Changelog

[0.10.1] - 2025-11-24

Added

Add is_active function in SafetyFunctions class.
Improved FSoE error queue to prevent error loss.

Changed

Raise ExceptionGroup in write_safe_parameters if any exceptions occur.

Fixed

Corrected FSoE error handling: errors were processed in reverse order.

[0.10.0] - 2025-10-02

Added

Added Model for safety functions and safe parameters.
Created Process Image that is able to parse and convert from pdos.
Added methods to intelligently add i/o on the map.
Created FSoEDictionaryMapValidator that validates Process Image.
Added method to safely disconnect drive is disconnection is performed using the network.
Method to export EtherCAT drive configuration to CSV

Changed

Read safety pdo maps from drive instead of hardcoding them.
Improved pdo from capture.py to handle PDO activation for different networks.

Fixed

Safety map and safe inputs reading
Wait for the PDO Thread to finish before exiting operational state

[0.9.2] - 2025-07-08

Fixed

Restored Monitoring V1 functionality.

[0.9.1] - 2025-05-07

Added

Methods to scan Ethernet drives.
Error-raised timeout to motor_enable
No-GIL support for EtherCAT functions.
TemperatureSensor and MetaEnum classes.

Changed

Renamed the TYPE_SUBNODES and COMMUNICATION_TYPE enums to follow CapWords convention. Old names are still supported, but will soon be deprecated.
Renamed the IMException, IMRegisterNotExist and IMRegisterWrongAccess exceptions to IMError, IMRegisterNotExistError and IMRegisterWrongAccessError respectively. Old names are still supported, but will soon be deprecated.
Feedback test to perform a full revolution.

Fixed

Abnormal STO Latched check. Add missing cases and change return type to enum.

[0.9.0] - 2025-01-29

Added

Method to subscribe to register value updates.
Method to subscribe to emergency messages.
Method to get a servo’s network state.
Methods to get/set a servo’s MAC address.
Retrieve IP-less network adapters information (on Windows).

Changed

is_sto1_active and is_sto2_active return booleans instead of integers

Fixed

Feedback symmetry check calculation.
Phasing test when the commutation feedback is a Halls sensor.

Deprecated

check_sto_abnormal_fault in configuration. Use is_sto_abnormal_fault instead.

Removed

The set_max_acceleration (deprecated in v0.5.4).

[0.8.5] - 2024-08-27

Fixed

Remove SBC registers that have been removed on FW

[0.8.4] - 2024-08-23

Added

Method to check if drive is connected via a COM-KIT.
Property to check if the PDOs are active.
Method to get a servo’s FSoE master handler state.
Method to subscribe to the FSoE errors.

Changed

BaseTest class typing
The loading of several CANopen firmware files (ensemble) is done sequentially.

Fixed

Notify process data before start PDO
Fix set_gpo_voltage_level and get_gpi_voltage_level functions
Adapt changes of function get_available_devices from ingenialink
ZFU file can only install the same firmware

[0.8.3] - 2024-07-26

Changed

Make fsoe_master an optional requirement

[0.8.2] - 2024-07-15

Added

FSoE module.
STO example for Safe servo drives.
Use only one queue in the PDO Poller to store both the timestamps and the register values.
Check that registers to be mapped in monitoring are CYCLIC_TX.
Method to get the available CAN devices.
GPIO module.
Optional password for the FOE bootloader.

Fix

Bug retrieving interface adapter name in Linux.
The stoppable_sleep method of the wizard tests does not block the main thread.
Set feedbacks to internal generator during brake testing.

[0.8.1] - 2024-06-05

Added

Function to check if a configuration has been applied to the drive.
Set the boot_in_app flag according to the file extension.

[0.8.0] - 2024-04-23

Added

PDOs for the EtherCAT protocol.
Register Poller using PDOs.
Callbacks to notify exceptions in the ProcessDataThread.
A method in the PDOPoller to subscribe to exceptions in the ProcessDataThread.
Set the watchdog timeout of the PDO exchange.

Changed

The get_subnodes method from the information module now returns a dictionary with the subnodes IDs as keys and their type as values.
Set the send_receive_processdata timeout in the ProcessDataThread according to the refresh rate.
Cyclic parameter is defined as a RegCyclicType variable instead of a string.
The default PDO watchdog timeout is set to 100 ms.

Removed

The comkit module. Now ingenialink methods are use to merge the COM-KIT and CORE dictionaries.

[0.7.1] - 2024-03-13

Added

Add scan functions with info: scan_servos_ethercat_with_info and scan_servos_canopen_with_info
Add connect_servo_virtual function

Removed

Support to Python 3.6 to 3.8.

[0.7.0] - 2023-11-29

Added

Functions needed to load firmware to a Motion Core (MoCo).
COM-KIT support.
In Information class: get_product_name, get_node_id, get_ip, get_slave_id, get_name, get_communication_type, get_full_name, get_subnodes, get_categories, get_dictionary_file_name.
In Configuration class: get_drive_info_coco_moco, get_product_code, get_revision_number, get_serial_number, get_fw_version
no_connection marker is added for unit testing.
Add mypy into the project.
Add types for all functions and classes.
Make and pass the first static type analysis.
Function to change the baudrate of a CANopen device
Function to get the vendor ID
Function to change the node ID of a CANopen device
Resolution and polarity test for DC motors (resolution test needs human check)
Feedbacks functions to set/get feedback polarity
Add in configuration set_velocity_pid, set_position_pid and get_rated_current
Add functions to connect to and scan EtherCAT devices using CoE (SDOs).
Optional backup registers for Wizard tests.
New methods to scan the network and obtain drive info (product code and revision number).
Method to load the FW in an ensemble of drives.

Fixed

check_motor_disabled decorator does not work with positional arguments
Adapt get_encoded_image_from_dictionary for COM-KIT
Feedback test output when symmetry and resolution errors occurred simultaneously.
Raise exception if monitoring and disturbance features are not available.

Changed

Use ingenialink to get the drive’s encoded image from the dictionary.
Update subscribe and unsubscribe to network status functions.

Deprecated

Support to Python 3.6 and 3.7.

[0.6.3] - 2023-10-11

Fixed

Remove disturbance data before including new data.
Set positioning mode to NO LIMITS during the feedback test.

[0.6.2] - 2023-09-06

Changed

Remove EDS file path param from CANopen connection. It is no longer necessary.

Fixed

Fix monitoring V3. Remove rearm_monitoring from set_trigger function.

[0.6.1] - 2023-04-03

Added

connect_servo_eoe_service, connect_servo_eoe_service_interface_index and connect_servo_eoe_service_interface_ip functions.

Changed

Removed boot_in_app argument from load_firmware_ecat and load_firmware_ecat_interface_index functions. It is not necessary anymore.

Removed

connect_servo_ecat, connect_servo_ecat_interface_index and connect_servo_ecat_interface_ip functions.
get_sdo_register, get_sdo_register_complete_access and set_sdo_register functions.

Fixed

is_alive function in MotionController.
subscribe_net_status and unsubscribe_net_status works for Ethernet based communication.

[0.6.0] - 2023-01-23

Added

Pull request template.
Functions get_actual_current_direct and get_actual_current_quadrature.
Test improvements.
Code formatting tool.

Changed

README image.
Improve load_FWs script for canopen.

[0.5.7] - 2022-12-16

Added

Brake tuning.

[0.5.6] - 2022-11-10

Fixed

On capture.disable_disturbance, disturbance data is removed.

[0.5.5] - 2022-07-26

Added

Support monitoring/disturbance with CANopen protocol.
Feedback tests.
Monitoring/disturbance tests.

[0.5.4] - 2022-03-17

Changed

Connection status listeners are all set to False by default.
Function set_max_velocity no longer changes the profile velocity, instead it changes velocity.

Added

Support to multi-slave Ethernet, EoE and CANopen connections.
Function connect_servo_ecat_interface_ip in communication.
Function get_ifname_from_interface_ip in communication.
Function get_current_loop_rate in configuration.
Function set_profiler in configuration.
Function set_max_profile_acceleration in configuration.
Function set_max_profile_deceleration in configuration.
Function set_max_profile_velocity in configuration.

Fixed

Commutation analysis feedback now returns the proper drive errors.

Deprecated

Deprecated set_max_acceleration in configuration use set_profiler or set_max_profile_acceleration.

[0.5.3] - 2022-02-16

Changed

Replaced ILerror exception with IMRegisterNotExist exception in base monitoring and disturbance.
Moved SeverityLevel enum from base test to enums module.
Moved disturbance_max_size_sample_size and monitoring_max_size_sample_size functions to capture.
Read power stage frequency directly from registers.

Added

IMRegisterWrongAccess and IMTimeoutError exceptions.
Ingenialink enums to enums module.
IMTimeoutError exception to move_to_position and set_velocity functions.-

[0.5.2] - 2021-11-23

Added

Compatibility with Python 3.7, 3.8 and 3.9.

Fixed

Fixed code autocompletion.

[0.5.1] - 2021-11-17

Added

Compatibility with monitoring for Everest and Capitan 2.0.0.

Changed

Increase default monitoring timeout.
Disable monitoring and disturbance have no effect if they are already disabled.

[0.5.0] - 2021-10-15

Added

Compatibility with System Errors.
Function register_exists in info module.
Load firmware and boot_mode functions.
Store and restore configuration functions.
Add disconnect function.

[0.4.1] - 2021-09-02

Added

Capture mcb_synchronization function.
Add exceptions module.
Phasing Check test.
STO test.
Create enable_monitoring_disturbance and disable_monitoring_disturbance in Capture module.
Create Info module.
Add fault_reset function.
Add Monitoring read function for forced trigger mode.
Add Brake test.
Add CANOpen communications.

Changed

MonitoringError and DisturbanceError exceptions to IMMonitoringError and IMDisturbanceError.
Functions motor_enable and motor_disable add error messages to raised exception.
Add timeout param to read_monitoring_data.
Update Commutation test.
Update stop test functions.

Removed

Removed enable_monitoring from Monitoring class.
Removed enable_disturbance from Disturbance class.

Fixed

Disturbance class and create_disturbance functions allow numpy arrays as a disturbance data.
Fixed servo alias bug. Some functions were not allow with no default alias.

[0.4.0] - 2021-06-28

Added

Error module.
Homing functions.
Servo connection and motor enabled checker.
Add capability to map more than one register into disturbance.

Changed

Update ingeniamotion feedback test

[0.3.1] - 2021-06-15

Added

Add disturbance functionality for all summit and custom drives.
Implement feedback resolution reading and feedback type set and get.

[0.3.0] - 2021-06-09

Added

Add SOEM communications as a way to connect to the drive.
Add the possibility to use SDO read/writes when using SOEM.

[0.2.0] - 2021-05-20

Added

Functions get_register and set_register.
Functions create_poller.
Monitoring class and create_monitoring function.
Set and get power stage frequency and get position and velocity loop rate functions in configuration.

[0.1.1] - 2021-03-18

Added

Connect servo via EOE and Ethernet.
Add drive test: digital_halls_test, incremental_encoder_1_test, incremental_encoder_2_test and commutation.
Brake configuration functions.
Load and save configuration functions.
Set max velocity and max acceleration functions.
Motion functions: enable and disable motor, move_to_position, set_velocity, set_current_quadrature, set_operation_mode, target_latch, etc…