def __init__(self):
self._ifname = HostIfname
self._pd_thread_stop_event = threading.Event()
self._ch_thread_stop_event = threading.Event()
self.pd_thread = 0
self.ch_thread = 0
self._actual_wkc = 0
self._master = pysoem.Master()
self._master.in_op = False
self._master.do_check_state = False
SlaveSet = namedtuple('SlaveSet', 'name product_code config_func')
self._expected_slave_layout = {
0: SlaveSet('DM3E-522', self.DM3E_522_PRODUCT_CODE,
self.dm3e522_setup)
}
self.control_word = 0
self.target_position = 0
self.target_vel = 0
self.target_acc = 0
self.target_dec = 0
self.mode_operation = 0
self.last_error = 0
self.status_word = 0
self.mode_display = 0
self.actual_position = 0
self.touch_probe_status = 0
self.touch_probe_value = 0
self.digital_input = 0
def read_sdo_info(ifname):
master = pysoem.Master()
master.open(ifname)
if master.config_init() > 0:
for slave in master.slaves:
try:
od = slave.od
except pysoem.SdoInfoError:
print('no SDO info for {}'.format(slave.name))
else:
print(slave.name)
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))
else:
print('no slave available')
master.close()
def __init__(self, ifname):
self._ifname = ifname
self._master = pysoem.Master()
SlaveSet = collections.namedtuple(
'SlaveSet', 'slave_name product_code config_func')
self._expected_slave_mapping = {0: SlaveSet('EK1100', self.EK1100_PRODUCT_CODE, None),
1: SlaveSet('EL1018', self.EL1018_PRODUCT_CODE, None),
2: SlaveSet('EL2008', self.EL2008_PRODUCT_CODE, None)}
def __init__(self):
self._ifname = test_config.ifname
self._master = pysoem.Master()
self.SlaveSet = collections.namedtuple(
'SlaveSet', 'name product_code config_func')
self.el3002_config_func = None
self.el1259_config_func = None
self._expected_slave_layout = None
def __init__(self, adapter_name, BYTE_NUM):
super().__init__()
self.adapter = adapter_name
self.master = pysoem.Master()
self.master.in_op = False
self.master.do_check_state = False
self.master.open(adapter_name)
self.BYTE_NUM = BYTE_NUM
print("EtherCAT Master is opened using", adapter_name)
def __init__(self, ifname):
self._ifname = ifname
self._pd_thread_stop_event = threading.Event()
self._ch_thread_stop_event = threading.Event()
self._actual_wkc = 0
self._master = pysoem.Master()
self._master.in_op = False
self._master.do_check_state = False
SlaveSet = namedtuple('SlaveSet', 'name product_code config_func')
self._expected_slave_layout = {0: SlaveSet('EK1100', self.EK1100_PRODUCT_CODE, None),
1: SlaveSet('EL3002', self.EL3002_PRODUCT_CODE, None),
2: SlaveSet('EL1259', self.EL1259_PRODUCT_CODE, self.el1259_setup)}
def __init__(self):
self._ifname = test_config.ifname
self._master = pysoem.Master()
self._master.in_op = False
self._master.do_check_state = False
self._proc_thread_handle = None
self._check_thread_handle = None
self._pd_thread_stop_event = threading.Event()
self._ch_thread_stop_event = threading.Event()
self._actual_wkc = 0
self.SlaveSet = collections.namedtuple('SlaveSet', 'name product_code config_func')
self.el3002_config_func = None
self.el1259_config_func = None
self._expected_slave_layout = None
def read_eeprom_of_first_slave(ifname):
master = pysoem.Master()
master.open(ifname)
if master.config_init() > 0:
first_slave = master.slaves[2]
for i in range(0, 0x80, 2):
print('{:04x}:'.format(i), end='')
print('|'.join('{:02x}'.format(x) for x in first_slave.eeprom_read(i)))
else:
print('no slave available')
master.close()
def __init__(self, ifname):
self._ifname = ifname
self._pd_thread_stop_event = threading.Event()
self._ch_thread_stop_event = threading.Event()
self._actual_wkc = 0
self._master = pysoem.Master()
self._master.in_op = False
self._master.do_check_state = False
SlaveSet = namedtuple('SlaveSet', 'name product_code config_func')
self._expected_slave_layout = {
0: SlaveSet('EK1100', self.EK1100_PRODUCT_CODE, None),
1: SlaveSet('EL4008', self.EL4008_PRODUCT_CODE, None),
2: SlaveSet('EL4114', self.EL4114_PRODUCT_CODE, None),
3: SlaveSet('EL3144', self.EL3144_PRODUCT_CODE, None),
4: SlaveSet('EL2624', self.EL2624_PRODUCT_CODE, None),
5: SlaveSet('EL2872', self.EL2872_PRODUCT_CODE, self.el2872_setup),
6: SlaveSet('EL1872', self.EL1872_PRODUCT_CODE, None)
}
def write_file_to_first_slave(ifname, file_path):
master = pysoem.Master()
master.open(ifname)
try:
if master.config_init() > 0:
first_slave = master.slaves[0]
with open(file_path, 'rb') as file:
file_data = file.read()
first_slave.foe_write('data.bin', 0, file_data)
else:
print('no slave available')
except Exception as ex:
raise ex
finally:
master.close()
import pysoem
import netifaces
def get_nicid(ip):
interfaces = netifaces.interfaces()
for interface in interfaces:
try:
id = netifaces.ifaddresses(interface)[netifaces.AF_INET][0]["addr"]
if id == ip:
return interface
except:
pass
nic_id = get_nicid("10.39.0.117")
full_id = str(f"\\Device\\NPF_{nic_id}")
# print(full_id)
master = pysoem.Master()
master.open(full_id)
if master.config_init() > 0:
device_foo = master.slaves[0]
device_bar = master.slaves[1]
else:
print("No device 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()
