Communication¶
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class
ingeniamotion.communication.
Communication
(motion_controller)¶ Communication.
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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.
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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.
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get_register
(register, servo='default', axis=1)¶ Return the value of a target register.
- Parameters
register (str) – register UID.
servo (str) – servo alias to reference it.
default
by default.axis (int) – servo axis.
1
by default.
- Returns
Current register value.
- Return type
int, float or str
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set_register
(register, value, servo='default', axis=1)¶ Set a value of a target register.
- Parameters
register (str) – register UID.
value (int, float) – new value for the register.
servo (str) – servo alias to reference it.
default
by default.axis (int) – servo axis.
1
by default.
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