eyou_canopen_sdk  1.0
eyou_canopen_sdk library
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  {
103  canopen_Baudrate_1000 = 1000
105 
106  typedef enum
107  {
112  canopen_DBaudrate_8000 = 8000
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 
425 
433 
441 
449 
456  EXTERNFUNC int canopen_getLocalSyncWindow(huint32 *sWindow);
457 
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 
982 
991 
1000 
1009 
1018 
1027 
1036 
1045 
1054 
1063 
1072 
1081 
1089 
1097 
1105 
1113 
1121 
1129 
1137 
1145 
1153 
1161 
1169 
1177 
1185 
1193 
1201 
1209 
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_setQuickStopDeceleration(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout=100)
写从站字典0x6085-0x0
EXTERNFUNC int canopen_getMaxProfileVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout=100)
读从站字典0x607F-0x0
EXTERNFUNC int canopen_setControlword(huint8 devIndex, huint8 id, huint16 word, huint32 timeout=100)
写从站字典0x6040-0x0
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_getLocalSyncCOBID(huint32 *cobId)
读本地字典0x1005-0x0
EXTERNFUNC int canopen_getPositionWindow(huint8 devIndex, huint8 id, huint32 *pWindow, huint32 timeout=100)
读从站字典0x6067-0x0
EXTERNFUNC int canopen_getServoErrorCode(huint8 devIndex, huint8 id, huint16 *err, huint32 timeout=100)
读从站字典0x603F-0x0
EXTERNFUNC int canopen_setTargetVelocity(huint8 devIndex, huint8 id, hint32 targetVel, huint32 timeout=100)
写从站字典0x60FF-0x0
EXTERNFUNC int canopen_setSoftwareMinimumPosition(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout=100)
写从站字典0x607D-0x1
EXTERNFUNC int canopen_setLocalTPDOEventTimer(huint16 pdoIndex, huint16 timer)
写本地字典[0x1800+pdoIndex]-0x5
EXTERNFUNC int canopen_getRestoreDefaultParameters(huint8 devIndex, huint8 id, huint32 *value, huint32 timeout=100)
读从站字典0x1011-0x1
EXTERNFUNC int canopen_getTargetPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100)
0x607A-0x0
signed long int hint40
Definition: eu_canopen.h:51
EXTERNFUNC int canopen_getProducerHeartbeatTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100)
读从站字典0x1017-0x0
EXTERNFUNC int canopen_setFaultReactionOption(huint8 devIndex, huint8 id, canopen_FaultReactionOption option, huint32 timeout=100)
写从站字典0x605E-0x0
EXTERNFUNC int canopen_getLifeTimeFactor(huint8 devIndex, huint8 id, huint8 *factor, huint32 timeout=100)
读从站字典0x100D-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_setProfileVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout=100)
写从站字典0x6081-0x0
EXTERNFUNC int canopen_setGearRatioMotorRevolutions(huint8 devIndex, huint8 id, huint32 rev, huint32 timeout=100)
写从站字典0x6091-0x1
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_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_getProfileDeceleration(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout=100)
读从站字典0x6084-0x0
EXTERNFUNC int canopen_setGearRatioShaftRevolutions(huint8 devIndex, huint8 id, huint32 rev, huint32 timeout=100)
写从站字典0x6091-0x2
EXTERNFUNC int canopen_setOperateMode(huint8 devIndex, huint8 id, canopen_OperateMode mode, huint32 timeout=100)
写从站字典0x6060-0x0
EXTERNFUNC int canopen_setMotorRatedTorque(huint8 devIndex, huint8 id, huint32 torque, huint32 timeout=100)
写从站字典0x6076-0x0
EXTERNFUNC int canopen_setRestoreDefaultParameters(huint8 devIndex, huint8 id, huint32 value, huint32 timeout=100)
写从站字典0x1011-0x1
EXTERNFUNC int canopen_setSyncWindow(huint8 devIndex, huint8 id, huint32 syncWindow, huint32 timeout=100)
写从站字典0x1007-0x0
EXTERNFUNC int canopen_setProfileAcceleration(huint8 devIndex, huint8 id, huint32 acc, huint32 timeout=100)
写从站字典0x6083-0x0
EXTERNFUNC int canopen_setLocalTPDOInhibitTime(huint16 pdoIndex, huint16 time)
写本地字典[0x1800+pdoIndex]-0x3
EXTERNFUNC int canopen_setQuickStopOption(huint8 devIndex, huint8 id, canopen_QuickStopOption option, huint32 timeout=100)
写从站字典0x605A-0x0
canopen_HaltOption
暂停选项
Definition: eu_canopen.h:203
@ canopen_HaltOption_Slow_Down_On_the_Voltag_Limit
Definition: eu_canopen.h:208
@ canopen_HaltOption_Slow_Down_On_the_Current_Limit
Definition: eu_canopen.h:207
@ canopen_HaltOption_Slow_Down_On_Quick_Stop_Ramp
Definition: eu_canopen.h:206
@ canopen_HaltOption_Slow_Down_On_Slow_Down_Ramp
Definition: eu_canopen.h:205
@ canopen_HaltOption_Disable_Drive
Definition: eu_canopen.h:204
EXTERNFUNC int canopen_setLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 cobId)
写本地字典[0x1280+sdoClientIndex]-0x2
EXTERNFUNC int canopen_getLocalMutiMotorErrorCode(huint16 motorIndex, huint16 *error)
读本地字典0x5007+[0x1+motorIndex]
canopen_Baudrate
波特率
Definition: eu_canopen.h:95
@ canopen_Baudrate_20
Definition: eu_canopen.h:97
@ canopen_Baudrate_50
Definition: eu_canopen.h:98
@ canopen_Baudrate_100
Definition: eu_canopen.h:99
@ canopen_Baudrate_500
Definition: eu_canopen.h:101
@ canopen_Baudrate_10
Definition: eu_canopen.h:96
@ canopen_Baudrate_800
Definition: eu_canopen.h:102
@ canopen_Baudrate_250
Definition: eu_canopen.h:100
@ canopen_Baudrate_1000
Definition: eu_canopen.h:103
float hreal32
Definition: eu_canopen.h:63
EXTERNFUNC int canopen_getLocalActualTorque(hint16 *torque)
读本地字典0x6077-0x0
EXTERNFUNC int canopen_setVelocityWindow(huint8 devIndex, huint8 id, huint16 vWindow, huint32 timeout=100)
写从站字典0x606D-0x0
EXTERNFUNC int canopen_getActualVelocity(huint8 devIndex, huint8 id, hint32 *vel, huint32 timeout=100)
读从站字典0x606C-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_getLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 *nodeId)
读本地字典[0x1200+sdoServerIndex]-0x3
EXTERNFUNC int canopen_setLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 count)
写本地字典[0x1800+pdoIndex]-0x0
EXTERNFUNC int canopen_setDCLinkCircuitVoltage(huint8 devIndex, huint8 id, huint32 voltage, huint32 timeout=100)
写从站字典0x6079-0x0
EXTERNFUNC int canopen_getLocalStatusWord(huint16 *word)
写本地字典0x6041-0x0
EXTERNFUNC int canopen_getLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 *count)
读本地字典[0x1A00+pdoIndex]-0x0
EXTERNFUNC int canopen_getLocalRPDOEventTimer(huint16 pdoIndex, huint16 *timer)
读本地字典[0x1400+pdoIndex]-0x5
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_setLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 cobId)
写本地字典[0x1200+sdoServerIndex]-0x2
EXTERNFUNC int canopen_setVelocityThresholdTime(huint8 devIndex, huint8 id, huint16 tTime, huint32 timeout=100)
写从站字典0x6070-0x0
EXTERNFUNC int canopen_setLocalTPDOMaxMappedCount(huint16 pdoIndex, huint8 count)
写本地字典[0x1A00+pdoIndex]-0x0
EXTERNFUNC int canopen_setLocalRPDOEventTimer(huint16 pdoIndex, huint16 timer)
写本地字典[0x1400+pdoIndex]-0x5
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_configureCanNameMapping(unsigned *devIndexs, char **canNames, unsigned size)
配置can名称到索引的映射表
EXTERNFUNC int canopen_getTorqueLimit(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout=100)
读从站字典0x6072-0x0
EXTERNFUNC int canopen_getTPDOCobId(huint8 devIndex, huint8 id, huint16 pdoIndex, huint32 *cobId, huint32 timeout=100)
读从站字典[0x1800+pdoIndex]-0x1
EXTERNFUNC int canopen_getLocalRPDOCobId(huint16 pdoIndex, huint32 *cobId)
读本地字典[0x1400+pdoIndex]-0x1
EXTERNFUNC int canopen_setLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 nodeId)
写本地字典[0x1280+sdoClientIndex]-0x3
EXTERNFUNC int canopen_getVelocityWindowTime(huint8 devIndex, huint8 id, huint16 *wTime, huint32 timeout=100)
读从站字典0x606E-0x0
EXTERNFUNC int canopen_getClientSDONodeIdOfSDOServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 *nodeId, huint32 timeout=100)
读从站字典[0x1280+sdoClientIndex]-0x3
EXTERNFUNC int canopen_getQuickStopOption(huint8 devIndex, huint8 id, canopen_QuickStopOption *option, huint32 timeout=100)
读从站字典0x605A-0x0
EXTERNFUNC int canopen_setLocalMitMutiMotorSetVel(huint16 motorIndex, hreal32 vel)
写本地字典0x500C+[0x1+motorIndex]
EXTERNFUNC int canopen_getLocalTargetVelocity(hint32 *vel)
读本地字典0x60FF-0x0
EXTERNFUNC int canopen_getLocalRPDOTransmitType(huint16 pdoIndex, huint8 *type)
读本地字典[0x1400+pdoIndex]-0x2
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_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_setLocalMitMutiMotorSetPos(huint16 motorIndex, hreal32 pos)
写本地字典0x500B+[0x1+motorIndex]
EXTERNFUNC int canopen_getOperateMode(huint8 devIndex, huint8 id, canopen_OperateMode *mode, huint32 timeout=100)
读从站字典0x6060-0x0
EXTERNFUNC int canopen_getDemandVelocity(huint8 devIndex, huint8 id, hint32 *dVel, huint32 timeout=100)
读从站字典0x606B-0x0
EXTERNFUNC int canopen_getInterpolationTimePeriodValue(huint8 devIndex, huint8 id, huint8 *value, huint32 timeout=100)
读从站字典0x60C2-0x1
EXTERNFUNC int canopen_setTPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout=100)
写从站字典[0x1800+pdoIndex]-0x5
canopen_FaultReactionOption
故障处理选项
Definition: eu_canopen.h:216
@ canopen_FaultReactionOption_Disable_drive_function
Definition: eu_canopen.h:217
@ canopen_FaultReactionOption_Slow_down_on_slow_down_ramp
Definition: eu_canopen.h:218
@ canopen_FaultReactionOption_Slow_down_on_quick_stop_ramp
Definition: eu_canopen.h:219
@ canopen_FaultReactionOption_Slow_down_on_voltage_limit
Definition: eu_canopen.h:221
@ canopen_FaultReactionOption_Slow_down_on_current_limit
Definition: eu_canopen.h:220
canopen_OperateMode
操作模式
Definition: eu_canopen.h:229
@ canopen_OperateMode_ProfileTorque
Definition: eu_canopen.h:237
@ canopen_OperateMode_CyclicSyncPosition
Definition: eu_canopen.h:240
@ canopen_OperateMode_INLCalibration
Definition: eu_canopen.h:231
@ canopen_OperateMode_ProfileVelocity
Definition: eu_canopen.h:236
@ canopen_OperateMode_Homing
Definition: eu_canopen.h:238
@ canopen_OperateMode_RotorAligning
Definition: eu_canopen.h:232
@ canopen_OperateMode_TorquePositionFixed
Definition: eu_canopen.h:243
@ canopen_OperateMode_Reserve
Definition: eu_canopen.h:233
@ canopen_OperateMode_ProfilePosition
Definition: eu_canopen.h:234
@ canopen_OperateMode_InterpolatedPosition
Definition: eu_canopen.h:239
@ canopen_OperateMode_Velocity
Definition: eu_canopen.h:235
@ canopen_OperateMode_CyclicSyncVelocity
Definition: eu_canopen.h:241
@ canopen_OperateMode_AutoTuning
Definition: eu_canopen.h:230
@ canopen_OperateMode_CyclicSyncTorque
Definition: eu_canopen.h:242
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_getDeviceName(huint8 devIndex, huint8 id, char *devName, huint32 timeout=100)
读从站字典0x1008-0x0
EXTERNFUNC int canopen_getLocalMitMutiMotorSetTor(huint16 motorIndex, hreal32 *tor)
读本地字典0x500D+[0x1+motorIndex]
EXTERNFUNC int canopen_getLocalSyncCycle(huint32 *cycle)
读本地字典0x1006-0x0
EXTERNFUNC int canopen_getLocalClientSDONodeIdOfSDOServer(huint16 sdoClientIndex, huint8 *nodeId)
读本地字典[0x1280+sdoClientIndex]-0x3
EXTERNFUNC int canopen_getLocalControlword(huint16 *word)
读本地字典0x6040-0x0
EXTERNFUNC int canopen_setLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 value)
写本地字典[0x1800+pdoIndex]-0x6
EXTERNFUNC int canopen_setReceiveDataCallBack(canopen_ReceiveDataCallBack callFunc)
设置接收数据回调函数
EXTERNFUNC int canopen_setLocalSyncCOBID(huint32 cobId)
读本地字典0x1005-0x0
EXTERNFUNC int canopen_setHaltOption(huint8 devIndex, huint8 id, canopen_HaltOption option, huint32 timeout=100)
写从站字典0x605D-0x0
EXTERNFUNC int canopen_setVelocityWindowTime(huint8 devIndex, huint8 id, huint16 wTime, huint32 timeout=100)
写从站字典0x606E-0x0
EXTERNFUNC int canopen_setLocalMitMutiMotorGetPos(huint16 motorIndex, hreal32 pos)
写本地字典0x5008+[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_setLocalMutiMotorSetVel(huint16 motorIndex, hint32 vel)
写本地字典0x5004+[0x1+motorIndex]
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_getRPDOTransmitType(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *type, huint32 timeout=100)
读从站字典[0x1400+pdoIndex]-0x2
EXTERNFUNC int canopen_getLocalDCLinkCircuitVoltage(huint32 *voltage)
读本地字典0x6079-0x0
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_getErrorRegister(huint8 devIndex, huint8 id, huint8 *errReg, huint32 timeout=100)
读从站字典0x1001-0x0
EXTERNFUNC int canopen_getEmergencyCobid(huint8 devIndex, huint8 id, huint32 *cobid, huint32 timeout=100)
读从站字典0x1014-0x0
EXTERNFUNC int canopen_getRPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *value, huint32 timeout=100)
读从站字典[0x1400+pdoIndex]-0x6
EXTERNFUNC int canopen_writeCanMsg(huint8 devIndex, const canopen_CanMsg *canMsg)
发送原始can数据
EXTERNFUNC int canopen_getPositionWindowTime(huint8 devIndex, huint8 id, huint16 *pWindowTime, huint32 timeout=100)
读从站字典0x6068-0x0
EXTERNFUNC int canopen_getLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 *number)
读本地字典[0x1280+sdoClientIndex]-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_setLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 cobId)
写本地字典[0x1200+sdoServerIndex]-0x1
EXTERNFUNC int canopen_getSupportedDriveModes(huint8 devIndex, huint8 id, huint32 *modes, huint32 timeout=100)
读从站字典0x6502-0x0
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_getRPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100)
读从站字典[0x1400+pdoIndex]-0x0
EXTERNFUNC int canopen_getGearRatioMotorRevolutions(huint8 devIndex, huint8 id, huint32 *rev, huint32 timeout=100)
读从站字典0x6091-0x1
EXTERNFUNC int canopen_setProducerHeartbeatTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100)
写从站字典0x1017-0x0
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_setRPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 timer, huint32 timeout=100)
写从站字典[0x1400+pdoIndex]-0x5
EXTERNFUNC int canopen_getSoftwareMinimumPosition(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100)
读从站字典0x607D-0x1
EXTERNFUNC int canopen_getLocalSyncWindow(huint32 *sWindow)
读本地字典0x1007-0x0
EXTERNFUNC int canopen_getHardwareVersion(huint8 devIndex, huint8 id, char *version, huint32 timeout=100)
读从站字典0x1009-0x0
#define EXTERNFUNC
Definition: eu_canopen.h:23
EXTERNFUNC int canopen_setLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 value)
写本地字典[0x1400+pdoIndex]-0x6
EXTERNFUNC int canopen_setTorqueSlope(huint8 devIndex, huint8 id, huint32 slope, huint32 timeout=100)
写从站字典0x6087-0x0
EXTERNFUNC int canopen_setLocalRPDOTransmitType(huint16 pdoIndex, huint8 type)
写本地字典[0x1400+pdoIndex]-0x2
EXTERNFUNC int canopen_getLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 *count)
读本地字典[0x1600+pdoIndex]-0x0
EXTERNFUNC int canopen_setServerSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 cobId, huint32 timeout=100)
写从站字典[0x1200+sdoServerIndex]-0x1
canopen_ShutdownOption
关机选项
Definition: eu_canopen.h:183
@ canopen_ShutdownOption_Slown_With_Slow_Down_Ramp
Definition: eu_canopen.h:185
@ canopen_ShutdownOption_Disable_Drive_Function
Definition: eu_canopen.h:184
EXTERNFUNC int canopen_getLocalMutiMotorVel(huint16 motorIndex, hint32 *vel)
读本地字典0x5001+[0x1+motorIndex]
EXTERNFUNC int canopen_setLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 num)
写本地字典[0x1200+sdoServerIndex]-0x0
EXTERNFUNC int canopen_getQuickStopDeceleration(huint8 devIndex, huint8 id, huint32 *dec, huint32 timeout=100)
读从站字典0x6085-0x0
EXTERNFUNC int canopen_getVelocityWindow(huint8 devIndex, huint8 id, huint16 *vWindow, huint32 timeout=100)
读从站字典0x606D-0x0
EXTERNFUNC int canopen_setDemandVelocity(huint8 devIndex, huint8 id, hint32 dvel, huint32 timeout=100)
写从站字典0x606B-0x0
EXTERNFUNC int canopen_getTargetVelocity(huint8 devIndex, huint8 id, hint32 *targetVel, huint32 timeout=100)
读从站字典0x60FF-0x0
EXTERNFUNC int canopen_getLocalTargetTorque(hint16 *torque)
读本地字典0x6071-0x0
signed int hint32
Definition: eu_canopen.h:50
EXTERNFUNC int canopen_getLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value)
读本地字典[0x1600+pdoIndex]-[0x1+mapIndex]
EXTERNFUNC int canopen_getLocalMitMutiMotorGetVel(huint16 motorIndex, hreal32 *vel)
读本地字典0x5009+[0x1+motorIndex]
EXTERNFUNC int canopen_setLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value)
写本地字典[0x1A00+pdoIndex]-[0x1+mapIndex]
unsigned int huint8 __attribute__((__mode__(__QI__)))
Definition: eu_canopen.h:55
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_getVelocityThreshold(huint8 devIndex, huint8 id, huint16 *thres, huint32 timeout=100)
读从站字典0x606F-0x0
EXTERNFUNC int canopen_getDemandTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout=100)
读从站字典0x6074-0x0
EXTERNFUNC int canopen_setLocalControlword(huint16 word)
写本地字典0x6040-0x0
canopen_DataType
数据类型
Definition: eu_canopen.h:149
@ canopen_DataType_int16
Definition: eu_canopen.h:152
@ canopen_DataType_int8
Definition: eu_canopen.h:151
@ canopen_DataType_int32
Definition: eu_canopen.h:153
@ canopen_DataType_uint16
Definition: eu_canopen.h:155
@ canopen_DataType_visible_string
Definition: eu_canopen.h:158
@ canopen_DataType_real32
Definition: eu_canopen.h:157
@ canopen_DataType_uint32
Definition: eu_canopen.h:156
@ canopen_DataType_uint8
Definition: eu_canopen.h:154
EXTERNFUNC int canopen_setLocalTPDOCobId(huint16 pdoIndex, huint32 cobId)
写本地字典[0x1800+pdoIndex]-0x1
EXTERNFUNC int canopen_getSyncWindow(huint8 devIndex, huint8 id, huint32 *syncWindow, huint32 timeout=100)
读从站字典0x1007-0x0
EXTERNFUNC int canopen_getSerialNumber(huint8 devIndex, huint8 id, huint32 *serialNum, huint32 timeout=100)
读从站字典0x1018-0x4
EXTERNFUNC int canopen_setHomeOffset(huint8 devIndex, huint8 id, hint32 offSet, huint32 timeout=100)
写从站字典0x607C-0x0
EXTERNFUNC int canopen_getLocalTPDOMaxParasCount(huint16 pdoIndex, huint8 *count)
读本地字典[0x1800+pdoIndex]-0x0
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_setClientSDONodeIdOfSDOServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint8 nodeId, huint32 timeout=100)
写从站字典[0x1280+sdoClientIndex]-0x3
EXTERNFUNC int canopen_writeLocalDirectory(huint16 index, huint8 subIndex, canopen_DataType dataType, void *writeData)
写主站字典
EXTERNFUNC int canopen_getLocalMitMutiMotorSetVel(huint16 motorIndex, hreal32 *vel)
读本地字典0x500C+[0x1+motorIndex]
EXTERNFUNC int canopen_setShutdownOptionCode(huint8 devIndex, huint8 id, canopen_ShutdownOption code, huint32 timeout=100)
写从站字典0x605B-0
EXTERNFUNC int canopen_getTPDOMaxParasCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100)
读从站字典[0x1800+pdoIndex]-0x0
EXTERNFUNC int canopen_setLocalMitMutiMotorGetVel(huint16 motorIndex, hreal32 vel)
写本地字典0x5009+[0x1+motorIndex]
EXTERNFUNC int canopen_getHaltOption(huint8 devIndex, huint8 id, canopen_HaltOption *option, huint32 timeout=100)
读从站字典0x605D-0x0
EXTERNFUNC int canopen_setFollowingErrorWindow(huint8 devIndex, huint8 id, huint32 eWindow, huint32 timeout=100)
写从站字典0x6065-0x0
EXTERNFUNC int canopen_getLocalTPDOCobId(huint16 pdoIndex, huint32 *cobId)
读本地字典[0x1800+pdoIndex]-0x1
EXTERNFUNC int canopen_getLocalTPDOInhibitTime(huint16 pdoIndex, huint16 *time)
读本地字典[0x1800+pdoIndex]-0x3
EXTERNFUNC int canopen_getStatusWord(huint8 devIndex, huint8 id, huint16 *word, huint32 timeout=100)
读从站字典0x6041-0x0
EXTERNFUNC int canopen_setNodeState(huint8 devIndex, huint8 id, canopen_NMTState state)
设置从节点状态
EXTERNFUNC int canopen_getHomeOffset(huint8 devIndex, huint8 id, hint32 *offSet, huint32 timeout=100)
读从站字典0x607C-0x0
EXTERNFUNC int canopen_getLocalServerSDONumberOfEntries(huint16 sdoServerIndex, huint8 *num)
读本地字典[0x1200+sdoServerIndex]-0x0
EXTERNFUNC int canopen_getRestoreDefaultParametersNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100)
读从站字典0x1011-0x0
EXTERNFUNC int canopen_setActualFollowingError(huint8 devIndex, huint8 id, hint32 error, huint32 timeout=100)
写从站字典0x60F4-0x0
EXTERNFUNC int canopen_getLocalClientSDOCobIdServerToClient(huint16 sdoClientIndex, huint32 *cobId)
读本地字典[0x1280+sdoClientIndex]-0x2
EXTERNFUNC int canopen_setSoftwareMaxmumPosition(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout=100)
写从站字典0x607D-0x2
EXTERNFUNC int canopen_setRatedCurrent(huint8 devIndex, huint8 id, huint32 current, huint32 timeout=100)
写从站字典0x6075-0x0
EXTERNFUNC int canopen_getLocalActualVelocity(hint32 *velocity)
读本地字典0x606c-0x0
EXTERNFUNC int canopen_setLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 count)
写本地字典[0x1400+pdoIndex]-0x0
EXTERNFUNC int canopen_setInterpolationDataRecord(huint8 devIndex, huint8 id, hint32 value, huint32 timeout=100)
写从站字典0x60C1-0x1
EXTERNFUNC int canopen_setLocalTargetVelocity(hint32 vel)
写本地字典0x60FF-0x0
canopen_DBaudrate
Definition: eu_canopen.h:107
@ canopen_DBaudrate_8000
Definition: eu_canopen.h:112
@ canopen_DBaudrate_5000
Definition: eu_canopen.h:111
@ canopen_DBaudrate_2000
Definition: eu_canopen.h:109
@ canopen_DBaudrate_1000
Definition: eu_canopen.h:108
@ canopen_DBaudrate_4000
Definition: eu_canopen.h:110
EXTERNFUNC int canopen_setTargetTorque(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout=100)
写从站字典0x6071-0x0
EXTERNFUNC int canopen_getLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 *cobId)
读本地字典[0x1280+sdoClientIndex]-0x1
EXTERNFUNC int canopen_getLocalTPDOTransmitType(huint16 pdoIndex, huint8 *type)
读本地字典[0x1800+pdoIndex]-0x2
EXTERNFUNC int canopen_setInterpolationTimePeriodValue(huint8 devIndex, huint8 id, huint8 value, huint32 timeout=100)
写从站字典0x60C2-0x1
canopen_NodeState
节点状态
Definition: eu_canopen.h:133
@ canopen_NodeState_Initialisation
Definition: eu_canopen.h:134
@ canopen_NodeState_Connecting
Definition: eu_canopen.h:136
@ canopen_NodeState_Pre_operational
Definition: eu_canopen.h:140
@ canopen_NodeState_Unknown_state
Definition: eu_canopen.h:141
@ canopen_NodeState_Disconnected
Definition: eu_canopen.h:135
@ canopen_NodeState_Preparing
Definition: eu_canopen.h:137
@ canopen_NodeState_Stopped
Definition: eu_canopen.h:138
@ canopen_NodeState_Operational
Definition: eu_canopen.h:139
EXTERNFUNC int canopen_getLocalMitMutiMotorGetPos(huint16 motorIndex, hreal32 *pos)
读本地字典0x5008+[0x1+motorIndex]
EXTERNFUNC int canopen_writeCanData(huint8 devIndex, huint16 cobId, const huint8 *const data, huint8 len)
发送原始can数据
canopen_QuickStopOption
快速停止选项
Definition: eu_canopen.h:166
@ canopen_QuickStopOption_Slow_Down_On_Quick_Stop_Ramp_And_Stay_In_Quick_Stop
Definition: eu_canopen.h:172
@ canopen_QuickStopOption_Slow_Down_On_Slow_Down_Ramp_And_Stay_In_Quick_Stop
Definition: eu_canopen.h:173
@ canopen_QuickStopOption_Slow_Down_On_Slow_Down_Ramp
Definition: eu_canopen.h:168
@ canopen_QuickStopOption_Slow_Down_On_the_Voltag_Limit_And_Stay_In_Quick_Stop
Definition: eu_canopen.h:175
@ canopen_QuickStopOption_Slow_Down_On_the_Current_Limit
Definition: eu_canopen.h:170
@ canopen_QuickStopOption_Slow_Down_On_the_Current_Limit_And_Stay_In_Quick_Stop
Definition: eu_canopen.h:174
@ canopen_QuickStopOption_Slow_Down_On_the_Voltag_Limit
Definition: eu_canopen.h:171
@ canopen_QuickStopOption_Slow_Down_On_Quick_Stop_Ramp
Definition: eu_canopen.h:169
@ canopen_QuickStopOption_Disable_Drive
Definition: eu_canopen.h:167
signed char hint8
Definition: eu_canopen.h:47
EXTERNFUNC int canopen_setPositionWindowTime(huint8 devIndex, huint8 id, huint16 pWindowTime, huint32 timeout=100)
写从站字典0x6068-0x0
EXTERNFUNC int canopen_getFollowingErrorWindow(huint8 devIndex, huint8 id, huint32 *eWindow, huint32 timeout=100)
读从站字典0x6065-0x0
EXTERNFUNC int canopen_readLocalDirectory(huint16 index, huint8 subIndex, canopen_DataType dataType, void *readData)
读主站字典
EXTERNFUNC int canopen_getDisableOperationOptionCode(huint8 devIndex, huint8 id, canopen_DisableOperationOption *code, huint32 timeout=100)
读从站字典0x605C-0x0
EXTERNFUNC int canopen_getLocalServerSDOCobIdServerToClient(huint16 sdoServerIndex, huint32 *cobId)
读本地字典[0x1200+sdoServerIndex]-0x2
EXTERNFUNC int canopen_setLocalClientSDONumberOfEntries(huint16 sdoClientIndex, huint8 number)
写本地字典[0x1280+sdoClientIndex]-0x0
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_getStoreParametersNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100)
读从站字典0x1010-0x0
EXTERNFUNC int canopen_setLocalRPDOMaxMappedCount(huint16 pdoIndex, huint8 count)
写本地字典[0x1600+pdoIndex]-0x0
EXTERNFUNC int canopen_setTargetPos(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout=100)
写从站字典0x607A-0x0
EXTERNFUNC int canopen_getVelocityThresholdTime(huint8 devIndex, huint8 id, huint16 *tTime, huint32 timeout=100)
读从站字典0x6070-0x0
EXTERNFUNC int canopen_getActualPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100)
读从站字典0x6064-0x0
EXTERNFUNC int canopen_getLocalMutiMotorStatusWord(huint16 motorIndex, huint16 *status)
读本地字典0x5006+[0x1+motorIndex]
EXTERNFUNC int canopen_getProductCode(huint8 devIndex, huint8 id, huint32 *pCode, huint32 timeout=100)
读从站字典0x1018-0x2
EXTERNFUNC int canopen_getHearbeatConsumerTimeParasNum(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100)
读从站字典0x1016-0x0
EXTERNFUNC int canopen_getSoftwareVersion(huint8 devIndex, huint8 id, char *version, huint32 timeout=100)
读从站字典0x100A-0x0
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_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_setLocalInterpolationTimePeriodValue(huint8 value)
写本地字典0x60c2-0x1
canopen_NMTState
NMT状态
Definition: eu_canopen.h:120
@ canopen_NMTState_Stop_Node
Definition: eu_canopen.h:122
@ canopen_NMTState_Reset_Comunication
Definition: eu_canopen.h:125
@ canopen_NMTState_Reset_Node
Definition: eu_canopen.h:124
@ canopen_NMTState_Start_Node
Definition: eu_canopen.h:121
@ canopen_NMTState_Enter_PreOperational
Definition: eu_canopen.h:123
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_freeDLL(huint8 devIndex)
关闭设备,释放资源,设备打开成功后需要在适当时机释放资源 如果存在多个设备,程序退出前,每个设备都需调用一次释放资源
EXTERNFUNC int canopen_setHearbeatConsumerTime(huint8 devIndex, huint8 id, huint8 subIndex, huint32 time, huint32 timeout=100)
写从站字典0x1016-subIndex
EXTERNFUNC int canopen_getControlword(huint8 devIndex, huint8 id, huint16 *word, huint32 timeout=100)
读从站字典0x6040-0x0
EXTERNFUNC int canopen_setSyncCobid(huint8 devIndex, huint8 id, huint32 cobid, huint32 timeout=100)
写从站字典0x1005-0x0
EXTERNFUNC int canopen_setLocalTargetPos(hint32 pos)
写本地字典0x607A-0x0
EXTERNFUNC int canopen_getIdentityObjectNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100)
读从站字典0x1018-0x0
EXTERNFUNC int canopen_getErrorFieldNumber(huint8 devIndex, huint8 id, huint8 *number, huint32 timeout=100)
读从站字典0x1003-0x0
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_getTorqueSlope(huint8 devIndex, huint8 id, huint32 *slope, huint32 timeout=100)
0x6087-0x0
EXTERNFUNC int canopen_setRPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100)
写从站字典[0x1600+pdoIndex]-0x0
EXTERNFUNC int canopen_setLocalServerSDONodeIdOfClient(huint16 sdoServerIndex, huint8 nodeId)
写本地字典[0x1200+sdoServerIndex]-0x3
EXTERNFUNC int canopen_getLocalMutiMotorPos(huint16 motorIndex, hint32 *pos)
读本地字典0x5000+[0x1+motorIndex]
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_setLocalTargetTorque(hint16 torque)
写本地字典0x6071-0x0
EXTERNFUNC int canopen_setDemandTorque(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout=100)
写从站字典0x6074-0x0
EXTERNFUNC int canopen_setLifeTimeFactor(huint8 devIndex, huint8 id, huint8 factor, huint32 timeout=100)
写从站字典0x100D-0x0
EXTERNFUNC int canopen_setLocalSyncCycle(huint32 cycle)
写本地字典0x1006-0x0
EXTERNFUNC int canopen_setGuardTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100)
写从站字典0x100C-0x0
EXTERNFUNC int canopen_getGuardTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100)
读从站字典0x100C-0x0
EXTERNFUNC int canopen_getDCLinkCircuitVoltage(huint8 devIndex, huint8 id, huint32 *voltage, huint32 timeout=100)
读从站字典0x6079-0x0
EXTERNFUNC int canopen_setEmergencyInhibitTime(huint8 devIndex, huint8 id, huint16 time, huint32 timeout=100)
写从站字典0x1015-0x0
EXTERNFUNC int canopen_getActualCurrent(huint8 devIndex, huint8 id, hint16 *current, huint32 timeout=100)
读从站字典0x6078-0x0
EXTERNFUNC int canopen_setClientSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoClientIndex, huint32 cobId, huint32 timeout=100)
写从站字典[0x1280+sdoClientIndex]-0x1
EXTERNFUNC int canopen_getLocalMitMutiMotorGetTor(huint16 motorIndex, hreal32 *tor)
读本地字典0x500A+[0x1+motorIndex]
EXTERNFUNC int canopen_setSyncCycle(huint8 devIndex, huint8 id, huint32 syncCycle, huint32 timeout=100)
写从站字典0x1006-0x0
EXTERNFUNC int canopen_getSyncCobid(huint8 devIndex, huint8 id, huint32 *cobid, huint32 timeout=100)
读从站字典0x1005-0x0
EXTERNFUNC int canopen_setSyncCounter(huint8 devIndex, huint8 id, huint8 counter, huint32 timeout=100)
写从站字典0x1019-0x0
EXTERNFUNC int canopen_setPositionWindow(huint8 devIndex, huint8 id, huint32 pWindow, huint32 timeout=100)
写从站字典0x6067-0x0
EXTERNFUNC int canopen_getStoreParameters(huint8 devIndex, huint8 id, huint32 *value, huint32 timeout=100)
读从站字典0x1010-0x1
EXTERNFUNC int canopen_getLocalMitMutiMotorSetPos(huint16 motorIndex, hreal32 *pos)
读本地字典0x500B+[0x1+motorIndex]
EXTERNFUNC int canopen_getLocalTargetPos(hint32 *pos)
读本地字典0x607A-0x0
EXTERNFUNC int canopen_getProfileAcceleration(huint8 devIndex, huint8 id, huint32 *acc, huint32 timeout=100)
读从站字典0x6083-0x0
EXTERNFUNC int canopen_getLocalServerSDOCobIdClientToServer(huint16 sdoServerIndex, huint32 *cobId)
读本地字典[0x1200+sdoServerIndex]-0x1
EXTERNFUNC int canopen_getLocalRPDOInhibitTime(huint16 pdoIndex, huint16 *time)
读本地字典[0x1400+pdoIndex]-0x3
EXTERNFUNC int canopen_getDisplayOperateMode(huint8 devIndex, huint8 id, canopen_OperateMode *mode, huint32 timeout=100)
读从站字典0x6061-0x0
signed int hint24
Definition: eu_canopen.h:49
EXTERNFUNC int canopen_setEmergencyCobid(huint8 devIndex, huint8 id, huint32 cobid, huint32 timeout=100)
写从站字典0x1014-0x0
EXTERNFUNC int canopen_setLocalMutiMotorSetTorque(huint16 motorIndex, hint16 torque)
写本地字典0x5005+[0x1+motorIndex]
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_getLocalTPDOEventTimer(huint16 pdoIndex, huint16 *timer)
读本地字典[0x1800+pdoIndex]-0x5
signed long int hint56
Definition: eu_canopen.h:53
EXTERNFUNC int canopen_getEmergencyInhibitTime(huint8 devIndex, huint8 id, huint16 *time, huint32 timeout=100)
读从站字典0x1015-0x0
EXTERNFUNC int canopen_getLocalServoErrorCode(huint16 *err)
读本地字典0x603F-0x0
EXTERNFUNC int canopen_setSendDataCallBack(canopen_SendDataCallBack callFunc)
设置发送数据回调函数
EXTERNFUNC int canopen_setLocalMutiMotorSetPos(huint16 motorIndex, hint32 pos)
写本地字典0x5003+[0x1+motorIndex]
EXTERNFUNC int canopen_getTargetTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout=100)
读从站字典0x6071-0x0
EXTERNFUNC int canopen_setLocalMitMutiMotorGetTor(huint16 motorIndex, hreal32 tor)
写本地字典0x500A+[0x1+motorIndex]
EXTERNFUNC int canopen_getVendorID(huint8 devIndex, huint8 id, huint32 *vId, huint32 timeout=100)
读从站字典0x1018-0x1
EXTERNFUNC int canopen_setRPDOInhibitTime(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 time, huint32 timeout=100)
写从站字典[0x1400+pdoIndex]-0x3
signed short int hint16
Definition: eu_canopen.h:48
EXTERNFUNC int canopen_getIdentityObjectRevisionNumber(huint8 devIndex, huint8 id, huint32 *revisionNum, huint32 timeout=100)
读从站字典0x1018-0x3
EXTERNFUNC int canopen_setLocalTPDOTransmitType(huint16 pdoIndex, huint8 type)
写本地字典[0x1800+pdoIndex]-0x2
EXTERNFUNC int canopen_setLocalClientSDOCobIdClientToServer(huint16 sdoClientIndex, huint32 cobId)
写本地字典[0x1280+sdoClientIndex]-0x1
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_setMaxProfileVelocity(huint8 devIndex, huint8 id, huint32 vel, huint32 timeout=100)
写从站字典0x607F-0x0
EXTERNFUNC int canopen_setErrorFieldNumber(huint8 devIndex, huint8 id, huint8 number, huint32 timeout=100)
写从站字典0x1003-0x0
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_getFaultReactionOption(huint8 devIndex, huint8 id, canopen_FaultReactionOption *option, huint32 timeout=100)
读从站字典0x605E-0x0
EXTERNFUNC int canopen_setLocalInterpolationDataRecord(hint32 value)
写本地字典0x60C1-0x1
EXTERNFUNC int canopen_setProfileDeceleration(huint8 devIndex, huint8 id, huint32 dec, huint32 timeout=100)
写从站字典0x6084-0x0
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]
EXTERNFUNC int canopen_getGearRatioShaftRevolutions(huint8 devIndex, huint8 id, huint32 *rev, huint32 timeout=100)
读从站字典0x6091-0x2
EXTERNFUNC int canopen_getServerSDONumberOfEntries(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint8 *num, huint32 timeout=100)
读从站字典[0x1200+sdoServerIndex]-0x0
signed long int hint64
Definition: eu_canopen.h:54
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_getMotorRatedTorque(huint8 devIndex, huint8 id, huint32 *torque, huint32 timeout=100)
读从站字典0x6076-0x0
EXTERNFUNC int canopen_getSoftwareMaxmumPosition(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100)
读从站字典0x607D-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_getActualTorque(huint8 devIndex, huint8 id, hint16 *torque, huint32 timeout=100)
读从站字典0x6077-0x0
EXTERNFUNC int canopen_getLocalRPDOMaxParasCount(huint16 pdoIndex, huint8 *count)
读本地字典[0x1400+pdoIndex]-0x0
EXTERNFUNC int canopen_setLocalMitMutiMotorSetTor(huint16 motorIndex, hreal32 tor)
写本地字典0x500D+[0x1+motorIndex]
EXTERNFUNC int canopen_setLocalRPDOCobId(huint16 pdoIndex, huint32 cobId)
写本地字典[0x1400+pdoIndex]-0x1
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_getLocalInterpolationTimePeriodValue(huint8 *value)
读本地字典0x60c2-0x1
signed long int hint48
Definition: eu_canopen.h:52
EXTERNFUNC int canopen_setDemandPos(huint8 devIndex, huint8 id, hint32 pos, huint32 timeout=100)
写从站字典0x6062-0x0
EXTERNFUNC int canopen_setLocalRPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 value)
写本地字典[0x1600+pdoIndex]-[0x1+mapIndex]
EXTERNFUNC int canopen_getLocalActualPos(hint32 *pos)
读本地字典0x6064-0x0
EXTERNFUNC int canopen_setTPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 count, huint32 timeout=100)
写从站字典[0x1A00+pdoIndex]-0x0
EXTERNFUNC int canopen_getLocalMutiMotorTorque(huint16 motorIndex, hint16 *tor)
读本地字典0x5002+[0x1+motorIndex]
EXTERNFUNC int canopen_getShutdownOptionCode(huint8 devIndex, huint8 id, canopen_ShutdownOption *code, huint32 timeout=100)
读从站字典0x605B-0
EXTERNFUNC int canopen_setVelocityThreshold(huint8 devIndex, huint8 id, huint16 thres, huint32 timeout=100)
写从站字典0x606F-0x0
canopen_DisableOperationOption
下使能操作
Definition: eu_canopen.h:193
@ canopen_DisableOperationOption_Slow_Down_With_Slow_Down_Ramp
Definition: eu_canopen.h:195
@ canopen_DisableOperationOption_Disable_Drive_Function
Definition: eu_canopen.h:194
EXTERNFUNC int canopen_setLocalRPDOInhibitTime(huint16 pdoIndex, huint16 time)
写本地字典[0x1400+pdoIndex]-0x3
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_getServerSDOCobIdClientToServer(huint8 devIndex, huint8 id, huint16 sdoServerIndex, huint32 *cobId, huint32 timeout=100)
读从站字典[0x1200+sdoServerIndex]-0x1
EXTERNFUNC int canopen_getLocalTPDOMapped(huint16 pdoIndex, huint8 mapIndex, huint32 *value)
读本地字典[0x1A00+pdoIndex]-[0x1+mapIndex]
EXTERNFUNC int canopen_getSyncCycle(huint8 devIndex, huint8 id, huint32 *syncCycle, huint32 timeout=100)
读从站字典0x1006-0x0
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】控制多个设备时可多次调用,多设备控制时共享一个主站,所以即使不同的通讯设备上,电机id也不能重复
EXTERNFUNC int canopen_setTorqueLimit(huint8 devIndex, huint8 id, hint16 torque, huint32 timeout=100)
写从站字典0x6072-0x0
EXTERNFUNC int canopen_getRatedCurrent(huint8 devIndex, huint8 id, huint32 *current, huint32 timeout=100)
读从站字典0x6075-0x0
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_getDeviceType(huint8 devIndex, huint8 id, huint32 *deviceType, huint32 timeout=100)
读从站字典0x1000-0x0
EXTERNFUNC int canopen_getNodeState(huint8 devIndex, huint8 id, canopen_NodeState *state, huint32 timeout=100)
读从节点状态
EXTERNFUNC int canopen_getActualFollowingError(huint8 devIndex, huint8 id, hint32 *error, huint32 timeout=100)
读从站字典0x60F4-0x0
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_getTPDOMaxMappedCount(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 *count, huint32 timeout=100)
读从站字典[0x1A00+pdoIndex]-0x0
EXTERNFUNC int canopen_getProfileVelocity(huint8 devIndex, huint8 id, huint32 *vel, huint32 timeout=100)
读从站字典0x6081-0x0
EXTERNFUNC int canopen_setRPDOSYNCStartValue(huint8 devIndex, huint8 id, huint16 pdoIndex, huint8 value, huint32 timeout=100)
写从站字典[0x1400+pdoIndex]-0x6
EXTERNFUNC int canopen_getDemandPos(huint8 devIndex, huint8 id, hint32 *pos, huint32 timeout=100)
读从站字典0x6062-0x0
EXTERNFUNC int canopen_setLocalSyncWindow(huint32 sWindow)
写本地字典0x1007-0x0
EXTERNFUNC int canopen_getLocalInterpolationDataRecord(hint32 *value)
读本地字典0x60C1-0x1
EXTERNFUNC int canopen_setLocalNodeState(canopen_NodeState state)
设置本地节点状态
canopen_DeviceType
设备类型
Definition: eu_canopen.h:83
@ canopen_DeviceType_Canable
Definition: eu_canopen.h:86
@ canopen_DeviceType_PCAN
Definition: eu_canopen.h:84
@ canopen_DeviceType_USB2CAN
Definition: eu_canopen.h:85
@ canopen_DeviceType_ZCAN_USBCANFD_100U
Definition: eu_canopen.h:87
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_getRPDOEventTimer(huint8 devIndex, huint8 id, huint16 pdoIndex, huint16 *timer, huint32 timeout=100)
读从站字典[0x1400+pdoIndex]-0x5
EXTERNFUNC int canopen_setStoreParameters(huint8 devIndex, huint8 id, huint32 value, huint32 timeout=100)
写从站字典0x1010-0x1
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_getLocalTPDOSYNCStartValue(huint16 pdoIndex, huint8 *value)
读本地字典[0x1800+pdoIndex]-0x6
EXTERNFUNC int canopen_getSyncCounter(huint8 devIndex, huint8 id, huint8 *counter, huint32 timeout=100)
读从站字典0x1019-0x0
EXTERNFUNC int canopen_getInterpolationDataRecord(huint8 devIndex, huint8 id, hint32 *value, huint32 timeout=100)
读从站字典0x60C1-0x1
EXTERNFUNC int canopen_getLocalRPDOSYNCStartValue(huint16 pdoIndex, huint8 *value)
读本地字典[0x1400+pdoIndex]-0x6
can数据结构
Definition: eu_canopen.h:251
huint32 canId
Definition: eu_canopen.h:252
huint8 extended
Definition: eu_canopen.h:254
huint8 len
Definition: eu_canopen.h:255
huint8 rtr
Definition: eu_canopen.h:253