INGK-985 Allow users to subscribe to EMCY messages - Githubissues

ingeniamc / ingenialink-python

Communication library for Ingenia servo drives

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INGK-985 Allow users to subscribe to EMCY messages #476

Closed MartinALL91 closed 2 weeks ago

MartinALL91 commented 3 weeks ago

Description

Allow users to subscribe to EMCY messages.

Fixes # INGK-985

Type of change

Fix CANopen subscription.
Add a method to subscribe to EtherCAT emergency messages.

Tests

Connect to CANopen / EtherCAT drive
Subscribe to emergency messages
Generate emergency messages
Check that the callback function receives the emergency messages.

Documentation

Please update the documentation.

[x] Update docstrings of every function, method or class that change.
[x] Add the changes at the [Unreleased] section of the CHANGELOG.

Code formatting and linting

[x] Use the ruff package to format the code: ruff format ingenialink tests.
[x] Use the ruff package to lint the code: ruff check ingenialink.

Others

[x] Set fix version field in the Jira issue.