Pololu Corporation M2H24v14, Руководство пользователя, Страница: 36 / 67

There are several status flags that are latched , meaning that after they get set to 1, they stay set
until they are cleared by a “Clear latched status flags” command. Most of these flags are also
cleared by the Reinitialize command.
• The Protocol error flag indicates that the Motoron received an invalid byte in a
command other than the CRC byte, as documented in Section 9 .
• The CRC error flag indicates that CRC for commands was enabled and the Motoron
received an incorrect CRC byte at the end of a command.
• The Command timeout latched flag indicates that the Motoron’s command timeout
feature was activated because too much time has passed since it received a valid
command. See the description of the
Command timeout variable below for more
information about this feature. This flag is the latched version of the “Command timeout”
flag documented below.
• The Motor fault latched flag indicates that one or more of the motors experienced an
error. This flag gets set to 1 whenever the “Motor faulting” flag below is 1, so see the
documentation of that flag for more details.
• The No power latched flag indicates that the VIN voltage fell to a level that was
definitely too low to run motors. This flag gets set to 1 whenever the “No power” flag
documented below is 1, so see the documentation of that flag for more details.
• The Reset flag gets set to 1 when the Motoron powers on, or its processor is reset, or it
receives a Reinitialize command.
There are several non-latched status flags which cannot be directly set or cleared.
• The Command timeout flag indicates that the Motoron’s command timeout feature is
active because too much time has passed since it received a valid command. Every valid
command clears this bit. See the description of the
Command timeout variable below
for more information about this feature.
• The Motor faulting flag is 1 if one or more of the motors is experiencing an error.
This means that something is going wrong with the motor, and the outputs for it will be
disabled until the problem is resolved. Due to hardware limitations, there is no way to tell
which motor is experiencing the fault.
◦ For the Motoron M3S256 and M3H256, a fault occurs if the VIN power drops
below about 4.4 V and remains above about 3.4 V. A fault occurs if a motor
current over 8 A or a temperature over 165 °C is measured. The over-current
and over-temperature faults are latched, so the motor will not recover from
those errors until you use the “Clear motor fault” command, command the
motors to coast, or disconnect motor power. There are other hardware
Pololu Motoron Motor Controller User’s Guide © 2001–2022 Pololu Corporation
8. Variable reference Page 36 of 67