Accessories

Control the conveyor and slideway, and run lost-step detection.

The setters wait until the arm has executed the command (inside batch, they only queue it), return True, and raise a DobotAlarmError subclass if the arm reports an alarm.

Member	Description
Magician.set_converyor	Run or stop a conveyor motor.
Magician.set_conveyor	Alias of set_converyor.
Magician.set_device_withl	Enable or disable the slideway.
Magician.set_ptpl_params	Set slideway velocity and acceleration ratios.
Magician.set_ptpwithl_cmd	Run a point-to-point move with a slideway move.
Magician.get_posel	Read the slideway position.
Magician.set_lost_step_params	Set the lost-step threshold.
Magician.set_lost_step_cmd	Run a lost-step check.
Magician.get_lost_step_result	Read the active alarm names.

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Conveyor

Magician.set_converyor

Magician.set_converyor(index, enable, speed) -> bool

Run or stop a conveyor motor.

Parameters

Name	Type	Description
index	int	Motor: Magician.Stepper1 (0) or Magician.Stepper2 (1).
enable	bool	Power the motor.
speed	float	Speed, pulses per second. Negative values reverse the direction. Rounded to an integer.

Returns bool: True.

Example

bot.set_converyor(bot.Stepper1, True, 5000)
bot.set_converyor(bot.Stepper1, False, 0)

Magician.set_conveyor

Magician.set_conveyor(index, enable, speed) -> bool

Alias of set_converyor.

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Slideway

Magician.set_device_withl

Magician.set_device_withl(enable, version=0) -> bool

Enable or disable the slideway.

Parameters

Name	Type	Description
enable	bool	Enable the slideway.
version	int, default 0	Slideway version. 0 for version 1, 1 for version 2.

Returns bool: True.

Magician.set_ptpl_params

Magician.set_ptpl_params(vel, accel) -> bool

Set the velocity and acceleration ratios of the slideway.

Parameters

Name	Type	Description
vel	float	Velocity ratio, percent, from 1 to 100.
accel	float	Acceleration ratio, percent, from 1 to 100.

Returns bool: True.

Magician.set_ptpwithl_cmd

Magician.set_ptpwithl_cmd(mode, x, y, z, r, l) -> bool

Run a point-to-point move that also moves the slideway.

Requires the slideway to be enabled with set_device_withl.

Parameters

Name	Type	Description
mode	PTPMode or int	Trajectory mode.
x, y, z, r	float	Arm target, as in ptp.
l	float	Slideway position, mm.

Returns bool: True.

Magician.get_posel

Magician.get_posel() -> float

Read the slideway position.

Returns float: position, mm.

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Lost-step detection

Magician.set_lost_step_params

Magician.set_lost_step_params(value) -> bool

Set the lost-step detection threshold.

Parameters

Name	Type	Description
value	float	Threshold, degrees.

Returns bool: True.

Magician.set_lost_step_cmd

Magician.set_lost_step_cmd() -> bool

Run a lost-step check.

Returns bool: True.

Raises DobotLostStepError: a lost step was detected (alarms LOST_STEP_J1 to LOST_STEP_J4).

Magician.get_lost_step_result

Magician.get_lost_step_result() -> list[str]

Read the names of the active alarms.

Returns list[str]: active alarm names. A lost step appears as LOST_STEP_J1 to LOST_STEP_J4.

Example

try:
    bot.set_lost_step_cmd()
except DobotLostStepError:
    print(bot.get_lost_step_result())