eyou_harmonic_sdk  1.0
eyou_harmonic_sdklibrary
eu_harmonic.h
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1 
11 #ifndef HARMONIC_EU_HARMONIC_H
12 #define HARMONIC_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  {
88  };
89 
95  {
104  };
105 
107  {
113  };
119  {
125  };
126 
132  {
141  };
142 
148  {
149  // harmonic_DataType_boolean = 0x01, /**< 布尔类型 */
158  };
159 
165  {
175  };
176 
182  {
185  };
186 
192  {
195  };
196 
202  {
208  };
209 
215  {
221  };
222 
228  {
243  };
244 
249  typedef struct _harmonic_CanMsg
250  {
251  huint32 canId;
252  huint8 rtr;
253  huint8 extended;
254  huint8 len;
255  huint8 data[8];
256  } harmonic_CanMsg;
257 
262  typedef void (*harmonic_SendDataCallBack)(huint8 devIndex, const harmonic_CanMsg *msg);
263 
268  typedef void (*harmonic_ReceiveDataCallBack)(huint8 devIndex, const harmonic_CanMsg *msg);
269 
277 
285 
297  EXTERNFUNC int harmonic_initDLL(harmonic_DeviceType devType, huint8 devIndex, harmonic_Baudrate baudrate, bool isCanFD = false, harmonic_DBaudrate dbaudrate = harmonic_DBaudrate::harmonic_DBaudrate_5000);
298 
306  EXTERNFUNC int harmonic_freeDLL(huint8 devIndex);
307 
317  EXTERNFUNC int harmonic_getNodeState(huint8 devIndex, huint8 id, harmonic_NodeState *state, huint32 timeout = 100);
318 
326 
335  EXTERNFUNC int harmonic_setNodeState(huint8 devIndex, huint8 id, harmonic_NMTState state);
336 
346  EXTERNFUNC int harmonic_readLocalDirectory(huint16 index, huint8 subIndex, harmonic_DataType dataType, void *readData);
347 
360  EXTERNFUNC int harmonic_readDirectory(huint8 devIndex, huint8 id, huint16 index, huint8 subIndex, harmonic_DataType dataType, void *readData, huint32 timeout = 100);
361 
371  EXTERNFUNC int harmonic_writeLocalDirectory(huint16 index, huint8 subIndex, harmonic_DataType dataType, void *writeData);
372 
385  EXTERNFUNC int harmonic_writeDirectory(huint8 devIndex, huint8 id, huint16 index, huint8 subIndex, harmonic_DataType dataType, void *writeData, huint32 timeout = 100);
386 
396  EXTERNFUNC int harmonic_writeCanData(huint8 devIndex, huint16 cobId, const huint8 *const data, huint8 len);
397 
405  EXTERNFUNC int harmonic_writeCanMsg(huint8 devIndex, const harmonic_CanMsg *canMsg);
406 
421  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);
422 
434  EXTERNFUNC int harmonic_profileVelocityControl(huint8 devIndex, huint8 id, hint32 targetVel, huint32 acc, huint32 dec, bool isUpdate = false);
435 
446  EXTERNFUNC int harmonic_profileTorqueControl(huint8 devIndex, huint8 id, huint16 targetTorque, hint16 slope, bool isUpdate = false);
447 
455  EXTERNFUNC int harmonic_stopControl(huint8 devIndex, huint8 id);
456 
463  EXTERNFUNC int harmonic_getLocalSyncCOBID(huint32 *cobId);
464 
471  EXTERNFUNC int harmonic_setLocalSyncCOBID(huint32 cobId);
472 
479  EXTERNFUNC int harmonic_getLocalSyncCycle(huint32 *cycle);
480 
487  EXTERNFUNC int harmonic_setLocalSyncCycle(huint32 cycle);
488 
495  EXTERNFUNC int harmonic_getLocalSyncWindow(huint32 *sWindow);
496 
503  EXTERNFUNC int harmonic_setLocalSyncWindow(huint32 sWindow);
504 
512  EXTERNFUNC int harmonic_getLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 *num);
513 
521  EXTERNFUNC int harmonic_setLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 num);
522 
530  EXTERNFUNC int harmonic_getLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 *cobId);
531 
539  EXTERNFUNC int harmonic_setLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 cobId);
540 
548  EXTERNFUNC int harmonic_getLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 *cobId);
549 
557  EXTERNFUNC int harmonic_setLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 cobId);
558 
566  EXTERNFUNC int harmonic_getLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 *nodeId);
567 
575  EXTERNFUNC int harmonic_setLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 nodeId);
576 
584  EXTERNFUNC int harmonic_getLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 *number);
585 
593  EXTERNFUNC int harmonic_setLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 number);
594 
602  EXTERNFUNC int harmonic_getLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 *cobId);
603 
611  EXTERNFUNC int harmonic_setLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 cobId);
612 
620  EXTERNFUNC int harmonic_getLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 *cobId);
621 
629  EXTERNFUNC int harmonic_setLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 cobId);
630 
638  EXTERNFUNC int harmonic_getLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 *nodeId);
639 
647  EXTERNFUNC int harmonic_setLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 nodeId);
648 
656  EXTERNFUNC int harmonic_getLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 *count);
657 
665  EXTERNFUNC int harmonic_setLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 count);
666 
674  EXTERNFUNC int harmonic_getLocalRPDOCobId(huint16 pdoIndex, huint32 *cobId);
675 
683  EXTERNFUNC int harmonic_setLocalRPDOCobId(huint16 pdoIndex, huint32 cobId);
684 
692  EXTERNFUNC int harmonic_getLocalRPDOTransmitType(huint16 pdoIndex, huint8 *type);
693 
701  EXTERNFUNC int harmonic_setLocalRPDOTransmitType(huint16 pdoIndex, huint8 type);
702 
710  EXTERNFUNC int harmonic_getLocalRPDOInhibitTime(huint16 pdoIndex, huint16 *time);
711 
719  EXTERNFUNC int harmonic_setLocalRPDOInhibitTime(huint16 pdoIndex, huint16 time);
720 
728  EXTERNFUNC int harmonic_getLocalRPDOEventTimer(huint16 pdoIndex, huint16 *timer);
729 
737  EXTERNFUNC int harmonic_setLocalRPDOEventTimer(huint16 pdoIndex, huint16 timer);
738 
746  EXTERNFUNC int harmonic_getLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 *value);
747 
755  EXTERNFUNC int harmonic_setLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 value);
756 
764  EXTERNFUNC int harmonic_getLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 *count);
765 
773  EXTERNFUNC int harmonic_setLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 count);
774 
783  EXTERNFUNC int harmonic_getLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value);
784 
793  EXTERNFUNC int harmonic_setLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value);
794 
802  EXTERNFUNC int harmonic_getLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 *count);
803 
811  EXTERNFUNC int harmonic_setLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 count);
812 
820  EXTERNFUNC int harmonic_getLocalTPDOCobId(huint16 pdoIndex, huint32 *cobId);
821 
829  EXTERNFUNC int harmonic_setLocalTPDOCobId(huint16 pdoIndex, huint32 cobId);
830 
838  EXTERNFUNC int harmonic_getLocalTPDOTransmitType(huint16 pdoIndex, huint8 *type);
839 
847  EXTERNFUNC int harmonic_setLocalTPDOTransmitType(huint16 pdoIndex, huint8 type);
848 
856  EXTERNFUNC int harmonic_getLocalTPDOInhibitTime(huint16 pdoIndex, huint16 *time);
857 
865  EXTERNFUNC int harmonic_setLocalTPDOInhibitTime(huint16 pdoIndex, huint16 time);
866 
874  EXTERNFUNC int harmonic_getLocalTPDOEventTimer(huint16 pdoIndex, huint16 *timer);
875 
883  EXTERNFUNC int harmonic_setLocalTPDOEventTimer(huint16 pdoIndex, huint16 timer);
884 
892  EXTERNFUNC int harmonic_getLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 *value);
893 
901  EXTERNFUNC int harmonic_setLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 value);
902 
910  EXTERNFUNC int harmonic_getLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 *count);
911 
919  EXTERNFUNC int harmonic_setLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 count);
920 
929  EXTERNFUNC int harmonic_getLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value);
930 
939  EXTERNFUNC int harmonic_setLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value);
940 
948  EXTERNFUNC int harmonic_getLocalMutiMotorPos(huint16 motorIndex, hint32 *pos);
949 
957  EXTERNFUNC int harmonic_getLocalMutiMotorVel(huint16 motorIndex, hint32 *vel);
958 
966  EXTERNFUNC int harmonic_getLocalMutiMotorTorque(huint16 motorIndex, hint16 *tor);
967 
975  EXTERNFUNC int harmonic_setLocalMutiMotorSetPos(huint16 motorIndex, hint32 pos);
976 
984  EXTERNFUNC int harmonic_setLocalMutiMotorSetVel(huint16 motorIndex, hint32 vel);
985 
993  EXTERNFUNC int harmonic_setLocalMutiMotorSetTorque(huint16 motorIndex, hint16 torque);
994 
1002  EXTERNFUNC int harmonic_getLocalMutiMotorStatusWord(huint16 motorIndex, huint16 *status);
1003 
1011  EXTERNFUNC int harmonic_getLocalMutiMotorErrorCode(huint16 motorIndex, huint16 *error);
1012 
1020  EXTERNFUNC int harmonic_getLocalMitMutiMotorGetPos(huint16 motorIndex, hreal32 *pos);
1021 
1029  EXTERNFUNC int harmonic_setLocalMitMutiMotorGetPos(huint16 motorIndex, hreal32 pos);
1030 
1038  EXTERNFUNC int harmonic_getLocalMitMutiMotorGetVel(huint16 motorIndex, hreal32 *vel);
1039 
1047  EXTERNFUNC int harmonic_setLocalMitMutiMotorGetVel(huint16 motorIndex, hreal32 vel);
1048 
1056  EXTERNFUNC int harmonic_getLocalMitMutiMotorGetTor(huint16 motorIndex, hreal32 *tor);
1057 
1065  EXTERNFUNC int harmonic_setLocalMitMutiMotorGetTor(huint16 motorIndex, hreal32 tor);
1066 
1074  EXTERNFUNC int harmonic_getLocalMitMutiMotorSetPos(huint16 motorIndex, hreal32 *pos);
1075 
1083  EXTERNFUNC int harmonic_setLocalMitMutiMotorSetPos(huint16 motorIndex, hreal32 pos);
1084 
1092  EXTERNFUNC int harmonic_getLocalMitMutiMotorSetVel(huint16 motorIndex, hreal32 *vel);
1093 
1101  EXTERNFUNC int harmonic_setLocalMitMutiMotorSetVel(huint16 motorIndex, hreal32 vel);
1102 
1110  EXTERNFUNC int harmonic_getLocalMitMutiMotorSetTor(huint16 motorIndex, hreal32 *tor);
1111 
1119  EXTERNFUNC int harmonic_setLocalMitMutiMotorSetTor(huint16 motorIndex, hreal32 tor);
1120 
1127  EXTERNFUNC int harmonic_getLocalServoErrorCode(huint16 *err);
1128 
1135  EXTERNFUNC int harmonic_getLocalControlword(huint16 *word);
1136 
1143  EXTERNFUNC int harmonic_setLocalControlword(huint16 word);
1144 
1151  EXTERNFUNC int harmonic_getLocalStatusWord(huint16 *word);
1152 
1159  EXTERNFUNC int harmonic_getLocalActualPos(hint32 *pos);
1160 
1167  EXTERNFUNC int harmonic_getLocalActualVelocity(hint32 *velocity);
1168 
1175  EXTERNFUNC int harmonic_getLocalTargetTorque(hint16 *torque);
1176 
1183  EXTERNFUNC int harmonic_setLocalTargetTorque(hint16 torque);
1184 
1191  EXTERNFUNC int harmonic_getLocalActualTorque(hint16 *torque);
1192 
1199  EXTERNFUNC int harmonic_getLocalDCLinkCircuitVoltage(huint32 *voltage);
1200 
1207  EXTERNFUNC int harmonic_getLocalTargetPos(hint32 *pos);
1208 
1215  EXTERNFUNC int harmonic_setLocalTargetPos(hint32 pos);
1216 
1224 
1232 
1240 
1248 
1256 
1264 
1274  EXTERNFUNC int harmonic_getDeviceType(huint8 devIndex, huint8 id, huint32 *deviceType, huint32 timeout = 100);
1275 
1285  EXTERNFUNC int harmonic_getErrorRegister(huint8 devIndex, huint8 id, huint8 *errReg, huint32 timeout = 100);
1286 
1296  EXTERNFUNC int harmonic_getErrorFieldNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1297 
1307  EXTERNFUNC int harmonic_setErrorFieldNumber(huint8 devIndex, huint8 id, huint8 number, huint32 timeout = 100); // 0x1003-0
1308 
1319  EXTERNFUNC int harmonic_getErrorField(huint8 devIndex, huint8 id, huint8 subIndex, huint32 *err, huint32 timeout = 100);
1320 
1330  EXTERNFUNC int harmonic_getSyncCobid(huint8 devIndex, huint8 id, huint32 *cobid, huint32 timeout = 100);
1331 
1341  EXTERNFUNC int harmonic_setSyncCobid(huint8 devIndex, huint8 id, huint32 cobid, huint32 timeout = 100);
1342 
1352  EXTERNFUNC int harmonic_getSyncCycle(huint8 devIndex, huint8 id, huint32 *syncCycle, huint32 timeout = 100);
1353 
1363  EXTERNFUNC int harmonic_setSyncCycle(huint8 devIndex, huint8 id, huint32 syncCycle, huint32 timeout = 100);
1364 
1374  EXTERNFUNC int harmonic_getSyncWindow(huint8 devIndex, huint8 id, huint32 *syncWindow, huint32 timeout = 100);
1375 
1385  EXTERNFUNC int harmonic_setSyncWindow(huint8 devIndex, huint8 id, huint32 syncWindow, huint32 timeout = 100);
1386 
1396  EXTERNFUNC int harmonic_getDeviceName(huint8 devIndex, huint8 id, char *devName, huint32 timeout = 100);
1397 
1407  EXTERNFUNC int harmonic_getHardwareVersion(huint8 devIndex, huint8 id, char *version, huint32 timeout = 100);
1408 
1418  EXTERNFUNC int harmonic_getSoftwareVersion(huint8 devIndex, huint8 id, char *version, huint32 timeout = 100);
1419 
1429  EXTERNFUNC int harmonic_getGuardTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
1430 
1440  EXTERNFUNC int harmonic_setGuardTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
1441 
1451  EXTERNFUNC int harmonic_getLifeTimeFactor(huint8 devIndex, huint8 id, huint8 *factor, huint32 timeout = 100);
1452 
1462  EXTERNFUNC int harmonic_setLifeTimeFactor(huint8 devIndex, huint8 id, huint8 factor, huint32 timeout = 100);
1463 
1473  EXTERNFUNC int harmonic_getStoreParametersNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1474 
1484  EXTERNFUNC int harmonic_getStoreParameters(huint8 devIndex, huint8 id, huint32 *value, huint32 timeout = 100);
1485 
1495  EXTERNFUNC int harmonic_setStoreParameters(huint8 devIndex, huint8 id, huint32 value, huint32 timeout = 100);
1496 
1506  EXTERNFUNC int harmonic_getRestoreDefaultParametersNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1507 
1517  EXTERNFUNC int harmonic_getRestoreDefaultParameters(huint8 devIndex, huint8 id, huint32 *value, huint32 timeout = 100);
1518 
1528  EXTERNFUNC int harmonic_setRestoreDefaultParameters(huint8 devIndex, huint8 id, huint32 value, huint32 timeout = 100);
1529 
1539  EXTERNFUNC int harmonic_getEmergencyCobid(huint8 devIndex, huint8 id, huint32 *cobid, huint32 timeout = 100);
1540 
1550  EXTERNFUNC int harmonic_setEmergencyCobid(huint8 devIndex, huint8 id, huint32 cobid, huint32 timeout = 100);
1551 
1561  EXTERNFUNC int harmonic_getEmergencyInhibitTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
1562 
1572  EXTERNFUNC int harmonic_setEmergencyInhibitTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
1573 
1583  EXTERNFUNC int harmonic_getHearbeatConsumerTimeParasNum(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1584 
1595  EXTERNFUNC int harmonic_getHearbeatConsumerTime(huint8 devIndex, huint8 id, huint8 subIndex, huint32 *time, huint32 timeout = 100);
1596 
1607  EXTERNFUNC int harmonic_setHearbeatConsumerTime(huint8 devIndex, huint8 id, huint8 subIndex, huint32 time, huint32 timeout = 100);
1608 
1618  EXTERNFUNC int harmonic_getProducerHeartbeatTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
1619 
1629  EXTERNFUNC int harmonic_setProducerHeartbeatTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
1630 
1640  EXTERNFUNC int harmonic_getIdentityObjectNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1641 
1651  EXTERNFUNC int harmonic_getVendorID(huint8 devIndex, huint8 id, huint32 *vId, huint32 timeout = 100);
1652 
1662  EXTERNFUNC int harmonic_getProductCode(huint8 devIndex, huint8 id, huint32 *pCode, huint32 timeout = 100);
1663 
1673  EXTERNFUNC int harmonic_getIdentityObjectRevisionNumber(huint8 devIndex, huint8 id, huint32 *revisionNum, huint32 timeout = 100);
1674 
1684  EXTERNFUNC int harmonic_getSerialNumber(huint8 devIndex, huint8 id, huint32 *serialNum, huint32 timeout = 100);
1685 
1695  EXTERNFUNC int harmonic_getSyncCounter(huint8 devIndex, huint8 id, huint8 *counter, huint32 timeout = 100);
1696 
1706  EXTERNFUNC int harmonic_setSyncCounter(huint8 devIndex, huint8 id, huint8 counter, huint32 timeout = 100);
1707 
1718  EXTERNFUNC int harmonic_getServerSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 *num, huint32 timeout = 100);
1719 
1730  EXTERNFUNC int harmonic_setServerSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 num, huint32 timeout = 100);
1731 
1742  EXTERNFUNC int harmonic_getServerSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout = 100);
1743 
1754  EXTERNFUNC int harmonic_setServerSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout = 100);
1755 
1766  EXTERNFUNC int harmonic_getServerSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout = 100);
1767 
1778  EXTERNFUNC int harmonic_setServerSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout = 100);
1779 
1790  EXTERNFUNC int harmonic_getServerSDONodeIdOfClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 *nodeId, huint32 timeout = 100);
1791 
1802  EXTERNFUNC int harmonic_setServerSDONodeIdOfClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 nodeId, huint32 timeout = 100);
1803 
1814  EXTERNFUNC int harmonic_getClientSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 *number, huint32 timeout = 100);
1815 
1826  EXTERNFUNC int harmonic_setClientSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 number, huint32 timeout = 100);
1827 
1838  EXTERNFUNC int harmonic_getClientSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout = 100);
1839 
1850  EXTERNFUNC int harmonic_setClientSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout = 100);
1851 
1862  EXTERNFUNC int harmonic_getClientSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout = 100);
1863 
1874  EXTERNFUNC int harmonic_setClientSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout = 100);
1875 
1886  EXTERNFUNC int harmonic_getClientSDONodeIdOfSDOServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 *nodeId, huint32 timeout = 100);
1887 
1898  EXTERNFUNC int harmonic_setClientSDONodeIdOfSDOServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 nodeId, huint32 timeout = 100);
1899 
1910  EXTERNFUNC int harmonic_getRPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
1911 
1922  EXTERNFUNC int harmonic_setRPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
1923 
1934  EXTERNFUNC int harmonic_getRPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout = 100);
1935 
1946  EXTERNFUNC int harmonic_setRPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout = 100);
1947 
1958  EXTERNFUNC int harmonic_getRPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout = 100);
1959 
1970  EXTERNFUNC int harmonic_setRPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout = 100);
1971 
1982  EXTERNFUNC int harmonic_getRPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout = 100);
1983 
1994  EXTERNFUNC int harmonic_setRPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout = 100);
1995 
2006  EXTERNFUNC int harmonic_getRPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout = 100);
2007 
2018  EXTERNFUNC int harmonic_setRPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout = 100);
2019 
2030  EXTERNFUNC int harmonic_getRPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout = 100);
2031 
2042  EXTERNFUNC int harmonic_setRPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout = 100); // 1400-6
2043 
2054  EXTERNFUNC int harmonic_getRPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
2055 
2066  EXTERNFUNC int harmonic_setRPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
2067 
2079  EXTERNFUNC int harmonic_getRPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout = 100);
2080 
2092  EXTERNFUNC int harmonic_setRPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout = 100);
2093 
2104  EXTERNFUNC int harmonic_getTPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
2105 
2116  EXTERNFUNC int harmonic_setTPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
2117 
2128  EXTERNFUNC int harmonic_getTPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout = 100);
2129 
2140  EXTERNFUNC int harmonic_setTPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout = 100);
2141 
2152  EXTERNFUNC int harmonic_getTPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout = 100);
2153 
2164  EXTERNFUNC int harmonic_setTPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout = 100);
2165 
2176  EXTERNFUNC int harmonic_getTPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout = 100);
2177 
2188  EXTERNFUNC int harmonic_setTPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout = 100);
2189 
2200  EXTERNFUNC int harmonic_getTPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout = 100);
2201 
2211  EXTERNFUNC int harmonic_setTPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout = 100);
2212 
2223  EXTERNFUNC int harmonic_getTPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout = 100);
2224 
2235  EXTERNFUNC int harmonic_setTPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout = 100);
2236 
2247  EXTERNFUNC int harmonic_getTPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
2248 
2259  EXTERNFUNC int harmonic_setTPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
2260 
2272  EXTERNFUNC int harmonic_getTPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout = 100);
2273 
2285  EXTERNFUNC int harmonic_setTPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout = 100); // 1A00-1
2286 
2296  EXTERNFUNC int harmonic_getServoErrorCode(huint8 devIndex, huint8 id, huint16 *err, huint32 timeout = 100);
2297 
2307  EXTERNFUNC int harmonic_getControlword(huint8 devIndex, huint8 id, huint16 *word, huint32 timeout = 100);
2308 
2318  EXTERNFUNC int harmonic_setControlword(huint8 devIndex, huint8 id, huint16 word, huint32 timeout = 100);
2319 
2329  EXTERNFUNC int harmonic_getStatusWord(huint8 devIndex, huint8 id, huint16 *word, huint32 timeout = 100);
2330 
2340  EXTERNFUNC int harmonic_getQuickStopOption(huint8 devIndex, huint8 id, harmonic_QuickStopOption *option, huint32 timeout = 100);
2341 
2351  EXTERNFUNC int harmonic_setQuickStopOption(huint8 devIndex, huint8 id, harmonic_QuickStopOption option, huint32 timeout = 100);
2352 
2362  EXTERNFUNC int harmonic_getShutdownOptionCode(huint8 devIndex, huint8 id, harmonic_ShutdownOption *code, huint32 timeout = 100);
2363 
2373  EXTERNFUNC int harmonic_setShutdownOptionCode(huint8 devIndex, huint8 id, harmonic_ShutdownOption code, huint32 timeout = 100);
2374 
2384  EXTERNFUNC int harmonic_getDisableOperationOptionCode(huint8 devIndex, huint8 id, harmonic_DisableOperationOption *code, huint32 timeout = 100);
2385 
2395  EXTERNFUNC int harmonic_setDisableOperationOptionCode(huint8 devIndex, huint8 id, harmonic_DisableOperationOption code, huint32 timeout = 100);
2396 
2406  EXTERNFUNC int harmonic_getHaltOption(huint8 devIndex, huint8 id, harmonic_HaltOption *option, huint32 timeout = 100);
2407 
2417  EXTERNFUNC int harmonic_setHaltOption(huint8 devIndex, huint8 id, harmonic_HaltOption option, huint32 timeout = 100);
2418 
2428  EXTERNFUNC int harmonic_getFaultReactionOption(huint8 devIndex, huint8 id, harmonic_FaultReactionOption *option, huint32 timeout = 100);
2429 
2439  EXTERNFUNC int harmonic_setFaultReactionOption(huint8 devIndex, huint8 id, harmonic_FaultReactionOption option, huint32 timeout = 100);
2440 
2450  EXTERNFUNC int harmonic_getOperateMode(huint8 devIndex, huint8 id, harmonic_OperateMode *mode, huint32 timeout = 100);
2451 
2461  EXTERNFUNC int harmonic_setOperateMode(huint8 devIndex, huint8 id, harmonic_OperateMode mode, huint32 timeout = 100);
2462 
2472  EXTERNFUNC int harmonic_getDisplayOperateMode(huint8 devIndex, huint8 id, harmonic_OperateMode *mode, huint32 timeout = 100);
2473 
2483  EXTERNFUNC int harmonic_getDemandPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
2484 
2494  EXTERNFUNC int harmonic_setDemandPos(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout = 100);
2495 
2505  EXTERNFUNC int harmonic_getActualPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
2506 
2516  EXTERNFUNC int harmonic_getFollowingErrorWindow(huint8 devIndex, huint8 id, huint32 *eWindow, huint32 timeout = 100);
2517 
2527  EXTERNFUNC int harmonic_setFollowingErrorWindow(huint8 devIndex, huint8 id, huint32 eWindow, huint32 timeout = 100);
2528 
2538  EXTERNFUNC int harmonic_getPositionWindow(huint8 devIndex, huint8 id, huint32 *pWindow, huint32 timeout = 100);
2539 
2549  EXTERNFUNC int harmonic_setPositionWindow(huint8 devIndex, huint8 id, huint32 pWindow, huint32 timeout = 100);
2550 
2560  EXTERNFUNC int harmonic_getPositionWindowTime(huint8 devIndex, huint8 id, huint16 *pWindowTime, huint32 timeout = 100);
2561 
2571  EXTERNFUNC int harmonic_setPositionWindowTime(huint8 devIndex, huint8 id, huint16 pWindowTime, huint32 timeout = 100);
2572 
2582  EXTERNFUNC int harmonic_getDemandVelocity(huint8 devIndex, huint8 id, hint32 *dVel, huint32 timeout = 100);
2583 
2593  EXTERNFUNC int harmonic_setDemandVelocity(huint8 devIndex, huint8 id, hint32 dvel, huint32 timeout = 100);
2594 
2604  EXTERNFUNC int harmonic_getActualVelocity(huint8 devIndex, huint8 id, hint32 *vel, huint32 timeout = 100);
2605 
2615  EXTERNFUNC int harmonic_getVelocityWindow(huint8 devIndex, huint8 id, huint16 *vWindow, huint32 timeout = 100);
2616 
2626  EXTERNFUNC int harmonic_setVelocityWindow(huint8 devIndex, huint8 id, huint16 vWindow, huint32 timeout = 100);
2627 
2637  EXTERNFUNC int harmonic_getVelocityWindowTime(huint8 devIndex, huint8 id, huint16 *wTime, huint32 timeout = 100);
2638 
2648  EXTERNFUNC int harmonic_setVelocityWindowTime(huint8 devIndex, huint8 id, huint16 wTime, huint32 timeout = 100);
2649 
2659  EXTERNFUNC int harmonic_getVelocityThreshold(huint8 devIndex, huint8 id, huint16 *thres, huint32 timeout = 100);
2660 
2670  EXTERNFUNC int harmonic_setVelocityThreshold(huint8 devIndex, huint8 id, huint16 thres, huint32 timeout = 100);
2671 
2681  EXTERNFUNC int harmonic_getVelocityThresholdTime(huint8 devIndex, huint8 id, huint16 *tTime, huint32 timeout = 100);
2682 
2692  EXTERNFUNC int harmonic_setVelocityThresholdTime(huint8 devIndex, huint8 id, huint16 tTime, huint32 timeout = 100);
2693 
2703  EXTERNFUNC int harmonic_getTargetTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout = 100);
2704 
2714  EXTERNFUNC int harmonic_setTargetTorque(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout = 100);
2715 
2725  EXTERNFUNC int harmonic_getTorqueLimit(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout = 100);
2726 
2736  EXTERNFUNC int harmonic_setTorqueLimit(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout = 100);
2737 
2747  EXTERNFUNC int harmonic_getDemandTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout = 100);
2748 
2758  EXTERNFUNC int harmonic_setDemandTorque(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout = 100);
2759 
2769  EXTERNFUNC int harmonic_getRatedCurrent(huint8 devIndex, huint8 id, huint32 *current, huint32 timeout = 100);
2770 
2780  EXTERNFUNC int harmonic_setRatedCurrent(huint8 devIndex, huint8 id, huint32 current, huint32 timeout = 100);
2781 
2791  EXTERNFUNC int harmonic_getMotorRatedTorque(huint8 devIndex, huint8 id, huint32 *torque, huint32 timeout = 100);
2792 
2802  EXTERNFUNC int harmonic_setMotorRatedTorque(huint8 devIndex, huint8 id, huint32 torque, huint32 timeout = 100);
2803 
2813  EXTERNFUNC int harmonic_getActualTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout = 100);
2814 
2824  EXTERNFUNC int harmonic_getActualCurrent(huint8 devIndex, huint8 id, hint16 *current, huint32 timeout = 100);
2825 
2835  EXTERNFUNC int harmonic_getDCLinkCircuitVoltage(huint8 devIndex, huint8 id, huint32 *voltage, huint32 timeout = 100);
2836 
2846  EXTERNFUNC int harmonic_setDCLinkCircuitVoltage(huint8 devIndex, huint8 id, huint32 voltage, huint32 timeout = 100);
2847 
2857  EXTERNFUNC int harmonic_getTargetPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
2858 
2868  EXTERNFUNC int harmonic_setTargetPos(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout = 100);
2869 
2879  EXTERNFUNC int harmonic_getHomeOffset(huint8 devIndex, huint8 id, hint32 *offSet, huint32 timeout = 100);
2880 
2890  EXTERNFUNC int harmonic_setHomeOffset(huint8 devIndex, huint8 id, hint32 offSet, huint32 timeout = 100);
2891 
2901  EXTERNFUNC int harmonic_getSoftwareMinimumPosition(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
2902 
2912  EXTERNFUNC int harmonic_setSoftwareMinimumPosition(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout = 100);
2913 
2923  EXTERNFUNC int harmonic_getSoftwareMaxmumPosition(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
2924 
2934  EXTERNFUNC int harmonic_setSoftwareMaxmumPosition(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout = 100);
2935 
2945  EXTERNFUNC int harmonic_getMaxProfileVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout = 100);
2946 
2956  EXTERNFUNC int harmonic_setMaxProfileVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout = 100);
2957 
2967  EXTERNFUNC int harmonic_getProfileVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout = 100);
2968 
2978  EXTERNFUNC int harmonic_setProfileVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout = 100);
2979 
2989  EXTERNFUNC int harmonic_getProfileAcceleration(huint8 devIndex, huint8 id, huint32 *acc, huint32 timeout = 100);
2990 
3000  EXTERNFUNC int harmonic_setProfileAcceleration(huint8 devIndex, huint8 id, huint32 acc, huint32 timeout = 100);
3001 
3011  EXTERNFUNC int harmonic_getProfileDeceleration(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout = 100);
3012 
3022  EXTERNFUNC int harmonic_setProfileDeceleration(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout = 100);
3023 
3033  EXTERNFUNC int harmonic_getQuickStopDeceleration(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout = 100);
3034 
3044  EXTERNFUNC int harmonic_setQuickStopDeceleration(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout = 100);
3045 
3055  EXTERNFUNC int harmonic_getTorqueSlope(huint8 devIndex, huint8 id, huint32 *slope, huint32 timeout = 100);
3056 
3066  EXTERNFUNC int harmonic_setTorqueSlope(huint8 devIndex, huint8 id, huint32 slope, huint32 timeout = 100);
3067 
3077  EXTERNFUNC int harmonic_getGearRatioMotorRevolutions(huint8 devIndex, huint8 id, huint32 *rev, huint32 timeout = 100);
3078 
3088  EXTERNFUNC int harmonic_setGearRatioMotorRevolutions(huint8 devIndex, huint8 id, huint32 rev, huint32 timeout = 100);
3089 
3099  EXTERNFUNC int harmonic_getGearRatioShaftRevolutions(huint8 devIndex, huint8 id, huint32 *rev, huint32 timeout = 100);
3100 
3110  EXTERNFUNC int harmonic_setGearRatioShaftRevolutions(huint8 devIndex, huint8 id, huint32 rev, huint32 timeout = 100);
3111 
3121  EXTERNFUNC int harmonic_getInterpolationDataRecord(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout = 100);
3122 
3132  EXTERNFUNC int harmonic_setInterpolationDataRecord(huint8 devIndex, huint8 id, hint32 value, huint32 timeout = 100);
3133 
3143  EXTERNFUNC int harmonic_getInterpolationTimePeriodValue(huint8 devIndex, huint8 id, huint8 *value, huint32 timeout = 100);
3144 
3154  EXTERNFUNC int harmonic_setInterpolationTimePeriodValue(huint8 devIndex, huint8 id, huint8 value, huint32 timeout = 100);
3155 
3165  EXTERNFUNC int harmonic_getActualFollowingError(huint8 devIndex, huint8 id, hint32 *error, huint32 timeout = 100);
3166 
3176  EXTERNFUNC int harmonic_setActualFollowingError(huint8 devIndex, huint8 id, hint32 error, huint32 timeout = 100);
3177 
3187  EXTERNFUNC int harmonic_getTargetVelocity(huint8 devIndex, huint8 id, hint32 *targetVel, huint32 timeout = 100);
3188 
3198  EXTERNFUNC int harmonic_setTargetVelocity(huint8 devIndex, huint8 id, hint32 targetVel, huint32 timeout = 100);
3199 
3209  EXTERNFUNC int harmonic_getSupportedDriveModes(huint8 devIndex, huint8 id, huint32 *modes, huint32 timeout = 100);
3210 
3211 #ifdef __cplusplus
3212 }
3213 #endif
3214 
3215 #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:87
Definition: eu_harmonic.h:100
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:121
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
Definition: eu_harmonic.h:133
EXTERNFUNC int harmonic_setLocalMitMutiMotorGetTor(huint16 motorIndex, hreal32 tor)
写本地字典0x500A+[0x1+motorIndex]
huint8 rtr
Definition: eu_harmonic.h:252
EXTERNFUNC int harmonic_setLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 value)
写本地字典[0x1400+pdoIndex]-0x6
EXTERNFUNC int harmonic_getHardwareVersion(huint8 devIndex, huint8 id, char *version, huint32 timeout=100)
读从站字典0x1009-0x0
Definition: eu_harmonic.h:232
Definition: eu_harmonic.h:84
Definition: eu_harmonic.h:140
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:137
void(* harmonic_SendDataCallBack)(huint8 devIndex, const harmonic_CanMsg *msg)
发送数据回调函数
Definition: eu_harmonic.h:262
EXTERNFUNC int harmonic_setRPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout=100)
写从站字典[0x1400+pdoIndex]-0x6
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_setLocalMitMutiMotorGetVel(huint16 motorIndex, hreal32 vel)
写本地字典0x5009+[0x1+motorIndex]
EXTERNFUNC int harmonic_getVelocityThresholdTime(huint8 devIndex, huint8 id, huint16 *tTime, huint32 timeout=100)
读从站字典0x6070-0x0
EXTERNFUNC int harmonic_getMaxProfileVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout=100)
读从站字典0x607F-0x0
Definition: eu_harmonic.h:112
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_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
Definition: eu_harmonic.h:166
EXTERNFUNC int harmonic_getLocalMitMutiMotorSetPos(huint16 motorIndex, hreal32 *pos)
读本地字典0x500B+[0x1+motorIndex]
EXTERNFUNC int harmonic_getLocalMitMutiMotorGetVel(huint16 motorIndex, hreal32 *vel)
读本地字典0x5009+[0x1+motorIndex]
signed long int hint64
Definition: eu_harmonic.h:54
EXTERNFUNC int harmonic_getLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 *cobId)
读本地字典[0x1200+sdoServerIndex]-0x1
EXTERNFUNC int harmonic_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_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_setDCLinkCircuitVoltage(huint8 devIndex, huint8 id, huint32 voltage, huint32 timeout=100)
写从站字典0x6079-0x0
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:124
Definition: eu_harmonic.h:103
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
Definition: eu_harmonic.h:108
harmonic_NMTState
NMT状态
Definition: eu_harmonic.h:118
EXTERNFUNC int harmonic_setTargetTorque(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout=100)
写从站字典0x6071-0x0
EXTERNFUNC int harmonic_getLocalMutiMotorStatusWord(huint16 motorIndex, huint16 *status)
读本地字典0x5006+[0x1+motorIndex]
EXTERNFUNC int harmonic_getErrorFieldNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100)
读从站字典0x1003-0x0
EXTERNFUNC int harmonic_setTPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout=100)
写从站字典[0x1A00+pdoIndex]-[0x1+mapIndex]
harmonic_OperateMode
操作模式
Definition: eu_harmonic.h:227
EXTERNFUNC int harmonic_setLocalMitMutiMotorGetPos(huint16 motorIndex, hreal32 pos)
写本地字典0x5008+[0x1+motorIndex]
harmonic_DisableOperationOption
下使能操作
Definition: eu_harmonic.h:191
Definition: eu_harmonic.h:138
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:96
Definition: eu_harmonic.h:240
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
Definition: eu_harmonic.h:157
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_getLocalRPDOInhibitTime(huint16 pdoIndex, huint16 *time)
读本地字典[0x1400+pdoIndex]-0x3
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_getErrorField(huint8 devIndex, huint8 id, huint8 subIndex, huint32 *err, huint32 timeout=100)
读从站字典0x1003-subIndex
Definition: eu_harmonic.h:230
EXTERNFUNC int harmonic_setLocalSyncWindow(huint32 sWindow)
写本地字典0x1007-0x0
EXTERNFUNC int harmonic_setLocalSyncCycle(huint32 cycle)
写本地字典0x1006-0x0
can数据结构
Definition: eu_harmonic.h:249
EXTERNFUNC int harmonic_getActualPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100)
读从站字典0x6064-0x0
EXTERNFUNC int harmonic_getGuardTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100)
读从站字典0x100C-0x0
EXTERNFUNC int harmonic_getActualVelocity(huint8 devIndex, huint8 id, hint32 *vel, huint32 timeout=100)
读从站字典0x606C-0x0
EXTERNFUNC int harmonic_getLocalActualPos(hint32 *pos)
读本地字典0x6064-0x0
EXTERNFUNC int harmonic_getLocalActualTorque(hint16 *torque)
读本地字典0x6077-0x0
signed char hint8
Definition: eu_harmonic.h:47
EXTERNFUNC int harmonic_setClientSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout=100)
写从站字典[0x1280+sdoClientIndex]-0x2
EXTERNFUNC int harmonic_writeDirectory(huint8 devIndex, huint8 id, huint16 index, huint8 subIndex, harmonic_DataType dataType, void *writeData, huint32 timeout=100)
写从站字典
EXTERNFUNC int harmonic_getLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 *nodeId)
读本地字典[0x1280+sdoClientIndex]-0x3
harmonic_DBaudrate
Definition: eu_harmonic.h:106
EXTERNFUNC int harmonic_getShutdownOptionCode(huint8 devIndex, huint8 id, harmonic_ShutdownOption *code, huint32 timeout=100)
读从站字典0x605B-0
EXTERNFUNC int harmonic_getLocalMutiMotorPos(huint16 motorIndex, hint32 *pos)
读本地字典0x5000+[0x1+motorIndex]
Definition: eu_harmonic.h:231
EXTERNFUNC int harmonic_setVelocityWindowTime(huint8 devIndex, huint8 id, huint16 wTime, huint32 timeout=100)
写从站字典0x606E-0x0
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
Definition: eu_harmonic.h:238
EXTERNFUNC int harmonic_setDemandTorque(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout=100)
写从站字典0x6074-0x0
struct _harmonic_CanMsg harmonic_CanMsg
can数据结构
EXTERNFUNC int harmonic_setLocalInterpolationTimePeriodValue(huint8 value)
写本地字典0x60c2-0x1
EXTERNFUNC int harmonic_readDirectory(huint8 devIndex, huint8 id, huint16 index, huint8 subIndex, harmonic_DataType dataType, void *readData, huint32 timeout=100)
读从站字典
EXTERNFUNC int harmonic_getLocalRPDOCobId(huint16 pdoIndex, huint32 *cobId)
读本地字典[0x1400+pdoIndex]-0x1
EXTERNFUNC int harmonic_getActualTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout=100)
读从站字典0x6077-0x0
EXTERNFUNC int harmonic_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
huint32 canId
Definition: eu_harmonic.h:251
EXTERNFUNC int harmonic_setLocalMitMutiMotorSetPos(huint16 motorIndex, hreal32 pos)
写本地字典0x500B+[0x1+motorIndex]
EXTERNFUNC int harmonic_getPositionWindow(huint8 devIndex, huint8 id, huint32 *pWindow, huint32 timeout=100)
读从站字典0x6067-0x0
EXTERNFUNC int harmonic_setLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 number)
写本地字典[0x1280+sdoClientIndex]-0x0
Definition: eu_harmonic.h:136
EXTERNFUNC int harmonic_setRatedCurrent(huint8 devIndex, huint8 id, huint32 current, huint32 timeout=100)
写从站字典0x6075-0x0
EXTERNFUNC int harmonic_getTPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout=100)
读从站字典[0x1A00+pdoIndex]-[0x1+mapIndex]
EXTERNFUNC int harmonic_getRPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100)
读从站字典[0x1600+pdoIndex]-0x0
Definition: eu_harmonic.h:102
EXTERNFUNC int harmonic_getLocalRPDOEventTimer(huint16 pdoIndex, huint16 *timer)
读本地字典[0x1400+pdoIndex]-0x5
EXTERNFUNC int harmonic_setEmergencyCobid(huint8 devIndex, huint8 id, huint32 cobid, huint32 timeout=100)
写从站字典0x1014-0x0
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
Definition: eu_harmonic.h:101
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:98
EXTERNFUNC int harmonic_setLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value)
写本地字典[0x1A00+pdoIndex]-[0x1+mapIndex]
EXTERNFUNC int harmonic_setRPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout=100)
写从站字典[0x1400+pdoIndex]-0x3
EXTERNFUNC int harmonic_setRPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100)
写从站字典[0x1400+pdoIndex]-0x0
EXTERNFUNC int harmonic_getLocalMitMutiMotorGetTor(huint16 motorIndex, hreal32 *tor)
读本地字典0x500A+[0x1+motorIndex]
EXTERNFUNC int harmonic_getLocalMitMutiMotorSetVel(huint16 motorIndex, hreal32 *vel)
读本地字典0x500C+[0x1+motorIndex]
Definition: eu_harmonic.h:122
EXTERNFUNC int harmonic_getLocalMutiMotorErrorCode(huint16 motorIndex, huint16 *error)
读本地字典0x5007+[0x1+motorIndex]
EXTERNFUNC int harmonic_getActualCurrent(huint8 devIndex, huint8 id, hint16 *current, huint32 timeout=100)
读从站字典0x6078-0x0
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_setClientSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout=100)
写从站字典[0x1280+sdoClientIndex]-0x1
EXTERNFUNC int harmonic_setLocalNodeState(harmonic_NodeState state)
设置本地节点状态
EXTERNFUNC int harmonic_getDisplayOperateMode(huint8 devIndex, huint8 id, harmonic_OperateMode *mode, huint32 timeout=100)
读从站字典0x6061-0x0
EXTERNFUNC int harmonic_getTargetVelocity(huint8 devIndex, huint8 id, hint32 *targetVel, huint32 timeout=100)
读从站字典0x60FF-0x0
EXTERNFUNC int harmonic_getServoErrorCode(huint8 devIndex, huint8 id, huint16 *err, huint32 timeout=100)
读从站字典0x603F-0x0
EXTERNFUNC int harmonic_getSoftwareMaxmumPosition(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100)
读从站字典0x607D-0x2
EXTERNFUNC int harmonic_getLocalMitMutiMotorSetTor(huint16 motorIndex, hreal32 *tor)
读本地字典0x500D+[0x1+motorIndex]
EXTERNFUNC int harmonic_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:152
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_getRatedCurrent(huint8 devIndex, huint8 id, huint32 *current, huint32 timeout=100)
读从站字典0x6075-0x0
EXTERNFUNC int harmonic_getProfileAcceleration(huint8 devIndex, huint8 id, huint32 *acc, huint32 timeout=100)
读从站字典0x6083-0x0
EXTERNFUNC int harmonic_setLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value)
写本地字典[0x1600+pdoIndex]-[0x1+mapIndex]
EXTERNFUNC int harmonic_setProfileDeceleration(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout=100)
写从站字典0x6084-0x0
EXTERNFUNC int harmonic_setSoftwareMaxmumPosition(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout=100)
写从站字典0x607D-0x2
EXTERNFUNC int harmonic_getLocalTPDOCobId(huint16 pdoIndex, huint32 *cobId)
读本地字典[0x1800+pdoIndex]-0x1
EXTERNFUNC int harmonic_setLocalRPDOTransmitType(huint16 pdoIndex, huint8 type)
写本地字典[0x1400+pdoIndex]-0x2
EXTERNFUNC int harmonic_getLocalStatusWord(huint16 *word)
写本地字典0x6041-0x0
EXTERNFUNC int harmonic_getLocalServoErrorCode(huint16 *err)
读本地字典0x603F-0x0
EXTERNFUNC int harmonic_setMotorRatedTorque(huint8 devIndex, huint8 id, huint32 torque, huint32 timeout=100)
写从站字典0x6076-0x0
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
Definition: eu_harmonic.h:139
EXTERNFUNC int harmonic_setLocalRPDOInhibitTime(huint16 pdoIndex, huint16 time)
写本地字典[0x1400+pdoIndex]-0x3
Definition: eu_harmonic.h:111
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:254
EXTERNFUNC int harmonic_setSyncCycle(huint8 devIndex, huint8 id, huint32 syncCycle, huint32 timeout=100)
写从站字典0x1006-0x0
EXTERNFUNC int harmonic_setLocalTargetPos(hint32 pos)
写本地字典0x607A-0x0
EXTERNFUNC int harmonic_getServerSDONodeIdOfClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 *nodeId, huint32 timeout=100)
读从站字典[0x1200+sdoServerIndex]-0x3
EXTERNFUNC int harmonic_getClientSDONodeIdOfSDOServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 *nodeId, huint32 timeout=100)
读从站字典[0x1280+sdoClientIndex]-0x3
EXTERNFUNC int harmonic_setLocalMitMutiMotorSetVel(huint16 motorIndex, hreal32 vel)
写本地字典0x500C+[0x1+motorIndex]
EXTERNFUNC int harmonic_setFaultReactionOption(huint8 devIndex, huint8 id, harmonic_FaultReactionOption option, huint32 timeout=100)
写从站字典0x605E-0x0
EXTERNFUNC int harmonic_getLocalTargetPos(hint32 *pos)
读本地字典0x607A-0x0
EXTERNFUNC int harmonic_getSyncCounter(huint8 devIndex, huint8 id, huint8 *counter, huint32 timeout=100)
读从站字典0x1019-0x0
EXTERNFUNC int harmonic_setErrorFieldNumber(huint8 devIndex, huint8 id, huint8 number, huint32 timeout=100)
写从站字典0x1003-0x0
EXTERNFUNC int harmonic_setInterpolationDataRecord(huint8 devIndex, huint8 id, hint32 value, huint32 timeout=100)
写从站字典0x60C1-0x1
EXTERNFUNC int harmonic_getSupportedDriveModes(huint8 devIndex, huint8 id, huint32 *modes, huint32 timeout=100)
读从站字典0x6502-0x0
Definition: eu_harmonic.h:154
harmonic_FaultReactionOption
故障处理选项
Definition: eu_harmonic.h:214
EXTERNFUNC int harmonic_setTargetPos(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout=100)
写从站字典0x607A-0x0
harmonic_ShutdownOption
关机选项
Definition: eu_harmonic.h:181
EXTERNFUNC int harmonic_setGuardTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100)
写从站字典0x100C-0x0
EXTERNFUNC int harmonic_getLocalTPDOInhibitTime(huint16 pdoIndex, huint16 *time)
读本地字典[0x1800+pdoIndex]-0x3
EXTERNFUNC int harmonic_setLocalMitMutiMotorSetTor(huint16 motorIndex, hreal32 tor)
写本地字典0x500D+[0x1+motorIndex]
huint8 data[8]
Definition: eu_harmonic.h:255
EXTERNFUNC int harmonic_getLocalSyncCycle(huint32 *cycle)
读本地字典0x1006-0x0
Definition: eu_harmonic.h:235
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_setProfileAcceleration(huint8 devIndex, huint8 id, huint32 acc, huint32 timeout=100)
写从站字典0x6083-0x0
EXTERNFUNC int harmonic_setSoftwareMinimumPosition(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout=100)
写从站字典0x607D-0x1
EXTERNFUNC int harmonic_getVelocityThreshold(huint8 devIndex, huint8 id, huint16 *thres, huint32 timeout=100)
读从站字典0x606F-0x0
EXTERNFUNC int harmonic_stopControl(huint8 devIndex, huint8 id)
停止控制
Definition: eu_harmonic.h:110
harmonic_HaltOption
暂停选项
Definition: eu_harmonic.h:201
EXTERNFUNC int harmonic_getVendorID(huint8 devIndex, huint8 id, huint32 *vId, huint32 timeout=100)
读从站字典0x1018-0x1
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_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_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_setLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 cobId)
写本地字典[0x1280+sdoClientIndex]-0x2
signed long int hint48
Definition: eu_harmonic.h:52
Definition: eu_harmonic.h:99
EXTERNFUNC int harmonic_getLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 *value)
读本地字典[0x1400+pdoIndex]-0x6
Definition: eu_harmonic.h:150
Definition: eu_harmonic.h:120
EXTERNFUNC int harmonic_getInterpolationTimePeriodValue(huint8 devIndex, huint8 id, huint8 *value, huint32 timeout=100)
读从站字典0x60C2-0x1
Definition: eu_harmonic.h:135
EXTERNFUNC int harmonic_getProfileVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout=100)
读从站字典0x6081-0x0
harmonic_QuickStopOption
快速停止选项
Definition: eu_harmonic.h:164
EXTERNFUNC int harmonic_setFollowingErrorWindow(huint8 devIndex, huint8 id, huint32 eWindow, huint32 timeout=100)
写从站字典0x6065-0x0
EXTERNFUNC int harmonic_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:85
EXTERNFUNC int harmonic_getStoreParameters(huint8 devIndex, huint8 id, huint32 *value, huint32 timeout=100)
读从站字典0x1010-0x1
EXTERNFUNC int harmonic_setInterpolationTimePeriodValue(huint8 devIndex, huint8 id, huint8 value, huint32 timeout=100)
写从站字典0x60C2-0x1
Definition: eu_harmonic.h:86
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]
huint8 extended
Definition: eu_harmonic.h:253
harmonic_Baudrate
波特率
Definition: eu_harmonic.h:94
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:155
EXTERNFUNC int harmonic_writeCanData(huint8 devIndex, huint16 cobId, const huint8 *const data, huint8 len)
发送原始can数据
signed int hint32
Definition: eu_harmonic.h:50
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_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_setLocalMutiMotorSetPos(huint16 motorIndex, hint32 pos)
写本地字典0x5003+[0x1+motorIndex]
EXTERNFUNC int harmonic_getLocalMitMutiMotorGetPos(huint16 motorIndex, hreal32 *pos)
读本地字典0x5008+[0x1+motorIndex]
EXTERNFUNC int harmonic_setLocalTargetTorque(hint16 torque)
写本地字典0x6071-0x0
EXTERNFUNC int harmonic_getStatusWord(huint8 devIndex, huint8 id, huint16 *word, huint32 timeout=100)
读从站字典0x6041-0x0
EXTERNFUNC int harmonic_getLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 *number)
读本地字典[0x1280+sdoClientIndex]-0x0
EXTERNFUNC int harmonic_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_getTargetTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout=100)
读从站字典0x6071-0x0
Definition: eu_harmonic.h:236
EXTERNFUNC int harmonic_setLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 nodeId)
写本地字典[0x1200+sdoServerIndex]-0x3
EXTERNFUNC int harmonic_setServerSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 num, huint32 timeout=100)
写从站字典[0x1200+sdoServerIndex]-0x0
EXTERNFUNC int harmonic_getPositionWindowTime(huint8 devIndex, huint8 id, huint16 *pWindowTime, huint32 timeout=100)
读从站字典0x6068-0x0
EXTERNFUNC int harmonic_getLocalSyncCOBID(huint32 *cobId)
读本地字典0x1005-0x0
EXTERNFUNC int harmonic_getTorqueLimit(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout=100)
读从站字典0x6072-0x0
EXTERNFUNC int harmonic_getQuickStopOption(huint8 devIndex, huint8 id, harmonic_QuickStopOption *option, huint32 timeout=100)
读从站字典0x605A-0x0
EXTERNFUNC int harmonic_getSyncCycle(huint8 devIndex, huint8 id, huint32 *syncCycle, huint32 timeout=100)
读从站字典0x1006-0x0
Definition: eu_harmonic.h:237
Definition: eu_harmonic.h:134
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_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:153
EXTERNFUNC int harmonic_writeCanMsg(huint8 devIndex, const harmonic_CanMsg *canMsg)
发送原始can数据
signed short int hint16
Definition: eu_harmonic.h:48
EXTERNFUNC int harmonic_getIdentityObjectRevisionNumber(huint8 devIndex, huint8 id, huint32 *revisionNum, huint32 timeout=100)
读从站字典0x1018-0x3
Definition: eu_harmonic.h:233
Definition: eu_harmonic.h:203
EXTERNFUNC int harmonic_getTorqueSlope(huint8 devIndex, huint8 id, huint32 *slope, huint32 timeout=100)
0x6087-0x0
EXTERNFUNC int harmonic_setLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 count)
写本地字典[0x1600+pdoIndex]-0x0
EXTERNFUNC int harmonic_setLocalTPDOEventTimer(huint16 pdoIndex, huint16 timer)
写本地字典[0x1800+pdoIndex]-0x5
harmonic_DeviceType
设备类型
Definition: eu_harmonic.h:82
EXTERNFUNC int harmonic_setReceiveDataCallBack(harmonic_ReceiveDataCallBack callFunc)
设置接收数据回调函数
EXTERNFUNC int harmonic_getLifeTimeFactor(huint8 devIndex, huint8 id, huint8 *factor, huint32 timeout=100)
读从站字典0x100D-0x0
EXTERNFUNC int harmonic_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
harmonic_NodeState
节点状态
Definition: eu_harmonic.h:131
EXTERNFUNC int harmonic_initDLL(harmonic_DeviceType devType, huint8 devIndex, harmonic_Baudrate baudrate, bool isCanFD=false, harmonic_DBaudrate dbaudrate=harmonic_DBaudrate::harmonic_DBaudrate_5000)
初始化dll,在调用所有函数前,必须先调用该函数进行初始化,该函数会打开设备。 【注意】控制多个设备时可...
EXTERNFUNC int harmonic_getDCLinkCircuitVoltage(huint8 devIndex, huint8 id, huint32 *voltage, huint32 timeout=100)
读从站字典0x6079-0x0
EXTERNFUNC int harmonic_getStoreParametersNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100)
读从站字典0x1010-0x0
EXTERNFUNC int harmonic_setPositionWindow(huint8 devIndex, huint8 id, huint32 pWindow, huint32 timeout=100)
写从站字典0x6067-0x0
void(* harmonic_ReceiveDataCallBack)(huint8 devIndex, const harmonic_CanMsg *msg)
接收数据回调函数
Definition: eu_harmonic.h:268
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_getDemandPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100)
读从站字典0x6062-0x0
EXTERNFUNC int harmonic_getDeviceName(huint8 devIndex, huint8 id, char *devName, huint32 timeout=100)
读从站字典0x1008-0x0
Definition: eu_harmonic.h:242
EXTERNFUNC int harmonic_setServerSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout=100)
写从站字典[0x1200+sdoServerIndex]-0x1
EXTERNFUNC int harmonic_setHearbeatConsumerTime(huint8 devIndex, huint8 id, huint8 subIndex, huint32 time, huint32 timeout=100)
写从站字典0x1016-subIndex
Definition: eu_harmonic.h:109
EXTERNFUNC int harmonic_setTPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout=100)
写从站字典[0x1800+pdoIndex]-0x6
Definition: eu_harmonic.h:239
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_setGearRatioShaftRevolutions(huint8 devIndex, huint8 id, huint32 rev, huint32 timeout=100)
写从站字典0x6091-0x2
EXTERNFUNC int harmonic_getLocalRPDOTransmitType(huint16 pdoIndex, huint8 *type)
读本地字典[0x1400+pdoIndex]-0x2
Definition: eu_harmonic.h:234
EXTERNFUNC int harmonic_setLocalRPDOCobId(huint16 pdoIndex, huint32 cobId)
写本地字典[0x1400+pdoIndex]-0x1
EXTERNFUNC int harmonic_getRestoreDefaultParameters(huint8 devIndex, huint8 id, huint32 *value, huint32 timeout=100)
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_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
Definition: eu_harmonic.h:151
Definition: eu_harmonic.h:97
EXTERNFUNC int harmonic_getServerSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 *num, huint32 timeout=100)
读从站字典[0x1200+sdoServerIndex]-0x0
EXTERNFUNC int harmonic_getVelocityWindowTime(huint8 devIndex, huint8 id, huint16 *wTime, huint32 timeout=100)
读从站字典0x606E-0x0
Definition: eu_harmonic.h:241
EXTERNFUNC int harmonic_getGearRatioShaftRevolutions(huint8 devIndex, huint8 id, huint32 *rev, huint32 timeout=100)
读从站字典0x6091-0x2
EXTERNFUNC int harmonic_getLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 *nodeId)
读本地字典[0x1200+sdoServerIndex]-0x3
EXTERNFUNC int harmonic_setSyncCounter(huint8 devIndex, huint8 id, huint8 counter, huint32 timeout=100)
写从站字典0x1019-0x0
EXTERNFUNC int harmonic_setSendDataCallBack(harmonic_SendDataCallBack callFunc)
设置发送数据回调函数
EXTERNFUNC int harmonic_getServerSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout=100)
读从站字典[0x1200+sdoServerIndex]-0x1
#define EXTERNFUNC
Definition: eu_harmonic.h:23
EXTERNFUNC int harmonic_getClientSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout=100)
读从站字典[0x1280+sdoClientIndex]-0x2
EXTERNFUNC int harmonic_setDisableOperationOptionCode(huint8 devIndex, huint8 id, harmonic_DisableOperationOption code, huint32 timeout=100)
写从站字典0x605C-0x0
EXTERNFUNC int harmonic_getLocalInterpolationTimePeriodValue(huint8 *value)
读本地字典0x60c2-0x1
EXTERNFUNC int harmonic_getLocalMutiMotorVel(huint16 motorIndex, hint32 *vel)
读本地字典0x5001+[0x1+motorIndex]
EXTERNFUNC int harmonic_getLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value)
读本地字典[0x1600+pdoIndex]-[0x1+mapIndex]
EXTERNFUNC int harmonic_getLocalInterpolationDataRecord(hint32 *value)
读本地字典0x60C1-0x1
EXTERNFUNC int harmonic_getHearbeatConsumerTime(huint8 devIndex, huint8 id, huint8 subIndex, huint32 *time, huint32 timeout=100)
读从站字典0x1016-subIndex
Definition: eu_harmonic.h:229
harmonic_DataType
数据类型
Definition: eu_harmonic.h:147
EXTERNFUNC int harmonic_getRPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout=100)
读从站字典[0x1400+pdoIndex]-0x1
EXTERNFUNC int harmonic_writeLocalDirectory(huint16 index, huint8 subIndex, harmonic_DataType dataType, void *writeData)
写主站字典
EXTERNFUNC int harmonic_setClientSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 number, huint32 timeout=100)
写从站字典[0x1280+sdoClientIndex]-0x0
EXTERNFUNC int harmonic_getLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 *cobId)
读本地字典[0x1280+sdoClientIndex]-0x1
Definition: eu_harmonic.h:123
EXTERNFUNC int harmonic_getLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 *count)
读本地字典[0x1400+pdoIndex]-0x0
EXTERNFUNC int harmonic_setLifeTimeFactor(huint8 devIndex, huint8 id, huint8 factor, huint32 timeout=100)
写从站字典0x100D-0x0
EXTERNFUNC int harmonic_getSyncCobid(huint8 devIndex, huint8 id, huint32 *cobid, huint32 timeout=100)
读从站字典0x1005-0x0
EXTERNFUNC int harmonic_getRPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout=100)
读从站字典[0x1400+pdoIndex]-0x5
EXTERNFUNC int harmonic_setLocalControlword(huint16 word)
写本地字典0x6040-0x0
EXTERNFUNC int harmonic_getLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 *count)
读本地字典[0x1A00+pdoIndex]-0x0
EXTERNFUNC int harmonic_setHaltOption(huint8 devIndex, huint8 id, harmonic_HaltOption option, huint32 timeout=100)
写从站字典0x605D-0x0
EXTERNFUNC int harmonic_setShutdownOptionCode(huint8 devIndex, huint8 id, harmonic_ShutdownOption code, huint32 timeout=100)
写从站字典0x605B-0
EXTERNFUNC int harmonic_setLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 nodeId)
写本地字典[0x1280+sdoClientIndex]-0x3
Definition: eu_harmonic.h:156
EXTERNFUNC int harmonic_setClientSDONodeIdOfSDOServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 nodeId, huint32 timeout=100)
写从站字典[0x1280+sdoClientIndex]-0x3
EXTERNFUNC int harmonic_setDemandPos(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout=100)
写从站字典0x6062-0x0
signed long int hint40
Definition: eu_harmonic.h:51
EXTERNFUNC int harmonic_getLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 *cobId)
读本地字典[0x1280+sdoClientIndex]-0x2
EXTERNFUNC int harmonic_setTPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100)
写从站字典[0x1A00+pdoIndex]-0x0
EXTERNFUNC int harmonic_setNodeState(huint8 devIndex, huint8 id, harmonic_NMTState state)
设置从节点状态
EXTERNFUNC int harmonic_getFaultReactionOption(huint8 devIndex, huint8 id, harmonic_FaultReactionOption *option, huint32 timeout=100)
读从站字典0x605E-0x0