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
node.wu16(0x6410,1,7000) # cont. current limit, ma
node.wu16(0x6410,2,8000) # out current limit, ma
node.wu8(0x6410,3,1) # pole paires
node.wu16(0x6410,4,3000) # max speed in current mode
###############################################################################
# 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('[{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
n.wu32(0x3004,0) # disable power stage
time.sleep(0.1)
n.wu32(0x3900, 0x1) # motor type
# controller feedback (encoder OR hall sensors)
