CANopen
CiA 301 — Endüstriyel CAN Protokolü

[FileInfo]
FileName=MyDevice.eds
FileVersion=1
FileRevision=1
EDSVersion=4.0
CreationTime=09:00AM
CreationDate=04-12-2026
Description=My CANopen Device

[DeviceInfo]
VendorName=Example Corp
VendorNumber=0x12345678
ProductName=ExampleNode
ProductNumber=0x00000001
RevisionNumber=0x00010000
BaudRate_500=1

[DummyUsage]
Dummy0002=0

[Comments]
Lines=0

[1000]
ParameterName=Device Type
ObjectType=0x7
DataType=0x0007
AccessType=ro
DefaultValue=0x00040192
PDOMapping=0

[1017]
ParameterName=Producer Heartbeat Time
ObjectType=0x7
DataType=0x0006
AccessType=rw
DefaultValue=1000
PDOMapping=0

/* TPDO1 Mapping (OD 0x1A00) örneği:
   sub00: kaç nesne maplı (örn. 2)
   sub01: 0x60640020 = OD[0x6064][0x00], 32-bit (pozisyon değeri)
   sub02: 0x60410010 = OD[0x6041][0x00], 16-bit (statusword)

   Format: 0xIIIISSLL
     IIII = OD index (16-bit)
     SS   = subindex (8-bit)
     LL   = uzunluk (bit cinsinden: 08=1byte, 10=2byte, 20=4byte)
*/

// TPDO1 içeriği: [pozisyon(4B)][statusword(2B)] = 6 byte CAN payload
// CAN frame: ID=0x180+NodeID, DLC=6, data=[pos0,pos1,pos2,pos3,stat0,stat1]

/* SDO Write Request (Expedited) — 8 byte CAN payload */
/* Byte 0: Command Specifier
   Bits 7-5: 001 = Initiate Download (write) request
   Bit  4:   e=1 expedited (≤4 byte)
   Bit  3:   s=1 size belirtildi
   Bits 2-1: n = (4 - veri_uzunluğu) → boş byte sayısı
   Bit  0:   0 */

// Örnek: OD[0x6040][0x00] = 0x000F (controlword) yaz
// 2 byte yazma: n=2, e=1, s=1 → cs = 0b00101111 = 0x2F
// Byte: [0x2F][0x40][0x60][0x00][0x0F][0x00][0x00][0x00]
//        cs    idx_lo idx_hi sub  data0 data1 pad   pad

/* SDO Write Response (başarılı) */
// Byte: [0x60][0x40][0x60][0x00][0x00][0x00][0x00][0x00]
//        cs=ACK idx_lo idx_hi sub

/* Heartbeat frame:
   COB-ID = 0x700 + Node-ID
   DLC    = 1
   Data[0]= NMT durumu:
     0x00 = Boot-up (sadece bir kez, init sonrası)
     0x04 = Stopped
     0x05 = Operational
     0x7F = Pre-Operational
*/

/* Örnek: Node 5, Operational durumunda heartbeat */
/* CAN ID=0x705, DLC=1, Data=[0x05] */

import canopen

network = canopen.Network()
network.connect(channel='can0', bustype='socketcan')

# SYNC üretici başlat (10 ms periyot = 10000 µs)
network.sync.start(0.01)   # saniye cinsinden

# Manuel SYNC gönderme
network.sync.transmit()

# SYNC durdur
network.sync.stop()

/* OD 0x1001 — Error Register (8-bit):
   Bit 0: Generic error
   Bit 1: Current
   Bit 2: Voltage
   Bit 3: Temperature
   Bit 4: Communication error (overflow vb.)
   Bit 5: Device profile specific
   Bit 6: Rezerv
   Bit 7: Manufacturer specific
*/

/* Örnek: sıcaklık hatası */
/* Error Code = 0x4210 (Motor winding over-temperature) */
/* Error Register bit 3 = 1 → 0x08 */
/* Frame: ID=0x080+5=0x085, Data=[0x10,0x42,0x08,mfr,mfr,mfr,mfr,mfr] */

pip install canopen python-can

import canopen

# Ağ oluştur ve bağlan
network = canopen.Network()
network.connect(channel='can0', bustype='socketcan', bitrate=500000)

# EDS dosyasıyla node ekle (Node-ID=5)
node = network.add_node(5, 'motor_drive.eds')

# NMT: Pre-Operational → Operational
node.nmt.state = 'OPERATIONAL'

# SDO ile OD nesnesi oku
device_type = node.sdo[0x1000].raw
print(ff"Device Type: 0x{device_type:08X}")

vendor_id = node.sdo[0x1018][1].raw
print(ff"Vendor ID: 0x{vendor_id:08X}")

# SDO ile yazma
node.sdo[0x1017].raw = 1000   # Heartbeat 1000 ms

# PDO okuma (Operational modda TPDO alınır)
import time
time.sleep(0.1)
position = node.tpdo[1]['Position actual value'].phys
print(ff"Pozisyon: {position} rpm")

network.disconnect()

import canopen, time

network = canopen.Network()
network.connect(channel='can0', bustype='socketcan')
node = network.add_node(5, 'drive.eds')

# Pre-Operational gerekli (PDO yapılandırması sadece Pre-Op'ta)
node.nmt.state = 'PRE-OPERATIONAL'
time.sleep(0.1)

# TPDO1 mapping: pozisyon (0x6064) + statusword (0x6041) oku
node.tpdo.read()                          # mevcut mapping oku
node.tpdo[1].clear()                      # mapping temizle
node.tpdo[1].add_variable('Position actual value')   # 0x6064
node.tpdo[1].add_variable('Statusword')               # 0x6041
node.tpdo[1].trans_type = 255             # event-driven
node.tpdo[1].event_timer = 10            # 10 ms periyot
node.tpdo[1].enabled = True
node.tpdo.save()                          # SDO ile OD'ye yaz

# RPDO1: controlword + target velocity gönder
node.rpdo.read()
node.rpdo[1].clear()
node.rpdo[1].add_variable('Controlword')             # 0x6040
node.rpdo[1].add_variable('Target velocity')         # 0x60FF
node.rpdo[1].enabled = True
node.rpdo.save()

# Operational moda al
node.nmt.state = 'OPERATIONAL'
time.sleep(0.1)

# RPDO1 ile hedef hız gönder
node.rpdo[1]['Controlword'].raw = 0x000F    # enable
node.rpdo[1]['Target velocity'].phys = 1000  # 1000 rpm
node.rpdo[1].transmit()

# TPDO callback ile gerçek zamanlı pozisyon
def on_tpdo1(message):
    pos = node.tpdo[1]['Position actual value'].phys
    print(ff"Pozisyon: {pos}")

node.tpdo[1].add_callback(on_tpdo1)
time.sleep(5)
network.disconnect()

import canopen, time

def cia402_enable(node):
    """CiA 402 sürücüyü Operation Enabled durumuna getir"""
    # Fault reset (varsa)
    node.sdo[0x6040].raw = 0x0080
    time.sleep(0.05)
    # Shutdown → Ready to Switch On
    node.sdo[0x6040].raw = 0x0006
    time.sleep(0.05)
    # Switch On
    node.sdo[0x6040].raw = 0x0007
    time.sleep(0.05)
    # Enable Operation
    node.sdo[0x6040].raw = 0x000F
    time.sleep(0.1)
    status = node.sdo[0x6041].raw
    print(ff"Statusword: 0x{status:04X}")
    return (status & 0x006F) == 0x0027  # Operation Enabled check

network = canopen.Network()
network.connect(channel='can0', bustype='socketcan', bitrate=500000)

node = network.add_node(1, 'epos4.eds')
node.nmt.state = 'OPERATIONAL'
time.sleep(0.2)

if cia402_enable(node):
    print("Sürücü aktif!")

    # Profile Velocity Mode seç (Modes of Operation = 3)
    node.sdo[0x6060].raw = 3
    time.sleep(0.1)

    # Hedef hız: 500 rpm
    node.sdo[0x60FF].raw = 500
    print("Hedef hız: 500 rpm")

    # 3 saniye çalıştır
    time.sleep(3)

    # Dur
    node.sdo[0x60FF].raw = 0
    time.sleep(0.5)
    node.sdo[0x6040].raw = 0x0007  # Switched On
    print("Motor durduruldu")

network.disconnect()

import canopen

# Boş OD oluştur
node = canopen.LocalNode(1, canopen.ObjectDictionary())
od = node.object_dictionary

# Device Type (0x1000) ekle
rec = canopen.objectdictionary.Variable('Device Type', 0x1000, 0)
rec.data_type = canopen.objectdictionary.UNSIGNED32
rec.access_type = 'ro'
rec.default = 0x00040192
od.add_object(rec)

# Heartbeat Time (0x1017)
hb = canopen.objectdictionary.Variable('Producer Heartbeat Time', 0x1017, 0)
hb.data_type = canopen.objectdictionary.UNSIGNED16
hb.access_type = 'rw'
hb.default = 1000
od.add_object(hb)

# EDS olarak kaydet
canopen.export_od(od, 'my_device.eds')
print("EDS kaydedildi: my_device.eds")