Configuration¶
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class
ingeniamotion.configuration.
Configuration
(motion_controller)¶ Configuration.
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class
BrakeOverride
(value)¶ Brake override configuration enum
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OVERRIDE_DISABLED
= 0¶
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RELEASE_BRAKE
= 1¶
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ENABLE_BRAKE
= 2¶
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BRAKE_OVERRIDE_REGISTER
= 'MOT_BRAKE_OVERRIDE'¶
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PROFILE_MAX_ACCELERATION_REGISTER
= 'PROF_MAX_ACC'¶
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PROFILE_MAX_VELOCITY_REGISTER
= 'PROF_MAX_VEL'¶
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release_brake
(servo='default', axis=1)¶ Override the brake status to released in the target servo and axis.
- Parameters
servo (str) – servo alias to reference it.
default
by default.axis (int) – axis that will run the test. 1 by default.
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enable_brake
(servo='default', axis=1)¶ Override the brake status of the target servo and axis.
- Parameters
servo (str) – servo alias to reference it.
default
by default.axis (int) – axis that will run the test. 1 by default.
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disable_brake_override
(servo='default', axis=1)¶ Disable the brake override of the target servo and axis.
- Parameters
servo (str) – servo alias to reference it.
default
by default.axis (int) – axis that will run the test. 1 by default.
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default_brake
(servo='default', axis=1)¶ Disable the brake override of the target servo and axis, as
disable_brake_override()
.- Parameters
servo (str) – servo alias to reference it.
default
by default.axis (int) – axis that will run the test. 1 by default.
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load_configuration
(config_path, axis='default')¶ Load a configuration file to the target servo.
- Parameters
config_path (str) – config file path to load.
axis (str) – servo alias to reference it.
default
by default.
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save_configuration
(output_file, servo='default')¶ Save the servo configuration to a target file.
- Parameters
output_file (str) – servo configuration destination file.
servo (str) – servo alias to reference it.
default
by default.
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set_max_acceleration
(acceleration, servo='default', axis=1)¶ - Parameters
acceleration – maximum acceleration in rev/s^2.
servo (str) – servo alias to reference it.
default
by default.axis (int) – servo axis.
1
by default.
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set_max_velocity
(velocity, servo='default', axis=1)¶ - Parameters
velocity – maximum velocity in rev/s.
servo (str) – servo alias to reference it.
default
by default.axis (int) – servo axis.
1
by default.
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class