Dictionary

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.

child_registers(uid: str, subnode: int) → List[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

classmethod get_description(dictionary_path: str, interface: Interface) → DictionaryDescriptor

Quick function to get target dictionary description

Parameters:

dictionary_path – target dictionary path
interface – device interface

Returns:

Target dictionary description

get_safety_rpdo(uid: str) → 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

get_safety_tpdo(uid: str) → 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

read_dictionary() → None: Reads the dictionary file and initializes all its components.

registers(subnode: int) → Dict[str, Register]

Gets the register dictionary to the targeted subnode.

Parameters:: subnode – Identifier for the subnode.
Returns:: Dictionary of all the registers for a subnode.

categories: DictionaryCategories: Instance of all the categories in the dictionary.

coco_product_code: int | None = None: CoCo product code declared in the dictionary. Only used when a COM-KIT and a CORE dictionary are merged.

errors: Dict[int, 'DictionaryError']: Instance of all the errors in the dictionary.

firmware_version: str | None = None: Firmware version declared in the dictionary.

image: str | None = None: Drive’s encoded image.

interface: Interface = 1: Interface declared in the dictionary.

property is_coco_dictionary: bool

Check if dictionary is a CoCo dictionary

Returns:: True if the dictionary is a CoCo dictionary. False otherwise.

is_safe: bool = False: True if has SafetyPDOs element, else False

part_number: str | None = None: Part number declared in the dictionary.

path: Path of the dictionary.

product_code: int | None = None: Product code declared in the dictionary.

registers_group: Dict[int, Dict[str, List[Register]]]: Registers group by subnode and UID

revision_number: int | None = None: Revision number declared in the dictionary.

safety_rpdos: Dict[str, DictionarySafetyPDO]: Safety RPDOs by UID

safety_tpdos: Dict[str, DictionarySafetyPDO]: Safety TPDOs by UID

subnodes: Dict[int, SubnodeType]: Number of subnodes in the dictionary.

version: str: Version of the dictionary.