Network¶

class ingenialink.ethercat.network.EEPROM_TOOL_MODE(value)[source]¶: EEPROM tool mode.

class ingenialink.ethercat.network.EthercatNetwork(interface_name='')[source]¶

Network for all EtherCAT communications.

Parameters: interface_name (str) – Interface name to be targeted.

close_socket()¶: Closes the established network socket.

connect_to_slave(target=1, dictionary='', use_eoe_comms=1)[source]¶

Connect a slave through an EtherCAT connection.

Parameters

target (int) – Number of the target slave.
dictionary (str) – Path to the dictionary to be loaded.
use_eoe_comms (int) – Specify which architecture is the target based on.

Returns

Instance of the connected servo.

Return type

EthercatServo

destroy_network()¶: Destroy network instance.

disconnect_from_slave(servo)[source]¶

Disconnects the slave from the network.

Parameters: servo (EthernetServo) – Instance of the servo connected.

load_firmware(fw_file, target=1, boot_in_app=True)[source]¶

Loads a given firmware file to a target.

Warning

Choose the boot_in_app flag accordingly to your servo specifications otherwise the servo could enter a blocking state.

Parameters

target (int) – Targeted node ID to be loaded.
fw_file (str) – Path to the firmware file.
boot_in_app (bool) – If summit series -> True. If capitan series -> False. If custom device -> Contact manufacturer.

Raises

ILFirmwareLoadError – The firmware load process fails
with an error message. –

scan_slaves()[source]¶

Scan all the slaves connected in the network.

Returns: List of number of slaves connected to the network.
Return type: list

set_reconnection_retries(retries)¶

Set the number of reconnection retries in our application.

Parameters: retries (int) – Number of reconnection retries.

set_recv_timeout(timeout)¶

Set receive communications timeout.

Parameters: timeout (int) – Timeout in ms.
Returns: Result code.
Return type: int

set_status_check_stop(stop)¶

Start/Stop the internal monitor of the drive status.

Parameters: stop (int) – 0 to START, 1 to STOP.
Returns: Result code.
Return type: int

stop_network_monitor()¶: Stop monitoring network events.

subscribe_to_status(callback)¶

Calls given function everytime a connection/disconnection event is raised.

Parameters

callback (Callback) – Function that will be called every time an event
raised. (is) –

interface_name¶

Interface name used in the network settings.

Type: str

property protocol¶

Obtain network protocol.

Type: NET_PROT

servos¶

List of the connected servos in the network.

Type: list

property state¶

Obtain network state.

Returns: Current network state.
Return type: str

property status¶

Obtain network status.

Returns: Current network status.
Return type: str