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  {
89 
94  typedef enum
95  {
105 
106  typedef enum
107  {
114 
119  typedef enum
120  {
127 
132  typedef enum
133  {
143 
148  typedef enum
149  {
150  // canopen_DataType_boolean = 0x01, /**< 布尔类型 */
160 
165  typedef enum
166  {
177 
182  typedef enum
183  {
187 
192  typedef enum
193  {
197 
202  typedef enum
203  {
210 
215  typedef enum
216  {
223 
228  typedef enum
229  {
245 
250  typedef struct
251  {
252  huint32 canId;
253  huint8 rtr;
254  huint8 extended;
255  huint8 len;
256  huint8 data[64];
257  } canopen_CanMsg;
258 
263  typedef void (*canopen_SendDataCallBack)(huint8 devIndex, const canopen_CanMsg *msg);
264 
269  typedef void (*canopen_ReceiveDataCallBack)(huint8 devIndex, const canopen_CanMsg *msg);
270 
278 
286 
295  EXTERNFUNC int canopen_configureCanNameMapping(unsigned *devIndexs, char **canNames, unsigned size);
296 
308  EXTERNFUNC int canopen_initDLL(canopen_DeviceType devType, huint8 devIndex, canopen_Baudrate baudrate, bool isCanFD = false, canopen_DBaudrate dbaudrate = canopen_DBaudrate::canopen_DBaudrate_5000);
309 
317  EXTERNFUNC int canopen_freeDLL(huint8 devIndex);
318 
328  EXTERNFUNC int canopen_getNodeState(huint8 devIndex, huint8 id, canopen_NodeState *state, huint32 timeout = 100);
329 
337 
346  EXTERNFUNC int canopen_setNodeState(huint8 devIndex, huint8 id, canopen_NMTState state);
347 
357  EXTERNFUNC int canopen_readLocalDirectory(huint16 index, huint8 subIndex, canopen_DataType dataType, void *readData);
358 
371  EXTERNFUNC int canopen_readDirectory(huint8 devIndex, huint8 id, huint16 index, huint8 subIndex, canopen_DataType dataType, void *readData, huint32 timeout = 100);
372 
382  EXTERNFUNC int canopen_writeLocalDirectory(huint16 index, huint8 subIndex, canopen_DataType dataType, void *writeData);
383 
396  EXTERNFUNC int canopen_writeDirectory(huint8 devIndex, huint8 id, huint16 index, huint8 subIndex, canopen_DataType dataType, void *writeData, huint32 timeout = 100);
397 
407  EXTERNFUNC int canopen_writeCanData(huint8 devIndex, huint16 cobId, const huint8 *const data, huint8 len);
408 
416  EXTERNFUNC int canopen_writeCanMsg(huint8 devIndex, const canopen_CanMsg *canMsg);
417 
424  EXTERNFUNC int canopen_getLocalSyncCOBID(huint32 *cobId);
425 
432  EXTERNFUNC int canopen_setLocalSyncCOBID(huint32 cobId);
433 
440  EXTERNFUNC int canopen_getLocalSyncCycle(huint32 *cycle);
441 
448  EXTERNFUNC int canopen_setLocalSyncCycle(huint32 cycle);
449 
456  EXTERNFUNC int canopen_getLocalSyncWindow(huint32 *sWindow);
457 
464  EXTERNFUNC int canopen_setLocalSyncWindow(huint32 sWindow);
465 
473  EXTERNFUNC int canopen_getLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 *num);
474 
482  EXTERNFUNC int canopen_setLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 num);
483 
491  EXTERNFUNC int canopen_getLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 *cobId);
492 
500  EXTERNFUNC int canopen_setLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 cobId);
501 
509  EXTERNFUNC int canopen_getLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 *cobId);
510 
518  EXTERNFUNC int canopen_setLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 cobId);
519 
527  EXTERNFUNC int canopen_getLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 *nodeId);
528 
536  EXTERNFUNC int canopen_setLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 nodeId);
537 
545  EXTERNFUNC int canopen_getLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 *number);
546 
554  EXTERNFUNC int canopen_setLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 number);
555 
563  EXTERNFUNC int canopen_getLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 *cobId);
564 
572  EXTERNFUNC int canopen_setLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 cobId);
573 
581  EXTERNFUNC int canopen_getLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 *cobId);
582 
590  EXTERNFUNC int canopen_setLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 cobId);
591 
599  EXTERNFUNC int canopen_getLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 *nodeId);
600 
608  EXTERNFUNC int canopen_setLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 nodeId);
609 
617  EXTERNFUNC int canopen_getLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 *count);
618 
626  EXTERNFUNC int canopen_setLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 count);
627 
635  EXTERNFUNC int canopen_getLocalRPDOCobId(huint16 pdoIndex, huint32 *cobId);
636 
644  EXTERNFUNC int canopen_setLocalRPDOCobId(huint16 pdoIndex, huint32 cobId);
645 
653  EXTERNFUNC int canopen_getLocalRPDOTransmitType(huint16 pdoIndex, huint8 *type);
654 
662  EXTERNFUNC int canopen_setLocalRPDOTransmitType(huint16 pdoIndex, huint8 type);
663 
671  EXTERNFUNC int canopen_getLocalRPDOInhibitTime(huint16 pdoIndex, huint16 *time);
672 
680  EXTERNFUNC int canopen_setLocalRPDOInhibitTime(huint16 pdoIndex, huint16 time);
681 
689  EXTERNFUNC int canopen_getLocalRPDOEventTimer(huint16 pdoIndex, huint16 *timer);
690 
698  EXTERNFUNC int canopen_setLocalRPDOEventTimer(huint16 pdoIndex, huint16 timer);
699 
707  EXTERNFUNC int canopen_getLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 *value);
708 
716  EXTERNFUNC int canopen_setLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 value);
717 
725  EXTERNFUNC int canopen_getLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 *count);
726 
734  EXTERNFUNC int canopen_setLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 count);
735 
744  EXTERNFUNC int canopen_getLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value);
745 
754  EXTERNFUNC int canopen_setLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value);
755 
763  EXTERNFUNC int canopen_getLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 *count);
764 
772  EXTERNFUNC int canopen_setLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 count);
773 
781  EXTERNFUNC int canopen_getLocalTPDOCobId(huint16 pdoIndex, huint32 *cobId);
782 
790  EXTERNFUNC int canopen_setLocalTPDOCobId(huint16 pdoIndex, huint32 cobId);
791 
799  EXTERNFUNC int canopen_getLocalTPDOTransmitType(huint16 pdoIndex, huint8 *type);
800 
808  EXTERNFUNC int canopen_setLocalTPDOTransmitType(huint16 pdoIndex, huint8 type);
809 
817  EXTERNFUNC int canopen_getLocalTPDOInhibitTime(huint16 pdoIndex, huint16 *time);
818 
826  EXTERNFUNC int canopen_setLocalTPDOInhibitTime(huint16 pdoIndex, huint16 time);
827 
835  EXTERNFUNC int canopen_getLocalTPDOEventTimer(huint16 pdoIndex, huint16 *timer);
836 
844  EXTERNFUNC int canopen_setLocalTPDOEventTimer(huint16 pdoIndex, huint16 timer);
845 
853  EXTERNFUNC int canopen_getLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 *value);
854 
862  EXTERNFUNC int canopen_setLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 value);
863 
871  EXTERNFUNC int canopen_getLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 *count);
872 
880  EXTERNFUNC int canopen_setLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 count);
881 
890  EXTERNFUNC int canopen_getLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value);
891 
900  EXTERNFUNC int canopen_setLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value);
901 
909  EXTERNFUNC int canopen_getLocalMutiMotorPos(huint16 motorIndex, hint32 *pos);
910 
918  EXTERNFUNC int canopen_getLocalMutiMotorVel(huint16 motorIndex, hint32 *vel);
919 
927  EXTERNFUNC int canopen_getLocalMutiMotorTorque(huint16 motorIndex, hint16 *tor);
928 
936  EXTERNFUNC int canopen_setLocalMutiMotorSetPos(huint16 motorIndex, hint32 pos);
937 
945  EXTERNFUNC int canopen_setLocalMutiMotorSetVel(huint16 motorIndex, hint32 vel);
946 
954  EXTERNFUNC int canopen_setLocalMutiMotorSetTorque(huint16 motorIndex, hint16 torque);
955 
963  EXTERNFUNC int canopen_getLocalMutiMotorStatusWord(huint16 motorIndex, huint16 *status);
964 
972  EXTERNFUNC int canopen_getLocalMutiMotorErrorCode(huint16 motorIndex, huint16 *error);
973 
981  EXTERNFUNC int canopen_getLocalMitMutiMotorGetPos(huint16 motorIndex, hreal32 *pos);
982 
990  EXTERNFUNC int canopen_setLocalMitMutiMotorGetPos(huint16 motorIndex, hreal32 pos);
991 
999  EXTERNFUNC int canopen_getLocalMitMutiMotorGetVel(huint16 motorIndex, hreal32 *vel);
1000 
1008  EXTERNFUNC int canopen_setLocalMitMutiMotorGetVel(huint16 motorIndex, hreal32 vel);
1009 
1017  EXTERNFUNC int canopen_getLocalMitMutiMotorGetTor(huint16 motorIndex, hreal32 *tor);
1018 
1026  EXTERNFUNC int canopen_setLocalMitMutiMotorGetTor(huint16 motorIndex, hreal32 tor);
1027 
1035  EXTERNFUNC int canopen_getLocalMitMutiMotorSetPos(huint16 motorIndex, hreal32 *pos);
1036 
1044  EXTERNFUNC int canopen_setLocalMitMutiMotorSetPos(huint16 motorIndex, hreal32 pos);
1045 
1053  EXTERNFUNC int canopen_getLocalMitMutiMotorSetVel(huint16 motorIndex, hreal32 *vel);
1054 
1062  EXTERNFUNC int canopen_setLocalMitMutiMotorSetVel(huint16 motorIndex, hreal32 vel);
1063 
1071  EXTERNFUNC int canopen_getLocalMitMutiMotorSetTor(huint16 motorIndex, hreal32 *tor);
1072 
1080  EXTERNFUNC int canopen_setLocalMitMutiMotorSetTor(huint16 motorIndex, hreal32 tor);
1081 
1088  EXTERNFUNC int canopen_getLocalServoErrorCode(huint16 *err);
1089 
1096  EXTERNFUNC int canopen_getLocalControlword(huint16 *word);
1097 
1104  EXTERNFUNC int canopen_setLocalControlword(huint16 word);
1105 
1112  EXTERNFUNC int canopen_getLocalStatusWord(huint16 *word);
1113 
1120  EXTERNFUNC int canopen_getLocalActualPos(hint32 *pos);
1121 
1128  EXTERNFUNC int canopen_getLocalActualVelocity(hint32 *velocity);
1129 
1136  EXTERNFUNC int canopen_getLocalTargetTorque(hint16 *torque);
1137 
1144  EXTERNFUNC int canopen_setLocalTargetTorque(hint16 torque);
1145 
1152  EXTERNFUNC int canopen_getLocalActualTorque(hint16 *torque);
1153 
1160  EXTERNFUNC int canopen_getLocalDCLinkCircuitVoltage(huint32 *voltage);
1161 
1168  EXTERNFUNC int canopen_getLocalTargetPos(hint32 *pos);
1169 
1176  EXTERNFUNC int canopen_setLocalTargetPos(hint32 pos);
1177 
1185 
1193 
1201 
1209 
1216  EXTERNFUNC int canopen_getLocalTargetVelocity(hint32 *vel);
1217 
1225 
1235  EXTERNFUNC int canopen_getDeviceType(huint8 devIndex, huint8 id, huint32 *deviceType, huint32 timeout = 100);
1236 
1246  EXTERNFUNC int canopen_getErrorRegister(huint8 devIndex, huint8 id, huint8 *errReg, huint32 timeout = 100);
1247 
1257  EXTERNFUNC int canopen_getErrorFieldNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1258 
1268  EXTERNFUNC int canopen_setErrorFieldNumber(huint8 devIndex, huint8 id, huint8 number, huint32 timeout = 100); // 0x1003-0
1269 
1280  EXTERNFUNC int canopen_getErrorField(huint8 devIndex, huint8 id, huint8 subIndex, huint32 *err, huint32 timeout = 100);
1281 
1291  EXTERNFUNC int canopen_getSyncCobid(huint8 devIndex, huint8 id, huint32 *cobid, huint32 timeout = 100);
1292 
1302  EXTERNFUNC int canopen_setSyncCobid(huint8 devIndex, huint8 id, huint32 cobid, huint32 timeout = 100);
1303 
1313  EXTERNFUNC int canopen_getSyncCycle(huint8 devIndex, huint8 id, huint32 *syncCycle, huint32 timeout = 100);
1314 
1324  EXTERNFUNC int canopen_setSyncCycle(huint8 devIndex, huint8 id, huint32 syncCycle, huint32 timeout = 100);
1325 
1335  EXTERNFUNC int canopen_getSyncWindow(huint8 devIndex, huint8 id, huint32 *syncWindow, huint32 timeout = 100);
1336 
1346  EXTERNFUNC int canopen_setSyncWindow(huint8 devIndex, huint8 id, huint32 syncWindow, huint32 timeout = 100);
1347 
1357  EXTERNFUNC int canopen_getDeviceName(huint8 devIndex, huint8 id, char *devName, huint32 timeout = 100);
1358 
1368  EXTERNFUNC int canopen_getHardwareVersion(huint8 devIndex, huint8 id, char *version, huint32 timeout = 100);
1369 
1379  EXTERNFUNC int canopen_getSoftwareVersion(huint8 devIndex, huint8 id, char *version, huint32 timeout = 100);
1380 
1390  EXTERNFUNC int canopen_getGuardTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
1391 
1401  EXTERNFUNC int canopen_setGuardTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
1402 
1412  EXTERNFUNC int canopen_getLifeTimeFactor(huint8 devIndex, huint8 id, huint8 *factor, huint32 timeout = 100);
1413 
1423  EXTERNFUNC int canopen_setLifeTimeFactor(huint8 devIndex, huint8 id, huint8 factor, huint32 timeout = 100);
1424 
1434  EXTERNFUNC int canopen_getStoreParametersNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1435 
1445  EXTERNFUNC int canopen_getStoreParameters(huint8 devIndex, huint8 id, huint32 *value, huint32 timeout = 100);
1446 
1456  EXTERNFUNC int canopen_setStoreParameters(huint8 devIndex, huint8 id, huint32 value, huint32 timeout = 100);
1457 
1467  EXTERNFUNC int canopen_getRestoreDefaultParametersNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1468 
1478  EXTERNFUNC int canopen_getRestoreDefaultParameters(huint8 devIndex, huint8 id, huint32 *value, huint32 timeout = 100);
1479 
1489  EXTERNFUNC int canopen_setRestoreDefaultParameters(huint8 devIndex, huint8 id, huint32 value, huint32 timeout = 100);
1490 
1500  EXTERNFUNC int canopen_getEmergencyCobid(huint8 devIndex, huint8 id, huint32 *cobid, huint32 timeout = 100);
1501 
1511  EXTERNFUNC int canopen_setEmergencyCobid(huint8 devIndex, huint8 id, huint32 cobid, huint32 timeout = 100);
1512 
1522  EXTERNFUNC int canopen_getEmergencyInhibitTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
1523 
1533  EXTERNFUNC int canopen_setEmergencyInhibitTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
1534 
1544  EXTERNFUNC int canopen_getHearbeatConsumerTimeParasNum(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1545 
1556  EXTERNFUNC int canopen_getHearbeatConsumerTime(huint8 devIndex, huint8 id, huint8 subIndex, huint32 *time, huint32 timeout = 100);
1557 
1568  EXTERNFUNC int canopen_setHearbeatConsumerTime(huint8 devIndex, huint8 id, huint8 subIndex, huint32 time, huint32 timeout = 100);
1569 
1579  EXTERNFUNC int canopen_getProducerHeartbeatTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout = 100);
1580 
1590  EXTERNFUNC int canopen_setProducerHeartbeatTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout = 100);
1591 
1601  EXTERNFUNC int canopen_getIdentityObjectNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout = 100);
1602 
1612  EXTERNFUNC int canopen_getVendorID(huint8 devIndex, huint8 id, huint32 *vId, huint32 timeout = 100);
1613 
1623  EXTERNFUNC int canopen_getProductCode(huint8 devIndex, huint8 id, huint32 *pCode, huint32 timeout = 100);
1624 
1634  EXTERNFUNC int canopen_getIdentityObjectRevisionNumber(huint8 devIndex, huint8 id, huint32 *revisionNum, huint32 timeout = 100);
1635 
1645  EXTERNFUNC int canopen_getSerialNumber(huint8 devIndex, huint8 id, huint32 *serialNum, huint32 timeout = 100);
1646 
1656  EXTERNFUNC int canopen_getSyncCounter(huint8 devIndex, huint8 id, huint8 *counter, huint32 timeout = 100);
1657 
1667  EXTERNFUNC int canopen_setSyncCounter(huint8 devIndex, huint8 id, huint8 counter, huint32 timeout = 100);
1668 
1679  EXTERNFUNC int canopen_getServerSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 *num, huint32 timeout = 100);
1680 
1691  EXTERNFUNC int canopen_setServerSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 num, huint32 timeout = 100);
1692 
1703  EXTERNFUNC int canopen_getServerSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout = 100);
1704 
1715  EXTERNFUNC int canopen_setServerSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout = 100);
1716 
1727  EXTERNFUNC int canopen_getServerSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout = 100);
1728 
1739  EXTERNFUNC int canopen_setServerSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout = 100);
1740 
1751  EXTERNFUNC int canopen_getServerSDONodeIdOfClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 *nodeId, huint32 timeout = 100);
1752 
1763  EXTERNFUNC int canopen_setServerSDONodeIdOfClient(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 nodeId, huint32 timeout = 100);
1764 
1775  EXTERNFUNC int canopen_getClientSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 *number, huint32 timeout = 100);
1776 
1787  EXTERNFUNC int canopen_setClientSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 number, huint32 timeout = 100);
1788 
1799  EXTERNFUNC int canopen_getClientSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout = 100);
1800 
1811  EXTERNFUNC int canopen_setClientSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout = 100);
1812 
1823  EXTERNFUNC int canopen_getClientSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 *cobId, huint32 timeout = 100);
1824 
1835  EXTERNFUNC int canopen_setClientSDOCobIdServerToClient(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout = 100);
1836 
1847  EXTERNFUNC int canopen_getClientSDONodeIdOfSDOServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 *nodeId, huint32 timeout = 100);
1848 
1859  EXTERNFUNC int canopen_setClientSDONodeIdOfSDOServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 nodeId, huint32 timeout = 100);
1860 
1871  EXTERNFUNC int canopen_getRPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
1872 
1883  EXTERNFUNC int canopen_setRPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
1884 
1895  EXTERNFUNC int canopen_getRPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout = 100);
1896 
1907  EXTERNFUNC int canopen_setRPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout = 100);
1908 
1919  EXTERNFUNC int canopen_getRPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout = 100);
1920 
1931  EXTERNFUNC int canopen_setRPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout = 100);
1932 
1943  EXTERNFUNC int canopen_getRPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout = 100);
1944 
1955  EXTERNFUNC int canopen_setRPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout = 100);
1956 
1967  EXTERNFUNC int canopen_getRPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout = 100);
1968 
1979  EXTERNFUNC int canopen_setRPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout = 100);
1980 
1991  EXTERNFUNC int canopen_getRPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout = 100);
1992 
2003  EXTERNFUNC int canopen_setRPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout = 100); // 1400-6
2004 
2015  EXTERNFUNC int canopen_getRPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
2016 
2027  EXTERNFUNC int canopen_setRPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
2028 
2040  EXTERNFUNC int canopen_getRPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout = 100);
2041 
2053  EXTERNFUNC int canopen_setRPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout = 100);
2054 
2065  EXTERNFUNC int canopen_getTPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
2066 
2077  EXTERNFUNC int canopen_setTPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
2078 
2089  EXTERNFUNC int canopen_getTPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout = 100);
2090 
2101  EXTERNFUNC int canopen_setTPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 cobId, huint32 timeout = 100);
2102 
2113  EXTERNFUNC int canopen_getTPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout = 100);
2114 
2125  EXTERNFUNC int canopen_setTPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 type, huint32 timeout = 100);
2126 
2137  EXTERNFUNC int canopen_getTPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *time, huint32 timeout = 100);
2138 
2149  EXTERNFUNC int canopen_setTPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout = 100);
2150 
2161  EXTERNFUNC int canopen_getTPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout = 100);
2162 
2172  EXTERNFUNC int canopen_setTPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout = 100);
2173 
2184  EXTERNFUNC int canopen_getTPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout = 100);
2185 
2196  EXTERNFUNC int canopen_setTPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout = 100);
2197 
2208  EXTERNFUNC int canopen_getTPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout = 100);
2209 
2220  EXTERNFUNC int canopen_setTPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout = 100);
2221 
2233  EXTERNFUNC int canopen_getTPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 *value, huint32 timeout = 100);
2234 
2246  EXTERNFUNC int canopen_setTPDOMapped(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 mapIndex, huint32 value, huint32 timeout = 100); // 1A00-1
2247 
2257  EXTERNFUNC int canopen_getServoErrorCode(huint8 devIndex, huint8 id, huint16 *err, huint32 timeout = 100);
2258 
2268  EXTERNFUNC int canopen_getControlword(huint8 devIndex, huint8 id, huint16 *word, huint32 timeout = 100);
2269 
2279  EXTERNFUNC int canopen_setControlword(huint8 devIndex, huint8 id, huint16 word, huint32 timeout = 100);
2280 
2290  EXTERNFUNC int canopen_getStatusWord(huint8 devIndex, huint8 id, huint16 *word, huint32 timeout = 100);
2291 
2301  EXTERNFUNC int canopen_getQuickStopOption(huint8 devIndex, huint8 id, canopen_QuickStopOption *option, huint32 timeout = 100);
2302 
2312  EXTERNFUNC int canopen_setQuickStopOption(huint8 devIndex, huint8 id, canopen_QuickStopOption option, huint32 timeout = 100);
2313 
2323  EXTERNFUNC int canopen_getShutdownOptionCode(huint8 devIndex, huint8 id, canopen_ShutdownOption *code, huint32 timeout = 100);
2324 
2334  EXTERNFUNC int canopen_setShutdownOptionCode(huint8 devIndex, huint8 id, canopen_ShutdownOption code, huint32 timeout = 100);
2335 
2345  EXTERNFUNC int canopen_getDisableOperationOptionCode(huint8 devIndex, huint8 id, canopen_DisableOperationOption *code, huint32 timeout = 100);
2346 
2356  EXTERNFUNC int canopen_setDisableOperationOptionCode(huint8 devIndex, huint8 id, canopen_DisableOperationOption code, huint32 timeout = 100);
2357 
2367  EXTERNFUNC int canopen_getHaltOption(huint8 devIndex, huint8 id, canopen_HaltOption *option, huint32 timeout = 100);
2368 
2378  EXTERNFUNC int canopen_setHaltOption(huint8 devIndex, huint8 id, canopen_HaltOption option, huint32 timeout = 100);
2379 
2389  EXTERNFUNC int canopen_getFaultReactionOption(huint8 devIndex, huint8 id, canopen_FaultReactionOption *option, huint32 timeout = 100);
2390 
2400  EXTERNFUNC int canopen_setFaultReactionOption(huint8 devIndex, huint8 id, canopen_FaultReactionOption option, huint32 timeout = 100);
2401 
2411  EXTERNFUNC int canopen_getOperateMode(huint8 devIndex, huint8 id, canopen_OperateMode *mode, huint32 timeout = 100);
2412 
2422  EXTERNFUNC int canopen_setOperateMode(huint8 devIndex, huint8 id, canopen_OperateMode mode, huint32 timeout = 100);
2423 
2433  EXTERNFUNC int canopen_getDisplayOperateMode(huint8 devIndex, huint8 id, canopen_OperateMode *mode, huint32 timeout = 100);
2434 
2444  EXTERNFUNC int canopen_getDemandPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
2445 
2455  EXTERNFUNC int canopen_setDemandPos(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout = 100);
2456 
2466  EXTERNFUNC int canopen_getActualPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
2467 
2477  EXTERNFUNC int canopen_getFollowingErrorWindow(huint8 devIndex, huint8 id, huint32 *eWindow, huint32 timeout = 100);
2478 
2488  EXTERNFUNC int canopen_setFollowingErrorWindow(huint8 devIndex, huint8 id, huint32 eWindow, huint32 timeout = 100);
2489 
2499  EXTERNFUNC int canopen_getPositionWindow(huint8 devIndex, huint8 id, huint32 *pWindow, huint32 timeout = 100);
2500 
2510  EXTERNFUNC int canopen_setPositionWindow(huint8 devIndex, huint8 id, huint32 pWindow, huint32 timeout = 100);
2511 
2521  EXTERNFUNC int canopen_getPositionWindowTime(huint8 devIndex, huint8 id, huint16 *pWindowTime, huint32 timeout = 100);
2522 
2532  EXTERNFUNC int canopen_setPositionWindowTime(huint8 devIndex, huint8 id, huint16 pWindowTime, huint32 timeout = 100);
2533 
2543  EXTERNFUNC int canopen_getDemandVelocity(huint8 devIndex, huint8 id, hint32 *dVel, huint32 timeout = 100);
2544 
2554  EXTERNFUNC int canopen_setDemandVelocity(huint8 devIndex, huint8 id, hint32 dvel, huint32 timeout = 100);
2555 
2565  EXTERNFUNC int canopen_getActualVelocity(huint8 devIndex, huint8 id, hint32 *vel, huint32 timeout = 100);
2566 
2576  EXTERNFUNC int canopen_getVelocityWindow(huint8 devIndex, huint8 id, huint16 *vWindow, huint32 timeout = 100);
2577 
2587  EXTERNFUNC int canopen_setVelocityWindow(huint8 devIndex, huint8 id, huint16 vWindow, huint32 timeout = 100);
2588 
2598  EXTERNFUNC int canopen_getVelocityWindowTime(huint8 devIndex, huint8 id, huint16 *wTime, huint32 timeout = 100);
2599 
2609  EXTERNFUNC int canopen_setVelocityWindowTime(huint8 devIndex, huint8 id, huint16 wTime, huint32 timeout = 100);
2610 
2620  EXTERNFUNC int canopen_getVelocityThreshold(huint8 devIndex, huint8 id, huint16 *thres, huint32 timeout = 100);
2621 
2631  EXTERNFUNC int canopen_setVelocityThreshold(huint8 devIndex, huint8 id, huint16 thres, huint32 timeout = 100);
2632 
2642  EXTERNFUNC int canopen_getVelocityThresholdTime(huint8 devIndex, huint8 id, huint16 *tTime, huint32 timeout = 100);
2643 
2653  EXTERNFUNC int canopen_setVelocityThresholdTime(huint8 devIndex, huint8 id, huint16 tTime, huint32 timeout = 100);
2654 
2664  EXTERNFUNC int canopen_getTargetTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout = 100);
2665 
2675  EXTERNFUNC int canopen_setTargetTorque(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout = 100);
2676 
2686  EXTERNFUNC int canopen_getTorqueLimit(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout = 100);
2687 
2697  EXTERNFUNC int canopen_setTorqueLimit(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout = 100);
2698 
2708  EXTERNFUNC int canopen_getDemandTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout = 100);
2709 
2719  EXTERNFUNC int canopen_setDemandTorque(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout = 100);
2720 
2730  EXTERNFUNC int canopen_getRatedCurrent(huint8 devIndex, huint8 id, huint32 *current, huint32 timeout = 100);
2731 
2741  EXTERNFUNC int canopen_setRatedCurrent(huint8 devIndex, huint8 id, huint32 current, huint32 timeout = 100);
2742 
2752  EXTERNFUNC int canopen_getMotorRatedTorque(huint8 devIndex, huint8 id, huint32 *torque, huint32 timeout = 100);
2753 
2763  EXTERNFUNC int canopen_setMotorRatedTorque(huint8 devIndex, huint8 id, huint32 torque, huint32 timeout = 100);
2764 
2774  EXTERNFUNC int canopen_getActualTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout = 100);
2775 
2785  EXTERNFUNC int canopen_getActualCurrent(huint8 devIndex, huint8 id, hint16 *current, huint32 timeout = 100);
2786 
2796  EXTERNFUNC int canopen_getDCLinkCircuitVoltage(huint8 devIndex, huint8 id, huint32 *voltage, huint32 timeout = 100);
2797 
2807  EXTERNFUNC int canopen_setDCLinkCircuitVoltage(huint8 devIndex, huint8 id, huint32 voltage, huint32 timeout = 100);
2808 
2818  EXTERNFUNC int canopen_getTargetPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
2819 
2829  EXTERNFUNC int canopen_setTargetPos(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout = 100);
2830 
2840  EXTERNFUNC int canopen_getHomeOffset(huint8 devIndex, huint8 id, hint32 *offSet, huint32 timeout = 100);
2841 
2851  EXTERNFUNC int canopen_setHomeOffset(huint8 devIndex, huint8 id, hint32 offSet, huint32 timeout = 100);
2852 
2862  EXTERNFUNC int canopen_getSoftwareMinimumPosition(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
2863 
2873  EXTERNFUNC int canopen_setSoftwareMinimumPosition(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout = 100);
2874 
2884  EXTERNFUNC int canopen_getSoftwareMaxmumPosition(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout = 100);
2885 
2895  EXTERNFUNC int canopen_setSoftwareMaxmumPosition(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout = 100);
2896 
2906  EXTERNFUNC int canopen_getMaxProfileVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout = 100);
2907 
2917  EXTERNFUNC int canopen_setMaxProfileVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout = 100);
2918 
2928  EXTERNFUNC int canopen_getProfileVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout = 100);
2929 
2939  EXTERNFUNC int canopen_setProfileVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout = 100);
2940 
2950  EXTERNFUNC int canopen_getProfileAcceleration(huint8 devIndex, huint8 id, huint32 *acc, huint32 timeout = 100);
2951 
2961  EXTERNFUNC int canopen_setProfileAcceleration(huint8 devIndex, huint8 id, huint32 acc, huint32 timeout = 100);
2962 
2972  EXTERNFUNC int canopen_getProfileDeceleration(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout = 100);
2973 
2983  EXTERNFUNC int canopen_setProfileDeceleration(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout = 100);
2984 
2994  EXTERNFUNC int canopen_getQuickStopDeceleration(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout = 100);
2995 
3005  EXTERNFUNC int canopen_setQuickStopDeceleration(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout = 100);
3006 
3016  EXTERNFUNC int canopen_getTorqueSlope(huint8 devIndex, huint8 id, huint32 *slope, huint32 timeout = 100);
3017 
3027  EXTERNFUNC int canopen_setTorqueSlope(huint8 devIndex, huint8 id, huint32 slope, huint32 timeout = 100);
3028 
3038  EXTERNFUNC int canopen_getGearRatioMotorRevolutions(huint8 devIndex, huint8 id, huint32 *rev, huint32 timeout = 100);
3039 
3049  EXTERNFUNC int canopen_setGearRatioMotorRevolutions(huint8 devIndex, huint8 id, huint32 rev, huint32 timeout = 100);
3050 
3060  EXTERNFUNC int canopen_getGearRatioShaftRevolutions(huint8 devIndex, huint8 id, huint32 *rev, huint32 timeout = 100);
3061 
3071  EXTERNFUNC int canopen_setGearRatioShaftRevolutions(huint8 devIndex, huint8 id, huint32 rev, huint32 timeout = 100);
3072 
3082  EXTERNFUNC int canopen_getInterpolationDataRecord(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout = 100);
3083 
3093  EXTERNFUNC int canopen_setInterpolationDataRecord(huint8 devIndex, huint8 id, hint32 value, huint32 timeout = 100);
3094 
3104  EXTERNFUNC int canopen_getInterpolationTimePeriodValue(huint8 devIndex, huint8 id, huint8 *value, huint32 timeout = 100);
3105 
3115  EXTERNFUNC int canopen_setInterpolationTimePeriodValue(huint8 devIndex, huint8 id, huint8 value, huint32 timeout = 100);
3116 
3126  EXTERNFUNC int canopen_getActualFollowingError(huint8 devIndex, huint8 id, hint32 *error, huint32 timeout = 100);
3127 
3137  EXTERNFUNC int canopen_setActualFollowingError(huint8 devIndex, huint8 id, hint32 error, huint32 timeout = 100);
3138 
3148  EXTERNFUNC int canopen_getTargetVelocity(huint8 devIndex, huint8 id, hint32 *targetVel, huint32 timeout = 100);
3149 
3159  EXTERNFUNC int canopen_setTargetVelocity(huint8 devIndex, huint8 id, hint32 targetVel, huint32 timeout = 100);
3160 
3170  EXTERNFUNC int canopen_getSupportedDriveModes(huint8 devIndex, huint8 id, huint32 *modes, huint32 timeout = 100);
3171 
3172 #ifdef __cplusplus
3173 }
3174 #endif
3175 
3176 #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:123
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:98
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:253
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:269
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:231
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:119
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:155
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:110
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:140
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:202
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:243
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:111
canopen_FaultReactionOption
故障处理选项
Definition: eu_canopen.h:215
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:238
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:152
Definition: eu_canopen.h:167
Definition: eu_canopen.h:122
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:233
EXTERNFUNC int canopen_getSerialNumber(huint8 devIndex, huint8 id, huint32 *serialNum, huint32 timeout=100)
读从站字典0x1018-0x4
Definition: eu_canopen.h:234
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:137
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:192
void(* canopen_SendDataCallBack)(huint8 devIndex, const canopen_CanMsg *msg)
发送数据回调函数
Definition: eu_canopen.h:263
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:151
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:135
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:138
canopen_OperateMode
操作模式
Definition: eu_canopen.h:228
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:132
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:250
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:182
Definition: eu_canopen.h:102
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:240
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:112
Definition: eu_canopen.h:121
Definition: eu_canopen.h:86
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:254
Definition: eu_canopen.h:230
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:141
Definition: eu_canopen.h:139
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:97
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:109
EXTERNFUNC int canopen_configureCanNameMapping(unsigned *devIndexs, char **canNames, unsigned size)
配置can名称到索引的映射表
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
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:125
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:232
Definition: eu_canopen.h:236
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:157
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:242
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:134
float hreal32
Definition: eu_canopen.h:63
Definition: eu_canopen.h:235
EXTERNFUNC int canopen_setLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 count)
写本地字典[0x1400+pdoIndex]-0x0
Definition: eu_canopen.h:153
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:94
Definition: eu_canopen.h:101
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:158
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:108
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:239
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:136
Definition: eu_canopen.h:124
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:87
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:106
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:237
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:156
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:154
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:103
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:204
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:241
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:255
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:96
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:165
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:252
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:148
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:100
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:99
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