Servo

class ingenialink.servo.SERVO_FLAGS(value)

Status Flags.

CS_FOLLOWS = 4

(CST/CSV/CSP) follow command value.

FERR = 8

(CST/CSV/CSP/PV) following error.

HOMING_ATT = 4

(Homing) attained.

HOMING_ERR = 8

(Homing) error.

IANGLE_DET = 16

Initial angle determination finished.

ILIM_ACTIVE = 2

Internal limit active.

IP_ACTIVE = 4

(IP) active.

PP_SPACK = 4

(PP) SP acknowledge.

PV_VZERO = 4

(PV) Vocity speed is zero.

TGT_REACHED = 1

Target reached.

class ingenialink.servo.SERVO_MODE(value)

Operation Mode.

CSP = 8

Cyclic sync position mode.

CST = 10

Cyclic sync torque mode.

CSV = 9

Cyclic sync velocity mode.

HOMING = 6

Homing mode.

IP = 7

Interpolated position mode.

OLS = 1

Open loop (scalar mode).

OLV = 0

Open loop (vector mode).

PP = 2

Profile position mode.

PT = 5

Profile torque mode.

PV = 4

Profile velocity mode.

VEL = 3

Velocity mode.

class ingenialink.servo.SERVO_STATE(value)

Servo states.

DISABLED = 1

Switch on disabled.

ENABLED = 4

Enabled.

FAULT = 7

Fault.

FAULTR = 6

Fault reactive.

NRDY = 0

Not ready to switch on.

ON = 3

Power switched on.

QSTOP = 5

Quick stop.

RDY = 2

Ready to be switched on.

class ingenialink.servo.SERVO_UNITS_ACC(value)

Acceleration Units.

DEG_S2 = 3

Degrees/second^2.

MM_S2 = 5

Millimeters/second^2.

M_S2 = 6

Meters/second^2.

NATIVE = 0

Native.

RAD_S2 = 2

Radians/second^2.

REV_S2 = 1

Revolutions/second^2.

UM_S2 = 4

Micrometers/second^2.

class ingenialink.servo.SERVO_UNITS_POS(value)

Position Units.

DEG = 3

Degrees.

M = 6

Meters.

MM = 5

Millimeters.

NATIVE = 0

Native.

RAD = 2

Radians.

REV = 1

Revolutions.

UM = 4

Micrometers.

class ingenialink.servo.SERVO_UNITS_TORQUE(value)

Torque Units.

MN = 1

Millinewtons*meter.

N = 2

Newtons*meter.

NATIVE = 0

Native

class ingenialink.servo.SERVO_UNITS_VEL(value)

Velocity Units.

DEG_S = 4

Degrees/second.

MM_S = 6

Millimeters/second.

M_S = 7

Meters/second.

NATIVE = 0

Native.

RAD_S = 3

Radians/second.

RPM = 2

Revolutions per minute.

RPS = 1

Revolutions per second.

UM_S = 5

Micrometers/second.

class ingenialink.servo.Servo(target)

Declaration of a general Servo object.

Parameters

• target (str, int) – Target ID of the servo.

• dictionary (object) – Path to the dictionary file.

Raises

ILCreationError – If the servo cannot be created.

full_name

Obtains the servo full name.

Type

str

property info

Obtains the servo information.

Type

dict

name

Obtains the servo name.

Type

str