Darra-EtherCAT-Master 2.0.6

商业 EtherCAT 主站协议栈 · 实时内核驱动 · 抖动 1µs · Windows + Linux · 多编程语言 · 全协议 · 支持复杂拓扑 + 热插拔 · ethercat.darra.xyz · Commercial EtherCAT Master protocol stack · Real-time kernel driver · 1µs jitter · Multi-platform · Multi-language · Complex topology + hot-plug.

Darra EtherCAT Master · Python SDK

商业 EtherCAT 主站协议栈 · 功能齐全 · 易于集成 · 高可靠 Commercial EtherCAT master · Feature-complete · Easy to integrate · High reliability

[ Windows · Linux · MCU ] [ 6 语言 SDK / 6 languages ] [ 全协议 / Full protocols ] [ 高可靠 / Highly reliable ] [ ethercat.darra.xyz ]

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为什么选 Darra

	SOEM 开源	专用主站板卡	Darra EtherCAT
协议覆盖	部分	视厂商	全协议 + 功能安全
拓扑	简单	视厂商	复杂拓扑 + 热插拔
SDK 语言	C 一种	厂商专用	6 语言一致
安装	自行集成	硬件 + IDE	包管理器一行
配置	手工写代码	厂商工具	图形化一键导出
实时抖动	视 RT 系统	硬件保障	配 DarraRT ≤ 1 µs
可靠性	用户自实现	视厂商	冗余 + 故障自愈
诊断	基础	视厂商	完整在线诊断

Why Darra

	SOEM (Open-source)	Dedicated master card	Darra EtherCAT
Protocols	Partial	Vendor-dependent	Full + functional safety
Topology	Simple	Vendor-dependent	Complex + hot-plug
Languages	C only	Vendor-specific	6 byte-consistent languages
Install	Build yourself	Hardware + IDE	One line via package manager
Config	Hand-coded	Vendor tool	GUI one-click export
RT jitter	Depends on RT stack	Hardware-guaranteed	≤ 1 µs with DarraRT
Reliability	DIY	Vendor-dependent	Redundancy + auto-recovery
Diagnostics	Basic	Vendor-dependent	Full live diagnostics

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核心能力 · Key capabilities

初始化 · Init

• 🟢 DENI 文件 / DENI file (★ 推荐 / Recommended) — 配置工具一键导出, 1 行加载. One-click export, single-line load.
• 🟡 ESI 自动配 / Auto-config — SDK 按从站身份自动套参数. Auto-applies defaults per slave identity.
• 🟠 零配置 / Zero-config — 无 ESI 用从站 CoE 字典自动配. Reads slave's own object dictionary.

协议与可靠性 · Protocols & reliability

• 全协议 / Full mailbox protocols (含功能安全 SIL3 / incl. FSoE SIL3)
• DC 同步 / Distributed Clocks ≤ 1 µs (配 DarraRT)
• 冗余 + 故障自愈 / Redundancy + auto-recovery — 零丢帧切换 / zero-loss failover
• 完整在线诊断 / Full live diagnostics

高级 API · High-level APIs

• 一行初始化 / One-line init — 5 步合 1. 5 steps in a single call.
• 状态链 / State chain — 自动 INIT → OP. Auto walk to OP with diagnostics.
• CiA402 一行使能 / One-line drive enable.
• PDO 类型化读写 / Typed PDO I/O — 自动字节序. Automatic endianness.
• 邮箱网关 / Mailbox gateway — 兼容 TwinCAT 等第三方工具. Compatible with TwinCAT and 3rd-party tools.

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Install

pip install darra-ethercat-master

要求: Python 3.12 · Windows 10/11 x64 · 首次运行需以管理员安装 DarraRT 实时内核驱动 (SDK 强制依赖, 兼容硬件).

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快捷使用 · Quick start

最简流程: DENI 一行加载 → 进 OP → 邮箱基本读写.

from darra_ethercat import EtherCATMaster, EcState

master = (EtherCATMaster()
          .set_eni(r"C:\EtherCAT\MyProject.deni")   # DENI 一行加载
          .build())

master.set_state(EcState.OP)                         # 自动 INIT → PreOp → SafeOp → OP

# 邮箱读 — 两种风格任选:

#  ① 基本: bytes + 手动解析
data = master.slaves[0].coe.sdo_read(0x6041, 0x00)
statusword = int.from_bytes(data[:2], 'little')

#  ② 高级: 对象字典索引器 + 类型化 (一行)
sw = master.slaves[0].coe[0x6041][0x00].get_value()

# 邮箱基本写: 字节版
master.slaves[0].coe.sdo_write((100_000).to_bytes(4, 'little'), sub_index=0x00)

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高级使用 · Advanced

自动搜网卡 + ESI 自动配 · 类型化邮箱写 (无需 byte-pack) · CiA402 / 邮箱网关 / 诊断.

from darra_ethercat import EtherCATMaster, EcState, get_network_info

# ① 自动搜网卡 (取有从站的那张 NIC)
nets = get_network_info(need_slaves_num=True)
ec = next((n for n in nets if (n.slave_num or 0) > 0), None)
if ec is None:
    raise RuntimeError("未发现 EtherCAT 网络")

# ② ESI 目录 + 自动配 (无 DENI 场景)
master = (EtherCATMaster()
          .set_esi_files(r"C:\Esi")        # ESI 目录, SDK 按身份自动套默认参数
          .set_network(ec.name)
          .enable_auto_startup()
          .build())

master.set_state(EcState.OP)

# ③ 类型化邮箱读写 (无需手动 byte-pack, 自动 little-endian)
status = master.slaves[0].coe.sdo_read_value(0x6041, 0x00, dtype='u16')
master.slaves[0].coe.sdo_write_value(0x607A, 0x00, 100_000, dtype='i32')

# ④ CiA402 驱动一步使能 (Switch on → Operation enabled)
master.slaves[0].cia402.enable()

# ⑤ 诊断快照 (帧率 / 错误率)
diag = master.diagnostics_info
print(f"频率 {diag.frequency} Hz, 错误 {diag.error_count}")

# ⑥ 邮箱网关 (TwinCAT / 第三方工具远程透传 SDO, ETG.8200)
master.mailbox_gateway.start()
print(f"网关运行在端口 {master.mailbox_gateway.port}")

更多 API · More APIs — 完整参考: https://ethercat.darra.xyz/docs/sdk/python

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6 语言 SDK 家族 · 6-language SDK family

字节级一致的 CRC / 枚举 / 错误码,业务代码可平滑跨语言。

Language	Package	Registry
Python	darra-ethercat-master	PyPI
C#	Darra.EtherCAT.Master	NuGet
Java	xyz.darra:darra-ethercat-master	Maven Central
Rust	darra-ethercat-master	crates.io
C / C++	darra-ethercat-c / darra-ethercat-cpp	Releases

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文档 · Documentation

• 官网 · Homepage: https://ethercat.darra.xyz
• Python SDK 文档: https://ethercat.darra.xyz/docs/sdk/python
• 快速开始: https://ethercat.darra.xyz/docs/quick-start
• 协议详解: https://ethercat.darra.xyz/docs/ethercat
• 应用案例: https://ethercat.darra.xyz/docs/examples

⚠️ 关于"微秒级"实时性能 · About microsecond real-time 本 SDK 强制配合 DarraRT 实时内核驱动 + 兼容硬件 使用. 微秒级实时由 SDK + DarraRT 共同提供. DarraRT 通过 CPU 核心隔离 + I/O APIC 中断重定向 + LVT 屏蔽 + 干净抖动统计 显著降低 SMI 干扰 (但不能完全抑制, SMM 属硬件层中断, 完全抑制需 BIOS/UEFI 配合). DarraRT 需另行安装 (非自动安装); SDK 启动时若未检测到, 会提示获取下载链接. 我们另提供 硬实时隔离部署方案, 满足更严苛的实时与功能安全需求. 详见 DarraRT 驱动说明.

This SDK requires the DarraRT real-time kernel driver and supported hardware as runtime companions. Microsecond-level performance is delivered by SDK + DarraRT together. DarraRT mitigates SMI via CPU core isolation, I/O APIC redirect, LVT masking, and clean jitter accounting, though it cannot fully suppress SMI (SMM is a hardware-level interrupt; full suppression requires BIOS/UEFI tuning). DarraRT must be installed separately (not auto-installed); the SDK prompts a download link on startup if not detected. A hard real-time isolated deployment is also available for stricter real-time and functional-safety requirements.

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