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

check_configuration(config_path, axis=None, servo='default')¶

Check if the drive is configured in the same way as the given configuration file. Compares the value of each register in the given file with the corresponding value in the drive.

Parameters

config_path (str) – config file path to check.
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.
ValueError – If a configuration file from a subnode different from 0 is attempted to be loaded to subnode 0.
ValueError – If an invalid subnode is provided.
ILConfigurationError – If the configuration file differs from the drive state.

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

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

Get the maximum velocity.

Parameters

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

Return type

Returns

Max velocity.

Raises

TypeError – If the read value has the wrong 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(servo='default')¶

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

Parameters: servo (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(axis)¶

Get a subnode type depending on the axis number.

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

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

Get the product code of a drive.

Parameters

servo (str) – Alias of the drive.
axis (int) – Axis number of the drive.

Return type

Returns

Product code

Raises

TypeError – If some read value has a wrong type.

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

Get the revision number of a drive.

Parameters

servo (str) – Alias of the drive.
axis (int) – Axis number of the drive.

Return type

Returns

Revision number

Raises

TypeError – If some read value has a wrong type.

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

Get the serial number of a drive.

Parameters

servo (str) – Alias of the drive.
axis (int) – Axis number of the drive.

Return type

Returns

Serial number

Raises

TypeError – If some read value has a wrong type.

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

Get the firmware version of a drive.

Parameters

servo (str) – Alias of the drive.
axis (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

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

Returns

Max current

Raises

TypeError – If some read value has a wrong type.

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

Get commutation mode 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

CommutationMode

Returns

Commutation mode.

Raises

TypeError – If some read value has a wrong type.

set_commutation_mode(commutation_mode, servo='default', axis=1)¶

Set commutation mode in the target servo and axis.

Parameters

commutation_mode (CommutationMode) – target commutation mode.
servo (str) – servo alias to reference it. default by default.
axis (int) – servo axis. 1 by default.

Return type

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

Get Bus voltage.

Parameters

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

Return type

Returns

Bus voltage.

Raises

TypeError – If some read value has a wrong type.

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

Get the position-to-velocity ratio.

Parameters

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

Return type

Returns

Position-to-velocity ratio.

Raises

TypeError – If some read value has a wrong type.

set_pos_to_vel_ratio(pos_to_vel_ratio, servo='default', axis=1)¶

Set the position-to-velocity ratio.

Parameters

pos_to_vel_ratio (float) – position-to-velocity ratio.
servo (str) – servo alias to reference it. default by default.
axis (int) – servo axis. 1 by default.

Return type

configure_filter(signal, number, filter_type=None, frequency=None, q_factor=None, gain=None, servo='default', axis=1)¶

Configure a filter.

Parameters

signal (FilterSignal) – Signal to be filtered.
number (FilterNumber) – Filter number (1 or 2).
filter_type (Optional[FilterType]) – Filter type.
frequency (Optional[int]) – Cut-off frequency.
q_factor (Optional[float]) – Q factor.
gain (Optional[float]) – Filter gain.
servo (str) – servo alias to reference it. default by default.
axis (int) – servo axis. 1 by default.

Return 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