Pololu Simple User Manual
Page 79
ID Name
Description
0
Error
Status
The set bits of this variable indicate the errors that are currently stopping the motor. The motor
can only be driven when this register has a value of 0. (See
for error descriptions.)
• Bit 0: Safe Start Violation
• Bit 1: Required Channel Invalid
• Bit 2: Serial Error
• Bit 3: Command Timeout
• Bit 4: Limit/Kill Switch
• Bit 5: Low VIN
• Bit 6: High VIN
• Bit 7: Over Temperature
• Bit 8: Motor Driver Error
• Bit 9: ERR Line High
• Bits 10-15: reserved
1
Errors
Occurred
The set bits of this register indicate the errors that have occurred since this register was last
cleared. This status register has the same bit assignments as the Error Status register documented
above. Reading this variable clears all of the bits.
2
Serial
Errors
Occurred
The set bits of this variable indicate the serial errors that have occurred since this variable
was last cleared. Reading this variable clears all of the bits. (See
for serial error
descriptions.)
• Bit 0: reserved
• Bit 1: Frame
• Bit 2: Noise
• Bit 3: RX Overrun
• Bit 4: Format
• Bit 5: CRC
• Bits 6-16: reserved
3
Limit
Status
The set bits of this variable indicate things that are currently limiting the motor controller.
• Bit 0: Motor is not allowed to run due to an error or safe-start violation.
• Bit 1: Temperature is active reducing target speed.
• Bit 2: Max speed limit is actively reducing target speed (target speed > max speed).
• Bit 3: Starting speed limit is actively reducing target speed to zero (target speed < starting
speed).
• Bit 4: Motor speed is not equal to target speed because of acceleration, deceleration, or
brake duration limits.
• Bit 5: RC1 is configured as a limit/kill switch and the switch is active (scaled value ≥
1600).
Pololu Simple Motor Controller User's Guide
© 2001–2014 Pololu Corporation
6. Using the Serial Interface
Page 79 of 101