Difference between revisions of "CanServo/HLS12/0"
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| Line 13: | Line 13: | ||
* POSITION_NEW | * POSITION_NEW | ||
** inner = -60 deg = 8192 - 60 x 16384 / 360 = 5462 | ** inner = -60 deg = 8192 - 60 x 16384 / 360 = 5462 | ||
** | ** outer = +60 deg = 8192 + 60 x 16384 / 360 = 10922 | ||
== Coordinate system == | == Coordinate system == | ||
| Line 31: | Line 31: | ||
| R | | R | ||
| 16384 = 360 deg | | 16384 = 360 deg | ||
| inner = -60 deg, | | inner = -60 deg, outer = +60 deg | ||
|- | |- | ||
| POSITION_NEW | | POSITION_NEW | ||
| Line 38: | Line 38: | ||
| R/W | | R/W | ||
| 16384 = 360 deg | | 16384 = 360 deg | ||
| inner = -60 deg, | | inner = -60 deg, outer = +60 deg | ||
|- | |- | ||
| REAL POSITION | | REAL POSITION | ||
| 13 (0x0d) | | 13 (0x0d) | ||
| POSITION in distance | | POSITION in linear distance | ||
| R | | R | ||
| 1 = 0.01 mm | | 1 = 0.01 mm | ||
| Line 49: | Line 49: | ||
| REAL POSITION_NEW | | REAL POSITION_NEW | ||
| 37 (0x25) | | 37 (0x25) | ||
| POSITION_NEW in distance | | POSITION_NEW in linear distance | ||
| R | | R | ||
| 1 = 0.01 mm | | 1 = 0.01 mm | ||
| Line 64: | Line 64: | ||
== Power Rate == | == Power Rate == | ||
* Adjusts the output | * Adjusts the output level at a specified ratio without changing the power (wattage) setting. | ||
* Reg 41 (0x29) | * Reg 41 (0x29) | ||
** 4095 = 100% | ** 4095 = 100% | ||
| Line 88: | Line 88: | ||
* Adjust the smoothness of 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 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 | * 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 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. | ||
| Line 101: | Line 101: | ||
* Origin setting: Not supported. | * Origin setting: Not supported. | ||
* CAN sample | * Selectable CAN sample points: 50% and 87.5% | ||
* HW_DEF_1 (Reg 165, 0xA5) = length (mm) = 30, 50, 100 | * 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 | * 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