n = 0
for i in ids:
n+=1
print('[{0}] {1}'.format(n, i))
n = input('Select iface (1-{0}):'.format(len(ids)))
return module.make_iface(ids[n-1],param)
#------------------------------------------------------------------------------
# MAIN
#------------------------------------------------------------------------------
if __name__ == '__main__':
iface = get_iface('ixxat')
io_service = canio2.IOService(iface)
NODE_ID = 1
node = CANopenNode(NODE_ID, io_service)
waiter = canio2.TriggersWaiter(io_service)
print 'Resetting node...'
if node.reset(5000) == False:
print 'Boot Timeout'
sys.exit(1)
print 'Node state after reset: ' + str(node.state)
node.state = CANopenNode.STATES.OPERATIONAL
print 'Node state : ' + str(node.state)
print('* Drive Initialization.')
print('\tClear Faults.')
node.wu16(0x6040,0x80)
print('\tMotor parameters Setup.')
node.wu16(0x6402,1) # motor type
###############################################################################
# Example:
# CANopen node reset
###############################################################################
import canio2
from canio2 import CANopenNode
# CAN module (CAN iface type) initialization
module = canio2.make_module('ixxat')
# CAN iface creation. Pass iface id and bitrate to make_iface method.
iface = module.make_iface('HW104122','1000K')
# io_service object is a link between low and high levels
io_service = canio2.IOService(iface)
# CANopen Node object initialization
NODE_ID = 1
node = CANopenNode(NODE_ID, io_service)
if node.reset(5000) == False:
print 'Error: Boot Timeout'
else:
print 'Boot OK'
print 'State:', node.state
###############################################################################
# Example:
# CANopen node 'device type' reading
###############################################################################
import canio2
from canio2 import CANopenNode
# CAN module (CAN iface type) initialization
module = canio2.make_module('ixxat')
# CAN iface creation. Pass iface id (or '*') and bitrate to make_iface method.
iface = module.make_iface('HW104122','1000K')
# io_service object is a link between low and high levels
io_service = canio2.IOService(iface)
# CANopen Node object initialization
NODE_ID = 1
node = CANopenNode(NODE_ID, io_service)
device_type= node.ru32(0x1000,0)
print 'Device Type:',hex(device_type)
###############################################################################
# Example:
# CANopen node reset
###############################################################################
import canio2
from canio2 import CANopenNode
# CAN module (CAN iface type) initialization
module = canio2.make_module('ixxat')
# CAN iface creation. Pass iface id and bitrate to make_iface method.
iface = module.make_iface('HW104122', '1000K')
# io_service object is a link between low and high levels
io_service = canio2.IOService(iface)
# CANopen Node object initialization
NODE_ID = 1
node = CANopenNode(NODE_ID, io_service)
if node.reset(5000) == False:
print 'Error: Boot Timeout'
else:
print 'Boot OK'
print 'State:', node.state
print('Available IDs:')
n = 0
for i in ids:
n+=1
print('[{0}] {1}'.format(n, i))
n = input('Select iface (1-{0}):'.format(len(ids)))
return module.make_iface(ids[n-1],param)
#------------------------------------------------------------------------------
# MAIN
#------------------------------------------------------------------------------
if __name__ == '__main__':
iface = get_iface('ixxat', None, '1000K')
io_service = canio2.IOService(iface)
n = CANopenNode(NODE_ID, io_service)
waiter = canio2.TriggersWaiter(io_service)
print('Resetting node...')
if n.reset(6000) == False:
print 'Boot Timeout'
sys.exit(1)
print('Node state after reset: ' + str(n.state))
n.state = CANopenNode.STATES.OPERATIONAL
time.sleep(0.1)
if n.state == CANopenNode.STATES.OPERATIONAL:
print('Node state : OPERATIONAL')
else:
raise Exception('Can\'t setup operational mode')
try:
# Initialisation
###############################################################################
# Example:
# CANopen node 'device type' reading
###############################################################################
import canio2
from canio2 import CANopenNode
# CAN module (CAN iface type) initialization
module = canio2.make_module('ixxat')
# CAN iface creation. Pass iface id (or '*') and bitrate to make_iface method.
iface = module.make_iface('HW104122', '1000K')
# io_service object is a link between low and high levels
io_service = canio2.IOService(iface)
# CANopen Node object initialization
NODE_ID = 1
node = CANopenNode(NODE_ID, io_service)
device_type = node.ru32(0x1000, 0)
print 'Device Type:', hex(device_type)
print('[{0}] {1}'.format(n, i))
n = input('Select iface (1-{0}):'.format(len(ids)))
return module.make_iface(ids[n - 1], param)
#------------------------------------------------------------------------------
# init
#------------------------------------------------------------------------------
iface = get_iface('ixxat')
io_service = canio2.IOService(iface)
#------------------------------------------------------------------------------
# Main
#------------------------------------------------------------------------------
NODE_ID = 1
node = CANopenNode(NODE_ID, io_service)
print 'Node state:', node.state
print 'Setting state to:', CANopenNode.STATES.STOPPED
node.state = CANopenNode.STATES.STOPPED
print 'Node state: ', node.state
print 'Setting state to:', CANopenNode.STATES.PRE_OPERATIONAL
node.state = CANopenNode.STATES.PRE_OPERATIONAL
print 'Node state:', node.state
print 'Setting state to:', CANopenNode.STATES.OPERATIONAL
node.state = CANopenNode.STATES.OPERATIONAL
print 'Node state: ', node.state
