36 lines
1.0 KiB
Python
36 lines
1.0 KiB
Python
import can
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import time
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# === 修改成你的介面 ===
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# 如果你用 socketCAN-tcp (slcand) 綁到 can0：
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# bus = can.interface.Bus(bustype="socketcan", channel="can0", bitrate=500000)
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# 如果是 PCAN (Peak)：
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# bus = can.interface.Bus(bustype="pcan", channel="PCAN_USBBUS1", bitrate=500000)
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# 如果是 Kvaser：
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# bus = can.interface.Bus(bustype="kvaser", channel=0, bitrate=500000)
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# 這裡先假設你用 socketcan
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bus = can.interface.Bus(bustype="socketcan", channel="can0", bitrate=500000)
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# === 設定參數 ===
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node_id = 1
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cob_id = 0x200 + node_id # PLC 的 RxPDO1
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value = 1234 # 要送的整數值 (INT16)
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# 轉成小端 (因為 PLC 是 little endian)
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data_bytes = value.to_bytes(2, byteorder="little", signed=True)
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# 塞進 CAN 幀
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msg = can.Message(arbitration_id=cob_id, data=data_bytes, is_extended_id=False)
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# 傳送多次測試
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for i in range(10):
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try:
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bus.send(msg)
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print(f"Sent {value} to PLC (COB-ID=0x{cob_id:X})")
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except can.CanError:
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print("Message NOT sent")
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time.sleep(1)
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