Motion¶

class ingeniamotion.motion.Motion(motion_controller)¶

Motion.

current_direct_ramp(target_value, time_s, servo='default', axis=1, init_value=0, interval=None)¶

Given a target value and a time in seconds, changes the current direct set-point linearly following a ramp. This function is blocked until target reached.

Parameters

target_value (float) – target value of the ramp.
time_s (float) – duration of the ramp, in seconds.
servo (str) – servo alias to reference it. default by default.
axis (int) – servo axis. 1 by default.
init_value (float) – initial value of the ramp. 0 by default.
interval (float) – time interval between register writes, in seconds. None by default, no interval.

current_quadrature_ramp(target_value, time_s, servo='default', axis=1, init_value=0, interval=None)¶

Given a target value and a time in seconds, changes the current quadrature set-point linearly following a ramp. This function is blocked until target reached.

Parameters

target_value (float) – target value of the ramp.
time_s (float) – duration of the ramp, in seconds.
servo (str) – servo alias to reference it. default by default.
axis (int) – servo axis. 1 by default.
init_value (float) – initial value of the ramp. 0 by default.
interval (float) – time interval between register writes, in seconds. None by default, no interval.

fault_reset(servo='default', axis=1)¶

Fault reset.

Parameters

servo (str) – servo alias to reference it. default by default.
axis (int) – servo axis. 1 by default.

get_actual_position(servo='default', axis=1)¶

Returns actual position register.

Parameters

servo (str) – servo alias to reference it. default by default.
axis (int) – servo axis. 1 by default.

Returns

actual position value

Return type

int

get_actual_velocity(servo='default', axis=1)¶

Returns actual velocity register.

Parameters

servo (str) – servo alias to reference it. default by default.
axis (int) – servo axis. 1 by default.

Returns

actual velocity value

Return type

int

get_operation_mode(servo='default', axis=1)¶

Return current operation mode.

Parameters

servo (str) – servo alias to reference it. default by default.
axis (int) – servo axis. 1 by default.

Returns

Return current operation mode.

Return type

OperationMode

internal_generator_constant_move(offset, servo='default', axis=1)¶

Move motor in internal generator configuration with generator mode constant.

Parameters

offset (int) – internal generator offset.
servo (str) – servo alias to reference it. default by default.
axis (int) – servo axis. 1 by default.

internal_generator_saw_tooth_move(direction, cycles, frequency, servo='default', axis=1)¶

Move motor in internal generator configuration with generator mode saw tooth.

Parameters

direction (int) – 1 for positive direction and -1 for negative direction.
cycles (int) – movement cycles.
frequency (int) – cycles for second.
servo (str) – servo alias to reference it. default by default.
axis (int) – servo axis. 1 by default.

motor_disable(servo='default', axis=1)¶

Disable motor.

Parameters

servo (str) – servo alias to reference it. default by default.
axis (int) – servo axis. 1 by default.

motor_enable(servo='default', axis=1)¶

Enable motor.

Parameters

servo (str) – servo alias to reference it. default by default.
axis (int) – servo axis. 1 by default.

move_to_position(position, servo='default', axis=1, target_latch=True, blocking=False)¶

Set position set point to a target servo and axis, in counts.

Parameters

position (int) – target position, in counts.
servo (str) – servo alias to reference it. default by default.
axis (int) – servo axis. 1 by default.
target_latch (bool) – if True does target latch at the end. True by default.
blocking (bool) – if True, the function is blocked until the target position is reached. False by default.

set_current_direct(current, servo='default', axis=1)¶

Set direct current set point to a target servo and axis, in A.

Parameters

current (float) – target direct current, in A.
servo (str) – servo alias to reference it. default by default.
axis (int) – servo axis. 1 by default.

set_current_quadrature(current, servo='default', axis=1)¶

Set quadrature current set point to a target servo and axis, in A.

Parameters

current (float) – target quadrature current, in A.
servo (str) – servo alias to reference it. default by default.
axis (int) – servo axis. 1 by default.

set_internal_generator_configuration(op_mode, servo='default', axis=1)¶

Set internal generator configuration.

Note

This functions affects the following drive registers: motor pair poles, operation mode, phasing mode and commutation feedback. This is an advanced-user oriented method, you could lose your drive configuration, use it at your own risk.

Parameters

op_mode (OperationMode) – select Current or Voltage operation mode for internal generator configuration.
servo (str) – servo alias to reference it. default by default.
axis (int) – servo axis. 1 by default.

set_operation_mode(operation_mode, servo='default', axis=1)¶

Set operation mode to a target servo and axis.

Parameters

operation_mode (OperationMode) – operation mode, any of OperationMode.
servo (str) – servo alias to reference it. default by default.
axis (int) – servo axis. 1 by default.

set_velocity(velocity, servo='default', axis=1, target_latch=True, blocking=False)¶

Set velocity set point to a target servo and axis, in rev/s.

Parameters

velocity (float) – target velocity, in rev/s.
servo (str) – servo alias to reference it. default by default.
axis (int) – servo axis. 1 by default.
target_latch (bool) – if True does target latch at the end. True by default.
blocking (bool) – if True, the function is blocked until the target position is reached. False by default.

set_voltage_direct(voltage, servo='default', axis=1)¶

Set direct voltage set point to a target servo and axis, in V.

Parameters

voltage (float) – target direct voltage, in V.
servo (str) – servo alias to reference it. default by default.
axis (int) – servo axis. 1 by default.

set_voltage_quadrature(voltage, servo='default', axis=1)¶

Set quadrature voltage set point to a target servo and axis, in V.

Parameters

voltage (float) – target quadrature voltage, in V.
servo (str) – servo alias to reference it. default by default.
axis (int) – servo axis. 1 by default.

target_latch(servo='default', axis=1)¶

Active target latch.

Parameters

servo (str) – servo alias to reference it. default by default.
axis (int) – servo axis. 1 by default.

voltage_direct_ramp(target_value, time_s, servo='default', axis=1, init_value=0, interval=None)¶

Given a target value and a time in seconds, changes the voltage direct set-point linearly following a ramp. This function is blocked until target reached.

Parameters

target_value (float) – target value of the ramp.
time_s (float) – duration of the ramp, in seconds.
servo (str) – servo alias to reference it. default by default.
axis (int) – servo axis. 1 by default.
init_value (float) – initial value of the ramp. 0 by default.
interval (float) – time interval between register writes, in seconds. None by default, no interval.

voltage_quadrature_ramp(target_value, time_s, servo='default', axis=1, init_value=0, interval=None)¶

Given a target value and a time in seconds, changes the voltage quadrature set-point linearly following a ramp. This function is blocked until target reached.

Parameters

target_value (float) – target value of the ramp.
time_s (float) – duration of the ramp, in seconds.
servo (str) – servo alias to reference it. default by default.
axis (int) – servo axis. 1 by default.
init_value (float) – initial value of the ramp. 0 by default.
interval (float) – time interval between register writes, in seconds. None by default, no interval.

wait_for_position(position, servo='default', axis=1, error=20, timeout=None, interval=None)¶

Wait until actual position is equal to a target position, with an error.

Parameters

position (int) – target position, in counts.
servo (str) – servo alias to reference it. default by default.
axis (int) – servo axis. 1 by default.
error (int) – allowed error between actual position and target position, in counts.
timeout (int) – how many seconds to wait for the servo to reach the target position, if None it will wait forever . None by default.
interval (float) – interval of time between actual position reads, in seconds. None by default.

wait_for_velocity(velocity, servo='default', axis=1, error=0.1, timeout=None, interval=None)¶

Wait until actual velocity is equal to a target velocity, with an error.

Parameters

velocity (float) – target velocity, in rev/s.
servo (str) – servo alias to reference it. default by default.
axis (int) – servo axis. 1 by default.
error (int) – allowed error between actual velocity and target velocity, in counts.
timeout (int) – how many seconds to wait for the servo to reach the target velocity, if None it will wait forever. None by default.
interval (float) – interval of time between actual velocity reads, in seconds. None by default.