package Kinova.Api.ActuatorCyclic
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Service to exchange cyclic data with an actuator
@PROXY_ID=11 @ERROR=Kinova.Api.Error
rpc Refresh (, )
ActuatorCyclic.proto:23Sends a command to a single actuator and receives feedback on status of that actuator
@RPC_ID=1
Sends a command to a single actuator without feedback
@RPC_ID=2
Obtains feedback from a single actuator
@RPC_ID=3
Obtains custom data from a single actuator
@RPC_ID=4
message
ActuatorCyclic.proto:119Custom development data, content varies according to debug needs
optional custom_data_id = 1
MessageId
fixed32 custom_data_0 = 2
Custom data word 0
fixed32 custom_data_1 = 3
Custom data word 1
fixed32 custom_data_2 = 4
Custom data word 2
fixed32 custom_data_3 = 5
Custom data word 3
fixed32 custom_data_4 = 6
Custom data word 4
fixed32 custom_data_5 = 7
Custom data word 5
fixed32 custom_data_6 = 8
Custom data word 6
fixed32 custom_data_7 = 9
Custom data word 7
fixed32 custom_data_8 = 10
Custom data word 8
fixed32 custom_data_9 = 11
Custom data word 9
fixed32 custom_data_10 = 12
Custom data word 10
fixed32 custom_data_11 = 13
Custom data word 11
fixed32 custom_data_12 = 14
Custom data word 12
fixed32 custom_data_13 = 15
Custom data word 13
fixed32 custom_data_14 = 16
Custom data word 14
fixed32 custom_data_15 = 17
Custom data word 15
message
ActuatorCyclic.proto:91Defines an actuator command
Used as request type in: ActuatorCyclic.Refresh, ActuatorCyclic.RefreshCommand
optional command_id = 1
MessageId
fixed32 flags = 2
Command flags (see enum CommandFlags)
float position = 3
Desired position of the actuator (degrees)
float velocity = 4
Desired velocity of the actuator (degrees per second)
float torque_joint = 5
Desired torque of the actuator (Newton-meters)
float current_motor = 6
Desired current of the motor (Amperes)
Identifies actuator commands
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 admittance mode
LED_0 = 256
0x100 Activate LED 0 (interface module buttons 0)
LED_1 = 512
0x200 Activate LED 1 (interface module buttons 1)
message
ActuatorCyclic.proto:101Status feedback provided by an actuator
Used as response type in: ActuatorCyclic.Refresh, ActuatorCyclic.RefreshFeedback
optional feedback_id = 1
MessageId
fixed32 status_flags = 2
Status flags (see enum StatusFlags for the rest)
fixed32 jitter_comm = 3
Jitter from the communication in μs
float position = 4
Position of the actuator (degrees)
float velocity = 5
Angular velocity of the actuator (degrees per second)
float torque = 6
Torque of the actuator (Newton meter)
float current_motor = 7
Current of the motor (Amperes)
float voltage = 8
Voltage of the main board in (Volt)
float temperature_motor = 9
Motor temperature (average of the three (3) temperatures (degrees Celsius))
float temperature_core = 10
Microcontroller temperature in (degrees Celsius)
fixed32 fault_bank_a = 11
Bank A Fault (see ActuatorConfig.SafetyIdentifier)
fixed32 fault_bank_b = 12
Bank B Fault (see ActuatorConfig.SafetyIdentifier)
fixed32 warning_bank_a = 13
Bank A Warning (see ActuatorConfig.SafetyIdentifier)
fixed32 warning_bank_b = 14
Bank B Warning (see ActuatorConfig.SafetyIdentifier)
message
ActuatorCyclic.proto:86Provides a message identifier
Used as request type in: ActuatorCyclic.RefreshCustomData, ActuatorCyclic.RefreshFeedback
Used as field type in: , ,
fixed32 identifier = 1
Message ID (first 2 bytes : device ID, last 2 bytes : sequence number). By default, set to zero
Identifies ActuatorCyclic service current version
RESERVED_0 = 0
Reserved
CURRENT_VERSION = 1
Current version
Identifies actuator status
UNKNOWN_STATUS = 0
0x0 Unknown status
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