package Kinova.Api.BaseCyclic

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Service to exchange cyclic data with base

@PROXY_ID=3 @ERROR=Kinova.Api.Error

• rpc Refresh (Command, Feedback)

  BaseCyclic.proto:24

  Sends a command to actuators and interface and returns feedback from base, actuators, and interface on actual status

  @RPC_ID=1

• rpc RefreshCommand (Command, Common.Empty)

  BaseCyclic.proto:27

  Sends a command to actuators and interface without receiving feedback

  @RPC_ID=2

• rpc RefreshFeedback (Common.Empty, Feedback)

  BaseCyclic.proto:30

  Obtains feedback from base, actuators, and interface on their status

  @RPC_ID=3

• rpc RefreshCustomData (CustomData, CustomData)

  BaseCyclic.proto:33

  Retrieves custom data

  @RPC_ID=4

  message CustomData

  BaseCyclic.proto:141

  Custom development data, content varies according to debug needs

  • fixed32 frame_id = 1

    Frame ID

  • 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

  • repeated ActuatorCustomData actuators_custom_data = 10

    Actuator custom data (repeated)

  • optional InterconnectCyclic.CustomData interconnect_custom_data = 11

    Interconnect custom data

Defines an actuator command

Used in: Command

• fixed32 command_id = 1

  Command ID (first 2 bytes: device ID, last 2 bytes: sequence number)

• fixed32 flags = 2

  Flags

• float position = 3

  Desired position of the actuator (in degrees)

• float velocity = 4

  Desired velocity of the actuator (in degrees per second)

• float torque_joint = 5

  Desired torque of the actuator (in Newton * meters)

• float current_motor = 6

  Desired current of the motor (in Amperes)

Custom development data from an actuator, content varies according to debug needs

Used in: CustomData

• fixed32 command_id = 1

  Command ID (first 2 bytes: device ID, last 2 bytes: sequence number)

• 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

Defines the feedback provided by an actuator

Used in: Feedback

• fixed32 command_id = 1

  Command ID (first 2 bytes: device ID, last 2 bytes: sequence number)

• fixed32 status_flags = 2

  Status flags

• fixed32 jitter_comm = 3

  Jitter from the communication (in microseconds)

• float position = 4

  Position of the actuator (in degrees)

• float velocity = 5

  Velocity of the actuator (in degrees per second)

• float torque = 6

  Torque of the actuator (in Newton * meters)

• float current_motor = 7

  Current of the motor (in Amperes)

• float voltage = 8

  Voltage of the main board (in Volts)

• float temperature_motor = 9

  Motor temperature (maximum of the three (3) phase temperatures in °C)

• float temperature_core = 10

  Microcontroller temperature (in degrees Celsius)

• fixed32 fault_bank_a = 11

  Fault bank A

• fixed32 fault_bank_b = 12

  Fault bank B

• fixed32 warning_bank_a = 13

  Warning bank A

• fixed32 warning_bank_b = 14

  Warning bank B

Defines the feedback provided by the base

Used in: Feedback

• uint32 active_state_connection_identifier = 1

  Connection identifier of the last processed command which triggered an arm state change

• Common.ArmState active_state = 2

  Active state of the arm

• float arm_voltage = 3

  Arm voltage (in Volts)

• float arm_current = 4

  Arm current (in Amperes)

• float temperature_cpu = 5

  CPU temperature (in degree Celsius)

• float temperature_ambient = 6

  Ambient temperature (in degree Celsius)

• float imu_acceleration_x = 7

  IMU Measured acceleration (X-Axis) of the base (in meters per second squared)

• float imu_acceleration_y = 8

  IMU Measured acceleration (Y-Axis) of the base (in meters per second squared)

• float imu_acceleration_z = 9

  IMU Measured acceleration (Z-Axis) of the base (in meters per second squared)

• float imu_angular_velocity_x = 10

  IMU Measured angular velocity (X-Axis) of the base (in degrees per second)

• float imu_angular_velocity_y = 11

  IMU Measured angular velocity (Y-Axis) of the base (in degrees per second)

• float imu_angular_velocity_z = 12

  IMU Measured angular velocity (Z-Axis) of the base (in degrees per second)

• float tool_pose_x = 13

  Measured Cartesian position (X-Axis) of the tool (in meters)

• float tool_pose_y = 14

  Measured Cartesian position (Y-Axis) of the tool (in meters)

• float tool_pose_z = 15

  Measured Cartesian position (Z-Axis) of the tool (in meters)

• float tool_pose_theta_x = 16

  Measured Cartesian orientation (X-Axis) of the tool (in degrees)

• float tool_pose_theta_y = 17

  Measured Cartesian orientation (Y-Axis) of the tool (in degrees)

• float tool_pose_theta_z = 18

  Measured Cartesian orientation (Z-Axis) of the tool (in degrees)

• float tool_twist_linear_x = 19

  Measured Cartesian linear velocity (X-Axis) of the tool (in meters per second)

• float tool_twist_linear_y = 20

  Measured Cartesian linear velocity (Y-Axis) of the tool (in meters per second)

• float tool_twist_linear_z = 21

  Measured Cartesian linear velocity (Z-Axis) of the tool (in meters per second)

• float tool_twist_angular_x = 22

  Measured Cartesian angular velocity (X-Axis) of the tool (in degrees per second)

• float tool_twist_angular_y = 23

  Measured Cartesian angular velocity (Y-Axis) of the tool (in degrees per second)

• float tool_twist_angular_z = 24

  Measured Cartesian angular velocity (Z-Axis) of the tool (in degrees per second)

• float tool_external_wrench_force_x = 25

  Computed force in X-Axis from external wrench (in Newton)

• float tool_external_wrench_force_y = 26

  Computed force in Y-Axis from external wrench (in Newton)

• float tool_external_wrench_force_z = 27

  Computed force in Z-Axis from external wrench (in Newton)

• float tool_external_wrench_torque_x = 28

  Computed torque about X-axis from external wrench (in Newton-meters)

• float tool_external_wrench_torque_y = 29

  Computed torque about Y-axis from external wrench (in Newton-meters)

• float tool_external_wrench_torque_z = 30

  Computed torque about Z-axis from external wrench (in Newton-meters)

• fixed32 fault_bank_a = 31

  The arm fault flags bank A (0 if no fault) see Base.SafetyIdentifier

• fixed32 fault_bank_b = 32

  The arm fault flags bank B (0 if no fault) see Base.SafetyIdentifier

• fixed32 warning_bank_a = 33

  The arm warning flags bank A (0 if no warning) see Base.SafetyIdentifier

• fixed32 warning_bank_b = 34

  The arm warning flags bank B (0 if no warning) see Base.SafetyIdentifier

• float commanded_tool_pose_x = 35

  Commanded Cartesian position (X-Axis) of the tool (in meters)

• float commanded_tool_pose_y = 36

  Commanded Cartesian position (Y-Axis) of the tool (in meters)

• float commanded_tool_pose_z = 37

  Commanded Cartesian position (Z-Axis) of the tool (in meters)

• float commanded_tool_pose_theta_x = 38

  Commanded Cartesian orientation (X-Axis) of the tool (in degrees)

• float commanded_tool_pose_theta_y = 39

  Commanded Cartesian orientation (Y-Axis) of the tool (in degrees)

• float commanded_tool_pose_theta_z = 40

  Commanded Cartesian orientation (Z-Axis) of the tool (in degrees)

Defines a command provided to robot devices (actuators and interface)

Used as request type in: BaseCyclic.Refresh, BaseCyclic.RefreshCommand

• fixed32 frame_id = 1

  Frame ID

• repeated ActuatorCommand actuators = 2

  Actuator command (repeated)

• optional InterconnectCyclic.Command interconnect = 3

  Interface command

Defines the feedback provided by robot devices (base, actuators and interface)

Used as response type in: BaseCyclic.Refresh, BaseCyclic.RefreshFeedback

• fixed32 frame_id = 1

  Frame ID

• optional BaseFeedback base = 2

  Base feedback

• repeated ActuatorFeedback actuators = 3

  Actuator feedback

• optional InterconnectCyclic.Feedback interconnect = 4

  Interface feedback

Identifies BaseCyclic current version

• RESERVED_0 = 0

  Reserved

• CURRENT_VERSION = 1

  Current version