Servo¶

class ingenialink.servo.Servo(target: Union[int, str], dictionary_path: str, servo_status_listener: bool = False)[source]¶

Declaration of a general Servo object.

Parameters

target – Target ID of the servo.
dictionary_path – Path to the dictionary file.
servo_status_listener – Toggle the listener of the servo for its status, errors, faults, etc.

Raises

ILCreationError – If the servo cannot be created.

DICTIONARY_CLASS¶: alias of ingenialink.dictionary.Dictionary

disable(subnode: int = 1, timeout: int = 1000) → None[source]¶

Disable PDS.

Parameters

subnode – Subnode of the drive.
timeout – Timeout in milliseconds.

Raises

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

disturbance_disable() → None[source]¶: Disable disturbance process.

disturbance_enable() → None[source]¶: Enable disturbance process.

disturbance_get_num_mapped_registers() → int[source]¶

Obtain the number of disturbance mapped registers.

Returns: Actual number of mapped registers.

disturbance_remove_all_mapped_registers() → None[source]¶: Remove all disturbance mapped registers.

disturbance_remove_data() → None[source]¶: Remove disturbance data.

disturbance_set_mapped_register(channel: int, address: int, subnode: int, dtype: int, size: int) → None[source]¶

Set monitoring mapped register.

Parameters

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

disturbance_write_data(channels: Union[int, List[int]], dtypes: Union[ingenialink.enums.register.REG_DTYPE, List[ingenialink.enums.register.REG_DTYPE]], data_arr: Union[List[Union[int, float]], List[List[Union[int, float]]]]) → None[source]¶

Write disturbance data.

Parameters

channels – Channel identifier.
dtypes – Data type.
data_arr – Data array.

enable(subnode: int = 1, timeout: int = 1000) → None[source]¶

Enable PDS.

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

Raises

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

fault_reset(subnode: int = 1, timeout: int = 1000) → None[source]¶

Executes a fault reset on the drive.

Parameters

subnode – Subnode of the drive.
timeout – Timeout in milliseconds.

Raises

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

get_state(subnode: int = 1) → ingenialink.enums.servo.SERVO_STATE[source]¶: Current drive state.

is_alive() → bool[source]¶

Checks if the servo responds to a reading a register.

Returns: Return code with the result of the read.

is_listener_started() → bool[source]¶

Check if servo listener is started

Returns: True if listener is started, else False

load_configuration(config_file: str, subnode: Optional[int] = None) → None[source]¶

Write current dictionary storage to the servo drive.

Parameters

config_file – Path to the dictionary.
subnode – 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() → int[source]¶: Get the number of monitoring bytes left to be read.

monitoring_channel_data(channel: int, dtype: Optional[ingenialink.enums.register.REG_DTYPE] = None) → List[float][source]¶

Obtain processed monitoring data of a channel.

Parameters

channel – Identity channel number.
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.

monitoring_disable() → None[source]¶: Disable monitoring process.

monitoring_enable() → None[source]¶: Enable monitoring process.

monitoring_get_bytes_per_block() → int[source]¶

Obtain Bytes x Block configured.

Returns: Actual number of Bytes x Block configured.

monitoring_get_num_mapped_registers() → int[source]¶

Obtain the number of monitoring mapped registers.

Returns: Actual number of mapped registers.

monitoring_read_data() → None[source]¶

Obtain processed monitoring data.

Returns: Actual processed monitoring data.

monitoring_remove_all_mapped_registers() → None[source]¶: Remove all monitoring mapped registers.

monitoring_remove_data() → None[source]¶: Remove monitoring data.

monitoring_set_mapped_register(channel: int, address: int, subnode: int, dtype: int, size: int) → None[source]¶

Set monitoring mapped register.

Parameters

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

read(reg: Union[str, ingenialink.register.Register], subnode: int = 1) → Union[int, float, str][source]¶

Read a register value from servo.

Parameters

reg – Register.
subnode – Target axis of the drive.

Returns

int, float or Value stored in the register.

Raises

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

reload_errors(dictionary: str) → None[source]¶

Force to reload all dictionary errors.

Parameters: Dictionary. –

replace_dictionary(dictionary: str) → None[source]¶

Deletes and creates a new instance of the dictionary.

Parameters: dictionary – Path to the dictionary.

restore_parameters(subnode: Optional[int] = None) → 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 – 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: str, subnode: Optional[int] = None) → None[source]¶

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

Parameters

config_file – Destination path for the configuration file.
subnode – Subnode of the axis.

start_status_listener() → None[source]¶: Start listening for servo status events (SERVO_STATE).

state_wait_change(state: ingenialink.enums.servo.SERVO_STATE, timeout: int, subnode: int = 1) → ingenialink.enums.servo.SERVO_STATE[source]¶

Waits for a state change.

Parameters

state – Servo state before calling this function.
timeout – Maximum value to wait for the change.
subnode – Subnode of the drive.

Returns

The last read state.

Raises

ILTimeoutError – If state does not change in the given time.

static status_word_decode(status_word: int) → ingenialink.enums.servo.SERVO_STATE[source]¶

Decodes the status word to a known value.

Parameters: status_word – Read value for the status word.
Returns: Status word value.

status_word_wait_change(status_word: int, timeout: int, subnode: int = 1) → None[source]¶

Waits for a status word change.

Parameters

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

Raises

ILTimeoutError – If status word does not change in the given time.

stop_status_listener() → None[source]¶: Stop listening for servo status events (SERVO_STATE).

store_parameters(subnode: Optional[int] = None) → None[source]¶

Store all the current parameters of the target subnode.

Parameters

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

Raises

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

subscribe_to_status(callback: Callable[[ingenialink.enums.servo.SERVO_STATE, None, int], Any]) → None[source]¶

Subscribe to state changes.

Parameters: callback – Callback function.
Returns: Assigned slot.

unsubscribe_from_status(callback: Callable[[ingenialink.enums.servo.SERVO_STATE, None, int], Any]) → None[source]¶

Unsubscribe from state changes.

Parameters: function. (Callback) –

write(reg: Union[str, ingenialink.register.Register], data: Union[int, float, str, bytes], subnode: int = 1, **kwargs: Any) → None[source]¶

Writes a data to a target register.

Parameters

reg – Target register to be written.
data – Data to be written.
subnode – Target axis of the drive.

Raises

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

property dictionary¶: Returns dictionary object

property disturbance_data¶

Obtain disturbance data.

Returns: Current disturbance data.

property disturbance_data_size¶

Obtain disturbance data size.

Returns: Current disturbance data size.

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

property errors¶: Errors.

property full_name¶: Obtains the servo full name.

property info¶: Servo information.

property monitoring_data_size¶

Obtain monitoring data size.

Returns: Current monitoring data size in bytes.

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

property status¶: Servo status.

property subnodes¶: Number of subnodes.

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.servo.ServoStatusListener(servo: ingenialink.servo.Servo)[source]¶

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

Parameters: servo – Servo instance of the drive.

run() → None[source]¶: Checks if the drive is alive by reading the status word register

stop() → None[source]¶: Stops the loop that reads the status word register