Error Handling

Exception Types

from autogence.exceptions import ActuatorError, CommunicationError

try:
    controller.set_position(actuator_id=1, position=90.0)
except ActuatorError as e:
    print(f"Actuator error: {e}")
except CommunicationError as e:
    print(f"Communication error: {e}")

Common Exceptions

ActuatorError

Raised when an actuator encounters a problem:

• Position out of bounds
• Torque limit exceeded
• Thermal shutdown
• Hardware fault

CommunicationError

Raised when communication fails:

• EtherCAT timeout
• Actuator not responding
• Network disconnection
• Invalid actuator ID

ConfigurationError

Raised for configuration issues:

• Invalid parameters
• Missing configuration file
• Incompatible actuator type

Error Recovery

from autogence.exceptions import ActuatorError

def safe_move(actuator_id, position):
    """Move actuator with automatic error recovery"""
    max_retries = 3
    retry_count = 0

    while retry_count < max_retries:
        try:
            controller.set_position(actuator_id, position)
            return True
        except ActuatorError as e:
            print(f"Attempt {retry_count + 1} failed: {e}")
            retry_count += 1
            controller.reset()  # Reset error state
            time.sleep(0.5)  # Wait before retry

    return False  # All retries exhausted

Error Codes

Code	Name	Description	Recovery
E001	POSITION_LIMIT	Position limit exceeded	Adjust target position
E002	VELOCITY_LIMIT	Velocity limit exceeded	Reduce speed
E003	TORQUE_LIMIT	Torque limit exceeded	Reduce load or limit
E004	OVERHEAT	Temperature too high	Allow cooling, check ventilation
E005	COMM_TIMEOUT	Communication timeout	Check cables, restart controller
E006	ENCODER_ERROR	Position sensor fault	Check encoder, replace if needed
E007	MOTOR_FAULT	Motor driver error	Check motor, reset controller

Logging

Enable detailed logging for troubleshooting:

import logging

# Enable debug logging
logging.basicConfig(level=logging.DEBUG)
controller = ActuatorController(log_level=logging.DEBUG)

# Log to file
controller.set_log_file("/var/log/autogence/actuator.log")