Network

class ingenialink.ethercat.network.EthercatNetwork(interface_name: str, connection_timeout: float = 1, overlapping_io_map: bool = True)[source]

Network for all EtherCAT communications.

Parameters:

  • interface_name – Interface name to be targeted.

  • connection_timeout – Time in seconds of the connection timeout.

  • overlapping_io_map – Map PDOs to overlapping IO map.

Raises:

ImportError – WinPcap is not installed

config_pdo_maps() → None[source]

Configure the PDO maps.

It maps the PDO maps of each slave and sets its state to SafeOP.

connect_to_slave(slave_id: int, dictionary: str, servo_status_listener: bool = False, net_status_listener: bool = False) → EthercatServo[source]

Connects to a drive through a given slave number.

Parameters:

  • slave_id – Targeted slave to be connected.

  • dictionary – Path to the dictionary file.

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

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

Raises:

  • ValueError – If the slave ID is not valid.

  • ILError – If no slaves are found.

  • ILStateError – If slave can not reach PreOp state

disconnect_from_slave(servo: EthercatServo) → None[source]

Disconnects the slave from the network.

Parameters:

servo – Instance of the servo connected.

get_servo_state(servo_id: int | str) → NET_STATE[source]

Get the state of a servo that’s a part of network. The state indicates if the servo is connected or disconnected.

Parameters:

servo_id – The servo’s slave ID.

Returns:

The servo’s state.

load_firmware(fw_file: str, boot_in_app: bool, slave_id: int = 1, password: int | None = None) → None[source]

Loads a given firmware file to a target slave.

Parameters:

  • fw_file – Path to the firmware file.

  • boot_in_app – True if the application includes the bootloader (i.e, fw_file extension is .sfu), False otherwise.

  • slave_id – Slave ID to which load the firmware file.

  • password – Password to load the firmware file. If None the default password will be used.

Raises:

  • FileNotFoundError – If the firmware file cannot be found.

  • ILFirmwareLoadError – If no slave is detected.

  • ILFirmwareLoadError – If the FoE write operation is not successful.

  • NotImplementedError – If FoE is not implemented for the current OS and architecture

  • AttributeError – If the boot_in_app argument is not a boolean.

scan_slaves() → List[int][source]

Scans for slaves in the network. Scanning of slaves cannot be done if a slave is already connected to the network.

Returns:

List containing all the detected slaves.

Raises:

ILError – If any slaves is already connected.

scan_slaves_info() → OrderedDict[int, SlaveInfo][source]

Scans for slaves in the network and return an ordered dict with the slave information.

Returns:

Ordered dict with the slave information.

Raises:

ILError – If any slave is already connected.

send_receive_processdata(timeout: float = 0.1) → None[source]

Send and receive PDOs

Parameters:

timeout – receive processdata timeout in seconds, 0.1 seconds by default.

Raises:

ILWrongWorkingCount – If processdata working count is wrong

start_pdos(timeout: float = 1.0) → None[source]

Set all slaves with mapped PDOs to Operational State.

Parameters:

timeout – timeout in seconds to reach Op state, 1.0 seconds by default.

Raises:

ILStateError – If slaves can not reach SafeOp or Op state

start_status_listener() → None[source]

Start monitoring network events (CONNECTION/DISCONNECTION).

stop_pdos() → None[source]

For all slaves in OP or SafeOp state, set state to PreOp

stop_status_listener() → None[source]

Stops the NetStatusListener from listening to the drive.

subscribe_to_status(slave_id: int, callback: Callable[[NET_DEV_EVT], None]) → None[source]

Subscribe to network state changes.

Parameters:

  • slave_id – Slave ID of the drive to subscribe.

  • callback – Callback function.

unsubscribe_from_status(slave_id: int, callback: Callable[[str, NET_DEV_EVT], None]) → None[source]

Unsubscribe from network state changes.

Parameters:

  • slave_id – Slave ID of the drive to subscribe.

  • callback – Callback function.

property protocol: NET_PROT

Obtain network protocol.

Type:

NET_PROT

servos: List[EthercatServo]

List of the connected servos in the network.

class ingenialink.ethercat.network.NetStatusListener(network: EthercatNetwork, refresh_time: float = 0.25)[source]

Network status listener thread to check if the drive is alive.

Parameters:

network – Network instance of the EtherCAT communication.

is_alive()

Return whether the thread is alive.

This method returns True just before the run() method starts until just after the run() method terminates. See also the module function enumerate().

join(timeout=None)

Wait until the thread terminates.

This blocks the calling thread until the thread whose join() method is called terminates – either normally or through an unhandled exception or until the optional timeout occurs.

When the timeout argument is present and not None, it should be a floating point number specifying a timeout for the operation in seconds (or fractions thereof). As join() always returns None, you must call is_alive() after join() to decide whether a timeout happened – if the thread is still alive, the join() call timed out.

When the timeout argument is not present or None, the operation will block until the thread terminates.

A thread can be join()ed many times.

join() raises a RuntimeError if an attempt is made to join the current thread as that would cause a deadlock. It is also an error to join() a thread before it has been started and attempts to do so raises the same exception.

run() → None[source]

Method representing the thread’s activity.

You may override this method in a subclass. The standard run() method invokes the callable object passed to the object’s constructor as the target argument, if any, with sequential and keyword arguments taken from the args and kwargs arguments, respectively.

start()

Start the thread’s activity.

It must be called at most once per thread object. It arranges for the object’s run() method to be invoked in a separate thread of control.

This method will raise a RuntimeError if called more than once on the same thread object.

property daemon

A boolean value indicating whether this thread is a daemon thread.

This must be set before start() is called, otherwise RuntimeError is raised. Its initial value is inherited from the creating thread; the main thread is not a daemon thread and therefore all threads created in the main thread default to daemon = False.

The entire Python program exits when only daemon threads are left.

property ident

Thread identifier of this thread or None if it has not been started.

This is a nonzero integer. See the get_ident() function. Thread identifiers may be recycled when a thread exits and another thread is created. The identifier is available even after the thread has exited.

property name

A string used for identification purposes only.

It has no semantics. Multiple threads may be given the same name. The initial name is set by the constructor.

property native_id

Native integral thread ID of this thread, or None if it has not been started.

This is a non-negative integer. See the get_native_id() function. This represents the Thread ID as reported by the kernel.

class ingenialink.ethercat.network.SlaveState(value)[source]

An enumeration.