Servo

class ingenialink.canopen.servo.CanopenServo(target, node, dictionary_path=None, eds=None, servo_status_listener=True)[source]

CANopen Servo instance.

Parameters

node (canopen.RemoteNode) – Remote Node of the drive.
dictionary_path (str) – Path to the dictionary.
servo_status_listener (bool) – Boolean to initialize the ServoStatusListener and check the drive status.

disable(subnode=1, timeout=1000)[source]

Disable PDS.

Parameters

subnode (int) – Subnode of the drive.
timeout (int) – Timeout in milliseconds.

Raises

ILTimeoutError – The servo could not be disabled due to timeout.
ILError – Failed to disable PDS.

enable(subnode=1, timeout=1000)[source]

Enable PDS.

Args:
subnode (int): Subnode of the drive. timeout (int): Timeout in milliseconds.

Raises

ILTimeoutError – The servo could not be enabled due to timeout.
ILError – Failed to enable PDS.

fault_reset(subnode=1, timeout=1000)[source]

Executes a fault reset on the drive.

Parameters

subnode (int) – Subnode of the drive.
timeout (int) – Timeout in milliseconds.

Raises

ILTimeoutError – If fault reset spend too much time.
ILError – Failed to fault reset.

get_state(subnode=1)[source]: SERVO_STATE: Current drive state.

is_alive()[source]

Checks if the servo responds to a reading a register.

Returns: Return code with the result of the read.
Return type: bool

load_configuration(config_file, subnode=None)[source]

Write current dictionary storage to the servo drive.

Parameters

config_file (str) – Path to the dictionary.
subnode (int) – Subnode of the axis.

read(reg, subnode=1)[source]

Read from servo.

Parameters

reg (str, Register) – Register.

Returns

Error code of the read operation.

Return type

int

Raises

TypeError – If the register type is not valid.
ILAccessError – Wrong access to the register.
ILIOError – Error reading the register.

reload_errors(dictionary)[source]

Force to reload all dictionary errors.

Parameters: dictionary (str) – Dictionary.

replace_dictionary(dictionary)[source]

Deletes and creates a new instance of the dictionary.

Parameters: dictionary (str) – Dictionary.

restore_parameters(subnode=None)[source]

Restore all the current parameters of all the slave to default.

Note

The drive needs a power cycle after this in order for the changes to be properly applied.

Parameters

subnode (int) – Subnode of the axis. None by default which restores
parameters. (all the) –

Raises

ILError – Invalid subnode.
ILObjectNotExist – Failed to write to the registers.

save_configuration(config_file, subnode=None)[source]

Read all dictionary registers content and put it to the dictionary storage.

Parameters

config_file (str) – Destination path for the configuration file.
subnode (int) – Subnode of the axis.

start_status_listener()[source]: Start listening for servo status events (SERVO_STATE).

static status_word_decode(status_word)[source]

Decodes the status word to a known value.

Parameters: status_word (int) – Read value for the status word.
Returns: Status word value.
Return type: SERVO_STATE

status_word_wait_change(status_word, timeout, subnode=1)[source]

Waits for a status word change.

Parameters

status_word (int) – Status word to wait for.
timeout (int) – Maximum value to wait for the change.
subnode (int) – Subnode of the drive.

Returns

Error code.

Return type

int

stop_status_listener()[source]: Stop listening for servo status events (SERVO_STATE).

store_parameters(subnode=None, sdo_timeout=3)[source]

Store all the current parameters of the target subnode.

Parameters

subnode (int) – Subnode of the axis. None by default which stores
parameters. (all the) –
sdo_timeout (int) – Timeout value for each SDO response.

Raises

ILError – Invalid subnode.
ILObjectNotExist – Failed to write to the registers.

subscribe_to_status(callback)[source]

Subscribe to state changes.

Parameters: callback (function) – Callback function.
Returns: Assigned slot.
Return type: int

unsubscribe_from_status(callback)[source]

Unsubscribe from state changes.

Parameters: callback (function) – Callback function.

write(reg, data, subnode=1)[source]

Writes a data to a target register.

Parameters

reg (CanopenRegister, str) – Target register to be written.
data (int, str, float) – Data to be written.
subnode (int) – Target axis of the drive.

Raises

TypeError – If the register type is not valid.
ILAccessError – Wrong access to the register.
ILIOError – Error reading the register.

property dictionary: Returns dictionary object

property errors

Errors.

Type: dict

property full_name

Drive full name.

Type: str

property info

Servo information.

Type: dict

name

Obtains the servo name.

Type: str

property node

Remote node of the servo.

Type: canopen.RemoteNode

property status

Servo status and state flags.

Type: tuple

property subnodes

Number of subnodes.

Type: int

units_acc

Acceleration units.

Type: SERVO_UNITS_ACC

units_pos

Position units.

Type: SERVO_UNITS_POS

units_torque

Torque units.

Type: SERVO_UNITS_TORQUE

units_vel

Velocity units.

Type: SERVO_UNITS_VEL

class ingenialink.canopen.servo.ServoStatusListener(servo)[source]

Reads the status word to check if the drive is alive.

Parameters: servo (CanopenServo) – Servo instance of the drive.

run()[source]: Checks if the drive is alive by reading the status word register

stop()[source]: Stops the loop that reads the status word register