Drive Test Examples

Feedback tests example

import logging
import argparse
from ingeniamotion import MotionController


def setup_command():
    parser = argparse.ArgumentParser(description="Run feedback test")
    parser.add_argument("feedback", help="feedback to test", choices=["HALLS", "QEI", "QEI2"])
    parser.add_argument("dictionary_path", help="path to drive dictionary")
    parser.add_argument("-ip", default="192.168.2.22", help="drive ip address")
    parser.add_argument("--axis", default=1, help="drive axis")
    parser.add_argument(
        "--debug", action="store_true", help="with this flag test doesn't apply any change"
    )
    return parser.parse_args()


def main(args):
    # Create MotionController instance
    mc = MotionController()
    # Connect Servo with MotionController instance
    mc.communication.connect_servo_eoe(args.ip, args.dictionary_path)
    result = None
    if args.feedback == "HALLS":
        # Run Digital Halls feedback tests
        result = mc.tests.digital_halls_test(axis=args.axis, apply_changes=not args.debug)
    if args.feedback == "QEI":
        # Run Incremental Encoder 1 feedback tests
        result = mc.tests.incremental_encoder_1_test(axis=args.axis, apply_changes=not args.debug)
    if args.feedback == "QEI2":
        # Run Incremental Encoder 2 feedback tests
        result = mc.tests.incremental_encoder_2_test(axis=args.axis, apply_changes=not args.debug)
    logging.info(result["result_message"])
    mc.communication.disconnect()


if __name__ == "__main__":
    logging.basicConfig(level=logging.INFO)
    args = setup_command()
    main(args)

Commutation example

import logging
import argparse
from ingeniamotion import MotionController


def setup_command():
    parser = argparse.ArgumentParser(description="Run commutation test")
    parser.add_argument("dictionary_path", help="path to drive dictionary")
    parser.add_argument("-ip", default="192.168.2.22", help="drive ip address")
    parser.add_argument("--axis", default=1, help="drive axis")
    parser.add_argument(
        "--debug", action="store_true", help="with this flag test doesn't apply any change"
    )
    return parser.parse_args()


def main(args):
    # Create MotionController instance
    mc = MotionController()
    # Connect Servo with MotionController instance
    mc.communication.connect_servo_eoe(args.ip, args.dictionary_path)
    # Run Commutation test
    result = mc.tests.commutation(axis=args.axis, apply_changes=not args.debug)
    logging.info(result["result_message"])
    mc.communication.disconnect()


if __name__ == "__main__":
    logging.basicConfig(level=logging.DEBUG)
    args = setup_command()
    main(args)

Commutation with different feedbacks configurations examples

from ingeniamotion import MotionController
from ingeniamotion.enums import SensorType


def set_feedbacks(mc: MotionController):
    """Feedbacks configuration.

    All feedbacks can be set either the same encoder or different encoders.
    In this example we are using an Incremental Encoder (SensorType.QEI) and
    a Digital Halls (SensorType.HALLS).

    Args:
        mc: Controller to configure the type of encoder for each feedback

    """
    mc.configuration.set_auxiliar_feedback(SensorType.HALLS)
    mc.configuration.set_commutation_feedback(SensorType.QEI)
    mc.configuration.set_position_feedback(SensorType.HALLS)
    mc.configuration.set_velocity_feedback(SensorType.QEI)
    mc.configuration.set_reference_feedback(SensorType.QEI)


def main() -> None:
    mc = MotionController()

    interface_ip = "192.168.2.1"
    slave_id = 1
    dictionary_path = "test_directory/dictionary_file.xdf"
    mc.communication.connect_servo_ethercat_interface_ip(interface_ip, slave_id, dictionary_path)

    set_feedbacks(mc)
    # -------------------------------------------------------------

    # Run Commutation test
    result = mc.tests.commutation()
    print(f"Commutation Result: {result['result_message']} - {result['result_severity']}")

    mc.communication.disconnect()


if __name__ == "__main__":
    main()