Network¶

class ingenialink.canopen.net.CAN_BAUDRATE(value)[source]¶

Baudrates.

Baudrate_100K = 100000¶: 100 Kbit/s

Baudrate_125K = 125000¶: 125 Kbit/s

Baudrate_1M = 1000000¶: 1 Mbit/s

Baudrate_250K = 250000¶: 250 Kbit/s

Baudrate_500K = 500000¶: 500 Kbit/s

Baudrate_50K = 50000¶: 50 Kbit/s

class ingenialink.canopen.net.CAN_BIT_TIMMING(value)[source]¶

Baudrates.

Baudrate_100K = 5¶: 100 Kbit/s

Baudrate_125K = 4¶: 150 Kbit/s

Baudrate_1M = 0¶: 1 Mbit/s

Baudrate_250K = 3¶: 250 Kbit/s

Baudrate_500K = 2¶: 500 Kbit/s

Baudrate_50K = 6¶: 50 Kbit/s

class ingenialink.canopen.net.CAN_DEVICE(value)[source]¶

CAN Device.

IXXAT = 'ixxat'¶: Ixxat.

KVASER = 'kvaser'¶: Kvaser.

PCAN = 'pcan'¶: Peak.

class ingenialink.canopen.net.HearbeatThread(parent, node)[source]¶

Heartbeat thread to check if the drive is alive.

Parameters

parent (Network) – network instance of the CANopen communication.
node (int) – Identifier for the targeted node ID.

run()[source]¶

Method representing the thread’s activity.

You may override this method in a subclass. The standard run() method invokes the callable object passed to the object’s constructor as the target argument, if any, with sequential and keyword arguments taken from the args and kwargs arguments, respectively.

class ingenialink.canopen.net.Network(device=None, channel=0, baudrate=CAN_BAUDRATE.Baudrate_1M)[source]¶

Network of the CANopen communication.

Parameters

device (CAN_DEVICE) – Targeted device to connect.
channel (int) – Targeted channel number of the transciever.
baudrate (CAN_BAUDRATE) – Baudrate to communicate through.

property baudrate¶

Current baudrate of the network.

Type: int

change_node_baudrate(target_node, vendor_id, product_code, rev_number, serial_number, new_node=None, new_baudrate=None)[source]¶

Changes the node ID and the baurdrate of a targeted drive.

Parameters

target_node (int) – Node ID of the targeted device.
vendor_id (int) – Vendor ID of the targeted device.
product_code (int) – Product code of the targeted device.
rev_number (int) – Revision number of the targeted device.
serial_number (int) – Serial number of the targeted device.
new_node (int) – New node ID for the targeted device.
new_baudrate (int) – New baudrate for the targeted device.

Returns

Result of the operation.

Return type

bool

connect_through_node(eds, dict, node_id, boot_mode=False, heartbeat=True)[source]¶

Connects to a drive through a given node ID.

Parameters

eds (str) – Path to the EDS file.
dict (str) – Path to the dictionary file.
node_id (int) – Targeted node ID to be connected.
boot_mode (bool) – Value to avoid reading unnecessary regtisters when connecting.
heartbeat (bool) – Value to initialize the HeartBeatThread.

detect_nodes()[source]¶

Scans for nodes in the network.

Returns: Containing all the detected node IDs.
Return type: list

disconnect()[source]¶: Disconnects the already stablished network.

property net_state¶

Network state.

Type: NET_STATE

net_state_subscribe(cb)[source]¶

Subscribe to netowrk state changes.

Parameters: cb – Callback
Returns: Assigned slot.
Return type: int

property network¶

Returns the instance of the CANopen Network.

Type: canopen.Network

property prot¶

Obtain network protocol.

Type: NET_PROT

reset_network()[source]¶: Resets the stablished CANopen network.

scan(eds, dict, boot_mode=False, heartbeat=True)[source]¶

Scans the network and automatically connects to the first detected node ID.

Parameters

eds (str) – Path to the EDS file.
dict (str) – Path to the dictionary file.
boot_mode (bool) – Value to avoid reading unnecessary regtisters when connecting.
heartbeat (bool) – Value to initialize the HeartBeatThread.

property servos¶

Servos available in the network.

Type: list

stop_heartbeat()[source]¶: Stops the HeartBeatThread from listening to the drive.