Attribute VB_Name = "Module1" 'Written by Roland Odermatt for maxon motor AG 'Date 12.11.2001 'Attention! 'Some Dll procudures return a C++ specific unsigned parameter ( WORD, DWORD). They are mapped to a 'Visual Basic specific signed parameter ( Integer,Long). You have to ensure that these values 'are handled correctly. Option Explicit Type DES_SysParam Baudrate As Integer SysConfig As Integer CurRegGainP As Integer CurRegGainI As Integer MaxCurOutput As Integer SpeedRegGainP As Integer SpeedRegGainI As Integer InternalParam1 As Integer InternalParam2 As Integer InternalParam3 As Integer MaxSpeedError As Integer SettingUnitGan As Integer SettingUnitOffset As Integer SettingUnitDelay As Integer PeakCurrent As Integer MaxContCurrent As Integer ThermConst As Integer MaxSpeed As Integer Acceleration As Integer SpeedConstant As Integer EncResolution As Integer PolePairNumber As Integer Qep2RpmFactor As Integer Rpm2QepFactor As Integer IndexOffset As Integer PWM_Period As Integer MaxDutyCycle As Integer CurDetPhUOffset As Integer CurDetPhVOffset As Integer ADConvOffset As Integer CAN_ModuleID As Integer CAN_ServiceID As Integer CAN_RPDO_ID As Integer CAN_TPDO_ID As Integer CAN_BCR1 As Integer CAN_BCR2 As Integer CAN_OpMode As Integer CAN_RxSDO_ID As Integer CAN_TxSDO_ID As Integer CAN_RTR0_ID As Integer CAN_RTR1_ID As Integer CAN_Config As Integer End Type 'Configuration Declare Function DES_InitCommunicationDlg Lib "DesCmd.dll" Alias "_DES_InitCommunicationDlg@4" (ByVal Port As String) As Boolean Declare Function DES_InitCommunication Lib "DesCmd.dll" Alias "_DES_InitCommunication@16" (ByVal Port As String, ByVal Baudrate As Long, ByVal timeout As Long, ByVal trials As Long) As Boolean Declare Function DES_GetCommunication Lib "DesCmd.dll" Alias "_DES_GetCommdunication@16" (ByRef Port As String, ByRef Baudrate As Long, ByRef timeout As Long, ByRef trials As Long) As Boolean Declare Function DES_CloseCommunication Lib "DesCmd.dll" Alias "_DES_CloseCommunication@4" (ByVal Port As String) As Boolean Declare Function DES_OpenCommunication Lib "DesCmd.dll" Alias "_DES_OpenCommunication@4" (ByVal Port As String) As Boolean Declare Function DES_SearchCommunication Lib "DesCmd.dll" Alias "_DES_SearchCommunication@4" (ByVal msg As Boolean) As Boolean 'Cmd Layer / Status Declare Function DES_ReadSysStatus Lib "DesCmd.dll" Alias "_DES_ReadSysStatus@8" (ByVal Port As String, ByRef sysStatus As Integer) As Boolean Declare Function DES_ReadError Lib "DesCmd.dll" Alias "_DES_ReadError@8" (ByVal Port As String, ByRef error As Integer) As Boolean Declare Function DES_ClearError Lib "DesCmd.dll" Alias "_DES_ClearError@4" (ByVal Port As String) As Boolean Declare Function DES_Reset Lib "DesCmd.dll" Alias "_DES_Reset@4" (ByVal Port As String) As Boolean Declare Function DES_Enable Lib "DesCmd.dll" Alias "_DES_Enable@8" (ByVal Port As String, ByVal enable As Integer) As Boolean 'Cmd Layer / SystemParameter Declare Function DES_ReadTempParam Lib "DesCmd.dll" Alias "_DES_ReadTempParam@16" (ByVal Port As String, ByVal parNb As Integer, ByVal parType As Integer, ByRef param As Any) As Boolean Declare Function DES_SetTempParam Lib "DesCmd.dll" Alias "_DES_SetTempParam@16" (ByVal Port As String, ByVal parNb As Integer, ByVal parType As Integer, ByRef param As Any) As Boolean Declare Function DES_ResetTempParam Lib "DesCmd.dll" Alias "_DES_ResetTempParam@4" (ByVal Port As String) As Boolean Declare Function DES_SaveTempParam Lib "DesCmd.dll" Alias "_DES_SaveTempParam@4" (ByVal Port As String) As Boolean Declare Function DES_ReadAllTempParam Lib "DesCmd.dll" Alias "_DES_ReadAllTempParam@8" (ByVal Port As String, ByRef sysParam As DES_SysParam) As Boolean Declare Function DES_SetAllTempParam Lib "DesCmd.dll" Alias "_DES_SetAllTempParam@8" (ByVal Port As String, ByRef sysParam As DES_SysParam) As Boolean Declare Function DES_ReadVersion Lib "DesCmd.dll" Alias "_DES_ReadVersion@20" (ByVal Port As String, ByRef softVersion As Integer, ByRef hardVersion As Integer, ByRef appNb As Integer, ByRef appVersion As Integer) As Boolean 'Cmd Layer / Setting Functions Declare Function DES_SetVelocity Lib "DesCmd.dll" Alias "_DES_SetVelocity@8" (ByVal Port As String, ByVal velocity As Integer) As Boolean Declare Function DES_SetCurrent Lib "DesCmd.dll" Alias "_DES_SetCurrent@8" (ByVal Port As String, ByVal current As Integer) As Boolean Declare Function DES_StopMotion Lib "DesCmd.dll" Alias "_DES_StopMotion@4" (ByVal Port As String) As Boolean 'Cmd Layer / Monitor Functions Declare Function DES_ReadVelocityIsMust Lib "DesCmd.dll" Alias "_DES_ReadVelocityIsMust@16" (ByVal Port As String, ByVal typus As Integer, ByRef isVelocity As Integer, ByRef mustVelocity As Integer) As Boolean Declare Function DES_ReadCurrentIsMust Lib "DesCmd.dll" Alias "_DES_ReadCurrentIsMust@24" (ByVal Port As String, ByVal typus As Integer, ByRef isQCurrent As Integer, ByRef isDCurrent As Integer, ByRef mustCurAmp As Integer, ByRef currentAngle As Integer) As Boolean 'Cmd Layer / Recording Functions Declare Function DES_SetupRecorder Lib "DesCmd.dll" Alias "_DES_SetupRecorder@12" (ByVal Port As String, ByVal samplePeriod As Integer, ByVal paramNbAddress As Integer) As Boolean Declare Function DES_RecordData Lib "DesCmd.dll" Alias "_DES_RecordData@24" (ByVal Port As String, ByRef data As Any, ByVal bufferLength As Long, ByRef read As Long, ByVal timeout As Long, ByVal jump As Integer) As Boolean Declare Function DES_ReadNVariables Lib "DesCmd.dll" Alias "_DES_ReadNVariables@16" (ByVal Port As String, ByVal nbOfVariables As Integer, ByRef parNumbersAddresses As Integer, ByRef dataVecotr As Any) As Boolean 'Cmd Layer / CAN Functions Declare Function DES_SendNMT Lib "DesCmd.dll" Alias "_DES_SendNMT@4" (ByVal Port As String) As Boolean Declare Function DES_SetModuleID Lib "DesCmd.dll" Alias "_DES_SetModuleID@8" (ByVal Port As String, ByVal moduleID As Integer) As Boolean Declare Function DES_SetServiceID Lib "DesCmd.dll" Alias "_DES_SetServiceID@8" (ByVal Port As String, ByVal serviceID As Integer) As Boolean Declare Function DES_SetTPDOID Lib "DesCmd.dll" Alias "_DES_SetTPDOID@8" (ByVal Port As String, ByVal transPDOID As Integer) As Boolean Declare Function DES_SetRPDOID Lib "DesCmd.dll" Alias "_DES_SetRPDOID@8" (ByVal Port As String, ByVal receivePDOID As Integer) As Boolean Declare Function DES_SendCANmsg Lib "DesCmd.dll" Alias "_DES_SendCANmsg@24" (ByVal Port As String, ByVal id As Integer, ByVal dataA As Integer, ByVal dataB As Integer, ByVal dataC As Integer, ByVal dataD As Integer) As Boolean Declare Function DES_ReadModuleID Lib "DesCmd.dll" Alias "_DES_ReadModuleID@8" (ByVal Port As String, ByRef moduleID As Integer) As Boolean Declare Function DES_SetCANBCR1 Lib "DesCmd.dll" Alias "_DES_SetCANBCR1@8" (ByVal Port As String, ByVal bcr1 As Integer) As Boolean Declare Function DES_SetCANBCR2 Lib "DesCmd.dll" Alias "_DES_SetCANBCR2@8" (ByVal Port As String, ByVal bcr2 As Integer) As Boolean Declare Function DES_SetCANBCR Lib "DesCmd.dll" Alias "_DES_SetCANBCR@12" (ByVal Port As String, ByVal bcr1 As Integer, ByVal bcr2 As Integer) As Boolean Declare Function DES_SendRTR Lib "DesCmd.dll" Alias "_DES_SendRTR@4" (ByVal Port As String) As Boolean Declare Function DES_GetRemoteData Lib "DesCmd.dll" Alias "_DES_GetRemoteData@28" (ByVal Port As String, ByVal id As Integer, ByVal opcode As Byte, ByRef param As Integer, ByVal nbOfParam As Byte, ByRef returnParam As Integer, ByVal nbOfReturnParam As Byte) As Boolean Declare Function DES_SetCANmode Lib "DesCmd.dll" Alias "_DES_SetCANmode@8" (ByVal Port As String, ByVal mode As Integer) As Boolean Declare Function DES_ConfigPDO Lib "DesCmd.dll" Alias "_DES_ConfigPDO@8" (ByVal Port As String, ByVal action As Integer) As Boolean Declare Function DES_SetRTRID Lib "DesCmd.dll" Alias "_DES_SetRTRID@12" (ByVal Port As String, ByVal rtrChannel As Integer, ByVal rtrID As Integer) As Boolean Declare Function DES_ConfigRTR Lib "DesCmd.dll" Alias "_DES_ConfigRTR@12" (ByVal Port As String, ByVal rtrChannel As Integer, ByVal action As Integer) As Boolean Declare Function DES_AddRTRParameter Lib "DesCmd.dll" Alias "_DES_AddRTRParameter@16" (ByVal Port As String, ByVal paramSel As Integer, ByVal param As Integer, ByRef ack As Integer) As Boolean Declare Function DES_GetRTRParameter Lib "DesCmd.dll" Alias "_DES_GetRTRParameter@24" (ByVal Port As String, ByVal rtrChannel As Integer, ByVal index As Integer, ByRef ack As Integer, ByRef format As Integer, ByRef param As Integer) Declare Function DES_ResetCANError Lib "DesCmd.dll" Alias "_DES_ResetCANError@4" (ByVal Port As String) As Boolean Declare Function DES_ResetCAN Lib "DesCmd.dll" Alias "_DES_ResetCAN@4" (ByVal Port As String) As Boolean 'Application Layer / Status Declare Function DES_ReadSysStatusDlg Lib "DesCmd.dll" Alias "_DES_ReadSysStatusDlg@4" (ByVal Port As String) As Boolean Declare Function DES_ReadErrorDlg Lib "DesCmd.dll" Alias "_DES_ReadErrorDlg@4" (ByVal Port As String) As Boolean Declare Function DES_EnableDlg Lib "DesCmd.dll" Alias "_DES_EnableDlg@4" (ByVal Port As String) As Boolean 'Application Layer / SystemParameter Declare Function DES_EditTempParamDlg Lib "DesCmd.dll" Alias "_DES_EditTempParamDlg@4" (ByVal Port As String) As Boolean Declare Function DES_EditAllTempParamDlg Lib "DesCmd.dll" Alias "_DES_EditAllTempParamDlg@4" (ByVal Port As String) As Boolean Declare Function DES_ReadVersionDlg Lib "DesCmd.dll" Alias "_DES_ReadVersionDlg@4" (ByVal Port As String) As Boolean 'Application Layer / Setting Functions Declare Function DES_SetVelocityDlg Lib "DesCmd.dll" Alias "_DES_SetVelocityDlg@4" (ByVal Port As String) As Boolean Declare Function DES_SetCurrentDlg Lib "DesCmd.dll" Alias "_DES_SetCurrentDlg@4" (ByVal Port As String) As Boolean 'Application Layer / Monitor Functions Declare Function DES_ReadVelocityIsMustDlg Lib "DesCmd.dll" Alias "_DES_ReadVelocityIsMustDlg@4" (ByVal Port As String) As Boolean Declare Function DES_ReadCurrentIsMustDlg Lib "DesCmd.dll" Alias "_DES_ReadCurrentIsMustDlg@4" (ByVal Port As String) As Boolean 'Application Layer / Recording Functions Declare Function DES_SetupRecorderDlg Lib "DesCmd.dll" Alias "_DES_SetupRecorderDlg@4" (ByVal Port As String) As Boolean Declare Function DES_RecordDataDlg Lib "DesCmd.dll" Alias "_DES_RecordDataDlg@4" (ByVal Port As String) As Boolean Declare Function DES_ReadNVariablesDlg Lib "DesCmd.dll" Alias "_DES_ReadNVariablesDlg@4" (ByVal Port As String) As Boolean 'Application Layer / CAN Functions Declare Function DES_SetModuleIDDlg Lib "DesCmd.dll" Alias "_DES_SetModuleIDDlg@4" (ByVal Port As String) As Boolean Declare Function DES_SetServiceIDDlg Lib "DesCmd.dll" Alias "_DES_SetServiceIDDlg@4" (ByVal Port As String) As Boolean Declare Function DES_SetTPDOIDDlg Lib "DesCmd.dll" Alias "_DES_SetTPDOIDDlg@4" (ByVal Port As String) As Boolean Declare Function DES_SetRPDOIDDlg Lib "DesCmd.dll" Alias "_DES_SetRPDOIDDlg@4" (ByVal Port As String) As Boolean Declare Function DES_SendCANmsgDlg Lib "DesCmd.dll" Alias "_DES_SendCANmsgDlg@4" (ByVal Port As String) As Boolean Declare Function DES_ReadModuleIDDlg Lib "DesCmd.dll" Alias "_DES_ReadModuleIDDlg@4" (ByVal Port As String) As Boolean Declare Function DES_SetCANBCR1Dlg Lib "DesCmd.dll" Alias "_DES_SetCANBCR1Dlg@4" (ByVal Port As String) As Boolean Declare Function DES_SetCANBCR2Dlg Lib "DesCmd.dll" Alias "_DES_SetCANBCR2Dlg@4" (ByVal Port As String) As Boolean Declare Function DES_SetCANmodeDlg Lib "DesCmd.dll" Alias "_DES_SetCANmodeDlg@4" (ByVal Port As String) As Boolean Declare Function DES_GetRemoteDataDlg Lib "DesCmd.dll" Alias "_DES_GetRemoteDataDlg@4" (ByVal Port As String) As Boolean 'CAN Cmd Layer / Status Declare Function DES_CAN_ReadSysStatus Lib "DesCmd.dll" Alias "_DES_CAN_ReadSysStatus@12" (ByVal Port As String, ByVal dest As Integer, ByRef sysStatus As Integer) As Boolean Declare Function DES_CAN_ReadError Lib "DesCmd.dll" Alias "_DES_CAN_ReadError@12" (ByVal Port As String, ByVal dest As Integer, ByRef error As Integer) As Boolean Declare Function DES_CAN_ClearError Lib "DesCmd.dll" Alias "_DES_CAN_ClearError@8" (ByVal Port As String, ByVal dest As Integer) As Boolean Declare Function DES_CAN_Reset Lib "DesCmd.dll" Alias "_DES_CAN_Reset@8" (ByVal Port As String, ByVal dest As Integer) As Boolean Declare Function DES_CAN_Enable Lib "DesCmd.dll" Alias "_DES_CAN_Enable@12" (ByVal Port As String, ByVal dest As Integer, ByVal enable As Integer) As Boolean 'CAN Cmd Layer / SystemParameter Declare Function DES_CAN_ReadTempParam Lib "DesCmd.dll" Alias "_DES_CAN_ReadTempParam@20" (ByVal Port As String, ByVal dest As Integer, ByVal parNb As Integer, ByVal parType As Integer, ByRef param As Any) As Boolean Declare Function DES_CAN_SetTempParam Lib "DesCmd.dll" Alias "_DES_CAN_SetTempParam@20" (ByVal Port As String, ByVal dest As Integer, ByVal parNb As Integer, ByVal parType As Integer, ByRef param As Any) As Boolean Declare Function DES_CAN_ResetTempParam Lib "DesCmd.dll" Alias "_DES_CAN_ResetTempParam@8" (ByVal Port As String, ByVal dest As Integer) As Boolean Declare Function DES_CAN_SaveTempParam Lib "DesCmd.dll" Alias "_DES_CAN_SaveTempParam@8" (ByVal Port As String, ByVal dest As Integer) As Boolean Declare Function DES_CAN_ReadAllTempParam Lib "DesCmd.dll" Alias "_DES_CAN_ReadAllTempParam@12" (ByVal Port As String, ByVal dest As Integer, ByRef sysParam As DES_SysParam) As Boolean Declare Function DES_CAN_SetAllTempParam Lib "DesCmd.dll" Alias "_DES_CAN_SetAllTempParam@12" (ByVal Port As String, ByVal dest As Integer, ByRef sysParam As DES_SysParam) As Boolean Declare Function DES_CAN_ReadVersion Lib "DesCmd.dll" Alias "_DES_CAN_ReadVersion@24" (ByVal Port As String, ByVal dest As Integer, ByRef softVersion As Integer, ByRef hardVersion As Integer, ByRef appNb As Integer, ByRef appVersion As Integer) As Boolean 'CAN Cmd Layer / Setting Functions Declare Function DES_CAN_SetVelocity Lib "DesCmd.dll" Alias "_DES_CAN_SetVelocity@12" (ByVal Port As String, ByVal dest As Integer, ByVal velocity As Integer) As Boolean Declare Function DES_CAN_SetCurrent Lib "DesCmd.dll" Alias "_DES_CAN_SetCurrent@12" (ByVal Port As String, ByVal dest As Integer, ByVal current As Integer) As Boolean Declare Function DES_CAN_StopMotion Lib "DesCmd.dll" Alias "_DES_CAN_StopMotion@8" (ByVal Port As String, ByVal dest As Integer) As Boolean 'CAN Cmd Layer / Monitor Functions Declare Function DES_CAN_ReadVelocityIsMust Lib "DesCmd.dll" Alias "_DES_CAN_ReadVelocityIsMust@20" (ByVal Port As String, ByVal dest As Integer, ByVal typus As Integer, ByRef isVelocity As Integer, ByRef mustVelocity As Integer) As Boolean Declare Function DES_CAN_ReadCurrentIsMust Lib "DesCmd.dll" Alias "_DES_CAN_ReadCurrentIsMust@28" (ByVal Port As String, ByVal dest As Integer, ByVal typus As Integer, ByRef isQCurrent As Integer, ByRef isDCurrent As Integer, ByRef mustCurAmp As Integer, ByRef currentAngle As Integer) As Boolean 'CAN Cmd Layer / CAN Functions Declare Function DES_CAN_SetModuleID Lib "DesCmd.dll" Alias "_DES_CAN_SetModuleID@12" (ByVal Port As String, ByVal dest As Integer, ByVal moduleID As Integer) As Boolean Declare Function DES_CAN_SetServiceID Lib "DesCmd.dll" Alias "_DES_CAN_SetServiceID@12" (ByVal Port As String, ByVal dest As Integer, ByVal serviceID As Integer) As Boolean Declare Function DES_CAN_SetTPDOID Lib "DesCmd.dll" Alias "_DES_CAN_SetTPDOID@12" (ByVal Port As String, ByVal dest As Integer, ByVal transPDOID As Integer) As Boolean Declare Function DES_CAN_SetRPDOID Lib "DesCmd.dll" Alias "_DES_CAN_SetRPDOID@12" (ByVal Port As String, ByVal dest As Integer, ByVal receivePDOID As Integer) As Boolean Declare Function DES_CAN_ReadModuleID Lib "DesCmd.dll" Alias "_DES_CAN_ReadModuleID@12" (ByVal Port As String, ByVal dest As Integer, ByRef moduleID As Integer) As Boolean Declare Function DES_CAN_SetCANBCR1 Lib "DesCmd.dll" Alias "_DES_CAN_SetCANBCR1@12" (ByVal Port As String, ByVal dest As Integer, ByVal bcr1 As Integer) As Boolean Declare Function DES_CAN_SetCANBCR2 Lib "DesCmd.dll" Alias "_DES_CAN_SetCANBCR2@12" (ByVal Port As String, ByVal dest As Integer, ByVal bcr2 As Integer) As Boolean Declare Function DES_CAN_SetCANBCR Lib "DesCmd.dll" Alias "_DES_CAN_SetCANBCR@16" (ByVal Port As String, ByVal dest As Integer, ByVal bcr1 As Integer, ByVal bcr2 As Integer) As Boolean Declare Function DES_CAN_SetCANmode Lib "DesCmd.dll" Alias "_DES_CAN_SetCANmode@12" (ByVal Port As String, ByVal dest As Integer, ByVal mode As Integer) As Boolean Declare Function DES_CAN_ConfigPDO Lib "DesCmd.dll" Alias "_DES_CAN_ConfigPDO@12" (ByVal Port As String, ByVal dest As Integer, ByVal action As Integer) As Boolean Declare Function DES_CAN_SetRTRID Lib "DesCmd.dll" Alias "_DES_CAN_SetRTRID@16" (ByVal Port As String, ByVal dest As Integer, ByVal rtrChannel As Integer, ByVal rtrID As Integer) As Boolean Declare Function DES_CAN_ConfigRTR Lib "DesCmd.dll" Alias "_DES_CAN_ConfigRTR@16" (ByVal Port As String, ByVal dest As Integer, ByVal rtrChannel As Integer, ByVal action As Integer) As Boolean Declare Function DES_CAN_AddRTRParameter Lib "DesCmd.dll" Alias "_DES_CAN_AddRTRParameter@20" (ByVal Port As String, ByVal dest As Integer, ByVal paramSel As Integer, ByVal param As Integer, ByRef ack As Integer) As Boolean Declare Function DES_CAN_GetRTRParameter Lib "DesCmd.dll" Alias "_DES_CAN_GetRTRParameter@28" (ByVal Port As String, ByVal dest As Integer, ByVal rtrChannel As Integer, ByVal index As Integer, ByRef ack As Integer, ByRef format As Integer, ByRef param As Integer) As Boolean Declare Function DES_CAN_ResetCANError Lib "DesCmd.dll" Alias "_DES_CAN_ResetCANError@8" (ByVal Port As String, ByVal dest As Integer) As Boolean Declare Function DES_CAN_ResetCAN Lib "DesCmd.dll" Alias "_DES_CAN_ResetCAN@8" (ByVal Port As String, ByVal dest As Integer) As Boolean 'CAN Application Layer / Status Declare Function DES_CAN_ReadSysStatusDlg Lib "DesCmd.dll" Alias "_DES_CAN_ReadSysStatusDlg@8" (ByVal Port As String, ByVal dest As Integer) As Boolean Declare Function DES_CAN_ReadErrorDlg Lib "DesCmd.dll" Alias "_DES_CAN_ReadErrorDlg@8" (ByVal Port As String, ByVal dest As Integer) As Boolean Declare Function DES_CAN_EnableDlg Lib "DesCmd.dll" Alias "_DES_CAN_EnableDlg@8" (ByVal Port As String, ByVal dest As Integer) As Boolean 'CAN Application Layer / SystemParameter Declare Function DES_CAN_EditTempParamDlg Lib "DesCmd.dll" Alias "_DES_CAN_EditTempParamDlg@8" (ByVal Port As String, ByVal dest As Integer) As Boolean Declare Function DES_CAN_EditAllTempParamDlg Lib "DesCmd.dll" Alias "_DES_CAN_EditAllTempParamDlg@8" (ByVal Port As String, ByVal dest As Integer) As Boolean 'Declare Function DES_CAN_ReadVersiondlg Lib "DesCmd.dll" Alias "_DES_CAN_ReadVersionDlg@8" (ByVal Port As String, ByVal dest As Integer) As Boolean 'CAN Application Layer / Setting Functions Declare Function DES_CAN_SetVelocityDlg Lib "DesCmd.dll" Alias "_DES_CAN_SetVelocityDlg@8" (ByVal Port As String, ByVal dest As Integer) As Boolean Declare Function DES_CAN_SetCurrentDlg Lib "DesCmd.dll" Alias "_DES_CAN_SetCurrentDlg@8" (ByVal Port As String, ByVal dest As Integer) As Boolean 'CAN Application Layer / Monitor Functions Declare Function DES_CAN_ReadVelocityIsMustDlg Lib "DesCmd.dll" Alias "_DES_CAN_ReadVelocityIsMustDlg@8" (ByVal Port As String, ByVal dest As Integer) As Boolean Declare Function DES_CAN_ReadCurrentIsMustDlg Lib "DesCmd.dll" Alias "_DES_CAN_ReadCurrentIsMustDlg@8" (ByVal Port As String, ByVal dest As Integer) As Boolean 'CAN Application Layer / CAN Functions Declare Function DES_CAN_SetModuleIDDlg Lib "DesCmd.dll" Alias "_DES_CAN_SetModuleIDDlg@8" (ByVal Port As String, ByVal dest As Integer) As Boolean Declare Function DES_CAN_SetServiceIDDlg Lib "DesCmd.dll" Alias "_DES_CAN_SetServiceIDDlg@8" (ByVal Port As String, ByVal dest As Integer) As Boolean Declare Function DES_CAN_SetTPDOIDDlg Lib "DesCmd.dll" Alias "_DES_CAN_SetTPDOIDDlg@8" (ByVal Port As String, ByVal dest As Integer) As Boolean Declare Function DES_CAN_SetRPDOIDDlg Lib "DesCmd.dll" Alias "_DES_CAN_SetRPDOIDDlg@8" (ByVal Port As String, ByVal dest As Integer) As Boolean Declare Function DES_CAN_ReadModuleIDDlg Lib "DesCmd.dll" Alias "_DES_CAN_ReadModuleIDDlg@8" (ByVal Port As String, ByVal dest As Integer) As Boolean Declare Function DES_CAN_SetCANBCR1Dlg Lib "DesCmd.dll" Alias "_DES_CAN_SetCAN_BCR1Dlg@8" (ByVal Port As String, ByVal dest As Integer) As Boolean Declare Function DES_CAN_SetCANBCR2Dlg Lib "DesCmd.dll" Alias "_DES_CAN_SetCAN_BCR2Dlg@8" (ByVal Port As String, ByVal dest As Integer) As Boolean Declare Function DES_CAN_SetCANmodeDlg Lib "DesCmd.dll" Alias "_DES_CAN_SetCANmodeDlg@8" (ByVal Port As String, ByVal dest As Integer) As Boolean Declare Function DES_CAN_SetCANBCRDlg Lib "DesCmd.dll" Alias "_DES_CAN_SetCAN_BCRDlg@8" (ByVal Port As String, ByVal dest As Integer) As Boolean Declare Function DES_CAN_ConfigPDODlg Lib "DesCmd.dll" Alias "_DES_CAN_ConfigPDODlg@8" (ByVal Port As String, ByVal dest As Integer) As Boolean Declare Function DES_CAN_SetRTRIDDlg Lib "DesCmd.dll" Alias "_DES_CAN_SetRTRIDDlg@8" (ByVal Port As String, ByVal dest As Integer) As Boolean Declare Function DES_CAN_ConfigRTRDlg Lib "DesCmd.dll" Alias "_DES_CAN_ConfigPDODlg@8" (ByVal Port As String, ByVal dest As Integer) As Boolean Declare Function DES_CAN_AddRTRParameterDlg Lib "DesCmd.dll" Alias "_DES_CAN_AddRTRParameterDlg@8" (ByVal Port As String, ByVal dest As Integer) As Boolean Declare Function DES_CAN_GetRTRParameterDlg Lib "DesCmd.dll" Alias "_DES_CAN_GetRTRParameterDlg@8" (ByVal Port As String, ByVal dest As Integer) As Boolean