Configuration

class ingeniamotion.configuration.Configuration(motion_controller)

Configuration.

class BrakeOverride(value)

Brake override configuration enum

class SensorCategory(value)

Feedback category enum

class SensorType(value)

Summit series feedback type enum

change_tcp_ip_parameters(ip_address, subnet_mask, gateway, servo='default')

Change TCP IP parameters and store it.

Parameters

• ip_address (str) – IP Address to be changed.

• subnet_mask (str) – Subnet mask to be changed.

• gateway (str) – Gateway to be changed.

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

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

Get abnormal fault bit from STO register

Parameters

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

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

Returns

return value of abnormal fault bit.

Return type

int

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

Get power supply bit from STO register

Parameters

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

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

Returns

return value of power supply bit.

Return type

int

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.

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.

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.

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

Reads target feedback resolution in the target servo and axis.

Parameters

• feedback (SensorType) – target feedback.

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

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

Returns

Resolution of target feedback.

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

Get motor pair poles.

Parameters

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

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

Returns

Pair poles value.

Return type

int

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

Get current phasing mode.

Parameters

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

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

Returns

Phasing mode value.

Return type

PhasingMode

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_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_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

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

Return status word register value.

Parameters

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

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

Returns

Status word.

Return type

int

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

Get report bit from STO register

Parameters

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

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

Returns

return value of report bit.

Return type

int

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

Get STO register

Parameters

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

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

Returns

STO register value.

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

homing_on_current_position(hom_offset, servo='default', axis=1)

Do current position homing.

Parameters

• hom_offset (int) – homing offset.

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

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

homing_on_index_pulse(hom_offset, direction, index, timeout_ms, zero_vel, servo='default', axis=1, motor_enable=True)

Do homing on index pulse.

Note

Motor must be well phased before run any homing.

Parameters

• hom_offset (int) – homing offset.

• direction (int) – direction. 1 is positive, 0 is negative.

• index (int) – select incremental encoder, 0 for incremental encoder 1, 1 for incremental encoder 2.

• timeout_ms (int) – homing timeout in milliseconds.

• zero_vel (int) – speed to search for the actual homing point, in mrev/s.

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

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

• motor_enable (bool) – if True do motor enable. True by default.

homing_on_switch_limit(hom_offset, direction, switch, timeout_ms, lim_vel, zero_vel, servo='default', axis=1, motor_enable=True)

Do homing on switch limit.

Note

Motor must be well phased before run any homing.

Parameters

• hom_offset (int) – homing offset.

• direction (int) – direction. 1 is positive, 0 is negative.

• switch (int) – switch index.

• timeout_ms (int) – homing timeout in milliseconds.

• lim_vel (int) – speed to search for the switch, in mrev/s.

• zero_vel (int) – speed to search for the actual homing point, in mrev/s.

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

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

• motor_enable (bool) – if True do motor enable. True by default.

homing_on_switch_limit_and_index_pulse(hom_offset, direction, switch, index, timeout_ms, lim_vel, zero_vel, servo='default', axis=1, motor_enable=True)

Do homing on switch limit and index pulse.

Note

Motor must be well phased before run any homing.

Parameters

• hom_offset (int) – homing offset.

• direction (int) – direction. 1 is positive, 0 is negative.

• switch (int) – switch index.

• index (int) – select incremental encoder, 0 for incremental encoder 1, 1 for incremental encoder 2.

• timeout_ms (int) – homing timeout in milliseconds.

• lim_vel (int) – speed to search for the switch, in mrev/s.

• zero_vel (int) – speed to search for the actual homing point, in mrev/s.

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

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

• motor_enable (bool) – if True do motor enable. True by default.

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

Return commutation feedback aligned status.

Parameters

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

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

Returns

True if commutation feedback is aligned, else False.

Return type

bool

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

Return motor status.

Parameters

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

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

Returns

True if motor is enabled, else False.

Return type

bool

is_sto1_active(servo='default', axis=1)

Get STO1 bit from STO register

Parameters

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

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

Returns

return value of STO1 bit.

Return type

int

is_sto2_active(servo='default', axis=1)

Get STO2 bit from STO register

Parameters

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

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

Returns

return value of STO2 bit.

Return type

int

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

Check if STO is abnormal latched

Parameters

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

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

Returns

True if STO is abnormal latched, else False.

Return type

bool

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

Check if STO is active

Parameters

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

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

Returns

True if STO is active, else False.

Return type

bool

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

Check if STO is inactive

Parameters

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

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

Returns

True if STO is inactive, else False.

Return type

bool

load_configuration(config_path, axis=None, servo='default')

Load a configuration file to the target servo.

Parameters

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

• axis (int) – target axis to load configuration. If None function loads all axis. None by default.

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

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.

restore_configuration(axis=None, servo='default')

Restore servo to default configuration.

Parameters

• axis (int) – target axis to load configuration. If None function loads all axis. None by default.

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

restore_tcp_ip_parameters(servo='default')

Restore TCP IP parameters to default values.

Parameters

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

save_configuration(output_file, axis=None, servo='default')

Save the servo configuration to a target file.

Parameters

• output_file (str) – servo configuration destination file.

• axis (int) – target axis to load configuration. If None function loads all axis. None by default.

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

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.

Raises

IMStatusWordError – If motor is enabled.

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.

Raises

IMStatusWordError – If motor is enabled.

set_generator_mode(mode, servo='default', axis=1)

Set generator mode.

Parameters

• mode (GeneratorMode) – generator mode value.

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

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

set_homing_mode(homing_mode, servo='default', axis=1)

Set homing mode.

Parameters

• homing_mode (HomingMode) – homing mode.

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

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

set_homing_offset(homing_offset, servo='default', axis=1)

Set homing offset configuration.

Parameters

• homing_offset (int) – homing offset.

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

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

set_homing_timeout(timeout_ms, servo='default', axis=1)

Set homing timeout configuration.

Parameters

• timeout_ms (int) – homing timeout in milliseconds.

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

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

set_max_acceleration(acceleration, servo='default', axis=1)

Update maximum acceleration register.

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)

Update maximum velocity register.

Parameters

• velocity – maximum velocity in rev/s.

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

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

set_motor_pair_poles(pair_poles, servo='default', axis=1)

Set motor pair poles.

Parameters

• pair_poles (int) – motor pair poles-

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

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

set_phasing_mode(phasing_mode, servo='default', axis=1)

Set phasing mode.

Parameters

• phasing_mode (PhasingMode) – phasing mode.

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

• axis (int) – servo axis. 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.

Raises

IMStatusWordError – If motor is enabled.

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.

Raises

IMStatusWordError – If motor is enabled.

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.

Raises

IMStatusWordError – If motor is enabled.

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.

Raises

IMStatusWordError – If motor is enabled.

store_configuration(axis=None, servo='default')

Store servo configuration to non-volatile memory.

Parameters

• axis (int) – target axis to load configuration. If None function loads all axis. None by default.

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

store_tcp_ip_parameters(servo='default')

Store TCP IP parameters to non-volatile memory.

Parameters

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