phoenix6.hardware.traits.supports_foc

Module Contents

class phoenix6.hardware.traits.supports_foc.SupportsFOC

Bases: phoenix6.hardware.traits.common_device.CommonDevice

Requires Phoenix Pro; Contains all FOC-exclusive control functions available for devices that support FOC.

get_fault_rotor_fault1(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]

Trips if a major mechanical or ESD event caused a brief loss of position data triggering a recovery while not in motion. If the event occurs often, inspect for excess axial force or sources of ESD at the rotor.

• 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_RotorFault1 Status Signal Object

Return type:

StatusSignal[bool]

get_sticky_fault_rotor_fault1(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]

Trips if a major mechanical or ESD event caused a brief loss of position data triggering a recovery while not in motion. If the event occurs often, inspect for excess axial force or sources of ESD at the rotor.

• 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_RotorFault1 Status Signal Object

Return type:

StatusSignal[bool]

get_fault_rotor_fault2(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]

Trips if a major mechanical or ESD event caused a brief loss of position data triggering a recovery while in motion. If the event occurs often, inspect for excess axial force or sources of ESD at the rotor.

• 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_RotorFault2 Status Signal Object

Return type:

StatusSignal[bool]

get_sticky_fault_rotor_fault2(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]

Trips if a major mechanical or ESD event caused a brief loss of position data triggering a recovery while in motion. If the event occurs often, inspect for excess axial force or sources of ESD at the rotor.

• 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_RotorFault2 Status Signal Object

Return type:

StatusSignal[bool]

set_control(request: phoenix6.controls.torque_current_foc.TorqueCurrentFOC) → phoenix6.status_code.StatusCode

set_control(request: phoenix6.controls.position_torque_current_foc.PositionTorqueCurrentFOC) → phoenix6.status_code.StatusCode

set_control(request: phoenix6.controls.velocity_torque_current_foc.VelocityTorqueCurrentFOC) → phoenix6.status_code.StatusCode

set_control(request: phoenix6.controls.motion_magic_torque_current_foc.MotionMagicTorqueCurrentFOC) → phoenix6.status_code.StatusCode

set_control(request: phoenix6.controls.motion_magic_velocity_torque_current_foc.MotionMagicVelocityTorqueCurrentFOC) → phoenix6.status_code.StatusCode

set_control(request: phoenix6.controls.motion_magic_expo_torque_current_foc.MotionMagicExpoTorqueCurrentFOC) → phoenix6.status_code.StatusCode

set_control(request: phoenix6.controls.dynamic_motion_magic_torque_current_foc.DynamicMotionMagicTorqueCurrentFOC) → phoenix6.status_code.StatusCode

set_control(request: phoenix6.controls.dynamic_motion_magic_expo_torque_current_foc.DynamicMotionMagicExpoTorqueCurrentFOC) → phoenix6.status_code.StatusCode

set_control(request: phoenix6.controls.compound.diff_torque_current_foc_position.Diff_TorqueCurrentFOC_Position) → phoenix6.status_code.StatusCode

set_control(request: phoenix6.controls.compound.diff_position_torque_current_foc_position.Diff_PositionTorqueCurrentFOC_Position) → phoenix6.status_code.StatusCode

set_control(request: phoenix6.controls.compound.diff_velocity_torque_current_foc_position.Diff_VelocityTorqueCurrentFOC_Position) → phoenix6.status_code.StatusCode

set_control(request: phoenix6.controls.compound.diff_motion_magic_torque_current_foc_position.Diff_MotionMagicTorqueCurrentFOC_Position) → phoenix6.status_code.StatusCode

set_control(request: phoenix6.controls.compound.diff_motion_magic_expo_torque_current_foc_position.Diff_MotionMagicExpoTorqueCurrentFOC_Position) → phoenix6.status_code.StatusCode

set_control(request: phoenix6.controls.compound.diff_motion_magic_velocity_torque_current_foc_position.Diff_MotionMagicVelocityTorqueCurrentFOC_Position) → phoenix6.status_code.StatusCode

set_control(request: phoenix6.controls.compound.diff_torque_current_foc_velocity.Diff_TorqueCurrentFOC_Velocity) → phoenix6.status_code.StatusCode

set_control(request: phoenix6.controls.compound.diff_position_torque_current_foc_velocity.Diff_PositionTorqueCurrentFOC_Velocity) → phoenix6.status_code.StatusCode

set_control(request: phoenix6.controls.compound.diff_velocity_torque_current_foc_velocity.Diff_VelocityTorqueCurrentFOC_Velocity) → phoenix6.status_code.StatusCode

set_control(request: phoenix6.controls.compound.diff_motion_magic_torque_current_foc_velocity.Diff_MotionMagicTorqueCurrentFOC_Velocity) → phoenix6.status_code.StatusCode

set_control(request: phoenix6.controls.compound.diff_motion_magic_expo_torque_current_foc_velocity.Diff_MotionMagicExpoTorqueCurrentFOC_Velocity) → phoenix6.status_code.StatusCode

set_control(request: phoenix6.controls.compound.diff_motion_magic_velocity_torque_current_foc_velocity.Diff_MotionMagicVelocityTorqueCurrentFOC_Velocity) → phoenix6.status_code.StatusCode

set_control(request: phoenix6.controls.compound.diff_torque_current_foc_open.Diff_TorqueCurrentFOC_Open) → phoenix6.status_code.StatusCode

set_control(request: phoenix6.controls.compound.diff_position_torque_current_foc_open.Diff_PositionTorqueCurrentFOC_Open) → phoenix6.status_code.StatusCode

set_control(request: phoenix6.controls.compound.diff_velocity_torque_current_foc_open.Diff_VelocityTorqueCurrentFOC_Open) → phoenix6.status_code.StatusCode

set_control(request: phoenix6.controls.compound.diff_motion_magic_torque_current_foc_open.Diff_MotionMagicTorqueCurrentFOC_Open) → phoenix6.status_code.StatusCode

set_control(request: phoenix6.controls.compound.diff_motion_magic_expo_torque_current_foc_open.Diff_MotionMagicExpoTorqueCurrentFOC_Open) → phoenix6.status_code.StatusCode

set_control(request: phoenix6.controls.compound.diff_motion_magic_velocity_torque_current_foc_open.Diff_MotionMagicVelocityTorqueCurrentFOC_Open) → phoenix6.status_code.StatusCode

set_control(request: phoenix6.controls.empty_control.EmptyControl) → phoenix6.status_code.StatusCode

set_control(request: phoenix6.hardware.parent_device.SupportsSendRequest) → phoenix6.status_code.StatusCode

clear_sticky_fault_rotor_fault1(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_code.StatusCode

Clear sticky fault: Trips if a major mechanical or ESD event caused a brief loss of position data triggering a recovery while not in motion. If the event occurs often, inspect for excess axial force or sources of ESD at the rotor.

Parameters:

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

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_fault_rotor_fault2(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_code.StatusCode

Clear sticky fault: Trips if a major mechanical or ESD event caused a brief loss of position data triggering a recovery while in motion. If the event occurs often, inspect for excess axial force or sources of ESD at the rotor.

Parameters:

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

Returns:

StatusCode of the set command

Return type:

StatusCode