32 lines
973 B
Python
32 lines
973 B
Python
# file: write_sdo_min.py
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# pip install python-can canopen
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import time
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import can
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import canopen
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# === 請依你的硬體改這裡 ===
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IFACE = "pcan" # pcan | kvaser | ixxat | slcan
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CHANNEL = "PCAN_USBBUS1" # kvaser/ixxat 用 0；slcan 用 "COM5"
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BITRATE = 500000
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NODE_ID = 1 # 你的 PLC Node-ID
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EDS = "PLC.eds" # 你的 EDS/DCF（放同資料夾）
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INDEX = 0x2000 # 你在 PLC 端對外開放的 OD 物件
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SUB = 0x00
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VALUE = 1234 # 要寫入的整數（型別需與 EDS 一致）
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# === 建立 bus & network ===
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bus = can.interface.Bus(bustype=IFACE, channel=CHANNEL, bitrate=BITRATE)
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net = canopen.Network()
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net.connect(bustype="python-can", channel=bus)
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node = canopen.RemoteNode(NODE_ID, EDS)
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net.add_node(node)
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# 建議在 PRE-OP 寫參數
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node.nmt.state = "PRE-OPERATIONAL"
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node.sdo[INDEX][SUB].raw = VALUE
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time.sleep(0.05)
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print(f"SDO write OK -> {INDEX:04X}:{SUB:02X} = {VALUE}")
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net.disconnect()
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