Configuration<a class="headerlink" href="#module-ingeniamotion.configuration" title="Permalink to this headline">¶

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.

Return type

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.

Return type

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.

Return type

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 (Optional[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.

Raises

FileNotFoundError – If configuration file does not exist.

Return type

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 (Optional[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.

Return type

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

Store servo configuration to non-volatile memory.

Parameters

axis (Optional[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.

Return type

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

Restore servo to default configuration.

Parameters

axis (Optional[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.

Return type

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

Update maximum acceleration register.

Warning

This function is deprecated. Please use “set_max_profile_acceleration” or “set_profiler” instead.

Parameters

acceleration (float) – maximum acceleration in rev/s^2.
servo (str) – servo alias to reference it. default by default.
axis (int) – servo axis. 1 by default.

Raises

TypeError – If acceleration is not a float.

Return type

set_max_profile_acceleration(acceleration, servo='default', axis=1)¶

Update maximum profile acceleration register.

Parameters

acceleration (float) – maximum profile acceleration in rev/s^2.
servo (str) – servo alias to reference it. default by default.
axis (int) – servo axis. 1 by default.

Return type

set_max_profile_deceleration(deceleration, servo='default', axis=1)¶

Update maximum profile deceleration register.

Parameters

deceleration (float) – maximum profile deceleration in rev/s^2.
servo (str) – servo alias to reference it. default by default.
axis (int) – servo axis. 1 by default.

Return type

set_profiler(acceleration=None, deceleration=None, velocity=None, servo='default', axis=1)¶

Set up the acceleration, deceleration and velocity profilers. All of these parameters are optional, meaning the user can set only one if desired. However, At least a minimum of one of these parameters is mandatory to call this function.

Parameters

acceleration (Optional[float]) – maximum acceleration in rev/s^2.
deceleration (Optional[float]) – maximum deceleration in rev/s^2.
velocity (Optional[float]) – maximum profile velocity in rev/s.
servo (str) – servo alias to reference it. default by default.
axis (int) – servo axis. 1 by default.

Raises

TypeError – Missing arguments. All the arguments given were None.

Return type

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

Update maximum velocity register.

Parameters

velocity (float) – maximum velocity in rev/s.
servo (str) – servo alias to reference it. default by default.
axis (int) – servo axis. 1 by default.

Raises

TypeError – If velocity is not a float.

Return type

set_max_profile_velocity(velocity, servo='default', axis=1)¶

Update maximum profile velocity register.

Parameters

velocity (float) – maximum profile velocity in rev/s.
servo (str) – servo alias to reference it. default by default.
axis (int) – servo axis. 1 by default.

Return type

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.

Return type

Returns

Position & velocity loop rate frequency in Hz.

Raises

TypeError – If some read value has a wrong type.

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

Get current loop rate frequency.

Parameters

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

Return type

Returns

Current loop rate frequency in Hz.

Raises

TypeError – If some read value has a wrong type.

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.

Return type

Returns

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

Raises

ValueError – If power stage frequency selection register has an invalid value.
TypeError – If some read value has a wrong type.

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.

Return type

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.

Return type

Returns

Status word.

Raises

TypeError – If some read value has a wrong type.

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.

Return type

Returns

True if motor is enabled, else False.

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.

Return type

Returns

True if commutation feedback is aligned, else False.

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.

Return type

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.

Return type

Union[PhasingMode, int]

Returns

Phasing mode value.

Raises

TypeError – If some read value has a wrong type.

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.

Return type

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.

Raises

TypeError – If pair poles is not an int.
ingenialink.exceptions.ILValueError – If pair poles is less than 0.

Return type

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.

Return type

Returns

Pair poles value.

Raises

TypeError – If some read value has a wrong type.

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.

Return type

Returns

STO register value.

Raises

TypeError – If some read value has a wrong type.

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.

Return type

Returns

return value of STO1 bit.

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.

Return type

Returns

return value of STO2 bit.

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.

Return type

Returns

return value of power supply bit.

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.

Return type

Returns

return value of abnormal fault bit.

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.

Return type

Returns

return value of report bit.

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.

Return type

Returns

True if STO is active, else False.

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.

Return type

Returns

True if STO is inactive, else False.

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.

Return type

Returns

True if STO is abnormal latched, else False.

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.

Return type

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.
Return type: None

restore_tcp_ip_parameters(servo='default')¶

Restore TCP IP parameters to default values.

Parameters: servo (str) – servo alias to reference it. default by default.
Return type: None

get_drive_info_coco_moco(alias)¶

Get product codes, revision numbers, firmware versions and serial numbers from COCO and MOCO.

Parameters: alias (str) – Servo alias.
Return type: Tuple[List[Optional[int]], List[Optional[int]], List[Optional[str]], List[Optional[int]]]
Returns: Product codes (COCO, MOCO). Revision numbers (COCO, MOCO). FW versions (COCO, MOCO). Serial numbers (COCO, MOCO).

static get_subnode_type(subnode)¶

Get a subnode type depending on the axis number.

Parameters: subnode (int) – Axis number of the drive.
Return type: TYPE_SUBNODES
Returns: Subnode type.
Raises: ValueError – For negative subnode values.

get_product_code(alias, subnode)¶

Get the product code of a drive.

Parameters

alias (str) – Alias of the drive.
subnode (int) – Axis number of the drive.

Return type

Returns

Product code

Raises

TypeError – If some read value has a wrong type.

get_revision_number(alias, subnode)¶

Get the revision number of a drive.

Parameters

alias (str) – Alias of the drive.
subnode (int) – Axis number of the drive.

Return type

Returns

Revision number

Raises

TypeError – If some read value has a wrong type.

get_serial_number(alias, subnode)¶

Get the serial number of a drive.

Parameters

alias (str) – Alias of the drive.
subnode (int) – Axis number of the drive.

Return type

Returns

Serial number

Raises

TypeError – If some read value has a wrong type.

get_fw_version(alias, subnode)¶

Get the firmware version of a drive.

Parameters

alias (str) – Alias of the drive.
subnode (int) – Axis number of the drive.

Return type

str

Returns

Firmware version.

Raises

TypeError – If some read value has a wrong type.

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

Get the vendor ID of a drive.

Parameters

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

Return type

Returns

Vendor ID.

Raises

TypeError – If the read vendor ID has the wrong type.

change_baudrate(baud_rate, servo='default')¶

Change a CANopen device’s baudrate.

Parameters

baud_rate (CAN_BAUDRATE) – New baud rate value.
servo (str) – servo alias to reference it. default by default.

Raises

ValueError – If the servo is not a CANopen device.

Return type

change_node_id(node_id, servo='default')¶

Change a CANopen device’s node ID.

Parameters

node_id (int) – New node ID.
servo (str) – servo alias to reference it. default by default.

Raises

ValueError – If servo is not a CANopen device.

Return type

set_velocity_pid(kp, ki=0, kd=0, servo='default', axis=1)¶

Set velocity PID values in the target servo and axis.

Parameters

kp (float) – proportional constant
ki (float) – integral constant
kd (float) – derivative constant
servo (str) – servo alias to reference it. default by default.
axis (int) – servo axis. 1 by default.

Return type

set_position_pid(kp, ki=0, kd=0, servo='default', axis=1)¶

Set position PID values in the target servo and axis.

Parameters

kp (float) – proportional constant
ki (float) – integral constant
kd (float) – derivative constant
servo (str) – servo alias to reference it. default by default.
axis (int) – servo axis. 1 by default.

Return type

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

Get rated current in the target servo and axis.

Parameters

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

Return type

float

Returns

Rated current

Raises

TypeError – If some read value has a wrong type.

set_rated_current(rated_current, servo='default', axis=1)¶

Set rated current in the target servo and axis.

Parameters

rated_current (float) – target rated current.
servo (str) – servo alias to reference it. default by default.
axis (int) – servo axis. 1 by default.

Return type

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

Get max current in the target servo and axis.

Parameters

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

Return type

float

Returns

Max current

Raises

TypeError – If some read value has a wrong type.

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.

Return type

Returns

Resolution of ABS1 encoder.

Raises

TypeError – If some read value has a wrong type.

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.

Return type

Returns

Resolution of ABS2 encoder.

Raises

TypeError – If some read value has a wrong type.

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.

Return type

Returns

Type of feedback configured

Raises

TypeError – If some read value has a wrong type.

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.

Return type

Returns

Category {ABSOLUTE, INCREMENTAL} of the selected feedback.

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.

Return type

Optional[int]

Returns

Resolution of the selected feedback.

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.

Return type

Returns

Type of feedback configured.

Raises

TypeError – If some read value has a wrong type.

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.

Return type

Returns

Category {ABSOLUTE, INCREMENTAL} of the selected feedback.

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.

Return type

Returns

Resolution of the selected feedback.

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.

Return type

Returns

Resolution of digital halls encoder.

Raises

TypeError – If some read value has a wrong type.

get_feedback_polarity(feedback, servo='default', axis=1)¶

Get target feedback polarity of 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.

Return type

Union[int, FeedbackPolarity]

Returns

Feedback polarity

Raises

TypeError – If some read value has a wrong type.

get_feedback_polarity_register_uid(feedback)¶

Returns feedback polarity register UID

Parameters: feedback (SensorType) – target feedback sensor.
Return type: str
Returns: Register UID

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.

Return type

Returns

Resolution of target feedback.

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.

Return type

Returns

Resolution of incremental encoder 1.

Raises

TypeError – If some read value has a wrong type.

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.

Return type

Returns

Resolution of incremental encoder 2 encoder.

Raises

TypeError – If some read value has a wrong type.

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.

Return type

Returns

Type of feedback configured.

Raises

TypeError – If some read value has a wrong type.

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.

Return type

Returns

Category {ABSOLUTE, INCREMENTAL} of the selected feedback.

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.

Return type

Returns

Resolution of the selected feedback.

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.

Return type

Returns

Type of feedback configured

Raises

TypeError – If some read value has a wrong type.

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.

Return type

Returns

Category {ABSOLUTE, INCREMENTAL} of the selected feedback.

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.

Return type

Returns

Resolution of the selected feedback.

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.

Return type

Returns

Resolution of secondary SSI encoder.

Raises

TypeError – If some read value has a wrong type.

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.

Return type

Returns

Type of feedback configured

Raises

TypeError – If some read value has a wrong type.

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.

Return type

Returns

Category {ABSOLUTE, INCREMENTAL} of the selected feedback.

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.

Return type

Returns

Resolution of the selected feedback.

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.

Return type

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.

Return type

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.

Return type

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.

Return type

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.

Return type

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.

Return type

set_feedback_polarity(polarity, feedback, servo='default', axis=1)¶

Set target feedback polarity in the target servo and axis.

Parameters

polarity (FeedbackPolarity) – target polarity.
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.

Return type

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.

Return type

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.

Return type

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.

Return type

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.

Return type

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.

Return type

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.

Return type