AgileX Robotics (Dongguan) Co.,Ltd.
13
byte [5]
Failure information
lower 8 bits
byte [6]
Count paritybit
(count)
unsigned int8
0 - 255 counting loops, which will be
added once every command sent
byte [7]
Parity bit
(checksum)
unsigned int8
Parity bit
Table 3.2 Description of Failure Information
Description of Failure Information
Byte
Bit
Meaning
byte [4]
bit [0]
Check error of CAN communication control command (0: No
failure 1: Failure)
bit [1]
Motor drive over-temperature alarm
[1]
(0: No alarm 1: Alarm)
Temperature limited to 55℃
bit [2]
Motor over-current alarm
[1]
(0: No alarm 1: Alarm) Current effective
value 15A
bit [3]
Battery under-voltage alarm (0: No alarm 1: Alarm) Alarm voltage
22.5V
bit [4]
RC transmitter disconnection protection (0: Normal 1: RC
transmitter disconnected)
bit [5]
Reserved, default 0
bit [6]
Reserved, default 0
bit [7]
Reserved, default 0
byte [5]
bit [0]
Battery under-voltage failure (0: No failure 1: Failure) Protective
voltage 22V
bit [1]
Battery over-voltage failure (0: No failure 1: Failure)
bit [2]
No.1 motor communication failure (0: No failure 1: Failure)
bit [3]
No.2 motor communication failure (0: No failure 1: Failure)
bit [4]
No.3 motor communication failure (0: No failure 1: Failure)
bit [5]
No.4 motor communication failure (0: No failure 1: Failure)
bit [6]
Motor drive over-temperature protection
[2]
(0: No protection 1:
Protection) Temperature limited to 65℃
bit [7]
Motor over-current protection
[2]
(0: No protection 1: Protection)
Current effective value 20A
[1]: The subsequent versions of robot chassis firmware version after V1.2.8 are supported, but
previous versions need to be updated before supported.
[2] The over-temperature alarm of motor drive and the motor over-current alarm will not be
internally processed but just set in order to provide for the upper computer to complete
certain pre-processing. If drive over-current occurs, it is suggested to reduce the vehicle
speed; if over-temperature occurs, it is suggested to reduce the speed first and wait the
temperature to decrease. This flag bit will be restored to normal condition as the temperature
decreases, and the over-current alarm will be actively cleared once the current value is
restored to normal condition;