Changelog

[0.8.3] - 2024-07-26

Changed

  • Make fsoe_master an optional requirement

[0.8.2] - 2024-07-15

Added

  • FSoE module.

  • STO example for Safe servo drives.

  • Use only one queue in the PDO Poller to store both the timestamps and the register values.

  • Check that registers to be mapped in monitoring are CYCLIC_TX.

  • Method to get the available CAN devices.

  • GPIO module.

  • Optional password for the FOE bootloader.

Fix

  • Bug retrieving interface adapter name in Linux.

  • The stoppable_sleep method of the wizard tests does not block the main thread.

  • Set feedbacks to internal generator during brake testing.

[0.8.1] - 2024-06-05

Added

  • Function to check if a configuration has been applied to the drive.

  • Set the boot_in_app flag according to the file extension.

[0.8.0] - 2024-04-23

Added

  • PDOs for the EtherCAT protocol.

  • Register Poller using PDOs.

  • Callbacks to notify exceptions in the ProcessDataThread.

  • A method in the PDOPoller to subscribe to exceptions in the ProcessDataThread.

  • Set the watchdog timeout of the PDO exchange.

Changed

  • The get_subnodes method from the information module now returns a dictionary with the subnodes IDs as keys and their type as values.

  • Set the send_receive_processdata timeout in the ProcessDataThread according to the refresh rate.

  • Cyclic parameter is defined as a RegCyclicType variable instead of a string.

  • The default PDO watchdog timeout is set to 100 ms.

Removed

  • The comkit module. Now ingenialink methods are use to merge the COM-KIT and CORE dictionaries.

[0.7.1] - 2024-03-13

Added

  • Add scan functions with info: scan_servos_ethercat_with_info and scan_servos_canopen_with_info

  • Add connect_servo_virtual function

Removed

  • Support to Python 3.6 to 3.8.

[0.7.0] - 2023-11-29

Added

  • Functions needed to load firmware to a Motion Core (MoCo).

  • COM-KIT support.

  • In Information class: get_product_name, get_node_id, get_ip, get_slave_id, get_name, get_communication_type, get_full_name, get_subnodes, get_categories, get_dictionary_file_name.

  • In Configuration class: get_drive_info_coco_moco, get_product_code, get_revision_number, get_serial_number, get_fw_version

  • no_connection marker is added for unit testing.

  • Add mypy into the project.

  • Add types for all functions and classes.

  • Make and pass the first static type analysis.

  • Function to change the baudrate of a CANopen device

  • Function to get the vendor ID

  • Function to change the node ID of a CANopen device

  • Resolution and polarity test for DC motors (resolution test needs human check)

  • Feedbacks functions to set/get feedback polarity

  • Add in configuration set_velocity_pid, set_position_pid and get_rated_current

  • Add functions to connect to and scan EtherCAT devices using CoE (SDOs).

  • Optional backup registers for Wizard tests.

  • New methods to scan the network and obtain drive info (product code and revision number).

  • Method to load the FW in an ensemble of drives.

Fixed

  • check_motor_disabled decorator does not work with positional arguments

  • Adapt get_encoded_image_from_dictionary for COM-KIT

  • Feedback test output when symmetry and resolution errors occurred simultaneously.

  • Raise exception if monitoring and disturbance features are not available.

Changed

  • Use ingenialink to get the drive’s encoded image from the dictionary.

  • Update subscribe and unsubscribe to network status functions.

Deprecated

  • Support to Python 3.6 and 3.7.

[0.6.3] - 2023-10-11

Fixed

  • Remove disturbance data before including new data.

  • Set positioning mode to NO LIMITS during the feedback test.

[0.6.2] - 2023-09-06

Changed

  • Remove EDS file path param from CANopen connection. It is no longer necessary.

Fixed

  • Fix monitoring V3. Remove rearm_monitoring from set_trigger function.

[0.6.1] - 2023-04-03

Added

  • connect_servo_eoe_service, connect_servo_eoe_service_interface_index and connect_servo_eoe_service_interface_ip functions.

Changed

  • Removed boot_in_app argument from load_firmware_ecat and load_firmware_ecat_interface_index functions. It is not necessary anymore.

Removed

  • connect_servo_ecat, connect_servo_ecat_interface_index and connect_servo_ecat_interface_ip functions.

  • get_sdo_register, get_sdo_register_complete_access and set_sdo_register functions.

Fixed

  • is_alive function in MotionController.

  • subscribe_net_status and unsubscribe_net_status works for Ethernet based communication.

[0.6.0] - 2023-01-23

Added

  • Pull request template.

  • Functions get_actual_current_direct and get_actual_current_quadrature.

  • Test improvements.

  • Code formatting tool.

Changed

  • README image.

  • Improve load_FWs script for canopen.

[0.5.7] - 2022-12-16

Added

  • Brake tuning.

[0.5.6] - 2022-11-10

Fixed

  • On capture.disable_disturbance, disturbance data is removed.

[0.5.5] - 2022-07-26

Added

  • Support monitoring/disturbance with CANopen protocol.

  • Feedback tests.

  • Monitoring/disturbance tests.

[0.5.4] - 2022-03-17

Changed

  • Connection status listeners are all set to False by default.

  • Function set_max_velocity no longer changes the profile velocity, instead it changes velocity.

Added

  • Support to multi-slave Ethernet, EoE and CANopen connections.

  • Function connect_servo_ecat_interface_ip in communication.

  • Function get_ifname_from_interface_ip in communication.

  • Function get_current_loop_rate in configuration.

  • Function set_profiler in configuration.

  • Function set_max_profile_acceleration in configuration.

  • Function set_max_profile_deceleration in configuration.

  • Function set_max_profile_velocity in configuration.

Fixed

  • Commutation analysis feedback now returns the proper drive errors.

Deprecated

  • Deprecated set_max_acceleration in configuration use set_profiler or set_max_profile_acceleration.

[0.5.3] - 2022-02-16

Changed

  • Replaced ILerror exception with IMRegisterNotExist exception in base monitoring and disturbance.

  • Moved SeverityLevel enum from base test to enums module.

  • Moved disturbance_max_size_sample_size and monitoring_max_size_sample_size functions to capture.

  • Read power stage frequency directly from registers.

Added

  • IMRegisterWrongAccess and IMTimeoutError exceptions.

  • Ingenialink enums to enums module.

  • IMTimeoutError exception to move_to_position and set_velocity functions.-

[0.5.2] - 2021-11-23

Added

  • Compatibility with Python 3.7, 3.8 and 3.9.

Fixed

  • Fixed code autocompletion.

[0.5.1] - 2021-11-17

Added

  • Compatibility with monitoring for Everest and Capitan 2.0.0.

Changed

  • Increase default monitoring timeout.

  • Disable monitoring and disturbance have no effect if they are already disabled.

[0.5.0] - 2021-10-15

Added

  • Compatibility with System Errors.

  • Function register_exists in info module.

  • Load firmware and boot_mode functions.

  • Store and restore configuration functions.

  • Add disconnect function.

[0.4.1] - 2021-09-02

Added

  • Capture mcb_synchronization function.

  • Add exceptions module.

  • Phasing Check test.

  • STO test.

  • Create enable_monitoring_disturbance and disable_monitoring_disturbance in Capture module.

  • Create Info module.

  • Add fault_reset function.

  • Add Monitoring read function for forced trigger mode.

  • Add Brake test.

  • Add CANOpen communications.

Changed

  • MonitoringError and DisturbanceError exceptions to IMMonitoringError and IMDisturbanceError.

  • Functions motor_enable and motor_disable add error messages to raised exception.

  • Add timeout param to read_monitoring_data.

  • Update Commutation test.

  • Update stop test functions.

Removed

  • Removed enable_monitoring from Monitoring class.

  • Removed enable_disturbance from Disturbance class.

Fixed

  • Disturbance class and create_disturbance functions allow numpy arrays as a disturbance data.

  • Fixed servo alias bug. Some functions were not allow with no default alias.

[0.4.0] - 2021-06-28

Added

  • Error module.

  • Homing functions.

  • Servo connection and motor enabled checker.

  • Add capability to map more than one register into disturbance.

Changed

  • Update ingeniamotion feedback test

[0.3.1] - 2021-06-15

Added

  • Add disturbance functionality for all summit and custom drives.

  • Implement feedback resolution reading and feedback type set and get.

[0.3.0] - 2021-06-09

Added

  • Add SOEM communications as a way to connect to the drive.

  • Add the possibility to use SDO read/writes when using SOEM.

[0.2.0] - 2021-05-20

Added

  • Functions get_register and set_register.

  • Functions create_poller.

  • Monitoring class and create_monitoring function.

  • Set and get power stage frequency and get position and velocity loop rate functions in configuration.

[0.1.1] - 2021-03-18

Added

  • Connect servo via EOE and Ethernet.

  • Add drive test: digital_halls_test, incremental_encoder_1_test, incremental_encoder_2_test and commutation.

  • Brake configuration functions.

  • Load and save configuration functions.

  • Set max velocity and max acceleration functions.

  • Motion functions: enable and disable motor, move_to_position, set_velocity, set_current_quadrature, set_operation_mode, target_latch, etc…