CanServo/HLS12/0

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

• By configuring TARGET MIN/MID/MAX settings, it is possible to set the POSITION_NEW value corresponding to the physical location.
  • TARGET MIN = Reg 179 (0xB3) = Inner Location = default -60 deg = 8192 - 60 x 16384 / 360 = 5462
  • TARGET MID = Reg 195 (0xC3) = Center Location = default 0 deg = 8192
  • TARGET MAX = Reg 177 (0xB1) = Outer Location = default +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	TARGET MIN/MID/MAX
POSITION_NEW	30 (0x1E)	Target Location	R/W	16384 = 360 deg	TARGET MIN/MID/MAX
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