# file: write_sdo_min.py
# pip install python-can canopen
import time
import can
import canopen

# === 請依你的硬體改這裡 ===
IFACE   = "pcan"          # pcan | kvaser | ixxat | slcan
CHANNEL = "PCAN_USBBUS1"  # kvaser/ixxat 用 0；slcan 用 "COM5"
BITRATE = 500000
NODE_ID = 1               # 你的 PLC Node-ID
EDS     = "PLC.eds"       # 你的 EDS/DCF（放同資料夾）
INDEX   = 0x2000          # 你在 PLC 端對外開放的 OD 物件
SUB     = 0x00
VALUE   = 1234            # 要寫入的整數（型別需與 EDS 一致）

# === 建立 bus & network ===
bus = can.interface.Bus(bustype=IFACE, channel=CHANNEL, bitrate=BITRATE)
net = canopen.Network()
net.connect(bustype="python-can", channel=bus)

node = canopen.RemoteNode(NODE_ID, EDS)
net.add_node(node)

# 建議在 PRE-OP 寫參數
node.nmt.state = "PRE-OPERATIONAL"
node.sdo[INDEX][SUB].raw = VALUE
time.sleep(0.05)
print(f"SDO write OK -> {INDEX:04X}:{SUB:02X} = {VALUE}")

net.disconnect()