feathersdk.robot.actuators.ezmotion.ezmotion Module

feathersdk.robot.actuators.ezmotion.ezmotion.EC_PER_ROT = 65536

The number of encoder counts per rotation of the motor.

class feathersdk.robot.actuators.ezmotion.ezmotion.EZMotionControlMode(value)

Bases: UniqueIntEnum

EZMotion motor control modes.

AutoTuning = -4
INLCalibration = -3
RotorAlignment = -2
Position = 1
Velocity = 3
Torque = 4
Homing = 6
CSP = 8
CSV = 9
CST = 10
class feathersdk.robot.actuators.ezmotion.ezmotion.EZMotionHomingMethod(value)

Bases: UniqueIntEnum

EZMotion homing methods.

TorqueUp = -3
TorqueDown = -2
Reserved = -1
NoHoming = 0
IndexPulseEarlier = 33
IndexPulseLater = 34
class feathersdk.robot.actuators.ezmotion.ezmotion.EZMotionError(value)

Bases: UniqueIntEnum

EZMotion error codes.

OCP = 0
ULVO = 1
LOCK = 2
VIN_LIMIT = 3
OVERLOAD = 4
POS_LIMIT = 5
SENSOR_ERR = 6
OVER_VOLTAGE = 9
static get_errors(error_status)

Get the errors from the error status word.

Parameters:

error_status (int)

Return type:

list[EZMotionError]

class feathersdk.robot.actuators.ezmotion.ezmotion.EZMotionParam(*, mode, dtype, telem_capacity=10, name='', itemsize=0, idx, range=None, default)

Bases: TelemetryParameter[~TEZMotionParamVal], Generic[TEZMotionParamVal]

Parameters:

  • mode (Literal['r', 'w', 'rw', 'x'])

  • dtype (type | dtype)

  • telem_capacity (int)

  • name (str)

  • itemsize (int)

  • idx (Annotated[Tuple[int, int], BeforeValidator(func=~feathersdk.robot.actuators.ezmotion.ezmotion.<lambda>, json_schema_input_type=PydanticUndefined)])

  • range (NumericRange | None)

  • default (TEZMotionParamVal)

idx: <lambda>, json_schema_input_type=PydanticUndefined)]

The canopen register index and subindex. Can be Tuple[idx, subidx] or int for 0 subindex.

range: NumericRange | None

The range of values for the parameter.

default: TEZMotionParamVal

The default value for the parameter.

is_within_range(value)

Checks if value is within the acceptible range for the parameter

Parameters:

value (int | float | integer | floating)

Return type:

bool

property readable: bool
property writable: bool
model_config: ClassVar[ConfigDict] = {'arbitrary_types_allowed': True, 'frozen': False}

Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

class feathersdk.robot.actuators.ezmotion.ezmotion.EZMotionParamSet

Bases: TelemetryParameterSet[EZMotionParam, TEZMotionParamVal]

EZMotion motor parameters

There are 65536 encoder counts per revolution of the motor, see ENCODER_COUNTS_PER_REVOLUTION.

control_word: EZMotionParam[int] = EZMotionParam.control_word

Used to send setup/control commands to the motor via bit flags.

Bits  | Name           | Description
------|----------------|------------
15:11 | Op-specific    | Depends on the operation mode. See below.
10    | Reserved       | Unused
9     | Op-specific    | Depends on the operation mode. See below.
8     | Halt           | Enable halt
7     | Fault Reset    | Change from 0 to 1 to reset internal fault registers
6:4   | Op-specific    | Depends on the operation mode. See below.
3     | Enable Op      | Enable operation mode
2     | Quick Stop     | Enable quick stop mode
1     | Enable Voltage | Enable voltage to the motor (don't listen to the docs, this does have an effect)
0     | Switch On      | Enable the power stage switch

Operation-specific bits:

  • Position (PP) Mode: * 15-9, 5: Unused * 6: 0 = absolute position mode, 1 = relative position mode * 4: Set new target position. On rising edge, new target position/profile parameters are applied.

  • Homing Mode: * 15-9, 6-5: Unused * 4: 0 = no homing, 1 = homing enabled

status_word: EZMotionParam[int] = EZMotionParam.status_word

Shows current state of the motor.

Bits  | Name                  | Description
------|-----------------------|------------
15:12 | Op-specific           | Depends on the operation mode. See below.
11    | Internal Limit Active | 1 if in position mode and the position limit is reached
10    | Op-specific           | Depends on the operation mode. See below.
9     | Remote                | If set, parameters may be modified by communication. (Not sure what that means...)
8     | Op-specific           | Depends on the operation mode. See below.
7     | Warning               | If set, a warning condition is present
6     | Switch On Disabled    | If set, the driver is in the switch on disabled state
5     | Quick Stop            | 1 = quick stop is able to perform, 0 = quick stop is active (or unable to perform)
4     | Voltage Enabled       | Always set to 1
3     | Fault                 | If a fault ocurrs, this bit is set
2     | Operation Enabled     | Indicates whether the current operation mode is active/enabled
1     | Switch On             | If set, the driver is in the switch on state
0     | Ready to Switch On    | If set, the driver is ready to switch on

Operation-specific bits:

  • Position (PP) Mode: * 15-14, 8: Unused * 13: 1 = a new set point is allowed, 0 = previous set point is still in progress * 12: following error - 1 if position following error is too large * 10: target reached - 1 if the target position has been reached

  • Homing Mode: * 15-14, 8: Unused * 13: homing error - 1 if homing error is present, 0 if no error * 12: homing complete - 1 if homing is complete, 0 if not complete (not started or in progress) * 10: target reached - 1 if the set point is reached

operation_mode: EZMotionParam[EZMotionControlMode] = EZMotionParam.operation_mode

The current operation mode of the motor.

position: EZMotionParam[int] = EZMotionParam.position

The current position of the motor in encoder counts.

target_position: EZMotionParam[int] = EZMotionParam.target_position

The target position of the motor in encoder counts.

min_position_limit: EZMotionParam[int] = EZMotionParam.min_position_limit

The minimum position limit of the motor in encoder counts.

max_position_limit: EZMotionParam[int] = EZMotionParam.max_position_limit

The maximum position limit of the motor in encoder counts.

profile_velocity: EZMotionParam[int] = EZMotionParam.profile_velocity

The target velocity of the motor in encoder counts per second.

profile_acceleration: EZMotionParam[int] = EZMotionParam.profile_acceleration

The target acceleration of the motor in encoder counts per second squared.

profile_deceleration: EZMotionParam[int] = EZMotionParam.profile_deceleration

The target deceleration of the motor in encoder counts per second squared.

homing_torque: EZMotionParam[int] = EZMotionParam.homing_torque

The torque to trigger homing detection in per-mil of rated torque.

homing_offset: EZMotionParam[int] = EZMotionParam.homing_offset

After finding homing position, move this many encoder counts away from homing position to set zero position.

homing_method: EZMotionParam[EZMotionHomingMethod] = EZMotionParam.homing_method

The method to use for homing.

homing_speed_other: EZMotionParam[int] = EZMotionParam.homing_speed_other

Other spede thing

homing_speed_zero: EZMotionParam[int] = EZMotionParam.homing_speed_zero

torque homing, not switch homing).

Type:

The speed to use for homing when detecting the zero position (IE

homing_acceleration: EZMotionParam[int] = EZMotionParam.homing_acceleration

The acceleration to use for homing.

error_status: EZMotionParam[int] = EZMotionParam.error_status

Current error status of the motor.

velocity: EZMotionParam[int] = EZMotionParam.velocity

The current velocity of the motor in encoder counts per second.

torque: EZMotionParam[int] = EZMotionParam.torque

The current torque of the motor in per-mil of rated torque.

current: EZMotionParam[int] = EZMotionParam.current

The current of the motor in per-mil of rated current.

temperature: EZMotionParam[int] = EZMotionParam.temperature

The temperature of the motor in degrees Celsius.

feathersdk.robot.actuators.ezmotion.ezmotion.build_control_word(enable_op=False, quick_stop=True, fault_reset=False, switch_on=False, disable_power=False, new_position=False)

Create a control work value from a set of parameters.

Parameters:
Return type:

int

feathersdk.robot.actuators.ezmotion.ezmotion.EZPS = <feathersdk.robot.actuators.ezmotion.ezmotion.EZMotionParamSet object>

EZMotion parameter set.

class feathersdk.robot.actuators.ezmotion.ezmotion.EZMotionMotorConfig(*, name, id, endpoint='', shares_endpoint_with=None, requires_calibration, calibration_timeout=10.0, target_velocity=131072, target_acceleration=3276800, target_deceleration=3276800, homing_torque=750, homing_offset=131072, homing_speed=327680, homing_acceleration=3276800, homing_timeout=60, message_retry_delay=0.03, message_send_attempts=10)

Bases: MotorConfig

The config for the EZMotion motor.

Parameters:
target_velocity: int

The target velocity for the motor in encoder counts per second.

target_acceleration: int

The target acceleration for the motor in encoder counts per second squared.

target_deceleration: int

The target deceleration for the motor in encoder counts per second squared.

homing_torque: int

The torque to trigger homing detection in per-mil of rated torque.

homing_offset: int

After finding homing position, move this many encoder counts away from homing position to set zero position.

homing_speed: int

The speed to use for homing in encoder counts per second.

homing_acceleration: int

The acceleration to use for homing in encoder counts per second squared.

homing_timeout: float

The timeout in seconds to wait for the motor to reach the homing position.

model_config: ClassVar[ConfigDict] = {'frozen': True}

Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

message_retry_delay: float

The delay in seconds to wait between message send attempts.

message_send_attempts: int

The number of attempts to send a message to the motor when awaiting a response.

class feathersdk.robot.actuators.ezmotion.ezmotion.EZMotionCalibrationState(*, calibrated=True, calibration_time=<factory>)

Bases: PyDFrozenBaseModel

The calibration state of an EZMotion motor.

Parameters:
model_config: ClassVar[ConfigDict] = {'frozen': True}

Configuration for the model, should be a dictionary conforming to [ConfigDict][pydantic.config.ConfigDict].

calibrated: bool

Whether the motor is calibrated.

calibration_time: float

The system time when the calibration was performed.

class feathersdk.robot.actuators.ezmotion.ezmotion.EZMotionMotor(config, *args, **kwargs)

Bases: Motor[EZMotionMotorConfig, EZMotionParamSet, EZMotionParam, TEZMotionParamVal]

Ezmotion motor.

Parameters:
calibration_state = EZMotionCalibrationState(calibrated=False, calibration_time=2678321.301822307)

The calibration state of the motor.

PARAM_SET: EZMotionParamSet = <feathersdk.robot.actuators.ezmotion.ezmotion.EZMotionParamSet object>

The parameter set for EZMotion motors.

node: RemoteNode | None = None

The canopen node for the motor. Used to access the motor’s SDOs.

go_to(position, velocity=None, acceleration=None)

Go to the given position in encoder counts.

Parameters:

  • position (int) – The position to go to in encoder counts.

  • velocity (int | None) – The velocity to go to in encoder counts per second. If None, the velocity will be set to the target velocity of the motor.

  • acceleration (int | None) – The acceleration to go to in encoder counts per second squared. If None, the acceleration will be set to the target acceleration of the motor.

Return type:

None

write_param(param, value)

Write a parameter value to the motor.

Parameters:
Return type:

None

read_param(param)

Read a parameter value from the motor.

Parameters:

param (EZMotionParam)

Return type:

TEZMotionParamVal

enable()

Enable the motor.

Return type:

None

disable()

Disable the motor.

Return type:

None

reset_faults()

Reset the faults for the motor and disable it.

Return type:

None

set_operation_mode(operation_mode)

Set the operation mode for the motor.

Parameters:

operation_mode (EZMotionControlMode)

Return type:

None

set_target_position(target_position, transition_now=True)

Set the target position for this motor in encoder counts.

Parameters:

  • target_position (int) – The target position to set in encoder counts.

  • transition_now (bool) – Whether to tell the motor to begin transitioning to the new position immediately.

Return type:

None

set_target_velocity(target_velocity)

Set the target velocity for this motor in encoder counts per second.

Parameters:

target_velocity (int)

Return type:

None

set_target_acceleration(target_acceleration)

Set the target acceleration for this motor in encoder counts per second squared.

Parameters:

target_acceleration (int)

Return type:

None

set_target_deceleration(target_deceleration)

Set the target deceleration for this motor in encoder counts per second squared.

Parameters:

target_deceleration (int)

Return type:

None

read_state()

Read all of the important state parameters from the motor.

Return type:

None

has_error()

Check if the motor has any errors.

Return type:

bool

get_errors()

Get the errors from the motor.

Return type:

list[EZMotionError]