Programming examples

Select your interface first: standard Ethernet (ETH) or EtherCAT (ETC).

HDrive17-ETH · Python

Control the drive over standard Ethernet, no PLC needed. Install with pip install hdrive-eth. Source code: python-hdrive17-eth.

Download ETH examples (v1.0 ZIP) GitHub

Quickstart

Position move and telemetry

basic_control.py

from hdrive_eth import HDriveETH
import time

with HDriveETH("192.168.122.102") as motor:
    motor.move_to(90)
    time.sleep(1)
    frame = motor.telemetry
    if frame:
        print(f"Position: {frame.position}, Velocity: {frame.velocity}")

Velocity

Constant speed mode

velocity_mode.py

from hdrive_eth import HDriveETH
import time

with HDriveETH("192.168.122.102") as motor:
    motor.set_speed(speed=500)          # RPM
    time.sleep(2)
    motor.stop()

Torque

Direct torque setpoint (mNm)

torque_mode.py

from hdrive_eth import HDriveETH
import time

with HDriveETH("192.168.122.102") as motor:
    motor.set_torque(torque=200)        # mNm
    time.sleep(1)
    motor.stop()

Object dictionary

Read / write drive objects over TCP

read_object.py

from hdrive_eth import HDriveETH

with HDriveETH("192.168.122.102") as motor:
    version = motor.read_object(index=3, subindex=0)
    print(f"Firmware version: {version}")

Also accessible from C#, C++, Java or Matlab via TCP/UDP/HTTP. The built-in web server allows setup from a browser.

HDrive-ETC · EtherCAT + Python

For HDrive17-ETC and HDrive23-ETC. Install with pip install hdrive-etc. Source code: python-hdrive-etc.

How it works
The PC runs a local web server that acts as the EtherCAT master (hdrive-web, typically at http://localhost:8081). This process owns the EtherCAT bus (PySOEM), scans the slaves, maps the PDOs and can control the drive from the browser.

Your Python scripts use the same stack and can move the motor for lab work, tests and prototyping. This is not hard real-time control. Do not use Python or this PC master for safety-critical or cycle-accurate motion. For real-time operation in production, use a PLC or an industrial EtherCAT master (TwinCAT, Codesys or similar) with the ESI file from Support.

1 · Start the local master

The web GUI is the EtherCAT master on your PC

pip install hdrive-etc
sudo hdrive-web          # Linux / Raspberry Pi

# Open http://localhost:8081
# EtherCAT Config → Scan Bus → Save PDO Config

2 · Control from Python

Same PC · not hard real-time

basic_control.py

from hdrive_etc import HDriveETC, Mode
import time

with HDriveETC(slave_index=0, pdo_config_path="ethercat_config.json") as motor:
    motor.set_mode(Mode.TORQUE)
    motor.enable()
    motor.set_torque(200)       # mNm
    time.sleep(1)
    motor.stop()

Download ETC examples (v1.0 ZIP) GitHub ESI v1.6

Velocity

CiA 402 velocity mode

velocity_mode.py

from hdrive_etc import HDriveETC, Mode
import time

with HDriveETC(adapter="eth0", slave_index=0) as motor:
    motor.set_mode(Mode.VELOCITY)
    motor.enable()
    motor.set_velocity(300)     # deg/s
    time.sleep(2)
    motor.stop()

Torque

CiA 402 torque mode

torque_mode.py

from hdrive_etc import HDriveETC, Mode
import time

with HDriveETC(adapter="eth0", slave_index=0) as motor:
    motor.set_mode(Mode.TORQUE)
    motor.enable()
    motor.set_torque(200)       # mNm
    time.sleep(1)
    motor.stop()

Position

CiA 402 position mode

position_mode.py

from hdrive_etc import HDriveETC, Mode

with HDriveETC(adapter="eth0", slave_index=0) as motor:
    motor.set_mode(Mode.POSITION)
    motor.enable()
    motor.set_position(90)      # degrees
    motor.stop()

SDO read

Object dictionary over EtherCAT

read_sdo.py

from hdrive_etc import HDriveETC

with HDriveETC(adapter="eth0", slave_index=0) as motor:
    mode = motor.read_sdo(0x6060, 0x00, "b")   # Modes of operation
    print(f"Modes of operation: {mode}")

The PC master typically runs a soft cycle in the millisecond range, not microsecond hard real-time. Suitable for commissioning, tuning (step response and Bode plot in the web GUI) and scripting, but not a substitute for a real-time PLC.