Information

class ingeniamotion.information.Information(motion_controller)

Information.

register_info(register, axis=1, servo='default')

Return register object.

Parameters

  • register (str) – register UID.

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

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

Return type

Register

Returns

Register object.

Raises

IMRegisterNotExist – If register does not exist in dictionary.

register_type(register, axis=1, servo='default')

Return register dtype.

Parameters

  • register (str) – register UID.

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

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

Return type

REG_DTYPE

Returns

Register dtype.

Raises

IMRegisterNotExist – If register does not exist in dictionary.

register_access(register, axis=1, servo='default')

Return register access.

Parameters

  • register (str) – register UID.

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

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

Return type

REG_ACCESS

Returns

Register access.

Raises

IMRegisterNotExist – If register does not exist in dictionary.

register_range(register, axis=1, servo='default')

Return register range.

Parameters

  • register (str) – register UID.

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

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

Return type

Union[Tuple[None, None], Tuple[int, int], Tuple[float, float], Tuple[str, str]]

Returns

Register range, minimum and maximum.

Raises

IMRegisterNotExist – If register does not exist in dictionary.

register_exists(register, axis=1, servo='default')

Check if register exists in dictionary.

Parameters

  • register (str) – register UID.

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

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

Return type

bool

Returns

True if register exists, else False.

get_product_name(servo='default')

Get the product name of the drive.

Parameters

servo (str) – alias of the servo.

Returns

“EVE-NET-E”, “CAP-NET-E”, etc.

Return type

If it exists for example

get_node_id(servo='default')

Get the node ID for CANopen communications.

Parameters

servo (str) – alias of the servo.

Return type

int

Returns

Node ID of the drive.

get_baudrate(servo='default')

Get the baudrate of target servo

Parameters

servo (str) – alias of the servo.

Return type

CAN_BAUDRATE

Returns

Baudrate of the drive.

get_ip(servo='default')

Get the IP for Ethernet communications.

Parameters

servo (str) – alias of the servo.

Return type

str

Returns

IP of the drive.

get_slave_id(servo='default')

Get the EtherCAT slave ID of a given servo.

Parameters

servo (str) – alias of the servo.

Return type

int

Returns

Slave ID of the servo.

get_name(servo='default')

Get the drive’s name.

Parameters

servo (str) – Alias of the servo.

Return type

str

Returns

The name of the drive.

get_communication_type(servo='default')

Get the connected drive’s communication type.

Parameters

servo (str) – alias of the connected drive.

Return type

COMMUNICATION_TYPE

Returns

CANopen, Ethernet, or EtherCAT.

get_full_name(servo='default')

Return the full name of the drive [Product name] [Name] ([Target]).

Parameters

servo (str) – Drive alias.

Return type

str

Returns

Full name.

get_subnodes(servo='default')

Return a dictionary with the subnodes IDs as keys and their type as values.

Parameters

servo (str) – Drive alias.

Return type

Dict[int, SubnodeType]

Returns

Dictionary of subnode ids and their type.

get_categories(servo='default')

Return dictionary categories instance.

Parameters

servo (str) – Drive alias.

Return type

Dict[str, str]

Returns

Categories instance.

get_dictionary_file_name(servo='default')

Return dictionary file name.

Parameters

servo (str) – Drive alias.

Return type

str

Returns

Dictionary file name.

get_encoded_image_from_dictionary(servo='default')

Get the encoded product image from a drive dictionary. This function reads a dictionary of a drive, and it parses whether the dictionary file has a DriveImage tag and its content. :type servo: str :param servo: Alias of the drive.

Return type

Optional[str]

Returns

The encoded image or NoneType object.