API Reference

Firmware Version:

C/C++ API Reference

Actuator.Actuator()

Actuator::Actuator(uint32_t node_id, Interface *interface)

Description

Construct a new Actuator object.

Parameters

Datatype	Variable	Description
uint32_t	node_id	CAN Node ID of the Actuator
Interface *	interface	Initialised CAN Interface object for the interface to which the Actuator is connected

Actuator.clearActuatorErrors()

ret_status_t Actuator::clearActuatorErrors()

Description

Clear actuator errors.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.disableMotorThermalLimit()

ret_status_t Actuator::disableMotorThermalLimit()

Description

Disable Motor based Thermal limit.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.emergencyStop()

ret_status_t Actuator::emergencyStop()

Description

Function to issue an emergency stop to the device which stops the actuator and sets the error flag; Since the error flag is set the actuator doesn't respond to any other commands, until the actuator is rebooted.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.enableMotorThermalLimit()

ret_status_t Actuator::enableMotorThermalLimit(uint16_t upper_limit)

Description

Enable Motor based Thermal limit. A thermistor is used to measure motor temperature and start limiting the motor current once the temperature starts to approach the upper limit. The current limiting starts when the difference between the current temperature & the upper limit reaches 20 degrees celsius. The acutators will shut themselves off in case the temperature reaches the upper limit.

Parameters

Datatype	Variable	Description
uint16_t	upper_limit	Shutdown temperature at which the actuator will stop.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.eraseConfigurations()

ret_status_t Actuator::eraseConfigurations()

Description

Erase Configuration of the actuator.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.flash()

ret_status_t Actuator::flash(std::string firmware_path)

Description

Flash a firmware onto the device.

Parameters

Datatype	Variable	Description
std::string	firmware_path	path to firmware file

Returns

Datatype	Description
ret_status_t	ret_status_t

Actuator.getBusCurrent()

ret_status_t Actuator::getBusCurrent(float *ibus)

Description

Get the Bus Current of the actuator.

Parameters

Datatype	Variable	Description
float *	ibus	Pointer to the variable to which the bus current value is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getBusVoltage()

ret_status_t Actuator::getBusVoltage(float *vbus_voltage)

Description

Get the Bus Voltage of the actuator.

Parameters

Datatype	Variable	Description
float *	vbus_voltage	Pointer to the variable to which the current bus voltage value is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getCANCommunicationStatus()

ret_status_t Actuator::getCANCommunicationStatus(bool *is_connected_to_master, bool *is_receiving_heartbeat)

Description

Get CAN communication status.

Parameters

Datatype	Variable	Description
bool *	is_connected_to_master	Pointer to the variable to which the status of connection to master node is to be saved.
bool *	is_receiving_heartbeat	Pointer to the variable to which the heartbeat receive status is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getControllerMode()

ret_status_t Actuator::getControllerMode(uint16_t *control_mode)

Description

Get controller mode.

control_mode value	Description
1	Torque Control
2	Velocity Control or Ramped Velocity Control
3	Position Control or Trapezoidal Trajectory Control

Parameters

Datatype	Variable	Description
uint16_t *	control_mode	Pointer to the variable to which the value of control mode is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getControllerState()

ret_status_t Actuator::getControllerState(uint8_t *controller_state)

Description

Get the controller state of the driver.

controller_state value	Description
0	STATE_UNDEFINED
1	STATE_IDLE
6	STATE_INDEX_SEARCH
8	STATE_CLOSED_LOOP_CONTROL

Parameters

Datatype	Variable	Description
uint8_t *	controller_state	Pointer to the variable to which the controller state value is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getCurrentControllerBandwidth()

ret_status_t Actuator::getCurrentControllerBandwidth(float *bandwidth)

Description

Get current bandwidth of the controller.

Parameters

Datatype	Variable	Description
float *	bandwidth	Pointer to the variable to which the current controller bandwidth is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getCurrentControllerGains()

ret_status_t Actuator::getCurrentControllerGains(float *p_gain, float *i_gain)

Description

Get current controller gains.

Parameters

Datatype	Variable	Description
float *	p_gain	Pointer to the variable to which the current controller gain value of the controller is to be saved.
float *	i_gain	Pointer to the variable to which the current controller integrator gain value of the controller is to be saved. controller

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getCurrentFilter()

ret_status_t Actuator::getCurrentFilter(float *current_filter)

Description

Set the current data filter value in the controller.

Parameters

Datatype	Variable	Description
float *	current_filter	Value of current filter.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getDCBusTripLevels()

ret_status_t Actuator::getDCBusTripLevels(float *undervoltage_level, float *overvoltage_level)

Description

Get the actuator's current under-voltage and over-voltage levels.

Parameters

Datatype	Variable	Description
float *	undervoltage_level	Pointer to the variable where the under-voltage trip level is to be saved.
float *	overvoltage_level	Pointer to the variable where the over-voltage trip level is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getDriverFault()

ret_status_t Actuator::getDriverFault(uint32_t *driver_error)

Description

Get the Driver error status from the actuator.

Parameters

Datatype	Variable	Description
uint32_t *	driver_error	Pointer to the variable to which the value of driver error is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getDriverTemperature()

ret_status_t Actuator::getDriverTemperature(float *driver_temperature)

Description

Get driver temperature in degree Celsius. It uses a thermistor near the FETs to measure the temperature.

Parameters

Datatype	Variable	Description
float *	driver_temperature	Pointer to the variable to which the current driver temperature value is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getEncoderDataFilter()

ret_status_t Actuator::getEncoderDataFilter(float *encoder_data_filter)

Description

Get the current value of encoder data filter in the controller.

Parameters

Datatype	Variable	Description
float *	encoder_data_filter	Pointer to the variable to which the current encoder data filter value is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getErrorCode()

ret_status_t Actuator::getErrorCode(uint32_t *error_code)

Description

Get the error code from the actuator.

Parameters

Datatype	Variable	Description
uint32_t *	error_code	Pointer to the variable to which the value of error code is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getFirmwareVersion()

ret_status_t Actuator::getFirmwareVersion(uint8_t *major, uint8_t *minor, uint16_t *revision)

Description

Get Driver's Firmware version.

Parameters

Datatype	Variable	Description
uint8_t *	major	Pointer to the variable where the major version value is to be saved.
uint8_t *	minor	Pointer to the variable where the minor version value is to be saved.
uint16_t *	revision	Pointer to the variable where the revsion value is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getHardwareVersion()

ret_status_t Actuator::getHardwareVersion(uint8_t *tag, uint8_t *major, uint8_t *minor, uint8_t *variant)

Description

Get Actuator's Hardware version.

Parameters

Datatype	Variable	Description
uint8_t *	tag	Pointer to the variable where the hardware tag value is to be saved.
uint8_t *	major	Pointer to the variable where the major version value is to be saved.
uint8_t *	minor	Pointer to the variable where the minor version value is to be saved.
uint8_t *	variant	Pointer to the variable where the revsion value is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getIdqCurrents()

ret_status_t Actuator::getIdqCurrents(float *id_current, float *iq_current)

Description

Get the Id and Iq currents of the motor.

Parameters

Datatype	Variable	Description
float *	id_current	Pointer to the variable to which the Id current value is to be saved.
float *	iq_current	Pointer to the variable to which the Iq current value is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getMotorAcceleration()

ret_status_t Actuator::getMotorAcceleration(float *rotor_acceleration)

Description

Get current acceleration of the motor rotor in rotations per second^2.

Parameters

Datatype	Variable	Description
float *	rotor_acceleration	Pointer to the variable to which the current acceleration value is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getMotorEncoderBandwidth()

ret_status_t Actuator::getMotorEncoderBandwidth(float *bandwidth)

Description

Get motor encoder bandwidth of the controller.

Parameters

Datatype	Variable	Description
float *	bandwidth	Pointer to the variable to which the encoder bandwidth is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getMotorEncoderRawData()

ret_status_t Actuator::getMotorEncoderRawData(int32_t *encoder_data)

Description

Get raw encoder data from the encoder on the motor side. Returns the counts in case its an incremental encoder or it returns the raw bit data in case its an absolute encoder.

Parameters

Datatype	Variable	Description
int32_t *	encoder_data	Pointer to the variable to which the raw encoder value is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getMotorEncoderState()

ret_status_t Actuator::getMotorEncoderState(bool *index_found, bool *is_ready)

Description

Get the motor encoder state of the actuator.

Parameters

Datatype	Variable	Description
bool *	index_found	Pointer to the variable to which the index_found state of the motor encoder is to be saved.
bool *	is_ready	Pointer to the variable to which the is_ready state of the motor encoder is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getMotorPhaseCurrents()

ret_status_t Actuator::getMotorPhaseCurrents(float *phA, float *phB, float *phC)

Description

Get motor phase currents in Ampere.

Parameters

Datatype	Variable	Description
float *	phA	Pointer to the variable to which the current in phase A value is to be saved.
float *	phB	Pointer to the variable to which the current in phase B value is to be saved.
float *	phC	Pointer to the variable to which the current in phase C value is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getMotorPhaseParameters()

ret_status_t Actuator::getMotorPhaseParameters(float *phase_resistance, float *phase_inductance)

Description

Get the Motor Phase Parameters (Phase Resistance and Phase Inductance of the motor windings)

Parameters

Datatype	Variable	Description
float *	phase_resistance	Pointer to the variable to which the phase resistance of the motor is to be saved.
float *	phase_inductance	Pointer to the variable to which the phase inductance of the motor is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getMotorPosition()

ret_status_t Actuator::getMotorPosition(float *rotor_position)

Description

Get current angle of the motor rotor in number of rotations.

Parameters

Datatype	Variable	Description
float *	rotor_position	Pointer to the variable to which the current rotation value is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getMotorState()

ret_status_t Actuator::getMotorState(bool *is_calibrated, bool *is_armed)

Description

Get the motor state of the actuator.

Parameters

Datatype	Variable	Description
bool *	is_calibrated	Pointer to the variable to which the is_calibrated state of motor is to be saved.
bool *	is_armed	Pointer to the variable to which the is_armed state of motor is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getMotorTemperature()

ret_status_t Actuator::getMotorTemperature(float *motor_temperature)

Description

Get motor temperature in degree Celsius.

Parameters

Datatype	Variable	Description
float *	motor_temperature	Pointer to the variable to which the current motor temperature value is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getMotorThermistorConfiguration()

ret_status_t Actuator::getMotorThermistorConfiguration(bool *enable, uint16_t *r_ref, uint16_t *beta, uint8_t *upper_limit, uint8_t *lower_limit)

Description

Get the Motor thermistor configuration.

Parameters

Datatype	Variable	Description
bool *	enable	Pointer to the variable where the enabled/disabled status of the motor thermal limit is to be saved.
uint16_t *	r_ref	Pointer to the variable to which the Reference Resistance value is to be saved.
uint16_t *	beta	Pointer to the variable to which the beta value of thermistor is to be saved.
uint8_t *	upper_limit	Pointer to the variable where the upper limit of the thermal limit is to be saved.
uint8_t *	lower_limit	Pointer to the variable where the lower limit of the thermal limit is to be saved. This is the limit from which the current limiting of the driver will start.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getMotorTorque()

ret_status_t Actuator::getMotorTorque(float *rotor_torque)

Description

Get torque of the motor rotor in Nm.

Parameters

Datatype	Variable	Description
float *	rotor_torque	Pointer to the variable to which the current torque value is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getMotorVelocity()

ret_status_t Actuator::getMotorVelocity(float *rotor_velocity)

Description

Get current velocity of the motor rotor in rotations per second[rps].

Parameters

Datatype	Variable	Description
float *	rotor_velocity	Pointer to the variable to which the current velocity value is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getNodeId()

ret_status_t Actuator::getNodeId(uint32_t *node_id)

Description

Get current CAN Node ID of the actuator.

Parameters

Datatype	Variable	Description
uint32_t *	node_id	Pointer to the variable to which the current CAN Node ID of the actuator is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getOutputAcceleration()

ret_status_t Actuator::getOutputAcceleration(float *output_acceleration)

Description

Get current acceleration of the output in degrees per second^2.

Parameters

Datatype	Variable	Description
float *	output_acceleration	Pointer to the variable to which the current output acceleration value is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getOutputEncoderRawData()

ret_status_t Actuator::getOutputEncoderRawData(int32_t *raw_data)

Description

Get the raw data from output encoder.

Parameters

Datatype	Variable	Description
int32_t *	raw_data	Pointer to the variable to which the raw data value is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getOutputEncoderState()

ret_status_t Actuator::getOutputEncoderState(bool *is_ready)

Description

Get the output encoder state of the actuator.

Parameters

Datatype	Variable	Description
bool *	is_ready	Pointer to the variable to which the is_ready state of the output encoder is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getOutputPosition()

ret_status_t Actuator::getOutputPosition(float *output_position)

Description

Get current angle of the output in degrees.

Parameters

Datatype	Variable	Description
float *	output_position	Pointer to the variable to which the current output angle value is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getOutputTorque()

ret_status_t Actuator::getOutputTorque(float *output_torque)

Description

Get current torque at the output in Nm.

Parameters

Datatype	Variable	Description
float *	output_torque	Pointer to the variable to which the current output torque value is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getOutputVelocity()

ret_status_t Actuator::getOutputVelocity(float *output_velocity)

Description

Get current velocity of the output in degrees per second.

Parameters

Datatype	Variable	Description
float *	output_velocity	Pointer to the variable to which the current velocity value is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getPositionControllerGain()

ret_status_t Actuator::getPositionControllerGain(float *position_gain)

Description

Get position controller gain value.

Parameters

Datatype	Variable	Description
float *	position_gain	Pointer to the variable to which the current position controller gain value is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getRegenCurrentTripLevel()

ret_status_t Actuator::getRegenCurrentTripLevel(float *regen_current_trip_level)

Description

Get the maximum regenerative current the power supply/battery can take.

Parameters

Datatype	Variable	Description
float *	regen_current_trip_level	Pointer to the variable to which the value of the maximum regeneration current that battery/supply is to be saved

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getTrajectoryDoneStatus()

ret_status_t Actuator::getTrajectoryDoneStatus(bool *is_done)

Description

Get the trajectory status of the actuator.

Parameters

Datatype	Variable	Description
bool *	is_done	Pointer to the variable to which the status of reaching the trajectory end point is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getVelocityControllerGains()

ret_status_t Actuator::getVelocityControllerGains(float *vel_gain, float *vel_integrator_gain)

Description

Get controller velocity controller gains.

Parameters

Datatype	Variable	Description
float *	vel_gain	Pointer to the variable to which the velocity gain value of the controller is to be saved.
float *	vel_integrator_gain	Pointer to the variable to which the velocity integrator gain value of the controller is to be saved. controller

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.getZeroPosition()

ret_status_t Actuator::getZeroPosition(float *zero_position)

Description

Get zero offset postion in degrees.

Parameters

Datatype	Variable	Description
float *	zero_position	Pointer to the variable to which the zero position of the actuator is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.isConnected()

bool Actuator::isConnected()

Description

Check if the device is still connected or not.

Returns

Datatype	Description
bool	true

Actuator.rebootActuator()

ret_status_t Actuator::rebootActuator()

Description

Reboot the Actuator.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.runCalibrationSequence()

ret_status_t Actuator::runCalibrationSequence()

Description

Run calibration sequence on the acutator.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.saveConfigurations()

ret_status_t Actuator::saveConfigurations()

Description

Save the configuration to the actuator.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.setCurrentControllerBandwidth()

ret_status_t Actuator::setCurrentControllerBandwidth(float bandwidth)

Description

Set current controller bandwith.

Parameters

Datatype	Variable	Description
float	bandwidth	bandwidth value of the current controller

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.setCurrentFilter()

ret_status_t Actuator::setCurrentFilter(float current_filter)

Description

Set the current data filter value in the controller.

Parameters

Datatype	Variable	Description
float	current_filter	Value of current filter.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.setCurrentPostionToZero()

ret_status_t Actuator::setCurrentPostionToZero()

Description

Set current position of the actuator as zero.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.setDCBusTripLevels()

ret_status_t Actuator::setDCBusTripLevels(float undervoltage_level, float overvoltage_level)

Description

Set the actuator's undervoltage and overvoltage trip levels. The device will throw an error when the bus voltage will drop below under-voltage level or goes higher that the over-voltage level. Used to keep the actuator safe from high transient currents and voltage fluctuations.

Parameters

Datatype	Variable	Description
float	undervoltage_level	under-voltage trip level
float	overvoltage_level	over-voltage trip level

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.setDeviceToActive()

ret_status_t Actuator::setDeviceToActive()

Description

Set the actuator to active state.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.setDeviceToIdle()

ret_status_t Actuator::setDeviceToIdle()

Description

Set the actuator to idle state.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.setEncoderDataFilter()

ret_status_t Actuator::setEncoderDataFilter(float encoder_data_filter)

Description

Set the encoder data filter value in the controller.

Parameters

Datatype	Variable	Description
float	encoder_data_filter	Value of the encoder data filter.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.setMotorEncoderBandwidth()

ret_status_t Actuator::setMotorEncoderBandwidth(float bandwidth)

Description

Set motor encoder bandwith.

Parameters

Datatype	Variable	Description
float	bandwidth	bandwidth value of the encoder

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.setNodeId()

ret_status_t Actuator::setNodeId(uint32_t id)

Description

Set the node id for the actuator.

Parameters

Datatype	Variable	Description
uint32_t	id	CAN Node ID of the actuator

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.setOutputLogStream()

void Actuator::setOutputLogStream(std::ostream *out)

Description

Set an output log stream object to which the low-level logs can be written. To be used for debugging purposes.

Parameters

Datatype	Variable	Description
std::ostream *	out	Output log stream object

Actuator.setPositionControl()

ret_status_t Actuator::setPositionControl(float angle, float degrees_per_seconds)

Description

Set the Actuator in Position Control mode.

Parameters

Datatype	Variable	Description
float	angle	angle in degrees to where the actuator should move
float	degrees_per_seconds	velocity in degrees per second at which the actuator should move

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.setPositionControllerGain()

ret_status_t Actuator::setPositionControllerGain(float position_gain)

Description

Set position controller gain value.

Parameters

Datatype	Variable	Description
float	position_gain	pos gain value of the position controller

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.setRegenCurrentTripLevel()

ret_status_t Actuator::setRegenCurrentTripLevel(float regen_current_trip_level)

Description

Set the maximum regenerative current the power supply/battery can take. The device will throw DC_BUS_OVERREGEN Error if the current sink is more than this value.

Parameters

Datatype	Variable	Description
float	regen_current_trip_level	maximum regeneration current that battery/supply can take in

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.setTorqueControl()

ret_status_t Actuator::setTorqueControl(float torque, float degrees_per_seconds)

Description

Set the actuator in Torque Control mode.

Parameters

Datatype	Variable	Description
float	torque	motor torque in Nm
float	degrees_per_seconds	velocity limit in degrees per seconds

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.setTrajectoryControl()

ret_status_t Actuator::setTrajectoryControl(float angle, float degrees_per_seconds, float accel_rate, float decel_rate)

Description

Set the Actuator in Trajectory Control mode.

Parameters

Datatype	Variable	Description
float	angle	angle in degrees to where the actuator should move
float	degrees_per_seconds	velocity in degrees per second at which the actuator should move
float	accel_rate	velocity in degrees per seconds
float	decel_rate	velocity in degrees per seconds

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.setVelocityControl()

ret_status_t Actuator::setVelocityControl(float degrees_per_seconds)

Description

Set the actuator in Velocity Control mode.

Parameters

Datatype	Variable	Description
float	degrees_per_seconds	velocity in degrees per second at which the actuator should move.

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.setVelocityControllerGains()

ret_status_t Actuator::setVelocityControllerGains(float vel_gain, float vel_integrator_gain)

Description

Set velocity controller gains.

Parameters

Datatype	Variable	Description
float	vel_gain	velocity gain value of the velocity controller
float	vel_integrator_gain	velocity integrator gain value of the velocity controller

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.setVelocityRampControl()

ret_status_t Actuator::setVelocityRampControl(float degrees_per_seconds, float ramp_rate_degrees_per_seconds)

Description

Set the actuator in Velocity Ramp Control mode.

Parameters

Datatype	Variable	Description
float	degrees_per_seconds	velocity in degrees per second at which the actuator should move
float	ramp_rate_degrees_per_seconds	velocity ramp rate in degrees per seconds

Returns

Datatype	Description
ret_status_t	Return Status

Actuator.~Actuator()

Actuator::~Actuator()

Description

Destroy the Actuator object.

Python API Reference

Actuator.__init__()

__init__(id: int, interface: USBInterface) 

Description

Actuator class constructor.

Parameters

Datatype	Variable	Description
int	id	CAN Node ID of the Actuator
USBInterface	interface	Initialised CANInterface or USBInterface object

Actuator.clearActuatorErrors()

clearActuatorErrors() -> int

Description

Clear actuator errors.

Returns

Datatype	Description
int	Return Status

Actuator.disableMotorThermalLimit()

disableMotorThermalLimit(upper_limit: int) -> int

Description

Disable Motor based thermal limit.

Parameters

Datatype	Variable	Description
int	upper_limit	-

Returns

Datatype	Description
int	Return Status

Actuator.emergencyStop()

emergencyStop() ->  'int'

Description

Function to issue an emergency stop to the device which stops the actuator and sets the error flag; Since the error flag is set the actuator doesn't respond to any other commands, until the actuator is rebooted.

Returns

Datatype	Description
'int'	Return status

Actuator.enableMotorThermalLimit()

enableMotorThermalLimit(upper_limit: int) -> int

Description

Enable Motor based Thermal limit.

Parameters

Datatype	Variable	Description
int	upper_limit	Shutdown temperature at which the actuator will stop.

Returns

Datatype	Description
int	Return Status

Actuator.eraseConfigurations()

eraseConfigurations() -> int

Description

Erase configuration of the actuator.

Returns

Datatype	Description
int	Return Status

Actuator.getBusCurrent()

getBusCurrent() ->  'tuple[int, float]'

Description

Get the bus current of the actuator.

Returns

Datatype	Description
'tuple[int,float]'	Tuple containing return status and bus current.

Actuator.getBusVoltage()

getBusVoltage() ->  'tuple[int, float]'

Description

Get the bus voltage of the actuator.

Returns

Datatype	Description
'tuple[int,float]'	Tuple containing return status and bus voltage.

Actuator.getCANCommunicationStatus()

getCANCommunicationStatus() ->  'tuple[int, bool, bool]'

Description

Get CAN communication status.

Returns

Datatype	Description
'tuple[int,bool,bool]'	Tuple containing the return status, master connection status (true means master connection is OK) and heartbeat receive status (true means the device is still receiving heartbeat from master).

Actuator.getControllerMode()

getControllerMode() ->  'tuple[int, int]'

Description

Get controller mode.

control_mode value	Description
1	Torque Control
2	Velocity Control or Ramped Velocity Control
3	Position Control or Trapezoidal Trajectory Control

Returns

Datatype	Description
'tuple[int,int]'	Tuple containing the return status and the control mode value.

Actuator.getControllerState()

getControllerState() ->  'tuple[int, int]'

Description

Get the controller state of the actuator.

controller_state value	Description
0	STATE_UNDEFINED
1	STATE_IDLE
6	STATE_INDEX_SEARCH
8	STATE_CLOSED_LOOP_CONTROL

Returns

Datatype	Description
'tuple[int,int]'	Tuple containing the return status and the controller state value.

Actuator.getCurrentControllerBandwidth()

getCurrentControllerBandwidth() ->  'tuple[int, float]'

Description

Get current controller bandwidth.

Returns

Datatype	Description
'tuple[int,float]'	Tuple containing return status and the current controller bandwidth value.

Actuator.getCurrentControllerGains()

getCurrentControllerGains() ->  'tuple[int, float, float]'

Description

Get current controller gains.

Returns

Datatype	Description
'tuple[int,float,float]'	Tuple containing return status, current controller gain value and current controller integrator gain value.

Actuator.getCurrentFilter()

getCurrentFilter() ->  'tuple[float]'

Description

Get the current data filter value of the controller.

Returns

Datatype	Description
'tuple[float]'	Tuple containing return status and the current data filter value.

Actuator.getDCBusTripLevels()

getDCBusTripLevels() ->  'tuple[int, float, float]'

Description

Get the actuator's current under-voltage and over-voltage levels.

Returns

Datatype	Description
'tuple[int,float,float]'	Tuple containing return status, undervoltage level & overvoltage level

Actuator.getDriverFault()

getDriverFault() ->  'tuple[int, int]'

Description

Get the Driver error status from the actuator.

Returns

Datatype	Description
'tuple[int,int]'	Tuple containing the return status and the driver error value.

Actuator.getDriverTemperature()

getDriverTemperature() ->  'tuple[int, float]'

Description

Get driver temperature in degree Celsius.

Returns

Datatype	Description
'tuple[int,float]'	Tuple containing return status and driver temperature.

Actuator.getEncoderDataFilter()

getEncoderDataFilter() ->  'tuple[int, float]'

Description

Get the current value of encoder data filter in the controller.

Returns

Datatype	Description
'tuple[int,float]'	Tuple containing return status and the current encoder data filter value.

Actuator.getErrorCode()

getErrorCode() ->  'tuple[int, int]'

Description

Get the error code from the actuator.

Returns

Datatype	Description
'tuple[int,int]'	Tuple containing the return status and the error code value.

Actuator.getFirmwareVersion()

getFirmwareVersion() ->  'tuple[int, int, int, int]'

Description

Get the actuator firmware's major, minor and revision information.

Returns

Datatype	Description
'tuple[int,int,int,int]'	Tuple containing return status, major, minor and revision information.

Actuator.getHardwareVersion()

getHardwareVersion() ->  'tuple[int, int, int, int, int]'

Description

Get the actuator hardware's current tag, major, minor and variant information.

Returns

Datatype	Description
'tuple[int,int,int,int,int]'	Tuple containing return status, tag, major, minor and variant information.

Actuator.getIdqCurrents()

getIdqCurrents() ->  'tuple[int, float, float]'

Description

Get the Id and Iq currents of the motor.

Returns

Datatype	Description
'tuple[int,float,float]'	Tuple containing return status, Id current and Iq current values.

Actuator.getMotorAcceleration()

getMotorAcceleration() ->  'tuple[int, float]'

Description

Get current acceleration of the motor rotor in rotations per second^2.

Returns

Datatype	Description
'tuple[int,float]'	Tuple containing return status and the current acceleration value.

Actuator.getMotorEncoderBandwidth()

getMotorEncoderBandwidth() ->  'tuple[int, float]'

Description

Get current motor bandwidth value.

Returns

Datatype	Description
'tuple[int,float]'	Tuple containing return status and current motor bandwidth value.

Actuator.getMotorEncoderRawData()

getMotorEncoderRawData() ->  'tuple[int, int]'

Description

Get the raw encoder count from the motor.

Returns

Datatype	Description
'tuple[int,int]'	Tuple containing return status and raw count value of the incremental encoder.

Actuator.getMotorEncoderState()

getMotorEncoderState() ->  'tuple[int, bool, bool]'

Description

Get the motor encoder state of the actuator.

Returns

Datatype	Description
'tuple[int,bool,bool]'	Tuple containing the return status, index state (true means encoder found the index) and ready sate (true means the encoder is ready) of the motor encoder.

Actuator.getMotorPhaseCurrents()

getMotorPhaseCurrents() ->  'tuple[int, float, float, float]'

Description

Get motor phase currents in Ampere.

Returns

Datatype	Description
'tuple[int,float,float,float]'	Tuple containing return status and currents in phase A, B and C

Actuator.getMotorPhaseParameters()

getMotorPhaseParameters() ->  'tuple[int, float, float]'

Description

Get motor phase currents in Ampere.

Returns

Datatype	Description
'tuple[int,float,float]'	Tuple containing return status and currents in phase A, B and C

Actuator.getMotorPosition()

getMotorPosition() ->  'tuple[int, float]'

Description

Get current angle of the motor rotor in number of rotations.

Returns

Datatype	Description
'tuple[int,float]'	Tuple contatining return status and the current rotation value

Actuator.getMotorState()

getMotorState() ->  'tuple[int, bool, bool]'

Description

Get the motor state of the actuator.

Returns

Datatype	Description
'tuple[int,bool,bool]'	Tuple containing the return status, calibration state status (true means motor is calibrated) and the armed state (true means motor is currently armed) status of the motor.

Actuator.getMotorTemperature()

getMotorTemperature() ->  'tuple[int, float]'

Description

Get motor temperature in degree Celsius.

Returns

Datatype	Description
'tuple[int,float]'	Tuple containing return status and motor temperature.

Actuator.getMotorThermistorConfiguration()

getMotorThermistorConfiguration() ->  'tuple[bool, int, int, int, int]'

Description

Get the motor thermistor configuration.

Returns

Datatype	Description
'tuple[bool,int,int,int,int]'	Tuple containig return status, thermal limit enable status, upper limit and lower limit

Actuator.getMotorTorque()

getMotorTorque() ->  'tuple[int, float]'

Description

Get torque of the motor rotor in Nm.

Returns

Datatype	Description
'tuple[int,float]'	Tuple contatining return status and torque value.

Actuator.getMotorVelocity()

getMotorVelocity() ->  'tuple[int, float]'

Description

Get current velocity of the motor rotor in rotations per second.

Returns

Datatype	Description
'tuple[int,float]'	Tuple containing return status and the current velocity value.

Actuator.getNodeId()

getNodeId() ->  'tuple[int, int]'

Description

Get current CAN Node ID of the actuator.

Returns

Datatype	Description
'tuple[int,int]'	Tuple containing return status and the current CAN Node ID.

Actuator.getOutputAcceleration()

getOutputAcceleration() ->  'tuple[int, float]'

Description

Get current acceleration of the output in degrees per second^2.

Returns

Datatype	Description
'tuple[int,float]'	Tuple containing return status and current output acceleration.

Actuator.getOutputEncoderRawData()

getOutputEncoderRawData() ->  'tuple[int, int]'

Description

Get the raw data from output encoder.

Returns

Datatype	Description
'tuple[int,int]'	Tuple containing the return status and raw data value of the absolute encoder.

Actuator.getOutputEncoderState()

getOutputEncoderState() ->  'tuple[int, bool]'

Description

Get the output encoder state of the actuator.

Returns

Datatype	Description
'tuple[int,bool]'	Tuple containing return status and ready state (true means the encoder is ready) of the output encoder.

Actuator.getOutputPosition()

getOutputPosition() ->  'tuple[int, float]'

Returns

Datatype	Description
'tuple[int,float]'	-

Actuator.getOutputTorque()

getOutputTorque() ->  'tuple[int, float]'

Description

Get current torque at the output in Nm.

Returns

Datatype	Description
'tuple[int,float]'	Tuple containing return status and output torque.

Actuator.getOutputVelocity()

getOutputVelocity() ->  'tuple[int, float]'

Description

Get current velocity of output in degrees per second.

Returns

Datatype	Description
'tuple[int,float]'	Tuple containing return status and current output velocity.

Actuator.getPositionControllerGain()

getPositionControllerGain() ->  'tuple[int, float]'

Description

Get position controller gain value.

Returns

Datatype	Description
'tuple[int,float]'	Tuple containing return status and the current position controller gain value.

Actuator.getRegenCurrentTripLevel()

getRegenCurrentTripLevel() ->  'tuple[int, float]'

Description

Get the maximum regenerative current the power supply/battery can take.

Returns

Datatype	Description
'tuple[int,float]'	Tuple containing the return status and value of maximum regenerative current which is set.

Actuator.getTrajectoryDoneStatus()

getTrajectoryDoneStatus() ->  'tuple[int, bool]'

Description

Get the trajectory status of the actuator.

Returns

Datatype	Description
'tuple[int,bool]'	Tuple containing return status and the trajectory done status (true means the motion along the trajectory is complete)

Actuator.getVelocityControllerGains()

getVelocityControllerGains() ->  'tuple[int, float, float]'

Description

Get controller velocity controller gains.

Returns

Datatype	Description
'tuple[int,float,float]'	Tuple containing return status, velocity controller gain value and velocity controller integrator gain value.

Actuator.getZeroPosition()

getZeroPosition() ->  'tuple[int, float]'

Description

Get zero offset postion in degrees.

Returns

Datatype	Description
'tuple[int,float]'	Tuple containing return status and the current zero offset position.

Actuator.isConnected()

isConnected() ->  'bool'

Description

Check if the driver is still connected.

Returns

Datatype	Description
'bool'	Connection Status

Actuator.rebootActuator()

rebootActuator() -> int

Description

Reboot the Actuator.

Returns

Datatype	Description
int	Return Status

Actuator.runCalibrationSequence()

runCalibrationSequence() -> int

Description

Run calibration sequence on the actuator.

Returns

Datatype	Description
int	Return Status

Actuator.saveConfigurations()

saveConfigurations() -> int

Description

Save the configuration to the actuator.

Returns

Datatype	Description
int	Return Status

Actuator.setCurrentControllerBandwidth()

setCurrentControllerBandwidth(bandwidth: float) -> int

Description

Set current controller bandwith.

Parameters

Datatype	Variable	Description
float	bandwidth	Bandwidth value for the current controller.

Returns

Datatype	Description
int	Return status

Actuator.setCurrentFilter()

setCurrentFilter(current_filter: float) -> int

Description

Set the current data filter value in the controller.

Parameters

Datatype	Variable	Description
float	current_filter	Value of current filter.

Returns

Datatype	Description
int	Return Status

Actuator.setCurrentPostionToZero()

setCurrentPostionToZero() -> int

Description

Set current position of the actuator as zero.

Returns

Datatype	Description
int	Return Statu

Actuator.setDCBusTripLevels()

setDCBusTripLevels(undervoltage_level: float, overvoltage_level: float) ->  'int'

Description

Set the actuator's undervoltage and overvoltage trip levels.

Parameters

Datatype	Variable	Description
float	undervoltage_level	under-voltage trip level
float	overvoltage_level	over-voltage trip level

Returns

Datatype	Description
'int'	Return status

Actuator.setDeviceToActive()

setDeviceToActive() ->  'int'

Description

Set the actuator to active state.

Returns

Datatype	Description
'int'	Return status

Actuator.setDeviceToIdle()

setDeviceToIdle() ->  'int'

Description

Set the actuator to idle state.

Returns

Datatype	Description
'int'	Return status

Actuator.setEncoderDataFilter()

setEncoderDataFilter(encoder_data_filter: float) -> int

Description

Set the encoder data filter value in the controller.

Parameters

Datatype	Variable	Description
float	encoder_data_filter	value of encoder data filter.

Returns

Datatype	Description
int	Return Status

Actuator.setMotorEncoderBandwidth()

setMotorEncoderBandwidth(bandwidth: float) -> int

Description

Set motor encoder bandwidth value.

Parameters

Datatype	Variable	Description
float	bandwidth	Bandwidth value

Returns

Datatype	Description
int	Return status

Actuator.setNodeId()

setNodeId(id: int) ->  'int'

Description

Set the node id for the actuator.

Parameters

Datatype	Variable	Description
int	id	CAN Device ID of the actuator

Returns

Datatype	Description
'int'	Return Status

Actuator.setPositionControl()

setPositionControl(angle: float, degrees_per_seconds: float) -> int

Description

Set the actuator in position control mode.

Parameters

Datatype	Variable	Description
float	angle	angle in degrees to where the actuator should move.
float	degrees_per_seconds	velocity in degrees per second at which the actuator should move.

Returns

Datatype	Description
int	Return Status

Actuator.setPositionControllerGain()

setPositionControllerGain(pos_gain: float) -> int

Description

Set position controller gain value.

Parameters

Datatype	Variable	Description
float	pos_gain	position gain value of the position controller

Returns

Datatype	Description
int	Return Status

Actuator.setRegenCurrentTripLevel()

setRegenCurrentTripLevel(regen_current_trip_level: float) -> int

Description

Set the maximum regenerative current the power supply/battery can take.

Parameters

Datatype	Variable	Description
float	regen_current_trip_level	maximum regeneration current that battery/supply can take in

Returns

Datatype	Description
int	Return status

Actuator.setTorqueControl()

setTorqueControl(torque: float, degrees_per_second: float) -> int

Description

Set the actuator in torque control mode.

Parameters

Datatype	Variable	Description
float	torque	Motor Torque in Nm
float	degrees_per_second	Velocity limit in degrees per second when the actuator is moving.

Returns

Datatype	Description
int	Return Status

Actuator.setTrajectoryControl()

setTrajectoryControl(angle: float, degrees_per_seconds: float, accel_rate: float, decel_rate: float) -> int

Description

Set the actuator in trajectory control mode.

Parameters

Datatype	Variable	Description
float	angle	angle in degrees to where the actuator should move
float	degrees_per_seconds	velocity in degrees per second at which the actuator should move
float	accel_rate	acceleration rate as a factor of velocity in degrees per second^2.
float	decel_rate	deacceleration rate as a factor of velocity in degrees per second^2.

Returns

Datatype	Description
int	Return Status

Actuator.setVelocityControl()

setVelocityControl(degrees_per_seconds: float) -> int

Description

Set the actuator in Velocity Control mode.

Parameters

Datatype	Variable	Description
float	degrees_per_seconds	velocity in degrees per second at which the actuator should move.

Returns

Datatype	Description
int	Return Status

Actuator.setVelocityControllerGains()

setVelocityControllerGains(vel_gain: float, vel_integrator_gain: float) -> int

Description

Set velocity controller gains.

Parameters

Datatype	Variable	Description
float	vel_gain	velocity gain value of the velocity controller
float	vel_integrator_gain	velocity integrator gain value of the velocity controller

Returns

Datatype	Description
int	Return status

Actuator.setVelocityRampControl()

setVelocityRampControl(degrees_per_seconds: float, ramp_rate_degrees_per_second: float) -> int

Description

Set the actuator in Velocity Ramp Control mode.

Parameters

Datatype	Variable	Description
float	degrees_per_seconds	velocity in degrees per second at which the actuator should move.
float	ramp_rate_degrees_per_second	velocity ramp rate.

Returns

Datatype	Description
int	Return Status