Communication

class ingeniamotion.communication.Communication(motion_controller)

Communication.

class Protocol(value)

Communication protocol enum

boot_mode(servo='default')

Set servo to boot mode. Servo is disconnected.

Parameters

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

boot_mode_and_load_firmware_ethernet(fw_file, servo='default', ftp_user=None, ftp_pwd=None)

Set servo to boot mode and load firmware. Servo is disconnected.

Warning

After functions ends, the servo will take a moment to load firmware. During the process, the servo will be not operative.

Parameters

  • fw_file (str) – Firmware file path.

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

  • ftp_user (str) – FTP user to connect with.

  • ftp_pwd (str) – FTP password for the given user.

connect_servo_canopen(can_device, dict_path, eds_file, node_id, baudrate=<CAN_BAUDRATE.Baudrate_1M: 1000000>, channel=0, alias='default')

Connect to target servo by CANOpen.

Parameters

  • can_device (ingenialink.canopen.net.CAN_DEVICE) – CANOpen device type.

  • dict_path (str) – servo dictionary path.

  • eds_file (str) – EDS file path.

  • node_id (int) – node id. It’s posible scan node ids with scan_servos_canopen().

  • baudrate (ingenialink.canopen.net.CAN_BAUDRATE) – communication baudrate. 1 Mbit/s by default.

  • channel (int) – CANOpen device channel. 0 by default.

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

connect_servo_ecat(ifname, dict_path, slave=1, eoe_comm=True, alias='default', reconnection_retries=None, reconnection_timeout=None)

Connect servo by ECAT with embedded master.

Parameters

  • ifname (str) – interface name. It should have format \Device\NPF_[...].

  • dict_path (str) – servo dictionary path.

  • slave (int) – slave index. 1 by default.

  • eoe_comm (bool) – use eoe communications if True, if False use SDOs. True by default.

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

connect_servo_ecat_interface_index(if_index, dict_path, slave=1, eoe_comm=True, alias='default', reconnection_retries=None, reconnection_timeout=None)

Connect servo by ECAT with embedded master. Interface should be selected by index of list given in get_interface_name_list().

Parameters

  • if_index (int) – interface index in list given by function get_interface_name_list().

  • dict_path (str) – servo dictionary path.

  • slave (int) – slave index. 1 by default.

  • eoe_comm (bool) – use eoe communications if True, if False use SDOs. True by default.

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

  • reconnection_retries (int) – Number of reconnection retried before declaring a connected or disconnected stated.

  • reconnection_timeout (int) – Time in ms of the reconnection timeout.

connect_servo_eoe(ip, dict_path=None, alias='default', protocol=<Protocol.UDP: 2>, port=1061, reconnection_retries=None, reconnection_timeout=None)

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.

  • reconnection_retries (int) – Number of reconnection retried before declaring a connected or disconnected stated.

  • reconnection_timeout (int) – Time in ms of the reconnection timeout.

connect_servo_ethernet(ip, dict_path=None, alias='default', protocol=<Protocol.UDP: 2>, port=1061, reconnection_retries=None, reconnection_timeout=None)

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.

  • reconnection_retries (int) – Number of reconnection retried before declaring a connected or disconnected stated.

  • reconnection_timeout (int) – Time in ms of the reconnection timeout.

disconnect(servo='default')

Disconnect servo.

Parameters

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

static get_ifname_by_index(index)

Return interface name by index.

Parameters

index (int) – position of interface selected in get_interface_name_list().

Returns

real name of selected interface.

It can be used for function connect_servo_ecat().

Return type

str

static get_interface_name_list()

Get interface list.

Returns

List with interface readable names.

Return type

list of str

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

get_sdo_register(index, subindex, dtype, string_size=None, servo='default')

Return the value via SDO of a target register.

Parameters

  • index (int) – register index.

  • subindex (int) – register subindex.

  • dtype (ingenialink.registers.REG_DTYPE) – register data type.

  • string_size (int) – if register data is a string, size in bytes is mandatory. None by default.

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

Returns

Current register value.

Return type

int, float or str

load_firmware_canopen(fw_file, servo='default', status_callback=None, progress_callback=None, error_enabled_callback=None)

Load firmware via CANopen.

Parameters

  • fw_file (str) – Firmware file path.

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

  • status_callback (callable) – callback with status.

  • progress_callback (callable) – callback with progress.

  • error_enabled_callback (callable) – callback with errors enabled.

load_firmware_ecat(ifname, fw_file, slave=1, boot_in_app=True)

Load firmware via ECAT.

Parameters

  • ifname (str) – interface name. It should have format \Device\NPF_[...].

  • fw_file (str) – Firmware file path.

  • slave (int) – slave index. 1 by default.

  • boot_in_app (bool) – If summit series -> True. If capitan series -> False. If custom device -> Contact manufacturer.

load_firmware_ecat_interface_index(if_index, fw_file, slave=1, boot_in_app=True)

Load firmware via ECAT.

Parameters

  • if_index (int) – interface index in list given by function get_interface_name_list().

  • fw_file (str) – Firmware file path.

  • slave (int) – slave index. 1 by default.

  • boot_in_app (bool) – If summit series -> True. If capitan series -> False. If custom device -> Contact manufacturer.

load_firmware_ethernet(ip, fw_file, ftp_user=None, ftp_pwd=None)

Load firmware via Ethernet. Boot mode is needed to load firmware.

Warning

After functions ends, the servo will take a moment to load firmware. During the process, the servo will be not operative.

Parameters

  • ip (str) – servo IP.

  • fw_file (str) – Firmware file path.

  • ftp_user (str) – FTP user to connect with.

  • ftp_pwd (str) – FTP password for the given user.

scan_servos_canopen(can_device, baudrate=<CAN_BAUDRATE.Baudrate_1M: 1000000>, channel=0)

Scan CANOpen device network to get all nodes.

Parameters

  • can_device (ingenialink.canopen.net.CAN_DEVICE) – CANOpen device type.

  • baudrate (ingenialink.canopen.net.CAN_BAUDRATE) – communication baudrate. 1 Mbit/s by default.

  • channel (int) – CANOpen device channel. 0 by default.

Returns

List of node ids available in the network.

Return type

list of int

scan_servos_ecat(ifname)

Return a list of available servos.

Parameters

ifname (str) – interface name. It should have format \Device\NPF_[...].

Returns

Drives available in the target interface.

Return type

list of int

scan_servos_ecat_interface_index(if_index)

Return a list of available servos.

Parameters

if_index (int) – interface index in list given by function get_interface_name_list().

Returns

Drives available in the target interface.

Return type

list of int

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.

set_sdo_register(index, subindex, dtype, value, servo='default')

Set the value via SDO of a target register.

Parameters

  • index (int) – register index.

  • subindex (int) – register subindex.

  • dtype (ingenialink.registers.REG_DTYPE) – register data type.

  • value (int or float) – new value for the register.

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

subscribe_net_status(callback, servo='default')

Add a callback to net status change event.

Parameters

  • callback (callable) – when net status changes callback is called.

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

subscribe_servo_status(callback, servo='default')

Add a callback to servo status change event.

Parameters

  • callback (callable) – when servo status changes callback is called.

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

unsubscribe_net_status(callback, servo='default')

Remove net status change event callback.

Parameters

  • callback (callable) – callback to remove.

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

unsubscribe_servo_status(callback, servo='default')

Remove servo status change event callback.

Parameters

  • callback (callable) – callback to remove.

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