Changelog

[0.5.5] - 2022-07-26

Added

  • Support monitoring/disturbance with CANopen protocol.

  • Feedback tests.

  • Monitoring/disturbance tests.

[0.5.4] - 2022-03-17

Changed

  • Connection status listeners are all set to False by default.

  • Function set_max_velocity no longer changes the profile velocity, instead it changes velocity.

Added

  • Support to multi-slave Ethernet, EoE and CANopen connections.

  • Function connect_servo_ecat_interface_ip in communication.

  • Function get_ifname_from_interface_ip in communication.

  • Function get_current_loop_rate in configuration.

  • Function set_profiler in configuration.

  • Function set_max_profile_acceleration in configuration.

  • Function set_max_profile_deceleration in configuration.

  • Function set_max_profile_velocity in configuration.

Fixed

  • Commutation analysis feedback now returns the proper drive errors.

Deprecated

  • Deprecated set_max_acceleration in configuration use set_profiler or set_max_profile_acceleration.

[0.5.3] - 2022-02-16

Changed

  • Replaced ILerror exception with IMRegisterNotExist exception in base monitoring and disturbance.

  • Moved SeverityLevel enum from base test to enums module.

  • Moved disturbance_max_size_sample_size and monitoring_max_size_sample_size functions to capture.

  • Read power stage frequency directly from registers.

Added

  • IMRegisterWrongAccess and IMTimeoutError exceptions.

  • Ingenialink enums to enums module.

  • IMTimeoutError exception to move_to_position and set_velocity functions.-

[0.5.2] - 2021-11-23

Added

  • Compatibility with Python 3.7, 3.8 and 3.9.

Fixed

  • Fixed code autocompletion.

[0.5.1] - 2021-11-17

Added

  • Compatibility with monitoring for Everest and Capitan 2.0.0.

Changed

  • Increase default monitoring timeout.

  • Disable monitoring and disturbance have no effect if they are already disabled.

[0.5.0] - 2021-10-15

Added

  • Compatibility with System Errors.

  • Function register_exists in info module.

  • Load firmware and boot_mode functions.

  • Store and restore configuration functions.

  • Add disconnect function.

[0.4.1] - 2021-09-02

Added

  • Capture mcb_synchronization function.

  • Add exceptions module.

  • Phasing Check test.

  • STO test.

  • Create enable_monitoring_disturbance and disable_monitoring_disturbance in Capture module.

  • Create Info module.

  • Add fault_reset function.

  • Add Monitoring read function for forced trigger mode.

  • Add Brake test.

  • Add CANOpen communications.

Changed

  • MonitoringError and DisturbanceError exceptions to IMMonitoringError and IMDisturbanceError.

  • Functions motor_enable and motor_disable add error messages to raised exception.

  • Add timeout param to read_monitoring_data.

  • Update Commutation test.

  • Update stop test functions.

Removed

  • Removed enable_monitoring from Monitoring class.

  • Removed enable_disturbance from Disturbance class.

Fixed

  • Disturbance class and create_disturbance functions allow numpy arrays as a disturbance data.

  • Fixed servo alias bug. Some functions were not allow with no default alias.

[0.4.0] - 2021-06-28

Added

  • Error module.

  • Homing functions.

  • Servo connection and motor enabled checker.

  • Add capability to map more than one register into disturbance.

Changed

  • Update ingeniamotion feedback test

[0.3.1] - 2021-06-15

Added

  • Add disturbance functionality for all summit and custom drives.

  • Implement feedback resolution reading and feedback type set and get.

[0.3.0] - 2021-06-09

Added

  • Add SOEM communications as a way to connect to the drive.

  • Add the possibility to use SDO read/writes when using SOEM.

[0.2.0] - 2021-05-20

Added

  • Functions get_register and set_register.

  • Functions create_poller.

  • Monitoring class and create_monitoring function.

  • Set and get power stage frequency and get position and velocity loop rate functions in configuration.

[0.1.1] - 2021-03-18

Added

  • Connect servo via EOE and Ethernet.

  • Add drive test: digital_halls_test, incremental_encoder_1_test, incremental_encoder_2_test and commutation.

  • Brake configuration functions.

  • Load and save configuration functions.

  • Set max velocity and max acceleration functions.

  • Motion functions: enable and disable motor, move_to_position, set_velocity, set_current_quadrature, set_operation_mode, target_latch, etc…