PyEsi package - simple EtherCAT Slave Information (ESI) XML file generator

This package is very simple and allows to create the ESI XML files for the EtherCAT slaves.

The package builds the XML files that are to be used with LAN9252 EtherCAT slave controller.

Installation

pip install [email protected]:pollen-robotics/pyesi.git

or just clone the repository and run the following command in the root directory:

git clone [email protected]:pollen-robotics/pyesi.git
cd pyesi

and then install the package:

pip install -e .

Examples

Example 1: Simple slave with buffered PDOs

from pyesi.generator import *

# some global info
esi = ESI()
esi.vendor_id = "#xF3F"
esi.vendor_name = "Pollen Robotcs SAS"

# create the slave 0
slave = Device()
slave.name = "MyDevice"

# sync managers - only buffered PDOs
slave.sync_managers= [
    SyncManager("MyPDOIn",1300, SyncManagerType.BUFFERED, SyncManagerDir.Rx),
    SyncManager("MyPDOOut",1400, SyncManagerType.BUFFERED, SyncManagerDir.Tx),
]

# create its input PDOS
pdos = PDOs()
pdos.name = "MyInputPDO"
pdos.sm_index = 0
pdos.entries = [Entry(name="MyInput", type=EntryType.UINT32)]
slave.RxPdos.append(pdos)

# create its output PDOS
pdos = PDOs()
pdos.name = "MyOutputPDOs"
pdos.sm_index = 1
pdos.entries = [Entry(name="MyOutput", type=EntryType.UINT32)]
slave.TxPdos.append(pdos)

# add it to the ESI file
esi.devices.append(slave)
tree = esi.to_xml()
write_xml(tree, "myslave.xml")
print("XML file generated successfully.")

Example 2: Slave with buffered PDOs and mailbox SDOs and FoE enabled

from pyesi.generator import *

# some global info
esi = ESI()
esi.vendor_id = "#xF3F"
esi.vendor_name = "Pollen Robotcs SAS"

# create the slave 0
slave = Device()
slave.name = "MyDevice"

# sync managers with the mailbox
slave.sync_managers= [
    SyncManager("MBoxOut",1000, SyncManagerType.MAILBOX, SyncManagerDir.Rx, 128),
    SyncManager("MBoxIn",1180, SyncManagerType.MAILBOX, SyncManagerDir.Tx, 128),
    SyncManager("MyPDOIn",1300, SyncManagerType.BUFFERED, SyncManagerDir.Rx),
    SyncManager("MyPDOOut",1400, SyncManagerType.BUFFERED, SyncManagerDir.Tx),
]

# create its input PDOS
pdos = PDOs()
pdos.name = "MyInputPDOs"
pdos.sm_index = 0
pdos.entries = [Entry(name="MyInput", type=EntryType.UINT32)]
slave.RxPdos.append(pdos)

# create its output PDOS
pdos = PDOs()
pdos.name = "MyOutputPDOs"
pdos.sm_index = 1
pdos.entries = [Entry(name="MyOutput", type=EntryType.UINT32)]
slave.TxPdos.append(pdos)

# enable sdos 
device.enable_sdo = True
#enable foe
device.enable_foe = True

# add it to the ESI file
esi.devices.append(slave)
tree = esi.to_xml()
write_xml(tree, "myslave.xml")
print("XML file generated successfully.")