== HLS12 ==

* The HLS12-CAN actuator incorporates the specific characteristics of the HLS12 model within CAN servo firmware version 2.3.
* For all other details, please refer to the specifications for firmware version 2.3.

* FW Ver 2.50(0)

== Operating range ==

* TARGET MIN/MID/MAX 설정을 통해, 물리적인 위치(가장 안쪽, 가운데, 가장 바깥)에 대응하는 POSITION_NEW 값을 지정합니다.
** TARGET MIN (Reg 0xB3, 179) = -60 deg = 8192 - 60 x 16384 / 360 = 5462
** TARGET MID (Reg 0xC3, 195) = 0 deg = 8192
** TARGET MAX (Reg 0xB1, 177) = +60 deg = 8192 + 60 x 16384 / 360 = 10922

== Coordinate system ==

{| class="wikitable"
|-
| Name
| Address
| Description
| R/W
| Unit
| Range
|-
| POSITION
| 12 (0x0C)
| Current Location
| R
| 16384 = 360 deg
| inner = -60 deg, outer = +60 deg
|-
| POSITION_NEW
| 30 (0x1E)
| Target Location
| R/W
| 16384 = 360 deg
| inner = -60 deg, outer = +60 deg
|-
| REAL POSITION
| 13 (0x0d)
| POSITION in linear distance
| R
| 1 = 0.01 mm
| inner = 0 mm
|-
| REAL POSITION_NEW
| 37 (0x25)
| POSITION_NEW in linear distance
| R
| 1 = 0.01 mm
| inner = 0 mm
|-
| VIRTUAL REAL POSITION_NEW
| 35 (0x23)
| POSITION_NEW with the Speed setting applied
| R
| 1 = 0.01 mm
| inner = 0 mm
|}

== Power Rate ==

* Adjusts the output level at a specified ratio without changing the power (wattage) setting.
* Reg 41 (0x29)
** 4095 = 100%
* Activating
** Reg 65 (0x41) activated and bit 13 = 1
** Reg 65 (0x41) activate: Reg 160 (0xA0) bit 15 = 1

* DroneCAN: Param Service
** "Power Rate (4095=100%)" = Reg 41
** "SETUP_EX/ENABLE POWER RATE" = Reg 65 bit 13
** "EABLE_SETUP_EX_Regs" = Reg 160 bit 15
*** Note: If it is already active, do not deactivate it.

== Changed Unit ==

* option/Velocity Max
** 1 = 0.01 mm / sec
* option/deadband
** 1 = 0.01 mm

== Smoothness of deceleration ==

* Adjust the smoothness of deceleration using the Smart Sense setting value.
* Values of 0, 1, and 4095 result in no deceleration smoothing.
* The range is from 4095 down to 2; values closer to 2 provide smoother deceleration.
** Note: If the value is sufficiently small, the acceleration may also decrease.
** Note: If the value is very low, the time required to reach the target may become significantly longer.
* Recommended range: 500 – 3000

== Calibration Data ==

* The physical operating limits are stored in POSITION MIN/MID/MAX.
* DO NOT MODIFY THESE VALUES.

== Etc ==

* Origin setting: Not supported.
* Selectable CAN sample points: 50% and 87.5%
* HW_DEF_1 (Reg 165, 0xA5) = length (mm) = 30, 50, 100
* HW_DEF_2 (Reg 167, 0xA7) = gear ratio (1:x) = 50, 100, 210, 380

2026-07-13T01:14:02Z

Choiyh: /* Coordinate system */

== HLS12 ==

* The HLS12-CAN actuator incorporates the specific characteristics of the HLS12 model within CAN servo firmware version 2.3.
* For all other details, please refer to the specifications for firmware version 2.3.

== Operating range ==

* For example, with a 100 mm product, the innermost point corresponds to the 0 mm position, and the outermost point corresponds to the 100 mm position.
* It operates corresponding to the -60° and +60° positions of POSITION_NEW.

* POSITION_NEW (Reg 30)
** min = -60 deg = 8192 - 60 x 16384 / 360
** max = +60 deg = 8192 + 60 x 16384 / 360

== Coordinate system ==

* POSITION_NEW (Reg 30) = Target Location = -60 deg to +60 deg
* REAL POSITION_NEW (Reg 37) = The value of POSITION_NEW converted into an actual distance value.
* VIRTUAL REAL POSITION_NEW (Reg 35) = A virtual target that moves toward POSITION_NEW based on the speed setting
* POSITION (Reg 12) = Current position = Same coordinate system as POSITION_NEW
* REAL POSITION (Reg 13) = POSITION value converted into distance units
** ex) 1500 = 15.00 mm

* The distance unit changes if the product length exceeds 200 mm.
** ex) 1500 = 150.0 mm

{| class="wikitable"
|-
| Name
| Address
| Unit
| Range
| Description
| ex
|-
| POSITION_NEW
| 30
| Target Location
| 16384 = 360 deg
| -60 deg to +60 deg
| inner = -60 deg, outter = +60 deg
|-
|
|
|
|
|
|
|}

== Power Rate ==

* It adjusts the output power at a specified ratio without the need to modify the power (wattage) setting.
* Reg 41 (0x29)
** 4095 = 100%
* Condition
** Reg 65 (0x41) activated and bit 13 = 1
** Reg 65 (0x41) activate: Reg 160 (0xA0) bit 15 = 1

== Changed Unit ==

* Velocity Max
** 1 = 0.01 mm / sec
* option/deadband
** 1 = 0.01 mm

== Acceleration and deceleration ==

* Adjust the smoothness of acceleration and deceleration using the Smart Sense setting value.
* Values of 0, 1, and 4095 result in no acceleration or deceleration smoothing.
* The range is from 4095 down to 2; values closer to 2 result in smoother acceleration and deceleration.
** Note: If the value is very low, the time required to reach the target may become significantly longer.
* Recommended range: 500 – 3000

== Calibration Data ==

* The physical operating limits are stored in POSITION MIN/MID/MAX.
* DO NOT MODIFY THESE VALUES.

== Etc ==

* CAN sample point selectable: 50%, 87.5%
* HW_DEF_1 (Reg 0xA5) = HLS12 length (mm) = 30, 50, 100
* HW_DEF_2 (Reg 0xA7) = HLS12 gear ratio (1:x) = 50, 100, 210, 380

CanServo/HLS12/0

2026-07-13T01:13:42Z

Choiyh: /* Coordinate system */

== HLS12 ==

* The HLS12-CAN actuator incorporates the specific characteristics of the HLS12 model within CAN servo firmware version 2.3.
* For all other details, please refer to the specifications for firmware version 2.3.

== Operating range ==

* For example, with a 100 mm product, the innermost point corresponds to the 0 mm position, and the outermost point corresponds to the 100 mm position.
* It operates corresponding to the -60° and +60° positions of POSITION_NEW.

* POSITION_NEW (Reg 30)
** min = -60 deg = 8192 - 60 x 16384 / 360
** max = +60 deg = 8192 + 60 x 16384 / 360

== Coordinate system ==

* POSITION_NEW (Reg 30) = Target Location = -60 deg to +60 deg
* REAL POSITION_NEW (Reg 37) = The value of POSITION_NEW converted into an actual distance value.
* VIRTUAL REAL POSITION_NEW (Reg 35) = A virtual target that moves toward POSITION_NEW based on the speed setting
* POSITION (Reg 12) = Current position = Same coordinate system as POSITION_NEW
* REAL POSITION (Reg 13) = POSITION value converted into distance units
** ex) 1500 = 15.00 mm

* The distance unit changes if the product length exceeds 200 mm.
** ex) 1500 = 150.0 mm

{| class="wikitable"
|-
| Name
| Address
| Unit
| Range
| Description
| ex
|-
| POSITION_NEW
| 30
| Target Location
| 16384 = 360 deg
| -60 deg to +60 deg
| inner = -60 deg, outter = +60 deg
|-
|
|
|
|
|
|-
|
|
|
|
|
|-
|
|
|
|
|
|-
|
|
|
|
|
|-
|
|
|
|
|
|}

== Power Rate ==

* It adjusts the output power at a specified ratio without the need to modify the power (wattage) setting.
* Reg 41 (0x29)
** 4095 = 100%
* Condition
** Reg 65 (0x41) activated and bit 13 = 1
** Reg 65 (0x41) activate: Reg 160 (0xA0) bit 15 = 1

== Changed Unit ==

* Velocity Max
** 1 = 0.01 mm / sec
* option/deadband
** 1 = 0.01 mm

== Acceleration and deceleration ==

* Adjust the smoothness of acceleration and deceleration using the Smart Sense setting value.
* Values of 0, 1, and 4095 result in no acceleration or deceleration smoothing.
* The range is from 4095 down to 2; values closer to 2 result in smoother acceleration and deceleration.
** Note: If the value is very low, the time required to reach the target may become significantly longer.
* Recommended range: 500 – 3000

== Calibration Data ==

* The physical operating limits are stored in POSITION MIN/MID/MAX.
* DO NOT MODIFY THESE VALUES.

== Etc ==

* CAN sample point selectable: 50%, 87.5%
* HW_DEF_1 (Reg 0xA5) = HLS12 length (mm) = 30, 50, 100
* HW_DEF_2 (Reg 0xA7) = HLS12 gear ratio (1:x) = 50, 100, 210, 380