ac_motor_test.py

def generic_test(test_name, axis, vf_tuples, duration = 2.0, savefile = None):
    axis.motor.config.motor_type = 2 # force voltage control
    axis.motor.config.pole_pairs = 1 # ensure vel_setpoint is in [Hz]

    axis.controller.current_setpoint = 0
    axis.requested_state = 11 # open loop
    axis.controller.vel_setpoint = 0
    time.sleep(0.01)
    if axis.current_state != 11:
        raise Exception("not controlling, error code 0x{:02X}".format(axis.error))

    runs = []

    for voltage, frequency in vf_tuples:
        print("{} with {}V @ {}Hz...".format(test_name, voltage, frequency))
        axis.controller.current_setpoint = 0
        time.sleep(3)
        print("go!")
        axis.controller.vel_setpoint = frequency
        axis.controller.current_setpoint = voltage
        start = time.monotonic()
        
        run = {
            "omega_stator": 2 * pi * frequency,
            "omega_rotor": 0, # TODO: record encoder feedback
            "timestamps": [],
            "Vq": [],
            "Vd": [],
            "Iq": [],
            "Id": []
        }

        while time.monotonic() - start < duration:
            run["timestamps"].append(time.monotonic() - start)
            run["Vq"].append(axis.motor.current_control.final_v_q)
            run["Vd"].append(axis.motor.current_control.final_v_d)
            run["Iq"].append(axis.motor.current_control.Iq_measured)
            run["Id"].append(axis.motor.current_control.Id_measured)
            time.sleep(0.001)

        runs.append(run)

    axis.controller.current_setpoint = 0
    axis.requested_state = 1 # idle

    if savefile:
        import json
        with open(savefile, "w") as fp:
            json.dump(runs, fp, indent=4)

    return runs