IO-Link
akıllı sensör arayüzü.

Index  SubIndex  Parametre          Açıklama
──────────────────────────────────────────────────────────
0x0000   0       DirectParamPage1   Temel cihaz bilgisi sayfası
0x0000   1       VendorID           Üretici kimliği (16-bit)
0x0000   2       DeviceID           Cihaz kimliği (24-bit)
0x000A   0       FirmwareRevision   Yazılım versiyonu (string)
0x000B   0       ApplicationTag     Kullanıcı tanımlı etiket
0x000C   0       FunctionTag        Fonksiyon etiketi
0x000D   0       LocationTag        Konum etiketi

/* ISDU İstek servisleri: */
/* 0x60  READ   — belirtilen index/subindex'ten okuma */
/* 0x68  WRITE  — belirtilen index/subindex'e yazma */

/* Örnek ISDU frame (asiklik okuma): */
/* Master → Device: */
/* [MC=0x60][Index_high][Index_low][SubIndex] */
/* Device → Master: */
/* [RWA=0x40][Data bytes...][Checksum] */

/* ISDU Hata kodları: */
/* 0x80  Application error */
/* 0x20  Index not available */
/* 0x10  Subindex not available */
/* 0x30  Access denied (read-only index'e write) */

<?xml version="1.0" encoding="utf-8"?>
<IODevice xmlns="http://www.io-link.com/IODD/2010/10"
          xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">

  <ProfileHeader>
    <ProfileIdentification>IO Device Profile</ProfileIdentification>
    <ProfileRevision>1.1</ProfileRevision>
  </ProfileHeader>

  <DeviceIdentity>
    <VendorId>57</VendorId>           <!-- SICK AG -->
    <DeviceId>139986</DeviceId>
    <VendorName>SICK AG</VendorName>
    <VendorText xml:lang="EN">www.sick.com</VendorText>
    <DeviceName xml:lang="EN">PAC50</DeviceName>
  </DeviceIdentity>

  <DeviceFunction>
    <ProcessDataCollection>
      <!-- Giriş process data: 3 byte -->
      <ProcessData id="pd_in">
        <ProcessDataIn bitLength="24">
          <Datatype xsi:type="RecordT">
            <RecordItem subindex="1" bitOffset="0" bitLength="16">
              <Name xml:lang="EN">PressureValue</Name>
            </RecordItem>
            <RecordItem subindex="2" bitOffset="16" bitLength="8">
              <Name xml:lang="EN">StatusByte</Name>
            </RecordItem>
          </Datatype>
        </ProcessDataIn>
      </ProcessData>
    </ProcessDataCollection>

    <Parameters>
      <Parameter index="0x0060" subIndex="0" accessRights="rw">
        <Name xml:lang="EN">UpperSwitchPoint</Name>
        <Datatype xsi:type="UIntegerT" bitLength="16"/>
      </Parameter>
    </Parameters>
  </DeviceFunction>
</IODevice>

import xml.etree.ElementTree as ET

def parse_iodd_parameters(iodd_file: str) -> list:
    """IODD dosyasından parametre listesi çıkar."""
    ns = {'iodd': 'http://www.io-link.com/IODD/2010/10'}
    tree = ET.parse(iodd_file)
    root = tree.getroot()

    params = []
    for param in root.findall('.//iodd:Parameter', ns):
        idx  = param.get('index', '?')
        sub  = param.get('subIndex', '0')
        acc  = param.get('accessRights', 'r')
        name = param.find('iodd:Name', ns)
        params.append({
            'index': idx,
            'sub': sub,
            'access': acc,
            'name': name.text if name is not None else '?'
        })
    return params

params = parse_iodd_parameters('SICK-PAC50-IODD1.1.xml')
for p in params:
    print(f"  {p['index']}/{p['sub']} [{p['access']}] {p['name']}")

# Hilscher io-link-linux açık kaynak stack:
git clone https://github.com/openIOLink/io-link-master-shield-hat-sw.git
cd io-link-master-shield-hat-sw

# Raspberry Pi için derleme:
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make -j4

# openIOLink HAT için kurulum:
sudo make install

# IO-Link master HAT SPI üzerinden erişilir:
ls /sys/bus/spi/devices/
# spi0.0 → IO-Link master çipi (MAX14819 gibi)

# Cihaz bilgisi oku (port 0):
cat /sys/class/iolink/iolinkmaster0/port0/vendor_id
cat /sys/class/iolink/iolinkmaster0/port0/device_id
cat /sys/class/iolink/iolinkmaster0/port0/com_speed
# COM3

# Process data oku:
cat /sys/class/iolink/iolinkmaster0/port0/process_data_in
# 03A5 00  (3 byte hex: basınç=933, durum=0x00)

# openIOLink Python kütüphanesi:
pip install iolink

# Alternatif: ifm IO-Link master için ifm-iolink:
pip install python-iolink

import spidev, time, struct

# MAX14819 tabanlı HAT için düşük seviye SPI erişimi
class IOLinkMaster:
    # Register adresleri (MAX14819)
    REG_MASTERSTS  = 0x00
    REG_INTERRUPTEN = 0x01
    REG_CQCTRL1    = 0x02
    REG_DEVID      = 0x10
    REG_PDOUT      = 0x20
    REG_PDIN       = 0x28

    def __init__(self, spi_bus=0, spi_dev=0):
        self.spi = spidev.SpiDev()
        self.spi.open(spi_bus, spi_dev)
        self.spi.max_speed_hz = 1_000_000
        self.spi.mode = 1

    def _reg_read(self, reg: int) -> int:
        resp = self.spi.xfer2([reg | 0x80, 0x00])
        return resp[1]

    def _reg_write(self, reg: int, val: int):
        self.spi.xfer2([reg & 0x7F, val])

    def get_vendor_id(self, port=0) -> int:
        """ISDU index 0x0000, subindex 1 — Vendor ID."""
        # Basit istek (tam ISDU state machine gerekir)
        hi = self._reg_read(self.REG_DEVID + port * 4)
        lo = self._reg_read(self.REG_DEVID + port * 4 + 1)
        return (hi << 8) | lo

    def read_process_data(self, port=0, length=3) -> bytes:
        """Siklik process data oku."""
        result = bytearray()
        for i in range(length):
            result.append(self._reg_read(self.REG_PDIN + port * 8 + i))
        return bytes(result)

    def close(self):
        self.spi.close()


# Kullanım:
master = IOLinkMaster(spi_bus=0, spi_dev=0)

print(f'Vendor ID (port 0): 0x{master.get_vendor_id(0):04X}')

try:
    while True:
        pd = master.read_process_data(port=0, length=3)
        if len(pd) == 3:
            pressure = struct.unpack('>H', pd[0:2])[0]   # big-endian uint16
            status   = pd[2]
            # Örnek ölçek: 1 LSB = 0.1 mbar
            print(f'Basınç: {pressure / 10.0:.1f} mbar  Durum: 0x{status:02X}')
        time.sleep(0.1)
except KeyboardInterrupt:
    master.close()

import requests, json

MASTER_IP = "192.168.0.250"

def iolink_isdu_read(port: int, index: int, subindex: int = 0):
    """ifm AL1350 REST API ile ISDU okuma."""
    url = f"http://{MASTER_IP}/iolink/v1/devices/port[{port}]/isdu"
    payload = {
        "code": "request",
        "cid": 1,
        "adr": f"/iolink/v1/devices/port[{port}]/isdu",
        "data": {
            "index": index,
            "subindex": subindex,
            "accesstype": "getdata"
        }
    }
    resp = requests.post(url, json=payload, timeout=2)
    return resp.json()

def iolink_get_process_data(port: int):
    """Port process data oku."""
    url = f"http://{MASTER_IP}/iolink/v1/devices/port[{port}]/processdata"
    resp = requests.get(url, timeout=1)
    return resp.json()

# Port 1'deki cihazın seri numarasını oku (index 0x0015):
result = iolink_isdu_read(port=1, index=0x0015, subindex=0)
print('Seri no:', result.get('data', {}).get('value', '?'))

# Process data oku:
pd = iolink_get_process_data(port=1)
print('Process data:', pd)

import requests

MASTER_IP = "192.168.0.250"
PORT      = 1    # PAC50 bağlı port

def isdu_read(port, index, subindex=0):
    url  = f"http://{MASTER_IP}/iolink/v1/devices/port[{port}]/isdu"
    data = {"index": index, "subindex": subindex, "accesstype": "getdata"}
    resp = requests.post(url, json={"code": "request", "cid": 1,
                                    "adr": url, "data": data}, timeout=2)
    return resp.json().get("data", {}).get("value")

def isdu_write(port, index, subindex, value):
    url  = f"http://{MASTER_IP}/iolink/v1/devices/port[{port}]/isdu"
    data = {"index": index, "subindex": subindex,
            "accesstype": "setdata", "value": value}
    resp = requests.post(url, json={"code": "request", "cid": 2,
                                    "adr": url, "data": data}, timeout=2)
    return resp.status_code == 200

# Cihaz kimliğini oku:
vendor_id = isdu_read(PORT, 0x0000, 1)
device_id = isdu_read(PORT, 0x0000, 2)
print(f'Vendor ID: 0x{vendor_id:04X}, Device ID: 0x{device_id:06X}')
# Vendor ID: 0x0039 (SICK), Device ID: 0x022312

# PAC50 üst alarm eşiğini ayarla (index 0x0060): 9000 = 900.0 mbar
ok = isdu_write(PORT, 0x0060, 0, 9000)
print('Üst eşik yazma:', 'OK' if ok else 'HATA')

# Mevcut ölçüm oku (index 0x0094):
meas = isdu_read(PORT, 0x0094, 0)
print(f'Basınç: {int(meas) / 10.0:.1f} mbar')

1. CM 4×IO-Link modülü ekle:
   Device view → S7-1500 → Add module → CM 4×IO-Link (6ES7137-6BD00-0BA0)

2. Port yapılandırması (Port 1):
   CM modülü → Port 1 → Properties
   Port mode: IO-Link
   Validation: No check  (veya vendor/device ID ile doğrula)
   Process data length: 3 byte giriş, 0 byte çıkış

3. IODD yükle:
   Options → Manage device description files → Import
   SICK-PAC50-IODD1.1.xml seç → İçe aktar

4. Parametre ata:
   Device parameters tabı → UpperSwitchPoint = 9000

5. I/O adresleri:
   Input: IB200-IB202 → 3 byte process data
   IW200 = basınç değeri (big-endian), IB202 = durum

import snap7, struct, time

plc = snap7.client.Client()
plc.connect('192.168.0.10', 0, 1)

while True:
    # IB200-IB202: PAC50 process data (3 byte)
    data = plc.read_area(snap7.types.Areas.PE, 0, 200, 3)
    pressure_raw = struct.unpack('>H', data[0:2])[0]
    status       = data[2]
    pressure_mbar = pressure_raw / 10.0

    print(f'Basınç: {pressure_mbar:.1f} mbar  Durum: 0x{status:02X}')
    if status & 0x01:
        print('  ⚠  ÜST ALARM AKTİF')
    if status & 0x02:
        print('  ⚠  ALT ALARM AKTİF')
    time.sleep(0.5)

plc.disconnect()

from pycomm3 import CIPDriver

# pycomm3: pip install pycomm3
with CIPDriver('192.168.0.51') as plc:
    # ifm AL1324 — port 1 process data assembly (instance 100)
    result = plc.generic_message(
        service=0x0E,                # Get_Attribute_Single
        class_code=0x04,             # Assembly object
        instance=100,                # Input assembly
        attribute=3,                 # Data attribute
        connected=False,
        route_path=True
    )

    if result:
        raw = result.value
        # Her port 4 byte: 3B process data + 1B port status
        for port in range(8):
            offset = port * 4
            pd = raw[offset:offset+3]
            ps = raw[offset+3]
            pressure = (pd[0] << 8 | pd[1]) / 10.0
            print(f'Port {port+1}: {pressure:.1f} mbar (status=0x{ps:02X})')