Python API

Data Unit Description:

Data Type	Unit
Position	Degrees (angular)
Velocity	Degrees/second (angular)
Current	A
Torque	N·m

comm Interface

get_comm_root(server_ip)

The corresponding Python script demo for this function is demo_lookup.py

Function Description:

Function	Get the basic properties of the actuator
Parameters	server_ip： actuator IP ,type: str
Return Value	All basic properties of the corresponding actuator, including serial number, network configuration, etc., type: dict.

get_comm_driver_version(server_ip)

The corresponding Python script demo for this function is demo_comm_driver_firmware_version_get.py

Function Description:

Function	Get the driver firmware version of the actuator
Parameters	server_ip： actuator IP ,type: str
Return Value	Driver firmware version of the corresponding actuator, type: str.

get_comm_firmware_version(server_ip)

The corresponding Python script demo for this function is demo_comm_driver_firmware_version_get.py

Function Description:

Function	Get the communication firmware version of the actuator
Parameters	server_ip： actuator IP ,type: str
Return Value	Communication firmware version of the corresponding actuator, type: str.

get_comm_config(server_ip)

The corresponding Python script demo for this function is demo_comm_config_get.py

Function	Get the config properties of the actuator (will print the actuator's config properties in the terminal)
Parameters	server_ip： actuator IP ,type: str
Return Value	Whether the operation was successful, returns FSAFunctionResult.SUCCESS on success, None on failure.

set_comm_config(server_ip, dict)

The corresponding Python script demo for this function is demo_comm_config_set.py

Function	Set the actuator's config properties
Parameters	server_ip： actuator IP ,type: str dict： Config configuration parameters. Details are shown in the table below
Return Value	Whether the setting was successful, returns FSAFunctionResult.SUCCESS on success, None on failure.

Config Configuration Parameters	Type	Description	Recommended Value
name	str	Actuator name	"Name of the currently connected actuator"
DHCP_enable	bool	Whether to enable DHCP, it is recommended to disable DHCP (when enabled, IP will be automatically assigned)	False
SSID	str	WiFi name to connect to, only used for wireless OTA when wired connection is unavailable during OTA upgrade (only V1 actuators support wireless OTA)	"WiFi name of available wireless network in current network environment"
password	str	WiFi password to connect to, only used for wireless OTA when wired connection is unavailable during OTA upgrade (only V1 actuators support wireless OTA)	"WiFi password of available wireless network in current network environment"
static_IP	list	Static IP, the actuator's own IP	IP address to be set for the currently connected actuator
gateway	list	Gateway	[192,168,137,1]
subnet_mask	list	Subnet mask	[255,255,255,0]
dns_1	list	Primary DNS server address, only used during OTA upgrade	[114,114,114,114]
dns_2	list	Secondary DNS server address, only used during OTA upgrade	[8,8,8,8]

dict = {
    "name": "FSA-0",
    "DHCP_enable": False,
    "SSID": "fftai-6",
    "password": "fftai2015",
    "static_IP": [192, 168, 137, 101],
    "gateway": [192, 168, 137, 1],
    "subnet_mask": [255, 255, 255, 0],
    "dns_1": [114, 114, 114, 114],
    "dns_2": [8, 8, 8, 8],
}

broadcast_func()

This function is basically used in all Python scripts.

Function	Broadcast query all Fourier self-developed devices on the local network
Parameters	None
Return Value	address_list： All found Fourier self-developed device IPs, type: list

broadcast_func_with_filter(filter_type)

This function is used in most Python scripts.

Function	Broadcast query all qualified Fourier self-developed devices on the local network
Parameters	filter_type： Filter actuator category, type: str, options include Actuator, AbsEncoder, CtrlBox.
Return Value	All found qualified Fourier self-developed device IPs, type: list

set_subscribe(server_ip, cfg_dict)

The corresponding Python script demo for this function is demo_set_subscribe.py

Function	Subscribe interface, selectively send actuator data to a specified port
Parameters	server_ip： actuator IP ,type: str cfg_dict： Subscribe configuration parameters, type: dict. Details are shown below
Return Value	None return value

Subscribe Configuration Parameters	Type	Description	Recommended Value
port	int	Target port number for the actuator to send data to PC	Port on the current computer
enable	int	Whether to send, 0 means not send, 1 means send	1
position	int	Whether to send position, 0 means not send, 1 means send	1
velocity	int	Whether to send velocity, 0 means not send, 1 means send	1
current	int	Whether to send current, 0 means not send, 1 means send	1
torque	int	Whether to send torque, 0 means not send, 1 means send	1
error	int	Whether to send error code, 0 means not send, 1 means send	1
error_ext2	int	Whether to send extended error code2, 0 means not send, 1 means send	1
error_ext3	int	Whether to send extended error code3, 0 means not send, 1 means send	1
error_ext4	int	Whether to send extended error code4, 0 means not send, 1 means send	1
error_ext5	int	Whether to send extended error code5, 0 means not send, 1 means send	1
error_ext6	int	Whether to send extended error code6, 0 means not send, 1 means send	1
error_ext7	int	Whether to send extended error code7, 0 means not send, 1 means send	1
error_ext8	int	Whether to send extended error code8, 0 means not send, 1 means send	1

udp_socket = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
udp_socket.bind(("", 0))
addr_not_use, port = udp_socket.getsockname()
print("Socket is bound to port:", port)
config = {
    "port": port,
    "enable": 1,
    "position": 1,
    "velocity": 1,
    "current": 1,
    "torque": 1,
    "error": 1,
    "error_ext2": 1,
    "error_ext3": 1,
    "error_ext4": 1,
    "error_ext5": 1,
    "error_ext6": 1,
    "error_ext7": 1,
    "error_ext8": 1,
}

ota(server_ip)

The corresponding Python script demo for this function is demo_ota.py

Function	Perform communication OTA upgrade on the actuator, upgrade version is production.
Parameters	server_ip： actuator IP ,type: str
Return Value	None return value

ota_test(server_ip)

The corresponding Python script demo for this function is demo_ota_test.py

Function	Perform communication OTA upgrade on the actuator, upgrade version is test.
Parameters	server_ip： actuator IP ,type: str
Return Value	None return value

ota_devel(server_ip)

The corresponding Python script demo for this function is demo_ota_devel.py

Function	Perform communication OTA upgrade on the actuator, upgrade version is development.
Parameters	server_ip： actuator IP ,type: str
Return Value	None return value

ota_cloud(server_ip)

The corresponding Python script demo for this function is demo_ota_cloud.py

Function	Perform communication OTA upgrade on the actuator, upgrade version is cloud.
Parameters	server_ip： actuator IP ,type: str
Return Value	None return value

ota_custom(server_ip, version_str)

The corresponding Python script demo for this function is demo_ota_custom.py

Function	Perform communication OTA upgrade on the actuator, upgrade version is custom.
Parameters	server_ip： actuator IP, type: str version_str： Version number to upgrade, type: str
Return Value	None return value

ota_driver(server_ip)

The corresponding Python script demo for this function is demo_ota_driver.py

Function	Perform driver OTA upgrade on the actuator, upgrade version is production.
Parameters	server_ip： actuator IP, type: str
Return Value	None return value

ota_driver_test(server_ip)

The corresponding Python script demo for this function is demo_ota_driver_test.py

Function	Perform driver OTA upgrade on the actuator, upgrade version is test.
Parameters	server_ip： actuator IP, type: str
Return Value	None return value

ota_driver_devel(server_ip)

The corresponding Python script demo for this function is demo_ota_driver_devel.py

Function	Perform driver OTA upgrade on the actuator, upgrade version is development.
Parameters	server_ip： actuator IP, type: str
Return Value	None return value

ota_driver_cloud(server_ip)

The corresponding Python script demo for this function is demo_ota_driver_cloud.py

Function	Perform driver OTA upgrade on the actuator, upgrade version is cloud.
Parameters	server_ip： actuator IP, type: str
Return Value	None return value

ota_driver_custom(server_ip ,version_str)

The corresponding Python script demo for this function is demo_ota_driver_custom.py

Function	Perform driver OTA upgrade on the actuator, upgrade version is custom.
Parameters	server_ip： actuator IP, type: str version_str： Version number to upgrade, type: str
Return Value	None return value

ctrl Interface

set_enable(server_ip)

The corresponding Python script demo for this function is demo_enable_set.py

Function Description:

Function	Set the actuator's enable
Parameters	server_ip： actuator IP ,type: str
Return Value	Whether the setting was successful, returns FSAFunctionResult.SUCCESS on success, None on failure.

set_disable(server_ip)

The corresponding Python script demo for this function is demo_enable_set.py

Function Description:

Function	Set the actuator's disable
Parameters	server_ip： actuator IP ,type: str
Return Value	Whether the setting was successful, returns FSAFunctionResult.SUCCESS on success, None on failure.

clear_fault(server_ip)

The corresponding Python script demo for this function is demo_clear_fault.py

Function Description:

Function	Clear the actuator's error codes
Parameters	server_ip： actuator IP ,type: str
Return Value	Whether the setting was successful, returns FSAFunctionResult.SUCCESS on success, None on failure.

set_calibrate_encoder(server_ip)

The corresponding Python script demo for this function is demo_set_calibrate_encoder.py (Note: During calibration, the actuator will rotate. It is recommended to secure the actuator before calibration)

Function Description:

Function	Set the actuator mode to calibration mode
Parameters	server_ip： actuator IP ,type: str
Return Value	Whether the setting was successful, returns FSAFunctionResult.SUCCESS on success, None on failure.

get_state(server_ip)

Function Description:

Function	Get the current status of the actuator
Parameters	server_ip： actuator IP ,type: str
Return Value	Current status of the actuator, type: str or empty. Returns "OK" if status is normal, None if abnormal

set_mode_of_operation(server_ip, mode_of_operation)

This function has no corresponding Python script.

Function Description:

Function	Set the actuator's operation mode (position, velocity, current, torque)
Parameters	server_ip： actuator IP ,type: str mode_of_operation： Actuator operation mode, type: int, options include position, velocity, current, torque
Return Value	Whether the setting was successful, returns FSAFunctionResult.SUCCESS on success, None on failure.

mode_of_operation Modes	Corresponding int Value	Corresponding Variable in FSAModeOfOperation Class
None mode	0	NONE
Position mode	1	POSITION_CONTROL
Velocity mode	3	VELOCITY_CONTROL
Current mode	4	CURRENT_CONTROL
Torque mode	6	TORQUE_CONTROL
Position PD mode	7	POSITION_CONTROL_PD

# Set Position mode
fi_fsa_v2.set_mode_of_operation(server_ip_list[i], fi_fsa_v2.FSAModeOfOperation.NONE)
# Set Position mode
fi_fsa_v2.set_mode_of_operation(server_ip_list[i], fi_fsa_v2.FSAModeOfOperation.POSITION_CONTROL)
# Set Velocity mode
fi_fsa_v2.set_mode_of_operation(server_ip_list[i], fi_fsa_v2.FSAModeOfOperation.VELOCITY_CONTROL)
# Set Current mode
fi_fsa_v2.set_mode_of_operation(server_ip_list[i], fi_fsa_v2.FSAModeOfOperation.CURRENT_CONTROL)
# Set Torque mode
fi_fsa_v2.set_mode_of_operation(server_ip_list[i], fi_fsa_v2.FSAModeOfOperation.TORQUE_CONTROL)
# Set Position PD mode
fi_fsa_v2.set_mode_of_operation(server_ip_list[i], fi_fsa_v2.FSAModeOfOperation.POSITION_CONTROL_PD)

get_pid_param(server_ip)

The corresponding Python script demo for this function is demo_pid_param_get.py

Function Description:

Function	Get the PID parameters of the actuator (Note: These PID parameters require a restart to take effect)
Parameters	server_ip： actuator IP ,type: str
Return Value	Whether the operation was successful, returns FSAFunctionResult.SUCCESS on success, None on failure.

set_pid_param(server_ip, dict)

The corresponding Python script demo for this function is demo_pid_param_set.py

Function Description:

Function	Set the PID parameters of the actuator (Note: These PID parameters require a restart to take effect)
Parameters	server_ip： actuator IP ,type: str dict： PID parameters, type: dict
Return Value	Whether the setting was successful, returns FSAFunctionResult.SUCCESS on success, None on failure.

PID Parameter Specific Configuration	Description	Type
control_position_kp	Position loop Kp	float
control_velocity_kp	Velocity loop Kp	float
control_velocity_ki	Velocity loop Ki	float
control_current_kp	Current loop Kp	float
control_current_ki	Current loop Ki	float
control_PD_kp	PD mode Kp	float
control_PD_kd	PD mode Kd	float

  dict = { 
                "control_position_kp": 0.5,
                "control_velocity_kp": 0.0025,
                "control_velocity_ki": 0.00001,
                "control_PD_kp": 1.0,
                "control_PD_kd": 1.0,
            }

get_pid_param_imm(server_ip)

The corresponding Python script demo for this function is demo_pid_param_imm_get.py

Function Description:

Function	Get the temporary PID parameters of the actuator (Note: These PID parameters take effect immediately, but will not be saved after power off)
Parameters	server_ip： actuator IP ,type: str
Return Value	Whether the operation was successful, returns FSAFunctionResult.SUCCESS on success, None on failure.

set_pid_param_imm(server_ip, dict)

The corresponding Python script demo for this function is demo_pid_param_imm_set.py

Function Description:

Function	Set the temporary PID parameters of the actuator (Note: These PID parameters take effect immediately, but will not be saved after power off)
Parameters	server_ip： actuator IP ,type: str dict： PID parameters, type: dict
Return Value	Whether the setting was successful, returns FSAFunctionResult.SUCCESS on success, None on failure.

PID Parameter Specific Configuration	Description	Type
control_position_kp_imm	Temporary position loop Kp	float
control_velocity_kp_imm	Temporary velocity loop Kp	float
control_velocity_ki_imm	Temporary velocity loop Ki	float
control_PD_kp_imm	Temporary PD mode Kp	float
control_PD_kd_imm	Temporary PD mode Kd	float

dict = { 
                "control_position_kp_imm": 0.0,
                "control_velocity_kp_imm": 0.1,
                "control_velocity_ki_imm": 0.001,
                "control_PD_kp_imm": 1.0,
                "control_PD_kd_imm": 1.0,
            }

get_control_param(server_ip)

The corresponding Python script demo for this function is demo_control_param_get.py

Function Description:

Function	Get the control parameters of the actuator (Note: These control parameters require a restart to take effect)
Parameters	server_ip： actuator IP ,type: str
Return Value	Whether the operation was successful, returns FSAFunctionResult.SUCCESS on success, None on failure.

set_control_param(server_ip, dict)

⚠️ Note： This function is temporarily unavailable

The corresponding Python script demo for this function is demo_control_param_set.py

Function Description:

Function	Set the control parameters of the actuator (Note: These control parameters require a restart to take effect)
Parameters	server_ip： actuator IP ,type: str dict： Control parameters, type: dict
Return Value	Whether the setting was successful, returns FSAFunctionResult.SUCCESS on success, None on failure.

Control Parameter Specific Configuration	Description	Type
motor_max_speed	Maximum speed of the actuator	int
motor_max_acceleration	Maximum acceleration of the actuator	int
motor_max_current	Maximum current of the actuator	int

            dict = {
                "motor_max_speed": 3000,
                "motor_max_acceleration": 60000,
                "motor_max_current": 8,
            }

get_control_param_imm(server_ip)

The corresponding Python script demo for this function is demo_control_param_imm_get.py

Function Description:

Function	Get the temporary control parameters of the actuator (Note: These parameters take effect immediately, but will not be saved after power off)
Parameters	server_ip： actuator IP ,type: str
Return Value	Whether the operation was successful, returns FSAFunctionResult.SUCCESS on success, None on failure.

set_control_param_imm(server_ip, dict)

⚠️ Note： This function is temporarily unavailable

The corresponding Python script demo for this function is demo_control_param_imm_set.py

Function Description:

Function	Set the temporary control parameters of the actuator (Note: These parameters take effect immediately, but will not be saved after power off)
Parameters	server_ip： actuator IP ,type: str dict： Control parameters, type: dict
Return Value	Whether the setting was successful, returns FSAFunctionResult.SUCCESS on success, None on failure.

Control Parameter Specific Configuration	Description	Type
motor_max_speed_imm	Maximum speed of the actuator (temporary, lost after power off)	int
motor_max_acceleration_imm	Maximum acceleration of the actuator (temporary, lost after power off)	int
motor_max_current_imm	Maximum current of the actuator (temporary, lost after power off)	int

            dict = {
                "motor_max_speed_imm": 3000,
                "motor_max_acceleration_imm": 60000,
                "motor_max_current_imm": 8,
            }

get_flag_of_operation(server_ip)

The corresponding Python script demo for this function is demo_flag_of_operation_get.py

Function Description:

Function	Get the actuator's operation flag
Parameters	server_ip： actuator IP ,type: str
Return Value	Whether the operation was successful, returns FSAFunctionResult.SUCCESS on success, None on failure.

set_flag_of_operation(server_ip, dict_cfg)

The corresponding Python script demo for this function is demo_flag_of_operation_set.py

Function Description:

Function	Set the operation flags of the actuator
Parameters	server_ip： actuator IP ,type: str dict_cfg： Operation flags, type: dict
Return Value	Whether the setting was successful, returns FSAFunctionResult.SUCCESS on success, None on failure.

Operation Flag Configuration	Description	Type
flag_do_use_store_motor_param	Whether to enable configuration parameters, 1 means enable, 0 means disable	int
flag_do_use_store_pid_param	Whether to enable PID parameters, 1 means enable, 0 means disable	int
actuator_double_encoder_enable	Whether to enable dual encoder function, 1 means enable, 0 means disable	int

 dict_cfg = {
                "flag_do_use_store_motor_param": 1,
                "flag_do_use_store_pid_param": 0,
                "actuator_double_encoder_enable": 1,
            }

get_config(server_ip)

The corresponding Python script demo for this function is demo_ctrl_config_get.py

Function Description:

Function	Get the actuator's configuration information
Parameters	server_ip： actuator IP ,type: str
Return Value	Whether the operation was successful, returns FSAFunctionResult.SUCCESS on success, None on failure.

set_config(server_ip, dict)

The corresponding Python script demo for this function is demo_ctrl_config_set.py

Function Description:

Function	Set the configuration information of the actuator
Parameters	server_ip： actuator IP ,type: str dict： Actuator configuration information, type: dict
Return Value	Whether the setting was successful, returns FSAFunctionResult.SUCCESS on success, None on failure.

Actuator Configuration Information	Description	Type
actuator_direction	Actuator direction	int
actuator_reduction_ratio	Reduction ratio	float
motor_type	Motor model	unsigned int
motor_hardware_type	Driver board model	unsigned int
motor_direction	Motor rotation direction	int
motor_max_speed	Motor maximum speed	float
motor_max_acceleration	Motor maximum acceleration	float
motor_max_current	Motor current limit	float
actuator_comm_hardware_type	Communication board model	int

Actuator Direction Values	Description
1	Forward (clockwise)
-1	Reverse (counterclockwise)

Motor Model Values	Description
0	MOTOR_NULL (None model)
7	25_08V0
6	36_08V0
8	36_10V0
5	60_08V0
4	80_10V0
3	100_15V0
2	130_20V0
13	45_15V1
12	60_08V1
11	80_10V1
10	100_15V1
9	130_20V1

Driver Board Model Values	Description
0	HARDWARE_NULL (None model)
2	H95V104
3	H66V104
4	H46V104
5	H30V303
7	H54V100
8	H66V106
9	H88V100
10	H106V100
11	H142V100
12	H142V102
13	H66V202
16	H100V100
17	H58V100

Motor Direction Values	Description
1	Forward (clockwise)
-1	Reverse (counterclockwise)

Communication Board Model	Description
0	NULL (None version)
1	V1
2	V2

 cfg_dict = {
                'actuator_direction': 1,
                'actuator_reduction_ratio': 31,
                'motor_type': 7,
                'motor_hardware_type': 5,
                'motor_direction': 1,
                "motor_max_speed": 3000,
                "motor_max_acceleration": 60000,
                'motor_max_current': 60,
                "actuator_comm_hardware_type": 2,
                "actuator_double_encoder_enable": 0
            }

reboot(server_ip)

The corresponding Python script demo for this function is demo_reboot.py

Function Description:

Function	Reboot the actuator
Parameters	server_ip： actuator IP ,type: str
Return Value	Whether the reboot was successful, returns FSAFunctionResult.SUCCESS on success, None on failure.

get_error_code(server_ip)

The corresponding Python script demo for this function is demo_get_error.py

Function Description:

Function	Get the error code of the actuator
Parameters	server_ip： actuator IP ,type: str
Return Value	Specific error code, return type: int or list or None. Returns None on failure, return type is int when there is one error code, return type is list when there are multiple error codes.

get_pvc(server_ip)

The corresponding Python script demo for this function is demo_get_pvc.py

Function Description:

Function	Get the position, velocity, and current information of the actuator
Parameters	server_ip： actuator IP ,type: str
Return Value	Specific position, velocity, and current information, return type is tuple, return values in order are position, velocity, current.

get_foc_target_PVC(server_ip)

The corresponding Python script demo for this function is demo_get_foc_target_PVC.py

Function Description:

Function	Get the target position, target velocity, and target current information of the actuator FOC execution
Parameters	server_ip： actuator IP ,type: str
Return Value	Specific target position, target velocity, and target current information of FOC execution, return type is tuple, return values in order are position, velocity, current.

get_pvct(server_ip)

The corresponding Python script demo for this function is demo_get_pvct.py

Function Description:

Function	Get the current position, velocity, current, and torque information of the actuator
Parameters	server_ip： actuator IP ,type: str
Return Value	Specific position, velocity, current, and torque information of FOC execution, return type is tuple, return values in order are position, velocity, current, torque.

get_fsa_abs_position(server_ip) 

The corresponding Python script demo for this function is demo_get_fsa_abs_position.py

Function Description:

Function	Get the absolute encoder position information of the actuator
Parameters	server_ip： actuator IP ,type: str
Return Value	Absolute encoder position information, type: float.

set_fsa_abs_zero(server_ip)

The corresponding Python script demo for this function is demo_set_fsa_abs_zero.py

Function Description:

Function	Set the zero point of the actuator's absolute encoder, using the current position as the zero point.
Parameters	server_ip： actuator IP ,type: str
Return Value	Returns True on success, returns error code on failure.

set_eth_recovery(server_ip)

The corresponding Python script demo for this function is demo_set_eth_recovery.py

Function Description:

Function	Recover the actuator's network
Parameters	server_ip： actuator IP ,type: str
Return Value	Returns True on success, returns error code on failure.

set_eth_timeout_protect(server_ip, is_enable, timeout_interval)Not available in low versions

The corresponding Python script demo for this function is demo_set_eth_timeout_protect.py

Function Description:

Function	Set the network timeout protection of the actuator
Parameters	server_ip： actuator IP ,type: str is_enable： Whether to enable network timeout protection, type: int, 0 means disable, 1 means enable timeout_interval： Timeout detection time, unit: milliseconds, type: int
Return Value	Returns True on success, returns error code on failure.

set_control_loop_freq_div(server_ip, position_loop_freq_div, velocity_loop_freq_div, PD_loop_freq_div)Not available in low versions

The corresponding Python script demo for this function is demo_set_control_loop_freq_div.py

Function Description:

Function	Divide the actuator's control frequency by a specific value to modify the actual control frequency
Parameters	server_ip： actuator IP ,type: str position_loop_freq_div： Specific value to divide the position control frequency in Position mode, type: float velocity_loop_freq_div： Specific value to divide the velocity control frequency in Velocity mode, type: float PD_loop_freq_div： Specific value to divide the position control frequency in PD Position mode, type: float
Return Value	Returns True on success, returns error code on failure.

set_torque_limit_max(server_ip, torque_limit_max)

The corresponding Python script demo for this function is demo_set_torque_limit_max.py

Function Description:

Function	Set the maximum torque of the actuator
Parameters	server_ip： actuator IP ,type: str torque_limit_max： Maximum torque of the actuator, type: float
Return Value	Returns True on success, returns error code on failure.

set_inertia_ff(server_ip, inertia_ff)

The corresponding Python script demo for this function is demo_set_inertia_ff.py

Function Description:

Function	Set the inertia compensation of the actuator
Parameters	server_ip： actuator IP ,type: str inertia_ff： Inertia compensation of the actuator, type: float
Return Value	Returns True on success, returns error code on failure.

get_ntc_temperature(server_ip)

The corresponding Python script demo for this function is demo_get_ntc_temperature.py

Function Description:

Function	Get the winding temperature and MOS temperature of the actuator
Parameters	server_ip： actuator IP ,type: str
Return Value	Returns winding temperature and MOS temperature. Type is tuple, first is MOS temperature, second is winding temperature.

set_position_control(server_ip, position, velocity_ff=0.0, current_ff=0.0)

This function has no corresponding Python script.

Function Description:

Function	Set the target position of the actuator in Position mode
Parameters	server_ip： (required) actuator IP ,type: str position： (required)Target position of the actuator, type: float velocity_ff： (optional)Velocity loop feedforward of the actuator, type: float, default value is 0.0 current_ff： (optional)Position loop feedforward of the actuator, type: float, default value is 0.0
Return Value	Returns current velocity, position, current on success, returns None on failure

set_velocity_control(server_ip, velocity, current_ff=0.0)

This function has no corresponding Python script.

Function Description:

Function	Set the target velocity of the actuator in Velocity mode
Parameters	server_ip： (required) actuator IP ,type: str velocity： (required)Target velocity of the actuator, type: float current_ff： (optional)Current feedforward of the actuator, type: float, default value is 0.0
Return Value	Returns current velocity, position, current on success, returns None on failure

set_current_control(server_ip, current)

This function has no corresponding Python script.

Function Description:

Function	Set the target current of the actuator in Current mode
Parameters	server_ip： (required) actuator IP ,type: str current： (required)Target current of the actuator, type: float
Return Value	Returns current velocity, position, current on success, returns None on failure

set_torque_control(server_ip, torque)

This function has no corresponding Python script.

Function Description:

Function	Set the target torque of the actuator in Torque mode
Parameters	server_ip：(required) actuator IP ,type: str torque：(required)Target torque of the actuator, type: float
Return Value	Returns current velocity, position, current on success, returns None on failure

fast Interface

fast_set_enable(server_ip)

The corresponding Python script demo for this function is demo_fast_set_enable.py

Function Description:

Function	Set the enable of the actuator
Parameters	server_ip： actuator IP ,type: str
Return Value	FSAFunctionResult.SUCCESS

fast_set_ack_enable(server_ip, cnt)

The corresponding Python script demo for this function is demo_fast_set_ack_enable.py

Function Description:

Function	Enable the actuator and return cnt counter value and execution result
Parameters	server_ip： actuator IP ,type: str cnt： Counter value for asynchronous communication
Return Value	Returns cnt counter value and res execution result if not timeout, res=0 means enable successful, returns None on timeout

fast_set_disable(server_ip)

The corresponding Python script demo for this function is demo_fast_set_disable.py

Function Description:

Function	Set the actuator's disable
Parameters	server_ip： actuator IP ,type: str
Return Value	FSAFunctionResult.SUCCESS

fast_set_ack_disable(server_ip, cnt)

The corresponding Python script demo for this function is demo_fast_set_ack_disable.py

Function Description:

Function	Disable the actuator and return cnt counter value and execution result
Parameters	server_ip： actuator IP ,type: str cnt： Counter value for asynchronous communication
Return Value	Returns cnt counter value and res execution result if not timeout, res=0 means successful, returns None on timeout

fast_set_clear_fault(server_ip)

The corresponding Python script demo for this function is demo_fast_set_clear_fault.py

Function Description:

Function	Clear the error code of the actuator driver
Parameters	server_ip： actuator IP ,type: str
Return Value	FSAFunctionResult.SUCCESS

fast_set_ack_clear_fault(server_ip, cnt)

The corresponding Python script demo for this function is demo_fast_set_ack_clear_fault.py

Function Description:

Function	Clear the error code of the actuator driver and return cnt counter value and execution result
Parameters	server_ip： actuator IP ,type: str cnt： Counter value for asynchronous communication
Return Value	Returns cnt counter value and res execution result if not timeout, res=0 means enable successful, returns None on timeout

fast_set_position_mode(server_ip)

This function has no corresponding Python script.

Function Description:

Function	Set the actuator to position control mode
Parameters	server_ip： actuator IP ,type: str
Return Value	FSAFunctionResult.SUCCESS

fast_set_ack_position_mode(server_ip, cnt)

This function has no corresponding Python script.

Function Description:

Function	Set the actuator to position control mode and return cnt counter value and execution result
Parameters	server_ip： actuator IP ,type: str cnt： Counter value for asynchronous communication
Return Value	Returns cnt counter value and res execution result if not timeout, res=0 means enable successful, returns None on timeout

fast_set_velocity_mode(server_ip)

This function has no corresponding Python script.

Function Description:

Function	Set the actuator to velocity control mode
Parameters	server_ip： actuator IP ,type: str
Return Value	FSAFunctionResult.SUCCESS

fast_set_ack_velocity_mode(server_ip, cnt)

This function has no corresponding Python script.

Function Description:

Function	Set the actuator to velocity control mode and return cnt counter value and execution result
Parameters	server_ip： actuator IP ,type: str cnt： Counter value for asynchronous communication
Return Value	Returns cnt counter value and res execution result if not timeout, res=0 means enable successful, returns None on timeout

fast_set_torque_mode(server_ip)

This function has no corresponding Python script.

Function Description:

Function	Set the actuator to torque control mode
Parameters	server_ip： actuator IP ,type: str
Return Value	FSAFunctionResult.SUCCESS

fast_set_ack_torque_mode(server_ip, cnt)

This function has no corresponding Python script.

Function Description:

Function	Set the actuator to torque control mode and return cnt counter value and execution result
Parameters	server_ip： actuator IP ,type: str cnt： Counter value for asynchronous communication
Return Value	Returns cnt counter value and res execution result if not timeout, res=0 means enable successful, returns None on timeout

fast_set_current_mode(server_ip)

This function has no corresponding Python script.

Function Description:

Function	Set the actuator to current control mode
Parameters	server_ip： actuator IP ,type: str
Return Value	FSAFunctionResult.SUCCESS

fast_set_ack_current_mode(server_ip, cnt)

This function has no corresponding Python script.

Function Description:

Function	Set the actuator to current control mode and return cnt counter value and execution result
Parameters	server_ip： actuator IP ,type: str cnt： Counter value for asynchronous communication
Return Value	Returns cnt counter value and res execution result if not timeout, res=0 means enable successful, returns None on timeout

fast_set_pd_mode(server_ip)

This function has no corresponding Python script.

Function Description:

Function	Set the actuator to PD control mode
Parameters	server_ip： actuator IP ,type: str
Return Value	FSAFunctionResult.SUCCESS

fast_set_ack_pd_mode(server_ip, cnt)

This function has no corresponding Python script.

Function Description:

Function	Set the actuator to PD control mode and return cnt counter value and execution result
Parameters	server_ip： actuator IP ,type: str cnt： Counter value for asynchronous communication
Return Value	Returns cnt counter value and res execution result if not timeout, res=0 means enable successful, returns None on timeout

fast_set_mode_of_operation(server_ip, mode_of_operation)

This function has no corresponding Python script.

Function Description:

Function	Set the operation mode of the actuator (position, velocity, current, torque, PD)
Parameters	server_ip： actuator IP ,type: str mode_of_operation： Actuator operation mode, type: int, options include position, velocity, current, torque, PD
Return Value	Whether the setting was successful, returns FSAFunctionResult.SUCCESS on success, None on failure.

mode_of_operation Modes	Corresponding int Value	Corresponding Variable in FSAModeOfOperation Class
None mode	0	NONE
Position mode	1	POSITION_CONTROL
Velocity mode	3	VELOCITY_CONTROL
Current mode	4	CURRENT_CONTROL
Torque mode	6	TORQUE_CONTROL
Position PD mode	7	POSITION_CONTROL_PD

# Set Position mode
fi_fsa_v2.fast_set_mode_of_operation(server_ip_list[i], fi_fsa_v2.FSAModeOfOperation.NONE)
# Set Position mode
fi_fsa_v2.fast_set_mode_of_operation(server_ip_list[i], fi_fsa_v2.FSAModeOfOperation.POSITION_CONTROL)
# Set Velocity mode
fi_fsa_v2.fast_set_mode_of_operation(server_ip_list[i], fi_fsa_v2.FSAModeOfOperation.VELOCITY_CONTROL)
# Set Current mode
fi_fsa_v2.fast_set_mode_of_operation(server_ip_list[i], fi_fsa_v2.FSAModeOfOperation.CURRENT_CONTROL)
# Set Torque mode
fi_fsa_v2.fast_set_mode_of_operation(server_ip_list[i], fi_fsa_v2.FSAModeOfOperation.TORQUE_CONTROL)
# Set Position PD mode
fi_fsa_v2.fast_set_mode_of_operation(server_ip_list[i], fi_fsa_v2.FSAModeOfOperation.POSITION_CONTROL_PD)

fast_set_ack_mode_of_operation(server_ip, tx_cnt, mode_of_operation)

This function has no corresponding Python script.

Function Description:

Function	Set the operation mode of the actuator (position, velocity, current, torque, PD) and return cnt counter value and execution result
Parameters	server_ip： actuator IP ,type: str tx_cnt： Counter value for asynchronous communication mode_of_operation： Actuator operation mode, type: int, options include position, velocity, current, torque, PD
Return Value	Returns cnt counter value and res execution result if not timeout, res=0 means enable successful, returns None on timeout

mode_of_operation Modes	Corresponding int Value	Corresponding Variable in FSAModeOfOperation Class
None mode	0	NONE
Position mode	1	POSITION_CONTROL
Velocity mode	3	VELOCITY_CONTROL
Current mode	4	CURRENT_CONTROL
Torque mode	6	TORQUE_CONTROL
Position PD mode	7	POSITION_CONTROL_PD

# Set Position mode
fi_fsa_v2.fast_set_ack_mode_of_operation(server_ip_list[i], tx_cnt, fi_fsa_v2.FSAModeOfOperation.NONE)
# Set Position mode
fi_fsa_v2.fast_set_ack_mode_of_operation(server_ip_list[i], tx_cnt, fi_fsa_v2.FSAModeOfOperation.POSITION_CONTROL)
# Set Velocity mode
fi_fsa_v2.fast_set_ack_mode_of_operation(server_ip_list[i], tx_cnt, fi_fsa_v2.FSAModeOfOperation.VELOCITY_CONTROL)
# Set Current mode
fi_fsa_v2.fast_set_ack_mode_of_operation(server_ip_list[i], tx_cnt, fi_fsa_v2.FSAModeOfOperation.CURRENT_CONTROL)
# Set Torque mode
fi_fsa_v2.fast_set_ack_mode_of_operation(server_ip_list[i], tx_cnt, fi_fsa_v2.FSAModeOfOperation.TORQUE_CONTROL)
# Set Position PD mode
fi_fsa_v2.fast_set_ack_mode_of_operation(server_ip_list[i], tx_cnt, fi_fsa_v2.FSAModeOfOperation.POSITION_CONTROL_PD)

fast_set_position_control(server_ip, position, velocity_ff=0, current_ff=0)

This function has no corresponding Python script.

Function Description:

Function	Set the target position of the actuator in Position mode
Parameters	server_ip：(required) actuator IP ,type: str position： (required)Target position of the actuator, type: float velocity_ff： (optional)Velocity loop feedforward of the actuator, type: float, default value is 0.0 current_ff： (optional)Position loop feedforward of the actuator, type: float, default value is 0.0
Return Value	FSAFunctionResult.SUCCESS

fast_set_velocity_control(server_ip, velocity, current_ff=0)

This function has no corresponding Python script.

Function Description:

Function	Set the target velocity of the actuator in Velocity mode
Parameters	server_ip： (required) actuator IP ,type: str velocity： (required)Target velocity of the actuator, type: float current_ff： (optional)Current feedforward of the actuator, type: float, default value is 0.0
Return Value	FSAFunctionResult.SUCCESS

fast_set_current_control(server_ip, current)

This function has no corresponding Python script.

Function Description:

Function	Set the target current of the actuator in Current mode
Parameters	server_ip： (required) actuator IP ,type: str current： (required)Target current of the actuator, type: float
Return Value	FSAFunctionResult.SUCCESS

fast_set_pd_control(server_ip, position, velocity_ff=0, current_ff=0)

The corresponding Python script demo for this function is demo_fast_set_pd_position.py

Function Description:

Function	Set the target position of the actuator in Position mode
Parameters	server_ip： (required) actuator IP ,type: str position： (required)Target position of the actuator, type: float velocity_ff： (optional)Velocity loop feedforward of the actuator, type: float, default value is 0.0 current_ff： (optional)Position loop feedforward of the actuator, type: float, default value is 0.0
Return Value	FSAFunctionResult.SUCCESS

fast_set_ack_pd_control(server_ip, cnt, position, velocity_ff=0, current_ff=0)

The corresponding Python script demo for this function is demo_fast_set_ack_pd_position.py

Function Description:

Function	Set the target position of the actuator in Position mode and return cnt counter value and execution result
Parameters	server_ip： (required) actuator IP ,type: str cnt： Counter value for asynchronous communication position： (required)Target position of the actuator, type: float velocity_ff： (optional)Velocity loop feedforward of the actuator, type: float, default value is 0.0 current_ff： (optional)Position loop feedforward of the actuator, type: float, default value is 0.0
Return Value	Returns cnt counter value and res execution result if not timeout, res=0 means enable successful, returns None on timeout

fast_set_pid_imm(server_ip, position_kp, velocity_kp, velocity_ki)

The corresponding Python script demo for this function is demo_fast_set_pid_imm.py

Function Description:

Function	Set temporary PID parameters for the actuator
Parameters	server_ip： actuator IP ,type: str position_kp： Actuator three-loop control position loop Kp, type: float velocity_kp： Actuator three-loop control velocity loop Kp, type: float velocity_ki： Actuator three-loop control velocity loop Ki, type: float
Return Value	FSAFunctionResult.SUCCESS

fast_set_ack_pid_imm(server_ip, cnt, position_kp, velocity_kp, velocity_ki)

The corresponding Python script demo for this function is demo_fast_set_ack_pid_imm.py

Function Description:

Function	Set temporary PID parameters for the actuator and return cnt counter value and execution result
Parameters	server_ip： actuator IP ,type: str cnt： Counter value for asynchronous communication position_kp： Actuator three-loop control position loop Kp, type: float velocity_kp： Actuator three-loop control velocity loop Kp, type: float velocity_ki： Actuator three-loop control velocity loop Ki, type: float
Return Value	Returns cnt counter value and res execution result if not timeout, res=0 means enable successful, returns None on timeout

fast_set_pd_imm(server_ip, kp, kd)

The corresponding Python script demo for this function is demo_fast_set_pd_imm.py

Function Description:

Function	Set temporary PD parameters for the actuator
Parameters	server_ip： actuator IP ,type: str kp： Actuator PD control position loop Kp, type: float kd： Actuator PD control velocity loop Kd, type: float
Return Value	FSAFunctionResult.SUCCESS

fast_set_ack_pd_imm(server_ip, cnt, kp, kd)

The corresponding Python script demo for this function is demo_fast_set_ack_pd_imm.py

Function Description:

Function	Set temporary PD parameters for the actuator and return cnt counter value and execution result
Parameters	server_ip： actuator IP ,type: str cnt： Counter value for asynchronous communication kp： Actuator PD control position loop Kp, type: float kd： Actuator PD control velocity loop Kd, type: float
Return Value	Returns cnt counter value and res execution result if not timeout, res=0 means enable successful, returns None on timeout

fast_set_control_loop_freq_div(server_ip, position_loop_freq_div, velocity_loop_freq_div, PD_loop_freq_div)

The corresponding Python script demo for this function is demo_fast_set_control_loop_freq_div.py

Function Description:

Function	Set the loop control frequency division coefficient of the actuator
Parameters	server_ip： actuator IP ,type: str position_loop_freq_div： Position loop control frequency division coefficient, type: float velocity_loop_freq_div： Velocity loop control frequency division coefficient, type: float PD_loop_freq_div： PD control frequency division coefficient, type: float
Return Value	Successfully output the received UDP packet, output None on failure

fast_set_ack_control_loop_freq_div(server_ip, cnt, position_loop_freq_div, velocity_loop_freq_div, PD_loop_freq_div)

The corresponding Python script demo for this function is demo_fast_set_ack_control_loop_freq_div.py

Function Description:

Function	Set the loop control frequency division coefficient of the actuator and return cnt counter value and execution result
Parameters	server_ip： actuator IP ,type: str cnt： Counter value for asynchronous communication position_loop_freq_div： Position loop control frequency division coefficient, type: float velocity_loop_freq_div： Velocity loop control frequency division coefficient, type: float PD_loop_freq_div： PD control frequency division coefficient, type: float
Return Value	Returns cnt counter value and res execution result if not timeout, res=0 means enable successful, returns None on timeout

fast_set_friction_FFD(server_ip, SET, DeadSpeedK, DeadSpeed, Fs, Fc, B, percent):

The corresponding Python script demo for this function is demo_fast_set_friction_FFD.py 

Function Description:

Function	Set actuator friction compensation
Parameters	server_ip： actuator IP ,type: str SET： Whether to enable friction compensation, type: uint32 DeadSpeedK： Dead zone slope, type: float DeadSpeed： Dead zone speed, type: float Fs： Static friction, type: float Fc： Coulomb friction, type: float B： Viscous friction coefficient, type: float percent： Effective multiple, range 0~2, type: float
Return Value	Successfully output the received UDP packet, output None on failure

fast_set_ack_friction_FFD(server_ip, cnt, SET, DeadSpeedK, DeadSpeed, Fs, Fc, B, percent)

The corresponding Python script demo for this function is demo_fast_set_ack_friction_FFD.py 

Function Description:

Function	Set actuator friction compensation and return cnt counter value and execution result
Parameters	server_ip： actuator IP ,type: str cnt： Counter value for asynchronous communication SET： Whether to enable friction compensation, type: uint32 DeadSpeedK： Dead zone slope, type: float DeadSpeed： Dead zone speed, type: float Fs： Static friction, type: float Fc： Coulomb friction, type: float B： Viscous friction coefficient, type: float percent： Effective multiple, range 0~2, type: float
Return Value	Returns cnt counter value and res execution result if not timeout, res=0 means enable successful, returns None on timeout

fast_set_ack_setpvc_timeout_protect(server_ip, cnt, protect_enable, timeout_ms, protect_mode_of_operation, close_back_last_mode_of_operation, ignore_set_mode_of_operation)

The corresponding Python script demo for this function is demo_fast_set_ack_setpvc_timeout_protect.py 

Function Description:

Function	Set actuator setpvc timeout protection and return cnt counter value and execution result
Parameters	server_ip： actuator IP ,type: str cnt： Counter value for asynchronous communication protect_enable： Whether to enable setpvc timeout protection, 0 disable, 1 enable, type: uint32 timeout_ms： Timeout time, in milliseconds, type: uint32 protect_mode_of_operation： Set whether to use three-loop position control or PD control when entering protection state, optional FSAModeOfOperation.POSITION_CONTROL, FSAModeOfOperation.POSITION_CONTROL_PD, type: uint32 close_back_last_mode_of_operation： If the function is disabled and currently in protection state, whether to restore to the operation mode before entering protection state, 0: do not restore, 1: restore, type: uint32 ignore_set_mode_of_operation： Whether to prohibit modifying mode_of_operation after entering protection mode, 0: do not prohibit, 1: prohibit, type: uint32
Return Value	Returns cnt counter value and res execution result if not timeout, res=0 means enable successful, returns None on timeout

fast_set_ack_interface_filter_fc(server_ip, cnt, position, velocity, current)

The corresponding Python script demo for this function is demo_fast_set_ack_interface_filter_fc.py 

Function Description:

Function	Set the filter cutoff frequency of the actuator feedback pvc and return cnt counter value and execution result
Parameters	server_ip： actuator IP ,type: str cnt： Counter value for asynchronous communication position： Set position feedback filter cutoff frequency, type: float velocity： Set velocity feedback filter cutoff frequency, type: float current： Set current and torque feedback filter cutoff frequency, type: float
Return Value	Returns cnt counter value and res execution result if not timeout, res=0 means enable successful, returns None on timeout

fast_set_ack_setpvc_protect_clear(server_ip, cnt, clear_back_last_mode_of_operation)

The corresponding Python script demo for this function is demo_fast_set_ack_setpvc_protect_clear.py 

Function Description:

Function	Clear actuator setpvc protection status and return cnt counter value and execution result
Parameters	server_ip： actuator IP ,type: str cnt： Counter value for asynchronous communication close_back_last_mode_of_operation： Whether to restore to the operation mode before entering protection state when clearing protection status, 0: do not restore, 1: restore, type: uint32
Return Value	Returns cnt counter value and res execution result if not timeout, res=0 means enable successful, returns None on timeout

fast_get_pvc(server_ip)

The corresponding Python script demo for this function is demo_fast_get_pvc.py 

Function Description:

Function	Get the current position, velocity, and current information of the actuator
Parameters	server_ip： actuator IP ,type: str
Return Value	Successfully output actuator position, velocity, and current information, output None on failure

fast_get_foc_target_pvc(server_ip)

The corresponding Python script demo for this function is demo_fast_get_foc_target_pvc.py 

Function Description:

Function	Get the target position, velocity, and current information of the actuator's underlying FOC
Parameters	server_ip： actuator IP ,type: str
Return Value	Successfully output the target position, velocity, and current information of the underlying FOC, output None on failure

fast_get_pvct(server_ip)

The corresponding Python script demo for this function is demo_fast_get_pvct.py 

Function Description:

Function	Get the current position, velocity, current, and torque information of the actuator
Parameters	server_ip： actuator IP ,type: str
Return Value	Successfully output the current position, velocity, current, and torque information of the actuator, output None on failure

fast_get_error(server_ip)

The corresponding Python script demo for this function is demo_fast_get_error.py 

Function Description:

Function	Get the error code of the actuator
Parameters	server_ip： actuator IP ,type: str
Return Value	Successfully output the actuator error code, output None on failure

fast_get_pvct_error(server_ip)

The corresponding Python script demo for this function is demo_fast_get_pvct_error.py 

Function Description:

Function	Get actuator position, velocity, current, torque, and error code
Parameters	server_ip： actuator IP ,type: str
Return Value	Successfully output actuator position, velocity, current, torque, and error code, output None on failure

fast_get_friction_FFD(server_ip)

The corresponding Python script demo for this function is demo_fast_get_friction_FFD.py 

Function Description:

Function	Get actuator friction compensation parameters
Parameters	server_ip： actuator IP ,type: str
Return Value	Successfully output whether friction compensation is enabled, dead zone slope, dead zone speed, static friction, Coulomb friction, viscous friction coefficient, effective multiple, output None on failure

fast_get_ntc_temp(server_ip)

The corresponding Python script demo for this function is demo_fast_get_ntc_temp.py 

Function Description:

Function	Get actuator MOS and winding temperature
Parameters	server_ip： actuator IP ,type: str
Return Value	Successfully output actuator MOS and winding temperature, output None on failure

fast_get_vbus(server_ip)

The corresponding Python script demo for this function is demo_fast_get_vbus.py 

Function Description:

Function	Get actuator bus voltage
Parameters	server_ip： actuator IP ,type: str
Return Value	Successfully output actuator bus voltage, output None on failure

subscribe Interface

The corresponding Python script function for this interface is set_subscribe(server_ip, cfg_dict)