3. voraus_ecat package

The Python client API for the voraus auxiliary EtherCAT master.

class voraus_ecat.EtherCAT(inputs, outputs, instant_communication=False, virtual=False)

Bases: EtherCAT[InputsT, OutputsT], Generic[InputsT, OutputsT]

Initializes the EtherCAT bus client.

Parameters:

inputs (TypeVar(InputsT, bound= ProcessData)) – The process image inputs.
outputs (TypeVar(OutputsT, bound= ProcessData)) – The process image outputs.
instant_communication (bool) – Enables the instant communication mode. Defaults to False.
virtual (bool) – Enables PDO input writing if the master is in virtual mode. Defaults to False.

connection(url, skip_virtual_pdo_init=False)

Creates an OPC UA connection to the EtherCAT master.

Parameters:

url (str) – The URL of the EtherCAT master.
skip_virtual_pdo_init (bool) – Skip the PDO initialization during virtual mode.

Yields:

None.

Raises:

EtherCATError – If master is in ‘FAILED SETUP’ state
TimeoutError – If master is stuck in SETUP state

Return type:

Generator[None, None, None]

continue_with_error()

Forces the master application to continue operation if it is in state ERROR_TRANSITION or ERROR.

Return type:: None

get_state()

Gets the EtherCAT state of the master.

Return type:: State
Returns:: The EtherCAT state of the master.

get_system_info()

Fetches current state and error information from the EtherCAT master application.

Return type:: SystemInfo
Returns:: State and error information from the EtherCAT master application.

property inputs: InputsT

Returns the inputs.

Returns:: The inputs.

property outputs: OutputsT

Returns the outputs.

Returns:: The outputs.

read_pdo_inputs(*pdos)

Reads the PDO inputs from the OPC UA server if instant communication mode is disabled.

Parameters:

*pdos (PDO) – Optional PDOs to read. If not specified, all PDO inputs are read.

Raises:

RuntimeError – If instant communication mode is enabled.
PDOError – If any specified PDO is not registered or if reading a value failed.

Return type:

None

read_pdo_outputs(*pdos)

Reads the PDO outputs from the OPC UA server if instant communication mode is disabled.

Parameters:

*pdos (PDO) – Optional PDOs to read. If not specified, all PDO outputs are read.

Raises:

RuntimeError – If instant communication mode is enabled.
PDOError – If any specified PDO is not registered or if reading a value failed.

Return type:

None

read_pdos(*pdos)

Reads the PDO values from the OPC UA server if instant communication mode is disabled.

This method reads all PDO input and output values from the EtherCAT master, or only the specified PDOs if provided.

Parameters:

*pdos (PDO) – Optional PDOs to read. If not specified, all PDO inputs and outputs are read.

Raises:

RuntimeError – If instant communication mode is enabled.
PDOError – If any specified PDO is not registered or if reading a value failed.

Return type:

None

restart()

Restarts the master application if it is in error state.

Return type:: None

property sdo: SDO

Get the SDO interface for reading and writing SDO objects.

Returns:: The SDO interface.

set_op_state(timeout=10.0)

Sets the state of the EtherCAT master to OP (operational).

Parameters:: timeout (float) – The timeout in seconds. Defaults to 10.0.
Return type:: None

set_state(state, timeout=10)

Sets the state of the EtherCAT master.

Parameters:

state (int | State) – The requested state.
timeout (float) – The timeout in seconds. Defaults to 10.

Raises:

TimeoutError – If the state is not reached within timeout.

Return type:

None

wait_for_state(state, timeout=-1.0)

Waits until the master application is in the specified state.

Parameters:

state (SystemState) – The state to wait for.
timeout (float) – The timeout in seconds. Defaults to -1.0 (infinite)

Raises:

TimeoutError – If the state is not reached within timeout.

Return type:

None

write_pdos()

Writes the (changed) PDO outputs to the OPC UA server if instant communication mode is disabled.

Raises:: RuntimeError – If instant communication mode is enabled.
Return type:: None

class voraus_ecat.PDO(name)

Bases: PDO[PDOT], Generic[PDOT]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

get()

Reads and decodes the value of the descriptor.

Note

This value represents the last value received by the EtherCAT master using voraus_ecat.EtherCAT.read_pdos() or if instant communication mode is enabled, the value will be requested from the OPC UA server.

If you need to access the last pending value (which has not been sent yet) use voraus_ecat.PDO.get_pending().

Raises:

RuntimeError – If you try to read the output value in cyclic mode without calling the read method before.
PDOError – If reading the value failed (e.g. if the master is not in the required state).

Return type:

TypeVar(PDOT)

Returns:

The value of the input.

get_pending()

Reads the last value, which has not been sent to the EtherCAT master yet.

This method should be used if you want to manipulate a value multiple times before it gets written to the EtherCAT master using voraus_ecat.EtherCAT.write_pdos(). This is helpful when working with bit masks for multiple outputs mapped to one integer PDO.

Note

This method is not available in instant communication mode.

This method is available for outputs and, in virtual mode, also for inputs.

If you need to access the last received value to ensure a PDO has been set properly use voraus_ecat.PDO.get().

The methods voraus_ecat.EtherCAT.read_pdos() and voraus_ecat.EtherCAT.read_pdo_outputs() will not update the value stored by voraus_ecat.PDO.set(). After calling the method voraus_ecat.EtherCAT.write_pdos(), this method will return the last value read by voraus_ecat.EtherCAT.read_pdos().

Raises:: RuntimeError – If the EtherCAT client runs in instant communication mode.
Return type:: TypeVar(PDOT)
Returns:: The pending value of the pdo.

property is_virtual: bool

Whether the PDO is in virtual mode or not.

Returns:: True if the PDO is in virtual mode.

property node: SyncNode

Returns the node of the descriptor PDO.

Returns:: The OPC UA node.

set(value)

Encodes and writes the value of the descriptor.

If instant communication mode is enabled, the value will be sent via OPC UA instantly.

Parameters:: value (TypeVar(PDOT)) – The value to set.
Raises:: ValueError – If you try to write an input value.
Return type:: None

class voraus_ecat.ProcessData

Bases: ProcessData

Initializes the EtherCAT process data inputs or outputs.

class voraus_ecat.SDO(node_coe)

Bases: SDO

Initializes the SDO helper.

Parameters:: node_coe (ProtectedOptional[SyncNode]) – OPC UA CoE node accessor.

poll_read(request_id)

Polls an asynchronous SDO upload operation (upload = read from slave).

Parameters:: request_id (int) – Request ID returned by start_read.
Return type:: SDOReadPollResult
Returns:: The polled read operation state.
Raises:: SDOError – If polling the SDO read operation failed.

poll_write(request_id)

Polls an asynchronous SDO download operation (download = write to slave).

Parameters:: request_id (int) – Request ID returned by start_write.
Return type:: SDOWritePollResult
Returns:: The polled write operation state.
Raises:: SDOError – If polling the SDO write operation failed.

read_bytes(slave_index, descriptor, size, timeout_ms=500)

Reads SDO data from the slave synchronously on top of start/poll operations (“SDO upload”).

Parameters:

slave_index (int) – Slave index.
descriptor (SDODescriptor) – SDO descriptor containing index and subindex.
size (int) – Number of bytes to read.
timeout_ms (int) – Timeout in milliseconds. Defaults to 500 ms.

Return type:

bytes

Returns:

The read byte payload (little-endian).

Raises:

SDOError – If the SDO read operation fails.

start_read(slave_index, descriptor, size, timeout_ms=500)

Starts an asynchronous SDO upload operation (upload = read from slave).

Parameters:

slave_index (int) – Slave index.
descriptor (SDODescriptor) – SDO descriptor containing index and subindex.
size (int) – Number of bytes to read.
timeout_ms (int) – Timeout in milliseconds. Defaults to 500 ms.

Return type:

int

Returns:

The request ID for polling the operation status.

Raises:

SDOError – If the SDO read start operation failed.

start_write(slave_index, descriptor, data, timeout_ms=500)

Starts an asynchronous SDO download operation (download = write to slave).

Parameters:

slave_index (int) – Slave index.
descriptor (SDODescriptor) – SDO descriptor containing index and subindex.
data (bytes) – Raw payload bytes (little-endian).
timeout_ms (int) – Timeout in milliseconds. Defaults to 500 ms.

Return type:

int

Returns:

The request ID for polling the operation status.

Raises:

SDOError – If the SDO write start operation failed.

write_bytes(slave_index, descriptor, data, timeout_ms=500)

Writes SDO data to the slave synchronously on top of start/poll operations (“SDO download”).

Parameters:

slave_index (int) – Slave index.
descriptor (SDODescriptor) – SDO descriptor containing index and subindex.
data (bytes) – Raw payload bytes (little-endian).
timeout_ms (int) – Timeout in milliseconds. Defaults to 500 ms.

Raises:

SDOError – If the SDO write operation fails.

Return type:

None

class voraus_ecat.SDODescriptor(index, sub_index)

Bases: object

Describes an SDO location.

index: SDO index.

sub_index: SDO subindex.

index: int

sub_index: int

class voraus_ecat.SDOReadPollResult(done: bool, success: bool, data: bytes, abort_code: int)

Bases: NamedTuple

Create new instance of SDOReadPollResult(done, success, data, abort_code)

abort_code: int: Alias for field number 3

data: bytes: Alias for field number 2

done: bool: Alias for field number 0

success: bool: Alias for field number 1

class voraus_ecat.SDOWritePollResult(done: bool, success: bool, abort_code: int)

Bases: NamedTuple

Create new instance of SDOWritePollResult(done, success, abort_code)

abort_code: int: Alias for field number 2

done: bool: Alias for field number 0

success: bool: Alias for field number 1

class voraus_ecat.State(value, names=None, *, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: IntEnum

Represents the EtherCAT states.

INIT = 1

OP = 8

PRE_OP = 2

SAFE_OP = 4

class voraus_ecat.SystemInfo(state=SystemState.SETUP, error_number=0, error_message='')

Bases: object

Contains Information about the current state of the EtherCAT master application.

error_message: str = ''

error_number: int = 0

state: SystemState = 0

class voraus_ecat.SystemState(value, names=None, *, module=None, qualname=None, type=None, start=1, boundary=None)

Bases: IntEnum

Represents the EtherCAT Application states.

ACTIVE = 4

ERROR = 6

ERR_TRANS = 5

FAILED_SETUP = 1

FINAL = 10

READY = 2

SETUP = 0

SHUTDOWN = 9

STARTING = 3

STOPPED = 8

STOPPING = 7

3.1. Submodules

3.2. voraus_ecat.exceptions module

Contains custom exceptions used by this package.

exception voraus_ecat.exceptions.EtherCATError(system_info)

Bases: Exception

Initializes the exception.

exception voraus_ecat.exceptions.PDOError(message)

Bases: Exception

Initializes the exception.

exception voraus_ecat.exceptions.SDOError(message)

Bases: Exception

Initializes the exception.

3.3. voraus_ecat.pdo module

The public-facing interface for PDOs.

class voraus_ecat.pdo.ArrayOfDInt(name)

Bases: _ArrayOfDInt, PDO[list[int]]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (list[int]) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.ArrayOfInt(name)

Bases: _ArrayOfInt, PDO[list[int]]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (list[int]) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.ArrayOfSInt(name)

Bases: _ArrayOfSInt, PDO[list[int]]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (list[int]) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.ArrayOfUDint(name)

Bases: _ArrayOfUDint, PDO[list[int]]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (list[int]) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Bit1(name)

Bases: _Bit1, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Bit10(name)

Bases: _Bit10, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Bit11(name)

Bases: _Bit11, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Bit12(name)

Bases: _Bit12, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Bit13(name)

Bases: _Bit13, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Bit14(name)

Bases: _Bit14, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Bit15(name)

Bases: _Bit15, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Bit16(name)

Bases: _Bit16, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Bit2(name)

Bases: _Bit2, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Bit3(name)

Bases: _Bit3, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Bit4(name)

Bases: _Bit4, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Bit5(name)

Bases: _Bit5, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Bit6(name)

Bases: _Bit6, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Bit7(name)

Bases: _Bit7, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Bit8(name)

Bases: _Bit8, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Bit9(name)

Bases: _Bit9, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

PY_TYPE: str = 'int'

UA_VARIANT: ua.Variant = 5

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.BitArr16(name)

Bases: _BitArr16, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.BitArr32(name)

Bases: _BitArr32, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.BitArr8(name)

Bases: _BitArr8, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Boolean(name)

Bases: _Boolean, PDO[bool]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (bool) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Byte(name)

Bases: _Byte, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.DWord(name)

Bases: _DWord, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Guid(name)

Bases: _Guid, PDO[UUID]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (UUID) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Integer16(name)

Bases: _Integer16, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Integer24(name)

Bases: _Integer24, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Integer32(name)

Bases: _Integer32, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Integer40(name)

Bases: _Integer40, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Integer48(name)

Bases: _Integer48, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Integer56(name)

Bases: _Integer56, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Integer64(name)

Bases: _Integer64, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Integer8(name)

Bases: _Integer8, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.OctetString(name)

Bases: _OctetString, PDO[list[int]]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (list[int]) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Real32(name)

Bases: _Real32, PDO[float]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (float) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Real64(name)

Bases: _Real64, PDO[float]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (float) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.UnicodeString(name)

Bases: _UnicodeString, PDO[list[int]]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (list[int]) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Unknown(name)

Bases: _Unknown, PDO[list[int]]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (list[int]) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Unsigned16(name)

Bases: _Unsigned16, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Unsigned24(name)

Bases: _Unsigned24, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Unsigned32(name)

Bases: _Unsigned32, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Unsigned40(name)

Bases: _Unsigned40, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Unsigned48(name)

Bases: _Unsigned48, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Unsigned56(name)

Bases: _Unsigned56, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Unsigned64(name)

Bases: _Unsigned64, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Unsigned8(name)

Bases: _Unsigned8, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.VisibleString(name)

Bases: _VisibleString, PDO[str]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (str) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

class voraus_ecat.pdo.Word(name)

Bases: _Word, PDO[int]

Initializes the PDO.

Parameters:: name (str) – The name of the PDO OPC UA node.

encode(value)

Encodes the PDO value for OPC UA communication.

Parameters:: value (int) – The new PDO value.
Return type:: Variant
Returns:: The encoded PDO value.

2.3.4. Error Handling

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