eyou_harmonic_sdk 1.0
canable library
eu_harmonic.h
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1
11#ifndef EU_HARMONIC_H
12#define EU_HARMONIC_H
13
14#ifdef __cplusplus
15extern "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
47typedef signed char hint8;
48typedef signed short int hint16;
49typedef signed int hint24;
50typedef signed int hint32;
51typedef signed long int hint40;
52typedef signed long int hint48;
53typedef signed long int hint56;
54typedef signed long int hint64;
55typedef unsigned int huint8 __attribute__((__mode__(__QI__)));
56typedef unsigned int huint16 __attribute__((__mode__(__HI__)));
57typedef unsigned int huint24 __attribute__((__mode__(__SI__)));
58typedef unsigned int huint32 __attribute__((__mode__(__SI__)));
59typedef unsigned int huint40 __attribute__((__mode__(__DI__)));
60typedef unsigned int huint48 __attribute__((__mode__(__DI__)));
61typedef unsigned int huint56 __attribute__((__mode__(__DI__)));
62typedef unsigned int huint64 __attribute__((__mode__(__DI__)));
63typedef float hreal32;
64typedef 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)
88
103
127
143
149 {
150 // harmonic_DataType_boolean = 0x01, /**< 布尔类型 */
158 };
159
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186
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209
222
244
249 typedef struct _harmonic_CanMsg
250 {
251 huint16 cob_id;
252 huint8 rtr;
253 huint8 len;
254 huint8 data[8];
256
261 typedef void (*harmonic_SendDataCallBack)(huint8 devIndex, const harmonic_CanMsg *msg);
262
267 typedef void (*harmonic_ReceiveDataCallBack)(huint8 devIndex, const harmonic_CanMsg *msg);
268
276
284
294 EXTERNFUNC int harmonic_initDLL(harmonic_DeviceType devType, huint8 devIndex, harmonic_Baudrate baudrate);
295
303 EXTERNFUNC int harmonic_freeDLL(huint8 devIndex);
304
314 EXTERNFUNC int harmonic_getNodeState(huint8 devIndex, huint8 id, harmonic_NodeState *state, huint32 timeout = 100);
315
323
332 EXTERNFUNC int harmonic_setNodeState(huint8 devIndex, huint8 id, harmonic_NMTState state);
333
343 EXTERNFUNC int harmonic_readLocalDirectory(huint16 index, huint8 subIndex, harmonic_DataType dataType, void *readData);
344
357 EXTERNFUNC int harmonic_readDirectory(huint8 devIndex, huint8 id, huint16 index, huint8 subIndex, harmonic_DataType dataType, void *readData, huint32 timeout = 100);
358
369 EXTERNFUNC int harmonic_writeLocalDirectory(huint16 index, huint8 subIndex, harmonic_DataType dataType, void *writeData);
370
383 EXTERNFUNC int harmonic_writeDirectory(huint8 devIndex, huint8 id, huint16 index, huint8 subIndex, harmonic_DataType dataType, void *writeData, huint32 timeout = 100);
384
394 EXTERNFUNC int harmonic_writeCanData(huint8 devIndex, huint16 cobId, const huint8 *const data, huint8 len);
395
410 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);
411
423 EXTERNFUNC int harmonic_profileVelocityControl(huint8 devIndex, huint8 id, hint32 targetVel, huint32 acc, huint32 dec, bool isUpdate = false);
424
435 EXTERNFUNC int harmonic_profileTorqueControl(huint8 devIndex, huint8 id, huint16 targetTorque, hint16 slope, bool isUpdate = false);
436
444 EXTERNFUNC int harmonic_stopControl(huint8 devIndex, huint8 id);
445
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493
501 EXTERNFUNC int harmonic_getLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 *num);
502
510 EXTERNFUNC int harmonic_setLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 num);
511
519 EXTERNFUNC int harmonic_getLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 *cobId);
520
528 EXTERNFUNC int harmonic_setLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 cobId);
529
537 EXTERNFUNC int harmonic_getLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 *cobId);
538
546 EXTERNFUNC int harmonic_setLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 cobId);
547
555 EXTERNFUNC int harmonic_getLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 *nodeId);
556
564 EXTERNFUNC int harmonic_setLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 nodeId);
565
573 EXTERNFUNC int harmonic_getLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 *number);
574
582 EXTERNFUNC int harmonic_setLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 number);
583
591 EXTERNFUNC int harmonic_getLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 *cobId);
592
600 EXTERNFUNC int harmonic_setLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 cobId);
601
609 EXTERNFUNC int harmonic_getLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 *cobId);
610
618 EXTERNFUNC int harmonic_setLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 cobId);
619
627 EXTERNFUNC int harmonic_getLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 *nodeId);
628
636 EXTERNFUNC int harmonic_setLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 nodeId);
637
645 EXTERNFUNC int harmonic_getLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 *count);
646
654 EXTERNFUNC int harmonic_setLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 count);
655
663 EXTERNFUNC int harmonic_getLocalRPDOCobId(huint16 pdoIndex, huint32 *cobId);
664
672 EXTERNFUNC int harmonic_setLocalRPDOCobId(huint16 pdoIndex, huint32 cobId);
673
681 EXTERNFUNC int harmonic_getLocalRPDOTransmitType(huint16 pdoIndex, huint8 *type);
682
690 EXTERNFUNC int harmonic_setLocalRPDOTransmitType(huint16 pdoIndex, huint8 type);
691
699 EXTERNFUNC int harmonic_getLocalRPDOInhibitTime(huint16 pdoIndex, huint16 *time);
700
708 EXTERNFUNC int harmonic_setLocalRPDOInhibitTime(huint16 pdoIndex, huint16 time);
709
717 EXTERNFUNC int harmonic_getLocalRPDOEventTimer(huint16 pdoIndex, huint16 *timer);
718
726 EXTERNFUNC int harmonic_setLocalRPDOEventTimer(huint16 pdoIndex, huint16 timer);
727
735 EXTERNFUNC int harmonic_getLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 *value);
736
744 EXTERNFUNC int harmonic_setLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 value);
745
753 EXTERNFUNC int harmonic_getLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 *count);
754
762 EXTERNFUNC int harmonic_setLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 count);
763
772 EXTERNFUNC int harmonic_getLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value);
773
782 EXTERNFUNC int harmonic_setLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value);
783
791 EXTERNFUNC int harmonic_getLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 *count);
792
800 EXTERNFUNC int harmonic_setLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 count);
801
809 EXTERNFUNC int harmonic_getLocalTPDOCobId(huint16 pdoIndex, huint32 *cobId);
810
818 EXTERNFUNC int harmonic_setLocalTPDOCobId(huint16 pdoIndex, huint32 cobId);
819
827 EXTERNFUNC int harmonic_getLocalTPDOTransmitType(huint16 pdoIndex, huint8 *type);
828
836 EXTERNFUNC int harmonic_setLocalTPDOTransmitType(huint16 pdoIndex, huint8 type);
837
845 EXTERNFUNC int harmonic_getLocalTPDOInhibitTime(huint16 pdoIndex, huint16 *time);
846
854 EXTERNFUNC int harmonic_setLocalTPDOInhibitTime(huint16 pdoIndex, huint16 time);
855
863 EXTERNFUNC int harmonic_getLocalTPDOEventTimer(huint16 pdoIndex, huint16 *timer);
864
872 EXTERNFUNC int harmonic_setLocalTPDOEventTimer(huint16 pdoIndex, huint16 timer);
873
881 EXTERNFUNC int harmonic_getLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 *value);
882
890 EXTERNFUNC int harmonic_setLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 value);
891
899 EXTERNFUNC int harmonic_getLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 *count);
900
908 EXTERNFUNC int harmonic_setLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 count);
909
918 EXTERNFUNC int harmonic_getLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value);
919
928 EXTERNFUNC int harmonic_setLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value);
929
937
945
953
961
969
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1001
1009 EXTERNFUNC int harmonic_getLocalMutiMotorPos(huint16 motorIndex, hint32 *pos);
1010
1018 EXTERNFUNC int harmonic_getLocalMutiMotorVel(huint16 motorIndex, hint32 *vel);
1019
1028
1037
1046
1055
1063 EXTERNFUNC int harmonic_getLocalMutiMotorStatusWord(huint16 motorIndex, huint16 *status);
1064
1072 EXTERNFUNC int harmonic_getLocalMutiMotorErrorCode(huint16 motorIndex, huint16 *error);
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1317
1325
1335 EXTERNFUNC int harmonic_getDeviceType(huint8 devIndex, huint8 id, huint32 *deviceType, huint32 timeout = 100);
1336
1346 EXTERNFUNC int harmonic_getErrorRegister(huint8 devIndex, huint8 id, huint8 *errReg, huint32 timeout = 100);
1347
1357 EXTERNFUNC int harmonic_getErrorFieldNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1358
1368 EXTERNFUNC int harmonic_setErrorFieldNumber(huint8 devIndex, huint8 id, huint8 number, huint32 timeout = 100); // 0x1003-0
1369
1380 EXTERNFUNC int harmonic_getErrorField(huint8 devIndex, huint8 id, huint8 subIndex, huint32 *err, huint32 timeout = 100);
1381
1391 EXTERNFUNC int harmonic_getSyncCobid(huint8 devIndex, huint8 id, huint32 *cobid, huint32 timeout = 100);
1392
1402 EXTERNFUNC int harmonic_setSyncCobid(huint8 devIndex, huint8 id, huint32 cobid, huint32 timeout = 100);
1403
1413 EXTERNFUNC int harmonic_getSyncCycle(huint8 devIndex, huint8 id, huint32 *syncCycle, huint32 timeout = 100);
1414
1424 EXTERNFUNC int harmonic_setSyncCycle(huint8 devIndex, huint8 id, huint32 syncCycle, huint32 timeout = 100);
1425
1435 EXTERNFUNC int harmonic_getSyncWindow(huint8 devIndex, huint8 id, huint32 *syncWindow, huint32 timeout = 100);
1436
1446 EXTERNFUNC int harmonic_setSyncWindow(huint8 devIndex, huint8 id, huint32 syncWindow, huint32 timeout = 100);
1447
1457 EXTERNFUNC int harmonic_getDeviceName(huint8 devIndex, huint8 id, char *devName, huint32 timeout = 100);
1458
1468 EXTERNFUNC int harmonic_getHardwareVersion(huint8 devIndex, huint8 id, char *version, huint32 timeout = 100);
1469
1479 EXTERNFUNC int harmonic_getSoftwareVersion(huint8 devIndex, huint8 id, char *version, huint32 timeout = 100);
1480
1490 EXTERNFUNC int harmonic_getGuardTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
1491
1501 EXTERNFUNC int harmonic_setGuardTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
1502
1512 EXTERNFUNC int harmonic_getLifeTimeFactor(huint8 devIndex, huint8 id, huint8 *factor, huint32 timeout = 100);
1513
1523 EXTERNFUNC int harmonic_setLifeTimeFactor(huint8 devIndex, huint8 id, huint8 factor, huint32 timeout = 100);
1524
1534 EXTERNFUNC int harmonic_getStoreParametersNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1535
1545 EXTERNFUNC int harmonic_getStoreParameters(huint8 devIndex, huint8 id, huint32 *value, huint32 timeout = 100);
1546
1556 EXTERNFUNC int harmonic_setStoreParameters(huint8 devIndex, huint8 id, huint32 value, huint32 timeout = 100);
1557
1567 EXTERNFUNC int harmonic_getRestoreDefaultParametersNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1568
1578 EXTERNFUNC int harmonic_getRestoreDefaultParameters(huint8 devIndex, huint8 id, huint32 *value, huint32 timeout = 100);
1579
1590 EXTERNFUNC int harmonic_setRestoreDefaultParameters(huint8 devIndex, huint8 id, huint32 value, huint32 timeout = 100);
1591
1601 EXTERNFUNC int harmonic_getEmergencyCobid(huint8 devIndex, huint8 id, huint32 *cobid, huint32 timeout = 100);
1602
1612 EXTERNFUNC int harmonic_setEmergencyCobid(huint8 devIndex, huint8 id, huint32 cobid, huint32 timeout = 100);
1613
1623 EXTERNFUNC int harmonic_getEmergencyInhibitTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
1624
1634 EXTERNFUNC int harmonic_setEmergencyInhibitTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
1635
1645 EXTERNFUNC int harmonic_getHearbeatConsumerTimeParasNum(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1646
1657 EXTERNFUNC int harmonic_getHearbeatConsumerTime(huint8 devIndex, huint8 id, huint8 subIndex, huint32 *time, huint32 timeout = 100);
1658
1669 EXTERNFUNC int harmonic_setHearbeatConsumerTime(huint8 devIndex, huint8 id, huint8 subIndex, huint32 time, huint32 timeout = 100);
1670
1680 EXTERNFUNC int harmonic_getProducerHeartbeatTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
1681
1691 EXTERNFUNC int harmonic_setProducerHeartbeatTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
1692
1702 EXTERNFUNC int harmonic_getIdentityObjectNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1703
1713 EXTERNFUNC int harmonic_getVendorID(huint8 devIndex, huint8 id, huint32 *vId, huint32 timeout = 100);
1714
1724 EXTERNFUNC int harmonic_getProductCode(huint8 devIndex, huint8 id, huint32 *pCode, huint32 timeout = 100);
1725
1735 EXTERNFUNC int harmonic_getIdentityObjectRevisionNumber(huint8 devIndex, huint8 id, huint32 *revisionNum, huint32 timeout = 100);
1736
1746 EXTERNFUNC int harmonic_getSerialNumber(huint8 devIndex, huint8 id, huint32 *serialNum, huint32 timeout = 100);
1747
1757 EXTERNFUNC int harmonic_getSyncCounter(huint8 devIndex, huint8 id, huint8 *counter, huint32 timeout = 100);
1758
1768 EXTERNFUNC int harmonic_setSyncCounter(huint8 devIndex, huint8 id, huint8 counter, huint32 timeout = 100);
1769
1779 EXTERNFUNC int harmonic_getServerSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 *num, huint32 timeout = 100);
1780
1790 EXTERNFUNC int harmonic_setServerSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 num, huint32 timeout = 100);
1791
1801 EXTERNFUNC int harmonic_getServerSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout = 100);
1802
1812 EXTERNFUNC int harmonic_setServerSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout = 100);
1813
1823 EXTERNFUNC int harmonic_getServerSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout = 100);
1824
1834 EXTERNFUNC int harmonic_setServerSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout = 100);
1835
1845 EXTERNFUNC int harmonic_getServerSDONodeIdOfClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 *nodeId, huint32 timeout = 100);
1846
1856 EXTERNFUNC int harmonic_setServerSDONodeIdOfClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 nodeId, huint32 timeout = 100);
1857
1868 EXTERNFUNC int harmonic_getClientSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 *number, huint32 timeout = 100);
1869
1880 EXTERNFUNC int harmonic_setClientSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 number, huint32 timeout = 100);
1881
1892 EXTERNFUNC int harmonic_getClientSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout = 100);
1893
1904 EXTERNFUNC int harmonic_setClientSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout = 100);
1905
1916 EXTERNFUNC int harmonic_getClientSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout = 100);
1917
1928 EXTERNFUNC int harmonic_setClientSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout = 100);
1929
1940 EXTERNFUNC int harmonic_getClientSDONodeIdOfSDOServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 *nodeId, huint32 timeout = 100);
1941
1952 EXTERNFUNC int harmonic_setClientSDONodeIdOfSDOServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 nodeId, huint32 timeout = 100);
1953
1964 EXTERNFUNC int harmonic_getRPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
1965
1976 EXTERNFUNC int harmonic_setRPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
1977
1988 EXTERNFUNC int harmonic_getRPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout = 100);
1989
2000 EXTERNFUNC int harmonic_setRPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout = 100);
2001
2012 EXTERNFUNC int harmonic_getRPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout = 100);
2013
2024 EXTERNFUNC int harmonic_setRPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout = 100);
2025
2036 EXTERNFUNC int harmonic_getRPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout = 100);
2037
2048 EXTERNFUNC int harmonic_setRPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout = 100);
2049
2060 EXTERNFUNC int harmonic_getRPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout = 100);
2061
2072 EXTERNFUNC int harmonic_setRPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout = 100);
2073
2084 EXTERNFUNC int harmonic_getRPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout = 100);
2085
2096 EXTERNFUNC int harmonic_setRPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout = 100); // 1400-6
2097
2108 EXTERNFUNC int harmonic_getRPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
2109
2120 EXTERNFUNC int harmonic_setRPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
2121
2133 EXTERNFUNC int harmonic_getRPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout = 100);
2134
2146 EXTERNFUNC int harmonic_setRPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout = 100);
2147
2158 EXTERNFUNC int harmonic_getTPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
2159
2170 EXTERNFUNC int harmonic_setTPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
2171
2182 EXTERNFUNC int harmonic_getTPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout = 100);
2183
2194 EXTERNFUNC int harmonic_setTPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout = 100);
2195
2206 EXTERNFUNC int harmonic_getTPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout = 100);
2207
2218 EXTERNFUNC int harmonic_setTPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout = 100);
2219
2230 EXTERNFUNC int harmonic_getTPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout = 100);
2231
2242 EXTERNFUNC int harmonic_setTPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout = 100);
2243
2254 EXTERNFUNC int harmonic_getTPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout = 100);
2255
2265 EXTERNFUNC int harmonic_setTPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout = 100);
2266
2277 EXTERNFUNC int harmonic_getTPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout = 100);
2278
2289 EXTERNFUNC int harmonic_setTPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout = 100);
2290
2301 EXTERNFUNC int harmonic_getTPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
2302
2313 EXTERNFUNC int harmonic_setTPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
2314
2326 EXTERNFUNC int harmonic_getTPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout = 100);
2327
2339 EXTERNFUNC int harmonic_setTPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout = 100); // 1A00-1
2340
2350 EXTERNFUNC int harmonic_getServoParametersNumber(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2351
2361 EXTERNFUNC int harmonic_setServoParametersNumber(huint8 devIndex, huint8 id, huint8 num, huint32 timeout = 100);
2362
2372 EXTERNFUNC int harmonic_getServoID(huint8 devIndex, huint8 id, huint8 *servoID, huint32 timeout = 100);
2373
2383 EXTERNFUNC int harmonic_setServoID(huint8 devIndex, huint8 id, huint8 servoID, huint32 timeout = 100);
2384
2394 EXTERNFUNC int harmonic_getServoCanBaudrate(huint8 devIndex, huint8 id, huint16 *baudrate, huint32 timeout = 100);
2395
2405 EXTERNFUNC int harmonic_setServoCanBaudrate(huint8 devIndex, huint8 id, huint16 baudrate, huint32 timeout = 100);
2406
2416 EXTERNFUNC int harmonic_getServoSoftwareLimitState(huint8 devIndex, huint8 id, huint32 *state, huint32 timeout = 100);
2417
2427 EXTERNFUNC int harmonic_setServoSoftwareLimitState(huint8 devIndex, huint8 id, huint32 state, huint32 timeout = 100);
2428
2438 EXTERNFUNC int harmonic_getServoCommunicationMode(huint8 devIndex, huint8 id, huint8 *mode, huint32 timeout = 100);
2439
2449 EXTERNFUNC int harmonic_setServoCommunicationMode(huint8 devIndex, huint8 id, huint8 mode, huint32 timeout = 100);
2450
2460 EXTERNFUNC int harmonic_getServoCurrentLoopPINum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2461
2471 EXTERNFUNC int harmonic_getDefaultServoCurrentLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout = 100);
2472
2482 EXTERNFUNC int harmonic_setDefaultServoCurrentLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout = 100);
2483
2493 EXTERNFUNC int harmonic_getDefaultServoCurrentLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout = 100);
2494
2504 EXTERNFUNC int harmonic_setDefaultServoCurrentLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout = 100);
2505
2515 EXTERNFUNC int harmonic_getServoCurrentLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout = 100);
2516
2526 EXTERNFUNC int harmonic_setServoCurrentLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout = 100);
2527
2537 EXTERNFUNC int harmonic_getServoCurrentLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout = 100);
2538
2548 EXTERNFUNC int harmonic_setServoCurrentLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout = 100);
2549
2559 EXTERNFUNC int harmonic_getServoVelocityLoopPINum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2560
2570 EXTERNFUNC int harmonic_getDefaultServoVelocityLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout = 100);
2571
2581 EXTERNFUNC int harmonic_setDefaultServoVelocityLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout = 100);
2582
2592 EXTERNFUNC int harmonic_getDefaultServoVelocityLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout = 100);
2593
2603 EXTERNFUNC int harmonic_setDefaultServoVelocityLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout = 100);
2604
2614 EXTERNFUNC int harmonic_getServoVelocityLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout = 100);
2615
2625 EXTERNFUNC int harmonic_setServoVelocityLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout = 100);
2626
2636 EXTERNFUNC int harmonic_getServoVelocityLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout = 100);
2637
2647 EXTERNFUNC int harmonic_setServoVelocityLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout = 100);
2648
2658 EXTERNFUNC int harmonic_getServoPositionLoopPINum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2659
2669 EXTERNFUNC int harmonic_getDefaultServoPositionLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout = 100);
2670
2680 EXTERNFUNC int harmonic_setDefaultServoPositionLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout = 100);
2681
2691 EXTERNFUNC int harmonic_getDefaultServoPositionLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout = 100);
2692
2702 EXTERNFUNC int harmonic_setDefaultServoPositionLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout = 100);
2703
2713 EXTERNFUNC int harmonic_getServoPositionLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout = 100);
2714
2724 EXTERNFUNC int harmonic_setServoPositionLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout = 100);
2725
2735 EXTERNFUNC int harmonic_getServoPositionLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout = 100);
2736
2746 EXTERNFUNC int harmonic_setServoPositionLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout = 100);
2747
2757 EXTERNFUNC int harmonic_getServoBrakeParaNum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2758
2768 EXTERNFUNC int harmonic_getServoBrakeControl(huint8 devIndex, huint8 id, huint8 *status, huint32 timeout = 100);
2769
2779 EXTERNFUNC int harmonic_setServoBrakeControl(huint8 devIndex, huint8 id, huint8 status, huint32 timeout = 100);
2780
2790 EXTERNFUNC int harmonic_getBrakeState(huint8 devIndex, huint8 id, huint8 *state, huint32 timeout = 100);
2791
2801 EXTERNFUNC int harmonic_setBrakeState(huint8 devIndex, huint8 id, huint8 state, huint32 timeout = 100);
2802
2812 EXTERNFUNC int harmonic_getServoTemperatureParasNum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2813
2823 EXTERNFUNC int harmonic_getServoTemperature(huint8 devIndex, huint8 id, hint8 *tem, huint32 timeout = 100);
2824
2834 EXTERNFUNC int harmonic_getServoTemperatureLimit(huint8 devIndex, huint8 id, hint8 *tem, huint32 timeout = 100);
2835
2845 EXTERNFUNC int harmonic_setServoTemperatureLimit(huint8 devIndex, huint8 id, huint8 tem, huint32 timeout = 100);
2846
2856 EXTERNFUNC int harmonic_getServoTemperatureLimitTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
2857
2867 EXTERNFUNC int harmonic_setServoTemperatureLimitTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
2868
2878 EXTERNFUNC int harmonic_getServoVelocityIntLimit(huint8 devIndex, huint8 id, huint16 *limit, huint32 timeout = 100);
2879
2889 EXTERNFUNC int harmonic_setServoVelocityIntLimit(huint8 devIndex, huint8 id, huint16 limit, huint32 timeout = 100);
2890
2900 EXTERNFUNC int harmonic_getServoBlockParasNum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2901
2911 EXTERNFUNC int harmonic_getServoBlockTorque(huint8 devIndex, huint8 id, huint16 *torque, huint32 timeout = 100);
2912
2922 EXTERNFUNC int harmonic_setServoBlockTorque(huint8 devIndex, huint8 id, huint16 torque, huint32 timeout = 100);
2923
2933 EXTERNFUNC int harmonic_getServoBlockTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
2934
2944 EXTERNFUNC int harmonic_setServoBlockTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
2945
2955 EXTERNFUNC int harmonic_getServoBlockVelocity(huint8 devIndex, huint8 id, huint32 *velocity, huint32 timeout = 100);
2956
2966 EXTERNFUNC int harmonic_setServoBlockVelocity(huint8 devIndex, huint8 id, huint32 velocity, huint32 timeout = 100);
2967
2977 EXTERNFUNC int harmonic_getServoVelocityFlowingErrorParasNum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2978
2988 EXTERNFUNC int harmonic_getServoVelocityFlowingErrorWindows(huint8 devIndex, huint8 id, huint32 *error, huint32 timeout = 100);
2989
2999 EXTERNFUNC int harmonic_setServoVelocityFlowingErrorWindows(huint8 devIndex, huint8 id, huint32 error, huint32 timeout = 100);
3000
3010 EXTERNFUNC int harmonic_getServoVelocityFlowingErrorTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
3011
3021 EXTERNFUNC int harmonic_setServoVelocityFlowingErrorTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
3022
3032 EXTERNFUNC int harmonic_getServoTorqueWindow(huint8 devIndex, huint8 id, huint16 *window, huint32 timeout = 100);
3033
3043 EXTERNFUNC int harmonic_setServoTorqueWindow(huint8 devIndex, huint8 id, huint16 window, huint32 timeout = 100);
3044
3054 EXTERNFUNC int harmonic_getServoTorqueWindowTime(huint8 devIndex, huint8 id, huint16 *window, huint32 timeout = 100);
3055
3065 EXTERNFUNC int harmonic_setServoTorqueWindowTime(huint8 devIndex, huint8 id, huint16 window, huint32 timeout = 100);
3066
3076 EXTERNFUNC int harmonic_getServoOverSpeedThreshold(huint8 devIndex, huint8 id, huint32 *thre, huint32 timeout = 100);
3077
3087 EXTERNFUNC int harmonic_setServoOverSpeedThreshold(huint8 devIndex, huint8 id, huint32 thre, huint32 timeout = 100);
3088
3098 EXTERNFUNC int harmonic_getServoOverSpeedTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
3099
3109 EXTERNFUNC int harmonic_setServoOverSpeedTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
3110
3120 EXTERNFUNC int harmonic_getServoBrakeDelayTime(huint8 devIndex, huint8 id, huint8 *time, huint32 timeout = 100);
3121
3131 EXTERNFUNC int harmonic_setServoBrakeDelayTime(huint8 devIndex, huint8 id, huint8 time, huint32 timeout = 100);
3132
3142 EXTERNFUNC int harmonic_getI2tOverLoadLimit(huint8 devIndex, huint8 id, huint16 *value, huint32 timeout = 100);
3143
3153 EXTERNFUNC int harmonic_setI2tOverLoadLimit(huint8 devIndex, huint8 id, huint16 value, huint32 timeout = 100);
3154
3164 EXTERNFUNC int harmonic_getI2tOverLoadValue(huint8 devIndex, huint8 id, huint16 *value, huint32 timeout = 100);
3165
3175 EXTERNFUNC int harmonic_getServoFirstEncoderValue(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout = 100);
3176
3186 EXTERNFUNC int harmonic_getServoSecondEncoderValue(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout = 100);
3187
3197 EXTERNFUNC int harmonic_getServoThetaBiasValue(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout = 100);
3198
3208 EXTERNFUNC int harmonic_getDCVolageProtectionParasNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
3209
3219 EXTERNFUNC int harmonic_getDCUnderVoltageThreshold(huint8 devIndex, huint8 id, huint32 *vol, huint32 timeout = 100);
3220
3230 EXTERNFUNC int harmonic_setDCUnderVoltageThreshold(huint8 devIndex, huint8 id, huint32 vol, huint32 timeout = 100);
3231
3241 EXTERNFUNC int harmonic_getDCUnderVoltageTime(huint8 devIndex, huint8 id, huint32 *time, huint32 timeout = 100);
3242
3252 EXTERNFUNC int harmonic_setDCUnderVoltageTime(huint8 devIndex, huint8 id, huint32 time, huint32 timeout = 100);
3253
3263 EXTERNFUNC int harmonic_getDCOverVoltageThreshold(huint8 devIndex, huint8 id, huint32 *vol, huint32 timeout = 100);
3264
3274 EXTERNFUNC int harmonic_setDCOverVoltageThreshold(huint8 devIndex, huint8 id, huint32 vol, huint32 timeout = 100);
3275
3285 EXTERNFUNC int harmonic_getDCOverVoltageTime(huint8 devIndex, huint8 id, huint32 *time, huint32 timeout = 100);
3286
3296 EXTERNFUNC int harmonic_setDCOverVoltageTime(huint8 devIndex, huint8 id, huint32 time, huint32 timeout = 100);
3297
3307 EXTERNFUNC int harmonic_getTorqueSensorValue(huint8 devIndex, huint8 id, hreal32 *value, huint32 timeout = 100);
3308
3318 EXTERNFUNC int harmonic_getFindPointDoneFlag(huint8 devIndex, huint8 id, huint32 *flag, huint32 timeout = 100);
3319
3329 EXTERNFUNC int harmonic_setFindPointDoneFlag(huint8 devIndex, huint8 id, huint32 flag, huint32 timeout = 100);
3330
3340 EXTERNFUNC int harmonic_getFindPointStart(huint8 devIndex, huint8 id, huint32 *status, huint32 timeout = 100);
3341
3351 EXTERNFUNC int harmonic_setFindPointStart(huint8 devIndex, huint8 id, huint32 status, huint32 timeout = 100);
3352
3362 EXTERNFUNC int harmonic_getFindPointMoveMax(huint8 devIndex, huint8 id, huint32 *angle, huint32 timeout = 100);
3363
3373 EXTERNFUNC int harmonic_setFindPointMoveMax(huint8 devIndex, huint8 id, huint32 angle, huint32 timeout = 100);
3374
3384 EXTERNFUNC int harmonic_getFindPointMoveAcc(huint8 devIndex, huint8 id, huint32 *acc, huint32 timeout = 100);
3385
3395 EXTERNFUNC int harmonic_setFindPointMoveAcc(huint8 devIndex, huint8 id, huint32 acc, huint32 timeout = 100);
3396
3406 EXTERNFUNC int harmonic_getFindPointMoveDec(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout = 100);
3407
3417 EXTERNFUNC int harmonic_setFindPointMoveDec(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout = 100);
3418
3428 EXTERNFUNC int harmonic_getFindPointMoveVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout = 100);
3429
3439 EXTERNFUNC int harmonic_setFindPointMoveVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout = 100);
3440
3450 EXTERNFUNC int harmonic_getTorqueFactor(huint8 devIndex, huint8 id, huint16 *factor, huint32 timeout = 100);
3451
3461 EXTERNFUNC int harmonic_setTorqueFactor(huint8 devIndex, huint8 id, huint16 factor, huint32 timeout = 100);
3462
3472 EXTERNFUNC int harmonic_getMitCtrlCobcmd1(huint8 devIndex, huint8 id, huint32 *cobcmd, huint32 timeout = 100);
3473
3483 EXTERNFUNC int harmonic_setMitCtrlCobcmd1(huint8 devIndex, huint8 id, huint32 cobcmd, huint32 timeout = 100);
3484
3494 EXTERNFUNC int harmonic_getMitCtrlCobcmd2(huint8 devIndex, huint8 id, huint32 *cobcmd, huint32 timeout = 100);
3495
3505 EXTERNFUNC int harmonic_setMitCtrlCobcmd2(huint8 devIndex, huint8 id, huint32 cobcmd, huint32 timeout = 100);
3506
3516 EXTERNFUNC int harmonic_getMitReplyCobdat1(huint8 devIndex, huint8 id, huint32 *cobdat, huint32 timeout = 100);
3517
3527 EXTERNFUNC int harmonic_setMitReplyCobdat1(huint8 devIndex, huint8 id, huint32 cobdat, huint32 timeout = 100);
3528
3538 EXTERNFUNC int harmonic_getMitReplyCobdat2(huint8 devIndex, huint8 id, huint32 *cobdat, huint32 timeout = 100);
3539
3549 EXTERNFUNC int harmonic_setMitReplyCobdat2(huint8 devIndex, huint8 id, huint32 cobdat, huint32 timeout = 100);
3550
3560 EXTERNFUNC int harmonic_getMitPMin(huint8 devIndex, huint8 id, hreal32 *pMin, huint32 timeout = 100);
3561
3571 EXTERNFUNC int harmonic_setMitPMin(huint8 devIndex, huint8 id, hreal32 pMin, huint32 timeout = 100);
3572
3582 EXTERNFUNC int harmonic_getMitPMax(huint8 devIndex, huint8 id, hreal32 *pMax, huint32 timeout = 100);
3583
3593 EXTERNFUNC int harmonic_setMitPMax(huint8 devIndex, huint8 id, hreal32 pMax, huint32 timeout = 100);
3594
3604 EXTERNFUNC int harmonic_getMitVMin(huint8 devIndex, huint8 id, hreal32 *vMin, huint32 timeout = 100);
3605
3615 EXTERNFUNC int harmonic_setMitVMin(huint8 devIndex, huint8 id, hreal32 vMin, huint32 timeout = 100);
3616
3626 EXTERNFUNC int harmonic_getMitVMax(huint8 devIndex, huint8 id, hreal32 *vMax, huint32 timeout = 100);
3627
3637 EXTERNFUNC int harmonic_setMitVMax(huint8 devIndex, huint8 id, hreal32 vMax, huint32 timeout = 100);
3638
3648 EXTERNFUNC int harmonic_getMitKPMin(huint8 devIndex, huint8 id, hreal32 *kpMin, huint32 timeout = 100);
3649
3659 EXTERNFUNC int harmonic_setMitKPMin(huint8 devIndex, huint8 id, hreal32 kpMin, huint32 timeout = 100);
3660
3670 EXTERNFUNC int harmonic_getMitKPMax(huint8 devIndex, huint8 id, hreal32 *kpMax, huint32 timeout = 100);
3671
3681 EXTERNFUNC int harmonic_setMitKPMax(huint8 devIndex, huint8 id, hreal32 kpMax, huint32 timeout = 100);
3682
3692 EXTERNFUNC int harmonic_getMitKDMin(huint8 devIndex, huint8 id, hreal32 *kdMin, huint32 timeout = 100);
3693
3703 EXTERNFUNC int harmonic_setMitKDMin(huint8 devIndex, huint8 id, hreal32 kdMin, huint32 timeout = 100);
3704
3714 EXTERNFUNC int harmonic_getMitKDMax(huint8 devIndex, huint8 id, hreal32 *kdMax, huint32 timeout = 100);
3715
3725 EXTERNFUNC int harmonic_setMitKDMax(huint8 devIndex, huint8 id, hreal32 kdMax, huint32 timeout = 100);
3726
3736 EXTERNFUNC int harmonic_getMitTMin(huint8 devIndex, huint8 id, hreal32 *tMin, huint32 timeout = 100);
3737
3747 EXTERNFUNC int harmonic_setMitTMin(huint8 devIndex, huint8 id, hreal32 tMin, huint32 timeout = 100);
3748
3758 EXTERNFUNC int harmonic_getMitTMax(huint8 devIndex, huint8 id, hreal32 *tMin, huint32 timeout = 100);
3759
3769 EXTERNFUNC int harmonic_setMitTMax(huint8 devIndex, huint8 id, hreal32 tMin, huint32 timeout = 100);
3770
3780 EXTERNFUNC int harmonic_getServoErrorCode(huint8 devIndex, huint8 id, huint16 *err, huint32 timeout = 100);
3781
3791 EXTERNFUNC int harmonic_getControlword(huint8 devIndex, huint8 id, huint16 *word, huint32 timeout = 100);
3792
3802 EXTERNFUNC int harmonic_setControlword(huint8 devIndex, huint8 id, huint16 word, huint32 timeout = 100);
3803
3813 EXTERNFUNC int harmonic_getStatusWord(huint8 devIndex, huint8 id, huint16 *word, huint32 timeout = 100);
3814
3824 EXTERNFUNC int harmonic_getQuickStopOption(huint8 devIndex, huint8 id, harmonic_QuickStopOption *option, huint32 timeout = 100);
3825
3835 EXTERNFUNC int harmonic_setQuickStopOption(huint8 devIndex, huint8 id, harmonic_QuickStopOption option, huint32 timeout = 100);
3836
3846 EXTERNFUNC int harmonic_getShutdownOptionCode(huint8 devIndex, huint8 id, harmonic_ShutdownOption *code, huint32 timeout = 100);
3847
3857 EXTERNFUNC int harmonic_setShutdownOptionCode(huint8 devIndex, huint8 id, harmonic_ShutdownOption code, huint32 timeout = 100);
3858
3868 EXTERNFUNC int harmonic_getDisableOperationOptionCode(huint8 devIndex, huint8 id, harmonic_DisableOperationOption *code, huint32 timeout = 100);
3869
3879 EXTERNFUNC int harmonic_setDisableOperationOptionCode(huint8 devIndex, huint8 id, harmonic_DisableOperationOption code, huint32 timeout = 100);
3880
3890 EXTERNFUNC int harmonic_getHaltOption(huint8 devIndex, huint8 id, harmonic_HaltOption *option, huint32 timeout = 100);
3891
3901 EXTERNFUNC int harmonic_setHaltOption(huint8 devIndex, huint8 id, harmonic_HaltOption option, huint32 timeout = 100);
3902
3912 EXTERNFUNC int harmonic_getFaultReactionOption(huint8 devIndex, huint8 id, harmonic_FaultReactionOption *option, huint32 timeout = 100);
3913
3923 EXTERNFUNC int harmonic_setFaultReactionOption(huint8 devIndex, huint8 id, harmonic_FaultReactionOption option, huint32 timeout = 100);
3924
3934 EXTERNFUNC int harmonic_getOperateMode(huint8 devIndex, huint8 id, harmonic_OperateMode *mode, huint32 timeout = 100);
3935
3945 EXTERNFUNC int harmonic_setOperateMode(huint8 devIndex, huint8 id, harmonic_OperateMode mode, huint32 timeout = 100);
3946
3956 EXTERNFUNC int harmonic_getDisplayOperateMode(huint8 devIndex, huint8 id, harmonic_OperateMode *mode, huint32 timeout = 100);
3957
3967 EXTERNFUNC int harmonic_getDemandPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
3968
3978 EXTERNFUNC int harmonic_setDemandPos(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout = 100);
3979
3989 EXTERNFUNC int harmonic_getActualPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
3990
4000 EXTERNFUNC int harmonic_getFollowingErrorWindow(huint8 devIndex, huint8 id, huint32 *eWindow, huint32 timeout = 100);
4001
4011 EXTERNFUNC int harmonic_setFollowingErrorWindow(huint8 devIndex, huint8 id, huint32 eWindow, huint32 timeout = 100);
4012
4022 EXTERNFUNC int harmonic_getPositionWindow(huint8 devIndex, huint8 id, huint32 *pWindow, huint32 timeout = 100);
4023
4033 EXTERNFUNC int harmonic_setPositionWindow(huint8 devIndex, huint8 id, huint32 pWindow, huint32 timeout = 100);
4034
4044 EXTERNFUNC int harmonic_getPositionWindowTime(huint8 devIndex, huint8 id, huint16 *pWindowTime, huint32 timeout = 100);
4045
4055 EXTERNFUNC int harmonic_setPositionWindowTime(huint8 devIndex, huint8 id, huint16 pWindowTime, huint32 timeout = 100);
4056
4066 EXTERNFUNC int harmonic_getDemandVelocity(huint8 devIndex, huint8 id, hint32 *dVel, huint32 timeout = 100);
4067
4077 EXTERNFUNC int harmonic_setDemandVelocity(huint8 devIndex, huint8 id, hint32 dvel, huint32 timeout = 100);
4078
4088 EXTERNFUNC int harmonic_getActualVelocity(huint8 devIndex, huint8 id, hint32 *vel, huint32 timeout = 100);
4089
4099 EXTERNFUNC int harmonic_getVelocityWindow(huint8 devIndex, huint8 id, huint16 *vWindow, huint32 timeout = 100);
4100
4110 EXTERNFUNC int harmonic_setVelocityWindow(huint8 devIndex, huint8 id, huint16 vWindow, huint32 timeout = 100);
4111
4121 EXTERNFUNC int harmonic_getVelocityWindowTime(huint8 devIndex, huint8 id, huint16 *wTime, huint32 timeout = 100);
4122
4132 EXTERNFUNC int harmonic_setVelocityWindowTime(huint8 devIndex, huint8 id, huint16 wTime, huint32 timeout = 100);
4133
4143 EXTERNFUNC int harmonic_getVelocityThreshold(huint8 devIndex, huint8 id, huint16 *thres, huint32 timeout = 100);
4144
4154 EXTERNFUNC int harmonic_setVelocityThreshold(huint8 devIndex, huint8 id, huint16 thres, huint32 timeout = 100);
4155
4165 EXTERNFUNC int harmonic_getVelocityThresholdTime(huint8 devIndex, huint8 id, huint16 *tTime, huint32 timeout = 100);
4166
4176 EXTERNFUNC int harmonic_setVelocityThresholdTime(huint8 devIndex, huint8 id, huint16 tTime, huint32 timeout = 100);
4177
4187 EXTERNFUNC int harmonic_getTargetTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout = 100);
4188
4198 EXTERNFUNC int harmonic_setTargetTorque(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout = 100);
4199
4209 EXTERNFUNC int harmonic_getTorqueLimit(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout = 100);
4210
4220 EXTERNFUNC int harmonic_setTorqueLimit(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout = 100);
4221
4231 EXTERNFUNC int harmonic_getDemandTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout = 100);
4232
4242 EXTERNFUNC int harmonic_setDemandTorque(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout = 100);
4243
4253 EXTERNFUNC int harmonic_getMotorRatedTorque(huint8 devIndex, huint8 id, huint32 *torque, huint32 timeout = 100);
4254
4264 EXTERNFUNC int harmonic_setMotorRatedTorque(huint8 devIndex, huint8 id, huint32 torque, huint32 timeout = 100);
4265
4275 EXTERNFUNC int harmonic_getActualTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout = 100);
4276
4286 EXTERNFUNC int harmonic_getCurrentActualValue(huint8 devIndex, huint8 id, hint16 *current, huint32 timeout = 100);
4287
4297 EXTERNFUNC int harmonic_getDCLinkCircuitVoltage(huint8 devIndex, huint8 id, huint32 *voltage, huint32 timeout = 100);
4298
4308 EXTERNFUNC int harmonic_setDCLinkCircuitVoltage(huint8 devIndex, huint8 id, huint32 voltage, huint32 timeout = 100);
4309
4319 EXTERNFUNC int harmonic_getTargetPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
4320
4330 EXTERNFUNC int harmonic_setTargetPos(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout = 100);
4331
4341 EXTERNFUNC int harmonic_getHomeOffset(huint8 devIndex, huint8 id, hint32 *offSet, huint32 timeout = 100);
4342
4352 EXTERNFUNC int harmonic_setHomeOffset(huint8 devIndex, huint8 id, hint32 offSet, huint32 timeout = 100);
4353
4363 EXTERNFUNC int harmonic_getSoftwareMinimumPosition(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
4364
4374 EXTERNFUNC int harmonic_setSoftwareMinimumPosition(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout = 100);
4375
4385 EXTERNFUNC int harmonic_getSoftwareMaxmumPosition(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
4386
4396 EXTERNFUNC int harmonic_setSoftwareMaxmumPosition(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout = 100);
4397
4407 EXTERNFUNC int harmonic_getMaxProfileVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout = 100);
4408
4418 EXTERNFUNC int harmonic_setMaxProfileVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout = 100);
4419
4429 EXTERNFUNC int harmonic_getProfileVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout = 100);
4430
4440 EXTERNFUNC int harmonic_setProfileVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout = 100);
4441
4451 EXTERNFUNC int harmonic_getProfileAcceleration(huint8 devIndex, huint8 id, huint32 *acc, huint32 timeout = 100);
4452
4462 EXTERNFUNC int harmonic_setProfileAcceleration(huint8 devIndex, huint8 id, huint32 acc, huint32 timeout = 100);
4463
4473 EXTERNFUNC int harmonic_getProfileDeceleration(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout = 100);
4474
4484 EXTERNFUNC int harmonic_setProfileDeceleration(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout = 100);
4485
4495 EXTERNFUNC int harmonic_getQuickStopDeceleration(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout = 100);
4496
4506 EXTERNFUNC int harmonic_setQuickStopDeceleration(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout = 100);
4507
4517 EXTERNFUNC int harmonic_getTorqueSlope(huint8 devIndex, huint8 id, huint32 *slope, huint32 timeout = 100);
4518
4528 EXTERNFUNC int harmonic_setTorqueSlope(huint8 devIndex, huint8 id, huint32 slope, huint32 timeout = 100);
4529
4539 EXTERNFUNC int harmonic_getGearRatioMotorRevolutions(huint8 devIndex, huint8 id, huint32 *rev, huint32 timeout = 100);
4540
4550 EXTERNFUNC int harmonic_setGearRatioMotorRevolutions(huint8 devIndex, huint8 id, huint32 rev, huint32 timeout = 100);
4551
4561 EXTERNFUNC int harmonic_getGearRatioShaftRevolutions(huint8 devIndex, huint8 id, huint32 *rev, huint32 timeout = 100);
4562
4572 EXTERNFUNC int harmonic_setGearRatioShaftRevolutions(huint8 devIndex, huint8 id, huint32 rev, huint32 timeout = 100);
4573
4583 EXTERNFUNC int harmonic_getInterpolationDataRecord(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout = 100);
4584
4594 EXTERNFUNC int harmonic_setInterpolationDataRecord(huint8 devIndex, huint8 id, hint32 value, huint32 timeout = 100);
4595
4605 EXTERNFUNC int harmonic_getInterpolationTimePeriodValue(huint8 devIndex, huint8 id, huint8 *value, huint32 timeout = 100);
4606
4616 EXTERNFUNC int harmonic_setInterpolationTimePeriodValue(huint8 devIndex, huint8 id, huint8 value, huint32 timeout = 100);
4617
4627 EXTERNFUNC int harmonic_getActualFollowingError(huint8 devIndex, huint8 id, hint32 *error, huint32 timeout = 100);
4628
4638 EXTERNFUNC int harmonic_setActualFollowingError(huint8 devIndex, huint8 id, hint32 error, huint32 timeout = 100);
4639
4649 EXTERNFUNC int harmonic_getTargetVelocity(huint8 devIndex, huint8 id, hint32 *targetVel, huint32 timeout = 100);
4650
4660 EXTERNFUNC int harmonic_setTargetVelocity(huint8 devIndex, huint8 id, hint32 targetVel, huint32 timeout = 100);
4661
4671 EXTERNFUNC int harmonic_getSupportedDriveModes(huint8 devIndex, huint8 id, huint32 *modes, huint32 timeout = 100);
4672
4673#ifdef __cplusplus
4674}
4675#endif
4676
4677#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_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
定义 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
定义 eu_harmonic.h:202
@ harmonic_HaltOption_Slow_Down_On_the_Current_Limit
定义 eu_harmonic.h:206
@ harmonic_HaltOption_Slow_Down_On_the_Voltag_Limit
定义 eu_harmonic.h:207
@ harmonic_HaltOption_Disable_Drive
定义 eu_harmonic.h:203
@ harmonic_HaltOption_Slow_Down_On_Quick_Stop_Ramp
定义 eu_harmonic.h:205
@ harmonic_HaltOption_Slow_Down_On_Slow_Down_Ramp
定义 eu_harmonic.h:204
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
定义 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
定义 eu_harmonic.h:228
@ harmonic_OperateMode_TorquePositionFixed
定义 eu_harmonic.h:242
@ harmonic_OperateMode_ProfileVelocity
定义 eu_harmonic.h:235
@ harmonic_OperateMode_RotorAligning
定义 eu_harmonic.h:231
@ harmonic_OperateMode_Homing
定义 eu_harmonic.h:237
@ harmonic_OperateMode_CyclicSyncPosition
定义 eu_harmonic.h:239
@ harmonic_OperateMode_Reserve
定义 eu_harmonic.h:232
@ harmonic_OperateMode_CyclicSyncVelocity
定义 eu_harmonic.h:240
@ harmonic_OperateMode_ProfilePosition
定义 eu_harmonic.h:233
@ harmonic_OperateMode_InterpolatedPosition
定义 eu_harmonic.h:238
@ harmonic_OperateMode_Velocity
定义 eu_harmonic.h:234
@ harmonic_OperateMode_ProfileTorque
定义 eu_harmonic.h:236
@ harmonic_OperateMode_INLCalibration
定义 eu_harmonic.h:230
@ harmonic_OperateMode_AutoTuning
定义 eu_harmonic.h:229
@ harmonic_OperateMode_CyclicSyncTorque
定义 eu_harmonic.h:241
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
定义 eu_harmonic.h:261
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
定义 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
定义 eu_harmonic.h:120
@ harmonic_NMTState_Start_Node
定义 eu_harmonic.h:121
@ harmonic_NMTState_Reset_Comunication
定义 eu_harmonic.h:125
@ harmonic_NMTState_Enter_PreOperational
定义 eu_harmonic.h:123
@ harmonic_NMTState_Stop_Node
定义 eu_harmonic.h:122
@ harmonic_NMTState_Reset_Node
定义 eu_harmonic.h:124
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
定义 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
定义 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__)))
定义 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
定义 eu_harmonic.h:182
@ harmonic_ShutdownOption_Slown_With_Slow_Down_Ramp
定义 eu_harmonic.h:184
@ harmonic_ShutdownOption_Disable_Drive_Function
定义 eu_harmonic.h:183
EXTERNFUNC int harmonic_initDLL(harmonic_DeviceType devType, huint8 devIndex, harmonic_Baudrate baudrate)
初始化dll,在调用所有函数前,必须先调用该函数进行初始化,该函数会打开设备。 【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_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
定义 eu_harmonic.h:267
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
定义 eu_harmonic.h:94
@ harmonic_Baudrate_20
定义 eu_harmonic.h:96
@ harmonic_Baudrate_10
定义 eu_harmonic.h:95
@ harmonic_Baudrate_1000
定义 eu_harmonic.h:101
@ harmonic_Baudrate_500
定义 eu_harmonic.h:100
@ harmonic_Baudrate_100
定义 eu_harmonic.h:98
@ harmonic_Baudrate_250
定义 eu_harmonic.h:99
@ harmonic_Baudrate_50
定义 eu_harmonic.h:97
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
定义 eu_harmonic.h:133
@ harmonic_NodeState_Disconnected
定义 eu_harmonic.h:135
@ harmonic_NodeState_Pre_operational
定义 eu_harmonic.h:140
@ harmonic_NodeState_Operational
定义 eu_harmonic.h:139
@ harmonic_NodeState_Unknown_state
定义 eu_harmonic.h:141
@ harmonic_NodeState_Initialisation
定义 eu_harmonic.h:134
@ harmonic_NodeState_Preparing
定义 eu_harmonic.h:137
@ harmonic_NodeState_Connecting
定义 eu_harmonic.h:136
@ harmonic_NodeState_Stopped
定义 eu_harmonic.h:138
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
定义 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
定义 eu_harmonic.h:192
@ harmonic_DisableOperationOption_Slow_Down_With_Slow_Down_Ramp
定义 eu_harmonic.h:194
@ harmonic_DisableOperationOption_Disable_Drive_Function
定义 eu_harmonic.h:193
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
定义 eu_harmonic.h:165
@ harmonic_QuickStopOption_Slow_Down_On_the_Current_Limit
定义 eu_harmonic.h:169
@ harmonic_QuickStopOption_Slow_Down_On_Quick_Stop_Ramp
定义 eu_harmonic.h:168
@ harmonic_QuickStopOption_Slow_Down_On_Quick_Stop_Ramp_And_Stay_In_Quick_Stop
定义 eu_harmonic.h:171
@ harmonic_QuickStopOption_Slow_Down_On_the_Voltag_Limit
定义 eu_harmonic.h:170
@ harmonic_QuickStopOption_Slow_Down_On_Slow_Down_Ramp
定义 eu_harmonic.h:167
@ harmonic_QuickStopOption_Slow_Down_On_the_Voltag_Limit_And_Stay_In_Quick_Stop
定义 eu_harmonic.h:174
@ harmonic_QuickStopOption_Slow_Down_On_the_Current_Limit_And_Stay_In_Quick_Stop
定义 eu_harmonic.h:173
@ harmonic_QuickStopOption_Slow_Down_On_Slow_Down_Ramp_And_Stay_In_Quick_Stop
定义 eu_harmonic.h:172
@ harmonic_QuickStopOption_Disable_Drive
定义 eu_harmonic.h:166
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
定义 eu_harmonic.h:149
@ harmonic_DataType_real32
定义 eu_harmonic.h:157
@ harmonic_DataType_int32
定义 eu_harmonic.h:153
@ harmonic_DataType_uint16
定义 eu_harmonic.h:155
@ harmonic_DataType_int16
定义 eu_harmonic.h:152
@ harmonic_DataType_int8
定义 eu_harmonic.h:151
@ harmonic_DataType_uint8
定义 eu_harmonic.h:154
@ harmonic_DataType_uint32
定义 eu_harmonic.h:156
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
定义 eu_harmonic.h:83
@ harmonic_DeviceType_USB2CAN
定义 eu_harmonic.h:84
@ harmonic_DeviceType_ZCAN_USBCANFD_100U
定义 eu_harmonic.h:86
@ harmonic_DeviceType_Canable
定义 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
定义 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
定义 eu_harmonic.h:215
@ harmonic_FaultReactionOption_Slow_down_on_current_limit
定义 eu_harmonic.h:219
@ harmonic_FaultReactionOption_Disable_drive_function
定义 eu_harmonic.h:216
@ harmonic_FaultReactionOption_Slow_down_on_quick_stop_ramp
定义 eu_harmonic.h:218
@ harmonic_FaultReactionOption_Slow_down_on_slow_down_ramp
定义 eu_harmonic.h:217
@ harmonic_FaultReactionOption_Slow_down_on_voltage_limit
定义 eu_harmonic.h:220
EXTERNFUNC int harmonic_getTorqueLimit(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout=100)
读从站字典0x6072-0x0
signed long int hint56
定义 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
定义 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
定义 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
定义 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_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
定义 eu_harmonic.h:105
@ harmonic_DBaudrate_4000
定义 eu_harmonic.h:109
@ harmonic_DBaudrate_7000
定义 eu_harmonic.h:112
@ harmonic_DBaudrate_2000
定义 eu_harmonic.h:107
@ harmonic_DBaudrate_6000
定义 eu_harmonic.h:111
@ harmonic_DBaudrate_1000
定义 eu_harmonic.h:106
@ harmonic_DBaudrate_8000
定义 eu_harmonic.h:113
@ harmonic_DBaudrate_5000
定义 eu_harmonic.h:110
@ harmonic_DBaudrate_3000
定义 eu_harmonic.h:108
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
定义 eu_harmonic.h:250
huint8 len
定义 eu_harmonic.h:253
huint8 rtr
定义 eu_harmonic.h:252
huint8 data[8]
定义 eu_harmonic.h:254
huint16 cob_id
定义 eu_harmonic.h:251