Servo¶
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class
ingenialink.servo.
SERVO_FLAGS
(value)[source]¶ Status Flags.
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CS_FOLLOWS
= 4¶ (CST/CSV/CSP) follow command value.
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FERR
= 8¶ (CST/CSV/CSP/PV) following error.
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HOMING_ATT
= 4¶ (Homing) attained.
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HOMING_ERR
= 8¶ (Homing) error.
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IANGLE_DET
= 16¶ Initial angle determination finished.
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ILIM_ACTIVE
= 2¶ Internal limit active.
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IP_ACTIVE
= 4¶ (IP) active.
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PP_SPACK
= 4¶ (PP) SP acknowledge.
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PV_VZERO
= 4¶ (PV) Vocity speed is zero.
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TGT_REACHED
= 1¶ Target reached.
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class
ingenialink.servo.
SERVO_MODE
(value)[source]¶ Operation Mode.
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CSP
= 8¶ Cyclic sync position mode.
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CST
= 10¶ Cyclic sync torque mode.
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CSV
= 9¶ Cyclic sync velocity mode.
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HOMING
= 6¶ Homing mode.
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IP
= 7¶ Interpolated position mode.
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OLS
= 1¶ Open loop (scalar mode).
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OLV
= 0¶ Open loop (vector mode).
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PP
= 2¶ Profile position mode.
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PT
= 5¶ Profile torque mode.
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PV
= 4¶ Profile velocity mode.
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VEL
= 3¶ Velocity mode.
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class
ingenialink.servo.
SERVO_STATE
(value)[source]¶ Servo states.
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DISABLED
= 1¶ Switch on disabled.
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ENABLED
= 4¶ Enabled.
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FAULT
= 7¶ Fault.
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FAULTR
= 6¶ Fault reactive.
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NRDY
= 0¶ Not ready to switch on.
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ON
= 3¶ Power switched on.
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QSTOP
= 5¶ Quick stop.
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RDY
= 2¶ Ready to be switched on.
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class
ingenialink.servo.
SERVO_UNITS_ACC
(value)[source]¶ Acceleration Units.
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DEG_S2
= 3¶ Degrees/second^2.
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MM_S2
= 5¶ Millimeters/second^2.
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M_S2
= 6¶ Meters/second^2.
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NATIVE
= 0¶ Native.
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RAD_S2
= 2¶ Radians/second^2.
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REV_S2
= 1¶ Revolutions/second^2.
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UM_S2
= 4¶ Micrometers/second^2.
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class
ingenialink.servo.
SERVO_UNITS_POS
(value)[source]¶ Position Units.
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DEG
= 3¶ Degrees.
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M
= 6¶ Meters.
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MM
= 5¶ Millimeters.
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NATIVE
= 0¶ Native.
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RAD
= 2¶ Radians.
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REV
= 1¶ Revolutions.
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UM
= 4¶ Micrometers.
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class
ingenialink.servo.
SERVO_UNITS_TORQUE
(value)[source]¶ Torque Units.
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MN
= 1¶ Millinewtons*meter.
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N
= 2¶ Newtons*meter.
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NATIVE
= 0¶ Native
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class
ingenialink.servo.
SERVO_UNITS_VEL
(value)[source]¶ Velocity Units.
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DEG_S
= 4¶ Degrees/second.
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MM_S
= 6¶ Millimeters/second.
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M_S
= 7¶ Meters/second.
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NATIVE
= 0¶ Native.
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RAD_S
= 3¶ Radians/second.
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RPM
= 2¶ Revolutions per minute.
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RPS
= 1¶ Revolutions per second.
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UM_S
= 5¶ Micrometers/second.
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class
ingenialink.servo.
Servo
(target)[source]¶ 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