Configuration

class ingeniamotion.configuration.Configuration(motion_controller)

Configuration.

class BrakeOverride(value)

Brake override configuration enum

release_brake(servo='default', axis=1)

Override the brake status to released in the target servo and axis.

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – axis that will run the test. 1 by default.

enable_brake(servo='default', axis=1)

Override the brake status of the target servo and axis.

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – axis that will run the test. 1 by default.

disable_brake_override(servo='default', axis=1)

Disable the brake override of the target servo and axis.

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – axis that will run the test. 1 by default.

default_brake(servo='default', axis=1)

Disable the brake override of the target servo and axis, as disable_brake_override().

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – axis that will run the test. 1 by default.

load_configuration(config_path, axis=None, servo='default')

Load a configuration file to the target servo.

Parameters

• config_path (str) – config file path to load.

• axis (int) – target axis to load configuration. If None function loads all axis. None by default.

• servo (str) – servo alias to reference it. default by default.

save_configuration(output_file, axis=None, servo='default')

Save the servo configuration to a target file.

Parameters

• output_file (str) – servo configuration destination file.

• axis (int) – target axis to load configuration. If None function loads all axis. None by default.

• servo (str) – servo alias to reference it. default by default.

store_configuration(axis=None, servo='default')

Store servo configuration to non-volatile memory.

Parameters

• axis (int) – target axis to load configuration. If None function loads all axis. None by default.

• servo (str) – servo alias to reference it. default by default.

restore_configuration(axis=None, servo='default')

Restore servo to default configuration.

Parameters

• axis (int) – target axis to load configuration. If None function loads all axis. None by default.

• servo (str) – servo alias to reference it. default by default.

set_max_acceleration(acceleration, servo='default', axis=1)

Update maximum acceleration register.

Parameters

• acceleration – maximum acceleration in rev/s^2.

• servo (str) – servo alias to reference it. default by default.

• axis (int) – servo axis. 1 by default.

set_max_velocity(velocity, servo='default', axis=1)

Update maximum velocity register.

Parameters

• velocity – maximum velocity in rev/s.

• servo (str) – servo alias to reference it. default by default.

• axis (int) – servo axis. 1 by default.

get_position_and_velocity_loop_rate(servo='default', axis=1)

Get position & velocity loop rate frequency.

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – servo axis. 1 by default.

Returns

Position & velocity loop rate frequency in Hz.

Return type

int

get_power_stage_frequency(servo='default', axis=1, raw=False)

Get Power stage frequency register.

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – servo axis. 1 by default.

• raw (bool) – if False return frequency in Hz, if True return raw register value. False by default.

Returns

Frequency in Hz if raw is False, else, raw register value.

Return type

int

Raises

ValueError – If power stage frequency selection register has an invalid value.

get_power_stage_frequency_enum(servo='default', axis=1)

Return Power stage frequency register enum.

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – servo axis. 1 by default.

Returns

Enum with power stage frequency available values.

Return type

IntEnum

set_power_stage_frequency(value, servo='default', axis=1)

Set power stage frequency from enum value. See :func: get_power_stage_frequency_enum.

Parameters

• value (int) – Enum value to set power stage frequency.

• servo (str) – servo alias to reference it. default by default.

• axis (int) – servo axis. 1 by default.

Raises

IMStatusWordError – If motor is enabled.

get_status_word(servo='default', axis=1)

Return status word register value.

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – servo axis. 1 by default.

Returns

Status word.

Return type

int

is_motor_enabled(servo='default', axis=1)

Return motor status.

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – servo axis. 1 by default.

Returns

True if motor is enabled, else False.

Return type

bool

is_commutation_feedback_aligned(servo='default', axis=1)

Return commutation feedback aligned status.

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – servo axis. 1 by default.

Returns

True if commutation feedback is aligned, else False.

Return type

bool

set_phasing_mode(phasing_mode, servo='default', axis=1)

Set phasing mode.

Parameters

• phasing_mode (PhasingMode) – phasing mode.

• servo (str) – servo alias to reference it. default by default.

• axis (int) – servo axis. 1 by default.

get_phasing_mode(servo='default', axis=1)

Get current phasing mode.

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – servo axis. 1 by default.

Returns

Phasing mode value.

Return type

PhasingMode

set_generator_mode(mode, servo='default', axis=1)

Set generator mode.

Parameters

• mode (GeneratorMode) – generator mode value.

• servo (str) – servo alias to reference it. default by default.

• axis (int) – servo axis. 1 by default.

set_motor_pair_poles(pair_poles, servo='default', axis=1)

Set motor pair poles.

Parameters

• pair_poles (int) – motor pair poles-

• servo (str) – servo alias to reference it. default by default.

• axis (int) – servo axis. 1 by default.

get_motor_pair_poles(servo='default', axis=1)

Get motor pair poles.

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – servo axis. 1 by default.

Returns

Pair poles value.

Return type

int

get_sto_status(servo='default', axis=1)

Get STO register

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – servo axis. 1 by default.

Returns

STO register value.

Return type

int

is_sto1_active(servo='default', axis=1)

Get STO1 bit from STO register

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – servo axis. 1 by default.

Returns

return value of STO1 bit.

Return type

int

is_sto2_active(servo='default', axis=1)

Get STO2 bit from STO register

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – servo axis. 1 by default.

Returns

return value of STO2 bit.

Return type

int

check_sto_power_supply(servo='default', axis=1)

Get power supply bit from STO register

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – servo axis. 1 by default.

Returns

return value of power supply bit.

Return type

int

check_sto_abnormal_fault(servo='default', axis=1)

Get abnormal fault bit from STO register

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – servo axis. 1 by default.

Returns

return value of abnormal fault bit.

Return type

int

get_sto_report_bit(servo='default', axis=1)

Get report bit from STO register

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – servo axis. 1 by default.

Returns

return value of report bit.

Return type

int

is_sto_active(servo='default', axis=1)

Check if STO is active

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – servo axis. 1 by default.

Returns

True if STO is active, else False.

Return type

bool

is_sto_inactive(servo='default', axis=1)

Check if STO is inactive

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – servo axis. 1 by default.

Returns

True if STO is inactive, else False.

Return type

bool

is_sto_abnormal_latched(servo='default', axis=1)

Check if STO is abnormal latched

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – servo axis. 1 by default.

Returns

True if STO is abnormal latched, else False.

Return type

bool

change_tcp_ip_parameters(ip_address, subnet_mask, gateway, servo='default')

Change TCP IP parameters and store it.

Parameters

• ip_address (str) – IP Address to be changed.

• subnet_mask (str) – Subnet mask to be changed.

• gateway (str) – Gateway to be changed.

• servo (str) – servo alias to reference it. default by default.

store_tcp_ip_parameters(servo='default')

Store TCP IP parameters to non-volatile memory.

Parameters

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

restore_tcp_ip_parameters(servo='default')

Restore TCP IP parameters to default values.

Parameters

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

class SensorCategory(value)

Feedback category enum

class SensorType(value)

Summit series feedback type enum

get_absolute_encoder_1_resolution(servo='default', axis=1)

Reads ABS1 encoder resolution in the target servo and axis.

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – axis that will run the test. 1 by default.

Returns

Resolution of ABS1 encoder.

Return type

int

get_absolute_encoder_2_resolution(servo='default', axis=1)

Reads ABS2 encoder resolution in the target servo and axis.

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – axis that will run the test. 1 by default.

Returns

Resolution of ABS2 encoder.

Return type

int

get_auxiliar_feedback(servo='default', axis=1)

Reads auxiliar feedbacks value in the target servo and axis.

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – axis that will run the test. 1 by default.

Returns

Type of feedback configured

Return type

SensorType

get_auxiliar_feedback_category(servo='default', axis=1)

Reads auxiliar feedbacks type {ABSOLUTE or INCREMENTAL} in the target servo and axis.

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – axis that will run the test. 1 by default.

Returns

Category {ABSOLUTE, INCREMENTAL} of the selected feedback.

Return type

SensorCategory

get_auxiliar_feedback_resolution(servo='default', axis=1)

Reads auxiliar feedbacks resolution in the target servo and axis.

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – axis that will run the test. 1 by default.

Returns

Resolution of the selected feedback.

Return type

int

get_commutation_feedback(servo='default', axis=1)

Reads commutation feedbacks value in the target servo and axis.

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – axis that will run the test. 1 by default.

Returns

Type of feedback configured.

Return type

SensorType

get_commutation_feedback_category(servo='default', axis=1)

Reads commutation feedbacks type {ABSOLUTE or INCREMENTAL} in the target servo and axis.

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – axis that will run the test. 1 by default.

Returns

Category {ABSOLUTE, INCREMENTAL} of the selected feedback.

Return type

SensorCategory

get_commutation_feedback_resolution(servo='default', axis=1)

Reads commutation feedbacks resolution in the target servo and axis.

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – axis that will run the test. 1 by default.

Returns

Resolution of the selected feedback.

Return type

int

get_digital_halls_resolution(servo='default', axis=1)

Reads digital halls pole pairs in the target servo and axis.

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – axis that will run the test. 1 by default.

Returns

Resolution of digital halls encoder.

Return type

int

get_feedback_resolution(feedback, servo='default', axis=1)

Reads target feedback resolution in the target servo and axis.

Parameters

• feedback (SensorType) – target feedback.

• servo (str) – servo alias to reference it. default by default.

• axis (int) – axis that will run the test. 1 by default.

Returns

Resolution of target feedback.

Return type

int

get_incremental_encoder_1_resolution(servo='default', axis=1)

Reads incremental encoder 1 resolution in the target servo and axis.

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – axis that will run the test. 1 by default.

Returns

Resolution of incremental encoder 1.

Return type

int

get_incremental_encoder_2_resolution(servo='default', axis=1)

Reads incremental encoder 2 resolution in the target servo and axis.

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – axis that will run the test. 1 by default.

Returns

Resolution of incremental encoder 2 encoder.

Return type

int

get_position_feedback(servo='default', axis=1)

Reads position feedbacks value in the target servo and axis.

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – axis that will run the test. 1 by default.

Returns

Type of feedback configured

Return type

SensorType

get_position_feedback_category(servo='default', axis=1)

Reads position feedbacks type {ABSOLUTE or INCREMENTAL} in the target servo and axis.

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – axis that will run the test. 1 by default.

Returns

Category {ABSOLUTE, INCREMENTAL} of the selected feedback.

Return type

SensorCategory

get_position_feedback_resolution(servo='default', axis=1)

Reads position feedbacks resolution in the target servo and axis.

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – axis that will run the test. 1 by default.

Returns

Resolution of the selected feedback.

Return type

int

get_reference_feedback(servo='default', axis=1)

Reads reference feedbacks value in the target servo and axis.

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – axis that will run the test. 1 by default.

Returns

Type of feedback configured

Return type

SensorType

get_reference_feedback_category(servo='default', axis=1)

Reads reference feedbacks type {ABSOLUTE or INCREMENTAL} in the target servo and axis.

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – axis that will run the test. 1 by default.

Returns

Category {ABSOLUTE, INCREMENTAL} of the selected feedback.

Return type

SensorCategory

get_reference_feedback_resolution(servo='default', axis=1)

Reads reference feedbacks resolution in the target servo and axis.

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – axis that will run the test. 1 by default.

Returns

Resolution of the selected feedback.

Return type

int

get_secondary_ssi_resolution(servo='default', axis=1)

Reads secondary SSI encoder resolution in the target servo and axis.

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – axis that will run the test. 1 by default.

Returns

Resolution of secondary SSI encoder.

Return type

int

get_velocity_feedback(servo='default', axis=1)

Reads velocity feedbacks value in the target servo and axis.

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – axis that will run the test. 1 by default.

Returns

Type of feedback configured

Return type

SensorType

get_velocity_feedback_category(servo='default', axis=1)

Reads velocity feedbacks type {ABSOLUTE or INCREMENTAL} in the target servo and axis.

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – axis that will run the test. 1 by default.

Returns

Category {ABSOLUTE, INCREMENTAL} of the selected feedback.

Return type

SensorCategory

get_velocity_feedback_resolution(servo='default', axis=1)

Reads velocity feedbacks resolution in the target servo and axis.

Parameters

• servo (str) – servo alias to reference it. default by default.

• axis (int) – axis that will run the test. 1 by default.

Returns

Resolution of the selected feedback.

Return type

int

homing_on_current_position(hom_offset, servo='default', axis=1)

Do current position homing.

Parameters

• hom_offset (int) – homing offset.

• servo (str) – servo alias to reference it. default by default.

• axis (int) – servo axis. 1 by default.

homing_on_index_pulse(hom_offset, direction, index, timeout_ms, zero_vel, servo='default', axis=1, motor_enable=True)

Do homing on index pulse.

Note

Motor must be well phased before run any homing.

Parameters

• hom_offset (int) – homing offset.

• direction (int) – direction. 1 is positive, 0 is negative.

• index (int) – select incremental encoder, 0 for incremental encoder 1, 1 for incremental encoder 2.

• timeout_ms (int) – homing timeout in milliseconds.

• zero_vel (int) – speed to search for the actual homing point, in mrev/s.

• servo (str) – servo alias to reference it. default by default.

• axis (int) – servo axis. 1 by default.

• motor_enable (bool) – if True do motor enable. True by default.

homing_on_switch_limit(hom_offset, direction, switch, timeout_ms, lim_vel, zero_vel, servo='default', axis=1, motor_enable=True)

Do homing on switch limit.

Note

Motor must be well phased before run any homing.

Parameters

• hom_offset (int) – homing offset.

• direction (int) – direction. 1 is positive, 0 is negative.

• switch (int) – switch index.

• timeout_ms (int) – homing timeout in milliseconds.

• lim_vel (int) – speed to search for the switch, in mrev/s.

• zero_vel (int) – speed to search for the actual homing point, in mrev/s.

• servo (str) – servo alias to reference it. default by default.

• axis (int) – servo axis. 1 by default.

• motor_enable (bool) – if True do motor enable. True by default.

homing_on_switch_limit_and_index_pulse(hom_offset, direction, switch, index, timeout_ms, lim_vel, zero_vel, servo='default', axis=1, motor_enable=True)

Do homing on switch limit and index pulse.

Note

Motor must be well phased before run any homing.

Parameters

• hom_offset (int) – homing offset.

• direction (int) – direction. 1 is positive, 0 is negative.

• switch (int) – switch index.

• index (int) – select incremental encoder, 0 for incremental encoder 1, 1 for incremental encoder 2.

• timeout_ms (int) – homing timeout in milliseconds.

• lim_vel (int) – speed to search for the switch, in mrev/s.

• zero_vel (int) – speed to search for the actual homing point, in mrev/s.

• servo (str) – servo alias to reference it. default by default.

• axis (int) – servo axis. 1 by default.

• motor_enable (bool) – if True do motor enable. True by default.

set_auxiliar_feedback(feedback, servo='default', axis=1)

Writes auxiliar feedbacks value in the target servo and axis.

Parameters

• feedback (SensorType) – feedback sensor number

• servo (str) – servo alias to reference it. default by default.

• axis (int) – axis that will run the test. 1 by default.

Raises

IMStatusWordError – If motor is enabled.

set_commutation_feedback(feedback, servo='default', axis=1)

Writes commutation feedbacks value in the target servo and axis.

Parameters

• feedback (SensorType) – feedback sensor number

• servo (str) – servo alias to reference it. default by default.

• axis (int) – axis that will run the test. 1 by default.

Raises

IMStatusWordError – If motor is enabled.

set_homing_mode(homing_mode, servo='default', axis=1)

Set homing mode.

Parameters

• homing_mode (HomingMode) – homing mode.

• servo (str) – servo alias to reference it. default by default.

• axis (int) – servo axis. 1 by default.

set_homing_offset(homing_offset, servo='default', axis=1)

Set homing offset configuration.

Parameters

• homing_offset (int) – homing offset.

• servo (str) – servo alias to reference it. default by default.

• axis (int) – servo axis. 1 by default.

set_homing_timeout(timeout_ms, servo='default', axis=1)

Set homing timeout configuration.

Parameters

• timeout_ms (int) – homing timeout in milliseconds.

• servo (str) – servo alias to reference it. default by default.

• axis (int) – servo axis. 1 by default.

set_position_feedback(feedback, servo='default', axis=1)

Writes position feedbacks value in the target servo and axis.

Parameters

• feedback (SensorType) – feedback sensor number

• servo (str) – servo alias to reference it. default by default.

• axis (int) – axis that will run the test. 1 by default.

Raises

IMStatusWordError – If motor is enabled.

set_reference_feedback(feedback, servo='default', axis=1)

Writes reference feedbacks value in the target servo and axis.

Parameters

• feedback (SensorType) – feedback sensor number

• servo (str) – servo alias to reference it. default by default.

• axis (int) – axis that will run the test. 1 by default.

Raises

IMStatusWordError – If motor is enabled.

set_velocity_feedback(feedback, servo='default', axis=1)

Writes velocity feedbacks value in the target servo and axis.

Parameters

• feedback (SensorType) – feedback sensor number

• servo (str) – servo alias to reference it. default by default.

• axis (int) – axis that will run the test. 1 by default.

Raises

IMStatusWordError – If motor is enabled.