Network¶
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class
ingenialink.net.
EEPROM_TOOL_MODE
(value)[source]¶ EEPROM tool mode.
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MODE_INFO
= 6¶ Information.
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MODE_NONE
= 0¶ None.
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MODE_READBIN
= 1¶ Read Binary.
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MODE_READINTEL
= 2¶ Read Intelhex.
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MODE_WRITEALIAS
= 5¶ Write Alias.
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MODE_WRITEBIN
= 3¶ Write Binary.
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MODE_WRITEINTEL
= 4¶ Write Intelhex.
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class
ingenialink.net.
NET_DEV_EVT
(value)[source]¶ Device Event.
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ADDED
= 0¶ Added.
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REMOVED
= 1¶ Event.
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class
ingenialink.net.
NET_PROT
(value)[source]¶ Network Protocol.
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CAN
= 5¶ CAN.
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ECAT
= 3¶ ECAT.
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ETH
= 2¶ ETH.
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EUSB
= 0¶ E-USB.
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MCB
= 1¶ MCB.
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class
ingenialink.net.
NET_STATE
(value)[source]¶ Network State.
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CONNECTED
= 0¶ Connected.
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DISCONNECTED
= 1¶ Disconnected.
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FAULTY
= 2¶ Faulty.
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class
ingenialink.net.
Network
(prot, port=None, slave=1, timeout_rd=0.5, timeout_wr=0.5)[source]¶ Network.
- Parameters
prot (NET_PROT) – Protocol.
port (str) – Network device port (e.g. COM1, /dev/ttyACM0, etc.).
timeout_rd (int, float, optional) – Read timeout (s).
timeout_wr (int, float, optional) – Write timeout (s).
- Raises
TypeError – If the protocol type is invalid.
ILCreationError – If the network cannot be created.
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disturbance_channel_data
(channel, dtype, data_arr)[source]¶ Send disturbance data.
- Parameters
channel (int) – Identity channel number.
dtype (REG_DTYPE) – Data type of the register mapped.
data_arr (array) – Data that will be sent to the drive.
- Returns
Return code.
- Return type
int
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property
disturbance_data
¶ Obtain disturbance data.
- Returns
Current disturbance data.
- Return type
array
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property
disturbance_data_size
¶ Obtain disturbance data size.
- Returns
Current disturbance data size.
- Return type
int
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disturbance_remove_all_mapped_registers
()[source]¶ Remove all disturbance mapped registers.
- Returns
Return code.
- Return type
int
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disturbance_set_mapped_register
(channel, address, dtype)[source]¶ Set disturbance mapped register.
- Parameters
channel (int) – Identity channel number.
address (int) – Register address to map.
dtype (REG_DTYPE) – Data type of the register to map.
- Returns
Return code.
- Return type
int
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property
extended_buffer
¶ Obtain extended buffer data.
- Returns
Current extended buffer data.
- Return type
str
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master_startup
(ifname, if_address_ip)[source]¶ Start SOEM master.
- Parameters
ifname (str) – Interface name.
if_address_ip (str) – Interface address IP.
- Returns
Result code.
- Return type
int
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monitoring_channel_data
(channel, dtype)[source]¶ Obtain processed monitoring data of a channel.
- Parameters
channel (int) – Identity channel number.
dtype (REG_DTYPE) – Data type of the register to map.
- Returns
Monitoring data.
- Return type
array
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property
monitoring_data
¶ Obtain monitoring data.
- Returns
Current monitoring data.
- Return type
array
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property
monitoring_data_size
¶ Obtain monitoring data size.
- Returns
Current monitoring data size.
- Return type
int
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monitoring_get_bytes_per_block
()[source]¶ Obtain Bytes x Block configured.
- Returns
Actual number of Bytes x Block configured.
- Return type
int
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monitoring_get_num_mapped_registers
()[source]¶ Obtain the number of mapped registers.
- Returns
Actual number of mapped registers.
- Return type
int
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monitoring_read_data
()[source]¶ Obtain processed monitoring data.
- Returns
Actual processed monitoring data.
- Return type
array
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monitoring_remove_all_mapped_registers
()[source]¶ Remove all monitoring mapped registers.
- Returns
Result code.
- Return type
int
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monitoring_set_mapped_register
(channel, reg_idx, dtype)[source]¶ Set monitoring mapped register.
- Parameters
channel (int) – Identity channel number.
reg_idx (int) – Register address to map.
dtype (REG_DTYPE) – Data type of the register to map.
- Returns
Result code.
- Return type
int
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net_mon_status
(on_evt)[source]¶ Calls given function everytime a connection/disconnection event is raised.
- Parameters
on_evt (Callback) – Function that will be called every time an event is raised.
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property
port
¶ Obtain network port.
- Returns
Current network port.
- Return type
str
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property
prot
¶ Obtain network protocol.
- Returns
Current network protocol used.
- Return type
str
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servos
(on_found=None)[source]¶ Obtain a list of attached servos.
- Parameters
on_found (callback, optional) – Servo found callback.
- Returns
List of attached servos.
- Return type
list
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set_if_params
(ifname, if_address_ip)[source]¶ Set ethernet interface parameters.
- Parameters
ifname (str) – Interface name.
if_address_ip (str) – Interface address IP.
Returns:
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set_reconnection_retries
(retries)[source]¶ Set the number of reconnection retries in our application.
- Parameters
retries (int) – Number of reconnection retries.
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set_recv_timeout
(timeout)[source]¶ Set receive communications timeout.
- Parameters
timeout (int) – Timeout in ms.
- Returns
Result code.
- Return type
int
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set_status_check_stop
(stop)[source]¶ Start/Stop the internal monitor of the drive status.
- Parameters
stop (int) – 0 to START, 1 to STOP.
- Returns
Result code.
- Return type
int
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property
state
¶ Obtain network state.
- Returns
Current network state.
- Return type
str
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property
status
¶ Obtain network status.
- Returns
Current network status.
- Return type
str
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class
ingenialink.net.
NetworkMonitor
(prot)[source]¶ Network Monitor.
- Parameters
prot (NET_PROT) – Protocol.
- Raises
TypeError – If the protocol type is invalid.
ILCreationError – If the monitor cannot be created.
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ingenialink.net.
devices
(prot)[source]¶ Obtain a list of network devices.
- Parameters
prot (NET_PROT) – Protocol.
- Returns
List of network devices.
- Return type
list
- Raises
TypeError – If the protocol type is invalid.
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ingenialink.net.
eeprom_tool
(ifname, mode, filename)[source]¶ Tool to modify and verify drive EEPROM.
- Parameters
ifname (str) – Interface name.
mode (int) – EEPROM tool mode.
filename (str) – Path to the EEPROM file.
- Returns
Result code.
- Return type
int
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ingenialink.net.
force_error
(ifname, if_address_ip)[source]¶ Force state machine error.
- Parameters
ifname – Interface name.
if_address_ip – Interface address IP.
- Returns
Result code.
- Return type
int
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ingenialink.net.
master_startup
(ifname, if_address_ip)[source]¶ Start SOEM master.
- Parameters
ifname (str) – Interface name.
if_address_ip (str) – Interface address IP.
- Returns
Result code.
- Return type
int
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ingenialink.net.
update_firmware
(ifname, filename, is_summit=False, slave=1)[source]¶ Update firmware through FoE.
- Parameters
ifname – Interface name.
filename – Path to the firmware file.
is_summit – [true] -> Everest [false] -> Capitan or Low-Power drives
slave – Slave number in the network.
- Returns
Result code.
- Return type
int