148     # ----- Data Structure for ethercat management ----

   148     # ----- Data Structure for ethercat management ----

   149     SlaveState = ""

   149     SlaveState = ""

   150 

   150 

   151     # category of SDO data

   151     # category of SDO data

   152     DatatypeDescription, CommunicationObject, ManufacturerSpecific, \

   152     DatatypeDescription, CommunicationObject, ManufacturerSpecific, \

   154 

   154 

   155     # store the execution result of "ethercat sdos" command into SaveSDOData.

   155     # store the execution result of "ethercat sdos" command into SaveSDOData.

   156     SaveSDOData = []

   156     SaveSDOData = []

   157 

   157 

   158     # Flags for checking "write" permission of OD entries

   158     # Flags for checking "write" permission of OD entries

  1218         eeprom.append("00")  # reserved

  1218         eeprom.append("00")  # reserved

  1219         #  Flags

  1219         #  Flags

  1220         en_safeop = False

  1220         en_safeop = False

  1221         en_lrw = False

  1221         en_lrw = False

  1222         if device.getType().getTcCfgModeSafeOp() is True \

  1222         if device.getType().getTcCfgModeSafeOp() is True \

  1224             en_safeop = True

  1224             en_safeop = True

  1225         if device.getType().getUseLrdLwr() is True \

  1225         if device.getType().getUseLrdLwr() is True \

  1227             en_lrw = True

  1227             en_lrw = True

  1228 

  1228 

  1229         flags = "0b"+"000000"+str(int(en_lrw))+str(int(en_safeop))

  1229         flags = "0b"+"000000"+str(int(en_lrw))+str(int(en_safeop))

  1230         eeprom.append("{:0>2x}".format(int(flags, 2)))

  1230         eeprom.append("{:0>2x}".format(int(flags, 2)))

  1231 

  1231