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Quick Start

Get SDK​

gitee: https://gitee.com/FourierIntelligence/fourieractuatorsdk/tree/v3/

github: https://github.com/FFTAI/fourier_actuator_sdk/tree/v3/

Operational Steps​

Step 1: Hardware Setup​

  1. Connect Power and Network

    • Connect the 48V DC power supply to the FSA
    • Connect the network cable to the FSA
    • Observe the FSA indicator light status after powering on

  2. Check Indicator Light Status

    • ✅ Purple breathing light: Normal status
    • ⚠️ Yellow/Red breathing light: Error occurred, need to query error code through host computer

  3. Confirm IP Address

    • Check if the FSA IP is 192.168.137.101

    • 💡 Tip: cpp example uses 192.168.137.101 as the default target FSA address

Step 2: Environment Configuration​

Linux Environment​

# Install build tools
sudo apt install build-essential cmake

# Install Python dependencies
pip install fi_fsa_v3 --break-system-packages

Windows Environment​

# Install Python dependencies
pip install fi_fsa_v3

Step 3: Run Example​

C++ - Linux​

# Navigate to example directory
cd example/cpp

# Build
cmake -S . -B build_linux_cpp && cmake --build build_linux_cpp -j

# Run example
./build_linux_cpp/demo_get_info

C++ - Windows​

# Navigate to example directory
cd example\cpp

# Build (requires MSVC)
cmake -S . -B build_windows_cpp; cmake --build build_windows_cpp --config Release

# Run example
.\build_windows_cpp\Debug\demo_get_info.exe

Note: Only the Release configuration can be used during the build process.

C++ Example Output​

If successful, you should see output similar to the following:

Hello, FSA!
FSA initialized
p: -0.733910, v: 0.003944, c: 0.000000, t: 0.370531, te: 0.000000
mos: 24.196949, coil: 26.697445, vbus: 39.140625
err_code[0]: 0x0
err_code[1]: 0x2
err_code[2]: 0x8
err_code[3]: 0x0
err_code[4]: 0x0
err_code[5]: 0x0
err_code[6]: 0x0
err_code[7]: 0xC
parsed_err_codes size: 3
err_level: 1, err_u32_index: 2, err_bit_index: 3, parsed_code: 0x3303, str_for_log: WARNING3_DOUBLE_ENCODER
err_level: -2, err_u32_index: 7, err_bit_index: 2, parsed_code: 0x3802, str_for_log: INFO8_M4_FW_CHANGED
err_level: -2, err_u32_index: 7, err_bit_index: 3, parsed_code: 0x3803, str_for_log: INFO8_M4_VER_CHANGED
FSA: pos_kp: 0.0000, vel_kp: 0.0000, vel_ki: 0.0000
FSA: pd_kp: 0.0100, pd_kd: 0.0000
type: , sub_version: 
name: , type: , mcu_fw_version: , mac_address: , uid: , sn: , PCBA_sn: , gearbox_sn: , static_IP: , gateway: , subnet_mask: , dns_1: , dns_2: , DHCP_enable: 195

⚠️ Troubleshooting: If an error code is returned, please refer to the C++ API Documentation to query the corresponding status code and troubleshoot.

Python - Linux​

# Navigate to example directory
cd example/python

# Run example
python3 ./demo_get_info.py

Python - Windows​

# Navigate to example directory
cd example\python

# Run example
python .\demo_get_info.py

Python Example Output​

If successful, you should see output similar to the following:

Hello, FSA!

FSA initialized

p: -0.7339, v: 0.0005, c: 0.0000, t: 0.0641, te: 0.0000

mos: 34.316509, coil: 28.619947, vbus: 39.147949

err_code[0]: 0x0

err_code[1]: 0x2

err_code[2]: 0x8

err_code[3]: 0x0

err_code[4]: 0x0

err_code[5]: 0x0

err_code[6]: 0x0

err_code[7]: 0xC

parsed_err_codes size: 3

err_level: 1, err_u32_index: 2, err_bit_index: 3, parsed_code: 0x3303, str_for_log: WARNING3_DOUBLE_ENCODER

err_level: -2, err_u32_index: 7, err_bit_index: 2, parsed_code: 0x3802, str_for_log: INFO8_M4_FW_CHANGED

err_level: -2, err_u32_index: 7, err_bit_index: 3, parsed_code: 0x3803, str_for_log: INFO8_M4_VER_CHANGED

PID: pos_kp=0.0000, vel_kp=0.0000, vel_ki=0.0000

PD: kp=0.0100, kd=0.0000

type: , sub_version: 

name: , type: , mcu_fw_version: , mac_address: , uid: , sn: , PCBA_sn: , gearbox_sn: , static_IP: , gateway: , subnet_mask: , dns_1: , dns_2: , DHCP_enable: False

Step 4: Make FSA Rotate​

⚠️ Safety Warning:

  • Secure the FSA before making it rotate
  • Ensure the DC power supply current limit threshold is set appropriately (no-load current can be limited within 2A)
  • If the FSA response is slow, you may need to adjust PID/PD parameters

Position Control Example - C++ (Linux)​

# Navigate to example directory
cd example/cpp/build_linux_cpp

# Run example
./demo_position_control

Position Control Example - C++ (Windows)​

# Navigate to example directory
cd example\cpp\build_windows_cpp

# Run example
.\Debug\demo_position_control.exe

Position Control Example - Python (Linux)​

# Navigate to example directory
cd example/python

# Run example
python3 ./demo_position_control.py

Position Control Example - Python (Windows)​

# Navigate to example directory
cd example\python

# Run example
python .\demo_position_control.py

📚 Related Documentation​

For more detailed documentation, please refer to:

💡 Tips​

  • If you encounter issues, first check hardware connections and IP address configuration

  • For error code queries, please refer to the corresponding API documentation

  • It is recommended to secure the FSA before performing motion control tests