eyou_harmonic_sdk  1.0
canablelibrary
eu_harmonic.h
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1 #ifndef EU_HARMONIC_H
2 #define EU_HARMONIC_H
3 
4 #ifdef __cplusplus
5 extern "C"
6 {
7 #endif
8 
9 #ifndef EXTERNFUNC
10 #ifdef _WIN32
11 #define EXTERNFUNC __declspec(dllexport)
12 #else
13 #define EXTERNFUNC
14 #endif
15 #endif
16 
17 #ifdef _WIN32
18  typedef char hint8;
19  typedef short hint16;
20  typedef long hint24;
21  typedef long hint32;
22  typedef long long hint40;
23  typedef long long hint48;
24  typedef long long hint56;
25  typedef long long hint64;
26  typedef unsigned char huint8;
27  typedef unsigned short huint16;
28  typedef unsigned long huint24;
29  typedef unsigned long huint32;
30  typedef unsigned long long huint40;
31  typedef unsigned long long huint48;
32  typedef unsigned long long huint56;
33  typedef unsigned long long huint64;
34  typedef float hreal32;
35  typedef double hreal64;
36 #else
37 typedef signed char hint8;
38 typedef signed short int hint16;
39 typedef signed int hint24;
40 typedef signed int hint32;
41 typedef signed long int hint40;
42 typedef signed long int hint48;
43 typedef signed long int hint56;
44 typedef signed long int hint64;
45 typedef unsigned int huint8 __attribute__((__mode__(__QI__)));
46 typedef unsigned int huint16 __attribute__((__mode__(__HI__)));
47 typedef unsigned int huint24 __attribute__((__mode__(__SI__)));
48 typedef unsigned int huint32 __attribute__((__mode__(__SI__)));
49 typedef unsigned int huint40 __attribute__((__mode__(__DI__)));
50 typedef unsigned int huint48 __attribute__((__mode__(__DI__)));
51 typedef unsigned int huint56 __attribute__((__mode__(__DI__)));
52 typedef unsigned int huint64 __attribute__((__mode__(__DI__)));
53 typedef float hreal32;
54 typedef double hreal64;
55 #endif
56 
57 #define HARMONIC_SUCCESS (0)
58 #define HARMONIC_FAILED_DEVICEDISABLED (1)
59 #define HARMONIC_FAILED_OPENFAILED (2)
60 #define HARMONIC_FAILED_UNKNOWN (3)
65  enum harmonic_DeviceType
66  {
69  };
70 
75  {
83  };
84 
89  {
95  };
96 
101  {
110  };
111 
116  {
125  };
126 
128  {
138  };
139 
141  {
144  };
145 
147  {
150  };
151 
153  {
159  };
160 
162  {
168  };
169 
174  {
188  };
189 
193  typedef struct _harmonic_CanMsg
194  {
195  huint16 cob_id;
196  huint8 rtr;
197  huint8 len;
198  huint8 data[8];
199  } harmonic_CanMsg;
200 
204  typedef void (*harmonic_SendDataCallBack)(const harmonic_CanMsg &msg);
205 
209  typedef void (*harmonic_ReceiveDataCallBack)(const harmonic_CanMsg &msg);
210 
217 
224 
232 
238 
246  EXTERNFUNC int harmonic_getNodeState(huint8 id, harmonic_NodeState *state, huint32 timeout = 100);
247 
254 
261  EXTERNFUNC int harmonic_setNodeState(huint8 id, harmonic_NMTState state);
262 
271  EXTERNFUNC int harmonic_readLocalDirectory(huint16 index, huint8 subIndex, harmonic_DataType dataType, void *readData);
272 
282  EXTERNFUNC int harmonic_readDirectory(huint8 id, huint16 index, huint8 subIndex, harmonic_DataType dataType, void *readData, huint32 timeout = 100);
283 
292  EXTERNFUNC int harmonic_writeLocalDirectory(huint16 index, huint8 subIndex, void *writeData, huint32 sendLen);
293 
303  EXTERNFUNC int harmonic_writeDirectory(huint8 id, huint16 index, huint8 subIndex, harmonic_DataType dataType, void *writeData, huint32 timeout = 100);
304 
312  EXTERNFUNC int harmonic_writeCanData(huint32 cobId, const huint8 *const data, huint8 len);
313 
326  EXTERNFUNC int harmonic_profilePositionControl(huint8 id, hint32 targetPos, huint32 vel, huint32 acc, huint32 dec, bool isRelative = false, bool isImmediately = true, bool isUpdate = false);
327 
337  EXTERNFUNC int harmonic_profileVelocityControl(huint8 id, hint32 targetVel, huint32 acc, huint32 dec, bool isUpdate = false);
338 
347  EXTERNFUNC int harmonic_profileTorqueControl(huint8 id, huint16 targetTorque, hint16 slope, bool isUpdate = false);
348 
354  EXTERNFUNC int harmonic_stopControl(huint8 id);
355 
361  EXTERNFUNC int harmonic_getLocalSyncCOBID(huint32 *cobId);
362 
368  EXTERNFUNC int harmonic_setLocalSyncCOBID(huint32 cobId);
369 
375  EXTERNFUNC int harmonic_getLocalSyncCycle(huint32 *cycle);
376 
382  EXTERNFUNC int harmonic_setLocalSyncCycle(huint32 cycle);
388  EXTERNFUNC int harmonic_getLocalSyncWindow(huint32 *sWindow);
389 
395  EXTERNFUNC int harmonic_setLocalSyncWindow(huint32 sWindow);
396 
403  EXTERNFUNC int harmonic_getLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 *num);
404 
411  EXTERNFUNC int harmonic_setLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 num);
412 
419  EXTERNFUNC int harmonic_getLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 *cobId);
420 
427  EXTERNFUNC int harmonic_setLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 cobId);
428 
435  EXTERNFUNC int harmonic_getLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 *cobId);
436 
443  EXTERNFUNC int harmonic_setLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 cobId);
444 
451  EXTERNFUNC int harmonic_getLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 *nodeId);
452 
459  EXTERNFUNC int harmonic_setLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 nodeId);
460 
467  EXTERNFUNC int harmonic_getLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 *number);
468 
475  EXTERNFUNC int harmonic_setLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 number);
476 
483  EXTERNFUNC int harmonic_getLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 *cobId);
484 
491  EXTERNFUNC int harmonic_setLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 cobId);
492 
499  EXTERNFUNC int harmonic_getLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 *cobId);
500 
507  EXTERNFUNC int harmonic_setLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 cobId);
508 
515  EXTERNFUNC int harmonic_getLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 *nodeId);
516 
523  EXTERNFUNC int harmonic_setLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 nodeId);
524 
531  EXTERNFUNC int harmonic_getLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 *count);
532 
539  EXTERNFUNC int harmonic_setLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 count);
540 
547  EXTERNFUNC int harmonic_getLocalRPDOCobId(huint16 pdoIndex, huint32 *cobId);
548 
555  EXTERNFUNC int harmonic_setLocalRPDOCobId(huint16 pdoIndex, huint32 cobId);
556 
563  EXTERNFUNC int harmonic_getLocalRPDOTransmitType(huint16 pdoIndex, huint8 *type);
564 
571  EXTERNFUNC int harmonic_setLocalRPDOTransmitType(huint16 pdoIndex, huint8 type);
572 
579  EXTERNFUNC int harmonic_getLocalRPDOInhibitTime(huint16 pdoIndex, huint16 *time);
580 
587  EXTERNFUNC int harmonic_setLocalRPDOInhibitTime(huint16 pdoIndex, huint16 time);
588 
595  EXTERNFUNC int harmonic_getLocalRPDOEventTimer(huint16 pdoIndex, huint16 *timer);
596 
603  EXTERNFUNC int harmonic_setLocalRPDOEventTimer(huint16 pdoIndex, huint16 timer);
604 
611  EXTERNFUNC int harmonic_getLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 *value);
612 
619  EXTERNFUNC int harmonic_setLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 value);
620 
627  EXTERNFUNC int harmonic_getLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 *count);
628 
634  EXTERNFUNC int harmonic_setLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 count);
635 
641  EXTERNFUNC int harmonic_getLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value);
642 
648  EXTERNFUNC int harmonic_setLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value);
649 
655  EXTERNFUNC int harmonic_getLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 *count);
656 
662  EXTERNFUNC int harmonic_setLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 count);
663 
669  EXTERNFUNC int harmonic_getLocalTPDOCobId(huint16 pdoIndex, huint32 *cobId);
670 
676  EXTERNFUNC int harmonic_setLocalTPDOCobId(huint16 pdoIndex, huint32 cobId);
677 
683  EXTERNFUNC int harmonic_getLocalTPDOTransmitType(huint16 pdoIndex, huint8 *type);
684 
690  EXTERNFUNC int harmonic_setLocalTPDOTransmitType(huint16 pdoIndex, huint8 type);
691 
697  EXTERNFUNC int harmonic_getLocalTPDOInhibitTime(huint16 pdoIndex, huint16 *time);
698 
704  EXTERNFUNC int harmonic_setLocalTPDOInhibitTime(huint16 pdoIndex, huint16 time);
705 
711  EXTERNFUNC int harmonic_getLocalTPDOEventTimer(huint16 pdoIndex, huint16 *timer);
712 
718  EXTERNFUNC int harmonic_setLocalTPDOEventTimer(huint16 pdoIndex, huint16 timer);
719 
725  EXTERNFUNC int harmonic_getLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 *value);
731  EXTERNFUNC int harmonic_setLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 value);
732 
738  EXTERNFUNC int harmonic_getLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 *count);
739 
745  EXTERNFUNC int harmonic_setLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 count);
746 
752  EXTERNFUNC int harmonic_getLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value);
753 
759  EXTERNFUNC int harmonic_setLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value);
760 
767 
773  EXTERNFUNC int harmonic_getLocalMutiMotorPos(huint16 index, hint32 *pos);
774 
780  EXTERNFUNC int harmonic_getLocalMutiMotorVel(huint16 index, hint32 *vel);
781 
787  EXTERNFUNC int harmonic_getLocalMutiMotorTorque(huint16 index, hint16 *tor); // 5002
788 
794  EXTERNFUNC int harmonic_setLocalMutiMotorSetPos(huint16 index, hint32 pos); // 5003
795 
801  EXTERNFUNC int harmonic_setLocalMutiMotorSetVel(huint16 index, hint32 vel); // 5004
802 
808  EXTERNFUNC int harmonic_setLocalMutiMotorSetTorque(huint16 index, hint16 torque); // 5005
809 
810  EXTERNFUNC int harmonic_getLocalMutiMotorStatusWord(huint16 index, huint16 *status); // 5006
811 
812  EXTERNFUNC int harmonic_getLocalMutiMotorErrorCode(huint16 index, huint16 *error); // 5007
813 
815 
822  EXTERNFUNC int harmonic_getLocalControlword(huint16 *word);
829  EXTERNFUNC int harmonic_setLocalControlword(huint16 word);
830 
831  EXTERNFUNC int harmonic_getLocalStatusWord(huint16 *word);
832 
838  EXTERNFUNC int harmonic_getLocalActualPos(hint32 *pos); // 6064-0
839 
845  EXTERNFUNC int harmonic_getLocalActualVelocity(hint32 *velocity); // 606c-0
846 
852  EXTERNFUNC int harmonic_getLocalTargetTorque(hint16 *torque); // 6071-0
853 
859  EXTERNFUNC int harmonic_setLocalTargetTorque(hint16 torque); // 6071-0
860 
866  EXTERNFUNC int harmonic_getLocalActualTorque(hint16 *torque); // 6077-0
867 
875 
881  EXTERNFUNC int harmonic_getLocalTargetPos(hint32 *pos); // 607A-0
882 
888  EXTERNFUNC int harmonic_setLocalTargetPos(hint32 pos); // 607A-0
889 
896 
903 
909  EXTERNFUNC int harmonic_getLocalInterpolationTimePeriodValue(huint8 *value); // 60C2-1
910 
916  EXTERNFUNC int harmonic_setLocalInterpolationTimePeriodValue(huint8 value); // 60C2-1
917 
924 
931 
939  EXTERNFUNC int harmonic_getDeviceType(huint8 id, huint32 *deviceType, huint32 timeout = 100);
940 
948  EXTERNFUNC int harmonic_getErrorRegister(huint8 id, huint8 *errReg, huint32 timeout = 100);
949 
957  EXTERNFUNC int harmonic_getErrorFieldNumber(huint8 id, huint8 *number, huint32 timeout = 100);
958 
966  EXTERNFUNC int harmonic_setErrorFieldNumber(huint8 id, huint8 number, huint32 timeout = 100); // 0x1003-0
967 
976  EXTERNFUNC int harmonic_getErrorField(huint8 id, huint8 subIndex, huint32 *err, huint32 timeout = 100);
977 
985  EXTERNFUNC int harmonic_getSyncCobid(huint8 id, huint32 *cobid, huint32 timeout = 100);
986 
994  EXTERNFUNC int harmonic_setSyncCobid(huint8 id, huint32 cobid, huint32 timeout = 100);
995 
1003  EXTERNFUNC int harmonic_getSyncCycle(huint8 id, huint32 *syncCycle, huint32 timeout = 100);
1004 
1012  EXTERNFUNC int harmonic_setSyncCycle(huint8 id, huint32 syncCycle, huint32 timeout = 100);
1013 
1021  EXTERNFUNC int harmonic_getSyncWindow(huint8 id, huint32 *syncWindow, huint32 timeout = 100);
1022 
1030  EXTERNFUNC int harmonic_setSyncWindow(huint8 id, huint32 syncWindow, huint32 timeout = 100);
1031 
1039  EXTERNFUNC int harmonic_getDeviceName(huint8 id, char *devName, huint32 timeout = 100);
1040 
1048  EXTERNFUNC int harmonic_getHardwareVersion(huint8 id, char *version, huint32 timeout = 100);
1049 
1057  EXTERNFUNC int harmonic_getSoftwareVersion(huint8 id, char *version, huint32 timeout = 100);
1058 
1066  EXTERNFUNC int harmonic_getGuardTime(huint8 id, huint16 *time, huint32 timeout = 100);
1067 
1075  EXTERNFUNC int harmonic_setGuardTime(huint8 id, huint16 time, huint32 timeout = 100);
1076 
1084  EXTERNFUNC int harmonic_getLifeTimeFactor(huint8 id, huint8 *factor, huint32 timeout = 100);
1085 
1093  EXTERNFUNC int harmonic_setLifeTimeFactor(huint8 id, huint8 factor, huint32 timeout = 100);
1094 
1102  EXTERNFUNC int harmonic_getStoreParametersNumber(huint8 id, huint8 *number, huint32 timeout = 100);
1103 
1111  EXTERNFUNC int harmonic_getStoreParameters(huint8 id, huint32 *value, huint32 timeout = 100);
1112 
1120  EXTERNFUNC int harmonic_setStoreParameters(huint8 id, huint32 value, huint32 timeout = 100);
1121 
1129  EXTERNFUNC int harmonic_getRestoreDefaultParametersNumber(huint8 id, huint8 *number, huint32 timeout = 100);
1130 
1138  EXTERNFUNC int harmonic_getRestoreDefaultParameters(huint8 id, huint32 *value, huint32 timeout = 100);
1139 
1148  EXTERNFUNC int harmonic_setRestoreDefaultParameters(huint8 id, huint32 value, huint32 timeout = 100);
1149 
1157  EXTERNFUNC int harmonic_getEmergencyCobid(huint8 id, huint32 *cobid, huint32 timeout = 100);
1158 
1166  EXTERNFUNC int harmonic_setEmergencyCobid(huint8 id, huint32 cobid, huint32 timeout = 100);
1167 
1175  EXTERNFUNC int harmonic_getEmergencyInhibitTime(huint8 id, huint16 *time, huint32 timeout = 100);
1176 
1184  EXTERNFUNC int harmonic_setEmergencyInhibitTime(huint8 id, huint16 time, huint32 timeout = 100);
1185 
1193  EXTERNFUNC int harmonic_getHearbeatConsumerTimeParasNum(huint8 id, huint8 *number, huint32 timeout = 100);
1194 
1203  EXTERNFUNC int harmonic_getHearbeatConsumerTime(huint8 id, huint8 subIndex, huint32 *time, huint32 timeout = 100);
1204 
1213  EXTERNFUNC int harmonic_setHearbeatConsumerTime(huint8 id, huint8 subIndex, huint32 time, huint32 timeout = 100);
1214 
1222  EXTERNFUNC int harmonic_getProducerHeartbeatTime(huint8 id, huint16 *time, huint32 timeout = 100);
1223 
1231  EXTERNFUNC int harmonic_setProducerHeartbeatTime(huint8 id, huint16 time, huint32 timeout = 100);
1232 
1240  EXTERNFUNC int harmonic_getIdentityObjectNumber(huint8 id, huint8 *number, huint32 timeout = 100);
1241 
1249  EXTERNFUNC int harmonic_getVendorID(huint8 id, huint32 *vId, huint32 timeout = 100);
1250 
1258  EXTERNFUNC int harmonic_getProductCode(huint8 id, huint32 *pCode, huint32 timeout = 100);
1259 
1267  EXTERNFUNC int harmonic_getIdentityObjectRevisionNumber(huint8 id, huint32 *revisionNum, huint32 timeout = 100);
1268 
1276  EXTERNFUNC int harmonic_getSerialNumber(huint8 id, huint32 *serialNum, huint32 timeout = 100);
1277 
1285  EXTERNFUNC int harmonic_getSyncCounter(huint8 id, huint8 *counter, huint32 timeout = 100);
1286 
1294  EXTERNFUNC int harmonic_setSyncCounter(huint8 id, huint8 counter, huint32 timeout = 100);
1295 
1303  EXTERNFUNC int harmonic_getServerSDONumberOfEntries(huint8 id, huint16 sdoServerIndex, huint8 *num, huint32 timeout = 100);
1304 
1312  EXTERNFUNC int harmonic_setServerSDONumberOfEntries(huint8 id, huint16 sdoServerIndex, huint8 num, huint32 timeout = 100);
1313 
1321  EXTERNFUNC int harmonic_getServerSDOCobIdClientToServer(huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout = 100);
1322 
1330  EXTERNFUNC int harmonic_setServerSDOCobIdClientToServer(huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout = 100);
1331 
1339  EXTERNFUNC int harmonic_getServerSDOCobIdServerToClient(huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout = 100);
1340 
1348  EXTERNFUNC int harmonic_setServerSDOCobIdServerToClient(huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout = 100);
1349 
1357  EXTERNFUNC int harmonic_getServerSDONodeIdOfClient(huint8 id, huint16 sdoServerIndex, huint8 *nodeId, huint32 timeout = 100);
1358 
1366  EXTERNFUNC int harmonic_setServerSDONodeIdOfClient(huint8 id, huint16 sdoServerIndex, huint8 nodeId, huint32 timeout = 100);
1367 
1376  EXTERNFUNC int harmonic_getClientSDONumberOfEntries(huint8 id, huint16 sdoClientIndex, huint8 *number, huint32 timeout = 100);
1377 
1386  EXTERNFUNC int harmonic_setClientSDONumberOfEntries(huint8 id, huint16 sdoClientIndex, huint8 number, huint32 timeout = 100);
1387 
1396  EXTERNFUNC int harmonic_getClientSDOCobIdClientToServer(huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout = 100);
1397 
1406  EXTERNFUNC int harmonic_setClientSDOCobIdClientToServer(huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout = 100);
1407 
1416  EXTERNFUNC int harmonic_getClientSDOCobIdServerToClient(huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout = 100);
1417 
1426  EXTERNFUNC int harmonic_setClientSDOCobIdServerToClient(huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout = 100);
1427 
1436  EXTERNFUNC int harmonic_getClientSDONodeIdOfSDOServer(huint8 id, huint16 sdoClientIndex, huint8 *nodeId, huint32 timeout = 100);
1437 
1446  EXTERNFUNC int harmonic_setClientSDONodeIdOfSDOServer(huint8 id, huint16 sdoClientIndex, huint8 nodeId, huint32 timeout = 100);
1447 
1456  EXTERNFUNC int harmonic_getRPDOMaxParasCount(huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
1457 
1466  EXTERNFUNC int harmonic_setRPDOMaxParasCount(huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
1467 
1476  EXTERNFUNC int harmonic_getRPDOCobId(huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout = 100);
1477 
1486  EXTERNFUNC int harmonic_setRPDOCobId(huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout = 100);
1487 
1496  EXTERNFUNC int harmonic_getRPDOTransmitType(huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout = 100);
1497 
1506  EXTERNFUNC int harmonic_setRPDOTransmitType(huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout = 100);
1507 
1516  EXTERNFUNC int harmonic_getRPDOInhibitTime(huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout = 100);
1517 
1526  EXTERNFUNC int harmonic_setRPDOInhibitTime(huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout = 100);
1527 
1536  EXTERNFUNC int harmonic_getRPDOEventTimer(huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout = 100);
1537 
1546  EXTERNFUNC int harmonic_setRPDOEventTimer(huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout = 100);
1547 
1556  EXTERNFUNC int harmonic_getRPDOSYNCStartValue(huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout = 100);
1557 
1564  EXTERNFUNC int harmonic_setRPDOSYNCStartValue(huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout = 100); // 1400-6
1565 
1574  EXTERNFUNC int harmonic_getRPDOMaxMappedCount(huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
1575 
1584  EXTERNFUNC int harmonic_setRPDOMaxMappedCount(huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
1585 
1595  EXTERNFUNC int harmonic_getRPDOMapped(huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout = 100);
1596 
1606  EXTERNFUNC int harmonic_setRPDOMapped(huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout = 100);
1607 
1616  EXTERNFUNC int harmonic_getTPDOMaxParasCount(huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
1617 
1626  EXTERNFUNC int harmonic_setTPDOMaxParasCount(huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
1627 
1636  EXTERNFUNC int harmonic_getTPDOCobId(huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout = 100);
1637 
1646  EXTERNFUNC int harmonic_setTPDOCobId(huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout = 100);
1647 
1656  EXTERNFUNC int harmonic_getTPDOTransmitType(huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout = 100);
1657 
1666  EXTERNFUNC int harmonic_setTPDOTransmitType(huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout = 100);
1667 
1676  EXTERNFUNC int harmonic_getTPDOInhibitTime(huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout = 100);
1677 
1686  EXTERNFUNC int harmonic_setTPDOInhibitTime(huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout = 100);
1687 
1696  EXTERNFUNC int harmonic_getTPDOEventTimer(huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout = 100);
1697 
1705  EXTERNFUNC int harmonic_setTPDOEventTimer(huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout = 100);
1706 
1715  EXTERNFUNC int harmonic_getTPDOSYNCStartValue(huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout = 100);
1716 
1725  EXTERNFUNC int harmonic_setTPDOSYNCStartValue(huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout = 100);
1726 
1735  EXTERNFUNC int harmonic_getTPDOMaxMappedCount(huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
1736 
1745  EXTERNFUNC int harmonic_setTPDOMaxMappedCount(huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
1746 
1756  EXTERNFUNC int harmonic_getTPDOMapped(huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout = 100);
1757 
1767  EXTERNFUNC int harmonic_setTPDOMapped(huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout = 100); // 1A00-1
1768 
1769  EXTERNFUNC int harmonic_getServoParametersNumber(huint8 id, huint8 *num, huint32 timeout = 100);
1770  EXTERNFUNC int harmonic_setServoParametersNumber(huint8 id, huint8 num, huint32 timeout = 100);
1771  EXTERNFUNC int harmonic_getServoID(huint8 id, huint8 *servoID, huint32 timeout = 100);
1772  EXTERNFUNC int harmonic_setServoID(huint8 id, huint8 servoID, huint32 timeout = 100);
1773  EXTERNFUNC int harmonic_getServoCanBaudrate(huint8 id, huint16 *baudrate, huint32 timeout = 100);
1774  EXTERNFUNC int harmonic_setServoCanBaudrate(huint8 id, huint16 baudrate, huint32 timeout = 100);
1775  EXTERNFUNC int harmonic_getServoSoftwareLimitState(huint8 id, huint32 *state, huint32 timeout = 100);
1776  EXTERNFUNC int harmonic_setServoSoftwareLimitState(huint8 id, huint32 state, huint32 timeout = 100);
1777  EXTERNFUNC int harmonic_getServoCurrentLoopPINum(huint8 id, huint8 *num, huint32 timeout = 100);
1778  EXTERNFUNC int harmonic_getDefaultServoCurrentLoopKP(huint8 id, huint16 *kp, huint32 timeout = 100);
1779  EXTERNFUNC int harmonic_setDefaultServoCurrentLoopKP(huint8 id, huint16 kp, huint32 timeout = 100);
1780  EXTERNFUNC int harmonic_getDefaultServoCurrentLoopKI(huint8 id, huint16 *ki, huint32 timeout = 100);
1781  EXTERNFUNC int harmonic_setDefaultServoCurrentLoopKI(huint8 id, huint16 ki, huint32 timeout = 100);
1782  EXTERNFUNC int harmonic_getServoCurrentLoopKP(huint8 id, huint16 *kp, huint32 timeout = 100);
1783  EXTERNFUNC int harmonic_setServoCurrentLoopKP(huint8 id, huint16 kp, huint32 timeout = 100);
1784  EXTERNFUNC int harmonic_getServoCurrentLoopKI(huint8 id, huint16 *ki, huint32 timeout = 100);
1785  EXTERNFUNC int harmonic_setServoCurrentLoopKI(huint8 id, huint16 ki, huint32 timeout = 100);
1786  EXTERNFUNC int harmonic_getServoVelocityLoopPINum(huint8 id, huint8 *num, huint32 timeout = 100);
1787  EXTERNFUNC int harmonic_getDefaultServoVelocityLoopKP(huint8 id, huint16 *kp, huint32 timeout = 100);
1788  EXTERNFUNC int harmonic_setDefaultServoVelocityLoopKP(huint8 id, huint16 kp, huint32 timeout = 100);
1789  EXTERNFUNC int harmonic_getDefaultServoVelocityLoopKI(huint8 id, huint16 *ki, huint32 timeout = 100);
1790  EXTERNFUNC int harmonic_setDefaultServoVelocityLoopKI(huint8 id, huint16 ki, huint32 timeout = 100);
1791  EXTERNFUNC int harmonic_getServoVelocityLoopKP(huint8 id, huint16 *kp, huint32 timeout = 100);
1792  EXTERNFUNC int harmonic_setServoVelocityLoopKP(huint8 id, huint16 kp, huint32 timeout = 100);
1793  EXTERNFUNC int harmonic_getServoVelocityLoopKI(huint8 id, huint16 *ki, huint32 timeout = 100);
1794  EXTERNFUNC int harmonic_setServoVelocityLoopKI(huint8 id, huint16 ki, huint32 timeout = 100);
1795  EXTERNFUNC int harmonic_getServoPositionLoopPINum(huint8 id, huint8 *num, huint32 timeout = 100);
1796  EXTERNFUNC int harmonic_getDefaultServoPositionLoopKP(huint8 id, huint16 *kp, huint32 timeout = 100);
1797  EXTERNFUNC int harmonic_setDefaultServoPositionLoopKP(huint8 id, huint16 kp, huint32 timeout = 100);
1798  EXTERNFUNC int harmonic_getDefaultServoPositionLoopKI(huint8 id, huint16 *ki, huint32 timeout = 100);
1799  EXTERNFUNC int harmonic_setDefaultServoPositionLoopKI(huint8 id, huint16 ki, huint32 timeout = 100);
1800  EXTERNFUNC int harmonic_getServoPositionLoopKP(huint8 id, huint16 *kp, huint32 timeout = 100);
1801  EXTERNFUNC int harmonic_setServoPositionLoopKP(huint8 id, huint16 kp, huint32 timeout = 100);
1802  EXTERNFUNC int harmonic_getServoPositionLoopKI(huint8 id, huint16 *ki, huint32 timeout = 100);
1803  EXTERNFUNC int harmonic_setServoPositionLoopKI(huint8 id, huint16 ki, huint32 timeout = 100);
1804  EXTERNFUNC int harmonic_getServoBrakeParaNum(huint8 id, huint8 *num, huint32 timeout = 100);
1805  EXTERNFUNC int harmonic_getServoBrakeControl(huint8 id, huint8 *status, huint32 timeout = 100);
1806  EXTERNFUNC int harmonic_setServoBrakeControl(huint8 id, huint8 status, huint32 timeout = 100);
1807  EXTERNFUNC int harmonic_getBrakeState(huint8 id, huint8 *state, huint32 timeout = 100);
1815  EXTERNFUNC int harmonic_setBrakeState(huint8 id, huint8 state, huint32 timeout = 100);
1816 
1817  EXTERNFUNC int harmonic_getServoTemperatureParasNum(huint8 id, huint8 *num, huint32 timeout = 100);
1818  EXTERNFUNC int harmonic_getServoTemperature(huint8 id, hint8 *tem, huint32 timeout = 100);
1819  EXTERNFUNC int harmonic_getServoTemperatureLimit(huint8 id, hint8 *tem, huint32 timeout = 100);
1820  EXTERNFUNC int harmonic_setServoTemperatureLimit(huint8 id, huint8 tem, huint32 timeout = 100);
1821  EXTERNFUNC int harmonic_getServoTemperatureLimitTime(huint8 id, huint16 *time, huint32 timeout = 100);
1822  EXTERNFUNC int harmonic_setServoTemperatureLimitTime(huint8 id, huint16 time, huint32 timeout = 100);
1823  EXTERNFUNC int harmonic_getServoVelocityIntLimit(huint8 id, huint16 *limit, huint32 timeout = 100);
1824  EXTERNFUNC int harmonic_setServoVelocityIntLimit(huint8 id, huint16 limit, huint32 timeout = 100);
1825  EXTERNFUNC int harmonic_getServoBlockParasNum(huint8 id, huint8 *num, huint32 timeout = 100);
1826  EXTERNFUNC int harmonic_getServoBlockTorque(huint8 id, huint16 *torque, huint32 timeout = 100);
1827  EXTERNFUNC int harmonic_setServoBlockTorque(huint8 id, huint16 torque, huint32 timeout = 100);
1828  EXTERNFUNC int harmonic_getServoBlockTime(huint8 id, huint16 *time, huint32 timeout = 100);
1829  EXTERNFUNC int harmonic_setServoBlockTime(huint8 id, huint16 time, huint32 timeout = 100);
1830  EXTERNFUNC int harmonic_getServoBlockVelocity(huint8 id, huint32 *velocity, huint32 timeout = 100);
1831  EXTERNFUNC int harmonic_setServoBlockVelocity(huint8 id, huint32 velocity, huint32 timeout = 100);
1832  EXTERNFUNC int harmonic_getServoVelocityFlowingErrorParasNum(huint8 id, huint8 *num, huint32 timeout = 100);
1833  EXTERNFUNC int harmonic_getServoVelocityFlowingErrorWindows(huint8 id, huint32 *error, huint32 timeout = 100);
1834  EXTERNFUNC int harmonic_setServoVelocityFlowingErrorWindows(huint8 id, huint32 error, huint32 timeout = 100);
1835  EXTERNFUNC int harmonic_getServoVelocityFlowingErrorTime(huint8 id, huint16 *time, huint32 timeout = 100);
1836  EXTERNFUNC int harmonic_setServoVelocityFlowingErrorTime(huint8 id, huint16 time, huint32 timeout = 100);
1837  EXTERNFUNC int harmonic_getServoTorqueWindow(huint8 id, huint16 *window, huint32 timeout = 100);
1838  EXTERNFUNC int harmonic_setServoTorqueWindow(huint8 id, huint16 window, huint32 timeout = 100);
1839  EXTERNFUNC int harmonic_getServoTorqueWindowTime(huint8 id, huint16 *window, huint32 timeout = 100);
1840  EXTERNFUNC int harmonic_setServoTorqueWindowTime(huint8 id, huint16 window, huint32 timeout = 100);
1841  EXTERNFUNC int harmonic_getServoOverSpeedThreshold(huint8 id, huint32 *thre, huint32 timeout = 100);
1842  EXTERNFUNC int harmonic_setServoOverSpeedThreshold(huint8 id, huint32 thre, huint32 timeout = 100);
1843  EXTERNFUNC int harmonic_getServoOverSpeedTime(huint8 id, huint16 *time, huint32 timeout = 100);
1844  EXTERNFUNC int harmonic_setServoOverSpeedTime(huint8 id, huint16 time, huint32 timeout = 100);
1845  EXTERNFUNC int harmonic_getServoBrakeDelayTime(huint8 id, huint8 *time, huint32 timeout = 100);
1846  EXTERNFUNC int harmonic_setServoBrakeDelayTime(huint8 id, huint8 time, huint32 timeout = 100);
1847  EXTERNFUNC int harmonic_getI2tOverLoadLimit(huint8 id, huint16 *value, huint32 timeout = 100);
1848  EXTERNFUNC int harmonic_setI2tOverLoadLimit(huint8 id, huint16 value, huint32 timeout = 100);
1849  EXTERNFUNC int harmonic_getI2tOverLoadValue(huint8 id, huint16 *value, huint32 timeout = 100);
1850  EXTERNFUNC int harmonic_getServoFirstEncoderValue(huint8 id, hint32 *value, huint32 timeout = 100);
1851  EXTERNFUNC int harmonic_getServoSecondEncoderValue(huint8 id, hint32 *value, huint32 timeout = 100);
1852  EXTERNFUNC int harmonic_getServoThetaBiasValue(huint8 id, hint32 *value, huint32 timeout = 100);
1853  EXTERNFUNC int harmonic_getFindPointDoneFlag(huint8 id, huint32 *flag, huint32 timeout = 100);
1854  EXTERNFUNC int harmonic_setFindPointDoneFlag(huint8 id, huint32 flag, huint32 timeout = 100);
1855  EXTERNFUNC int harmonic_getFindPointStart(huint8 id, huint32 *status, huint32 timeout = 100);
1856  EXTERNFUNC int harmonic_setFindPointStart(huint8 id, huint32 status, huint32 timeout = 100);
1857  EXTERNFUNC int harmonic_getFindPointMoveMax(huint8 id, huint32 *angle, huint32 timeout = 100);
1858  EXTERNFUNC int harmonic_setFindPointMoveMax(huint8 id, huint32 angle, huint32 timeout = 100);
1859  EXTERNFUNC int harmonic_getFindPointMoveAcc(huint8 id, huint32 *acc, huint32 timeout = 100);
1860  EXTERNFUNC int harmonic_setFindPointMoveAcc(huint8 id, huint32 acc, huint32 timeout = 100);
1861  EXTERNFUNC int harmonic_getFindPointMoveDec(huint8 id, huint32 *dec, huint32 timeout = 100);
1862  EXTERNFUNC int harmonic_setFindPointMoveDec(huint8 id, huint32 dec, huint32 timeout = 100);
1863  EXTERNFUNC int harmonic_getFindPointMoveVelocity(huint8 id, huint32 *vel, huint32 timeout = 100);
1864  EXTERNFUNC int harmonic_setFindPointMoveVelocity(huint8 id, huint32 vel, huint32 timeout = 100);
1865  EXTERNFUNC int harmonic_getTorqueFactor(huint8 id, huint16 *factor, huint32 timeout = 100);
1866  EXTERNFUNC int harmonic_setTorqueFactor(huint8 id, huint16 factor, huint32 timeout = 100);
1873  EXTERNFUNC int harmonic_getServoErrorCode(huint8 id, huint16 *err, huint32 timeout = 100);
1874 
1881  EXTERNFUNC int harmonic_getControlword(huint8 id, huint16 *word, huint32 timeout = 100);
1888  EXTERNFUNC int harmonic_setControlword(huint8 id, huint16 word, huint32 timeout = 100);
1889 
1896  EXTERNFUNC int harmonic_getStatusWord(huint8 id, huint16 *word, huint32 timeout = 100);
1897 
1904  EXTERNFUNC int harmonic_getQuickStopOption(huint8 id, harmonic_QuickStopOption *option, huint32 timeout = 100);
1905 
1912  EXTERNFUNC int harmonic_setQuickStopOption(huint8 id, harmonic_QuickStopOption option, huint32 timeout = 100);
1913 
1920  EXTERNFUNC int harmonic_getShutdownOptionCode(huint8 id, harmonic_ShutdownOption *code, huint32 timeout = 100);
1921 
1928  EXTERNFUNC int harmonic_setShutdownOptionCode(huint8 id, harmonic_ShutdownOption code, huint32 timeout = 100);
1929 
1936  EXTERNFUNC int harmonic_getDisableOperationOptionCode(huint8 id, harmonic_DisableOperationOption *code, huint32 timeout = 100);
1937 
1944  EXTERNFUNC int harmonic_setDisableOperationOptionCode(huint8 id, harmonic_DisableOperationOption code, huint32 timeout = 100);
1945 
1952  EXTERNFUNC int harmonic_getHaltOption(huint8 id, harmonic_HaltOption *option, huint32 timeout = 100);
1953 
1960  EXTERNFUNC int harmonic_setHaltOption(huint8 id, harmonic_HaltOption option, huint32 timeout = 100);
1961 
1968  EXTERNFUNC int harmonic_getFaultReactionOption(huint8 id, harmonic_FaultReactionOption *option, huint32 timeout = 100);
1969 
1976  EXTERNFUNC int harmonic_setFaultReactionOption(huint8 id, harmonic_FaultReactionOption option, huint32 timeout = 100);
1977 
1984  EXTERNFUNC int harmonic_getOperateMode(huint8 id, harmonic_OperateMode *mode, huint32 timeout = 100);
1985 
1992  EXTERNFUNC int harmonic_setOperateMode(huint8 id, harmonic_OperateMode mode, huint32 timeout = 100);
1993 
2000  EXTERNFUNC int harmonic_getDisplayOperateMode(huint8 id, harmonic_OperateMode *mode, huint32 timeout = 100);
2001 
2008  EXTERNFUNC int harmonic_getDemandPos(huint8 id, hint32 *pos, huint32 timeout = 100);
2009 
2016  EXTERNFUNC int harmonic_setDemandPos(huint8 id, hint32 pos, huint32 timeout = 100);
2017 
2024  EXTERNFUNC int harmonic_getActualPos(huint8 id, hint32 *pos, huint32 timeout = 100);
2025 
2032  EXTERNFUNC int harmonic_setActualPos(huint8 id, hint32 pos, huint32 timeout = 100);
2033 
2040  EXTERNFUNC int harmonic_getFollowingErrorWindow(huint8 id, huint32 *eWindow, huint32 timeout = 100);
2041 
2048  EXTERNFUNC int harmonic_setFollowingErrorWindow(huint8 id, huint32 eWindow, huint32 timeout = 100);
2049 
2056  EXTERNFUNC int harmonic_getPositionWindow(huint8 id, huint32 *pWindow, huint32 timeout = 100);
2057 
2064  EXTERNFUNC int harmonic_setPositionWindow(huint8 id, huint32 pWindow, huint32 timeout = 100);
2065 
2072  EXTERNFUNC int harmonic_getPositionWindowTime(huint8 id, huint16 *pWindowTime, huint32 timeout = 100);
2073 
2080  EXTERNFUNC int harmonic_setPositionWindowTime(huint8 id, huint16 pWindowTime, huint32 timeout = 100);
2081 
2088  EXTERNFUNC int harmonic_getDemandVelocity(huint8 id, hint32 *dVel, huint32 timeout = 100);
2089 
2096  EXTERNFUNC int harmonic_setDemandVelocity(huint8 id, hint32 dvel, huint32 timeout = 100);
2097 
2104  EXTERNFUNC int harmonic_getActualVelocity(huint8 id, hint32 *vel, huint32 timeout = 100);
2105 
2112  EXTERNFUNC int harmonic_setActualVelocity(huint8 id, hint32 vel, huint32 timeout = 100);
2113 
2120  EXTERNFUNC int harmonic_getVelocityWindow(huint8 id, huint16 *vWindow, huint32 timeout = 100);
2121 
2128  EXTERNFUNC int harmonic_setVelocityWindow(huint8 id, huint16 vWindow, huint32 timeout = 100);
2129 
2136  EXTERNFUNC int harmonic_getVelocityWindowTime(huint8 id, huint16 *wTime, huint32 timeout = 100);
2137 
2144  EXTERNFUNC int harmonic_setVelocityWindowTime(huint8 id, huint16 wTime, huint32 timeout = 100);
2145 
2152  EXTERNFUNC int harmonic_getVelocityThreshold(huint8 id, huint16 *thres, huint32 timeout = 100);
2153 
2160  EXTERNFUNC int harmonic_setVelocityThreshold(huint8 id, huint16 thres, huint32 timeout = 100);
2161 
2168  EXTERNFUNC int harmonic_getVelocityThresholdTime(huint8 id, huint16 *tTime, huint32 timeout = 100);
2175  EXTERNFUNC int harmonic_setVelocityThresholdTime(huint8 id, huint16 tTime, huint32 timeout = 100);
2176 
2183  EXTERNFUNC int harmonic_getTargetTorque(huint8 id, hint16 *torque, huint32 timeout = 100);
2184 
2191  EXTERNFUNC int harmonic_setTargetTorque(huint8 id, hint16 torque, huint32 timeout = 100);
2192 
2199  EXTERNFUNC int harmonic_getTorqueLimit(huint8 id, hint16 *torque, huint32 timeout = 100);
2200 
2207  EXTERNFUNC int harmonic_setTorqueLimit(huint8 id, hint16 torque, huint32 timeout = 100);
2208 
2215  EXTERNFUNC int harmonic_getDemandTorque(huint8 id, hint16 *torque, huint32 timeout = 100);
2216 
2223  EXTERNFUNC int harmonic_setDemandTorque(huint8 id, hint16 torque, huint32 timeout = 100);
2224 
2231  EXTERNFUNC int harmonic_getMotorRatedTorque(huint8 id, huint32 *torque, huint32 timeout = 100);
2232 
2239  EXTERNFUNC int harmonic_setMotorRatedTorque(huint8 id, huint32 torque, huint32 timeout = 100);
2240 
2247  EXTERNFUNC int harmonic_getActualTorque(huint8 id, hint16 *torque, huint32 timeout = 100);
2248 
2255  EXTERNFUNC int harmonic_setActualTorque(huint8 id, hint16 torque, huint32 timeout = 100);
2256 
2263  EXTERNFUNC int harmonic_getDCLinkCircuitVoltage(huint8 id, huint32 *voltage, huint32 timeout = 100);
2264 
2271  EXTERNFUNC int harmonic_setDCLinkCircuitVoltage(huint8 id, huint32 voltage, huint32 timeout = 100);
2272 
2279  EXTERNFUNC int harmonic_getTargetPos(huint8 id, hint32 *pos, huint32 timeout = 100);
2280 
2287  EXTERNFUNC int harmonic_setTargetPos(huint8 id, hint32 pos, huint32 timeout = 100);
2288 
2295  EXTERNFUNC int harmonic_getHomeOffset(huint8 id, hint32 *offSet, huint32 timeout = 100);
2296 
2303  EXTERNFUNC int harmonic_setHomeOffset(huint8 id, hint32 offSet, huint32 timeout = 100);
2310  EXTERNFUNC int harmonic_getSoftwareMinimumPosition(huint8 id, hint32 *pos, huint32 timeout = 100);
2311 
2318  EXTERNFUNC int harmonic_setSoftwareMinimumPosition(huint8 id, hint32 pos, huint32 timeout = 100);
2319 
2326  EXTERNFUNC int harmonic_getSoftwareMaxmumPosition(huint8 id, hint32 *pos, huint32 timeout = 100);
2327 
2334  EXTERNFUNC int harmonic_setSoftwareMaxmumPosition(huint8 id, hint32 pos, huint32 timeout = 100);
2335 
2342  EXTERNFUNC int harmonic_getMaxProfileVelocity(huint8 id, huint32 *vel, huint32 timeout = 100);
2343 
2350  EXTERNFUNC int harmonic_setMaxProfileVelocity(huint8 id, huint32 vel, huint32 timeout = 100);
2351 
2358  EXTERNFUNC int harmonic_getProfileVelocity(huint8 id, huint32 *vel, huint32 timeout = 100);
2359 
2366  EXTERNFUNC int harmonic_setProfileVelocity(huint8 id, huint32 vel, huint32 timeout = 100);
2367 
2374  EXTERNFUNC int harmonic_getProfileAcceleration(huint8 id, huint32 *acc, huint32 timeout = 100);
2375 
2382  EXTERNFUNC int harmonic_setProfileAcceleration(huint8 id, huint32 acc, huint32 timeout = 100);
2383 
2390  EXTERNFUNC int harmonic_getProfileDeceleration(huint8 id, huint32 *dec, huint32 timeout = 100);
2391 
2398  EXTERNFUNC int harmonic_setProfileDeceleration(huint8 id, huint32 dec, huint32 timeout = 100);
2399 
2406  EXTERNFUNC int harmonic_getQuickStopDeceleration(huint8 id, huint32 *dec, huint32 timeout = 100);
2407 
2414  EXTERNFUNC int harmonic_setQuickStopDeceleration(huint8 id, huint32 dec, huint32 timeout = 100);
2415 
2422  EXTERNFUNC int harmonic_getTorqueSlope(huint8 id, huint32 *slope, huint32 timeout = 100);
2423 
2430  EXTERNFUNC int harmonic_setTorqueSlope(huint8 id, huint32 slope, huint32 timeout = 100);
2431 
2438  EXTERNFUNC int harmonic_getGearRatioMotorRevolutions(huint8 id, huint32 *rev, huint32 timeout = 100);
2439 
2446  EXTERNFUNC int harmonic_setGearRatioMotorRevolutions(huint8 id, huint32 rev, huint32 timeout = 100);
2447 
2454  EXTERNFUNC int harmonic_getGearRatioShaftRevolutions(huint8 id, huint32 *rev, huint32 timeout = 100);
2461  EXTERNFUNC int harmonic_setGearRatioShaftRevolutions(huint8 id, huint32 rev, huint32 timeout = 100);
2462 
2469  EXTERNFUNC int harmonic_getInterpolationDataRecord(huint8 id, hint32 *value, huint32 timeout = 100);
2470 
2477  EXTERNFUNC int harmonic_setInterpolationDataRecord(huint8 id, hint32 value, huint32 timeout = 100);
2478 
2485  EXTERNFUNC int harmonic_getInterpolationTimePeriodValue(huint8 id, huint8 *value, huint32 timeout = 100);
2486 
2493  EXTERNFUNC int harmonic_setInterpolationTimePeriodValue(huint8 id, huint8 value, huint32 timeout = 100);
2494 
2502  EXTERNFUNC int harmonic_getActualFollowingError(huint8 id, hint32 *error, huint32 timeout = 100);
2503 
2511  EXTERNFUNC int harmonic_setActualFollowingError(huint8 id, hint32 error, huint32 timeout = 100);
2512 
2520  EXTERNFUNC int harmonic_getTargetVelocity(huint8 id, hint32 *targetVel, huint32 timeout = 100);
2521 
2529  EXTERNFUNC int harmonic_setTargetVelocity(huint8 id, hint32 targetVel, huint32 timeout = 100);
2530  EXTERNFUNC int harmonic_getSupportedDriveModes(huint8 id, huint32 *modes, huint32 timeout = 100);
2531 
2532 #ifdef __cplusplus
2533 }
2534 #endif
2535 
2536 #endif // EU_HARMONIC_H
harmonic_getHomeOffset
EXTERNFUNC int harmonic_getHomeOffset(huint8 id, hint32 *offSet, huint32 timeout=100)
harmonic_OperateMode_ProfileVelocity
@ harmonic_OperateMode_ProfileVelocity
Definition: eu_harmonic.h:181
harmonic_QuickStopOption_Slow_Down_On_the_Voltag_Limit
@ harmonic_QuickStopOption_Slow_Down_On_the_Voltag_Limit
Definition: eu_harmonic.h:133
harmonic_writeCanData
EXTERNFUNC int harmonic_writeCanData(huint32 cobId, const huint8 *const data, huint8 len)
harmonic_Baudrate_1000
@ harmonic_Baudrate_1000
Definition: eu_harmonic.h:82
harmonic_setClientSDONodeIdOfSDOServer
EXTERNFUNC int harmonic_setClientSDONodeIdOfSDOServer(huint8 id, huint16 sdoClientIndex, huint8 nodeId, huint32 timeout=100)
harmonic_setVelocityThresholdTime
EXTERNFUNC int harmonic_setVelocityThresholdTime(huint8 id, huint16 tTime, huint32 timeout=100)
harmonic_setLocalTargetVelocity
EXTERNFUNC int harmonic_setLocalTargetVelocity(hint32 vel)
harmonic_getFindPointDoneFlag
EXTERNFUNC int harmonic_getFindPointDoneFlag(huint8 id, huint32 *flag, huint32 timeout=100)
harmonic_FaultReactionOption_Slow_down_on_current_limit
@ harmonic_FaultReactionOption_Slow_down_on_current_limit
Definition: eu_harmonic.h:166
harmonic_DataType_real32
@ harmonic_DataType_real32
Definition: eu_harmonic.h:124
harmonic_writeLocalDirectory
EXTERNFUNC int harmonic_writeLocalDirectory(huint16 index, huint8 subIndex, void *writeData, huint32 sendLen)
harmonic_QuickStopOption_Slow_Down_On_Quick_Stop_Ramp_And_Stay_In_Quick_Stop
@ harmonic_QuickStopOption_Slow_Down_On_Quick_Stop_Ramp_And_Stay_In_Quick_Stop
Definition: eu_harmonic.h:134
harmonic_getActualVelocity
EXTERNFUNC int harmonic_getActualVelocity(huint8 id, hint32 *vel, huint32 timeout=100)
harmonic_getRPDOSYNCStartValue
EXTERNFUNC int harmonic_getRPDOSYNCStartValue(huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout=100)
harmonic_getDefaultServoPositionLoopKI
EXTERNFUNC int harmonic_getDefaultServoPositionLoopKI(huint8 id, huint16 *ki, huint32 timeout=100)
harmonic_NodeState_Pre_operational
@ harmonic_NodeState_Pre_operational
Definition: eu_harmonic.h:108
harmonic_setServoTorqueWindow
EXTERNFUNC int harmonic_setServoTorqueWindow(huint8 id, huint16 window, huint32 timeout=100)
harmonic_getDefaultServoVelocityLoopKI
EXTERNFUNC int harmonic_getDefaultServoVelocityLoopKI(huint8 id, huint16 *ki, huint32 timeout=100)
harmonic_setLocalServerSDOCobIdClientToServer
EXTERNFUNC int harmonic_setLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 cobId)
harmonic_QuickStopOption_Slow_Down_On_the_Current_Limit
@ harmonic_QuickStopOption_Slow_Down_On_the_Current_Limit
Definition: eu_harmonic.h:132
harmonic_getProductCode
EXTERNFUNC int harmonic_getProductCode(huint8 id, huint32 *pCode, huint32 timeout=100)
harmonic_getGearRatioMotorRevolutions
EXTERNFUNC int harmonic_getGearRatioMotorRevolutions(huint8 id, huint32 *rev, huint32 timeout=100)
harmonic_setRPDOMaxMappedCount
EXTERNFUNC int harmonic_setRPDOMaxMappedCount(huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100)
harmonic_readDirectory
EXTERNFUNC int harmonic_readDirectory(huint8 id, huint16 index, huint8 subIndex, harmonic_DataType dataType, void *readData, huint32 timeout=100)
harmonic_getLocalServerSDOCobIdClientToServer
EXTERNFUNC int harmonic_getLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 *cobId)
harmonic_setLocalInterpolationDataRecord
EXTERNFUNC int harmonic_setLocalInterpolationDataRecord(hint32 value)
harmonic_getTPDOEventTimer
EXTERNFUNC int harmonic_getTPDOEventTimer(huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout=100)
harmonic_setSyncCounter
EXTERNFUNC int harmonic_setSyncCounter(huint8 id, huint8 counter, huint32 timeout=100)
harmonic_initDLL
EXTERNFUNC int harmonic_initDLL(harmonic_DeviceType devType, harmonic_Baudrate baudrate)
harmonic_getLocalMutiMotorErrorCode
EXTERNFUNC int harmonic_getLocalMutiMotorErrorCode(huint16 index, huint16 *error)
harmonic_getLocalTPDOTransmitType
EXTERNFUNC int harmonic_getLocalTPDOTransmitType(huint16 pdoIndex, huint8 *type)
harmonic_getDisplayOperateMode
EXTERNFUNC int harmonic_getDisplayOperateMode(huint8 id, harmonic_OperateMode *mode, huint32 timeout=100)
harmonic_getTorqueSlope
EXTERNFUNC int harmonic_getTorqueSlope(huint8 id, huint32 *slope, huint32 timeout=100)
harmonic_getLocalTPDOMaxMappedCount
EXTERNFUNC int harmonic_getLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 *count)
harmonic_getVelocityThresholdTime
EXTERNFUNC int harmonic_getVelocityThresholdTime(huint8 id, huint16 *tTime, huint32 timeout=100)
harmonic_getStoreParameters
EXTERNFUNC int harmonic_getStoreParameters(huint8 id, huint32 *value, huint32 timeout=100)
harmonic_getLocalActualTorque
EXTERNFUNC int harmonic_getLocalActualTorque(hint16 *torque)
harmonic_setSoftwareMinimumPosition
EXTERNFUNC int harmonic_setSoftwareMinimumPosition(huint8 id, hint32 pos, huint32 timeout=100)
harmonic_getDefaultServoCurrentLoopKP
EXTERNFUNC int harmonic_getDefaultServoCurrentLoopKP(huint8 id, huint16 *kp, huint32 timeout=100)
harmonic_setInterpolationDataRecord
EXTERNFUNC int harmonic_setInterpolationDataRecord(huint8 id, hint32 value, huint32 timeout=100)
harmonic_setServoBlockTorque
EXTERNFUNC int harmonic_setServoBlockTorque(huint8 id, huint16 torque, huint32 timeout=100)
harmonic_setLocalClientSDONodeIdOfSDOServer
EXTERNFUNC int harmonic_setLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 nodeId)
harmonic_setTargetPos
EXTERNFUNC int harmonic_setTargetPos(huint8 id, hint32 pos, huint32 timeout=100)
harmonic_setSyncWindow
EXTERNFUNC int harmonic_setSyncWindow(huint8 id, huint32 syncWindow, huint32 timeout=100)
harmonic_getSerialNumber
EXTERNFUNC int harmonic_getSerialNumber(huint8 id, huint32 *serialNum, huint32 timeout=100)
harmonic_getIdentityObjectRevisionNumber
EXTERNFUNC int harmonic_getIdentityObjectRevisionNumber(huint8 id, huint32 *revisionNum, huint32 timeout=100)
harmonic_getServoBlockTorque
EXTERNFUNC int harmonic_getServoBlockTorque(huint8 id, huint16 *torque, huint32 timeout=100)
harmonic_getServoPositionLoopKP
EXTERNFUNC int harmonic_getServoPositionLoopKP(huint8 id, huint16 *kp, huint32 timeout=100)
harmonic_getLocalServoTemperature
EXTERNFUNC int harmonic_getLocalServoTemperature(hint8 *tem)
harmonic_freeDLL
EXTERNFUNC int harmonic_freeDLL()
harmonic_DataType_uint16
@ harmonic_DataType_uint16
Definition: eu_harmonic.h:122
harmonic_setTorqueFactor
EXTERNFUNC int harmonic_setTorqueFactor(huint8 id, huint16 factor, huint32 timeout=100)
harmonic_setFindPointMoveMax
EXTERNFUNC int harmonic_setFindPointMoveMax(huint8 id, huint32 angle, huint32 timeout=100)
harmonic_setTargetTorque
EXTERNFUNC int harmonic_setTargetTorque(huint8 id, hint16 torque, huint32 timeout=100)
harmonic_CanMsg
struct _harmonic_CanMsg harmonic_CanMsg
harmonic_getHardwareVersion
EXTERNFUNC int harmonic_getHardwareVersion(huint8 id, char *version, huint32 timeout=100)
harmonic_getServoThetaBiasValue
EXTERNFUNC int harmonic_getServoThetaBiasValue(huint8 id, hint32 *value, huint32 timeout=100)
harmonic_getDemandPos
EXTERNFUNC int harmonic_getDemandPos(huint8 id, hint32 *pos, huint32 timeout=100)
harmonic_DataType_boolean
@ harmonic_DataType_boolean
Definition: eu_harmonic.h:117
harmonic_getProfileAcceleration
EXTERNFUNC int harmonic_getProfileAcceleration(huint8 id, huint32 *acc, huint32 timeout=100)
harmonic_ShutdownOption
harmonic_ShutdownOption
Definition: eu_harmonic.h:140
harmonic_getPositionWindow
EXTERNFUNC int harmonic_getPositionWindow(huint8 id, huint32 *pWindow, huint32 timeout=100)
harmonic_getLocalTPDOMapped
EXTERNFUNC int harmonic_getLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value)
harmonic_getTPDOCobId
EXTERNFUNC int harmonic_getTPDOCobId(huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout=100)
harmonic_profileVelocityControl
EXTERNFUNC int harmonic_profileVelocityControl(huint8 id, hint32 targetVel, huint32 acc, huint32 dec, bool isUpdate=false)
harmonic_OperateMode_INLCalibration
@ harmonic_OperateMode_INLCalibration
Definition: eu_harmonic.h:176
harmonic_DataType_uint8
@ harmonic_DataType_uint8
Definition: eu_harmonic.h:121
harmonic_setNodeState
EXTERNFUNC int harmonic_setNodeState(huint8 id, harmonic_NMTState state)
harmonic_setOperateMode
EXTERNFUNC int harmonic_setOperateMode(huint8 id, harmonic_OperateMode mode, huint32 timeout=100)
harmonic_getLocalTPDOInhibitTime
EXTERNFUNC int harmonic_getLocalTPDOInhibitTime(huint16 pdoIndex, huint16 *time)
harmonic_ReceiveDataCallBack
void(* harmonic_ReceiveDataCallBack)(const harmonic_CanMsg &msg)
Definition: eu_harmonic.h:209
harmonic_setGearRatioShaftRevolutions
EXTERNFUNC int harmonic_setGearRatioShaftRevolutions(huint8 id, huint32 rev, huint32 timeout=100)
harmonic_setFindPointDoneFlag
EXTERNFUNC int harmonic_setFindPointDoneFlag(huint8 id, huint32 flag, huint32 timeout=100)
harmonic_setRPDOCobId
EXTERNFUNC int harmonic_setRPDOCobId(huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout=100)
harmonic_getLocalRPDOEventTimer
EXTERNFUNC int harmonic_getLocalRPDOEventTimer(huint16 pdoIndex, huint16 *timer)
harmonic_QuickStopOption_Slow_Down_On_the_Current_Limit_And_Stay_In_Quick_Stop
@ harmonic_QuickStopOption_Slow_Down_On_the_Current_Limit_And_Stay_In_Quick_Stop
Definition: eu_harmonic.h:136
harmonic_getLocalTPDOMaxParasCount
EXTERNFUNC int harmonic_getLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 *count)
harmonic_setLifeTimeFactor
EXTERNFUNC int harmonic_setLifeTimeFactor(huint8 id, huint8 factor, huint32 timeout=100)
harmonic_getServerSDOCobIdClientToServer
EXTERNFUNC int harmonic_getServerSDOCobIdClientToServer(huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout=100)
harmonic_getDisableOperationOptionCode
EXTERNFUNC int harmonic_getDisableOperationOptionCode(huint8 id, harmonic_DisableOperationOption *code, huint32 timeout=100)
hint8
signed char hint8
Definition: eu_harmonic.h:37
harmonic_OperateMode_Reserve
@ harmonic_OperateMode_Reserve
Definition: eu_harmonic.h:178
harmonic_getLocalRPDOMapped
EXTERNFUNC int harmonic_getLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value)
harmonic_getServoVelocityFlowingErrorParasNum
EXTERNFUNC int harmonic_getServoVelocityFlowingErrorParasNum(huint8 id, huint8 *num, huint32 timeout=100)
harmonic_getStatusWord
EXTERNFUNC int harmonic_getStatusWord(huint8 id, huint16 *word, huint32 timeout=100)
harmonic_getFindPointMoveDec
EXTERNFUNC int harmonic_getFindPointMoveDec(huint8 id, huint32 *dec, huint32 timeout=100)
harmonic_getTargetPos
EXTERNFUNC int harmonic_getTargetPos(huint8 id, hint32 *pos, huint32 timeout=100)
harmonic_getFindPointMoveMax
EXTERNFUNC int harmonic_getFindPointMoveMax(huint8 id, huint32 *angle, huint32 timeout=100)
harmonic_DisableOperationOption
harmonic_DisableOperationOption
Definition: eu_harmonic.h:146
harmonic_getDefaultServoVelocityLoopKP
EXTERNFUNC int harmonic_getDefaultServoVelocityLoopKP(huint8 id, huint16 *kp, huint32 timeout=100)
harmonic_getTargetVelocity
EXTERNFUNC int harmonic_getTargetVelocity(huint8 id, hint32 *targetVel, huint32 timeout=100)
harmonic_setLocalRPDOInhibitTime
EXTERNFUNC int harmonic_setLocalRPDOInhibitTime(huint16 pdoIndex, huint16 time)
harmonic_setTPDOTransmitType
EXTERNFUNC int harmonic_setTPDOTransmitType(huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout=100)
harmonic_getSyncCounter
EXTERNFUNC int harmonic_getSyncCounter(huint8 id, huint8 *counter, huint32 timeout=100)
harmonic_OperateMode_RotorAligning
@ harmonic_OperateMode_RotorAligning
Definition: eu_harmonic.h:177
harmonic_getRPDOCobId
EXTERNFUNC int harmonic_getRPDOCobId(huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout=100)
harmonic_getServoParametersNumber
EXTERNFUNC int harmonic_getServoParametersNumber(huint8 id, huint8 *num, huint32 timeout=100)
harmonic_getInterpolationDataRecord
EXTERNFUNC int harmonic_getInterpolationDataRecord(huint8 id, hint32 *value, huint32 timeout=100)
harmonic_getLocalRPDOTransmitType
EXTERNFUNC int harmonic_getLocalRPDOTransmitType(huint16 pdoIndex, huint8 *type)
harmonic_setLocalTPDOCobId
EXTERNFUNC int harmonic_setLocalTPDOCobId(huint16 pdoIndex, huint32 cobId)
harmonic_setServoCurrentLoopKP
EXTERNFUNC int harmonic_setServoCurrentLoopKP(huint8 id, huint16 kp, huint32 timeout=100)
harmonic_setFindPointStart
EXTERNFUNC int harmonic_setFindPointStart(huint8 id, huint32 status, huint32 timeout=100)
harmonic_setLocalControlword
EXTERNFUNC int harmonic_setLocalControlword(huint16 word)
harmonic_getControlword
EXTERNFUNC int harmonic_getControlword(huint8 id, huint16 *word, huint32 timeout=100)
harmonic_getRestoreDefaultParameters
EXTERNFUNC int harmonic_getRestoreDefaultParameters(huint8 id, huint32 *value, huint32 timeout=100)
harmonic_getClientSDONodeIdOfSDOServer
EXTERNFUNC int harmonic_getClientSDONodeIdOfSDOServer(huint8 id, huint16 sdoClientIndex, huint8 *nodeId, huint32 timeout=100)
hint40
signed long int hint40
Definition: eu_harmonic.h:41
harmonic_OperateMode_Homing
@ harmonic_OperateMode_Homing
Definition: eu_harmonic.h:183
harmonic_NodeState_Initialisation
@ harmonic_NodeState_Initialisation
Definition: eu_harmonic.h:102
harmonic_getServoBrakeDelayTime
EXTERNFUNC int harmonic_getServoBrakeDelayTime(huint8 id, huint8 *time, huint32 timeout=100)
harmonic_getLocalClientSDONodeIdOfSDOServer
EXTERNFUNC int harmonic_getLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 *nodeId)
harmonic_setRestoreDefaultParameters
EXTERNFUNC int harmonic_setRestoreDefaultParameters(huint8 id, huint32 value, huint32 timeout=100)
harmonic_setSendDataCallBack
EXTERNFUNC int harmonic_setSendDataCallBack(harmonic_SendDataCallBack callFunc)
harmonic_setDemandVelocity
EXTERNFUNC int harmonic_setDemandVelocity(huint8 id, hint32 dvel, huint32 timeout=100)
harmonic_Baudrate_500
@ harmonic_Baudrate_500
Definition: eu_harmonic.h:81
harmonic_getSoftwareMinimumPosition
EXTERNFUNC int harmonic_getSoftwareMinimumPosition(huint8 id, hint32 *pos, huint32 timeout=100)
harmonic_setActualFollowingError
EXTERNFUNC int harmonic_setActualFollowingError(huint8 id, hint32 error, huint32 timeout=100)
harmonic_getOperateMode
EXTERNFUNC int harmonic_getOperateMode(huint8 id, harmonic_OperateMode *mode, huint32 timeout=100)
harmonic_getLocalSyncWindow
EXTERNFUNC int harmonic_getLocalSyncWindow(huint32 *sWindow)
harmonic_getLocalStatusWord
EXTERNFUNC int harmonic_getLocalStatusWord(huint16 *word)
harmonic_getServerSDOCobIdServerToClient
EXTERNFUNC int harmonic_getServerSDOCobIdServerToClient(huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout=100)
harmonic_getServoTorqueWindow
EXTERNFUNC int harmonic_getServoTorqueWindow(huint8 id, huint16 *window, huint32 timeout=100)
harmonic_getTargetTorque
EXTERNFUNC int harmonic_getTargetTorque(huint8 id, hint16 *torque, huint32 timeout=100)
harmonic_setPositionWindowTime
EXTERNFUNC int harmonic_setPositionWindowTime(huint8 id, huint16 pWindowTime, huint32 timeout=100)
harmonic_getServoSoftwareLimitState
EXTERNFUNC int harmonic_getServoSoftwareLimitState(huint8 id, huint32 *state, huint32 timeout=100)
harmonic_OperateMode
harmonic_OperateMode
Definition: eu_harmonic.h:173
harmonic_setVelocityWindow
EXTERNFUNC int harmonic_setVelocityWindow(huint8 id, huint16 vWindow, huint32 timeout=100)
harmonic_getServoTemperatureLimitTime
EXTERNFUNC int harmonic_getServoTemperatureLimitTime(huint8 id, huint16 *time, huint32 timeout=100)
harmonic_getLocalActualVelocity
EXTERNFUNC int harmonic_getLocalActualVelocity(hint32 *velocity)
harmonic_getLocalRPDOMaxParasCount
EXTERNFUNC int harmonic_getLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 *count)
harmonic_getLocalControlword
EXTERNFUNC int harmonic_getLocalControlword(huint16 *word)
harmonic_setLocalMutiMotorSetTorque
EXTERNFUNC int harmonic_setLocalMutiMotorSetTorque(huint16 index, hint16 torque)
harmonic_DataType_int16
@ harmonic_DataType_int16
Definition: eu_harmonic.h:119
hint32
signed int hint32
Definition: eu_harmonic.h:40
harmonic_setDemandPos
EXTERNFUNC int harmonic_setDemandPos(huint8 id, hint32 pos, huint32 timeout=100)
harmonic_getTPDOSYNCStartValue
EXTERNFUNC int harmonic_getTPDOSYNCStartValue(huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout=100)
harmonic_getClientSDOCobIdServerToClient
EXTERNFUNC int harmonic_getClientSDOCobIdServerToClient(huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout=100)
harmonic_getServoSecondEncoderValue
EXTERNFUNC int harmonic_getServoSecondEncoderValue(huint8 id, hint32 *value, huint32 timeout=100)
harmonic_getActualTorque
EXTERNFUNC int harmonic_getActualTorque(huint8 id, hint16 *torque, huint32 timeout=100)
harmonic_getServoVelocityLoopPINum
EXTERNFUNC int harmonic_getServoVelocityLoopPINum(huint8 id, huint8 *num, huint32 timeout=100)
_harmonic_CanMsg
Definition: eu_harmonic.h:193
hreal32
float hreal32
Definition: eu_harmonic.h:53
harmonic_getServoBrakeControl
EXTERNFUNC int harmonic_getServoBrakeControl(huint8 id, huint8 *status, huint32 timeout=100)
harmonic_setDemandTorque
EXTERNFUNC int harmonic_setDemandTorque(huint8 id, hint16 torque, huint32 timeout=100)
harmonic_getServoTemperatureParasNum
EXTERNFUNC int harmonic_getServoTemperatureParasNum(huint8 id, huint8 *num, huint32 timeout=100)
harmonic_setTorqueSlope
EXTERNFUNC int harmonic_setTorqueSlope(huint8 id, huint32 slope, huint32 timeout=100)
harmonic_getSyncCobid
EXTERNFUNC int harmonic_getSyncCobid(huint8 id, huint32 *cobid, huint32 timeout=100)
harmonic_setLocalSyncCycle
EXTERNFUNC int harmonic_setLocalSyncCycle(huint32 cycle)
harmonic_getFindPointStart
EXTERNFUNC int harmonic_getFindPointStart(huint8 id, huint32 *status, huint32 timeout=100)
__attribute__
unsigned int huint8 __attribute__((__mode__(__QI__)))
Definition: eu_harmonic.h:45
harmonic_QuickStopOption_Slow_Down_On_Quick_Stop_Ramp
@ harmonic_QuickStopOption_Slow_Down_On_Quick_Stop_Ramp
Definition: eu_harmonic.h:131
harmonic_FaultReactionOption_Slow_down_on_slow_down_ramp
@ harmonic_FaultReactionOption_Slow_down_on_slow_down_ramp
Definition: eu_harmonic.h:164
harmonic_setLocalSyncWindow
EXTERNFUNC int harmonic_setLocalSyncWindow(huint32 sWindow)
harmonic_setTPDOInhibitTime
EXTERNFUNC int harmonic_setTPDOInhibitTime(huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout=100)
harmonic_setFindPointMoveAcc
EXTERNFUNC int harmonic_setFindPointMoveAcc(huint8 id, huint32 acc, huint32 timeout=100)
harmonic_QuickStopOption_Slow_Down_On_the_Voltag_Limit_And_Stay_In_Quick_Stop
@ harmonic_QuickStopOption_Slow_Down_On_the_Voltag_Limit_And_Stay_In_Quick_Stop
Definition: eu_harmonic.h:137
hint24
signed int hint24
Definition: eu_harmonic.h:39
harmonic_getServoCurrentLoopKP
EXTERNFUNC int harmonic_getServoCurrentLoopKP(huint8 id, huint16 *kp, huint32 timeout=100)
harmonic_getFindPointMoveVelocity
EXTERNFUNC int harmonic_getFindPointMoveVelocity(huint8 id, huint32 *vel, huint32 timeout=100)
harmonic_setDefaultServoPositionLoopKP
EXTERNFUNC int harmonic_setDefaultServoPositionLoopKP(huint8 id, huint16 kp, huint32 timeout=100)
harmonic_getServoPositionLoopKI
EXTERNFUNC int harmonic_getServoPositionLoopKI(huint8 id, huint16 *ki, huint32 timeout=100)
harmonic_setLocalRPDOMaxParasCount
EXTERNFUNC int harmonic_setLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 count)
harmonic_setTorqueLimit
EXTERNFUNC int harmonic_setTorqueLimit(huint8 id, hint16 torque, huint32 timeout=100)
harmonic_HaltOption_Disable_Drive
@ harmonic_HaltOption_Disable_Drive
Definition: eu_harmonic.h:154
harmonic_setTargetVelocity
EXTERNFUNC int harmonic_setTargetVelocity(huint8 id, hint32 targetVel, huint32 timeout=100)
harmonic_setServoOverSpeedTime
EXTERNFUNC int harmonic_setServoOverSpeedTime(huint8 id, huint16 time, huint32 timeout=100)
harmonic_setProfileAcceleration
EXTERNFUNC int harmonic_setProfileAcceleration(huint8 id, huint32 acc, huint32 timeout=100)
harmonic_getClientSDONumberOfEntries
EXTERNFUNC int harmonic_getClientSDONumberOfEntries(huint8 id, huint16 sdoClientIndex, huint8 *number, huint32 timeout=100)
harmonic_getServoVelocityLoopKP
EXTERNFUNC int harmonic_getServoVelocityLoopKP(huint8 id, huint16 *kp, huint32 timeout=100)
harmonic_getServoTemperatureLimit
EXTERNFUNC int harmonic_getServoTemperatureLimit(huint8 id, hint8 *tem, huint32 timeout=100)
harmonic_setMotorRatedTorque
EXTERNFUNC int harmonic_setMotorRatedTorque(huint8 id, huint32 torque, huint32 timeout=100)
harmonic_getActualPos
EXTERNFUNC int harmonic_getActualPos(huint8 id, hint32 *pos, huint32 timeout=100)
harmonic_setLocalRPDOTransmitType
EXTERNFUNC int harmonic_setLocalRPDOTransmitType(huint16 pdoIndex, huint8 type)
harmonic_NodeState_Unknown_state
@ harmonic_NodeState_Unknown_state
Definition: eu_harmonic.h:109
harmonic_setTPDOSYNCStartValue
EXTERNFUNC int harmonic_setTPDOSYNCStartValue(huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout=100)
harmonic_getServoBlockTime
EXTERNFUNC int harmonic_getServoBlockTime(huint8 id, huint16 *time, huint32 timeout=100)
harmonic_getProfileVelocity
EXTERNFUNC int harmonic_getProfileVelocity(huint8 id, huint32 *vel, huint32 timeout=100)
harmonic_getLocalRPDOCobId
EXTERNFUNC int harmonic_getLocalRPDOCobId(huint16 pdoIndex, huint32 *cobId)
harmonic_NodeState_Connecting
@ harmonic_NodeState_Connecting
Definition: eu_harmonic.h:104
harmonic_setVelocityThreshold
EXTERNFUNC int harmonic_setVelocityThreshold(huint8 id, huint16 thres, huint32 timeout=100)
harmonic_getVendorID
EXTERNFUNC int harmonic_getVendorID(huint8 id, huint32 *vId, huint32 timeout=100)
harmonic_setBrakeState
EXTERNFUNC int harmonic_setBrakeState(huint8 id, huint8 state, huint32 timeout=100)
harmonic_NMTState
harmonic_NMTState
Definition: eu_harmonic.h:88
harmonic_setLocalTPDOTransmitType
EXTERNFUNC int harmonic_setLocalTPDOTransmitType(huint16 pdoIndex, huint8 type)
harmonic_profileTorqueControl
EXTERNFUNC int harmonic_profileTorqueControl(huint8 id, huint16 targetTorque, hint16 slope, bool isUpdate=false)
harmonic_setServoSoftwareLimitState
EXTERNFUNC int harmonic_setServoSoftwareLimitState(huint8 id, huint32 state, huint32 timeout=100)
harmonic_setReceiveDataCallBack
EXTERNFUNC int harmonic_setReceiveDataCallBack(harmonic_ReceiveDataCallBack callFunc)
harmonic_setTPDOMaxMappedCount
EXTERNFUNC int harmonic_setTPDOMaxMappedCount(huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100)
harmonic_setHearbeatConsumerTime
EXTERNFUNC int harmonic_setHearbeatConsumerTime(huint8 id, huint8 subIndex, huint32 time, huint32 timeout=100)
harmonic_FaultReactionOption_Disable_drive_function
@ harmonic_FaultReactionOption_Disable_drive_function
Definition: eu_harmonic.h:163
harmonic_getServoVelocityIntLimit
EXTERNFUNC int harmonic_getServoVelocityIntLimit(huint8 id, huint16 *limit, huint32 timeout=100)
harmonic_getServoVelocityLoopKI
EXTERNFUNC int harmonic_getServoVelocityLoopKI(huint8 id, huint16 *ki, huint32 timeout=100)
harmonic_getDemandVelocity
EXTERNFUNC int harmonic_getDemandVelocity(huint8 id, hint32 *dVel, huint32 timeout=100)
harmonic_NodeState_Operational
@ harmonic_NodeState_Operational
Definition: eu_harmonic.h:107
harmonic_setVelocityWindowTime
EXTERNFUNC int harmonic_setVelocityWindowTime(huint8 id, huint16 wTime, huint32 timeout=100)
harmonic_HaltOption
harmonic_HaltOption
Definition: eu_harmonic.h:152
harmonic_getLocalDCLinkCircuitVoltage
EXTERNFUNC int harmonic_getLocalDCLinkCircuitVoltage(huint32 *voltage)
harmonic_setRPDOMapped
EXTERNFUNC int harmonic_setRPDOMapped(huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout=100)
harmonic_setMaxProfileVelocity
EXTERNFUNC int harmonic_setMaxProfileVelocity(huint8 id, huint32 vel, huint32 timeout=100)
harmonic_getQuickStopDeceleration
EXTERNFUNC int harmonic_getQuickStopDeceleration(huint8 id, huint32 *dec, huint32 timeout=100)
harmonic_setRPDOEventTimer
EXTERNFUNC int harmonic_setRPDOEventTimer(huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout=100)
harmonic_getLocalRPDOInhibitTime
EXTERNFUNC int harmonic_getLocalRPDOInhibitTime(huint16 pdoIndex, huint16 *time)
harmonic_setClientSDOCobIdServerToClient
EXTERNFUNC int harmonic_setClientSDOCobIdServerToClient(huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout=100)
harmonic_setServoBlockVelocity
EXTERNFUNC int harmonic_setServoBlockVelocity(huint8 id, huint32 velocity, huint32 timeout=100)
harmonic_getDCLinkCircuitVoltage
EXTERNFUNC int harmonic_getDCLinkCircuitVoltage(huint8 id, huint32 *voltage, huint32 timeout=100)
harmonic_getSyncWindow
EXTERNFUNC int harmonic_getSyncWindow(huint8 id, huint32 *syncWindow, huint32 timeout=100)
harmonic_setServoVelocityIntLimit
EXTERNFUNC int harmonic_setServoVelocityIntLimit(huint8 id, huint16 limit, huint32 timeout=100)
harmonic_getHearbeatConsumerTimeParasNum
EXTERNFUNC int harmonic_getHearbeatConsumerTimeParasNum(huint8 id, huint8 *number, huint32 timeout=100)
harmonic_setServoParametersNumber
EXTERNFUNC int harmonic_setServoParametersNumber(huint8 id, huint8 num, huint32 timeout=100)
harmonic_QuickStopOption_Slow_Down_On_Slow_Down_Ramp_And_Stay_In_Quick_Stop
@ harmonic_QuickStopOption_Slow_Down_On_Slow_Down_Ramp_And_Stay_In_Quick_Stop
Definition: eu_harmonic.h:135
harmonic_NodeState_Stopped
@ harmonic_NodeState_Stopped
Definition: eu_harmonic.h:106
harmonic_setEmergencyCobid
EXTERNFUNC int harmonic_setEmergencyCobid(huint8 id, huint32 cobid, huint32 timeout=100)
harmonic_HaltOption_Slow_Down_On_the_Voltag_Limit
@ harmonic_HaltOption_Slow_Down_On_the_Voltag_Limit
Definition: eu_harmonic.h:158
harmonic_getTPDOMapped
EXTERNFUNC int harmonic_getTPDOMapped(huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout=100)
harmonic_getDeviceType
EXTERNFUNC int harmonic_getDeviceType(huint8 id, huint32 *deviceType, huint32 timeout=100)
_harmonic_CanMsg::len
huint8 len
Definition: eu_harmonic.h:197
harmonic_setSyncCobid
EXTERNFUNC int harmonic_setSyncCobid(huint8 id, huint32 cobid, huint32 timeout=100)
harmonic_getLocalMutiMotorStatusWord
EXTERNFUNC int harmonic_getLocalMutiMotorStatusWord(huint16 index, huint16 *status)
harmonic_setLocalServerSDONodeIdOfClient
EXTERNFUNC int harmonic_setLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 nodeId)
harmonic_NMTState_Stop_Node
@ harmonic_NMTState_Stop_Node
Definition: eu_harmonic.h:91
harmonic_QuickStopOption
harmonic_QuickStopOption
Definition: eu_harmonic.h:127
harmonic_setLocalRPDOEventTimer
EXTERNFUNC int harmonic_setLocalRPDOEventTimer(huint16 pdoIndex, huint16 timer)
hint16
signed short int hint16
Definition: eu_harmonic.h:38
harmonic_setStoreParameters
EXTERNFUNC int harmonic_setStoreParameters(huint8 id, huint32 value, huint32 timeout=100)
harmonic_getLifeTimeFactor
EXTERNFUNC int harmonic_getLifeTimeFactor(huint8 id, huint8 *factor, huint32 timeout=100)
harmonic_setErrorFieldNumber
EXTERNFUNC int harmonic_setErrorFieldNumber(huint8 id, huint8 number, huint32 timeout=100)
harmonic_getFollowingErrorWindow
EXTERNFUNC int harmonic_getFollowingErrorWindow(huint8 id, huint32 *eWindow, huint32 timeout=100)
harmonic_setQuickStopOption
EXTERNFUNC int harmonic_setQuickStopOption(huint8 id, harmonic_QuickStopOption option, huint32 timeout=100)
harmonic_DeviceType_Canable
@ harmonic_DeviceType_Canable
Definition: eu_harmonic.h:68
harmonic_setServoCanBaudrate
EXTERNFUNC int harmonic_setServoCanBaudrate(huint8 id, huint16 baudrate, huint32 timeout=100)
harmonic_setDefaultServoCurrentLoopKP
EXTERNFUNC int harmonic_setDefaultServoCurrentLoopKP(huint8 id, huint16 kp, huint32 timeout=100)
harmonic_getLocalTargetPos
EXTERNFUNC int harmonic_getLocalTargetPos(hint32 *pos)
harmonic_setGuardTime
EXTERNFUNC int harmonic_setGuardTime(huint8 id, huint16 time, huint32 timeout=100)
harmonic_getServerSDONumberOfEntries
EXTERNFUNC int harmonic_getServerSDONumberOfEntries(huint8 id, huint16 sdoServerIndex, huint8 *num, huint32 timeout=100)
harmonic_setRPDOSYNCStartValue
EXTERNFUNC int harmonic_setRPDOSYNCStartValue(huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout=100)
harmonic_getRestoreDefaultParametersNumber
EXTERNFUNC int harmonic_getRestoreDefaultParametersNumber(huint8 id, huint8 *number, huint32 timeout=100)
harmonic_NodeState_Preparing
@ harmonic_NodeState_Preparing
Definition: eu_harmonic.h:105
harmonic_getTPDOTransmitType
EXTERNFUNC int harmonic_getTPDOTransmitType(huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout=100)
harmonic_getLocalServoErrorCode
EXTERNFUNC int harmonic_getLocalServoErrorCode(huint16 *err)
harmonic_getGearRatioShaftRevolutions
EXTERNFUNC int harmonic_getGearRatioShaftRevolutions(huint8 id, huint32 *rev, huint32 timeout=100)
harmonic_getTPDOInhibitTime
EXTERNFUNC int harmonic_getTPDOInhibitTime(huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout=100)
harmonic_getLocalTPDOSYNCStartValue
EXTERNFUNC int harmonic_getLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 *value)
harmonic_ShutdownOption_Slown_With_Slow_Down_Ramp
@ harmonic_ShutdownOption_Slown_With_Slow_Down_Ramp
Definition: eu_harmonic.h:143
harmonic_OperateMode_Velocity
@ harmonic_OperateMode_Velocity
Definition: eu_harmonic.h:180
harmonic_setInterpolationTimePeriodValue
EXTERNFUNC int harmonic_setInterpolationTimePeriodValue(huint8 id, huint8 value, huint32 timeout=100)
harmonic_NMTState_Reset_Comunication
@ harmonic_NMTState_Reset_Comunication
Definition: eu_harmonic.h:94
harmonic_getServoCurrentLoopPINum
EXTERNFUNC int harmonic_getServoCurrentLoopPINum(huint8 id, huint8 *num, huint32 timeout=100)
harmonic_setPositionWindow
EXTERNFUNC int harmonic_setPositionWindow(huint8 id, huint32 pWindow, huint32 timeout=100)
harmonic_getIdentityObjectNumber
EXTERNFUNC int harmonic_getIdentityObjectNumber(huint8 id, huint8 *number, huint32 timeout=100)
harmonic_setFindPointMoveDec
EXTERNFUNC int harmonic_setFindPointMoveDec(huint8 id, huint32 dec, huint32 timeout=100)
harmonic_setSoftwareMaxmumPosition
EXTERNFUNC int harmonic_setSoftwareMaxmumPosition(huint8 id, hint32 pos, huint32 timeout=100)
harmonic_getVelocityWindow
EXTERNFUNC int harmonic_getVelocityWindow(huint8 id, huint16 *vWindow, huint32 timeout=100)
harmonic_getLocalSyncCycle
EXTERNFUNC int harmonic_getLocalSyncCycle(huint32 *cycle)
harmonic_setServoTemperatureLimitTime
EXTERNFUNC int harmonic_setServoTemperatureLimitTime(huint8 id, huint16 time, huint32 timeout=100)
harmonic_Baudrate_100
@ harmonic_Baudrate_100
Definition: eu_harmonic.h:79
harmonic_getLocalInterpolationDataRecord
EXTERNFUNC int harmonic_getLocalInterpolationDataRecord(hint32 *value)
harmonic_getServoCurrentLoopKI
EXTERNFUNC int harmonic_getServoCurrentLoopKI(huint8 id, huint16 *ki, huint32 timeout=100)
harmonic_getLocalActualPos
EXTERNFUNC int harmonic_getLocalActualPos(hint32 *pos)
harmonic_getServerSDONodeIdOfClient
EXTERNFUNC int harmonic_getServerSDONodeIdOfClient(huint8 id, huint16 sdoServerIndex, huint8 *nodeId, huint32 timeout=100)
harmonic_setServoTorqueWindowTime
EXTERNFUNC int harmonic_setServoTorqueWindowTime(huint8 id, huint16 window, huint32 timeout=100)
harmonic_getServoFirstEncoderValue
EXTERNFUNC int harmonic_getServoFirstEncoderValue(huint8 id, hint32 *value, huint32 timeout=100)
harmonic_getLocalRPDOMaxMappedCount
EXTERNFUNC int harmonic_getLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 *count)
harmonic_setLocalTargetTorque
EXTERNFUNC int harmonic_setLocalTargetTorque(hint16 torque)
harmonic_getI2tOverLoadLimit
EXTERNFUNC int harmonic_getI2tOverLoadLimit(huint8 id, huint16 *value, huint32 timeout=100)
harmonic_getLocalClientSDOCobIdClientToServer
EXTERNFUNC int harmonic_getLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 *cobId)
harmonic_FaultReactionOption_Slow_down_on_voltage_limit
@ harmonic_FaultReactionOption_Slow_down_on_voltage_limit
Definition: eu_harmonic.h:167
harmonic_setServerSDONumberOfEntries
EXTERNFUNC int harmonic_setServerSDONumberOfEntries(huint8 id, huint16 sdoServerIndex, huint8 num, huint32 timeout=100)
harmonic_setRPDOTransmitType
EXTERNFUNC int harmonic_setRPDOTransmitType(huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout=100)
harmonic_getDeviceName
EXTERNFUNC int harmonic_getDeviceName(huint8 id, char *devName, huint32 timeout=100)
harmonic_setControlword
EXTERNFUNC int harmonic_setControlword(huint8 id, huint16 word, huint32 timeout=100)
harmonic_getSoftwareMaxmumPosition
EXTERNFUNC int harmonic_getSoftwareMaxmumPosition(huint8 id, hint32 *pos, huint32 timeout=100)
harmonic_setDefaultServoVelocityLoopKP
EXTERNFUNC int harmonic_setDefaultServoVelocityLoopKP(huint8 id, huint16 kp, huint32 timeout=100)
harmonic_setLocalTargetPos
EXTERNFUNC int harmonic_setLocalTargetPos(hint32 pos)
harmonic_setI2tOverLoadLimit
EXTERNFUNC int harmonic_setI2tOverLoadLimit(huint8 id, huint16 value, huint32 timeout=100)
harmonic_getStoreParametersNumber
EXTERNFUNC int harmonic_getStoreParametersNumber(huint8 id, huint8 *number, huint32 timeout=100)
harmonic_getSupportedDriveModes
EXTERNFUNC int harmonic_getSupportedDriveModes(huint8 id, huint32 *modes, huint32 timeout=100)
harmonic_getRPDOTransmitType
EXTERNFUNC int harmonic_getRPDOTransmitType(huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout=100)
harmonic_setTPDOMapped
EXTERNFUNC int harmonic_setTPDOMapped(huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout=100)
harmonic_setRPDOInhibitTime
EXTERNFUNC int harmonic_setRPDOInhibitTime(huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout=100)
harmonic_getLocalClientSDOCobIdServerToClient
EXTERNFUNC int harmonic_getLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 *cobId)
harmonic_getRPDOEventTimer
EXTERNFUNC int harmonic_getRPDOEventTimer(huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout=100)
harmonic_setServoBlockTime
EXTERNFUNC int harmonic_setServoBlockTime(huint8 id, huint16 time, huint32 timeout=100)
harmonic_setActualVelocity
EXTERNFUNC int harmonic_setActualVelocity(huint8 id, hint32 vel, huint32 timeout=100)
harmonic_setDCLinkCircuitVoltage
EXTERNFUNC int harmonic_setDCLinkCircuitVoltage(huint8 id, huint32 voltage, huint32 timeout=100)
harmonic_OperateMode_InterpolatedPosition
@ harmonic_OperateMode_InterpolatedPosition
Definition: eu_harmonic.h:184
harmonic_getServoBlockParasNum
EXTERNFUNC int harmonic_getServoBlockParasNum(huint8 id, huint8 *num, huint32 timeout=100)
harmonic_getLocalMutiMotorTorque
EXTERNFUNC int harmonic_getLocalMutiMotorTorque(huint16 index, hint16 *tor)
harmonic_setServoTemperatureLimit
EXTERNFUNC int harmonic_setServoTemperatureLimit(huint8 id, huint8 tem, huint32 timeout=100)
harmonic_setLocalTPDOEventTimer
EXTERNFUNC int harmonic_setLocalTPDOEventTimer(huint16 pdoIndex, huint16 timer)
harmonic_getServoBrakeParaNum
EXTERNFUNC int harmonic_getServoBrakeParaNum(huint8 id, huint8 *num, huint32 timeout=100)
harmonic_setQuickStopDeceleration
EXTERNFUNC int harmonic_setQuickStopDeceleration(huint8 id, huint32 dec, huint32 timeout=100)
harmonic_NMTState_Enter_PreOperational
@ harmonic_NMTState_Enter_PreOperational
Definition: eu_harmonic.h:92
harmonic_setDefaultServoPositionLoopKI
EXTERNFUNC int harmonic_setDefaultServoPositionLoopKI(huint8 id, huint16 ki, huint32 timeout=100)
harmonic_setLocalTPDOMaxParasCount
EXTERNFUNC int harmonic_setLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 count)
harmonic_Baudrate
harmonic_Baudrate
Definition: eu_harmonic.h:74
harmonic_getInterpolationTimePeriodValue
EXTERNFUNC int harmonic_getInterpolationTimePeriodValue(huint8 id, huint8 *value, huint32 timeout=100)
harmonic_getServoID
EXTERNFUNC int harmonic_getServoID(huint8 id, huint8 *servoID, huint32 timeout=100)
harmonic_getRPDOInhibitTime
EXTERNFUNC int harmonic_getRPDOInhibitTime(huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout=100)
harmonic_getRPDOMaxMappedCount
EXTERNFUNC int harmonic_getRPDOMaxMappedCount(huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100)
harmonic_getTorqueLimit
EXTERNFUNC int harmonic_getTorqueLimit(huint8 id, hint16 *torque, huint32 timeout=100)
harmonic_setLocalTPDOInhibitTime
EXTERNFUNC int harmonic_setLocalTPDOInhibitTime(huint16 pdoIndex, huint16 time)
harmonic_getLocalInterpolationTimePeriodValue
EXTERNFUNC int harmonic_getLocalInterpolationTimePeriodValue(huint8 *value)
harmonic_setServerSDONodeIdOfClient
EXTERNFUNC int harmonic_setServerSDONodeIdOfClient(huint8 id, huint16 sdoServerIndex, huint8 nodeId, huint32 timeout=100)
harmonic_setLocalTPDOMapped
EXTERNFUNC int harmonic_setLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value)
harmonic_setFindPointMoveVelocity
EXTERNFUNC int harmonic_setFindPointMoveVelocity(huint8 id, huint32 vel, huint32 timeout=100)
harmonic_setServoVelocityFlowingErrorWindows
EXTERNFUNC int harmonic_setServoVelocityFlowingErrorWindows(huint8 id, huint32 error, huint32 timeout=100)
harmonic_getI2tOverLoadValue
EXTERNFUNC int harmonic_getI2tOverLoadValue(huint8 id, huint16 *value, huint32 timeout=100)
harmonic_setActualTorque
EXTERNFUNC int harmonic_setActualTorque(huint8 id, hint16 torque, huint32 timeout=100)
harmonic_setServoVelocityLoopKI
EXTERNFUNC int harmonic_setServoVelocityLoopKI(huint8 id, huint16 ki, huint32 timeout=100)
harmonic_Baudrate_20
@ harmonic_Baudrate_20
Definition: eu_harmonic.h:77
harmonic_getServoTemperature
EXTERNFUNC int harmonic_getServoTemperature(huint8 id, hint8 *tem, huint32 timeout=100)
harmonic_getVelocityThreshold
EXTERNFUNC int harmonic_getVelocityThreshold(huint8 id, huint16 *thres, huint32 timeout=100)
harmonic_setDefaultServoCurrentLoopKI
EXTERNFUNC int harmonic_setDefaultServoCurrentLoopKI(huint8 id, huint16 ki, huint32 timeout=100)
harmonic_setLocalSyncCOBID
EXTERNFUNC int harmonic_setLocalSyncCOBID(huint32 cobId)
harmonic_setServoOverSpeedThreshold
EXTERNFUNC int harmonic_setServoOverSpeedThreshold(huint8 id, huint32 thre, huint32 timeout=100)
harmonic_setLocalNodeState
EXTERNFUNC int harmonic_setLocalNodeState(harmonic_NodeState state)
harmonic_setServoBrakeDelayTime
EXTERNFUNC int harmonic_setServoBrakeDelayTime(huint8 id, huint8 time, huint32 timeout=100)
harmonic_OperateMode_CyclicSyncVelocity
@ harmonic_OperateMode_CyclicSyncVelocity
Definition: eu_harmonic.h:186
harmonic_getVelocityWindowTime
EXTERNFUNC int harmonic_getVelocityWindowTime(huint8 id, huint16 *wTime, huint32 timeout=100)
harmonic_setLocalServerSDOCobIdServerToClient
EXTERNFUNC int harmonic_setLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 cobId)
harmonic_getServoPositionLoopPINum
EXTERNFUNC int harmonic_getServoPositionLoopPINum(huint8 id, huint8 *num, huint32 timeout=100)
harmonic_getServoOverSpeedTime
EXTERNFUNC int harmonic_getServoOverSpeedTime(huint8 id, huint16 *time, huint32 timeout=100)
harmonic_setServerSDOCobIdClientToServer
EXTERNFUNC int harmonic_setServerSDOCobIdClientToServer(huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout=100)
harmonic_getActualFollowingError
EXTERNFUNC int harmonic_getActualFollowingError(huint8 id, hint32 *error, huint32 timeout=100)
harmonic_ShutdownOption_Disable_Drive_Function
@ harmonic_ShutdownOption_Disable_Drive_Function
Definition: eu_harmonic.h:142
_harmonic_CanMsg::data
huint8 data[8]
Definition: eu_harmonic.h:198
harmonic_HaltOption_Slow_Down_On_the_Current_Limit
@ harmonic_HaltOption_Slow_Down_On_the_Current_Limit
Definition: eu_harmonic.h:157
harmonic_getServoBlockVelocity
EXTERNFUNC int harmonic_getServoBlockVelocity(huint8 id, huint32 *velocity, huint32 timeout=100)
harmonic_getErrorRegister
EXTERNFUNC int harmonic_getErrorRegister(huint8 id, huint8 *errReg, huint32 timeout=100)
harmonic_getSoftwareVersion
EXTERNFUNC int harmonic_getSoftwareVersion(huint8 id, char *version, huint32 timeout=100)
harmonic_getQuickStopOption
EXTERNFUNC int harmonic_getQuickStopOption(huint8 id, harmonic_QuickStopOption *option, huint32 timeout=100)
harmonic_getGuardTime
EXTERNFUNC int harmonic_getGuardTime(huint8 id, huint16 *time, huint32 timeout=100)
harmonic_Baudrate_50
@ harmonic_Baudrate_50
Definition: eu_harmonic.h:78
harmonic_setLocalRPDOMapped
EXTERNFUNC int harmonic_setLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value)
harmonic_setHomeOffset
EXTERNFUNC int harmonic_setHomeOffset(huint8 id, hint32 offSet, huint32 timeout=100)
harmonic_getProducerHeartbeatTime
EXTERNFUNC int harmonic_getProducerHeartbeatTime(huint8 id, huint16 *time, huint32 timeout=100)
harmonic_setTPDOCobId
EXTERNFUNC int harmonic_setTPDOCobId(huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout=100)
harmonic_getDefaultServoCurrentLoopKI
EXTERNFUNC int harmonic_getDefaultServoCurrentLoopKI(huint8 id, huint16 *ki, huint32 timeout=100)
harmonic_OperateMode_ProfilePosition
@ harmonic_OperateMode_ProfilePosition
Definition: eu_harmonic.h:179
harmonic_setLocalMutiMotorSetVel
EXTERNFUNC int harmonic_setLocalMutiMotorSetVel(huint16 index, hint32 vel)
harmonic_setLocalRPDOMaxMappedCount
EXTERNFUNC int harmonic_setLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 count)
harmonic_writeDirectory
EXTERNFUNC int harmonic_writeDirectory(huint8 id, huint16 index, huint8 subIndex, harmonic_DataType dataType, void *writeData, huint32 timeout=100)
harmonic_getShutdownOptionCode
EXTERNFUNC int harmonic_getShutdownOptionCode(huint8 id, harmonic_ShutdownOption *code, huint32 timeout=100)
harmonic_getLocalClientSDONumberOfEntries
EXTERNFUNC int harmonic_getLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 *number)
harmonic_getLocalTPDOCobId
EXTERNFUNC int harmonic_getLocalTPDOCobId(huint16 pdoIndex, huint32 *cobId)
harmonic_OperateMode_ProfileTorque
@ harmonic_OperateMode_ProfileTorque
Definition: eu_harmonic.h:182
harmonic_getServoTorqueWindowTime
EXTERNFUNC int harmonic_getServoTorqueWindowTime(huint8 id, huint16 *window, huint32 timeout=100)
harmonic_setProfileVelocity
EXTERNFUNC int harmonic_setProfileVelocity(huint8 id, huint32 vel, huint32 timeout=100)
harmonic_FaultReactionOption_Slow_down_on_quick_stop_ramp
@ harmonic_FaultReactionOption_Slow_down_on_quick_stop_ramp
Definition: eu_harmonic.h:165
harmonic_getFindPointMoveAcc
EXTERNFUNC int harmonic_getFindPointMoveAcc(huint8 id, huint32 *acc, huint32 timeout=100)
_harmonic_CanMsg::rtr
huint8 rtr
Definition: eu_harmonic.h:196
harmonic_getBrakeState
EXTERNFUNC int harmonic_getBrakeState(huint8 id, huint8 *state, huint32 timeout=100)
harmonic_setLocalRPDOSYNCStartValue
EXTERNFUNC int harmonic_setLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 value)
harmonic_QuickStopOption_Disable_Drive
@ harmonic_QuickStopOption_Disable_Drive
Definition: eu_harmonic.h:129
harmonic_getLocalSyncCOBID
EXTERNFUNC int harmonic_getLocalSyncCOBID(huint32 *cobId)
harmonic_setLocalMutiMotorSetPos
EXTERNFUNC int harmonic_setLocalMutiMotorSetPos(huint16 index, hint32 pos)
harmonic_setLocalTPDOSYNCStartValue
EXTERNFUNC int harmonic_setLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 value)
harmonic_setShutdownOptionCode
EXTERNFUNC int harmonic_setShutdownOptionCode(huint8 id, harmonic_ShutdownOption code, huint32 timeout=100)
harmonic_setRPDOMaxParasCount
EXTERNFUNC int harmonic_setRPDOMaxParasCount(huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100)
harmonic_setSyncCycle
EXTERNFUNC int harmonic_setSyncCycle(huint8 id, huint32 syncCycle, huint32 timeout=100)
harmonic_HaltOption_Slow_Down_On_Quick_Stop_Ramp
@ harmonic_HaltOption_Slow_Down_On_Quick_Stop_Ramp
Definition: eu_harmonic.h:156
harmonic_QuickStopOption_Slow_Down_On_Slow_Down_Ramp
@ harmonic_QuickStopOption_Slow_Down_On_Slow_Down_Ramp
Definition: eu_harmonic.h:130
harmonic_getTorqueFactor
EXTERNFUNC int harmonic_getTorqueFactor(huint8 id, huint16 *factor, huint32 timeout=100)
harmonic_getLocalTPDOEventTimer
EXTERNFUNC int harmonic_getLocalTPDOEventTimer(huint16 pdoIndex, huint16 *timer)
harmonic_getTPDOMaxMappedCount
EXTERNFUNC int harmonic_getTPDOMaxMappedCount(huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100)
harmonic_getLocalServerSDOCobIdServerToClient
EXTERNFUNC int harmonic_getLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 *cobId)
harmonic_getErrorField
EXTERNFUNC int harmonic_getErrorField(huint8 id, huint8 subIndex, huint32 *err, huint32 timeout=100)
harmonic_setProducerHeartbeatTime
EXTERNFUNC int harmonic_setProducerHeartbeatTime(huint8 id, huint16 time, huint32 timeout=100)
harmonic_getEmergencyInhibitTime
EXTERNFUNC int harmonic_getEmergencyInhibitTime(huint8 id, huint16 *time, huint32 timeout=100)
harmonic_Baudrate_250
@ harmonic_Baudrate_250
Definition: eu_harmonic.h:80
harmonic_profilePositionControl
EXTERNFUNC int harmonic_profilePositionControl(huint8 id, hint32 targetPos, huint32 vel, huint32 acc, huint32 dec, bool isRelative=false, bool isImmediately=true, bool isUpdate=false)
harmonic_getFaultReactionOption
EXTERNFUNC int harmonic_getFaultReactionOption(huint8 id, harmonic_FaultReactionOption *option, huint32 timeout=100)
harmonic_getTPDOMaxParasCount
EXTERNFUNC int harmonic_getTPDOMaxParasCount(huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100)
harmonic_HaltOption_Slow_Down_On_Slow_Down_Ramp
@ harmonic_HaltOption_Slow_Down_On_Slow_Down_Ramp
Definition: eu_harmonic.h:155
harmonic_setServerSDOCobIdServerToClient
EXTERNFUNC int harmonic_setServerSDOCobIdServerToClient(huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout=100)
harmonic_DataType_int8
@ harmonic_DataType_int8
Definition: eu_harmonic.h:118
harmonic_NodeState
harmonic_NodeState
Definition: eu_harmonic.h:100
harmonic_getProfileDeceleration
EXTERNFUNC int harmonic_getProfileDeceleration(huint8 id, huint32 *dec, huint32 timeout=100)
harmonic_NodeState_Disconnected
@ harmonic_NodeState_Disconnected
Definition: eu_harmonic.h:103
harmonic_getEmergencyCobid
EXTERNFUNC int harmonic_getEmergencyCobid(huint8 id, huint32 *cobid, huint32 timeout=100)
harmonic_setDefaultServoVelocityLoopKI
EXTERNFUNC int harmonic_setDefaultServoVelocityLoopKI(huint8 id, huint16 ki, huint32 timeout=100)
hint56
signed long int hint56
Definition: eu_harmonic.h:43
harmonic_NMTState_Start_Node
@ harmonic_NMTState_Start_Node
Definition: eu_harmonic.h:90
harmonic_getLocalTargetTorque
EXTERNFUNC int harmonic_getLocalTargetTorque(hint16 *torque)
harmonic_getServoOverSpeedThreshold
EXTERNFUNC int harmonic_getServoOverSpeedThreshold(huint8 id, huint32 *thre, huint32 timeout=100)
hreal64
double hreal64
Definition: eu_harmonic.h:54
harmonic_setEmergencyInhibitTime
EXTERNFUNC int harmonic_setEmergencyInhibitTime(huint8 id, huint16 time, huint32 timeout=100)
harmonic_getNodeState
EXTERNFUNC int harmonic_getNodeState(huint8 id, harmonic_NodeState *state, huint32 timeout=100)
harmonic_setServoVelocityFlowingErrorTime
EXTERNFUNC int harmonic_setServoVelocityFlowingErrorTime(huint8 id, huint16 time, huint32 timeout=100)
hint64
signed long int hint64
Definition: eu_harmonic.h:44
harmonic_setLocalClientSDOCobIdClientToServer
EXTERNFUNC int harmonic_setLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 cobId)
harmonic_getHaltOption
EXTERNFUNC int harmonic_getHaltOption(huint8 id, harmonic_HaltOption *option, huint32 timeout=100)
harmonic_setProfileDeceleration
EXTERNFUNC int harmonic_setProfileDeceleration(huint8 id, huint32 dec, huint32 timeout=100)
harmonic_DeviceType_USB2CAN
@ harmonic_DeviceType_USB2CAN
Definition: eu_harmonic.h:67
harmonic_getRPDOMapped
EXTERNFUNC int harmonic_getRPDOMapped(huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout=100)
harmonic_setFollowingErrorWindow
EXTERNFUNC int harmonic_setFollowingErrorWindow(huint8 id, huint32 eWindow, huint32 timeout=100)
harmonic_getLocalMutiMotorPos
EXTERNFUNC int harmonic_getLocalMutiMotorPos(huint16 index, hint32 *pos)
harmonic_getErrorFieldNumber
EXTERNFUNC int harmonic_getErrorFieldNumber(huint8 id, huint8 *number, huint32 timeout=100)
harmonic_getLocalServerSDONumberOfEntries
EXTERNFUNC int harmonic_getLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 *num)
harmonic_FaultReactionOption
harmonic_FaultReactionOption
Definition: eu_harmonic.h:161
harmonic_setLocalClientSDOCobIdServerToClient
EXTERNFUNC int harmonic_setLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 cobId)
harmonic_getHearbeatConsumerTime
EXTERNFUNC int harmonic_getHearbeatConsumerTime(huint8 id, huint8 subIndex, huint32 *time, huint32 timeout=100)
hint48
signed long int hint48
Definition: eu_harmonic.h:42
harmonic_getLocalServerSDONodeIdOfClient
EXTERNFUNC int harmonic_getLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 *nodeId)
harmonic_getMaxProfileVelocity
EXTERNFUNC int harmonic_getMaxProfileVelocity(huint8 id, huint32 *vel, huint32 timeout=100)
harmonic_getLocalTargetVelocity
EXTERNFUNC int harmonic_getLocalTargetVelocity(hint32 *vel)
EXTERNFUNC
#define EXTERNFUNC
Definition: eu_harmonic.h:13
harmonic_DataType_uint32
@ harmonic_DataType_uint32
Definition: eu_harmonic.h:123
harmonic_setDisableOperationOptionCode
EXTERNFUNC int harmonic_setDisableOperationOptionCode(huint8 id, harmonic_DisableOperationOption code, huint32 timeout=100)
harmonic_setFaultReactionOption
EXTERNFUNC int harmonic_setFaultReactionOption(huint8 id, harmonic_FaultReactionOption option, huint32 timeout=100)
harmonic_setClientSDOCobIdClientToServer
EXTERNFUNC int harmonic_setClientSDOCobIdClientToServer(huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout=100)
harmonic_DisableOperationOption_Slow_Down_With_Slow_Down_Ramp
@ harmonic_DisableOperationOption_Slow_Down_With_Slow_Down_Ramp
Definition: eu_harmonic.h:149
_harmonic_CanMsg::cob_id
huint16 cob_id
Definition: eu_harmonic.h:195
harmonic_getServoVelocityFlowingErrorWindows
EXTERNFUNC int harmonic_getServoVelocityFlowingErrorWindows(huint8 id, huint32 *error, huint32 timeout=100)
harmonic_setTPDOEventTimer
EXTERNFUNC int harmonic_setTPDOEventTimer(huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout=100)
harmonic_NMTState_Reset_Node
@ harmonic_NMTState_Reset_Node
Definition: eu_harmonic.h:93
harmonic_setHaltOption
EXTERNFUNC int harmonic_setHaltOption(huint8 id, harmonic_HaltOption option, huint32 timeout=100)
harmonic_setServoID
EXTERNFUNC int harmonic_setServoID(huint8 id, huint8 servoID, huint32 timeout=100)
harmonic_getRPDOMaxParasCount
EXTERNFUNC int harmonic_getRPDOMaxParasCount(huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100)
harmonic_setLocalRPDOCobId
EXTERNFUNC int harmonic_setLocalRPDOCobId(huint16 pdoIndex, huint32 cobId)
harmonic_setServoVelocityLoopKP
EXTERNFUNC int harmonic_setServoVelocityLoopKP(huint8 id, huint16 kp, huint32 timeout=100)
harmonic_DeviceType
harmonic_DeviceType
Definition: eu_harmonic.h:65
harmonic_setServoBrakeControl
EXTERNFUNC int harmonic_setServoBrakeControl(huint8 id, huint8 status, huint32 timeout=100)
harmonic_OperateMode_CyclicSyncPosition
@ harmonic_OperateMode_CyclicSyncPosition
Definition: eu_harmonic.h:185
harmonic_DataType
harmonic_DataType
Definition: eu_harmonic.h:115
harmonic_setLocalInterpolationTimePeriodValue
EXTERNFUNC int harmonic_setLocalInterpolationTimePeriodValue(huint8 value)
harmonic_setLocalClientSDONumberOfEntries
EXTERNFUNC int harmonic_setLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 number)
harmonic_OperateMode_AutoTuning
@ harmonic_OperateMode_AutoTuning
Definition: eu_harmonic.h:175
harmonic_stopControl
EXTERNFUNC int harmonic_stopControl(huint8 id)
harmonic_setLocalServerSDONumberOfEntries
EXTERNFUNC int harmonic_setLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 num)
harmonic_setActualPos
EXTERNFUNC int harmonic_setActualPos(huint8 id, hint32 pos, huint32 timeout=100)
harmonic_setServoPositionLoopKP
EXTERNFUNC int harmonic_setServoPositionLoopKP(huint8 id, huint16 kp, huint32 timeout=100)
harmonic_setTPDOMaxParasCount
EXTERNFUNC int harmonic_setTPDOMaxParasCount(huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100)
harmonic_getLocalMutiMotorVel
EXTERNFUNC int harmonic_getLocalMutiMotorVel(huint16 index, hint32 *vel)
harmonic_setGearRatioMotorRevolutions
EXTERNFUNC int harmonic_setGearRatioMotorRevolutions(huint8 id, huint32 rev, huint32 timeout=100)
harmonic_OperateMode_CyclicSyncTorque
@ harmonic_OperateMode_CyclicSyncTorque
Definition: eu_harmonic.h:187
harmonic_getSyncCycle
EXTERNFUNC int harmonic_getSyncCycle(huint8 id, huint32 *syncCycle, huint32 timeout=100)
harmonic_getDemandTorque
EXTERNFUNC int harmonic_getDemandTorque(huint8 id, hint16 *torque, huint32 timeout=100)
harmonic_setClientSDONumberOfEntries
EXTERNFUNC int harmonic_setClientSDONumberOfEntries(huint8 id, huint16 sdoClientIndex, huint8 number, huint32 timeout=100)
harmonic_setServoPositionLoopKI
EXTERNFUNC int harmonic_setServoPositionLoopKI(huint8 id, huint16 ki, huint32 timeout=100)
harmonic_readLocalDirectory
EXTERNFUNC int harmonic_readLocalDirectory(huint16 index, huint8 subIndex, harmonic_DataType dataType, void *readData)
harmonic_SendDataCallBack
void(* harmonic_SendDataCallBack)(const harmonic_CanMsg &msg)
Definition: eu_harmonic.h:204
harmonic_getMotorRatedTorque
EXTERNFUNC int harmonic_getMotorRatedTorque(huint8 id, huint32 *torque, huint32 timeout=100)
harmonic_Baudrate_10
@ harmonic_Baudrate_10
Definition: eu_harmonic.h:76
harmonic_getClientSDOCobIdClientToServer
EXTERNFUNC int harmonic_getClientSDOCobIdClientToServer(huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout=100)
harmonic_getServoVelocityFlowingErrorTime
EXTERNFUNC int harmonic_getServoVelocityFlowingErrorTime(huint8 id, huint16 *time, huint32 timeout=100)
harmonic_getServoCanBaudrate
EXTERNFUNC int harmonic_getServoCanBaudrate(huint8 id, huint16 *baudrate, huint32 timeout=100)
harmonic_getServoErrorCode
EXTERNFUNC int harmonic_getServoErrorCode(huint8 id, huint16 *err, huint32 timeout=100)
harmonic_getPositionWindowTime
EXTERNFUNC int harmonic_getPositionWindowTime(huint8 id, huint16 *pWindowTime, huint32 timeout=100)
harmonic_setServoCurrentLoopKI
EXTERNFUNC int harmonic_setServoCurrentLoopKI(huint8 id, huint16 ki, huint32 timeout=100)
harmonic_getLocalRPDOSYNCStartValue
EXTERNFUNC int harmonic_getLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 *value)
harmonic_DisableOperationOption_Disable_Drive_Function
@ harmonic_DisableOperationOption_Disable_Drive_Function
Definition: eu_harmonic.h:148
harmonic_getDefaultServoPositionLoopKP
EXTERNFUNC int harmonic_getDefaultServoPositionLoopKP(huint8 id, huint16 *kp, huint32 timeout=100)
harmonic_setLocalTPDOMaxMappedCount
EXTERNFUNC int harmonic_setLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 count)
harmonic_DataType_int32
@ harmonic_DataType_int32
Definition: eu_harmonic.h:120