libecm 1.2

Library for NEXTW ECM-SK and ECM-XF Module

libecm is a library for EtherCAT master ( NEXTW ECM-SK and NEXTW ECM-XF )

Installation

# pip3 install libecm

or

# python3 setup.py build
# python3 setup.py install

After installation you can run unit tests to make sure that the library works fine. Execute

# python3 -m libecm.test.test_csp           # For ECM-SK
# python3 -m libecm.test.test_ecmxf_elmo    # For ECM-XF elmo 8 servo

Usage

In Python 3 ( ECM-SK 12bits )

from libecm import sk12 as ethercat

from libecm.sk12 import WO, WR
from libecm.sk12 import DRIVE, IO
from libecm.sk12 import FREERUN, DCSYNC
from libecm.sk12 import MODE_CSP, MODE_CSV, MODE_CST
from libecm.sk12 import MAX_SLAVES, MAX_CHANNELS, MAX_BYTES
from libecm.sk12 import STATE_INIT, STATE_PRE_OP, STATE_SAFE_OP, STATE_OP

In Python 3 ( ECM-SK 16bits )

from libecm import sk16 as ethercat

from libecm.sk16 import WO, WR
from libecm.sk16 import DRIVE, IO
from libecm.sk16 import FREERUN, DCSYNC
from libecm.sk16 import MODE_CSP, MODE_CSV, MODE_CST
from libecm.sk16 import MAX_SLAVES, MAX_CHANNELS, MAX_BYTES
from libecm.sk16 import STATE_INIT, STATE_PRE_OP, STATE_SAFE_OP, STATE_OP

In Python 3( ECM-XF )

from libecm.ecmxf import ecmxf_library
from libecm.ecmxf import DATA_DEFAULT_SIZE
from libecm.ecmxf import MODE_CSP, MODE_CSV, MODE_CST
from libecm.ecmxf import STATE_INIT, STATE_PRE_OP, STATE_SAFE_OP, STATE_OP

# ELMO SERVO
from libecm.servo.elmo_gold_pdo_mapping import get_rx_pdo_mapping
from libecm.servo.elmo_gold_pdo_mapping import get_tx_pdo_mapping

# UNIVERSAL SERVO
from libecm.servo.universal_pdo_mapping import get_rx_pdo_mapping
from libecm.servo.universal_pdo_mapping import get_tx_pdo_mapping

ECM-SK Example

1. Open EtherCAT

ethercat.open( )

2. EtherCAT initial.

ethercat.set_state( STATE_PRE_OP )                # Set EtherCAT state
ethercat.axis( group=0, topology=[ DRIVE ]*8 )    # Return number of slaves.
ethercat.set_dc( 1000 )                           # Cycle Time Unit : us
ethercat.set_mode( slaves=[1], modes=[ MODE_CSP ]*1, types=[ DCSYNC ]*1)
time.sleep( 1 )
ethercat.set_state( STATE_SAFE_OP )
time.sleep( 1 )
ethercat.set_state( STATE_OP )

3. Servo ON

ethercat.servo_on( slaves=[1] )

4. CSP, CSV, CST Mode

ethercat.csp( slaves=[1], values=[ int(position) ], rw=WR )
ethercat.csv( slaves=[1], values=[ int(velocity) ], rw=WR )
ethercat.cst( slaves=[1], values=[ int(torque) ],   rw=WR )

ethercat.mixing( [ dict( slaves=1, modes=MODE_CSV, values=0x55555555 ), dict( slaves=2, modes=MODE_CSP, values=0xAAAAAAAA ) ] )

5. Close EtherCAT

result = ethercat.servo_off( slaves=[1] )    # Return list    """ [ { 'index':0, 'status':0, 'position':0, 'torque':0 }, ]    """
ethercat.set_state( STATE_INIT )
ethercat.close()

6. Other Functions

ethercat.get_status( )

ethercat.sdo( 1, 0x607A, 0, size=4, alias='Target Position' ).value     # Read SDO
ethercat.sdo( 1, 0x60C2, 1, size=1, alias='Interpolation').value = 125  # Write SDO

ethercat.clear_alarm( slaves=[ 1, 2, 3, 4, 5, 6, 7, 8 ] )
ethercat.go_home( [ 1, 2, 3, 4, 5, 6, 7, 8 ] )
ethercat.abort_home( [ 1, 2, 3, 4, 5, 6, 7, 8 ] )
ethercat.set_ex( 0, 0 ) # Param1 Disable(Enable) Command CRC Verification
                        # Param2 Disable(Enable) Response CRC Verification

ethercat.read_dio( slaves=[ 1, 2, 3, 4, 5, 6, 7, 8 ])
ethercat.write_dio(slaves=[ 1, 2, 3, 4, 5, 6, 7, 8 ], values=[ 0x55, 0x66, 0x77, 8, 9, 10, 11, 12 ] )

ethercat.reset( )   # Module hardware reset
ethercat.reboot( )  # Module software reset
ethercat.ric_io( )  # Read ECM IC DIO
ethercat.wic_io( 0x55555555 ) # Write ECM IC DIO

ECM-XF Example

1. Open EtherCAT

from libecm.servo.universal_pdo_mapping import get_rx_pdo_mapping
from libecm.servo.universal_pdo_mapping import get_tx_pdo_mapping

COUNT  = 1
SLAVES = [ i for i in range( 0, COUNT ) ]
MODES  = [ MODE_CSV ]

RX_PDO_MAPPING = get_rx_pdo_mapping( MODES )
TX_PDO_MAPPING = get_rx_pdo_mapping( MODES )

ethercat = ecmxf_library( SLAVES, RX_PDO_MAPPING, TX_PDO_MAPPING )
ethercat.open( dev='/dev/spidev0.0' )

2. EtherCAT initial

ethercat.set_dc( 5000000 )    # ns
ethercat.firmware()           # Get ECMXF firmware version
ethercat.axis( )              # Get slave count
ethercat.set_state( STATE_PRE_OP )
ethercat.reconfig( slaves=SLAVES, rx_mapping=RX_PDO_MAPPING, tx_mapping=TX_PDO_MAPPING )
ethercat.set_mode( slaves=SLAVES, modes=MODES )

ethercat.set_state( STATE_SAFE_OP )
for slave in SLAVES:
  ethercat.align_position( slave=slave, homing=True, position=0 )

ethercat.set_state( STATE_OP )

3. Servo ON

ethercat.servo_on( slaves=SLAVES )

4. CSP, CSV, CST Mode

ethercat.mixing( slaves=SLAVES, values=[ 0 ]*COUNT, syntax=False )  # Not monitor FIFO
ethercat.mixing( slaves=SLAVES, values=[ 0 ]*COUNT, syntax=True  )   # monitor FIFO

# Get ECMXF feedback values
ethercat.feedback( slaves=SLAVES )

5. Close EtherCAT

ethercat.servo_off( slaves=SLAVES )
ethercat.close( )

6. Other Functions

from libecm.ecmxf import sdo

ethercat.sdo( 1, 0x607A, 0, size=4, alias='Target Position' ).value     # Read SDO
ethercat.sdo( 1, 0x60C2, 1, size=1, alias='Interpolation').value = 125  # Write SDO

ethercat.reset( )   # Module hardware reset
ethercat.reboot( )  # Module software reset

ethercat.show_pdo( slaves=SLAVES, index=0x1C12 )
ethercat.show_pdo( slaves=SLAVES, index=0x1C13 )

ethercat.show_pdo_size()

V1.2 (2021-05-31 dev)

• New add hardware reset function ( For Raspberry Pi 4B, RESET PIN = WIRINGPI CODE 3 ).

• Optimized class hexinSigmoid

• Fixed some bugs.

V1.1 (2021-05-13)

• New add ECMXF library.

V0.6 (2020-09-28)

• Optimized code.