Configuration

class ingeniamotion.configuration.Configuration(motion_controller)

Configuration.

class BrakeOverride(value)

Brake override configuration enum

OVERRIDE_DISABLED = 0
RELEASE_BRAKE = 1
ENABLE_BRAKE = 2
BRAKE_OVERRIDE_REGISTER = 'MOT_BRAKE_OVERRIDE'
PROFILE_MAX_ACCELERATION_REGISTER = 'PROF_MAX_ACC'
PROFILE_MAX_VELOCITY_REGISTER = 'PROF_MAX_VEL'
POWER_STAGE_FREQUENCY_REGISTER = 'DRV_PS_FREQ_SELECTION'
POSITION_AND_VELOCITY_LOOP_RATE_REGISTER = 'DRV_POS_VEL_RATE'
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.

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.

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.

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.

load_configuration(config_path, servo='default')

Load a configuration file to the target servo.

Parameters

  • config_path (str) – config file path to load.

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

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.

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.

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.

get_position_and_velocity_loop_rate(servo='default', axis=1)

Get position & velocity loop rate frequency.

Parameters

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

  • axis (int) – servo axis. 1 by default.

Returns

Position & velocity loop rate frequency in Hz.

Return type

int

get_power_stage_frequency(servo='default', axis=1, raw=False)

Get Power stage frequency register.

Parameters

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

  • axis (int) – servo axis. 1 by default.

  • raw (bool) – if False return frequency in Hz, if True return raw register value. `False by default.

Returns

Frequency in Hz if raw is False, else, raw register value.

Return type

int

get_power_stage_frequency_enum(servo='default', axis=1)

Return Power stage frequency register enum.

Parameters

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

  • axis (int) – servo axis. 1 by default.

Returns

Enum with power stage frequency available values.

Return type

IntEnum

set_power_stage_frequency(value, servo='default', axis=1)

Set power stage frequency from enum value. See :func: get_power_stage_frequency_enum.

Parameters

  • value (int) – Enum value to set power stage frequency.

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

  • axis (int) – servo axis. 1 by default.