BOTMotion 0.2

A python module to control Synapticon BOT Motion Axis

Synapticon BOT Motion Module

Control our BOT Motion Module Axis over Ethernet with the CANOpen CiA402 standard. Choose between three control modes

• Position (CSP)

• Velocity (CSV)

• Torque (CST)

Example

import botmotion
# Create axis object
axis = botmotion.BotMotion('192.168.0.1', 'CSV')
# Set velocity
axis.set_velocity(200)

Get real time operation data

With the methods get_pdo_in() and get_pdo_out() you get two structures, which contains all real time operation data (process data objects). These values are send to and received from the axis. This structure contains the following members.

PDO In:

• status_word

• operation_mode

• position_actual

• velocity_actual

• torque_actual

PDO Out:

• control_word

• operation_mode

• position_target

• velocity_target

• torque_target