Python API

The unit descriptions of the relevant physical quantities mentioned in the following text are as follows:

Data Type	Unit
Position	rad (radian)
Velocity	rad/s
Current	A
Torque	N·m

Control Interfaces

EnableControl(ctrl_mode, timeout_ms, max_retry)

Function Description:

Description	Enable actuator control
Inputs	ctrl_mode: Control mode timeout_ms: Timeout in ms, default 5 max_retry: Maximum retry, default 1
Output	Returns detailed execution status ret_e(int)

Specific configuration of control mode	Meaning	Type
CURRENT_MODE	Current control mode, use torque control recommended	int
TORQUE_MODE	Torque control mode	int
VELOCITY_MODE	Torque + velocity control mode	int
POSITION_MODE	Torque + position control mode	int
PD_MODE	Torque PD control mode	int

DisableControl(timeout_ms, max_retry)

Function Description:

Description	Disable actuator
Inputs	timeout_ms: Timeout in ms, default 5 max_retry: Maximum retry, default 1
Output	Returns detailed execution status ret_e(int)

SetPIDParams(p_kp, v_kp, v_ki, timeout_ms, max_retry)

Function Description:

Description	Set position and velocity loop PID parameters in real time
Inputs	p_kp: Position loop proportional gain v_kp: Velocity loop proportional gain v_ki: Velocity loop integral gain timeout_ms: Timeout (ms), default 5 max_retry: Max retry, default 1
Output	Returns detailed execution status ret_e(int)

GetPIDParams(rx_pid, timeout_ms, max_retry)

Function Description:

Description	Get position and velocity loop PID parameters
Inputs	rx_pid: Store retrieved PID parameters timeout_ms: Timeout (ms), default 5 max_retry: Max retry, default 1
Output	Returns detailed execution status ret_e(int)

GetPVCTTe(rx_PVCTTe, timeout_ms, max_retry)

Function Description:

Description	Get actuator feedback: position, velocity, current, torque, electromagnetic torque
Inputs	rx_PVCTTe: Store retrieved data timeout_ms: Timeout (ms), default 5 max_retry: Max retry, default 1
Output	Returns detailed execution status ret_e(int)

SetPosition(p_rad, v_ff_radps, t_ff_Nm, timeout_ms, max_retry)

Function Description:

Description	Send position target, velocity feedforward, torque feedforward; actuator replies
Inputs	p_rad: Target position v_ff_radps: Velocity feedforward t_ff_Nm: Torque feedforward timeout_ms: Timeout (ms), default 5 max_retry: Max retry, default 1
Output	Returns detailed execution status ret_e(int)

SetTorque(t_Nm, timeout_ms, max_retry)

Function Description:

Description	Send torque target; actuator replies
Inputs	t_Nm: Target torque timeout_ms: Timeout (ms), default 5 max_retry: Max retry, default 1
Output	Returns detailed execution status ret_e(int)

GetTempVbus(rx_temp_vbus, timeout_ms, max_retry)

Function Description:

Description	Get MOS temperature, winding temperature, voltage
Inputs	rx_temp_vbus: Store retrieved data timeout_ms: Timeout (ms), default 5 max_retry: Max retry, default 1
Output	Returns detailed execution status ret_e(int)

GetErrCode(rx_errcode, timeout_ms, max_retry)

Function Description:

Description	Get actuator current error code
Inputs	rx_errcode: Store error code timeout_ms: Timeout (ms), default 5 max_retry: Max retry, default 1
Output	Returns detailed execution status ret_e(int)

ParseErrCode(err_code, parsed_err_code)

Function Description:

Description	Parse actuator error code
Inputs	err_code: 8 uint32_t error codes parsed_err_code: Parsed error code
Output	Returns detailed execution status ret_e(int)

GetPDParams(rx_pd, timeout_ms, max_retry)

Function Description:

Description	Get immediate (imm) PD parameters
Inputs	rx_pd: Store PD parameters timeout_ms: Timeout (ms), default 5 max_retry: Max retry, default 1
Output	Returns detailed execution status ret_e(int)

GetTypeSubversion(type_subversion, timeout_ms, max_retry)

Function Description:

Description	Get actuator model and subversion
Inputs	type_subversion: Store model and subversion timeout_ms: Timeout (ms), default 5 max_retry: Max retry, default 1
Output	Returns detailed execution status ret_e(int)

GetCommConfig(comm_req_get, comm_resp_get, timeout_ms=5, max_retry=1)

Function Description:

Description	Get actuator communication configuration
Inputs	comm_req_get: Specify which parameters to request comm_resp_get: Store retrieved config timeout_ms: Timeout (ms), default 5 max_retry: Max retry, default 1
Output	Returns detailed execution status ret_e(int)

Specific configuration of communication parameters	Meaning	Type
DHCP_enable	Whether DHCP is enabled	bool
PCBA_sn	Retrieve PCBA SN	bool
dns_1	Retrieve DNS 1	bool
dns_2	Retrieve DNS 2	bool
gateway	Retrieve gateway	bool
gearbox_sn	Retrieve gearbox SN	bool
mac_address	Retrieve MAC address	bool
mcu_fw_version	Retrieve MCU firmware version	bool
name	Retrieve name	bool
sn	Retrieve SN	bool
static_IP	Retrieve static IP	bool
subnet_mask	Retrieve subnet mask	bool
type	Retrieve type	bool
uid	Retrieve UID	bool

EnableSubscribe(subs_config, timeout_ms, max_retry)

Function Description:

Description	Configure subscription mode
Inputs	subs_config: Subscription configuration timeout_ms: Timeout (ms), default 5 max_retry: Max retry, default 1
Output	Returns detailed execution status ret_e(int)

Specific configuration of subscription parameters	Meaning	Type
cur	Current subscription, 0:disable, 1:enable	int
enable	Subscription enable, 0:disable, 1:enable	int
error	Error code subscription, 0:disable, 1:enable	int
error_ext2	Error code ext2 subscription, 0:disable, 1:enable	int
error_ext3	Error code ext3 subscription, 0:disable, 1:enable	int
error_ext4	Error code ext4 subscription, 0:disable, 1:enable	int
error_ext5	Error code ext5 subscription, 0:disable, 1:enable	int
error_ext6	Error code ext6 subscription, 0:disable, 1:enable	int
error_ext7	Error code ext7 subscription, 0:disable, 1:enable	int
error_ext8	Error code ext8 subscription, 0:disable, 1:enable	int
freq	Subscription frequency (Hz)	int
keepalive_time_ms	Keepalive duration (ms)	int
pos	Position subscription, 0:disable, 1:enable	int
temp_coil	Coil temperature subscription, 0:disable, 1:enable	int
temp_mos	MOS temperature subscription, 0:disable, 1:enable	int
tor	Torque subscription, 0:disable, 1:enable	int
tor_em	Electromagnetic torque subscription, 0:disable, 1:enable	int
vbus	VBUS voltage subscription, 0:disable, 1:enable	int
vel	Velocity subscription, 0:disable, 1:enable	int

GetSubsData(subs_data)

Function Description:

Description	Get latest subscription data
Inputs	subs_data: Store retrieved subscription data
Output	Returns detailed execution status ret_e(int)