Connection Examples

Slave connection through CANopen Example

import argparse

from ingenialink.canopen.network import CanBaudrate, CanDevice, CanopenNetwork


def connection_example(args: argparse.Namespace) -> None:
    """Scans for nodes in a network, connects to the first found node, reads
    a register and disconnects the found servo from the network."""
    can_device = CanDevice(args.transceiver)
    can_baudrate = CanBaudrate(args.baudrate)
    net = CanopenNetwork(device=can_device, channel=args.channel, baudrate=can_baudrate)
    nodes = net.scan_slaves()
    print(nodes)

    if len(nodes) > 0:
        servo = net.connect_to_slave(target=args.node_id, dictionary=args.dictionary_path)

        fw_version = servo.read("DRV_ID_SOFTWARE_VERSION")
        print(fw_version)

        net.disconnect_from_slave(servo)
    else:
        print("Could not find any nodes")


def setup_command() -> argparse.Namespace:
    parser = argparse.ArgumentParser(description="Canopen example")
    parser.add_argument("-d", "--dictionary_path", help="Path to drive dictionary", required=True)
    parser.add_argument("-n", "--node_id", default=32, type=int, help="Node ID")
    parser.add_argument(
        "-t",
        "--transceiver",
        default="ixxat",
        choices=["pcan", "kvaser", "ixxat"],
        help="CAN transceiver",
    )
    parser.add_argument(
        "-b",
        "--baudrate",
        default=1000000,
        type=int,
        choices=[50000, 100000, 125000, 250000, 500000, 1000000],
        help="CAN baudrate",
    )
    parser.add_argument("-c", "--channel", default=0, type=int, help="CAN transceiver channel")
    return parser.parse_args()


if __name__ == "__main__":
    args = setup_command()
    connection_example(args)

Slave connection through CANopen Example (Linux)

In Linux, the CANopen network should be configured in a terminal before running the ingenialink script (administrator privileges are needed).

sudo ip link set can0 up type can bitrate 1000000
sudo ip link set can0 txqueuelen 1000

Then to establish the connection use always the SOCKETCAN device and the bitrate configured in previous step:

import argparse

from ingenialink.canopen.network import CanBaudrate, CanDevice, CanopenNetwork


def connection_example(args: argparse.Namespace) -> None:
    """Scans for nodes in a network, connects to the first found node, reads
    a register and disconnects the found servo from the network.

    Args:
        dict_path: Path to the dictionary
    """
    can_baudrate = CanBaudrate(args.baudrate)
    net = CanopenNetwork(device=CanDevice.SOCKETCAN, channel=args.channel, baudrate=can_baudrate)
    nodes = net.scan_slaves()
    print(nodes)

    if len(nodes) > 0:
        servo = net.connect_to_slave(target=args.node_id, dictionary=args.dictionary_path)

        fw_version = servo.read("DRV_ID_SOFTWARE_VERSION")
        print(fw_version)

        net.disconnect_from_slave(servo)
    else:
        print("Could not find any nodes")


def setup_command() -> argparse.Namespace:
    parser = argparse.ArgumentParser(description="Canopen example")
    parser.add_argument("-d", "--dictionary_path", help="Path to drive dictionary", required=True)
    parser.add_argument("-n", "--node_id", default=32, type=int, help="Node ID")
    parser.add_argument(
        "-b",
        "--baudrate",
        default=1000000,
        type=int,
        choices=[50000, 100000, 125000, 250000, 500000, 1000000],
        help="CAN baudrate",
    )
    parser.add_argument("-c", "--channel", default=0, type=int, help="CAN transceiver channel")
    return parser.parse_args()


if __name__ == "__main__":
    args = setup_command()
    connection_example(args)

Slave connection through Ethernet Example

import argparse

from ingenialink.ethernet.network import EthernetNetwork


def connection_example(args: argparse.Namespace) -> None:
    net = EthernetNetwork()
    servo = net.connect_to_slave(args.ip_address, args.dictionary_path, args.port)

    print(servo.read("DRV_ID_SOFTWARE_VERSION"))

    net.disconnect_from_slave(servo)


def setup_command() -> argparse.Namespace:
    parser = argparse.ArgumentParser(description="Ethernet connection example")
    parser.add_argument("-d", "--dictionary_path", help="Path to drive dictionary", required=True)
    parser.add_argument("-ip", "--ip_address", help="IP address", type=str, required=True)
    parser.add_argument("-p", "--port", help="TCP port", type=int, default=1061)
    return parser.parse_args()


if __name__ == "__main__":
    args = setup_command()
    connection_example(args)

Slave connection through EtherCAT Example

import argparse

from ingenialink.ethercat.network import EthercatNetwork


def main(args: argparse.Namespace) -> None:
    net = EthercatNetwork(args.interface)
    servo = net.connect_to_slave(args.slave_id, args.dictionary_path)
    firmware_version = servo.read("DRV_ID_SOFTWARE_VERSION")
    print(firmware_version)
    net.disconnect_from_slave(servo)


def setup_command() -> argparse.Namespace:
    parser = argparse.ArgumentParser(description="EtherCAT connection example script.")
    interface_help = """Network adapter interface name. To find it: \n
    - On Windows, \\Device\\NPF_{id}. To get the id, run the command: wmic nic get name, guid \n
    - On linux, run the command: ip link show
    """
    parser.add_argument("-i", "--interface", type=str, help=interface_help, required=True)
    parser.add_argument(
        "-d", "--dictionary_path", type=str, help="Path to the drive's dictionary.", required=True
    )
    parser.add_argument("-s", "--slave_id", type=int, help="Slave ID.", default=1)
    args = parser.parse_args()
    return args


if __name__ == "__main__":
    args = setup_command()
    main(args)

In Linux, administrator privileges are needed to establish the EtherCAT connection.

sudo python3 examples/ethercat/ecat_connection.py