hdrive-eth 0.1.4

Python SDK for Henschel Robotics HDrive17-ETH servo drives

HDriveETH Python SDK

Control Henschel Robotics HDrive17-ETH servo drives from Python. No PLC required.

Features

• Simple API — motor.move_to(90) and you're done
• Zero dependencies — uses only the Python standard library
• Real-time telemetry — live position, velocity, and torque via UDP
• Thread-safe — send commands from any thread
• Context manager — automatic connect/disconnect with with statement
• Object read/write — read and write drive configuration objects over TCP
• Firmware version check — refuses to connect to outdated firmware (< v266)

Installation

pip install hdrive-eth

Or install from source:

git clone https://github.com/henschel-robotics/python-hdrive17-eth.git
cd python-hdrive17-eth
pip install .

For development (editable install):

pip install -e .

Quickstart

from hdrive_eth import HDriveETH
import time

with HDriveETH("192.168.122.102") as motor:
    # Move to 90 degrees
    motor.move_to(90)

    # Read telemetry
    time.sleep(1)
    frame = motor.telemetry
    if frame:
        print(f"Position: {frame.position}, Velocity: {frame.velocity}")

# Motor is automatically stopped and disconnected when leaving the 'with' block

API Reference

Connect

from hdrive_eth import HDriveETH

# Recommended: use a context manager (auto-connect and auto-disconnect)
with HDriveETH("192.168.122.102") as motor:
    motor.move_to(90)

# The motor is stopped (mode=0) and the connection is closed automatically.

On connection the driver will:

1. Open a TCP socket to the drive
2. Read the firmware version (m3s0) and refuse to connect if < 266
3. Discover the UDP telemetry port (m4s17)
4. Configure telemetry: check UDP enabled (m4s19), autosend (m4s34), set binary TX ticket (m4s22=3, TX_BinaryTicket; value 2 is the smaller debug binary ticket, not this layout)
5. Start the UDP telemetry receiver

Position Control

# Move to absolute position in degrees
motor.move_to(position=90)

# With custom speed, torque, acceleration, deceleration
motor.move_to(position=90, speed=500, torque=500, acc=3000, decc=3000)

Velocity Control

# Constant speed
motor.set_speed(speed=500)

# With torque limit
motor.set_speed(speed=500, torque=300)

Torque Control

# Direct torque setpoint in milli-newton-metres (mNm; firmware demandedTorque)
motor.set_torque(torque=200)

Stop

# Stop the motor (sets mode to 0)
motor.stop()

Read / Write Objects

# Read a drive object (e.g. firmware version m3s0)
version = motor.read_object(index=3, subindex=0)
print(f"Firmware version: {version}")

# Read a CAN slave object over the same TCP command socket
slave_voltage = motor.read_slave_object(slot=0, index=0, subindex=6)
print(f"Slave voltage: {slave_voltage}")

# Or use the HTTP slave-object gateway explicitly
slave_voltage_http = motor.read_slave_object(
    slot=0,
    index=0,
    subindex=6,
    transport="http",
    timeout=3.0,
)
print(f"Slave voltage (HTTP): {slave_voltage_http}")

# Write a drive object (e.g. select BinaryTicket telemetry — m4s22 = 3)
motor.write_object(index=4, subindex=22, value=3)

For the existing HTTP slave-object gateway (getData.cgi?slvobj=...), use HDriveETH.read_slvobj(...) / HDriveETH.write_slvobj(...). The unified instance API defaults to transport="tcp" and also accepts transport="http" for reads.

Telemetry

# Read the latest telemetry frame
frame = motor.telemetry
if frame:
    print(f"Position:    {frame.position}")
    print(f"Velocity:    {frame.velocity}")
    print(f"Time:        {frame.time_us} µs")
    print(f"Temperature: {frame.temperature}")
    print(f"Motor mode:  {frame.motor_mode}")

# Register a callback for every frame
def on_frame(frame):
    print(f"pos={frame.position} vel={frame.velocity}")

motor.on_telemetry(on_frame)

Alternate TX layouts match TicketManager::TX_Ticket (see hdrive_eth.TXTicket): Binary CAN (29×int32), Binary CAN full (49×int32, positions/speeds/torques/modes/states per axis), debug (15×int32). Example:

from hdrive_eth import HDriveETH, TXTicket, BinaryCanFullTelemetryFrame

motor = HDriveETH(
    "192.168.122.102",
    telemetry_ticket=TXTicket.BINARY_CAN_FULL,
    telemetry_format="binary_can_full",  # optional: reject other UDP sizes
)
t = motor.telemetry
if isinstance(t, BinaryCanFullTelemetryFrame):
    print(t.master_torque, t.slave_torques)

With telemetry_format="auto" (default), the parser selects the layout from the UDP payload length.

Raw Command

from hdrive_eth import HDriveETH, Mode

# Full control over all parameters
motor.send_raw(
    position=90,
    speed=500,
    torque=200,
    mode=Mode.POSITION_CONTROL,
    acc=5000,
    decc=5000,
)

Control Modes

Constant	Value	Description
Mode.TORQUE_CONTROL	0x80 (128)	Profile torque / current (AXIS_STATE_MOTORMODE_CURRENT)
Mode.POSITION_CONTROL	0x81 (129)	Profile position (AXIS_STATE_MOTORMODE_POSITION)
Mode.VELOCITY_CONTROL	0x82 (130)	Profile speed (AXIS_STATE_MOTORMODE_SPEED)
Mode.DISABLE	0x00	Stop (AXIS_STATE_MOTORMODE_STOP)

Telemetry Frame Fields

With TXTicket.BINARY (default), each UDP packet has 33 int32 values (~1 kHz):

Index	Field	Description
0	time_us	System time in microseconds
1	position	Actual position (degrees)
2	velocity	Actual velocity
9	temperature	Motor temperature
10	motor_mode	Current motor mode
11	motor_voltage	Supply voltage
12	demanded_speed	Demanded speed
13	demanded_position	Demanded position
19	software_version	Firmware version
23–30	slave_positions	CAN slave positions (list of 8)

See hdrive_eth/telemetry.py for the full list of all 33 fields.

Network Configuration

Parameter	Default	Description
IP address	192.168.122.102	HDrive default IP
TCP port	1000	Command port (auto-discovered from m4s16)
UDP port	1001	Telemetry port (auto-discovered from m4s17)

# Custom IP (ports are auto-discovered from the drive)
motor = HDriveETH("192.168.1.50")

Examples

See the examples/ folder:

• basic_control.py — Connect, move, print telemetry
• velocity_mode.py — Constant speed control
• torque_mode.py — Torque control
• read_object.py — Read a single object via raw TCP

Requirements

• Python 3.8+
• HDrive17-ETH firmware version 266 or newer
• No external dependencies

License

MIT — see LICENSE for details.

Support

• Email: [e-mail]
• Web: https://henschel-robotics.ch