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操作步骤​

步骤 1: 硬件准备​

  1. 连接电源和网络

    • 将 48V 直流电源接入 FSA
    • 连接网线到 FSA
    • 上电后观察 FSA 指示灯状态

  2. 检查指示灯状态

    • ✅ 紫色呼吸灯：正常状态
    • ⚠️ 黄色/红色呼吸灯：出现错误，需要通过上位机查询错误码

  3. 确认 IP 地址

    • 检查 FSA IP 是否为 192.168.137.101

    • 💡 提示：cpp example 默认使用 192.168.137.101 作为目标 FSA 地址

步骤 2: 环境配置​

Linux 环境​

# 安装编译工具
sudo apt install build-essential cmake

# 安装 Python 依赖
pip install numpy pandas fi_fsa

Windows 环境​

# 安装 Python 依赖
pip install numpy pandas fi_fsa

步骤 3: 运行示例​

C++ - Linux​

# 进入示例目录
cd Linux-x86_64/cpp/example

# 编译
cmake -B build -G "Unix Makefiles" && cmake --build build

# 运行示例
./build/get_pvctte

C++ - Windows​

# 进入示例目录
cd Windows-x86_64\cpp\example

# 编译（需要 MinGW）
cmake -B build -G "MinGW Makefiles" && cmake --build build

# 运行示例
.\build\get_pvctte.exe

C++ 示例输出​

如果运行成功，应该看到类似以下输出：

FSA(192.168.137.101): pos: 0.5418, vel: 0.0008, cur: 0.0000, tor: -0.0018, tor_e: 0.0000
FSA(192.168.137.101): elapsed time: 260 us
FSA(192.168.137.101): pos: 0.5418, vel: 0.0008, cur: 0.0000, tor: 0.0104, tor_e: 0.0000
FSA(192.168.137.101): elapsed time: 314 us
FSA(192.168.137.101): pos: 0.5418, vel: 0.0008, cur: 0.0000, tor: 0.0104, tor_e: 0.0000
FSA(192.168.137.101): elapsed time: 99 us
FSA(192.168.137.101): pos: 0.5418, vel: 0.0008, cur: 0.0000, tor: 0.0104, tor_e: 0.0000
FSA(192.168.137.101): elapsed time: 276 us
FSA(192.168.137.101): pos: 0.5418, vel: 0.0008, cur: 0.0000, tor: 0.0104, tor_e: 0.0000
FSA(192.168.137.101): elapsed time: 231 us
FSA(192.168.137.101): pos: 0.5418, vel: 0.0008, cur: 0.0000, tor: 0.0104, tor_e: 0.0000
FSA(192.168.137.101): elapsed time: 1308 us
FSA(192.168.137.101): pos: 0.5418, vel: -0.0012, cur: 0.0000, tor: 0.0032, tor_e: 0.0000
FSA(192.168.137.101): elapsed time: 88 us
FSA(192.168.137.101): pos: 0.5418, vel: -0.0012, cur: 0.0000, tor: 0.0032, tor_e: 0.0000

⚠️ 故障排除：若返回错误码，请参考 C++ API 文档 查询对应状态码并排除错误。

Python - Linux​

# 进入示例目录
cd Linux-x86_64/python/v2/example

# 运行示例
python3 ./demo_fast_get_pvct.py

Python - Windows​

# 进入示例目录
cd Windows-x86_64\python\v2\example

# 运行示例
python .\demo_fast_get_pvct.py

Python 示例输出​

如果运行成功，应该看到类似以下输出：

[2026.01.19 13:37:27.333.072]  Info:    192.168.137.101 : Send Data: b'\x1d'
[2026.01.19 13:37:27.333.072]  Info:    192.168.137.101: Server received from ('192.168.137.101', 2335):b'\x1dA\xf8U&\xbc\xa0\xac\xbb\x00\x00\x00\x00:t\xfbX'
Position = 31.041576, Velocity = -0.019614, Current = 0.000000, Torque = 0.000935
[2026.01.19 13:37:27.534.313]  Info:    192.168.137.101 : Send Data: b'\x1d'
[2026.01.19 13:37:27.534.864]  Info:    192.168.137.101: Server received from ('192.168.137.101', 2335):b'\x1dA\xf8U)<A\x96\xa8\x00\x00\x00\x00:\xa7\xf56'
Position = 31.041582, Velocity = 0.011816, Current = 0.000000, Torque = 0.001281
[2026.01.19 13:37:27.735.719]  Info:    192.168.137.101 : Send Data: b'\x1d'
[2026.01.19 13:37:27.736.739]  Info:    192.168.137.101: Server received from ('192.168.137.101', 2335):b'\x1dA\xf8UA=x\x04\x86\x00\x00\x00\x00;\x7ff\xdc'
Position = 31.041628, Velocity = 0.060551, Current = 0.000000, Torque = 0.003897
[2026.01.19 13:37:27.936.982]  Info:    192.168.137.101 : Send Data: b'\x1d'
[2026.01.19 13:37:27.937.490]  Info:    192.168.137.101: Server received from ('192.168.137.101', 2335):b'\x1dA\xf8UO<\xf7\xba\xe6\x00\x00\x00\x00\xbb\xc1\x8c\x80'
Position = 31.041655, Velocity = 0.030240, Current = 0.000000, Torque = -0.005907
[2026.01.19 13:37:28.138.463]  Info:    192.168.137.101 : Send Data: b'\x1d'
[2026.01.19 13:37:28.138.967]  Info:    192.168.137.101: Server received from ('192.168.137.101', 2335):b'\x1dA\xf8U\x1a=r\x1d\xd2\x00\x00\x00\x00;\x91^\xcd'
Position = 31.041553, Velocity = 0.059110, Current = 0.000000, Torque = 0.004436

步骤 4: 使 FSA 转动​

⚠️ 安全提示：

  • 在使 FSA 转动前，必须将 FSA 固定好
  • 确保直流电源限流阈值设置合理（空载可限流在 2A 内）
  • 若 FSA 响应较慢，可能需要调整 PID/PD 参数

位置控制示例 - C++ (Linux)​

# 进入示例目录
cd Linux-x86_64/cpp/example

# 运行示例
./build/position_control

位置控制示例 - C++ (Windows)​

# 进入示例目录
cd Windows-x86_64\cpp\example

# 运行示例
.\build\position_control.exe

位置控制示例 - Python (Linux)​

# 进入示例目录
cd Linux-x86_64/python/v2/example

# 运行示例
python3 ./demo_fast_control_position_mode.py

位置控制示例 - Python (Windows)​

# 进入示例目录
cd Windows-x86_64\python\v2\example

# 运行示例
python .\demo_fast_control_position_mode.py

📚 相关文档​

更多详细文档请参考：

💡 提示​

  • 如果遇到问题，请先检查硬件连接和 IP 地址配置

  • 错误码查询请参考对应的 API 文档

  • 建议在固定 FSA 后再进行运动控制测试