Speed and position profile generator made in Python
Link to Repository: https://github.com/wernerpaulin/PyProfGen
This profile generator is written in Python® 3. It generates a velocity and position profile depending on set parameters like target position, velocity and acceleration.
Table of Contents
- 100ms scan interval
- Generates a velocity and rotary speed profile
- Generates position profile
- Dynamic deceleration ramp calculation in position control mode
- Velocity control
- Absolute position control
- Relative position control
- Automatic mode: cases the profile generator to initiate relative movements
- Stop movement
| Technology | Description |
|---|---|
| Python® | asyncio for concurrent execution of coroutines |
| Eclipse Paho® | MQTT client |
| Docker® | Container technology |
Find this app in the App Store and use it in a machine.
This app requires a MQTT broker which can either run as an app or on a different host but in the same network of the Runtime.
- This app is per default connecting to the Eclipse Mosquitto MQTT broker app on the Runtime. If you choose to use another broker change the environmental variable "MQTT_BROKER_IP".
- This app is per default connecting to the broker via port 1883 which is the default port for MQTT. If you have multiple brokers running in parallel each of these brokers requires a separate port. Please set the environmental variable "MQTT_BROKER_PORT" accordingly.
- An easy way to control this app is using the Node-RED app.
The app publishes the following MQTT topics:
| Topic | Value Example |
|---|---|
| pyprofgen.lenze.mosaiq/parameteronconnect | "{"setDistance": 200, "setVelocity": 300, "setAcceleration": 200, "maxPosition": 1000000000, "minPosition": -1000000000, "maxVelocity": 500, "maxAccleration": 1000.0, "maxMotorRotarySpeed": 2000.0, "automaticCycleStopTime": 1.0}" |
| pyprofgen.lenze.mosaiq/monitor | "{"actVelocity": 0, "actPosition": 0, "actRotarySpeed": 0.0}" |
| pyprofgen.lenze.mosaiq/parameter | "{"setDistance": 200, "setVelocity": 300, "setAcceleration": 200, "maxPosition": 1000000000, "minPosition": -1000000000, "maxVelocity": 500, "maxAccleration": 1000.0, "maxMotorRotarySpeed": 2000.0, "automaticCycleStopTime": 1.0}" |
| pyprofgen.lenze.mosaiq/command | Stop: "MC_MoveStop" Move relative: MC_MoveRelative Move absolute: MC_MoveAbsolute Automatic mode: MC_LE_AutomaticMode |
| Container Port | Protocol | Description |
|---|---|---|
| n.a. |
Please note: Ports can be mapped to different host ports in the machine settings
Environmental variables are used to initialize or define a certain functionality of an app and can be changed in the machine settings:
| Variable | Default Value | Changeable by User | Description |
|---|---|---|---|
| MQTT_BROKER_IP | localhost | yes | Hostname or IP address of MQTT broker |
| MQTT_BROKER_PORT | 1883 | yes | Port used by the MQTT broker |
| MQTT_BROKER_KEEPALIVE | 60 | yes | Maximum time that this app does not communicate with the broker |
Mount points are access points to volumes (like paths) provided to the app to read and write data:
| Mount Point | Default Data | Changeable by User | Description |
|---|---|---|---|
| n.a. |
| Developer | Compatibility | Size on Runtime | Copyright | License |
|---|---|---|---|---|
| Lenze SE | Requires Runtime 1.0 or later | 61.7 MB | © 2021- Lenze SE | MIT License. See LICENSE for more information. |
- "Python®" and the Python logos are trademarks or registered trademarks of the Python Software Foundation.
- "Eclipse®", "Mosquitto®", Paho® and the respective logos are trademarks or registered trademarks of the Eclipse Foundation.
- "Docker®" and "Docker Hub®" are trademarks or registered trademarks of Docker.