package Kinova.Api.DeviceConfig
Get desktop application:
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Service to get and set device configuration information
@PROXY_ID=9 @ERROR=Kinova.Api.Error
rpc GetRunMode (, )
DeviceConfig.proto:23Returns the run mode for the device
@RPC_ID=1
rpc SetRunMode (, )
DeviceConfig.proto:26Sets the run mode for the device
@RPC_ID=2
rpc GetDeviceType (, )
DeviceConfig.proto:29Retrieves the type for the device
@RPC_ID=3
message
DeviceConfig.proto:141Device type
Common.DeviceTypes device_type = 1
Device type
Retrieves the device firmware version
@RPC_ID=4
message
DeviceConfig.proto:152Firmware version for the device
uint32 firmware_version = 1
Firmware version
Retrieves the device bootloader version
@RPC_ID=5
message
DeviceConfig.proto:157Bootloader version for the device
uint32 bootloader_version = 1
Bootloader version
rpc GetModelNumber (, )
DeviceConfig.proto:38Retrieves the device model number
@RPC_ID=6
message
DeviceConfig.proto:162Model number for the device
string model_number = 1
Model number of size 25 including null character
rpc GetPartNumber (, )
DeviceConfig.proto:41Retrieves the device part number
@RPC_ID=7
message
DeviceConfig.proto:167Part number for the device
string part_number = 1
Part number of size 25 including null character
rpc GetSerialNumber (, )
DeviceConfig.proto:44Retrieves the device serial number
@RPC_ID=8
message
DeviceConfig.proto:172Serial number for the device
string serial_number = 1
Serial number of size 25 including null character
rpc GetMACAddress (, )
DeviceConfig.proto:47Retrieves the device MAC address
@RPC_ID=9
message
DeviceConfig.proto:177MAC address for the device
bytes mac_address = 1
MAC address
rpc GetIPv4Settings (, )
DeviceConfig.proto:50Retrieves the device IPv4 settings (not implemented on Base)
@RPC_ID=10
rpc SetIPv4Settings (, )
DeviceConfig.proto:53Sets the device IPv4 settings (not implemented on Base)
@RPC_ID=11
Retrieves the device part number revision
@RPC_ID=12
message
DeviceConfig.proto:189Part number revision for the device
string part_number_revision = 1
Part number revision
rpc RebootRequest (, )
DeviceConfig.proto:59Sends a request to the device to reboot
@RPC_ID=14
message
DeviceConfig.proto:199Reboot request with bootloader delay
uint32 delay = 1
Bootloader delay
rpc SetSafetyEnable (, )
DeviceConfig.proto:62Enables (disable) the specified safety
@RPC_ID=15
Sets the error threshold for the specified safety
@RPC_ID=16
Sets the warning threshold for the specified safety
@RPC_ID=17
Configures the specified safety (i.e. sets error and warning thresholds)
@RPC_ID=18
Retrieves configuration about the specified safety
@RPC_ID=19
Retrieves information about the specified safety
@RPC_ID=20
rpc GetSafetyEnable (, )
DeviceConfig.proto:80Indicates if specified safety is enabled (or disabled)
@RPC_ID=21
rpc GetSafetyStatus (, )
DeviceConfig.proto:83Indicates if the specified safety is raised
@RPC_ID=22
message
DeviceConfig.proto:289Safety status
Common.SafetyStatusValue value = 1
Safety status (e.g. in error, warning or normal state)
Clear all safety status for this device if they are no longer raised
@RPC_ID=23
Clear a specific safety status if it is no longer raised
@RPC_ID=24
Retrieves configuration on all safeties
@RPC_ID=25
message
DeviceConfig.proto:284Array of safety configurations
repeated configuration = 1
Safety configuration
Retrieves information on all safeties
@RPC_ID=26
message
DeviceConfig.proto:259Array of safety information
repeated information = 1
Restores all safety configurations to factory defaults
@RPC_ID=27
rpc SafetyTopic (, )
DeviceConfig.proto:101Subscribes to safety notifications
@RPC_ID=28 @PUB_SUB=Kinova.Api.Common.SafetyNotification
Starts device calibration (intended for Kinova Production of Pico)
@RPC_ID=34
Retrieves the status/result of device calibration (intended for Kinova Production of Pico)
@RPC_ID=35
message
DeviceConfig.proto:312Calibration element
CalibrationItem calibration_item = 1
Item to get status
Stop calibration in progress
@RPC_ID=36
Sets the capacitive sensor calibration
@RPC_ID=37
Retrieves the capacitive sensor calibration
@RPC_ID=38
Reads low-level register from the capacitive sensor (for Kinova internal use ony, not to be used in the field)
@RPC_ID=39
Writes to low-level register of the capacitive sensor (for Kinova internal use ony, not to be used in the field)
@RPC_ID=40
message
DeviceConfig.proto:305Calibration information to push to device
Used as request type in: DeviceConfig.ExecuteCalibration, DeviceConfig.StopCalibration
CalibrationItem calibration_item = 1
Item to calibrate
repeated calibration_parameter = 2
Parameters associated to calibration item
Admissible calibration items
Used in: ,
UNSPECIFIED_CALIBRATION_ITEM = 0
Unspecified calibration item
COGGING = 1
Cogging calibration
MAGNETIC = 2
Magnetic sensors calibration
MOTOR = 3
Motor calibration
POSITION_RANGE = 4
Position range calibration
message
DeviceConfig.proto:294Single calibration parameter information
Used in:
uint32 calibration_parameter_identifier = 1
Calibration parameter identifier
oneof value
int32 signedIntValue = 2
Signed int calibration value.
uint32 unsignedIntValue = 3
Unsigned int calibration value.
float floatValue = 4
Float calibration value.
message
DeviceConfig.proto:318Result of a calibration
Used as response type in: DeviceConfig.GetCalibrationResult, DeviceConfig.StopCalibration
CalibrationStatus calibration_status = 1
Calibration status
uint32 calibration_details = 2
Additional information (used when status is in fault)
Admissible calibration status
Used in:
UNSPECIFIED_CALIBRATION_STATUS = 0
Unspecified calibration status
NOT_CALIBRATED = 1
Calibration is not done
IN_PROGRESS = 2
Calibration is in progress
CALIBRATED = 3
Calibration was successfully completed
IN_FAULT = 4
Calibration failed
message
DeviceConfig.proto:325Capacitive sensor configuration message
Used as request type in: DeviceConfig.SetCapSenseConfig
Used as response type in: DeviceConfig.GetCapSenseConfig
CapSenseMode mode = 1
Operational mode of the sensor
float threshold_a = 2
Sensitivity of the sensor A (0-100%).
float threshold_b = 3
Sensitivity of the sensor B (0-100%).
Admissible capacitive sensor mode
Used in:
RESERVED = 0
Reserved, do not use.
INACTIVE = 1
Cap sensor is inactive.
ACTIVE_AUTO_THRESHOLD = 2
Cap sensor is active in automatic threshold mode.
ACTIVE_NOISE_ATT = 4
Cap sensor is active with noise mitigation enabled.
ACTIVE_NORMAL = 5
Cap sensor is active in normal mode.
CONFIGURATION = 6
Configuration mode.
message
DeviceConfig.proto:333Message used to address a register
Used as request type in: DeviceConfig.ReadCapSenseRegister, DeviceConfig.WriteCapSenseRegister
Used as response type in: DeviceConfig.ReadCapSenseRegister
uint32 address = 1
Register address
uint32 value = 2
Register value
message
DeviceConfig.proto:182IPv4 settings for the device, including address, subnet mask, and default gateway
Used as request type in: DeviceConfig.SetIPv4Settings
Used as response type in: DeviceConfig.GetIPv4Settings
uint32 ipv4_address = 1
IPv4Address
uint32 ipv4_subnet_mask = 2
IPv4SubnetMask
uint32 ipv4_default_gateway = 3
IPv4DefaultGateway
message
DeviceConfig.proto:194Result of power on self test
uint32 power_on_self_test_result = 1
Power on self test result
message
DeviceConfig.proto:147Run mode
Used as request type in: DeviceConfig.SetRunMode
Used as response type in: DeviceConfig.GetRunMode
RunModes run_mode = 1
Run mode
Options for the run mode for the device
Used in:
RUN_MODE = 0
CALIBRATION_MODE = 1
calibration mode
CONFIGURATION_MODE = 2
configuration mode
DEBUG_MODE = 3
debug mode
TUNING_MODE = 4
tuning mode
message
DeviceConfig.proto:276Configuration for a safety
Used as request type in: DeviceConfig.SetSafetyConfiguration
Used as response type in: DeviceConfig.GetSafetyConfiguration
Used as field type in:
optional handle = 1
Handle to safety to configure
float error_threshold = 2
Safety error threshold value
float warning_threshold = 3
Safety warning threshold value
optional enable = 4
Safety enable state
message
DeviceConfig.proto:264Enable or disable a specific safety
Used as request type in: DeviceConfig.SetSafetyEnable
Used as response type in: DeviceConfig.GetSafetyEnable
Used as field type in:
optional handle = 1
Handle to safety to enable or disable
bool enable = 2
Safety enable state
message
DeviceConfig.proto:244Information about a specific safety
Used as response type in: DeviceConfig.GetSafetyInformation
Used as field type in:
optional handle = 1
Safety handle that this information is about
bool can_change_safety_state = 2
True if related safety configuration can be modified
bool has_warning_threshold = 3
True if safety status can go in Warning
bool has_error_threshold = 4
True if safety status can go in Error
SafetyLimitType limit_type = 5
Safety limit type
float default_warning_threshold = 6
Default warning threshold (if 'limit_type' is either MINIMAL_LIMIT or MAXIMAL_LIMIT and 'has_warning_threshold' is true)
float default_error_threshold = 7
Default error threshold (if 'limit_type' is either MINIMAL_LIMIT or MAXIMAL_LIMIT and 'has_error_threshold' is true)
float upper_hard_limit = 8
Maximal threshold value (if 'limit_type' is either MINIMAL_LIMIT or MAXIMAL_LIMIT)
float lower_hard_limit = 9
Minimal threshold value (if 'limit_type' is either MINIMAL_LIMIT or MAXIMAL_LIMIT)
Common.SafetyStatusValue status = 11
Current Safety status
Common.Unit unit = 12
Unit that the safety status is in
Types of safeties limits
Used in:
UNSPECIFIED_SAFETY_LIMIT_TYPE = 0
MINIMAL_LIMIT = 1
Safety that will kick in below a certain Minimum threshold (e.g. Minimum temperature safety)
MAXIMAL_LIMIT = 2
Safety that will kick in above a certain Maximum threshold (e.g. Maximum voltage safety)
EVENT_LIMIT = 3
Safety that will kick in in reaction to a specific event (e.g. motor drive fault)
message
DeviceConfig.proto:270Configure threshold of a specific safety
Used as request type in: DeviceConfig.SetSafetyErrorThreshold, DeviceConfig.SetSafetyWarningThreshold
optional handle = 1
Identifies safety to configure
float value = 2
Safety threshold value
Identifies DeviceConfig current version
RESERVED_0 = 0
Reserved
CURRENT_VERSION = 1
Current version