controller-create.py

""" Sample application that creates an RMP Motion Controller object and prints its information.
"""
 
from _imports import RapidCode, helpers
 
 
# METHODS
def print_topology(controller:RapidCode.MotionController):
    stringBuilder = []
    overview = "EtherCAT: {} Nodes, {} {}".format(controller.NetworkNodeCountGet(), controller.NetworkTypeGet(), controller.NetworkStateGet())
    stringBuilder.append(overview)
 
    Nodes = []
    for i in range(controller.NetworkNodeCountGet()):
        io = controller.IOGet(i)
        helpers.check_errors(io)
        if(io.NetworkNode.Exists()):
            Nodes.append(io.NetworkNode)
        
    for node in Nodes:
        stringBuilder.append("") # for spacing
        stringBuilder.append("Node[{}] - {} ______________________________________________".format(node.NumberGet(), node.NameGet()))
        stringBuilder.append(" Vendor: {} ".format(node.VendorNameGet() + "Product: {}".format(node.ProductNameGet())))
        stringBuilder.append("  VendorID:      0x{:08X} ProductCode:   0x{:08X}".format(node.VendorIdGet(), node.ProductCodeGet()))
        stringBuilder.append("  HardwareRev:   0x{:08X} SerialNumber:  {}".format(node.RevisionGet(), node.SerialNumberGet()))
        stringBuilder.append("  StationAlias:  0x{:08X} AxisCount:     {}".format(node.StationAliasGet(), node.AxisCountGet()))
        stringBuilder.append("  SegmentCount:  {}".format(node.SegmentCountGet()))
        stringBuilder.append("  DI: {} DO: {} AI: {} AO: {}".format(node.DigitalInCountGet(), node.DigitalOutCountGet(), node.AnalogInCountGet(), node.AnalogOutCountGet()))
 
    stringBuilder.append("") # spacing
    pdoInputs = controller.NetworkInputCountGet()
    stringBuilder.append("NetworkInputs count: {} _________________________________".format(pdoInputs))
    for i in range(pdoInputs):
        stringBuilder.append("  [{}] - {} Bits: {}".format(i, controller.NetworkInputNameGet(i).ljust(70), controller.NetworkInputBitSizeGet(i)))
 
    pdoOutputs = controller.NetworkOutputCountGet()
    stringBuilder.append("NetworkOutputs count: {} _________________________________".format(pdoOutputs))
    for i in range(pdoOutputs):
        stringBuilder.append("  [{}] - {} Bits: {}".format(i, controller.NetworkOutputNameGet(i).ljust(70), controller.NetworkOutputBitSizeGet(i)))
 
    print("\n".join(stringBuilder))
 
 
# MAIN
print("⬤ Controller Create")
 
creation_params: RapidCode.CreationParameters = helpers.get_creation_parameters()
controller: RapidCode.MotionController = RapidCode.MotionController.Create(creation_params)
helpers.check_errors(controller)
 
# type hints enable IDE autocomplete for RapidCode objects
print(f"This object is a {type(controller)}")
 
# print some controller info
print(f"RapidCode Version: {controller.VersionGet()}")
print(f"Serial Number: {controller.SerialNumberGet()}")
print(f"Axis Count: {controller.AxisCountGet()}")
 
# print network topology
if controller.NetworkStateGet() == RapidCode.RSINetworkState_RSINetworkStateOPERATIONAL:
    print_topology(controller)
 
# clean up
controller.Delete()