René's URL Explorer Experiment

{"@context":"https://schema.org","@type":"DiscussionForumPosting","headline":"Reading op mode in CiA 402 profile causes KeyError when not set to a specific mode","articleBody":"When the current operation mode of a device using the 402 profile is read using `mode = thing.op_mode` it might be in a mode which is not mapped by `class OperationMode`. Therefor a `KeyError` might be thrown. Most prominently this happens to me when a motor has been without power and has no mode (=0) set yet.\r\n\r\n```python\r\nTraceback (most recent call last):\r\n  File \"/home/heiner/heiner-control/heiner_control/canopen/master.py\", line 33, in init\r\n    slave.init()\r\n  File \"/home/heiner/heiner-control/heiner_control/canopen/axis.py\", line 89, in init\r\n    node.op_mode = 'PROFILED POSITION'\r\n  File \"/home/heiner/heiner-control/env/lib/python3.7/site-packages/canopen/profiles/p402.py\", line 339, in op_mode\r\n    while self.op_mode != mode:\r\n  File \"/home/heiner/heiner-control/env/lib/python3.7/site-packages/canopen/profiles/p402.py\", line 301, in op_mode\r\n    return OperationMode.CODE2NAME[self.sdo[0x6061].raw]\r\nKeyError: 0\r\n```\r\nTo mitigate a part of this problem, I have added `NO MODE` as a valid mode in in the `OperationMode` class.\r\n","author":{"url":"https://github.com/allesblinkt","@type":"Person","name":"allesblinkt"},"datePublished":"2020-04-24T10:57:50.000Z","interactionStatistic":{"@type":"InteractionCounter","interactionType":"https://schema.org/CommentAction","userInteractionCount":2},"url":"https://github.com/183/canopen/issues/183"}