Registers

class ingenialink.canopen.register.CanopenRegister(idx: int, subidx: int, dtype: RegDtype, access: RegAccess, identifier: str | None = None, units: str | None = None, pdo_access: RegCyclicType = RegCyclicType.CONFIG, phy: RegPhy = RegPhy.NONE, subnode: int = 1, storage: Any = None, reg_range: tuple[None, None] | tuple[int, int] | tuple[float, float] | tuple[str, str] = (None, None), labels: dict[str, str] | None = None, enums: dict[str, int] | None = None, cat_id: str | None = None, scat_id: str | None = None, internal_use: int = 0, address_type: RegAddressType | None = RegAddressType.NVM_NONE, description: str | None = None, default: bytes | None = None, bitfields: dict[str, BitField] | None = None, monitoring: MonDistV3 | None = None, is_node_id_dependent: bool = False, obj: CanOpenObject | None = None)

CANopen Register.

Parameters:

• idx – Index of the register.

• subidx – Subindex of the register.

• dtype – Data type.

• access – Access type.

• identifier – Identifier.

• units – Units.

• pdo_access – pdo access.

• phy – Physical units.

• subnode – Subnode.

• storage – Storage.

• reg_range – Range (min, max).

• labels – Register labels.

• enums – Enumeration registers.

• cat_id – Category ID.

• scat_id – Sub-category ID.

• internal_use – Internal use.

• address_type – Address Type.

• description – Register description.

• default – Register default value.

• bitfields – Fields that specify groups of bits.

• monitoring – monitoring information (address, subnode, cyclic access), None if register is not monitoreable.

Raises:

• TypeError – If any of the parameters has invalid type.

• ILValueError – If the register is invalid.

• ILAccessError – Register with wrong access type.

property access: RegAccess

Access type of the register.

property address_type: RegAddressType | None

Address type of the register.

property bit_length: int

Get the bit length of the register.

Returns:

bit length of the register.

Return type:

int

property bitfields: dict[str, BitField] | None

Register bit fields.

property cat_id: str | None

Category ID.

property default: None | int | float | str | bytes

Register default value.

property description: str | None

Register description.

property dtype: RegDtype

Data type of the register.

property enums: dict[str, int]

Containing all the enums for the register.

property enums_count: int

The number of the enums in the register.

property identifier: str | None

Register identifier.

property idx: int

Register index.

property internal_use: int

Defines if the register is only for internal uses.

property is_node_id_dependent: bool

True if register values depends on Node Id.

property labels: dict[str, str]

Containing the labels of the register.

property monitoring: MonDistV3 | None

Containing the address, subnode and cyclic access.

If the register is not monitoreable, it will contain None.

property pdo_access: RegCyclicType

Defines if the register is pdo mappable.

property phy: RegPhy

Physical units of the register.

property range: tuple[None, None] | tuple[int, int] | tuple[float, float] | tuple[str, str]

Containing the minimum and the maximum values of the register.

Type:

tuple

property scat_id: str | None

Sub-Category ID.

property storage: Any

Defines if the register needs to be stored.

property storage_valid: bool

Defines if the register storage is valid.

property subidx: int

Register subindex.

property subnode: int

Target subnode of the register.

property units: str | None

Units of the register.