Dictionary¶
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class
ingenialink.canopen.dictionary.CanopenDictionaryV2(dictionary_path: str)[source]¶ Contains all registers and information of a CANopen dictionary.
- Parameters
dictionary_path – Path to the Ingenia dictionary.
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child_registers(uid: str, subnode: int) → List[ingenialink.register.Register]¶ Return group registers by an UID
- Parameters
uid – registers group UID
subnode – registers group subnode
- Returns
All registers in the group
- Raises
KeyError – Registers group does not exist
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get_safety_rpdo(uid: str) → ingenialink.dictionary.DictionarySafetyPDO¶ Get Safe RPDO by uid
- Parameters
uid – Safe RPDO uid
- Returns
PDO object description
- Raises
NotImplementedError – Device is not safe
KeyError – Safe RPDO not exist
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get_safety_tpdo(uid: str) → ingenialink.dictionary.DictionarySafetyPDO¶ Get Safe TPDO by uid
- Parameters
uid – Safe TPDO uid
- Returns
PDO object description
- Raises
NotImplementedError – Device is not safe
KeyError – Safe TPDO not exist
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read_dictionary() → None¶ Reads the dictionary file and initializes all its components.
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registers(subnode: int) → Dict[str, ingenialink.register.Register]¶ Gets the register dictionary to the targeted subnode.
- Parameters
subnode – Identifier for the subnode.
- Returns
Dictionary of all the registers for a subnode.
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categories: DictionaryCategories¶ Instance of all the categories in the dictionary.
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errors: DictionaryErrors¶ Instance of all the errors in the dictionary.
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firmware_version: Optional[str]¶ Firmware version declared in the dictionary.
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interface: Interface¶ Interface declared in the dictionary.
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property
is_coco_dictionary¶ Check if dictionary is a CoCo dictionary
- Returns
True if the dictionary is a CoCo dictionary. False otherwise.
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part_number: Optional[str]¶ Part number declared in the dictionary.
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path¶ Path of the dictionary.
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product_code: int¶ Product code declared in the dictionary.
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registers_group: Dict[int, Dict[str, List[Register]]]¶ Registers group by subnode and UID
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revision_number: int¶ Revision number declared in the dictionary.
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safety_rpdos: Dict[str, DictionarySafetyPDO]¶ Safety RPDOs by UID
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safety_tpdos: Dict[str, DictionarySafetyPDO]¶ Safety TPDOs by UID
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subnodes: Dict[int, SubnodeType]¶ Number of subnodes in the dictionary.
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version: str¶ Version of the dictionary.