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Actuator Control API

Complete API reference for controlling AutoGence joint actuators.

Overview​

AutoGence actuators are smart servo motors with built-in controllers, position/velocity feedback, and EtherCAT communication. Each actuator can be controlled individually or as part of a coordinated system.

This documentation covers:

  • Connection and Setup: EtherCAT network configuration and Python SDK initialization
  • Basic Control: Position, velocity, and torque control methods
  • Advanced Features: PID tuning, compliance control, and motion profiling
  • Sensor Data: Reading position, velocity, torque, and temperature data
  • Safety Features: Emergency stop, limits, and protection mechanisms
  • Error Handling: Exception handling and error recovery
  • ROS2 Integration: Topics, services, and ROS2 integration
  • Configuration: YAML configuration files for actuators and network
  • Specifications: Technical specifications for AG-X20 and AG-X50 actuators
  • Troubleshooting: Common issues and diagnostic tools
  • Examples: Code samples and tutorials

Quick Start​

from autogence import ActuatorController

# Initialize controller
controller = ActuatorController()
controller.connect()

# Get all connected actuators
actuators = controller.get_actuators()
print(f"Found {len(actuators)} actuators")

# Move actuator to position
controller.set_position(actuator_id=1, position=90.0, speed=30.0)

Next Steps​

Explore the sections in the sidebar to learn more about specific features and capabilities of the Actuator Control API.