Utils

class icepap.utils.Info

Icepap general namespace values.

class icepap.utils.Registers

Icepap register namespace values.

class icepap.utils.State(status_register)

Class to evaluate the status register.

Table from Icepap User Manual - Section Board Status Register

0	PRESENT	1 = driver present
1	ALIVE	1 = board responsive
2-3	MODE	0 = OPER, 1 = PROG, 2 = TEST, 3 = FAIL.
4-6	DISABLE	0 = enable 1 = axis not active 2 = hardware alarm 3 = remote rack disable input signal 4 = local rack disable switch 5 = remote axis disable input signal 6 = local axis disable switch 7 = software disable.
7-8	INDEXER	0 = internal indexer 1 = in-system indexer 2 = external indexer 3 = n/a.
9	READY	1 = ready to move
10	MOVING	1 = axis moving
11	SETTLING	1 = closed loop in settling phase
12	OUTOFWIN	1 = axis out of settling window
13	WARNING	1 = warning condition
14-17	STOPCODE	0 = end of movement 1 = Stop 2 = Abort 3 = Limit+ reached 4 = Limit- reached 5 = Settling timeout 6 = Axis disabled 7 = n/a 8 = Internal failure 9 = Motor failure 10 = Power overload 11 = Driver overheating 12 = Close loop error 13 = Control encoder error 14 = n/a 15 = External alarm.
18	LIMIT+	current value of the limit+ signal
19	LIMIT-	current value of the limit- signal
20	HOME	1 = Home switch reached (only in homing modes)
21	5VPOWER	1 = Aux power supply on
22	VERSERR	1 = inconsistency in firmware versions
23	n/a	n/a
24-31	INFO	In PROG mode: programming phase In OPER mode: master indexer

get_disable_code()

Get the disable code.

Returns

int

get_disable_str()

Get the disable string.

Returns

str

get_indexer_code()

Get the indexer code.

Returns

int

get_indexer_str()

Get indexer string.

Returns

str

get_info_code()

Get programming phase or master indexer accoding to the IcePAP mode.

Returns

str

get_mode_code()

Return the current mode.

Returns

str

get_mode_str()

Return mode (str)

Returns

str

get_stop_code()

Get the stop code.

Returns

int

get_stop_str()

Get the stop code string.

Returns

str

is_5vpower()

Check if the 5v auxiliary power is ON.

Returns

bool

is_alive()

Check if the driver is alive.

Returns

bool

is_disabled()

Check if the driver is disable.

Returns

bool

is_inhome()

Check if the home switch was reached.

Returns

bool

is_limit_negative()

Check if the driver is touching the positive limit.

Returns

bool

is_limit_positive()

Check if the driver is touching the positive limit.

Returns

bool

is_moving()

Check if the driver is moving.

Returns

bool

is_outofwin()

Check if the drive is out of the close loop window.

Returns

bool

is_poweron()

Check if the driver is powered ON.

Returns

bool

is_present()

Check if the driver is present.

Returns

bool

is_ready()

Check if the driver is ready.

Returns

bool

is_settling()

Check if the driver is settling.

Returns

bool

is_verserr()

Check if there is inconsistency in firmware versions.

Returns

bool

is_warning()

Check if the driver is in warning.

Returns

bool

class icepap.utils.TrackMode

Track modes (IcePAP user manual pag. 139).

class icepap.utils.Answers

Icepap answers values (str)

class icepap.utils.Mode

Icepap modes (IcePAP user manual pag. 22).

class icepap.utils.EdgeType

Edge type used on search routines. IcePAP user manual pag. 124

icepap.utils.deprecated(alt=None)

Deprecation function (decorator) to mark future deprecated methods. @param alt: Alternative command in the new API. @return: decorated function with a deprecation message.