FSoE

class ingeniamotion.fsoe.FSoEMasterHandler(slave_address, connection_id, watchdog_timeout)

FSoE Master Handler.

Parameters

• slave_address (int) – The servo’s FSoE address.

• connection_id (int) – The FSoE connection ID.

• watchdog_timeout (float) – The FSoE master watchdog timeout in seconds.

stop()

Stop the master handler

Return type

None

delete()

Delete the master handler

Return type

None

get_request()

Set the FSoE master handler request to the Safety Master PDU PDOMap

Return type

None

set_reply()

Get the FSoE slave response from the Safety Slave PDU PDOMap and set it to the FSoE master handler.

Return type

None

sto_deactivate()

Set the STO command to deactivate the STO

Return type

None

sto_activate()

Set the STO command to activate the STO

Return type

None

is_sto_active()

Check the STO state.

Return type

bool

Returns

True if the STO is active. False otherwise.

wait_for_data_state(timeout=None)

Wait the FSoE master handler to reach the Data state.

Parameters

timeout (Optional[float]) – how many seconds to wait for the FSoE master to reach the Data state, if None it will wait forever. None by default.

Raises

IMTimeoutError – If the Data state is not reached within the timeout.

Return type

None

property safety_master_pdu_map

The PDOMap used for the Safety Master PDU.

Return type

RPDOMap

property safety_slave_pdu_map

The PDOMap used for the Safety Slave PDU.

Return type

TPDOMap

class ingeniamotion.fsoe.PDUMapper

Helper class to configure the Safety PDU PDOMaps.

classmethod configure_rpdo_map(rpdo_map)

Configure the RPDOMap used for the Safety Master PDU.

Parameters

rpdo_map (RPDOMap) – The RPDOMap instance.

Return type

None

classmethod configure_tpdo_map(tpdo_map)

Configure the TPDOMap used for the Safety Slave PDU.

Parameters

tpdo_map (TPDOMap) – The TPDOMap instance.

Return type

None

class ingeniamotion.fsoe.FSoEMaster(motion_controller)

FSoE Master.

Parameters

motion_controller (MotionController) – The MotionController instance.

create_fsoe_master_handler(servo='default', fsoe_master_watchdog_timeout=1)

Create an FSoE Master handler linked to a Safe servo drive.

Parameters

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

• fsoe_master_watchdog_timeout (float) – The FSoE master watchdog timeout in seconds.

Return type

None

configure_pdos(start_pdos=False)

Configure the PDOs used for the Safety PDUs.

Parameters

start_pdos (bool) – if True, start the PDO exchange, if False the PDO exchange should be started after. False by default.

Return type

None

stop_master(stop_pdos=False)

Stop all the FSoE Master handlers.

Parameters

stop_pdos (bool) – if True, stop the PDO exchange. False by default.

Return type

None

sto_deactivate(servo='default')

Deactivate the Safety Torque Off.

Parameters

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

Return type

None

sto_activate(servo='default')

Activate the Safety Torque Off.

Parameters

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

Return type

None

get_safety_address(servo='default')

Get the drive’s FSoE slave address.

Parameters

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

Return type

int

Returns

The FSoE slave address.

set_safety_address(address, servo='default')

Set the drive’s FSoE slave address.

Parameters

• address (int) – The address to be set.

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

Return type

None

check_sto_active(servo='default')

Check if the STO is active in a given servo.

Parameters

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

Return type

bool

Returns

True if the STO is active. False otherwise.

wait_for_state_data(servo='default', timeout=None)

Wait for an FSoE master handler to reach the Data state.

Parameters

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

• timeout (Optional[float]) – how many seconds to wait for the FSoE master to reach the Data state, if None it will wait forever. None by default.

Return type

None