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@jamjam(吉田 伸三)

日記；回すだけIII ⑤ pythonでSDOの読み出し

Last updated at Posted at 2022-03-02

　CANopenは、制御のためにオブジェクト・ディクショナリが規定されています。大きく分けて、

  • 0000台　NMT（Network Management Object）
  • 1000台　コミュニケーション・プロファイル（CANopen ネットワークの通信に関するオブジェクト）
  • 2000台　メーカ固有ドライブ・プロファイル
  • 6000台　CiA402ドライブ・プロファイル（モーション）

があります。SDOではいずれも読み書きの対象になっています。細かく、それも膨大な数があります。メーカによって解釈も異なります。

PythonのCANopenライブラリ

　　解説 CANopen for Python
　　ソース　christiansandberg/canopen

　Windows10（21H2）にインストールします。
$ pip install canopen

　CANバスには、次の装置がつながっています。PCのCANインターフェースはIXXATのUSB-to_CAN V2 Compact（CAN Bit Rate　1000）です。

  • ノードID　7　Beckhoof IO-Link IP1001 B510-0000
  • ノードID　2　TRINAMIC ステッピング・モータPD42-1270
  • ノードID　10　オリエンタルモーター コントローラBLVD-KRD、モータBLMR5100K-A-B
  • ノードID　9　Maxon EPOS2、42BLF01 DCブラシレス・モータ
  • ノードID　5　Maxon EPOS4、100W with encoder

　最初に、Beckhoof IO-Link IP1001 B510-0000にアクセスします。最初にEDSファイルを入手しておきます。ファイルはデスクトップに置いています。デスクトップでpythonを動かしています。

import canopen
import time

# Start with creating a network representing one CAN bus
network = canopen.Network()

node = canopen.RemoteNode(7,'IP10xx-B51x.eds')
network.add_node(node)

# Connect to the CAN bus
network.connect(bustype='ixxat', channel=0, bitrate=1000000)

# Reset network
node.nmt.state = 'RESET COMMUNICATION'
time.sleep(0.5)
node.nmt.state = 'RESET'
time.sleep(3)
node.nmt.send_command(0x1)  # NMT start

network.check()
print('node state 1) = {0}'.format(node.nmt.state))
print("\n start network")

print("\nstart  ID=7 beckhoff")
print("- - -")
device_name    = node.sdo[0x1008].raw
print('Device name ',device_name)
Hardware_version    = node.sdo[0x1009].raw
print('Hardware version  ',Hardware_version)
Software_version    = node.sdo[0x100a].raw
print('Software version ',Software_version)
print("- - -")

print("\nDisconnect") 

# Disconnect from CAN bus
network.disconnect()

　実行例です。
2022-03-02 (2).png

そのほかのモータのデータを読み出す

　適当なオブジェクト・ディクショナリ値を読み出しています。

import canopen
import time

# Start with creating a network representing one CAN bus
network = canopen.Network()

# Add some nodes with corresponding Object Dictionaries
node = canopen.RemoteNode(10,'BLVD-KRD_CANopen_V100.eds')
network.add_node(node)

# Connect to the CAN bus
network.connect(bustype='ixxat', channel=0, bitrate=1000000)

print("\n===start  ID=10 OrientalMotor")
device_name    = node.sdo[0x1008].raw
print('Device name ',device_name)
Motor_temp    = node.sdo[0x407d].raw
print('Motor_temp  ',float(Motor_temp/10.0))
print("") 
Max_torqe    = node.sdo[0x6072].raw
print('Max torqe',Max_torqe)
Target_position    = node.sdo[0x607a].raw
print('Target position',Target_position)
Software_position_limit_min    = node.sdo[0x607d][1].raw
print('Software position limit min',Software_position_limit_min)
Software_position_limit_max    = node.sdo[0x607d][2].raw
print('Software position limit max',Software_position_limit_max)
Positioning_option_code    = node.sdo[0x60f2].raw
print('Positioning option code',Positioning_option_code)
Profile_velocity    = node.sdo[0x6081].raw
print('Prfile velocity',Profile_velocity)
End_velocity     = node.sdo[0x6082].raw
print('End velocity ',End_velocity )
Profile_acceleration    = node.sdo[0x6083].raw
print('Prfile acceleration',Profile_acceleration)
Profile_deceleration     = node.sdo[0x6084].raw
print('Profile deceleration ',Profile_deceleration )
Quick_stop_deceleration    = node.sdo[0x6085].raw
print('Quick stop deceleration',Quick_stop_deceleration)
Quick_stop_option_code    = node.sdo[0x605a].raw
print('Quick stop option code',Quick_stop_option_code)
Halt_option_code    = node.sdo[0x605d].raw
print('Halt option code',Halt_option_code)
Position_window    = node.sdo[0x6067].raw
print('Position window',Position_window)
Following_error_window    = node.sdo[0x6065].raw
print('Following error window',Following_error_window)

# Disconnect from CAN bus
network.disconnect()

node = canopen.RemoteNode(2,'TMCM-1270.eds')
network.add_node(node)

# Connect to the CAN bus
network.connect(bustype='ixxat', channel=0, bitrate=1000000)

print("\n===start  ID=2 Trinamic")
#print(network[node_id])
vendor_id = node.sdo[0x1018][1].raw
Product_code = node.sdo[0x1018][2].raw
Revision_number = node.sdo[0x1018][3].raw

print('vendor_id ',vendor_id)
print('Product_code ',Product_code)
print('Revision_number ',Revision_number)
print("") 


# Disconnect from CAN bus
network.disconnect()


node = canopen.RemoteNode(9,'maxon_motor_EPOS2_2123h_6220h_0000h_0000h.eds')
network.add_node(node)

# Connect to the CAN bus
network.connect(bustype='ixxat', channel=0, bitrate=1000000)

print("\n===start  ID=9 maxon EPOS2")
#print(network[node_id])
vendor_id = node.sdo[0x1018][1].raw
Product_code = node.sdo[0x1018][2].raw
Revision_number = node.sdo[0x1018][3].raw

print('vendor_id ',vendor_id)
print('Product_code ',Product_code)
print('Revision_number ',Revision_number)
print("") 

Motor_Type = node.sdo[0x6402].raw
print('Motor Type 10:Sinusoidal PM BL, 11:Trapezoidal PM BL motor ',Motor_Type)
Continuous_Current_Limit = node.sdo[0x6410][1].raw 
print('Continuous Current Limit ',Continuous_Current_Limit)
Pole_Pair_Number = node.sdo[0x6410][3].raw 
print('Pole Pair Number ',Pole_Pair_Number)
Thermal_Time_Constant_Winding  = node.sdo[0x6410][5].raw 
print('Thermal Time Constant Winding  ',Thermal_Time_Constant_Winding)
Encoder_Pulse_Number   = node.sdo[0x2210][1].raw 
print('Encoder Pulse Number   ',Encoder_Pulse_Number)
Position_Sensor_Type   = node.sdo[0x2210][2].raw 
print('Position Sensor Type  ',Position_Sensor_Type)

Current_Regulator_PGain = node.sdo[0x60f6][1].raw 
print('Current Regulator P-Gain ',Current_Regulator_PGain)
Current_Regulator_IGain = node.sdo[0x60f6][2].raw 
print('Current Regulator I-Gain ',Current_Regulator_IGain)

acceleration     = node.sdo[0x6083].raw
print('acceleration ',acceleration)
deceleration     = node.sdo[0x6084].raw
print('deceleration ',deceleration)
node.sdo[0x6081].raw = 0x03e8  # Profile velocity 1000
velocity     = node.sdo[0x6081].raw
print('velocity     ',velocity)
print("")  
# Disconnect from CAN bus
network.disconnect()


node = canopen.RemoteNode(5,'maxon_motor_EPOS4_0170h_6050h_0000h_0000h.eds')
network.add_node(node)

# Connect to the CAN bus
network.connect(bustype='ixxat', channel=0, bitrate=1000000)

print("\n===start  ID=5 maxon EPOS4")
#print(network[node_id])
vendor_id = node.sdo[0x1018][1].raw
Product_code = node.sdo[0x1018][2].raw
Revision_number = node.sdo[0x1018][3].raw

print('vendor_id ',vendor_id)
print('Product_code ',Product_code)
print('Revision_number ',Revision_number)
print("") 

Motor_Type = node.sdo[0x6402].raw
print('Motor Type 10:Sinusoidal PM BL, 11:Trapezoidal PM BL motor ',Motor_Type)

acceleration     = node.sdo[0x6083].raw
print('acceleration ',acceleration)
deceleration     = node.sdo[0x6084].raw
print('deceleration ',deceleration)
print("")  

# Disconnect from CAN bus
network.disconnect()

　実行結果です。EPOS2/4は、設定データを読み込んでいないので、データ自体は正しいものでない可能性があります。
2022-03-02 (3).png

オブジェクト・ディクショナリの資料

  • Beckhoof IO-Link IP1001 B510-0000；Documentation Fieldbus Box for CANopen
  • TRINAMIC ステッピング・モータPD42-1270；PD-1270 CANopen Firmware Manual
  • オリエンタルモーター コントローラBLVD-KRD、モータBLMR5100K-A-B；HP-5143E.pdf
  • Maxon EPOS2、42BLF01 DCブラシレス・モータ；Microsoft Word - EPOS2 Application Note Device Programming_J.DOC
  • Maxon EPOS4、100W with encoder；EPOS4 Firmware Specification
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