PDO¶

class ingeniamotion.pdo.PDOPoller(mc, servo, refresh_time, watchdog_timeout, buffer_size)¶

Poll register values using PDOs

start()¶

Start the poller

Return type: None

stop()¶

Stop the poller

Return type: None

property data¶

Get the poller data. After the data is retrieved, the data buffers are cleared.

Return type: Tuple[List[float], List[List[Union[int, float]]]]
Returns: A tuple with a list of the readings timestamps and a list of lists with the readings values.

add_channels(registers)¶

Configure the PDOs with the registers to be read.

Parameters: registers (List[Dict[str, Union[str, int]]]) – list of registers to add to the Poller.
Return type: None

subscribe_to_exceptions(callback)¶

Get notified when an exception occurs on the PDO thread.

Parameters: callback (Callable[[IMException], None]) – Function to be called when an exception occurs.
Return type: None

property available_samples¶

Number of samples in the buffer.

Return type: int

class ingeniamotion.pdo.PDONetworkManager(motion_controller)¶

Manage all the PDO functionalities.

Parameters: mc – The MotionController.

class ProcessDataThread(net, refresh_rate, watchdog_timeout, notify_send_process_data=None, notify_receive_process_data=None, notify_exceptions=None)¶

Manage the PDO exchange.

Parameters

net (EthercatNetwork) – The EthercatNetwork instance where the PDOs will be active.
refresh_rate (Optional[float]) – Determines how often (seconds) the PDO values will be updated.
watchdog_timeout (Optional[float]) – The PDO watchdog time. If not provided it will be set proportional to the refresh rate.
notify_send_process_data (Optional[Callable[[], None]]) – Callback to notify when process data is about to be sent.
notify_receive_process_data (Optional[Callable[[], None]]) – Callback to notify when process data is received.
notify_exceptions (Optional[Callable[[IMException], None]]) – Callback to notify when an exception is raised.

Raises

ValueError – If the provided refresh rate is unfeasible.

run()¶

Start the PDO exchange

Return type: None

stop()¶

Stop the PDO exchange

Return type: None

static high_precision_sleep(duration)¶

Replaces the time.sleep() method in order to obtain more precise sleeping times.

Return type: None

create_pdo_item(register_uid, axis=1, servo='default', value=None)¶

Create a PDOMapItem by specifying a register UID.

Parameters

register_uid (str) – Register to be mapped.
axis (int) – servo axis. 1 by default.
servo (str) – servo alias to reference it. default by default.
value (Union[float, int, None]) – Initial value for an RPDO register.

Return type

Union[RPDOMapItem, TPDOMapItem]

Returns

Mappable PDO item.

Raises

ValueError – If there is a type mismatch retrieving the register object.
AttributeError – If an initial value is not provided for an RPDO register.

create_pdo_maps(rpdo_map_items, tpdo_map_items)¶

Create the RPDO and TPDO maps from PDOMapItems.

Parameters

rpdo_map_items (Union[RPDOMapItem, List[RPDOMapItem]]) – The RPDOMapItems to be added to a RPDOMap.
tpdo_map_items (Union[TPDOMapItem, List[TPDOMapItem]]) – The TDOMapItems to be added to a TPDOMap.

Return type

Tuple[RPDOMap, TPDOMap]

Returns

RPDO and TPDO maps.

static add_pdo_item_to_map(pdo_map_item, pdo_map)¶

Add a PDOMapItem to a PDOMap.

Parameters

pdo_map_item (Union[RPDOMapItem, TPDOMapItem]) – The PDOMapItem.
pdo_map (Union[RPDOMap, TPDOMap]) – The PDOMap to add the PDOMapItem.

Raises

ValueError – If an RPDOItem is tried to be added to a TPDOMap.
ValueError – If an TPDOItem is tried to be added to a RPDOMap.

Return type

None

static create_empty_rpdo_map()¶

Create an empty RPDOMap.

Return type: RPDOMap
Returns: The empty RPDOMap.

static create_empty_tpdo_map()¶

Create an empty TPDOMap.

Return type: TPDOMap
Returns: The empty TPDOMap.

set_pdo_maps_to_slave(rpdo_maps, tpdo_maps, servo='default')¶

Map the PDOMaps to the slave.

Parameters

rpdo_maps (Union[RPDOMap, List[RPDOMap]]) – The RPDOMaps to be mapped.
tpdo_maps (Union[TPDOMap, List[TPDOMap]]) – he TPDOMaps to be mapped.
servo (str) – servo alias to reference it. default by default.

Raises

ValueError – If there is a type mismatch retrieving the drive object.
ValueError – If not all elements of the RPDO map list are instances of a RPDO map.
ValueError – If not all elements of the TPDO map list are instances of a TPDO map.

Return type

None

clear_pdo_mapping(servo='default')¶

Clear the PDO mapping within the servo.

Parameters: servo (str) – servo alias to reference it. default by default.
Raises: ValueError – If there is a type mismatch retrieving the drive object.
Return type: None

remove_rpdo_map(servo='default', rpdo_map=None, rpdo_map_index=None)¶

Remove a RPDOMap from the RPDOMap list. The RPDOMap instance or the index of the map in the RPDOMap list should be provided.

Parameters

servo (str) – servo alias to reference it. default by default.
rpdo_map (Optional[RPDOMap]) – The RPDOMap instance to be removed.
rpdo_map_index (Optional[int]) – The index of the RPDOMap list to be removed.

Raises

ValueError – If the RPDOMap instance is not in the RPDOMap list.
IndexError – If the index is out of range.

Return type

None

remove_tpdo_map(servo='default', tpdo_map=None, tpdo_map_index=None)¶

Remove a TPDOMap from the TPDOMap list. The TPDOMap instance or the index of the map in the TPDOMap list should be provided.

Parameters

servo (str) – servo alias to reference it. default by default.
tpdo_map (Optional[TPDOMap]) – The TPDOMap instance to be removed.
tpdo_map_index (Optional[int]) – The index of the TPDOMap list to be removed.

Raises

ValueError – If the TPDOMap instance is not in the TPDOMap list.
IndexError – If the index is out of range.

Return type

None

start_pdos(network_type=None, refresh_rate=None, watchdog_timeout=None)¶

Start the PDO exchange process.

Parameters

network_type (Optional[COMMUNICATION_TYPE]) – Network type (EtherCAT or CANopen) on which to start the PDO exchange.
refresh_rate (Optional[float]) – Determines how often (seconds) the PDO values will be updated.
watchdog_timeout (Optional[float]) – The PDO watchdog time. If not provided it will be set proportional to the refresh rate.

Raises

ValueError – If the refresh rate is too high.
ValueError – If the MotionController is connected to more than one Network.
ValueError – If network_type argument is invalid.
IMException – If the MotionController is connected to more than one Network.
ValueError – If there is a type mismatch retrieving the network object.
IMException – If the PDOs are already active.

Return type

None

stop_pdos()¶

Stop the PDO exchange process.

Raises: IMException – If the PDOs are not active yet.
Return type: None

subscribe_to_send_process_data(callback)¶

Subscribe be notified when the RPDO values will be sent.

Parameters: callback (Callable[[], None]) – Callback function.
Return type: None

subscribe_to_receive_process_data(callback)¶

Subscribe be notified when the TPDO values are received.

Parameters: callback (Callable[[], None]) – Callback function.
Return type: None

subscribe_to_exceptions(callback)¶

Subscribe be notified when there is an exception in the PDO process data thread.

If a callback is subscribed, the PDO exchange process is paused when an exception is raised. It can be resumed using the resume_pdos method.

Parameters: callback (Callable[[IMException], None]) – Callback function.
Return type: None

unsubscribe_to_send_process_data(callback)¶

Unsubscribe from the send process data notifications.

Parameters: callback (Callable[[], None]) – Subscribed callback function.
Return type: None

unsubscribe_to_receive_process_data(callback)¶

Unsubscribe from the receive process data notifications.

Parameters: callback (Callable[[], None]) – Subscribed callback function.
Return type: None

create_poller(registers, servo='default', sampling_time=0.125, buffer_size=100, watchdog_timeout=None, start=True)¶

Create a register Poller using PDOs.

Parameters

registers (List[Dict[str, Union[str, int]]]) –

list of registers to add to the Poller. Dicts should have the follow format:

[
    { # Poller register one
        "name": "CL_POS_FBK_VALUE",  # Register name.
        "axis": 1  # Register axis.
        # If it has no axis field, by default axis 1.
    },
    { # Poller register two
        "name": "CL_VEL_FBK_VALUE",  # Register name.
        "axis": 1  # Register axis.
        # If it has no axis field, by default axis 1.
    }
]

servo (str) – servo alias to reference it. default by default.
sampling_time (float) – period of the sampling in seconds. By default 0.125 seconds.
watchdog_timeout (Optional[float]) – The PDO watchdog time. If not provided it will be set proportional to the refresh rate.
buffer_size (int) – number maximum of sample for each data read. 100 by default.
start (bool) – if True, function starts poller, if False poller should be started after. True by default.

Return type

PDOPoller

Returns

The poller instance.

unsubscribe_to_exceptions(callback)¶

Unsubscribe from the exceptions in the process data notifications.

Parameters: callback (Callable[[IMException], None]) – Subscribed callback function.
Return type: None