`phoenix6.controls.dynamic_motion_magic_torque_current_foc`#

Module Contents#

class phoenix6.controls.dynamic_motion_magic_torque_current_foc.DynamicMotionMagicTorqueCurrentFOC(position: phoenix6.units.rotation, velocity: phoenix6.units.rotations_per_second, acceleration: phoenix6.units.rotations_per_second_squared, jerk: phoenix6.units.rotations_per_second_cubed, feed_forward: phoenix6.units.ampere = 0.0, slot: int = 0, override_coast_dur_neutral: bool = False, limit_forward_motion: bool = False, limit_reverse_motion: bool = False)#

Requires Phoenix Pro and CANivore; Requests Motion Magic® to target a final position using a motion profile. This dynamic request allows runtime changes to Cruise Velocity, Acceleration, and Jerk. Users can optionally provide a torque current feedforward. This control requires use of a CANivore.

Motion Magic® produces a motion profile in real-time while attempting to honor the specified Cruise Velocity, Acceleration, and Jerk value. This control mode does not use the Expo_kV or Expo_kA configs. Target position can be changed on-the-fly and Motion Magic® will do its best to adjust the profile. This control mode is based on torque current, so relevant closed-loop gains will use Amperes for the numerator.

Parameters:

position (rotation) – Position to drive toward in rotations.
velocity (rotations_per_second) – Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation.
acceleration (rotations_per_second_squared) – Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation.
jerk (rotations_per_second_cubed) – Jerk for profiling. The signage does not matter as the device will use the absolute value for profile generation.
feed_forward (ampere) – Feedforward to apply in torque current in Amperes. User can use motor’s kT to scale Newton-meter to Amperes.
slot (int) – Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].
override_coast_dur_neutral (bool) – Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).
limit_forward_motion (bool) – Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.
limit_reverse_motion (bool) – Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

property name: str#

Gets the name of this control request.

Returns:: Name of the control request
Return type:: str

property control_info: dict#

Gets information about this control request.

Returns:: Dictonary of control parameter names and corresponding applied values
Return type:: dict

position#: Position to drive toward in rotations.

velocity#: Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation.

acceleration#: Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation.

jerk#: Jerk for profiling. The signage does not matter as the device will use the absolute value for profile generation.

feed_forward#: Feedforward to apply in torque current in Amperes. User can use motor’s kT to scale Newton-meter to Amperes.

slot#: Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].

override_coast_dur_neutral#: Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).

limit_forward_motion#: Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

limit_reverse_motion#: Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

with_position(new_position: phoenix6.units.rotation) → DynamicMotionMagicTorqueCurrentFOC#

Modifies this Control Request’s position parameter and returns itself for method-chaining and easier to use request API.

Position to drive toward in rotations.

Parameters:: new_position (rotation) – Parameter to modify
Returns:: Itself
Return type:: DynamicMotionMagicTorqueCurrentFOC

with_velocity(new_velocity: phoenix6.units.rotations_per_second) → DynamicMotionMagicTorqueCurrentFOC#

Modifies this Control Request’s velocity parameter and returns itself for method-chaining and easier to use request API.

Cruise velocity for profiling. The signage does not matter as the device will use the absolute value for profile generation.

Parameters:: new_velocity (rotations_per_second) – Parameter to modify
Returns:: Itself
Return type:: DynamicMotionMagicTorqueCurrentFOC

with_acceleration(new_acceleration: phoenix6.units.rotations_per_second_squared) → DynamicMotionMagicTorqueCurrentFOC#

Modifies this Control Request’s acceleration parameter and returns itself for method-chaining and easier to use request API.

Acceleration for profiling. The signage does not matter as the device will use the absolute value for profile generation.

Parameters:: new_acceleration (rotations_per_second_squared) – Parameter to modify
Returns:: Itself
Return type:: DynamicMotionMagicTorqueCurrentFOC

with_jerk(new_jerk: phoenix6.units.rotations_per_second_cubed) → DynamicMotionMagicTorqueCurrentFOC#

Modifies this Control Request’s jerk parameter and returns itself for method-chaining and easier to use request API.

Jerk for profiling. The signage does not matter as the device will use the absolute value for profile generation.

Parameters:: new_jerk (rotations_per_second_cubed) – Parameter to modify
Returns:: Itself
Return type:: DynamicMotionMagicTorqueCurrentFOC

with_feed_forward(new_feed_forward: phoenix6.units.ampere) → DynamicMotionMagicTorqueCurrentFOC#

Modifies this Control Request’s feed_forward parameter and returns itself for method-chaining and easier to use request API.

Feedforward to apply in torque current in Amperes. User can use motor’s kT to scale Newton-meter to Amperes.

Parameters:: new_feed_forward (ampere) – Parameter to modify
Returns:: Itself
Return type:: DynamicMotionMagicTorqueCurrentFOC

with_slot(new_slot: int) → DynamicMotionMagicTorqueCurrentFOC#

Modifies this Control Request’s slot parameter and returns itself for method-chaining and easier to use request API.

Select which gains are applied by selecting the slot. Use the configuration api to set the gain values for the selected slot before enabling this feature. Slot must be within [0,2].

Parameters:: new_slot (int) – Parameter to modify
Returns:: Itself
Return type:: DynamicMotionMagicTorqueCurrentFOC

with_override_coast_dur_neutral(new_override_coast_dur_neutral: bool) → DynamicMotionMagicTorqueCurrentFOC#

Modifies this Control Request’s override_coast_dur_neutral parameter and returns itself for method-chaining and easier to use request API.

Set to true to coast the rotor when output is zero (or within deadband). Set to false to use the NeutralMode configuration setting (default). This flag exists to provide the fundamental behavior of this control when output is zero, which is to provide 0A (zero torque).

Parameters:: new_override_coast_dur_neutral (bool) – Parameter to modify
Returns:: Itself
Return type:: DynamicMotionMagicTorqueCurrentFOC

with_limit_forward_motion(new_limit_forward_motion: bool) → DynamicMotionMagicTorqueCurrentFOC#

Modifies this Control Request’s limit_forward_motion parameter and returns itself for method-chaining and easier to use request API.

Set to true to force forward limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters:: new_limit_forward_motion (bool) – Parameter to modify
Returns:: Itself
Return type:: DynamicMotionMagicTorqueCurrentFOC

with_limit_reverse_motion(new_limit_reverse_motion: bool) → DynamicMotionMagicTorqueCurrentFOC#

Modifies this Control Request’s limit_reverse_motion parameter and returns itself for method-chaining and easier to use request API.

Set to true to force reverse limiting. This allows users to use other limit switch sensors connected to robot controller. This also allows use of active sensors that require external power.

Parameters:: new_limit_reverse_motion (bool) – Parameter to modify
Returns:: Itself
Return type:: DynamicMotionMagicTorqueCurrentFOC

with_update_freq_hz(new_update_freq_hz: phoenix6.units.hertz) → DynamicMotionMagicTorqueCurrentFOC#

Sets the period at which this control will update at. This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms).

If this field is set to 0 Hz, the control request will be sent immediately as a one-shot frame. This may be useful for advanced applications that require outputs to be synchronized with data acquisition. In this case, we recommend not exceeding 50 ms between control calls.

Parameters:: new_update_freq_hz (hertz) – Parameter to modify
Returns:: Itself
Return type:: DynamicMotionMagicTorqueCurrentFOC

phoenix6.controls.dynamic_motion_magic_torque_current_foc#

Module Contents#

`phoenix6.controls.dynamic_motion_magic_torque_current_foc`#