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, reconnection_retries=7, reconnection_timeout=200, servo_status_listener=False, net_status_listener=False)[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.

  • reconnection_retries (int) – Number of reconnection retried before declaring a connected or disconnected stated.

  • reconnection_timeout (int) – Time in ms of the reconnection timeout.

  • servo_status_listener (bool) – Toggle the listener of the servo for its status, errors, faults, etc.

  • net_status_listener (bool) – Toggle the listener of the network status, connection and disconnection.

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=None)[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.

Warning

It is needed to disconnect the drive(disconnect_from_slave()) after loading the firmware since the Servo object’s data will become obsolete.

Parameters

  • target (int) – Targeted node ID to be loaded.

  • fw_file (str) – Path to the firmware file.

  • boot_in_app (bool) – If fw_file extension is .sfu -> True. Otherwise -> False.

Raises

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

  • ValueError – If the firmware file has the wrong extension.

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

start_status_listener()

Start monitoring network events (CONNECTION/DISCONNECTION).

stop_status_listener()

Stop monitoring network events (CONNECTION/DISCONNECTION).

subscribe_to_status(callback)

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

Parameters

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

unsubscribe_from_status(callback)

Unsubscribe from state changes.

Parameters

callback (function) – Callback function.

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 status

Obtain network status

Type

NET_STATE