StatusPacket module

This module contain the StatusPacket class which implements “status packets” (the response packets from the Dynamixel units to the main controller after receiving an instruction packet).

class pyax12.status_packet.StatusPacket(packet)

The “status packet” is the response packet from the Dynamixel units to the main controller after receiving an “instruction packet”.

The structure of the status packet is as the following:

0XFF

0XFF

ID

LENGTH

ERROR

PARAMETER1

...

PARAMETER N

CHECK SUM

StatusPacket is not intended to be instancied by users (except maybe for testing and debugging prupose). Under normal conditions of use, StatusPacket‘s instances are automatically created by the Connection class.

Parameters:packet (bytes) – a sequence of bytes containing the full status packet returned by Dynamixel units. It must be compatible with the “bytes” type.

angle_limit_error

A boolean which is set to True if the goal position is set outside of the range between “CW Angle Limit” and “CCW Angle Limit”.

This member is a read-only property.

checksum_error

A boolean which is set to True if the checksum of the instruction packet is incorrect.

This member is a read-only property.

error

The byte representing errors sent from the Dynamixel unit.

This member is a read-only property.

input_voltage_error

A boolean which is set to True if the voltage is out of the operating voltage range as defined in the control table.

This member is a read-only property.

instruction_error

A boolean which is set to True if an undefined instruction is sent or an action instruction is sent without a Reg_Write instruction.

This member is a read-only property.

overheating_error

A boolean which is set to True if the internal temperature of the Dynamixel unit is above the operating temperature range as defined in the control table.

This member is a read-only property.

overload_error

A boolean which is set to True if the specified maximum torque can’t control the applied load.

This member is a read-only property.

range_error

A boolean which is set to True if the instruction sent is out of the defined range.

This member is a read-only property.