Dictionary

class ingenialink.ethercat.dictionary.EthercatDictionaryV2(dictionary_path: str)[source]

Contains all registers and information of a EtherCAT dictionary.

Parameters:: dictionary_path – Path to the Ingenia dictionary.

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_object(uid: str, subnode: int) → CanOpenObject

Return object by an UID and subnode.

Parameters:

uid – object UID
subnode – object subnode

Returns:

CanOpen Object

Raises:

KeyError – Object does not exist

get_safety_module(module_ident: int | str) → DictionarySafetyModule

Get safety module by module_ident.

Parameters:

module_ident – safety module module ident (int/hex).

Returns:

Safety module object description.

Raises:

NotImplementedError – Device is not safe.
KeyError – Safety module 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

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 = 3: 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

items: dict[int, dict[str, CanOpenObject]]: Registers group by subnode and UID

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.

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

safety_modules: dict[int, DictionarySafetyModule]: Safety modules (MDP).

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.