Firmware Version 0.3.6

API Reference

Firmware Version:

C/C++ API Reference

Driver.Driver()

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

Description

Construct a new Driver object when Driver is connected via NLink / Native CAN.

Parameters

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

Driver.Driver()

Driver::Driver(Interface *interface)

Description

Construct a new Driver object when Driver is directly connected via USB.

Parameters

Datatype	Variable	Description
Interface *	interface	CAN Interface / USB Interface object for the interface to which the Driver is connected

Driver.clearDriverErrors()

ret_status_t Driver::clearDriverErrors()

Description

Clear driver errors.

Returns

Datatype	Description
ret_status_t	Return Status

Driver.clearMAxxxOffAxisCalibration()

uint8_t Driver::clearMAxxxOffAxisCalibration(bool encoder)

Description

Clear off-axis calibration for MAxxx series encoders.

Parameters

Datatype	Variable	Description
bool	encoder	Flag to indicate if it's a motor encoder or output encoder. False for motor side encoder True for output side encoder'

Returns

Datatype	Description
uint8_t	uint8_t Return Status

Driver.configureMotorEncoder()

ret_status_t Driver::configureMotorEncoder(uint8_t encoder_type, int32_t resolution_param=4096, bool use_index=true)

Description

Configure motor side encoder. Set it to onboard absolute, external incremental or external absolute. Output side and motor side encoders can't be set to same.

encoder_type value	Encoder Type	Description
0	TYPE_NONE	Using no encoder
1	TYPE_ONBOARD_ENCODER	Using onboard absolute encoder (Tested)
2	TYPE_INCREMENTAL	Using External incremental Encoder (Tested)
3	TYPE_SPI_ABS_AMS	Using AS5047P absolute encoder from AMS (Tested)
4	TYPE_SPI_ABS_MAXXX	Using MA7xx series absolute encoders from Monolith Power Systems (Tested with MA732, MA702)
5	TYPE_SPI_ABS_MUXXX	Using MU series absolute encoders from iC-Haus (Tested with MU150, MU200)
6	TYPE_SPI_ABS_CUI	Using AMT 203 absolute encoder from CUI (Tested)
7	TYPE_SPI_ABS_AEAT	Using AEAT absolute encoders from Broadcomm (To be tested)
8	TYPE_SPI_ABS_RLS	Using RLS absolute encoders from Renishaw (To be tested)
9	TYPE_SPI_ABS_MA600	Using MA600 series absolute encoders from Monolith Power Systems (Tested)
20	TYPE_HALL_SENSOR	Using Hall Sensor Feedback (Tested)

Parameters

Datatype	Variable	Description
uint8_t	encoder_type	type of encoder used
int32_t	resolution_param	CPR value of the encoder in case of an incremental encoder or resolution value in 2^bits in case of absolute encoder (this parameter is ignored in the case of using onboard absolute encoder) resolution_param is set to 4096 by default.
bool	use_index	flag to set whether to use the index pin for incremental encoder or not. Valid only when an incremental encoder is used. use_index is set to true by default.

Returns

Datatype	Description
ret_status_t	Return Status

Driver.configureOutputEncoder()

ret_status_t Driver::configureOutputEncoder(uint8_t encoder_type, int32_t resolution_param=4096, bool use_index=true)

Description

Configure Output side encoder. Set it to onboard absolute, external incremental or external absolute. Output side and motor side encoders can't be set to same.

Parameters

Datatype	Variable	Description
uint8_t	encoder_type	-
int32_t	resolution_param	-
bool	use_index	-

Returns

Datatype	Description
ret_status_t	-

Driver.disableBrakeResistor()

ret_status_t Driver::disableBrakeResistor()

Description

Disable brake resistor and configure it.

Returns

Datatype	Description
ret_status_t	Return Status

Driver.disableMotorThermalLimit()

ret_status_t Driver::disableMotorThermalLimit()

Description

Disable Motor based Thermal limit.

Returns

Datatype	Description
ret_status_t	Return Status

Driver.disableOutputEncoder()

ret_status_t Driver::disableOutputEncoder()

Description

Disable Output Encoder.

Returns

Datatype	Description
ret_status_t	Return Status

Driver.emergencyStop()

ret_status_t Driver::emergencyStop()

Description

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

Returns

Datatype	Description
ret_status_t	Return Status

Driver.enableBrakeResistor()

ret_status_t Driver::enableBrakeResistor(float brake_resistance_value)

Description

Enable brake resistor and configure it.

Parameters

Datatype	Variable	Description
float	brake_resistance_value	brake resistance value

Returns

Datatype	Description
ret_status_t	Return Status

Driver.enableMotorThermalLimit()

ret_status_t Driver::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 10 degrees celsius. The actuators 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 driver will stop.

Returns

Datatype	Description
ret_status_t	Return Status

Driver.enterDFUMode()

ret_status_t Driver::enterDFUMode()

Description

Enter in DFU Mode.

Returns

Datatype	Description
ret_status_t	ret_status_t

Driver.eraseConfigurations()

ret_status_t Driver::eraseConfigurations()

Description

Erase Configuration of the driver.

Returns

Datatype	Description
ret_status_t	Return Status

Driver.flash()

ret_status_t Driver::flash(std::string firmware_path, bool is_in_dfu_mode=false)

Description

Function to flash a firmware onto the device.

Parameters

Datatype	Variable	Description
std::string	firmware_path	path to firmware file
bool	is_in_dfu_mode	flag to set if the driver is already in dfu mode

Returns

Datatype	Description
ret_status_t	ret_status_t

Driver.getBrakeCurrent()

ret_status_t Driver::getBrakeCurrent(float *brake_current)

Description

Function to get the brake current of the driver.

Parameters

Datatype	Variable	Description
float *	brake_current	variable to store the brake current

Returns

Datatype	Description
ret_status_t	Return Status

Driver.getBrakeResistorState()

ret_status_t Driver::getBrakeResistorState(bool *enable, float *brake_resistance_value, bool *brake_resistor_armed, bool *brake_resistor_saturated)

Description

Get current state of brake resistor.

Parameters

Datatype	Variable	Description
bool *	enable	Pointer to variable to which the enable status of the brake resistor is to be saved (true means that the brake resistor is enabled).
float *	brake_resistance_value	Pointer to the variable to which the value of brake resistance is to be saved.
bool *	brake_resistor_armed	Pointer to the variable to which the value of the arm status of the brake resistor is to be saved (true means that the brake resistor is armed).
bool *	brake_resistor_saturated	Pointer to the variable to which the value of saturation status of the brake resistor is to be saved (true means that the brake resistor is saturated).

Returns

Datatype	Description
ret_status_t	Return Status

Driver.getBusCurrent()

ret_status_t Driver::getBusCurrent(float *ibus)

Description

Get the Bus Current of the driver.

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

Driver.getBusVoltage()

ret_status_t Driver::getBusVoltage(float *vbus_voltage)

Description

Get the Bus Voltage of the driver.

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

Driver.getCANBaudRate()

ret_status_t Driver::getCANBaudRate(CANBaudRate *baud_rate)

Description

Get the CAN Baud Rate of the driver.

Parameters

Datatype	Variable	Description
CANBaudRate *	baud_rate	Pointer to the variable to which the CAN Baud Rate is to be saved

Returns

Datatype	Description
ret_status_t	ret_status_t

Driver.getCANCommunicationStatus()

ret_status_t Driver::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

Driver.getControllerMode()

ret_status_t Driver::getControllerMode(uint16_t *control_mode)

Description

Get controller mode.

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

Driver.getControllerState()

ret_status_t Driver::getControllerState(uint8_t *controller_state)

Description

Get the controller state of the driver.

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

Driver.getCurrentControllerBandwidth()

ret_status_t Driver::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

Driver.getCurrentControllerGains()

ret_status_t Driver::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

Driver.getCurrentFilter()

ret_status_t Driver::getCurrentFilter(float *current_filter)

Description

Get 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

Driver.getDCBusTripLevels()

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

Description

Get the driver'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

Driver.getDCCalibPhaseCurrents()

ret_status_t Driver::getDCCalibPhaseCurrents(float *dc_calib_phA, float *dc_calib_phB, float *dc_calib_phC)

Description

Get motor phase dc calib currents in Ampere.

Parameters

Datatype	Variable	Description
float *	dc_calib_phA	Pointer to the variable to which the current in phase A value is to be saved.
float *	dc_calib_phB	Pointer to the variable to which the current in phase B value is to be saved.
float *	dc_calib_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

Driver.getDebugErrorCode()

ret_status_t Driver::getDebugErrorCode(uint64_t *system_error, uint64_t *axis_error, uint64_t *motor_error, uint64_t *encoder_error, uint64_t *controller_error, uint64_t *driver_error)

Description

Get the debug error codes from the driver.

Parameters

Datatype	Variable	Description
uint64_t *	system_error	Pointer to the variable to which the value of system error code is saved
uint64_t *	axis_error	Pointer to the variable to which the value of axis error code is saved
uint64_t *	motor_error	Pointer to the variable to which the value of motor error code is saved
uint64_t *	encoder_error	Pointer to the variable to which the value of encoder error code is saved
uint64_t *	controller_error	Pointer to the variable to which the value of controller error code is saved
uint64_t *	driver_error	Pointer to the variable to which the value of driver error code is saved

Returns

Datatype	Description
ret_status_t	Return Status

Driver.getDriverFault()

ret_status_t Driver::getDriverFault(uint32_t *driver_error)

Description

Get the Driver error status from the driver.

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

Driver.getDriverTemperature()

ret_status_t Driver::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

Driver.getEncoderDataFilter()

ret_status_t Driver::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

Driver.getErrorCode()

ret_status_t Driver::getErrorCode(driver_error_t *error_code)

Description

Get the error code from the driver.

Parameters

Datatype	Variable	Description
driver_error_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

Driver.getFirmwareCommit()

ret_status_t Driver::getFirmwareCommit(std::string *commit)

Description

Get Driver's Firmware commit.

Parameters

Datatype	Variable	Description
std::string *	commit	Pointer to the variable where the commit value is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Driver.getFirmwareVersion()

ret_status_t Driver::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 revision value is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Driver.getGearBoxParameters()

ret_status_t Driver::getGearBoxParameters(float *gear_ratio)

Description

Get Gear ratio of the Gearbox.

Parameters

Datatype	Variable	Description
float *	gear_ratio	Pointer to the variable to which the gear ratio value is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Driver.getHallEncoderState()

ret_status_t Driver::getHallEncoderState(uint8_t *hall_state)

Description

Get Hall encoder state.

Parameters

Datatype	Variable	Description
uint8_t *	hall_state	Pointer to variable to which the value of hall state is to be saved

Returns

Datatype	Description
ret_status_t	Return Status

Driver.getHallEncoderStateCounts()

ret_status_t Driver::getHallEncoderStateCounts(uint16_t *hall0_count, uint16_t *hall1_count, uint16_t *hall2_count, uint16_t *hall3_count, uint16_t *hall4_count, uint16_t *hall5_count, uint16_t *hall6_count, uint16_t *hall7_count)

Description

Get Hall encoder state count.

Parameters

Datatype	Variable	Description
uint16_t *	hall0_count	Pointer to variable to which the value of hall state 0 count is to be saved.
uint16_t *	hall1_count	Pointer to variable to which the value of hall state 1 count is to be saved.
uint16_t *	hall2_count	Pointer to variable to which the value of hall state 2 count is to be saved.
uint16_t *	hall3_count	Pointer to variable to which the value of hall state 3 count is to be saved.
uint16_t *	hall4_count	Pointer to variable to which the value of hall state 4 count is to be saved.
uint16_t *	hall5_count	Pointer to variable to which the value of hall state 5 count is to be saved.
uint16_t *	hall6_count	Pointer to variable to which the value of hall state 6 count is to be saved.
uint16_t *	hall7_count	Pointer to variable to which the value of hall state 7 count is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Driver.getHardwareVersion()

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

Description

Get Driver'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 variant value is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Driver.getIdqCurrents()

ret_status_t Driver::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

Driver.getMAxxxBCTValue()

ret_status_t Driver::getMAxxxBCTValue(bool encoder, uint8_t *bct_value, bool *status)

Description

Get the encoder bct value of the MAxxx encoder.

Parameters

Datatype	Variable	Description
bool	encoder	Flag to set the encoder type. False for motor side encoder True for output side encoder
uint8_t *	bct_value	Pointer to the variable to which the current encoder bct value is to be saved.
bool *	status	-

Returns

Datatype	Description
ret_status_t	Return Status

Driver.getMAxxxFilterWindow()

ret_status_t Driver::getMAxxxFilterWindow(bool encoder, uint8_t *filter_window, bool *status)

Description

Get the encoder filter window of MAxxx encoder.

Parameters

Datatype	Variable	Description
bool	encoder	Flag to set the encoder type. False for motor side encoder True for output side encoder
uint8_t *	filter_window	Pointer to the variable to which the current encoder filter window is to be saved.
bool *	status	-

Returns

Datatype	Description
ret_status_t	Return Status

Driver.getMAxxxSPIRegister()

ret_status_t Driver::getMAxxxSPIRegister(bool encoder, uint8_t register_address, uint8_t *data, bool *status)

Description

Get the register for MAxxx series encoders.

Parameters

Datatype	Variable	Description
bool	encoder	Flag to indicate if it's a motor encoder or output encoder. False for motor side encoder True for output side encoder'
uint8_t	register_address	Address of the register to read
uint8_t *	data	Pointer to the variable to which the read value is saved
bool *	status	Pointer to the variable to which the status is saved

Returns

Datatype	Description
ret_status_t	ret_status_t Return Status

Driver.getMAxxxTrimmingSettings()

ret_status_t Driver::getMAxxxTrimmingSettings(bool encoder, bool *etx, bool *ety, bool *status)

Description

Get the trimming setting of MAxxx encoder.

Parameters

Datatype	Variable	Description
bool	encoder	Flag to set the encoder type. False for motor side encoder True for output side encoder
bool *	etx	Value of the encoder etx settings.
bool *	ety	Value of the encoder ety settings.
bool *	status	-

Returns

Datatype	Description
ret_status_t	Return Status

Driver.getMotorAcceleration()

ret_status_t Driver::getMotorAcceleration(float *motor_acceleration)

Description

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

Parameters

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

Returns

Datatype	Description
ret_status_t	Return Status

Driver.getMotorCalibrationParameters()

ret_status_t Driver::getMotorCalibrationParameters(float *motor_calib_voltage, float *motor_calib_current)

Description

Get current Motor Calibration Parameters.

Parameters

Datatype	Variable	Description
float *	motor_calib_voltage	Pointer to the variable to which the current calibration voltage to calibrate motor is to be saved.
float *	motor_calib_current	Pointer to the variable to which the current calibration current to calibrate motor is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Driver.getMotorEncoderBandwidth()

ret_status_t Driver::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

Driver.getMotorEncoderConfiguration()

ret_status_t Driver::getMotorEncoderConfiguration(uint8_t *encoder_type, int32_t *resolution_param, bool *use_index)

Description

Get motor encoder configuration.

Parameters

Datatype	Variable	Description
uint8_t *	encoder_type	Pointer to the variable to which the current encoder type value is to be saved. If the value is 0, it means the output encoder is not enabled.
int32_t *	resolution_param	Pointer to the variable to which the value of encoder CPR (in case of incremental encoder) or value of encoder resolution bits (in case of absolute encoder) is to be saved.
bool *	use_index	Pointer to the variable to which the status of using index pin for incremental encoder is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Driver.getMotorEncoderRawData()

ret_status_t Driver::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

Driver.getMotorEncoderState()

ret_status_t Driver::getMotorEncoderState(bool *index_found, bool *is_ready, bool *is_hall_calibrated)

Description

Get the state of encoder on the motor side.

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. This value is only valid if the motor side encoder is incremental.
bool *	is_ready	Pointer to the variable to which the is_ready state of the motor encoder is to be saved (true means that the motor side encoder is ready)
bool *	is_hall_calibrated	Pointer to the variable to which the is_hall_calibrated state of the motor encoder is to be saved (true means that the motor side hall encoder is calibrated)

Returns

Datatype	Description
ret_status_t	Return Status

Driver.getMotorParameters()

ret_status_t Driver::getMotorParameters(uint8_t *pole_pairs, uint16_t *kV_rating, float *current_limit)

Description

Get current motor parameters.

Parameters

Datatype	Variable	Description
uint8_t *	pole_pairs	Pointer to the variable to which the pole-pair value of the motor is to be saved.
uint16_t *	kV_rating	Pointer to the variable to which the kV rating value of the motor is to be saved.
float *	current_limit	Pointer to the variable to which the current limit value for the motor is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Driver.getMotorPhaseCurrents()

ret_status_t Driver::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

Driver.getMotorPhaseParameters()

ret_status_t Driver::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

Driver.getMotorPosition()

ret_status_t Driver::getMotorPosition(float *motor_position)

Description

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

Parameters

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

Returns

Datatype	Description
ret_status_t	Return Status

Driver.getMotorState()

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

Description

Get the motor state of the driver.

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

Driver.getMotorTemperature()

ret_status_t Driver::getMotorTemperature(float *motor_temperature)

Description

Get motor temperature in degree Celsius. Valid only if a motor thermistor is connected to the driver.

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

Driver.getMotorThermistorConfiguration()

ret_status_t Driver::getMotorThermistorConfiguration(bool *enable, float *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.
float *	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

Driver.getMotorTorque()

ret_status_t Driver::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

Driver.getMotorTorqueLimit()

ret_status_t Driver::getMotorTorqueLimit(float *torque_limit)

Description

Get the torque limit for the driver.

Parameters

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

Returns

Datatype	Description
ret_status_t	Return Status

Driver.getMotorType()

ret_status_t Driver::getMotorType(uint8_t *motor_type)

Description

Get the motor type connected to the driver.

Parameters

Datatype	Variable	Description
uint8_t *	motor_type	Pointer to the variable to which the motor type value is to be saved. (0: HIGH_CURRENT_BLDC, 1: GIMBAL)

Returns

Datatype	Description
ret_status_t	Return Status

Driver.getMotorVelocity()

ret_status_t Driver::getMotorVelocity(float *motor_velocity)

Description

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

Parameters

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

Returns

Datatype	Description
ret_status_t	Return Status

Driver.getNodeId()

ret_status_t Driver::getNodeId(uint32_t *node_id)

Description

Get current CAN Node ID of the driver.

Parameters

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

Returns

Datatype	Description
ret_status_t	Return Status

Driver.getOutputAcceleration()

ret_status_t Driver::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

Driver.getOutputEncoderConfiguration()

ret_status_t Driver::getOutputEncoderConfiguration(uint8_t *encoder_type, int32_t *resolution_param, bool *use_index)

Description

Get output encoder configuration.

Parameters

Datatype	Variable	Description
uint8_t *	encoder_type	Pointer to the variable to which the current encoder type value is to be saved. If the value is 0, it means the output encoder is not enabled.
int32_t *	resolution_param	Pointer to the variable to which the value of encoder CPR (in case of incremental encoder) or value of encoder resolution bits (in case of absolute encoder) is to be saved.
bool *	use_index	Pointer to the variable to which the status of using index pin for incremental encoder is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Driver.getOutputEncoderRawData()

ret_status_t Driver::getOutputEncoderRawData(int32_t *encoder_data)

Description

Get raw encoder data from the encoder on the Output 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

Driver.getOutputEncoderState()

ret_status_t Driver::getOutputEncoderState(bool *index_found, bool *is_ready)

Description

Get the state of encoder on the output side.

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. This value is only valid if the motor side encoder is incremental.
bool *	is_ready	Pointer to the variable to which the is_ready state of the motor encoder is to be saved (true means that the output side encoder is ready)

Returns

Datatype	Description
ret_status_t	Return Status

Driver.getOutputPosition()

ret_status_t Driver::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

Driver.getOutputTorque()

ret_status_t Driver::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

Driver.getOutputVelocity()

ret_status_t Driver::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

Driver.getPositionControllerGain()

ret_status_t Driver::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

Driver.getRegenCurrentTripLevel()

ret_status_t Driver::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

Driver.getStartupConfigs()

ret_status_t Driver::getStartupConfigs(bool *index_search, bool *encoder_matching, bool *closed_loop)

Description

Get startup configuration of the driver.

Parameters

Datatype	Variable	Description
bool *	index_search	Pointer to the variable to which the enable/disable status of index searching on startup is to be saved.
bool *	encoder_matching	Pointer to the variable to which the enable/disable status of output encoder matching sequence on startup is to be saved.
bool *	closed_loop	Pointer to the variable to which the enable/disable status of setting the driver to closed loop on startup value is to be saved.

Returns

Datatype	Description
ret_status_t	Return Status

Driver.getTrajectoryDoneStatus()

ret_status_t Driver::getTrajectoryDoneStatus(bool *is_done)

Description

Get the trajectory done status.

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

Driver.getVelocityControllerGains()

ret_status_t Driver::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

Driver.getZeroPosition()

ret_status_t Driver::getZeroPosition(float *zero_position)

Description

Get zero offset position in degrees.

Parameters

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

Returns

Datatype	Description
ret_status_t	Return Status

Driver.importConfiguration()

uint8_t Driver::importConfiguration(std::string config)

Description

Function to write current configuration from json file to device.

Parameters

Datatype	Variable	Description
std::string	config	Configuration in JSON string format

Returns

Datatype	Description
uint8_t	-

Driver.isConnected()

bool Driver::isConnected()

Description

Check if the device is still connected or not.

Returns

Datatype	Description
bool	true

Driver.rebootDriver()

ret_status_t Driver::rebootDriver()

Description

Reboot the driver.

Returns

Datatype	Description
ret_status_t	Return Status

Driver.runCalibrationSequence()

ret_status_t Driver::runCalibrationSequence()

Description

Run calibration sequence on the actuator.

Returns

Datatype	Description
ret_status_t	Return Status

Driver.runEncoderCalibration()

ret_status_t Driver::runEncoderCalibration()

Description

Run encoder calibration on the actuator.

Returns

Datatype	Description
ret_status_t	Return Status

Driver.runEncoderIndexSearch()

ret_status_t Driver::runEncoderIndexSearch()

Description

Function to run incremental encoder index search.

Returns

Datatype	Description
ret_status_t	Return Status

Driver.runEncoderMatching()

ret_status_t Driver::runEncoderMatching()

Description

Function to run matches the motor encoder with output encoder.

Returns

Datatype	Description
ret_status_t	Return Status

Driver.runMAxxxOffAxisCalibration()

uint8_t Driver::runMAxxxOffAxisCalibration(bool encoder, float constant_speed_dps)

Description

Run off-axis calibration for MAxxx series encoders. For MA702 and MA732 encoders, only BCT calibration will be performed, while for MA600 encoders, both BCT calibration and Harmonic Compensation calibration will be performed.

Parameters

Datatype	Variable	Description
bool	encoder	Flag to indicate if it's a motor encoder or output encoder. False for motor side encoder True for output side encoder'
float	constant_speed_dps	Constant speed in degrees per second

Returns

Datatype	Description
uint8_t	uint8_t Return Status

Driver.saveConfigurations()

ret_status_t Driver::saveConfigurations()

Description

Save the configuration to the driver.

Returns

Datatype	Description
ret_status_t	Return Status

Driver.setCANBaudRate()

ret_status_t Driver::setCANBaudRate(CANBaudRate baud_rate)

Description

Set the CAN Baud Rate of the driver.

Parameters

Datatype	Variable	Description
CANBaudRate	baud_rate	CAN Baud Rate to be set

Returns

Datatype	Description
ret_status_t	ret_status_t

Driver.setCurrentControllerBandwidth()

ret_status_t Driver::setCurrentControllerBandwidth(float bandwidth)

Description

Set current controller bandwidth.

Parameters

Datatype	Variable	Description
float	bandwidth	bandwidth value of the current controller

Returns

Datatype	Description
ret_status_t	Return Status

Driver.setCurrentFilter()

ret_status_t Driver::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

Driver.setCurrentPositionAs()

ret_status_t Driver::setCurrentPositionAs(float angle)

Description

Set current position of the motor to a particular angle in degrees.

Parameters

Datatype	Variable	Description
float	angle	angle in degrees

Returns

Datatype	Description
ret_status_t	Return Status

Driver.setCurrentPositionToZero()

ret_status_t Driver::setCurrentPositionToZero()

Description

Set current position of the driver as zero.

Returns

Datatype	Description
ret_status_t	Return Status

Driver.setDCBusTripLevels()

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

Description

Set the driver'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 than the over-voltage level. Used to keep the driver 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

Driver.setDeviceToActive()

ret_status_t Driver::setDeviceToActive()

Description

Set the driver to active state.

Returns

Datatype	Description
ret_status_t	Return Status

Driver.setDeviceToIdle()

ret_status_t Driver::setDeviceToIdle()

Description

Set the driver to idle state.

Returns

Datatype	Description
ret_status_t	Return Status

Driver.setEncoderDataFilter()

ret_status_t Driver::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

Driver.setGearBoxParameters()

ret_status_t Driver::setGearBoxParameters(float gear_ratio)

Description

Set gear ratio (Output / Input) of the Gearbox. By default the value is 1 in the driver.

Parameters

Datatype	Variable	Description
float	gear_ratio	gear ratio of the gearbox

Returns

Datatype	Description
ret_status_t	Return Status

Driver.setMAxxxBCTValue()

ret_status_t Driver::setMAxxxBCTValue(bool encoder, uint8_t bct_value)

Description

Set the encoder bct value of MAxxx encoder.

Parameters

Datatype	Variable	Description
bool	encoder	Flag to set the encoder type. False for motor side encoder True for output side encoder
uint8_t	bct_value	Value of the encoder BCT Settings.

Returns

Datatype	Description
ret_status_t	Return Status

Driver.setMAxxxFilterWindow()

ret_status_t Driver::setMAxxxFilterWindow(bool encoder, uint8_t filter_window)

Description

Set the encoder filter window of the MAxxx encoder.

Parameters

Datatype	Variable	Description
bool	encoder	Flag to set the encoder type. False for motor side encoder True for output side encoder
uint8_t	filter_window	Value of the encoder etx settings.

Returns

Datatype	Description
ret_status_t	Return Status

Driver.setMAxxxSPIRegister()

ret_status_t Driver::setMAxxxSPIRegister(bool encoder, uint8_t register_address, uint8_t data)

Description

Set the SPI register for MAxxx series encoders.

Parameters

Datatype	Variable	Description
bool	encoder	Flag to indicate if it's a motor encoder or output encoder. False for motor side encoder True for output side encoder'
uint8_t	register_address	Address of the register to set
uint8_t	data	Data to write to the register

Returns

Datatype	Description
ret_status_t	ret_status_t Return Status

Driver.setMAxxxTrimmingSettings()

ret_status_t Driver::setMAxxxTrimmingSettings(bool encoder, bool etx, bool ety)

Description

Set the encoder trimming settings of MAxxx encoder.

Parameters

Datatype	Variable	Description
bool	encoder	Flag to set the encoder type. False for motor side encoder True for output side encoder
bool	etx	Value of the encoder etx settings.
bool	ety	Value of the encoder ety settings.

Returns

Datatype	Description
ret_status_t	Return Status

Driver.setMotorCalibrationParameters()

ret_status_t Driver::setMotorCalibrationParameters(float motor_calib_voltage, float motor_calib_current)

Description

Set Motor Calibration Parameters. These values are used to calculate the phase resistance & inductance values.

Parameters

Datatype	Variable	Description
float	motor_calib_voltage	calibration voltage used to calibrate motor
float	motor_calib_current	calibration current used to calibrate motor

Returns

Datatype	Description
ret_status_t	Return Status

Driver.setMotorEncoderBandwidth()

ret_status_t Driver::setMotorEncoderBandwidth(float bandwidth)

Description

Set motor encoder bandwidth.

Parameters

Datatype	Variable	Description
float	bandwidth	bandwidth value of the encoder

Returns

Datatype	Description
ret_status_t	Return Status

Driver.setMotorParameters()

ret_status_t Driver::setMotorParameters(uint8_t pole_pairs, uint16_t kV_rating, float current_limit)

Description

Set parameters of the motor which is connected to the driver.

Parameters

Datatype	Variable	Description
uint8_t	pole_pairs	pole-pair value of the motor
uint16_t	kV_rating	kV rating value of the motor
float	current_limit	current limit value for the motor

Returns

Datatype	Description
ret_status_t	Return Status

Driver.setMotorPhaseParameters()

ret_status_t Driver::setMotorPhaseParameters(float phase_resistance, float phase_inductance)

Description

Set motor phase parameters of the motor in the driver.

Parameters

Datatype	Variable	Description
float	phase_resistance	phase resistance value of the motor
float	phase_inductance	phase inductance value of the motor

Returns

Datatype	Description
ret_status_t	Return Status

Driver.setMotorThermistorParameters()

ret_status_t Driver::setMotorThermistorParameters(float r_ref, uint16_t beta)

Description

Function to set Motor Thermistor Parameters.

Parameters

Datatype	Variable	Description
float	r_ref	Reference Resistance at 25 degrees celsius of the NTC thermistor
uint16_t	beta	beta value of the thermistor

Returns

Datatype	Description
ret_status_t	Return Status

Driver.setMotorTorqueLimit()

ret_status_t Driver::setMotorTorqueLimit(float torque_limit)

Description

Set the torque limit for the driver.

Parameters

Datatype	Variable	Description
float	torque_limit	torque limit for controller (value in Nm)

Returns

Datatype	Description
ret_status_t	Return Status

Driver.setMotorType()

ret_status_t Driver::setMotorType(uint8_t motor_type)

Description

Set the motor type connected to the driver.

Parameters

Datatype	Variable	Description
uint8_t	motor_type	motor type (0: HIGH_CURRENT_BLDC, 1: GIMBAL)

Returns

Datatype	Description
ret_status_t	-

Driver.setNodeId()

ret_status_t Driver::setNodeId(uint32_t id)

Description

Set the node id for the driver.

Parameters

Datatype	Variable	Description
uint32_t	id	CAN Node ID of the driver

Returns

Datatype	Description
ret_status_t	Return Status

Driver.setOpenLoopPositionControl()

ret_status_t Driver::setOpenLoopPositionControl(int16_t pos, int16_t vel, int16_t accel, float current)

Description

Set the driver in Open Loop Position Control mode.

Parameters

Datatype	Variable	Description
int16_t	pos	relative position based on the pole pair. pos = 8 and if pole-pair is 8, then driver rotates 1 rotation
int16_t	vel	velocity in terms of pole-pairs. If vel = 8 and if the pole-pair is 8, then driver rotates in 1 rps Note: to reverse direction, need to set position and velocity in negative.
int16_t	accel	acceleration in terms of pole-pairs. If accel = 8 and if pole-pairs is 8, the acceleration is 1 rps per second.
float	current	open-loop controller requires minimum current to maintain lock-in.

Returns

Datatype	Description
ret_status_t	Return Status

Driver.setOpenLoopVelocityControl()

ret_status_t Driver::setOpenLoopVelocityControl(int16_t vel, int16_t accel, float current)

Description

Set the driver in Open Loop Velocity Control mode.

Parameters

Datatype	Variable	Description
int16_t	vel	velocity in terms of pole-pairs. If vel = 8 and if the pole-pair is 8, then driver rotates in 1 rps. for reverse direction only set velocity as negative
int16_t	accel	acceleration in terms of pole-pairs. If accel = 8 and if pole-pairs is 8, the acceleration is 1 rps per second.
float	current	open-loop controller requires minimum current to maintain lock-in.

Returns

Datatype	Description
ret_status_t	Return Status

Driver.setOutputLogStream()

void Driver::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

Driver.setPositionControl()

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

Description

Set the driver in Position Control mode.

Parameters

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

Returns

Datatype	Description
ret_status_t	Return Status

Driver.setPositionControlWithFeedForward()

ret_status_t Driver::setPositionControlWithFeedForward(float angle, float velocity_ff, float torque_ff)

Description

Set the Driver in Position Control mode with Feedforward parameters.

Parameters

Datatype	Variable	Description
float	angle	angle in degrees to where the actuator should move.
float	velocity_ff	feedForward velocity in degrees per second.
float	torque_ff	feedForward torque in Nm.

Returns

Datatype	Description
ret_status_t	Return Status

Driver.setPositionControllerGain()

ret_status_t Driver::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

Driver.setRegenCurrentTripLevel()

ret_status_t Driver::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

Driver.setScurveTrajectoryControl()

ret_status_t Driver::setScurveTrajectoryControl(float angle, float degrees_per_seconds, float accel_rate, float jerk_rate)

Description

Set the Driver in S-Curve 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
float	jerk_rate	jerk rate

Returns

Datatype	Description
ret_status_t	Return Status

Driver.setSensorlessVelocityControl()

ret_status_t Driver::setSensorlessVelocityControl(float degrees_per_seconds, float ramp_rate_degrees_per_seconds, float current)

Description

Set the Driver in Sensorless Velocity 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
float	current	current for the sensorless control

Returns

Datatype	Description
ret_status_t	Return Status

Driver.setStartupConfigs()

ret_status_t Driver::setStartupConfigs(bool index_search, bool encoder_matching, bool closed_loop)

Description

Set startup configuration for the driver.

Parameters

Datatype	Variable	Description
bool	index_search	enable/disable index searching on startup
bool	encoder_matching	enable/disable output encoder matching sequence on startup
bool	closed_loop	enable/disable setting driver to closed loop on startup

Returns

Datatype	Description
ret_status_t	Return Status

Driver.setTorqueControl()

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

Description

Set the driver 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

Driver.setTorqueRampControl()

ret_status_t Driver::setTorqueRampControl(float torque, float torque_ramp_rate, float degrees_per_seconds)

Description

Set the driver in Torque Ramp Control mode.

Parameters

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

Returns

Datatype	Description
ret_status_t	Return Status

Driver.setTrapezoidalTrajectoryControl()

ret_status_t Driver::setTrapezoidalTrajectoryControl(float angle, float degrees_per_seconds, float accel_rate, float decel_rate)

Description

Set the Driver in Trapezoidal 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
float	decel_rate	deceleration rate

Returns

Datatype	Description
ret_status_t	Return Status

Driver.setVelocityControl()

ret_status_t Driver::setVelocityControl(float degrees_per_seconds)

Description

Set the driver in Velocity Control mode.

Parameters

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

Returns

Datatype	Description
ret_status_t	Return Status

Driver.setVelocityControlWithFeedForward()

ret_status_t Driver::setVelocityControlWithFeedForward(float degrees_per_seconds, float torque_ff)

Description

Set the Driver in Velocity Control mode with FeedForward parameters.

Parameters

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

Returns

Datatype	Description
ret_status_t	Return Status

Driver.setVelocityControllerGains()

ret_status_t Driver::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

Driver.setVelocityRampControl()

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

Description

Set the Driver 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

Driver.string Driver()

std::string Driver::exportConfiguration()

Description

Function to export current configuration into a json string format.

Returns

Datatype	Description
std::string	std::string Configuration in JSON string format

Driver.~Driver()

Driver::~Driver()

Description

Destroy the Driver object.

Python API Reference

Driver.Driver()

Driver(id: int = -1, Union[USBInterface, CANInterface, interface: None] = None)

Description

Driver class constructor.

Parameters

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

Driver.clearDriverErrors()

clearDriverErrors() -> int

Description

Clear driver errors.

Returns

Datatype	Description
int	Return Status

Driver.clearMAxxxOffAxisCalibration()

clearMAxxxOffAxisCalibration(encoder: bool) -> int

Description

Clears off-axis calibration sequence for MA600 series actuators in the driver.

Parameters

Datatype	Variable	Description
bool	encoder	Flag to set the encoder type. False for motor side encoder True for output side encoder

Returns

Datatype	Description
int	Return Status

Driver.configureMotorEncoder()

configureMotorEncoder(encoder_type: int, resolution_param: int = 4096, use_index: bool = True) -> int

Description

Configure motor side encoder.

Parameters

Datatype	Variable	Description
int	encoder_type	Type of encoder used
int	resolution_param	value of the encoder in case of an incremental encoder or resolution value in 2^bits in case of absolute encoder (this parameter is ignored in the case of using onboard absolute encoder) resolution_param is set to 4096 by default.
bool	use_index	Flag to set whether to use the index pin for incremental encoder or not. Valid only when an incremental encoder is used. use_index is set to true by default.

Returns

Datatype	Description
int	Return Status

Driver.configureOutputEncoder()

configureOutputEncoder(encoder_type: int, resolution_param: int = 4096, use_index: bool = True) -> int

Description

Configure Output side encoder.

Parameters

Datatype	Variable	Description
int	encoder_type	Type of encoder used
int	resolution_param	CPR value of the encoder in case of an incremental encoder or resolution value in 2^bits in case of absolute encoder (this parameter is ignored in the case of using onboard absolute encoder) resolution_param is set to 4096 by default.
bool	use_index	Flag to set whether to use the index pin for incremental encoder or not. Valid only when an incremental encoder is used. use_index is set to true by default.

Returns

Datatype	Description
int	Return Status

Driver.disableBrakeResistor()

disableBrakeResistor() -> int

Description

Disable brake resistor and configure it.

Returns

Datatype	Description
int	Return status

Driver.disableMotorThermalLimit()

disableMotorThermalLimit() -> int

Description

Disable Motor based thermal limit.

Returns

Datatype	Description
int	Return Status

Driver.disableOutputEncoder()

disableOutputEncoder() -> int

Description

Disable Output Encoder.

Returns

Datatype	Description
int	Return status

Driver.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

Driver.enableBrakeResistor()

enableBrakeResistor(brake_resistance_value: float) -> int

Description

Enable the brake resistor in the driver and configure it.

Parameters

Datatype	Variable	Description
float	brake_resistance_value	brake resistance value

Returns

Datatype	Description
int	Return status

Driver.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

Driver.enterDFUMode()

enterDFUMode() -> int

Description

Set driver to DFU mode.

Returns

Datatype	Description
int	Return Status

Driver.eraseConfigurations()

eraseConfigurations() -> int

Description

Erase configuration of the actuator.

Returns

Datatype	Description
int	Return Status

Driver.exportConfiguration()

exportConfiguration() -> str

Description

Export current device configuration as a JSON string.

Returns

Datatype	Description
str	JSON string containing configuration parameters

Driver.flash()

flash(firmware_path: str, is_in_dfu_mode: bool = False) -> 'bool'

Description

flash the firmware to the driver

Parameters

Datatype	Variable	Description
str	firmware_path	path to which the firmware file is located
bool	is_in_dfu_mode	-

Returns

Datatype	Description
'bool'	Connection Status

Driver.getBrakeCurrent()

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

Description

Get the value of current passing through the brake.

Returns

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

Driver.getBrakeResistorState()

getBrakeResistorState() -> 'tuple[int, bool, float, bool, bool]'

Description

Get current state of brake resistor.

Returns

Datatype	Description
'tuple[int, bool, float, bool, bool]'	Tuple containing return status, enable status of brake, value of the brake resistor, arm status of brake and the saturation status of the brake.

Driver.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.

Driver.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.

Driver.getCANBaudRate()

getCANBaudRate() -> 'tuple[int, nmotion_transport.CANBaudRate]'

Description

Get the CAN baud rate of the driver.

Returns

Datatype	Description
'tuple[int, nmotion_transport.CANBaudRate]'	Tuple containing return status and the current CAN baud rate in bps.

Driver.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).

Driver.getControllerMode()

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

Description

Get controller mode.

Returns

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

Driver.getControllerState()

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

Description

Get the controller state of the actuator.

Returns

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

Driver.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.

Driver.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.

Driver.getCurrentFilter()

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

Description

Get the current data filter value of the controller.

Returns

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

Driver.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

Driver.getDCCalibPhaseCurrents()

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

Description

Get DC Calib Phase Currents in Ampere.

Returns

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

Driver.getDebugErrorCode()

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

Description

Get the debug error codes for errors from the driver.

Returns

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

Driver.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.

Driver.getDriverTemperature()

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

Returns

Datatype	Description
'tuple[int, float]'	-

Driver.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.

Driver.getErrorCode()

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

Description

Get the error code from the driver.

Returns

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

Driver.getFirmwareCommit()

getFirmwareCommit() -> 'tuple[int, str]'

Description

Get the driver firmware's commit information.

Returns

Datatype	Description
'tuple[int, str]'	Tuple containing return status, and commit information.

Driver.getFirmwareVersion()

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

Description

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

Returns

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

Driver.getGearBoxParameters()

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

Description

Get Gear ratio of the Gearbox.

Returns

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

Driver.getHallEncoderState()

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

Description

Get hall encoder state.

Returns

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

Driver.getHallEncoderStateCounts()

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

Description

Get hall encoder state counts.

Returns

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

Driver.getHardwareVersion()

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

Description

Get the driver 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.

Driver.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.

Driver.getMAxxxBCTValue()

getMAxxxBCTValue(encoder: bool) -> 'tuple[int, int, bool]'

Description

Get the encoder bct value of the MAxxx encoder.

Parameters

Datatype	Variable	Description
bool	encoder	-

Returns

Datatype	Description
'tuple[int, int, bool]'	Tuple containing return status and the current encoder bct value and the spi read status.

Driver.getMAxxxFilterWindow()

getMAxxxFilterWindow(encoder: bool) -> 'tuple[int, int, bool]'

Description

Get the current value of encoder bct value in the controller.

Parameters

Datatype	Variable	Description
bool	encoder	Flag to set the encoder type. False for motor side encoder True for output side encoder

Returns

Datatype	Description
'tuple[int, int, bool]'	Tuple containing return status and the current encoder bct value.

Driver.getMAxxxSPIRegister()

getMAxxxSPIRegister(encoder: bool, register_address: int) -> 'tuple[int, int, bool]'

Description

Get the value of a specific SPI register of the MAxxx encoder.

Parameters

Datatype	Variable	Description
bool	encoder	Flag to set the encoder type. False for motor side encoder True for output side encoder
int	register_address	Address of the SPI register to be read

Returns

Datatype	Description
'tuple[int, int, bool]'	Tuple containing return status, value of the specified SPI register and the spi read status.

Driver.getMAxxxTrimmingSettings()

getMAxxxTrimmingSettings(encoder: bool) -> 'tuple[int, bool, bool, bool]'

Description

Get the current value of encoder bct value in the controller.

Parameters

Datatype	Variable	Description
bool	encoder	Flag to set the encoder type. False for motor side encoder True for output side encoder

Returns

Datatype	Description
'tuple[int, bool, bool, bool]'	Tuple containing return status and the current encoder bct value.

Driver.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.

Driver.getMotorCalibrationParameters()

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

Description

Get current Motor Calibration Parameters.

Returns

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

Driver.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.

Driver.getMotorEncoderConfiguration()

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

Description

Get motor encoder configuration.

Returns

Datatype	Description
'tuple[int, int, int, bool]'	Tuple containing return status, encoder type, resolution parameter (CPR in case of incremental encoder or resolution in bits in case of absolute encoder) and use_index flag value.

Driver.getMotorEncoderRawData()

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

Description

Get the raw data from motor encoder.

Returns

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

Driver.getMotorEncoderState()

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

Description

Get the motor encoder state of the actuator.

Returns

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

Driver.getMotorParameters()

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

Description

Get current motor parameters.

Returns

Datatype	Description
'tuple[int, int, int, float]'	Tuple containing the return status, pole pairs, kV rating and current limit value of the motor.

Driver.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

Driver.getMotorPhaseParameters()

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

Description

Get motor phase parameters (phase resistance and inductance).

Returns

Datatype	Description
'tuple[int, float, float]'	Tuple containing return status, phase resistance and phase inductance

Driver.getMotorPosition()

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

Description

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

Returns

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

Driver.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.

Driver.getMotorTemperature()

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

Description

Get motor temperature in degree Celsius.

Returns

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

Driver.getMotorThermistorConfiguration()

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

Description

Get the motor thermistor configuration.

Returns

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

Driver.getMotorTorque()

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

Description

Get torque of the motor rotor in Nm.

Returns

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

Driver.getMotorTorqueLimit()

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

Description

Get the controller torque limit.

Returns

Datatype	Description
'tuple[int, float]'	Tuple containing return status and the torque limit of the controller

Driver.getMotorType()

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

Description

Get the controller Motor Type.

Returns

Datatype	Description
'tuple[int, int]'	Tuple containing return status and the Motor Type of the controller

Driver.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.

Driver.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.

Driver.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.

Driver.getOutputEncoderConfiguration()

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

Description

Get Output encoder configuration.

Returns

Datatype	Description
'tuple[int, int, int, bool]'	Tuple containing return status, encoder type, resolution parameter (CPR in case of incremental encoder or resolution in bits in case of absolute encoder) and use_index flag value.

Driver.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.

Driver.getOutputEncoderState()

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

Description

Get the output encoder state of the actuator.

Returns

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

Driver.getOutputPosition()

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

Description

Get current angle of the output in degrees.

Returns

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

Driver.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.

Driver.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.

Driver.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.

Driver.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.

Driver.getStartupConfigs()

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

Returns

Datatype	Description
'tuple[int, bool, bool, bool]'	-

Driver.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)

Driver.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.

Driver.getZeroPosition()

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

Description

Get zero offset position in degrees.

Returns

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

Driver.importConfiguration()

importConfiguration(config: str) -> int

Description

Import device configuration from a JSON string.

Parameters

Datatype	Variable	Description
str	config	JSON string containing configuration parameters

Returns

Datatype	Description
int	Return Status

Driver.isConnected()

isConnected() -> 'bool'

Description

Check if the driver is still connected.

Returns

Datatype	Description
'bool'	Connection Status

Driver.rebootDriver()

rebootDriver() -> int

Description

Reboot the Driver.

Returns

Datatype	Description
int	Return Status

Driver.runCalibrationSequence()

runCalibrationSequence() -> int

Description

Run calibration sequence in the driver.

Returns

Datatype	Description
int	Return status

Driver.runEncoderCalibration()

runEncoderCalibration() -> int

Description

Run encoder calibration in the driver.

Returns

Datatype	Description
int	Return status

Driver.runEncoderIndexSearch()

runEncoderIndexSearch() -> int

Description

Run encoder index search sequence in the driver.

Returns

Datatype	Description
int	Return status

Driver.runEncoderMatching()

runEncoderMatching() -> int

Description

Run matching motor encoder with output encoder in the driver.

Returns

Datatype	Description
int	Return status

Driver.runMAxxxOffAxisCalibration()

runMAxxxOffAxisCalibration(encoder: bool, constant_speed_dps: float) -> int

Description

Run off-axis calibration sequence for MA600 series actuators in the driver.

Parameters

Datatype	Variable	Description
bool	encoder	Flag to set the encoder type. False for motor side encoder True for output side encoder
float	constant_speed_dps	Constant speed in degrees per second at which the motor will be rotated during the calibration sequence.

Returns

Datatype	Description
int	Return Status

Driver.saveConfigurations()

saveConfigurations() -> int

Description

Save the configuration to the actuator.

Returns

Datatype	Description
int	Return Status

Driver.setCANBaudRate()

setCANBaudRate(baud_rate: nmotion_transport.CANBaudRate) -> int

Description

Set the CAN baud rate of the driver.

Parameters

Datatype	Variable	Description
nmotion_transport.CANBaudRate	baud_rate	CAN baud rate in bps to be set

Returns

Datatype	Description
int	Return Status

Driver.setCurrentControllerBandwidth()

setCurrentControllerBandwidth(bandwidth: float) -> int

Description

Set current controller bandwidth.

Parameters

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

Returns

Datatype	Description
int	Return status

Driver.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

Driver.setCurrentPositionAs()

setCurrentPositionAs(angle: float) -> int

Description

Set current position of the motor to a particular angle in degrees.

Parameters

Datatype	Variable	Description
float	angle	-

Returns

Datatype	Description
int	Return status

Driver.setCurrentPositionToZero()

setCurrentPositionToZero() -> int

Description

Set current position of the actuator as zero.

Returns

Datatype	Description
int	Return Status

Driver.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

Driver.setDeviceToActive()

setDeviceToActive() -> int

Description

Set the actuator to active state.

Returns

Datatype	Description
int	Return status

Driver.setDeviceToIdle()

setDeviceToIdle() -> int

Description

Set the actuator to idle state.

Returns

Datatype	Description
int	Return status

Driver.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

Driver.setGearBoxParameters()

setGearBoxParameters(gear_ratio: float) -> int

Description

Set gear ratio (Output / Input) of the Gearbox.

Parameters

Datatype	Variable	Description
float	gear_ratio	Gear ratio of the gearbox

Returns

Datatype	Description
int	Return status

Driver.setMAxxxBCTValue()

setMAxxxBCTValue(encoder: bool, bct_value: int) -> int

Description

Set the encoder bct value of MAxxx encoder.

Parameters

Datatype	Variable	Description
bool	encoder	Flag to set the encoder type. False for motor side encoder True for output side encoder
int	bct_value	BCT value to be set in the controller

Returns

Datatype	Description
int	Return Status

Driver.setMAxxxFilterWindow()

setMAxxxFilterWindow(encoder: bool, filter_window: int) -> int

Description

Set the encoder data filter value in the controller.

Parameters

Datatype	Variable	Description
bool	encoder	Flag to set the encoder type. False for motor side encoder True for output side encoder
int	filter_window	Filter window value to be set in the controller

Returns

Datatype	Description
int	Return Status

Driver.setMAxxxSPIRegister()

setMAxxxSPIRegister(encoder: bool, register_address: int, register_value: int) -> int

Description

Set the value of a specific SPI register of the MAxxx encoder.

Parameters

Datatype	Variable	Description
bool	encoder	Flag to set the encoder type. False for motor side encoder True for output side encoder
int	register_address	Address of the SPI register to be set
int	register_value	Value to be set in the specified SPI register

Returns

Datatype	Description
int	Return Status

Driver.setMAxxxTrimmingSettings()

setMAxxxTrimmingSettings(encoder: bool, etx: bool, ety: bool) -> int

Description

Set the encoder data filter value in the controller.

Parameters

Datatype	Variable	Description
bool	encoder	Flag to set the encoder type. False for motor side encoder True for output side encoder
bool	etx	set the encoder trimming value for x axis
bool	ety	set the encoder trimming value for y axis

Returns

Datatype	Description
int	Return Status

Driver.setMotorCalibrationParameters()

setMotorCalibrationParameters(motor_calib_voltage: float, motor_calib_current: float) -> int

Description

Set Motor Calibration Parameters.

Parameters

Datatype	Variable	Description
float	motor_calib_voltage	calibration voltage used to calibrate motor
float	motor_calib_current	calibration current used to calibrate motor

Returns

Datatype	Description
int	Return status

Driver.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

Driver.setMotorParameters()

setMotorParameters(pole_pairs: int, kV_rating: int, current_limit: float) -> int

Description

Set parameters of the motor which is connected to the driver.

Parameters

Datatype	Variable	Description
int	pole_pairs	pole-pair value of the motor
int	kV_rating	kV rating value of the motor
float	current_limit	current limit value for the motor

Returns

Datatype	Description
int	Return status

Driver.setMotorPhaseParameters()

setMotorPhaseParameters(phase_resistance: float, phase_inductance: float) -> int

Description

Set motor phase parameters.

Parameters

Datatype	Variable	Description
float	phase_resistance	Phase resistance of the motor
float	phase_inductance	Phase inductance of the motor

Returns

Datatype	Description
int	Return status

Driver.setMotorThermistorParameters()

setMotorThermistorParameters(r_ref: float, beta: int) -> int

Description

Set Motor thermistor parameters.

Parameters

Datatype	Variable	Description
float	r_ref	Reference Resistance at 25 degrees celsius of the NTC thermistor
int	beta	Beta value of the thermistor

Returns

Datatype	Description
int	Return status.

Driver.setMotorTorqueLimit()

setMotorTorqueLimit(torque_limit: float) -> int

Description

Set Torque Limit for the driver.

Parameters

Datatype	Variable	Description
float	torque_limit	Torque limit value in Nm.

Returns

Datatype	Description
int	Return Status

Driver.setMotorType()

setMotorType(motor_type: int) -> int

Description

Set Motor Type for the driver.

Parameters

Datatype	Variable	Description
int	motor_type	Motor Type for controller.

Returns

Datatype	Description
int	Return Status

Driver.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

Driver.setOpenLoopPositionControl()

setOpenLoopPositionControl(pos: int, vel: int, accel: int, current: float) -> int

Description

Set the driver in open loop position control mode.

Parameters

Datatype	Variable	Description
int	pos	relative position based on the pole pair. pos = 8 and if pole-pair is 8, then driver rotates 1 rotation
int	vel	velocity in terms of pole-pairs. If vel = 8 and if the pole-pair is 8, then driver rotates in 1 rps. for reverse direction only set velocity as negative
int	accel	acceleration in terms of pole-pairs. If accel = 8 and if pole-pairs is 8, the acceleration is 1 rps per second.
float	current	open-loop controller requires minimum current to maintain lock-in.

Returns

Datatype	Description
int	Return Status

Driver.setOpenLoopVelocityControl()

setOpenLoopVelocityControl(vel: int, accel: int, current: float) -> int

Description

Set the driver in Velocity Control mode.

Parameters

Datatype	Variable	Description
int	vel	velocity in terms of pole-pairs. If vel = 8 and if the pole-pair is 8, then driver rotates in 1 rps. for reverse direction only set velocity as negative
int	accel	acceleration in terms of pole-pairs. If accel = 8 and if pole-pairs is 8, the acceleration is 1 rps per second.
float	current	open-loop controller requires minimum current to maintain lock-in.

Returns

Datatype	Description
int	Return Status

Driver.setPositionControl()

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

Description

Set the driver 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

Driver.setPositionControlWithFeedForward()

setPositionControlWithFeedForward(angle: float, velocity_ff: float, torque_ff: float) -> int

Description

Set the actuator in position control mode with feedforward parameters.

Parameters

Datatype	Variable	Description
float	angle	angle in degrees to where the actuator should move.
float	velocity_ff	feedForward velocity in degrees per second.
float	torque_ff	feedForward torque in Nm.

Returns

Datatype	Description
int	Return Status

Driver.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

Driver.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

Driver.setScurveTrajectoryControl()

setScurveTrajectoryControl(angle: float, degrees_per_seconds: float, accel_rate: float, jerk_rate: float) -> int

Description

Set the actuator in S-Curve 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	jerk_rate	jerk rate as a factor of acceleration in degrees per second^3.

Returns

Datatype	Description
int	Return Status

Driver.setSensorlessVelocityControl()

setSensorlessVelocityControl(degrees_per_seconds: float, ramp_rate_degrees_per_second: float, current: float) -> int

Description

Set the actuator in Sensorless Velocity 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.
float	current	current for sensorless control

Returns

Datatype	Description
int	Return Status

Driver.setStartupConfigs()

setStartupConfigs(index_search: bool = False, encoder_matching: bool = False, closed_loop: bool = False) -> int

Parameters

Datatype	Variable	Description
bool	index_search	-
bool	encoder_matching	-
bool	closed_loop	-

Returns

Datatype	Description
int	-

Driver.setTorqueControl()

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

Description

Set the Driver 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

Driver.setTorqueRampControl()

setTorqueRampControl(torque: float, torque_ramp_rate: float, degrees_per_second: float) -> int

Description

Set the Driver in torque ramp control mode.

Parameters

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

Returns

Datatype	Description
int	Return Status

Driver.setTrapezoidalTrajectoryControl()

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

Description

Set the actuator in Trapezoidal 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	deceleration rate as a factor of velocity in degrees per second^2.

Returns

Datatype	Description
int	Return Status

Driver.setVelocityControl()

setVelocityControl(degrees_per_seconds: float) -> int

Description

Set the driver 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

Driver.setVelocityControlWithFeedForward()

setVelocityControlWithFeedForward(degrees_per_seconds: float, torque_ff: float) -> int

Description

Set the actuator in velocity control mode with feedForward parameters.

Parameters

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

Returns

Datatype	Description
int	Return Status

Driver.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

Driver.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