FSoE

class ingeniamotion.fsoe.FSoEError(servo, transition_name, description)

FSoE Error descriptor

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

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

ss1_deactivate()

Set the SS1 command to deactivate the SS1

Return type

None

ss1_activate()

Set the SS1 command to activate the SS1

Return type

None

safe_inputs_value()

Get the safe inputs register value

Return type

bool

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

property state

Get the FSoE master state.

Return type

FSoEState

property running

True if FSoE Master is started, else False

Return type

bool

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

ss1_deactivate(servo='default')

Deactivate the SS1.

Parameters

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

Return type

None

ss1_activate(servo='default')

Activate the SS1.

Parameters

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

Return type

None

get_safety_inputs_value(servo='default')

Get a drive’s safe inputs register value.

Parameters

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

Return type

bool

Returns

The safe inputs value.

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

get_fsoe_master_state(servo='default')

Get the servo’s FSoE master handler state.

Parameters

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

Return type

FSoEState

Returns

The servo’s FSoE master handler state.

subscribe_to_errors(callback)

Subscribe to the FSoE errors.

Parameters

callback (Callable[[FSoEError], None]) – Subscribed callback function.

Return type

None

unsubscribe_from_errors(callback)

Unsubscribe from the FSoE errors.

Parameters

callback (Callable[[FSoEError], None]) – Subscribed callback function.

Return type

None