eyou_harmonic_sdk  1.0
canablelibrary
eu_harmonic.h
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1 
11 #ifndef EU_HARMONIC_H
12 #define EU_HARMONIC_H
13 
14 #ifdef __cplusplus
15 extern "C"
16 {
17 #endif
18 
19 #ifndef EXTERNFUNC
20 #ifdef _WIN32
21 #define EXTERNFUNC __declspec(dllexport)
22 #else
23 #define EXTERNFUNC
24 #endif
25 #endif
26 
27 #ifdef _WIN32
28  typedef char hint8;
29  typedef short hint16;
30  typedef long hint24;
31  typedef long hint32;
32  typedef long long hint40;
33  typedef long long hint48;
34  typedef long long hint56;
35  typedef long long hint64;
36  typedef unsigned char huint8;
37  typedef unsigned short huint16;
38  typedef unsigned long huint24;
39  typedef unsigned long huint32;
40  typedef unsigned long long huint40;
41  typedef unsigned long long huint48;
42  typedef unsigned long long huint56;
43  typedef unsigned long long huint64;
44  typedef float hreal32;
45  typedef double hreal64;
46 #else
47 typedef signed char hint8;
48 typedef signed short int hint16;
49 typedef signed int hint24;
50 typedef signed int hint32;
51 typedef signed long int hint40;
52 typedef signed long int hint48;
53 typedef signed long int hint56;
54 typedef signed long int hint64;
55 typedef unsigned int huint8 __attribute__((__mode__(__QI__)));
56 typedef unsigned int huint16 __attribute__((__mode__(__HI__)));
57 typedef unsigned int huint24 __attribute__((__mode__(__SI__)));
58 typedef unsigned int huint32 __attribute__((__mode__(__SI__)));
59 typedef unsigned int huint40 __attribute__((__mode__(__DI__)));
60 typedef unsigned int huint48 __attribute__((__mode__(__DI__)));
61 typedef unsigned int huint56 __attribute__((__mode__(__DI__)));
62 typedef unsigned int huint64 __attribute__((__mode__(__DI__)));
63 typedef float hreal32;
64 typedef double hreal64;
65 #endif
66 
67 #define HARMONIC_SUCCESS (0)
68 #define HARMONIC_FAILED_DEVICEDISABLED (1)
69 #define HARMONIC_FAILED_OPENFAILED (2)
70 #define HARMONIC_FAILED_CANSEND (3)
71 #define HARMONIC_FAILED_CANRECEIVE (4)
72 #define HARMONIC_FAILED_ReadLocalDict (5)
73 #define HARMONIC_FAILED_WriteLocalDict (6)
74 #define HARMONIC_FAILED_NoRespondR (7)
75 #define HARMONIC_FAILED_NoRespondW (8)
76 #define HARMONIC_FAILED_UNKNOWN (100)
82  enum harmonic_DeviceType
83  {
86  };
87 
93  {
101  };
102 
108  {
114  };
115 
121  {
130  };
131 
137  {
146  };
147 
153  {
163  };
164 
170  {
173  };
174 
180  {
183  };
184 
190  {
196  };
197 
203  {
209  };
210 
216  {
231  };
232 
237  typedef struct _harmonic_CanMsg
238  {
239  huint16 cob_id;
240  huint8 rtr;
241  huint8 len;
242  huint8 data[8];
243  } harmonic_CanMsg;
244 
249  typedef void (*harmonic_SendDataCallBack)(int devIndex, const harmonic_CanMsg *msg);
250 
255  typedef void (*harmonic_ReceiveDataCallBack)(int devIndex, const harmonic_CanMsg *msg);
256 
264 
272 
282  EXTERNFUNC int harmonic_initDLL(harmonic_DeviceType devType, huint8 devIndex, harmonic_Baudrate baudrate);
283 
291  EXTERNFUNC int harmonic_freeDLL(huint8 devIndex);
292 
302  EXTERNFUNC int harmonic_getNodeState(huint8 devIndex, huint8 id, harmonic_NodeState *state, huint32 timeout = 100);
303 
311 
320  EXTERNFUNC int harmonic_setNodeState(huint8 devIndex, huint8 id, harmonic_NMTState state);
321 
331  EXTERNFUNC int harmonic_readLocalDirectory(huint16 index, huint8 subIndex, harmonic_DataType dataType, void *readData);
332 
345  EXTERNFUNC int harmonic_readDirectory(huint8 devIndex, huint8 id, huint16 index, huint8 subIndex, harmonic_DataType dataType, void *readData, huint32 timeout = 100);
346 
357  EXTERNFUNC int harmonic_writeLocalDirectory(huint16 index, huint8 subIndex, harmonic_DataType dataType, void *writeData, huint32 sendLen);
358 
371  EXTERNFUNC int harmonic_writeDirectory(huint8 devIndex, huint8 id, huint16 index, huint8 subIndex, harmonic_DataType dataType, void *writeData, huint32 timeout = 100);
372 
382  EXTERNFUNC int harmonic_writeCanData(huint8 devIndex, huint32 cobId, const huint8 *const data, huint8 len);
383 
398  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);
399 
411  EXTERNFUNC int harmonic_profileVelocityControl(huint8 devIndex, huint8 id, hint32 targetVel, huint32 acc, huint32 dec, bool isUpdate = false);
412 
423  EXTERNFUNC int harmonic_profileTorqueControl(huint8 devIndex, huint8 id, huint16 targetTorque, hint16 slope, bool isUpdate = false);
424 
432  EXTERNFUNC int harmonic_stopControl(huint8 devIndex, huint8 id);
433 
440  EXTERNFUNC int harmonic_getLocalSyncCOBID(huint32 *cobId);
441 
448  EXTERNFUNC int harmonic_setLocalSyncCOBID(huint32 cobId);
449 
456  EXTERNFUNC int harmonic_getLocalSyncCycle(huint32 *cycle);
457 
464  EXTERNFUNC int harmonic_setLocalSyncCycle(huint32 cycle);
465 
472  EXTERNFUNC int harmonic_getLocalSyncWindow(huint32 *sWindow);
473 
480  EXTERNFUNC int harmonic_setLocalSyncWindow(huint32 sWindow);
481 
489  EXTERNFUNC int harmonic_getLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 *num);
490 
498  EXTERNFUNC int harmonic_setLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 num);
499 
507  EXTERNFUNC int harmonic_getLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 *cobId);
508 
516  EXTERNFUNC int harmonic_setLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 cobId);
517 
525  EXTERNFUNC int harmonic_getLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 *cobId);
526 
534  EXTERNFUNC int harmonic_setLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 cobId);
535 
543  EXTERNFUNC int harmonic_getLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 *nodeId);
544 
552  EXTERNFUNC int harmonic_setLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 nodeId);
553 
561  EXTERNFUNC int harmonic_getLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 *number);
562 
570  EXTERNFUNC int harmonic_setLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 number);
571 
579  EXTERNFUNC int harmonic_getLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 *cobId);
580 
588  EXTERNFUNC int harmonic_setLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 cobId);
589 
597  EXTERNFUNC int harmonic_getLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 *cobId);
598 
606  EXTERNFUNC int harmonic_setLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 cobId);
607 
615  EXTERNFUNC int harmonic_getLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 *nodeId);
616 
624  EXTERNFUNC int harmonic_setLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 nodeId);
625 
633  EXTERNFUNC int harmonic_getLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 *count);
634 
642  EXTERNFUNC int harmonic_setLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 count);
643 
651  EXTERNFUNC int harmonic_getLocalRPDOCobId(huint16 pdoIndex, huint32 *cobId);
652 
660  EXTERNFUNC int harmonic_setLocalRPDOCobId(huint16 pdoIndex, huint32 cobId);
661 
669  EXTERNFUNC int harmonic_getLocalRPDOTransmitType(huint16 pdoIndex, huint8 *type);
670 
678  EXTERNFUNC int harmonic_setLocalRPDOTransmitType(huint16 pdoIndex, huint8 type);
679 
687  EXTERNFUNC int harmonic_getLocalRPDOInhibitTime(huint16 pdoIndex, huint16 *time);
688 
696  EXTERNFUNC int harmonic_setLocalRPDOInhibitTime(huint16 pdoIndex, huint16 time);
697 
705  EXTERNFUNC int harmonic_getLocalRPDOEventTimer(huint16 pdoIndex, huint16 *timer);
706 
714  EXTERNFUNC int harmonic_setLocalRPDOEventTimer(huint16 pdoIndex, huint16 timer);
715 
723  EXTERNFUNC int harmonic_getLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 *value);
724 
732  EXTERNFUNC int harmonic_setLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 value);
733 
741  EXTERNFUNC int harmonic_getLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 *count);
742 
750  EXTERNFUNC int harmonic_setLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 count);
751 
760  EXTERNFUNC int harmonic_getLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value);
761 
770  EXTERNFUNC int harmonic_setLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value);
771 
779  EXTERNFUNC int harmonic_getLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 *count);
780 
788  EXTERNFUNC int harmonic_setLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 count);
789 
797  EXTERNFUNC int harmonic_getLocalTPDOCobId(huint16 pdoIndex, huint32 *cobId);
798 
806  EXTERNFUNC int harmonic_setLocalTPDOCobId(huint16 pdoIndex, huint32 cobId);
807 
815  EXTERNFUNC int harmonic_getLocalTPDOTransmitType(huint16 pdoIndex, huint8 *type);
816 
824  EXTERNFUNC int harmonic_setLocalTPDOTransmitType(huint16 pdoIndex, huint8 type);
825 
833  EXTERNFUNC int harmonic_getLocalTPDOInhibitTime(huint16 pdoIndex, huint16 *time);
834 
842  EXTERNFUNC int harmonic_setLocalTPDOInhibitTime(huint16 pdoIndex, huint16 time);
843 
851  EXTERNFUNC int harmonic_getLocalTPDOEventTimer(huint16 pdoIndex, huint16 *timer);
852 
860  EXTERNFUNC int harmonic_setLocalTPDOEventTimer(huint16 pdoIndex, huint16 timer);
861 
869  EXTERNFUNC int harmonic_getLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 *value);
870 
878  EXTERNFUNC int harmonic_setLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 value);
879 
887  EXTERNFUNC int harmonic_getLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 *count);
888 
896  EXTERNFUNC int harmonic_setLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 count);
897 
906  EXTERNFUNC int harmonic_getLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value);
907 
916  EXTERNFUNC int harmonic_setLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value);
917 
925 
932  EXTERNFUNC int harmonic_getLocalMitCtrlCobcmd1(huint32 *cobcmd);
933 
940  EXTERNFUNC int harmonic_setLocalMitCtrlCobcmd1(huint32 cobcmd);
941 
948  EXTERNFUNC int harmonic_getLocalMitCtrlCobcmd2(huint32 *cobcmd);
949 
956  EXTERNFUNC int harmonic_setLocalMitCtrlCobcmd2(huint32 cobcmd);
957 
964  EXTERNFUNC int harmonic_getLocalMitReplyCobdat1(huint32 *cobdat);
965 
972  EXTERNFUNC int harmonic_setLocalMitReplyCobdat1(huint32 cobdat);
973 
980  EXTERNFUNC int harmonic_getLocalMitReplyCobdat2(huint32 *cobdat);
981 
988  EXTERNFUNC int harmonic_setLocalMitReplyCobdat2(huint32 cobdat);
989 
997  EXTERNFUNC int harmonic_getLocalMutiMotorPos(huint16 motorIndex, hint32 *pos);
998 
1006  EXTERNFUNC int harmonic_getLocalMutiMotorVel(huint16 motorIndex, hint32 *vel);
1007 
1015  EXTERNFUNC int harmonic_getLocalMutiMotorTorque(huint16 motorIndex, hint16 *tor);
1016 
1024  EXTERNFUNC int harmonic_setLocalMutiMotorSetPos(huint16 motorIndex, hint32 pos);
1025 
1033  EXTERNFUNC int harmonic_setLocalMutiMotorSetVel(huint16 motorIndex, hint32 vel);
1034 
1042  EXTERNFUNC int harmonic_setLocalMutiMotorSetTorque(huint16 motorIndex, hint16 torque);
1043 
1051  EXTERNFUNC int harmonic_getLocalMutiMotorStatusWord(huint16 motorIndex, huint16 *status);
1052 
1060  EXTERNFUNC int harmonic_getLocalMutiMotorErrorCode(huint16 motorIndex, huint16 *error);
1061 
1068  EXTERNFUNC int harmonic_getLocalServoErrorCode(huint16 *err);
1069 
1076  EXTERNFUNC int harmonic_getLocalControlword(huint16 *word);
1077 
1084  EXTERNFUNC int harmonic_setLocalControlword(huint16 word);
1085 
1092  EXTERNFUNC int harmonic_getLocalStatusWord(huint16 *word);
1093 
1100  EXTERNFUNC int harmonic_getLocalActualPos(hint32 *pos);
1101 
1108  EXTERNFUNC int harmonic_getLocalActualVelocity(hint32 *velocity);
1109 
1116  EXTERNFUNC int harmonic_getLocalTargetTorque(hint16 *torque);
1117 
1124  EXTERNFUNC int harmonic_setLocalTargetTorque(hint16 torque);
1125 
1132  EXTERNFUNC int harmonic_getLocalActualTorque(hint16 *torque);
1133 
1140  EXTERNFUNC int harmonic_getLocalDCLinkCircuitVoltage(huint32 *voltage);
1141 
1148  EXTERNFUNC int harmonic_getLocalTargetPos(hint32 *pos);
1149 
1156  EXTERNFUNC int harmonic_setLocalTargetPos(hint32 pos);
1157 
1165 
1173 
1181 
1189 
1197 
1205 
1215  EXTERNFUNC int harmonic_getDeviceType(huint8 devIndex, huint8 id, huint32 *deviceType, huint32 timeout = 100);
1216 
1226  EXTERNFUNC int harmonic_getErrorRegister(huint8 devIndex, huint8 id, huint8 *errReg, huint32 timeout = 100);
1227 
1237  EXTERNFUNC int harmonic_getErrorFieldNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1238 
1248  EXTERNFUNC int harmonic_setErrorFieldNumber(huint8 devIndex, huint8 id, huint8 number, huint32 timeout = 100); // 0x1003-0
1249 
1260  EXTERNFUNC int harmonic_getErrorField(huint8 devIndex, huint8 id, huint8 subIndex, huint32 *err, huint32 timeout = 100);
1261 
1271  EXTERNFUNC int harmonic_getSyncCobid(huint8 devIndex, huint8 id, huint32 *cobid, huint32 timeout = 100);
1272 
1282  EXTERNFUNC int harmonic_setSyncCobid(huint8 devIndex, huint8 id, huint32 cobid, huint32 timeout = 100);
1283 
1293  EXTERNFUNC int harmonic_getSyncCycle(huint8 devIndex, huint8 id, huint32 *syncCycle, huint32 timeout = 100);
1294 
1304  EXTERNFUNC int harmonic_setSyncCycle(huint8 devIndex, huint8 id, huint32 syncCycle, huint32 timeout = 100);
1305 
1315  EXTERNFUNC int harmonic_getSyncWindow(huint8 devIndex, huint8 id, huint32 *syncWindow, huint32 timeout = 100);
1316 
1326  EXTERNFUNC int harmonic_setSyncWindow(huint8 devIndex, huint8 id, huint32 syncWindow, huint32 timeout = 100);
1327 
1337  EXTERNFUNC int harmonic_getDeviceName(huint8 devIndex, huint8 id, char *devName, huint32 timeout = 100);
1338 
1348  EXTERNFUNC int harmonic_getHardwareVersion(huint8 devIndex, huint8 id, char *version, huint32 timeout = 100);
1349 
1359  EXTERNFUNC int harmonic_getSoftwareVersion(huint8 devIndex, huint8 id, char *version, huint32 timeout = 100);
1360 
1370  EXTERNFUNC int harmonic_getGuardTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
1371 
1381  EXTERNFUNC int harmonic_setGuardTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
1382 
1392  EXTERNFUNC int harmonic_getLifeTimeFactor(huint8 devIndex, huint8 id, huint8 *factor, huint32 timeout = 100);
1393 
1403  EXTERNFUNC int harmonic_setLifeTimeFactor(huint8 devIndex, huint8 id, huint8 factor, huint32 timeout = 100);
1404 
1414  EXTERNFUNC int harmonic_getStoreParametersNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1415 
1425  EXTERNFUNC int harmonic_getStoreParameters(huint8 devIndex, huint8 id, huint32 *value, huint32 timeout = 100);
1426 
1436  EXTERNFUNC int harmonic_setStoreParameters(huint8 devIndex, huint8 id, huint32 value, huint32 timeout = 100);
1437 
1447  EXTERNFUNC int harmonic_getRestoreDefaultParametersNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1448 
1458  EXTERNFUNC int harmonic_getRestoreDefaultParameters(huint8 devIndex, huint8 id, huint32 *value, huint32 timeout = 100);
1459 
1470  EXTERNFUNC int harmonic_setRestoreDefaultParameters(huint8 devIndex, huint8 id, huint32 value, huint32 timeout = 100);
1471 
1481  EXTERNFUNC int harmonic_getEmergencyCobid(huint8 devIndex, huint8 id, huint32 *cobid, huint32 timeout = 100);
1482 
1492  EXTERNFUNC int harmonic_setEmergencyCobid(huint8 devIndex, huint8 id, huint32 cobid, huint32 timeout = 100);
1493 
1503  EXTERNFUNC int harmonic_getEmergencyInhibitTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
1504 
1514  EXTERNFUNC int harmonic_setEmergencyInhibitTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
1515 
1525  EXTERNFUNC int harmonic_getHearbeatConsumerTimeParasNum(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1526 
1537  EXTERNFUNC int harmonic_getHearbeatConsumerTime(huint8 devIndex, huint8 id, huint8 subIndex, huint32 *time, huint32 timeout = 100);
1538 
1549  EXTERNFUNC int harmonic_setHearbeatConsumerTime(huint8 devIndex, huint8 id, huint8 subIndex, huint32 time, huint32 timeout = 100);
1550 
1560  EXTERNFUNC int harmonic_getProducerHeartbeatTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
1561 
1571  EXTERNFUNC int harmonic_setProducerHeartbeatTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
1572 
1582  EXTERNFUNC int harmonic_getIdentityObjectNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1583 
1593  EXTERNFUNC int harmonic_getVendorID(huint8 devIndex, huint8 id, huint32 *vId, huint32 timeout = 100);
1594 
1604  EXTERNFUNC int harmonic_getProductCode(huint8 devIndex, huint8 id, huint32 *pCode, huint32 timeout = 100);
1605 
1615  EXTERNFUNC int harmonic_getIdentityObjectRevisionNumber(huint8 devIndex, huint8 id, huint32 *revisionNum, huint32 timeout = 100);
1616 
1626  EXTERNFUNC int harmonic_getSerialNumber(huint8 devIndex, huint8 id, huint32 *serialNum, huint32 timeout = 100);
1627 
1637  EXTERNFUNC int harmonic_getSyncCounter(huint8 devIndex, huint8 id, huint8 *counter, huint32 timeout = 100);
1638 
1648  EXTERNFUNC int harmonic_setSyncCounter(huint8 devIndex, huint8 id, huint8 counter, huint32 timeout = 100);
1649 
1659  EXTERNFUNC int harmonic_getServerSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 *num, huint32 timeout = 100);
1660 
1670  EXTERNFUNC int harmonic_setServerSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 num, huint32 timeout = 100);
1671 
1681  EXTERNFUNC int harmonic_getServerSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout = 100);
1682 
1692  EXTERNFUNC int harmonic_setServerSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout = 100);
1693 
1703  EXTERNFUNC int harmonic_getServerSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout = 100);
1704 
1714  EXTERNFUNC int harmonic_setServerSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout = 100);
1715 
1725  EXTERNFUNC int harmonic_getServerSDONodeIdOfClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 *nodeId, huint32 timeout = 100);
1726 
1736  EXTERNFUNC int harmonic_setServerSDONodeIdOfClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 nodeId, huint32 timeout = 100);
1737 
1748  EXTERNFUNC int harmonic_getClientSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 *number, huint32 timeout = 100);
1749 
1760  EXTERNFUNC int harmonic_setClientSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 number, huint32 timeout = 100);
1761 
1772  EXTERNFUNC int harmonic_getClientSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout = 100);
1773 
1784  EXTERNFUNC int harmonic_setClientSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout = 100);
1785 
1796  EXTERNFUNC int harmonic_getClientSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout = 100);
1797 
1808  EXTERNFUNC int harmonic_setClientSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout = 100);
1809 
1820  EXTERNFUNC int harmonic_getClientSDONodeIdOfSDOServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 *nodeId, huint32 timeout = 100);
1821 
1832  EXTERNFUNC int harmonic_setClientSDONodeIdOfSDOServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 nodeId, huint32 timeout = 100);
1833 
1844  EXTERNFUNC int harmonic_getRPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
1845 
1856  EXTERNFUNC int harmonic_setRPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
1857 
1868  EXTERNFUNC int harmonic_getRPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout = 100);
1869 
1880  EXTERNFUNC int harmonic_setRPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout = 100);
1881 
1892  EXTERNFUNC int harmonic_getRPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout = 100);
1893 
1904  EXTERNFUNC int harmonic_setRPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout = 100);
1905 
1916  EXTERNFUNC int harmonic_getRPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout = 100);
1917 
1928  EXTERNFUNC int harmonic_setRPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout = 100);
1929 
1940  EXTERNFUNC int harmonic_getRPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout = 100);
1941 
1952  EXTERNFUNC int harmonic_setRPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout = 100);
1953 
1964  EXTERNFUNC int harmonic_getRPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout = 100);
1965 
1976  EXTERNFUNC int harmonic_setRPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout = 100); // 1400-6
1977 
1988  EXTERNFUNC int harmonic_getRPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
1989 
2000  EXTERNFUNC int harmonic_setRPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
2001 
2013  EXTERNFUNC int harmonic_getRPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout = 100);
2014 
2026  EXTERNFUNC int harmonic_setRPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout = 100);
2027 
2038  EXTERNFUNC int harmonic_getTPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
2039 
2050  EXTERNFUNC int harmonic_setTPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
2051 
2062  EXTERNFUNC int harmonic_getTPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout = 100);
2063 
2074  EXTERNFUNC int harmonic_setTPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout = 100);
2075 
2086  EXTERNFUNC int harmonic_getTPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout = 100);
2087 
2098  EXTERNFUNC int harmonic_setTPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout = 100);
2099 
2110  EXTERNFUNC int harmonic_getTPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout = 100);
2111 
2122  EXTERNFUNC int harmonic_setTPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout = 100);
2123 
2134  EXTERNFUNC int harmonic_getTPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout = 100);
2135 
2145  EXTERNFUNC int harmonic_setTPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout = 100);
2146 
2157  EXTERNFUNC int harmonic_getTPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout = 100);
2158 
2169  EXTERNFUNC int harmonic_setTPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout = 100);
2170 
2181  EXTERNFUNC int harmonic_getTPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
2182 
2193  EXTERNFUNC int harmonic_setTPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
2194 
2206  EXTERNFUNC int harmonic_getTPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout = 100);
2207 
2219  EXTERNFUNC int harmonic_setTPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout = 100); // 1A00-1
2220 
2230  EXTERNFUNC int harmonic_getServoParametersNumber(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2231 
2241  EXTERNFUNC int harmonic_setServoParametersNumber(huint8 devIndex, huint8 id, huint8 num, huint32 timeout = 100);
2242 
2252  EXTERNFUNC int harmonic_getServoID(huint8 devIndex, huint8 id, huint8 *servoID, huint32 timeout = 100);
2253 
2263  EXTERNFUNC int harmonic_setServoID(huint8 devIndex, huint8 id, huint8 servoID, huint32 timeout = 100);
2264 
2274  EXTERNFUNC int harmonic_getServoCanBaudrate(huint8 devIndex, huint8 id, huint16 *baudrate, huint32 timeout = 100);
2275 
2285  EXTERNFUNC int harmonic_setServoCanBaudrate(huint8 devIndex, huint8 id, huint16 baudrate, huint32 timeout = 100);
2286 
2296  EXTERNFUNC int harmonic_getServoSoftwareLimitState(huint8 devIndex, huint8 id, huint32 *state, huint32 timeout = 100);
2297 
2307  EXTERNFUNC int harmonic_setServoSoftwareLimitState(huint8 devIndex, huint8 id, huint32 state, huint32 timeout = 100);
2308 
2318  EXTERNFUNC int harmonic_getServoCurrentLoopPINum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2319 
2329  EXTERNFUNC int harmonic_getDefaultServoCurrentLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout = 100);
2330 
2340  EXTERNFUNC int harmonic_setDefaultServoCurrentLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout = 100);
2341 
2351  EXTERNFUNC int harmonic_getDefaultServoCurrentLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout = 100);
2352 
2362  EXTERNFUNC int harmonic_setDefaultServoCurrentLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout = 100);
2363 
2373  EXTERNFUNC int harmonic_getServoCurrentLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout = 100);
2374 
2384  EXTERNFUNC int harmonic_setServoCurrentLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout = 100);
2385 
2395  EXTERNFUNC int harmonic_getServoCurrentLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout = 100);
2396 
2406  EXTERNFUNC int harmonic_setServoCurrentLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout = 100);
2407 
2417  EXTERNFUNC int harmonic_getServoVelocityLoopPINum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2418 
2428  EXTERNFUNC int harmonic_getDefaultServoVelocityLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout = 100);
2429 
2439  EXTERNFUNC int harmonic_setDefaultServoVelocityLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout = 100);
2440 
2450  EXTERNFUNC int harmonic_getDefaultServoVelocityLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout = 100);
2451 
2461  EXTERNFUNC int harmonic_setDefaultServoVelocityLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout = 100);
2462 
2472  EXTERNFUNC int harmonic_getServoVelocityLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout = 100);
2473 
2483  EXTERNFUNC int harmonic_setServoVelocityLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout = 100);
2484 
2494  EXTERNFUNC int harmonic_getServoVelocityLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout = 100);
2495 
2505  EXTERNFUNC int harmonic_setServoVelocityLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout = 100);
2506 
2516  EXTERNFUNC int harmonic_getServoPositionLoopPINum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2517 
2527  EXTERNFUNC int harmonic_getDefaultServoPositionLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout = 100);
2528 
2538  EXTERNFUNC int harmonic_setDefaultServoPositionLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout = 100);
2539 
2549  EXTERNFUNC int harmonic_getDefaultServoPositionLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout = 100);
2550 
2560  EXTERNFUNC int harmonic_setDefaultServoPositionLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout = 100);
2561 
2571  EXTERNFUNC int harmonic_getServoPositionLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout = 100);
2572 
2582  EXTERNFUNC int harmonic_setServoPositionLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout = 100);
2583 
2593  EXTERNFUNC int harmonic_getServoPositionLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout = 100);
2594 
2604  EXTERNFUNC int harmonic_setServoPositionLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout = 100);
2605 
2615  EXTERNFUNC int harmonic_getServoBrakeParaNum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2616 
2626  EXTERNFUNC int harmonic_getServoBrakeControl(huint8 devIndex, huint8 id, huint8 *status, huint32 timeout = 100);
2627 
2637  EXTERNFUNC int harmonic_setServoBrakeControl(huint8 devIndex, huint8 id, huint8 status, huint32 timeout = 100);
2638 
2648  EXTERNFUNC int harmonic_getBrakeState(huint8 devIndex, huint8 id, huint8 *state, huint32 timeout = 100);
2649 
2659  EXTERNFUNC int harmonic_setBrakeState(huint8 devIndex, huint8 id, huint8 state, huint32 timeout = 100);
2660 
2670  EXTERNFUNC int harmonic_getServoTemperatureParasNum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2671 
2681  EXTERNFUNC int harmonic_getServoTemperature(huint8 devIndex, huint8 id, hint8 *tem, huint32 timeout = 100);
2682 
2692  EXTERNFUNC int harmonic_getServoTemperatureLimit(huint8 devIndex, huint8 id, hint8 *tem, huint32 timeout = 100);
2693 
2703  EXTERNFUNC int harmonic_setServoTemperatureLimit(huint8 devIndex, huint8 id, huint8 tem, huint32 timeout = 100);
2704 
2714  EXTERNFUNC int harmonic_getServoTemperatureLimitTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
2715 
2725  EXTERNFUNC int harmonic_setServoTemperatureLimitTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
2726 
2736  EXTERNFUNC int harmonic_getServoVelocityIntLimit(huint8 devIndex, huint8 id, huint16 *limit, huint32 timeout = 100);
2737 
2747  EXTERNFUNC int harmonic_setServoVelocityIntLimit(huint8 devIndex, huint8 id, huint16 limit, huint32 timeout = 100);
2748 
2758  EXTERNFUNC int harmonic_getServoBlockParasNum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2759 
2769  EXTERNFUNC int harmonic_getServoBlockTorque(huint8 devIndex, huint8 id, huint16 *torque, huint32 timeout = 100);
2770 
2780  EXTERNFUNC int harmonic_setServoBlockTorque(huint8 devIndex, huint8 id, huint16 torque, huint32 timeout = 100);
2781 
2791  EXTERNFUNC int harmonic_getServoBlockTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
2792 
2802  EXTERNFUNC int harmonic_setServoBlockTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
2803 
2813  EXTERNFUNC int harmonic_getServoBlockVelocity(huint8 devIndex, huint8 id, huint32 *velocity, huint32 timeout = 100);
2814 
2824  EXTERNFUNC int harmonic_setServoBlockVelocity(huint8 devIndex, huint8 id, huint32 velocity, huint32 timeout = 100);
2825 
2835  EXTERNFUNC int harmonic_getServoVelocityFlowingErrorParasNum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout = 100);
2836 
2846  EXTERNFUNC int harmonic_getServoVelocityFlowingErrorWindows(huint8 devIndex, huint8 id, huint32 *error, huint32 timeout = 100);
2847 
2857  EXTERNFUNC int harmonic_setServoVelocityFlowingErrorWindows(huint8 devIndex, huint8 id, huint32 error, huint32 timeout = 100);
2858 
2868  EXTERNFUNC int harmonic_getServoVelocityFlowingErrorTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
2869 
2879  EXTERNFUNC int harmonic_setServoVelocityFlowingErrorTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
2880 
2890  EXTERNFUNC int harmonic_getServoTorqueWindow(huint8 devIndex, huint8 id, huint16 *window, huint32 timeout = 100);
2891 
2901  EXTERNFUNC int harmonic_setServoTorqueWindow(huint8 devIndex, huint8 id, huint16 window, huint32 timeout = 100);
2902 
2912  EXTERNFUNC int harmonic_getServoTorqueWindowTime(huint8 devIndex, huint8 id, huint16 *window, huint32 timeout = 100);
2913 
2923  EXTERNFUNC int harmonic_setServoTorqueWindowTime(huint8 devIndex, huint8 id, huint16 window, huint32 timeout = 100);
2924 
2934  EXTERNFUNC int harmonic_getServoOverSpeedThreshold(huint8 devIndex, huint8 id, huint32 *thre, huint32 timeout = 100);
2935 
2945  EXTERNFUNC int harmonic_setServoOverSpeedThreshold(huint8 devIndex, huint8 id, huint32 thre, huint32 timeout = 100);
2946 
2956  EXTERNFUNC int harmonic_getServoOverSpeedTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
2957 
2967  EXTERNFUNC int harmonic_setServoOverSpeedTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
2968 
2978  EXTERNFUNC int harmonic_getServoBrakeDelayTime(huint8 devIndex, huint8 id, huint8 *time, huint32 timeout = 100);
2979 
2989  EXTERNFUNC int harmonic_setServoBrakeDelayTime(huint8 devIndex, huint8 id, huint8 time, huint32 timeout = 100);
2990 
3000  EXTERNFUNC int harmonic_getI2tOverLoadLimit(huint8 devIndex, huint8 id, huint16 *value, huint32 timeout = 100);
3001 
3011  EXTERNFUNC int harmonic_setI2tOverLoadLimit(huint8 devIndex, huint8 id, huint16 value, huint32 timeout = 100);
3012 
3022  EXTERNFUNC int harmonic_getI2tOverLoadValue(huint8 devIndex, huint8 id, huint16 *value, huint32 timeout = 100);
3023 
3033  EXTERNFUNC int harmonic_getServoFirstEncoderValue(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout = 100);
3034 
3044  EXTERNFUNC int harmonic_getServoSecondEncoderValue(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout = 100);
3045 
3055  EXTERNFUNC int harmonic_getServoThetaBiasValue(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout = 100);
3056 
3066  EXTERNFUNC int harmonic_getDCVolageProtectionParasNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
3067 
3077  EXTERNFUNC int harmonic_getDCUnderVoltageThreshold(huint8 devIndex, huint8 id, huint32 *vol, huint32 timeout = 100);
3078 
3088  EXTERNFUNC int harmonic_setDCUnderVoltageThreshold(huint8 devIndex, huint8 id, huint32 vol, huint32 timeout = 100);
3089 
3099  EXTERNFUNC int harmonic_getDCUnderVoltageTime(huint8 devIndex, huint8 id, huint32 *time, huint32 timeout = 100);
3100 
3110  EXTERNFUNC int harmonic_setDCUnderVoltageTime(huint8 devIndex, huint8 id, huint32 time, huint32 timeout = 100);
3111 
3121  EXTERNFUNC int harmonic_getDCOverVoltageThreshold(huint8 devIndex, huint8 id, huint32 *vol, huint32 timeout = 100);
3122 
3132  EXTERNFUNC int harmonic_setDCOverVoltageThreshold(huint8 devIndex, huint8 id, huint32 vol, huint32 timeout = 100);
3133 
3143  EXTERNFUNC int harmonic_getDCOverVoltageTime(huint8 devIndex, huint8 id, huint32 *time, huint32 timeout = 100);
3144 
3154  EXTERNFUNC int harmonic_setDCOverVoltageTime(huint8 devIndex, huint8 id, huint32 time, huint32 timeout = 100);
3155 
3165  EXTERNFUNC int harmonic_getTorqueSensorValue(huint8 devIndex, huint8 id, hreal32 *value, huint32 timeout = 100);
3166 
3176  EXTERNFUNC int harmonic_getFindPointDoneFlag(huint8 devIndex, huint8 id, huint32 *flag, huint32 timeout = 100);
3177 
3187  EXTERNFUNC int harmonic_setFindPointDoneFlag(huint8 devIndex, huint8 id, huint32 flag, huint32 timeout = 100);
3188 
3198  EXTERNFUNC int harmonic_getFindPointStart(huint8 devIndex, huint8 id, huint32 *status, huint32 timeout = 100);
3199 
3209  EXTERNFUNC int harmonic_setFindPointStart(huint8 devIndex, huint8 id, huint32 status, huint32 timeout = 100);
3210 
3220  EXTERNFUNC int harmonic_getFindPointMoveMax(huint8 devIndex, huint8 id, huint32 *angle, huint32 timeout = 100);
3221 
3231  EXTERNFUNC int harmonic_setFindPointMoveMax(huint8 devIndex, huint8 id, huint32 angle, huint32 timeout = 100);
3232 
3242  EXTERNFUNC int harmonic_getFindPointMoveAcc(huint8 devIndex, huint8 id, huint32 *acc, huint32 timeout = 100);
3243 
3253  EXTERNFUNC int harmonic_setFindPointMoveAcc(huint8 devIndex, huint8 id, huint32 acc, huint32 timeout = 100);
3254 
3264  EXTERNFUNC int harmonic_getFindPointMoveDec(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout = 100);
3265 
3275  EXTERNFUNC int harmonic_setFindPointMoveDec(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout = 100);
3276 
3286  EXTERNFUNC int harmonic_getFindPointMoveVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout = 100);
3287 
3297  EXTERNFUNC int harmonic_setFindPointMoveVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout = 100);
3298 
3308  EXTERNFUNC int harmonic_getTorqueFactor(huint8 devIndex, huint8 id, huint16 *factor, huint32 timeout = 100);
3309 
3319  EXTERNFUNC int harmonic_setTorqueFactor(huint8 devIndex, huint8 id, huint16 factor, huint32 timeout = 100);
3320 
3330  EXTERNFUNC int harmonic_getMitCtrlCobcmd1(huint8 devIndex, huint8 id, huint32 *cobcmd, huint32 timeout = 100);
3331 
3341  EXTERNFUNC int harmonic_setMitCtrlCobcmd1(huint8 devIndex, huint8 id, huint32 cobcmd, huint32 timeout = 100);
3342 
3352  EXTERNFUNC int harmonic_getMitCtrlCobcmd2(huint8 devIndex, huint8 id, huint32 *cobcmd, huint32 timeout = 100);
3353 
3363  EXTERNFUNC int harmonic_setMitCtrlCobcmd2(huint8 devIndex, huint8 id, huint32 cobcmd, huint32 timeout = 100);
3364 
3374  EXTERNFUNC int harmonic_getMitReplyCobdat1(huint8 devIndex, huint8 id, huint32 *cobdat, huint32 timeout = 100);
3375 
3385  EXTERNFUNC int harmonic_setMitReplyCobdat1(huint8 devIndex, huint8 id, huint32 cobdat, huint32 timeout = 100);
3386 
3396  EXTERNFUNC int harmonic_getMitReplyCobdat2(huint8 devIndex, huint8 id, huint32 *cobdat, huint32 timeout = 100);
3397 
3407  EXTERNFUNC int harmonic_setMitReplyCobdat2(huint8 devIndex, huint8 id, huint32 cobdat, huint32 timeout = 100);
3408 
3418  EXTERNFUNC int harmonic_getMitPMin(huint8 devIndex, huint8 id, hreal32 *pMin, huint32 timeout = 100);
3419 
3429  EXTERNFUNC int harmonic_setMitPMin(huint8 devIndex, huint8 id, hreal32 pMin, huint32 timeout = 100);
3430 
3440  EXTERNFUNC int harmonic_getMitPMax(huint8 devIndex, huint8 id, hreal32 *pMax, huint32 timeout = 100);
3441 
3451  EXTERNFUNC int harmonic_setMitPMax(huint8 devIndex, huint8 id, hreal32 pMax, huint32 timeout = 100);
3452 
3462  EXTERNFUNC int harmonic_getMitVMin(huint8 devIndex, huint8 id, hreal32 *vMin, huint32 timeout = 100);
3463 
3473  EXTERNFUNC int harmonic_setMitVMin(huint8 devIndex, huint8 id, hreal32 vMin, huint32 timeout = 100);
3474 
3484  EXTERNFUNC int harmonic_getMitVMax(huint8 devIndex, huint8 id, hreal32 *vMax, huint32 timeout = 100);
3485 
3495  EXTERNFUNC int harmonic_setMitVMax(huint8 devIndex, huint8 id, hreal32 vMax, huint32 timeout = 100);
3496 
3506  EXTERNFUNC int harmonic_getMitKPMin(huint8 devIndex, huint8 id, hreal32 *kpMin, huint32 timeout = 100);
3507 
3517  EXTERNFUNC int harmonic_setMitKPMin(huint8 devIndex, huint8 id, hreal32 kpMin, huint32 timeout = 100);
3518 
3528  EXTERNFUNC int harmonic_getMitKPMax(huint8 devIndex, huint8 id, hreal32 *kpMax, huint32 timeout = 100);
3529 
3539  EXTERNFUNC int harmonic_setMitKPMax(huint8 devIndex, huint8 id, hreal32 kpMax, huint32 timeout = 100);
3540 
3550  EXTERNFUNC int harmonic_getMitKDMin(huint8 devIndex, huint8 id, hreal32 *kdMin, huint32 timeout = 100);
3551 
3561  EXTERNFUNC int harmonic_setMitKDMin(huint8 devIndex, huint8 id, hreal32 kdMin, huint32 timeout = 100);
3562 
3572  EXTERNFUNC int harmonic_getMitKDMax(huint8 devIndex, huint8 id, hreal32 *kdMax, huint32 timeout = 100);
3573 
3583  EXTERNFUNC int harmonic_setMitKDMax(huint8 devIndex, huint8 id, hreal32 kdMax, huint32 timeout = 100);
3584 
3594  EXTERNFUNC int harmonic_getMitTMin(huint8 devIndex, huint8 id, hreal32 *tMin, huint32 timeout = 100);
3595 
3605  EXTERNFUNC int harmonic_setMitTMin(huint8 devIndex, huint8 id, hreal32 tMin, huint32 timeout = 100);
3606 
3616  EXTERNFUNC int harmonic_getMitTMax(huint8 devIndex, huint8 id, hreal32 *tMin, huint32 timeout = 100);
3617 
3627  EXTERNFUNC int harmonic_setMitTMax(huint8 devIndex, huint8 id, hreal32 tMin, huint32 timeout = 100);
3628 
3638  EXTERNFUNC int harmonic_getServoErrorCode(huint8 devIndex, huint8 id, huint16 *err, huint32 timeout = 100);
3639 
3649  EXTERNFUNC int harmonic_getControlword(huint8 devIndex, huint8 id, huint16 *word, huint32 timeout = 100);
3650 
3660  EXTERNFUNC int harmonic_setControlword(huint8 devIndex, huint8 id, huint16 word, huint32 timeout = 100);
3661 
3671  EXTERNFUNC int harmonic_getStatusWord(huint8 devIndex, huint8 id, huint16 *word, huint32 timeout = 100);
3672 
3682  EXTERNFUNC int harmonic_getQuickStopOption(huint8 devIndex, huint8 id, harmonic_QuickStopOption *option, huint32 timeout = 100);
3683 
3693  EXTERNFUNC int harmonic_setQuickStopOption(huint8 devIndex, huint8 id, harmonic_QuickStopOption option, huint32 timeout = 100);
3694 
3704  EXTERNFUNC int harmonic_getShutdownOptionCode(huint8 devIndex, huint8 id, harmonic_ShutdownOption *code, huint32 timeout = 100);
3705 
3715  EXTERNFUNC int harmonic_setShutdownOptionCode(huint8 devIndex, huint8 id, harmonic_ShutdownOption code, huint32 timeout = 100);
3716 
3726  EXTERNFUNC int harmonic_getDisableOperationOptionCode(huint8 devIndex, huint8 id, harmonic_DisableOperationOption *code, huint32 timeout = 100);
3727 
3737  EXTERNFUNC int harmonic_setDisableOperationOptionCode(huint8 devIndex, huint8 id, harmonic_DisableOperationOption code, huint32 timeout = 100);
3738 
3748  EXTERNFUNC int harmonic_getHaltOption(huint8 devIndex, huint8 id, harmonic_HaltOption *option, huint32 timeout = 100);
3749 
3759  EXTERNFUNC int harmonic_setHaltOption(huint8 devIndex, huint8 id, harmonic_HaltOption option, huint32 timeout = 100);
3760 
3770  EXTERNFUNC int harmonic_getFaultReactionOption(huint8 devIndex, huint8 id, harmonic_FaultReactionOption *option, huint32 timeout = 100);
3771 
3781  EXTERNFUNC int harmonic_setFaultReactionOption(huint8 devIndex, huint8 id, harmonic_FaultReactionOption option, huint32 timeout = 100);
3782 
3792  EXTERNFUNC int harmonic_getOperateMode(huint8 devIndex, huint8 id, harmonic_OperateMode *mode, huint32 timeout = 100);
3793 
3803  EXTERNFUNC int harmonic_setOperateMode(huint8 devIndex, huint8 id, harmonic_OperateMode mode, huint32 timeout = 100);
3804 
3814  EXTERNFUNC int harmonic_getDisplayOperateMode(huint8 devIndex, huint8 id, harmonic_OperateMode *mode, huint32 timeout = 100);
3815 
3825  EXTERNFUNC int harmonic_getDemandPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
3826 
3836  EXTERNFUNC int harmonic_setDemandPos(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout = 100);
3837 
3847  EXTERNFUNC int harmonic_getActualPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
3848 
3858  EXTERNFUNC int harmonic_getFollowingErrorWindow(huint8 devIndex, huint8 id, huint32 *eWindow, huint32 timeout = 100);
3859 
3869  EXTERNFUNC int harmonic_setFollowingErrorWindow(huint8 devIndex, huint8 id, huint32 eWindow, huint32 timeout = 100);
3870 
3880  EXTERNFUNC int harmonic_getPositionWindow(huint8 devIndex, huint8 id, huint32 *pWindow, huint32 timeout = 100);
3881 
3891  EXTERNFUNC int harmonic_setPositionWindow(huint8 devIndex, huint8 id, huint32 pWindow, huint32 timeout = 100);
3892 
3902  EXTERNFUNC int harmonic_getPositionWindowTime(huint8 devIndex, huint8 id, huint16 *pWindowTime, huint32 timeout = 100);
3903 
3913  EXTERNFUNC int harmonic_setPositionWindowTime(huint8 devIndex, huint8 id, huint16 pWindowTime, huint32 timeout = 100);
3914 
3924  EXTERNFUNC int harmonic_getDemandVelocity(huint8 devIndex, huint8 id, hint32 *dVel, huint32 timeout = 100);
3925 
3935  EXTERNFUNC int harmonic_setDemandVelocity(huint8 devIndex, huint8 id, hint32 dvel, huint32 timeout = 100);
3936 
3946  EXTERNFUNC int harmonic_getActualVelocity(huint8 devIndex, huint8 id, hint32 *vel, huint32 timeout = 100);
3947 
3957  EXTERNFUNC int harmonic_getVelocityWindow(huint8 devIndex, huint8 id, huint16 *vWindow, huint32 timeout = 100);
3958 
3968  EXTERNFUNC int harmonic_setVelocityWindow(huint8 devIndex, huint8 id, huint16 vWindow, huint32 timeout = 100);
3969 
3979  EXTERNFUNC int harmonic_getVelocityWindowTime(huint8 devIndex, huint8 id, huint16 *wTime, huint32 timeout = 100);
3980 
3990  EXTERNFUNC int harmonic_setVelocityWindowTime(huint8 devIndex, huint8 id, huint16 wTime, huint32 timeout = 100);
3991 
4001  EXTERNFUNC int harmonic_getVelocityThreshold(huint8 devIndex, huint8 id, huint16 *thres, huint32 timeout = 100);
4002 
4012  EXTERNFUNC int harmonic_setVelocityThreshold(huint8 devIndex, huint8 id, huint16 thres, huint32 timeout = 100);
4013 
4023  EXTERNFUNC int harmonic_getVelocityThresholdTime(huint8 devIndex, huint8 id, huint16 *tTime, huint32 timeout = 100);
4024 
4034  EXTERNFUNC int harmonic_setVelocityThresholdTime(huint8 devIndex, huint8 id, huint16 tTime, huint32 timeout = 100);
4035 
4045  EXTERNFUNC int harmonic_getTargetTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout = 100);
4046 
4056  EXTERNFUNC int harmonic_setTargetTorque(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout = 100);
4057 
4067  EXTERNFUNC int harmonic_getTorqueLimit(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout = 100);
4068 
4078  EXTERNFUNC int harmonic_setTorqueLimit(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout = 100);
4079 
4089  EXTERNFUNC int harmonic_getDemandTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout = 100);
4090 
4100  EXTERNFUNC int harmonic_setDemandTorque(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout = 100);
4101 
4111  EXTERNFUNC int harmonic_getMotorRatedTorque(huint8 devIndex, huint8 id, huint32 *torque, huint32 timeout = 100);
4112 
4122  EXTERNFUNC int harmonic_setMotorRatedTorque(huint8 devIndex, huint8 id, huint32 torque, huint32 timeout = 100);
4123 
4133  EXTERNFUNC int harmonic_getActualTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout = 100);
4134 
4144  EXTERNFUNC int harmonic_getCurrentActualValue(huint8 devIndex, huint8 id, hint16 *current, huint32 timeout = 100);
4145 
4155  EXTERNFUNC int harmonic_getDCLinkCircuitVoltage(huint8 devIndex, huint8 id, huint32 *voltage, huint32 timeout = 100);
4156 
4166  EXTERNFUNC int harmonic_setDCLinkCircuitVoltage(huint8 devIndex, huint8 id, huint32 voltage, huint32 timeout = 100);
4167 
4177  EXTERNFUNC int harmonic_getTargetPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
4178 
4188  EXTERNFUNC int harmonic_setTargetPos(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout = 100);
4189 
4199  EXTERNFUNC int harmonic_getHomeOffset(huint8 devIndex, huint8 id, hint32 *offSet, huint32 timeout = 100);
4200 
4210  EXTERNFUNC int harmonic_setHomeOffset(huint8 devIndex, huint8 id, hint32 offSet, huint32 timeout = 100);
4211 
4221  EXTERNFUNC int harmonic_getSoftwareMinimumPosition(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
4222 
4232  EXTERNFUNC int harmonic_setSoftwareMinimumPosition(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout = 100);
4233 
4243  EXTERNFUNC int harmonic_getSoftwareMaxmumPosition(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
4244 
4254  EXTERNFUNC int harmonic_setSoftwareMaxmumPosition(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout = 100);
4255 
4265  EXTERNFUNC int harmonic_getMaxProfileVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout = 100);
4266 
4276  EXTERNFUNC int harmonic_setMaxProfileVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout = 100);
4277 
4287  EXTERNFUNC int harmonic_getProfileVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout = 100);
4288 
4298  EXTERNFUNC int harmonic_setProfileVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout = 100);
4299 
4309  EXTERNFUNC int harmonic_getProfileAcceleration(huint8 devIndex, huint8 id, huint32 *acc, huint32 timeout = 100);
4310 
4320  EXTERNFUNC int harmonic_setProfileAcceleration(huint8 devIndex, huint8 id, huint32 acc, huint32 timeout = 100);
4321 
4331  EXTERNFUNC int harmonic_getProfileDeceleration(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout = 100);
4332 
4342  EXTERNFUNC int harmonic_setProfileDeceleration(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout = 100);
4343 
4353  EXTERNFUNC int harmonic_getQuickStopDeceleration(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout = 100);
4354 
4364  EXTERNFUNC int harmonic_setQuickStopDeceleration(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout = 100);
4365 
4375  EXTERNFUNC int harmonic_getTorqueSlope(huint8 devIndex, huint8 id, huint32 *slope, huint32 timeout = 100);
4376 
4386  EXTERNFUNC int harmonic_setTorqueSlope(huint8 devIndex, huint8 id, huint32 slope, huint32 timeout = 100);
4387 
4397  EXTERNFUNC int harmonic_getGearRatioMotorRevolutions(huint8 devIndex, huint8 id, huint32 *rev, huint32 timeout = 100);
4398 
4408  EXTERNFUNC int harmonic_setGearRatioMotorRevolutions(huint8 devIndex, huint8 id, huint32 rev, huint32 timeout = 100);
4409 
4419  EXTERNFUNC int harmonic_getGearRatioShaftRevolutions(huint8 devIndex, huint8 id, huint32 *rev, huint32 timeout = 100);
4420 
4430  EXTERNFUNC int harmonic_setGearRatioShaftRevolutions(huint8 devIndex, huint8 id, huint32 rev, huint32 timeout = 100);
4431 
4441  EXTERNFUNC int harmonic_getInterpolationDataRecord(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout = 100);
4442 
4452  EXTERNFUNC int harmonic_setInterpolationDataRecord(huint8 devIndex, huint8 id, hint32 value, huint32 timeout = 100);
4453 
4463  EXTERNFUNC int harmonic_getInterpolationTimePeriodValue(huint8 devIndex, huint8 id, huint8 *value, huint32 timeout = 100);
4464 
4474  EXTERNFUNC int harmonic_setInterpolationTimePeriodValue(huint8 devIndex, huint8 id, huint8 value, huint32 timeout = 100);
4475 
4485  EXTERNFUNC int harmonic_getActualFollowingError(huint8 devIndex, huint8 id, hint32 *error, huint32 timeout = 100);
4486 
4496  EXTERNFUNC int harmonic_setActualFollowingError(huint8 devIndex, huint8 id, hint32 error, huint32 timeout = 100);
4497 
4507  EXTERNFUNC int harmonic_getTargetVelocity(huint8 devIndex, huint8 id, hint32 *targetVel, huint32 timeout = 100);
4508 
4518  EXTERNFUNC int harmonic_setTargetVelocity(huint8 devIndex, huint8 id, hint32 targetVel, huint32 timeout = 100);
4519 
4529  EXTERNFUNC int harmonic_getSupportedDriveModes(huint8 devIndex, huint8 id, huint32 *modes, huint32 timeout = 100);
4530 
4531 #ifdef __cplusplus
4532 }
4533 #endif
4534 
4535 #endif // EU_HARMONIC_H
signed int hint24
Definition: eu_harmonic.h:49
EXTERNFUNC int harmonic_getClientSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 *number, huint32 timeout=100)
读从站字典[0x1280+sdoClientIndex]-0x0
EXTERNFUNC int harmonic_getServerSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout=100)
读从站字典[0x1200+sdoServerIndex]-0x2
EXTERNFUNC int harmonic_getRPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout=100)
读从站字典[0x1600+pdoIndex]-[0x1+mapIndex]
Definition: eu_harmonic.h:98
EXTERNFUNC int harmonic_getHearbeatConsumerTimeParasNum(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100)
读从站字典0x1016-0x0
EXTERNFUNC int harmonic_getSoftwareVersion(huint8 devIndex, huint8 id, char *version, huint32 timeout=100)
读从站字典0x100A-0x0
Definition: eu_harmonic.h:110
EXTERNFUNC int harmonic_setHomeOffset(huint8 devIndex, huint8 id, hint32 offSet, huint32 timeout=100)
写从站字典0x607C-0x0
EXTERNFUNC int harmonic_setEmergencyInhibitTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100)
写从站字典0x1015-0x0
EXTERNFUNC int harmonic_setLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 count)
写本地字典[0x1800+pdoIndex]-0x0
EXTERNFUNC int harmonic_setI2tOverLoadLimit(huint8 devIndex, huint8 id, huint16 value, huint32 timeout=100)
写从站字典0x2028-0x0
EXTERNFUNC int harmonic_setDCOverVoltageTime(huint8 devIndex, huint8 id, huint32 time, huint32 timeout=100)
写从站字典0x202D-0x4
Definition: eu_harmonic.h:122
EXTERNFUNC int harmonic_setServoBlockTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100)
写从站字典0x2020-0x2
EXTERNFUNC int harmonic_getServoFirstEncoderValue(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout=100)
读从站字典0x202A-0x0
huint8 rtr
Definition: eu_harmonic.h:240
EXTERNFUNC int harmonic_setMitKPMax(huint8 devIndex, huint8 id, hreal32 kpMax, huint32 timeout=100)
写从站字典0x2145-0x0
EXTERNFUNC int harmonic_setLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 value)
写本地字典[0x1400+pdoIndex]-0x6
EXTERNFUNC int harmonic_getHardwareVersion(huint8 devIndex, huint8 id, char *version, huint32 timeout=100)
读从站字典0x1009-0x0
Definition: eu_harmonic.h:220
Definition: eu_harmonic.h:129
EXTERNFUNC int harmonic_getRPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100)
读从站字典[0x1400+pdoIndex]-0x0
Definition: eu_harmonic.h:126
EXTERNFUNC int harmonic_getServoVelocityFlowingErrorTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100)
读从站字典0x2021-0x2
EXTERNFUNC int harmonic_setDCUnderVoltageTime(huint8 devIndex, huint8 id, huint32 time, huint32 timeout=100)
写从站字典0x202D-0x2
EXTERNFUNC int harmonic_setDCUnderVoltageThreshold(huint8 devIndex, huint8 id, huint32 vol, huint32 timeout=100)
写从站字典0x202D-0x1
EXTERNFUNC int harmonic_setRPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout=100)
写从站字典[0x1400+pdoIndex]-0x6
EXTERNFUNC int harmonic_getFindPointMoveAcc(huint8 devIndex, huint8 id, huint32 *acc, huint32 timeout=100)
读从站字典0x2106-0x0
EXTERNFUNC int harmonic_getTPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout=100)
读从站字典[0x1800+pdoIndex]-0x1
EXTERNFUNC int harmonic_getServoTorqueWindow(huint8 devIndex, huint8 id, huint16 *window, huint32 timeout=100)
读从站字典0x2022-0x0
EXTERNFUNC int harmonic_getVelocityThresholdTime(huint8 devIndex, huint8 id, huint16 *tTime, huint32 timeout=100)
读从站字典0x6070-0x0
EXTERNFUNC int harmonic_getMaxProfileVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout=100)
读从站字典0x607F-0x0
EXTERNFUNC int harmonic_setServoParametersNumber(huint8 devIndex, huint8 id, huint8 num, huint32 timeout=100)
写从站字典0x2001-0x0
EXTERNFUNC int harmonic_getRPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout=100)
读从站字典[0x1400+pdoIndex]-0x3
EXTERNFUNC int harmonic_setServoOverSpeedTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100)
写从站字典0x2025-0x0
EXTERNFUNC int harmonic_setControlword(huint8 devIndex, huint8 id, huint16 word, huint32 timeout=100)
写从站字典0x6040-0x0
EXTERNFUNC int harmonic_getDemandTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout=100)
读从站字典0x6074-0x0
EXTERNFUNC int harmonic_setProfileVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout=100)
写从站字典0x6081-0x0
EXTERNFUNC int harmonic_getMitVMax(huint8 devIndex, huint8 id, hreal32 *vMax, huint32 timeout=100)
读从站字典0x2143-0x0
huint16 cob_id
Definition: eu_harmonic.h:239
Definition: eu_harmonic.h:154
EXTERNFUNC int harmonic_getServoVelocityLoopPINum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100)
读从站字典0x2012-0x0
EXTERNFUNC int harmonic_setServoBlockTorque(huint8 devIndex, huint8 id, huint16 torque, huint32 timeout=100)
写从站字典0x2020-0x1
signed long int hint64
Definition: eu_harmonic.h:54
EXTERNFUNC int harmonic_getLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 *cobId)
读本地字典[0x1200+sdoServerIndex]-0x1
EXTERNFUNC int harmonic_getServoParametersNumber(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100)
读从站字典0x2001-0x0
EXTERNFUNC int harmonic_setPositionWindowTime(huint8 devIndex, huint8 id, huint16 pWindowTime, huint32 timeout=100)
写从站字典0x6068-0x0
EXTERNFUNC int harmonic_getLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 *num)
读本地字典[0x1200+sdoServerIndex]-0x0
EXTERNFUNC int harmonic_getProducerHeartbeatTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100)
读从站字典0x1017-0x0
EXTERNFUNC int harmonic_setTPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout=100)
写从站字典[0x1800+pdoIndex]-0x2
EXTERNFUNC int harmonic_getDefaultServoCurrentLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout=100)
写从站字典0x2010-0x0
EXTERNFUNC int harmonic_setMitKDMin(huint8 devIndex, huint8 id, hreal32 kdMin, huint32 timeout=100)
写从站字典0x2146-0x0
EXTERNFUNC int harmonic_getSyncWindow(huint8 devIndex, huint8 id, huint32 *syncWindow, huint32 timeout=100)
读从站字典0x1007-0x0
EXTERNFUNC int harmonic_setLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 value)
写本地字典[0x1800+pdoIndex]-0x6
EXTERNFUNC int harmonic_getLocalTPDOTransmitType(huint16 pdoIndex, huint8 *type)
读本地字典[0x1800+pdoIndex]-0x2
EXTERNFUNC int harmonic_getLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value)
读本地字典[0x1A00+pdoIndex]-[0x1+mapIndex]
EXTERNFUNC int harmonic_getLocalTargetVelocity(hint32 *vel)
读本地字典0x60FF-0x0
EXTERNFUNC int harmonic_initDLL(harmonic_DeviceType devType, huint8 devIndex, harmonic_Baudrate baudrate)
初始化dll,在调用所有函数前,必须先调用该函数进行初始化,该函数会打开设备。 【注意】控制多个设备时可...
EXTERNFUNC int harmonic_setDCLinkCircuitVoltage(huint8 devIndex, huint8 id, huint32 voltage, huint32 timeout=100)
写从站字典0x6079-0x0
EXTERNFUNC int harmonic_getMitKPMin(huint8 devIndex, huint8 id, hreal32 *kpMin, huint32 timeout=100)
读从站字典0x2144-0x0
EXTERNFUNC int harmonic_getLocalSyncWindow(huint32 *sWindow)
读本地字典0x1007-0x0
EXTERNFUNC int harmonic_setRPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout=100)
写从站字典[0x1400+pdoIndex]-0x1
Definition: eu_harmonic.h:113
EXTERNFUNC int harmonic_setServoPositionLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout=100)
写从站字典0x2013-0x3
Definition: eu_harmonic.h:100
EXTERNFUNC int harmonic_getDeviceType(huint8 devIndex, huint8 id, huint32 *deviceType, huint32 timeout=100)
读从站字典0x1000-0x0
EXTERNFUNC int harmonic_setLocalTPDOTransmitType(huint16 pdoIndex, huint8 type)
写本地字典[0x1800+pdoIndex]-0x2
EXTERNFUNC int harmonic_getServoBrakeDelayTime(huint8 devIndex, huint8 id, huint8 *time, huint32 timeout=100)
读从站字典0x2026-0x0
harmonic_NMTState
NMT状态
Definition: eu_harmonic.h:107
EXTERNFUNC int harmonic_setTargetTorque(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout=100)
写从站字典0x6071-0x0
EXTERNFUNC int harmonic_getServoBrakeControl(huint8 devIndex, huint8 id, huint8 *status, huint32 timeout=100)
读从站字典0x2014-0x1
EXTERNFUNC int harmonic_getDefaultServoVelocityLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout=100)
读从站字典0x2012-0x1
EXTERNFUNC int harmonic_setDefaultServoCurrentLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout=100)
写从站字典0x2010-0x1
EXTERNFUNC int harmonic_getMitTMin(huint8 devIndex, huint8 id, hreal32 *tMin, huint32 timeout=100)
读从站字典0x2148-0x0
EXTERNFUNC int harmonic_getLocalMutiMotorStatusWord(huint16 motorIndex, huint16 *status)
读本地字典0x5006+[0x1+motorIndex]
EXTERNFUNC int harmonic_getErrorFieldNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100)
读从站字典0x1003-0x0
EXTERNFUNC int harmonic_setTPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout=100)
写从站字典[0x1A00+pdoIndex]-[0x1+mapIndex]
harmonic_OperateMode
操作模式
Definition: eu_harmonic.h:215
EXTERNFUNC int harmonic_getMitPMax(huint8 devIndex, huint8 id, hreal32 *pMax, huint32 timeout=100)
读从站字典0x2141-0x0
EXTERNFUNC int harmonic_getLocalMitReplyCobdat1(huint32 *cobdat)
读本地字典0x2132-0x0
harmonic_DisableOperationOption
下使能操作
Definition: eu_harmonic.h:179
Definition: eu_harmonic.h:127
EXTERNFUNC int harmonic_setServerSDONodeIdOfClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 nodeId, huint32 timeout=100)
写从站字典[0x1200+sdoServerIndex]-0x3
Definition: eu_harmonic.h:94
Definition: eu_harmonic.h:228
EXTERNFUNC int harmonic_getMitKDMin(huint8 devIndex, huint8 id, hreal32 *kdMin, huint32 timeout=100)
读从站字典0x2146-0x0
EXTERNFUNC int harmonic_readLocalDirectory(huint16 index, huint8 subIndex, harmonic_DataType dataType, void *readData)
读主站字典
EXTERNFUNC int harmonic_getEmergencyInhibitTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100)
读从站字典0x1015-0x0
EXTERNFUNC int harmonic_getServoOverSpeedTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100)
读从站字典0x2025-0x0
EXTERNFUNC int harmonic_getServoPositionLoopPINum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100)
读从站字典0x2013-0x0
EXTERNFUNC int harmonic_setLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 cobId)
写本地字典[0x1280+sdoClientIndex]-0x1
EXTERNFUNC int harmonic_getLocalTargetTorque(hint16 *torque)
读本地字典0x6071-0x0
EXTERNFUNC int harmonic_getTPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout=100)
读从站字典[0x1800+pdoIndex]-0x5
EXTERNFUNC int harmonic_getServoCurrentLoopPINum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100)
读从站字典0x2010-0x0
EXTERNFUNC int harmonic_getMitCtrlCobcmd1(huint8 devIndex, huint8 id, huint32 *cobcmd, huint32 timeout=100)
读从站字典0x2130-0x0
EXTERNFUNC int harmonic_getLocalRPDOInhibitTime(huint16 pdoIndex, huint16 *time)
读本地字典[0x1400+pdoIndex]-0x3
EXTERNFUNC int harmonic_setMitReplyCobdat1(huint8 devIndex, huint8 id, huint32 cobdat, huint32 timeout=100)
写从站字典0x2132-0x0
EXTERNFUNC int harmonic_setTorqueFactor(huint8 devIndex, huint8 id, huint16 factor, huint32 timeout=100)
写从站字典0x2110-0x0
EXTERNFUNC int harmonic_getSoftwareMinimumPosition(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100)
读从站字典0x607D-0x1
EXTERNFUNC int harmonic_getVelocityWindow(huint8 devIndex, huint8 id, huint16 *vWindow, huint32 timeout=100)
读从站字典0x606D-0x0
EXTERNFUNC int harmonic_getMitReplyCobdat2(huint8 devIndex, huint8 id, huint32 *cobdat, huint32 timeout=100)
读从站字典0x2133-0x0
EXTERNFUNC int harmonic_getErrorField(huint8 devIndex, huint8 id, huint8 subIndex, huint32 *err, huint32 timeout=100)
读从站字典0x1003-subIndex
EXTERNFUNC int harmonic_getLocalMitReplyCobdat2(huint32 *cobdat)
读本地字典0x2133-0x0
EXTERNFUNC int harmonic_setFindPointMoveVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout=100)
写从站字典0x2108-0x0
EXTERNFUNC int harmonic_getServoBlockTorque(huint8 devIndex, huint8 id, huint16 *torque, huint32 timeout=100)
读从站字典0x2020-0x1
Definition: eu_harmonic.h:218
EXTERNFUNC int harmonic_setLocalSyncWindow(huint32 sWindow)
写本地字典0x1007-0x0
EXTERNFUNC int harmonic_setLocalSyncCycle(huint32 cycle)
写本地字典0x1006-0x0
can数据结构
Definition: eu_harmonic.h:237
EXTERNFUNC int harmonic_getActualPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100)
读从站字典0x6064-0x0
EXTERNFUNC int harmonic_getGuardTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100)
读从站字典0x100C-0x0
EXTERNFUNC int harmonic_getActualVelocity(huint8 devIndex, huint8 id, hint32 *vel, huint32 timeout=100)
读从站字典0x606C-0x0
EXTERNFUNC int harmonic_getLocalActualPos(hint32 *pos)
读本地字典0x6064-0x0
EXTERNFUNC int harmonic_getLocalActualTorque(hint16 *torque)
读本地字典0x6077-0x0
signed char hint8
Definition: eu_harmonic.h:47
EXTERNFUNC int harmonic_setClientSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout=100)
写从站字典[0x1280+sdoClientIndex]-0x2
EXTERNFUNC int harmonic_writeDirectory(huint8 devIndex, huint8 id, huint16 index, huint8 subIndex, harmonic_DataType dataType, void *writeData, huint32 timeout=100)
写从站字典
EXTERNFUNC int harmonic_getDCUnderVoltageThreshold(huint8 devIndex, huint8 id, huint32 *vol, huint32 timeout=100)
读从站字典0x202D-0x1
EXTERNFUNC int harmonic_getLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 *nodeId)
读本地字典[0x1280+sdoClientIndex]-0x3
EXTERNFUNC int harmonic_getServoTorqueWindowTime(huint8 devIndex, huint8 id, huint16 *window, huint32 timeout=100)
读从站字典0x2023-0x0
EXTERNFUNC int harmonic_getShutdownOptionCode(huint8 devIndex, huint8 id, harmonic_ShutdownOption *code, huint32 timeout=100)
读从站字典0x605B-0
EXTERNFUNC int harmonic_getLocalMutiMotorPos(huint16 motorIndex, hint32 *pos)
读本地字典0x5000+[0x1+motorIndex]
Definition: eu_harmonic.h:219
EXTERNFUNC int harmonic_setFindPointStart(huint8 devIndex, huint8 id, huint32 status, huint32 timeout=100)
写从站字典0x2102-0x0
EXTERNFUNC int harmonic_setVelocityWindowTime(huint8 devIndex, huint8 id, huint16 wTime, huint32 timeout=100)
写从站字典0x606E-0x0
EXTERNFUNC int harmonic_getMitCtrlCobcmd2(huint8 devIndex, huint8 id, huint32 *cobcmd, huint32 timeout=100)
读从站字典0x2131-0x0
EXTERNFUNC int harmonic_setServoCanBaudrate(huint8 devIndex, huint8 id, huint16 baudrate, huint32 timeout=100)
写从站字典0x2001-0x2
EXTERNFUNC int harmonic_setLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 count)
写本地字典[0x1A00+pdoIndex]-0x0
EXTERNFUNC int harmonic_setRPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout=100)
写从站字典[0x1400+pdoIndex]-0x2
EXTERNFUNC int harmonic_getFindPointDoneFlag(huint8 devIndex, huint8 id, huint32 *flag, huint32 timeout=100)
读从站字典0x2101-0x0
EXTERNFUNC int harmonic_getLocalServoTemperature(hint8 *tem)
读本地字典0x2106-0x1
Definition: eu_harmonic.h:226
EXTERNFUNC int harmonic_setDemandTorque(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout=100)
写从站字典0x6074-0x0
struct _harmonic_CanMsg harmonic_CanMsg
can数据结构
EXTERNFUNC int harmonic_setLocalInterpolationTimePeriodValue(huint8 value)
写本地字典0x60c2-0x1
EXTERNFUNC int harmonic_readDirectory(huint8 devIndex, huint8 id, huint16 index, huint8 subIndex, harmonic_DataType dataType, void *readData, huint32 timeout=100)
读从站字典
EXTERNFUNC int harmonic_getLocalRPDOCobId(huint16 pdoIndex, huint32 *cobId)
读本地字典[0x1400+pdoIndex]-0x1
EXTERNFUNC int harmonic_getActualTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout=100)
读从站字典0x6077-0x0
EXTERNFUNC int harmonic_getMitTMax(huint8 devIndex, huint8 id, hreal32 *tMin, huint32 timeout=100)
读从站字典0x2149-0x0
EXTERNFUNC int harmonic_getDisableOperationOptionCode(huint8 devIndex, huint8 id, harmonic_DisableOperationOption *code, huint32 timeout=100)
读从站字典0x605C-0x0
EXTERNFUNC int harmonic_setLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 num)
写本地字典[0x1200+sdoServerIndex]-0x0
EXTERNFUNC int harmonic_getLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 *value)
读本地字典[0x1800+pdoIndex]-0x6
EXTERNFUNC int harmonic_getPositionWindow(huint8 devIndex, huint8 id, huint32 *pWindow, huint32 timeout=100)
读从站字典0x6067-0x0
EXTERNFUNC int harmonic_setLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 number)
写本地字典[0x1280+sdoClientIndex]-0x0
Definition: eu_harmonic.h:125
EXTERNFUNC int harmonic_getTPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout=100)
读从站字典[0x1A00+pdoIndex]-[0x1+mapIndex]
EXTERNFUNC int harmonic_getRPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100)
读从站字典[0x1600+pdoIndex]-0x0
EXTERNFUNC int harmonic_getLocalRPDOEventTimer(huint16 pdoIndex, huint16 *timer)
读本地字典[0x1400+pdoIndex]-0x5
EXTERNFUNC int harmonic_setServoCurrentLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout=100)
写从站字典0x2010-0x3
EXTERNFUNC int harmonic_setEmergencyCobid(huint8 devIndex, huint8 id, huint32 cobid, huint32 timeout=100)
写从站字典0x1014-0x0
EXTERNFUNC int harmonic_getFindPointStart(huint8 devIndex, huint8 id, huint32 *status, huint32 timeout=100)
读从站字典0x2102-0x0
EXTERNFUNC int harmonic_setDefaultServoVelocityLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout=100)
写从站字典0x2012-0x1
EXTERNFUNC int harmonic_setLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 cobId)
写本地字典[0x1200+sdoServerIndex]-0x1
EXTERNFUNC int harmonic_getControlword(huint8 devIndex, huint8 id, huint16 *word, huint32 timeout=100)
读从站字典0x6040-0x0
EXTERNFUNC int harmonic_getFindPointMoveDec(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout=100)
读从站字典0x2107-0x0
Definition: eu_harmonic.h:99
EXTERNFUNC int harmonic_getMitPMin(huint8 devIndex, huint8 id, hreal32 *pMin, huint32 timeout=100)
读从站字典0x2140-0x0
EXTERNFUNC int harmonic_getTPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100)
读从站字典[0x1A00+pdoIndex]-0x0
Definition: eu_harmonic.h:96
EXTERNFUNC int harmonic_getCurrentActualValue(huint8 devIndex, huint8 id, hint16 *current, huint32 timeout=100)
读从站字典0x6078-0x0
EXTERNFUNC int harmonic_setLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value)
写本地字典[0x1A00+pdoIndex]-[0x1+mapIndex]
EXTERNFUNC int harmonic_setRPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout=100)
写从站字典[0x1400+pdoIndex]-0x3
EXTERNFUNC int harmonic_setRPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100)
写从站字典[0x1400+pdoIndex]-0x0
Definition: eu_harmonic.h:111
EXTERNFUNC int harmonic_getServoCurrentLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout=100)
读从站字典0x2010-0x4
EXTERNFUNC int harmonic_getLocalMutiMotorErrorCode(huint16 motorIndex, huint16 *error)
读本地字典0x5007+[0x1+motorIndex]
EXTERNFUNC int harmonic_getRPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout=100)
读从站字典[0x1400+pdoIndex]-0x6
EXTERNFUNC int harmonic_setLocalTPDOCobId(huint16 pdoIndex, huint32 cobId)
写本地字典[0x1800+pdoIndex]-0x1
EXTERNFUNC int harmonic_setServoPositionLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout=100)
写从站字典0x2013-0x4
EXTERNFUNC int harmonic_setClientSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout=100)
写从站字典[0x1280+sdoClientIndex]-0x1
EXTERNFUNC int harmonic_getServoVelocityLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout=100)
读从站字典0x2012-0x3
EXTERNFUNC int harmonic_setLocalNodeState(harmonic_NodeState state)
设置本地节点状态
EXTERNFUNC int harmonic_getDisplayOperateMode(huint8 devIndex, huint8 id, harmonic_OperateMode *mode, huint32 timeout=100)
读从站字典0x6061-0x0
EXTERNFUNC int harmonic_getTargetVelocity(huint8 devIndex, huint8 id, hint32 *targetVel, huint32 timeout=100)
读从站字典0x60FF-0x0
EXTERNFUNC int harmonic_getServoErrorCode(huint8 devIndex, huint8 id, huint16 *err, huint32 timeout=100)
读从站字典0x603F-0x0
EXTERNFUNC int harmonic_getSoftwareMaxmumPosition(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100)
读从站字典0x607D-0x2
EXTERNFUNC int harmonic_setServoVelocityIntLimit(huint8 devIndex, huint8 id, huint16 limit, huint32 timeout=100)
写从站字典0x2017-0x0
EXTERNFUNC int harmonic_setServoSoftwareLimitState(huint8 devIndex, huint8 id, huint32 state, huint32 timeout=100)
写从站字典0x2003-0x0
EXTERNFUNC int harmonic_setGearRatioMotorRevolutions(huint8 devIndex, huint8 id, huint32 rev, huint32 timeout=100)
写从站字典0x6091-0x1
EXTERNFUNC int harmonic_setTPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout=100)
写从站字典[0x1800+pdoIndex]-0x1
EXTERNFUNC int harmonic_setSyncCobid(huint8 devIndex, huint8 id, huint32 cobid, huint32 timeout=100)
写从站字典0x1005-0x0
EXTERNFUNC int harmonic_setTPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout=100)
写从站字典[0x1800+pdoIndex]-0x5
unsigned int huint8 __attribute__((__mode__(__QI__)))
Definition: eu_harmonic.h:55
EXTERNFUNC int harmonic_setOperateMode(huint8 devIndex, huint8 id, harmonic_OperateMode mode, huint32 timeout=100)
写从站字典0x6060-0x0
EXTERNFUNC int harmonic_profileTorqueControl(huint8 devIndex, huint8 id, huint16 targetTorque, hint16 slope, bool isUpdate=false)
轮廓力矩控制,该模式下电机内部根据给定参数生成轨迹并执行
EXTERNFUNC int harmonic_getActualFollowingError(huint8 devIndex, huint8 id, hint32 *error, huint32 timeout=100)
读从站字典0x60F4-0x0
Definition: eu_harmonic.h:141
EXTERNFUNC int harmonic_getServoTemperature(huint8 devIndex, huint8 id, hint8 *tem, huint32 timeout=100)
读从站字典0x2016-0x1
EXTERNFUNC int harmonic_getTPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout=100)
读从站字典[0x1800+pdoIndex]-0x2
EXTERNFUNC int harmonic_setProducerHeartbeatTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100)
写从站字典0x1017-0x0
EXTERNFUNC int harmonic_setTPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout=100)
写从站字典[0x1800+pdoIndex]-0x3
EXTERNFUNC int harmonic_setLocalTargetVelocity(hint32 vel)
写本地字典0x60FF-0x0
EXTERNFUNC int harmonic_setTargetVelocity(huint8 devIndex, huint8 id, hint32 targetVel, huint32 timeout=100)
写从站字典0x60FF-0x0
EXTERNFUNC int harmonic_setBrakeState(huint8 devIndex, huint8 id, huint8 state, huint32 timeout=100)
写从站字典0x2014-0x2(设置抱闸状态)
EXTERNFUNC int harmonic_getProfileAcceleration(huint8 devIndex, huint8 id, huint32 *acc, huint32 timeout=100)
读从站字典0x6083-0x0
EXTERNFUNC int harmonic_setLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value)
写本地字典[0x1600+pdoIndex]-[0x1+mapIndex]
EXTERNFUNC int harmonic_setProfileDeceleration(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout=100)
写从站字典0x6084-0x0
EXTERNFUNC int harmonic_writeLocalDirectory(huint16 index, huint8 subIndex, harmonic_DataType dataType, void *writeData, huint32 sendLen)
写主站字典
EXTERNFUNC int harmonic_setSoftwareMaxmumPosition(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout=100)
写从站字典0x607D-0x2
EXTERNFUNC int harmonic_getLocalTPDOCobId(huint16 pdoIndex, huint32 *cobId)
读本地字典[0x1800+pdoIndex]-0x1
EXTERNFUNC int harmonic_setLocalRPDOTransmitType(huint16 pdoIndex, huint8 type)
写本地字典[0x1400+pdoIndex]-0x2
EXTERNFUNC int harmonic_getLocalStatusWord(huint16 *word)
写本地字典0x6041-0x0
EXTERNFUNC int harmonic_getLocalServoErrorCode(huint16 *err)
读本地字典0x603F-0x0
EXTERNFUNC int harmonic_getServoBlockTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100)
读从站字典0x2020-0x2
EXTERNFUNC int harmonic_setServoID(huint8 devIndex, huint8 id, huint8 servoID, huint32 timeout=100)
写从站字典0x2001-0x1
EXTERNFUNC int harmonic_setMotorRatedTorque(huint8 devIndex, huint8 id, huint32 torque, huint32 timeout=100)
写从站字典0x6076-0x0
EXTERNFUNC int harmonic_setMitCtrlCobcmd2(huint8 devIndex, huint8 id, huint32 cobcmd, huint32 timeout=100)
写从站字典0x2131-0x0
EXTERNFUNC int harmonic_getLocalActualVelocity(hint32 *velocity)
读本地字典0x606c-0x0
EXTERNFUNC int harmonic_setVelocityWindow(huint8 devIndex, huint8 id, huint16 vWindow, huint32 timeout=100)
写从站字典0x606D-0x0
EXTERNFUNC int harmonic_setVelocityThresholdTime(huint8 devIndex, huint8 id, huint16 tTime, huint32 timeout=100)
写从站字典0x6070-0x0
EXTERNFUNC int harmonic_setTorqueSlope(huint8 devIndex, huint8 id, huint32 slope, huint32 timeout=100)
写从站字典0x6087-0x0
EXTERNFUNC int harmonic_getLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 *count)
读本地字典[0x1800+pdoIndex]-0x0
EXTERNFUNC int harmonic_getErrorRegister(huint8 devIndex, huint8 id, huint8 *errReg, huint32 timeout=100)
读从站字典0x1001-0x0
EXTERNFUNC int harmonic_setDemandVelocity(huint8 devIndex, huint8 id, hint32 dvel, huint32 timeout=100)
写从站字典0x606B-0x0
EXTERNFUNC int harmonic_getEmergencyCobid(huint8 devIndex, huint8 id, huint32 *cobid, huint32 timeout=100)
读从站字典0x1014-0x0
EXTERNFUNC int harmonic_getProductCode(huint8 devIndex, huint8 id, huint32 *pCode, huint32 timeout=100)
读从站字典0x1018-0x2
EXTERNFUNC int harmonic_getServoVelocityFlowingErrorParasNum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100)
读从站字典0x2021-0x0
EXTERNFUNC int harmonic_getServoBlockVelocity(huint8 devIndex, huint8 id, huint32 *velocity, huint32 timeout=100)
读从站字典0x2020-0x3
Definition: eu_harmonic.h:128
EXTERNFUNC int harmonic_setLocalRPDOInhibitTime(huint16 pdoIndex, huint16 time)
写本地字典[0x1400+pdoIndex]-0x3
EXTERNFUNC int harmonic_setRestoreDefaultParameters(huint8 devIndex, huint8 id, huint32 value, huint32 timeout=100)
写从站字典0x1011-0x1
huint8 len
Definition: eu_harmonic.h:241
EXTERNFUNC int harmonic_setMitVMax(huint8 devIndex, huint8 id, hreal32 vMax, huint32 timeout=100)
写从站字典0x2143-0x0
EXTERNFUNC int harmonic_setSyncCycle(huint8 devIndex, huint8 id, huint32 syncCycle, huint32 timeout=100)
写从站字典0x1006-0x0
EXTERNFUNC int harmonic_setServoTorqueWindowTime(huint8 devIndex, huint8 id, huint16 window, huint32 timeout=100)
写从站字典0x2023-0x0
EXTERNFUNC int harmonic_setMitKPMin(huint8 devIndex, huint8 id, hreal32 kpMin, huint32 timeout=100)
写从站字典0x2144-0x0
EXTERNFUNC int harmonic_getDefaultServoVelocityLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout=100)
读从站字典0x2012-0x2
EXTERNFUNC int harmonic_setLocalTargetPos(hint32 pos)
写本地字典0x607A-0x0
EXTERNFUNC int harmonic_getServerSDONodeIdOfClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 *nodeId, huint32 timeout=100)
读从站字典[0x1200+sdoServerIndex]-0x3
EXTERNFUNC int harmonic_getClientSDONodeIdOfSDOServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 *nodeId, huint32 timeout=100)
读从站字典[0x1280+sdoClientIndex]-0x3
EXTERNFUNC int harmonic_setFaultReactionOption(huint8 devIndex, huint8 id, harmonic_FaultReactionOption option, huint32 timeout=100)
写从站字典0x605E-0x0
EXTERNFUNC int harmonic_getLocalTargetPos(hint32 *pos)
读本地字典0x607A-0x0
EXTERNFUNC int harmonic_getSyncCounter(huint8 devIndex, huint8 id, huint8 *counter, huint32 timeout=100)
读从站字典0x1019-0x0
EXTERNFUNC int harmonic_setErrorFieldNumber(huint8 devIndex, huint8 id, huint8 number, huint32 timeout=100)
写从站字典0x1003-0x0
EXTERNFUNC int harmonic_setInterpolationDataRecord(huint8 devIndex, huint8 id, hint32 value, huint32 timeout=100)
写从站字典0x60C1-0x1
EXTERNFUNC int harmonic_setMitVMin(huint8 devIndex, huint8 id, hreal32 vMin, huint32 timeout=100)
写从站字典0x2142-0x0
EXTERNFUNC int harmonic_setLocalMitReplyCobdat1(huint32 cobdat)
写本地字典0x2132-0x0
EXTERNFUNC int harmonic_setDefaultServoPositionLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout=100)
写从站字典0x2013-0x1
EXTERNFUNC int harmonic_getSupportedDriveModes(huint8 devIndex, huint8 id, huint32 *modes, huint32 timeout=100)
读从站字典0x6502-0x0
Definition: eu_harmonic.h:143
harmonic_FaultReactionOption
故障处理选项
Definition: eu_harmonic.h:202
EXTERNFUNC int harmonic_setTargetPos(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout=100)
写从站字典0x607A-0x0
harmonic_ShutdownOption
关机选项
Definition: eu_harmonic.h:169
EXTERNFUNC int harmonic_setGuardTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100)
写从站字典0x100C-0x0
EXTERNFUNC int harmonic_getLocalTPDOInhibitTime(huint16 pdoIndex, huint16 *time)
读本地字典[0x1800+pdoIndex]-0x3
EXTERNFUNC int harmonic_getDCOverVoltageThreshold(huint8 devIndex, huint8 id, huint32 *vol, huint32 timeout=100)
读从站字典0x202D-0x3
huint8 data[8]
Definition: eu_harmonic.h:242
EXTERNFUNC int harmonic_getLocalSyncCycle(huint32 *cycle)
读本地字典0x1006-0x0
EXTERNFUNC int harmonic_getServoTemperatureLimit(huint8 devIndex, huint8 id, hint8 *tem, huint32 timeout=100)
读从站字典0x2016-0x2
Definition: eu_harmonic.h:223
EXTERNFUNC int harmonic_setServoBlockVelocity(huint8 devIndex, huint8 id, huint32 velocity, huint32 timeout=100)
写从站字典0x2020-0x3
EXTERNFUNC int harmonic_setFindPointMoveMax(huint8 devIndex, huint8 id, huint32 angle, huint32 timeout=100)
写从站字典0x2105-0x0
EXTERNFUNC int harmonic_freeDLL(huint8 devIndex)
关闭设备,释放资源,设备打开成功后需要在适当时机释放资源 如果存在多个设备,程序退出前,每个设备都需调...
EXTERNFUNC int harmonic_setActualFollowingError(huint8 devIndex, huint8 id, hint32 error, huint32 timeout=100)
写从站字典0x60F4-0x0
EXTERNFUNC int harmonic_getClientSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout=100)
读从站字典[0x1280+sdoClientIndex]-0x1
EXTERNFUNC int harmonic_getLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 *cobId)
读本地字典[0x1200+sdoServerIndex]-0x2
EXTERNFUNC int harmonic_setQuickStopDeceleration(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout=100)
写从站字典0x6085-0x0
EXTERNFUNC int harmonic_setStoreParameters(huint8 devIndex, huint8 id, huint32 value, huint32 timeout=100)
写从站字典0x1010-0x1
EXTERNFUNC int harmonic_setLocalMitCtrlCobcmd1(huint32 cobcmd)
写本地字典0x2130-0x0
EXTERNFUNC int harmonic_getServoTemperatureLimitTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100)
读从站字典0x2016-0x3
EXTERNFUNC int harmonic_setDefaultServoPositionLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout=100)
写从站字典0x2013-0x2
EXTERNFUNC int harmonic_setProfileAcceleration(huint8 devIndex, huint8 id, huint32 acc, huint32 timeout=100)
写从站字典0x6083-0x0
EXTERNFUNC int harmonic_getBrakeState(huint8 devIndex, huint8 id, huint8 *state, huint32 timeout=100)
读从站字典0x2014-0x2
EXTERNFUNC int harmonic_setSoftwareMinimumPosition(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout=100)
写从站字典0x607D-0x1
EXTERNFUNC int harmonic_getVelocityThreshold(huint8 devIndex, huint8 id, huint16 *thres, huint32 timeout=100)
读从站字典0x606F-0x0
EXTERNFUNC int harmonic_stopControl(huint8 devIndex, huint8 id)
停止控制
harmonic_HaltOption
暂停选项
Definition: eu_harmonic.h:189
EXTERNFUNC int harmonic_getServoCurrentLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout=100)
读从站字典0x2010-0x3
EXTERNFUNC int harmonic_getServoVelocityFlowingErrorWindows(huint8 devIndex, huint8 id, huint32 *error, huint32 timeout=100)
读从站字典0x2021-0x1
EXTERNFUNC int harmonic_getVendorID(huint8 devIndex, huint8 id, huint32 *vId, huint32 timeout=100)
读从站字典0x1018-0x1
EXTERNFUNC int harmonic_setMitPMax(huint8 devIndex, huint8 id, hreal32 pMax, huint32 timeout=100)
写从站字典0x2141-0x0
EXTERNFUNC int harmonic_setDefaultServoCurrentLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout=100)
写从站字典0x2010-0x2
EXTERNFUNC int harmonic_getTPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100)
读从站字典[0x1800+pdoIndex]-0x0
EXTERNFUNC int harmonic_getLocalMitCtrlCobcmd2(huint32 *cobcmd)
读本地字典0x2131-0x0
EXTERNFUNC int harmonic_setMaxProfileVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout=100)
写从站字典0x607F-0x0
EXTERNFUNC int harmonic_setLocalSyncCOBID(huint32 cobId)
读本地字典0x1005-0x0
EXTERNFUNC int harmonic_getGearRatioMotorRevolutions(huint8 devIndex, huint8 id, huint32 *rev, huint32 timeout=100)
读从站字典0x6091-0x1
signed long int hint56
Definition: eu_harmonic.h:53
EXTERNFUNC int harmonic_setServoTemperatureLimit(huint8 devIndex, huint8 id, huint8 tem, huint32 timeout=100)
写从站字典0x2016-0x2
EXTERNFUNC int harmonic_getServoOverSpeedThreshold(huint8 devIndex, huint8 id, huint32 *thre, huint32 timeout=100)
读从站字典0x2024-0x0
EXTERNFUNC int harmonic_getOperateMode(huint8 devIndex, huint8 id, harmonic_OperateMode *mode, huint32 timeout=100)
读从站字典0x6060-0x0
EXTERNFUNC int harmonic_profileVelocityControl(huint8 devIndex, huint8 id, hint32 targetVel, huint32 acc, huint32 dec, bool isUpdate=false)
轮廓速度控制,该模式下电机内部根据给定参数生成轨迹并执行
EXTERNFUNC int harmonic_setLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 cobId)
写本地字典[0x1200+sdoServerIndex]-0x2
EXTERNFUNC int harmonic_getProfileDeceleration(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout=100)
读从站字典0x6084-0x0
EXTERNFUNC int harmonic_setMitTMin(huint8 devIndex, huint8 id, hreal32 tMin, huint32 timeout=100)
写从站字典0x2148-0x0
EXTERNFUNC int harmonic_setLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 cobId)
写本地字典[0x1280+sdoClientIndex]-0x2
EXTERNFUNC int harmonic_getDCOverVoltageTime(huint8 devIndex, huint8 id, huint32 *time, huint32 timeout=100)
读从站字典0x202D-0x4
EXTERNFUNC int harmonic_setServoBrakeDelayTime(huint8 devIndex, huint8 id, huint8 time, huint32 timeout=100)
写从站字典0x2026-0x0
EXTERNFUNC int harmonic_getServoCanBaudrate(huint8 devIndex, huint8 id, huint16 *baudrate, huint32 timeout=100)
读从站字典0x2001-0x2
EXTERNFUNC int harmonic_getMitVMin(huint8 devIndex, huint8 id, hreal32 *vMin, huint32 timeout=100)
读从站字典0x2142-0x0
signed long int hint48
Definition: eu_harmonic.h:52
EXTERNFUNC int harmonic_setServoVelocityLoopKP(huint8 devIndex, huint8 id, huint16 kp, huint32 timeout=100)
写从站字典0x2012-0x3
Definition: eu_harmonic.h:97
EXTERNFUNC int harmonic_getLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 *value)
读本地字典[0x1400+pdoIndex]-0x6
Definition: eu_harmonic.h:139
EXTERNFUNC int harmonic_getServoPositionLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout=100)
读从站字典0x2013-0x4
Definition: eu_harmonic.h:109
EXTERNFUNC int harmonic_getFindPointMoveVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout=100)
读从站字典0x2108-0x0
EXTERNFUNC int harmonic_getInterpolationTimePeriodValue(huint8 devIndex, huint8 id, huint8 *value, huint32 timeout=100)
读从站字典0x60C2-0x1
Definition: eu_harmonic.h:124
EXTERNFUNC int harmonic_getProfileVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout=100)
读从站字典0x6081-0x0
harmonic_QuickStopOption
快速停止选项
Definition: eu_harmonic.h:152
EXTERNFUNC int harmonic_setFollowingErrorWindow(huint8 devIndex, huint8 id, huint32 eWindow, huint32 timeout=100)
写从站字典0x6065-0x0
EXTERNFUNC int harmonic_getFindPointMoveMax(huint8 devIndex, huint8 id, huint32 *angle, huint32 timeout=100)
读从站字典0x2105-0x0
EXTERNFUNC int harmonic_getDemandVelocity(huint8 devIndex, huint8 id, hint32 *dVel, huint32 timeout=100)
读从站字典0x606B-0x0
EXTERNFUNC int harmonic_getLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 *count)
读本地字典[0x1600+pdoIndex]-0x0
EXTERNFUNC int harmonic_setSyncWindow(huint8 devIndex, huint8 id, huint32 syncWindow, huint32 timeout=100)
写从站字典0x1007-0x0
EXTERNFUNC int harmonic_getRestoreDefaultParametersNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100)
读从站字典0x1011-0x0
EXTERNFUNC int harmonic_setLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 count)
写本地字典[0x1400+pdoIndex]-0x0
Definition: eu_harmonic.h:84
EXTERNFUNC int harmonic_getStoreParameters(huint8 devIndex, huint8 id, huint32 *value, huint32 timeout=100)
读从站字典0x1010-0x1
EXTERNFUNC int harmonic_getMitReplyCobdat1(huint8 devIndex, huint8 id, huint32 *cobdat, huint32 timeout=100)
读从站字典0x2132-0x0
EXTERNFUNC int harmonic_setInterpolationTimePeriodValue(huint8 devIndex, huint8 id, huint8 value, huint32 timeout=100)
写从站字典0x60C2-0x1
Definition: eu_harmonic.h:85
EXTERNFUNC int harmonic_setRPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout=100)
写从站字典[0x1400+pdoIndex]-0x5
EXTERNFUNC int harmonic_getLocalControlword(huint16 *word)
读本地字典0x6040-0x0
EXTERNFUNC int harmonic_getSerialNumber(huint8 devIndex, huint8 id, huint32 *serialNum, huint32 timeout=100)
读从站字典0x1018-0x4
EXTERNFUNC int harmonic_setLocalMutiMotorSetVel(huint16 motorIndex, hint32 vel)
写本地字典0x5004+[0x1+motorIndex]
EXTERNFUNC int harmonic_setServoCurrentLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout=100)
写从站字典0x2010-0x4
harmonic_Baudrate
波特率
Definition: eu_harmonic.h:92
void(* harmonic_ReceiveDataCallBack)(int devIndex, const harmonic_CanMsg *msg)
接收数据回调函数
Definition: eu_harmonic.h:255
EXTERNFUNC int harmonic_setRPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout=100)
写从站字典[0x1600+pdoIndex]-[0x1+mapIndex]
Definition: eu_harmonic.h:144
EXTERNFUNC int harmonic_setMitCtrlCobcmd1(huint8 devIndex, huint8 id, huint32 cobcmd, huint32 timeout=100)
写从站字典0x2130-0x0
signed int hint32
Definition: eu_harmonic.h:50
EXTERNFUNC int harmonic_getDefaultServoPositionLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout=100)
读从站字典0x2013-0x1
float hreal32
Definition: eu_harmonic.h:63
EXTERNFUNC int harmonic_profilePositionControl(huint8 devIndex, huint8 id, hint32 targetPos, huint32 vel, huint32 acc, huint32 dec, bool isRelative=false, bool isImmediately=true, bool isUpdate=false)
轮廓位置控制,该模式下电机内部根据给定参数生成轨迹并执行
EXTERNFUNC int harmonic_getInterpolationDataRecord(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout=100)
读从站字典0x60C1-0x1
EXTERNFUNC int harmonic_getDefaultServoPositionLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout=100)
读从站字典0x2013-0x2
EXTERNFUNC int harmonic_setTPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100)
写从站字典[0x1800+pdoIndex]-0x0
EXTERNFUNC int harmonic_getLocalDCLinkCircuitVoltage(huint32 *voltage)
读本地字典0x6079-0x0
EXTERNFUNC int harmonic_getQuickStopDeceleration(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout=100)
读从站字典0x6085-0x0
EXTERNFUNC int harmonic_setMitReplyCobdat2(huint8 devIndex, huint8 id, huint32 cobdat, huint32 timeout=100)
从站字典0x2133-0x0
EXTERNFUNC int harmonic_getTorqueSensorValue(huint8 devIndex, huint8 id, hreal32 *value, huint32 timeout=100)
读从站字典0x2030-0x0
EXTERNFUNC int harmonic_setLocalMutiMotorSetPos(huint16 motorIndex, hint32 pos)
写本地字典0x5003+[0x1+motorIndex]
EXTERNFUNC int harmonic_writeCanData(huint8 devIndex, huint32 cobId, const huint8 *const data, huint8 len)
发送原始can数据
EXTERNFUNC int harmonic_setLocalTargetTorque(hint16 torque)
写本地字典0x6071-0x0
EXTERNFUNC int harmonic_getStatusWord(huint8 devIndex, huint8 id, huint16 *word, huint32 timeout=100)
读从站字典0x6041-0x0
EXTERNFUNC int harmonic_getLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 *number)
读本地字典[0x1280+sdoClientIndex]-0x0
EXTERNFUNC int harmonic_getDCUnderVoltageTime(huint8 devIndex, huint8 id, huint32 *time, huint32 timeout=100)
读从站字典0x202D-0x2
EXTERNFUNC int harmonic_getIdentityObjectNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100)
读从站字典0x1018-0x0
EXTERNFUNC int harmonic_setLocalInterpolationDataRecord(hint32 value)
写本地字典0x60C1-0x1
EXTERNFUNC int harmonic_setServoOverSpeedThreshold(huint8 devIndex, huint8 id, huint32 thre, huint32 timeout=100)
写从站字典0x2024-0x0
EXTERNFUNC int harmonic_getTargetTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout=100)
读从站字典0x6071-0x0
Definition: eu_harmonic.h:224
EXTERNFUNC int harmonic_setLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 nodeId)
写本地字典[0x1200+sdoServerIndex]-0x3
EXTERNFUNC int harmonic_setServerSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 num, huint32 timeout=100)
写从站字典[0x1200+sdoServerIndex]-0x0
EXTERNFUNC int harmonic_getPositionWindowTime(huint8 devIndex, huint8 id, huint16 *pWindowTime, huint32 timeout=100)
读从站字典0x6068-0x0
EXTERNFUNC int harmonic_getLocalSyncCOBID(huint32 *cobId)
读本地字典0x1005-0x0
EXTERNFUNC int harmonic_getTorqueLimit(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout=100)
读从站字典0x6072-0x0
EXTERNFUNC int harmonic_getQuickStopOption(huint8 devIndex, huint8 id, harmonic_QuickStopOption *option, huint32 timeout=100)
读从站字典0x605A-0x0
EXTERNFUNC int harmonic_getSyncCycle(huint8 devIndex, huint8 id, huint32 *syncCycle, huint32 timeout=100)
读从站字典0x1006-0x0
EXTERNFUNC int harmonic_setMitPMin(huint8 devIndex, huint8 id, hreal32 pMin, huint32 timeout=100)
写从站字典0x2140-0x0
Definition: eu_harmonic.h:225
Definition: eu_harmonic.h:123
EXTERNFUNC int harmonic_setLocalMutiMotorSetTorque(huint16 motorIndex, hint16 torque)
写本地字典0x5005+[0x1+motorIndex]
EXTERNFUNC int harmonic_getTargetPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100)
0x607A-0x0
EXTERNFUNC int harmonic_getTPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout=100)
读从站字典[0x1800+pdoIndex]-0x3
EXTERNFUNC int harmonic_setMitKDMax(huint8 devIndex, huint8 id, hreal32 kdMax, huint32 timeout=100)
写从站字典0x2147-0x0
Definition: eu_harmonic.h:138
EXTERNFUNC int harmonic_getHaltOption(huint8 devIndex, huint8 id, harmonic_HaltOption *option, huint32 timeout=100)
读从站字典0x605D-0x0
EXTERNFUNC int harmonic_setLocalRPDOEventTimer(huint16 pdoIndex, huint16 timer)
写本地字典[0x1400+pdoIndex]-0x5
Definition: eu_harmonic.h:142
signed short int hint16
Definition: eu_harmonic.h:48
EXTERNFUNC int harmonic_getIdentityObjectRevisionNumber(huint8 devIndex, huint8 id, huint32 *revisionNum, huint32 timeout=100)
读从站字典0x1018-0x3
Definition: eu_harmonic.h:221
Definition: eu_harmonic.h:191
EXTERNFUNC int harmonic_getTorqueSlope(huint8 devIndex, huint8 id, huint32 *slope, huint32 timeout=100)
0x6087-0x0
EXTERNFUNC int harmonic_setLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 count)
写本地字典[0x1600+pdoIndex]-0x0
EXTERNFUNC int harmonic_setLocalTPDOEventTimer(huint16 pdoIndex, huint16 timer)
写本地字典[0x1800+pdoIndex]-0x5
harmonic_DeviceType
设备类型
Definition: eu_harmonic.h:82
EXTERNFUNC int harmonic_setReceiveDataCallBack(harmonic_ReceiveDataCallBack callFunc)
设置接收数据回调函数
EXTERNFUNC int harmonic_getLifeTimeFactor(huint8 devIndex, huint8 id, huint8 *factor, huint32 timeout=100)
读从站字典0x100D-0x0
void(* harmonic_SendDataCallBack)(int devIndex, const harmonic_CanMsg *msg)
发送数据回调函数
Definition: eu_harmonic.h:249
EXTERNFUNC int harmonic_setLocalMitCtrlCobcmd2(huint32 cobcmd)
写本地字典0x2131-0x0
EXTERNFUNC int harmonic_getNodeState(huint8 devIndex, huint8 id, harmonic_NodeState *state, huint32 timeout=100)
读从节点状态
EXTERNFUNC int harmonic_setLocalTPDOInhibitTime(huint16 pdoIndex, huint16 time)
写本地字典[0x1800+pdoIndex]-0x3
EXTERNFUNC int harmonic_getRPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout=100)
读从站字典[0x1400+pdoIndex]-0x2
double hreal64
Definition: eu_harmonic.h:64
harmonic_NodeState
节点状态
Definition: eu_harmonic.h:120
EXTERNFUNC int harmonic_getDCLinkCircuitVoltage(huint8 devIndex, huint8 id, huint32 *voltage, huint32 timeout=100)
读从站字典0x6079-0x0
EXTERNFUNC int harmonic_getStoreParametersNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100)
读从站字典0x1010-0x0
EXTERNFUNC int harmonic_setPositionWindow(huint8 devIndex, huint8 id, huint32 pWindow, huint32 timeout=100)
写从站字典0x6067-0x0
EXTERNFUNC int harmonic_setLocalMitReplyCobdat2(huint32 cobdat)
写本地字典0x2133-0x0
EXTERNFUNC int harmonic_setFindPointDoneFlag(huint8 devIndex, huint8 id, huint32 flag, huint32 timeout=100)
写从站字典0x2101-0x0
EXTERNFUNC int harmonic_setServerSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout=100)
写从站字典[0x1200+sdoServerIndex]-0x2
EXTERNFUNC int harmonic_setTorqueLimit(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout=100)
写从站字典0x6072-0x0
EXTERNFUNC int harmonic_getLocalTPDOEventTimer(huint16 pdoIndex, huint16 *timer)
读本地字典[0x1800+pdoIndex]-0x5
EXTERNFUNC int harmonic_getServoVelocityIntLimit(huint8 devIndex, huint8 id, huint16 *limit, huint32 timeout=100)
读从站字典0x2017-0x0
EXTERNFUNC int harmonic_getDemandPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100)
读从站字典0x6062-0x0
EXTERNFUNC int harmonic_getServoID(huint8 devIndex, huint8 id, huint8 *servoID, huint32 timeout=100)
读从站字典0x2001-0x1
EXTERNFUNC int harmonic_getDCVolageProtectionParasNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100)
读从站字典0x202D-0x0
EXTERNFUNC int harmonic_getDeviceName(huint8 devIndex, huint8 id, char *devName, huint32 timeout=100)
读从站字典0x1008-0x0
Definition: eu_harmonic.h:230
EXTERNFUNC int harmonic_setServerSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout=100)
写从站字典[0x1200+sdoServerIndex]-0x1
EXTERNFUNC int harmonic_setHearbeatConsumerTime(huint8 devIndex, huint8 id, huint8 subIndex, huint32 time, huint32 timeout=100)
写从站字典0x1016-subIndex
EXTERNFUNC int harmonic_getLocalMitCtrlCobcmd1(huint32 *cobcmd)
读本地字典0x2130-0x0
EXTERNFUNC int harmonic_getServoTemperatureParasNum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100)
读从站字典0x2016-0x0
EXTERNFUNC int harmonic_setTPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout=100)
写从站字典[0x1800+pdoIndex]-0x6
EXTERNFUNC int harmonic_setFindPointMoveAcc(huint8 devIndex, huint8 id, huint32 acc, huint32 timeout=100)
写从站字典0x2106-0x0
Definition: eu_harmonic.h:227
EXTERNFUNC int harmonic_getServoBrakeParaNum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100)
读从站字典0x2014-0x0
EXTERNFUNC int harmonic_getTPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout=100)
读从站字典[0x1800+pdoIndex]-0x6
EXTERNFUNC int harmonic_getLocalMutiMotorTorque(huint16 motorIndex, hint16 *tor)
读本地字典0x5002+[0x1+motorIndex]
EXTERNFUNC int harmonic_setDCOverVoltageThreshold(huint8 devIndex, huint8 id, huint32 vol, huint32 timeout=100)
写从站字典0x202D-0x3
EXTERNFUNC int harmonic_setGearRatioShaftRevolutions(huint8 devIndex, huint8 id, huint32 rev, huint32 timeout=100)
写从站字典0x6091-0x2
EXTERNFUNC int harmonic_getServoSecondEncoderValue(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout=100)
读从站字典0x202B-0x0
EXTERNFUNC int harmonic_getLocalRPDOTransmitType(huint16 pdoIndex, huint8 *type)
读本地字典[0x1400+pdoIndex]-0x2
Definition: eu_harmonic.h:222
EXTERNFUNC int harmonic_setLocalRPDOCobId(huint16 pdoIndex, huint32 cobId)
写本地字典[0x1400+pdoIndex]-0x1
EXTERNFUNC int harmonic_getRestoreDefaultParameters(huint8 devIndex, huint8 id, huint32 *value, huint32 timeout=100)
读从站字典0x1011-0x1
EXTERNFUNC int harmonic_getHomeOffset(huint8 devIndex, huint8 id, hint32 *offSet, huint32 timeout=100)
读从站字典0x607C-0x0
EXTERNFUNC int harmonic_setVelocityThreshold(huint8 devIndex, huint8 id, huint16 thres, huint32 timeout=100)
写从站字典0x606F-0x0
EXTERNFUNC int harmonic_setRPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100)
写从站字典[0x1600+pdoIndex]-0x0
EXTERNFUNC int harmonic_getFollowingErrorWindow(huint8 devIndex, huint8 id, huint32 *eWindow, huint32 timeout=100)
读从站字典0x6065-0x0
EXTERNFUNC int harmonic_setMitTMax(huint8 devIndex, huint8 id, hreal32 tMin, huint32 timeout=100)
写从站字典0x2149-0x0
EXTERNFUNC int harmonic_getI2tOverLoadValue(huint8 devIndex, huint8 id, huint16 *value, huint32 timeout=100)
读从站字典0x2029-0x0
EXTERNFUNC int harmonic_getMotorRatedTorque(huint8 devIndex, huint8 id, huint32 *torque, huint32 timeout=100)
读从站字典0x6076-0x0
EXTERNFUNC int harmonic_setQuickStopOption(huint8 devIndex, huint8 id, harmonic_QuickStopOption option, huint32 timeout=100)
写从站字典0x605A-0x0
EXTERNFUNC int harmonic_setServoBrakeControl(huint8 devIndex, huint8 id, huint8 status, huint32 timeout=100)
写从站字典0x2014-0x1
Definition: eu_harmonic.h:140
Definition: eu_harmonic.h:95
EXTERNFUNC int harmonic_getServerSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 *num, huint32 timeout=100)
读从站字典[0x1200+sdoServerIndex]-0x0
EXTERNFUNC int harmonic_getVelocityWindowTime(huint8 devIndex, huint8 id, huint16 *wTime, huint32 timeout=100)
读从站字典0x606E-0x0
Definition: eu_harmonic.h:229
EXTERNFUNC int harmonic_getGearRatioShaftRevolutions(huint8 devIndex, huint8 id, huint32 *rev, huint32 timeout=100)
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EXTERNFUNC int harmonic_getLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 *nodeId)
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EXTERNFUNC int harmonic_setServoVelocityLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout=100)
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EXTERNFUNC int harmonic_setSyncCounter(huint8 devIndex, huint8 id, huint8 counter, huint32 timeout=100)
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EXTERNFUNC int harmonic_setSendDataCallBack(harmonic_SendDataCallBack callFunc)
设置发送数据回调函数
EXTERNFUNC int harmonic_setServoTorqueWindow(huint8 devIndex, huint8 id, huint16 window, huint32 timeout=100)
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EXTERNFUNC int harmonic_getServerSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout=100)
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EXTERNFUNC int harmonic_getMitKDMax(huint8 devIndex, huint8 id, hreal32 *kdMax, huint32 timeout=100)
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#define EXTERNFUNC
Definition: eu_harmonic.h:23
EXTERNFUNC int harmonic_getTorqueFactor(huint8 devIndex, huint8 id, huint16 *factor, huint32 timeout=100)
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EXTERNFUNC int harmonic_setServoTemperatureLimitTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100)
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EXTERNFUNC int harmonic_getClientSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout=100)
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EXTERNFUNC int harmonic_setDisableOperationOptionCode(huint8 devIndex, huint8 id, harmonic_DisableOperationOption code, huint32 timeout=100)
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EXTERNFUNC int harmonic_getLocalInterpolationTimePeriodValue(huint8 *value)
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EXTERNFUNC int harmonic_getLocalMutiMotorVel(huint16 motorIndex, hint32 *vel)
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EXTERNFUNC int harmonic_getServoVelocityLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout=100)
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EXTERNFUNC int harmonic_getLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value)
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EXTERNFUNC int harmonic_getServoThetaBiasValue(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout=100)
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EXTERNFUNC int harmonic_getLocalInterpolationDataRecord(hint32 *value)
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EXTERNFUNC int harmonic_getHearbeatConsumerTime(huint8 devIndex, huint8 id, huint8 subIndex, huint32 *time, huint32 timeout=100)
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EXTERNFUNC int harmonic_setDefaultServoVelocityLoopKI(huint8 devIndex, huint8 id, huint16 ki, huint32 timeout=100)
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Definition: eu_harmonic.h:217
harmonic_DataType
数据类型
Definition: eu_harmonic.h:136
EXTERNFUNC int harmonic_setServoVelocityFlowingErrorWindows(huint8 devIndex, huint8 id, huint32 error, huint32 timeout=100)
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EXTERNFUNC int harmonic_getMitKPMax(huint8 devIndex, huint8 id, hreal32 *kpMax, huint32 timeout=100)
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EXTERNFUNC int harmonic_getRPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout=100)
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EXTERNFUNC int harmonic_getDefaultServoCurrentLoopKI(huint8 devIndex, huint8 id, huint16 *ki, huint32 timeout=100)
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EXTERNFUNC int harmonic_setClientSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 number, huint32 timeout=100)
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EXTERNFUNC int harmonic_getLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 *cobId)
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Definition: eu_harmonic.h:112
EXTERNFUNC int harmonic_getLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 *count)
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EXTERNFUNC int harmonic_setLifeTimeFactor(huint8 devIndex, huint8 id, huint8 factor, huint32 timeout=100)
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EXTERNFUNC int harmonic_getSyncCobid(huint8 devIndex, huint8 id, huint32 *cobid, huint32 timeout=100)
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EXTERNFUNC int harmonic_getServoBlockParasNum(huint8 devIndex, huint8 id, huint8 *num, huint32 timeout=100)
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EXTERNFUNC int harmonic_getRPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout=100)
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EXTERNFUNC int harmonic_getServoSoftwareLimitState(huint8 devIndex, huint8 id, huint32 *state, huint32 timeout=100)
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EXTERNFUNC int harmonic_setLocalControlword(huint16 word)
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EXTERNFUNC int harmonic_getLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 *count)
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EXTERNFUNC int harmonic_setHaltOption(huint8 devIndex, huint8 id, harmonic_HaltOption option, huint32 timeout=100)
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EXTERNFUNC int harmonic_setFindPointMoveDec(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout=100)
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EXTERNFUNC int harmonic_setShutdownOptionCode(huint8 devIndex, huint8 id, harmonic_ShutdownOption code, huint32 timeout=100)
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EXTERNFUNC int harmonic_getI2tOverLoadLimit(huint8 devIndex, huint8 id, huint16 *value, huint32 timeout=100)
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EXTERNFUNC int harmonic_setLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 nodeId)
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Definition: eu_harmonic.h:145
EXTERNFUNC int harmonic_setClientSDONodeIdOfSDOServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 nodeId, huint32 timeout=100)
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EXTERNFUNC int harmonic_setDemandPos(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout=100)
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EXTERNFUNC int harmonic_setServoVelocityFlowingErrorTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100)
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signed long int hint40
Definition: eu_harmonic.h:51
EXTERNFUNC int harmonic_getServoPositionLoopKP(huint8 devIndex, huint8 id, huint16 *kp, huint32 timeout=100)
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EXTERNFUNC int harmonic_getLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 *cobId)
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EXTERNFUNC int harmonic_setTPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100)
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EXTERNFUNC int harmonic_setNodeState(huint8 devIndex, huint8 id, harmonic_NMTState state)
设置从节点状态
EXTERNFUNC int harmonic_getFaultReactionOption(huint8 devIndex, huint8 id, harmonic_FaultReactionOption *option, huint32 timeout=100)
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