def EtherCAT_Init(nic):
cat = MasterEtherCAT.MasterEtherCAT(nic) #ネットワークカードのアドレスを記載
return cat
def EtherCAT_Init():
cat = MasterEtherCAT.MasterEtherCAT("enp0s25") #ネットワークカードのアドレスを記載
return cat
from pyEtherCAT import MasterEtherCAT #ライブラリの読出し
nic = "eth0" # ネットワークカードのアドレスを記載
cat = MasterEtherCAT.MasterEtherCAT(nic)
ADP = 0x0000 #1台目
ADDR = 0x0E00 #コアレジスタのアドレス
cat.APRD(IDX=0x00, ADP=ADP, ADO=ADDR, DATA=[0, 0, 0, 0, 0, 0, 0,
0]) #DATAは０を８個(64bit分)の枠を指示
(DATA, WKC) = cat.socket_read() #結果を読出し
print(
"[0x{:04X}]= 0x{:02x}{:02x},0x{:02x}{:02x},0x{:02x}{:02x},0x{:02x}{:02x}".
format(ADDR, DATA[7], DATA[6], DATA[5], DATA[4], DATA[3], DATA[2], DATA[1],
DATA[0]))
#読み出したデータを表示する
from pyEtherCAT import MasterEtherCAT
import time
cat = MasterEtherCAT.MasterEtherCAT("enp0s25")
# EEPROM Setup
cat.EEPROM_SetUp(0x0000)
# EEPROM ゼロクリア
for i in range(0x0080):
cat.EEPROM_AddrSet(i)
cat.EEPROM_Write(0)
cat.EEPROM_Stasus(enable=0x01,command=0x02)
time.sleep(0.01)
# EEPROM データ書き込み
d = [0x0180,0xFF00,0x0000,0x00FF,0x0000,0x0000,0x0000,0x0065]
for i in range(8):
cat.EEPROM_AddrSet(i)
cat.EEPROM_Write(d[i])
cat.EEPROM_Stasus(enable=0x01,command=0x02)
time.sleep(0.01)
time.sleep(0.01)
# EEPROM ベンダーID
cat.EEPROM_AddrSet(0x0008)
cat.EEPROM_Write(0x0A68)
#cat.EEPROM_Write(0x0000)
# EEPROM モード切替
cat.EEPROM_Stasus(enable=0x01,command=0x02)
def main():
cat = MasterEtherCAT.MasterEtherCAT("eth0")
cat.ADP = 0x000000
"""
cat.APRD(IDX=0x00,ADP=cat.ADP,ADO=0x0502,DATA=[0x00,0x00])
time.sleep(0.05)
(DATA,WKC) = cat.socket_read()
print(DATA)
print('DATA:{:04x}'.format(DATA[0] | DATA[1]<<8))
"""
# EEPROM Setup
print("EEPROM Setup")
cat.EEPROM_SetUp(0x0000)
# EEPROM ゼロクリア
print("EEPROM Zero Clear")
for i in range(0x0FF):
cat.EEPROM_AddrSet(i)
cat.EEPROM_Write(0)
cat.EEPROM_Stasus(enable=0x01, command=0x02)
time.sleep(0.01)
"""
# EEPROM データ書き込み
#800E00CC8813f000000000800000
print("EEPROM Deta Write")
d = [0x0180,0xFF00,0x0000,0x00FF,0x0000,0x0000,0x0000,0x0065]
for i in range(8):
cat.EEPROM_AddrSet(i)
cat.EEPROM_Write(d[i])
cat.EEPROM_Stasus(enable=0x01,command=0x02)
time.sleep(0.01)
time.sleep(0.01)
"""
# EEPROM データ書き込み
# 800100FF0000FF
print("EEPROM Deta Write")
d = [
0x80,
0x01,
0x00,
0xFF,
0x00,
0x00,
0xFF, #0xFF
0x00,
0x00,
0x00,
0x00,
0x00,
0x00,
0x00
]
# d = [0x80, 0x00, 0x00, 0xCC, 0x88, 0x13, 0xf0,
# 0x00, 0x00, 0x00, 0x00, 0x80, 0x00, 0x00]
buf = [
d[0] | d[1] << 8, d[2] | d[3] << 8, d[4] | d[5] << 8, d[6] | d[7] << 8,
d[8] | d[9] << 8, d[10] | d[11] << 8, d[12] | d[13] << 8
]
for i in range(7):
cat.EEPROM_AddrSet(i)
cat.EEPROM_Write(buf[i])
cat.EEPROM_Stasus(enable=0x01, command=0x02)
time.sleep(0.01)
crc = CRC(d)
cat.EEPROM_AddrSet(7)
cat.EEPROM_Write(crc)
cat.EEPROM_Stasus(enable=0x01, command=0x02)
time.sleep(0.01)
print('CRC:{:04x}'.format(crc))
# ベンダーID [0x00000A68]
cat.EEPROM_AddrSet(0x0008)
cat.EEPROM_Write(0x0A68)
cat.EEPROM_Stasus(enable=0x01, command=0x02)
time.sleep(0.01)
cat.EEPROM_AddrSet(0x0009)
cat.EEPROM_Write(0x0000)
cat.EEPROM_Stasus(enable=0x01, command=0x02)
time.sleep(0.01)
# プロダクト コード [0x00000001]
cat.EEPROM_AddrSet(0x000A)
cat.EEPROM_Write(0x0001)
cat.EEPROM_Stasus(enable=0x01, command=0x02)
time.sleep(0.01)
cat.EEPROM_AddrSet(0x000B)
cat.EEPROM_Write(0x0000)
cat.EEPROM_Stasus(enable=0x01, command=0x02)
time.sleep(0.01)
# リビジョン ナンバー [0x00000001]
cat.EEPROM_AddrSet(0x000C)
cat.EEPROM_Write(0x0001)
cat.EEPROM_Stasus(enable=0x01, command=0x02)
time.sleep(0.01)
cat.EEPROM_AddrSet(0x000D)
cat.EEPROM_Write(0x0000)
cat.EEPROM_Stasus(enable=0x01, command=0x02)
time.sleep(0.01)
# シリアル ナンバー [0x00000001]
cat.EEPROM_AddrSet(0x000E)
cat.EEPROM_Write(0x0001)
cat.EEPROM_Stasus(enable=0x01, command=0x02)
time.sleep(0.01)
cat.EEPROM_AddrSet(0x000F)
cat.EEPROM_Write(0x0000)
cat.EEPROM_Stasus(enable=0x01, command=0x02)
time.sleep(0.01)
# EEPROM Size [0x003E]
cat.EEPROM_AddrSet(0x003E)
cat.EEPROM_Write(0x000F)
cat.EEPROM_Stasus(enable=0x01, command=0x02)
time.sleep(0.01)
# Version [0x003F]
cat.EEPROM_AddrSet(0x003F)
cat.EEPROM_Write(0x0001)
cat.EEPROM_Stasus(enable=0x01, command=0x02)
time.sleep(0.01)
ADDR_BASE = 0x0040
Category_Header = 10 #STRINGS TYPE
Category_DATA = "HELLO!"
Category_Size = len(Category_DATA)
cat.EEPROM_AddrSet(ADDR_BASE + 0)
cat.EEPROM_Write(Category_Header)
cat.EEPROM_Stasus(enable=0x01, command=0x02)
time.sleep(0.01)
cat.EEPROM_AddrSet(ADDR_BASE + 1)
cat.EEPROM_Write(int(Category_Size / 2))
cat.EEPROM_Stasus(enable=0x01, command=0x02)
time.sleep(0.01)
cat.EEPROM_AddrSet(ADDR_BASE + 2)
cat.EEPROM_Write(0x01 | Category_Size << 8)
cat.EEPROM_Stasus(enable=0x01, command=0x02)
time.sleep(0.01)
for i in range(0, int(Category_Size / 2) + 2, 2):
cat.EEPROM_AddrSet(ADDR_BASE + 3 + int(i / 2))
cat.EEPROM_Write(
ord(Category_DATA[i]) | ord(Category_DATA[i + 1]) << 8)
cat.EEPROM_Stasus(enable=0x01, command=0x02)
time.sleep(0.01)
#cat.EEPROM_AddrSet(ADDR_BASE+3+i+2)
#cat.EEPROM_Write(0xFFFF)
#cat.EEPROM_Stasus(enable=0x01, command=0x02)
#time.sleep(0.01)
# EEPROM 読み出し
for i in range(0x0050):
cat.EEPROM_AddrSet(i)
cat.EEPROM_Stasus(enable=0x00, command=0x01)
(DATA, WKC) = cat.EEPROM_Read()
print("READ[0x{:04x}]= 0x{:04x}".format(i, DATA[0] | DATA[1] << 8))
cat.EthereCAT_Reset()
time.sleep(1)
cat.ADP = 0x0000
cat.APRD(IDX=0x00, ADP=cat.ADP, ADO=0x0502, DATA=[0x00, 0x00])
time.sleep(0.05)
(DATA, WKC) = cat.socket_read()
print(DATA)
print('DATA:{:04x}'.format(DATA[0] | DATA[1] << 8))
def main():
cat = MasterEtherCAT.MasterEtherCAT("eth0")
cat.ADP = 0x000000
"""
cat.APRD(IDX=0x00,ADP=cat.ADP,ADO=0x0502,DATA=[0x00,0x00])
time.sleep(0.05)
(DATA,WKC) = cat.socket_read()
print(DATA)
print('DATA:{:04x}'.format(DATA[0] | DATA[1]<<8))
"""
# EEPROM Setup
print("EEPROM Setup")
cat.EEPROM_SetUp(0x0000)
# EEPROM ゼロクリア
print("EEPROM Zero Clear")
for i in range(0x010):
cat.EEPROM_AddrSet(i)
cat.EEPROM_Write(0)
cat.EEPROM_Stasus(enable=0x01, command=0x02)
time.sleep(0.01)
"""
# EEPROM データ書き込み
#800E00CC8813f000000000800000
print("EEPROM Deta Write")
d = [0x0180,0xFF00,0x0000,0x00FF,0x0000,0x0000,0x0000,0x0065]
for i in range(8):
cat.EEPROM_AddrSet(i)
cat.EEPROM_Write(d[i])
cat.EEPROM_Stasus(enable=0x01,command=0x02)
time.sleep(0.01)
time.sleep(0.01)
"""
# EEPROM データ書き込み
# 800100FF0000FF
print("EEPROM Deta Write")
d = [0x80, 0x01, 0x00, 0xFF, 0x00, 0x00, 0xFF,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00]
# d = [0x80, 0x00, 0x00, 0xCC, 0x88, 0x13, 0xf0,
# 0x00, 0x00, 0x00, 0x00, 0x80, 0x00, 0x00]
buf = [d[0] | d[1] << 8, d[2] | d[3] << 8, d[4] | d[5] << 8, d[6] |
d[7] << 8, d[8] | d[9] << 8, d[10] | d[11] << 8, d[12] | d[13] << 8]
for i in range(7):
cat.EEPROM_AddrSet(i)
cat.EEPROM_Write(buf[i])
cat.EEPROM_Stasus(enable=0x01, command=0x02)
time.sleep(0.01)
crc = CRC(d)
cat.EEPROM_AddrSet(7)
cat.EEPROM_Write(crc)
cat.EEPROM_Stasus(enable=0x01, command=0x02)
time.sleep(0.01)
print('CRC:{:04x}'.format(crc))
# ベンダーID [0x00000A68]
cat.EEPROM_AddrSet(0x0008)
cat.EEPROM_Write(0x0A68)
cat.EEPROM_Stasus(enable=0x01, command=0x02)
time.sleep(0.01)
cat.EEPROM_AddrSet(0x0009)
cat.EEPROM_Write(0x0000)
cat.EEPROM_Stasus(enable=0x01, command=0x02)
time.sleep(0.01)
# プロダクト コード [0x00000001]
cat.EEPROM_AddrSet(0x000A)
cat.EEPROM_Write(0x0001)
cat.EEPROM_Stasus(enable=0x01, command=0x02)
time.sleep(0.01)
cat.EEPROM_AddrSet(0x000B)
cat.EEPROM_Write(0x0000)
cat.EEPROM_Stasus(enable=0x01, command=0x02)
time.sleep(0.01)
# リビジョン ナンバー [0x00000001]
cat.EEPROM_AddrSet(0x000C)
cat.EEPROM_Write(0x0001)
cat.EEPROM_Stasus(enable=0x01, command=0x02)
time.sleep(0.01)
cat.EEPROM_AddrSet(0x000D)
cat.EEPROM_Write(0x0000)
cat.EEPROM_Stasus(enable=0x01, command=0x02)
time.sleep(0.01)
# シリアル ナンバー [0x00000001]
cat.EEPROM_AddrSet(0x000E)
cat.EEPROM_Write(0x0001)
cat.EEPROM_Stasus(enable=0x01, command=0x02)
time.sleep(0.01)
cat.EEPROM_AddrSet(0x000F)
cat.EEPROM_Write(0x0000)
cat.EEPROM_Stasus(enable=0x01, command=0x02)
time.sleep(0.01)
# シリアル ナンバー [0x00000001]
cat.EEPROM_AddrSet(0x003E)
cat.EEPROM_Write(0x0001)
cat.EEPROM_Stasus(enable=0x01, command=0x02)
time.sleep(0.01)
"""
Category_Header = 30
Category_Data = 0x0001
Category_Size
cat.EEPROM_AddrSet(0x0040)
cat.EEPROM_Write(0x0000)
cat.EEPROM_AddrSet(0x0041)
cat.EEPROM_Write(0x0000)
cat.EEPROM_AddrSet(0x0042)
cat.EEPROM_Write(0x0000)
"""
# EEPROM モード切替
cat.EEPROM_Stasus(enable=0x01, command=0x02)
time.sleep(0.01)
# EEPROM 読み出し
for i in range(0x0010):
cat.EEPROM_AddrSet(i)
cat.EEPROM_Stasus(enable=0x00, command=0x01)
(DATA, WKC) = cat.EEPROM_Read()
print("READ[0x{:04x}]= 0x{:04x}".format(i, DATA[0] | DATA[1] << 8))
cat.EthereCAT_Reset()
time.sleep(1)
cat.ADP = 0x0000
cat.APRD(IDX=0x00, ADP=cat.ADP, ADO=0x0502, DATA=[0x00, 0x00])
time.sleep(0.05)
(DATA, WKC) = cat.socket_read()
print(DATA)
print('DATA:{:04x}'.format(DATA[0] | DATA[1] << 8))
