================================ WristConfigC61 ================================ .. py:currentmodule:: kortex_api.autogen .. _WristConfigC61ServiceVersion: .. py:class:: ServiceVersion Identifies WristConfigC61 service current version :canonical: kortex_api.autogen.messages.WristConfigC61_pb2.ServiceVersion .. py:attribute:: RESERVED_0 (0): Reserved .. py:attribute:: CURRENT_VERSION (1): Current version .. _WristConfigC61RS485PortId: .. py:class:: RS485PortId Admissible RS485 ports :canonical: kortex_api.autogen.messages.WristConfigC61_pb2.RS485PortId .. py:attribute:: RS485_PORT_UNSPECIFIED (0): Unspecified RS485 port .. py:attribute:: RS485_PORT_FLANGE (1): RS485 port located on flange contacts .. py:attribute:: RS485_PORT_M8A (2): RS485 port located on the M8A connector (currently not available) .. _WristConfigC61LinkWristDiagnosticIdentifierBankA: .. py:class:: LinkWristDiagnosticIdentifierBankA :canonical: kortex_api.autogen.messages.WristConfigC61_pb2.LinkWristDiagnosticIdentifierBankA .. py:attribute:: LINK_WRIST_BANK_A_UNSPECIFIED_DIAGNOSTIC_IDENTIFIER (0): 0x0 - Unspecified Link actuator safety MCU diagnostic bank A identifier .. py:attribute:: LINK_WRIST_BANK_A_STARTUP_SELF_TESTS_TIMED_OUT (1): 0x1 - Startup self tests timed out .. py:attribute:: LINK_WRIST_BANK_A_MCU_CORE_GENERAL_PURPOSE_REGISTERS (2): 0x2 - Test of general purpose registers .. py:attribute:: LINK_WRIST_BANK_A_MCU_CORE_ARITHMETIC_FUNCTIONS (4): 0x4 - Test of arithmetic functions .. py:attribute:: LINK_WRIST_BANK_A_MCU_CORE_MULTIPLIER_FUNCTIONS (8): 0x8 - Test of multiplier functions .. py:attribute:: LINK_WRIST_BANK_A_MCU_CORE_CONTROL_FLOW_INSTRUCTIONS (16): 0x10 - Test of control flow instructions .. py:attribute:: LINK_WRIST_BANK_A_MCU_CORE_LOAD_STORE_UNIT (32): 0x20 - Test of load/store unit(s) .. py:attribute:: LINK_WRIST_BANK_A_MCU_CORE_SHIFT_ROTATE_FUNCTIONS (64): 0x40 - Test of shift and rotate functions .. py:attribute:: LINK_WRIST_BANK_A_MCU_CORE_STACK_POINTER (128): 0x80 - Test of stack pointer .. py:attribute:: LINK_WRIST_BANK_A_MCU_CORE_PIPELINE_FUNCTIONS (256): 0x100 - Test of pipeline functions .. py:attribute:: LINK_WRIST_BANK_A_MCU_CORE_FPU_REGISTERS_BANK (512): 0x200 - Test of FPU registers bank .. py:attribute:: LINK_WRIST_BANK_A_MCU_CORE_FPU_SINGLE_PRECISION_FUNCTIONS (1024): 0x400 - Test of FPU single precision functions .. py:attribute:: LINK_WRIST_BANK_A_MCU_CORE_CACHE_MANAGEMENT_LOGIC (2048): 0x800 - Test of cache management logic .. py:attribute:: LINK_WRIST_BANK_A_MCU_RAM_BIST_FAULT (4096): 0x1000 - MCU RAM BIST fault .. py:attribute:: LINK_WRIST_BANK_A_VMON_48V_OVERVOLTAGE (8192): 0x2000 - Voltage monitoring 48V overvoltage .. py:attribute:: LINK_WRIST_BANK_A_VMON_48V_UNDERVOLTAGE (16384): 0x4000 - Voltage monitoring 48V undervoltage .. py:attribute:: LINK_WRIST_BANK_A_VMON_10V_OVERVOLTAGE (32768): 0x8000 - Voltage monitoring 10V overvoltage .. py:attribute:: LINK_WRIST_BANK_A_VMON_10V_UNDERVOLTAGE (65536): 0x10000 - Voltage monitoring 10V undervoltage .. py:attribute:: LINK_WRIST_BANK_A_VMON_2V5_OVERVOLTAGE (131072): 0x20000 - Voltage monitoring 2V5 overvoltage .. py:attribute:: LINK_WRIST_BANK_A_VMON_2V5_UNDERVOLTAGE (262144): 0x40000 - Voltage monitoring 2V5 undervoltage .. py:attribute:: LINK_WRIST_BANK_A_POWER_GOOD_24V_FAILURE (524288): 0x80000 - Test Voltage 24V .. py:attribute:: LINK_WRIST_BANK_A_VMON_3V3_OVERVOLTAGE (1048576): 0x100000 - Voltage monitoring 3V3 overvoltage .. py:attribute:: LINK_WRIST_BANK_A_VMON_3V3_UNDERVOLTAGE (2097152): 0x200000 - Voltage monitoring 3V3 undervoltage .. py:attribute:: LINK_WRIST_BANK_A_POWER_GOOD_3V3_FAILURE (4194304): 0x400000 - Test Voltage 3V3 .. py:attribute:: LINK_WRIST_BANK_A_POWER_GOOD_2V5_FAILURE (8388608): 0x800000 - Test Voltage 2V5 .. py:attribute:: LINK_WRIST_BANK_A_M8A_24V_CURRENT_LIMITER_FAULT (16777216): 0x1000000 - Test overcurrent protection for M8A connector .. py:attribute:: LINK_WRIST_BANK_A_M8B_24V_CURRENT_LIMITER_FAULT (33554432): 0x2000000 - Test overcurrent protection for M8B connector .. _WristConfigC61LinkWristDiagnosticIdentifierBankB: .. py:class:: LinkWristDiagnosticIdentifierBankB :canonical: kortex_api.autogen.messages.WristConfigC61_pb2.LinkWristDiagnosticIdentifierBankB .. py:attribute:: LINK_WRIST_BANK_B_UNSPECIFIED_DIAGNOSTIC_IDENTIFIER (0): 0x0 - Unspecified Link actuator safety MCU diagnostic bank A identifier .. py:attribute:: LINK_WRIST_BANK_B_M8_ANALOG_IO_CONFIGURATION_FAILED (1): 0x1 - Test AIO configuration .. py:attribute:: LINK_WRIST_BANK_B_M8_ANALOG_IO_FAULT_DETECTED (2): 0x2 - Test state of the wrist ADC .. py:attribute:: LINK_WRIST_BANK_B_M8A_ANALOG_IO_CHANNEL_1_FAULT_DETECTED (4): 0x4 - Test M8A AIO channel 1 .. py:attribute:: LINK_WRIST_BANK_B_M8A_ANALOG_IO_CHANNEL_2_FAULT_DETECTED (8): 0x8 - Test M8A AIO channel 2 .. py:attribute:: LINK_WRIST_BANK_B_M8B_ANALOG_IO_CHANNEL_1_FAULT_DETECTED (16): 0x10 - Test M8B AIO channel 1 .. py:attribute:: LINK_WRIST_BANK_B_M8B_ANALOG_IO_CHANNEL_2_FAULT_DETECTED (32): 0x20 - Test M8B AIO channel 2 .. py:attribute:: LINK_WRIST_BANK_B_M8A_DIGITAL_IO_CONFIGURATION_FAILED (64): 0x40 - Test M8A DIO configuration .. py:attribute:: LINK_WRIST_BANK_B_M8B_DIGITAL_IO_CONFIGURATION_FAILED (128): 0x80 - Test M8B DIO configuration .. py:attribute:: LINK_WRIST_BANK_B_M8A_DIGITAL_IO_SPI_COMMUNICATION_FAILURE (256): 0x100 - Test M8A DIO SPI communication .. py:attribute:: LINK_WRIST_BANK_B_M8B_DIGITAL_IO_SPI_COMMUNICATION_FAILURE (512): 0x200 - Test M8B DIO SPI communication .. py:attribute:: LINK_WRIST_BANK_B_M8A_DIGITAL_IO_THERMAL_SHUTDOWN (1024): 0x400 - Test M8A thermal shutdown occurrence .. py:attribute:: LINK_WRIST_BANK_B_M8B_DIGITAL_IO_THERMAL_SHUTDOWN (2048): 0x800 - Test M8B thermal shutdown occurrence .. py:attribute:: LINK_WRIST_BANK_B_M8A_DIGITAL_IO_OVERCURRENT (4096): 0x1000 - Test M8A overcurrent occurrence .. py:attribute:: LINK_WRIST_BANK_B_M8B_DIGITAL_IO_OVERCURRENT (8192): 0x2000 - Test M8B overcurrent occurrence .. py:attribute:: LINK_WRIST_BANK_B_M8A_DIGITAL_IO_ABOVE_VDD (16384): 0x4000 - Test M8A DIO voltage after debounce time .. py:attribute:: LINK_WRIST_BANK_B_M8B_DIGITAL_IO_ABOVE_VDD (32768): 0x8000 - Test M8B DIO voltage after debounce time .. py:attribute:: LINK_WRIST_BANK_B_M8A_DIGITAL_IO_SUPPLY_ERROR (65536): 0x10000 - Test M8A DIO supply voltage .. py:attribute:: LINK_WRIST_BANK_B_M8B_DIGITAL_IO_SUPPLY_ERROR (131072): 0x20000 - Test M8B DIO supply voltage .. py:attribute:: LINK_WRIST_BANK_B_FT_ADC_CONFIGURATION_FAILED (262144): 0x40000 - Test FT ADC IC configuration failure .. py:attribute:: LINK_WRIST_BANK_B_FT_CALIBRATION_MISSING_OR_CORRUPTED (524288): 0x80000 - Test calibration data validity .. py:attribute:: LINK_WRIST_BANK_B_FT_TEMPERATURE_TOO_HIGH (1048576): 0x100000 - Monitoring sensor temperature .. py:attribute:: LINK_WRIST_BANK_B_FT_FT_TEMPERATURE_TOO_LOW (2097152): 0x200000 - Monitoring sensor temperature .. py:attribute:: LINK_WRIST_BANK_B_FT_FT_ADC_SATURATION_DETECTED (4194304): 0x400000 - Monitoring saturation event on FT ADC .. py:attribute:: LINK_WRIST_BANK_B_FT_FT_ADC_SAMPLING_ERROR (8388608): 0x800000 - Test sampling of FT ADC .. py:attribute:: LINK_WRIST_BANK_B_CORE_TEMPERATURE_TOO_HIGH (16777216): 0x1000000 - Core temperature Monitoring too high .. py:attribute:: LINK_WRIST_BANK_B_CORE_TEMPERATURE_TOO_LOW (33554432): 0x2000000 - Core temperature Monitoring too low .. py:attribute:: LINK_WRIST_BANK_B_EEPROM_CORRUPTED (67108864): 0x4000000 - Monitoring EEPROM data integrity .. py:attribute:: LINK_WRIST_BANK_B_SAFE_COMM_FAILURE (134217728): 0x8000000 - Monitoring communication between wrist and SCU .. py:attribute:: LINK_WRIST_BANK_B_WATCHDOG_RESET_OCCURRED (268435456): 0x10000000 - Monitoring independent and window watchdog event