def get_upper_limit_switch(self):
self._send_command(self.GET_ACTUAL_STATUS)
ans = self._read_answer()
try:
status = bool(int(ans[0]))
except IndexError:
return Result(success=False)
except ValueError:
return Result(success=False)
return Result(success=True, value=status)
def is_enabled(self):
self._send_command(self.GET_STATUS)
ans = self._read_answer()
try:
status = bool(int(ans[3]))
except IndexError:
return Result(success=False)
except ValueError:
return Result(success=False)
return Result(success=True, value=status)
def get_operating_status(self):
success, ans = self._get_int(GET_OPERATING_STATUS)
if not success:
return Result(success=False)
ret = {}
ret["homing_running"] = bool((1 << 0) & ans)
ret["program_running"] = bool((1 << 1) & ans)
ret["program_stopped_delay"] = bool((1 << 2) & ans)
ret["program_stopped_notify"] = bool((1 << 3) & ans)
ret["current_limit_active"] = bool((1 << 4) & ans)
ret["devication_error"] = bool((1 << 5) & ans)
ret["overvoltage"] = bool((1 << 6) & ans)
ret["overtemperature"] = bool((1 << 7) & ans)
ret["status_input_1"] = bool((1 << 8) & ans)
ret["status_input_2"] = bool((1 << 9) & ans)
ret["status_input_3"] = bool((1 << 10) & ans)
ret["position_attained"] = bool((1 << 16) & ans)
ret["continuous_current_limit"] = bool((1 << 17) & ans)
return Result(success=True, value=ret)
def get_config_status(self):
success, ans = self._get_int(GET_CONFIG_STATUS)
if not success:
return Result(success=False)
ret = {}
ret["automatic_response"] = ((ans >> CST_AUTOMATIC_RESPONSE_BITSHIFT)
& CST_AUTOMATIC_REPONSE_BITMASK)
ret["velocity_presetting"] = ((ans >> CST_VELOCITY_PRESETTING_BITSHIFT)
& CST_VELOCITY_PRESETTING_BITMASK)
ret["mode"] = ((ans >> CST_MODE_BITSHIFT) & CST_MODE_BITMASK)
ret["power_amplifier"] = ((ans >> CST_POWER_AMPLIFIER_BITSHIFT)
& CST_POWER_AMPLIFIER_BITMASK)
ret["position_controller"] = ((ans >> CST_POSITION_CONTROLLER_BITSHIFT)
& CST_POSITION_CONTROLLER_BITMASK)
ret["analogue_direction"] = ((ans >> CST_ANALOGUE_DIRECTION_BITSHIFT)
& CST_ANALOGUE_DIRECTION_BITMASK)
ret["position_limits"] = ((ans >> CST_POSITION_LIMITS_BITSHIFT)
& CST_POSITION_LIMITS_BITMASK)
ret["sin_commutation"] = ((ans >> CST_SIN_COMMUTATION_BITSHIFT)
& CST_SIN_COMMUTATION_BITMASK)
return Result(success=True, value=ret)
def is_homing(self):
success, ans = self.get_int(GET_OPERATING_STATUS)
if not success:
return Result(success=False)
return Result(success=True, value=bool((1 << 0) & ans))
def is_enabled(self):
result = self._get_int(self.CONTROL_STATUS)
if not result.success:
return Result(success=False)
status = bool((1 << 10) & result.value)
return Result(success=True, value=status)
def get_upper_limit_switch(self):
result = self.get_operating_status()
if not result.success:
return Result(success=False)
status = result.value["status_input_2"]
return Result(success=True, value=status)