ActuatorConfig \(Python\)

This page describes the Python ActuatorConfig API.

RPC reference

This section describes the existing RPCs used in this API.

Service to configure actuators

ActuatorConfigClient RPCs

Function name	Return type	Input type	Description
GetAxisOffsets	AxisOffsets	Empty	Retrieves axis offsets for absolute and relative encoder
SetAxisOffsets	Empty	AxisPosition	Sets offsets for absolute and relative encoder Invoking this method shall invalidate arm calibration if one exists. This method is for kinova usage only.
ReadTorqueCalibration	TorqueCalibration	Empty	Reads torque calibration parameters (internal use only)
WriteTorqueCalibration	Empty	TorqueCalibration	Writes torque calibration parameters (internal use only)
SetTorqueOffset	Empty	TorqueOffset	Sets zero torque calibration
GetControlMode	ControlModeInformation	Empty	Retrieves actuator control mode
SetControlMode	Empty	ControlModeInformation	Sets actuator control mode
GetActivatedControlLoop	ControlLoop	Empty	Retrieves activated control loop(s)
SetActivatedControlLoop	Empty	ControlLoop	Sets activated control loop(s)
GetVectorDriveParameters	VectorDriveParameters	Empty	Retrieves motor drive FOC parameters (internal use only)
SetVectorDriveParameters	Empty	VectorDriveParameters	Sets motor drive FOC parameters (internal use only)
GetEncoderDerivativeParameters	EncoderDerivativeParameters	Empty	Retrieves encoder derivative parameters (internal use only)
SetEncoderDerivativeParameters	Empty	EncoderDerivativeParameters	Sets encoder derivative parameters (internal use only)
GetControlLoopParameters	ControlLoopParameters	LoopSelection	Retrieves control loop parameters
SetControlLoopParameters	Empty	ControlLoopParameters	Sets control loop parameters
StartFrequencyResponse	Empty	FrequencyResponse	Starts frequency response test (internal use only)
StopFrequencyResponse	Empty	Empty	Stops frequency response test (internal use only)
StartStepResponse	Empty	StepResponse	Starts step response test (internal use only)
StopStepResponse	Empty	Empty	Stops step response test (internal use only)
StartRampResponse	Empty	RampResponse	Starts ramp response test (internal use only)
StopRampResponse	Empty	Empty	Stops ramp response test (internal use only)
SelectCustomData	Empty	CustomDataSelection	Selects custom data
GetSelectedCustomData	CustomDataSelection	Empty	Retrieves selected custom data
SetCommandMode	Empty	CommandModeInformation	Sets command mode (config versus cyclic)
ClearFaults	Empty	Empty	Clears all error(s) and warning(s) (bank A and B)
SetServoing	Empty	Servoing	Enables or disables servoing
MoveToPosition	Empty	PositionCommand	Moves the actuator to the desired position
GetCommandMode	CommandModeInformation	Empty	Retrieves command mode (config versus cyclic)
GetServoing	Servoing	Empty	Retrieves servoing state
GetTorqueOffset	TorqueOffset	Empty	Retrieves torque offset calibration
SetCoggingFeedforwardMode	Empty	CoggingFeedforwardModeInformation	Sets cogging feedforward mode
GetCoggingFeedforwardMode	CoggingFeedforwardModeInformation	Empty	Retrieves cogging feedforward mode

Class reference

This section describes the data classes used in this API.

Messages

Class	Description
AxisOffsets	Axis offsets
AxisPosition	Axis position
CoggingFeedforwardModeInformation	Cogging feedforward mode
CommandModeInformation	Command mode
ControlLoop	Control loop
ControlLoopParameters	Control loop parameters (discrete transfer function)
ControlModeInformation	Control mode information
CustomDataSelection	Selected custom data channels content
EncoderDerivativeParameters	Variable window derivative parameters
FrequencyResponse	Frequency response
LoopSelection	Defines the loop selection
PositionCommand	Angular position command for an actuator
RampResponse	Ramp response
Servoing	Enables/disables servoing
StepResponse	Step response
TorqueCalibration	Torque calibration settings
TorqueOffset	Defines torque offset
VectorDriveParameters	Field-oriented control PI controller gain values

Enumerators

Enumerator	Description
CoggingFeedforwardMode	Admissable cogging feedforward modes
CommandMode	Admissible command modes
ControlLoopSelection	Admissible control loop selections
ControlMode	Admissible control modes
CustomDataIndex	Custom data options
SafetyIdentifierBankA	Admissible bank A actuator safeties
SafetyLimitType	Admissible limit types
ServiceVersion	Identifies ActuatorConfig service current version