Network

class ingenialink.ethercat.network.EthercatNetwork(interface_name: str, connection_timeout: float = 2, overlapping_io_map: bool = True, gil_release_config: GilReleaseConfig = GilReleaseConfig(config_init=None, sdo_read_write=None, foe_read_write=None, send_receive_processdata=None, _always_release=False))

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.

• gil_release_config – configures which functions should release the GIL.

Raises:

ImportError – WinPcap is not installed

activate_pdos(refresh_rate: float | None = None, watchdog_timeout: float | None = None) → None

Start PDOs and notify the status to the observers.

Parameters:

• refresh_rate – Determines how often (seconds) the PDO values will be updated.

• watchdog_timeout – The PDO watchdog time. If not provided it will be set proportional to the refresh rate.

close_ecat_master(release_reference: bool = True) → None

Closes the connection with the EtherCAT master.

Parameters:

release_reference – Whether to release the network reference.

If the network will be reused afterward it should be set to False.

config_pdo_maps() → None

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, disconnect_callback: Callable[[Servo], None] | None = None) → EthercatServo

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.

• disconnect_callback – Callback function to be called when the servo is disconnected. If not specified, no callback will be called.

Raises:

• ValueError – If the slave ID is not valid.

• ILError – If no slaves are found.

• ILStateError – If slave can not reach PreOp state

Returns:

ethercat servo.

deactivate_pdos() → None

Stop PDOs and notify the status to the observers.

disconnect_from_slave(servo: EthercatServo) → None

Disconnects the slave from the network.

Parameters:

servo – Instance of the servo connected.

static find_adapters() → list[tuple[int, str, str]]

Finds all available EtherCAT adapters.

Returns:

interface index, adapter name, interface guid.

Raises:

ImportError – If pysoem is not installed.

get_servo_state(servo_id: int | str) → NetState

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.

Raises:

ValueError – If the servo ID is not an integer.

Returns:

The servo’s state.

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

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:

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

• FileNotFoundError – If the firmware file cannot be found.

• ValueError – If the salve ID value is invalid.

• ILError – If no slaves could be found in the network.

• ILError – If the slave ID couldn’t be found in the network.

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

static pysoem_available() → bool

Check if pysoem is available.

Returns:

True if pysoem is available, False otherwise.

scan_slaves() → list[int]

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]

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

Returns:

Ordered dict with the slave information.

send_receive_processdata(timeout: float = 0.1, *, release_gil: bool | None = None) → None

Send and receive PDOs.

Parameters:

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

• release_gil – used to overwrite the GIL release configuration. True to release the GIL, False otherwise. If not specified, default GIL release configuration will be used.

Raises:

ILWrongWorkingCountError – If processdata working count is wrong

start_pdos(timeout: float = 2.0) → None

Set all slaves with mapped PDOs to Operational State.

Parameters:

timeout – timeout in seconds to reach Op state, 2.0 seconds by default.

Raises:

ILStateError – If slaves can not reach SafeOp or Op state.

start_status_listener() → None

Start monitoring network events (CONNECTION/DISCONNECTION).

stop_pdos() → None

For all slaves not in PreOp state, set state to PreOp.

stop_status_listener() → None

Stops the NetStatusListener from listening to the drive.

subscribe_to_pdo_thread_status(callback: Callable[[bool], None]) → None

Subscribe be notified when the PDO process data thread status changes.

Parameters:

callback – Callback function.

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

Subscribe to network state changes.

Parameters:

• slave_id – Slave ID of the drive to subscribe.

• callback – Callback function.

unsubscribe_from_pdo_thread_status(callback: Callable[[bool], None]) → None

Unsubscribe from PDO thread status changes.

Parameters:

callback – Callback function.

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

Unsubscribe from network state changes.

Parameters:

• slave_id – Slave ID of the drive to subscribe.

• callback – Callback function.

static update_pysoem_timeouts(ret: int, safe: int, eeprom: int, tx_mailbox: int, rx_mailbox: int, state: int) → None

Update pysoem timeouts.

Parameters:

• ret – new ret timeout.

• safe – new safe timeout.

• eeprom – new EEPROM access timeout.

• tx_mailbox – new Tx mailbox cycle timeout.

• rx_mailbox – new Rx mailbox cycle timeout.

• state – new status check timeout.

update_sdo_timeout(sdo_read_timeout: int, sdo_write_timeout: int) → None

Update SDO timeouts for all the drives.

Parameters:

• sdo_read_timeout – timeout for SDO read access in us

• sdo_write_timeout – timeout for SDO write access in us

property pdo_manager: PDONetworkManager

Returns the PDO manager.

property protocol: NetProt

Obtain network protocol.

Type:

NetProt

servos: list[EthercatServo]

List of the connected servos in the network.

class ingenialink.ethercat.network.GilReleaseConfig(config_init: bool | None = None, sdo_read_write: bool | None = None, foe_read_write: bool | None = None, send_receive_processdata: bool | None = None)

Configuration of pysoem functions that have GIL release control.

classmethod always() → GilReleaseConfig

Releases the GIL from all functions.

Returns:

GIL configuration.

property always_release: bool

Returns True if the GIL should be released for all functions, False otherwise.

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

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.

process() → None

Process network status for all servos.

This method checks the status of all servos in the network and notifies subscribers of any state changes (connection/disconnection).

run() → None

Check the network status continuously.

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.

stop() → None

Stop the network status listener.

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)

EtherCAT state enum.

ingenialink.ethercat.network.release_network_reference(network: EthercatNetwork | None = None) → None

Releases a network reference.

If network is not provided, all references will be removed.

Parameters:

network – network object.

Raises:

RuntimeError – if the specified network is not on the list.

ingenialink.ethercat.network.set_network_reference(network: EthercatNetwork) → None

Adds a reference to an EtherCAT network.

Parameters:

network – network.