TITAN-SVX Software Manual
page 26
Rev 4.01
A.1. Status Commands
Command
RW*
Description
CURQA
R
Motor current Q
CURDA
R
Motor current D
EX
RW
Encoder position
FLT
R
Fault condition.
Bit 0 – Negative Limit Error
Bit 1 – Positive Limit Error
Bit 2 – Position Error
Bit 3 – Current Error
Bit 4 – Hall Sensor Error
Bit 5 – Overcurrent Error
Bit 6 – Over Voltage Error
Bit 7 – Under Voltage Error
Bit 8 – Overheat Error
Bit 9 – Motor Connection Error
Bit 10 – Emergency Switch On
Bit 11 – Encoder Error
INPOSVAL
RW
In-position value.
MST
R
Returns current motor status.
Bit 0 – Enabled
Bit 1 – In Position
Bit 2 – Moving
Bit 3 – In Fault
PERR
R
Position error
POSD
R
Target position
VX
R
Velocity (estimated from encoder)
Table A.0
A.2. LED Commands
Command
RW*
Description
LED
RW
Blue LED on the face of TITAN
RGB
RW
Internal RGB LED
Bit 0 – Red LED
Bit 1 – Green LED
Bit 2 – Blue
Table A.1
