Communication¶

class ingeniamotion.communication.Communication(motion_controller)¶

Communication.

connect_servo_eoe(ip, dict_path=None, alias='default', port=1061, servo_status_listener=False, net_status_listener=False)¶

Connect to target servo by Ethernet over EtherCAT

Parameters

ip (str) – servo IP.
dict_path (Optional[str]) – servo dictionary path.
alias (str) – servo alias to reference it. default by default.
port (int) – servo port. 1061 by default.
servo_status_listener (bool) – Toggle the listener of the servo for its status, errors, faults, etc.
net_status_listener (bool) – Toggle the listener of the network status, connection and disconnection.

Raises

TypeError – If the dict_path argument is missing.
FileNotFoundError – If the dict file doesn’t exist.
ingenialink.exceptions.ILError – If the servo’s IP or port is incorrect.

Return type

None

connect_servo_ethernet(ip, dict_path, alias='default', port=1061, connection_timeout=1, servo_status_listener=False, net_status_listener=False)¶

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.
port (int) – servo port. 1061 by default.
connection_timeout (int) – Timeout in seconds for connection. 1 seconds by default.
servo_status_listener (bool) – Toggle the listener of the servo for its status, errors, faults, etc.
net_status_listener (bool) – Toggle the listener of the network status, connection and disconnection.

Raises

FileNotFoundError – If the dict file doesn’t exist.
ingenialink.exceptions.ILError – If the servo’s IP or port is incorrect.

Return type

None

connect_servo_eoe_service(ifname, dict_path, ip='192.168.3.22', slave=1, port=1061, alias='default', servo_status_listener=False, net_status_listener=False)¶

Connect to target servo by Ethernet over EtherCAT

Parameters

ifname (str) – interface name. It should have format \Device\NPF_[...].
dict_path (str) – servo dictionary path.
ip (str) – IP address to be assigned to the servo.
slave (int) – slave index. 1 by default.
port (int) – servo port. 1061 by default.
alias (str) – servo alias to reference it. default by default.
servo_status_listener (bool) – Toggle the listener of the servo for its status, errors, faults, etc.
net_status_listener (bool) – Toggle the listener of the network status, connection and disconnection.

Raises

FileNotFoundError – If the dict file doesn’t exist.
ValueError – ip must be a subnetwork of 192.168.3.0/24
ingenialink.exceptions.ILError – If the EoE service is not running
ingenialink.exceptions.ILError – If the EoE service cannot be started on the network interface.

Return type

None

connect_servo_eoe_service_interface_ip(interface_ip, dict_path, ip='192.168.3.22', slave=1, port=1061, alias='default', servo_status_listener=False, net_status_listener=False)¶

Connect to target servo by Ethernet over EtherCAT

Parameters

interface_ip (str) – IP of the interface to be connected to.
dict_path (str) – servo dictionary path.
ip (str) – IP address to be assigned to the servo.
slave (int) – slave index. 1 by default.
port (int) – servo port. 1061 by default.
alias (str) – servo alias to reference it. default by default.
servo_status_listener (bool) – Toggle the listener of the servo for its status, errors, faults, etc.
net_status_listener (bool) – Toggle the listener of the network status, connection and disconnection.

Raises

TypeError – If the dict_path argument is missing.
IndexError – If interface index is out of range.
FileNotFoundError – If the dict file doesn’t exist.
ValueError – ip must be a subnetwork of 192.168.3.0/24
ingenialink.exceptions.ILError – If the EoE service is not running
ingenialink.exceptions.ILError – If the EoE service cannot be started on the network interface.

Return type

None

get_ifname_from_interface_ip(address)¶

Returns interface name based on the address ip of an interface.

Parameters

address (str) – ip expected adapter is expected to
configured with. (be) –

Raises

ValueError – In case the input is not valid or the adapter
is not found. –

Return type

str

Returns

Ifname of the controller.

static get_ifname_by_index(index)¶

Return interface name by index.

Parameters: index (int) – position of interface selected in get_interface_name_list().
Return type: str
Returns: Real name of selected interface. It can be used for function connect_servo_eoe_service().
Raises: IndexError – If interface index is out of range.

static get_interface_name_list()¶

Get interface list.

Return type: List[str]
Returns: List with interface readable names.

connect_servo_eoe_service_interface_index(if_index, dict_path, ip='192.168.3.22', slave=1, port=1061, alias='default', servo_status_listener=False, net_status_listener=False)¶

Connect to target servo by Ethernet over EtherCAT

Parameters

if_index (int) – interface index in list given by function get_interface_name_list().
dict_path (str) – servo dictionary path.
ip (str) – IP address to be assigned to the servo.
slave (int) – slave index. 1 by default.
port (int) – servo port. 1061 by default.
alias (str) – servo alias to reference it. default by default.
servo_status_listener (bool) – Toggle the listener of the servo for its status, errors, faults, etc.
net_status_listener (bool) – Toggle the listener of the network status, connection and disconnection.

Raises

TypeError – If the dict_path argument is missing.
IndexError – If interface index is out of range.
FileNotFoundError – If the dict file doesn’t exist.
ValueError – ip must be a subnetwork of 192.168.3.0/24
ingenialink.exceptions.ILError – If the EoE service is not running
ingenialink.exceptions.ILError – If the EoE service cannot be started on the network interface.

Return type

None

scan_servos_eoe_service(ifname)¶

Return a list of available servos.

Parameters: ifname (str) – interface name. It should have format \Device\NPF_[...].
Return type: List[int]
Returns: Drives available in the target interface.
Raises: ingenialink.exceptions.ILError – If the EoE service is not running

scan_servos_eoe_service_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().

Return type

List[int]

Returns

Drives available in the target interface.

Raises

IndexError – If interface index is out of range.
ingenialink.exceptions.ILError – If the EoE service is not running

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

Connect to target servo by CANOpen.

Parameters

can_device (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 (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.
servo_status_listener (bool) – Toggle the listener of the servo for its status, errors, faults, etc.
net_status_listener (bool) – Toggle the listener of the network status, connection and disconnection.

Raises

FileNotFoundError – If either of the dict files doesn’t exist.
ingenialink.exceptions.ILError – If CANOpen device type, node id or channel is incorrect.

Return type

None

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

Scan CANOpen device network to get all nodes.

Parameters

can_device (CAN_DEVICE) – CANOpen device type.
baudrate (CAN_BAUDRATE) – communication baudrate. 1 Mbit/s by default.
channel (int) – CANOpen device channel. 0 by default.

Return type

List[int]

Returns

List of node ids available in the network.

disconnect(servo='default')¶

Disconnect servo.

Parameters: servo (str) – servo alias to reference it. default by default.
Return type: None

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.

Return type

Union[int, float, str]

Returns

Current register value.

Raises

ingenialink.exceptions.ILAccessError – If the register access is write-only.
IMRegisterNotExist – If the register doesn’t exist.

set_register(register, value, servo='default', axis=1)¶

Set a value of a target register.

Parameters

register (str) – register UID.
value (Union[int, float]) – new value for the register.
servo (str) – servo alias to reference it. default by default.
axis (int) – servo axis. 1 by default.

Raises

TypeError – If the value is of the wrong type.
IMRegisterNotExist – If the register doesn’t exist.
IMRegisterWrongAccess – If the register access is read-only.

Return type

None

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.

Return type

None

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.

Return type

None

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.

Return type

None

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.

Return type

None

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 (Optional[Callable]) – callback with status.
progress_callback (Optional[Callable]) – callback with progress.
error_enabled_callback (Optional[Callable]) – callback with errors enabled.

Raises

ValueError – If servo is not connected via CANopen.

Return type

None

load_firmware_ecat(ifname, fw_file, slave=1)¶

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.

Raises

FileNotFoundError – If the firmware file cannot be found.
ingenialink.exceptions.ILFirmwareLoadError – If no slave is detected.
ingenialink.exceptions.ILFirmwareLoadError – If the FoE write operation is not successful
NotImplementedError – If FoE is not implemented for the current OS and architecture

Return type

None

load_firmware_ecat_interface_index(if_index, fw_file, slave=1)¶

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.

Raises

IndexError – If interface index is out of range.
FileNotFoundError – If the firmware file cannot be found.
ingenialink.exceptions.ILFirmwareLoadError – If no slave is detected.
ingenialink.exceptions.ILFirmwareLoadError – If the FoE write operation is not successful
NotImplementedError – If FoE is not implemented for the current OS and architecture

Return type

None

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 (Optional[str]) – FTP user to connect with.
ftp_pwd (Optional[str]) – FTP password for the given user.

Return type

None

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 (Optional[str]) – FTP user to connect with.
ftp_pwd (Optional[str]) – FTP password for the given user.

Raises

ValueError – If servo is not connected via Ethernet.

Return type

None

boot_mode(servo='default')¶

Set servo to boot mode. Servo is disconnected.

Parameters: servo (str) – servo alias to reference it. default by default.
Return type: None