eyou_harmonic_sdk  1.0
canable library
eu_harmonic.h
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1 
11 #ifndef EU_HARMONIC_H
12 #define EU_HARMONIC_H
13 
14 #ifdef __cplusplus
15 extern "C"
16 {
17 #endif
18 
19 #ifndef EXTERNFUNC
20 #ifdef _WIN32
21 #define EXTERNFUNC __declspec(dllexport)
22 #else
23 #define EXTERNFUNC
24 #endif
25 #endif
26 
27 #ifdef _WIN32
28  typedef char hint8;
29  typedef short hint16;
30  typedef long hint24;
31  typedef long hint32;
32  typedef long long hint40;
33  typedef long long hint48;
34  typedef long long hint56;
35  typedef long long hint64;
36  typedef unsigned char huint8;
37  typedef unsigned short huint16;
38  typedef unsigned long huint24;
39  typedef unsigned long huint32;
40  typedef unsigned long long huint40;
41  typedef unsigned long long huint48;
42  typedef unsigned long long huint56;
43  typedef unsigned long long huint64;
44  typedef float hreal32;
45  typedef double hreal64;
46 #else
47 typedef signed char hint8;
48 typedef signed short int hint16;
49 typedef signed int hint24;
50 typedef signed int hint32;
51 typedef signed long int hint40;
52 typedef signed long int hint48;
53 typedef signed long int hint56;
54 typedef signed long int hint64;
55 typedef unsigned int huint8 __attribute__((__mode__(__QI__)));
56 typedef unsigned int huint16 __attribute__((__mode__(__HI__)));
57 typedef unsigned int huint24 __attribute__((__mode__(__SI__)));
58 typedef unsigned int huint32 __attribute__((__mode__(__SI__)));
59 typedef unsigned int huint40 __attribute__((__mode__(__DI__)));
60 typedef unsigned int huint48 __attribute__((__mode__(__DI__)));
61 typedef unsigned int huint56 __attribute__((__mode__(__DI__)));
62 typedef unsigned int huint64 __attribute__((__mode__(__DI__)));
63 typedef float hreal32;
64 typedef double hreal64;
65 #endif
66 
67 #define HARMONIC_SUCCESS (0)
68 #define HARMONIC_FAILED_DEVICEDISABLED (1)
69 #define HARMONIC_FAILED_OPENFAILED (2)
70 #define HARMONIC_FAILED_CANSEND (3)
71 #define HARMONIC_FAILED_CANRECEIVE (4)
72 #define HARMONIC_FAILED_ReadLocalDict (5)
73 #define HARMONIC_FAILED_WriteLocalDict (6)
74 #define HARMONIC_FAILED_NoRespondR (7)
75 #define HARMONIC_FAILED_NoRespondW (8)
76 #define HARMONIC_FAILED_UNKNOWN (100)
83  {
87  };
88 
94  {
101  harmonic_Baudrate_1000 = 1000
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  huint32 canId;
252  huint8 rtr;
253  huint8 extended;
254  huint8 len;
255  huint8 data[8];
257 
262  typedef void (*harmonic_SendDataCallBack)(huint8 devIndex, const harmonic_CanMsg *msg);
263 
268  typedef void (*harmonic_ReceiveDataCallBack)(huint8 devIndex, const harmonic_CanMsg *msg);
269 
277 
285 
296 
304  EXTERNFUNC int harmonic_freeDLL(huint8 devIndex);
305 
315  EXTERNFUNC int harmonic_getNodeState(huint8 devIndex, huint8 id, harmonic_NodeState *state, huint32 timeout = 100);
316 
324 
333  EXTERNFUNC int harmonic_setNodeState(huint8 devIndex, huint8 id, harmonic_NMTState state);
334 
344  EXTERNFUNC int harmonic_readLocalDirectory(huint16 index, huint8 subIndex, harmonic_DataType dataType, void *readData);
345 
358  EXTERNFUNC int harmonic_readDirectory(huint8 devIndex, huint8 id, huint16 index, huint8 subIndex, harmonic_DataType dataType, void *readData, huint32 timeout = 100);
359 
370  EXTERNFUNC int harmonic_writeLocalDirectory(huint16 index, huint8 subIndex, harmonic_DataType dataType, void *writeData);
371 
384  EXTERNFUNC int harmonic_writeDirectory(huint8 devIndex, huint8 id, huint16 index, huint8 subIndex, harmonic_DataType dataType, void *writeData, huint32 timeout = 100);
385 
395  EXTERNFUNC int harmonic_writeCanData(huint8 devIndex, huint16 cobId, const huint8 *const data, huint8 len);
396 
404  EXTERNFUNC int harmonic_writeCanMsg(huint8 devIndex, const harmonic_CanMsg *canMsg);
405 
420  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);
421 
433  EXTERNFUNC int harmonic_profileVelocityControl(huint8 devIndex, huint8 id, hint32 targetVel, huint32 acc, huint32 dec, bool isUpdate = false);
434 
445  EXTERNFUNC int harmonic_profileTorqueControl(huint8 devIndex, huint8 id, huint16 targetTorque, hint16 slope, bool isUpdate = false);
446 
454  EXTERNFUNC int harmonic_stopControl(huint8 devIndex, huint8 id);
455 
463 
471 
479 
487 
495 
503 
511  EXTERNFUNC int harmonic_getLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 *num);
512 
520  EXTERNFUNC int harmonic_setLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 num);
521 
529  EXTERNFUNC int harmonic_getLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 *cobId);
530 
538  EXTERNFUNC int harmonic_setLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 cobId);
539 
547  EXTERNFUNC int harmonic_getLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 *cobId);
548 
556  EXTERNFUNC int harmonic_setLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 cobId);
557 
565  EXTERNFUNC int harmonic_getLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 *nodeId);
566 
574  EXTERNFUNC int harmonic_setLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 nodeId);
575 
583  EXTERNFUNC int harmonic_getLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 *number);
584 
592  EXTERNFUNC int harmonic_setLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 number);
593 
601  EXTERNFUNC int harmonic_getLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 *cobId);
602 
610  EXTERNFUNC int harmonic_setLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 cobId);
611 
619  EXTERNFUNC int harmonic_getLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 *cobId);
620 
628  EXTERNFUNC int harmonic_setLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 cobId);
629 
637  EXTERNFUNC int harmonic_getLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 *nodeId);
638 
646  EXTERNFUNC int harmonic_setLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 nodeId);
647 
655  EXTERNFUNC int harmonic_getLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 *count);
656 
664  EXTERNFUNC int harmonic_setLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 count);
665 
673  EXTERNFUNC int harmonic_getLocalRPDOCobId(huint16 pdoIndex, huint32 *cobId);
674 
682  EXTERNFUNC int harmonic_setLocalRPDOCobId(huint16 pdoIndex, huint32 cobId);
683 
691  EXTERNFUNC int harmonic_getLocalRPDOTransmitType(huint16 pdoIndex, huint8 *type);
692 
700  EXTERNFUNC int harmonic_setLocalRPDOTransmitType(huint16 pdoIndex, huint8 type);
701 
709  EXTERNFUNC int harmonic_getLocalRPDOInhibitTime(huint16 pdoIndex, huint16 *time);
710 
718  EXTERNFUNC int harmonic_setLocalRPDOInhibitTime(huint16 pdoIndex, huint16 time);
719 
727  EXTERNFUNC int harmonic_getLocalRPDOEventTimer(huint16 pdoIndex, huint16 *timer);
728 
736  EXTERNFUNC int harmonic_setLocalRPDOEventTimer(huint16 pdoIndex, huint16 timer);
737 
745  EXTERNFUNC int harmonic_getLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 *value);
746 
754  EXTERNFUNC int harmonic_setLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 value);
755 
763  EXTERNFUNC int harmonic_getLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 *count);
764 
772  EXTERNFUNC int harmonic_setLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 count);
773 
782  EXTERNFUNC int harmonic_getLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value);
783 
792  EXTERNFUNC int harmonic_setLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value);
793 
801  EXTERNFUNC int harmonic_getLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 *count);
802 
810  EXTERNFUNC int harmonic_setLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 count);
811 
819  EXTERNFUNC int harmonic_getLocalTPDOCobId(huint16 pdoIndex, huint32 *cobId);
820 
828  EXTERNFUNC int harmonic_setLocalTPDOCobId(huint16 pdoIndex, huint32 cobId);
829 
837  EXTERNFUNC int harmonic_getLocalTPDOTransmitType(huint16 pdoIndex, huint8 *type);
838 
846  EXTERNFUNC int harmonic_setLocalTPDOTransmitType(huint16 pdoIndex, huint8 type);
847 
855  EXTERNFUNC int harmonic_getLocalTPDOInhibitTime(huint16 pdoIndex, huint16 *time);
856 
864  EXTERNFUNC int harmonic_setLocalTPDOInhibitTime(huint16 pdoIndex, huint16 time);
865 
873  EXTERNFUNC int harmonic_getLocalTPDOEventTimer(huint16 pdoIndex, huint16 *timer);
874 
882  EXTERNFUNC int harmonic_setLocalTPDOEventTimer(huint16 pdoIndex, huint16 timer);
883 
891  EXTERNFUNC int harmonic_getLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 *value);
892 
900  EXTERNFUNC int harmonic_setLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 value);
901 
909  EXTERNFUNC int harmonic_getLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 *count);
910 
918  EXTERNFUNC int harmonic_setLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 count);
919 
928  EXTERNFUNC int harmonic_getLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value);
929 
938  EXTERNFUNC int harmonic_setLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value);
939 
947 
955 
963 
971 
979 
987 
995 
1003 
1011 
1019  EXTERNFUNC int harmonic_getLocalMutiMotorPos(huint16 motorIndex, hint32 *pos);
1020 
1028  EXTERNFUNC int harmonic_getLocalMutiMotorVel(huint16 motorIndex, hint32 *vel);
1029 
1037  EXTERNFUNC int harmonic_getLocalMutiMotorTorque(huint16 motorIndex, hint16 *tor);
1038 
1047 
1056 
1064  EXTERNFUNC int harmonic_setLocalMutiMotorSetTorque(huint16 motorIndex, hint16 torque);
1065 
1073  EXTERNFUNC int harmonic_getLocalMutiMotorStatusWord(huint16 motorIndex, huint16 *status);
1074 
1082  EXTERNFUNC int harmonic_getLocalMutiMotorErrorCode(huint16 motorIndex, huint16 *error);
1083 
1092 
1101 
1110 
1119 
1128 
1137 
1146 
1155 
1164 
1173 
1182 
1191 
1199 
1207 
1215 
1223 
1231 
1239 
1247 
1255 
1263 
1271 
1279 
1287 
1295 
1303 
1311 
1319 
1327 
1335 
1345  EXTERNFUNC int harmonic_getDeviceType(huint8 devIndex, huint8 id, huint32 *deviceType, huint32 timeout = 100);
1346 
1356  EXTERNFUNC int harmonic_getErrorRegister(huint8 devIndex, huint8 id, huint8 *errReg, huint32 timeout = 100);
1357 
1367  EXTERNFUNC int harmonic_getErrorFieldNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1368 
1378  EXTERNFUNC int harmonic_setErrorFieldNumber(huint8 devIndex, huint8 id, huint8 number, huint32 timeout = 100); // 0x1003-0
1379 
1390  EXTERNFUNC int harmonic_getErrorField(huint8 devIndex, huint8 id, huint8 subIndex, huint32 *err, huint32 timeout = 100);
1391 
1401  EXTERNFUNC int harmonic_getSyncCobid(huint8 devIndex, huint8 id, huint32 *cobid, huint32 timeout = 100);
1402 
1412  EXTERNFUNC int harmonic_setSyncCobid(huint8 devIndex, huint8 id, huint32 cobid, huint32 timeout = 100);
1413 
1423  EXTERNFUNC int harmonic_getSyncCycle(huint8 devIndex, huint8 id, huint32 *syncCycle, huint32 timeout = 100);
1424 
1434  EXTERNFUNC int harmonic_setSyncCycle(huint8 devIndex, huint8 id, huint32 syncCycle, huint32 timeout = 100);
1435 
1445  EXTERNFUNC int harmonic_getSyncWindow(huint8 devIndex, huint8 id, huint32 *syncWindow, huint32 timeout = 100);
1446 
1456  EXTERNFUNC int harmonic_setSyncWindow(huint8 devIndex, huint8 id, huint32 syncWindow, huint32 timeout = 100);
1457 
1467  EXTERNFUNC int harmonic_getDeviceName(huint8 devIndex, huint8 id, char *devName, huint32 timeout = 100);
1468 
1478  EXTERNFUNC int harmonic_getHardwareVersion(huint8 devIndex, huint8 id, char *version, huint32 timeout = 100);
1479 
1489  EXTERNFUNC int harmonic_getSoftwareVersion(huint8 devIndex, huint8 id, char *version, huint32 timeout = 100);
1490 
1500  EXTERNFUNC int harmonic_getGuardTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
1501 
1511  EXTERNFUNC int harmonic_setGuardTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
1512 
1522  EXTERNFUNC int harmonic_getLifeTimeFactor(huint8 devIndex, huint8 id, huint8 *factor, huint32 timeout = 100);
1523 
1533  EXTERNFUNC int harmonic_setLifeTimeFactor(huint8 devIndex, huint8 id, huint8 factor, huint32 timeout = 100);
1534 
1544  EXTERNFUNC int harmonic_getStoreParametersNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1545 
1555  EXTERNFUNC int harmonic_getStoreParameters(huint8 devIndex, huint8 id, huint32 *value, huint32 timeout = 100);
1556 
1566  EXTERNFUNC int harmonic_setStoreParameters(huint8 devIndex, huint8 id, huint32 value, huint32 timeout = 100);
1567 
1577  EXTERNFUNC int harmonic_getRestoreDefaultParametersNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1578 
1588  EXTERNFUNC int harmonic_getRestoreDefaultParameters(huint8 devIndex, huint8 id, huint32 *value, huint32 timeout = 100);
1589 
1600  EXTERNFUNC int harmonic_setRestoreDefaultParameters(huint8 devIndex, huint8 id, huint32 value, huint32 timeout = 100);
1601 
1611  EXTERNFUNC int harmonic_getEmergencyCobid(huint8 devIndex, huint8 id, huint32 *cobid, huint32 timeout = 100);
1612 
1622  EXTERNFUNC int harmonic_setEmergencyCobid(huint8 devIndex, huint8 id, huint32 cobid, huint32 timeout = 100);
1623 
1633  EXTERNFUNC int harmonic_getEmergencyInhibitTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
1634 
1644  EXTERNFUNC int harmonic_setEmergencyInhibitTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
1645 
1655  EXTERNFUNC int harmonic_getHearbeatConsumerTimeParasNum(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1656 
1667  EXTERNFUNC int harmonic_getHearbeatConsumerTime(huint8 devIndex, huint8 id, huint8 subIndex, huint32 *time, huint32 timeout = 100);
1668 
1679  EXTERNFUNC int harmonic_setHearbeatConsumerTime(huint8 devIndex, huint8 id, huint8 subIndex, huint32 time, huint32 timeout = 100);
1680 
1690  EXTERNFUNC int harmonic_getProducerHeartbeatTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
1691 
1701  EXTERNFUNC int harmonic_setProducerHeartbeatTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
1702 
1712  EXTERNFUNC int harmonic_getIdentityObjectNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1713 
1723  EXTERNFUNC int harmonic_getVendorID(huint8 devIndex, huint8 id, huint32 *vId, huint32 timeout = 100);
1724 
1734  EXTERNFUNC int harmonic_getProductCode(huint8 devIndex, huint8 id, huint32 *pCode, huint32 timeout = 100);
1735 
1745  EXTERNFUNC int harmonic_getIdentityObjectRevisionNumber(huint8 devIndex, huint8 id, huint32 *revisionNum, huint32 timeout = 100);
1746 
1756  EXTERNFUNC int harmonic_getSerialNumber(huint8 devIndex, huint8 id, huint32 *serialNum, huint32 timeout = 100);
1757 
1767  EXTERNFUNC int harmonic_getSyncCounter(huint8 devIndex, huint8 id, huint8 *counter, huint32 timeout = 100);
1768 
1778  EXTERNFUNC int harmonic_setSyncCounter(huint8 devIndex, huint8 id, huint8 counter, huint32 timeout = 100);
1779 
1789  EXTERNFUNC int harmonic_getServerSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 *num, huint32 timeout = 100);
1790 
1800  EXTERNFUNC int harmonic_setServerSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 num, huint32 timeout = 100);
1801 
1811  EXTERNFUNC int harmonic_getServerSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout = 100);
1812 
1822  EXTERNFUNC int harmonic_setServerSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout = 100);
1823 
1833  EXTERNFUNC int harmonic_getServerSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout = 100);
1834 
1844  EXTERNFUNC int harmonic_setServerSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout = 100);
1845 
1855  EXTERNFUNC int harmonic_getServerSDONodeIdOfClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 *nodeId, huint32 timeout = 100);
1856 
1866  EXTERNFUNC int harmonic_setServerSDONodeIdOfClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 nodeId, huint32 timeout = 100);
1867 
1878  EXTERNFUNC int harmonic_getClientSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 *number, huint32 timeout = 100);
1879 
1890  EXTERNFUNC int harmonic_setClientSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 number, huint32 timeout = 100);
1891 
1902  EXTERNFUNC int harmonic_getClientSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout = 100);
1903 
1914  EXTERNFUNC int harmonic_setClientSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout = 100);
1915 
1926  EXTERNFUNC int harmonic_getClientSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout = 100);
1927 
1938  EXTERNFUNC int harmonic_setClientSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout = 100);
1939 
1950  EXTERNFUNC int harmonic_getClientSDONodeIdOfSDOServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 *nodeId, huint32 timeout = 100);
1951 
1962  EXTERNFUNC int harmonic_setClientSDONodeIdOfSDOServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 nodeId, huint32 timeout = 100);
1963 
1974  EXTERNFUNC int harmonic_getRPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
1975 
1986  EXTERNFUNC int harmonic_setRPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
1987 
1998  EXTERNFUNC int harmonic_getRPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout = 100);
1999 
2010  EXTERNFUNC int harmonic_setRPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout = 100);
2011 
2022  EXTERNFUNC int harmonic_getRPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout = 100);
2023 
2034  EXTERNFUNC int harmonic_setRPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout = 100);
2035 
2046  EXTERNFUNC int harmonic_getRPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout = 100);
2047 
2058  EXTERNFUNC int harmonic_setRPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout = 100);
2059 
2070  EXTERNFUNC int harmonic_getRPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout = 100);
2071 
2082  EXTERNFUNC int harmonic_setRPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout = 100);
2083 
2094  EXTERNFUNC int harmonic_getRPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout = 100);
2095 
2106  EXTERNFUNC int harmonic_setRPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout = 100); // 1400-6
2107 
2118  EXTERNFUNC int harmonic_getRPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
2119 
2130  EXTERNFUNC int harmonic_setRPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
2131 
2143  EXTERNFUNC int harmonic_getRPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout = 100);
2144 
2156  EXTERNFUNC int harmonic_setRPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout = 100);
2157 
2168  EXTERNFUNC int harmonic_getTPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
2169 
2180  EXTERNFUNC int harmonic_setTPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
2181 
2192  EXTERNFUNC int harmonic_getTPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout = 100);
2193 
2204  EXTERNFUNC int harmonic_setTPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout = 100);
2205 
2216  EXTERNFUNC int harmonic_getTPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout = 100);
2217 
2228  EXTERNFUNC int harmonic_setTPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout = 100);
2229 
2240  EXTERNFUNC int harmonic_getTPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout = 100);
2241 
2252  EXTERNFUNC int harmonic_setTPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout = 100);
2253 
2264  EXTERNFUNC int harmonic_getTPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout = 100);
2265 
2275  EXTERNFUNC int harmonic_setTPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout = 100);
2276 
2287  EXTERNFUNC int harmonic_getTPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout = 100);
2288 
2299  EXTERNFUNC int harmonic_setTPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout = 100);
2300 
2311  EXTERNFUNC int harmonic_getTPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
2312 
2323  EXTERNFUNC int harmonic_setTPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
2324 
2336  EXTERNFUNC int harmonic_getTPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout = 100);
2337 
2349  EXTERNFUNC int harmonic_setTPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout = 100); // 1A00-1
2350 
2360  EXTERNFUNC int harmonic_getServoParametersNumber(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2361 
2371  EXTERNFUNC int harmonic_setServoParametersNumber(huint8 devIndex, huint8 id, huint8 num, huint32 timeout = 100);
2372 
2382  EXTERNFUNC int harmonic_getServoID(huint8 devIndex, huint8 id, huint8 *servoID, huint32 timeout = 100);
2383 
2393  EXTERNFUNC int harmonic_setServoID(huint8 devIndex, huint8 id, huint8 servoID, huint32 timeout = 100);
2394 
2404  EXTERNFUNC int harmonic_getServoCanBaudrate(huint8 devIndex, huint8 id, huint16 *baudrate, huint32 timeout = 100);
2405 
2415  EXTERNFUNC int harmonic_setServoCanBaudrate(huint8 devIndex, huint8 id, huint16 baudrate, huint32 timeout = 100);
2416 
2426  EXTERNFUNC int harmonic_getServoSoftwareLimitState(huint8 devIndex, huint8 id, huint32 *state, huint32 timeout = 100);
2427 
2437  EXTERNFUNC int harmonic_setServoSoftwareLimitState(huint8 devIndex, huint8 id, huint32 state, huint32 timeout = 100);
2438 
2448  EXTERNFUNC int harmonic_getServoCommunicationMode(huint8 devIndex, huint8 id, huint8 *mode, huint32 timeout = 100);
2449 
2459  EXTERNFUNC int harmonic_setServoCommunicationMode(huint8 devIndex, huint8 id, huint8 mode, huint32 timeout = 100);
2460 
2470  EXTERNFUNC int harmonic_getServoCurrentLoopPINum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2471 
2481  EXTERNFUNC int harmonic_getDefaultServoCurrentLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout = 100);
2482 
2492  EXTERNFUNC int harmonic_setDefaultServoCurrentLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout = 100);
2493 
2503  EXTERNFUNC int harmonic_getDefaultServoCurrentLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout = 100);
2504 
2514  EXTERNFUNC int harmonic_setDefaultServoCurrentLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout = 100);
2515 
2525  EXTERNFUNC int harmonic_getServoCurrentLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout = 100);
2526 
2536  EXTERNFUNC int harmonic_setServoCurrentLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout = 100);
2537 
2547  EXTERNFUNC int harmonic_getServoCurrentLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout = 100);
2548 
2558  EXTERNFUNC int harmonic_setServoCurrentLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout = 100);
2559 
2569  EXTERNFUNC int harmonic_getServoVelocityLoopPINum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2570 
2580  EXTERNFUNC int harmonic_getDefaultServoVelocityLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout = 100);
2581 
2591  EXTERNFUNC int harmonic_setDefaultServoVelocityLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout = 100);
2592 
2602  EXTERNFUNC int harmonic_getDefaultServoVelocityLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout = 100);
2603 
2613  EXTERNFUNC int harmonic_setDefaultServoVelocityLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout = 100);
2614 
2624  EXTERNFUNC int harmonic_getServoVelocityLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout = 100);
2625 
2635  EXTERNFUNC int harmonic_setServoVelocityLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout = 100);
2636 
2646  EXTERNFUNC int harmonic_getServoVelocityLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout = 100);
2647 
2657  EXTERNFUNC int harmonic_setServoVelocityLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout = 100);
2658 
2668  EXTERNFUNC int harmonic_getServoPositionLoopPINum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2669 
2679  EXTERNFUNC int harmonic_getDefaultServoPositionLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout = 100);
2680 
2690  EXTERNFUNC int harmonic_setDefaultServoPositionLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout = 100);
2691 
2701  EXTERNFUNC int harmonic_getDefaultServoPositionLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout = 100);
2702 
2712  EXTERNFUNC int harmonic_setDefaultServoPositionLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout = 100);
2713 
2723  EXTERNFUNC int harmonic_getServoPositionLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout = 100);
2724 
2734  EXTERNFUNC int harmonic_setServoPositionLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout = 100);
2735 
2745  EXTERNFUNC int harmonic_getServoPositionLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout = 100);
2746 
2756  EXTERNFUNC int harmonic_setServoPositionLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout = 100);
2757 
2767  EXTERNFUNC int harmonic_getServoBrakeParaNum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2768 
2778  EXTERNFUNC int harmonic_getServoBrakeControl(huint8 devIndex, huint8 id, huint8 *status, huint32 timeout = 100);
2779 
2789  EXTERNFUNC int harmonic_setServoBrakeControl(huint8 devIndex, huint8 id, huint8 status, huint32 timeout = 100);
2790 
2800  EXTERNFUNC int harmonic_getBrakeState(huint8 devIndex, huint8 id, huint8 *state, huint32 timeout = 100);
2801 
2811  EXTERNFUNC int harmonic_setBrakeState(huint8 devIndex, huint8 id, huint8 state, huint32 timeout = 100);
2812 
2822  EXTERNFUNC int harmonic_getServoTemperatureParasNum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2823 
2833  EXTERNFUNC int harmonic_getServoTemperature(huint8 devIndex, huint8 id, hint8 *tem, huint32 timeout = 100);
2834 
2844  EXTERNFUNC int harmonic_getServoTemperatureLimit(huint8 devIndex, huint8 id, hint8 *tem, huint32 timeout = 100);
2845 
2855  EXTERNFUNC int harmonic_setServoTemperatureLimit(huint8 devIndex, huint8 id, huint8 tem, huint32 timeout = 100);
2856 
2866  EXTERNFUNC int harmonic_getServoTemperatureLimitTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
2867 
2877  EXTERNFUNC int harmonic_setServoTemperatureLimitTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
2878 
2888  EXTERNFUNC int harmonic_getServoVelocityIntLimit(huint8 devIndex, huint8 id, huint16 *limit, huint32 timeout = 100);
2889 
2899  EXTERNFUNC int harmonic_setServoVelocityIntLimit(huint8 devIndex, huint8 id, huint16 limit, huint32 timeout = 100);
2900 
2910  EXTERNFUNC int harmonic_getServoBlockParasNum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2911 
2921  EXTERNFUNC int harmonic_getServoBlockTorque(huint8 devIndex, huint8 id, huint16 *torque, huint32 timeout = 100);
2922 
2932  EXTERNFUNC int harmonic_setServoBlockTorque(huint8 devIndex, huint8 id, huint16 torque, huint32 timeout = 100);
2933 
2943  EXTERNFUNC int harmonic_getServoBlockTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
2944 
2954  EXTERNFUNC int harmonic_setServoBlockTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
2955 
2965  EXTERNFUNC int harmonic_getServoBlockVelocity(huint8 devIndex, huint8 id, huint32 *velocity, huint32 timeout = 100);
2966 
2976  EXTERNFUNC int harmonic_setServoBlockVelocity(huint8 devIndex, huint8 id, huint32 velocity, huint32 timeout = 100);
2977 
2987  EXTERNFUNC int harmonic_getServoVelocityFlowingErrorParasNum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2988 
2998  EXTERNFUNC int harmonic_getServoVelocityFlowingErrorWindows(huint8 devIndex, huint8 id, huint32 *error, huint32 timeout = 100);
2999 
3009  EXTERNFUNC int harmonic_setServoVelocityFlowingErrorWindows(huint8 devIndex, huint8 id, huint32 error, huint32 timeout = 100);
3010 
3020  EXTERNFUNC int harmonic_getServoVelocityFlowingErrorTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
3021 
3031  EXTERNFUNC int harmonic_setServoVelocityFlowingErrorTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
3032 
3042  EXTERNFUNC int harmonic_getServoTorqueWindow(huint8 devIndex, huint8 id, huint16 *window, huint32 timeout = 100);
3043 
3053  EXTERNFUNC int harmonic_setServoTorqueWindow(huint8 devIndex, huint8 id, huint16 window, huint32 timeout = 100);
3054 
3064  EXTERNFUNC int harmonic_getServoTorqueWindowTime(huint8 devIndex, huint8 id, huint16 *window, huint32 timeout = 100);
3065 
3075  EXTERNFUNC int harmonic_setServoTorqueWindowTime(huint8 devIndex, huint8 id, huint16 window, huint32 timeout = 100);
3076 
3086  EXTERNFUNC int harmonic_getServoOverSpeedThreshold(huint8 devIndex, huint8 id, huint32 *thre, huint32 timeout = 100);
3087 
3097  EXTERNFUNC int harmonic_setServoOverSpeedThreshold(huint8 devIndex, huint8 id, huint32 thre, huint32 timeout = 100);
3098 
3108  EXTERNFUNC int harmonic_getServoOverSpeedTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
3109 
3119  EXTERNFUNC int harmonic_setServoOverSpeedTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
3120 
3130  EXTERNFUNC int harmonic_getServoBrakeDelayTime(huint8 devIndex, huint8 id, huint8 *time, huint32 timeout = 100);
3131 
3141  EXTERNFUNC int harmonic_setServoBrakeDelayTime(huint8 devIndex, huint8 id, huint8 time, huint32 timeout = 100);
3142 
3152  EXTERNFUNC int harmonic_getI2tOverLoadLimit(huint8 devIndex, huint8 id, huint16 *value, huint32 timeout = 100);
3153 
3163  EXTERNFUNC int harmonic_setI2tOverLoadLimit(huint8 devIndex, huint8 id, huint16 value, huint32 timeout = 100);
3164 
3174  EXTERNFUNC int harmonic_getI2tOverLoadValue(huint8 devIndex, huint8 id, huint16 *value, huint32 timeout = 100);
3175 
3185  EXTERNFUNC int harmonic_getServoFirstEncoderValue(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout = 100);
3186 
3196  EXTERNFUNC int harmonic_getServoSecondEncoderValue(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout = 100);
3197 
3207  EXTERNFUNC int harmonic_getServoThetaBiasValue(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout = 100);
3208 
3218  EXTERNFUNC int harmonic_getDCVolageProtectionParasNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
3219 
3229  EXTERNFUNC int harmonic_getDCUnderVoltageThreshold(huint8 devIndex, huint8 id, huint32 *vol, huint32 timeout = 100);
3230 
3240  EXTERNFUNC int harmonic_setDCUnderVoltageThreshold(huint8 devIndex, huint8 id, huint32 vol, huint32 timeout = 100);
3241 
3251  EXTERNFUNC int harmonic_getDCUnderVoltageTime(huint8 devIndex, huint8 id, huint32 *time, huint32 timeout = 100);
3252 
3262  EXTERNFUNC int harmonic_setDCUnderVoltageTime(huint8 devIndex, huint8 id, huint32 time, huint32 timeout = 100);
3263 
3273  EXTERNFUNC int harmonic_getDCOverVoltageThreshold(huint8 devIndex, huint8 id, huint32 *vol, huint32 timeout = 100);
3274 
3284  EXTERNFUNC int harmonic_setDCOverVoltageThreshold(huint8 devIndex, huint8 id, huint32 vol, huint32 timeout = 100);
3285 
3295  EXTERNFUNC int harmonic_getDCOverVoltageTime(huint8 devIndex, huint8 id, huint32 *time, huint32 timeout = 100);
3296 
3306  EXTERNFUNC int harmonic_setDCOverVoltageTime(huint8 devIndex, huint8 id, huint32 time, huint32 timeout = 100);
3307 
3317  EXTERNFUNC int harmonic_getTorqueSensorValue(huint8 devIndex, huint8 id, hreal32 *value, huint32 timeout = 100);
3318 
3328  EXTERNFUNC int harmonic_getFindPointDoneFlag(huint8 devIndex, huint8 id, huint32 *flag, huint32 timeout = 100);
3329 
3339  EXTERNFUNC int harmonic_setFindPointDoneFlag(huint8 devIndex, huint8 id, huint32 flag, huint32 timeout = 100);
3340 
3350  EXTERNFUNC int harmonic_getFindPointStart(huint8 devIndex, huint8 id, huint32 *status, huint32 timeout = 100);
3351 
3361  EXTERNFUNC int harmonic_setFindPointStart(huint8 devIndex, huint8 id, huint32 status, huint32 timeout = 100);
3362 
3372  EXTERNFUNC int harmonic_getFindPointMoveMax(huint8 devIndex, huint8 id, huint32 *angle, huint32 timeout = 100);
3373 
3383  EXTERNFUNC int harmonic_setFindPointMoveMax(huint8 devIndex, huint8 id, huint32 angle, huint32 timeout = 100);
3384 
3394  EXTERNFUNC int harmonic_getFindPointMoveAcc(huint8 devIndex, huint8 id, huint32 *acc, huint32 timeout = 100);
3395 
3405  EXTERNFUNC int harmonic_setFindPointMoveAcc(huint8 devIndex, huint8 id, huint32 acc, huint32 timeout = 100);
3406 
3416  EXTERNFUNC int harmonic_getFindPointMoveDec(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout = 100);
3417 
3427  EXTERNFUNC int harmonic_setFindPointMoveDec(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout = 100);
3428 
3438  EXTERNFUNC int harmonic_getFindPointMoveVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout = 100);
3439 
3449  EXTERNFUNC int harmonic_setFindPointMoveVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout = 100);
3450 
3460  EXTERNFUNC int harmonic_getTorqueFactor(huint8 devIndex, huint8 id, huint16 *factor, huint32 timeout = 100);
3461 
3471  EXTERNFUNC int harmonic_setTorqueFactor(huint8 devIndex, huint8 id, huint16 factor, huint32 timeout = 100);
3472 
3482  EXTERNFUNC int harmonic_getMitCtrlCobcmd1(huint8 devIndex, huint8 id, huint32 *cobcmd, huint32 timeout = 100);
3483 
3493  EXTERNFUNC int harmonic_setMitCtrlCobcmd1(huint8 devIndex, huint8 id, huint32 cobcmd, huint32 timeout = 100);
3494 
3504  EXTERNFUNC int harmonic_getMitCtrlCobcmd2(huint8 devIndex, huint8 id, huint32 *cobcmd, huint32 timeout = 100);
3505 
3515  EXTERNFUNC int harmonic_setMitCtrlCobcmd2(huint8 devIndex, huint8 id, huint32 cobcmd, huint32 timeout = 100);
3516 
3526  EXTERNFUNC int harmonic_getMitReplyCobdat1(huint8 devIndex, huint8 id, huint32 *cobdat, huint32 timeout = 100);
3527 
3537  EXTERNFUNC int harmonic_setMitReplyCobdat1(huint8 devIndex, huint8 id, huint32 cobdat, huint32 timeout = 100);
3538 
3548  EXTERNFUNC int harmonic_getMitReplyCobdat2(huint8 devIndex, huint8 id, huint32 *cobdat, huint32 timeout = 100);
3549 
3559  EXTERNFUNC int harmonic_setMitReplyCobdat2(huint8 devIndex, huint8 id, huint32 cobdat, huint32 timeout = 100);
3560 
3570  EXTERNFUNC int harmonic_getMitPMin(huint8 devIndex, huint8 id, hreal32 *pMin, huint32 timeout = 100);
3571 
3581  EXTERNFUNC int harmonic_setMitPMin(huint8 devIndex, huint8 id, hreal32 pMin, huint32 timeout = 100);
3582 
3592  EXTERNFUNC int harmonic_getMitPMax(huint8 devIndex, huint8 id, hreal32 *pMax, huint32 timeout = 100);
3593 
3603  EXTERNFUNC int harmonic_setMitPMax(huint8 devIndex, huint8 id, hreal32 pMax, huint32 timeout = 100);
3604 
3614  EXTERNFUNC int harmonic_getMitVMin(huint8 devIndex, huint8 id, hreal32 *vMin, huint32 timeout = 100);
3615 
3625  EXTERNFUNC int harmonic_setMitVMin(huint8 devIndex, huint8 id, hreal32 vMin, huint32 timeout = 100);
3626 
3636  EXTERNFUNC int harmonic_getMitVMax(huint8 devIndex, huint8 id, hreal32 *vMax, huint32 timeout = 100);
3637 
3647  EXTERNFUNC int harmonic_setMitVMax(huint8 devIndex, huint8 id, hreal32 vMax, huint32 timeout = 100);
3648 
3658  EXTERNFUNC int harmonic_getMitKPMin(huint8 devIndex, huint8 id, hreal32 *kpMin, huint32 timeout = 100);
3659 
3669  EXTERNFUNC int harmonic_setMitKPMin(huint8 devIndex, huint8 id, hreal32 kpMin, huint32 timeout = 100);
3670 
3680  EXTERNFUNC int harmonic_getMitKPMax(huint8 devIndex, huint8 id, hreal32 *kpMax, huint32 timeout = 100);
3681 
3691  EXTERNFUNC int harmonic_setMitKPMax(huint8 devIndex, huint8 id, hreal32 kpMax, huint32 timeout = 100);
3692 
3702  EXTERNFUNC int harmonic_getMitKDMin(huint8 devIndex, huint8 id, hreal32 *kdMin, huint32 timeout = 100);
3703 
3713  EXTERNFUNC int harmonic_setMitKDMin(huint8 devIndex, huint8 id, hreal32 kdMin, huint32 timeout = 100);
3714 
3724  EXTERNFUNC int harmonic_getMitKDMax(huint8 devIndex, huint8 id, hreal32 *kdMax, huint32 timeout = 100);
3725 
3735  EXTERNFUNC int harmonic_setMitKDMax(huint8 devIndex, huint8 id, hreal32 kdMax, huint32 timeout = 100);
3736 
3746  EXTERNFUNC int harmonic_getMitTMin(huint8 devIndex, huint8 id, hreal32 *tMin, huint32 timeout = 100);
3747 
3757  EXTERNFUNC int harmonic_setMitTMin(huint8 devIndex, huint8 id, hreal32 tMin, huint32 timeout = 100);
3758 
3768  EXTERNFUNC int harmonic_getMitTMax(huint8 devIndex, huint8 id, hreal32 *tMin, huint32 timeout = 100);
3769 
3779  EXTERNFUNC int harmonic_setMitTMax(huint8 devIndex, huint8 id, hreal32 tMin, huint32 timeout = 100);
3780 
3790  EXTERNFUNC int harmonic_getServoErrorCode(huint8 devIndex, huint8 id, huint16 *err, huint32 timeout = 100);
3791 
3801  EXTERNFUNC int harmonic_getControlword(huint8 devIndex, huint8 id, huint16 *word, huint32 timeout = 100);
3802 
3812  EXTERNFUNC int harmonic_setControlword(huint8 devIndex, huint8 id, huint16 word, huint32 timeout = 100);
3813 
3823  EXTERNFUNC int harmonic_getStatusWord(huint8 devIndex, huint8 id, huint16 *word, huint32 timeout = 100);
3824 
3834  EXTERNFUNC int harmonic_getQuickStopOption(huint8 devIndex, huint8 id, harmonic_QuickStopOption *option, huint32 timeout = 100);
3835 
3845  EXTERNFUNC int harmonic_setQuickStopOption(huint8 devIndex, huint8 id, harmonic_QuickStopOption option, huint32 timeout = 100);
3846 
3856  EXTERNFUNC int harmonic_getShutdownOptionCode(huint8 devIndex, huint8 id, harmonic_ShutdownOption *code, huint32 timeout = 100);
3857 
3867  EXTERNFUNC int harmonic_setShutdownOptionCode(huint8 devIndex, huint8 id, harmonic_ShutdownOption code, huint32 timeout = 100);
3868 
3878  EXTERNFUNC int harmonic_getDisableOperationOptionCode(huint8 devIndex, huint8 id, harmonic_DisableOperationOption *code, huint32 timeout = 100);
3879 
3889  EXTERNFUNC int harmonic_setDisableOperationOptionCode(huint8 devIndex, huint8 id, harmonic_DisableOperationOption code, huint32 timeout = 100);
3890 
3900  EXTERNFUNC int harmonic_getHaltOption(huint8 devIndex, huint8 id, harmonic_HaltOption *option, huint32 timeout = 100);
3901 
3911  EXTERNFUNC int harmonic_setHaltOption(huint8 devIndex, huint8 id, harmonic_HaltOption option, huint32 timeout = 100);
3912 
3922  EXTERNFUNC int harmonic_getFaultReactionOption(huint8 devIndex, huint8 id, harmonic_FaultReactionOption *option, huint32 timeout = 100);
3923 
3933  EXTERNFUNC int harmonic_setFaultReactionOption(huint8 devIndex, huint8 id, harmonic_FaultReactionOption option, huint32 timeout = 100);
3934 
3944  EXTERNFUNC int harmonic_getOperateMode(huint8 devIndex, huint8 id, harmonic_OperateMode *mode, huint32 timeout = 100);
3945 
3955  EXTERNFUNC int harmonic_setOperateMode(huint8 devIndex, huint8 id, harmonic_OperateMode mode, huint32 timeout = 100);
3956 
3966  EXTERNFUNC int harmonic_getDisplayOperateMode(huint8 devIndex, huint8 id, harmonic_OperateMode *mode, huint32 timeout = 100);
3967 
3977  EXTERNFUNC int harmonic_getDemandPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
3978 
3988  EXTERNFUNC int harmonic_setDemandPos(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout = 100);
3989 
3999  EXTERNFUNC int harmonic_getActualPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
4000 
4010  EXTERNFUNC int harmonic_getFollowingErrorWindow(huint8 devIndex, huint8 id, huint32 *eWindow, huint32 timeout = 100);
4011 
4021  EXTERNFUNC int harmonic_setFollowingErrorWindow(huint8 devIndex, huint8 id, huint32 eWindow, huint32 timeout = 100);
4022 
4032  EXTERNFUNC int harmonic_getPositionWindow(huint8 devIndex, huint8 id, huint32 *pWindow, huint32 timeout = 100);
4033 
4043  EXTERNFUNC int harmonic_setPositionWindow(huint8 devIndex, huint8 id, huint32 pWindow, huint32 timeout = 100);
4044 
4054  EXTERNFUNC int harmonic_getPositionWindowTime(huint8 devIndex, huint8 id, huint16 *pWindowTime, huint32 timeout = 100);
4055 
4065  EXTERNFUNC int harmonic_setPositionWindowTime(huint8 devIndex, huint8 id, huint16 pWindowTime, huint32 timeout = 100);
4066 
4076  EXTERNFUNC int harmonic_getDemandVelocity(huint8 devIndex, huint8 id, hint32 *dVel, huint32 timeout = 100);
4077 
4087  EXTERNFUNC int harmonic_setDemandVelocity(huint8 devIndex, huint8 id, hint32 dvel, huint32 timeout = 100);
4088 
4098  EXTERNFUNC int harmonic_getActualVelocity(huint8 devIndex, huint8 id, hint32 *vel, huint32 timeout = 100);
4099 
4109  EXTERNFUNC int harmonic_getVelocityWindow(huint8 devIndex, huint8 id, huint16 *vWindow, huint32 timeout = 100);
4110 
4120  EXTERNFUNC int harmonic_setVelocityWindow(huint8 devIndex, huint8 id, huint16 vWindow, huint32 timeout = 100);
4121 
4131  EXTERNFUNC int harmonic_getVelocityWindowTime(huint8 devIndex, huint8 id, huint16 *wTime, huint32 timeout = 100);
4132 
4142  EXTERNFUNC int harmonic_setVelocityWindowTime(huint8 devIndex, huint8 id, huint16 wTime, huint32 timeout = 100);
4143 
4153  EXTERNFUNC int harmonic_getVelocityThreshold(huint8 devIndex, huint8 id, huint16 *thres, huint32 timeout = 100);
4154 
4164  EXTERNFUNC int harmonic_setVelocityThreshold(huint8 devIndex, huint8 id, huint16 thres, huint32 timeout = 100);
4165 
4175  EXTERNFUNC int harmonic_getVelocityThresholdTime(huint8 devIndex, huint8 id, huint16 *tTime, huint32 timeout = 100);
4176 
4186  EXTERNFUNC int harmonic_setVelocityThresholdTime(huint8 devIndex, huint8 id, huint16 tTime, huint32 timeout = 100);
4187 
4197  EXTERNFUNC int harmonic_getTargetTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout = 100);
4198 
4208  EXTERNFUNC int harmonic_setTargetTorque(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout = 100);
4209 
4219  EXTERNFUNC int harmonic_getTorqueLimit(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout = 100);
4220 
4230  EXTERNFUNC int harmonic_setTorqueLimit(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout = 100);
4231 
4241  EXTERNFUNC int harmonic_getDemandTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout = 100);
4242 
4252  EXTERNFUNC int harmonic_setDemandTorque(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout = 100);
4253 
4263  EXTERNFUNC int harmonic_getMotorRatedTorque(huint8 devIndex, huint8 id, huint32 *torque, huint32 timeout = 100);
4264 
4274  EXTERNFUNC int harmonic_setMotorRatedTorque(huint8 devIndex, huint8 id, huint32 torque, huint32 timeout = 100);
4275 
4285  EXTERNFUNC int harmonic_getActualTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout = 100);
4286 
4296  EXTERNFUNC int harmonic_getCurrentActualValue(huint8 devIndex, huint8 id, hint16 *current, huint32 timeout = 100);
4297 
4307  EXTERNFUNC int harmonic_getDCLinkCircuitVoltage(huint8 devIndex, huint8 id, huint32 *voltage, huint32 timeout = 100);
4308 
4318  EXTERNFUNC int harmonic_setDCLinkCircuitVoltage(huint8 devIndex, huint8 id, huint32 voltage, huint32 timeout = 100);
4319 
4329  EXTERNFUNC int harmonic_getTargetPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
4330 
4340  EXTERNFUNC int harmonic_setTargetPos(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout = 100);
4341 
4351  EXTERNFUNC int harmonic_getHomeOffset(huint8 devIndex, huint8 id, hint32 *offSet, huint32 timeout = 100);
4352 
4362  EXTERNFUNC int harmonic_setHomeOffset(huint8 devIndex, huint8 id, hint32 offSet, huint32 timeout = 100);
4363 
4373  EXTERNFUNC int harmonic_getSoftwareMinimumPosition(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
4374 
4384  EXTERNFUNC int harmonic_setSoftwareMinimumPosition(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout = 100);
4385 
4395  EXTERNFUNC int harmonic_getSoftwareMaxmumPosition(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
4396 
4406  EXTERNFUNC int harmonic_setSoftwareMaxmumPosition(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout = 100);
4407 
4417  EXTERNFUNC int harmonic_getMaxProfileVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout = 100);
4418 
4428  EXTERNFUNC int harmonic_setMaxProfileVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout = 100);
4429 
4439  EXTERNFUNC int harmonic_getProfileVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout = 100);
4440 
4450  EXTERNFUNC int harmonic_setProfileVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout = 100);
4451 
4461  EXTERNFUNC int harmonic_getProfileAcceleration(huint8 devIndex, huint8 id, huint32 *acc, huint32 timeout = 100);
4462 
4472  EXTERNFUNC int harmonic_setProfileAcceleration(huint8 devIndex, huint8 id, huint32 acc, huint32 timeout = 100);
4473 
4483  EXTERNFUNC int harmonic_getProfileDeceleration(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout = 100);
4484 
4494  EXTERNFUNC int harmonic_setProfileDeceleration(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout = 100);
4495 
4505  EXTERNFUNC int harmonic_getQuickStopDeceleration(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout = 100);
4506 
4516  EXTERNFUNC int harmonic_setQuickStopDeceleration(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout = 100);
4517 
4527  EXTERNFUNC int harmonic_getTorqueSlope(huint8 devIndex, huint8 id, huint32 *slope, huint32 timeout = 100);
4528 
4538  EXTERNFUNC int harmonic_setTorqueSlope(huint8 devIndex, huint8 id, huint32 slope, huint32 timeout = 100);
4539 
4549  EXTERNFUNC int harmonic_getGearRatioMotorRevolutions(huint8 devIndex, huint8 id, huint32 *rev, huint32 timeout = 100);
4550 
4560  EXTERNFUNC int harmonic_setGearRatioMotorRevolutions(huint8 devIndex, huint8 id, huint32 rev, huint32 timeout = 100);
4561 
4571  EXTERNFUNC int harmonic_getGearRatioShaftRevolutions(huint8 devIndex, huint8 id, huint32 *rev, huint32 timeout = 100);
4572 
4582  EXTERNFUNC int harmonic_setGearRatioShaftRevolutions(huint8 devIndex, huint8 id, huint32 rev, huint32 timeout = 100);
4583 
4593  EXTERNFUNC int harmonic_getInterpolationDataRecord(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout = 100);
4594 
4604  EXTERNFUNC int harmonic_setInterpolationDataRecord(huint8 devIndex, huint8 id, hint32 value, huint32 timeout = 100);
4605 
4615  EXTERNFUNC int harmonic_getInterpolationTimePeriodValue(huint8 devIndex, huint8 id, huint8 *value, huint32 timeout = 100);
4616 
4626  EXTERNFUNC int harmonic_setInterpolationTimePeriodValue(huint8 devIndex, huint8 id, huint8 value, huint32 timeout = 100);
4627 
4637  EXTERNFUNC int harmonic_getActualFollowingError(huint8 devIndex, huint8 id, hint32 *error, huint32 timeout = 100);
4638 
4648  EXTERNFUNC int harmonic_setActualFollowingError(huint8 devIndex, huint8 id, hint32 error, huint32 timeout = 100);
4649 
4659  EXTERNFUNC int harmonic_getTargetVelocity(huint8 devIndex, huint8 id, hint32 *targetVel, huint32 timeout = 100);
4660 
4670  EXTERNFUNC int harmonic_setTargetVelocity(huint8 devIndex, huint8 id, hint32 targetVel, huint32 timeout = 100);
4671 
4681  EXTERNFUNC int harmonic_getSupportedDriveModes(huint8 devIndex, huint8 id, huint32 *modes, huint32 timeout = 100);
4682 
4683 #ifdef __cplusplus
4684 }
4685 #endif
4686 
4687 #endif // EU_HARMONIC_H
EXTERNFUNC int harmonic_getServoThetaBiasValue(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout=100)
读从站字典0x202C-0x0
EXTERNFUNC int harmonic_setLocalRPDOTransmitType(huint16 pdoIndex, huint8 type)
写本地字典[0x1400+pdoIndex]-0x2
EXTERNFUNC int harmonic_setClientSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 number, huint32 timeout=100)
写从站字典[0x1280+sdoClientIndex]-0x0
EXTERNFUNC int harmonic_getFindPointDoneFlag(huint8 devIndex, huint8 id, huint32 *flag, huint32 timeout=100)
读从站字典0x2101-0x0
EXTERNFUNC int harmonic_getFaultReactionOption(huint8 devIndex, huint8 id, harmonic_FaultReactionOption *option, huint32 timeout=100)
读从站字典0x605E-0x0
EXTERNFUNC int harmonic_writeCanMsg(huint8 devIndex, const harmonic_CanMsg *canMsg)
发送原始can数据
EXTERNFUNC int harmonic_getDCUnderVoltageThreshold(huint8 devIndex, huint8 id, huint32 *vol, huint32 timeout=100)
读从站字典0x202D-0x1
EXTERNFUNC int harmonic_setShutdownOptionCode(huint8 devIndex, huint8 id, harmonic_ShutdownOption code, huint32 timeout=100)
写从站字典0x605B-0
EXTERNFUNC int harmonic_setEmergencyCobid(huint8 devIndex, huint8 id, huint32 cobid, huint32 timeout=100)
写从站字典0x1014-0x0
EXTERNFUNC int harmonic_getLocalMitReplyCobdat1(huint32 *cobdat)
读本地字典0x2132-0x0
EXTERNFUNC int harmonic_getLocalControlword(huint16 *word)
读本地字典0x6040-0x0
EXTERNFUNC int harmonic_getServerSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout=100)
读从站字典[0x1200+sdoServerIndex]-0x2
EXTERNFUNC int harmonic_setLocalMutiMotorSetVel(huint16 motorIndex, hint32 vel)
写本地字典0x5004+[0x1+motorIndex]
EXTERNFUNC int harmonic_getDeviceName(huint8 devIndex, huint8 id, char *devName, huint32 timeout=100)
读从站字典0x1008-0x0
EXTERNFUNC int harmonic_getLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 *nodeId)
读本地字典[0x1280+sdoClientIndex]-0x3
EXTERNFUNC int harmonic_getVelocityWindowTime(huint8 devIndex, huint8 id, huint16 *wTime, huint32 timeout=100)
读从站字典0x606E-0x0
EXTERNFUNC int harmonic_getMitReplyCobdat2(huint8 devIndex, huint8 id, huint32 *cobdat, huint32 timeout=100)
读从站字典0x2133-0x0
EXTERNFUNC int harmonic_setLocalTargetTorque(hint16 torque)
写本地字典0x6071-0x0
EXTERNFUNC int harmonic_getServoOverSpeedTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100)
读从站字典0x2025-0x0
EXTERNFUNC int harmonic_setLocalMitCtrlCobcmd1(huint32 cobcmd)
写本地字典0x2130-0x0
EXTERNFUNC int harmonic_getFollowingErrorWindow(huint8 devIndex, huint8 id, huint32 *eWindow, huint32 timeout=100)
读从站字典0x6065-0x0
EXTERNFUNC int harmonic_setHaltOption(huint8 devIndex, huint8 id, harmonic_HaltOption option, huint32 timeout=100)
写从站字典0x605D-0x0
EXTERNFUNC int harmonic_getFindPointMoveMax(huint8 devIndex, huint8 id, huint32 *angle, huint32 timeout=100)
读从站字典0x2105-0x0
EXTERNFUNC int harmonic_setRPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100)
写从站字典[0x1600+pdoIndex]-0x0
EXTERNFUNC int harmonic_setLocalSyncWindow(huint32 sWindow)
写本地字典0x1007-0x0
EXTERNFUNC int harmonic_getServoVelocityFlowingErrorTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100)
读从站字典0x2021-0x2
signed long int hint40
Definition: eu_harmonic.h:51
EXTERNFUNC int harmonic_getActualTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout=100)
读从站字典0x6077-0x0
EXTERNFUNC int harmonic_getRestoreDefaultParameters(huint8 devIndex, huint8 id, huint32 *value, huint32 timeout=100)
读从站字典0x1011-0x1
EXTERNFUNC int harmonic_getProfileAcceleration(huint8 devIndex, huint8 id, huint32 *acc, huint32 timeout=100)
读从站字典0x6083-0x0
EXTERNFUNC int harmonic_getServoTorqueWindow(huint8 devIndex, huint8 id, huint16 *window, huint32 timeout=100)
读从站字典0x2022-0x0
EXTERNFUNC int harmonic_setStoreParameters(huint8 devIndex, huint8 id, huint32 value, huint32 timeout=100)
写从站字典0x1010-0x1
EXTERNFUNC int harmonic_getServoTemperatureLimitTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100)
读从站字典0x2016-0x3
EXTERNFUNC int harmonic_setMaxProfileVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout=100)
写从站字典0x607F-0x0
EXTERNFUNC int harmonic_getLocalMutiMotorErrorCode(huint16 motorIndex, huint16 *error)
读本地字典0x5007+[0x1+motorIndex]
EXTERNFUNC int harmonic_getLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 *count)
读本地字典[0x1400+pdoIndex]-0x0
EXTERNFUNC int harmonic_getServoParametersNumber(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100)
读从站字典0x2001-0x0
EXTERNFUNC int harmonic_getServoBrakeControl(huint8 devIndex, huint8 id, huint8 *status, huint32 timeout=100)
读从站字典0x2014-0x1
EXTERNFUNC int harmonic_setLocalSyncCOBID(huint32 cobId)
读本地字典0x1005-0x0
EXTERNFUNC int harmonic_getLocalRPDOEventTimer(huint16 pdoIndex, huint16 *timer)
读本地字典[0x1400+pdoIndex]-0x5
EXTERNFUNC int harmonic_getServoFirstEncoderValue(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout=100)
读从站字典0x202A-0x0
EXTERNFUNC int harmonic_getLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 *nodeId)
读本地字典[0x1200+sdoServerIndex]-0x3
EXTERNFUNC int harmonic_setDCUnderVoltageThreshold(huint8 devIndex, huint8 id, huint32 vol, huint32 timeout=100)
写从站字典0x202D-0x1
EXTERNFUNC int harmonic_getLocalStatusWord(huint16 *word)
写本地字典0x6041-0x0
EXTERNFUNC int harmonic_setServoTemperatureLimitTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100)
写从站字典0x2016-0x3
EXTERNFUNC int harmonic_getDemandPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100)
读从站字典0x6062-0x0
EXTERNFUNC int harmonic_getActualVelocity(huint8 devIndex, huint8 id, hint32 *vel, huint32 timeout=100)
读从站字典0x606C-0x0
EXTERNFUNC int harmonic_setMitTMin(huint8 devIndex, huint8 id, hreal32 tMin, huint32 timeout=100)
写从站字典0x2148-0x0
EXTERNFUNC int harmonic_getRPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100)
读从站字典[0x1600+pdoIndex]-0x0
harmonic_HaltOption
暂停选项
Definition: eu_harmonic.h:202
@ harmonic_HaltOption_Slow_Down_On_the_Current_Limit
Definition: eu_harmonic.h:206
@ harmonic_HaltOption_Slow_Down_On_the_Voltag_Limit
Definition: eu_harmonic.h:207
@ harmonic_HaltOption_Disable_Drive
Definition: eu_harmonic.h:203
@ harmonic_HaltOption_Slow_Down_On_Quick_Stop_Ramp
Definition: eu_harmonic.h:205
@ harmonic_HaltOption_Slow_Down_On_Slow_Down_Ramp
Definition: eu_harmonic.h:204
EXTERNFUNC int harmonic_getLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 *value)
读本地字典[0x1800+pdoIndex]-0x6
EXTERNFUNC int harmonic_getServoBlockVelocity(huint8 devIndex, huint8 id, huint32 *velocity, huint32 timeout=100)
读从站字典0x2020-0x3
EXTERNFUNC int harmonic_setLocalRPDOCobId(huint16 pdoIndex, huint32 cobId)
写本地字典[0x1400+pdoIndex]-0x1
float hreal32
Definition: eu_harmonic.h:63
EXTERNFUNC int harmonic_setLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value)
写本地字典[0x1A00+pdoIndex]-[0x1+mapIndex]
EXTERNFUNC int harmonic_setNodeState(huint8 devIndex, huint8 id, harmonic_NMTState state)
设置从节点状态
EXTERNFUNC int harmonic_getIdentityObjectRevisionNumber(huint8 devIndex, huint8 id, huint32 *revisionNum, huint32 timeout=100)
读从站字典0x1018-0x3
EXTERNFUNC int harmonic_getLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value)
读本地字典[0x1600+pdoIndex]-[0x1+mapIndex]
EXTERNFUNC int harmonic_getTPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout=100)
读从站字典[0x1800+pdoIndex]-0x2
EXTERNFUNC int harmonic_setRPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout=100)
写从站字典[0x1400+pdoIndex]-0x5
EXTERNFUNC int harmonic_setLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 count)
写本地字典[0x1800+pdoIndex]-0x0
EXTERNFUNC int harmonic_getTPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100)
读从站字典[0x1800+pdoIndex]-0x0
EXTERNFUNC int harmonic_getFindPointMoveDec(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout=100)
读从站字典0x2107-0x0
EXTERNFUNC int harmonic_setLocalInterpolationTimePeriodValue(huint8 value)
写本地字典0x60c2-0x1
EXTERNFUNC int harmonic_setServoBlockVelocity(huint8 devIndex, huint8 id, huint32 velocity, huint32 timeout=100)
写从站字典0x2020-0x3
EXTERNFUNC int harmonic_getDCUnderVoltageTime(huint8 devIndex, huint8 id, huint32 *time, huint32 timeout=100)
读从站字典0x202D-0x2
EXTERNFUNC int harmonic_writeLocalDirectory(huint16 index, huint8 subIndex, harmonic_DataType dataType, void *writeData)
写主站字典
EXTERNFUNC int harmonic_getMitVMin(huint8 devIndex, huint8 id, hreal32 *vMin, huint32 timeout=100)
读从站字典0x2142-0x0
EXTERNFUNC int harmonic_getDefaultServoVelocityLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout=100)
读从站字典0x2012-0x1
EXTERNFUNC int harmonic_setSyncCobid(huint8 devIndex, huint8 id, huint32 cobid, huint32 timeout=100)
写从站字典0x1005-0x0
EXTERNFUNC int harmonic_setClientSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout=100)
写从站字典[0x1280+sdoClientIndex]-0x1
EXTERNFUNC int harmonic_getServoCurrentLoopPINum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100)
读从站字典0x2010-0x0
EXTERNFUNC int harmonic_getDCOverVoltageTime(huint8 devIndex, huint8 id, huint32 *time, huint32 timeout=100)
读从站字典0x202D-0x4
EXTERNFUNC int harmonic_getSupportedDriveModes(huint8 devIndex, huint8 id, huint32 *modes, huint32 timeout=100)
读从站字典0x6502-0x0
EXTERNFUNC int harmonic_getRPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout=100)
读从站字典[0x1400+pdoIndex]-0x3
EXTERNFUNC int harmonic_setServoVelocityFlowingErrorWindows(huint8 devIndex, huint8 id, huint32 error, huint32 timeout=100)
写从站字典0x2021-0x1
EXTERNFUNC int harmonic_getLocalActualVelocity(hint32 *velocity)
读本地字典0x606c-0x0
EXTERNFUNC int harmonic_setLocalRPDOInhibitTime(huint16 pdoIndex, huint16 time)
写本地字典[0x1400+pdoIndex]-0x3
EXTERNFUNC int harmonic_getActualPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100)
读从站字典0x6064-0x0
EXTERNFUNC int harmonic_getMitKPMin(huint8 devIndex, huint8 id, hreal32 *kpMin, huint32 timeout=100)
读从站字典0x2144-0x0
EXTERNFUNC int harmonic_getLocalInterpolationDataRecord(hint32 *value)
读本地字典0x60C1-0x1
EXTERNFUNC int harmonic_getDemandVelocity(huint8 devIndex, huint8 id, hint32 *dVel, huint32 timeout=100)
读从站字典0x606B-0x0
EXTERNFUNC int harmonic_getServoSoftwareLimitState(huint8 devIndex, huint8 id, huint32 *state, huint32 timeout=100)
读从站字典0x2003-0x0
EXTERNFUNC int harmonic_setMitCtrlCobcmd2(huint8 devIndex, huint8 id, huint32 cobcmd, huint32 timeout=100)
写从站字典0x2131-0x0
EXTERNFUNC int harmonic_setTargetPos(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout=100)
写从站字典0x607A-0x0
harmonic_OperateMode
操作模式
Definition: eu_harmonic.h:228
@ harmonic_OperateMode_TorquePositionFixed
Definition: eu_harmonic.h:242
@ harmonic_OperateMode_ProfileVelocity
Definition: eu_harmonic.h:235
@ harmonic_OperateMode_RotorAligning
Definition: eu_harmonic.h:231
@ harmonic_OperateMode_Homing
Definition: eu_harmonic.h:237
@ harmonic_OperateMode_CyclicSyncPosition
Definition: eu_harmonic.h:239
@ harmonic_OperateMode_Reserve
Definition: eu_harmonic.h:232
@ harmonic_OperateMode_CyclicSyncVelocity
Definition: eu_harmonic.h:240
@ harmonic_OperateMode_ProfilePosition
Definition: eu_harmonic.h:233
@ harmonic_OperateMode_InterpolatedPosition
Definition: eu_harmonic.h:238
@ harmonic_OperateMode_Velocity
Definition: eu_harmonic.h:234
@ harmonic_OperateMode_ProfileTorque
Definition: eu_harmonic.h:236
@ harmonic_OperateMode_INLCalibration
Definition: eu_harmonic.h:230
@ harmonic_OperateMode_AutoTuning
Definition: eu_harmonic.h:229
@ harmonic_OperateMode_CyclicSyncTorque
Definition: eu_harmonic.h:241
EXTERNFUNC int harmonic_getLocalMutiMotorStatusWord(huint16 motorIndex, huint16 *status)
读本地字典0x5006+[0x1+motorIndex]
EXTERNFUNC int harmonic_setLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value)
写本地字典[0x1600+pdoIndex]-[0x1+mapIndex]
EXTERNFUNC int harmonic_getLocalTargetVelocity(hint32 *vel)
读本地字典0x60FF-0x0
EXTERNFUNC int harmonic_getErrorRegister(huint8 devIndex, huint8 id, huint8 *errReg, huint32 timeout=100)
读从站字典0x1001-0x0
EXTERNFUNC int harmonic_setSoftwareMaxmumPosition(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout=100)
写从站字典0x607D-0x2
EXTERNFUNC int harmonic_setLocalMutiMotorSetPos(huint16 motorIndex, hint32 pos)
写本地字典0x5003+[0x1+motorIndex]
EXTERNFUNC int harmonic_getPositionWindowTime(huint8 devIndex, huint8 id, huint16 *pWindowTime, huint32 timeout=100)
读从站字典0x6068-0x0
EXTERNFUNC int harmonic_setServoID(huint8 devIndex, huint8 id, huint8 servoID, huint32 timeout=100)
写从站字典0x2001-0x1
EXTERNFUNC int harmonic_setDemandPos(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout=100)
写从站字典0x6062-0x0
EXTERNFUNC int harmonic_setLocalControlword(huint16 word)
写本地字典0x6040-0x0
EXTERNFUNC int harmonic_getRPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout=100)
读从站字典[0x1400+pdoIndex]-0x1
EXTERNFUNC int harmonic_freeDLL(huint8 devIndex)
关闭设备,释放资源,设备打开成功后需要在适当时机释放资源 如果存在多个设备,程序退出前,每个设备都需调用一次释放资源
EXTERNFUNC int harmonic_setTorqueLimit(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout=100)
写从站字典0x6072-0x0
EXTERNFUNC int harmonic_getSerialNumber(huint8 devIndex, huint8 id, huint32 *serialNum, huint32 timeout=100)
读从站字典0x1018-0x4
EXTERNFUNC int harmonic_getLocalTargetPos(hint32 *pos)
读本地字典0x607A-0x0
EXTERNFUNC int harmonic_setServoVelocityLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout=100)
写从站字典0x2012-0x4
EXTERNFUNC int harmonic_setOperateMode(huint8 devIndex, huint8 id, harmonic_OperateMode mode, huint32 timeout=100)
写从站字典0x6060-0x0
EXTERNFUNC int harmonic_getSyncCobid(huint8 devIndex, huint8 id, huint32 *cobid, huint32 timeout=100)
读从站字典0x1005-0x0
EXTERNFUNC int harmonic_setProfileVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout=100)
写从站字典0x6081-0x0
EXTERNFUNC int harmonic_getLocalDCLinkCircuitVoltage(huint32 *voltage)
读本地字典0x6079-0x0
EXTERNFUNC int harmonic_setProfileAcceleration(huint8 devIndex, huint8 id, huint32 acc, huint32 timeout=100)
写从站字典0x6083-0x0
EXTERNFUNC int harmonic_setLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 num)
写本地字典[0x1200+sdoServerIndex]-0x0
EXTERNFUNC int harmonic_setLocalMitReplyCobdat2(huint32 cobdat)
写本地字典0x2133-0x0
EXTERNFUNC int harmonic_setLocalMitMutiMotorGetPos(huint16 motorIndex, hreal32 pos)
写本地字典0x5008+[0x1+motorIndex]
EXTERNFUNC int harmonic_getTPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout=100)
读从站字典[0x1800+pdoIndex]-0x5
EXTERNFUNC int harmonic_getI2tOverLoadLimit(huint8 devIndex, huint8 id, huint16 *value, huint32 timeout=100)
读从站字典0x2028-0x0
EXTERNFUNC int harmonic_setLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 value)
写本地字典[0x1800+pdoIndex]-0x6
EXTERNFUNC int harmonic_getMitCtrlCobcmd1(huint8 devIndex, huint8 id, huint32 *cobcmd, huint32 timeout=100)
读从站字典0x2130-0x0
EXTERNFUNC int harmonic_getServoVelocityFlowingErrorWindows(huint8 devIndex, huint8 id, huint32 *error, huint32 timeout=100)
读从站字典0x2021-0x1
EXTERNFUNC int harmonic_getServoTorqueWindowTime(huint8 devIndex, huint8 id, huint16 *window, huint32 timeout=100)
读从站字典0x2023-0x0
EXTERNFUNC int harmonic_setLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 nodeId)
写本地字典[0x1280+sdoClientIndex]-0x3
void(* harmonic_SendDataCallBack)(huint8 devIndex, const harmonic_CanMsg *msg)
发送数据回调函数
Definition: eu_harmonic.h:262
EXTERNFUNC int harmonic_getServoVelocityFlowingErrorParasNum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100)
读从站字典0x2021-0x0
EXTERNFUNC int harmonic_getLocalMutiMotorTorque(huint16 motorIndex, hint16 *tor)
读本地字典0x5002+[0x1+motorIndex]
EXTERNFUNC int harmonic_setLifeTimeFactor(huint8 devIndex, huint8 id, huint8 factor, huint32 timeout=100)
写从站字典0x100D-0x0
double hreal64
Definition: eu_harmonic.h:64
EXTERNFUNC int harmonic_getDCLinkCircuitVoltage(huint8 devIndex, huint8 id, huint32 *voltage, huint32 timeout=100)
读从站字典0x6079-0x0
EXTERNFUNC int harmonic_getServerSDONodeIdOfClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 *nodeId, huint32 timeout=100)
读从站字典[0x1200+sdoServerIndex]-0x3
EXTERNFUNC int harmonic_setTPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100)
写从站字典[0x1800+pdoIndex]-0x0
EXTERNFUNC int harmonic_setFindPointDoneFlag(huint8 devIndex, huint8 id, huint32 flag, huint32 timeout=100)
写从站字典0x2101-0x0
EXTERNFUNC int harmonic_setLocalTPDOEventTimer(huint16 pdoIndex, huint16 timer)
写本地字典[0x1800+pdoIndex]-0x5
EXTERNFUNC int harmonic_getDCOverVoltageThreshold(huint8 devIndex, huint8 id, huint32 *vol, huint32 timeout=100)
读从站字典0x202D-0x3
EXTERNFUNC int harmonic_getInterpolationDataRecord(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout=100)
读从站字典0x60C1-0x1
EXTERNFUNC int harmonic_getLocalMitMutiMotorGetPos(huint16 motorIndex, hreal32 *pos)
读本地字典0x5008+[0x1+motorIndex]
EXTERNFUNC int harmonic_getMitPMin(huint8 devIndex, huint8 id, hreal32 *pMin, huint32 timeout=100)
读从站字典0x2140-0x0
EXTERNFUNC int harmonic_getTorqueFactor(huint8 devIndex, huint8 id, huint16 *factor, huint32 timeout=100)
读从站字典0x2110-0x0
EXTERNFUNC int harmonic_getQuickStopOption(huint8 devIndex, huint8 id, harmonic_QuickStopOption *option, huint32 timeout=100)
读从站字典0x605A-0x0
EXTERNFUNC int harmonic_setLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 cobId)
写本地字典[0x1280+sdoClientIndex]-0x1
EXTERNFUNC int harmonic_getDefaultServoPositionLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout=100)
读从站字典0x2013-0x2
EXTERNFUNC int harmonic_setServoVelocityLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout=100)
写从站字典0x2012-0x3
EXTERNFUNC int harmonic_getLocalMitMutiMotorSetTor(huint16 motorIndex, hreal32 *tor)
读本地字典0x500D+[0x1+motorIndex]
EXTERNFUNC int harmonic_getServoPositionLoopPINum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100)
读从站字典0x2013-0x0
EXTERNFUNC int harmonic_getServoBlockTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100)
读从站字典0x2020-0x2
EXTERNFUNC int harmonic_getMitTMin(huint8 devIndex, huint8 id, hreal32 *tMin, huint32 timeout=100)
读从站字典0x2148-0x0
EXTERNFUNC int harmonic_setErrorFieldNumber(huint8 devIndex, huint8 id, huint8 number, huint32 timeout=100)
写从站字典0x1003-0x0
EXTERNFUNC int harmonic_getHearbeatConsumerTime(huint8 devIndex, huint8 id, huint8 subIndex, huint32 *time, huint32 timeout=100)
读从站字典0x1016-subIndex
EXTERNFUNC int harmonic_setFindPointStart(huint8 devIndex, huint8 id, huint32 status, huint32 timeout=100)
写从站字典0x2102-0x0
EXTERNFUNC int harmonic_getTorqueSlope(huint8 devIndex, huint8 id, huint32 *slope, huint32 timeout=100)
0x6087-0x0
EXTERNFUNC int harmonic_getMitVMax(huint8 devIndex, huint8 id, hreal32 *vMax, huint32 timeout=100)
读从站字典0x2143-0x0
EXTERNFUNC int harmonic_setDefaultServoCurrentLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout=100)
写从站字典0x2010-0x1
EXTERNFUNC int harmonic_getSyncCycle(huint8 devIndex, huint8 id, huint32 *syncCycle, huint32 timeout=100)
读从站字典0x1006-0x0
EXTERNFUNC int harmonic_getControlword(huint8 devIndex, huint8 id, huint16 *word, huint32 timeout=100)
读从站字典0x6040-0x0
EXTERNFUNC int harmonic_setLocalMitMutiMotorGetTor(huint16 motorIndex, hreal32 tor)
写本地字典0x500A+[0x1+motorIndex]
EXTERNFUNC int harmonic_setMitVMin(huint8 devIndex, huint8 id, hreal32 vMin, huint32 timeout=100)
写从站字典0x2142-0x0
EXTERNFUNC int harmonic_getMitTMax(huint8 devIndex, huint8 id, hreal32 *tMin, huint32 timeout=100)
读从站字典0x2149-0x0
EXTERNFUNC int harmonic_getFindPointMoveVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout=100)
读从站字典0x2108-0x0
EXTERNFUNC int harmonic_setFaultReactionOption(huint8 devIndex, huint8 id, harmonic_FaultReactionOption option, huint32 timeout=100)
写从站字典0x605E-0x0
EXTERNFUNC int harmonic_setGuardTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100)
写从站字典0x100C-0x0
EXTERNFUNC int harmonic_getTPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout=100)
读从站字典[0x1800+pdoIndex]-0x3
EXTERNFUNC int harmonic_setServoPositionLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout=100)
写从站字典0x2013-0x4
EXTERNFUNC int harmonic_setDCOverVoltageThreshold(huint8 devIndex, huint8 id, huint32 vol, huint32 timeout=100)
写从站字典0x202D-0x3
EXTERNFUNC int harmonic_setLocalMitMutiMotorSetTor(huint16 motorIndex, hreal32 tor)
写本地字典0x500D+[0x1+motorIndex]
harmonic_NMTState
NMT状态
Definition: eu_harmonic.h:120
@ harmonic_NMTState_Start_Node
Definition: eu_harmonic.h:121
@ harmonic_NMTState_Reset_Comunication
Definition: eu_harmonic.h:125
@ harmonic_NMTState_Enter_PreOperational
Definition: eu_harmonic.h:123
@ harmonic_NMTState_Stop_Node
Definition: eu_harmonic.h:122
@ harmonic_NMTState_Reset_Node
Definition: eu_harmonic.h:124
EXTERNFUNC int harmonic_getErrorField(huint8 devIndex, huint8 id, huint8 subIndex, huint32 *err, huint32 timeout=100)
读从站字典0x1003-subIndex
EXTERNFUNC int harmonic_setEmergencyInhibitTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100)
写从站字典0x1015-0x0
EXTERNFUNC int harmonic_setSyncCounter(huint8 devIndex, huint8 id, huint8 counter, huint32 timeout=100)
写从站字典0x1019-0x0
EXTERNFUNC int harmonic_getDeviceType(huint8 devIndex, huint8 id, huint32 *deviceType, huint32 timeout=100)
读从站字典0x1000-0x0
EXTERNFUNC int harmonic_setProducerHeartbeatTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100)
写从站字典0x1017-0x0
EXTERNFUNC int harmonic_setServerSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 num, huint32 timeout=100)
写从站字典[0x1200+sdoServerIndex]-0x0
EXTERNFUNC int harmonic_readDirectory(huint8 devIndex, huint8 id, huint16 index, huint8 subIndex, harmonic_DataType dataType, void *readData, huint32 timeout=100)
读从站字典
EXTERNFUNC int harmonic_stopControl(huint8 devIndex, huint8 id)
停止控制
#define EXTERNFUNC
Definition: eu_harmonic.h:23
EXTERNFUNC int harmonic_setLocalMitMutiMotorSetPos(huint16 motorIndex, hreal32 pos)
写本地字典0x500B+[0x1+motorIndex]
EXTERNFUNC int harmonic_profilePositionControl(huint8 devIndex, huint8 id, hint32 targetPos, huint32 vel, huint32 acc, huint32 dec, bool isRelative=false, bool isImmediately=true, bool isUpdate=false)
轮廓位置控制,该模式下电机内部根据给定参数生成轨迹并执行
EXTERNFUNC int harmonic_setSendDataCallBack(harmonic_SendDataCallBack callFunc)
设置发送数据回调函数
EXTERNFUNC int harmonic_getFindPointMoveAcc(huint8 devIndex, huint8 id, huint32 *acc, huint32 timeout=100)
读从站字典0x2106-0x0
EXTERNFUNC int harmonic_getServoVelocityLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout=100)
读从站字典0x2012-0x4
EXTERNFUNC int harmonic_setServoVelocityFlowingErrorTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100)
写从站字典0x2021-0x2
signed int hint32
Definition: eu_harmonic.h:50
EXTERNFUNC int harmonic_setLocalMitCtrlCobcmd2(huint32 cobcmd)
写本地字典0x2131-0x0
EXTERNFUNC int harmonic_getLocalActualTorque(hint16 *torque)
读本地字典0x6077-0x0
EXTERNFUNC int harmonic_getLocalTPDOInhibitTime(huint16 pdoIndex, huint16 *time)
读本地字典[0x1800+pdoIndex]-0x3
EXTERNFUNC int harmonic_setDemandTorque(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout=100)
写从站字典0x6074-0x0
unsigned int huint8 __attribute__((__mode__(__QI__)))
Definition: eu_harmonic.h:55
EXTERNFUNC int harmonic_getProducerHeartbeatTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100)
读从站字典0x1017-0x0
EXTERNFUNC int harmonic_getDCVolageProtectionParasNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100)
读从站字典0x202D-0x0
EXTERNFUNC int harmonic_getGearRatioMotorRevolutions(huint8 devIndex, huint8 id, huint32 *rev, huint32 timeout=100)
读从站字典0x6091-0x1
EXTERNFUNC int harmonic_getTorqueSensorValue(huint8 devIndex, huint8 id, hreal32 *value, huint32 timeout=100)
读从站字典0x2030-0x0
EXTERNFUNC int harmonic_setTPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout=100)
写从站字典[0x1A00+pdoIndex]-[0x1+mapIndex]
EXTERNFUNC int harmonic_getTargetTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout=100)
读从站字典0x6071-0x0
harmonic_ShutdownOption
关机选项
Definition: eu_harmonic.h:182
@ harmonic_ShutdownOption_Slown_With_Slow_Down_Ramp
Definition: eu_harmonic.h:184
@ harmonic_ShutdownOption_Disable_Drive_Function
Definition: eu_harmonic.h:183
EXTERNFUNC int harmonic_getHearbeatConsumerTimeParasNum(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100)
读从站字典0x1016-0x0
EXTERNFUNC int harmonic_getLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 *count)
读本地字典[0x1A00+pdoIndex]-0x0
EXTERNFUNC int harmonic_getServoID(huint8 devIndex, huint8 id, huint8 *servoID, huint32 timeout=100)
读从站字典0x2001-0x1
EXTERNFUNC int harmonic_getLocalMitMutiMotorSetPos(huint16 motorIndex, hreal32 *pos)
读本地字典0x500B+[0x1+motorIndex]
EXTERNFUNC int harmonic_getLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 *cobId)
读本地字典[0x1200+sdoServerIndex]-0x2
void(* harmonic_ReceiveDataCallBack)(huint8 devIndex, const harmonic_CanMsg *msg)
接收数据回调函数
Definition: eu_harmonic.h:268
EXTERNFUNC int harmonic_getSyncCounter(huint8 devIndex, huint8 id, huint8 *counter, huint32 timeout=100)
读从站字典0x1019-0x0
EXTERNFUNC int harmonic_getLocalActualPos(hint32 *pos)
读本地字典0x6064-0x0
EXTERNFUNC int harmonic_profileTorqueControl(huint8 devIndex, huint8 id, huint16 targetTorque, hint16 slope, bool isUpdate=false)
轮廓力矩控制,该模式下电机内部根据给定参数生成轨迹并执行
EXTERNFUNC int harmonic_getHardwareVersion(huint8 devIndex, huint8 id, char *version, huint32 timeout=100)
读从站字典0x1009-0x0
EXTERNFUNC int harmonic_getProfileVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout=100)
读从站字典0x6081-0x0
EXTERNFUNC int harmonic_getSoftwareMaxmumPosition(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100)
读从站字典0x607D-0x2
EXTERNFUNC int harmonic_getQuickStopDeceleration(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout=100)
读从站字典0x6085-0x0
EXTERNFUNC int harmonic_getMitKDMax(huint8 devIndex, huint8 id, hreal32 *kdMax, huint32 timeout=100)
读从站字典0x2147-0x0
EXTERNFUNC int harmonic_setServerSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout=100)
写从站字典[0x1200+sdoServerIndex]-0x1
EXTERNFUNC int harmonic_setLocalSyncCycle(huint32 cycle)
写本地字典0x1006-0x0
EXTERNFUNC int harmonic_getLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 *cobId)
读本地字典[0x1280+sdoClientIndex]-0x2
EXTERNFUNC int harmonic_setPositionWindowTime(huint8 devIndex, huint8 id, huint16 pWindowTime, huint32 timeout=100)
写从站字典0x6068-0x0
EXTERNFUNC int harmonic_setFindPointMoveAcc(huint8 devIndex, huint8 id, huint32 acc, huint32 timeout=100)
写从站字典0x2106-0x0
EXTERNFUNC int harmonic_getDisableOperationOptionCode(huint8 devIndex, huint8 id, harmonic_DisableOperationOption *code, huint32 timeout=100)
读从站字典0x605C-0x0
EXTERNFUNC int harmonic_getLocalMutiMotorPos(huint16 motorIndex, hint32 *pos)
读本地字典0x5000+[0x1+motorIndex]
harmonic_Baudrate
波特率
Definition: eu_harmonic.h:94
@ harmonic_Baudrate_20
Definition: eu_harmonic.h:96
@ harmonic_Baudrate_10
Definition: eu_harmonic.h:95
@ harmonic_Baudrate_1000
Definition: eu_harmonic.h:101
@ harmonic_Baudrate_500
Definition: eu_harmonic.h:100
@ harmonic_Baudrate_100
Definition: eu_harmonic.h:98
@ harmonic_Baudrate_250
Definition: eu_harmonic.h:99
@ harmonic_Baudrate_50
Definition: eu_harmonic.h:97
EXTERNFUNC int harmonic_setDCOverVoltageTime(huint8 devIndex, huint8 id, huint32 time, huint32 timeout=100)
写从站字典0x202D-0x4
EXTERNFUNC int harmonic_setLocalMitMutiMotorGetVel(huint16 motorIndex, hreal32 vel)
写本地字典0x5009+[0x1+motorIndex]
EXTERNFUNC int harmonic_setServoPositionLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout=100)
写从站字典0x2013-0x3
EXTERNFUNC int harmonic_getLocalSyncCycle(huint32 *cycle)
读本地字典0x1006-0x0
EXTERNFUNC int harmonic_getBrakeState(huint8 devIndex, huint8 id, huint8 *state, huint32 timeout=100)
读从站字典0x2014-0x2
EXTERNFUNC int harmonic_getActualFollowingError(huint8 devIndex, huint8 id, hint32 *error, huint32 timeout=100)
读从站字典0x60F4-0x0
EXTERNFUNC int harmonic_getLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 *count)
读本地字典[0x1600+pdoIndex]-0x0
EXTERNFUNC int harmonic_setTargetTorque(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout=100)
写从站字典0x6071-0x0
EXTERNFUNC int harmonic_getServoCanBaudrate(huint8 devIndex, huint8 id, huint16 *baudrate, huint32 timeout=100)
读从站字典0x2001-0x2
EXTERNFUNC int harmonic_setMitPMax(huint8 devIndex, huint8 id, hreal32 pMax, huint32 timeout=100)
写从站字典0x2141-0x0
EXTERNFUNC int harmonic_getStoreParameters(huint8 devIndex, huint8 id, huint32 *value, huint32 timeout=100)
读从站字典0x1010-0x1
EXTERNFUNC int harmonic_getRPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout=100)
读从站字典[0x1400+pdoIndex]-0x6
harmonic_NodeState
节点状态
Definition: eu_harmonic.h:133
@ harmonic_NodeState_Disconnected
Definition: eu_harmonic.h:135
@ harmonic_NodeState_Pre_operational
Definition: eu_harmonic.h:140
@ harmonic_NodeState_Operational
Definition: eu_harmonic.h:139
@ harmonic_NodeState_Unknown_state
Definition: eu_harmonic.h:141
@ harmonic_NodeState_Initialisation
Definition: eu_harmonic.h:134
@ harmonic_NodeState_Preparing
Definition: eu_harmonic.h:137
@ harmonic_NodeState_Connecting
Definition: eu_harmonic.h:136
@ harmonic_NodeState_Stopped
Definition: eu_harmonic.h:138
EXTERNFUNC int harmonic_setGearRatioShaftRevolutions(huint8 devIndex, huint8 id, huint32 rev, huint32 timeout=100)
写从站字典0x6091-0x2
EXTERNFUNC int harmonic_setRPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout=100)
写从站字典[0x1400+pdoIndex]-0x2
EXTERNFUNC int harmonic_getDemandTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout=100)
读从站字典0x6074-0x0
EXTERNFUNC int harmonic_setTorqueFactor(huint8 devIndex, huint8 id, huint16 factor, huint32 timeout=100)
写从站字典0x2110-0x0
EXTERNFUNC int harmonic_setRPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout=100)
写从站字典[0x1400+pdoIndex]-0x1
EXTERNFUNC int harmonic_getServoTemperatureLimit(huint8 devIndex, huint8 id, hint8 *tem, huint32 timeout=100)
读从站字典0x2016-0x2
EXTERNFUNC int harmonic_setQuickStopDeceleration(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout=100)
写从站字典0x6085-0x0
EXTERNFUNC int harmonic_getServoVelocityIntLimit(huint8 devIndex, huint8 id, huint16 *limit, huint32 timeout=100)
读从站字典0x2017-0x0
EXTERNFUNC int harmonic_setMitPMin(huint8 devIndex, huint8 id, hreal32 pMin, huint32 timeout=100)
写从站字典0x2140-0x0
EXTERNFUNC int harmonic_getVelocityWindow(huint8 devIndex, huint8 id, huint16 *vWindow, huint32 timeout=100)
读从站字典0x606D-0x0
EXTERNFUNC int harmonic_setMitKDMin(huint8 devIndex, huint8 id, hreal32 kdMin, huint32 timeout=100)
写从站字典0x2146-0x0
EXTERNFUNC int harmonic_getMitKPMax(huint8 devIndex, huint8 id, hreal32 *kpMax, huint32 timeout=100)
读从站字典0x2145-0x0
EXTERNFUNC int harmonic_getLifeTimeFactor(huint8 devIndex, huint8 id, huint8 *factor, huint32 timeout=100)
读从站字典0x100D-0x0
EXTERNFUNC int harmonic_getServoBrakeParaNum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100)
读从站字典0x2014-0x0
EXTERNFUNC int harmonic_setServoCurrentLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout=100)
写从站字典0x2010-0x4
EXTERNFUNC int harmonic_setTPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout=100)
写从站字典[0x1800+pdoIndex]-0x2
EXTERNFUNC int harmonic_getServoCurrentLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout=100)
读从站字典0x2010-0x3
EXTERNFUNC int harmonic_getServerSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 *num, huint32 timeout=100)
读从站字典[0x1200+sdoServerIndex]-0x0
EXTERNFUNC int harmonic_getI2tOverLoadValue(huint8 devIndex, huint8 id, huint16 *value, huint32 timeout=100)
读从站字典0x2029-0x0
signed char hint8
Definition: eu_harmonic.h:47
EXTERNFUNC int harmonic_setLocalTPDOInhibitTime(huint16 pdoIndex, huint16 time)
写本地字典[0x1800+pdoIndex]-0x3
EXTERNFUNC int harmonic_setSyncCycle(huint8 devIndex, huint8 id, huint32 syncCycle, huint32 timeout=100)
写从站字典0x1006-0x0
EXTERNFUNC int harmonic_getTPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout=100)
读从站字典[0x1800+pdoIndex]-0x1
EXTERNFUNC int harmonic_setDefaultServoVelocityLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout=100)
写从站字典0x2012-0x2
EXTERNFUNC int harmonic_getFindPointStart(huint8 devIndex, huint8 id, huint32 *status, huint32 timeout=100)
读从站字典0x2102-0x0
EXTERNFUNC int harmonic_setLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 cobId)
写本地字典[0x1280+sdoClientIndex]-0x2
EXTERNFUNC int harmonic_setRPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout=100)
写从站字典[0x1600+pdoIndex]-[0x1+mapIndex]
EXTERNFUNC int harmonic_setClientSDONodeIdOfSDOServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 nodeId, huint32 timeout=100)
写从站字典[0x1280+sdoClientIndex]-0x3
EXTERNFUNC int harmonic_setLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 count)
写本地字典[0x1A00+pdoIndex]-0x0
EXTERNFUNC int harmonic_getTargetPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100)
0x607A-0x0
harmonic_DisableOperationOption
下使能操作
Definition: eu_harmonic.h:192
@ harmonic_DisableOperationOption_Slow_Down_With_Slow_Down_Ramp
Definition: eu_harmonic.h:194
@ harmonic_DisableOperationOption_Disable_Drive_Function
Definition: eu_harmonic.h:193
EXTERNFUNC int harmonic_getServoBlockParasNum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100)
读从站字典0x2020-0x0
EXTERNFUNC int harmonic_getLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 *value)
读本地字典[0x1400+pdoIndex]-0x6
EXTERNFUNC int harmonic_setServoCommunicationMode(huint8 devIndex, huint8 id, huint8 mode, huint32 timeout=100)
写从站字典0x2004-0x0
EXTERNFUNC int harmonic_getServoCommunicationMode(huint8 devIndex, huint8 id, huint8 *mode, huint32 timeout=100)
读从站字典0x2004-0x0
EXTERNFUNC int harmonic_getLocalMitCtrlCobcmd1(huint32 *cobcmd)
读本地字典0x2130-0x0
EXTERNFUNC int harmonic_getLocalMutiMotorVel(huint16 motorIndex, hint32 *vel)
读本地字典0x5001+[0x1+motorIndex]
EXTERNFUNC int harmonic_getClientSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 *number, huint32 timeout=100)
读从站字典[0x1280+sdoClientIndex]-0x0
EXTERNFUNC int harmonic_getNodeState(huint8 devIndex, huint8 id, harmonic_NodeState *state, huint32 timeout=100)
读从节点状态
harmonic_QuickStopOption
快速停止选项
Definition: eu_harmonic.h:165
@ harmonic_QuickStopOption_Slow_Down_On_the_Current_Limit
Definition: eu_harmonic.h:169
@ harmonic_QuickStopOption_Slow_Down_On_Quick_Stop_Ramp
Definition: eu_harmonic.h:168
@ harmonic_QuickStopOption_Slow_Down_On_Quick_Stop_Ramp_And_Stay_In_Quick_Stop
Definition: eu_harmonic.h:171
@ harmonic_QuickStopOption_Slow_Down_On_the_Voltag_Limit
Definition: eu_harmonic.h:170
@ harmonic_QuickStopOption_Slow_Down_On_Slow_Down_Ramp
Definition: eu_harmonic.h:167
@ harmonic_QuickStopOption_Slow_Down_On_the_Voltag_Limit_And_Stay_In_Quick_Stop
Definition: eu_harmonic.h:174
@ harmonic_QuickStopOption_Slow_Down_On_the_Current_Limit_And_Stay_In_Quick_Stop
Definition: eu_harmonic.h:173
@ harmonic_QuickStopOption_Slow_Down_On_Slow_Down_Ramp_And_Stay_In_Quick_Stop
Definition: eu_harmonic.h:172
@ harmonic_QuickStopOption_Disable_Drive
Definition: eu_harmonic.h:166
EXTERNFUNC int harmonic_getProfileDeceleration(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout=100)
读从站字典0x6084-0x0
EXTERNFUNC int harmonic_setVelocityWindow(huint8 devIndex, huint8 id, huint16 vWindow, huint32 timeout=100)
写从站字典0x606D-0x0
EXTERNFUNC int harmonic_getHomeOffset(huint8 devIndex, huint8 id, hint32 *offSet, huint32 timeout=100)
读从站字典0x607C-0x0
EXTERNFUNC int harmonic_getSoftwareVersion(huint8 devIndex, huint8 id, char *version, huint32 timeout=100)
读从站字典0x100A-0x0
EXTERNFUNC int harmonic_setLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 nodeId)
写本地字典[0x1200+sdoServerIndex]-0x3
EXTERNFUNC int harmonic_setDefaultServoCurrentLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout=100)
写从站字典0x2010-0x2
EXTERNFUNC int harmonic_getLocalMitCtrlCobcmd2(huint32 *cobcmd)
读本地字典0x2131-0x0
EXTERNFUNC int harmonic_setRPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout=100)
写从站字典[0x1400+pdoIndex]-0x3
EXTERNFUNC int harmonic_setMitReplyCobdat1(huint8 devIndex, huint8 id, huint32 cobdat, huint32 timeout=100)
写从站字典0x2132-0x0
EXTERNFUNC int harmonic_getTargetVelocity(huint8 devIndex, huint8 id, hint32 *targetVel, huint32 timeout=100)
读从站字典0x60FF-0x0
EXTERNFUNC int harmonic_setMitKDMax(huint8 devIndex, huint8 id, hreal32 kdMax, huint32 timeout=100)
写从站字典0x2147-0x0
EXTERNFUNC int harmonic_getRPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout=100)
读从站字典[0x1600+pdoIndex]-[0x1+mapIndex]
EXTERNFUNC int harmonic_getServoPositionLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout=100)
读从站字典0x2013-0x4
EXTERNFUNC int harmonic_setMitTMax(huint8 devIndex, huint8 id, hreal32 tMin, huint32 timeout=100)
写从站字典0x2149-0x0
EXTERNFUNC int harmonic_setServoBrakeDelayTime(huint8 devIndex, huint8 id, huint8 time, huint32 timeout=100)
写从站字典0x2026-0x0
EXTERNFUNC int harmonic_getSoftwareMinimumPosition(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100)
读从站字典0x607D-0x1
EXTERNFUNC int harmonic_setLocalRPDOEventTimer(huint16 pdoIndex, huint16 timer)
写本地字典[0x1400+pdoIndex]-0x5
EXTERNFUNC int harmonic_getServoVelocityLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout=100)
读从站字典0x2012-0x3
harmonic_DataType
数据类型
Definition: eu_harmonic.h:149
@ harmonic_DataType_real32
Definition: eu_harmonic.h:157
@ harmonic_DataType_int32
Definition: eu_harmonic.h:153
@ harmonic_DataType_uint16
Definition: eu_harmonic.h:155
@ harmonic_DataType_int16
Definition: eu_harmonic.h:152
@ harmonic_DataType_int8
Definition: eu_harmonic.h:151
@ harmonic_DataType_uint8
Definition: eu_harmonic.h:154
@ harmonic_DataType_uint32
Definition: eu_harmonic.h:156
EXTERNFUNC int harmonic_getRPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout=100)
读从站字典[0x1400+pdoIndex]-0x2
EXTERNFUNC int harmonic_getLocalMitMutiMotorGetVel(huint16 motorIndex, hreal32 *vel)
读本地字典0x5009+[0x1+motorIndex]
EXTERNFUNC int harmonic_setTPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout=100)
写从站字典[0x1800+pdoIndex]-0x5
EXTERNFUNC int harmonic_getEmergencyInhibitTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100)
读从站字典0x1015-0x0
EXTERNFUNC int harmonic_setMotorRatedTorque(huint8 devIndex, huint8 id, huint32 torque, huint32 timeout=100)
写从站字典0x6076-0x0
EXTERNFUNC int harmonic_getLocalTPDOTransmitType(huint16 pdoIndex, huint8 *type)
读本地字典[0x1800+pdoIndex]-0x2
EXTERNFUNC int harmonic_setFindPointMoveVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout=100)
写从站字典0x2108-0x0
EXTERNFUNC int harmonic_getMitPMax(huint8 devIndex, huint8 id, hreal32 *pMax, huint32 timeout=100)
读从站字典0x2141-0x0
EXTERNFUNC int harmonic_getServoTemperature(huint8 devIndex, huint8 id, hint8 *tem, huint32 timeout=100)
读从站字典0x2016-0x1
EXTERNFUNC int harmonic_setLocalMitMutiMotorSetVel(huint16 motorIndex, hreal32 vel)
写本地字典0x500C+[0x1+motorIndex]
EXTERNFUNC int harmonic_getVelocityThresholdTime(huint8 devIndex, huint8 id, huint16 *tTime, huint32 timeout=100)
读从站字典0x6070-0x0
EXTERNFUNC int harmonic_getStoreParametersNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100)
读从站字典0x1010-0x0
EXTERNFUNC int harmonic_setDefaultServoPositionLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout=100)
写从站字典0x2013-0x1
EXTERNFUNC int harmonic_setServerSDONodeIdOfClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 nodeId, huint32 timeout=100)
写从站字典[0x1200+sdoServerIndex]-0x3
EXTERNFUNC int harmonic_setPositionWindow(huint8 devIndex, huint8 id, huint32 pWindow, huint32 timeout=100)
写从站字典0x6067-0x0
EXTERNFUNC int harmonic_getStatusWord(huint8 devIndex, huint8 id, huint16 *word, huint32 timeout=100)
读从站字典0x6041-0x0
EXTERNFUNC int harmonic_getTPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout=100)
读从站字典[0x1A00+pdoIndex]-[0x1+mapIndex]
harmonic_DeviceType
设备类型
Definition: eu_harmonic.h:83
@ harmonic_DeviceType_USB2CAN
Definition: eu_harmonic.h:84
@ harmonic_DeviceType_ZCAN_USBCANFD_100U
Definition: eu_harmonic.h:86
@ harmonic_DeviceType_Canable
Definition: eu_harmonic.h:85
EXTERNFUNC int harmonic_getProductCode(huint8 devIndex, huint8 id, huint32 *pCode, huint32 timeout=100)
读从站字典0x1018-0x2
EXTERNFUNC int harmonic_getLocalTargetTorque(hint16 *torque)
读本地字典0x6071-0x0
EXTERNFUNC int harmonic_getRPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout=100)
读从站字典[0x1400+pdoIndex]-0x5
EXTERNFUNC int harmonic_getClientSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout=100)
读从站字典[0x1280+sdoClientIndex]-0x1
EXTERNFUNC int harmonic_getLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value)
读本地字典[0x1A00+pdoIndex]-[0x1+mapIndex]
EXTERNFUNC int harmonic_setLocalNodeState(harmonic_NodeState state)
设置本地节点状态
EXTERNFUNC int harmonic_getLocalMitMutiMotorGetTor(huint16 motorIndex, hreal32 *tor)
读本地字典0x500A+[0x1+motorIndex]
EXTERNFUNC int harmonic_getTPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100)
读从站字典[0x1A00+pdoIndex]-0x0
EXTERNFUNC int harmonic_readLocalDirectory(huint16 index, huint8 subIndex, harmonic_DataType dataType, void *readData)
读主站字典
EXTERNFUNC int harmonic_setServoTorqueWindow(huint8 devIndex, huint8 id, huint16 window, huint32 timeout=100)
写从站字典0x2022-0x0
EXTERNFUNC int harmonic_setLocalMutiMotorSetTorque(huint16 motorIndex, hint16 torque)
写本地字典0x5005+[0x1+motorIndex]
EXTERNFUNC int harmonic_getShutdownOptionCode(huint8 devIndex, huint8 id, harmonic_ShutdownOption *code, huint32 timeout=100)
读从站字典0x605B-0
EXTERNFUNC int harmonic_getLocalRPDOTransmitType(huint16 pdoIndex, huint8 *type)
读本地字典[0x1400+pdoIndex]-0x2
EXTERNFUNC int harmonic_getClientSDONodeIdOfSDOServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 *nodeId, huint32 timeout=100)
读从站字典[0x1280+sdoClientIndex]-0x3
EXTERNFUNC int harmonic_setSoftwareMinimumPosition(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout=100)
写从站字典0x607D-0x1
EXTERNFUNC int harmonic_setProfileDeceleration(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout=100)
写从站字典0x6084-0x0
EXTERNFUNC int harmonic_getMaxProfileVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout=100)
读从站字典0x607F-0x0
EXTERNFUNC int harmonic_setTargetVelocity(huint8 devIndex, huint8 id, hint32 targetVel, huint32 timeout=100)
写从站字典0x60FF-0x0
EXTERNFUNC int harmonic_setInterpolationDataRecord(huint8 devIndex, huint8 id, hint32 value, huint32 timeout=100)
写从站字典0x60C1-0x1
EXTERNFUNC int harmonic_setDemandVelocity(huint8 devIndex, huint8 id, hint32 dvel, huint32 timeout=100)
写从站字典0x606B-0x0
EXTERNFUNC int harmonic_setMitReplyCobdat2(huint8 devIndex, huint8 id, huint32 cobdat, huint32 timeout=100)
从站字典0x2133-0x0
EXTERNFUNC int harmonic_setInterpolationTimePeriodValue(huint8 devIndex, huint8 id, huint8 value, huint32 timeout=100)
写从站字典0x60C2-0x1
EXTERNFUNC int harmonic_setDisableOperationOptionCode(huint8 devIndex, huint8 id, harmonic_DisableOperationOption code, huint32 timeout=100)
写从站字典0x605C-0x0
EXTERNFUNC int harmonic_getLocalRPDOInhibitTime(huint16 pdoIndex, huint16 *time)
读本地字典[0x1400+pdoIndex]-0x3
signed int hint24
Definition: eu_harmonic.h:49
EXTERNFUNC int harmonic_getHaltOption(huint8 devIndex, huint8 id, harmonic_HaltOption *option, huint32 timeout=100)
读从站字典0x605D-0x0
EXTERNFUNC int harmonic_getServerSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout=100)
读从站字典[0x1200+sdoServerIndex]-0x1
EXTERNFUNC int harmonic_writeCanData(huint8 devIndex, huint16 cobId, const huint8 *const data, huint8 len)
发送原始can数据
EXTERNFUNC int harmonic_getLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 *num)
读本地字典[0x1200+sdoServerIndex]-0x0
EXTERNFUNC int harmonic_getServoBrakeDelayTime(huint8 devIndex, huint8 id, huint8 *time, huint32 timeout=100)
读从站字典0x2026-0x0
EXTERNFUNC int harmonic_setServoParametersNumber(huint8 devIndex, huint8 id, huint8 num, huint32 timeout=100)
写从站字典0x2001-0x0
EXTERNFUNC int harmonic_setGearRatioMotorRevolutions(huint8 devIndex, huint8 id, huint32 rev, huint32 timeout=100)
写从站字典0x6091-0x1
harmonic_FaultReactionOption
故障处理选项
Definition: eu_harmonic.h:215
@ harmonic_FaultReactionOption_Slow_down_on_current_limit
Definition: eu_harmonic.h:219
@ harmonic_FaultReactionOption_Disable_drive_function
Definition: eu_harmonic.h:216
@ harmonic_FaultReactionOption_Slow_down_on_quick_stop_ramp
Definition: eu_harmonic.h:218
@ harmonic_FaultReactionOption_Slow_down_on_slow_down_ramp
Definition: eu_harmonic.h:217
@ harmonic_FaultReactionOption_Slow_down_on_voltage_limit
Definition: eu_harmonic.h:220
EXTERNFUNC int harmonic_getTorqueLimit(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout=100)
读从站字典0x6072-0x0
signed long int hint56
Definition: eu_harmonic.h:53
EXTERNFUNC int harmonic_setDCLinkCircuitVoltage(huint8 devIndex, huint8 id, huint32 voltage, huint32 timeout=100)
写从站字典0x6079-0x0
EXTERNFUNC int harmonic_setTPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout=100)
写从站字典[0x1800+pdoIndex]-0x3
EXTERNFUNC int harmonic_getDefaultServoPositionLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout=100)
读从站字典0x2013-0x1
EXTERNFUNC int harmonic_setServoSoftwareLimitState(huint8 devIndex, huint8 id, huint32 state, huint32 timeout=100)
写从站字典0x2003-0x0
EXTERNFUNC int harmonic_setLocalTargetVelocity(hint32 vel)
写本地字典0x60FF-0x0
EXTERNFUNC int harmonic_setLocalInterpolationDataRecord(hint32 value)
写本地字典0x60C1-0x1
EXTERNFUNC int harmonic_setLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 count)
写本地字典[0x1400+pdoIndex]-0x0
signed short int hint16
Definition: eu_harmonic.h:48
EXTERNFUNC int harmonic_getOperateMode(huint8 devIndex, huint8 id, harmonic_OperateMode *mode, huint32 timeout=100)
读从站字典0x6060-0x0
EXTERNFUNC int harmonic_setServoCanBaudrate(huint8 devIndex, huint8 id, huint16 baudrate, huint32 timeout=100)
写从站字典0x2001-0x2
EXTERNFUNC int harmonic_getLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 *cobId)
读本地字典[0x1280+sdoClientIndex]-0x1
EXTERNFUNC int harmonic_getRPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100)
读从站字典[0x1400+pdoIndex]-0x0
EXTERNFUNC int harmonic_setDCUnderVoltageTime(huint8 devIndex, huint8 id, huint32 time, huint32 timeout=100)
写从站字典0x202D-0x2
EXTERNFUNC int harmonic_getLocalServoTemperature(hint8 *tem)
读本地字典0x2106-0x1
EXTERNFUNC int harmonic_getLocalServoErrorCode(huint16 *err)
读本地字典0x603F-0x0
EXTERNFUNC int harmonic_setBrakeState(huint8 devIndex, huint8 id, huint8 state, huint32 timeout=100)
写从站字典0x2014-0x2(设置抱闸状态)
EXTERNFUNC int harmonic_setServoCurrentLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout=100)
写从站字典0x2010-0x3
EXTERNFUNC int harmonic_setLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 value)
写本地字典[0x1400+pdoIndex]-0x6
EXTERNFUNC int harmonic_getPositionWindow(huint8 devIndex, huint8 id, huint32 *pWindow, huint32 timeout=100)
读从站字典0x6067-0x0
EXTERNFUNC int harmonic_getServoBlockTorque(huint8 devIndex, huint8 id, huint16 *torque, huint32 timeout=100)
读从站字典0x2020-0x1
EXTERNFUNC int harmonic_setRestoreDefaultParameters(huint8 devIndex, huint8 id, huint32 value, huint32 timeout=100)
写从站字典0x1011-0x1
EXTERNFUNC int harmonic_getLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 *cobId)
读本地字典[0x1200+sdoServerIndex]-0x1
EXTERNFUNC int harmonic_setServoOverSpeedThreshold(huint8 devIndex, huint8 id, huint32 thre, huint32 timeout=100)
写从站字典0x2024-0x0
EXTERNFUNC int harmonic_setDefaultServoPositionLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout=100)
写从站字典0x2013-0x2
EXTERNFUNC int harmonic_getIdentityObjectNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100)
读从站字典0x1018-0x0
EXTERNFUNC int harmonic_getCurrentActualValue(huint8 devIndex, huint8 id, hint16 *current, huint32 timeout=100)
读从站字典0x6078-0x0
struct _harmonic_CanMsg harmonic_CanMsg
can数据结构
EXTERNFUNC int harmonic_getRestoreDefaultParametersNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100)
读从站字典0x1011-0x0
EXTERNFUNC int harmonic_getGuardTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100)
读从站字典0x100C-0x0
EXTERNFUNC int harmonic_setServerSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout=100)
写从站字典[0x1200+sdoServerIndex]-0x2
EXTERNFUNC int harmonic_getErrorFieldNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100)
读从站字典0x1003-0x0
EXTERNFUNC int harmonic_getVendorID(huint8 devIndex, huint8 id, huint32 *vId, huint32 timeout=100)
读从站字典0x1018-0x1
EXTERNFUNC int harmonic_getMitCtrlCobcmd2(huint8 devIndex, huint8 id, huint32 *cobcmd, huint32 timeout=100)
读从站字典0x2131-0x0
EXTERNFUNC int harmonic_getMitReplyCobdat1(huint8 devIndex, huint8 id, huint32 *cobdat, huint32 timeout=100)
读从站字典0x2132-0x0
EXTERNFUNC int harmonic_getServoOverSpeedThreshold(huint8 devIndex, huint8 id, huint32 *thre, huint32 timeout=100)
读从站字典0x2024-0x0
EXTERNFUNC int harmonic_setTPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout=100)
写从站字典[0x1800+pdoIndex]-0x6
EXTERNFUNC int harmonic_getServoCurrentLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout=100)
读从站字典0x2010-0x4
EXTERNFUNC int harmonic_setVelocityThresholdTime(huint8 devIndex, huint8 id, huint16 tTime, huint32 timeout=100)
写从站字典0x6070-0x0
EXTERNFUNC int harmonic_getServoErrorCode(huint8 devIndex, huint8 id, huint16 *err, huint32 timeout=100)
读从站字典0x603F-0x0
EXTERNFUNC int harmonic_profileVelocityControl(huint8 devIndex, huint8 id, hint32 targetVel, huint32 acc, huint32 dec, bool isUpdate=false)
轮廓速度控制,该模式下电机内部根据给定参数生成轨迹并执行
EXTERNFUNC int harmonic_getLocalSyncWindow(huint32 *sWindow)
读本地字典0x1007-0x0
EXTERNFUNC int harmonic_setI2tOverLoadLimit(huint8 devIndex, huint8 id, huint16 value, huint32 timeout=100)
写从站字典0x2028-0x0
EXTERNFUNC int harmonic_writeDirectory(huint8 devIndex, huint8 id, huint16 index, huint8 subIndex, harmonic_DataType dataType, void *writeData, huint32 timeout=100)
写从站字典
EXTERNFUNC int harmonic_setServoBrakeControl(huint8 devIndex, huint8 id, huint8 status, huint32 timeout=100)
写从站字典0x2014-0x1
signed long int hint64
Definition: eu_harmonic.h:54
EXTERNFUNC int harmonic_setMitCtrlCobcmd1(huint8 devIndex, huint8 id, huint32 cobcmd, huint32 timeout=100)
写从站字典0x2130-0x0
EXTERNFUNC int harmonic_getDefaultServoCurrentLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout=100)
写从站字典0x2010-0x0
EXTERNFUNC int harmonic_setControlword(huint8 devIndex, huint8 id, huint16 word, huint32 timeout=100)
写从站字典0x6040-0x0
EXTERNFUNC int harmonic_setLocalTPDOCobId(huint16 pdoIndex, huint32 cobId)
写本地字典[0x1800+pdoIndex]-0x1
EXTERNFUNC int harmonic_setQuickStopOption(huint8 devIndex, huint8 id, harmonic_QuickStopOption option, huint32 timeout=100)
写从站字典0x605A-0x0
EXTERNFUNC int harmonic_setFindPointMoveDec(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout=100)
写从站字典0x2107-0x0
EXTERNFUNC int harmonic_setHearbeatConsumerTime(huint8 devIndex, huint8 id, huint8 subIndex, huint32 time, huint32 timeout=100)
写从站字典0x1016-subIndex
EXTERNFUNC int harmonic_getSyncWindow(huint8 devIndex, huint8 id, huint32 *syncWindow, huint32 timeout=100)
读从站字典0x1007-0x0
EXTERNFUNC int harmonic_getEmergencyCobid(huint8 devIndex, huint8 id, huint32 *cobid, huint32 timeout=100)
读从站字典0x1014-0x0
EXTERNFUNC int harmonic_setFindPointMoveMax(huint8 devIndex, huint8 id, huint32 angle, huint32 timeout=100)
写从站字典0x2105-0x0
EXTERNFUNC int harmonic_setVelocityWindowTime(huint8 devIndex, huint8 id, huint16 wTime, huint32 timeout=100)
写从站字典0x606E-0x0
EXTERNFUNC int harmonic_getGearRatioShaftRevolutions(huint8 devIndex, huint8 id, huint32 *rev, huint32 timeout=100)
读从站字典0x6091-0x2
EXTERNFUNC int harmonic_setLocalTargetPos(hint32 pos)
写本地字典0x607A-0x0
EXTERNFUNC int harmonic_getMotorRatedTorque(huint8 devIndex, huint8 id, huint32 *torque, huint32 timeout=100)
读从站字典0x6076-0x0
EXTERNFUNC int harmonic_setLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 cobId)
写本地字典[0x1200+sdoServerIndex]-0x2
EXTERNFUNC int harmonic_getLocalMitMutiMotorSetVel(huint16 motorIndex, hreal32 *vel)
读本地字典0x500C+[0x1+motorIndex]
EXTERNFUNC int harmonic_setMitKPMin(huint8 devIndex, huint8 id, hreal32 kpMin, huint32 timeout=100)
写从站字典0x2144-0x0
EXTERNFUNC int harmonic_setSyncWindow(huint8 devIndex, huint8 id, huint32 syncWindow, huint32 timeout=100)
写从站字典0x1007-0x0
signed long int hint48
Definition: eu_harmonic.h:52
EXTERNFUNC int harmonic_setServoBlockTorque(huint8 devIndex, huint8 id, huint16 torque, huint32 timeout=100)
写从站字典0x2020-0x1
EXTERNFUNC int harmonic_getInterpolationTimePeriodValue(huint8 devIndex, huint8 id, huint8 *value, huint32 timeout=100)
读从站字典0x60C2-0x1
EXTERNFUNC int harmonic_getLocalInterpolationTimePeriodValue(huint8 *value)
读本地字典0x60c2-0x1
EXTERNFUNC int harmonic_setLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 count)
写本地字典[0x1600+pdoIndex]-0x0
EXTERNFUNC int harmonic_getLocalTPDOCobId(huint16 pdoIndex, huint32 *cobId)
读本地字典[0x1800+pdoIndex]-0x1
EXTERNFUNC int harmonic_setRPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout=100)
写从站字典[0x1400+pdoIndex]-0x6
EXTERNFUNC int harmonic_setVelocityThreshold(huint8 devIndex, huint8 id, huint16 thres, huint32 timeout=100)
写从站字典0x606F-0x0
EXTERNFUNC int harmonic_setDefaultServoVelocityLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout=100)
写从站字典0x2012-0x1
EXTERNFUNC int harmonic_setLocalTPDOTransmitType(huint16 pdoIndex, huint8 type)
写本地字典[0x1800+pdoIndex]-0x2
EXTERNFUNC int harmonic_initDLL(harmonic_DeviceType devType, huint8 devIndex, harmonic_Baudrate baudrate, bool isCanFD=false, harmonic_DBaudrate dbaudrate=harmonic_DBaudrate::harmonic_DBaudrate_5000)
初始化dll,在调用所有函数前,必须先调用该函数进行初始化,该函数会打开设备。 【注意】控制多个设备时可多次调用,多设备控制时共享一个主站,所以即使不同的通讯设备上,电机id也不能重复
EXTERNFUNC int harmonic_getServoPositionLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout=100)
读从站字典0x2013-0x3
EXTERNFUNC int harmonic_setTorqueSlope(huint8 devIndex, huint8 id, huint32 slope, huint32 timeout=100)
写从站字典0x6087-0x0
EXTERNFUNC int harmonic_getLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 *number)
读本地字典[0x1280+sdoClientIndex]-0x0
EXTERNFUNC int harmonic_setMitVMax(huint8 devIndex, huint8 id, hreal32 vMax, huint32 timeout=100)
写从站字典0x2143-0x0
EXTERNFUNC int harmonic_setLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 number)
写本地字典[0x1280+sdoClientIndex]-0x0
EXTERNFUNC int harmonic_getDisplayOperateMode(huint8 devIndex, huint8 id, harmonic_OperateMode *mode, huint32 timeout=100)
读从站字典0x6061-0x0
EXTERNFUNC int harmonic_getMitKDMin(huint8 devIndex, huint8 id, hreal32 *kdMin, huint32 timeout=100)
读从站字典0x2146-0x0
EXTERNFUNC int harmonic_getVelocityThreshold(huint8 devIndex, huint8 id, huint16 *thres, huint32 timeout=100)
读从站字典0x606F-0x0
EXTERNFUNC int harmonic_getLocalMitReplyCobdat2(huint32 *cobdat)
读本地字典0x2133-0x0
EXTERNFUNC int harmonic_setLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 cobId)
写本地字典[0x1200+sdoServerIndex]-0x1
EXTERNFUNC int harmonic_setFollowingErrorWindow(huint8 devIndex, huint8 id, huint32 eWindow, huint32 timeout=100)
写从站字典0x6065-0x0
EXTERNFUNC int harmonic_getLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 *count)
读本地字典[0x1800+pdoIndex]-0x0
EXTERNFUNC int harmonic_setServoBlockTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100)
写从站字典0x2020-0x2
EXTERNFUNC int harmonic_getDefaultServoVelocityLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout=100)
读从站字典0x2012-0x2
harmonic_DBaudrate
Definition: eu_harmonic.h:105
@ harmonic_DBaudrate_4000
Definition: eu_harmonic.h:109
@ harmonic_DBaudrate_7000
Definition: eu_harmonic.h:112
@ harmonic_DBaudrate_2000
Definition: eu_harmonic.h:107
@ harmonic_DBaudrate_6000
Definition: eu_harmonic.h:111
@ harmonic_DBaudrate_1000
Definition: eu_harmonic.h:106
@ harmonic_DBaudrate_8000
Definition: eu_harmonic.h:113
@ harmonic_DBaudrate_5000
Definition: eu_harmonic.h:110
@ harmonic_DBaudrate_3000
Definition: eu_harmonic.h:108
EXTERNFUNC int harmonic_setReceiveDataCallBack(harmonic_ReceiveDataCallBack callFunc)
设置接收数据回调函数
EXTERNFUNC int harmonic_getServoSecondEncoderValue(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout=100)
读从站字典0x202B-0x0
EXTERNFUNC int harmonic_setClientSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout=100)
写从站字典[0x1280+sdoClientIndex]-0x2
EXTERNFUNC int harmonic_getLocalSyncCOBID(huint32 *cobId)
读本地字典0x1005-0x0
EXTERNFUNC int harmonic_getDefaultServoCurrentLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout=100)
读从站字典0x2010-0x2
EXTERNFUNC int harmonic_setRPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100)
写从站字典[0x1400+pdoIndex]-0x0
EXTERNFUNC int harmonic_getServoVelocityLoopPINum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100)
读从站字典0x2012-0x0
EXTERNFUNC int harmonic_setMitKPMax(huint8 devIndex, huint8 id, hreal32 kpMax, huint32 timeout=100)
写从站字典0x2145-0x0
EXTERNFUNC int harmonic_setServoVelocityIntLimit(huint8 devIndex, huint8 id, huint16 limit, huint32 timeout=100)
写从站字典0x2017-0x0
EXTERNFUNC int harmonic_getLocalRPDOCobId(huint16 pdoIndex, huint32 *cobId)
读本地字典[0x1400+pdoIndex]-0x1
EXTERNFUNC int harmonic_setServoOverSpeedTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100)
写从站字典0x2025-0x0
EXTERNFUNC int harmonic_setServoTorqueWindowTime(huint8 devIndex, huint8 id, huint16 window, huint32 timeout=100)
写从站字典0x2023-0x0
EXTERNFUNC int harmonic_getServoTemperatureParasNum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100)
读从站字典0x2016-0x0
EXTERNFUNC int harmonic_getTPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout=100)
读从站字典[0x1800+pdoIndex]-0x6
EXTERNFUNC int harmonic_getLocalTPDOEventTimer(huint16 pdoIndex, huint16 *timer)
读本地字典[0x1800+pdoIndex]-0x5
EXTERNFUNC int harmonic_setHomeOffset(huint8 devIndex, huint8 id, hint32 offSet, huint32 timeout=100)
写从站字典0x607C-0x0
EXTERNFUNC int harmonic_setServoTemperatureLimit(huint8 devIndex, huint8 id, huint8 tem, huint32 timeout=100)
写从站字典0x2016-0x2
EXTERNFUNC int harmonic_setLocalMitReplyCobdat1(huint32 cobdat)
写本地字典0x2132-0x0
EXTERNFUNC int harmonic_getClientSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout=100)
读从站字典[0x1280+sdoClientIndex]-0x2
EXTERNFUNC int harmonic_setTPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100)
写从站字典[0x1A00+pdoIndex]-0x0
EXTERNFUNC int harmonic_setActualFollowingError(huint8 devIndex, huint8 id, hint32 error, huint32 timeout=100)
写从站字典0x60F4-0x0
EXTERNFUNC int harmonic_setTPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout=100)
写从站字典[0x1800+pdoIndex]-0x1
can数据结构
Definition: eu_harmonic.h:250
huint8 len
Definition: eu_harmonic.h:254
huint8 extended
Definition: eu_harmonic.h:253
huint32 canId
Definition: eu_harmonic.h:251
huint8 rtr
Definition: eu_harmonic.h:252
huint8 data[8]
Definition: eu_harmonic.h:255