Pololu Simple Manual do Utilizador descarregar pdf (Página 79)

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ID Name Description

Error

Status

The set bits of this variable indicate the errors that are currently stopping the motor. The motor

can only be driven when this register has a value of 0. (See Section 3.4 for error descriptions.)

• Bit 0: Safe Start Violation

• Bit 1: Required Channel Invalid

• Bit 2: Serial Error

• Bit 3: Command Timeout

• Bit 4: Limit/Kill Switch

• Bit 5: Low VIN

• Bit 6: High VIN

• Bit 7: Over Temperature

• Bit 8: Motor Driver Error

• Bit 9: ERR Line High

• Bits 10-15: reserved

Errors

Occurred

The set bits of this register indicate the errors that have occurred since this register was last

cleared. This status register has the same bit assignments as the Error Status register documented

above. Reading this variable clears all of the bits.

Serial

Errors

Occurred

The set bits of this variable indicate the serial errors that have occurred since this variable

was last cleared. Reading this variable clears all of the bits. (See Section 3.4 for serial error

descriptions.)

• Bit 0: reserved

• Bit 1: Frame

• Bit 2: Noise

• Bit 3: RX Overrun

• Bit 4: Format

• Bit 5: CRC

• Bits 6-16: reserved

Limit

Status

The set bits of this variable indicate things that are currently limiting the motor controller.

• Bit 0: Motor is not allowed to run due to an error or safe-start violation.

• Bit 1: Temperature is active reducing target speed.

• Bit 2: Max speed limit is actively reducing target speed (target speed > max speed).

• Bit 3: Starting speed limit is actively reducing target speed to zero (target speed < starting

speed).

• Bit 4: Motor speed is not equal to target speed because of acceleration, deceleration, or

brake duration limits.

• Bit 5: RC1 is configured as a limit/kill switch and the switch is active (scaled value ≥

1600).

6. Using the Serial Interface Page 79 of 101

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