phoenix6.hardware.traits.has_external_motor

Module Contents

class phoenix6.hardware.traits.has_external_motor.HasExternalMotor

Contains all status signals for motor controllers that support external motors.

get_external_motor_temp_status(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.ExternalMotorTempStatusValue]

Status of the temperature sensor of the external motor.

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

ExternalMotorTempStatus Status Signal Object

Return type:

StatusSignal[ExternalMotorTempStatusValue]

get_external_motor_temp(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.celsius]

Temperature of the external motor.

  • Minimum Value: 0.0

  • Maximum Value: 255.0

  • Default Value: 0

  • Units: ℃

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

ExternalMotorTemp Status Signal Object

Return type:

StatusSignal[celsius]

get_five_v_rail_voltage(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.volt]

The measured voltage of the 5V rail available on the JST and dataport connectors.

  • Minimum Value: 0.0

  • Maximum Value: 40.95

  • Default Value: 0

  • Units: Volts

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

FiveVRailVoltage Status Signal Object

Return type:

StatusSignal[volt]

get_raw_quadrature_position(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.rotation]

The raw position retrieved from the connected quadrature encoder. This is only affected by the QuadratureEdgesPerRotation config. In most situations, the user should instead configure the ExternalFeedbackSensorSource and use the regular position getter.

This signal must have its update frequency configured before it will have data.

  • Minimum Value: -16384.0

  • Maximum Value: 16383.999755859375

  • Default Value: 0

  • Units: rotations

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

RawQuadraturePosition Status Signal Object

Return type:

StatusSignal[rotation]

get_raw_quadrature_velocity(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second]

The raw velocity retrieved from the connected quadrature encoder. This is only affected by the QuadratureEdgesPerRotation config. In most situations, the user should instead configure the ExternalFeedbackSensorSource and use the regular velocity getter.

This signal must have its update frequency configured before it will have data.

  • Minimum Value: -512.0

  • Maximum Value: 511.998046875

  • Default Value: 0

  • Units: rotations per second

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

RawQuadratureVelocity Status Signal Object

Return type:

StatusSignal[rotations_per_second]

get_raw_pulse_width_position(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.rotation]

The raw position retrieved from the connected pulse-width encoder. This is not affected by any config. In most situations, the user should instead configure the ExternalFeedbackSensorSource and use the regular position getter.

This signal must have its update frequency configured before it will have data.

  • Minimum Value: -16384.0

  • Maximum Value: 16383.999755859375

  • Default Value: 0

  • Units: rotations

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

RawPulseWidthPosition Status Signal Object

Return type:

StatusSignal[rotation]

get_raw_pulse_width_velocity(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second]

The raw velocity retrieved from the connected pulse-width encoder. This is not affected by any config. In most situations, the user should instead configure the ExternalFeedbackSensorSource and use the regular velocity getter.

This signal must have its update frequency configured before it will have data.

  • Minimum Value: -512.0

  • Maximum Value: 511.998046875

  • Default Value: 0

  • Units: rotations per second

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

RawPulseWidthVelocity Status Signal Object

Return type:

StatusSignal[rotations_per_second]

get_fault_bridge_short(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

Bridge was disabled most likely due to a short in the motor leads.

  • Default Value: False

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

Fault_BridgeShort Status Signal Object

Return type:

StatusSignal[bool]

get_sticky_fault_bridge_short(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

Bridge was disabled most likely due to a short in the motor leads.

  • Default Value: False

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

StickyFault_BridgeShort Status Signal Object

Return type:

StatusSignal[bool]

get_fault_hall_sensor_missing(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

Hall sensor signals are invalid. Check hall sensor and cabling. This fault can be used to detect when hall cable is unplugged.

  • Default Value: False

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

Fault_HallSensorMissing Status Signal Object

Return type:

StatusSignal[bool]

get_sticky_fault_hall_sensor_missing(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

Hall sensor signals are invalid. Check hall sensor and cabling. This fault can be used to detect when hall cable is unplugged.

  • Default Value: False

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

StickyFault_HallSensorMissing Status Signal Object

Return type:

StatusSignal[bool]

get_fault_drive_disabled_hall_sensor(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

Hall sensor signals are invalid during motor drive, so motor was disabled. Check hall sensor and cabling.

  • Default Value: False

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

Fault_DriveDisabledHallSensor Status Signal Object

Return type:

StatusSignal[bool]

get_sticky_fault_drive_disabled_hall_sensor(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

Hall sensor signals are invalid during motor drive, so motor was disabled. Check hall sensor and cabling.

  • Default Value: False

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

StickyFault_DriveDisabledHallSensor Status Signal Object

Return type:

StatusSignal[bool]

get_fault_motor_temp_sensor_missing(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

Motor temperature signal appears to not be connected.

  • Default Value: False

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

Fault_MotorTempSensorMissing Status Signal Object

Return type:

StatusSignal[bool]

get_sticky_fault_motor_temp_sensor_missing(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

Motor temperature signal appears to not be connected.

  • Default Value: False

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

StickyFault_MotorTempSensorMissing Status Signal Object

Return type:

StatusSignal[bool]

get_fault_motor_temp_sensor_too_hot(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

Motor temperature signal indicates motor is too hot.

  • Default Value: False

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

Fault_MotorTempSensorTooHot Status Signal Object

Return type:

StatusSignal[bool]

get_sticky_fault_motor_temp_sensor_too_hot(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool]

Motor temperature signal indicates motor is too hot.

  • Default Value: False

This refreshes and returns a cached StatusSignal object.

Parameters:

refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true

Returns:

StickyFault_MotorTempSensorTooHot Status Signal Object

Return type:

StatusSignal[bool]

clear_sticky_fault_bridge_short(timeout_seconds: phoenix6.units.second = 0.1) phoenix6.status_signal.StatusCode

Clear sticky fault: Bridge was disabled most likely due to a short in the motor leads.

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_fault_hall_sensor_missing(timeout_seconds: phoenix6.units.second = 0.1) phoenix6.status_signal.StatusCode

Clear sticky fault: Hall sensor signals are invalid. Check hall sensor and cabling. This fault can be used to detect when hall cable is unplugged.

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_fault_drive_disabled_hall_sensor(timeout_seconds: phoenix6.units.second = 0.1) phoenix6.status_signal.StatusCode

Clear sticky fault: Hall sensor signals are invalid during motor drive, so motor was disabled. Check hall sensor and cabling.

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_fault_motor_temp_sensor_missing(timeout_seconds: phoenix6.units.second = 0.1) phoenix6.status_signal.StatusCode

Clear sticky fault: Motor temperature signal appears to not be connected.

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_fault_motor_temp_sensor_too_hot(timeout_seconds: phoenix6.units.second = 0.1) phoenix6.status_signal.StatusCode

Clear sticky fault: Motor temperature signal indicates motor is too hot.

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode