node.wu16(0x6040,0x6) # controlword (shutdown)
node.wu16(0x6040,0xF) # controlword (switch on)
node.ws16(0x2030,I)
for i in range(500):
time.sleep(0.2)
print('Actual Current: {0} mA'.format(node.rs16(0x6078)))
except KeyboardInterrupt:
node.ws16(0x2030,0)
else:
print('* Velocity Mode Test.')
V = 1000
A = 500
D = 500
node.ws8(0x6060,3) # mode of operation
node.wu32(0x607F,4000) # max profile v rpm
node.wu32(0x6083,A) # profile acceleration
node.wu32(0x6084,D) # profile deceleration
node.wu32(0x6085,10000) # quick stop deceleration
node.ws16(0x6086,0) # motion profile type, 0 - trapez.
node.wu16(0x6040,0x6) # controlword (shutdown)
node.wu16(0x6040,0xF) # controlword (switch on)
for i in range(4):
if i%2 == 0:
node.ws32(0x60FF,V) # target velocity
else:
node.ws32(0x60FF,-V) # target velocity
node.wu16(0x6040,0xF) # controlword (switch on)
for i in range(20):
time.sleep(0.2)
print('Actual Velocity: {0}'.format(node.rs32(0x606C)))
waiter = canio2.TriggersWaiter(io_service)
print('Resetting node...')
if n.reset(6000) == False:
print 'Boot Timeout'
sys.exit(1)
print('Node state after reset: ' + str(n.state))
n.state = CANopenNode.STATES.OPERATIONAL
time.sleep(0.1)
if n.state == CANopenNode.STATES.OPERATIONAL:
print('Node state : OPERATIONAL')
else:
raise Exception('Can\'t setup operational mode')
try:
# Initialisation
n.wu32(0x3004,0) # disable power stage
time.sleep(0.1)
n.wu32(0x3900, 0x1) # motor type
# controller feedback (encoder OR hall sensors)
# Encoder feedback
n.wu32(0x3910, 8) # poles N
n.wu32(0x3911, 9)
n.wu32(0x3350, 0, 0x96A) # encoder feedback for the velocity controller
n.wu32(0x3550, 0x9A6) # encoder feedback for the secondary velocity controller
n.wu32(0x3962, ENCODER_RESOLUTION) # encoder
#n.wu32(0x3963, ENCODER_LINES) # encoder
# Controller parameters
# Velocity controller
n.wu32(0x3310, 100) # PID Vel Kp (proportional factor)
n.wu32(0x3311, 0) # PID Vel Ki (integral factor)
n.wu32(0x3312, 0) # PID Vel Kd (differential factor)
