Connection Examples¶
Slave connection through CANopen Example¶
import sys
from ingenialink.canopen.network import CanopenNetwork, CAN_DEVICE, CAN_BAUDRATE
def connection_example():
"""Scans for nodes in a network, connects to the first found node, reads
a register and disconnects the found servo from the network."""
net = CanopenNetwork(device=CAN_DEVICE.IXXAT,
channel=0,
baudrate=CAN_BAUDRATE.Baudrate_1M)
nodes = net.scan_slaves()
print(nodes)
if len(nodes) > 0:
servo = net.connect_to_slave(
target=nodes[0],
dictionary='../../resources/dictionaries/eve-net-c_can_1.8.1.xdf')
fw_version = servo.read('DRV_ID_SOFTWARE_VERSION')
print(fw_version)
net.disconnect_from_slave(servo)
else:
print('Could not find any nodes')
if __name__ == '__main__':
connection_example()
sys.exit()
Slave connection through CANopen Example (Linux)¶
In Linux, the CANopen network should be configured in a terminal before running the ingenialink script (administrator privileges are needed).
sudo ip link set can0 up type can bitrate 1000000
sudo ip link set can0 txqueuelen 1000
Then to establish the connection use always the SOCKETCAN device and the bitrate configured in previous step:
import sys
from ingenialink.canopen.network import CAN_BAUDRATE, CAN_DEVICE, CanopenNetwork
def connection_example(dict_path: str) -> None:
"""Scans for nodes in a network, connects to the first found node, reads
a register and disconnects the found servo from the network.
Args:
dict_path: Path to the dictionary
"""
net = CanopenNetwork(device=CAN_DEVICE.SOCKETCAN, channel=0, baudrate=CAN_BAUDRATE.Baudrate_1M)
nodes = net.scan_slaves()
print(nodes)
if len(nodes) > 0:
servo = net.connect_to_slave(target=nodes[0], dictionary=dict_path)
fw_version = servo.read("DRV_ID_SOFTWARE_VERSION")
print(fw_version)
net.disconnect_from_slave(servo)
else:
print("Could not find any nodes")
if __name__ == "__main__":
dict_path = "../../resources/dictionaries/eve-net-c_can_1.8.1.xdf"
connection_example(dict_path)
sys.exit()
Slave connection through Ethernet Example¶
import sys
from ingenialink.ethernet.network import EthernetNetwork
def connection_example():
net = EthernetNetwork()
servo = net.connect_to_slave("192.168.2.22",
"../../resources/dictionaries/eve-net-c_eth_1.8.1.xdf",
1061)
print(servo.read('DRV_ID_SOFTWARE_VERSION'))
net.disconnect_from_slave(servo)
if __name__ == '__main__':
connection_example()
sys.exit(0)