User Manual

RoboClaw Series
Brushed DC Motor Controllers
RoboClaw Series User Manual
73
BASICMICRO
90 - Read Status
Read the current unit status.
Send: [Address, 90]
Receive: [Status, CRC(2 bytes)]
Function Status Bit Mask
Normal 0x000000
E-Stop 0x000001
Temperature Error 0x000002
Temperature 2 Error 0x000004
Main Voltage High Error 0x000008
Logic Voltage High Error 0x000010
Logic Voltage Low Error 0x000020
M1 Driver Fault Error 0x000040
M2 Driver Fault Error 0x000080
M1 Speed Error 0x000100
M2 Speed Error 0x000200
M1 Position Error 0x000400
M2 Position Error 0x000800
M1 Current Error 0x001000
M2 Current Error 0x002000
M1 Over Current Warning 0x010000
M2 Over Current Warning 0x020000
Main Voltage High Warning 0x040000
Main Voltage Low Warning 0x080000
Temperature Warning 0x100000
Temperature 2 Warning 0x200000
S4 Signal Triggered 0x400000
S5 Signal Triggered 0x800000
Speed Error Limit Warning 0x01000000
Position Error Limit Warning 0x02000000
91 - Read Encoder Mode
Read the encoder mode for both motors.
Send: [Address, 91]
Receive: [Enc1Mode, Enc2Mode, CRC(2 bytes)]
Encoder Mode bits
Bit 7 Enable/Disable RC/Analog Encoder support
Bit 6 Reverse Encoder Relative Direction
Bit 5 Reverse Motor Relative Direction
Bit 4-1 N/A
Bit 0 Quadrature(0)/Absolute(1)