PySOEM

PySOEM is a Cython wrapper for the Simple Open EtherCAT Master Library (https://github.com/OpenEtherCATsociety/SOEM).

Introduction

PySOEM enables basic system testing of EtherCAT slave devices with Python.

Features

• input process data read and output process data write
• SDO read and write
• EEPROM read and write
• FoE read and write

Todo

• EoE

Beware that real-time applications need some special considerations.

Requirements

Linux ^^^^^

• Python 3
• Python scripts that use PySOEM must be executed under administrator privileges

Windows ^^^^^^^

• Python 3 / 64 Bit
• Npcap <https://nmap.org/npcap/>_ [*]_ or WinPcap <https://www.winpcap.org/>_

.. [*] Make sure you check "Install Npcap in WinPcap API-compatible Mode" during the install

macOS (new with PySOEM 1.1.5) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

• Python 3

Installation

::

python -m pip install pysoem

or

::

pip install pysoem

Consider using a virtualenv <https://virtualenv.pypa.io>_.

Usage

Although there are some pieces missing, the documentation is hosted on "Read the Docs" at: pysoem.readthedocs.io <https://pysoem.readthedocs.io>_.

Please also have a look at the examples on GitHub <https://github.com/bnjmnp/pysoem/tree/master/examples>_.

Contribution

Any contributions are welcome and highly appreciated. Let's discuss any (major) API change, or large piles of new code first. Using this pysoem chat room on gitter <https://gitter.im/pysoem/pysoem>_ is one communication channel option.

Changes

v1.1.13 ^^^^^^^

• Fixes single access to object directory property obj_access.
• Fixes sdo_read() with release_gil parameter being True.
• Adds the release_gil parameter also to send_overlap_processdata().
• Adds get_watchdog() to retrieve the watchdog timeout.
• Adds the emission of a warning in set_watchdog() if the actual watchdog timeout differs from the requested timeout.
• Binary wheels are now also available for "manylinux" with ARM64/aarch64 on PyPI.
• Binary wheels are now also available for Python 3.14.

v1.1.12 ^^^^^^^

• Updates the underlying SOEM to fix segmented io issues
• Fixes issues with Enums on newer Cython versions

v1.1.11 ^^^^^^^

• Adds No-GIL support.

  • Per global setting pysoem.settings.always_release_gil.
  • Per Master instance attribute always_release_gil.
  • Per function argument release_gil.

v1.1.10 ^^^^^^^

• Adds pysoem.settings.timeouts to configure low-level timeouts at run-time.

v1.1.9 ^^^^^^^

• Adds protection against closed network interface connection.

v1.1.8 ^^^^^^^

• Fixes null pointer issues when reading not initialized properties config_func and setup_func.

v1.1.7 ^^^^^^^

• Adds add_emergency_callback() to allow a better handling of emergency messages.
• Improves auto-completion.

v1.1.6 ^^^^^^^

• Adds working counter check on SDO read and write.
• Fixes issues with config_init() when it's called multiple times.

v1.1.5 ^^^^^^^

• Adds support for redundancy mode, master.open() provides now an optional second parameter for the redundancy port.

v1.1.4 ^^^^^^^

• Fixes Cython compiling issues.

v1.1.3 ^^^^^^^

• Adds function _disable_complete_access() that stops config_map() from using "complete access" for SDO requests.

v1.1.0 ^^^^^^^

• Changed the data type for the name attribute of SDO info CdefCoeObject and CdefCoeObjectEntry, they are of type bytes now instead of a regular Python 3 string.
• Also changed the desc attribute of the find_adapters() list elements to bytes.
• Introduces the open() context manager function.
• Adds the setup_func that will maybe later replace the config_func.

v1.0.8 ^^^^^^^

• Version bump only to re-upload to PyPI with windows-wheel for Python 3.11

v1.0.7 ^^^^^^^

• Fix issues with timeouts at amend_mbx and set_watchdog.

v1.0.6 ^^^^^^^

• Introduces amend_mbx and set_watchdog, though this is rather experimental
• New example firmware_update.py.

v1.0.5 ^^^^^^^

• Introduces the manual_state_change property

v1.0.4 ^^^^^^^

• Proper logging
• Introduces mbx_receive

v1.0.3 ^^^^^^^

• Fix the FoE password issue

v1.0.2 ^^^^^^^

• Licence change to MIT licence
• Introduces configurable timeouts for SDO read and SDO write
• Improved API docs

v1.0.1 ^^^^^^^

• API change: remove the size parameter for foe_write
• Introduces overlap map support

v1.0.0 ^^^^^^^

• No Cython required to install the package from the source distribution

v0.1.1 ^^^^^^^

• Introduces FoE

v0.1.0 ^^^^^^^

• Update of the underlying SOEM

v0.0.18 ^^^^^^^

• Fixes bug when Ibytes = 0 and Ibits > 0

v0.0.17 ^^^^^^^

• Exposes ec_DCtime (dc_time) for DC synchronization

v0.0.16 ^^^^^^^

• Improvement on SDO Aborts

v0.0.15 ^^^^^^^

• SDO info read

v0.0.14 ^^^^^^^

• Readme update only

v0.0.13 ^^^^^^^

• Initial publication