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CHANGELOG.md

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Changelog

[7.3.2] - 2024-06-05

Added

  • Set RPDOMap values by byte string.
  • Function to check if a configuration has been applied to the drive.
  • EtherCAT connection example script.

Changed

  • The signature of the load_firmware method of EthercatNetwork is changed to add the boot_in_app argument.
  • The polling sampling precision of the Poller is improved.

Fixed

  • Issue when connecting to the virtual drive using an EVE CANopen dictionary.

[7.3.1] - 2024-05-10

Fixed

  • Bug that when the path to the FoE binary has blank spaces.
  • The Interface attribute format in the configuration file.
  • CANopen communication re-establishment after a power cycle.
  • Exception when scanning drives using an IXXAT tranceiver.

[7.3.0] - 2024-04-23

Add

  • Dictionary V3 support
  • ILWrongWorkingCount exception raised when the working count in PDO is not the expected one.
  • Register type for monitoring/disturbance data.
  • Support for merging dictionary instances. (It can only be used for merging COM-KIT and CORE dictionaries.)
  • Support to socketcan so the canopen communication can be used in Linux.
  • Default value and description attributes to registers.
  • Read/write functionalities for bit register type.
  • Method to set the PDO watchdog time.
  • FoE binary compiled for Linux machines.

Changed

  • Dictionary class properties, such as subnodes and interface.
  • Add monitoring/disturbance registers to the dictionary if monitoring/disturbance is supported.
  • Add PDO registers to the dictionary for EtherCAT drives.
  • IXXAT missing DLLs logs are ignored.

Fixed

  • Bug that prevented the slaves to reach Operational state after the PDO exchange is re-started.
  • Recover the CoE communication after a power-cycle. The network status listener must be turned on in order for it to work.

[7.2.0] - 2024-03-13

Add

  • Motor enable and disable features in the virtual drive.
  • Emulate control loops in the virtual drive.
  • Support to Python 3.9 to 3.12.
  • EtherCAT PDO module.
  • Store and restore functionalities for subnode 0.
  • Add functionalities to update ECAT state machine
  • Add send_receive_processdata function
  • Add scan_slaves_info method

Fixed

  • Raise exception when ECAT SDO write/read is wrong

Deprecated

  • Support to Python 3.6 to 3.8.

Changed

  • The PCAN transceiver bus is automatically reset when the bus-off state is reached.
  • Emergency (EMCY) messages are discarded when using the CoE protocol.
  • The enums are represented using dicts in the Register class.

[7.1.1] - 2024-01-03

Added

  • Missing EtherCAT protocol documentation.

Fixed

  • Import Ingenialink does not raise an error if WinPcap is not installed, but ethercat features are disabled.

[7.1.0] - 2023-11-28

Add

  • Support for multi-drive in CANopen's NetStatusListener.
  • EtherCAT communication via CoE (SDOs).
  • Add image attribute to dictionary class.
  • Add EthercatDictionary class.
  • Add EthercatRegister class.
  • Create EtherCAT PDOs example script.

Fixed

  • Fix CANopen load_firmware function.
  • Set product name correctly if no dictionary is provided.
  • Docstrings from Register constructor and its subclasses are updated.
  • CanopenRegister and EthernetRegister have the same signature.
  • Add PySOEM to setup.py.
  • Exception error when trying to write an int to a register of dtype float.
  • Fix acquisition data variable initialization in Poller class.
  • Unexpected closing when disconnecting from an EtherCAT (SDOs) drive if servo status listener is active.
  • Avoid crashes in the Poller due to read timeouts.
  • Poller timer thread not closing after the poller is finished.
  • Improve the enable and disable methods of the Servo class.
  • Unexpected VCIErrors.

Changed

  • Raise ILValueError when the disturbance data does not fit in a register.

Deprecated

  • Support to Python 3.6 and 3.7.

[7.0.4] - 2023-10-11

Fixed

  • Reread when ethernet read a wrong address
  • Read strings until NULL character

[7.0.3] - 2023-09-05

Add

  • Virtual drive.

Changed

  • convert_bytes_to_dtype raises an ILValueError string bytes are wrong
  • Wait EoE starts before connect drive
  • Remove EDS file path param from CANopen connection. It is no longer necessary.

Fixed

  • Catch EoE service deinit error when disconnecting the drive.
  • Log exceptions in read_coco_moco_register function correctly.

[7.0.2] - 2023-05-22

Changed

  • Read a register instead of doing a ping in the Ethernet's NetStatusListener
  • Use inspect instead of pkg_resources to find the path to the FoE application.
  • Call FoE application with utf-8 encoding.

Fixed

  • Capture all the ingenialink exceptions in servo status listener
  • Truncate NACK error code to a int32

[7.0.1] - 2023-04-04

Fixed

  • Recover old Monitoring/Disturbance compatibility
  • Fix ServoStatusListener for multiaxis

[7.0.0] - 2023-03-31

Add

  • Interface a Network class with SOEM service
  • Add multi-slaves support to EoE service
  • Implement stop EoE service feature
  • Create mapped register property
  • Create project toml file
  • Use FoE application to load FW in windows

Changed

  • Update the load_FWs script to only use ingenialink.
  • Improve the load_FWs script when using canopen protocol.

Removed

  • Remove numpy from requirements
  • Remove binding to the ingenialink C library.
  • Move virtual drive from tests to ingenialink.

Fixed

  • NACK error code formatting.
  • Fix pytest tests launch
  • Wrong float range

[6.5.1] - 2023-01-17

Fixed

  • Truncate received data in ethernet by the expected data length.
  • Don't add PartNumber to the configuration file if it does not exist in the dictionary.
  • CAN load firmware error if net_status_listener is disabled.

[6.5.0] - 2023-01-04

Added

  • Tests are separated by communication protocol.
  • Pull request template.

Changed

  • Re-organize the tests by protocol and add a no-connection mark to separate test that do not need a servo connected.
  • Remove enums_count as an argument to create a Register.
  • Convert enums type from list[dict] to dict.
  • Ethernet communication is done using Python's standard library.
  • Ethernet network now supports connection to multiple devices.
  • Improved tests.
  • Improved code formatting.
  • Configuration file only stores registers that are stored in non-volatile memory and have access type RW.

Deprecated

  • TCP support for ethernet devices.

[6.4.0] - 2022-07-13

Added

  • Support monitoring/disturbance with CANopen protocol.
  • Check for IP address validity in change_tcp_ip_parameters function.

Changed

  • On multiaxis drives the function load_configuration now allows to load the configuration of one axis into another.
  • Set Ingenialink-C library log level to warning by default.
  • Raise ILError on IPB monitoring/disturbance functions when an operation is not successful.

Deprecated

  • monitoring_data function in ipb/servo use monitoring_channel_data instead.
  • All serial protocol functions.