Hyundai HI4 Robotics User Manual


 
6. System setting
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② Type 2 (16bit output)
It outputs 16bit data after the error number transfers the binary.
The strobe signal deciding the data check timing is
- System error => General error
- Operation error => Operation error
For example
The timing in case of occurring E0101(SYSTEM ERROR)
+-------1----------------------------------------
01 ---+
0
02 ----------------------------------------------------
+-------1----------------------------------------
03 ---+
0
04 ----------------------------------------------------
0
05 ----------------------------------------------------
+-------1----------------------------------------
06 ---+
+-------1----------------------------------------
07 ---+
0
08 ----------------------------------------------------
0
09 ----------------------------------------------------
0
10 ----------------------------------------------------
0
11 ----------------------------------------------------
0
12 ----------------------------------------------------
0
13 ----------------------------------------------------
0
14 ----------------------------------------------------
0
15 ----------------------------------------------------
0
16 ----------------------------------------------------
Operation error --------------------------------------------------
+----------------------------------------------
General error ---+