eyou_harmonic_sdk  1.0
canablelibrary
eu_harmonic.h
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1 
11 #ifndef EU_HARMONIC_H
12 #define EU_HARMONIC_H
13 
14 #ifdef __cplusplus
15 extern "C"
16 {
17 #endif
18 
19 #ifndef EXTERNFUNC
20 #ifdef _WIN32
21 #define EXTERNFUNC __declspec(dllexport)
22 #else
23 #define EXTERNFUNC
24 #endif
25 #endif
26 
27 #ifdef _WIN32
28  typedef char hint8;
29  typedef short hint16;
30  typedef long hint24;
31  typedef long hint32;
32  typedef long long hint40;
33  typedef long long hint48;
34  typedef long long hint56;
35  typedef long long hint64;
36  typedef unsigned char huint8;
37  typedef unsigned short huint16;
38  typedef unsigned long huint24;
39  typedef unsigned long huint32;
40  typedef unsigned long long huint40;
41  typedef unsigned long long huint48;
42  typedef unsigned long long huint56;
43  typedef unsigned long long huint64;
44  typedef float hreal32;
45  typedef double hreal64;
46 #else
47 typedef signed char hint8;
48 typedef signed short int hint16;
49 typedef signed int hint24;
50 typedef signed int hint32;
51 typedef signed long int hint40;
52 typedef signed long int hint48;
53 typedef signed long int hint56;
54 typedef signed long int hint64;
55 typedef unsigned int huint8 __attribute__((__mode__(__QI__)));
56 typedef unsigned int huint16 __attribute__((__mode__(__HI__)));
57 typedef unsigned int huint24 __attribute__((__mode__(__SI__)));
58 typedef unsigned int huint32 __attribute__((__mode__(__SI__)));
59 typedef unsigned int huint40 __attribute__((__mode__(__DI__)));
60 typedef unsigned int huint48 __attribute__((__mode__(__DI__)));
61 typedef unsigned int huint56 __attribute__((__mode__(__DI__)));
62 typedef unsigned int huint64 __attribute__((__mode__(__DI__)));
63 typedef float hreal32;
64 typedef double hreal64;
65 #endif
66 
67 #define HARMONIC_SUCCESS (0)
68 #define HARMONIC_FAILED_DEVICEDISABLED (1)
69 #define HARMONIC_FAILED_OPENFAILED (2)
70 #define HARMONIC_FAILED_CANSEND (3)
71 #define HARMONIC_FAILED_CANRECEIVE (4)
72 #define HARMONIC_FAILED_ReadLocalDict (5)
73 #define HARMONIC_FAILED_WriteLocalDict (6)
74 #define HARMONIC_FAILED_NoRespondR (7)
75 #define HARMONIC_FAILED_NoRespondW (8)
76 #define HARMONIC_FAILED_UNKNOWN (100)
82  enum harmonic_DeviceType
83  {
87  };
88 
94  {
102  };
103 
105  {
114  };
120  {
126  };
127 
133  {
142  };
143 
149  {
150  // harmonic_DataType_boolean = 0x01, /**< 布尔类型 */
158  };
159 
165  {
175  };
176 
182  {
185  };
186 
192  {
195  };
196 
202  {
208  };
209 
215  {
221  };
222 
228  {
243  };
244 
249  typedef struct _harmonic_CanMsg
250  {
251  huint16 cob_id;
252  huint8 rtr;
253  huint8 len;
254  huint8 data[8];
255  } harmonic_CanMsg;
256 
261  typedef void (*harmonic_SendDataCallBack)(huint8 devIndex, const harmonic_CanMsg *msg);
262 
267  typedef void (*harmonic_ReceiveDataCallBack)(huint8 devIndex, const harmonic_CanMsg *msg);
268 
276 
284 
294  EXTERNFUNC int harmonic_initDLL(harmonic_DeviceType devType, huint8 devIndex, harmonic_Baudrate baudrate);
295 
303  EXTERNFUNC int harmonic_freeDLL(huint8 devIndex);
304 
314  EXTERNFUNC int harmonic_getNodeState(huint8 devIndex, huint8 id, harmonic_NodeState *state, huint32 timeout = 100);
315 
323 
332  EXTERNFUNC int harmonic_setNodeState(huint8 devIndex, huint8 id, harmonic_NMTState state);
333 
343  EXTERNFUNC int harmonic_readLocalDirectory(huint16 index, huint8 subIndex, harmonic_DataType dataType, void *readData);
344 
357  EXTERNFUNC int harmonic_readDirectory(huint8 devIndex, huint8 id, huint16 index, huint8 subIndex, harmonic_DataType dataType, void *readData, huint32 timeout = 100);
358 
369  EXTERNFUNC int harmonic_writeLocalDirectory(huint16 index, huint8 subIndex, harmonic_DataType dataType, void *writeData);
370 
383  EXTERNFUNC int harmonic_writeDirectory(huint8 devIndex, huint8 id, huint16 index, huint8 subIndex, harmonic_DataType dataType, void *writeData, huint32 timeout = 100);
384 
394  EXTERNFUNC int harmonic_writeCanData(huint8 devIndex, huint16 cobId, const huint8 *const data, huint8 len);
395 
410  EXTERNFUNC int harmonic_profilePositionControl(huint8 devIndex, huint8 id, hint32 targetPos, huint32 vel, huint32 acc, huint32 dec, bool isRelative = false, bool isImmediately = true, bool isUpdate = false);
411 
423  EXTERNFUNC int harmonic_profileVelocityControl(huint8 devIndex, huint8 id, hint32 targetVel, huint32 acc, huint32 dec, bool isUpdate = false);
424 
435  EXTERNFUNC int harmonic_profileTorqueControl(huint8 devIndex, huint8 id, huint16 targetTorque, hint16 slope, bool isUpdate = false);
436 
444  EXTERNFUNC int harmonic_stopControl(huint8 devIndex, huint8 id);
445 
452  EXTERNFUNC int harmonic_getLocalSyncCOBID(huint32 *cobId);
453 
460  EXTERNFUNC int harmonic_setLocalSyncCOBID(huint32 cobId);
461 
468  EXTERNFUNC int harmonic_getLocalSyncCycle(huint32 *cycle);
469 
476  EXTERNFUNC int harmonic_setLocalSyncCycle(huint32 cycle);
477 
484  EXTERNFUNC int harmonic_getLocalSyncWindow(huint32 *sWindow);
485 
492  EXTERNFUNC int harmonic_setLocalSyncWindow(huint32 sWindow);
493 
501  EXTERNFUNC int harmonic_getLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 *num);
502 
510  EXTERNFUNC int harmonic_setLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 num);
511 
519  EXTERNFUNC int harmonic_getLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 *cobId);
520 
528  EXTERNFUNC int harmonic_setLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 cobId);
529 
537  EXTERNFUNC int harmonic_getLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 *cobId);
538 
546  EXTERNFUNC int harmonic_setLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 cobId);
547 
555  EXTERNFUNC int harmonic_getLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 *nodeId);
556 
564  EXTERNFUNC int harmonic_setLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 nodeId);
565 
573  EXTERNFUNC int harmonic_getLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 *number);
574 
582  EXTERNFUNC int harmonic_setLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 number);
583 
591  EXTERNFUNC int harmonic_getLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 *cobId);
592 
600  EXTERNFUNC int harmonic_setLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 cobId);
601 
609  EXTERNFUNC int harmonic_getLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 *cobId);
610 
618  EXTERNFUNC int harmonic_setLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 cobId);
619 
627  EXTERNFUNC int harmonic_getLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 *nodeId);
628 
636  EXTERNFUNC int harmonic_setLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 nodeId);
637 
645  EXTERNFUNC int harmonic_getLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 *count);
646 
654  EXTERNFUNC int harmonic_setLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 count);
655 
663  EXTERNFUNC int harmonic_getLocalRPDOCobId(huint16 pdoIndex, huint32 *cobId);
664 
672  EXTERNFUNC int harmonic_setLocalRPDOCobId(huint16 pdoIndex, huint32 cobId);
673 
681  EXTERNFUNC int harmonic_getLocalRPDOTransmitType(huint16 pdoIndex, huint8 *type);
682 
690  EXTERNFUNC int harmonic_setLocalRPDOTransmitType(huint16 pdoIndex, huint8 type);
691 
699  EXTERNFUNC int harmonic_getLocalRPDOInhibitTime(huint16 pdoIndex, huint16 *time);
700 
708  EXTERNFUNC int harmonic_setLocalRPDOInhibitTime(huint16 pdoIndex, huint16 time);
709 
717  EXTERNFUNC int harmonic_getLocalRPDOEventTimer(huint16 pdoIndex, huint16 *timer);
718 
726  EXTERNFUNC int harmonic_setLocalRPDOEventTimer(huint16 pdoIndex, huint16 timer);
727 
735  EXTERNFUNC int harmonic_getLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 *value);
736 
744  EXTERNFUNC int harmonic_setLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 value);
745 
753  EXTERNFUNC int harmonic_getLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 *count);
754 
762  EXTERNFUNC int harmonic_setLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 count);
763 
772  EXTERNFUNC int harmonic_getLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value);
773 
782  EXTERNFUNC int harmonic_setLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value);
783 
791  EXTERNFUNC int harmonic_getLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 *count);
792 
800  EXTERNFUNC int harmonic_setLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 count);
801 
809  EXTERNFUNC int harmonic_getLocalTPDOCobId(huint16 pdoIndex, huint32 *cobId);
810 
818  EXTERNFUNC int harmonic_setLocalTPDOCobId(huint16 pdoIndex, huint32 cobId);
819 
827  EXTERNFUNC int harmonic_getLocalTPDOTransmitType(huint16 pdoIndex, huint8 *type);
828 
836  EXTERNFUNC int harmonic_setLocalTPDOTransmitType(huint16 pdoIndex, huint8 type);
837 
845  EXTERNFUNC int harmonic_getLocalTPDOInhibitTime(huint16 pdoIndex, huint16 *time);
846 
854  EXTERNFUNC int harmonic_setLocalTPDOInhibitTime(huint16 pdoIndex, huint16 time);
855 
863  EXTERNFUNC int harmonic_getLocalTPDOEventTimer(huint16 pdoIndex, huint16 *timer);
864 
872  EXTERNFUNC int harmonic_setLocalTPDOEventTimer(huint16 pdoIndex, huint16 timer);
873 
881  EXTERNFUNC int harmonic_getLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 *value);
882 
890  EXTERNFUNC int harmonic_setLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 value);
891 
899  EXTERNFUNC int harmonic_getLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 *count);
900 
908  EXTERNFUNC int harmonic_setLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 count);
909 
918  EXTERNFUNC int harmonic_getLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value);
919 
928  EXTERNFUNC int harmonic_setLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value);
929 
937 
944  EXTERNFUNC int harmonic_getLocalMitCtrlCobcmd1(huint32 *cobcmd);
945 
952  EXTERNFUNC int harmonic_setLocalMitCtrlCobcmd1(huint32 cobcmd);
953 
960  EXTERNFUNC int harmonic_getLocalMitCtrlCobcmd2(huint32 *cobcmd);
961 
968  EXTERNFUNC int harmonic_setLocalMitCtrlCobcmd2(huint32 cobcmd);
969 
976  EXTERNFUNC int harmonic_getLocalMitReplyCobdat1(huint32 *cobdat);
977 
984  EXTERNFUNC int harmonic_setLocalMitReplyCobdat1(huint32 cobdat);
985 
992  EXTERNFUNC int harmonic_getLocalMitReplyCobdat2(huint32 *cobdat);
993 
1000  EXTERNFUNC int harmonic_setLocalMitReplyCobdat2(huint32 cobdat);
1001 
1009  EXTERNFUNC int harmonic_getLocalMutiMotorPos(huint16 motorIndex, hint32 *pos);
1010 
1018  EXTERNFUNC int harmonic_getLocalMutiMotorVel(huint16 motorIndex, hint32 *vel);
1019 
1027  EXTERNFUNC int harmonic_getLocalMutiMotorTorque(huint16 motorIndex, hint16 *tor);
1028 
1036  EXTERNFUNC int harmonic_setLocalMutiMotorSetPos(huint16 motorIndex, hint32 pos);
1037 
1045  EXTERNFUNC int harmonic_setLocalMutiMotorSetVel(huint16 motorIndex, hint32 vel);
1046 
1054  EXTERNFUNC int harmonic_setLocalMutiMotorSetTorque(huint16 motorIndex, hint16 torque);
1055 
1063  EXTERNFUNC int harmonic_getLocalMutiMotorStatusWord(huint16 motorIndex, huint16 *status);
1064 
1072  EXTERNFUNC int harmonic_getLocalMutiMotorErrorCode(huint16 motorIndex, huint16 *error);
1073 
1081  EXTERNFUNC int harmonic_getLocalMitMutiMotorGetPos(huint16 motorIndex, hreal32 *pos);
1082 
1090  EXTERNFUNC int harmonic_setLocalMitMutiMotorGetPos(huint16 motorIndex, hreal32 pos);
1091 
1099  EXTERNFUNC int harmonic_getLocalMitMutiMotorGetVel(huint16 motorIndex, hreal32 *vel);
1100 
1108  EXTERNFUNC int harmonic_setLocalMitMutiMotorGetVel(huint16 motorIndex, hreal32 vel);
1109 
1117  EXTERNFUNC int harmonic_getLocalMitMutiMotorGetTor(huint16 motorIndex, hreal32 *tor);
1118 
1126  EXTERNFUNC int harmonic_setLocalMitMutiMotorGetTor(huint16 motorIndex, hreal32 tor);
1127 
1135  EXTERNFUNC int harmonic_getLocalMitMutiMotorSetPos(huint16 motorIndex, hreal32 *pos);
1136 
1144  EXTERNFUNC int harmonic_setLocalMitMutiMotorSetPos(huint16 motorIndex, hreal32 pos);
1145 
1153  EXTERNFUNC int harmonic_getLocalMitMutiMotorSetVel(huint16 motorIndex, hreal32 *vel);
1154 
1162  EXTERNFUNC int harmonic_setLocalMitMutiMotorSetVel(huint16 motorIndex, hreal32 vel);
1163 
1171  EXTERNFUNC int harmonic_getLocalMitMutiMotorSetTor(huint16 motorIndex, hreal32 *tor);
1172 
1180  EXTERNFUNC int harmonic_setLocalMitMutiMotorSetTor(huint16 motorIndex, hreal32 tor);
1181 
1188  EXTERNFUNC int harmonic_getLocalServoErrorCode(huint16 *err);
1189 
1196  EXTERNFUNC int harmonic_getLocalControlword(huint16 *word);
1197 
1204  EXTERNFUNC int harmonic_setLocalControlword(huint16 word);
1205 
1212  EXTERNFUNC int harmonic_getLocalStatusWord(huint16 *word);
1213 
1220  EXTERNFUNC int harmonic_getLocalActualPos(hint32 *pos);
1221 
1228  EXTERNFUNC int harmonic_getLocalActualVelocity(hint32 *velocity);
1229 
1236  EXTERNFUNC int harmonic_getLocalTargetTorque(hint16 *torque);
1237 
1244  EXTERNFUNC int harmonic_setLocalTargetTorque(hint16 torque);
1245 
1252  EXTERNFUNC int harmonic_getLocalActualTorque(hint16 *torque);
1253 
1260  EXTERNFUNC int harmonic_getLocalDCLinkCircuitVoltage(huint32 *voltage);
1261 
1268  EXTERNFUNC int harmonic_getLocalTargetPos(hint32 *pos);
1269 
1276  EXTERNFUNC int harmonic_setLocalTargetPos(hint32 pos);
1277 
1285 
1293 
1301 
1309 
1317 
1325 
1335  EXTERNFUNC int harmonic_getDeviceType(huint8 devIndex, huint8 id, huint32 *deviceType, huint32 timeout = 100);
1336 
1346  EXTERNFUNC int harmonic_getErrorRegister(huint8 devIndex, huint8 id, huint8 *errReg, huint32 timeout = 100);
1347 
1357  EXTERNFUNC int harmonic_getErrorFieldNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1358 
1368  EXTERNFUNC int harmonic_setErrorFieldNumber(huint8 devIndex, huint8 id, huint8 number, huint32 timeout = 100); // 0x1003-0
1369 
1380  EXTERNFUNC int harmonic_getErrorField(huint8 devIndex, huint8 id, huint8 subIndex, huint32 *err, huint32 timeout = 100);
1381 
1391  EXTERNFUNC int harmonic_getSyncCobid(huint8 devIndex, huint8 id, huint32 *cobid, huint32 timeout = 100);
1392 
1402  EXTERNFUNC int harmonic_setSyncCobid(huint8 devIndex, huint8 id, huint32 cobid, huint32 timeout = 100);
1403 
1413  EXTERNFUNC int harmonic_getSyncCycle(huint8 devIndex, huint8 id, huint32 *syncCycle, huint32 timeout = 100);
1414 
1424  EXTERNFUNC int harmonic_setSyncCycle(huint8 devIndex, huint8 id, huint32 syncCycle, huint32 timeout = 100);
1425 
1435  EXTERNFUNC int harmonic_getSyncWindow(huint8 devIndex, huint8 id, huint32 *syncWindow, huint32 timeout = 100);
1436 
1446  EXTERNFUNC int harmonic_setSyncWindow(huint8 devIndex, huint8 id, huint32 syncWindow, huint32 timeout = 100);
1447 
1457  EXTERNFUNC int harmonic_getDeviceName(huint8 devIndex, huint8 id, char *devName, huint32 timeout = 100);
1458 
1468  EXTERNFUNC int harmonic_getHardwareVersion(huint8 devIndex, huint8 id, char *version, huint32 timeout = 100);
1469 
1479  EXTERNFUNC int harmonic_getSoftwareVersion(huint8 devIndex, huint8 id, char *version, huint32 timeout = 100);
1480 
1490  EXTERNFUNC int harmonic_getGuardTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
1491 
1501  EXTERNFUNC int harmonic_setGuardTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
1502 
1512  EXTERNFUNC int harmonic_getLifeTimeFactor(huint8 devIndex, huint8 id, huint8 *factor, huint32 timeout = 100);
1513 
1523  EXTERNFUNC int harmonic_setLifeTimeFactor(huint8 devIndex, huint8 id, huint8 factor, huint32 timeout = 100);
1524 
1534  EXTERNFUNC int harmonic_getStoreParametersNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1535 
1545  EXTERNFUNC int harmonic_getStoreParameters(huint8 devIndex, huint8 id, huint32 *value, huint32 timeout = 100);
1546 
1556  EXTERNFUNC int harmonic_setStoreParameters(huint8 devIndex, huint8 id, huint32 value, huint32 timeout = 100);
1557 
1567  EXTERNFUNC int harmonic_getRestoreDefaultParametersNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1568 
1578  EXTERNFUNC int harmonic_getRestoreDefaultParameters(huint8 devIndex, huint8 id, huint32 *value, huint32 timeout = 100);
1579 
1590  EXTERNFUNC int harmonic_setRestoreDefaultParameters(huint8 devIndex, huint8 id, huint32 value, huint32 timeout = 100);
1591 
1601  EXTERNFUNC int harmonic_getEmergencyCobid(huint8 devIndex, huint8 id, huint32 *cobid, huint32 timeout = 100);
1602 
1612  EXTERNFUNC int harmonic_setEmergencyCobid(huint8 devIndex, huint8 id, huint32 cobid, huint32 timeout = 100);
1613 
1623  EXTERNFUNC int harmonic_getEmergencyInhibitTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
1624 
1634  EXTERNFUNC int harmonic_setEmergencyInhibitTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
1635 
1645  EXTERNFUNC int harmonic_getHearbeatConsumerTimeParasNum(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1646 
1657  EXTERNFUNC int harmonic_getHearbeatConsumerTime(huint8 devIndex, huint8 id, huint8 subIndex, huint32 *time, huint32 timeout = 100);
1658 
1669  EXTERNFUNC int harmonic_setHearbeatConsumerTime(huint8 devIndex, huint8 id, huint8 subIndex, huint32 time, huint32 timeout = 100);
1670 
1680  EXTERNFUNC int harmonic_getProducerHeartbeatTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
1681 
1691  EXTERNFUNC int harmonic_setProducerHeartbeatTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
1692 
1702  EXTERNFUNC int harmonic_getIdentityObjectNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1703 
1713  EXTERNFUNC int harmonic_getVendorID(huint8 devIndex, huint8 id, huint32 *vId, huint32 timeout = 100);
1714 
1724  EXTERNFUNC int harmonic_getProductCode(huint8 devIndex, huint8 id, huint32 *pCode, huint32 timeout = 100);
1725 
1735  EXTERNFUNC int harmonic_getIdentityObjectRevisionNumber(huint8 devIndex, huint8 id, huint32 *revisionNum, huint32 timeout = 100);
1736 
1746  EXTERNFUNC int harmonic_getSerialNumber(huint8 devIndex, huint8 id, huint32 *serialNum, huint32 timeout = 100);
1747 
1757  EXTERNFUNC int harmonic_getSyncCounter(huint8 devIndex, huint8 id, huint8 *counter, huint32 timeout = 100);
1758 
1768  EXTERNFUNC int harmonic_setSyncCounter(huint8 devIndex, huint8 id, huint8 counter, huint32 timeout = 100);
1769 
1779  EXTERNFUNC int harmonic_getServerSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 *num, huint32 timeout = 100);
1780 
1790  EXTERNFUNC int harmonic_setServerSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 num, huint32 timeout = 100);
1791 
1801  EXTERNFUNC int harmonic_getServerSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout = 100);
1802 
1812  EXTERNFUNC int harmonic_setServerSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout = 100);
1813 
1823  EXTERNFUNC int harmonic_getServerSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout = 100);
1824 
1834  EXTERNFUNC int harmonic_setServerSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout = 100);
1835 
1845  EXTERNFUNC int harmonic_getServerSDONodeIdOfClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 *nodeId, huint32 timeout = 100);
1846 
1856  EXTERNFUNC int harmonic_setServerSDONodeIdOfClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 nodeId, huint32 timeout = 100);
1857 
1868  EXTERNFUNC int harmonic_getClientSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 *number, huint32 timeout = 100);
1869 
1880  EXTERNFUNC int harmonic_setClientSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 number, huint32 timeout = 100);
1881 
1892  EXTERNFUNC int harmonic_getClientSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout = 100);
1893 
1904  EXTERNFUNC int harmonic_setClientSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout = 100);
1905 
1916  EXTERNFUNC int harmonic_getClientSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout = 100);
1917 
1928  EXTERNFUNC int harmonic_setClientSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout = 100);
1929 
1940  EXTERNFUNC int harmonic_getClientSDONodeIdOfSDOServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 *nodeId, huint32 timeout = 100);
1941 
1952  EXTERNFUNC int harmonic_setClientSDONodeIdOfSDOServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 nodeId, huint32 timeout = 100);
1953 
1964  EXTERNFUNC int harmonic_getRPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
1965 
1976  EXTERNFUNC int harmonic_setRPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
1977 
1988  EXTERNFUNC int harmonic_getRPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout = 100);
1989 
2000  EXTERNFUNC int harmonic_setRPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout = 100);
2001 
2012  EXTERNFUNC int harmonic_getRPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout = 100);
2013 
2024  EXTERNFUNC int harmonic_setRPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout = 100);
2025 
2036  EXTERNFUNC int harmonic_getRPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout = 100);
2037 
2048  EXTERNFUNC int harmonic_setRPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout = 100);
2049 
2060  EXTERNFUNC int harmonic_getRPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout = 100);
2061 
2072  EXTERNFUNC int harmonic_setRPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout = 100);
2073 
2084  EXTERNFUNC int harmonic_getRPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout = 100);
2085 
2096  EXTERNFUNC int harmonic_setRPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout = 100); // 1400-6
2097 
2108  EXTERNFUNC int harmonic_getRPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
2109 
2120  EXTERNFUNC int harmonic_setRPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
2121 
2133  EXTERNFUNC int harmonic_getRPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout = 100);
2134 
2146  EXTERNFUNC int harmonic_setRPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout = 100);
2147 
2158  EXTERNFUNC int harmonic_getTPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
2159 
2170  EXTERNFUNC int harmonic_setTPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
2171 
2182  EXTERNFUNC int harmonic_getTPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout = 100);
2183 
2194  EXTERNFUNC int harmonic_setTPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout = 100);
2195 
2206  EXTERNFUNC int harmonic_getTPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout = 100);
2207 
2218  EXTERNFUNC int harmonic_setTPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout = 100);
2219 
2230  EXTERNFUNC int harmonic_getTPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout = 100);
2231 
2242  EXTERNFUNC int harmonic_setTPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout = 100);
2243 
2254  EXTERNFUNC int harmonic_getTPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout = 100);
2255 
2265  EXTERNFUNC int harmonic_setTPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout = 100);
2266 
2277  EXTERNFUNC int harmonic_getTPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout = 100);
2278 
2289  EXTERNFUNC int harmonic_setTPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout = 100);
2290 
2301  EXTERNFUNC int harmonic_getTPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
2302 
2313  EXTERNFUNC int harmonic_setTPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
2314 
2326  EXTERNFUNC int harmonic_getTPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout = 100);
2327 
2339  EXTERNFUNC int harmonic_setTPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout = 100); // 1A00-1
2340 
2350  EXTERNFUNC int harmonic_getServoParametersNumber(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2351 
2361  EXTERNFUNC int harmonic_setServoParametersNumber(huint8 devIndex, huint8 id, huint8 num, huint32 timeout = 100);
2362 
2372  EXTERNFUNC int harmonic_getServoID(huint8 devIndex, huint8 id, huint8 *servoID, huint32 timeout = 100);
2373 
2383  EXTERNFUNC int harmonic_setServoID(huint8 devIndex, huint8 id, huint8 servoID, huint32 timeout = 100);
2384 
2394  EXTERNFUNC int harmonic_getServoCanBaudrate(huint8 devIndex, huint8 id, huint16 *baudrate, huint32 timeout = 100);
2395 
2405  EXTERNFUNC int harmonic_setServoCanBaudrate(huint8 devIndex, huint8 id, huint16 baudrate, huint32 timeout = 100);
2406 
2416  EXTERNFUNC int harmonic_getServoSoftwareLimitState(huint8 devIndex, huint8 id, huint32 *state, huint32 timeout = 100);
2417 
2427  EXTERNFUNC int harmonic_setServoSoftwareLimitState(huint8 devIndex, huint8 id, huint32 state, huint32 timeout = 100);
2428 
2438  EXTERNFUNC int harmonic_getServoCommunicationMode(huint8 devIndex, huint8 id, huint8 *mode, huint32 timeout = 100);
2439 
2449  EXTERNFUNC int harmonic_setServoCommunicationMode(huint8 devIndex, huint8 id, huint8 mode, huint32 timeout = 100);
2450 
2460  EXTERNFUNC int harmonic_getServoCurrentLoopPINum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2461 
2471  EXTERNFUNC int harmonic_getDefaultServoCurrentLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout = 100);
2472 
2482  EXTERNFUNC int harmonic_setDefaultServoCurrentLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout = 100);
2483 
2493  EXTERNFUNC int harmonic_getDefaultServoCurrentLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout = 100);
2494 
2504  EXTERNFUNC int harmonic_setDefaultServoCurrentLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout = 100);
2505 
2515  EXTERNFUNC int harmonic_getServoCurrentLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout = 100);
2516 
2526  EXTERNFUNC int harmonic_setServoCurrentLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout = 100);
2527 
2537  EXTERNFUNC int harmonic_getServoCurrentLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout = 100);
2538 
2548  EXTERNFUNC int harmonic_setServoCurrentLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout = 100);
2549 
2559  EXTERNFUNC int harmonic_getServoVelocityLoopPINum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2560 
2570  EXTERNFUNC int harmonic_getDefaultServoVelocityLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout = 100);
2571 
2581  EXTERNFUNC int harmonic_setDefaultServoVelocityLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout = 100);
2582 
2592  EXTERNFUNC int harmonic_getDefaultServoVelocityLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout = 100);
2593 
2603  EXTERNFUNC int harmonic_setDefaultServoVelocityLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout = 100);
2604 
2614  EXTERNFUNC int harmonic_getServoVelocityLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout = 100);
2615 
2625  EXTERNFUNC int harmonic_setServoVelocityLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout = 100);
2626 
2636  EXTERNFUNC int harmonic_getServoVelocityLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout = 100);
2637 
2647  EXTERNFUNC int harmonic_setServoVelocityLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout = 100);
2648 
2658  EXTERNFUNC int harmonic_getServoPositionLoopPINum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2659 
2669  EXTERNFUNC int harmonic_getDefaultServoPositionLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout = 100);
2670 
2680  EXTERNFUNC int harmonic_setDefaultServoPositionLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout = 100);
2681 
2691  EXTERNFUNC int harmonic_getDefaultServoPositionLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout = 100);
2692 
2702  EXTERNFUNC int harmonic_setDefaultServoPositionLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout = 100);
2703 
2713  EXTERNFUNC int harmonic_getServoPositionLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout = 100);
2714 
2724  EXTERNFUNC int harmonic_setServoPositionLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout = 100);
2725 
2735  EXTERNFUNC int harmonic_getServoPositionLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout = 100);
2736 
2746  EXTERNFUNC int harmonic_setServoPositionLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout = 100);
2747 
2757  EXTERNFUNC int harmonic_getServoBrakeParaNum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2758 
2768  EXTERNFUNC int harmonic_getServoBrakeControl(huint8 devIndex, huint8 id, huint8 *status, huint32 timeout = 100);
2769 
2779  EXTERNFUNC int harmonic_setServoBrakeControl(huint8 devIndex, huint8 id, huint8 status, huint32 timeout = 100);
2780 
2790  EXTERNFUNC int harmonic_getBrakeState(huint8 devIndex, huint8 id, huint8 *state, huint32 timeout = 100);
2791 
2801  EXTERNFUNC int harmonic_setBrakeState(huint8 devIndex, huint8 id, huint8 state, huint32 timeout = 100);
2802 
2812  EXTERNFUNC int harmonic_getServoTemperatureParasNum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2813 
2823  EXTERNFUNC int harmonic_getServoTemperature(huint8 devIndex, huint8 id, hint8 *tem, huint32 timeout = 100);
2824 
2834  EXTERNFUNC int harmonic_getServoTemperatureLimit(huint8 devIndex, huint8 id, hint8 *tem, huint32 timeout = 100);
2835 
2845  EXTERNFUNC int harmonic_setServoTemperatureLimit(huint8 devIndex, huint8 id, huint8 tem, huint32 timeout = 100);
2846 
2856  EXTERNFUNC int harmonic_getServoTemperatureLimitTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
2857 
2867  EXTERNFUNC int harmonic_setServoTemperatureLimitTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
2868 
2878  EXTERNFUNC int harmonic_getServoVelocityIntLimit(huint8 devIndex, huint8 id, huint16 *limit, huint32 timeout = 100);
2879 
2889  EXTERNFUNC int harmonic_setServoVelocityIntLimit(huint8 devIndex, huint8 id, huint16 limit, huint32 timeout = 100);
2890 
2900  EXTERNFUNC int harmonic_getServoBlockParasNum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2901 
2911  EXTERNFUNC int harmonic_getServoBlockTorque(huint8 devIndex, huint8 id, huint16 *torque, huint32 timeout = 100);
2912 
2922  EXTERNFUNC int harmonic_setServoBlockTorque(huint8 devIndex, huint8 id, huint16 torque, huint32 timeout = 100);
2923 
2933  EXTERNFUNC int harmonic_getServoBlockTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
2934 
2944  EXTERNFUNC int harmonic_setServoBlockTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
2945 
2955  EXTERNFUNC int harmonic_getServoBlockVelocity(huint8 devIndex, huint8 id, huint32 *velocity, huint32 timeout = 100);
2956 
2966  EXTERNFUNC int harmonic_setServoBlockVelocity(huint8 devIndex, huint8 id, huint32 velocity, huint32 timeout = 100);
2967 
2977  EXTERNFUNC int harmonic_getServoVelocityFlowingErrorParasNum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2978 
2988  EXTERNFUNC int harmonic_getServoVelocityFlowingErrorWindows(huint8 devIndex, huint8 id, huint32 *error, huint32 timeout = 100);
2989 
2999  EXTERNFUNC int harmonic_setServoVelocityFlowingErrorWindows(huint8 devIndex, huint8 id, huint32 error, huint32 timeout = 100);
3000 
3010  EXTERNFUNC int harmonic_getServoVelocityFlowingErrorTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
3011 
3021  EXTERNFUNC int harmonic_setServoVelocityFlowingErrorTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
3022 
3032  EXTERNFUNC int harmonic_getServoTorqueWindow(huint8 devIndex, huint8 id, huint16 *window, huint32 timeout = 100);
3033 
3043  EXTERNFUNC int harmonic_setServoTorqueWindow(huint8 devIndex, huint8 id, huint16 window, huint32 timeout = 100);
3044 
3054  EXTERNFUNC int harmonic_getServoTorqueWindowTime(huint8 devIndex, huint8 id, huint16 *window, huint32 timeout = 100);
3055 
3065  EXTERNFUNC int harmonic_setServoTorqueWindowTime(huint8 devIndex, huint8 id, huint16 window, huint32 timeout = 100);
3066 
3076  EXTERNFUNC int harmonic_getServoOverSpeedThreshold(huint8 devIndex, huint8 id, huint32 *thre, huint32 timeout = 100);
3077 
3087  EXTERNFUNC int harmonic_setServoOverSpeedThreshold(huint8 devIndex, huint8 id, huint32 thre, huint32 timeout = 100);
3088 
3098  EXTERNFUNC int harmonic_getServoOverSpeedTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
3099 
3109  EXTERNFUNC int harmonic_setServoOverSpeedTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
3110 
3120  EXTERNFUNC int harmonic_getServoBrakeDelayTime(huint8 devIndex, huint8 id, huint8 *time, huint32 timeout = 100);
3121 
3131  EXTERNFUNC int harmonic_setServoBrakeDelayTime(huint8 devIndex, huint8 id, huint8 time, huint32 timeout = 100);
3132 
3142  EXTERNFUNC int harmonic_getI2tOverLoadLimit(huint8 devIndex, huint8 id, huint16 *value, huint32 timeout = 100);
3143 
3153  EXTERNFUNC int harmonic_setI2tOverLoadLimit(huint8 devIndex, huint8 id, huint16 value, huint32 timeout = 100);
3154 
3164  EXTERNFUNC int harmonic_getI2tOverLoadValue(huint8 devIndex, huint8 id, huint16 *value, huint32 timeout = 100);
3165 
3175  EXTERNFUNC int harmonic_getServoFirstEncoderValue(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout = 100);
3176 
3186  EXTERNFUNC int harmonic_getServoSecondEncoderValue(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout = 100);
3187 
3197  EXTERNFUNC int harmonic_getServoThetaBiasValue(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout = 100);
3198 
3208  EXTERNFUNC int harmonic_getDCVolageProtectionParasNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
3209 
3219  EXTERNFUNC int harmonic_getDCUnderVoltageThreshold(huint8 devIndex, huint8 id, huint32 *vol, huint32 timeout = 100);
3220 
3230  EXTERNFUNC int harmonic_setDCUnderVoltageThreshold(huint8 devIndex, huint8 id, huint32 vol, huint32 timeout = 100);
3231 
3241  EXTERNFUNC int harmonic_getDCUnderVoltageTime(huint8 devIndex, huint8 id, huint32 *time, huint32 timeout = 100);
3242 
3252  EXTERNFUNC int harmonic_setDCUnderVoltageTime(huint8 devIndex, huint8 id, huint32 time, huint32 timeout = 100);
3253 
3263  EXTERNFUNC int harmonic_getDCOverVoltageThreshold(huint8 devIndex, huint8 id, huint32 *vol, huint32 timeout = 100);
3264 
3274  EXTERNFUNC int harmonic_setDCOverVoltageThreshold(huint8 devIndex, huint8 id, huint32 vol, huint32 timeout = 100);
3275 
3285  EXTERNFUNC int harmonic_getDCOverVoltageTime(huint8 devIndex, huint8 id, huint32 *time, huint32 timeout = 100);
3286 
3296  EXTERNFUNC int harmonic_setDCOverVoltageTime(huint8 devIndex, huint8 id, huint32 time, huint32 timeout = 100);
3297 
3307  EXTERNFUNC int harmonic_getTorqueSensorValue(huint8 devIndex, huint8 id, hreal32 *value, huint32 timeout = 100);
3308 
3318  EXTERNFUNC int harmonic_getFindPointDoneFlag(huint8 devIndex, huint8 id, huint32 *flag, huint32 timeout = 100);
3319 
3329  EXTERNFUNC int harmonic_setFindPointDoneFlag(huint8 devIndex, huint8 id, huint32 flag, huint32 timeout = 100);
3330 
3340  EXTERNFUNC int harmonic_getFindPointStart(huint8 devIndex, huint8 id, huint32 *status, huint32 timeout = 100);
3341 
3351  EXTERNFUNC int harmonic_setFindPointStart(huint8 devIndex, huint8 id, huint32 status, huint32 timeout = 100);
3352 
3362  EXTERNFUNC int harmonic_getFindPointMoveMax(huint8 devIndex, huint8 id, huint32 *angle, huint32 timeout = 100);
3363 
3373  EXTERNFUNC int harmonic_setFindPointMoveMax(huint8 devIndex, huint8 id, huint32 angle, huint32 timeout = 100);
3374 
3384  EXTERNFUNC int harmonic_getFindPointMoveAcc(huint8 devIndex, huint8 id, huint32 *acc, huint32 timeout = 100);
3385 
3395  EXTERNFUNC int harmonic_setFindPointMoveAcc(huint8 devIndex, huint8 id, huint32 acc, huint32 timeout = 100);
3396 
3406  EXTERNFUNC int harmonic_getFindPointMoveDec(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout = 100);
3407 
3417  EXTERNFUNC int harmonic_setFindPointMoveDec(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout = 100);
3418 
3428  EXTERNFUNC int harmonic_getFindPointMoveVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout = 100);
3429 
3439  EXTERNFUNC int harmonic_setFindPointMoveVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout = 100);
3440 
3450  EXTERNFUNC int harmonic_getTorqueFactor(huint8 devIndex, huint8 id, huint16 *factor, huint32 timeout = 100);
3451 
3461  EXTERNFUNC int harmonic_setTorqueFactor(huint8 devIndex, huint8 id, huint16 factor, huint32 timeout = 100);
3462 
3472  EXTERNFUNC int harmonic_getMitCtrlCobcmd1(huint8 devIndex, huint8 id, huint32 *cobcmd, huint32 timeout = 100);
3473 
3483  EXTERNFUNC int harmonic_setMitCtrlCobcmd1(huint8 devIndex, huint8 id, huint32 cobcmd, huint32 timeout = 100);
3484 
3494  EXTERNFUNC int harmonic_getMitCtrlCobcmd2(huint8 devIndex, huint8 id, huint32 *cobcmd, huint32 timeout = 100);
3495 
3505  EXTERNFUNC int harmonic_setMitCtrlCobcmd2(huint8 devIndex, huint8 id, huint32 cobcmd, huint32 timeout = 100);
3506 
3516  EXTERNFUNC int harmonic_getMitReplyCobdat1(huint8 devIndex, huint8 id, huint32 *cobdat, huint32 timeout = 100);
3517 
3527  EXTERNFUNC int harmonic_setMitReplyCobdat1(huint8 devIndex, huint8 id, huint32 cobdat, huint32 timeout = 100);
3528 
3538  EXTERNFUNC int harmonic_getMitReplyCobdat2(huint8 devIndex, huint8 id, huint32 *cobdat, huint32 timeout = 100);
3539 
3549  EXTERNFUNC int harmonic_setMitReplyCobdat2(huint8 devIndex, huint8 id, huint32 cobdat, huint32 timeout = 100);
3550 
3560  EXTERNFUNC int harmonic_getMitPMin(huint8 devIndex, huint8 id, hreal32 *pMin, huint32 timeout = 100);
3561 
3571  EXTERNFUNC int harmonic_setMitPMin(huint8 devIndex, huint8 id, hreal32 pMin, huint32 timeout = 100);
3572 
3582  EXTERNFUNC int harmonic_getMitPMax(huint8 devIndex, huint8 id, hreal32 *pMax, huint32 timeout = 100);
3583 
3593  EXTERNFUNC int harmonic_setMitPMax(huint8 devIndex, huint8 id, hreal32 pMax, huint32 timeout = 100);
3594 
3604  EXTERNFUNC int harmonic_getMitVMin(huint8 devIndex, huint8 id, hreal32 *vMin, huint32 timeout = 100);
3605 
3615  EXTERNFUNC int harmonic_setMitVMin(huint8 devIndex, huint8 id, hreal32 vMin, huint32 timeout = 100);
3616 
3626  EXTERNFUNC int harmonic_getMitVMax(huint8 devIndex, huint8 id, hreal32 *vMax, huint32 timeout = 100);
3627 
3637  EXTERNFUNC int harmonic_setMitVMax(huint8 devIndex, huint8 id, hreal32 vMax, huint32 timeout = 100);
3638 
3648  EXTERNFUNC int harmonic_getMitKPMin(huint8 devIndex, huint8 id, hreal32 *kpMin, huint32 timeout = 100);
3649 
3659  EXTERNFUNC int harmonic_setMitKPMin(huint8 devIndex, huint8 id, hreal32 kpMin, huint32 timeout = 100);
3660 
3670  EXTERNFUNC int harmonic_getMitKPMax(huint8 devIndex, huint8 id, hreal32 *kpMax, huint32 timeout = 100);
3671 
3681  EXTERNFUNC int harmonic_setMitKPMax(huint8 devIndex, huint8 id, hreal32 kpMax, huint32 timeout = 100);
3682 
3692  EXTERNFUNC int harmonic_getMitKDMin(huint8 devIndex, huint8 id, hreal32 *kdMin, huint32 timeout = 100);
3693 
3703  EXTERNFUNC int harmonic_setMitKDMin(huint8 devIndex, huint8 id, hreal32 kdMin, huint32 timeout = 100);
3704 
3714  EXTERNFUNC int harmonic_getMitKDMax(huint8 devIndex, huint8 id, hreal32 *kdMax, huint32 timeout = 100);
3715 
3725  EXTERNFUNC int harmonic_setMitKDMax(huint8 devIndex, huint8 id, hreal32 kdMax, huint32 timeout = 100);
3726 
3736  EXTERNFUNC int harmonic_getMitTMin(huint8 devIndex, huint8 id, hreal32 *tMin, huint32 timeout = 100);
3737 
3747  EXTERNFUNC int harmonic_setMitTMin(huint8 devIndex, huint8 id, hreal32 tMin, huint32 timeout = 100);
3748 
3758  EXTERNFUNC int harmonic_getMitTMax(huint8 devIndex, huint8 id, hreal32 *tMin, huint32 timeout = 100);
3759 
3769  EXTERNFUNC int harmonic_setMitTMax(huint8 devIndex, huint8 id, hreal32 tMin, huint32 timeout = 100);
3770 
3780  EXTERNFUNC int harmonic_getServoErrorCode(huint8 devIndex, huint8 id, huint16 *err, huint32 timeout = 100);
3781 
3791  EXTERNFUNC int harmonic_getControlword(huint8 devIndex, huint8 id, huint16 *word, huint32 timeout = 100);
3792 
3802  EXTERNFUNC int harmonic_setControlword(huint8 devIndex, huint8 id, huint16 word, huint32 timeout = 100);
3803 
3813  EXTERNFUNC int harmonic_getStatusWord(huint8 devIndex, huint8 id, huint16 *word, huint32 timeout = 100);
3814 
3824  EXTERNFUNC int harmonic_getQuickStopOption(huint8 devIndex, huint8 id, harmonic_QuickStopOption *option, huint32 timeout = 100);
3825 
3835  EXTERNFUNC int harmonic_setQuickStopOption(huint8 devIndex, huint8 id, harmonic_QuickStopOption option, huint32 timeout = 100);
3836 
3846  EXTERNFUNC int harmonic_getShutdownOptionCode(huint8 devIndex, huint8 id, harmonic_ShutdownOption *code, huint32 timeout = 100);
3847 
3857  EXTERNFUNC int harmonic_setShutdownOptionCode(huint8 devIndex, huint8 id, harmonic_ShutdownOption code, huint32 timeout = 100);
3858 
3868  EXTERNFUNC int harmonic_getDisableOperationOptionCode(huint8 devIndex, huint8 id, harmonic_DisableOperationOption *code, huint32 timeout = 100);
3869 
3879  EXTERNFUNC int harmonic_setDisableOperationOptionCode(huint8 devIndex, huint8 id, harmonic_DisableOperationOption code, huint32 timeout = 100);
3880 
3890  EXTERNFUNC int harmonic_getHaltOption(huint8 devIndex, huint8 id, harmonic_HaltOption *option, huint32 timeout = 100);
3891 
3901  EXTERNFUNC int harmonic_setHaltOption(huint8 devIndex, huint8 id, harmonic_HaltOption option, huint32 timeout = 100);
3902 
3912  EXTERNFUNC int harmonic_getFaultReactionOption(huint8 devIndex, huint8 id, harmonic_FaultReactionOption *option, huint32 timeout = 100);
3913 
3923  EXTERNFUNC int harmonic_setFaultReactionOption(huint8 devIndex, huint8 id, harmonic_FaultReactionOption option, huint32 timeout = 100);
3924 
3934  EXTERNFUNC int harmonic_getOperateMode(huint8 devIndex, huint8 id, harmonic_OperateMode *mode, huint32 timeout = 100);
3935 
3945  EXTERNFUNC int harmonic_setOperateMode(huint8 devIndex, huint8 id, harmonic_OperateMode mode, huint32 timeout = 100);
3946 
3956  EXTERNFUNC int harmonic_getDisplayOperateMode(huint8 devIndex, huint8 id, harmonic_OperateMode *mode, huint32 timeout = 100);
3957 
3967  EXTERNFUNC int harmonic_getDemandPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
3968 
3978  EXTERNFUNC int harmonic_setDemandPos(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout = 100);
3979 
3989  EXTERNFUNC int harmonic_getActualPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
3990 
4000  EXTERNFUNC int harmonic_getFollowingErrorWindow(huint8 devIndex, huint8 id, huint32 *eWindow, huint32 timeout = 100);
4001 
4011  EXTERNFUNC int harmonic_setFollowingErrorWindow(huint8 devIndex, huint8 id, huint32 eWindow, huint32 timeout = 100);
4012 
4022  EXTERNFUNC int harmonic_getPositionWindow(huint8 devIndex, huint8 id, huint32 *pWindow, huint32 timeout = 100);
4023 
4033  EXTERNFUNC int harmonic_setPositionWindow(huint8 devIndex, huint8 id, huint32 pWindow, huint32 timeout = 100);
4034 
4044  EXTERNFUNC int harmonic_getPositionWindowTime(huint8 devIndex, huint8 id, huint16 *pWindowTime, huint32 timeout = 100);
4045 
4055  EXTERNFUNC int harmonic_setPositionWindowTime(huint8 devIndex, huint8 id, huint16 pWindowTime, huint32 timeout = 100);
4056 
4066  EXTERNFUNC int harmonic_getDemandVelocity(huint8 devIndex, huint8 id, hint32 *dVel, huint32 timeout = 100);
4067 
4077  EXTERNFUNC int harmonic_setDemandVelocity(huint8 devIndex, huint8 id, hint32 dvel, huint32 timeout = 100);
4078 
4088  EXTERNFUNC int harmonic_getActualVelocity(huint8 devIndex, huint8 id, hint32 *vel, huint32 timeout = 100);
4089 
4099  EXTERNFUNC int harmonic_getVelocityWindow(huint8 devIndex, huint8 id, huint16 *vWindow, huint32 timeout = 100);
4100 
4110  EXTERNFUNC int harmonic_setVelocityWindow(huint8 devIndex, huint8 id, huint16 vWindow, huint32 timeout = 100);
4111 
4121  EXTERNFUNC int harmonic_getVelocityWindowTime(huint8 devIndex, huint8 id, huint16 *wTime, huint32 timeout = 100);
4122 
4132  EXTERNFUNC int harmonic_setVelocityWindowTime(huint8 devIndex, huint8 id, huint16 wTime, huint32 timeout = 100);
4133 
4143  EXTERNFUNC int harmonic_getVelocityThreshold(huint8 devIndex, huint8 id, huint16 *thres, huint32 timeout = 100);
4144 
4154  EXTERNFUNC int harmonic_setVelocityThreshold(huint8 devIndex, huint8 id, huint16 thres, huint32 timeout = 100);
4155 
4165  EXTERNFUNC int harmonic_getVelocityThresholdTime(huint8 devIndex, huint8 id, huint16 *tTime, huint32 timeout = 100);
4166 
4176  EXTERNFUNC int harmonic_setVelocityThresholdTime(huint8 devIndex, huint8 id, huint16 tTime, huint32 timeout = 100);
4177 
4187  EXTERNFUNC int harmonic_getTargetTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout = 100);
4188 
4198  EXTERNFUNC int harmonic_setTargetTorque(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout = 100);
4199 
4209  EXTERNFUNC int harmonic_getTorqueLimit(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout = 100);
4210 
4220  EXTERNFUNC int harmonic_setTorqueLimit(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout = 100);
4221 
4231  EXTERNFUNC int harmonic_getDemandTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout = 100);
4232 
4242  EXTERNFUNC int harmonic_setDemandTorque(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout = 100);
4243 
4253  EXTERNFUNC int harmonic_getMotorRatedTorque(huint8 devIndex, huint8 id, huint32 *torque, huint32 timeout = 100);
4254 
4264  EXTERNFUNC int harmonic_setMotorRatedTorque(huint8 devIndex, huint8 id, huint32 torque, huint32 timeout = 100);
4265 
4275  EXTERNFUNC int harmonic_getActualTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout = 100);
4276 
4286  EXTERNFUNC int harmonic_getCurrentActualValue(huint8 devIndex, huint8 id, hint16 *current, huint32 timeout = 100);
4287 
4297  EXTERNFUNC int harmonic_getDCLinkCircuitVoltage(huint8 devIndex, huint8 id, huint32 *voltage, huint32 timeout = 100);
4298 
4308  EXTERNFUNC int harmonic_setDCLinkCircuitVoltage(huint8 devIndex, huint8 id, huint32 voltage, huint32 timeout = 100);
4309 
4319  EXTERNFUNC int harmonic_getTargetPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
4320 
4330  EXTERNFUNC int harmonic_setTargetPos(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout = 100);
4331 
4341  EXTERNFUNC int harmonic_getHomeOffset(huint8 devIndex, huint8 id, hint32 *offSet, huint32 timeout = 100);
4342 
4352  EXTERNFUNC int harmonic_setHomeOffset(huint8 devIndex, huint8 id, hint32 offSet, huint32 timeout = 100);
4353 
4363  EXTERNFUNC int harmonic_getSoftwareMinimumPosition(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
4364 
4374  EXTERNFUNC int harmonic_setSoftwareMinimumPosition(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout = 100);
4375 
4385  EXTERNFUNC int harmonic_getSoftwareMaxmumPosition(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
4386 
4396  EXTERNFUNC int harmonic_setSoftwareMaxmumPosition(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout = 100);
4397 
4407  EXTERNFUNC int harmonic_getMaxProfileVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout = 100);
4408 
4418  EXTERNFUNC int harmonic_setMaxProfileVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout = 100);
4419 
4429  EXTERNFUNC int harmonic_getProfileVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout = 100);
4430 
4440  EXTERNFUNC int harmonic_setProfileVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout = 100);
4441 
4451  EXTERNFUNC int harmonic_getProfileAcceleration(huint8 devIndex, huint8 id, huint32 *acc, huint32 timeout = 100);
4452 
4462  EXTERNFUNC int harmonic_setProfileAcceleration(huint8 devIndex, huint8 id, huint32 acc, huint32 timeout = 100);
4463 
4473  EXTERNFUNC int harmonic_getProfileDeceleration(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout = 100);
4474 
4484  EXTERNFUNC int harmonic_setProfileDeceleration(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout = 100);
4485 
4495  EXTERNFUNC int harmonic_getQuickStopDeceleration(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout = 100);
4496 
4506  EXTERNFUNC int harmonic_setQuickStopDeceleration(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout = 100);
4507 
4517  EXTERNFUNC int harmonic_getTorqueSlope(huint8 devIndex, huint8 id, huint32 *slope, huint32 timeout = 100);
4518 
4528  EXTERNFUNC int harmonic_setTorqueSlope(huint8 devIndex, huint8 id, huint32 slope, huint32 timeout = 100);
4529 
4539  EXTERNFUNC int harmonic_getGearRatioMotorRevolutions(huint8 devIndex, huint8 id, huint32 *rev, huint32 timeout = 100);
4540 
4550  EXTERNFUNC int harmonic_setGearRatioMotorRevolutions(huint8 devIndex, huint8 id, huint32 rev, huint32 timeout = 100);
4551 
4561  EXTERNFUNC int harmonic_getGearRatioShaftRevolutions(huint8 devIndex, huint8 id, huint32 *rev, huint32 timeout = 100);
4562 
4572  EXTERNFUNC int harmonic_setGearRatioShaftRevolutions(huint8 devIndex, huint8 id, huint32 rev, huint32 timeout = 100);
4573 
4583  EXTERNFUNC int harmonic_getInterpolationDataRecord(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout = 100);
4584 
4594  EXTERNFUNC int harmonic_setInterpolationDataRecord(huint8 devIndex, huint8 id, hint32 value, huint32 timeout = 100);
4595 
4605  EXTERNFUNC int harmonic_getInterpolationTimePeriodValue(huint8 devIndex, huint8 id, huint8 *value, huint32 timeout = 100);
4606 
4616  EXTERNFUNC int harmonic_setInterpolationTimePeriodValue(huint8 devIndex, huint8 id, huint8 value, huint32 timeout = 100);
4617 
4627  EXTERNFUNC int harmonic_getActualFollowingError(huint8 devIndex, huint8 id, hint32 *error, huint32 timeout = 100);
4628 
4638  EXTERNFUNC int harmonic_setActualFollowingError(huint8 devIndex, huint8 id, hint32 error, huint32 timeout = 100);
4639 
4649  EXTERNFUNC int harmonic_getTargetVelocity(huint8 devIndex, huint8 id, hint32 *targetVel, huint32 timeout = 100);
4650 
4660  EXTERNFUNC int harmonic_setTargetVelocity(huint8 devIndex, huint8 id, hint32 targetVel, huint32 timeout = 100);
4661 
4671  EXTERNFUNC int harmonic_getSupportedDriveModes(huint8 devIndex, huint8 id, huint32 *modes, huint32 timeout = 100);
4672 
4673 #ifdef __cplusplus
4674 }
4675 #endif
4676 
4677 #endif // EU_HARMONIC_H
signed int hint24
Definition: eu_harmonic.h:49
EXTERNFUNC int harmonic_getClientSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 *number, huint32 timeout=100)
读从站字典[0x1280+sdoClientIndex]-0x0
EXTERNFUNC int harmonic_getServerSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout=100)
读从站字典[0x1200+sdoServerIndex]-0x2
EXTERNFUNC int harmonic_getRPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout=100)
读从站字典[0x1600+pdoIndex]-[0x1+mapIndex]
Definition: eu_harmonic.h:86
Definition: eu_harmonic.h:99
EXTERNFUNC int harmonic_getHearbeatConsumerTimeParasNum(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100)
读从站字典0x1016-0x0
EXTERNFUNC int harmonic_getSoftwareVersion(huint8 devIndex, huint8 id, char *version, huint32 timeout=100)
读从站字典0x100A-0x0
Definition: eu_harmonic.h:122
EXTERNFUNC int harmonic_setHomeOffset(huint8 devIndex, huint8 id, hint32 offSet, huint32 timeout=100)
写从站字典0x607C-0x0
EXTERNFUNC int harmonic_setEmergencyInhibitTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100)
写从站字典0x1015-0x0
EXTERNFUNC int harmonic_setLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 count)
写本地字典[0x1800+pdoIndex]-0x0
EXTERNFUNC int harmonic_setI2tOverLoadLimit(huint8 devIndex, huint8 id, huint16 value, huint32 timeout=100)
写从站字典0x2028-0x0
EXTERNFUNC int harmonic_setDCOverVoltageTime(huint8 devIndex, huint8 id, huint32 time, huint32 timeout=100)
写从站字典0x202D-0x4
Definition: eu_harmonic.h:134
EXTERNFUNC int harmonic_setServoBlockTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100)
写从站字典0x2020-0x2
EXTERNFUNC int harmonic_setLocalMitMutiMotorGetTor(huint16 motorIndex, hreal32 tor)
写本地字典0x500A+[0x1+motorIndex]
EXTERNFUNC int harmonic_getServoFirstEncoderValue(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout=100)
读从站字典0x202A-0x0
huint8 rtr
Definition: eu_harmonic.h:252
EXTERNFUNC int harmonic_setMitKPMax(huint8 devIndex, huint8 id, hreal32 kpMax, huint32 timeout=100)
写从站字典0x2145-0x0
EXTERNFUNC int harmonic_setLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 value)
写本地字典[0x1400+pdoIndex]-0x6
EXTERNFUNC int harmonic_getHardwareVersion(huint8 devIndex, huint8 id, char *version, huint32 timeout=100)
读从站字典0x1009-0x0
Definition: eu_harmonic.h:232
Definition: eu_harmonic.h:141
EXTERNFUNC int harmonic_getRPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100)
读从站字典[0x1400+pdoIndex]-0x0
Definition: eu_harmonic.h:138
void(* harmonic_SendDataCallBack)(huint8 devIndex, const harmonic_CanMsg *msg)
发送数据回调函数
Definition: eu_harmonic.h:261
EXTERNFUNC int harmonic_getServoVelocityFlowingErrorTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100)
读从站字典0x2021-0x2
EXTERNFUNC int harmonic_setDCUnderVoltageTime(huint8 devIndex, huint8 id, huint32 time, huint32 timeout=100)
写从站字典0x202D-0x2
EXTERNFUNC int harmonic_setDCUnderVoltageThreshold(huint8 devIndex, huint8 id, huint32 vol, huint32 timeout=100)
写从站字典0x202D-0x1
EXTERNFUNC int harmonic_setRPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout=100)
写从站字典[0x1400+pdoIndex]-0x6
EXTERNFUNC int harmonic_getFindPointMoveAcc(huint8 devIndex, huint8 id, huint32 *acc, huint32 timeout=100)
读从站字典0x2106-0x0
EXTERNFUNC int harmonic_getTPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout=100)
读从站字典[0x1800+pdoIndex]-0x1
EXTERNFUNC int harmonic_getServoTorqueWindow(huint8 devIndex, huint8 id, huint16 *window, huint32 timeout=100)
读从站字典0x2022-0x0
EXTERNFUNC int harmonic_setLocalMitMutiMotorGetVel(huint16 motorIndex, hreal32 vel)
写本地字典0x5009+[0x1+motorIndex]
EXTERNFUNC int harmonic_getVelocityThresholdTime(huint8 devIndex, huint8 id, huint16 *tTime, huint32 timeout=100)
读从站字典0x6070-0x0
EXTERNFUNC int harmonic_getMaxProfileVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout=100)
读从站字典0x607F-0x0
Definition: eu_harmonic.h:113
EXTERNFUNC int harmonic_setServoParametersNumber(huint8 devIndex, huint8 id, huint8 num, huint32 timeout=100)
写从站字典0x2001-0x0
EXTERNFUNC int harmonic_getRPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout=100)
读从站字典[0x1400+pdoIndex]-0x3
EXTERNFUNC int harmonic_setServoOverSpeedTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100)
写从站字典0x2025-0x0
EXTERNFUNC int harmonic_setServoCommunicationMode(huint8 devIndex, huint8 id, huint8 mode, huint32 timeout=100)
写从站字典0x2004-0x0
EXTERNFUNC int harmonic_setControlword(huint8 devIndex, huint8 id, huint16 word, huint32 timeout=100)
写从站字典0x6040-0x0
EXTERNFUNC int harmonic_getDemandTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout=100)
读从站字典0x6074-0x0
EXTERNFUNC int harmonic_setProfileVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout=100)
写从站字典0x6081-0x0
EXTERNFUNC int harmonic_getMitVMax(huint8 devIndex, huint8 id, hreal32 *vMax, huint32 timeout=100)
读从站字典0x2143-0x0
huint16 cob_id
Definition: eu_harmonic.h:251
Definition: eu_harmonic.h:166
EXTERNFUNC int harmonic_getLocalMitMutiMotorSetPos(huint16 motorIndex, hreal32 *pos)
读本地字典0x500B+[0x1+motorIndex]
EXTERNFUNC int harmonic_getServoVelocityLoopPINum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100)
读从站字典0x2012-0x0
EXTERNFUNC int harmonic_setServoBlockTorque(huint8 devIndex, huint8 id, huint16 torque, huint32 timeout=100)
写从站字典0x2020-0x1
EXTERNFUNC int harmonic_getLocalMitMutiMotorGetVel(huint16 motorIndex, hreal32 *vel)
读本地字典0x5009+[0x1+motorIndex]
signed long int hint64
Definition: eu_harmonic.h:54
EXTERNFUNC int harmonic_getLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 *cobId)
读本地字典[0x1200+sdoServerIndex]-0x1
EXTERNFUNC int harmonic_getServoParametersNumber(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100)
读从站字典0x2001-0x0
EXTERNFUNC int harmonic_getServoCommunicationMode(huint8 devIndex, huint8 id, huint8 *mode, huint32 timeout=100)
读从站字典0x2004-0x0
EXTERNFUNC int harmonic_setPositionWindowTime(huint8 devIndex, huint8 id, huint16 pWindowTime, huint32 timeout=100)
写从站字典0x6068-0x0
EXTERNFUNC int harmonic_getLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 *num)
读本地字典[0x1200+sdoServerIndex]-0x0
EXTERNFUNC int harmonic_getProducerHeartbeatTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100)
读从站字典0x1017-0x0
EXTERNFUNC int harmonic_setTPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout=100)
写从站字典[0x1800+pdoIndex]-0x2
EXTERNFUNC int harmonic_getDefaultServoCurrentLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout=100)
写从站字典0x2010-0x0
EXTERNFUNC int harmonic_setMitKDMin(huint8 devIndex, huint8 id, hreal32 kdMin, huint32 timeout=100)
写从站字典0x2146-0x0
EXTERNFUNC int harmonic_getSyncWindow(huint8 devIndex, huint8 id, huint32 *syncWindow, huint32 timeout=100)
读从站字典0x1007-0x0
EXTERNFUNC int harmonic_setLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 value)
写本地字典[0x1800+pdoIndex]-0x6
EXTERNFUNC int harmonic_getLocalTPDOTransmitType(huint16 pdoIndex, huint8 *type)
读本地字典[0x1800+pdoIndex]-0x2
EXTERNFUNC int harmonic_getLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value)
读本地字典[0x1A00+pdoIndex]-[0x1+mapIndex]
EXTERNFUNC int harmonic_getLocalTargetVelocity(hint32 *vel)
读本地字典0x60FF-0x0
EXTERNFUNC int harmonic_initDLL(harmonic_DeviceType devType, huint8 devIndex, harmonic_Baudrate baudrate)
初始化dll,在调用所有函数前,必须先调用该函数进行初始化,该函数会打开设备。 【注意】控制多个设备时可...
EXTERNFUNC int harmonic_setDCLinkCircuitVoltage(huint8 devIndex, huint8 id, huint32 voltage, huint32 timeout=100)
写从站字典0x6079-0x0
EXTERNFUNC int harmonic_getMitKPMin(huint8 devIndex, huint8 id, hreal32 *kpMin, huint32 timeout=100)
读从站字典0x2144-0x0
EXTERNFUNC int harmonic_getLocalSyncWindow(huint32 *sWindow)
读本地字典0x1007-0x0
EXTERNFUNC int harmonic_setRPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout=100)
写从站字典[0x1400+pdoIndex]-0x1
Definition: eu_harmonic.h:125
EXTERNFUNC int harmonic_setServoPositionLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout=100)
写从站字典0x2013-0x3
Definition: eu_harmonic.h:101
EXTERNFUNC int harmonic_getDeviceType(huint8 devIndex, huint8 id, huint32 *deviceType, huint32 timeout=100)
读从站字典0x1000-0x0
EXTERNFUNC int harmonic_setLocalTPDOTransmitType(huint16 pdoIndex, huint8 type)
写本地字典[0x1800+pdoIndex]-0x2
EXTERNFUNC int harmonic_getServoBrakeDelayTime(huint8 devIndex, huint8 id, huint8 *time, huint32 timeout=100)
读从站字典0x2026-0x0
Definition: eu_harmonic.h:106
harmonic_NMTState
NMT状态
Definition: eu_harmonic.h:119
EXTERNFUNC int harmonic_setTargetTorque(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout=100)
写从站字典0x6071-0x0
EXTERNFUNC int harmonic_getServoBrakeControl(huint8 devIndex, huint8 id, huint8 *status, huint32 timeout=100)
读从站字典0x2014-0x1
EXTERNFUNC int harmonic_getDefaultServoVelocityLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout=100)
读从站字典0x2012-0x1
EXTERNFUNC int harmonic_setDefaultServoCurrentLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout=100)
写从站字典0x2010-0x1
EXTERNFUNC int harmonic_getMitTMin(huint8 devIndex, huint8 id, hreal32 *tMin, huint32 timeout=100)
读从站字典0x2148-0x0
EXTERNFUNC int harmonic_getLocalMutiMotorStatusWord(huint16 motorIndex, huint16 *status)
读本地字典0x5006+[0x1+motorIndex]
EXTERNFUNC int harmonic_getErrorFieldNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100)
读从站字典0x1003-0x0
EXTERNFUNC int harmonic_setTPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout=100)
写从站字典[0x1A00+pdoIndex]-[0x1+mapIndex]
harmonic_OperateMode
操作模式
Definition: eu_harmonic.h:227
EXTERNFUNC int harmonic_setLocalMitMutiMotorGetPos(huint16 motorIndex, hreal32 pos)
写本地字典0x5008+[0x1+motorIndex]
EXTERNFUNC int harmonic_getMitPMax(huint8 devIndex, huint8 id, hreal32 *pMax, huint32 timeout=100)
读从站字典0x2141-0x0
EXTERNFUNC int harmonic_getLocalMitReplyCobdat1(huint32 *cobdat)
读本地字典0x2132-0x0
harmonic_DisableOperationOption
下使能操作
Definition: eu_harmonic.h:191
Definition: eu_harmonic.h:139
EXTERNFUNC int harmonic_setServerSDONodeIdOfClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 nodeId, huint32 timeout=100)
写从站字典[0x1200+sdoServerIndex]-0x3
Definition: eu_harmonic.h:95
Definition: eu_harmonic.h:240
EXTERNFUNC int harmonic_getMitKDMin(huint8 devIndex, huint8 id, hreal32 *kdMin, huint32 timeout=100)
读从站字典0x2146-0x0
EXTERNFUNC int harmonic_readLocalDirectory(huint16 index, huint8 subIndex, harmonic_DataType dataType, void *readData)
读主站字典
EXTERNFUNC int harmonic_getEmergencyInhibitTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100)
读从站字典0x1015-0x0
EXTERNFUNC int harmonic_getServoOverSpeedTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100)
读从站字典0x2025-0x0
EXTERNFUNC int harmonic_getServoPositionLoopPINum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100)
读从站字典0x2013-0x0
EXTERNFUNC int harmonic_setLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 cobId)
写本地字典[0x1280+sdoClientIndex]-0x1
EXTERNFUNC int harmonic_getLocalTargetTorque(hint16 *torque)
读本地字典0x6071-0x0
EXTERNFUNC int harmonic_getTPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout=100)
读从站字典[0x1800+pdoIndex]-0x5
EXTERNFUNC int harmonic_getServoCurrentLoopPINum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100)
读从站字典0x2010-0x0
EXTERNFUNC int harmonic_getMitCtrlCobcmd1(huint8 devIndex, huint8 id, huint32 *cobcmd, huint32 timeout=100)
读从站字典0x2130-0x0
EXTERNFUNC int harmonic_getLocalRPDOInhibitTime(huint16 pdoIndex, huint16 *time)
读本地字典[0x1400+pdoIndex]-0x3
EXTERNFUNC int harmonic_setMitReplyCobdat1(huint8 devIndex, huint8 id, huint32 cobdat, huint32 timeout=100)
写从站字典0x2132-0x0
EXTERNFUNC int harmonic_setTorqueFactor(huint8 devIndex, huint8 id, huint16 factor, huint32 timeout=100)
写从站字典0x2110-0x0
EXTERNFUNC int harmonic_getSoftwareMinimumPosition(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100)
读从站字典0x607D-0x1
EXTERNFUNC int harmonic_getVelocityWindow(huint8 devIndex, huint8 id, huint16 *vWindow, huint32 timeout=100)
读从站字典0x606D-0x0
EXTERNFUNC int harmonic_getMitReplyCobdat2(huint8 devIndex, huint8 id, huint32 *cobdat, huint32 timeout=100)
读从站字典0x2133-0x0
EXTERNFUNC int harmonic_getErrorField(huint8 devIndex, huint8 id, huint8 subIndex, huint32 *err, huint32 timeout=100)
读从站字典0x1003-subIndex
EXTERNFUNC int harmonic_getLocalMitReplyCobdat2(huint32 *cobdat)
读本地字典0x2133-0x0
EXTERNFUNC int harmonic_setFindPointMoveVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout=100)
写从站字典0x2108-0x0
EXTERNFUNC int harmonic_getServoBlockTorque(huint8 devIndex, huint8 id, huint16 *torque, huint32 timeout=100)
读从站字典0x2020-0x1
Definition: eu_harmonic.h:230
EXTERNFUNC int harmonic_setLocalSyncWindow(huint32 sWindow)
写本地字典0x1007-0x0
EXTERNFUNC int harmonic_setLocalSyncCycle(huint32 cycle)
写本地字典0x1006-0x0
can数据结构
Definition: eu_harmonic.h:249
EXTERNFUNC int harmonic_getActualPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100)
读从站字典0x6064-0x0
EXTERNFUNC int harmonic_getGuardTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100)
读从站字典0x100C-0x0
EXTERNFUNC int harmonic_getActualVelocity(huint8 devIndex, huint8 id, hint32 *vel, huint32 timeout=100)
读从站字典0x606C-0x0
EXTERNFUNC int harmonic_getLocalActualPos(hint32 *pos)
读本地字典0x6064-0x0
EXTERNFUNC int harmonic_getLocalActualTorque(hint16 *torque)
读本地字典0x6077-0x0
signed char hint8
Definition: eu_harmonic.h:47
EXTERNFUNC int harmonic_setClientSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout=100)
写从站字典[0x1280+sdoClientIndex]-0x2
EXTERNFUNC int harmonic_writeDirectory(huint8 devIndex, huint8 id, huint16 index, huint8 subIndex, harmonic_DataType dataType, void *writeData, huint32 timeout=100)
写从站字典
EXTERNFUNC int harmonic_getDCUnderVoltageThreshold(huint8 devIndex, huint8 id, huint32 *vol, huint32 timeout=100)
读从站字典0x202D-0x1
EXTERNFUNC int harmonic_getLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 *nodeId)
读本地字典[0x1280+sdoClientIndex]-0x3
EXTERNFUNC int harmonic_getServoTorqueWindowTime(huint8 devIndex, huint8 id, huint16 *window, huint32 timeout=100)
读从站字典0x2023-0x0
harmonic_DBaudrate
Definition: eu_harmonic.h:104
EXTERNFUNC int harmonic_getShutdownOptionCode(huint8 devIndex, huint8 id, harmonic_ShutdownOption *code, huint32 timeout=100)
读从站字典0x605B-0
EXTERNFUNC int harmonic_getLocalMutiMotorPos(huint16 motorIndex, hint32 *pos)
读本地字典0x5000+[0x1+motorIndex]
Definition: eu_harmonic.h:231
EXTERNFUNC int harmonic_setFindPointStart(huint8 devIndex, huint8 id, huint32 status, huint32 timeout=100)
写从站字典0x2102-0x0
EXTERNFUNC int harmonic_setVelocityWindowTime(huint8 devIndex, huint8 id, huint16 wTime, huint32 timeout=100)
写从站字典0x606E-0x0
EXTERNFUNC int harmonic_getMitCtrlCobcmd2(huint8 devIndex, huint8 id, huint32 *cobcmd, huint32 timeout=100)
读从站字典0x2131-0x0
EXTERNFUNC int harmonic_setServoCanBaudrate(huint8 devIndex, huint8 id, huint16 baudrate, huint32 timeout=100)
写从站字典0x2001-0x2
EXTERNFUNC int harmonic_setLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 count)
写本地字典[0x1A00+pdoIndex]-0x0
EXTERNFUNC int harmonic_setRPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout=100)
写从站字典[0x1400+pdoIndex]-0x2
EXTERNFUNC int harmonic_getFindPointDoneFlag(huint8 devIndex, huint8 id, huint32 *flag, huint32 timeout=100)
读从站字典0x2101-0x0
EXTERNFUNC int harmonic_getLocalServoTemperature(hint8 *tem)
读本地字典0x2106-0x1
Definition: eu_harmonic.h:238
EXTERNFUNC int harmonic_setDemandTorque(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout=100)
写从站字典0x6074-0x0
struct _harmonic_CanMsg harmonic_CanMsg
can数据结构
EXTERNFUNC int harmonic_setLocalInterpolationTimePeriodValue(huint8 value)
写本地字典0x60c2-0x1
EXTERNFUNC int harmonic_readDirectory(huint8 devIndex, huint8 id, huint16 index, huint8 subIndex, harmonic_DataType dataType, void *readData, huint32 timeout=100)
读从站字典
EXTERNFUNC int harmonic_getLocalRPDOCobId(huint16 pdoIndex, huint32 *cobId)
读本地字典[0x1400+pdoIndex]-0x1
EXTERNFUNC int harmonic_getActualTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout=100)
读从站字典0x6077-0x0
EXTERNFUNC int harmonic_getMitTMax(huint8 devIndex, huint8 id, hreal32 *tMin, huint32 timeout=100)
读从站字典0x2149-0x0
EXTERNFUNC int harmonic_getDisableOperationOptionCode(huint8 devIndex, huint8 id, harmonic_DisableOperationOption *code, huint32 timeout=100)
读从站字典0x605C-0x0
EXTERNFUNC int harmonic_setLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 num)
写本地字典[0x1200+sdoServerIndex]-0x0
EXTERNFUNC int harmonic_getLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 *value)
读本地字典[0x1800+pdoIndex]-0x6
EXTERNFUNC int harmonic_setLocalMitMutiMotorSetPos(huint16 motorIndex, hreal32 pos)
写本地字典0x500B+[0x1+motorIndex]
EXTERNFUNC int harmonic_getPositionWindow(huint8 devIndex, huint8 id, huint32 *pWindow, huint32 timeout=100)
读从站字典0x6067-0x0
EXTERNFUNC int harmonic_setLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 number)
写本地字典[0x1280+sdoClientIndex]-0x0
Definition: eu_harmonic.h:137
EXTERNFUNC int harmonic_getTPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout=100)
读从站字典[0x1A00+pdoIndex]-[0x1+mapIndex]
EXTERNFUNC int harmonic_getRPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100)
读从站字典[0x1600+pdoIndex]-0x0
EXTERNFUNC int harmonic_getLocalRPDOEventTimer(huint16 pdoIndex, huint16 *timer)
读本地字典[0x1400+pdoIndex]-0x5
EXTERNFUNC int harmonic_setServoCurrentLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout=100)
写从站字典0x2010-0x3
EXTERNFUNC int harmonic_setEmergencyCobid(huint8 devIndex, huint8 id, huint32 cobid, huint32 timeout=100)
写从站字典0x1014-0x0
EXTERNFUNC int harmonic_getFindPointStart(huint8 devIndex, huint8 id, huint32 *status, huint32 timeout=100)
读从站字典0x2102-0x0
EXTERNFUNC int harmonic_setDefaultServoVelocityLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout=100)
写从站字典0x2012-0x1
EXTERNFUNC int harmonic_setLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 cobId)
写本地字典[0x1200+sdoServerIndex]-0x1
EXTERNFUNC int harmonic_getControlword(huint8 devIndex, huint8 id, huint16 *word, huint32 timeout=100)
读从站字典0x6040-0x0
EXTERNFUNC int harmonic_getFindPointMoveDec(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout=100)
读从站字典0x2107-0x0
Definition: eu_harmonic.h:100
Definition: eu_harmonic.h:108
EXTERNFUNC int harmonic_getMitPMin(huint8 devIndex, huint8 id, hreal32 *pMin, huint32 timeout=100)
读从站字典0x2140-0x0
EXTERNFUNC int harmonic_getTPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100)
读从站字典[0x1A00+pdoIndex]-0x0
Definition: eu_harmonic.h:97
EXTERNFUNC int harmonic_getCurrentActualValue(huint8 devIndex, huint8 id, hint16 *current, huint32 timeout=100)
读从站字典0x6078-0x0
EXTERNFUNC int harmonic_setLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value)
写本地字典[0x1A00+pdoIndex]-[0x1+mapIndex]
EXTERNFUNC int harmonic_setRPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout=100)
写从站字典[0x1400+pdoIndex]-0x3
EXTERNFUNC int harmonic_setRPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100)
写从站字典[0x1400+pdoIndex]-0x0
EXTERNFUNC int harmonic_getLocalMitMutiMotorGetTor(huint16 motorIndex, hreal32 *tor)
读本地字典0x500A+[0x1+motorIndex]
EXTERNFUNC int harmonic_getLocalMitMutiMotorSetVel(huint16 motorIndex, hreal32 *vel)
读本地字典0x500C+[0x1+motorIndex]
Definition: eu_harmonic.h:123
EXTERNFUNC int harmonic_getServoCurrentLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout=100)
读从站字典0x2010-0x4
EXTERNFUNC int harmonic_getLocalMutiMotorErrorCode(huint16 motorIndex, huint16 *error)
读本地字典0x5007+[0x1+motorIndex]
EXTERNFUNC int harmonic_getRPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout=100)
读从站字典[0x1400+pdoIndex]-0x6
EXTERNFUNC int harmonic_setLocalTPDOCobId(huint16 pdoIndex, huint32 cobId)
写本地字典[0x1800+pdoIndex]-0x1
EXTERNFUNC int harmonic_setServoPositionLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout=100)
写从站字典0x2013-0x4
EXTERNFUNC int harmonic_setClientSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout=100)
写从站字典[0x1280+sdoClientIndex]-0x1
EXTERNFUNC int harmonic_getServoVelocityLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout=100)
读从站字典0x2012-0x3
EXTERNFUNC int harmonic_setLocalNodeState(harmonic_NodeState state)
设置本地节点状态
EXTERNFUNC int harmonic_getDisplayOperateMode(huint8 devIndex, huint8 id, harmonic_OperateMode *mode, huint32 timeout=100)
读从站字典0x6061-0x0
EXTERNFUNC int harmonic_getTargetVelocity(huint8 devIndex, huint8 id, hint32 *targetVel, huint32 timeout=100)
读从站字典0x60FF-0x0
EXTERNFUNC int harmonic_getServoErrorCode(huint8 devIndex, huint8 id, huint16 *err, huint32 timeout=100)
读从站字典0x603F-0x0
EXTERNFUNC int harmonic_getSoftwareMaxmumPosition(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100)
读从站字典0x607D-0x2
EXTERNFUNC int harmonic_getLocalMitMutiMotorSetTor(huint16 motorIndex, hreal32 *tor)
读本地字典0x500D+[0x1+motorIndex]
EXTERNFUNC int harmonic_setServoVelocityIntLimit(huint8 devIndex, huint8 id, huint16 limit, huint32 timeout=100)
写从站字典0x2017-0x0
EXTERNFUNC int harmonic_setServoSoftwareLimitState(huint8 devIndex, huint8 id, huint32 state, huint32 timeout=100)
写从站字典0x2003-0x0
EXTERNFUNC int harmonic_setGearRatioMotorRevolutions(huint8 devIndex, huint8 id, huint32 rev, huint32 timeout=100)
写从站字典0x6091-0x1
EXTERNFUNC int harmonic_setTPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout=100)
写从站字典[0x1800+pdoIndex]-0x1
EXTERNFUNC int harmonic_setSyncCobid(huint8 devIndex, huint8 id, huint32 cobid, huint32 timeout=100)
写从站字典0x1005-0x0
EXTERNFUNC int harmonic_setTPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout=100)
写从站字典[0x1800+pdoIndex]-0x5
unsigned int huint8 __attribute__((__mode__(__QI__)))
Definition: eu_harmonic.h:55
EXTERNFUNC int harmonic_setOperateMode(huint8 devIndex, huint8 id, harmonic_OperateMode mode, huint32 timeout=100)
写从站字典0x6060-0x0
EXTERNFUNC int harmonic_profileTorqueControl(huint8 devIndex, huint8 id, huint16 targetTorque, hint16 slope, bool isUpdate=false)
轮廓力矩控制,该模式下电机内部根据给定参数生成轨迹并执行
EXTERNFUNC int harmonic_getActualFollowingError(huint8 devIndex, huint8 id, hint32 *error, huint32 timeout=100)
读从站字典0x60F4-0x0
Definition: eu_harmonic.h:153
EXTERNFUNC int harmonic_getServoTemperature(huint8 devIndex, huint8 id, hint8 *tem, huint32 timeout=100)
读从站字典0x2016-0x1
EXTERNFUNC int harmonic_getTPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout=100)
读从站字典[0x1800+pdoIndex]-0x2
EXTERNFUNC int harmonic_setProducerHeartbeatTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100)
写从站字典0x1017-0x0
EXTERNFUNC int harmonic_setTPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout=100)
写从站字典[0x1800+pdoIndex]-0x3
EXTERNFUNC int harmonic_setLocalTargetVelocity(hint32 vel)
写本地字典0x60FF-0x0
EXTERNFUNC int harmonic_setTargetVelocity(huint8 devIndex, huint8 id, hint32 targetVel, huint32 timeout=100)
写从站字典0x60FF-0x0
EXTERNFUNC int harmonic_setBrakeState(huint8 devIndex, huint8 id, huint8 state, huint32 timeout=100)
写从站字典0x2014-0x2(设置抱闸状态)
EXTERNFUNC int harmonic_getProfileAcceleration(huint8 devIndex, huint8 id, huint32 *acc, huint32 timeout=100)
读从站字典0x6083-0x0
EXTERNFUNC int harmonic_setLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value)
写本地字典[0x1600+pdoIndex]-[0x1+mapIndex]
EXTERNFUNC int harmonic_setProfileDeceleration(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout=100)
写从站字典0x6084-0x0
EXTERNFUNC int harmonic_setSoftwareMaxmumPosition(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout=100)
写从站字典0x607D-0x2
EXTERNFUNC int harmonic_getLocalTPDOCobId(huint16 pdoIndex, huint32 *cobId)
读本地字典[0x1800+pdoIndex]-0x1
EXTERNFUNC int harmonic_setLocalRPDOTransmitType(huint16 pdoIndex, huint8 type)
写本地字典[0x1400+pdoIndex]-0x2
EXTERNFUNC int harmonic_getLocalStatusWord(huint16 *word)
写本地字典0x6041-0x0
EXTERNFUNC int harmonic_getLocalServoErrorCode(huint16 *err)
读本地字典0x603F-0x0
EXTERNFUNC int harmonic_getServoBlockTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100)
读从站字典0x2020-0x2
EXTERNFUNC int harmonic_setServoID(huint8 devIndex, huint8 id, huint8 servoID, huint32 timeout=100)
写从站字典0x2001-0x1
EXTERNFUNC int harmonic_setMotorRatedTorque(huint8 devIndex, huint8 id, huint32 torque, huint32 timeout=100)
写从站字典0x6076-0x0
EXTERNFUNC int harmonic_setMitCtrlCobcmd2(huint8 devIndex, huint8 id, huint32 cobcmd, huint32 timeout=100)
写从站字典0x2131-0x0
EXTERNFUNC int harmonic_getLocalActualVelocity(hint32 *velocity)
读本地字典0x606c-0x0
EXTERNFUNC int harmonic_setVelocityWindow(huint8 devIndex, huint8 id, huint16 vWindow, huint32 timeout=100)
写从站字典0x606D-0x0
EXTERNFUNC int harmonic_setVelocityThresholdTime(huint8 devIndex, huint8 id, huint16 tTime, huint32 timeout=100)
写从站字典0x6070-0x0
EXTERNFUNC int harmonic_setTorqueSlope(huint8 devIndex, huint8 id, huint32 slope, huint32 timeout=100)
写从站字典0x6087-0x0
EXTERNFUNC int harmonic_getLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 *count)
读本地字典[0x1800+pdoIndex]-0x0
EXTERNFUNC int harmonic_getErrorRegister(huint8 devIndex, huint8 id, huint8 *errReg, huint32 timeout=100)
读从站字典0x1001-0x0
EXTERNFUNC int harmonic_setDemandVelocity(huint8 devIndex, huint8 id, hint32 dvel, huint32 timeout=100)
写从站字典0x606B-0x0
EXTERNFUNC int harmonic_getEmergencyCobid(huint8 devIndex, huint8 id, huint32 *cobid, huint32 timeout=100)
读从站字典0x1014-0x0
EXTERNFUNC int harmonic_getProductCode(huint8 devIndex, huint8 id, huint32 *pCode, huint32 timeout=100)
读从站字典0x1018-0x2
EXTERNFUNC int harmonic_getServoVelocityFlowingErrorParasNum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100)
读从站字典0x2021-0x0
EXTERNFUNC int harmonic_getServoBlockVelocity(huint8 devIndex, huint8 id, huint32 *velocity, huint32 timeout=100)
读从站字典0x2020-0x3
Definition: eu_harmonic.h:140
EXTERNFUNC int harmonic_setLocalRPDOInhibitTime(huint16 pdoIndex, huint16 time)
写本地字典[0x1400+pdoIndex]-0x3
Definition: eu_harmonic.h:110
EXTERNFUNC int harmonic_setRestoreDefaultParameters(huint8 devIndex, huint8 id, huint32 value, huint32 timeout=100)
写从站字典0x1011-0x1
huint8 len
Definition: eu_harmonic.h:253
EXTERNFUNC int harmonic_setMitVMax(huint8 devIndex, huint8 id, hreal32 vMax, huint32 timeout=100)
写从站字典0x2143-0x0
EXTERNFUNC int harmonic_setSyncCycle(huint8 devIndex, huint8 id, huint32 syncCycle, huint32 timeout=100)
写从站字典0x1006-0x0
EXTERNFUNC int harmonic_setServoTorqueWindowTime(huint8 devIndex, huint8 id, huint16 window, huint32 timeout=100)
写从站字典0x2023-0x0
EXTERNFUNC int harmonic_setMitKPMin(huint8 devIndex, huint8 id, hreal32 kpMin, huint32 timeout=100)
写从站字典0x2144-0x0
EXTERNFUNC int harmonic_getDefaultServoVelocityLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout=100)
读从站字典0x2012-0x2
EXTERNFUNC int harmonic_setLocalTargetPos(hint32 pos)
写本地字典0x607A-0x0
EXTERNFUNC int harmonic_getServerSDONodeIdOfClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 *nodeId, huint32 timeout=100)
读从站字典[0x1200+sdoServerIndex]-0x3
EXTERNFUNC int harmonic_getClientSDONodeIdOfSDOServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 *nodeId, huint32 timeout=100)
读从站字典[0x1280+sdoClientIndex]-0x3
EXTERNFUNC int harmonic_setLocalMitMutiMotorSetVel(huint16 motorIndex, hreal32 vel)
写本地字典0x500C+[0x1+motorIndex]
EXTERNFUNC int harmonic_setFaultReactionOption(huint8 devIndex, huint8 id, harmonic_FaultReactionOption option, huint32 timeout=100)
写从站字典0x605E-0x0
EXTERNFUNC int harmonic_getLocalTargetPos(hint32 *pos)
读本地字典0x607A-0x0
EXTERNFUNC int harmonic_getSyncCounter(huint8 devIndex, huint8 id, huint8 *counter, huint32 timeout=100)
读从站字典0x1019-0x0
EXTERNFUNC int harmonic_setErrorFieldNumber(huint8 devIndex, huint8 id, huint8 number, huint32 timeout=100)
写从站字典0x1003-0x0
EXTERNFUNC int harmonic_setInterpolationDataRecord(huint8 devIndex, huint8 id, hint32 value, huint32 timeout=100)
写从站字典0x60C1-0x1
EXTERNFUNC int harmonic_setMitVMin(huint8 devIndex, huint8 id, hreal32 vMin, huint32 timeout=100)
写从站字典0x2142-0x0
EXTERNFUNC int harmonic_setLocalMitReplyCobdat1(huint32 cobdat)
写本地字典0x2132-0x0
EXTERNFUNC int harmonic_setDefaultServoPositionLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout=100)
写从站字典0x2013-0x1
EXTERNFUNC int harmonic_getSupportedDriveModes(huint8 devIndex, huint8 id, huint32 *modes, huint32 timeout=100)
读从站字典0x6502-0x0
Definition: eu_harmonic.h:155
harmonic_FaultReactionOption
故障处理选项
Definition: eu_harmonic.h:214
EXTERNFUNC int harmonic_setTargetPos(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout=100)
写从站字典0x607A-0x0
harmonic_ShutdownOption
关机选项
Definition: eu_harmonic.h:181
EXTERNFUNC int harmonic_setGuardTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100)
写从站字典0x100C-0x0
EXTERNFUNC int harmonic_getLocalTPDOInhibitTime(huint16 pdoIndex, huint16 *time)
读本地字典[0x1800+pdoIndex]-0x3
EXTERNFUNC int harmonic_getDCOverVoltageThreshold(huint8 devIndex, huint8 id, huint32 *vol, huint32 timeout=100)
读从站字典0x202D-0x3
EXTERNFUNC int harmonic_setLocalMitMutiMotorSetTor(huint16 motorIndex, hreal32 tor)
写本地字典0x500D+[0x1+motorIndex]
huint8 data[8]
Definition: eu_harmonic.h:254
EXTERNFUNC int harmonic_getLocalSyncCycle(huint32 *cycle)
读本地字典0x1006-0x0
EXTERNFUNC int harmonic_getServoTemperatureLimit(huint8 devIndex, huint8 id, hint8 *tem, huint32 timeout=100)
读从站字典0x2016-0x2
Definition: eu_harmonic.h:235
EXTERNFUNC int harmonic_setServoBlockVelocity(huint8 devIndex, huint8 id, huint32 velocity, huint32 timeout=100)
写从站字典0x2020-0x3
EXTERNFUNC int harmonic_setFindPointMoveMax(huint8 devIndex, huint8 id, huint32 angle, huint32 timeout=100)
写从站字典0x2105-0x0
EXTERNFUNC int harmonic_freeDLL(huint8 devIndex)
关闭设备,释放资源,设备打开成功后需要在适当时机释放资源 如果存在多个设备,程序退出前,每个设备都需调...
EXTERNFUNC int harmonic_setActualFollowingError(huint8 devIndex, huint8 id, hint32 error, huint32 timeout=100)
写从站字典0x60F4-0x0
EXTERNFUNC int harmonic_getClientSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout=100)
读从站字典[0x1280+sdoClientIndex]-0x1
EXTERNFUNC int harmonic_getLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 *cobId)
读本地字典[0x1200+sdoServerIndex]-0x2
EXTERNFUNC int harmonic_setQuickStopDeceleration(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout=100)
写从站字典0x6085-0x0
EXTERNFUNC int harmonic_setStoreParameters(huint8 devIndex, huint8 id, huint32 value, huint32 timeout=100)
写从站字典0x1010-0x1
EXTERNFUNC int harmonic_setLocalMitCtrlCobcmd1(huint32 cobcmd)
写本地字典0x2130-0x0
EXTERNFUNC int harmonic_getServoTemperatureLimitTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100)
读从站字典0x2016-0x3
EXTERNFUNC int harmonic_setDefaultServoPositionLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout=100)
写从站字典0x2013-0x2
EXTERNFUNC int harmonic_setProfileAcceleration(huint8 devIndex, huint8 id, huint32 acc, huint32 timeout=100)
写从站字典0x6083-0x0
EXTERNFUNC int harmonic_getBrakeState(huint8 devIndex, huint8 id, huint8 *state, huint32 timeout=100)
读从站字典0x2014-0x2
EXTERNFUNC int harmonic_setSoftwareMinimumPosition(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout=100)
写从站字典0x607D-0x1
EXTERNFUNC int harmonic_getVelocityThreshold(huint8 devIndex, huint8 id, huint16 *thres, huint32 timeout=100)
读从站字典0x606F-0x0
EXTERNFUNC int harmonic_stopControl(huint8 devIndex, huint8 id)
停止控制
Definition: eu_harmonic.h:109
harmonic_HaltOption
暂停选项
Definition: eu_harmonic.h:201
EXTERNFUNC int harmonic_getServoCurrentLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout=100)
读从站字典0x2010-0x3
EXTERNFUNC int harmonic_getServoVelocityFlowingErrorWindows(huint8 devIndex, huint8 id, huint32 *error, huint32 timeout=100)
读从站字典0x2021-0x1
EXTERNFUNC int harmonic_getVendorID(huint8 devIndex, huint8 id, huint32 *vId, huint32 timeout=100)
读从站字典0x1018-0x1
EXTERNFUNC int harmonic_setMitPMax(huint8 devIndex, huint8 id, hreal32 pMax, huint32 timeout=100)
写从站字典0x2141-0x0
EXTERNFUNC int harmonic_setDefaultServoCurrentLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout=100)
写从站字典0x2010-0x2
EXTERNFUNC int harmonic_getTPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100)
读从站字典[0x1800+pdoIndex]-0x0
EXTERNFUNC int harmonic_getLocalMitCtrlCobcmd2(huint32 *cobcmd)
读本地字典0x2131-0x0
EXTERNFUNC int harmonic_setMaxProfileVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout=100)
写从站字典0x607F-0x0
EXTERNFUNC int harmonic_setLocalSyncCOBID(huint32 cobId)
读本地字典0x1005-0x0
EXTERNFUNC int harmonic_getGearRatioMotorRevolutions(huint8 devIndex, huint8 id, huint32 *rev, huint32 timeout=100)
读从站字典0x6091-0x1
signed long int hint56
Definition: eu_harmonic.h:53
EXTERNFUNC int harmonic_setServoTemperatureLimit(huint8 devIndex, huint8 id, huint8 tem, huint32 timeout=100)
写从站字典0x2016-0x2
EXTERNFUNC int harmonic_getServoOverSpeedThreshold(huint8 devIndex, huint8 id, huint32 *thre, huint32 timeout=100)
读从站字典0x2024-0x0
EXTERNFUNC int harmonic_getOperateMode(huint8 devIndex, huint8 id, harmonic_OperateMode *mode, huint32 timeout=100)
读从站字典0x6060-0x0
EXTERNFUNC int harmonic_profileVelocityControl(huint8 devIndex, huint8 id, hint32 targetVel, huint32 acc, huint32 dec, bool isUpdate=false)
轮廓速度控制,该模式下电机内部根据给定参数生成轨迹并执行
EXTERNFUNC int harmonic_setLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 cobId)
写本地字典[0x1200+sdoServerIndex]-0x2
EXTERNFUNC int harmonic_getProfileDeceleration(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout=100)
读从站字典0x6084-0x0
EXTERNFUNC int harmonic_setMitTMin(huint8 devIndex, huint8 id, hreal32 tMin, huint32 timeout=100)
写从站字典0x2148-0x0
EXTERNFUNC int harmonic_setLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 cobId)
写本地字典[0x1280+sdoClientIndex]-0x2
EXTERNFUNC int harmonic_getDCOverVoltageTime(huint8 devIndex, huint8 id, huint32 *time, huint32 timeout=100)
读从站字典0x202D-0x4
EXTERNFUNC int harmonic_setServoBrakeDelayTime(huint8 devIndex, huint8 id, huint8 time, huint32 timeout=100)
写从站字典0x2026-0x0
EXTERNFUNC int harmonic_getServoCanBaudrate(huint8 devIndex, huint8 id, huint16 *baudrate, huint32 timeout=100)
读从站字典0x2001-0x2
EXTERNFUNC int harmonic_getMitVMin(huint8 devIndex, huint8 id, hreal32 *vMin, huint32 timeout=100)
读从站字典0x2142-0x0
signed long int hint48
Definition: eu_harmonic.h:52
EXTERNFUNC int harmonic_setServoVelocityLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout=100)
写从站字典0x2012-0x3
Definition: eu_harmonic.h:98
EXTERNFUNC int harmonic_getLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 *value)
读本地字典[0x1400+pdoIndex]-0x6
Definition: eu_harmonic.h:151
EXTERNFUNC int harmonic_getServoPositionLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout=100)
读从站字典0x2013-0x4
Definition: eu_harmonic.h:121
EXTERNFUNC int harmonic_getFindPointMoveVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout=100)
读从站字典0x2108-0x0
EXTERNFUNC int harmonic_getInterpolationTimePeriodValue(huint8 devIndex, huint8 id, huint8 *value, huint32 timeout=100)
读从站字典0x60C2-0x1
Definition: eu_harmonic.h:136
EXTERNFUNC int harmonic_getProfileVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout=100)
读从站字典0x6081-0x0
harmonic_QuickStopOption
快速停止选项
Definition: eu_harmonic.h:164
EXTERNFUNC int harmonic_setFollowingErrorWindow(huint8 devIndex, huint8 id, huint32 eWindow, huint32 timeout=100)
写从站字典0x6065-0x0
EXTERNFUNC int harmonic_getFindPointMoveMax(huint8 devIndex, huint8 id, huint32 *angle, huint32 timeout=100)
读从站字典0x2105-0x0
EXTERNFUNC int harmonic_getDemandVelocity(huint8 devIndex, huint8 id, hint32 *dVel, huint32 timeout=100)
读从站字典0x606B-0x0
EXTERNFUNC int harmonic_getLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 *count)
读本地字典[0x1600+pdoIndex]-0x0
EXTERNFUNC int harmonic_setSyncWindow(huint8 devIndex, huint8 id, huint32 syncWindow, huint32 timeout=100)
写从站字典0x1007-0x0
EXTERNFUNC int harmonic_getRestoreDefaultParametersNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100)
读从站字典0x1011-0x0
EXTERNFUNC int harmonic_setLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 count)
写本地字典[0x1400+pdoIndex]-0x0
Definition: eu_harmonic.h:84
EXTERNFUNC int harmonic_getStoreParameters(huint8 devIndex, huint8 id, huint32 *value, huint32 timeout=100)
读从站字典0x1010-0x1
EXTERNFUNC int harmonic_getMitReplyCobdat1(huint8 devIndex, huint8 id, huint32 *cobdat, huint32 timeout=100)
读从站字典0x2132-0x0
EXTERNFUNC int harmonic_setInterpolationTimePeriodValue(huint8 devIndex, huint8 id, huint8 value, huint32 timeout=100)
写从站字典0x60C2-0x1
Definition: eu_harmonic.h:85
EXTERNFUNC int harmonic_setRPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout=100)
写从站字典[0x1400+pdoIndex]-0x5
EXTERNFUNC int harmonic_getLocalControlword(huint16 *word)
读本地字典0x6040-0x0
EXTERNFUNC int harmonic_getSerialNumber(huint8 devIndex, huint8 id, huint32 *serialNum, huint32 timeout=100)
读从站字典0x1018-0x4
EXTERNFUNC int harmonic_setLocalMutiMotorSetVel(huint16 motorIndex, hint32 vel)
写本地字典0x5004+[0x1+motorIndex]
EXTERNFUNC int harmonic_setServoCurrentLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout=100)
写从站字典0x2010-0x4
Definition: eu_harmonic.h:112
harmonic_Baudrate
波特率
Definition: eu_harmonic.h:93
EXTERNFUNC int harmonic_setRPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout=100)
写从站字典[0x1600+pdoIndex]-[0x1+mapIndex]
Definition: eu_harmonic.h:156
EXTERNFUNC int harmonic_writeCanData(huint8 devIndex, huint16 cobId, const huint8 *const data, huint8 len)
发送原始can数据
EXTERNFUNC int harmonic_setMitCtrlCobcmd1(huint8 devIndex, huint8 id, huint32 cobcmd, huint32 timeout=100)
写从站字典0x2130-0x0
signed int hint32
Definition: eu_harmonic.h:50
EXTERNFUNC int harmonic_getDefaultServoPositionLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout=100)
读从站字典0x2013-0x1
float hreal32
Definition: eu_harmonic.h:63
EXTERNFUNC int harmonic_profilePositionControl(huint8 devIndex, huint8 id, hint32 targetPos, huint32 vel, huint32 acc, huint32 dec, bool isRelative=false, bool isImmediately=true, bool isUpdate=false)
轮廓位置控制,该模式下电机内部根据给定参数生成轨迹并执行
EXTERNFUNC int harmonic_getInterpolationDataRecord(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout=100)
读从站字典0x60C1-0x1
EXTERNFUNC int harmonic_getDefaultServoPositionLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout=100)
读从站字典0x2013-0x2
EXTERNFUNC int harmonic_setTPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100)
写从站字典[0x1800+pdoIndex]-0x0
EXTERNFUNC int harmonic_getLocalDCLinkCircuitVoltage(huint32 *voltage)
读本地字典0x6079-0x0
EXTERNFUNC int harmonic_getQuickStopDeceleration(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout=100)
读从站字典0x6085-0x0
EXTERNFUNC int harmonic_setMitReplyCobdat2(huint8 devIndex, huint8 id, huint32 cobdat, huint32 timeout=100)
从站字典0x2133-0x0
EXTERNFUNC int harmonic_getTorqueSensorValue(huint8 devIndex, huint8 id, hreal32 *value, huint32 timeout=100)
读从站字典0x2030-0x0
EXTERNFUNC int harmonic_setLocalMutiMotorSetPos(huint16 motorIndex, hint32 pos)
写本地字典0x5003+[0x1+motorIndex]
EXTERNFUNC int harmonic_getLocalMitMutiMotorGetPos(huint16 motorIndex, hreal32 *pos)
读本地字典0x5008+[0x1+motorIndex]
EXTERNFUNC int harmonic_setLocalTargetTorque(hint16 torque)
写本地字典0x6071-0x0
EXTERNFUNC int harmonic_getStatusWord(huint8 devIndex, huint8 id, huint16 *word, huint32 timeout=100)
读从站字典0x6041-0x0
EXTERNFUNC int harmonic_getLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 *number)
读本地字典[0x1280+sdoClientIndex]-0x0
EXTERNFUNC int harmonic_getDCUnderVoltageTime(huint8 devIndex, huint8 id, huint32 *time, huint32 timeout=100)
读从站字典0x202D-0x2
EXTERNFUNC int harmonic_getIdentityObjectNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100)
读从站字典0x1018-0x0
EXTERNFUNC int harmonic_setLocalInterpolationDataRecord(hint32 value)
写本地字典0x60C1-0x1
EXTERNFUNC int harmonic_setServoOverSpeedThreshold(huint8 devIndex, huint8 id, huint32 thre, huint32 timeout=100)
写从站字典0x2024-0x0
EXTERNFUNC int harmonic_getTargetTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout=100)
读从站字典0x6071-0x0
Definition: eu_harmonic.h:236
EXTERNFUNC int harmonic_setLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 nodeId)
写本地字典[0x1200+sdoServerIndex]-0x3
EXTERNFUNC int harmonic_setServerSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 num, huint32 timeout=100)
写从站字典[0x1200+sdoServerIndex]-0x0
EXTERNFUNC int harmonic_getPositionWindowTime(huint8 devIndex, huint8 id, huint16 *pWindowTime, huint32 timeout=100)
读从站字典0x6068-0x0
EXTERNFUNC int harmonic_getLocalSyncCOBID(huint32 *cobId)
读本地字典0x1005-0x0
EXTERNFUNC int harmonic_getTorqueLimit(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout=100)
读从站字典0x6072-0x0
EXTERNFUNC int harmonic_getQuickStopOption(huint8 devIndex, huint8 id, harmonic_QuickStopOption *option, huint32 timeout=100)
读从站字典0x605A-0x0
EXTERNFUNC int harmonic_getSyncCycle(huint8 devIndex, huint8 id, huint32 *syncCycle, huint32 timeout=100)
读从站字典0x1006-0x0
EXTERNFUNC int harmonic_setMitPMin(huint8 devIndex, huint8 id, hreal32 pMin, huint32 timeout=100)
写从站字典0x2140-0x0
Definition: eu_harmonic.h:237
Definition: eu_harmonic.h:135
EXTERNFUNC int harmonic_setLocalMutiMotorSetTorque(huint16 motorIndex, hint16 torque)
写本地字典0x5005+[0x1+motorIndex]
EXTERNFUNC int harmonic_getTargetPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100)
0x607A-0x0
EXTERNFUNC int harmonic_getTPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout=100)
读从站字典[0x1800+pdoIndex]-0x3
EXTERNFUNC int harmonic_setMitKDMax(huint8 devIndex, huint8 id, hreal32 kdMax, huint32 timeout=100)
写从站字典0x2147-0x0
EXTERNFUNC int harmonic_getHaltOption(huint8 devIndex, huint8 id, harmonic_HaltOption *option, huint32 timeout=100)
读从站字典0x605D-0x0
EXTERNFUNC int harmonic_setLocalRPDOEventTimer(huint16 pdoIndex, huint16 timer)
写本地字典[0x1400+pdoIndex]-0x5
Definition: eu_harmonic.h:154
signed short int hint16
Definition: eu_harmonic.h:48
EXTERNFUNC int harmonic_getIdentityObjectRevisionNumber(huint8 devIndex, huint8 id, huint32 *revisionNum, huint32 timeout=100)
读从站字典0x1018-0x3
Definition: eu_harmonic.h:233
Definition: eu_harmonic.h:203
EXTERNFUNC int harmonic_getTorqueSlope(huint8 devIndex, huint8 id, huint32 *slope, huint32 timeout=100)
0x6087-0x0
EXTERNFUNC int harmonic_setLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 count)
写本地字典[0x1600+pdoIndex]-0x0
EXTERNFUNC int harmonic_setLocalTPDOEventTimer(huint16 pdoIndex, huint16 timer)
写本地字典[0x1800+pdoIndex]-0x5
harmonic_DeviceType
设备类型
Definition: eu_harmonic.h:82
EXTERNFUNC int harmonic_setReceiveDataCallBack(harmonic_ReceiveDataCallBack callFunc)
设置接收数据回调函数
EXTERNFUNC int harmonic_getLifeTimeFactor(huint8 devIndex, huint8 id, huint8 *factor, huint32 timeout=100)
读从站字典0x100D-0x0
EXTERNFUNC int harmonic_setLocalMitCtrlCobcmd2(huint32 cobcmd)
写本地字典0x2131-0x0
EXTERNFUNC int harmonic_getNodeState(huint8 devIndex, huint8 id, harmonic_NodeState *state, huint32 timeout=100)
读从节点状态
EXTERNFUNC int harmonic_setLocalTPDOInhibitTime(huint16 pdoIndex, huint16 time)
写本地字典[0x1800+pdoIndex]-0x3
EXTERNFUNC int harmonic_getRPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout=100)
读从站字典[0x1400+pdoIndex]-0x2
double hreal64
Definition: eu_harmonic.h:64
harmonic_NodeState
节点状态
Definition: eu_harmonic.h:132
EXTERNFUNC int harmonic_getDCLinkCircuitVoltage(huint8 devIndex, huint8 id, huint32 *voltage, huint32 timeout=100)
读从站字典0x6079-0x0
EXTERNFUNC int harmonic_getStoreParametersNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100)
读从站字典0x1010-0x0
EXTERNFUNC int harmonic_setPositionWindow(huint8 devIndex, huint8 id, huint32 pWindow, huint32 timeout=100)
写从站字典0x6067-0x0
void(* harmonic_ReceiveDataCallBack)(huint8 devIndex, const harmonic_CanMsg *msg)
接收数据回调函数
Definition: eu_harmonic.h:267
EXTERNFUNC int harmonic_setLocalMitReplyCobdat2(huint32 cobdat)
写本地字典0x2133-0x0
EXTERNFUNC int harmonic_setFindPointDoneFlag(huint8 devIndex, huint8 id, huint32 flag, huint32 timeout=100)
写从站字典0x2101-0x0
EXTERNFUNC int harmonic_setServerSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout=100)
写从站字典[0x1200+sdoServerIndex]-0x2
EXTERNFUNC int harmonic_setTorqueLimit(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout=100)
写从站字典0x6072-0x0
EXTERNFUNC int harmonic_getLocalTPDOEventTimer(huint16 pdoIndex, huint16 *timer)
读本地字典[0x1800+pdoIndex]-0x5
EXTERNFUNC int harmonic_getServoVelocityIntLimit(huint8 devIndex, huint8 id, huint16 *limit, huint32 timeout=100)
读从站字典0x2017-0x0
EXTERNFUNC int harmonic_getDemandPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100)
读从站字典0x6062-0x0
EXTERNFUNC int harmonic_getServoID(huint8 devIndex, huint8 id, huint8 *servoID, huint32 timeout=100)
读从站字典0x2001-0x1
EXTERNFUNC int harmonic_getDCVolageProtectionParasNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100)
读从站字典0x202D-0x0
EXTERNFUNC int harmonic_getDeviceName(huint8 devIndex, huint8 id, char *devName, huint32 timeout=100)
读从站字典0x1008-0x0
Definition: eu_harmonic.h:242
EXTERNFUNC int harmonic_setServerSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout=100)
写从站字典[0x1200+sdoServerIndex]-0x1
EXTERNFUNC int harmonic_setHearbeatConsumerTime(huint8 devIndex, huint8 id, huint8 subIndex, huint32 time, huint32 timeout=100)
写从站字典0x1016-subIndex
EXTERNFUNC int harmonic_getLocalMitCtrlCobcmd1(huint32 *cobcmd)
读本地字典0x2130-0x0
EXTERNFUNC int harmonic_getServoTemperatureParasNum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100)
读从站字典0x2016-0x0
Definition: eu_harmonic.h:107
EXTERNFUNC int harmonic_setTPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout=100)
写从站字典[0x1800+pdoIndex]-0x6
EXTERNFUNC int harmonic_setFindPointMoveAcc(huint8 devIndex, huint8 id, huint32 acc, huint32 timeout=100)
写从站字典0x2106-0x0
Definition: eu_harmonic.h:239
EXTERNFUNC int harmonic_getServoBrakeParaNum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100)
读从站字典0x2014-0x0
EXTERNFUNC int harmonic_getTPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout=100)
读从站字典[0x1800+pdoIndex]-0x6
EXTERNFUNC int harmonic_getLocalMutiMotorTorque(huint16 motorIndex, hint16 *tor)
读本地字典0x5002+[0x1+motorIndex]
EXTERNFUNC int harmonic_setDCOverVoltageThreshold(huint8 devIndex, huint8 id, huint32 vol, huint32 timeout=100)
写从站字典0x202D-0x3
EXTERNFUNC int harmonic_setGearRatioShaftRevolutions(huint8 devIndex, huint8 id, huint32 rev, huint32 timeout=100)
写从站字典0x6091-0x2
EXTERNFUNC int harmonic_getServoSecondEncoderValue(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout=100)
读从站字典0x202B-0x0
EXTERNFUNC int harmonic_getLocalRPDOTransmitType(huint16 pdoIndex, huint8 *type)
读本地字典[0x1400+pdoIndex]-0x2
Definition: eu_harmonic.h:234
EXTERNFUNC int harmonic_setLocalRPDOCobId(huint16 pdoIndex, huint32 cobId)
写本地字典[0x1400+pdoIndex]-0x1
EXTERNFUNC int harmonic_getRestoreDefaultParameters(huint8 devIndex, huint8 id, huint32 *value, huint32 timeout=100)
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EXTERNFUNC int harmonic_getHomeOffset(huint8 devIndex, huint8 id, hint32 *offSet, huint32 timeout=100)
读从站字典0x607C-0x0
EXTERNFUNC int harmonic_setVelocityThreshold(huint8 devIndex, huint8 id, huint16 thres, huint32 timeout=100)
写从站字典0x606F-0x0
EXTERNFUNC int harmonic_setRPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100)
写从站字典[0x1600+pdoIndex]-0x0
EXTERNFUNC int harmonic_getFollowingErrorWindow(huint8 devIndex, huint8 id, huint32 *eWindow, huint32 timeout=100)
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EXTERNFUNC int harmonic_setMitTMax(huint8 devIndex, huint8 id, hreal32 tMin, huint32 timeout=100)
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Definition: eu_harmonic.h:111
EXTERNFUNC int harmonic_getI2tOverLoadValue(huint8 devIndex, huint8 id, huint16 *value, huint32 timeout=100)
读从站字典0x2029-0x0
EXTERNFUNC int harmonic_getMotorRatedTorque(huint8 devIndex, huint8 id, huint32 *torque, huint32 timeout=100)
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EXTERNFUNC int harmonic_setQuickStopOption(huint8 devIndex, huint8 id, harmonic_QuickStopOption option, huint32 timeout=100)
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EXTERNFUNC int harmonic_setServoBrakeControl(huint8 devIndex, huint8 id, huint8 status, huint32 timeout=100)
写从站字典0x2014-0x1
Definition: eu_harmonic.h:152
Definition: eu_harmonic.h:96
EXTERNFUNC int harmonic_getServerSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 *num, huint32 timeout=100)
读从站字典[0x1200+sdoServerIndex]-0x0
EXTERNFUNC int harmonic_getVelocityWindowTime(huint8 devIndex, huint8 id, huint16 *wTime, huint32 timeout=100)
读从站字典0x606E-0x0
Definition: eu_harmonic.h:241
EXTERNFUNC int harmonic_getGearRatioShaftRevolutions(huint8 devIndex, huint8 id, huint32 *rev, huint32 timeout=100)
读从站字典0x6091-0x2
EXTERNFUNC int harmonic_getLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 *nodeId)
读本地字典[0x1200+sdoServerIndex]-0x3
EXTERNFUNC int harmonic_setServoVelocityLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout=100)
写从站字典0x2012-0x4
EXTERNFUNC int harmonic_setSyncCounter(huint8 devIndex, huint8 id, huint8 counter, huint32 timeout=100)
写从站字典0x1019-0x0
EXTERNFUNC int harmonic_setSendDataCallBack(harmonic_SendDataCallBack callFunc)
设置发送数据回调函数
EXTERNFUNC int harmonic_setServoTorqueWindow(huint8 devIndex, huint8 id, huint16 window, huint32 timeout=100)
写从站字典0x2022-0x0
EXTERNFUNC int harmonic_getServerSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout=100)
读从站字典[0x1200+sdoServerIndex]-0x1
EXTERNFUNC int harmonic_getMitKDMax(huint8 devIndex, huint8 id, hreal32 *kdMax, huint32 timeout=100)
读从站字典0x2147-0x0
#define EXTERNFUNC
Definition: eu_harmonic.h:23
EXTERNFUNC int harmonic_getTorqueFactor(huint8 devIndex, huint8 id, huint16 *factor, huint32 timeout=100)
读从站字典0x2110-0x0
EXTERNFUNC int harmonic_setServoTemperatureLimitTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100)
写从站字典0x2016-0x3
EXTERNFUNC int harmonic_getClientSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout=100)
读从站字典[0x1280+sdoClientIndex]-0x2
EXTERNFUNC int harmonic_setDisableOperationOptionCode(huint8 devIndex, huint8 id, harmonic_DisableOperationOption code, huint32 timeout=100)
写从站字典0x605C-0x0
EXTERNFUNC int harmonic_getLocalInterpolationTimePeriodValue(huint8 *value)
读本地字典0x60c2-0x1
EXTERNFUNC int harmonic_getLocalMutiMotorVel(huint16 motorIndex, hint32 *vel)
读本地字典0x5001+[0x1+motorIndex]
EXTERNFUNC int harmonic_getServoVelocityLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout=100)
读从站字典0x2012-0x4
EXTERNFUNC int harmonic_getLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value)
读本地字典[0x1600+pdoIndex]-[0x1+mapIndex]
EXTERNFUNC int harmonic_getServoThetaBiasValue(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout=100)
读从站字典0x202C-0x0
EXTERNFUNC int harmonic_getLocalInterpolationDataRecord(hint32 *value)
读本地字典0x60C1-0x1
EXTERNFUNC int harmonic_getHearbeatConsumerTime(huint8 devIndex, huint8 id, huint8 subIndex, huint32 *time, huint32 timeout=100)
读从站字典0x1016-subIndex
EXTERNFUNC int harmonic_setDefaultServoVelocityLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout=100)
写从站字典0x2012-0x2
Definition: eu_harmonic.h:229
harmonic_DataType
数据类型
Definition: eu_harmonic.h:148
EXTERNFUNC int harmonic_setServoVelocityFlowingErrorWindows(huint8 devIndex, huint8 id, huint32 error, huint32 timeout=100)
写从站字典0x2021-0x1
EXTERNFUNC int harmonic_getMitKPMax(huint8 devIndex, huint8 id, hreal32 *kpMax, huint32 timeout=100)
读从站字典0x2145-0x0
EXTERNFUNC int harmonic_getRPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout=100)
读从站字典[0x1400+pdoIndex]-0x1
EXTERNFUNC int harmonic_writeLocalDirectory(huint16 index, huint8 subIndex, harmonic_DataType dataType, void *writeData)
写主站字典
EXTERNFUNC int harmonic_getDefaultServoCurrentLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout=100)
读从站字典0x2010-0x2
EXTERNFUNC int harmonic_setClientSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 number, huint32 timeout=100)
写从站字典[0x1280+sdoClientIndex]-0x0
EXTERNFUNC int harmonic_getLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 *cobId)
读本地字典[0x1280+sdoClientIndex]-0x1
Definition: eu_harmonic.h:124
EXTERNFUNC int harmonic_getLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 *count)
读本地字典[0x1400+pdoIndex]-0x0
EXTERNFUNC int harmonic_setLifeTimeFactor(huint8 devIndex, huint8 id, huint8 factor, huint32 timeout=100)
写从站字典0x100D-0x0
EXTERNFUNC int harmonic_getSyncCobid(huint8 devIndex, huint8 id, huint32 *cobid, huint32 timeout=100)
读从站字典0x1005-0x0
EXTERNFUNC int harmonic_getServoBlockParasNum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100)
读从站字典0x2020-0x0
EXTERNFUNC int harmonic_getRPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout=100)
读从站字典[0x1400+pdoIndex]-0x5
EXTERNFUNC int harmonic_getServoSoftwareLimitState(huint8 devIndex, huint8 id, huint32 *state, huint32 timeout=100)
读从站字典0x2003-0x0
EXTERNFUNC int harmonic_setLocalControlword(huint16 word)
写本地字典0x6040-0x0
EXTERNFUNC int harmonic_getLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 *count)
读本地字典[0x1A00+pdoIndex]-0x0
EXTERNFUNC int harmonic_setHaltOption(huint8 devIndex, huint8 id, harmonic_HaltOption option, huint32 timeout=100)
写从站字典0x605D-0x0
EXTERNFUNC int harmonic_setFindPointMoveDec(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout=100)
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EXTERNFUNC int harmonic_setShutdownOptionCode(huint8 devIndex, huint8 id, harmonic_ShutdownOption code, huint32 timeout=100)
写从站字典0x605B-0
EXTERNFUNC int harmonic_getI2tOverLoadLimit(huint8 devIndex, huint8 id, huint16 *value, huint32 timeout=100)
读从站字典0x2028-0x0
EXTERNFUNC int harmonic_setLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 nodeId)
写本地字典[0x1280+sdoClientIndex]-0x3
Definition: eu_harmonic.h:157
EXTERNFUNC int harmonic_setClientSDONodeIdOfSDOServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 nodeId, huint32 timeout=100)
写从站字典[0x1280+sdoClientIndex]-0x3
EXTERNFUNC int harmonic_setDemandPos(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout=100)
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EXTERNFUNC int harmonic_setServoVelocityFlowingErrorTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100)
写从站字典0x2021-0x2
signed long int hint40
Definition: eu_harmonic.h:51
EXTERNFUNC int harmonic_getServoPositionLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout=100)
读从站字典0x2013-0x3
EXTERNFUNC int harmonic_getLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 *cobId)
读本地字典[0x1280+sdoClientIndex]-0x2
EXTERNFUNC int harmonic_setTPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100)
写从站字典[0x1A00+pdoIndex]-0x0
EXTERNFUNC int harmonic_setNodeState(huint8 devIndex, huint8 id, harmonic_NMTState state)
设置从节点状态
EXTERNFUNC int harmonic_getFaultReactionOption(huint8 devIndex, huint8 id, harmonic_FaultReactionOption *option, huint32 timeout=100)
读从站字典0x605E-0x0