Difference between revisions of "CanServo/HLS12/0"
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| Line 28: | Line 28: | ||
| 30 (0x1E) | | 30 (0x1E) | ||
| Target Location | | Target Location | ||
| 16384 = 360 deg | |||
| inner = -60 deg, outter = +60 deg | |||
|- | |||
| POSITION | |||
| 12 (0x0C) | |||
| Current Location | |||
| 16384 = 360 deg | | 16384 = 360 deg | ||
| inner = -60 deg, outter = +60 deg | | inner = -60 deg, outter = +60 deg | ||
| Line 42: | Line 48: | ||
| 1 = 0.01 mm | | 1 = 0.01 mm | ||
| inner = 0 mm | | inner = 0 mm | ||
|- | |- | ||
| REAL POSITION | | REAL POSITION | ||
Revision as of 02:06, 13 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.
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
- min = -60 deg = 8192 - 60 x 16384 / 360 = 5462
- max = +60 deg = 8192 + 60 x 16384 / 360 = 10922
- Origin setting: Not supported.
Coordinate system
| Name | Address | Description | Unit | Range |
| POSITION_NEW | 30 (0x1E) | Target Location | 16384 = 360 deg | inner = -60 deg, outter = +60 deg |
| POSITION | 12 (0x0C) | Current Location | 16384 = 360 deg | inner = -60 deg, outter = +60 deg |
| REAL POSITION_NEW | 37 (0x25) | POSITION_NEW in distance | 1 = 0.01 mm | inner = 0 mm |
| VIRTUAL REAL POSITION_NEW | 35 (0x23) | POSITION_NEW with the Speed setting applied | 1 = 0.01 mm | inner = 0 mm |
| REAL POSITION | 13 (0x0d) | POSITION in distance | 1 = 0.01 mm | inner = 0 mm |
Power Rate
- Adjusts the output power at a specified ratio without changing 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
- 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
- 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 165, 0xA5) = length (mm) = 30, 50, 100
- HW_DEF_2 (Reg 167, 0xA7) = gear ratio (1:x) = 50, 100, 210, 380