Manual

※ LED Policy, Servo Policy : Same as above
※ LED Policy : When Check bit error occurs,
LED(RED) blinks consistently
※ Servo Policy : When Check bit error occurs,
Torque is released to Freerun state
※ When Invalid Packet occurs, detailed
information is record in Status Detail Register
※ Moving/Inposition/MOTOR_ON flag are
Read only.
※ MOTOR_ON : Torque ON
Status Error, Status Details(RAM Register Address 48, 49)
Yellow lines above points to error detail when Status Error shows Invalid Packet(0x08).
Invalid Packet can be divided into 5 different causes, 4 shows in the Status Detail and other.
Portions of Status Detail are Read only but can be Written to by the Protocol.
Read only values are just ignored not actually Written to.
Status
REG (Status Error)
Bits 7 6 5 4 3 2 1 0
Bits Value Comment
0
1
2
3
4
5
6
7
0X01
0X02
0X04
0X08
0X10
0X20
0X40
0X80
Exceed Input Voltage limit
Exceed allowed POT limit
Exceed Temperature limit
Invalid Packet
Overload detected
Driver fault detected
EEP REG distorted
reserved
REG (Status Error)
Bits 7 6 5 4 3 2 1 0
Bits Value Comment
0
1
2
3
4
5
6
7
0X01
0X02
0X04
0X08
0X10
0X20
0X40
0X80
Moving flag
Inposition flag
Checksum Error
Unknown Command
Exceed REG range
Garbage detected
MOTOR_ON flag
reserved
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