Dictionary

class ingenialink.dictionary.Dictionary(dictionary_path: str, interface: Interface)

Ingenia dictionary Abstract Base Class.

Parameters:

• dictionary_path – Dictionary file path.

• interface – communication interface.

Raises:

ILDictionaryParseError – If the dictionary could not be created.

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

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

abstract 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.

errors: DictionaryErrors

Instance of all the errors in the dictionary.

firmware_version: str | None

Firmware version declared in the dictionary.

image: str | None = None

Drive’s encoded image.

interface: Interface

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

Part number declared in the dictionary.

path

Path of the dictionary.

product_code: int

Product code declared in the dictionary.

registers_group: Dict[int, Dict[str, List[Register]]]

Registers group by subnode and UID

revision_number: int

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.

class ingenialink.dictionary.DictionaryCategories(list_xdf_categories: List[Element])

Contains all categories from a Dictionary.

Parameters:

list_xdf_categories – List of Elements from xdf file

labels(cat_id: str) → Dict[str, str]

Obtain labels for a certain category ID.

Args: cat_id: Category ID

Returns:

Labels dictionary.

load_cat_ids() → None

Load category IDs from dictionary.

property category_ids: List[str]

Category IDs.

class ingenialink.dictionary.DictionaryErrors(list_xdf_errors: List[Element])

Errors for the dictionary.

Parameters:

list_xdf_errors – List of Elements from xdf file

load_errors() → None

Load errors from dictionary.

property errors: Dict[int, List[str | None]]

Get the errors dictionary.

Returns:

Errors dictionary.

class ingenialink.dictionary.DictionarySafetyPDO(index: int, entries: List[PDORegister])

Safety PDOs dictionary descriptor

class PDORegister(register: CanopenRegister | None, size: int)

PDO register descriptor

class ingenialink.dictionary.DictionaryV2(dictionary_path: str, interface: Interface)

read_dictionary() → None

Reads the dictionary file and initializes all its components.

class ingenialink.dictionary.DictionaryV3(dictionary_path: str, interface: Interface)

read_dictionary() → None

Reads the dictionary file and initializes all its components.

class ingenialink.dictionary.Interface(value)

Connection Interfaces

CAN = 1

CANopen

ECAT = 3

EtherCAT

ETH = 2

Ethernet

EoE = 4

Ethernet over EtherCAT

VIRTUAL = 5

Virtual Drive

class ingenialink.dictionary.SubnodeType(value)

Subnode types

COMMUNICATION = 1

Communication

MOTION = 2

Motion

SAFETY = 3

Safety