Capture

• Monitoring
  • Monitoring
    • Monitoring.REGISTER_MAP_OFFSET
    • Monitoring.ESTIMATED_MAX_TIME_FOR_SAMPLE
    • Monitoring.MONITORING_FREQUENCY_DIVIDER_REGISTER
    • Monitoring.MONITORING_NUMBER_MAPPED_REGISTERS_REGISTER
    • Monitoring.MONITOR_START_CONDITION_TYPE_REGISTER
    • Monitoring.MONITORING_INDEX_CHECKER_REGISTER
    • Monitoring.MONITORING_TRIGGER_DELAY_SAMPLES_REGISTER
    • Monitoring.MONITORING_WINDOW_NUMBER_SAMPLES_REGISTER
    • Monitoring.MONITORING_ACTUAL_NUMBER_SAMPLES_REGISTER
    • Monitoring.MONITORING_FORCE_TRIGGER_REGISTER
    • Monitoring.set_frequency()
    • Monitoring.map_registers()
    • Monitoring.set_trigger()
    • Monitoring.configure_number_samples()
    • Monitoring.configure_sample_time()
    • Monitoring.read_monitoring_data()
    • Monitoring.stop_reading_data()
    • Monitoring.rearm_monitoring()
    • Monitoring.get_trigger_type()
    • Monitoring.raise_forced_trigger()
    • Monitoring.read_monitoring_data_forced_trigger()
• Disturbance
  • check_disturbance_disabled()
  • Disturbance
    • Disturbance.DISTURBANCE_FREQUENCY_DIVIDER_REGISTER
    • Disturbance.DISTURBANCE_MAXIMUM_SAMPLE_SIZE_REGISTER
    • Disturbance.MONITORING_DISTURBANCE_STATUS_REGISTER
    • Disturbance.MONITORING_STATUS_ENABLED_BIT
    • Disturbance.REGISTER_MAP_OFFSET
    • Disturbance.set_frequency_divider()
    • Disturbance.map_registers()
    • Disturbance.write_disturbance_data()
    • Disturbance.map_registers_and_write_data()
• PDO
  • PDOPoller
    • PDOPoller.start()
    • PDOPoller.stop()
    • PDOPoller.data
    • PDOPoller.add_channels()
    • PDOPoller.subscribe_to_exceptions()
    • PDOPoller.available_samples
  • PDONetwork
    • PDONetwork.alias
    • PDONetwork.network
    • PDONetwork.refresh_rate
    • PDONetwork.watchdog_timeout
    • PDONetwork.is_active
    • PDONetwork.compare_configuration()
    • PDONetwork.create_and_subscribe()
    • PDONetwork.teardown()
  • PDONetworksTracker
    • PDONetworksTracker.is_network_tracked()
    • PDONetworksTracker.add_network()
    • PDONetworksTracker.remove_network()
    • PDONetworksTracker.get_il_network()
    • PDONetworksTracker.is_active()
  • PDONetworkManager
    • PDONetworkManager.create_pdo_item()
    • PDONetworkManager.create_pdo_maps()
    • PDONetworkManager.create_empty_rpdo_map()
    • PDONetworkManager.create_empty_tpdo_map()
    • PDONetworkManager.set_pdo_maps_to_slave()
    • PDONetworkManager.clear_pdo_mapping()
    • PDONetworkManager.remove_rpdo_map()
    • PDONetworkManager.remove_tpdo_map()
    • PDONetworkManager.start_pdos()
    • PDONetworkManager.stop_pdos()
    • PDONetworkManager.is_active()
    • PDONetworkManager.subscribe_to_send_process_data()
    • PDONetworkManager.subscribe_to_receive_process_data()
    • PDONetworkManager.subscribe_to_exceptions()
    • PDONetworkManager.unsubscribe_to_send_process_data()
    • PDONetworkManager.unsubscribe_to_receive_process_data()
    • PDONetworkManager.create_poller()
    • PDONetworkManager.unsubscribe_to_exceptions()

class ingeniamotion.capture.Capture(motion_controller)

Bases: object

Capture.

DISTURBANCE_STATUS_REGISTER = 'DIST_STATUS'

DISTURBANCE_MAXIMUM_SAMPLE_SIZE_REGISTER = 'DIST_MAX_SIZE'

MONITORING_STATUS_REGISTER = 'MON_DIST_STATUS'

MONITORING_CURRENT_NUMBER_BYTES_REGISTER = 'MON_CFG_BYTES_VALUE'

MONITORING_MAXIMUM_SAMPLE_SIZE_REGISTER = 'MON_MAX_SIZE'

MONITORING_FREQUENCY_DIVIDER_REGISTER = 'MON_DIST_FREQ_DIV'

MINIMUM_BUFFER_SIZE = 8192

MONITORING_VERSION_REGISTER = 'MON_DIST_VERSION'

MONITORING_STATUS_ENABLED_BIT = 1

DISTURBANCE_STATUS_ENABLED_BIT = 1

MONITORING_STATUS_PROCESS_STAGE_BITS = {MonitoringVersion.MONITORING_V1: 6, MonitoringVersion.MONITORING_V2: 6, MonitoringVersion.MONITORING_V3: 14}

MONITORING_AVAILABLE_FRAME_BIT = {MonitoringVersion.MONITORING_V1: 2048, MonitoringVersion.MONITORING_V2: 2048, MonitoringVersion.MONITORING_V3: 16}

create_poller(registers, servo='default', sampling_time=0.125, buffer_size=100, start=True)

Returns a Poller instance with target registers.

Parameters:

• registers (list[dict[str, Union[int, str]]]) –

  list of registers to add to the Poller. Dicts should have the follow format:

  [
      { # Poller register one
          "name": "CL_POS_FBK_VALUE",  # Register name.
          "axis": 1  # Register axis.
          # If it has no axis field, by default axis 1.
      },
      { # Poller register two
          "name": "CL_VEL_FBK_VALUE",  # Register name.
          "axis": 1  # Register axis.
          # If it has no axis field, by default axis 1.
      }
  ]
  

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

• sampling_time (float) – period of the sampling in seconds. By default 0.125 seconds.

• buffer_size (int) – number maximum of sample for each data read. 100 by default.

• start (bool) – if True, function starts poller, if False poller should be started after. True by default.

Return type:

Poller

Returns:

Poller object with chosen registers.

Poller.start()

Poller starts reading the registers.

Poller.stop()

Poller stop reading the registers.

Poller.data

tuple with 3 items: a list of timestamp, list of lists of values (one list of values for each register), and a boolean that indicates if data was lost.

When the poller starts, the lists are filled with the timestamp and the value of the registers reading. The maximum length of the list will be buffer_size value, when this size is reached, the older value will be removed and the newest will be added.

When the property data is read list are reset to a empty list.

Raises:

• IMRegisterNotExistError – If register does not exist in dictionary.

• TypeError – If some parameter has a wrong type.

create_empty_monitoring(servo='default')

Returns a Monitoring instance not configured.

Parameters:

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

Return type:

Monitoring

Returns:

Not configured instance of monitoring.

Raises:

NotImplementedError – If an wrong monitoring version is requested.

create_monitoring(registers, prescaler, sample_time, trigger_delay=0, trigger_mode=MonitoringSoCType.TRIGGER_EVENT_AUTO, trigger_config=None, trigger_signal=None, trigger_value=None, servo='default', start=False)

Returns a Monitoring instance configured with target registers.

Parameters:

• registers (list[dict[str, Union[int, str]]]) –

  list of registers to add to Monitoring. Dicts should have the follow format:

  [
      { # Monitoring register one
          "name": "CL_POS_FBK_VALUE",  # Register name.
          "axis": 1  # Register axis.
          # If it has no axis field, by default axis 1.
      },
      { # Monitoring register two
          "name": "CL_VEL_FBK_VALUE",  # Register name.
          "axis": 1  # Register axis.
          # If it has no axis field, by default axis 1.
      }
  ]
  

• prescaler (int) – determines monitoring frequency. Frequency will be Position & velocity loop rate frequency / prescaler, see ingeniamotion.configuration.Configuration.get_position_and_velocity_loop_rate() to know about this frequency. It must be 1 or higher.

• sample_time (float) – sample time in seconds.

• trigger_delay (float) – trigger delay in seconds. Value should be between -sample_time/2 and sample_time/2 . 0 by default.

• trigger_mode (MonitoringSoCType) – monitoring start of condition type. TRIGGER_EVENT_NONE by default.

• trigger_config (Optional[MonitoringSoCConfig]) – monitoring edge condition. None by default.

• trigger_signal (Optional[dict[str, Union[int, str]]]) – dict with name and axis of trigger signal for rising or falling edge trigger.

• trigger_value (Union[float, int, None]) – value for rising or falling edge trigger.

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

• start (bool) – if True, function starts monitoring, if False monitoring should be started after. False by default.

Return type:

Monitoring

Returns:

Instance of monitoring configured.

Raises:

• ValueError – If prescaler is less than 1.

• ValueError – If trigger_delay is not between -total_time/2 and total_time/2.

• IMMonitoringError – If register maps fails in the servo.

• IMMonitoringError – If buffer size is not enough for all the registers and samples.

• IMMonitoringError – If trigger_mode is rising or falling edge trigger and trigger signal is not mapped.

• TypeError – If trigger_mode is rising or falling edge trigger and trigger_signal or trigger_value are None.

create_disturbance(register, data, freq_divider, servo='default', axis=1, start=False)

Returns a Disturbance instance configured with target registers.

Parameters:

• register (str) – target register UID.

• data (Union[list[Union[float, int]], ndarray[Any, dtype[int32]], ndarray[Any, dtype[float64]]]) – data to write in disturbance.

• freq_divider (int) – determines disturbance frequency divider. Frequency will be Position & velocity loop rate frequency / freq_divider, see ingeniamotion.configuration.Configuration.get_position_and_velocity_loop_rate() to know about this frequency. It must be 1 or higher.

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

• axis (int) – servo axis. 1 by default.

• start (bool) – if True, function starts disturbance, if False disturbance should be started after. False by default.

Return type:

Disturbance

Returns:

Instance of disturbance configured.

Raises:

• ValueError – If freq_divider is less than 1.

• IMDisturbanceError – If buffer size is not enough for all the registers and samples.

enable_monitoring_disturbance(servo='default')

Enable monitoring and disturbance.

Parameters:

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

Raises:

IMMonitoringError – If monitoring can’t be enabled.

Return type:

None

enable_monitoring(servo='default')

Enable monitoring.

Parameters:

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

Raises:

IMMonitoringError – If monitoring can’t be enabled.

Return type:

None

enable_disturbance(servo='default', version=None)

Enable disturbance.

Parameters:

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

• version (Optional[MonitoringVersion]) – Monitoring/Disturbance version, if None reads from drive. None by default.

Raises:

IMMonitoringError – If disturbance can’t be enabled.

Return type:

None

disable_monitoring_disturbance(servo='default')

Disable monitoring and disturbance.

Parameters:

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

Return type:

None

disable_monitoring(servo='default', version=None)

Disable monitoring.

Parameters:

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

• version (Optional[MonitoringVersion]) – Monitoring/Disturbance version, if None reads from drive. None by default.

Return type:

None

disable_disturbance(servo='default', version=None)

Disable disturbance.

Parameters:

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

• version (Optional[MonitoringVersion]) – Monitoring/Disturbance version, if None reads from drive. None by default.

Return type:

None

get_monitoring_disturbance_status(servo='default')

Get Monitoring Status.

Parameters:

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

Return type:

int

Returns:

Monitoring/Disturbance Status.

Raises:

• IMRegisterNotExistError – If the register doesn’t exist.

• TypeError – If some read value has a wrong type.

get_monitoring_status(servo='default')

Get Monitoring Status.

Parameters:

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

Return type:

int

Returns:

Monitoring Status.

Raises:

• IMRegisterNotExistError – If the register doesn’t exist.

• TypeError – If some read value has a wrong type.

get_disturbance_status(servo='default', version=None)

Get Disturbance Status.

Parameters:

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

• version (Optional[MonitoringVersion]) – Monitoring/Disturbance version, if None reads from drive. None by default.

Return type:

int

Returns:

Disturbance Status.

Raises:

• IMRegisterNotExistError – If the register doesn’t exist.

• TypeError – If some read value has a wrong type.

is_monitoring_enabled(servo='default')

Check if monitoring is enabled.

Parameters:

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

Return type:

bool

Returns:

True if monitoring is enabled, else False.

Raises:

IMRegisterNotExistError – If the register doesn’t exist.

is_disturbance_enabled(servo='default', version=None)

Check if disturbance is enabled.

Parameters:

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

• version (Optional[MonitoringVersion]) – Monitoring/Disturbance version, if None reads from drive. None by default.

Return type:

bool

Returns:

True if disturbance is enabled, else False.

Raises:

IMRegisterNotExistError – If the register doesn’t exist.

get_monitoring_process_stage(servo='default', version=None)

Return monitoring process stage.

Parameters:

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

• version (Optional[MonitoringVersion]) – Monitoring/Disturbance version, if None reads from drive. None by default.

Return type:

MonitoringProcessStage

Returns:

Current monitoring process stage.

Raises:

IMRegisterNotExistError – If the register doesn’t exist.

is_frame_available(servo='default', version=None)

Check if monitoring has an available frame.

Parameters:

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

• version (Optional[MonitoringVersion]) – Monitoring/Disturbance version, if None reads from drive. None by default.

Return type:

bool

Returns:

True if monitoring has an available frame, else False.

Raises:

IMRegisterNotExistError – If the register doesn’t exist.

clean_monitoring(servo='default', version=None)

Disable monitoring/disturbance and remove monitoring mapped registers.

Parameters:

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

• version (Optional[MonitoringVersion]) – Monitoring/Disturbance version, if None reads from drive. None by default.

Return type:

None

clean_disturbance(servo='default', version=None)

Disable monitoring/disturbance and remove disturbance mapped registers.

Parameters:

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

• version (Optional[MonitoringVersion]) – Monitoring/Disturbance version, if None reads from drive. None by default.

Return type:

None

clean_monitoring_disturbance(servo='default')

Clean the monitoring/disturbance.

Disable monitoring/disturbance, remove disturbance and monitoring mapped registers.

Parameters:

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

Return type:

None

mcb_synchronization(servo='default')

Synchronize MCB, necessary to monitoring and disturbance.

Motor must be disabled.

Parameters:

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

Raises:

IMStatusWordError – If motor is enabled.

Return type:

None

disturbance_max_sample_size(servo='default')

Return disturbance max size, in bytes.

Parameters:

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

Return type:

int

Returns:

Max buffer size in bytes.

Raises:

TypeError – If some read value has a wrong type.

monitoring_max_sample_size(servo='default')

Return monitoring max size, in bytes.

Parameters:

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

Return type:

int

Returns:

Max buffer size in bytes.

Raises:

TypeError – If some read value has a wrong type.

get_frequency(servo='default', axis=1)

Returns the monitoring frequency.

Parameters:

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

• axis (int) – servo axis. 1 by default.

Return type:

float

Returns:

Sampling rate in Hz.

Raises:

TypeError – If some read value has a wrong type.