AgileX robotics (Dongguan) Co., Ltd.
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lower 8 bits
byte [4]
Failure information
higher 8 bits
unsigned int16
See notes for details
【
**
】
byte [5]
Failure information
lower 8 bits
byte [6]
Count parity
bit
(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