9
Table 3.9 Actuator sate
Fault information description
byte [5]
bit [0]
Whether the power supply voltage is too low (0: normal 1: too low)
bit [1]
Whether the motor is over-temperature (0: normal 1: over-temperature)
bit [2]
Whether the motor is over-current (0: normal 1: over-current)
bit [3]
Whether the drive is over-temperature (0: normal 1: over-temperature)
bit [4]
Sensor state (0: normal 1: abnormal)
bit [5]
Actuator error state (0: normal 1: abnormal)
bit [6]
Actuator enabling state (0: Disabling 1: Enabling)
bit [7]
Reserved
Table 3.10 Odometer Feedback Frame
Command name
Odometer information feedback frame
Sending node
Receiving node
ID
Cycle
（
ms
）
Receiving
Timeout
(ms)
Wire-controlled chassis
Decision control unit
0x311
20ms
None
Data length
0x08
Position
Function
Data type
Description
byte [0]
The highest bit of the left wheel
odometer
signed int32
The odometer feedback of the left wheel of
the chassis
Unit
：
mm
byte [1]
The second highest bit of the
left wheel odometer
byte [2]
The second lowest bit of the left
wheel odometer
byte [3]
The lowest bit of the left wheel
odometer
byte [4]
The highest bit of the right
wheel odometer
signed int32
The odometer feedback of the right wheel of
the chassis
Unit
：
mm
byte [5]
The second highest bit of the
right wheel odometer
byte [6]
The second lowest bit of the
right wheel odometer
byte [7]
The lowest bit of the right wheel
odometer
