNC int harmonic_setRPDOMaxMappedCount(huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100)
EXTERNFUNC int harmonic_getFindPointMoveVelocity(huint8 id, huint32 *vel, huint32 timeout=100)
harmonic_NMTState
定义 eu_harmonic.h:89
@ harmonic_NMTState_Start_Node
定义 eu_harmonic.h:90
@ harmonic_NMTState_Reset_Comunication
定义 eu_harmonic.h:94
@ harmonic_NMTState_Enter_PreOperational
定义 eu_harmonic.h:92
@ harmonic_NMTState_Stop_Node
定义 eu_harmonic.h:91
@ harmonic_NMTState_Reset_Node
定义 eu_harmonic.h:93
EXTERNFUNC int harmonic_getEmergencyCobid(huint8 id, huint32 *cobid, huint32 timeout=100)
EXTERNFUNC int harmonic_setServerSDOCobIdClientToServer(huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout=100)
EXTERNFUNC int harmonic_setEmergencyCobid(huint8 id, huint32 cobid, huint32 timeout=100)
EXTERNFUNC int harmonic_setTPDOEventTimer(huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout=100)
EXTERNFUNC int harmonic_setServoOverSpeedTime(huint8 id, huint16 time, huint32 timeout=100)
EXTERNFUNC int harmonic_getSyncCycle(huint8 id, huint32 *syncCycle, huint32 timeout=100)
EXTERNFUNC int harmonic_setServoTemperatureLimitTime(huint8 id, huint16 time, huint32 timeout=100)
EXTERNFUNC int harmonic_setServoPositionLoopKP(huint8 id, huint16 kp, huint32 timeout=100)
EXTERNFUNC int harmonic_getRPDOMaxParasCount(huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100)
EXTERNFUNC int harmonic_getDefaultServoVelocityLoopKI(huint8 id, huint16 *ki, huint32 timeout=100)
EXTERNFUNC int harmonic_setTargetTorque(huint8 id, hint16 torque, huint32 timeout=100)
EXTERNFUNC int harmonic_setServoTorqueWindow(huint8 id, huint16 window, huint32 timeout=100)
EXTERNFUNC int harmonic_getDCLinkCircuitVoltage(huint8 id, huint32 *voltage, huint32 timeout=100)
EXTERNFUNC int harmonic_setFindPointMoveDec(huint8 id, huint32 dec, huint32 timeout=100)
EXTERNFUNC int harmonic_setServoID(huint8 id, huint8 servoID, huint32 timeout=100)
#define EXTERNFUNC
定义 eu_harmonic.h:13
EXTERNFUNC int harmonic_getLocalMutiMotorVel(huint16 index, hint32 *vel)
EXTERNFUNC int harmonic_getRPDOInhibitTime(huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout=100)
EXTERNFUNC int harmonic_setSendDataCallBack(harmonic_SendDataCallBack callFunc)
EXTERNFUNC int harmonic_setProfileDeceleration(huint8 id, huint32 dec, huint32 timeout=100)
EXTERNFUNC int harmonic_setServoTemperatureLimit(huint8 id, huint8 tem, huint32 timeout=100)
EXTERNFUNC int harmonic_getTPDOMaxMappedCount(huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100)
EXTERNFUNC int harmonic_setServoTorqueWindowTime(huint8 id, huint16 window, huint32 timeout=100)
EXTERNFUNC int harmonic_getRPDOEventTimer(huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout=100)
EXTERNFUNC int harmonic_setTorqueSlope(huint8 id, huint32 slope, huint32 timeout=100)
EXTERNFUNC int harmonic_setTorqueFactor(huint8 id, huint16 factor, huint32 timeout=100)
EXTERNFUNC int harmonic_setActualPos(huint8 id, hint32 pos, huint32 timeout=100)
signed int hint32
定义 eu_harmonic.h:40
EXTERNFUNC int harmonic_getProducerHeartbeatTime(huint8 id, huint16 *time, huint32 timeout=100)
EXTERNFUNC int harmonic_setGuardTime(huint8 id, huint16 time, huint32 timeout=100)
EXTERNFUNC int harmonic_getLocalActualTorque(hint16 *torque)
EXTERNFUNC int harmonic_getLocalTPDOInhibitTime(huint16 pdoIndex, huint16 *time)
EXTERNFUNC int harmonic_setLocalMutiMotorSetVel(huint16 index, hint32 vel)
EXTERNFUNC int harmonic_getTorqueSlope(huint8 id, huint32 *slope, huint32 timeout=100)
unsigned int huint8 __attribute__((__mode__(__QI__)))
定义 eu_harmonic.h:45
EXTERNFUNC int harmonic_getTargetVelocity(huint8 id, hint32 *targetVel, huint32 timeout=100)
harmonic_ShutdownOption
定义 eu_harmonic.h:141
@ harmonic_ShutdownOption_Slown_With_Slow_Down_Ramp
定义 eu_harmonic.h:143
@ harmonic_ShutdownOption_Disable_Drive_Function
定义 eu_harmonic.h:142
EXTERNFUNC int harmonic_getLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 *count)
EXTERNFUNC int harmonic_getServoVelocityFlowingErrorWindows(huint8 id, huint32 *error, huint32 timeout=100)
EXTERNFUNC int harmonic_setSoftwareMaxmumPosition(huint8 id, hint32 pos, huint32 timeout=100)
EXTERNFUNC int harmonic_getLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 *cobId)
EXTERNFUNC int harmonic_setPositionWindowTime(huint8 id, huint16 pWindowTime, huint32 timeout=100)
EXTERNFUNC int harmonic_getServoVelocityIntLimit(huint8 id, huint16 *limit, huint32 timeout=100)
EXTERNFUNC int harmonic_profileVelocityControl(huint8 id, hint32 targetVel, huint32 acc, huint32 dec, bool isUpdate=false)
EXTERNFUNC int harmonic_getLocalActualPos(hint32 *pos)
EXTERNFUNC int harmonic_initDLL(harmonic_DeviceType devType, harmonic_Baudrate baudrate)
EXTERNFUNC int harmonic_getTPDOMaxParasCount(huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100)
EXTERNFUNC int harmonic_getSoftwareMaxmumPosition(huint8 id, hint32 *pos, huint32 timeout=100)
EXTERNFUNC int harmonic_getServerSDOCobIdServerToClient(huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout=100)
EXTERNFUNC int harmonic_getServoCurrentLoopKI(huint8 id, huint16 *ki, huint32 timeout=100)
EXTERNFUNC int harmonic_setHearbeatConsumerTime(huint8 id, huint8 subIndex, huint32 time, huint32 timeout=100)
EXTERNFUNC int harmonic_setStoreParameters(huint8 id, huint32 value, huint32 timeout=100)
EXTERNFUNC int harmonic_getServoVelocityLoopPINum(huint8 id, huint8 *num, huint32 timeout=100)
EXTERNFUNC int harmonic_getDefaultServoVelocityLoopKP(huint8 id, huint16 *kp, huint32 timeout=100)
EXTERNFUNC int harmonic_setLocalSyncCycle(huint32 cycle)
EXTERNFUNC int harmonic_getLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 *cobId)
EXTERNFUNC int harmonic_setErrorFieldNumber(huint8 id, huint8 number, huint32 timeout=100)
EXTERNFUNC int harmonic_getStoreParametersNumber(huint8 id, huint8 *number, huint32 timeout=100)
void(* harmonic_SendDataCallBack)(const harmonic_CanMsg &msg)
定义 eu_harmonic.h:204
harmonic_Baudrate
定义 eu_harmonic.h:75
@ harmonic_Baudrate_20
定义 eu_harmonic.h:77
@ harmonic_Baudrate_10
定义 eu_harmonic.h:76
@ harmonic_Baudrate_1000
定义 eu_harmonic.h:82
@ harmonic_Baudrate_500
定义 eu_harmonic.h:81
@ harmonic_Baudrate_100
定义 eu_harmonic.h:79
@ harmonic_Baudrate_250
定义 eu_harmonic.h:80
@ harmonic_Baudrate_50
定义 eu_harmonic.h:78
EXTERNFUNC int harmonic_getRPDOTransmitType(huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout=100)
EXTERNFUNC int harmonic_getLocalSyncCycle(huint32 *cycle)
EXTERNFUNC int harmonic_setServoPositionLoopKI(huint8 id, huint16 ki, huint32 timeout=100)
EXTERNFUNC int harmonic_getLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 *count)
EXTERNFUNC int harmonic_setFindPointDoneFlag(huint8 id, huint32 flag, huint32 timeout=100)
EXTERNFUNC int harmonic_getStatusWord(huint8 id, huint16 *word, huint32 timeout=100)
EXTERNFUNC int harmonic_getHaltOption(huint8 id, harmonic_HaltOption *option, huint32 timeout=100)
EXTERNFUNC int harmonic_getTargetPos(huint8 id, hint32 *pos, huint32 timeout=100)
EXTERNFUNC int harmonic_getServoVelocityLoopKI(huint8 id, huint16 *ki, huint32 timeout=100)
EXTERNFUNC int harmonic_freeDLL()
harmonic_NodeState
定义 eu_harmonic.h:101
@ harmonic_NodeState_Disconnected
定义 eu_harmonic.h:103
@ harmonic_NodeState_Pre_operational
定义 eu_harmonic.h:108
@ harmonic_NodeState_Operational
定义 eu_harmonic.h:107
@ harmonic_NodeState_Unknown_state
定义 eu_harmonic.h:109
@ harmonic_NodeState_Initialisation
定义 eu_harmonic.h:102
@ harmonic_NodeState_Preparing
定义 eu_harmonic.h:105
@ harmonic_NodeState_Connecting
定义 eu_harmonic.h:104
@ harmonic_NodeState_Stopped
定义 eu_harmonic.h:106
EXTERNFUNC int harmonic_getProfileAcceleration(huint8 id, huint32 *acc, huint32 timeout=100)
EXTERNFUNC int harmonic_getClientSDONumberOfEntries(huint8 id, huint16 sdoClientIndex, huint8 *number, huint32 timeout=100)
EXTERNFUNC int harmonic_setDefaultServoVelocityLoopKI(huint8 id, huint16 ki, huint32 timeout=100)
EXTERNFUNC int harmonic_setServoBrakeDelayTime(huint8 id, huint8 time, huint32 timeout=100)
EXTERNFUNC int harmonic_setVelocityThreshold(huint8 id, huint16 thres, huint32 timeout=100)
EXTERNFUNC int harmonic_getLocalMutiMotorStatusWord(huint16 index, huint16 *status)
EXTERNFUNC int harmonic_stopControl(huint8 id)
EXTERNFUNC int harmonic_setServoOverSpeedThreshold(huint8 id, huint32 thre, huint32 timeout=100)
EXTERNFUNC int harmonic_setRPDOInhibitTime(huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout=100)
EXTERNFUNC int harmonic_getErrorRegister(huint8 id, huint8 *errReg, huint32 timeout=100)
EXTERNFUNC int harmonic_getDefaultServoPositionLoopKI(huint8 id, huint16 *ki, huint32 timeout=100)
EXTERNFUNC int harmonic_getTargetTorque(huint8 id, hint16 *torque, huint32 timeout=100)
EXTERNFUNC int harmonic_setClientSDOCobIdClientToServer(huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout=100)
EXTERNFUNC int harmonic_getTPDOMapped(huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout=100)
EXTERNFUNC int harmonic_getVelocityThreshold(huint8 id, huint16 *thres, huint32 timeout=100)
signed char hint8
定义 eu_harmonic.h:37
EXTERNFUNC int harmonic_setLocalTPDOInhibitTime(huint16 pdoIndex, huint16 time)
EXTERNFUNC int harmonic_getServoCanBaudrate(huint8 id, huint16 *baudrate, huint32 timeout=100)
EXTERNFUNC int harmonic_getVendorID(huint8 id, huint32 *vId, huint32 timeout=100)
EXTERNFUNC int harmonic_getClientSDONodeIdOfSDOServer(huint8 id, huint16 sdoClientIndex, huint8 *nodeId, huint32 timeout=100)
EXTERNFUNC int harmonic_getServoTemperatureLimit(huint8 id, hint8 *tem, huint32 timeout=100)
EXTERNFUNC int harmonic_setFindPointMoveMax(huint8 id, huint32 angle, huint32 timeout=100)
EXTERNFUNC int harmonic_setVelocityWindowTime(huint8 id, huint16 wTime, huint32 timeout=100)
EXTERNFUNC int harmonic_setDefaultServoCurrentLoopKP(huint8 id, huint16 kp, huint32 timeout=100)
EXTERNFUNC int harmonic_getServoOverSpeedTime(huint8 id, huint16 *time, huint32 timeout=100)
EXTERNFUNC int harmonic_setEmergencyInhibitTime(huint8 id, huint16 time, huint32 timeout=100)
EXTERNFUNC int harmonic_getRestoreDefaultParametersNumber(huint8 id, huint8 *number, huint32 timeout=100)
EXTERNFUNC int harmonic_setLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 cobId)
EXTERNFUNC int harmonic_getHardwareVersion(huint8 id, char *version, huint32 timeout=100)
EXTERNFUNC int harmonic_setRPDOCobId(huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout=100)
EXTERNFUNC int harmonic_getSoftwareVersion(huint8 id, char *version, huint32 timeout=100)
EXTERNFUNC int harmonic_setDemandPos(huint8 id, hint32 pos, huint32 timeout=100)
EXTERNFUNC int harmonic_setLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 count)
harmonic_DisableOperationOption
定义 eu_harmonic.h:147
@ harmonic_DisableOperationOption_Slow_Down_With_Slow_Down_Ramp
定义 eu_harmonic.h:149
@ harmonic_DisableOperationOption_Disable_Drive_Function
定义 eu_harmonic.h:148
EXTERNFUNC int harmonic_getLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 *value)
EXTERNFUNC int harmonic_setServoVelocityFlowingErrorWindows(huint8 id, huint32 error, huint32 timeout=100)
EXTERNFUNC int harmonic_getDisableOperationOptionCode(huint8 id, harmonic_DisableOperationOption *code, huint32 timeout=100)
EXTERNFUNC int harmonic_setServoVelocityIntLimit(huint8 id, huint16 limit, huint32 timeout=100)
EXTERNFUNC int harmonic_getRPDOMaxMappedCount(huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100)
harmonic_QuickStopOption
定义 eu_harmonic.h:128
@ harmonic_QuickStopOption_Slow_Down_On_the_Current_Limit
定义 eu_harmonic.h:132
@ harmonic_QuickStopOption_Slow_Down_On_Quick_Stop_Ramp
定义 eu_harmonic.h:131
@ harmonic_QuickStopOption_Slow_Down_On_Quick_Stop_Ramp_And_Stay_In_Quick_Stop
定义 eu_harmonic.h:134
@ harmonic_QuickStopOption_Slow_Down_On_the_Voltag_Limit
定义 eu_harmonic.h:133
@ harmonic_QuickStopOption_Slow_Down_On_Slow_Down_Ramp
定义 eu_harmonic.h:130
@ harmonic_QuickStopOption_Slow_Down_On_the_Voltag_Limit_And_Stay_In_Quick_Stop
定义 eu_harmonic.h:137
@ harmonic_QuickStopOption_Slow_Down_On_the_Current_Limit_And_Stay_In_Quick_Stop
定义 eu_harmonic.h:136
@ harmonic_QuickStopOption_Slow_Down_On_Slow_Down_Ramp_And_Stay_In_Quick_Stop
定义 eu_harmonic.h:135
@ harmonic_QuickStopOption_Disable_Drive
定义 eu_harmonic.h:129
EXTERNFUNC int harmonic_getQuickStopDeceleration(huint8 id, huint32 *dec, huint32 timeout=100)
EXTERNFUNC int harmonic_getLifeTimeFactor(huint8 id, huint8 *factor, huint32 timeout=100)
EXTERNFUNC int harmonic_getClientSDOCobIdClientToServer(huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout=100)
EXTERNFUNC int harmonic_setInterpolationTimePeriodValue(huint8 id, huint8 value, huint32 timeout=100)
EXTERNFUNC int harmonic_setTPDOSYNCStartValue(huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout=100)
EXTERNFUNC int harmonic_setServoBlockVelocity(huint8 id, huint32 velocity, huint32 timeout=100)
EXTERNFUNC int harmonic_getDefaultServoCurrentLoopKI(huint8 id, huint16 *ki, huint32 timeout=100)
EXTERNFUNC int harmonic_getEmergencyInhibitTime(huint8 id, huint16 *time, huint32 timeout=100)
EXTERNFUNC int harmonic_setLocalMutiMotorSetPos(huint16 index, hint32 pos)
EXTERNFUNC int harmonic_setLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 nodeId)
EXTERNFUNC int harmonic_setVelocityThresholdTime(huint8 id, huint16 tTime, huint32 timeout=100)
EXTERNFUNC int harmonic_setFollowingErrorWindow(huint8 id, huint32 eWindow, huint32 timeout=100)
EXTERNFUNC int harmonic_getRPDOMapped(huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout=100)
EXTERNFUNC int harmonic_setServoVelocityLoopKP(huint8 id, huint16 kp, huint32 timeout=100)
EXTERNFUNC int harmonic_getServoVelocityLoopKP(huint8 id, huint16 *kp, huint32 timeout=100)
EXTERNFUNC int harmonic_setLocalRPDOEventTimer(huint16 pdoIndex, huint16 timer)
harmonic_DataType
定义 eu_harmonic.h:116
@ harmonic_DataType_real32
定义 eu_harmonic.h:124
@ harmonic_DataType_int32
定义 eu_harmonic.h:120
@ harmonic_DataType_uint16
定义 eu_harmonic.h:122
@ harmonic_DataType_boolean
定义 eu_harmonic.h:117
@ harmonic_DataType_int16
定义 eu_harmonic.h:119
@ harmonic_DataType_int8
定义 eu_harmonic.h:118
@ harmonic_DataType_uint8
定义 eu_harmonic.h:121
@ harmonic_DataType_uint32
定义 eu_harmonic.h:123
EXTERNFUNC int harmonic_writeLocalDirectory(huint16 index, huint8 subIndex, void *writeData, huint32 sendLen)
EXTERNFUNC int harmonic_getLocalTPDOTransmitType(huint16 pdoIndex, huint8 *type)
EXTERNFUNC int harmonic_getOperateMode(huint8 id, harmonic_OperateMode *mode, huint32 timeout=100)
EXTERNFUNC int harmonic_setDisableOperationOptionCode(huint8 id, harmonic_DisableOperationOption code, huint32 timeout=100)
EXTERNFUNC int harmonic_getServoPositionLoopKP(huint8 id, huint16 *kp, huint32 timeout=100)
EXTERNFUNC int harmonic_getPositionWindow(huint8 id, huint32 *pWindow, huint32 timeout=100)
EXTERNFUNC int harmonic_getDeviceType(huint8 id, huint32 *deviceType, huint32 timeout=100)
EXTERNFUNC int harmonic_getTPDOInhibitTime(huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout=100)
EXTERNFUNC int harmonic_setControlword(huint8 id, huint16 word, huint32 timeout=100)
EXTERNFUNC int harmonic_getServoOverSpeedThreshold(huint8 id, huint32 *thre, huint32 timeout=100)
EXTERNFUNC int harmonic_getProfileDeceleration(huint8 id, huint32 *dec, huint32 timeout=100)
EXTERNFUNC int harmonic_setClientSDONumberOfEntries(huint8 id, huint16 sdoClientIndex, huint8 number, huint32 timeout=100)
EXTERNFUNC int harmonic_getActualTorque(huint8 id, hint16 *torque, huint32 timeout=100)
EXTERNFUNC int harmonic_getActualPos(huint8 id, hint32 *pos, huint32 timeout=100)
harmonic_DeviceType
定义 eu_harmonic.h:66
@ harmonic_DeviceType_USB2CAN
定义 eu_harmonic.h:67
@ harmonic_DeviceType_Canable
定义 eu_harmonic.h:68
EXTERNFUNC int harmonic_getLocalTargetTorque(hint16 *torque)
EXTERNFUNC int harmonic_getLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value)
EXTERNFUNC int harmonic_setLocalNodeState(harmonic_NodeState state)
EXTERNFUNC int harmonic_getSyncCounter(huint8 id, huint8 *counter, huint32 timeout=100)
EXTERNFUNC int harmonic_getGuardTime(huint8 id, huint16 *time, huint32 timeout=100)
EXTERNFUNC int harmonic_readLocalDirectory(huint16 index, huint8 subIndex, harmonic_DataType dataType, void *readData)
EXTERNFUNC int harmonic_setFindPointMoveVelocity(huint8 id, huint32 vel, huint32 timeout=100)
EXTERNFUNC int harmonic_getLocalRPDOTransmitType(huint16 pdoIndex, huint8 *type)
EXTERNFUNC int harmonic_setFindPointStart(huint8 id, huint32 status, huint32 timeout=100)
EXTERNFUNC int harmonic_setTPDOInhibitTime(huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout=100)
EXTERNFUNC int harmonic_getDefaultServoCurrentLoopKP(huint8 id, huint16 *kp, huint32 timeout=100)
EXTERNFUNC int harmonic_getLocalMutiMotorPos(huint16 index, hint32 *pos)
EXTERNFUNC int harmonic_getServoID(huint8 id, huint8 *servoID, huint32 timeout=100)
EXTERNFUNC int harmonic_getLocalRPDOInhibitTime(huint16 pdoIndex, huint16 *time)
signed int hint24
定义 eu_harmonic.h:39
EXTERNFUNC int harmonic_getLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 *num)
EXTERNFUNC int harmonic_setTargetPos(huint8 id, hint32 pos, huint32 timeout=100)
void(* harmonic_ReceiveDataCallBack)(const harmonic_CanMsg &msg)
定义 eu_harmonic.h:209
EXTERNFUNC int harmonic_setTPDOTransmitType(huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout=100)
EXTERNFUNC int harmonic_setDCLinkCircuitVoltage(huint8 id, huint32 voltage, huint32 timeout=100)
EXTERNFUNC int harmonic_setPositionWindow(huint8 id, huint32 pWindow, huint32 timeout=100)
harmonic_FaultReactionOption
定义 eu_harmonic.h:162
@ harmonic_FaultReactionOption_Slow_down_on_current_limit
定义 eu_harmonic.h:166
@ harmonic_FaultReactionOption_Disable_drive_function
定义 eu_harmonic.h:163
@ harmonic_FaultReactionOption_Slow_down_on_quick_stop_ramp
定义 eu_harmonic.h:165
@ harmonic_FaultReactionOption_Slow_down_on_slow_down_ramp
定义 eu_harmonic.h:164
@ harmonic_FaultReactionOption_Slow_down_on_voltage_limit
定义 eu_harmonic.h:167
signed long int hint56
定义 eu_harmonic.h:43
EXTERNFUNC int harmonic_getControlword(huint8 id, huint16 *word, huint32 timeout=100)
EXTERNFUNC int harmonic_setShutdownOptionCode(huint8 id, harmonic_ShutdownOption code, huint32 timeout=100)
EXTERNFUNC int harmonic_getI2tOverLoadLimit(huint8 id, huint16 *value, huint32 timeout=100)
EXTERNFUNC int harmonic_setActualTorque(huint8 id, hint16 torque, huint32 timeout=100)
EXTERNFUNC int harmonic_getTPDOTransmitType(huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout=100)
EXTERNFUNC int harmonic_getDemandTorque(huint8 id, hint16 *torque, huint32 timeout=100)
EXTERNFUNC int harmonic_setLocalTargetVelocity(hint32 vel)
EXTERNFUNC int harmonic_setLocalInterpolationDataRecord(hint32 value)
EXTERNFUNC int harmonic_setServoCurrentLoopKP(huint8 id, huint16 kp, huint32 timeout=100)
EXTERNFUNC int harmonic_getFindPointStart(huint8 id, huint32 *status, huint32 timeout=100)
EXTERNFUNC int harmonic_setLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 count)
EXTERNFUNC int harmonic_getQuickStopOption(huint8 id, harmonic_QuickStopOption *option, huint32 timeout=100)
signed short int hint16
定义 eu_harmonic.h:38
EXTERNFUNC int harmonic_getVelocityThresholdTime(huint8 id, huint16 *tTime, huint32 timeout=100)
EXTERNFUNC int harmonic_readDirectory(huint8 id, huint16 index, huint8 subIndex, harmonic_DataType dataType, void *readData, huint32 timeout=100)
EXTERNFUNC int harmonic_getServoFirstEncoderValue(huint8 id, hint32 *value, huint32 timeout=100)
EXTERNFUNC int harmonic_getRestoreDefaultParameters(huint8 id, huint32 *value, huint32 timeout=100)
EXTERNFUNC int harmonic_getLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 *cobId)
EXTERNFUNC int harmonic_getLocalServoTemperature(hint8 *tem)
EXTERNFUNC int harmonic_getServoPositionLoopKI(huint8 id, huint16 *ki, huint32 timeout=100)
EXTERNFUNC int harmonic_getLocalServoErrorCode(huint16 *err)
EXTERNFUNC int harmonic_setActualFollowingError(huint8 id, hint32 error, huint32 timeout=100)
EXTERNFUNC int harmonic_setRPDOMapped(huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout=100)
EXTERNFUNC int harmonic_getServoThetaBiasValue(huint8 id, hint32 *value, huint32 timeout=100)
EXTERNFUNC int harmonic_setLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 value)
EXTERNFUNC int harmonic_setServoSoftwareLimitState(huint8 id, huint32 state, huint32 timeout=100)
EXTERNFUNC int harmonic_setFindPointMoveAcc(huint8 id, huint32 acc, huint32 timeout=100)
EXTERNFUNC int harmonic_getLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 *cobId)
EXTERNFUNC int harmonic_setOperateMode(huint8 id, harmonic_OperateMode mode, huint32 timeout=100)
EXTERNFUNC int harmonic_getServoSoftwareLimitState(huint8 id, huint32 *state, huint32 timeout=100)
EXTERNFUNC int harmonic_getErrorField(huint8 id, huint8 subIndex, huint32 *err, huint32 timeout=100)
EXTERNFUNC int harmonic_getGearRatioMotorRevolutions(huint8 id, huint32 *rev, huint32 timeout=100)
EXTERNFUNC int harmonic_setServerSDONumberOfEntries(huint8 id, huint16 sdoServerIndex, huint8 num, huint32 timeout=100)
struct _harmonic_CanMsg harmonic_CanMsg
EXTERNFUNC int harmonic_getSerialNumber(huint8 id, huint32 *serialNum, huint32 timeout=100)
EXTERNFUNC int harmonic_getServoCurrentLoopPINum(huint8 id, huint8 *num, huint32 timeout=100)
EXTERNFUNC int harmonic_setGearRatioMotorRevolutions(huint8 id, huint32 rev, huint32 timeout=100)
EXTERNFUNC int harmonic_getServoVelocityFlowingErrorParasNum(huint8 id, huint8 *num, huint32 timeout=100)
EXTERNFUNC int harmonic_getServoSecondEncoderValue(huint8 id, hint32 *value, huint32 timeout=100)
EXTERNFUNC int harmonic_getLocalSyncWindow(huint32 *sWindow)
signed long int hint64
定义 eu_harmonic.h:44
EXTERNFUNC int harmonic_writeDirectory(huint8 id, huint16 index, huint8 subIndex, harmonic_DataType dataType, void *writeData, huint32 timeout=100)
EXTERNFUNC int harmonic_setClientSDONodeIdOfSDOServer(huint8 id, huint16 sdoClientIndex, huint8 nodeId, huint32 timeout=100)
EXTERNFUNC int harmonic_setLocalTPDOCobId(huint16 pdoIndex, huint32 cobId)
EXTERNFUNC int harmonic_getServoBlockVelocity(huint8 id, huint32 *velocity, huint32 timeout=100)
EXTERNFUNC int harmonic_setInterpolationDataRecord(huint8 id, hint32 value, huint32 timeout=100)
EXTERNFUNC int harmonic_profileTorqueControl(huint8 id, huint16 targetTorque, hint16 slope, bool isUpdate=false)
EXTERNFUNC int harmonic_getTPDOSYNCStartValue(huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout=100)
EXTERNFUNC int harmonic_getServoBlockTime(huint8 id, huint16 *time, huint32 timeout=100)
EXTERNFUNC int harmonic_profilePositionControl(huint8 id, hint32 targetPos, huint32 vel, huint32 acc, huint32 dec, bool isRelative=false, bool isImmediately=true, bool isUpdate=false)
EXTERNFUNC int harmonic_setDefaultServoPositionLoopKP(huint8 id, huint16 kp, huint32 timeout=100)
EXTERNFUNC int harmonic_setQuickStopDeceleration(huint8 id, huint32 dec, huint32 timeout=100)
EXTERNFUNC int harmonic_getInterpolationDataRecord(huint8 id, hint32 *value, huint32 timeout=100)
EXTERNFUNC int harmonic_setLocalTargetPos(hint32 pos)
EXTERNFUNC int harmonic_setClientSDOCobIdServerToClient(huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout=100)
EXTERNFUNC int harmonic_getBrakeState(huint8 id, huint8 *state, huint32 timeout=100)
EXTERNFUNC int harmonic_setLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 cobId)
EXTERNFUNC int harmonic_getFindPointDoneFlag(huint8 id, huint32 *flag, huint32 timeout=100)
EXTERNFUNC int harmonic_setNodeState(huint8 id, harmonic_NMTState state)
signed long int hint48
定义 eu_harmonic.h:42
EXTERNFUNC int harmonic_getHomeOffset(huint8 id, hint32 *offSet, huint32 timeout=100)
EXTERNFUNC int harmonic_setHomeOffset(huint8 id, hint32 offSet, huint32 timeout=100)
EXTERNFUNC int harmonic_getLocalInterpolationTimePeriodValue(huint8 *value)
EXTERNFUNC int harmonic_setLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 count)
EXTERNFUNC int harmonic_getLocalTPDOCobId(huint16 pdoIndex, huint32 *cobId)
EXTERNFUNC int harmonic_setTorqueLimit(huint8 id, hint16 torque, huint32 timeout=100)
EXTERNFUNC int harmonic_getNodeState(huint8 id, harmonic_NodeState *state, huint32 timeout=100)
EXTERNFUNC int harmonic_getFindPointMoveDec(huint8 id, huint32 *dec, huint32 timeout=100)
EXTERNFUNC int harmonic_setTPDOMaxMappedCount(huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100)
EXTERNFUNC int harmonic_setLocalTPDOTransmitType(huint16 pdoIndex, huint8 type)
EXTERNFUNC int harmonic_setBrakeState(huint8 id, huint8 state, huint32 timeout=100)
EXTERNFUNC int harmonic_getLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 *number)
EXTERNFUNC int harmonic_setTPDOMaxParasCount(huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100)
EXTERNFUNC int harmonic_setLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 number)
EXTERNFUNC int harmonic_setRPDOEventTimer(huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout=100)
EXTERNFUNC int harmonic_setDefaultServoVelocityLoopKP(huint8 id, huint16 kp, huint32 timeout=100)
EXTERNFUNC int harmonic_setLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 cobId)
EXTERNFUNC int harmonic_getHearbeatConsumerTime(huint8 id, huint8 subIndex, huint32 *time, huint32 timeout=100)
EXTERNFUNC int harmonic_getLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 *count)
EXTERNFUNC int harmonic_setServoCanBaudrate(huint8 id, huint16 baudrate, huint32 timeout=100)
EXTERNFUNC int harmonic_setReceiveDataCallBack(harmonic_ReceiveDataCallBack callFunc)
EXTERNFUNC int harmonic_getFaultReactionOption(huint8 id, harmonic_FaultReactionOption *option, huint32 timeout=100)
EXTERNFUNC int harmonic_setServerSDONodeIdOfClient(huint8 id, huint16 sdoServerIndex, huint8 nodeId, huint32 timeout=100)
EXTERNFUNC int harmonic_getServoTorqueWindowTime(huint8 id, huint16 *window, huint32 timeout=100)
EXTERNFUNC int harmonic_getServerSDONumberOfEntries(huint8 id, huint16 sdoServerIndex, huint8 *num, huint32 timeout=100)
EXTERNFUNC int harmonic_setSyncCycle(huint8 id, huint32 syncCycle, huint32 timeout=100)
EXTERNFUNC int harmonic_getLocalSyncCOBID(huint32 *cobId)
EXTERNFUNC int harmonic_getVelocityWindowTime(huint8 id, huint16 *wTime, huint32 timeout=100)
EXTERNFUNC int harmonic_getServoTorqueWindow(huint8 id, huint16 *window, huint32 timeout=100)
EXTERNFUNC int harmonic_getServerSDONodeIdOfClient(huint8 id, huint16 sdoServerIndex, huint8 *nodeId, huint32 timeout=100)
EXTERNFUNC int harmonic_getLocalRPDOCobId(huint16 pdoIndex, huint32 *cobId)
EXTERNFUNC int harmonic_getFindPointMoveAcc(huint8 id, huint32 *acc, huint32 timeout=100)
EXTERNFUNC int harmonic_getTorqueFactor(huint8 id, huint16 *factor, huint32 timeout=100)
EXTERNFUNC int harmonic_getVelocityWindow(huint8 id, huint16 *vWindow, huint32 timeout=100)
EXTERNFUNC int harmonic_getDeviceName(huint8 id, char *devName, huint32 timeout=100)
EXTERNFUNC int harmonic_getServoPositionLoopPINum(huint8 id, huint8 *num, huint32 timeout=100)
EXTERNFUNC int harmonic_getInterpolationTimePeriodValue(huint8 id, huint8 *value, huint32 timeout=100)
EXTERNFUNC int harmonic_setRPDOTransmitType(huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout=100)
EXTERNFUNC int harmonic_setFaultReactionOption(huint8 id, harmonic_FaultReactionOption option, huint32 timeout=100)
EXTERNFUNC int harmonic_getProfileVelocity(huint8 id, huint32 *vel, huint32 timeout=100)
EXTERNFUNC int harmonic_getServoParametersNumber(huint8 id, huint8 *num, huint32 timeout=100)
EXTERNFUNC int harmonic_setI2tOverLoadLimit(huint8 id, huint16 value, huint32 timeout=100)
EXTERNFUNC int harmonic_getLocalTPDOEventTimer(huint16 pdoIndex, huint16 *timer)
EXTERNFUNC int harmonic_setTargetVelocity(huint8 id, hint32 targetVel, huint32 timeout=100)
EXTERNFUNC int harmonic_getServoBrakeControl(huint8 id, huint8 *status, huint32 timeout=100)
EXTERNFUNC int harmonic_setLocalMutiMotorSetTorque(huint16 index, hint16 torque)
定义 eu_harmonic.h:194
huint8 len
定义 eu_harmonic.h:197
huint8 rtr
定义 eu_harmonic.h:196
huint8 data[8]
定义 eu_harmonic.h:198
huint16 cob_id
定义 eu_harmonic.h:195