Difference between revisions of "CanServo/HLS12/0"

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* The HLS12-CAN actuator incorporates the specific characteristics of the HLS12 model within CAN servo firmware version 2.3.
* 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.
* For all other details, please refer to the specifications for firmware version 2.3.
* FW Ver 2.50(0)


== Operating range ==
== Operating range ==
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* It operates corresponding to the -60° and +60° positions of POSITION_NEW.
* It operates corresponding to the -60° and +60° positions of POSITION_NEW.


* POSITION_NEW (Reg 30)
* POSITION_NEW
** min = -60 deg = 8192 - 60 x 16384 / 360
** inner = -60 deg = 8192 - 60 x 16384 / 360 = 5462
** max = +60 deg = 8192 + 60 x 16384 / 360
** outer = +60 deg = 8192 + 60 x 16384 / 360 = 10922


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


== Power Rate ==
== Power Rate ==


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


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


== Acceleration and deceleration ==
== Smoothness of deceleration ==


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


* CAN sample point selectable: 50%, 87.5%
* Origin setting: Not supported.
* HW_DEF_1 (Reg 0xA5) = HLS12 length (mm) = 30, 50, 100
* Selectable CAN sample points: 50% and 87.5%
* HW_DEF_2 (Reg 0xA7) = HLS12 gear ratio (1:x) = 50, 100, 210, 380
* 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

Latest revision as of 07:30, 20 July 2026

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

  • 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
    • inner = -60 deg = 8192 - 60 x 16384 / 360 = 5462
    • outer = +60 deg = 8192 + 60 x 16384 / 360 = 10922

Coordinate system

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
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