Motion¶
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class
ingeniamotion.motion.
Motion
(motion_controller)¶ Motion.
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current_direct_ramp
(target_value, time_s, servo='default', axis=1, init_value=0, interval=None)¶ Given a target value and a time in seconds, changes the current direct set-point linearly following a ramp. This function is blocked until target reached.
- Parameters
target_value (float) – target value of the ramp.
time_s (float) – duration of the ramp, in seconds.
servo (str) – servo alias to reference it.
default
by default.axis (int) – servo axis.
1
by default.init_value (float) – initial value of the ramp.
0
by default.interval (float) – time interval between register writes, in seconds.
None
by default, no interval.
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current_quadrature_ramp
(target_value, time_s, servo='default', axis=1, init_value=0, interval=None)¶ Given a target value and a time in seconds, changes the current quadrature set-point linearly following a ramp. This function is blocked until target reached.
- Parameters
target_value (float) – target value of the ramp.
time_s (float) – duration of the ramp, in seconds.
servo (str) – servo alias to reference it.
default
by default.axis (int) – servo axis.
1
by default.init_value (float) – initial value of the ramp.
0
by default.interval (float) – time interval between register writes, in seconds.
None
by default, no interval.
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fault_reset
(servo='default', axis=1)¶ Fault reset.
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get_actual_position
(servo='default', axis=1)¶ Returns actual position register.
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get_actual_velocity
(servo='default', axis=1)¶ Returns actual velocity register.
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get_operation_mode
(servo='default', axis=1)¶ Return current operation mode.
- Parameters
- Returns
Return current operation mode.
- Return type
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internal_generator_constant_move
(offset, servo='default', axis=1)¶ Move motor in internal generator configuration with generator mode constant.
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internal_generator_saw_tooth_move
(direction, cycles, frequency, servo='default', axis=1)¶ Move motor in internal generator configuration with generator mode saw tooth.
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motor_disable
(servo='default', axis=1)¶ Disable motor.
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motor_enable
(servo='default', axis=1)¶ Enable motor.
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move_to_position
(position, servo='default', axis=1, target_latch=True, blocking=False)¶ Set position set point to a target servo and axis, in counts.
- Parameters
position (int) – target position, in counts.
servo (str) – servo alias to reference it.
default
by default.axis (int) – servo axis.
1
by default.target_latch (bool) – if
True
does target latch at the end.True
by default.blocking (bool) – if
True
, the function is blocked until the target position is reached.False
by default.
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set_current_direct
(current, servo='default', axis=1)¶ Set direct current set point to a target servo and axis, in A.
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set_current_quadrature
(current, servo='default', axis=1)¶ Set quadrature current set point to a target servo and axis, in A.
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set_internal_generator_configuration
(op_mode, servo='default', axis=1)¶ Set internal generator configuration.
Note
This functions affects the following drive registers: motor pair poles, operation mode, phasing mode and commutation feedback. This is an advanced-user oriented method, you could lose your drive configuration, use it at your own risk.
- Parameters
op_mode (OperationMode) – select Current or Voltage operation mode for internal generator configuration.
servo (str) – servo alias to reference it.
default
by default.axis (int) – servo axis.
1
by default.
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set_operation_mode
(operation_mode, servo='default', axis=1)¶ Set operation mode to a target servo and axis.
- Parameters
operation_mode (OperationMode) – operation mode, any of
OperationMode
.servo (str) – servo alias to reference it.
default
by default.axis (int) – servo axis.
1
by default.
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set_velocity
(velocity, servo='default', axis=1, target_latch=True, blocking=False)¶ Set velocity set point to a target servo and axis, in rev/s.
- Parameters
velocity (float) – target velocity, in rev/s.
servo (str) – servo alias to reference it.
default
by default.axis (int) – servo axis.
1
by default.target_latch (bool) – if
True
does target latch at the end.True
by default.blocking (bool) – if
True
, the function is blocked until the target position is reached.False
by default.
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set_voltage_direct
(voltage, servo='default', axis=1)¶ Set direct voltage set point to a target servo and axis, in V.
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set_voltage_quadrature
(voltage, servo='default', axis=1)¶ Set quadrature voltage set point to a target servo and axis, in V.
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target_latch
(servo='default', axis=1)¶ Active target latch.
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voltage_direct_ramp
(target_value, time_s, servo='default', axis=1, init_value=0, interval=None)¶ Given a target value and a time in seconds, changes the voltage direct set-point linearly following a ramp. This function is blocked until target reached.
- Parameters
target_value (float) – target value of the ramp.
time_s (float) – duration of the ramp, in seconds.
servo (str) – servo alias to reference it.
default
by default.axis (int) – servo axis.
1
by default.init_value (float) – initial value of the ramp.
0
by default.interval (float) – time interval between register writes, in seconds.
None
by default, no interval.
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voltage_quadrature_ramp
(target_value, time_s, servo='default', axis=1, init_value=0, interval=None)¶ Given a target value and a time in seconds, changes the voltage quadrature set-point linearly following a ramp. This function is blocked until target reached.
- Parameters
target_value (float) – target value of the ramp.
time_s (float) – duration of the ramp, in seconds.
servo (str) – servo alias to reference it.
default
by default.axis (int) – servo axis.
1
by default.init_value (float) – initial value of the ramp.
0
by default.interval (float) – time interval between register writes, in seconds.
None
by default, no interval.
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wait_for_position
(position, servo='default', axis=1, error=20, timeout=None, interval=None)¶ Wait until actual position is equal to a target position, with an error.
- Parameters
position (int) – target position, in counts.
servo (str) – servo alias to reference it.
default
by default.axis (int) – servo axis.
1
by default.error (int) – allowed error between actual position and target position, in counts.
timeout (int) – how many seconds to wait for the servo to reach the target position, if
None
it will wait forever .None
by default.interval (float) – interval of time between actual position reads, in seconds.
None
by default.
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wait_for_velocity
(velocity, servo='default', axis=1, error=0.1, timeout=None, interval=None)¶ Wait until actual velocity is equal to a target velocity, with an error.
- Parameters
velocity (float) – target velocity, in rev/s.
servo (str) – servo alias to reference it.
default
by default.axis (int) – servo axis.
1
by default.error (int) – allowed error between actual velocity and target velocity, in counts.
timeout (int) – how many seconds to wait for the servo to reach the target velocity, if
None
it will wait forever.None
by default.interval (float) – interval of time between actual velocity reads, in seconds.
None
by default.
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