Servo¶

class ingenialink.canopen.servo.CanopenServo(target, node, dictionary_path=None, eds=None, servo_status_listener=False)[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.

disturbance_disable()[source]¶: Disable disturbance process.

disturbance_enable()[source]¶: Enable disturbance process.

disturbance_get_num_mapped_registers()[source]¶

Obtain the number of disturbance mapped registers.

Returns: Actual number of mapped registers.
Return type: int

disturbance_remove_all_mapped_registers()[source]¶: Remove all disturbance mapped registers.

disturbance_remove_data()[source]¶: Remove disturbance data.

disturbance_set_mapped_register(channel, address, subnode, dtype, size)[source]¶

Set monitoring mapped register.

Parameters

channel (int) – Identity channel number.
address (int) – Register address to map.
subnode (int) – Subnode to be targeted.
dtype (int) – Register data type.
size (int) – Size of data in bytes.

disturbance_write_data(channels, dtypes, data_arr)[source]¶

Write disturbance data.

Parameters

channels (int or list of int) – Channel identifier.
dtypes (int or list of int) – Data type.
data_arr (list or list of list) – Data array.

emcy_subscribe(cb)[source]¶

Subscribe to emergency messages.

Parameters: cb – Callback
Returns: Assigned slot.
Return type: int

emcy_unsubscribe(slot)[source]¶

Unsubscribe from emergency messages.

Parameters: slot (int) – Assigned slot when subscribed.

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.

Raises

FileNotFoundError – If the configuration file cannot be found.
ValueError – If a configuration file from a subnode different from 0
is attempted to be loaded to subnode 0. –
ValueError – If an invalid subnode is provided.

monitoring_actual_number_bytes()[source]¶: Get the number of monitoring bytes left to be read.

monitoring_channel_data(channel, dtype=None)[source]¶

Obtain processed monitoring data of a channel.

Parameters

channel (int) – Identity channel number.
dtype (REG_DTYPE) – Data type of the register to map.

Note

The dtype argument is not necessary for this function, it was added to maintain compatibility with IPB’s implementation of monitoring.

Returns: Monitoring data.
Return type: List

monitoring_disable()[source]¶: Disable monitoring process.

monitoring_enable()[source]¶: Enable monitoring process.

monitoring_get_bytes_per_block()[source]¶

Obtain Bytes x Block configured.

Returns: Actual number of Bytes x Block configured.
Return type: int

monitoring_get_num_mapped_registers()[source]¶

Obtain the number of monitoring mapped registers.

Returns: Actual number of mapped registers.
Return type: int

monitoring_read_data()[source]¶

Obtain processed monitoring data.

Returns: Actual processed monitoring data.
Return type: array

monitoring_remove_all_mapped_registers()[source]¶: Remove all monitoring mapped registers.

monitoring_remove_data()[source]¶: Remove monitoring data.

monitoring_set_mapped_register(channel, address, subnode, dtype, size)[source]¶

Set monitoring mapped register.

Parameters

channel (int) – Identity channel number.
address (int) – Register address to map.
subnode (int) – Subnode to be targeted.
dtype (int) – Register data type.
size (int) – Size of data in bytes.

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
the parameters. (all) –

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
the parameters. (all) –
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

ILAccessError – Wrong access to the register.
ILIOError – Error reading the register.

property dictionary¶: Returns dictionary object

property disturbance_data¶

Obtain disturbance data.

Returns: Current disturbance data.
Return type: array

property disturbance_data_size¶

Obtain disturbance data size.

Returns: Current disturbance data size.
Return type: int

property disturbance_number_mapped_registers¶: Get the number of mapped disturbance registers.

property errors¶

Errors.

Type: dict

property full_name¶

Drive full name.

Type: str

property info¶

Servo information.

Type: dict

property monitoring_data_size¶

Obtain monitoring data size.

Returns: Current monitoring data size in bytes.
Return type: int

property monitoring_number_mapped_registers¶: Get the number of mapped monitoring registers.

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