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Type hints added; WAGO750_352 bus coupler and some terminal added; some other fixes

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Nicolas 2025-02-11 21:55:34 +01:00
parent 7077fc9925
commit 759e1d168d
1 changed files with 188 additions and 103 deletions
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pyhoff.py
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@ -1,120 +1,48 @@
#!/usr/bin/env python3
import time
from pyModbusTCP.client import ModbusClient
class ModBusBK9050(ModbusClient):
"""BK9050: Busskoppler ModBus TCP"""
def __init__(self, host, port = 502, debug=False, timeout=5, watchdog=0):
"""
Constructs all the necessary attributes for the person object.
Parameters
----------
host : str
ip or hostname of the BK9050
port : int
port of the modbus host
debug : bool
outputs modbus debug information
timeout : float
timeout for waiting for the device response
watchdog : float
time in secounds after the device sets all outputs to
default state. A value of 0 deactivates the watchdog.
"""
ModbusClient.__init__(self, host, port, auto_open=True, debug=debug, timeout=timeout, watchdog=watchdog)
self.bus_terminals = list()
self.next_output_bit_offset = 0
self.next_input_bit_offset = 0
self.next_output_word_offset = 0x800
self.next_input_word_offset = 0
#https://download.beckhoff.com/download/document/io/bus-terminals/bk9000_bk9050_bk9100de.pdf
#config watchdog on page 58
#set time-out/deactivate watchdog timer (deactivate: timeout = 0):
self.write_single_register(0x1120, timeout * 1000) #ms
#reset watchdog timer:
self.write_single_register(0x1121, 0xBECF)
self.write_single_register(0x1121, 0xAFFE)
def read_discrete_input(self, address):
value = self.read_discrete_inputs(address)
if value is None:
return False
else:
return value[0]
def read_coil(self, address):
value = self.read_coils(address)
if value is None:
return False
else:
return value[0]
def add_bus_terminals(self, bus_terminals):
for terminal_class in bus_terminals:
nterm = terminal_class(self)
nterm.output_bit_offset = self.next_output_bit_offset
nterm.input_bit_offset = self.next_input_bit_offset
nterm.output_word_offset = self.next_output_word_offset
nterm.input_word_offset = self.next_input_word_offset
self.next_output_bit_offset += terminal_class.output_bit_width
self.next_input_bit_offset += terminal_class.input_bit_width
self.next_output_word_offset += terminal_class.output_word_width
self.next_input_word_offset += terminal_class.input_word_width
self.bus_terminals.append(nterm)
return self.bus_terminals
from typing import Type
class BusTerminal():
output_bit_width = 0
input_bit_width = 0
output_word_width = 0
input_word_width = 0
def __init__(self, bus_coupler):
def __init__(self, bus_coupler: 'BusCoupler'):
self.output_bit_offset = 0
self.input_bit_offset = 0
self.output_word_offset = 0x800
self.output_word_offset = 0
self.output_word_offset = 0
self.input_word_offset = 0
self.bus_coupler = bus_coupler
class DigitalInputTerminal(BusTerminal):
def read_input(self, channel):
def read_input(self, channel: int):
print(self.input_bit_width, channel)
if channel < 1 or channel > self.input_bit_width:
raise Exception("address out of range")
return self.bus_coupler.read_discrete_input(self.input_bit_offset + channel - 1)
class DigitalOutputTerminal(BusTerminal):
def write_coil(self, channel, value):
def write_coil(self, channel: int, value: int):
if channel < 1 or channel > self.output_bit_width:
raise Exception("address out of range")
return self.bus_coupler.write_single_coil(self.output_bit_offset + channel - 1, value)
def read_coil(self, channel):
def read_coil(self, channel: int):
if channel < 1 or channel > self.output_bit_width:
raise Exception("address out of range")
return self.bus_coupler.read_coil(self.output_bit_offset + channel - 1)
class AnalogInputTerminal(BusTerminal):
def read_words(self, word_offset, word_count):
def read_words(self, word_offset: int, word_count: int):
if word_offset < 0 or word_offset + word_count > self.input_word_width:
raise Exception("address out of range")
return self.bus_coupler.read_input_registers(self.input_word_offset + word_offset, word_count)
def read_words_nocheck(self, word_offset, word_count):
def read_words_nocheck(self, word_offset: int, word_count: int):
return self.bus_coupler.read_input_registers(self.input_word_offset + word_offset, word_count)
def read_word(self, word_offset):
def read_word(self, word_offset: int):
val = self.read_words(word_offset, 1)
if val is None:
return -999
@ -123,40 +51,62 @@ class AnalogInputTerminal(BusTerminal):
class AnalogOutputTerminal(BusTerminal):
def read_words(self, word_offset, word_count):
def read_words(self, word_offset: int, word_count: int):
if word_offset < 0 or word_offset + word_count > self.output_word_width:
raise Exception("address out of range")
return self.bus_coupler.read_holding_registers(self.output_word_offset + word_offset, word_count)
def read_words_nocheck(self, word_offset, word_count):
def read_words_nocheck(self, word_offset: int, word_count: int):
return self.bus_coupler.read_holding_registers(self.output_word_offset*0 + word_offset, word_count)
def read_word(self, word_offset):
def read_word(self, word_offset: int):
val = self.read_words(word_offset, 1)
if val is None:
return -999
else:
return val[0]
def write_word(self, word_offset, data):
def write_word(self, word_offset: int, data: int):
if word_offset < 0 or word_offset + 1 > self.output_word_width:
raise Exception("address out of range")
return self.bus_coupler.write_single_register(self.output_word_offset + word_offset, data)
def write_word_nocheck(self, word_offset, data):
def write_word_nocheck(self, word_offset: int, data: int):
return self.bus_coupler.write_single_register(self.output_word_offset*0 + word_offset, data)
class KL1104(DigitalInputTerminal):
"""KL1104: 4x digital input 24 V"""
input_bit_width = 4
class KL1408(DigitalInputTerminal):
"""KL1104: 8x digital input 24 V galvanic isolated"""
input_bit_width = 8
class WAGO_750_1405(DigitalInputTerminal):
"""750-1405: 16x digital input 24 V"""
input_bit_width = 16
class KL2404(DigitalOutputTerminal):
"""KL2404: 4x digital output with 500 mA"""
output_bit_width = 4
class KL2424(DigitalOutputTerminal):
"""KL2424: 4x digital output with 2000 mA"""
output_bit_width = 4
class KL2634(DigitalOutputTerminal):
"""KL2634: 4x digital output 250 V AC, 30 V DC, 4 A"""
output_bit_width = 4
class KL2408(DigitalOutputTerminal):
"""750-530: 8x digital output with 24 V / 500 mA"""
#contact order for DO1 to DO8 is: 1, 5, 2, 6, 3, 7, 4, 8
output_bit_width = 8
class WAGO_750_530(DigitalOutputTerminal):
"""750-530: 8x digital output with 24 V / 500 mA"""
#contact order for DO1 to DO8 is: 1, 5, 2, 6, 3, 7, 4, 8
output_bit_width = 8
class KL3054(AnalogInputTerminal):
"""KL3054: 4x analog input 4...20 mA 12 Bit single-ended"""
@ -164,19 +114,31 @@ class KL3054(AnalogInputTerminal):
input_word_width = 8
output_word_width = 8
def read_normalized(self, channel):
def read_normalized(self, channel: int):
return self.read_word(channel * 2 - 1) / 0x7FFF
def read_current(self, channel: int):
return self.read_normalized(channel * 2 - 1) * 16.0 + 4.0
class KL3042(AnalogInputTerminal):
"""KL3042: 2x analog input 0...20 mA 12 Bit single-ended"""
#Input: 2 x 16 Bit Daten (optional 2x 8 Bit Control/Status)
input_word_width = 4
output_word_width = 4
def read_normalized(self, channel: int):
return self.read_word(channel*2-1) / 0x7FFF
def read_current(self, channel):
return self.read_normalized(channel) * 16.0 + 4.0
def read_current(self, channel: int):
return self.read_normalized(channel*2-1) * 20.0
class KL3202(AnalogInputTerminal):
"""KL3202: 2x analog input PT100 16 Bit 3-wire"""
#Input: 2 x 16 Bit Daten (2 x 8 Bit Control/Status optional)
input_word_width = 4
output_word_width = 4
def read_temperature(self, channel):
def read_temperature(self, channel: int):
val = self.read_word(channel*2-1)
if val > 0x7FFF:
return (val - 0x10000) / 10.0
@ -190,7 +152,7 @@ class KL3214(AnalogInputTerminal):
input_word_width = 8
output_word_width = 8
def read_temperature(self, channel):
def read_temperature(self, channel: int):
val = self.read_word(channel*2-1)
if val > 0x7FFF:
return (val - 0x10000) / 10.0
@ -203,23 +165,38 @@ class KL4002(AnalogOutputTerminal):
input_word_width = 4
output_word_width = 4
def set_normalized(self, channel, value):
def set_normalized(self, channel: int, value: float):
self.write_word(channel*2-1, int(value * 0x7FFF))
def set_voltage(self, channel, value):
self.set_normalized(value / 10.0)
def set_voltage(self, channel: int, value: float):
self.set_normalized(channel, value / 10.0)
class KL4132(AnalogOutputTerminal):
"""KL4002: 2x analog output ±10 V 16 bit differential"""
#Output: 2 x 16 Bit Daten (optional 2 x 8 Bit Control/Status)
input_word_width = 4
output_word_width = 4
def set_normalized(self, channel: int, value: float):
if value >= 0:
self.write_word(channel-1, int(value * 0x7FFF))
else:
self.write_word(channel-1, int(0x10000 + value * 0x7FFF ))
def set_voltage(self, channel: int, value: float):
self.set_normalized(channel, value / 10.0)
class KL4004(AnalogOutputTerminal):
"""KL4004: 4x analog output 0...10 V 12 Bit differentiell"""
#Output: 4 x 16 Bit Daten (optional 4 x 8 Bit Control/Status)
input_word_width = 8
output_word_width = 8
def set_normalized(self, channel, value):
def set_normalized(self, channel: int, value: float):
self.write_word(channel*2-1, int(value * 0x7FFF))
def set_voltage(self, channel, value):
self.set_normalized(value / 10.0)
def set_voltage(self, channel: int, value: float):
self.set_normalized(channel, value / 10.0)
class KL9000(BusTerminal):
"""Dummy, no I/O function"""
@ -241,3 +218,111 @@ class KL9188(BusTerminal):
"""Dummy, no I/O function"""
pass
class WAGO_750_600(BusTerminal):
"""Dummy, no I/O function"""
pass
class WAGO_750_602(BusTerminal):
"""Dummy, no I/O function"""
pass
class BusCoupler(ModbusClient):
"""BusCoupler: Busskoppler ModBus TCP"""
def __init__(self, host: str, port: int = 502, timeout: int = 5, watchdog: float = 0):
"""
Constructs all the necessary attributes for the person object.
Parameters
----------
host : str
ip or hostname of the BK9050
port : int
port of the modbus host
debug : bool
outputs modbus debug information
timeout : float
timeout for waiting for the device response
watchdog : float
time in secounds after the device sets all outputs to
default state. A value of 0 deactivates the watchdog.
"""
ModbusClient.__init__(self, host, port, auto_open=True, timeout=timeout)
self.bus_terminals: list[BusTerminal] = list()
self.next_output_bit_offset = 0
self.next_input_bit_offset = 0
self.next_output_word_offset = 0
self.next_input_word_offset = 0
self.init_hardware(watchdog)
def init_hardware(self, watchdog: float):
pass
def read_discrete_input(self, address: int):
value = self.read_discrete_inputs(address)
if value is None:
return False
else:
return value[0]
def read_coil(self, address):
value = self.read_coils(address)
if value is None:
return False
else:
return value[0]
def add_bus_terminals(self, bus_terminals: list[Type[BusTerminal]]) -> list[BusTerminal]:
for terminal_class in bus_terminals:
nterm = terminal_class(self)
nterm.output_bit_offset = self.next_output_bit_offset
nterm.input_bit_offset = self.next_input_bit_offset
nterm.output_word_offset = self.next_output_word_offset
nterm.input_word_offset = self.next_input_word_offset
self.next_output_bit_offset += terminal_class.output_bit_width
self.next_input_bit_offset += terminal_class.input_bit_width
self.next_output_word_offset += terminal_class.output_word_width
self.next_input_word_offset += terminal_class.input_word_width
self.bus_terminals.append(nterm)
return self.bus_terminals
class ModBusBK9050(BusCoupler):
"""BK9050: Busskoppler ModBus TCP"""
def init_hardware(self, watchdog: float):
#https://download.beckhoff.com/download/document/io/bus-terminals/bk9000_bk9050_bk9100de.pdf
#config watchdog on page 58
#set time-out/deactivate watchdog timer (deactivate: timeout = 0):
self.write_single_register(0x1120, watchdog * 1000) #ms
#reset watchdog timer:
self.write_single_register(0x1121, 0xBECF)
self.write_single_register(0x1121, 0xAFFE)
#set process image offset
self.next_output_word_offset = 0x0800
class WAGO750_352(BusCoupler):
"""Wago 750-352: Busskoppler ModBus TCP"""
def init_hardware(self, watchdog: float):
#deactivate/reset watchdog timer:
self.write_single_register(0x1005, 0xAAAA)
self.write_single_register(0x1005, 0x5555)
#set time-out/deactivate watchdog timer (deactivate: timeout = 0):
self.write_single_register(0x1000, int(watchdog * 10))
if watchdog:
#configure watchdog to reset on all functions codes
self.write_single_register(0x1001, 0xFFFF)
#set process image offset
self.next_output_word_offset = 0x0000