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Set/Get regeneration-current-limit #18

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Set/Get regeneration-current-limit #18

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2 changes: 2 additions & 0 deletions SoloPy/ConstantCanopen.py
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Original file line number Diff line number Diff line change
Expand Up @@ -81,3 +81,5 @@
Object_MotionProfileVariable3 = 0x3042
Object_MotionProfileVariable4 = 0x3043
Object_MotionProfileVariable5 = 0x3044

Object_RegenerationCurrentLimit = 0x304B
6 changes: 5 additions & 1 deletion SoloPy/ConstantUart.py
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Original file line number Diff line number Diff line change
Expand Up @@ -73,6 +73,8 @@
WriteMotionProfileVariable4 = 0x34
WriteMotionProfileVariable5 = 0x35

WriteRegenerationCurrentLimit = 0x39

ReadDeviceAddress = 0x81
ReadPhaseAVoltage = 0x82
ReadPhaseBVoltage = 0x83
Expand Down Expand Up @@ -139,4 +141,6 @@
ReadMotionProfileVariable2 = 0xBD
ReadMotionProfileVariable3 = 0xBE
ReadMotionProfileVariable4 = 0xBF
ReadMotionProfileVariable5 = 0xC0
ReadMotionProfileVariable5 = 0xC0

ReadRegenerationCurrentLimit = 0xC8
33 changes: 33 additions & 0 deletions SoloPy/SOLOMotorControllersCanopen.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1170,6 +1170,24 @@ def set_motion_profile_variable5(self, motion_profile_variable5: float) -> list:
result, error = self.CANOpenTransmit(
self._address, ConstantCanopen.Object_MotionProfileVariable5, informationToSend)
return result, error

##
#@brief This command defines the maximum allowed regeneration current sent back from the
# Motor to the Power Supply during decelerations
# .The method refers to the Object Dictionary: 0x304B
#@param regeneration_current_limit a float value [Amps]
#@retval List of [bool 0 fail / 1 for success, ERROR class/enumeration]
def set_regeneration_current_limit(self, regeneration_current_limit: float) -> list:
error = ERROR.NO_PROCESSED_COMMAND
InputValidate, error, logMsg = set_regeneration_current_limit_input_validation(regeneration_current_limit)
if (InputValidate is False):
self._logger.info(logMsg)
return False, error
regeneration_current_limit = float(regeneration_current_limit)
informationToSend = convert_to_data(regeneration_current_limit, DATA_TYPE.SFXT)
result, error = self.CANOpenTransmit(
self._address, ConstantCanopen.Object_RegenerationCurrentLimit, informationToSend)
return result, error
# ----------------------------------------------
# ---------------------Read---------------------
# ----------------------------------------------
Expand Down Expand Up @@ -2074,3 +2092,18 @@ def get_motion_profile_variable5(self) -> list:
if (error == ERROR.NO_ERROR_DETECTED) and (result is True):
return convert_from_data(informationReceived, DATA_TYPE.SFXT), error
return -1.0, error

##
#@brief This command reads the value of the regeneration current sent back from the
# Motor to the Power Supply during decelerations
# .The method refers to the Object Dictionary: 0x304B
#@retval List of [float [Amps], ERROR class/enumeration]
def get_current_limit(self) -> list:
informationToSend = [0x00, 0x00, 0x00, 0x00]
informationReceived = []
error = ERROR.NO_PROCESSED_COMMAND
result, error, informationReceived = self.CANOpenReceive(
self._address, ConstantCanopen.Object_RegenerationCurrentLimit, informationToSend)
if (error == ERROR.NO_ERROR_DETECTED) and (result is True):
return convert_from_data(informationReceived, DATA_TYPE.SFXT), error
return -1.0, error
35 changes: 35 additions & 0 deletions SoloPy/SOLOMotorControllersUart.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1128,6 +1128,26 @@ def set_motion_profile_variable5(self, motion_profile_variable5: float) -> list:
data[0], data[1], data[2], data[3]]
return self.__exec_cmd(cmd)

##
#@brief This command reads the value of the regeneration current sent back from the
# Motor to the Power Supply during decelerations
# .The method refers to the Uart Write command: 0xC8
#@param current_limit a float value [Amps]
#@retval List of [bool 0 fail / 1 for success, ERROR class/enumeration]
def set_regeneration_current_limit(self, regeneration_current_limit: float) -> list:
error = ERROR.NO_PROCESSED_COMMAND
InputValidate, error, logMsg = set_regeneration_current_limit_input_validation(regeneration_current_limit)
if (InputValidate is False):
self._logger.info(logMsg)
return False, error

regeneration_current_limit = float(regeneration_current_limit)
data = convert_to_data(regeneration_current_limit, DATA_TYPE.SFXT)
cmd = [self._address, ConstantUart.WriteRegenerationCurrentLimit,
data[0], data[1], data[2], data[3]]

return self.__exec_cmd(cmd)

# ----------------------------------------------
# ---------------------Read---------------------
# ----------------------------------------------
Expand Down Expand Up @@ -1997,3 +2017,18 @@ def get_motion_profile_variable5(self) -> list:
return convert_from_data(data, DATA_TYPE.SFXT), ERROR.NO_ERROR_DETECTED
else:
return -1, error

##
#@brief This command reads the value of the regeneration current sent back from the
# Motor to the Power Supply during decelerations
# .The method refers to the Uart Read command: 0x39
#@retval List of [float [Amps], ERROR class/enumeration]
def get_regeneration_current_limit(self) -> list:
cmd = [self._address, ConstantUart.ReadRegenerationCurrentLimit,
0x00, 0x00, 0x00, 0x00]
result, error = self.__exec_cmd(cmd)
if (result):
data = get_data(cmd)
return convert_from_data(data, DATA_TYPE.SFXT), ERROR.NO_ERROR_DETECTED
else:
return -1, error
5 changes: 5 additions & 0 deletions SoloPy/SOLOMotorControllersUtils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -383,4 +383,9 @@ def set_motion_profile_variable4_input_validation(motion_profile_variable4: floa
def set_motion_profile_variable5_input_validation(motion_profile_variable5: float) -> list:
if (motion_profile_variable5 < 0 or motion_profile_variable5 > 16000):
return False, ERROR.OUT_OF_RANGE_SETTING, ConstantCommon.InputOutOfRange
return True, ERROR.NO_ERROR_DETECTED, ""

def set_regeneration_current_limit_input_validation(regeneration_current_limit : float) -> list:
if (regeneration_current_limit < 0 or regeneration_current_limit > 32):
return False, ERROR.OUT_OF_RANGE_SETTING, ConstantCommon.InputOutOfRange
return True, ERROR.NO_ERROR_DETECTED, ""