This page describes the Python ActuatorConfig API.
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 |
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 |