What is Ingeniamotion?¶
Ingeniamotion is a library that works over ingenialink and aims to simplify the interaction with Ingenia’s drives.
How it works?¶
All ingeniamotion functionalities works through the MotionController class. So, first of all we should instantiate a MotionController object.
from ingeniamotion import MotionController mc = MotionController()
mc is our MotionController instance.
Then, we should connect some servos.
# In case we want to connect only one servo mc.communication.connect_servo_eoe("192.168.2.22", "eve-net_1.7.0.xdf") # In case we want to connect more servos mc.communication.connect_servo_eoe("192.168.2.22", "eve-net_1.7.0.xdf", alias="servo_one") mc.communication.connect_servo_eoe("192.168.2.23", "eve-net_1.7.0.xdf", alias="servo_two") # The "alias" field will allow to reference these servos in the future. # The "alias" can be whatever we want to use as identifier.
Now, the servos are ready and we can work with them.
We then can apply some configurations:
# If we have only one servo mc.configuration.release_brake() # By default it uses the axis 1
Or we can execute some tests or calibrations:
mc.tests.digital_halls_test(servo="servo_one", axis=1) mc.tests.commutation(servo="servo_two", axis=1)
MotionController functionalities are group in the following namespaces.
In this namespace we will find all the functions that will help us to move the servos.
This namespace has all the basic communication functions with the servo: connect, read or write a register, load or save configuration, load firmware, etc.
Here we will find functions to configure the servo: configure limits, feedbacks, brake settings, etc.
This namespace will help us to work with monitoring and similar features.
The functions of this namespace will help us to lunch some tests for the commissioning process.