CCLink Class

Function	C++	static CCLINKAPIFUNC ErrorToString(int errCode, char *pString, unsigned int size)
	Python	def ErrorToString(errCode)
Returns	Type	string
	Value	error string
Remarks
Function	C++	static CCLINKAPIFUNC ErrorToString(int errCode, wchar_t *pString, unsigned int size)
	Python
Returns	Type
	Value
Remarks
Function	C++	static CCLINKAPIFUNC ApiLogToString(unsigned char *pLogData, unsigned int logDataSize, char *pString, unsigned int size)
	Python
Returns	Type
	Value
Remarks	PythonAPI is not supported.
Function	C++	static CCLINKAPIFUNC ApiLogToString(unsigned char *pLogData, unsigned int logDataSize, wchar_t *pString, unsigned int size)
	Python
Returns	Type
	Value
Remarks	PythonAPI is not supported.
Function	C++	static CCLINKAPIFUNC GetLibVersion(int *pMajorVersion, int *pMinorVersion, int *pRevisionVersion, int *pFixVersion)
	Python	def GetLibVersion()
Returns	Type	tuple
	Value	0 : int - error code 1 : int - MajorVersion 2 : int - MinorVersion 3 : int - RevisionVersion 4 : int - FixVersion
Remarks
Function	C++	bool IsDeviceValid()
	Python	def IsDeviceValid()
Returns	Type	bool
	Value	Whether the device is alive
Remarks
Function	C++	CCLINKAPIFUNC GetVersion(int *pMajorVersion, int *pMinorVersion, int *pRevisionVersion, int *pFixVersion)
	Python	def GetVersion()
Returns	Type	tuple
	Value	0 : int - error code 1 : int - MajorVersion 2 : int - MinorVersion 3 : int - RevisionVersion 4 : int - FixVersion
Remarks
Function	C++	CCLINKAPIFUNC ResetSlaveError(int slaveId)
	Python	def ResetSlaveError(slaveId)
Returns	Type	int
	Value	error code
Remarks
Function	C++	CCLINKAPIFUNC SetUpdatePeriod(unsigned int period)
	Python	def SetUpdatePeriod(period)
Returns	Type	int
	Value	error code
Remarks
Function	C++	CCLINKAPIFUNC GetMasterInfo(CCLinkMasterInfo* master)
	Python	def GetMasterInfo()
Returns	Type	tuple
	Value	0 : int - error code 1 : CCLinkMasterInfo - current master information
Remarks
Function	C++	CCLINKAPIFUNC ScanNetwork()
	Python	def ScanNetwork()
Returns	Type	int
	Value	error code
Remarks
Function	C++	CCLINKAPIFUNC StartHotconnect()
	Python	def StartHotconnect()
Returns	Type	int
	Value	error code
Remarks
Function	C++	CCLINKAPIFUNC ResetSyncStatisticsInfo()
	Python	def ResetSyncStatisticsInfo()
Returns	Type	int
	Value	error code
Remarks
Function	C++	CCLINKAPIFUNC SdoDownload(int slaveId, int dropNo, int index, int subindex, int sdoDataSize, unsigned char* sdoData, unsigned int* errCode, unsigned int waitTime = 0)
	Python	def SdoDownload(slaveId, dropNo, index, subindex, sdoDataSize, sdoData) def SdoDownload_WaitTime(slaveId, dropNo, index, subindex, sdoDataSize, sdoData, waitTime)
Returns	Type	tuple
	Value	0 : int - error code 1 : int - SDO abort code
Remarks
Function	C++	CCLINKAPIFUNC SdoUpload(int slaveId, int dropNo, int index, int subindex, int sdoBuffSize, unsigned char* sdoBuff, unsigned int* actualSize, unsigned int* errCode, unsigned int waitTime = 0)
	Python	def SdoUpload(slaveId, dropNo, index, subindex, sdoBuffSize) def SdoUpload_WaitTime(slaveId, dropNo, index, subindex, sdoBuffSize, waitTime)
Returns	Type	tuple
	Value	0 : int - error code 1 : list(int) - SDO data 2 : int - actual uploaded SDO data size 3 : int - SDO abort code
Remarks
Function	C++	CCLINKAPIFUNC SdoDownload(int slaveId, int dropNo, int index, int subindex, int sdoDataSize, unsigned char* sdoData, CCLinkSdoDownloadCallBack callbackFunc, unsigned int waitTime)
	Python
Returns	Type
	Value
Remarks	PythonAPI is not supported.
Function	C++	CCLINKAPIFUNC SdoUpload(int slaveId, int dropNo, int index, int subindex, CCLinkSdoUploadCallBack callbackFunc, unsigned int waitTime)
	Python
Returns	Type
	Value
Remarks	PythonAPI is not supported.
Function	C++	CCLINKAPIFUNC SdoDownload(int slaveId, int dropNo, int index, int subindex, CCLinkSdoType::T type, int sdoDataSize, unsigned char* sdoData, unsigned int* errCode, unsigned int waitTime = 0)
	Python	def SdoDownload_SdoType(slaveId, dropNo, index, subindex, sdoType, sdoDataSize, sdoData) def SdoDownload_SdoType_WaitTime(slaveId, dropNo, index, subindex, sdoType, sdoDataSize, sdoData, waitTime)
Returns	Type	tuple
	Value	0 : int - error code 1 : int - SDO abort code
Remarks
Function	C++	CCLINKAPIFUNC SdoUpload(int slaveId, int dropNo, int index, int subindex, CCLinkSdoType::T type, int sdoBuffSize, unsigned char* sdoBuff, unsigned int* actualSize, unsigned int* errCode, unsigned int waitTime = 0)
	Python	def SdoUpload_SdoType(slaveId, dropNo, index, subindex, sdoType, sdoBuffSize) def SdoUpload_SdoType_WaitTime(slaveId, dropNo, index, subindex, sdoType, sdoBuffSize, waitTime)
Returns	Type	tuple
	Value	0 : int - error code 1 : list(int) - SDO data 2 : int - actual uploaded SDO data size 3 : int - SDO abort code
Remarks
Function	C++	CCLINKAPIFUNC SdoDownload(int slaveId, int dropNo, int index, int subindex, CCLinkSdoType::T type, int sdoDataSize, unsigned char* sdoData, CCLinkSdoDownloadCallBack callbackFunc, unsigned int waitTime)
	Python
Returns	Type
	Value
Remarks	PythonAPI is not supported.
Function	C++	CCLINKAPIFUNC SdoUpload(int slaveId, int dropNo, int index, int subindex, CCLinkSdoType::T type, CCLinkSdoUploadCallBack callbackFunc, unsigned int waitTime)
	Python
Returns	Type
	Value
Remarks	PythonAPI is not supported.
Function	C++	CCLINKAPIFUNC SetOutputBit(int slaveId, int byte, int bit, unsigned char data)
	Python
Returns	Type
	Value
Remarks	PythonAPI is not supported.
Function	C++	CCLINKAPIFUNC SetOutputByte(int slaveId, int byte, unsigned char data)
	Python
Returns	Type
	Value
Remarks	PythonAPI is not supported.
Function	C++	CCLINKAPIFUNC SetOutputBytes(int slaveId, int byte, int size, unsigned char *pData)
	Python
Returns	Type
	Value
Remarks	PythonAPI is not supported.
Function	C++	CCLINKAPIFUNC SetOutputBits(int slaveId, int *pByte, int *pBit, unsigned char *pData, int count)
	Python
Returns	Type
	Value
Remarks	PythonAPI is not supported.
Function	C++	CCLINKAPIFUNC GetInputBit(int slaveId, int byte, int bit, unsigned char *pData)
	Python
Returns	Type
	Value
Remarks	PythonAPI is not supported.
Function	C++	CCLINKAPIFUNC GetInputByte(int slaveId, int byte, unsigned char *pData)
	Python
Returns	Type
	Value
Remarks	PythonAPI is not supported.
Function	C++	CCLINKAPIFUNC GetInputBytes(int slaveId, int byte, int size, unsigned char *pData)
	Python
Returns	Type
	Value
Remarks	PythonAPI is not supported.
Function	C++	CCLINKAPIFUNC GetOutputBit(int slaveId, int byte, int bit, unsigned char *pData)
	Python
Returns	Type
	Value
Remarks	PythonAPI is not supported.
Function	C++	CCLINKAPIFUNC GetOutputByte(int slaveId, int byte, unsigned char *pData)
	Python
Returns	Type
	Value
Remarks	PythonAPI is not supported.
Function	C++	CCLINKAPIFUNC GetOutputBytes(int slaveId, int byte, int size, unsigned char *pData)
	Python
Returns	Type
	Value
Remarks	PythonAPI is not supported.
Function	C++	CCLINKAPIFUNC SetAxisMode(int slaveId, int axisIndex, CCLinkOperationMode::T mode)
	Python	def SetAxisMode(slaveId, axisIndex, mode)
Returns	Type	int
	Value	error code
Remarks
Function	C++	CCLINKAPIFUNC StartAxisPP(int slaveId, int axisIndex, int targetPos, unsigned int profileVel, unsigned int profileAcc, unsigned int profileDec, char immediately = -1, char relative = -1)
	Python	def StartAxisPP(slaveId, axisIndex, targetPos, profileVel, profileAcc, profileDec) def StartAxisPP(slaveId, axisIndex, targetPos, profileVel, profileAcc, profileDec, immediately) def StartAxisPP(slaveId, axisIndex, targetPos, profileVel, profileAcc, profileDec, immediately, relative)
Returns	Type	int
	Value	error code
Remarks
Function	C++	CCLINKAPIFUNC StartAxisPV(int slaveId, int axisIndex, int targetVel, unsigned int profileAcc, unsigned int profileDec)
	Python
Returns	Type
	Value
Remarks	PythonAPI is not supported.
Function	C++	CCLINKAPIFUNC StartAxisPV(int slaveId, int axisIndex, int targetVel, unsigned int profileAcc, unsigned int profileDec, unsigned short maxTorque)
	Python
Returns	Type
	Value
Remarks	PythonAPI is not supported.
Function	C++	CCLINKAPIFUNC StartAxisTQ(int slaveId, int axisIndex, short targetTrq)
	Python
Returns	Type
	Value
Remarks	PythonAPI is not supported.
Function	C++	CCLINKAPIFUNC StartAxisTQ(int slaveId, int axisIndex, short targetTrq, unsigned int maxMotorSpeed)
	Python
Returns	Type
	Value
Remarks	PythonAPI is not supported.
Function	C++	CCLINKAPIFUNC StartAxisHM(int slaveId, int axisIndex, int method, unsigned int switchSpeed, unsigned int zeroSpeed, unsigned int hmAcc)
	Python	def StartAxisHM(slaveId, axisIndex, method, switchSpeed, zeroSpeed, hmAcc)
Returns	Type	int
	Value	error code
Remarks
Function	C++	CCLINKAPIFUNC StartAxisHM(int slaveId, int axisIndex, int method, unsigned int switchSpeed, unsigned int zeroSpeed, unsigned int hmAcc, int homeOffset)
	Python
Returns	Type
	Value
Remarks	PythonAPI is not supported.
Function	C++	CCLINKAPIFUNC HaltAxis(int slaveId, int axisIndex)
	Python	def HaltAxis(slaveId, axisIndex)
Returns	Type	int
	Value	error code
Remarks
Function	C++	CCLINKAPIFUNC HaltAxisRelease(int slaveId, int axisIndex)
	Python	def HaltAxisRelease(slaveId, axisIndex)
Returns	Type	int
	Value	error code
Remarks
Function	C++	CCLINKAPIFUNC SlmpSendBySlaveId(int slaveId, unsigned short port, int dropNo, unsigned short command, unsigned short subCommand, int dataSize, unsigned char* data, int buffSize, unsigned char* buff, unsigned int* actualSize, unsigned short* errCode, unsigned int waitTime = 0)
	Python	def SlmpSendBySlaveId(slaveId, port, dropNo, command, subCommand, dataSize, data, buffSize) def SlmpSendBySlaveId_WaitTime(slaveId, port, dropNo, command, subCommand, dataSize, data, buffSize, waitTime)
Returns	Type	tuple
	Value	0 : int - error code 1 : list(int) - responsed SLMP data 2 : int - actual responsed SLMP data size 3 : int - SLMP error code
Remarks
Function	C++	CCLINKAPIFUNC SlmpSendBySlaveId(int slaveId, unsigned short port, int dropNo, unsigned short command, unsigned short subCommand, int dataSize, unsigned char* data, CCLinkSlmpSendBySlaveIdCallBack callbackFunc, unsigned int waitTime)
	Python
Returns	Type
	Value
Remarks	PythonAPI is not supported.
Function	C++	CCLINKAPIFUNC SlmpSendByMacIpAddr(unsigned char macAddr[6], unsigned char ipAddr[4], unsigned short port, int dropNo, unsigned short command, unsigned short subCommand, int dataSize, unsigned char* data, int buffSize, unsigned char* buff, unsigned int* actualSize, unsigned short* errCode, unsigned int waitTime = 0)
	Python	def SlmpSendByMacIpAddr(macAddr, ipAddr, port, dropNo, command, subCommand, dataSize, data, buffSize) def SlmpSendByMacIpAddr_WaitTime(macAddr, ipAddr, port, dropNo, command, subCommand, dataSize, data, buffSize, waitTime)
Returns	Type	tuple
	Value	0 : int - error code 1 : list(int) - responsed SLMP data 2 : int - actual responsed SLMP data size 3 : int - SLMP error code
Remarks
Function	C++	CCLINKAPIFUNC SlmpSendByMacIpAddr(unsigned char macAddr[6], unsigned char ipAddr[4], unsigned short port, int dropNo, unsigned short command, unsigned short subCommand, int dataSize, unsigned char* data, CCLinkSlmpSendByMacIpAddrCallBack callbackFunc, unsigned int waitTime)
	Python
Returns	Type
	Value
Remarks	PythonAPI is not supported.