eyou_canopen_sdk  1.0
eyou_canopen_sdklibrary
eu_canopen.h
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1 
11 #ifndef CANOPEN_EU_CANOPEN_H
12 #define CANOPEN_EU_CANOPEN_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 CANOPEN_SUCCESS (0)
68 #define CANOPEN_FAILED_DEVICEDISABLED (1)
69 #define CANOPEN_FAILED_OPENFAILED (2)
70 #define CANOPEN_FAILED_CANSEND (3)
71 #define CANOPEN_FAILED_CANRECEIVE (4)
72 #define CANOPEN_FAILED_ReadLocalDict (5)
73 #define CANOPEN_FAILED_WriteLocalDict (6)
74 #define CANOPEN_FAILED_NoRespondR (7)
75 #define CANOPEN_FAILED_NoRespondW (8)
76 #define CANOPEN_FAILED_UNKNOWN (100)
82  typedef enum
83  {
90 
95  typedef enum
96  {
106 
107  typedef enum
108  {
115 
120  typedef enum
121  {
128 
133  typedef enum
134  {
144 
149  typedef enum
150  {
151  // canopen_DataType_boolean = 0x01, /**< 布尔类型 */
161 
166  typedef enum
167  {
178 
183  typedef enum
184  {
188 
193  typedef enum
194  {
198 
203  typedef enum
204  {
211 
216  typedef enum
217  {
224 
229  typedef enum
230  {
246 
251  typedef struct
252  {
253  huint32 canId;
254  huint8 rtr;
255  huint8 extended;
256  huint8 len;
257  huint8 data[64];
258  } canopen_CanMsg;
259 
264  typedef void (*canopen_SendDataCallBack)(huint8 devIndex, const canopen_CanMsg *msg);
265 
270  typedef void (*canopen_ReceiveDataCallBack)(huint8 devIndex, const canopen_CanMsg *msg);
271 
279 
287 
299  EXTERNFUNC int canopen_initDLL(canopen_DeviceType devType, huint8 devIndex, canopen_Baudrate baudrate, bool isCanFD = false, canopen_DBaudrate dbaudrate = canopen_DBaudrate::canopen_DBaudrate_5000);
300 
308  EXTERNFUNC int canopen_freeDLL(huint8 devIndex);
309 
319  EXTERNFUNC int canopen_getNodeState(huint8 devIndex, huint8 id, canopen_NodeState *state, huint32 timeout = 100);
320 
328 
337  EXTERNFUNC int canopen_setNodeState(huint8 devIndex, huint8 id, canopen_NMTState state);
338 
348  EXTERNFUNC int canopen_readLocalDirectory(huint16 index, huint8 subIndex, canopen_DataType dataType, void *readData);
349 
362  EXTERNFUNC int canopen_readDirectory(huint8 devIndex, huint8 id, huint16 index, huint8 subIndex, canopen_DataType dataType, void *readData, huint32 timeout = 100);
363 
373  EXTERNFUNC int canopen_writeLocalDirectory(huint16 index, huint8 subIndex, canopen_DataType dataType, void *writeData);
374 
387  EXTERNFUNC int canopen_writeDirectory(huint8 devIndex, huint8 id, huint16 index, huint8 subIndex, canopen_DataType dataType, void *writeData, huint32 timeout = 100);
388 
398  EXTERNFUNC int canopen_writeCanData(huint8 devIndex, huint16 cobId, const huint8 *const data, huint8 len);
399 
407  EXTERNFUNC int canopen_writeCanMsg(huint8 devIndex, const canopen_CanMsg *canMsg);
408 
415  EXTERNFUNC int canopen_getLocalSyncCOBID(huint32 *cobId);
416 
423  EXTERNFUNC int canopen_setLocalSyncCOBID(huint32 cobId);
424 
431  EXTERNFUNC int canopen_getLocalSyncCycle(huint32 *cycle);
432 
439  EXTERNFUNC int canopen_setLocalSyncCycle(huint32 cycle);
440 
447  EXTERNFUNC int canopen_getLocalSyncWindow(huint32 *sWindow);
448 
455  EXTERNFUNC int canopen_setLocalSyncWindow(huint32 sWindow);
456 
464  EXTERNFUNC int canopen_getLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 *num);
465 
473  EXTERNFUNC int canopen_setLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 num);
474 
482  EXTERNFUNC int canopen_getLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 *cobId);
483 
491  EXTERNFUNC int canopen_setLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 cobId);
492 
500  EXTERNFUNC int canopen_getLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 *cobId);
501 
509  EXTERNFUNC int canopen_setLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 cobId);
510 
518  EXTERNFUNC int canopen_getLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 *nodeId);
519 
527  EXTERNFUNC int canopen_setLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 nodeId);
528 
536  EXTERNFUNC int canopen_getLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 *number);
537 
545  EXTERNFUNC int canopen_setLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 number);
546 
554  EXTERNFUNC int canopen_getLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 *cobId);
555 
563  EXTERNFUNC int canopen_setLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 cobId);
564 
572  EXTERNFUNC int canopen_getLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 *cobId);
573 
581  EXTERNFUNC int canopen_setLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 cobId);
582 
590  EXTERNFUNC int canopen_getLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 *nodeId);
591 
599  EXTERNFUNC int canopen_setLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 nodeId);
600 
608  EXTERNFUNC int canopen_getLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 *count);
609 
617  EXTERNFUNC int canopen_setLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 count);
618 
626  EXTERNFUNC int canopen_getLocalRPDOCobId(huint16 pdoIndex, huint32 *cobId);
627 
635  EXTERNFUNC int canopen_setLocalRPDOCobId(huint16 pdoIndex, huint32 cobId);
636 
644  EXTERNFUNC int canopen_getLocalRPDOTransmitType(huint16 pdoIndex, huint8 *type);
645 
653  EXTERNFUNC int canopen_setLocalRPDOTransmitType(huint16 pdoIndex, huint8 type);
654 
662  EXTERNFUNC int canopen_getLocalRPDOInhibitTime(huint16 pdoIndex, huint16 *time);
663 
671  EXTERNFUNC int canopen_setLocalRPDOInhibitTime(huint16 pdoIndex, huint16 time);
672 
680  EXTERNFUNC int canopen_getLocalRPDOEventTimer(huint16 pdoIndex, huint16 *timer);
681 
689  EXTERNFUNC int canopen_setLocalRPDOEventTimer(huint16 pdoIndex, huint16 timer);
690 
698  EXTERNFUNC int canopen_getLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 *value);
699 
707  EXTERNFUNC int canopen_setLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 value);
708 
716  EXTERNFUNC int canopen_getLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 *count);
717 
725  EXTERNFUNC int canopen_setLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 count);
726 
735  EXTERNFUNC int canopen_getLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value);
736 
745  EXTERNFUNC int canopen_setLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value);
746 
754  EXTERNFUNC int canopen_getLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 *count);
755 
763  EXTERNFUNC int canopen_setLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 count);
764 
772  EXTERNFUNC int canopen_getLocalTPDOCobId(huint16 pdoIndex, huint32 *cobId);
773 
781  EXTERNFUNC int canopen_setLocalTPDOCobId(huint16 pdoIndex, huint32 cobId);
782 
790  EXTERNFUNC int canopen_getLocalTPDOTransmitType(huint16 pdoIndex, huint8 *type);
791 
799  EXTERNFUNC int canopen_setLocalTPDOTransmitType(huint16 pdoIndex, huint8 type);
800 
808  EXTERNFUNC int canopen_getLocalTPDOInhibitTime(huint16 pdoIndex, huint16 *time);
809 
817  EXTERNFUNC int canopen_setLocalTPDOInhibitTime(huint16 pdoIndex, huint16 time);
818 
826  EXTERNFUNC int canopen_getLocalTPDOEventTimer(huint16 pdoIndex, huint16 *timer);
827 
835  EXTERNFUNC int canopen_setLocalTPDOEventTimer(huint16 pdoIndex, huint16 timer);
836 
844  EXTERNFUNC int canopen_getLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 *value);
845 
853  EXTERNFUNC int canopen_setLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 value);
854 
862  EXTERNFUNC int canopen_getLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 *count);
863 
871  EXTERNFUNC int canopen_setLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 count);
872 
881  EXTERNFUNC int canopen_getLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value);
882 
891  EXTERNFUNC int canopen_setLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value);
892 
900  EXTERNFUNC int canopen_getLocalMutiMotorPos(huint16 motorIndex, hint32 *pos);
901 
909  EXTERNFUNC int canopen_getLocalMutiMotorVel(huint16 motorIndex, hint32 *vel);
910 
918  EXTERNFUNC int canopen_getLocalMutiMotorTorque(huint16 motorIndex, hint16 *tor);
919 
927  EXTERNFUNC int canopen_setLocalMutiMotorSetPos(huint16 motorIndex, hint32 pos);
928 
936  EXTERNFUNC int canopen_setLocalMutiMotorSetVel(huint16 motorIndex, hint32 vel);
937 
945  EXTERNFUNC int canopen_setLocalMutiMotorSetTorque(huint16 motorIndex, hint16 torque);
946 
954  EXTERNFUNC int canopen_getLocalMutiMotorStatusWord(huint16 motorIndex, huint16 *status);
955 
963  EXTERNFUNC int canopen_getLocalMutiMotorErrorCode(huint16 motorIndex, huint16 *error);
964 
972  EXTERNFUNC int canopen_getLocalMitMutiMotorGetPos(huint16 motorIndex, hreal32 *pos);
973 
981  EXTERNFUNC int canopen_setLocalMitMutiMotorGetPos(huint16 motorIndex, hreal32 pos);
982 
990  EXTERNFUNC int canopen_getLocalMitMutiMotorGetVel(huint16 motorIndex, hreal32 *vel);
991 
999  EXTERNFUNC int canopen_setLocalMitMutiMotorGetVel(huint16 motorIndex, hreal32 vel);
1000 
1008  EXTERNFUNC int canopen_getLocalMitMutiMotorGetTor(huint16 motorIndex, hreal32 *tor);
1009 
1017  EXTERNFUNC int canopen_setLocalMitMutiMotorGetTor(huint16 motorIndex, hreal32 tor);
1018 
1026  EXTERNFUNC int canopen_getLocalMitMutiMotorSetPos(huint16 motorIndex, hreal32 *pos);
1027 
1035  EXTERNFUNC int canopen_setLocalMitMutiMotorSetPos(huint16 motorIndex, hreal32 pos);
1036 
1044  EXTERNFUNC int canopen_getLocalMitMutiMotorSetVel(huint16 motorIndex, hreal32 *vel);
1045 
1053  EXTERNFUNC int canopen_setLocalMitMutiMotorSetVel(huint16 motorIndex, hreal32 vel);
1054 
1062  EXTERNFUNC int canopen_getLocalMitMutiMotorSetTor(huint16 motorIndex, hreal32 *tor);
1063 
1071  EXTERNFUNC int canopen_setLocalMitMutiMotorSetTor(huint16 motorIndex, hreal32 tor);
1072 
1079  EXTERNFUNC int canopen_getLocalServoErrorCode(huint16 *err);
1080 
1087  EXTERNFUNC int canopen_getLocalControlword(huint16 *word);
1088 
1095  EXTERNFUNC int canopen_setLocalControlword(huint16 word);
1096 
1103  EXTERNFUNC int canopen_getLocalStatusWord(huint16 *word);
1104 
1111  EXTERNFUNC int canopen_getLocalActualPos(hint32 *pos);
1112 
1119  EXTERNFUNC int canopen_getLocalActualVelocity(hint32 *velocity);
1120 
1127  EXTERNFUNC int canopen_getLocalTargetTorque(hint16 *torque);
1128 
1135  EXTERNFUNC int canopen_setLocalTargetTorque(hint16 torque);
1136 
1143  EXTERNFUNC int canopen_getLocalActualTorque(hint16 *torque);
1144 
1151  EXTERNFUNC int canopen_getLocalDCLinkCircuitVoltage(huint32 *voltage);
1152 
1159  EXTERNFUNC int canopen_getLocalTargetPos(hint32 *pos);
1160 
1167  EXTERNFUNC int canopen_setLocalTargetPos(hint32 pos);
1168 
1176 
1184 
1192 
1200 
1207  EXTERNFUNC int canopen_getLocalTargetVelocity(hint32 *vel);
1208 
1216 
1226  EXTERNFUNC int canopen_getDeviceType(huint8 devIndex, huint8 id, huint32 *deviceType, huint32 timeout = 100);
1227 
1237  EXTERNFUNC int canopen_getErrorRegister(huint8 devIndex, huint8 id, huint8 *errReg, huint32 timeout = 100);
1238 
1248  EXTERNFUNC int canopen_getErrorFieldNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1249 
1259  EXTERNFUNC int canopen_setErrorFieldNumber(huint8 devIndex, huint8 id, huint8 number, huint32 timeout = 100); // 0x1003-0
1260 
1271  EXTERNFUNC int canopen_getErrorField(huint8 devIndex, huint8 id, huint8 subIndex, huint32 *err, huint32 timeout = 100);
1272 
1282  EXTERNFUNC int canopen_getSyncCobid(huint8 devIndex, huint8 id, huint32 *cobid, huint32 timeout = 100);
1283 
1293  EXTERNFUNC int canopen_setSyncCobid(huint8 devIndex, huint8 id, huint32 cobid, huint32 timeout = 100);
1294 
1304  EXTERNFUNC int canopen_getSyncCycle(huint8 devIndex, huint8 id, huint32 *syncCycle, huint32 timeout = 100);
1305 
1315  EXTERNFUNC int canopen_setSyncCycle(huint8 devIndex, huint8 id, huint32 syncCycle, huint32 timeout = 100);
1316 
1326  EXTERNFUNC int canopen_getSyncWindow(huint8 devIndex, huint8 id, huint32 *syncWindow, huint32 timeout = 100);
1327 
1337  EXTERNFUNC int canopen_setSyncWindow(huint8 devIndex, huint8 id, huint32 syncWindow, huint32 timeout = 100);
1338 
1348  EXTERNFUNC int canopen_getDeviceName(huint8 devIndex, huint8 id, char *devName, huint32 timeout = 100);
1349 
1359  EXTERNFUNC int canopen_getHardwareVersion(huint8 devIndex, huint8 id, char *version, huint32 timeout = 100);
1360 
1370  EXTERNFUNC int canopen_getSoftwareVersion(huint8 devIndex, huint8 id, char *version, huint32 timeout = 100);
1371 
1381  EXTERNFUNC int canopen_getGuardTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
1382 
1392  EXTERNFUNC int canopen_setGuardTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
1393 
1403  EXTERNFUNC int canopen_getLifeTimeFactor(huint8 devIndex, huint8 id, huint8 *factor, huint32 timeout = 100);
1404 
1414  EXTERNFUNC int canopen_setLifeTimeFactor(huint8 devIndex, huint8 id, huint8 factor, huint32 timeout = 100);
1415 
1425  EXTERNFUNC int canopen_getStoreParametersNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1426 
1436  EXTERNFUNC int canopen_getStoreParameters(huint8 devIndex, huint8 id, huint32 *value, huint32 timeout = 100);
1437 
1447  EXTERNFUNC int canopen_setStoreParameters(huint8 devIndex, huint8 id, huint32 value, huint32 timeout = 100);
1448 
1458  EXTERNFUNC int canopen_getRestoreDefaultParametersNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1459 
1469  EXTERNFUNC int canopen_getRestoreDefaultParameters(huint8 devIndex, huint8 id, huint32 *value, huint32 timeout = 100);
1470 
1480  EXTERNFUNC int canopen_setRestoreDefaultParameters(huint8 devIndex, huint8 id, huint32 value, huint32 timeout = 100);
1481 
1491  EXTERNFUNC int canopen_getEmergencyCobid(huint8 devIndex, huint8 id, huint32 *cobid, huint32 timeout = 100);
1492 
1502  EXTERNFUNC int canopen_setEmergencyCobid(huint8 devIndex, huint8 id, huint32 cobid, huint32 timeout = 100);
1503 
1513  EXTERNFUNC int canopen_getEmergencyInhibitTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
1514 
1524  EXTERNFUNC int canopen_setEmergencyInhibitTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
1525 
1535  EXTERNFUNC int canopen_getHearbeatConsumerTimeParasNum(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1536 
1547  EXTERNFUNC int canopen_getHearbeatConsumerTime(huint8 devIndex, huint8 id, huint8 subIndex, huint32 *time, huint32 timeout = 100);
1548 
1559  EXTERNFUNC int canopen_setHearbeatConsumerTime(huint8 devIndex, huint8 id, huint8 subIndex, huint32 time, huint32 timeout = 100);
1560 
1570  EXTERNFUNC int canopen_getProducerHeartbeatTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
1571 
1581  EXTERNFUNC int canopen_setProducerHeartbeatTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
1582 
1592  EXTERNFUNC int canopen_getIdentityObjectNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1593 
1603  EXTERNFUNC int canopen_getVendorID(huint8 devIndex, huint8 id, huint32 *vId, huint32 timeout = 100);
1604 
1614  EXTERNFUNC int canopen_getProductCode(huint8 devIndex, huint8 id, huint32 *pCode, huint32 timeout = 100);
1615 
1625  EXTERNFUNC int canopen_getIdentityObjectRevisionNumber(huint8 devIndex, huint8 id, huint32 *revisionNum, huint32 timeout = 100);
1626 
1636  EXTERNFUNC int canopen_getSerialNumber(huint8 devIndex, huint8 id, huint32 *serialNum, huint32 timeout = 100);
1637 
1647  EXTERNFUNC int canopen_getSyncCounter(huint8 devIndex, huint8 id, huint8 *counter, huint32 timeout = 100);
1648 
1658  EXTERNFUNC int canopen_setSyncCounter(huint8 devIndex, huint8 id, huint8 counter, huint32 timeout = 100);
1659 
1670  EXTERNFUNC int canopen_getServerSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 *num, huint32 timeout = 100);
1671 
1682  EXTERNFUNC int canopen_setServerSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 num, huint32 timeout = 100);
1683 
1694  EXTERNFUNC int canopen_getServerSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout = 100);
1695 
1706  EXTERNFUNC int canopen_setServerSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout = 100);
1707 
1718  EXTERNFUNC int canopen_getServerSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout = 100);
1719 
1730  EXTERNFUNC int canopen_setServerSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout = 100);
1731 
1742  EXTERNFUNC int canopen_getServerSDONodeIdOfClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 *nodeId, huint32 timeout = 100);
1743 
1754  EXTERNFUNC int canopen_setServerSDONodeIdOfClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 nodeId, huint32 timeout = 100);
1755 
1766  EXTERNFUNC int canopen_getClientSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 *number, huint32 timeout = 100);
1767 
1778  EXTERNFUNC int canopen_setClientSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 number, huint32 timeout = 100);
1779 
1790  EXTERNFUNC int canopen_getClientSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout = 100);
1791 
1802  EXTERNFUNC int canopen_setClientSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout = 100);
1803 
1814  EXTERNFUNC int canopen_getClientSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout = 100);
1815 
1826  EXTERNFUNC int canopen_setClientSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout = 100);
1827 
1838  EXTERNFUNC int canopen_getClientSDONodeIdOfSDOServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 *nodeId, huint32 timeout = 100);
1839 
1850  EXTERNFUNC int canopen_setClientSDONodeIdOfSDOServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 nodeId, huint32 timeout = 100);
1851 
1862  EXTERNFUNC int canopen_getRPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
1863 
1874  EXTERNFUNC int canopen_setRPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
1875 
1886  EXTERNFUNC int canopen_getRPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout = 100);
1887 
1898  EXTERNFUNC int canopen_setRPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout = 100);
1899 
1910  EXTERNFUNC int canopen_getRPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout = 100);
1911 
1922  EXTERNFUNC int canopen_setRPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout = 100);
1923 
1934  EXTERNFUNC int canopen_getRPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout = 100);
1935 
1946  EXTERNFUNC int canopen_setRPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout = 100);
1947 
1958  EXTERNFUNC int canopen_getRPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout = 100);
1959 
1970  EXTERNFUNC int canopen_setRPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout = 100);
1971 
1982  EXTERNFUNC int canopen_getRPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout = 100);
1983 
1994  EXTERNFUNC int canopen_setRPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout = 100); // 1400-6
1995 
2006  EXTERNFUNC int canopen_getRPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
2007 
2018  EXTERNFUNC int canopen_setRPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
2019 
2031  EXTERNFUNC int canopen_getRPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout = 100);
2032 
2044  EXTERNFUNC int canopen_setRPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout = 100);
2045 
2056  EXTERNFUNC int canopen_getTPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
2057 
2068  EXTERNFUNC int canopen_setTPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
2069 
2080  EXTERNFUNC int canopen_getTPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout = 100);
2081 
2092  EXTERNFUNC int canopen_setTPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout = 100);
2093 
2104  EXTERNFUNC int canopen_getTPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout = 100);
2105 
2116  EXTERNFUNC int canopen_setTPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout = 100);
2117 
2128  EXTERNFUNC int canopen_getTPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout = 100);
2129 
2140  EXTERNFUNC int canopen_setTPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout = 100);
2141 
2152  EXTERNFUNC int canopen_getTPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout = 100);
2153 
2163  EXTERNFUNC int canopen_setTPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout = 100);
2164 
2175  EXTERNFUNC int canopen_getTPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout = 100);
2176 
2187  EXTERNFUNC int canopen_setTPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout = 100);
2188 
2199  EXTERNFUNC int canopen_getTPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
2200 
2211  EXTERNFUNC int canopen_setTPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
2212 
2224  EXTERNFUNC int canopen_getTPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout = 100);
2225 
2237  EXTERNFUNC int canopen_setTPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout = 100); // 1A00-1
2238 
2248  EXTERNFUNC int canopen_getServoErrorCode(huint8 devIndex, huint8 id, huint16 *err, huint32 timeout = 100);
2249 
2259  EXTERNFUNC int canopen_getControlword(huint8 devIndex, huint8 id, huint16 *word, huint32 timeout = 100);
2260 
2270  EXTERNFUNC int canopen_setControlword(huint8 devIndex, huint8 id, huint16 word, huint32 timeout = 100);
2271 
2281  EXTERNFUNC int canopen_getStatusWord(huint8 devIndex, huint8 id, huint16 *word, huint32 timeout = 100);
2282 
2292  EXTERNFUNC int canopen_getQuickStopOption(huint8 devIndex, huint8 id, canopen_QuickStopOption *option, huint32 timeout = 100);
2293 
2303  EXTERNFUNC int canopen_setQuickStopOption(huint8 devIndex, huint8 id, canopen_QuickStopOption option, huint32 timeout = 100);
2304 
2314  EXTERNFUNC int canopen_getShutdownOptionCode(huint8 devIndex, huint8 id, canopen_ShutdownOption *code, huint32 timeout = 100);
2315 
2325  EXTERNFUNC int canopen_setShutdownOptionCode(huint8 devIndex, huint8 id, canopen_ShutdownOption code, huint32 timeout = 100);
2326 
2336  EXTERNFUNC int canopen_getDisableOperationOptionCode(huint8 devIndex, huint8 id, canopen_DisableOperationOption *code, huint32 timeout = 100);
2337 
2347  EXTERNFUNC int canopen_setDisableOperationOptionCode(huint8 devIndex, huint8 id, canopen_DisableOperationOption code, huint32 timeout = 100);
2348 
2358  EXTERNFUNC int canopen_getHaltOption(huint8 devIndex, huint8 id, canopen_HaltOption *option, huint32 timeout = 100);
2359 
2369  EXTERNFUNC int canopen_setHaltOption(huint8 devIndex, huint8 id, canopen_HaltOption option, huint32 timeout = 100);
2370 
2380  EXTERNFUNC int canopen_getFaultReactionOption(huint8 devIndex, huint8 id, canopen_FaultReactionOption *option, huint32 timeout = 100);
2381 
2391  EXTERNFUNC int canopen_setFaultReactionOption(huint8 devIndex, huint8 id, canopen_FaultReactionOption option, huint32 timeout = 100);
2392 
2402  EXTERNFUNC int canopen_getOperateMode(huint8 devIndex, huint8 id, canopen_OperateMode *mode, huint32 timeout = 100);
2403 
2413  EXTERNFUNC int canopen_setOperateMode(huint8 devIndex, huint8 id, canopen_OperateMode mode, huint32 timeout = 100);
2414 
2424  EXTERNFUNC int canopen_getDisplayOperateMode(huint8 devIndex, huint8 id, canopen_OperateMode *mode, huint32 timeout = 100);
2425 
2435  EXTERNFUNC int canopen_getDemandPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
2436 
2446  EXTERNFUNC int canopen_setDemandPos(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout = 100);
2447 
2457  EXTERNFUNC int canopen_getActualPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
2458 
2468  EXTERNFUNC int canopen_getFollowingErrorWindow(huint8 devIndex, huint8 id, huint32 *eWindow, huint32 timeout = 100);
2469 
2479  EXTERNFUNC int canopen_setFollowingErrorWindow(huint8 devIndex, huint8 id, huint32 eWindow, huint32 timeout = 100);
2480 
2490  EXTERNFUNC int canopen_getPositionWindow(huint8 devIndex, huint8 id, huint32 *pWindow, huint32 timeout = 100);
2491 
2501  EXTERNFUNC int canopen_setPositionWindow(huint8 devIndex, huint8 id, huint32 pWindow, huint32 timeout = 100);
2502 
2512  EXTERNFUNC int canopen_getPositionWindowTime(huint8 devIndex, huint8 id, huint16 *pWindowTime, huint32 timeout = 100);
2513 
2523  EXTERNFUNC int canopen_setPositionWindowTime(huint8 devIndex, huint8 id, huint16 pWindowTime, huint32 timeout = 100);
2524 
2534  EXTERNFUNC int canopen_getDemandVelocity(huint8 devIndex, huint8 id, hint32 *dVel, huint32 timeout = 100);
2535 
2545  EXTERNFUNC int canopen_setDemandVelocity(huint8 devIndex, huint8 id, hint32 dvel, huint32 timeout = 100);
2546 
2556  EXTERNFUNC int canopen_getActualVelocity(huint8 devIndex, huint8 id, hint32 *vel, huint32 timeout = 100);
2557 
2567  EXTERNFUNC int canopen_getVelocityWindow(huint8 devIndex, huint8 id, huint16 *vWindow, huint32 timeout = 100);
2568 
2578  EXTERNFUNC int canopen_setVelocityWindow(huint8 devIndex, huint8 id, huint16 vWindow, huint32 timeout = 100);
2579 
2589  EXTERNFUNC int canopen_getVelocityWindowTime(huint8 devIndex, huint8 id, huint16 *wTime, huint32 timeout = 100);
2590 
2600  EXTERNFUNC int canopen_setVelocityWindowTime(huint8 devIndex, huint8 id, huint16 wTime, huint32 timeout = 100);
2601 
2611  EXTERNFUNC int canopen_getVelocityThreshold(huint8 devIndex, huint8 id, huint16 *thres, huint32 timeout = 100);
2612 
2622  EXTERNFUNC int canopen_setVelocityThreshold(huint8 devIndex, huint8 id, huint16 thres, huint32 timeout = 100);
2623 
2633  EXTERNFUNC int canopen_getVelocityThresholdTime(huint8 devIndex, huint8 id, huint16 *tTime, huint32 timeout = 100);
2634 
2644  EXTERNFUNC int canopen_setVelocityThresholdTime(huint8 devIndex, huint8 id, huint16 tTime, huint32 timeout = 100);
2645 
2655  EXTERNFUNC int canopen_getTargetTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout = 100);
2656 
2666  EXTERNFUNC int canopen_setTargetTorque(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout = 100);
2667 
2677  EXTERNFUNC int canopen_getTorqueLimit(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout = 100);
2678 
2688  EXTERNFUNC int canopen_setTorqueLimit(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout = 100);
2689 
2699  EXTERNFUNC int canopen_getDemandTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout = 100);
2700 
2710  EXTERNFUNC int canopen_setDemandTorque(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout = 100);
2711 
2721  EXTERNFUNC int canopen_getRatedCurrent(huint8 devIndex, huint8 id, huint32 *current, huint32 timeout = 100);
2722 
2732  EXTERNFUNC int canopen_setRatedCurrent(huint8 devIndex, huint8 id, huint32 current, huint32 timeout = 100);
2733 
2743  EXTERNFUNC int canopen_getMotorRatedTorque(huint8 devIndex, huint8 id, huint32 *torque, huint32 timeout = 100);
2744 
2754  EXTERNFUNC int canopen_setMotorRatedTorque(huint8 devIndex, huint8 id, huint32 torque, huint32 timeout = 100);
2755 
2765  EXTERNFUNC int canopen_getActualTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout = 100);
2766 
2776  EXTERNFUNC int canopen_getActualCurrent(huint8 devIndex, huint8 id, hint16 *current, huint32 timeout = 100);
2777 
2787  EXTERNFUNC int canopen_getDCLinkCircuitVoltage(huint8 devIndex, huint8 id, huint32 *voltage, huint32 timeout = 100);
2788 
2798  EXTERNFUNC int canopen_setDCLinkCircuitVoltage(huint8 devIndex, huint8 id, huint32 voltage, huint32 timeout = 100);
2799 
2809  EXTERNFUNC int canopen_getTargetPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
2810 
2820  EXTERNFUNC int canopen_setTargetPos(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout = 100);
2821 
2831  EXTERNFUNC int canopen_getHomeOffset(huint8 devIndex, huint8 id, hint32 *offSet, huint32 timeout = 100);
2832 
2842  EXTERNFUNC int canopen_setHomeOffset(huint8 devIndex, huint8 id, hint32 offSet, huint32 timeout = 100);
2843 
2853  EXTERNFUNC int canopen_getSoftwareMinimumPosition(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
2854 
2864  EXTERNFUNC int canopen_setSoftwareMinimumPosition(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout = 100);
2865 
2875  EXTERNFUNC int canopen_getSoftwareMaxmumPosition(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
2876 
2886  EXTERNFUNC int canopen_setSoftwareMaxmumPosition(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout = 100);
2887 
2897  EXTERNFUNC int canopen_getMaxProfileVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout = 100);
2898 
2908  EXTERNFUNC int canopen_setMaxProfileVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout = 100);
2909 
2919  EXTERNFUNC int canopen_getProfileVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout = 100);
2920 
2930  EXTERNFUNC int canopen_setProfileVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout = 100);
2931 
2941  EXTERNFUNC int canopen_getProfileAcceleration(huint8 devIndex, huint8 id, huint32 *acc, huint32 timeout = 100);
2942 
2952  EXTERNFUNC int canopen_setProfileAcceleration(huint8 devIndex, huint8 id, huint32 acc, huint32 timeout = 100);
2953 
2963  EXTERNFUNC int canopen_getProfileDeceleration(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout = 100);
2964 
2974  EXTERNFUNC int canopen_setProfileDeceleration(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout = 100);
2975 
2985  EXTERNFUNC int canopen_getQuickStopDeceleration(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout = 100);
2986 
2996  EXTERNFUNC int canopen_setQuickStopDeceleration(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout = 100);
2997 
3007  EXTERNFUNC int canopen_getTorqueSlope(huint8 devIndex, huint8 id, huint32 *slope, huint32 timeout = 100);
3008 
3018  EXTERNFUNC int canopen_setTorqueSlope(huint8 devIndex, huint8 id, huint32 slope, huint32 timeout = 100);
3019 
3029  EXTERNFUNC int canopen_getGearRatioMotorRevolutions(huint8 devIndex, huint8 id, huint32 *rev, huint32 timeout = 100);
3030 
3040  EXTERNFUNC int canopen_setGearRatioMotorRevolutions(huint8 devIndex, huint8 id, huint32 rev, huint32 timeout = 100);
3041 
3051  EXTERNFUNC int canopen_getGearRatioShaftRevolutions(huint8 devIndex, huint8 id, huint32 *rev, huint32 timeout = 100);
3052 
3062  EXTERNFUNC int canopen_setGearRatioShaftRevolutions(huint8 devIndex, huint8 id, huint32 rev, huint32 timeout = 100);
3063 
3073  EXTERNFUNC int canopen_getInterpolationDataRecord(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout = 100);
3074 
3084  EXTERNFUNC int canopen_setInterpolationDataRecord(huint8 devIndex, huint8 id, hint32 value, huint32 timeout = 100);
3085 
3095  EXTERNFUNC int canopen_getInterpolationTimePeriodValue(huint8 devIndex, huint8 id, huint8 *value, huint32 timeout = 100);
3096 
3106  EXTERNFUNC int canopen_setInterpolationTimePeriodValue(huint8 devIndex, huint8 id, huint8 value, huint32 timeout = 100);
3107 
3117  EXTERNFUNC int canopen_getActualFollowingError(huint8 devIndex, huint8 id, hint32 *error, huint32 timeout = 100);
3118 
3128  EXTERNFUNC int canopen_setActualFollowingError(huint8 devIndex, huint8 id, hint32 error, huint32 timeout = 100);
3129 
3139  EXTERNFUNC int canopen_getTargetVelocity(huint8 devIndex, huint8 id, hint32 *targetVel, huint32 timeout = 100);
3140 
3150  EXTERNFUNC int canopen_setTargetVelocity(huint8 devIndex, huint8 id, hint32 targetVel, huint32 timeout = 100);
3151 
3161  EXTERNFUNC int canopen_getSupportedDriveModes(huint8 devIndex, huint8 id, huint32 *modes, huint32 timeout = 100);
3162 
3163 #ifdef __cplusplus
3164 }
3165 #endif
3166 
3167 #endif // EU_CANOPEN_H
EXTERNFUNC int canopen_setErrorFieldNumber(huint8 devIndex, huint8 id, huint8 number, huint32 timeout=100)
写从站字典0x1003-0x0
EXTERNFUNC int canopen_getTorqueLimit(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout=100)
读从站字典0x6072-0x0
Definition: eu_canopen.h:124
EXTERNFUNC int canopen_setDemandVelocity(huint8 devIndex, huint8 id, hint32 dvel, huint32 timeout=100)
写从站字典0x606B-0x0
signed int hint24
Definition: eu_canopen.h:49
EXTERNFUNC int canopen_getDCLinkCircuitVoltage(huint8 devIndex, huint8 id, huint32 *voltage, huint32 timeout=100)
读从站字典0x6079-0x0
Definition: eu_canopen.h:99
signed char hint8
Definition: eu_canopen.h:47
EXTERNFUNC int canopen_setVelocityWindowTime(huint8 devIndex, huint8 id, huint16 wTime, huint32 timeout=100)
写从站字典0x606E-0x0
EXTERNFUNC int canopen_getLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 *count)
读本地字典[0x1800+pdoIndex]-0x0
EXTERNFUNC int canopen_setSoftwareMinimumPosition(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout=100)
写从站字典0x607D-0x1
EXTERNFUNC int canopen_getTorqueSlope(huint8 devIndex, huint8 id, huint32 *slope, huint32 timeout=100)
0x6087-0x0
signed long int hint40
Definition: eu_canopen.h:51
huint8 rtr
Definition: eu_canopen.h:254
EXTERNFUNC int canopen_getLocalMutiMotorErrorCode(huint16 motorIndex, huint16 *error)
读本地字典0x5007+[0x1+motorIndex]
EXTERNFUNC int canopen_setLocalMitMutiMotorSetVel(huint16 motorIndex, hreal32 vel)
写本地字典0x500C+[0x1+motorIndex]
EXTERNFUNC int canopen_getLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 *num)
读本地字典[0x1200+sdoServerIndex]-0x0
void(* canopen_ReceiveDataCallBack)(huint8 devIndex, const canopen_CanMsg *msg)
接收数据回调函数
Definition: eu_canopen.h:270
EXTERNFUNC int canopen_setNodeState(huint8 devIndex, huint8 id, canopen_NMTState state)
设置从节点状态
EXTERNFUNC int canopen_getStoreParametersNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100)
读从站字典0x1010-0x0
EXTERNFUNC int canopen_getLocalStatusWord(huint16 *word)
写本地字典0x6041-0x0
EXTERNFUNC int canopen_setRPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout=100)
写从站字典[0x1400+pdoIndex]-0x5
Definition: eu_canopen.h:232
EXTERNFUNC int canopen_getRPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout=100)
读从站字典[0x1400+pdoIndex]-0x1
EXTERNFUNC int canopen_setLifeTimeFactor(huint8 devIndex, huint8 id, huint8 factor, huint32 timeout=100)
写从站字典0x100D-0x0
EXTERNFUNC int canopen_getLocalDCLinkCircuitVoltage(huint32 *voltage)
读本地字典0x6079-0x0
EXTERNFUNC int canopen_getErrorRegister(huint8 devIndex, huint8 id, huint8 *errReg, huint32 timeout=100)
读从站字典0x1001-0x0
canopen_NMTState
NMT状态
Definition: eu_canopen.h:120
EXTERNFUNC int canopen_setLocalMitMutiMotorSetTor(huint16 motorIndex, hreal32 tor)
写本地字典0x500D+[0x1+motorIndex]
EXTERNFUNC int canopen_getRPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout=100)
读从站字典[0x1600+pdoIndex]-[0x1+mapIndex]
EXTERNFUNC int canopen_setLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 nodeId)
写本地字典[0x1200+sdoServerIndex]-0x3
EXTERNFUNC int canopen_getServerSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout=100)
读从站字典[0x1200+sdoServerIndex]-0x2
EXTERNFUNC int canopen_setLocalInterpolationDataRecord(hint32 value)
写本地字典0x60C1-0x1
EXTERNFUNC int canopen_getActualTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout=100)
读从站字典0x6077-0x0
EXTERNFUNC int canopen_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 canopen_getGuardTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100)
读从站字典0x100C-0x0
EXTERNFUNC int canopen_getIdentityObjectRevisionNumber(huint8 devIndex, huint8 id, huint32 *revisionNum, huint32 timeout=100)
读从站字典0x1018-0x3
EXTERNFUNC int canopen_getProfileVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout=100)
读从站字典0x6081-0x0
EXTERNFUNC int canopen_getRPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout=100)
读从站字典[0x1400+pdoIndex]-0x3
EXTERNFUNC int canopen_getRestoreDefaultParameters(huint8 devIndex, huint8 id, huint32 *value, huint32 timeout=100)
读从站字典0x1011-0x1
EXTERNFUNC int canopen_setVelocityThresholdTime(huint8 devIndex, huint8 id, huint16 tTime, huint32 timeout=100)
写从站字典0x6070-0x0
Definition: eu_canopen.h:156
EXTERNFUNC int canopen_setLocalRPDOEventTimer(huint16 pdoIndex, huint16 timer)
写本地字典[0x1400+pdoIndex]-0x5
canopen_DeviceType
设备类型
Definition: eu_canopen.h:82
Definition: eu_canopen.h:111
EXTERNFUNC int canopen_setTargetPos(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout=100)
写从站字典0x607A-0x0
EXTERNFUNC int canopen_getClientSDONodeIdOfSDOServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 *nodeId, huint32 timeout=100)
读从站字典[0x1280+sdoClientIndex]-0x3
Definition: eu_canopen.h:141
EXTERNFUNC int canopen_getProducerHeartbeatTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100)
读从站字典0x1017-0x0
signed long int hint56
Definition: eu_canopen.h:53
EXTERNFUNC int canopen_setEmergencyCobid(huint8 devIndex, huint8 id, huint32 cobid, huint32 timeout=100)
写从站字典0x1014-0x0
EXTERNFUNC int canopen_getRatedCurrent(huint8 devIndex, huint8 id, huint32 *current, huint32 timeout=100)
读从站字典0x6075-0x0
EXTERNFUNC int canopen_getLocalMutiMotorStatusWord(huint16 motorIndex, huint16 *status)
读本地字典0x5006+[0x1+motorIndex]
EXTERNFUNC int canopen_getSyncCounter(huint8 devIndex, huint8 id, huint8 *counter, huint32 timeout=100)
读从站字典0x1019-0x0
EXTERNFUNC int canopen_setShutdownOptionCode(huint8 devIndex, huint8 id, canopen_ShutdownOption code, huint32 timeout=100)
写从站字典0x605B-0
EXTERNFUNC int canopen_setMotorRatedTorque(huint8 devIndex, huint8 id, huint32 torque, huint32 timeout=100)
写从站字典0x6076-0x0
canopen_HaltOption
暂停选项
Definition: eu_canopen.h:203
EXTERNFUNC int canopen_setLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 value)
写本地字典[0x1800+pdoIndex]-0x6
signed short int hint16
Definition: eu_canopen.h:48
EXTERNFUNC int canopen_setClientSDONodeIdOfSDOServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 nodeId, huint32 timeout=100)
写从站字典[0x1280+sdoClientIndex]-0x3
EXTERNFUNC int canopen_setLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 value)
写本地字典[0x1400+pdoIndex]-0x6
Definition: eu_canopen.h:244
EXTERNFUNC int canopen_setLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 number)
写本地字典[0x1280+sdoClientIndex]-0x0
EXTERNFUNC int canopen_getSupportedDriveModes(huint8 devIndex, huint8 id, huint32 *modes, huint32 timeout=100)
读从站字典0x6502-0x0
EXTERNFUNC int canopen_getDemandTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout=100)
读从站字典0x6074-0x0
Definition: eu_canopen.h:112
canopen_FaultReactionOption
故障处理选项
Definition: eu_canopen.h:216
EXTERNFUNC int canopen_getSoftwareMaxmumPosition(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100)
读从站字典0x607D-0x2
EXTERNFUNC int canopen_setRPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout=100)
写从站字典[0x1400+pdoIndex]-0x6
Definition: eu_canopen.h:239
EXTERNFUNC int canopen_getLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 *count)
读本地字典[0x1400+pdoIndex]-0x0
EXTERNFUNC int canopen_getTPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout=100)
读从站字典[0x1800+pdoIndex]-0x1
Definition: eu_canopen.h:153
Definition: eu_canopen.h:168
Definition: eu_canopen.h:123
EXTERNFUNC int canopen_setClientSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout=100)
写从站字典[0x1280+sdoClientIndex]-0x1
Definition: eu_canopen.h:234
EXTERNFUNC int canopen_getSerialNumber(huint8 devIndex, huint8 id, huint32 *serialNum, huint32 timeout=100)
读从站字典0x1018-0x4
Definition: eu_canopen.h:235
EXTERNFUNC int canopen_setGearRatioShaftRevolutions(huint8 devIndex, huint8 id, huint32 rev, huint32 timeout=100)
写从站字典0x6091-0x2
EXTERNFUNC int canopen_setDemandTorque(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout=100)
写从站字典0x6074-0x0
EXTERNFUNC int canopen_setTPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout=100)
写从站字典[0x1800+pdoIndex]-0x3
EXTERNFUNC int canopen_getLocalTPDOCobId(huint16 pdoIndex, huint32 *cobId)
读本地字典[0x1800+pdoIndex]-0x1
Definition: eu_canopen.h:138
EXTERNFUNC int canopen_getDeviceName(huint8 devIndex, huint8 id, char *devName, huint32 timeout=100)
读从站字典0x1008-0x0
EXTERNFUNC int canopen_getLocalControlword(huint16 *word)
读本地字典0x6040-0x0
EXTERNFUNC int canopen_setReceiveDataCallBack(canopen_ReceiveDataCallBack callFunc)
设置接收数据回调函数
EXTERNFUNC int canopen_getStoreParameters(huint8 devIndex, huint8 id, huint32 *value, huint32 timeout=100)
读从站字典0x1010-0x1
EXTERNFUNC int canopen_getTPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout=100)
读从站字典[0x1800+pdoIndex]-0x6
EXTERNFUNC int canopen_setLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 count)
写本地字典[0x1A00+pdoIndex]-0x0
EXTERNFUNC int canopen_getLocalSyncCycle(huint32 *cycle)
读本地字典0x1006-0x0
EXTERNFUNC int canopen_setLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 num)
写本地字典[0x1200+sdoServerIndex]-0x0
canopen_DisableOperationOption
下使能操作
Definition: eu_canopen.h:193
void(* canopen_SendDataCallBack)(huint8 devIndex, const canopen_CanMsg *msg)
发送数据回调函数
Definition: eu_canopen.h:264
EXTERNFUNC int canopen_setProfileVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout=100)
写从站字典0x6081-0x0
EXTERNFUNC int canopen_setRPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100)
写从站字典[0x1400+pdoIndex]-0x0
EXTERNFUNC int canopen_setPositionWindow(huint8 devIndex, huint8 id, huint32 pWindow, huint32 timeout=100)
写从站字典0x6067-0x0
EXTERNFUNC int canopen_getTPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100)
读从站字典[0x1A00+pdoIndex]-0x0
EXTERNFUNC int canopen_getTPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout=100)
读从站字典[0x1800+pdoIndex]-0x3
EXTERNFUNC int canopen_setLocalMutiMotorSetPos(huint16 motorIndex, hint32 pos)
写本地字典0x5003+[0x1+motorIndex]
EXTERNFUNC int canopen_setProducerHeartbeatTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100)
写从站字典0x1017-0x0
EXTERNFUNC int canopen_getHomeOffset(huint8 devIndex, huint8 id, hint32 *offSet, huint32 timeout=100)
读从站字典0x607C-0x0
Definition: eu_canopen.h:152
EXTERNFUNC int canopen_getHaltOption(huint8 devIndex, huint8 id, canopen_HaltOption *option, huint32 timeout=100)
读从站字典0x605D-0x0
EXTERNFUNC int canopen_setSyncCobid(huint8 devIndex, huint8 id, huint32 cobid, huint32 timeout=100)
写从站字典0x1005-0x0
EXTERNFUNC int canopen_setLocalTargetVelocity(hint32 vel)
写本地字典0x60FF-0x0
EXTERNFUNC int canopen_setTorqueSlope(huint8 devIndex, huint8 id, huint32 slope, huint32 timeout=100)
写从站字典0x6087-0x0
Definition: eu_canopen.h:136
EXTERNFUNC int canopen_getPositionWindowTime(huint8 devIndex, huint8 id, huint16 *pWindowTime, huint32 timeout=100)
读从站字典0x6068-0x0
EXTERNFUNC int canopen_setServerSDONodeIdOfClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 nodeId, huint32 timeout=100)
写从站字典[0x1200+sdoServerIndex]-0x3
EXTERNFUNC int canopen_getTargetVelocity(huint8 devIndex, huint8 id, hint32 *targetVel, huint32 timeout=100)
读从站字典0x60FF-0x0
Definition: eu_canopen.h:139
canopen_OperateMode
操作模式
Definition: eu_canopen.h:229
EXTERNFUNC int canopen_getLocalActualVelocity(hint32 *velocity)
读本地字典0x606c-0x0
EXTERNFUNC int canopen_setRPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout=100)
写从站字典[0x1400+pdoIndex]-0x2
EXTERNFUNC int canopen_setTPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout=100)
写从站字典[0x1800+pdoIndex]-0x1
EXTERNFUNC int canopen_getFollowingErrorWindow(huint8 devIndex, huint8 id, huint32 *eWindow, huint32 timeout=100)
读从站字典0x6065-0x0
canopen_NodeState
节点状态
Definition: eu_canopen.h:133
EXTERNFUNC int canopen_setVelocityWindow(huint8 devIndex, huint8 id, huint16 vWindow, huint32 timeout=100)
写从站字典0x606D-0x0
EXTERNFUNC int canopen_getLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 *cobId)
读本地字典[0x1280+sdoClientIndex]-0x1
EXTERNFUNC int canopen_setTPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout=100)
写从站字典[0x1800+pdoIndex]-0x6
EXTERNFUNC int canopen_getTPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100)
读从站字典[0x1800+pdoIndex]-0x0
can数据结构
Definition: eu_canopen.h:251
EXTERNFUNC int canopen_getLocalActualPos(hint32 *pos)
读本地字典0x6064-0x0
EXTERNFUNC int canopen_getLocalTPDOTransmitType(huint16 pdoIndex, huint8 *type)
读本地字典[0x1800+pdoIndex]-0x2
canopen_ShutdownOption
关机选项
Definition: eu_canopen.h:183
Definition: eu_canopen.h:103
EXTERNFUNC int canopen_setTPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout=100)
写从站字典[0x1800+pdoIndex]-0x5
Definition: eu_canopen.h:241
EXTERNFUNC int canopen_setDCLinkCircuitVoltage(huint8 devIndex, huint8 id, huint32 voltage, huint32 timeout=100)
写从站字典0x6079-0x0
EXTERNFUNC int canopen_setInterpolationDataRecord(huint8 devIndex, huint8 id, hint32 value, huint32 timeout=100)
写从站字典0x60C1-0x1
Definition: eu_canopen.h:113
Definition: eu_canopen.h:122
Definition: eu_canopen.h:87
EXTERNFUNC int canopen_setLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value)
写本地字典[0x1A00+pdoIndex]-[0x1+mapIndex]
EXTERNFUNC int canopen_setSyncCounter(huint8 devIndex, huint8 id, huint8 counter, huint32 timeout=100)
写从站字典0x1019-0x0
EXTERNFUNC int canopen_getLocalMutiMotorPos(huint16 motorIndex, hint32 *pos)
读本地字典0x5000+[0x1+motorIndex]
EXTERNFUNC int canopen_getErrorFieldNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100)
读从站字典0x1003-0x0
EXTERNFUNC int canopen_getLocalTargetTorque(hint16 *torque)
读本地字典0x6071-0x0
EXTERNFUNC int canopen_getVelocityWindowTime(huint8 devIndex, huint8 id, huint16 *wTime, huint32 timeout=100)
读从站字典0x606E-0x0
EXTERNFUNC int canopen_getRPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout=100)
读从站字典[0x1400+pdoIndex]-0x6
huint8 extended
Definition: eu_canopen.h:255
Definition: eu_canopen.h:231
EXTERNFUNC int canopen_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_canopen.h:142
Definition: eu_canopen.h:140
EXTERNFUNC int canopen_getVelocityThreshold(huint8 devIndex, huint8 id, huint16 *thres, huint32 timeout=100)
读从站字典0x606F-0x0
EXTERNFUNC int canopen_setActualFollowingError(huint8 devIndex, huint8 id, hint32 error, huint32 timeout=100)
写从站字典0x60F4-0x0
EXTERNFUNC int canopen_setLocalMitMutiMotorSetPos(huint16 motorIndex, hreal32 pos)
写本地字典0x500B+[0x1+motorIndex]
EXTERNFUNC int canopen_setLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 count)
写本地字典[0x1600+pdoIndex]-0x0
Definition: eu_canopen.h:98
EXTERNFUNC int canopen_setLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 nodeId)
写本地字典[0x1280+sdoClientIndex]-0x3
EXTERNFUNC int canopen_setHearbeatConsumerTime(huint8 devIndex, huint8 id, huint8 subIndex, huint32 time, huint32 timeout=100)
写从站字典0x1016-subIndex
EXTERNFUNC int canopen_setLocalTPDOTransmitType(huint16 pdoIndex, huint8 type)
写本地字典[0x1800+pdoIndex]-0x2
EXTERNFUNC int canopen_getEmergencyInhibitTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100)
读从站字典0x1015-0x0
Definition: eu_canopen.h:110
unsigned int huint8 __attribute__((__mode__(__QI__)))
Definition: eu_canopen.h:55
EXTERNFUNC int canopen_setRatedCurrent(huint8 devIndex, huint8 id, huint32 current, huint32 timeout=100)
写从站字典0x6075-0x0
Definition: eu_canopen.h:86
EXTERNFUNC int canopen_getServerSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout=100)
读从站字典[0x1200+sdoServerIndex]-0x1
EXTERNFUNC int canopen_setVelocityThreshold(huint8 devIndex, huint8 id, huint16 thres, huint32 timeout=100)
写从站字典0x606F-0x0
EXTERNFUNC int canopen_setTorqueLimit(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout=100)
写从站字典0x6072-0x0
Definition: eu_canopen.h:126
EXTERNFUNC int canopen_getLocalMitMutiMotorSetTor(huint16 motorIndex, hreal32 *tor)
读本地字典0x500D+[0x1+motorIndex]
EXTERNFUNC int canopen_getRPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout=100)
读从站字典[0x1400+pdoIndex]-0x5
EXTERNFUNC int canopen_getLocalMutiMotorTorque(huint16 motorIndex, hint16 *tor)
读本地字典0x5002+[0x1+motorIndex]
EXTERNFUNC int canopen_getProfileDeceleration(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout=100)
读从站字典0x6084-0x0
EXTERNFUNC int canopen_getHardwareVersion(huint8 devIndex, huint8 id, char *version, huint32 timeout=100)
读从站字典0x1009-0x0
EXTERNFUNC int canopen_getLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 *cobId)
读本地字典[0x1200+sdoServerIndex]-0x2
EXTERNFUNC int canopen_getLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 *count)
读本地字典[0x1A00+pdoIndex]-0x0
Definition: eu_canopen.h:233
Definition: eu_canopen.h:237
EXTERNFUNC int canopen_getTargetPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100)
0x607A-0x0
EXTERNFUNC int canopen_getTargetTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout=100)
读从站字典0x6071-0x0
EXTERNFUNC int canopen_setRPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout=100)
写从站字典[0x1400+pdoIndex]-0x3
EXTERNFUNC int canopen_getRPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100)
读从站字典[0x1600+pdoIndex]-0x0
EXTERNFUNC int canopen_getLocalRPDOEventTimer(huint16 pdoIndex, huint16 *timer)
读本地字典[0x1400+pdoIndex]-0x5
Definition: eu_canopen.h:158
EXTERNFUNC int canopen_getSyncCobid(huint8 devIndex, huint8 id, huint32 *cobid, huint32 timeout=100)
读从站字典0x1005-0x0
EXTERNFUNC int canopen_getShutdownOptionCode(huint8 devIndex, huint8 id, canopen_ShutdownOption *code, huint32 timeout=100)
读从站字典0x605B-0
EXTERNFUNC int canopen_setLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value)
写本地字典[0x1600+pdoIndex]-[0x1+mapIndex]
EXTERNFUNC int canopen_setRPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout=100)
写从站字典[0x1400+pdoIndex]-0x1
EXTERNFUNC int canopen_getClientSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 *number, huint32 timeout=100)
读从站字典[0x1280+sdoClientIndex]-0x0
EXTERNFUNC int canopen_setServerSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout=100)
写从站字典[0x1200+sdoServerIndex]-0x1
EXTERNFUNC int canopen_getErrorField(huint8 devIndex, huint8 id, huint8 subIndex, huint32 *err, huint32 timeout=100)
读从站字典0x1003-subIndex
EXTERNFUNC int canopen_setRPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100)
写从站字典[0x1600+pdoIndex]-0x0
Definition: eu_canopen.h:243
EXTERNFUNC int canopen_getRPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100)
读从站字典[0x1400+pdoIndex]-0x0
EXTERNFUNC int canopen_getLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 *nodeId)
读本地字典[0x1200+sdoServerIndex]-0x3
EXTERNFUNC int canopen_setProfileDeceleration(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout=100)
写从站字典0x6084-0x0
#define EXTERNFUNC
Definition: eu_canopen.h:23
EXTERNFUNC int canopen_getTPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout=100)
读从站字典[0x1800+pdoIndex]-0x5
EXTERNFUNC int canopen_setLocalRPDOCobId(huint16 pdoIndex, huint32 cobId)
写本地字典[0x1400+pdoIndex]-0x1
EXTERNFUNC int canopen_setRestoreDefaultParameters(huint8 devIndex, huint8 id, huint32 value, huint32 timeout=100)
写从站字典0x1011-0x1
EXTERNFUNC int canopen_getActualCurrent(huint8 devIndex, huint8 id, hint16 *current, huint32 timeout=100)
读从站字典0x6078-0x0
EXTERNFUNC int canopen_getClientSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout=100)
读从站字典[0x1280+sdoClientIndex]-0x1
EXTERNFUNC int canopen_getServerSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 *num, huint32 timeout=100)
读从站字典[0x1200+sdoServerIndex]-0x0
EXTERNFUNC int canopen_getDisplayOperateMode(huint8 devIndex, huint8 id, canopen_OperateMode *mode, huint32 timeout=100)
读从站字典0x6061-0x0
Definition: eu_canopen.h:135
float hreal32
Definition: eu_canopen.h:63
Definition: eu_canopen.h:236
EXTERNFUNC int canopen_setLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 count)
写本地字典[0x1400+pdoIndex]-0x0
Definition: eu_canopen.h:154
EXTERNFUNC int canopen_getMotorRatedTorque(huint8 devIndex, huint8 id, huint32 *torque, huint32 timeout=100)
读从站字典0x6076-0x0
canopen_Baudrate
波特率
Definition: eu_canopen.h:95
Definition: eu_canopen.h:102
EXTERNFUNC int canopen_setTPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout=100)
写从站字典[0x1A00+pdoIndex]-[0x1+mapIndex]
EXTERNFUNC int canopen_writeLocalDirectory(huint16 index, huint8 subIndex, canopen_DataType dataType, void *writeData)
写主站字典
EXTERNFUNC int canopen_setClientSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout=100)
写从站字典[0x1280+sdoClientIndex]-0x2
EXTERNFUNC int canopen_setEmergencyInhibitTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100)
写从站字典0x1015-0x0
Definition: eu_canopen.h:159
EXTERNFUNC int canopen_getLocalSyncCOBID(huint32 *cobId)
读本地字典0x1005-0x0
EXTERNFUNC int canopen_setLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 cobId)
写本地字典[0x1200+sdoServerIndex]-0x2
EXTERNFUNC int canopen_setClientSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 number, huint32 timeout=100)
写从站字典[0x1280+sdoClientIndex]-0x0
EXTERNFUNC int canopen_setLocalSyncWindow(huint32 sWindow)
写本地字典0x1007-0x0
EXTERNFUNC int canopen_setGuardTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100)
写从站字典0x100C-0x0
EXTERNFUNC int canopen_setMaxProfileVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout=100)
写从站字典0x607F-0x0
Definition: eu_canopen.h:109
EXTERNFUNC int canopen_getLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 *cobId)
读本地字典[0x1280+sdoClientIndex]-0x2
EXTERNFUNC int canopen_getVelocityWindow(huint8 devIndex, huint8 id, huint16 *vWindow, huint32 timeout=100)
读从站字典0x606D-0x0
Definition: eu_canopen.h:240
EXTERNFUNC int canopen_setDemandPos(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout=100)
写从站字典0x6062-0x0
EXTERNFUNC int canopen_setQuickStopDeceleration(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout=100)
写从站字典0x6085-0x0
EXTERNFUNC int canopen_setLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 count)
写本地字典[0x1800+pdoIndex]-0x0
EXTERNFUNC int canopen_setFaultReactionOption(huint8 devIndex, huint8 id, canopen_FaultReactionOption option, huint32 timeout=100)
写从站字典0x605E-0x0
EXTERNFUNC int canopen_getLocalTargetPos(hint32 *pos)
读本地字典0x607A-0x0
Definition: eu_canopen.h:137
Definition: eu_canopen.h:125
signed long int hint48
Definition: eu_canopen.h:52
EXTERNFUNC int canopen_getLocalMitMutiMotorSetPos(huint16 motorIndex, hreal32 *pos)
读本地字典0x500B+[0x1+motorIndex]
EXTERNFUNC int canopen_setTPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout=100)
写从站字典[0x1800+pdoIndex]-0x2
EXTERNFUNC int canopen_getLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value)
读本地字典[0x1A00+pdoIndex]-[0x1+mapIndex]
EXTERNFUNC int canopen_setLocalTargetTorque(hint16 torque)
写本地字典0x6071-0x0
EXTERNFUNC int canopen_getEmergencyCobid(huint8 devIndex, huint8 id, huint32 *cobid, huint32 timeout=100)
读从站字典0x1014-0x0
Definition: eu_canopen.h:88
EXTERNFUNC int canopen_setLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 cobId)
写本地字典[0x1200+sdoServerIndex]-0x1
EXTERNFUNC int canopen_setTPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100)
写从站字典[0x1A00+pdoIndex]-0x0
canopen_DBaudrate
Definition: eu_canopen.h:107
EXTERNFUNC int canopen_getServerSDONodeIdOfClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 *nodeId, huint32 timeout=100)
读从站字典[0x1200+sdoServerIndex]-0x3
EXTERNFUNC int canopen_writeCanData(huint8 devIndex, huint16 cobId, const huint8 *const data, huint8 len)
发送原始can数据
EXTERNFUNC int canopen_getLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 *count)
读本地字典[0x1600+pdoIndex]-0x0
EXTERNFUNC int canopen_initDLL(canopen_DeviceType devType, huint8 devIndex, canopen_Baudrate baudrate, bool isCanFD=false, canopen_DBaudrate dbaudrate=canopen_DBaudrate::canopen_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 canopen_setLocalTPDOEventTimer(huint16 pdoIndex, huint16 timer)
写本地字典[0x1800+pdoIndex]-0x5
EXTERNFUNC int canopen_getRPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout=100)
读从站字典[0x1400+pdoIndex]-0x2
EXTERNFUNC int canopen_setGearRatioMotorRevolutions(huint8 devIndex, huint8 id, huint32 rev, huint32 timeout=100)
写从站字典0x6091-0x1
EXTERNFUNC int canopen_getInterpolationDataRecord(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout=100)
读从站字典0x60C1-0x1
EXTERNFUNC int canopen_readDirectory(huint8 devIndex, huint8 id, huint16 index, huint8 subIndex, canopen_DataType dataType, void *readData, huint32 timeout=100)
读从站字典
EXTERNFUNC int canopen_getControlword(huint8 devIndex, huint8 id, huint16 *word, huint32 timeout=100)
读从站字典0x6040-0x0
EXTERNFUNC int canopen_setLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 cobId)
写本地字典[0x1280+sdoClientIndex]-0x1
EXTERNFUNC int canopen_setLocalMitMutiMotorGetPos(huint16 motorIndex, hreal32 pos)
写本地字典0x5008+[0x1+motorIndex]
EXTERNFUNC int canopen_setLocalTPDOInhibitTime(huint16 pdoIndex, huint16 time)
写本地字典[0x1800+pdoIndex]-0x3
EXTERNFUNC int canopen_getLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 *cobId)
读本地字典[0x1200+sdoServerIndex]-0x1
EXTERNFUNC int canopen_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 canopen_getProductCode(huint8 devIndex, huint8 id, huint32 *pCode, huint32 timeout=100)
读从站字典0x1018-0x2
EXTERNFUNC int canopen_getDemandPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100)
读从站字典0x6062-0x0
EXTERNFUNC int canopen_getQuickStopOption(huint8 devIndex, huint8 id, canopen_QuickStopOption *option, huint32 timeout=100)
读从站字典0x605A-0x0
EXTERNFUNC int canopen_setServerSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 num, huint32 timeout=100)
写从站字典[0x1200+sdoServerIndex]-0x0
EXTERNFUNC int canopen_getLocalMitMutiMotorGetVel(huint16 motorIndex, hreal32 *vel)
读本地字典0x5009+[0x1+motorIndex]
EXTERNFUNC int canopen_getIdentityObjectNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100)
读从站字典0x1018-0x0
EXTERNFUNC int canopen_getLocalServoErrorCode(huint16 *err)
读本地字典0x603F-0x0
EXTERNFUNC int canopen_getVendorID(huint8 devIndex, huint8 id, huint32 *vId, huint32 timeout=100)
读从站字典0x1018-0x1
EXTERNFUNC int canopen_setSendDataCallBack(canopen_SendDataCallBack callFunc)
设置发送数据回调函数
Definition: eu_canopen.h:238
EXTERNFUNC int canopen_getActualFollowingError(huint8 devIndex, huint8 id, hint32 *error, huint32 timeout=100)
读从站字典0x60F4-0x0
EXTERNFUNC int canopen_getSoftwareVersion(huint8 devIndex, huint8 id, char *version, huint32 timeout=100)
读从站字典0x100A-0x0
EXTERNFUNC int canopen_setPositionWindowTime(huint8 devIndex, huint8 id, huint16 pWindowTime, huint32 timeout=100)
写从站字典0x6068-0x0
Definition: eu_canopen.h:157
EXTERNFUNC int canopen_setOperateMode(huint8 devIndex, huint8 id, canopen_OperateMode mode, huint32 timeout=100)
写从站字典0x6060-0x0
EXTERNFUNC int canopen_getGearRatioShaftRevolutions(huint8 devIndex, huint8 id, huint32 *rev, huint32 timeout=100)
读从站字典0x6091-0x2
EXTERNFUNC int canopen_setTPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100)
写从站字典[0x1800+pdoIndex]-0x0
EXTERNFUNC int canopen_getLocalInterpolationTimePeriodValue(huint8 *value)
读本地字典0x60c2-0x1
EXTERNFUNC int canopen_getLocalMitMutiMotorGetTor(huint16 motorIndex, hreal32 *tor)
读本地字典0x500A+[0x1+motorIndex]
EXTERNFUNC int canopen_setDisableOperationOptionCode(huint8 devIndex, huint8 id, canopen_DisableOperationOption code, huint32 timeout=100)
写从站字典0x605C-0x0
EXTERNFUNC int canopen_getLocalMitMutiMotorSetVel(huint16 motorIndex, hreal32 *vel)
读本地字典0x500C+[0x1+motorIndex]
Definition: eu_canopen.h:155
EXTERNFUNC int canopen_getProfileAcceleration(huint8 devIndex, huint8 id, huint32 *acc, huint32 timeout=100)
读从站字典0x6083-0x0
EXTERNFUNC int canopen_setTargetVelocity(huint8 devIndex, huint8 id, hint32 targetVel, huint32 timeout=100)
写从站字典0x60FF-0x0
Definition: eu_canopen.h:104
EXTERNFUNC int canopen_getDisableOperationOptionCode(huint8 devIndex, huint8 id, canopen_DisableOperationOption *code, huint32 timeout=100)
读从站字典0x605C-0x0
Definition: eu_canopen.h:205
EXTERNFUNC int canopen_getLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 *number)
读本地字典[0x1280+sdoClientIndex]-0x0
EXTERNFUNC int canopen_getTPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout=100)
读从站字典[0x1800+pdoIndex]-0x2
EXTERNFUNC int canopen_getActualPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100)
读从站字典0x6064-0x0
EXTERNFUNC int canopen_getLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 *nodeId)
读本地字典[0x1280+sdoClientIndex]-0x3
EXTERNFUNC int canopen_getVelocityThresholdTime(huint8 devIndex, huint8 id, huint16 *tTime, huint32 timeout=100)
读从站字典0x6070-0x0
EXTERNFUNC int canopen_getHearbeatConsumerTimeParasNum(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100)
读从站字典0x1016-0x0
Definition: eu_canopen.h:84
Definition: eu_canopen.h:242
EXTERNFUNC int canopen_setLocalSyncCOBID(huint32 cobId)
读本地字典0x1005-0x0
EXTERNFUNC int canopen_getLocalInterpolationDataRecord(hint32 *value)
读本地字典0x60C1-0x1
EXTERNFUNC int canopen_getLocalTPDOEventTimer(huint16 pdoIndex, huint16 *timer)
读本地字典[0x1800+pdoIndex]-0x5
EXTERNFUNC int canopen_setLocalMitMutiMotorGetVel(huint16 motorIndex, hreal32 vel)
写本地字典0x5009+[0x1+motorIndex]
EXTERNFUNC int canopen_getLocalMutiMotorVel(huint16 motorIndex, hint32 *vel)
读本地字典0x5001+[0x1+motorIndex]
EXTERNFUNC int canopen_setControlword(huint8 devIndex, huint8 id, huint16 word, huint32 timeout=100)
写从站字典0x6040-0x0
EXTERNFUNC int canopen_getServoErrorCode(huint8 devIndex, huint8 id, huint16 *err, huint32 timeout=100)
读从站字典0x603F-0x0
huint8 len
Definition: eu_canopen.h:256
signed long int hint64
Definition: eu_canopen.h:54
EXTERNFUNC int canopen_getNodeState(huint8 devIndex, huint8 id, canopen_NodeState *state, huint32 timeout=100)
读从节点状态
EXTERNFUNC int canopen_getSyncWindow(huint8 devIndex, huint8 id, huint32 *syncWindow, huint32 timeout=100)
读从站字典0x1007-0x0
EXTERNFUNC int canopen_getDeviceType(huint8 devIndex, huint8 id, huint32 *deviceType, huint32 timeout=100)
读从站字典0x1000-0x0
EXTERNFUNC int canopen_getLocalActualTorque(hint16 *torque)
读本地字典0x6077-0x0
EXTERNFUNC int canopen_setLocalMitMutiMotorGetTor(huint16 motorIndex, hreal32 tor)
写本地字典0x500A+[0x1+motorIndex]
EXTERNFUNC int canopen_getLocalTargetVelocity(hint32 *vel)
读本地字典0x60FF-0x0
EXTERNFUNC int canopen_setFollowingErrorWindow(huint8 devIndex, huint8 id, huint32 eWindow, huint32 timeout=100)
写从站字典0x6065-0x0
EXTERNFUNC int canopen_getOperateMode(huint8 devIndex, huint8 id, canopen_OperateMode *mode, huint32 timeout=100)
读从站字典0x6060-0x0
EXTERNFUNC int canopen_getStatusWord(huint8 devIndex, huint8 id, huint16 *word, huint32 timeout=100)
读从站字典0x6041-0x0
EXTERNFUNC int canopen_getQuickStopDeceleration(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout=100)
读从站字典0x6085-0x0
EXTERNFUNC int canopen_getRestoreDefaultParametersNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100)
读从站字典0x1011-0x0
EXTERNFUNC int canopen_setLocalInterpolationTimePeriodValue(huint8 value)
写本地字典0x60c2-0x1
Definition: eu_canopen.h:97
EXTERNFUNC int canopen_setLocalTPDOCobId(huint16 pdoIndex, huint32 cobId)
写本地字典[0x1800+pdoIndex]-0x1
EXTERNFUNC int canopen_getLifeTimeFactor(huint8 devIndex, huint8 id, huint8 *factor, huint32 timeout=100)
读从站字典0x100D-0x0
EXTERNFUNC int canopen_getActualVelocity(huint8 devIndex, huint8 id, hint32 *vel, huint32 timeout=100)
读从站字典0x606C-0x0
EXTERNFUNC int canopen_setTargetTorque(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout=100)
写从站字典0x6071-0x0
EXTERNFUNC int canopen_setLocalRPDOInhibitTime(huint16 pdoIndex, huint16 time)
写本地字典[0x1400+pdoIndex]-0x3
canopen_QuickStopOption
快速停止选项
Definition: eu_canopen.h:166
EXTERNFUNC int canopen_getDemandVelocity(huint8 devIndex, huint8 id, hint32 *dVel, huint32 timeout=100)
读从站字典0x606B-0x0
EXTERNFUNC int canopen_setSyncCycle(huint8 devIndex, huint8 id, huint32 syncCycle, huint32 timeout=100)
写从站字典0x1006-0x0
EXTERNFUNC int canopen_setLocalSyncCycle(huint32 cycle)
写本地字典0x1006-0x0
EXTERNFUNC int canopen_writeCanMsg(huint8 devIndex, const canopen_CanMsg *canMsg)
发送原始can数据
Definition: eu_canopen.h:85
EXTERNFUNC int canopen_getLocalSyncWindow(huint32 *sWindow)
读本地字典0x1007-0x0
EXTERNFUNC int canopen_setLocalMutiMotorSetVel(huint16 motorIndex, hint32 vel)
写本地字典0x5004+[0x1+motorIndex]
EXTERNFUNC int canopen_setHaltOption(huint8 devIndex, huint8 id, canopen_HaltOption option, huint32 timeout=100)
写从站字典0x605D-0x0
huint32 canId
Definition: eu_canopen.h:253
EXTERNFUNC int canopen_getPositionWindow(huint8 devIndex, huint8 id, huint32 *pWindow, huint32 timeout=100)
读从站字典0x6067-0x0
EXTERNFUNC int canopen_writeDirectory(huint8 devIndex, huint8 id, huint16 index, huint8 subIndex, canopen_DataType dataType, void *writeData, huint32 timeout=100)
写从站字典
EXTERNFUNC int canopen_getSoftwareMinimumPosition(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100)
读从站字典0x607D-0x1
EXTERNFUNC int canopen_getLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 *value)
读本地字典[0x1400+pdoIndex]-0x6
EXTERNFUNC int canopen_setSoftwareMaxmumPosition(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout=100)
写从站字典0x607D-0x2
canopen_DataType
数据类型
Definition: eu_canopen.h:149
EXTERNFUNC int canopen_getInterpolationTimePeriodValue(huint8 devIndex, huint8 id, huint8 *value, huint32 timeout=100)
读从站字典0x60C2-0x1
EXTERNFUNC int canopen_setProfileAcceleration(huint8 devIndex, huint8 id, huint32 acc, huint32 timeout=100)
写从站字典0x6083-0x0
EXTERNFUNC int canopen_getLocalRPDOInhibitTime(huint16 pdoIndex, huint16 *time)
读本地字典[0x1400+pdoIndex]-0x3
EXTERNFUNC int canopen_getLocalTPDOInhibitTime(huint16 pdoIndex, huint16 *time)
读本地字典[0x1800+pdoIndex]-0x3
EXTERNFUNC int canopen_setLocalNodeState(canopen_NodeState state)
设置本地节点状态
EXTERNFUNC int canopen_getLocalMitMutiMotorGetPos(huint16 motorIndex, hreal32 *pos)
读本地字典0x5008+[0x1+motorIndex]
Definition: eu_canopen.h:101
EXTERNFUNC int canopen_getLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value)
读本地字典[0x1600+pdoIndex]-[0x1+mapIndex]
EXTERNFUNC int canopen_setHomeOffset(huint8 devIndex, huint8 id, hint32 offSet, huint32 timeout=100)
写从站字典0x607C-0x0
EXTERNFUNC int canopen_setQuickStopOption(huint8 devIndex, huint8 id, canopen_QuickStopOption option, huint32 timeout=100)
写从站字典0x605A-0x0
EXTERNFUNC int canopen_setLocalTargetPos(hint32 pos)
写本地字典0x607A-0x0
EXTERNFUNC int canopen_getSyncCycle(huint8 devIndex, huint8 id, huint32 *syncCycle, huint32 timeout=100)
读从站字典0x1006-0x0
EXTERNFUNC int canopen_setInterpolationTimePeriodValue(huint8 devIndex, huint8 id, huint8 value, huint32 timeout=100)
写从站字典0x60C2-0x1
EXTERNFUNC int canopen_getLocalRPDOTransmitType(huint16 pdoIndex, huint8 *type)
读本地字典[0x1400+pdoIndex]-0x2
EXTERNFUNC int canopen_setStoreParameters(huint8 devIndex, huint8 id, huint32 value, huint32 timeout=100)
写从站字典0x1010-0x1
EXTERNFUNC int canopen_setLocalMutiMotorSetTorque(huint16 motorIndex, hint16 torque)
写本地字典0x5005+[0x1+motorIndex]
signed int hint32
Definition: eu_canopen.h:50
Definition: eu_canopen.h:100
EXTERNFUNC int canopen_getFaultReactionOption(huint8 devIndex, huint8 id, canopen_FaultReactionOption *option, huint32 timeout=100)
读从站字典0x605E-0x0
EXTERNFUNC int canopen_setServerSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout=100)
写从站字典[0x1200+sdoServerIndex]-0x2
EXTERNFUNC int canopen_readLocalDirectory(huint16 index, huint8 subIndex, canopen_DataType dataType, void *readData)
读主站字典
EXTERNFUNC int canopen_getClientSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout=100)
读从站字典[0x1280+sdoClientIndex]-0x2
EXTERNFUNC int canopen_setLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 cobId)
写本地字典[0x1280+sdoClientIndex]-0x2
EXTERNFUNC int canopen_getGearRatioMotorRevolutions(huint8 devIndex, huint8 id, huint32 *rev, huint32 timeout=100)
读从站字典0x6091-0x1
EXTERNFUNC int canopen_getLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 *value)
读本地字典[0x1800+pdoIndex]-0x6
EXTERNFUNC int canopen_setLocalRPDOTransmitType(huint16 pdoIndex, huint8 type)
写本地字典[0x1400+pdoIndex]-0x2
EXTERNFUNC int canopen_getHearbeatConsumerTime(huint8 devIndex, huint8 id, huint8 subIndex, huint32 *time, huint32 timeout=100)
读从站字典0x1016-subIndex
EXTERNFUNC int canopen_getMaxProfileVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout=100)
读从站字典0x607F-0x0
EXTERNFUNC int canopen_setSyncWindow(huint8 devIndex, huint8 id, huint32 syncWindow, huint32 timeout=100)
写从站字典0x1007-0x0
EXTERNFUNC int canopen_getLocalRPDOCobId(huint16 pdoIndex, huint32 *cobId)
读本地字典[0x1400+pdoIndex]-0x1
EXTERNFUNC int canopen_setLocalControlword(huint16 word)
写本地字典0x6040-0x0