Synapticon BOT Motion Module
^^^^^^^^^^^^^^^^^^^^^^^^^^^^

|Synapticon|
 
Control our BOT Motion Module Axis over Ethernet with the **CANOpen
CiA402** standard. 
Choose between three control modes

- Position (CSP) 
- Velocity (CSV) 
- Torque (CST)

Example
^^^^^^^

.. code:: python

    import botmotion
    # Create axis object
    axis = botmotion.BotMotion('192.168.0.1', 'CSV')
    # Set velocity
    axis.set_velocity(200)

Get real time operation data
^^^^^^^^^^^^^^^^^^^^^^^^^^^^

With the methods ``get_pdo_in()`` and ``get_pdo_out()`` you get two
structures, which contains all real time operation data (process data
objects). This values are send to and received from the axis. This
structs contain following members. 

PDO In: 
 - ``status_word`` 
 - ``operation_mode``
 - ``position_actual`` 
 - ``velocity_actual`` 
 - ``torque_actual``

PDO Out: 
 - ``control_word`` 
 - ``operation_mode`` 
 - ``position_target`` 
 - ``velocity_target`` 
 - ``torque_target``

.. |Synapticon| image:: https://drive.google.com/uc?id=0B9L28R8oya81dXFmWk43dTNLNzA
   :height: 100px
   :target: https://www.synapticon.com
