Python library¶
The Spectral-BLDC package (Spectral-BLDC-Python,
pip install Spectral-BLDC) has one method per CAN message in Spectral_BLDC.SpectralCAN, and
Spectral_BLDC.CanCommunication for the bus. With Python shows how they are used.
Calls and messages¶
| Library call | Sends | Answered with | Reference |
|---|---|---|---|
Send_data_pack_1() |
Send_data_pack_1 (ID 2) | Respond_data_pack_1 | Motion |
Send_data_pack_PD() |
Send_data_pack_PD (ID 4) | Respond_data_pack_1 | Motion |
Send_PD_Gains() |
Send_PD_Gains (ID 16) | — | Gains and limits |
Send_Current_Gains() |
Send_Current_Gains (ID 17) | — | Gains and limits |
Send_Velocity_Gains() |
Send_Velocity_Gains (ID 18) | — | Gains and limits |
Send_Position_Gains() |
Send_Position_Gains (ID 19) | — | Gains and limits |
Send_Limits() |
Send_Limits (ID 20) | — | Gains and limits |
Send_Kt() |
Send_Kt (ID 22) | — | Gains and limits |
Send_Voltage_Limit() |
Send_Voltage_Limit (ID 34) | — | Gains and limits |
Send_Respond_Ping() |
Send_Respond_Ping (ID 10) | Send_Respond_Ping (data frame) | Status requests |
Send_Respond_Temperature() |
Send_Respond_Temperature (ID 23) | Send_Respond_Temperature (data frame) | Status requests |
Send_Respond_Voltage() |
Send_Respond_Voltage (ID 24) | Send_Respond_Voltage (data frame) | Status requests |
Send_Respond_Device_Info() |
Send_Respond_Device_Info (ID 25) | Send_Respond_Device_Info (data frame) | Status requests |
Send_Respond_State_of_Errors() |
Send_Respond_State_of_Errors (ID 26) | Send_Respond_State_of_Errors (data frame) | Status requests |
Send_Respond_Iq_data() |
Send_Respond_Iq_data (ID 27) | Send_Respond_Iq_data (data frame) | Status requests |
Send_Respond_Encoder_data() |
Send_Respond_Encoder_data (ID 28) | Send_Respond_Encoder_data (data frame) | Status requests |
Send_Respond_Kt() |
Send_Respond_Kt (ID 33) | Send_Respond_Kt (data frame) | Status requests |
Send_CAN_ID() |
Send_CAN_ID (ID 11) | — | System |
Send_ESTOP() |
Send_ESTOP (ID 0) | — | System |
Send_Idle() |
Send_Idle (ID 12) | — | System |
Send_Save_config() |
Send_Save_config (ID 13) | — | System |
Send_Reset() |
Send_Reset (ID 14) | — | System |
Send_Clear_Error() |
Send_Clear_Error (ID 1) | — | System |
Send_Watchdog() |
Send_Watchdog (ID 15) | — | System |
Send_Heartbeat_Setup() |
Send_Heartbeat_Setup (ID 30) | — | System |
Send_gripper_data_pack() |
Send_gripper_data_pack (ID 61) | Respond_Gripper_data_pack | Gripper |
Send_gripper_calibrate() |
Send_gripper_calibrate (ID 62) | — | Gripper |
Receiving¶
CanCommunication.receive_can_messages(timeout) returns (message, ids): the raw python-can message and a tuple
ids with node_id, command_id and error_bit from the identifier, or (None, None) after the timeout.
SpectralCAN.UnpackData(message, ids) decodes the message into the object's attributes:
| Message | Attributes |
|---|---|
| Respond_data_pack_1 | position, speed, current |
| Send_Respond_Encoder_data | position, speed |
| Send_Respond_Iq_data | current |
| Send_Respond_Temperature | temperature |
| Send_Respond_Voltage | voltage |
| Send_Respond_Device_Info | HARDWARE_VERSION, BATCH_DATE, SOFTWARE_VERSION, SERIAL_NUMBER |
| Send_Respond_State_of_Errors | error, temperature_error, encoder_error, vbus_error, driver_error, velocity_error, current_error, estop_error, calibrated, activated, watchdog_error |
| Send_Respond_Kt | Kt |
| Respond_Gripper_data_pack | gripper_position, gripper_current, gripper_activated, gripper_action_status, gripper_object_detection, gripper_temperature_error, gripper_timeout_error, gripper_estop_error, gripper_calibrated |
Object detection in the library
Library version 1.20 assembles gripper_object_detection with the two bits swapped relative to the firmware,
so it reports 1 where the gripper sends 2 (object detected while opening) and 2 where it sends 1 (object
detected while closing); 0 and 3 are unaffected. Until the library is fixed, swap the two values in your
program, or read the bits yourself from the frame.
Comments
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