slaves[i].name, hex(slaves[i].man), hex(slaves[i].id)))
# PREOP_STATE to SAFEOP_STATE request - each slave's config_func is called
vesc_ethercat_class.master.config_map()
# wait 50 ms for all slaves to reach SAFE_OP state
if vesc_ethercat_class.master.state_check(
pysoem.SAFEOP_STATE, 50000) != pysoem.SAFEOP_STATE:
vesc_ethercat_class.master.read_state()
for slave in vesc_ethercat_class.master.slaves:
if not slave.state == pysoem.SAFEOP_STATE:
print('{} did not reach SAFEOP state'.format(
slave.name))
print('al status code {} ({})'.format(
hex(slave.al_status),
pysoem.al_status_code_to_string(
slave.al_status)))
raise Exception('not all slaves reached SAFEOP state')
# set master as Operational State
vesc_ethercat_class.master.state = pysoem.OP_STATE
vesc_ethercat_class.master.write_state()
# Check Operational state
vesc_ethercat_class.master.state_check(pysoem.OP_STATE, 50000)
if vesc_ethercat_class.master.state != pysoem.OP_STATE:
vesc_ethercat_class.master.read_state()
for slave in vesc_ethercat_class.master.slaves:
if not slave.state == pysoem.OP_STATE:
print('{} did not reach OP state'.format(
slave.name))
print('al status code {} ({})'.format(
def run(self):
self._master.open(self._ifname)
# config_init returns the number of slaves found
if self._master.config_init() > 0:
print("{} slaves found and configured".format(
len(self._master.slaves)))
for i, slave in enumerate(self._master.slaves):
assert (slave.man == self.BECKHOFF_VENDOR_ID)
assert (
slave.id == self._expected_slave_mapping[i].product_code)
slave.config_func = self._expected_slave_mapping[i].config_func
# PREOP_STATE to SAFEOP_STATE request - each slave's config_func is called
self._master.config_map()
# wait 50 ms for all slaves to reach SAFE_OP state
if self._master.state_check(pysoem.SAFEOP_STATE,
50000) != pysoem.SAFEOP_STATE:
self._master.read_state()
for slave in self._master.slaves:
if not slave.state == pysoem.SAFEOP_STATE:
print('{} did not reach SAFEOP state'.format(
slave.name()))
print('al status code {} ({})'.format(
hex(slave.al_status),
pysoem.al_status_code_to_string(slave.al_status)))
raise Exception('not all slaves reached SAFEOP state')
self._master.state = pysoem.OP_STATE
self._master.write_state()
self._master.state_check(pysoem.OP_STATE, 50000)
if self._master.state != pysoem.OP_STATE:
self._master.read_state()
for slave in self._master.slaves:
if not slave.state == pysoem.OP_STATE:
print('{} did not reach OP state'.format(slave.name()))
print('al status code {} ({})'.format(
hex(slave.al_status),
pysoem.al_status_code_to_string(slave.al_status)))
raise Exception('not all slaves reached OP state')
try:
while 1:
# free run cycle
self._master.send_processdata()
self._master.receive_processdata(2000)
volgage_ch_1_el3002_as_bytes = self._master.slaves[1].input
volgage_ch_1_el3002_as_int16 = struct.unpack(
'hh', volgage_ch_1_el3002_as_bytes)[0]
voltage = volgage_ch_1_el3002_as_int16 * 10 / 0x8000
print('EL3002 Ch 1 PDO: {:#06x}; Voltage: {:.4}'.format(
volgage_ch_1_el3002_as_int16, voltage))
time.sleep(1)
except KeyboardInterrupt:
# ctrl-C abort handling
print('stopped')
self._master.state = pysoem.INIT_STATE
# request INIT state for all slaves
self._master.write_state()
self._master.close()
else:
print('slaves not found')
def read_values(ifname):
# Create EtherCAT master instance
master = pysoem.Master()
# Open EtherCAT master instance
master.open(ifname)
print("EtherCAT master created and started...")
print("Enumarating slaves")
print(
'==========================================================================================='
)
# Enumerate and init all slaves
if master.config_init() > 0:
# Read state of all slaves at start-up
master.read_state()
# Iterate over all slves found
for slave in master.slaves:
# Print info on slave
print('{}:'.format(slave.name))
# Read state of slave
print('\tState: {}'.format(hex(slave.state)))
if (SDO_Info_Check):
# Check if SDO info is available
try:
od = slave.od
except pysoem.SdoInfoError:
print('\tno SDO info')
else:
for obj in od:
print(
' Idx: {}; Code: {}; Type: {}; BitSize: {}; Access: {}; Name: "{}"'
.format(hex(obj.index), obj.object_code,
obj.data_type, obj.bit_length,
hex(obj.obj_access), obj.name))
for i, entry in enumerate(obj.entries):
if entry.data_type > 0 and entry.bit_length > 0:
print(
' Subindex {}; Type: {}; BitSize: {}; Access: {} Name: "{}"'
.format(i, entry.data_type,
entry.bit_length,
hex(entry.obj_access), entry.name))
print(
'==========================================================================================='
)
# Transition MASTER to SAFEOP_STATE
# PREOP_STATE to SAFEOP_STATE request - each slave's config_func is called
print('Transition sytem to SAFEOP_STATE')
print(
'==========================================================================================='
)
io_map_size = master.config_map()
print('IOMap-Size: {}'.format(io_map_size))
print(
'==========================================================================================='
)
# Config DC
print('Config DC')
# print(master.config_dc())
print(
'==========================================================================================='
)
# DC Sync
print('DC Sync')
# master.slaves[3].dc_sync(1,1000000000)
print(
'==========================================================================================='
)
# wait 50 ms for all slaves to reach SAFE_OP state
if master.state_check(pysoem.SAFEOP_STATE,
50000) != pysoem.SAFEOP_STATE:
master.read_state()
for slave in master.slaves:
if not slave.state == pysoem.SAFEOP_STATE:
print('{} did not reach SAFEOP state'.format(slave.name))
print('al status code {} ({})'.format(
hex(slave.al_status),
pysoem.al_status_code_to_string(slave.al_status)))
raise Exception('not all slaves reached SAFEOP state')
# Iterate over all slves found
for slave in master.slaves:
# Print info on slave
print('{}:'.format(slave.name))
# Read state of slave
print('\tState: {}'.format(hex(slave.state)))
print(
'==========================================================================================='
)
# Send and receive process data to have valid data at all outputs before transistioning to OP_STATE
print(
'Send and receive process data to have valid data at all outputs before transistioning to OP_STATE'
)
master.send_processdata()
actual_wkc = master.receive_processdata(2000)
if not actual_wkc == master.expected_wkc:
print('incorrect wkc')
print(
'==========================================================================================='
)
# Transition MASTER to OP_STATE (Slave should follow)
print('Transistioning system to OP_STATE')
master.state = pysoem.OP_STATE
master.write_state()
print(
'==========================================================================================='
)
master.state_check(pysoem.OP_STATE, 50000)
if master.state != pysoem.OP_STATE:
master.read_state()
for slave in master.slaves:
if not slave.state == pysoem.OP_STATE:
print('{} did not reach OP state'.format(slave.name))
print('al status code {} ({})'.format(
hex(slave.al_status),
pysoem.al_status_code_to_string(slave.al_status)))
raise Exception('Not all slaves reached OP state')
# Read state of all slaves at start-up
master.read_state()
# Iterate over all slves found
for slave in master.slaves:
# Print info on slave
print('{}:'.format(slave.name))
# Read state of slave
print('\tState: {}'.format(hex(slave.state)))
print(
'==========================================================================================='
)
# ================= SYSTEM OPERATIONAL ==============================
# Create individual objects
M_00 = master.slaves[0]
# M_01 = master.slaves[1]
# M_02 = master.slaves[2]
# M_03 = master.slaves[3]
print('Waiting 3 secs...')
time.sleep(3)
for ii in range(50000):
print(
'==========================================================================================='
)
print(ii)
master.slaves[3].output = struct.pack('H', 0xAAAA)
master.send_processdata()
actual_wkc = master.receive_processdata(2000)
if not actual_wkc == master.expected_wkc:
print('incorrect wkc')
print(master.slaves[3].output.hex())
print(master.slaves[4].input.hex())
master.read_state()
# Iterate over all slves found
for slave in master.slaves:
# Print info on slave
print('{}:'.format(slave.name))
# Read state of slave
print('\tState: {}'.format(hex(slave.state)))
time.sleep(1)
master.slaves[3].output = struct.pack('H', 0x5555)
master.send_processdata()
master.receive_processdata(2000)
if not actual_wkc == master.expected_wkc:
print('incorrect wkc')
print(master.slaves[3].output.hex())
print(master.slaves[4].input.hex())
time.sleep(1)
#for _ in range(5):
# # Write to 1010 1010 1010 1010
# master.slaves[5].output = struct.pack('H', 0xAAAA)
# time.sleep(0.5)
# print(master.slaves[6].input)
# time.sleep(3)
# # Write to 0101 0101 0101 0101
# master.slaves[5].output = struct.pack('H', 0x5555)
# time.sleep(0.5)
# print(master.slaves[6].input)
# time.sleep(3)
# Write Analog Output Ch.1 of EL4008 (position 1) to 5V
# M_01.sdo_write(0x7000, 1, struct.pack('H', 2048))
time.sleep(1)
print(
'==========================================================================================='
)
# ================= SHUTDOWN =======================================
# Transition MASTER to INIT (Slave should follow)
print('Transistioning system to INIT_STATE')
master.state = pysoem.INIT_STATE
master.write_state()
# Read state of all slaves
time.sleep(3)
master.read_state()
# Iterate over all slves found
for slave in master.slaves:
# Print info on slave
print('{}:'.format(slave.name))
# Read state of slave
print('\tState: {}'.format(hex(slave.state)))
print(
'==========================================================================================='
)
# IF NO SLAVES AVAILABLE !!
else:
print('no slave available')
master.close()