ActuatorCyclic

class ServiceVersion

Identifies ActuatorCyclic service current version

Canonical

kortex_api.autogen.messages.ActuatorCyclic_pb2.ServiceVersion

RESERVED_0 (0):   Reserved

CURRENT_VERSION (1):   Current version

class CommandFlags

Identifies actuator commands

Canonical

kortex_api.autogen.messages.ActuatorCyclic_pb2.CommandFlags

NO_COMMAND (0):   0x0 Default value

SERVO_ENABLE (1):   0x1 Servoing mode is enabled

BRAKE_DISABLE (2):   0x2 Brake normally applied, 1 disables brake

CLEAR_MAJOR_FAULT(4):   0x4 Clear the major fault flag (See StatusFlags)

CLEAR_MINOR_FAULT(8):   0x8 Clear the minor fault flag (See StatusFlags)

PROTECTIVE_STOP (16):   0x10 Protective stop has been activated

FORCE_BRAKE_RELEASE (32):   0x20 Force a brake release

IGNORE (64):   0x40 ignore the other CommandFlag bits

LOW_GAINS (128):   0x80 Use a set of specific gain value used by the joint Hand-Guiding mode

LED_0(256):   0x100 Activate LED 0 (interface module buttons 0)

LED_1(512):   0x200 Activate LED 1 (interface module buttons 1)

TORQUE_AS_CURRENT_FFW (1024):   0x400 Forces "torque as a current feedforward" control mode

class StatusFlags

Identifies actuator status

Canonical

kortex_api.autogen.messages.ActuatorCyclic_pb2.StatusFlags

UNKNOWN_STATUS (0):   0x0 Unknown status

RAM_SELF_TEST_SUCCESS (1):   0x1 Actuator RAM self-test succeded

STABILIZED (16):   0x10 Actuator is in a stable state

MOTOR_INDEXED (32):   0x20 Position sensor is indexed

MOTOR_INDEXING (64):   0x40 Position sensor is indexing

JOINT_INDEXED (128):   0x80 Reserved

JOINT_INDEXING (256):   0x100 Reserved

HIGH_PRECISION (512):   0x200 Reserved

BRAKING (1024):   0x400 The actuator is braking

SERVOING (2048):   0x800 The actuator is in servoing mode

MAJOR_FAULT (4096):   0x1000 A major fault has occurred

MINOR_FAULT (8192):   0x2000 A minor fault has occurred

CALIBRATED_TORQUE (16384):   0x4000 The torque sensor is calibrated

CALIBRATED_MAG_SENSOR (32768):   0x8000 The magnetic sensor is calibrated

CALIBRATED_ZERO (65536):   0x10000 The zero position calibration has been performed

GPIO_0 (131072):   0x20000 Reserved

GPIO_1 (262144):   0x40000 Reserved

CS_QUASI_STATIC_CONTACT (524288):   0x80000 Reserved

CS_TRANSIENT_CONTACT (1048576):   0x100000 Reserved

VFD_HALL_SYNC (2097152):   0x200000 Reserved

VFD_INDEXED (4194304):   0x400000 Reserved

DRIVE_BOARD_READY (8388608):   0x800000 Reserved

CALIBRATED_CURRENT (16777216):   0x1000000 Current sensor is calibrated

CALIBRATED_MOTOR (33554432):   0x2000000 Motor is calibrated

SW0_ACTIVE (67108864):   0x4000000 Status of interface module buttons 0

SW1_ACTIVE (134217728):   0x8000000 Status of interface module buttons 1

GRIPPER_DETECTED (268435456):   0x10000000 A gripper is detected

BRAKE_RELEASED (536870912):   0x20000000 Brake is released

BRAKE_RELEASE_FAILED (1073741824):   0x40000000 Actuator failed to release brake

BOOT_POSITION_SYNC_FAIL (-2147483648):   0x80000000 Actuator position at boot does not match with previous position