import can
import os
os.add_dll_directory(r"C:\Users\huiting\PCAN-Basic\x64")   # 這裡放 64bit DLL 的資料夾

# 把 DLL 所在資料夾加進搜尋路徑
DLL_DIR = r"C:\Users\huiting\PCAN-Basic\x64"   # 如果 Python 是 64bit 請換成 \x64
if os.path.isdir(DLL_DIR):
    os.add_dll_directory(DLL_DIR)

bus = can.interface.Bus(interface="pcan", channel="PCAN_USBBUS1", bitrate=500000)

NODE_ID = 1
TPDO1_ID = 0x180 + NODE_ID  # PLC 送出的 TPDO1

print(f"Listening TPDO1 at 0x{TPDO1_ID:X} …")
while True:
    msg = bus.recv(timeout=2.0)
    if not msg:
        continue
    if msg.arbitration_id == TPDO1_ID and len(msg.data) >= 2:
        val = int.from_bytes(msg.data[0:2], "little", signed=True)
        print(f"PLC TPDO1 -> 0x2000:00 = {val}")