Communication

class ingeniamotion.communication.Communication(motion_controller)

Communication.

class Protocol(value)

Communication protocol enum

TCP = 1

UDP = 2

connect_servo_eoe(ip, dict_path=None, alias='default', protocol=<Protocol.UDP: 2>, port=1061)

Connect to target servo by Ethernet over EtherCAT

Parameters

• ip (str) – servo IP.

• dict_path (str) – servo dictionary path.

• alias (str) – servo alias to reference it. default by default.

• protocol (Protocol) – UDP or TCP protocol. UDP by default.

• port (int) – servo port. 1061 by default.

connect_servo_ethernet(ip, dict_path=None, alias='default', protocol=<Protocol.UDP: 2>, port=1061)

Connect to target servo by Ethernet

Parameters

• ip (str) – servo IP

• dict_path (str) – servo dictionary path.

• alias (str) – servo alias to reference it. default by default.

• protocol (Protocol) – UDP or TCP protocol. UDP by default.

• port (int) – servo port. 1061 by default.