Skip to content

MYACTUATOR_API.md

Latest commit

 

History

History
118 lines (87 loc) · 4.39 KB

MYACTUATOR_API.md

File metadata and controls

118 lines (87 loc) · 4.39 KB
Raw

MyActuator API and Mode Reference (Complete)

Channel Compatibility (PCAN + CANable candleLight/gs_usb + Damiao Serial Bridge + DM_Device)

  • Linux SocketCAN uses prepared interfaces directly: can0, can1. For CANable, use candleLight/gs_usb firmware so it appears as a SocketCAN interface such as can0.
  • Use PCAN or CANable candleLight/gs_usb for standard CAN.
  • Damiao-only adapter transports are available in CLI: serial bridge (--transport dm-serial --serial-port /dev/ttyACM0 --serial-baud 921600) and DM_Device SDK (--transport dm-device --dm-device-type usb2canfd|usb2canfd-dual|linkx4c --dm-channel 0|1|2|3; Damiao motors only; adapter must be in USB mode).
  • On Linux SocketCAN, do not append bitrate in --channel (for example can0@1000000 is invalid).
  • On Windows (PCAN backend), can0/can1 map to PCAN_USBBUS1/2; optional @bitrate suffix is supported.

Practical reference for motor_cli MyActuator control in motorbridge.

1) Basics

  • Vendor name: myactuator (backward-compatible )
  • CAN IDs:
    • Tx command: 0x140 + motor_id
    • Rx feedback: 0x240 + motor_id
  • Typical ID range: motor_id in [1, 32]
  • Common default for ID=1:
    • --motor-id 1
    • --feedback-id 0x241

2) Supported motor_cli Modes

  • scan: probe IDs in 1..32
  • enable: release brake (0x77)
  • disable: shutdown motor (0x80)
  • stop: stop closed loop (0x81)
  • set-zero: set current position as encoder zero (0x64, persistent after power-cycle)
  • status: request status-2 (0x9C)
  • current: current closed loop (0xA1)
  • vel: speed closed loop (0xA2)
  • pos: absolute position closed loop (0xA4)
  • version: query version date (0xB2)
  • mode-query: query system operating mode (0x70)

3) Arguments and Units

Argument Type Default Used in Unit
--start-id u16 1 scan id
--end-id u16 32 scan id
--current f32 0.0 current A
--vel f32 0.0 vel rad/s
--pos f32 0.0 pos rad
--max-speed f32 8.726646 pos rad/s
--loop u64 1 all cycles
--dt-ms u64 20 all ms

4) Encoding Details (Current CLI)

CLI input is unified in radians/rad-s, then converted internally to MyActuator protocol units (deg/deg-s).

  • A1 current mode:
    • payload [4..5] = int16(current / 0.01)
  • A2 velocity mode:
    • payload [4..7] = int32((vel_rad_s.to_degrees()) * 100)
  • A4 absolute position mode:
    • payload [2..3] = uint16(max_speed_rad_s.to_degrees())
    • payload [4..7] = int32(pos_rad.to_degrees() * 100)

5) Feedback Decoding (status/command reply)

For response commands 0x9C, 0xA1, 0xA2, 0xA4:

  • data[1]: temperature (int8, °C)
  • data[2..3]: current (int16 * 0.01 A)
  • data[4..5]: speed (int16, deg/s)
  • data[6..7]: shaft angle (int16 * 0.01 deg, near-turn angle)

For 0x92 multi-turn angle response:

  • data[4..7]: multi-turn angle (int32 * 0.01 deg)

CLI status output now prints both:

  • angle=... from status-2 (0x9C)
  • mt_angle=... from multi-turn angle (0x92) for absolute-position judgement

6) Common Command Examples

# Scan MyActuator IDs
motor_cli --vendor myactuator --channel can0 --mode scan --start-id 1 --end-id 32

# Read status continuously
motor_cli --vendor myactuator --channel can0 --model X8 --motor-id 1 --feedback-id 0x241 \
  --mode status --loop 40 --dt-ms 50

# Velocity control (+0.5236 rad/s ~= +30 deg/s)
motor_cli --vendor myactuator --channel can0 --model X8 --motor-id 1 --feedback-id 0x241 \
  --mode vel --vel 0.5236 --loop 100 --dt-ms 20

# Absolute position control (pi rad = 180 deg, max 5.236 rad/s ~= 300 deg/s)
motor_cli --vendor myactuator --channel can0 --model X8 --motor-id 1 --feedback-id 0x241 \
  --mode pos --pos 3.1416 --max-speed 5.236 --loop 1

# Set current position as zero (requires power-cycle to apply persistently)
motor_cli --vendor myactuator --channel can0 --model X8 --motor-id 1 --feedback-id 0x241 \
  --mode set-zero --loop 1

7) Troubleshooting

If motor replies but does not move:

  1. Query status-1 (0x9A) externally and check error code.
  2. If error code is 0x0004, this means low voltage protection.
  3. Recover supply voltage, then reset (0x76) and release brake (0x77).

Typical status-1 decode:

  • data[3]: brake released flag
  • data[4..5]: bus voltage (uint16 * 0.1 V)
  • data[6..7]: error code