Servo
- class ingenialink.servo.SERVO_FLAGS(value)[source]
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)[source]
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)[source]
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)[source]
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)[source]
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)[source]
Torque Units.
- MN = 1
Millinewtons*meter.
- N = 2
Newtons*meter.
- NATIVE = 0
Native
- class ingenialink.servo.SERVO_UNITS_VEL(value)[source]
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)[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