Changelog¶
[0.7.0] - 2023-11-29¶
Added¶
Functions needed to load firmware to a Motion Core (MoCo).
COM-KIT support.
In Information class: get_product_name, get_node_id, get_ip, get_slave_id, get_name, get_communication_type, get_full_name, get_subnodes, get_categories, get_dictionary_file_name.
In Configuration class: get_drive_info_coco_moco, get_product_code, get_revision_number, get_serial_number, get_fw_version
no_connection marker is added for unit testing.
Add mypy into the project.
Add types for all functions and classes.
Make and pass the first static type analysis.
Function to change the baudrate of a CANopen device
Function to get the vendor ID
Function to change the node ID of a CANopen device
Resolution and polarity test for DC motors (resolution test needs human check)
Feedbacks functions to set/get feedback polarity
Add in configuration set_velocity_pid, set_position_pid and get_rated_current
Add functions to connect to and scan EtherCAT devices using CoE (SDOs).
Optional backup registers for Wizard tests.
Fixed¶
check_motor_disabled decorator does not work with positional arguments
Adapt get_encoded_image_from_dictionary for COM-KIT
Feedback test output when symmetry and resolution errors occurred simultaneously.
Raise exception if monitoring and disturbance features are not available.
Changed¶
Use ingenialink to get the drive’s encoded image from the dictionary.
Update subscribe and unsubscribe to network status functions.
Deprecated¶
Support to Python 3.6 and 3.7.
[0.6.3] - 2023-10-11¶
Fixed¶
Remove disturbance data before including new data.
Set positioning mode to NO LIMITS during the feedback test.
[0.6.2] - 2023-09-06¶
Changed¶
Remove EDS file path param from CANopen connection. It is no longer necessary.
Fixed¶
Fix monitoring V3. Remove rearm_monitoring from set_trigger function.
[0.6.1] - 2023-04-03¶
Added¶
connect_servo_eoe_service, connect_servo_eoe_service_interface_index and connect_servo_eoe_service_interface_ip functions.
Changed¶
Removed
boot_in_app
argument from load_firmware_ecat and load_firmware_ecat_interface_index functions. It is not necessary anymore.
Removed¶
connect_servo_ecat, connect_servo_ecat_interface_index and connect_servo_ecat_interface_ip functions.
get_sdo_register, get_sdo_register_complete_access and set_sdo_register functions.
Fixed¶
is_alive function in MotionController.
subscribe_net_status and unsubscribe_net_status works for Ethernet based communication.
[0.6.0] - 2023-01-23¶
Added¶
Pull request template.
Functions get_actual_current_direct and get_actual_current_quadrature.
Test improvements.
Code formatting tool.
Changed¶
README image.
Improve load_FWs script for canopen.
[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…