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.

AUXILIAR_FEEDBACK_REGISTER = 'CL_AUX_FBK_SENSOR'

COMMUTATION_FEEDBACK_REGISTER = 'COMMU_ANGLE_SENSOR'

POSITION_FEEDBACK_REGISTER = 'CL_POS_FBK_SENSOR'

REFERENCE_FEEDBACK_REGISTER = 'COMMU_ANGLE_REF_SENSOR'

class SensorCategory(value)

Feedback category enum

ABSOLUTE = 0

INCREMENTAL = 1

class SensorType(value)

Summit series feedback type enum

ABS1 = 1

Absolute encoder 1

QEI = 4

Digital/Incremental encoder 1

HALLS = 5

Digital halls

SSI2 = 6

Secondary SSI

BISSC2 = 7

Absolute encoder 2

QEI2 = 8

Digital/Incremental encoder 2

SMO = 9

SMO

INTGEN = 3

Internal generator

VELOCITY_FEEDBACK_REGISTER = 'CL_VEL_FBK_SENSOR'

get_absolute_encoder_1_resolution(servo='default', axis=1)

Reads ABS1 encoder resolution 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.

Returns

Resolution of ABS1 encoder.

Return type

int

get_absolute_encoder_2_resolution(servo='default', axis=1)

Reads ABS2 encoder resolution 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.

Returns

Resolution of ABS2 encoder.

Return type

int

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

Reads auxiliar feedbacks value 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.

Returns

Type of feedback configured

Return type

SensorType

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

Reads auxiliar feedbacks type {ABSOLUTE or INCREMENTAL} 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.

Returns

Category {ABSOLUTE, INCREMENTAL} of the selected feedback.

Return type

SensorCategory

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

Reads auxiliar feedbacks resolution 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.

Returns

Resolution of the selected feedback.

Return type

int

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

Reads commutation feedbacks value 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.

Returns

Type of feedback configured.

Return type

SensorType

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

Reads commutation feedbacks type {ABSOLUTE or INCREMENTAL} 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.

Returns

Category {ABSOLUTE, INCREMENTAL} of the selected feedback.

Return type

SensorCategory

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

Reads commutation feedbacks resolution 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.

Returns

Resolution of the selected feedback.

Return type

int

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

Reads digital halls pole pairs 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.

Returns

Resolution of digital halls encoder.

Return type

int

get_incremental_encoder_1_resolution(servo='default', axis=1)

Reads incremental encoder 1 resolution 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.

Returns

Resolution of incremental encoder 1.

Return type

int

get_incremental_encoder_2_resolution(servo='default', axis=1)

Reads incremental encoder 2 resolution 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.

Returns

Resolution of incremental encoder 2 encoder.

Return type

int

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

Reads position feedbacks value 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.

Returns

Type of feedback configured

Return type

SensorType

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

Reads position feedbacks type {ABSOLUTE or INCREMENTAL} 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.

Returns

Category {ABSOLUTE, INCREMENTAL} of the selected feedback.

Return type

SensorCategory

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

Reads position feedbacks resolution 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.

Returns

Resolution of the selected feedback.

Return type

int

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

Reads reference feedbacks value 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.

Returns

Type of feedback configured

Return type

SensorType

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

Reads reference feedbacks type {ABSOLUTE or INCREMENTAL} 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.

Returns

Category {ABSOLUTE, INCREMENTAL} of the selected feedback.

Return type

SensorCategory

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

Reads reference feedbacks resolution 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.

Returns

Resolution of the selected feedback.

Return type

int

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

Reads secondary SSI encoder resolution 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.

Returns

Resolution of secondary SSI encoder.

Return type

int

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

Reads velocity feedbacks value 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.

Returns

Type of feedback configured

Return type

SensorType

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

Reads velocity feedbacks type {ABSOLUTE or INCREMENTAL} 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.

Returns

Category {ABSOLUTE, INCREMENTAL} of the selected feedback.

Return type

SensorCategory

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

Reads velocity feedbacks resolution 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.

Returns

Resolution of the selected feedback.

Return type

int

set_auxiliar_feedback(feedback, servo='default', axis=1)

Writes auxiliar feedbacks value in the target servo and axis.

Parameters

• feedback (SensorType) – feedback sensor number

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

• axis (int) – axis that will run the test. 1 by default.

set_commutation_feedback(feedback, servo='default', axis=1)

Writes commutation feedbacks value in the target servo and axis.

Parameters

• feedback (SensorType) – feedback sensor number

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

• axis (int) – axis that will run the test. 1 by default.

set_position_feedback(feedback, servo='default', axis=1)

Writes position feedbacks value in the target servo and axis.

Parameters

• feedback (SensorType) – feedback sensor number

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

• axis (int) – axis that will run the test. 1 by default.

set_reference_feedback(feedback, servo='default', axis=1)

Writes reference feedbacks value in the target servo and axis.

Parameters

• feedback (SensorType) – feedback sensor number

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

• axis (int) – axis that will run the test. 1 by default.

set_velocity_feedback(feedback, servo='default', axis=1)

Writes velocity feedbacks value in the target servo and axis.

Parameters

• feedback (SensorType) – feedback sensor number

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

• axis (int) – axis that will run the test. 1 by default.