Automatic checking of SDO configuration for EtherCAT slaves

Scripts

• ethercat-chkconf.py
• chkslave.cfg.example

How to use it?

• Syntax:

  
  Usage: ethercat-chkconf.py CONFIG_FILENAME
  
  Check ethercat slaves configuration through SDO commands
  
  Options:
    -h, --help            show this help message and exit
    -d, --dry-run         dry run: parse config file but emit no ethercat
                          commands
    -m MASTERINDEX, --master=MASTERINDEX
                          ethercat master index: Default = 0
    -s, --skip-missing    skip missing slaves
    -v, --verbose         verbose mode
    -y, --yes             automatically answer yes to all questions
  

• Configuration file example

  
  # Configuration file example for ethercat-chkconf.py
  # each line has 7 columns: alias  relpos  index subindex type action value
  # - alias:  ethercat slave alias
  # - relpos: relative position
  # - index:  object index (hexa or decimal)
  # - subindex: object subindex (hexa or decimal)
  # - type: data type: bool, int8, int16, int32, int64, uint8, uint16,
  #       uint32, uint64, float, double, string
  # - action: 'read' or 'write'. If 'write' is selected, the procedure will do
  #         read-write-read. Therefore the writing is done only if really needed,
  #         and the writing is always checked
  # - value: value to check
  # examples
  # alias relpos   index    subindex  type     action    value
  # 1     0        0x1008   0x0       string   read      "EL5001"
  # 100   4        0x8000   0x12      uint16   write     25
  
  # check SSI encoder interface
  # device name
  100      4        0x1008   0x0       string   read     EL5001-0011
  # disable frame error
  100      4        0x8000   0x1       bool     write    0
  # enable power failure bit
  100      4        0x8000   0x2       bool     write    0
  # check ssi frame size
  100      4        0x8000   0x5       bool     write    1
  # SSI-coding (0->binary, 1->gray)
  100      4        0x8000   0x6       bool     write    1
  # ssi-frame type
  100      4        0x8000   0xf       uint8    write    0
  # ssi-frame size
  100      4        0x8000   0x11      uint16   write    25
  # ssi-data length
  100      4        0x8000   0x12      uint16   write    25