package Kinova.Api.ActuatorConfig

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Service to configure actuators

@PROXY_ID=10 @ERROR=Kinova.Api.Error

• rpc GetAxisOffsets (Common.Empty, AxisOffsets)

  ActuatorConfig.proto:23

  Retrieves axis offsets for absolute and relative encoder

  @RPC_ID=1

  message AxisOffsets

  ActuatorConfig.proto:185

  Axis offsets

  • float absolute_offset = 1

    Absolute offset value (degrees)

  • float relative_offset = 2

    Relative offset value (degrees)

• rpc SetAxisOffsets (AxisPosition, Common.Empty)

  ActuatorConfig.proto:27

  Sets offsets for absolute and relative encoder Invoking this method shall invalidate arm calibration if one exists. This method is for kinova usage only.

  @RPC_ID=2

  message AxisPosition

  ActuatorConfig.proto:179

  Axis position

  • float position = 1

    Axis position (degrees)

• rpc ReadTorqueCalibration (Common.Empty, TorqueCalibration)

  ActuatorConfig.proto:30

  Reads torque calibration parameters (internal use only)

  @RPC_ID=3

• rpc WriteTorqueCalibration (TorqueCalibration, Common.Empty)

  ActuatorConfig.proto:33

  Writes torque calibration parameters (internal use only)

  @RPC_ID=4

• rpc SetTorqueOffset (TorqueOffset, Common.Empty)

  ActuatorConfig.proto:36

  Sets zero torque calibration

  @RPC_ID=5

• rpc GetControlMode (Common.Empty, ControlModeInformation)

  ActuatorConfig.proto:39

  Retrieves actuator control mode

  @RPC_ID=6

• rpc SetControlMode (ControlModeInformation, Common.Empty)

  ActuatorConfig.proto:42

  Sets actuator control mode

  @RPC_ID=7

• rpc GetActivatedControlLoop (Common.Empty, ControlLoop)

  ActuatorConfig.proto:45

  Retrieves activated control loop(s)

  @RPC_ID=8

• rpc SetActivatedControlLoop (ControlLoop, Common.Empty)

  ActuatorConfig.proto:48

  Sets activated control loop(s)

  @RPC_ID=9

• rpc GetVectorDriveParameters (Common.Empty, VectorDriveParameters)

  ActuatorConfig.proto:51

  Retrieves motor drive FOC parameters (internal use only)

  @RPC_ID=10

• rpc SetVectorDriveParameters (VectorDriveParameters, Common.Empty)

  ActuatorConfig.proto:54

  Sets motor drive FOC parameters (internal use only)

  @RPC_ID=11

• rpc GetEncoderDerivativeParameters (Common.Empty, EncoderDerivativeParameters)

  ActuatorConfig.proto:57

  Retrieves encoder derivative parameters (internal use only)

  @RPC_ID=12

• rpc SetEncoderDerivativeParameters (EncoderDerivativeParameters, Common.Empty)

  ActuatorConfig.proto:60

  Sets encoder derivative parameters (internal use only)

  @RPC_ID=13

• rpc GetControlLoopParameters (LoopSelection, ControlLoopParameters)

  ActuatorConfig.proto:63

  Retrieves control loop parameters

  @RPC_ID=14

  message LoopSelection

  ActuatorConfig.proto:219

  Defines the loop selection

  • ControlLoopSelection loop_selection = 1

    ControlLoopSelection enum

• rpc SetControlLoopParameters (ControlLoopParameters, Common.Empty)

  ActuatorConfig.proto:66

  Sets control loop parameters

  @RPC_ID=15

• rpc StartFrequencyResponse (FrequencyResponse, Common.Empty)

  ActuatorConfig.proto:69

  Starts frequency response test (internal use only)

  @RPC_ID=16

  message FrequencyResponse

  ActuatorConfig.proto:252

  Frequency response

  • ControlLoopSelection loop_selection = 1

    ControlLoopSelection enum

  • float min_frequency = 2

    Minimum frequency value

  • float max_frequency = 3

    Maximum frequency value

  • float amplitude = 4

    Amplitude value

  • float duration = 5

    Duration (in seconds)

• rpc StopFrequencyResponse (Common.Empty, Common.Empty)

  ActuatorConfig.proto:72

  Stops frequency response test (internal use only)

  @RPC_ID=17

• rpc StartStepResponse (StepResponse, Common.Empty)

  ActuatorConfig.proto:75

  Starts step response test (internal use only)

  @RPC_ID=18

  message StepResponse

  ActuatorConfig.proto:262

  Step response

  • ControlLoopSelection loop_selection = 1

    ControlLoopSelection enum

  • float amplitude = 2

    Amplitude value

  • float step_delay = 3

    Step delay value

  • float duration = 4

    Duration (in seconds)

• rpc StopStepResponse (Common.Empty, Common.Empty)

  ActuatorConfig.proto:78

  Stops step response test (internal use only)

  @RPC_ID=19

• rpc StartRampResponse (RampResponse, Common.Empty)

  ActuatorConfig.proto:81

  Starts ramp response test (internal use only)

  @RPC_ID=20

  message RampResponse

  ActuatorConfig.proto:271

  Ramp response

  • ControlLoopSelection loop_selection = 1

    ControlLoopSelection enum

  • float slope = 2

    Slope value

  • float ramp_delay = 3

    Ramp delay value

  • float duration = 4

    Duration (in seconds)

• rpc StopRampResponse (Common.Empty, Common.Empty)

  ActuatorConfig.proto:84

  Stops ramp response test (internal use only)

  @RPC_ID=21

• rpc SelectCustomData (CustomDataSelection, Common.Empty)

  ActuatorConfig.proto:87

  Selects custom data

  @RPC_ID=22

• rpc GetSelectedCustomData (Common.Empty, CustomDataSelection)

  ActuatorConfig.proto:90

  Retrieves selected custom data

  @RPC_ID=23

• rpc SetCommandMode (CommandModeInformation, Common.Empty)

  ActuatorConfig.proto:93

  Sets command mode (config versus cyclic)

  @RPC_ID=24

• rpc ClearFaults (Common.Empty, Common.Empty)

  ActuatorConfig.proto:96

  Clears all error(s) and warning(s) (bank A and B)

  @RPC_ID=25

• rpc SetServoing (Servoing, Common.Empty)

  ActuatorConfig.proto:99

  Enables or disables servoing

  @RPC_ID=26

• rpc MoveToPosition (PositionCommand, Common.Empty)

  ActuatorConfig.proto:102

  Moves the actuator to the desired position

  @RPC_ID=27

  message PositionCommand

  ActuatorConfig.proto:298

  Angular position command for an actuator

  • float position = 1

    Position value (degrees)

  • float velocity = 2

    Velocity value (degrees per second)

  • float acceleration = 3

    Acceleration value (degrees per second^squared)

• rpc GetCommandMode (Common.Empty, CommandModeInformation)

  ActuatorConfig.proto:105

  Retrieves command mode (config versus cyclic)

  @RPC_ID=28

• rpc GetServoing (Common.Empty, Servoing)

  ActuatorConfig.proto:108

  Retrieves servoing state

  @RPC_ID=29

• rpc GetTorqueOffset (Common.Empty, TorqueOffset)

  ActuatorConfig.proto:111

  Retrieves torque offset calibration

  @RPC_ID=30

• rpc SetCoggingFeedforwardMode (CoggingFeedforwardModeInformation, Common.Empty)

  ActuatorConfig.proto:114

  Sets cogging feedforward mode

  @RPC_ID=31

• rpc GetCoggingFeedforwardMode (Common.Empty, CoggingFeedforwardModeInformation)

  ActuatorConfig.proto:117

  Retrieves cogging feedforward mode

  @RPC_ID=32

Admissable cogging feedforward modes

Used in: CoggingFeedforwardModeInformation

• FEEDFORWARD_OFF = 0

  No cogging compensation

• FEEDFORWARD_ADAPTIVE = 1

  Cogging compensation with adaptive parameters

• FEEDFORWARD_CALIBRATED = 2

  Cogging compensation with calibrated parameters

Cogging feedforward mode

Used as request type in: ActuatorConfig.SetCoggingFeedforwardMode

Used as response type in: ActuatorConfig.GetCoggingFeedforwardMode

• CoggingFeedforwardMode cogging_feedforward_mode = 1

  Cogging feedforward mode

Admissible command modes

Used in: CommandModeInformation

• CYCLIC = 0

  Cyclic data only

• ASYNC_CYCLIC_FLAGS = 1

  Not supported

• ASYNC = 2

  Config messages only

• CYCLIC_JITTERCOMPENSATED_POSITION = 3

  Smoothing using only position inputs

• CYCLIC_JITTERCOMPENSATED_VELOCITY = 4

  Smoothing using position and velocity inputs

• CYCLIC_JITTERCOMPENSATED_ACCELERATION = 5

  Smoothing using position, velocity and acceleration inputs (not supported)

Command mode

Used as request type in: ActuatorConfig.SetCommandMode

Used as response type in: ActuatorConfig.GetCommandMode

• CommandMode command_mode = 1

  Command mode

Control loop

Used as request type in: ActuatorConfig.SetActivatedControlLoop

Used as response type in: ActuatorConfig.GetActivatedControlLoop

• fixed32 control_loop = 1

  Use ControlLoopSelection enum values to form bitmask

Control loop parameters (discrete transfer function)

Used as request type in: ActuatorConfig.SetControlLoopParameters

Used as response type in: ActuatorConfig.GetControlLoopParameters

• ControlLoopSelection loop_selection = 1

  ControlLoopSelection enum

• float error_saturation = 2

  Error saturation value

• float output_saturation = 3

  Output saturation value

• repeated float kAz = 4

  KAz (index 0 to 4): denominator gains A1 to A5

• repeated float kBz = 5

  KBz (index 0 to 5): numerator gains B0 to B5

• float error_dead_band = 6

  Error dead band value

Admissible control loop selections

Used in: ControlLoopParameters, FrequencyResponse, LoopSelection, RampResponse, StepResponse

• 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

Admissible control modes

Used in: ControlModeInformation

• 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

Control mode information

Used as request type in: ActuatorConfig.SetControlMode

Used as response type in: ActuatorConfig.GetControlMode

• ControlMode control_mode = 1

  Control mode

Custom data options

Used in: CustomDataSelection

• 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 optical encoder incremental value (raw)

• UINT32_JOINT_ENCODER_RAW = 3

  Joint optical 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 optical encoder incremental value at last index signal rising edge (raw)

• UINT32_JOINT_ENCODER_RAW_LATCH_ON_INDEX_RISING = 16

  Joint optical 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 optical encoder incremental value corrected for counter overflow (raw)

• UINT32_TICK_JOINT_CONTROL = 22

  Joint optical encoder incremental value corrected for counter overflow (raw)

• UINT32_INDEX_TICK_MOTOR_CONTROL = 23

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

• UINT32_INDEX_TICK_JOINT_CONTROL = 24

  Joint optical 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 optical encoder (degrees)

• FLOAT_VELOCITY_MOTOR = 34

  Actuator angular velocity measured by rotor optical 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

  Bank A faults (see ActuatorConfig.SafetyIdentifier)

• UINT32_FAULT_B = 42

  Bank B faults (see ActuatorConfig.SafetyIdentifier)

• UINT32_WARNING_A = 43

  Bank A warnings (see ActuatorConfig.SafetyIdentifier)

• UINT32_WARNING_B = 44

  Bank B warnings (see ActuatorConfig.SafetyIdentifier)

• 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)

Selected custom data channels content

Used as request type in: ActuatorConfig.SelectCustomData

Used as response type in: ActuatorConfig.GetSelectedCustomData

• repeated CustomDataIndex channel = 1

  16 channels maximum

Variable window derivative parameters

Used as request type in: ActuatorConfig.SetEncoderDerivativeParameters

Used as response type in: ActuatorConfig.GetEncoderDerivativeParameters

• uint32 max_window_width = 1

  Maximum window width

• float min_angle = 2

  Minimum angle for derivative (degrees)

Admissible bank A actuator safeties

• UNSPECIFIED_ACTUATOR_SAFETY_IDENTIFIER_BANK_A = 0

  0x0 - Unspecified actuator safety

• FOLLOWING_ERROR = 1

  0x1 - Following error

• MAXIMUM_VELOCITY = 2

  0x2 - Maximum velocity

• JOINT_LIMIT_HIGH = 4

  0x4 - Joint position limit high

• JOINT_LIMIT_LOW = 8

  0x8 - Joint position limit low

• STRAIN_GAUGE_MISMATCH = 16

  0x10 - Strain gauge mismatch

• MAXIMUM_TORQUE = 32

  0x20 - Maximum torque

• UNRELIABLE_ABSOLUTE_POSITION = 64

  0x40 - Unreliable absolute position

• MAGNETIC_POSITION = 128

  0x80 - Magnetic position

• HALL_POSITION = 256

  0x100 - Hall position

• HALL_SEQUENCE = 512

  0x200 - Hall sequence

• INPUT_ENCODER_HALL_MISMATCH = 1024

  0x400 - Input encoder Hall mismatch

• INPUT_ENCODER_INDEX_MISMATCH = 2048

  0x800 - Input encoder index mismatch

• INPUT_ENCODER_MAGNETIC_MISMATCH = 4096

  0x1000 - Input encoder magnetic mismatch

• MAXIMUM_MOTOR_CURRENT = 8192

  0x2000 - Maximum motor current

• MOTOR_CURRENT_MISMATCH = 16384

  0x4000 - Motor current mismatch

• MAXIMUM_VOLTAGE = 32768

  0x8000 - Maximum voltage

• MINIMUM_VOLTAGE = 65536

  0x10000 - Minimum voltage

• MAXIMUM_MOTOR_TEMPERATURE = 131072

  0x20000 - Maximum motor temperature

• MAXIMUM_CORE_TEMPERATURE = 262144

  0x40000 - Maximum core temperature

• NON_VOLATILE_MEMORY_CORRUPTED = 524288

  0x80000 - Non-volatile memory corrupted

• MOTOR_DRIVER_FAULT = 1048576

  0x100000 - Motor driver fault

• EMERGENCY_LINE_ASSERTED = 2097152

  0x200000 - Emergency line asserted

• COMMUNICATION_TICK_LOST = 4194304

  0x400000 - Communication tick lost

• WATCHDOG_TRIGGERED = 8388608

  0x800000 - Watchdog triggered

• UNRELIABLE_CAPACITIVE_SENSOR = 16777216

  0x1000000 - Capacitive sensor is unreliable

• UNEXPECTED_GEAR_RATIO = 33554432

  0x2000000 - Incorrect gear ratio for detected configuration

• HALL_MAGNETIC_MISMATCH = 67108864

  0x4000000 - Position mismatch between hall and magnetic sensors

• BRAKE_DRIVE_FAULT = 134217728

  0x8000000 - Brake driver fault

• BRAKE_RELEASE_MOTION_OUT_OF_RANGE = 268435456

  0x10000000 - Brake release motion goes out of allowed range

Admissible limit types

• MAXIMAL_LIMIT = 0

  Maximal limit

• MINIMAL_LIMIT = 1

  Minimal limit

Identifies ActuatorConfig service current version

• RESERVED_0 = 0

  Reserved

• CURRENT_VERSION = 1

  Current version

Enables/disables servoing

Used as request type in: ActuatorConfig.SetServoing

Used as response type in: ActuatorConfig.GetServoing

• bool enabled = 1

  Servoing enabled

Torque calibration settings

Used as request type in: ActuatorConfig.WriteTorqueCalibration

Used as response type in: ActuatorConfig.ReadTorqueCalibration

• float global_gain = 1

  Global gain value

• float global_offset = 2

  Global offset value

• repeated float gain = 3

  Gain (index 0 to 3)

• repeated float offset = 4

  Offset (index 0 to 3)

Defines torque offset

Used as request type in: ActuatorConfig.SetTorqueOffset

Used as response type in: ActuatorConfig.GetTorqueOffset

• float torque_offset = 1

  Torque offset value

Field-oriented control PI controller gain values

Used as request type in: ActuatorConfig.SetVectorDriveParameters

Used as response type in: ActuatorConfig.GetVectorDriveParameters

• float kpq = 1

  Quadrature axis current proportional gain

• float kiq = 2

  Quadrature axis current integral gain

• float kpd = 3

  Direct axis current proportional gain

• float kid = 4

  Direct axis current integral gain