PDOs

class ingenialink.pdo.PDOMap

Abstract class that contains PDO mapping information.

add_item(item: PDOMapItem) → None

Append a new item.

Parameters:

item – Item to be added.

add_registers(registers: EthercatRegister | CanopenRegister | List[EthercatRegister | CanopenRegister]) → None

Add a register or a list of registers in bulk.

It creates a new item for each register and adds it the items attribute.

Parameters:

registers – Register object or list of Registers.

create_item(register: EthercatRegister | CanopenRegister, size_bits: int | None = None) → PDOMapItem

Create a new PDOMapItem.

Parameters:

• register – Register object.

• size_bits – Register size in bits.

Returns:

PDO Map item.

get_item_bits() → bitarray

Return the concatenated items raw data (in bits).

Raises:

• ILError – Raw data is empty.

• ILError – If the length of the bit array is incorrect.

Returns:

Concatenated items raw data in bits.

get_item_bytes() → bytes

Return the concatenated items raw data (in bytes).

Raises:

• ILError – Raw data is empty.

• ILError – If the length of th byte array is incorrect.

Returns:

Concatenated items raw data in bytes.

set_item_bytes(data_bytes: bytes) → None

Set the items raw data from a byte array.

Parameters:

data_bytes – Byte array.

Raises:

ILError – If the length of the received data does not coincide.

property data_length_bits: int

Length of the map in bits.

Returns:

Length of the map in bits.

property data_length_bytes: int

Length of the map in bytes.

Returns:

Length of the map in bytes.

property items: List[PDOMapItem]

List of items.

Returns:

List of items.

property items_mapping: bytearray

Returns all register item mappings concatenated.

Returns:

_description_

Return type:

int

property map_register_index: int | None

Index of the mapping register. None if it is not mapped in the slave.

Returns:

Index of the mapping register.

property map_register_index_bytes: bytes

Index of the mapping register in bytes.

Returns:

Index of the mapping register in bytes.

Raises:

ValueError – If map_register_index is None

class ingenialink.pdo.PDOMapItem(register: None | EthercatRegister | CanopenRegister = None, size_bits: int | None = None)

Abstract class to represent a register in the PDO mapping.

register

mapped register object. If None the item will padding.

size_bits

custom register size in bits.

Raises:

• ValueError – If the register and size_bits are not provided.

• ValueError – If the size_bits value is invalid. Only when the register

• is set to None. –

ACCEPTED_CYCLIC: RegCyclicType

CYCLIC_TX, CYCLIC_RX or CYCLIC_TXRX.

Type:

Accepted cyclic

property raw_data_bits: bitarray

Raw data in bits.

Returns:

Raw data in bits

Raises:

ILError – If the raw data is empty.

property raw_data_bytes: bytes

Raw data in bytes.

Returns:

Raw data in bytes

Raises:

ILError – If the raw data is empty.

property register_mapping: bytes

Arrange register information into PDO mapping format.

Returns:

PDO register mapping format.

property value: int | float | bool | bytes

Register value. Converts the raw data bytes into the register value.

Raises:

• ILError – If the raw data is empty.

• ILError – If the register type is not int or float.

Returns:

Register value.

class ingenialink.pdo.PDOServo(target: int | str, dictionary_path: str, servo_status_listener: bool = False)

Abstract class to implement PDOs in a Servo class.

generate_pdo_outputs() → None

Process the PDO outputs.

It should call _process_tpdo method using the received bytes as argument.

map_pdos(slave_index: int) → None

Map RPDO and TPDO register into the slave.

Parameters:

slave_index – salve index.

map_rpdos() → None

Map the RPDO registers into the servo slave. It takes the first available RPDO assignment slot of the slave.

Raises:

ILError – If there are no available PDOs.

map_tpdos() → None

Map the TPDO registers into the servo slave. It takes the first available TPDO assignment slot of the slave.

Raises:

ILError – If there are no available PDOs.

process_pdo_inputs() → None

Process the PDO inputs.

It should call _process_rpdo method to obtain the bytes to be sent to the slave.

remove_rpdo_map(rpdo_map: RPDOMap | None = None, rpdo_map_index: int | None = None) → None

Remove a RPDOMap from the RPDOMap list.

Parameters:

• rpdo_map – The RPDOMap instance to be removed.

• rpdo_map_index – The index of the RPDOMap list to be removed.

Raises:

• ValueError – If the RPDOMap instance is not in the RPDOMap list.

• IndexError – If the index is out of range.

remove_tpdo_map(tpdo_map: TPDOMap | None = None, tpdo_map_index: int | None = None) → None

Remove a TPDOMap from the TPDOMap list.

Parameters:

• tpdo_map – The TPDOMap instance to be removed.

• tpdo_map_index – The index of the TPDOMap list to be removed.

Raises:

• ValueError – If the TPDOMap instance is not in the TPDOMap list.

• IndexError – If the index is out of range.

reset_pdo_mapping() → None

Reset the RPDO and TPDO mapping in the slave.

reset_rpdo_mapping() → None

Delete the RPDO mapping stored in the servo slave.

reset_tpdo_mapping() → None

Delete the TPDO mapping stored in the servo slave.

set_pdo_map_to_slave(rpdo_maps: List[RPDOMap], tpdo_maps: List[TPDOMap]) → None

Callback called by the slave to configure the map.

Parameters:

• rpdo_maps – List of RPDO maps.

• tpdo_maps – List of TPDO maps.

class ingenialink.pdo.RPDOMap

Class to store RPDO mapping information.

class ingenialink.pdo.RPDOMapItem(register: None | EthercatRegister | CanopenRegister = None, size_bits: int | None = None)

Class to represent RPDO mapping items.

ACCEPTED_CYCLIC: RegCyclicType = 'CYCLIC_RX'

CYCLIC_TX, CYCLIC_RX or CYCLIC_TXRX.

Type:

Accepted cyclic

property value: int | float | bytes

Register value. Converts the raw data bytes into the register value.

Raises:

• ILError – If the raw data is empty.

• ILError – If the register type is not int or float.

Returns:

Register value.

class ingenialink.pdo.TPDOMap

Class to store TPDO mapping information.

class ingenialink.pdo.TPDOMapItem(register: None | EthercatRegister | CanopenRegister = None, size_bits: int | None = None)

Class to represent TPDO mapping items.

ACCEPTED_CYCLIC: RegCyclicType = 'CYCLIC_TX'

CYCLIC_TX, CYCLIC_RX or CYCLIC_TXRX.

Type:

Accepted cyclic