Python Example

The following example shows how to interface the HDrive with Python. The Example plots the current position and speed inside a graph while the motor is running in oscillation mode.


Drive configuration


Enviroment configuration

To draw graphs out of Python, we need to use a plotting library like matplotlib. You can install matplotlib in Python using the following line:

Matplotlib is a plotting library for Python that provides a variety of tools for creating different types of plots, charts, and graphs. It can be used to visualize data in a variety of formats and is widely used in scientific research, data analysis, and visualization. It is a third-party library that can be installed using pip or conda package managers. Install matplotlib with the following line:

pip install matplotlib

Python Code

import socket
import struct
import threading
import time
import signal
import matplotlib.pyplot as plt

def tcp_send_command_thread(stop_event):
    # Configure Socket
    with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
        # Connect to motor
        s.connect(('', 1000))

        # Compose String to send to the drive
         st = '"<control pos=\"15000\" frequency=\"20\" torque=\"200\" mode=\"135\" offset=\"0\" phase=\"0\" />"'
        s.sendall(st.encode('ascii')) # send XML command  
        # The main thread can continue executing other tasks
        while not stop_event.is_set():
def receive_udp_data(udp_port, stop_event, ring_buffer):
    index = 0
    # Configure Socket
    with socket.socket(socket.AF_INET, socket.SOCK_DGRAM) as s:
        s.bind(('', udp_port))

        while not stop_event.is_set():
            data, addr = s.recvfrom(132) # buffer size is 132 bytes
            int_list = list(struct.unpack("<33i", data)) # interprete 33 int32 numbers
            # Update the ring buffer
            ring_buffer[index] = [int_list[0]*1e-3, int_list[1]/10.0, int_list[2]]
            index = (index + 1) % len(ring_buffer)

def keyboard_interrupt_handler(signal, frame):
    print("Keyboard interrupt received. Stopping the program.")
    # Set the stop event to signal the thread to exit

    # Exit the program

if __name__ == '__main__':
    stop_event = threading.Event()  # create an event object

    # Initialize the ring buffer
    ring_buffer = [[0, 0, 0] for i in range(10000)]

    # create a thread that receives on UDP port 1001    
    udp_receive_thread = threading.Thread(target=receive_udp_data, args=(1001, stop_event, ring_buffer))

    # create a thread that can send commands to the motor    
    tcp_send_command_thread = threading.Thread(target=tcp_send_command_thread, args=(stop_event,))

    # Install the keyboard interrupt handler
    signal.signal(signal.SIGINT, keyboard_interrupt_handler)

    # Initialize the plot
    fig, ax = plt.subplots()
    # The main thread can continue executing other tasks
    while True:
        # Get the latest data from the ring buffer
        time_values = [entry[0] for entry in ring_buffer]
        y_values = [entry[1] for entry in ring_buffer]

        # Update the plot with the latest data
        ax.clear() # Clear the previous plot
        ax.plot(time_values, y_values) # y_values is the list of values you want to plot

        ax.set_xlabel('Time') # Set the x-axis label
        # Show the plot
        plt.pause(0.0001) # Give the plot time to refresh