ActuatorConfig

class ServiceVersion

Identifies ActuatorConfig service current version

Canonical

kortex_api.autogen.messages.ActuatorConfig_pb2.ServiceVersion

RESERVED_0 (0):   Reserved

CURRENT_VERSION (1):   Current version

class ControlMode

Admissible control modes

Canonical

kortex_api.autogen.messages.ActuatorConfig_pb2.ControlMode

NONE (0):   None

POSITION (1):   Position mode

VELOCITY (2):   Velocity mode

TORQUE (3):   Torque mode

CURRENT (4):   Current mode

CUSTOM (5):   Custom mode

TORQUE_HIGH_VELOCITY (6):   High velocity torque mode

class CommandMode

Admissible command modes

Canonical

kortex_api.autogen.messages.ActuatorConfig_pb2.CommandMode

CYCLIC (0):   Cyclic data only

ASYNC (2):   Config messages only

CYCLIC_JITTERCOMPENSATED_POSITION (3):   Smoothing using only position inputs

CYCLIC_JITTERCOMPENSATED_VELOCITY (4):   Smoothing using position and velocity inputs

class ControlLoopSelection

Admissible control loop selections

Canonical

kortex_api.autogen.messages.ActuatorConfig_pb2.ControlLoopSelection

RESERVED(0):   0x0 - Reserved (internal use only)

JOINT_POSITION(1):   0x1 - Joint position control (if available)

MOTOR_POSITION (2):   0x2 - Motor position control

JOINT_VELOCITY(4):   0x4 - Joint velocity control (if available)

MOTOR_VELOCITY (8):   0x8 - Motor velocity control

JOINT_TORQUE (16):   0x10 - Joint torque control

MOTOR_CURRENT (32):   0x20 - Motor current control

JOINT_TORQUE_HIGH_VELOCITY (64):   0x30 - High velocity joint torque control

class CoggingFeedforwardMode

Admissible cogging feedforward modes

Canonical

kortex_api.autogen.messages.ActuatorConfig_pb2.CoggingFeedforwardMode

FEEDFORWARD_OFF (0):   No cogging compensation

FEEDFORWARD_ADAPTIVE (1):   Cogging compensation with adaptive parameters

FEEDFORWARD_CALIBRATED (2):   Cogging compensation with calibrated parameters

class LookupTableSelection

Admissible lookup table selections

Canonical

kortex_api.autogen.messages.ActuatorConfig_pb2.LookupTableSelection

LOOKUP_TABLE_JOINT_POSITION (0):   Joint position sensor table

LOOKUP_TABLE_MOTOR_POSITION (1):   Motor position sensor table

LOOKUP_TABLE_COGGING (2):   Motor cogging table

LOOKUP_TABLE_IMPEDANCE_FEEDFORWARD (3):   Impedance mode feedforward table

LOOKUP_TABLE_GEARBOX_STIFFNESS (4):   Gearbox stiffness table

class LookupTableDataSelection

Admissible lookup table data selections

Canonical

kortex_api.autogen.messages.ActuatorConfig_pb2.LookupTableDataSelection

LOOKUP_TABLE_DATA_X (0):   Lookup table query points

LOOKUP_TABLE_DATA_Y (1):   Lookup table output points

class FourierModelSelection

Admissible Fourier model selections

Canonical

kortex_api.autogen.messages.ActuatorConfig_pb2.FourierModelSelection

FOURIER_MODEL_KINEMATIC_ERROR(0):   Kinematic error fourier model (forward movement)

FOURIER_MODEL_KINEMATIC_ERROR_REVERSE(1):   Kinematic error fourier model (reverse movement)

class Gen3ActuatorDiagnosticIdentifierBankA

Admissible Gen3 actuator diagnostics bank A

Canonical

kortex_api.autogen.messages.ActuatorConfig_pb2.Gen3ActuatorDiagnosticIdentifierBankA

GEN3_ACT_BANK_A_UNSPECIFIED_DIAGNOSTIC_IDENTIFIER (0):   0x0 - Unspecified Gen3 actuator diagnostic bank A

GEN3_ACT_BANK_A_FOLLOWING_ERROR (1):   0x1 - Following error

GEN3_ACT_BANK_A_MAXIMUM_VELOCITY (2):   0x2 - Maximum velocity

GEN3_ACT_BANK_A_JOINT_LIMIT_HIGH (4):   0x4 - Joint position limit high

GEN3_ACT_BANK_A_JOINT_LIMIT_LOW (8):   0x8 - Joint position limit low

GEN3_ACT_BANK_A_STRAIN_GAUGE_MISMATCH (16):   0x10 - Strain gauge mismatch

GEN3_ACT_BANK_A_MAXIMUM_TORQUE (32):   0x20 - Maximum torque

GEN3_ACT_BANK_A_UNRELIABLE_ABSOLUTE_POSITION (64):   0x40 - Unreliable absolute position

GEN3_ACT_BANK_A_MAGNETIC_POSITION (128):   0x80 - Magnetic position

GEN3_ACT_BANK_A_HALL_POSITION (256):   0x100 - Hall position

GEN3_ACT_BANK_A_HALL_SEQUENCE (512):   0x200 - Hall sequence

GEN3_ACT_BANK_A_INPUT_ENCODER_HALL_MISMATCH (1024):   0x400 - Input encoder Hall mismatch

GEN3_ACT_BANK_A_INPUT_ENCODER_INDEX_MISMATCH (2048):   0x800 - Input encoder index mismatch

GEN3_ACT_BANK_A_INPUT_ENCODER_MAGNETIC_MISMATCH (4096):   0x1000 - Input encoder magnetic mismatch

GEN3_ACT_BANK_A_MAXIMUM_MOTOR_CURRENT (8192):   0x2000 - Maximum motor current

GEN3_ACT_BANK_A_MOTOR_CURRENT_MISMATCH (16384):   0x4000 - Motor current mismatch

GEN3_ACT_BANK_A_MAXIMUM_VOLTAGE (32768):   0x8000 - Maximum voltage

GEN3_ACT_BANK_A_MINIMUM_VOLTAGE (65536):   0x10000 - Minimum voltage

GEN3_ACT_BANK_A_MAXIMUM_MOTOR_TEMPERATURE (131072):   0x20000 - Maximum motor temperature

GEN3_ACT_BANK_A_MAXIMUM_CORE_TEMPERATURE (262144):   0x40000 - Maximum core temperature

GEN3_ACT_BANK_A_NON_VOLATILE_MEMORY_CORRUPTED (524288):   0x80000 - Non-volatile memory corrupted

GEN3_ACT_BANK_A_MOTOR_DRIVER_FAULT (1048576):   0x100000 - Motor driver fault

GEN3_ACT_BANK_A_EMERGENCY_LINE_ASSERTED (2097152):   0x200000 - Emergency line asserted

GEN3_ACT_BANK_A_COMMUNICATION_TICK_LOST (4194304):   0x400000 - Communication tick lost

GEN3_ACT_BANK_A_WATCHDOG_TRIGGERED (8388608):   0x800000 - Watchdog triggered

GEN3_ACT_BANK_A_UNRELIABLE_CAPACITIVE_SENSOR (16777216):   0x1000000 - Capacitive sensor is unreliable

GEN3_ACT_BANK_A_UNEXPECTED_GEAR_RATIO (33554432):   0x2000000 - Incorrect gear ratio for detected configuration

GEN3_ACT_BANK_A_HALL_MAGNETIC_MISMATCH (67108864):   0x4000000 - Position mismatch between hall and magnetic sensors

GEN3_ACT_BANK_A_BRAKE_DRIVER_FAULT (134217728):   0x8000000 - Brake driver fault

GEN3_ACT_BANK_A_BRAKE_RELEASE_FAILED (268435456):   0x10000000 - Brake release failed

GEN3_ACT_BANK_A_JOINT_ENCODER_FAULT (536870912):   0x20000000 - Joint encoder fault

class LinkActuatorMainMCUDiagnosticIdentifierBankA

Admissible bank A Link actuator main MCU diagnostics

Canonical

kortex_api.autogen.messages.ActuatorConfig_pb2.LinkActuatorMainMCUDiagnosticIdentifierBankA

LINK_ACT_MAIN_MCU_BANK_A_UNSPECIFIED_DIAGNOSTIC_IDENTIFIER (0):   0x0 - Unspecified Link actuator main MCU diagnostic bank A identifier

LINK_ACT_MAIN_MCU_BANK_A_STARTUP_SELF_TESTS_TIMED_OUT (1):   0x1 - Startup self tests timed out

LINK_ACT_MAIN_MCU_BANK_A_MCU_CORE_GENERAL_PURPOSE_REGISTERS (2):   0x2 - MCU core general purpose registers

LINK_ACT_MAIN_MCU_BANK_A_MCU_CORE_ARITHMETIC_FUNCTIONS (4):   0x4 - MCU core arithmetic functions

LINK_ACT_MAIN_MCU_BANK_A_MCU_CORE_MULTIPLIER_FUNCTIONS (8):   0x8 - MCU core multiplier functions

LINK_ACT_MAIN_MCU_BANK_A_MCU_CORE_CONTROL_FLOW_INSTRUCTIONS (16):   0x10 - MCU core control flow instructions

LINK_ACT_MAIN_MCU_BANK_A_MCU_CORE_LOAD_STORE_UNIT (32):   0x20 - MCU core load store unit

LINK_ACT_MAIN_MCU_BANK_A_MCU_CORE_SHIFT_ROTATE_FUNCTIONS (64):   0x40 - MCU core shift rotate functions

LINK_ACT_MAIN_MCU_BANK_A_MCU_CORE_STACK_POINTER (128):   0x80 - MCU core stack pointer

LINK_ACT_MAIN_MCU_BANK_A_MCU_CORE_PIPELINE_FUNCTIONS (256):   0x100 - MCU core pipeline functions

LINK_ACT_MAIN_MCU_BANK_A_MCU_CORE_FPU_REGISTERS_BANK (512):   0x200 - MCU core fpu registers bank

LINK_ACT_MAIN_MCU_BANK_A_MCU_CORE_FPU_SINGLE_PRECISION_FUNCTIONS (1024):   0x400 - MCU core fpu single precision functions

LINK_ACT_MAIN_MCU_BANK_A_MCU_CORE_CACHE_MANAGEMENT_LOGIC (2048):   0x800 - MCU core cache management logic

LINK_ACT_MAIN_MCU_BANK_A_MCU_RAM_BIST_FAULT (4096):   0x1000 - MCU RAM BIST fault

LINK_ACT_MAIN_MCU_BANK_A_JOINT_POSITION_FOLLOWING_ERROR (8192):   0x2000 - Joint position following error

LINK_ACT_MAIN_MCU_BANK_A_JOINT_MAXIMUM_VELOCITY (16384):   0x4000 - Joint maximum velocity

LINK_ACT_MAIN_MCU_BANK_A_JOINT_POSITION_LIMIT_HIGH (32768):   0x8000 - Joint position limit high

LINK_ACT_MAIN_MCU_BANK_A_JOINT_POSITION_LIMIT_LOW (65536):   0x10000 - Joint position limit low

LINK_ACT_MAIN_MCU_BANK_A_JOINT_MAXIMUM_TORQUE (131072):   0x20000 - Joint maximum torque

LINK_ACT_MAIN_MCU_BANK_A_MOTOR_DRV_CONFIGURATION_FAILED (262144):   0x40000 - Motor driver configuration failed

LINK_ACT_MAIN_MCU_BANK_A_MOTOR_DRV_FAULT_PIN_ASSERTED (524288):   0x80000 - Motor driver fault pin asserted

LINK_ACT_MAIN_MCU_BANK_A_MOTOR_DRV_VDS_OVERCURRENT (1048576):   0x100000 - Motor driver Vds overcurrent

LINK_ACT_MAIN_MCU_BANK_A_MOTOR_DRV_GATE_DRIVER_FAULT (2097152):   0x200000 - Motor driver gate driver fault

LINK_ACT_MAIN_MCU_BANK_A_MOTOR_DRV_PSU_UNDERVOLTAGE_LOCKOUT (4194304):   0x400000 - Motor driver PSU undervoltage lockout

LINK_ACT_MAIN_MCU_BANK_A_MOTOR_DRV_GATE_DRIVER_UNDERVOLTAGE_LOCKOUT (8388608):   0x800000 - Motor driver gate driver undervoltage lockout

LINK_ACT_MAIN_MCU_BANK_A_MOTOR_DRV_THERMAL_SHUTDOWN (16777216):   0x1000000 - Motor driver thermal shutdown

LINK_ACT_MAIN_MCU_BANK_A_MOTOR_DRV_SENSE_AMPLIFIER_OVERCURRENT (33554432):   0x2000000 - Motor driver sense amplifier overcurrent

LINK_ACT_MAIN_MCU_BANK_A_BRAKE_DRV_FAULT_PIN_ASSERTED (67108864):   0x4000000 - Brake driver fault pin asserted

LINK_ACT_MAIN_MCU_BANK_A_BRAKE_NOT_RELEASING (134217728):   0x8000000 - Brake not releasing

LINK_ACT_MAIN_MCU_BANK_A_BRAKE_CIRCUIT_CURRENT_OUT_OF_RANGE (268435456):   0x10000000 - Brake circuit current out of range

LINK_ACT_MAIN_MCU_BANK_A_BRAKE_CIRCUIT_UNEXPECTED_VOLTAGE (536870912):   0x20000000 - Brake circuit unexpected voltage

LINK_ACT_MAIN_MCU_BANK_A_BRAKE_RELEASE_MOTION_OUT_OF_RANGE (1073741824):   0x40000000 - Brake release motion out of range

class LinkActuatorMainMCUDiagnosticIdentifierBankB

Admissible bank B Link actuator main MCU diagnostics

Canonical

kortex_api.autogen.messages.ActuatorConfig_pb2.LinkActuatorMainMCUDiagnosticIdentifierBankB

LINK_ACT_MAIN_MCU_BANK_B_UNSPECIFIED_DIAGNOSTIC_IDENTIFIER (0):   0x0 - Unspecified Link actuator main MCU diagnostic bank B identifier

LINK_ACT_MAIN_MCU_BANK_B_VMON_48V_OVERVOLTAGE (1):   0x1 - Voltage monitoring 48V overvoltage

LINK_ACT_MAIN_MCU_BANK_B_VMON_48V_UNDERVOLTAGE (2):   0x2 - Voltage monitoring 48V undervoltage

LINK_ACT_MAIN_MCU_BANK_B_VMON_5V_OVERVOLTAGE (4):   0x4 - Voltage monitoring 5V overvoltage

LINK_ACT_MAIN_MCU_BANK_B_VMON_5V_UNDERVOLTAGE (8):   0x8 - Voltage monitoring 5V undervoltage

LINK_ACT_MAIN_MCU_BANK_B_VMON_3V3_OVERVOLTAGE (16):   0x10 - Voltage monitoring 3V3 overvoltage

LINK_ACT_MAIN_MCU_BANK_B_VMON_3V3_UNDERVOLTAGE (32):   0x20 - Voltage monitoring 3V3 undervoltage

LINK_ACT_MAIN_MCU_BANK_B_VMON_2V8_OVERVOLTAGE (64):   0x40 - Voltage monitoring 2V8 overvoltage

LINK_ACT_MAIN_MCU_BANK_B_VMON_2V8_UNDERVOLTAGE (128):   0x80 - Voltage monitoring 2V8 undervoltage

LINK_ACT_MAIN_MCU_BANK_B_VMON_1V8_OVERVOLTAGE (256):   0x100 - Voltage monitoring 1V8 overvoltage

LINK_ACT_MAIN_MCU_BANK_B_VMON_1V8_UNDERVOLTAGE (512):   0x200 - Voltage monitoring 1V8 undervoltage

LINK_ACT_MAIN_MCU_BANK_B_VMON_1V2_OVERVOLTAGE (1024):   0x400 - Voltage monitoring 1V2 overvoltage

LINK_ACT_MAIN_MCU_BANK_B_VMON_1V2_UNDERVOLTAGE (2048):   0x800 - Voltage monitoring 1V2 undervoltage

LINK_ACT_MAIN_MCU_BANK_B_VREF_2V5_OVERVOLTAGE (4096):   0x1000 - Voltage reference 2V5 overvoltage

LINK_ACT_MAIN_MCU_BANK_B_VREF_2V5_UNDERVOLTAGE (8192):   0x2000 - Voltage reference 2V5 undervoltage

LINK_ACT_MAIN_MCU_BANK_B_MOTOR_OVERCURRENT (16384):   0x4000 - Motor overcurrent

LINK_ACT_MAIN_MCU_BANK_B_MOTOR_CURRENT_SENSE_DISAGREEMENT (32768):   0x8000 - Motor current sense disagreement

LINK_ACT_MAIN_MCU_BANK_B_MOTOR_PHASES_CURRENT_UNBALANCED (65536):   0x10000 - Motor phases current unbalanced

LINK_ACT_MAIN_MCU_BANK_B_MOTOR_ENCODER_CONFIGURATION_FAILED (131072):   0x20000 - Motor encoder configuration failed

LINK_ACT_MAIN_MCU_BANK_B_MOTOR_ENCODER_FAULT_DETECTED (262144):   0x40000 - Motor encoder fault detected

LINK_ACT_MAIN_MCU_BANK_B_MOTOR_ENCODER_ERROR_PIN_ASSERTED (524288):   0x80000 - Motor encoder error pin asserted

LINK_ACT_MAIN_MCU_BANK_B_MOTOR_ENCODER_SPI_QEI_POSITION_DISAGREEMENT (1048576):   0x100000 - Motor encoder SPI QEI position disagreement

LINK_ACT_MAIN_MCU_BANK_B_JOINT_ENCODER_CONFIGURATION_FAILED (2097152):   0x200000 - Joint encoder configuration failed

LINK_ACT_MAIN_MCU_BANK_B_JOINT_ENCODER_FAULT_DETECTED (4194304):   0x400000 - Joint encoder fault detected

LINK_ACT_MAIN_MCU_BANK_B_JOINT_ENCODER_DIAG_PIN_ASSERTED (8388608):   0x800000 - Joint encoder diagnostic pin asserted

LINK_ACT_MAIN_MCU_BANK_B_JOINT_ENCODER_SPI_QEI_POSITION_DISAGREEMENT (16777216):   0x1000000 - Joint encoder SPI QEI position disagreement

LINK_ACT_MAIN_MCU_BANK_B_ENCODERS_POSITION_DISAGREEMENT (33554432):   0x2000000 - Encoders position disagreement

class LinkActuatorMainMCUDiagnosticIdentifierBankC

Admissible bank C Link actuator main MCU diagnostics

Canonical

kortex_api.autogen.messages.ActuatorConfig_pb2.LinkActuatorMainMCUDiagnosticIdentifierBankC

LINK_ACT_MAIN_MCU_BANK_C_UNSPECIFIED_DIAGNOSTIC_IDENTIFIER (0):   0x0 - Unspecified Link actuator main MCU diagnostic bank C identifier

LINK_ACT_MAIN_MCU_BANK_C_MOTOR_HOUSING_TEMP_SENSOR_I2C_ERROR (1):   0x1 - Motor housing temperature sensor I2C error

LINK_ACT_MAIN_MCU_BANK_C_MOTOR_HOUSING_TEMPERATURE_TOO_HIGH (2):   0x2 - Motor housing temperature too high

LINK_ACT_MAIN_MCU_BANK_C_MOTOR_HOUSING_TEMPERATURE_TOO_LOW (4):   0x4 - Motor housing temperature too low

LINK_ACT_MAIN_MCU_BANK_C_CORE_TEMPERATURE_TOO_HIGH (8):   0x8 - Core temperature too high

LINK_ACT_MAIN_MCU_BANK_C_CORE_TEMPERATURE_TOO_LOW (16):   0x10 - Core temperature too low

LINK_ACT_MAIN_MCU_BANK_C_EEPROM_I2C_ERROR (32):   0x20 - EEPROM I2C error

LINK_ACT_MAIN_MCU_BANK_C_EEPROM_CORRUPTED (64):   0x40 - EEPROM corrupted

LINK_ACT_MAIN_MCU_BANK_C_FRAM_I2C_ERROR (128):   0x80 - FRAM I2C error

LINK_ACT_MAIN_MCU_BANK_C_FRAM_CORRUPTED (256):   0x100 - FRAM corrupted

LINK_ACT_MAIN_MCU_BANK_C_XCOM_SAFETY_MCU_NOT_DETECTED (512):   0x200 - Cross communication safety MCU not detected

LINK_ACT_MAIN_MCU_BANK_C_XCOM_CONFIGURATION_FAILED (1024):   0x400 - Cross communication configuration failed

LINK_ACT_MAIN_MCU_BANK_C_XCOM_SPI_COMM_FAILURE (2048):   0x800 - Cross communication SPI communication failure

LINK_ACT_MAIN_MCU_BANK_C_MOTOR_DRV_ENABLE_DISAGREEMENT (4096):   0x1000 - Motor driver enable disagreement

LINK_ACT_MAIN_MCU_BANK_C_BRAKE_DRV_ENABLE_DISAGREEMENT (8192):   0x2000 - Brake driver enable disagreement

LINK_ACT_MAIN_MCU_BANK_C_VMON_48V_DISAGREEMENT (16384):   0x4000 - Voltage monitoring 48V disagreement

LINK_ACT_MAIN_MCU_BANK_C_MOTOR_HOUSING_TEMPERATURE_DISAGREEMENT (32768):   0x8000 - Motor housing temperature disagreement

LINK_ACT_MAIN_MCU_BANK_C_JOINT_POSITION_DISAGREEMENT (65536):   0x10000 - Joint position disagreement

LINK_ACT_MAIN_MCU_BANK_C_MOTOR_POSITION_DISAGREEMENT (131072):   0x20000 - Motor position disagreement

LINK_ACT_MAIN_MCU_BANK_C_JOINT_VELOCITY_DISAGREEMENT (262144):   0x40000 - Joint velocity disagreement

LINK_ACT_MAIN_MCU_BANK_C_MOTOR_VELOCITY_DISAGREEMENT (524288):   0x80000 - Motor velocity disagreement

LINK_ACT_MAIN_MCU_BANK_C_MOTOR_CURRENT_DISAGREEMENT (1048576):   0x100000 - Motor current disagreement

LINK_ACT_MAIN_MCU_BANK_C_SAFE_COMM_FAILURE (2097152):   0x200000 - Safe communication failure

LINK_ACT_MAIN_MCU_BANK_C_WATCHDOG_RESET_OCCURRED (4194304):   0x400000 - Independent or window watchdog reset occurred

class LinkActuatorSafetyMCUDiagnosticIdentifierBankA

Admissible bank A Link actuator safety MCU diagnostics

Canonical

kortex_api.autogen.messages.ActuatorConfig_pb2.LinkActuatorSafetyMCUDiagnosticIdentifierBankA

LINK_ACT_SFTY_MCU_BANK_A_UNSPECIFIED_DIAGNOSTIC_IDENTIFIER (0):   0x0 - Unspecified Link actuator safety MCU diagnostic bank A identifier

LINK_ACT_SFTY_MCU_BANK_A_STARTUP_SELF_TESTS_TIMED_OUT (1):   0x1 - Startup self tests timed out

LINK_ACT_SFTY_MCU_BANK_A_VMON_48V_OVERVOLTAGE (2):   0x2 - Voltage monitoring 48V overvoltage

LINK_ACT_SFTY_MCU_BANK_A_VMON_48V_UNDERVOLTAGE (4):   0x4 - Voltage monitoring 48V undervoltage

LINK_ACT_SFTY_MCU_BANK_A_VREF_2V5_OVERVOLTAGE (8):   0x8 - Voltage reference 2V5 overvoltage

LINK_ACT_SFTY_MCU_BANK_A_VREF_2V5_UNDERVOLTAGE (16):   0x10 - Voltage reference 2V5 undervoltage

LINK_ACT_SFTY_MCU_BANK_A_MOTOR_CURRENT_SENSE_DISAGREEMENT (32):   0x20 - Motor current sense disagreement

LINK_ACT_SFTY_MCU_BANK_A_MOTOR_ENCODER_ERROR_PIN_ASSERTED (64):   0x40 - Motor encoder error pin asserted

LINK_ACT_SFTY_MCU_BANK_A_JOINT_ENCODER_DIAG_PIN_ASSERTED (128):   0x80 - Joint encoder diagnostic pin asserted

LINK_ACT_SFTY_MCU_BANK_A_ENCODERS_POSITION_DISAGREEMENT (256):   0x100 - Encoders position disagreement

LINK_ACT_SFTY_MCU_BANK_A_MOTOR_HOUSING_TEMP_SENSOR_I2C_ERROR (512):   0x200 - Motor housing temperature sensor I2C error

LINK_ACT_SFTY_MCU_BANK_A_MOTOR_HOUSING_TEMPERATURE_TOO_HIGH (1024):   0x400 - Motor housing temperature too high

LINK_ACT_SFTY_MCU_BANK_A_MOTOR_HOUSING_TEMPERATURE_TOO_LOW (2048):   0x800 - Motor housing temperature too low

LINK_ACT_SFTY_MCU_BANK_A_CORE_TEMPERATURE_TOO_HIGH (4096):   0x1000 - Core temperature too high

LINK_ACT_SFTY_MCU_BANK_A_CORE_TEMPERATURE_TOO_LOW (8192):   0x2000 - Core temperature too low

LINK_ACT_SFTY_MCU_BANK_A_EMULATED_EEPROM_CORRUPTED (16384):   0x4000 - Emulated EEPROM corrupted

LINK_ACT_SFTY_MCU_BANK_A_XCOM_SPI_COMM_FAILURE (32768):   0x8000 - Cross communication SPI communication failure

LINK_ACT_SFTY_MCU_BANK_A_MOTOR_DRV_ENABLE_DISAGREEMENT (65536):   0x10000 - Motor driver enable disagreement

LINK_ACT_SFTY_MCU_BANK_A_BRAKE_DRV_ENABLE_DISAGREEMENT (131072):   0x20000 - Brake driver enable disagreement

LINK_ACT_SFTY_MCU_BANK_A_VMON_48V_DISAGREEMENT (262144):   0x40000 - Voltage monitoring 48V disagreement

LINK_ACT_SFTY_MCU_BANK_A_MOTOR_HOUSING_TEMPERATURE_DISAGREEMENT (524288):   0x80000 - Motor housing temperature disagreement

LINK_ACT_SFTY_MCU_BANK_A_JOINT_POSITION_DISAGREEMENT (1048576):   0x100000 - Joint position disagreement

LINK_ACT_SFTY_MCU_BANK_A_MOTOR_POSITION_DISAGREEMENT (2097152):   0x200000 - Motor position disagreement

LINK_ACT_SFTY_MCU_BANK_A_JOINT_VELOCITY_DISAGREEMENT (4194304):   0x400000 - Joint velocity disagreement

LINK_ACT_SFTY_MCU_BANK_A_MOTOR_VELOCITY_DISAGREEMENT (8388608):   0x800000 - Motor velocity disagreement

LINK_ACT_SFTY_MCU_BANK_A_MOTOR_CURRENT_DISAGREEMENT (16777216):   0x1000000 - Motor current disagreement

LINK_ACT_SFTY_MCU_BANK_A_SAFE_COMM_FAILURE (33554432):   0x2000000 - Safe communication failure

LINK_ACT_SFTY_MCU_BANK_A_WATCHDOG_RESET_OCCURRED (67108864):   0x4000000 - Independent or window watchdog reset occured

class LinkActuatorSafetyMCUDiagnosticIdentifierBankB

Admissible bank B Link actuator safety MCU diagnostics

Canonical

kortex_api.autogen.messages.ActuatorConfig_pb2.LinkActuatorSafetyMCUDiagnosticIdentifierBankB

LINK_ACT_SFTY_MCU_BANK_B_UNSPECIFIED_DIAGNOSTIC_IDENTIFIER (0):   0x0 - Unspecified Link actuator safety MCU diagnostic bank B identifier

LINK_ACT_SFTY_MCU_BANK_B_MCU_CORE_GENERAL_PURPOSE_REGISTERS (1):   0x1 - MCU core general purpose registers

LINK_ACT_SFTY_MCU_BANK_B_MCU_CORE_ARITHMETIC_FUNCTIONS (2):   0x2 - MCU core arithmetic functions

LINK_ACT_SFTY_MCU_BANK_B_MCU_CORE_MULTIPLIER_FUNCTIONS (4):   0x4 - MCU core multiplier functions

LINK_ACT_SFTY_MCU_BANK_B_MCU_CORE_CONTROL_FLOW_INSTRUCTIONS (8):   0x8 - MCU core control flow instructions

LINK_ACT_SFTY_MCU_BANK_B_MCU_CORE_LOAD_STORE_UNIT (16):   0x10 - MCU core load store unit

LINK_ACT_SFTY_MCU_BANK_B_MCU_CORE_SHIFT_ROTATE_FUNCTIONS (32):   0x20 - MCU core shift rotate functions

LINK_ACT_SFTY_MCU_BANK_B_MCU_CORE_STACK_POINTER (64):   0x40 - MCU core stack pointer

LINK_ACT_SFTY_MCU_BANK_B_MCU_CORE_PIPELINE_FUNCTIONS (128):   0x80 - MCU core pipeline functions

LINK_ACT_SFTY_MCU_BANK_B_MCU_RAM_BIST_FAULT (256):   0x100 - MCU RAM BIST fault

class CustomDataIndex

Custom data options

Canonical

kortex_api.autogen.messages.ActuatorConfig_pb2.CustomDataIndex

NO_CUSTOM_DATA_SELECTED (0):   No custom data selected

UINT32_TEST_RAMP (1):   Incremental value used for test and validation

UINT32_MOTOR_ENCODER_RAW(2):   Rotor encoder incremental value (raw)

UINT32_JOINT_ENCODER_RAW(3):   Joint encoder incremental value (raw)

FLOAT_TEMPERATURE_PHASE_0(4):   Motor phase 0 temperature (degrees Celsius)

FLOAT_TEMPERATURE_PHASE_1(5):   Motor phase 1 temperature (degrees Celsius)

FLOAT_TEMPERATURE_PHASE_2(6):   Motor phase 2 temperature (degrees Celsius)

INT32_TORQUE_SENSOR_RAW_0(7):   Individual torque sensor strain gauge 0 ADC value (raw)

INT32_TORQUE_SENSOR_RAW_1(8):   Individual torque sensor strain gauge 1 ADC value (raw)

INT32_TORQUE_SENSOR_RAW_2(9):   Individual torque sensor strain gauge 2 ADC value (raw)

INT32_TORQUE_SENSOR_RAW_3(10):   Individual torque sensor strain gauge 3 ADC value (raw)

FLOAT_TORQUE_SENSOR_0(11):   Individual torque sensor strain gauge 0 converted value (Newton-meters)

FLOAT_TORQUE_SENSOR_1(12):   Individual torque sensor strain gauge 1 converted value (Newton-meters)

FLOAT_TORQUE_SENSOR_2(13):   Individual torque sensor strain gauge 2 converted value (Newton-meters)

FLOAT_TORQUE_SENSOR_3(14):   Individual torque sensor strain gauge 3 converted value (Newton-meters)

UINT32_MOTOR_ENCODER_RAW_LATCH_ON_INDEX_RISING(15):   Rotor encoder incremental value at last index signal rising edge (raw)

UINT32_JOINT_ENCODER_RAW_LATCH_ON_INDEX_RISING(16):   Joint encoder incremental value at last index signal rising edge (raw)

UINT32_ABSOLUTE_POSITION_SENSOR_RAW(17):   Absolute position sensor integer value (raw)

FLOAT_ABSOLUTE_POSITION_SENSOR(18):   Absolute position sensor converted value (degrees)

FLOAT_CONTROL_POSITION_JOINT_REQUESTED (19):   Last axis position command received via Ethernet

UINT32_JIG_FLAGS(20):   Jig status flags (internal use)

UINT32_TICK_MOTOR_CONTROL(21):   Rotor encoder incremental value corrected for counter overflow (raw)

UINT32_TICK_JOINT_CONTROL(22):   Joint encoder incremental value corrected for counter overflow (raw)

UINT32_INDEX_TICK_MOTOR_CONTROL(23):   Rotor encoder incremental value corrected for counter overflow at last index signal rising edge (raw)

UINT32_INDEX_TICK_JOINT_CONTROL(24):   Joint encoder incremental value corrected for counter overflow at last index signal rising edge (raw)

FLOAT_ACCELERATION_X(25):   x-axis acceleration (meters per second squared)

FLOAT_ACCELERATION_Y(26):   y-axis acceleration (meters per second squared)

FLOAT_ACCELERATION_Z(27):   z-axis acceleration (meters per second squared)

FLOAT_ANGULAR_RATE_X(28):   x-axis angular velocity (degrees per second)

FLOAT_ANGULAR_RATE_Y(29):   y-axis angular velocity (degrees per second)

FLOAT_ANGULAR_RATE_Z(30):   z-axis angular velocity (degrees per second)

FLOAT_POSITION_MOTOR_CMD(31):   Axis position command sent to motor position control loop (degrees)

FLOAT_VELOCITY_MOTOR_CMD(32):   Axis velocity command sent to motor velocity control loop (degrees per second)

FLOAT_POSITION_MOTOR(33):   Actuator position measured by rotor encoder (degrees)

FLOAT_VELOCITY_MOTOR(34):   Actuator angular velocity measured by rotor encoder (degrees per second)

UINT32_COMMUNICATIONS_JITTER(35):   Jitter from the communication (microseconds)

FLOAT_TORQUE_AVERAGE(36):   Actuator torque (Newton-meters)

FLOAT_CURRENT_MOTOR(37):   Motor current (Amperes)

FLOAT_VOLTAGE_DIGITAL(38):   Main board voltage (Volts)

FLOAT_TEMPERATURE_MOTOR_CELSIUS(39):   Motor temperature (maximum of the three (3) phase temperatures) (degrees Celsius)

FLOAT_TEMPERATURE_CORE_CELSIUS(40):   Microcontroller temperature (degrees Celsius)

UINT32_FAULT_A(41):   Main MCU Bank A faults (see ActuatorConfig.Gen3ActuatorDiagnosticIdentifierBankA and ActuatorConfig.LinkActuatorMainMCUDiagnosticIdentifierBankA)

UINT32_FAULT_B(42):   Main MCU Bank B faults (see ActuatorConfig.LinkActuatorMainMCUDiagnosticIdentifierBankB)

UINT32_WARNING_A(43):   Main MCU Bank A warnings (see ActuatorConfig.Gen3ActuatorDiagnosticIdentifierBankA)

UINT32_WARNING_B (44):   Main MCU Bank B warnings

FLOAT_POSITION_FROM_HALLS(45):   Actuator position measured by motor hall sensors (degrees)

FLOAT_PHASE_CURRENT_0(46):   Motor phase 0 current (Amperes)

FLOAT_PHASE_CURRENT_1(47):   Motor phase 1 current (Amperes)

FLOAT_PHASE_CURRENT_2(48):   Motor phase 2 current (Amperes)

FLOAT_PHASE_PWM_0(49):   Pulse width modulation duty cycle applied to motor phase 0 (percentage)

FLOAT_PHASE_PWM_1(50):   Pulse width modulation duty cycle applied to motor phase 1 (percentage)

FLOAT_PHASE_PWM_2(51):   Pulse width modulation duty cycle applied to motor phase 2 (percentage)

FLOAT_MOTOR_ELECTRICAL_ANGLE(52):   Motor electrical angle (degrees)

FLOAT_CURRENT_MOTOR_CMD(53):   Motor current command sent to motor drive (Amperes)

FLOAT_TORQUE_JOINT_CMD(54):   Axis torque command sent to joint torque control loop (Newton-meters)

FLOAT_POSITION_UNWRAPPED(55):   Actuator position unwrapped (degrees)

UINT32_HALL_SENSOR_0(56):   Hall sensor 0 value (raw)

UINT32_HALL_SENSOR_1(57):   Hall sensor 1 value (raw)

UINT32_HALL_SENSOR_2(58):   Hall sensor 2 value (raw)

INT32_HALL_SENSOR_SCALED_0(59):   Hall sensor 0 scaled value (raw)

INT32_HALL_SENSOR_SCALED_1(60):   Hall sensor 1 scaled value (raw)

INT32_HALL_SENSOR_SCALED_2(61):   Hall sensor 2 scaled value (raw)

FLOAT_COGGING_COEFFICIENT_A_0(62):   Cogging torque cancellation coefficient A0 (Amperes)

FLOAT_COGGING_COEFFICIENT_A_1(63):   Cogging torque cancellation coefficient A1 (Amperes)

FLOAT_COGGING_COEFFICIENT_A_2(64):   Cogging torque cancellation coefficient A2 (Amperes)

FLOAT_COGGING_COEFFICIENT_A_3(65):   Cogging torque cancellation coefficient A3 (Amperes)

FLOAT_COGGING_COEFFICIENT_A_4(66):   Cogging torque cancellation coefficient A4 (Amperes)

FLOAT_COGGING_COEFFICIENT_A_5(67):   Cogging torque cancellation coefficient A5 (Amperes)

FLOAT_COGGING_COEFFICIENT_A_6(68):   Cogging torque cancellation coefficient A6 (Amperes)

FLOAT_COGGING_COEFFICIENT_A_7(69):   Cogging torque cancellation coefficient A7 (Amperes)

FLOAT_COGGING_COEFFICIENT_A_8(70):   Cogging torque cancellation coefficient A8 (Amperes)

FLOAT_COGGING_COEFFICIENT_A_9(71):   Cogging torque cancellation coefficient A9 (Amperes)

FLOAT_COGGING_COEFFICIENT_A_10(72):   Cogging torque cancellation coefficient A10 (Amperes)

FLOAT_COGGING_COEFFICIENT_A_11(73):   Cogging torque cancellation coefficient A11 (Amperes)

FLOAT_COGGING_COEFFICIENT_A_12(74):   Cogging torque cancellation coefficient A12 (Amperes)

FLOAT_COGGING_COEFFICIENT_A_13(75):   Cogging torque cancellation coefficient A13 (Amperes)

FLOAT_COGGING_COEFFICIENT_A_14(76):   Cogging torque cancellation coefficient A14 (Amperes)

FLOAT_COGGING_COEFFICIENT_A_15(77):   Cogging torque cancellation coefficient A15 (Amperes)

FLOAT_COGGING_COEFFICIENT_B_0(78):   Cogging torque cancellation coefficient B0 (Amperes)

FLOAT_COGGING_COEFFICIENT_B_1(79):   Cogging torque cancellation coefficient B1 (Amperes)

FLOAT_COGGING_COEFFICIENT_B_2(80):   Cogging torque cancellation coefficient B2 (Amperes)

FLOAT_COGGING_COEFFICIENT_B_3(81):   Cogging torque cancellation coefficient B3 (Amperes)

FLOAT_COGGING_COEFFICIENT_B_4(82):   Cogging torque cancellation coefficient B4 (Amperes)

FLOAT_COGGING_COEFFICIENT_B_5(83):   Cogging torque cancellation coefficient B5 (Amperes)

FLOAT_COGGING_COEFFICIENT_B_6(84):   Cogging torque cancellation coefficient B6 (Amperes)

FLOAT_COGGING_COEFFICIENT_B_7(85):   Cogging torque cancellation coefficient B7 (Amperes)

FLOAT_COGGING_COEFFICIENT_B_8(86):   Cogging torque cancellation coefficient B8 (Amperes)

FLOAT_COGGING_COEFFICIENT_B_9(87):   Cogging torque cancellation coefficient B9 (Amperes)

FLOAT_COGGING_COEFFICIENT_B_10(88):   Cogging torque cancellation coefficient B10 (Amperes)

FLOAT_COGGING_COEFFICIENT_B_11(89):   Cogging torque cancellation coefficient B11 (Amperes)

FLOAT_COGGING_COEFFICIENT_B_12(90):   Cogging torque cancellation coefficient B12 (Amperes)

FLOAT_COGGING_COEFFICIENT_B_13(91):   Cogging torque cancellation coefficient B13 (Amperes)

FLOAT_COGGING_COEFFICIENT_B_14(92):   Cogging torque cancellation coefficient B14 (Amperes)

FLOAT_COGGING_COEFFICIENT_B_15(93):   Cogging torque cancellation coefficient B15 (Amperes)

FLOAT_CURRENT_COGGING_FEEDFORWARD(94):   Commanded cogging cancellation feedforward current sent to motor drive (Amperes)

UINT32_MOTOR_POSITION_ABSOLUTE_RAW(95):   Absolute rotor position reported by sensor (raw)

FLOAT_MOTOR_POSITION_ABSOLUTE_RAW_WRAP(96):   Absolute rotor position, range 0-360 (degrees)

FLOAT_MOTOR_POSITION_ABSOLUTE_RAW_UNWRAP(97):   Absolute rotor position (degrees)

FLOAT_MOTOR_POSITION_ABSOLUTE_LINEARIZED(98):   Absolute rotor position linearized (degrees)

FLOAT_MOTOR_POSITION_ABSOLUTE_CALIBRATED(99):   Absolute rotor position linearized and with calibrated offset (degrees)

UINT32_MOTOR_POSITION_INCREMENTAL_RAW(100):   Incremental rotor position (raw)

FLOAT_MOTOR_POSITION_INCREMENTAL_RAW_WRAP(101):   Incremental rotor position, range 0-360 (degrees)

FLOAT_MOTOR_POSITION_INCREMENTAL_RAW_UNWRAP(102):   Incremental rotor position (degrees)

FLOAT_MOTOR_POSITION_INCREMENTAL_LINEARIZED(103):   Incremental rotor position linearized (degrees)

FLOAT_MOTOR_POSITION_INCREMENTAL_CALIBRATED(104):   Incremental rotor position linearized and with calibrated offset (degrees)

UINT32_JOINT_POSITION_ABSOLUTE_RAW(105):   Absolute joint position reported by sensor (raw)

FLOAT_JOINT_POSITION_ABSOLUTE_RAW_WRAP(106):   Absolute joint position, range 0-360 (degrees)

FLOAT_JOINT_POSITION_ABSOLUTE_RAW_UNWRAP(107):   Absolute joint position (degrees)

FLOAT_JOINT_POSITION_ABSOLUTE_LINEARIZED(108):   Absolute joint position linearized (degrees)

FLOAT_JOINT_POSITION_ABSOLUTE_CALIBRATED(109):   Absolute joint position linearized and with calibrated offset (degrees)

UINT32_JOINT_POSITION_INCREMENTAL_RAW(110):   Incremental joint position (raw)

FLOAT_JOINT_POSITION_INCREMENTAL_RAW_WRAP(111):   Incremental joint position, range 0-360 (degrees)

FLOAT_JOINT_POSITION_INCREMENTAL_RAW_UNWRAP(112):   Incremental joint position (degrees)

FLOAT_JOINT_POSITION_INCREMENTAL_LINEARIZED(113):   Incremental joint position linearized (degrees)

FLOAT_JOINT_POSITION_INCREMENTAL_CALIBRATED(114):   Incremental joint position linearized and with calibrated offset (degrees)

FLOAT_POSITION_MOTOR_UNWRAPPED(115):   Actuator position measured by rotor encoder, unwrapped (degrees)

FLOAT_MOTOR_POWER(116):   Motor power (Watts)

FLOAT_MOTOR_POWER_FILTERED(117):   Motor power averaged over the configured amount of time (Watts)

FLOAT_MOTOR_DIRECT_CURRENT(118):   Motor direct current (Amperes)

FLOAT_MOTOR_QUADRATURE_CURRENT(119):   Motor quadrature current (Amperes)

FLOAT_MOTOR_DIRECT_VOLTAGE(120):   Motor direct voltage (Volts)

FLOAT_MOTOR_QUADRATURE_VOLTAGE(121):   Motor quadrature voltage (Volts)

FLOAT_TORQUE_ESTIMATE_FROM_CURRENT(122):   Joint torque estimated from motor current (Nm)

FLOAT_TORQUE_ESTIMATE_FROM_DEFLECTION(123):   Joint torque estimated from gearbox deflection (Nm)

FLOAT_POSITION_JOINT(124):   Actuator position measured by joint encoder (degrees)

FLOAT_POSITION_JOINT_CMD(125):   Axis position command sent to joint position control loop (degrees)

FLOAT_VELOCITY_JOINT(126):   Actuator velocity measured by joint encoder (degrees per second)

FLOAT_VELOCITY_JOINT_CMD(127):   Axis velocity command sent to joint velocity control loop (degrees per second)

FLOAT_KINEMATIC_ERROR(128):   The kinematic error model offset (degrees)

FLOAT_MOTOR_POSITION_FOR_TORQUE_ESTIMATION(129):   The motor position plus the zero offset and multiplied by the gear ratio (degrees)

FLOAT_GEARBOX_DEFLECTION(130):   The gearbox deflection (degrees)

FLOAT_GEARBOX_DEFLECTION_KINEMATIC_ERROR_COMPENSATED(131):   The gearbox deflection with the kinematic error compensated (degrees)

FLOAT_VELOCITY_MOTOR_FILTERED(132):   Motor velocity filtered (degrees per second)

FLOAT_VELOCITY_JOINT_FILTERED(133):   Joint velocity filtered (degrees per second)

UINT32_FAULT_C(134):   Main MCU Bank C faults (see ActuatorConfig.LinkActuatorMainMCUDiagnosticIdentifierBankC)

UINT32_SFTY_FAULT_BANK_A(135):   Safety MCU Bank A faults (see ActuatorConfig.LinkActuatorSafetyMCUDiagnosticIdentifierBankA)

FLOAT_PHASE_CURRENT_0_HALL(136):   Motor phase 0 current from hall effect sensor (Amperes)

FLOAT_PHASE_CURRENT_1_HALL(137):   Motor phase 1 current from hall effect sensor (Amperes)

FLOAT_PHASE_CURRENT_2_HALL(138):   Motor phase 2 current from hall effect sensor (Amperes)

FLOAT_CURRENT_MOTOR_FILTERED(139):   Filtered motor current (Amperes)

FLOAT_PHASE_CURRENT_0_FILTERED(140):   Filtered motor phase 0 current (Amperes)

FLOAT_PHASE_CURRENT_1_FILTERED(141):   Filtered motor phase 1 current (Amperes)

FLOAT_PHASE_CURRENT_2_FILTERED(142):   Filtered motor phase 2 current (Amperes)

FLOAT_PHASE_CURRENT_0_HALL_FILTERED(143):   Filtered motor phase 0 current from hall effect sensor (Amperes)

FLOAT_PHASE_CURRENT_1_HALL_FILTERED(144):   Filtered motor phase 1 current from hall effect sensor (Amperes)

FLOAT_PHASE_CURRENT_2_HALL_FILTERED(145):   Filtered motor phase 2 current from hall effect sensor (Amperes)

FLOAT_ACCELERATION_MOTOR(146):   Actuator acceleration measured by joint encoder (degrees per second squared)