Setup python environment

1) install python with Microsoft Store

2) create your workspace folder:

mkdir -p d:\workspace\6dof

3) then cd to this folder and create your python environment:

d: && cd workspace\6dof

python -m venv --system-site-packages 6dof-env

6dof-env\Scripts\activate

pip install -U APScheduler pymodbus pyserial PySide6 pyqtgraph

System settings

In your python console, identify the COM port for your RS485 adaptator:

from serial.tools.list_ports import comports

for port in comports():
    for m in port.__dict__.keys():
        print(m, ": ", port.__getattribute__(m))
    print('-'*79)

Prior to communicate with the driver, we have to check "by hand" the slave parameter.

Default factor settings is for RS485 (Pn064) communication with slave=1. This is the modbus client number to identify your driver 1 for motor1, etc. You can check with:

• Pn065=1 # motor_idx

Assuming that your COM port is COM3 and other communication parameters are defaults to baud=115200, bytesize=8, parity=Odd, stopbits=1. see Pn066 and Pn067. cd to this root folder, we define the controller for our 6 AASD drivers

from pyaasd.sync_pyaasd import Sync_AASD_15A

mycontroller = Sync_AASD_15A(port="COM3")

System settings for internal control

System settings

Internal control is RS485 unlike external or analog control.

Define your motor code number, see your motor's documentation, e.g for 80ST-M02430 the motor code number is 4:

# set motor code (=4) for motor number 1
motor_idx = 1
mycontroller.set_motor_code(motor_idx, 4)

# change the SigIn Ptrigger BIT10=1 for internal control
mycontroller.allow_internal_control(motor_idx, True)

# select internal position control mode
# You need to power cycle the driver to take effect or 
# set it permanently with Fn001.
mycontroller.set_control_mode(motor_idx, 2)

position settings

# set electronic gear ratio to 3 for cell number 4 (Pn101)
mycontroller.set_PM_electronic_gear_ratio(motor_idx, gear_ration=3, cell=4)  

# select S-curve filter for accel & decel mode
mycontroller.set_PM_accel_decel_mode(motor_idx, 2)

# select control source is internal
mycontroller.set_PM_command_source_selection(motor_idx, 2)

Move motor

Now we can move the motor

# enable the motor
mycontroller.set_enable_motor(motor_idx, True)

# Move to the position 1.5 CW
mycontroller.set_PM_move(motor_idx, 1, 5000)

# disable the motor
mycontroller.set_enable_motor(motor_idx, False)