Status indication LED#
The RGB LED indicates the current state of the device. More advanced state information is available via Cyphal.
\(\newcommand{\LED}[2]{{\color{#1}\rule{#2mm}{3mm}}} \newcommand{\Pause}[1]{\rule{#1mm}{0mm}}\)
Any state except operational and uninitialized#
The status LED is solid when the device resides in any state except operational and uninitialized (boot-up, firmware update, etc).
LED color |
State |
Sub-state, description |
|---|---|---|
\(\LED{cyan}{9}\) Cyan |
Bootloader |
Power-on integrity check, firmware integrity check. |
\(\LED{green}{9}\) Green |
Bootloader |
|
\(\LED{blue}{9}\) Blue |
Bootloader |
|
\(\LED{yellow}{9}\) Yellow |
Bootloader |
|
\(\LED{white}{9}\) White |
Init, shutdown |
Either initialization or shutdown is in progress. |
\(\LED{magenta}{9}\) Magenta |
Init, shutdown |
Transient non-volatile memory error. |
\(\LED{red}{9}\) Red |
Panic |
Automatic restart will be performed in a few seconds. |
Operational state#
The status LED is blinking in the operational state. The blinking pattern and color depend on the command that is currently being executed.
LED pattern |
Command |
Details |
|---|---|---|
\(\LED{green}{3}\) |
Standby |
|
\(\LED{yellow}{3}\Pause{3}\LED{green}{3}\) |
Self test |
|
\(\LED{yellow}{3}\Pause{3}\LED{blue}{3}\) |
Motor ID |
|
\(\LED{blue}{3}\Pause{3}\LED{green}{3}\) |
Drive |
Torque control mode |
\(\LED{blue}{3}\Pause{9}\LED{green}{3}\) |
Drive |
Torque control mode, ratiometric |
\(\LED{blue}{3}\Pause{3}\LED{cyan}{3}\) |
Drive |
Voltage control mode |
\(\LED{blue}{3}\Pause{9}\LED{cyan}{3}\) |
Drive |
Voltage control mode, ratiometric |
\(\LED{blue}{3}\Pause{3}\LED{blue}{3}\) |
Drive |
Velocity control mode |
\(\LED{magenta}{3}\) |
Servo |
|
\(\LED{red}{3}\) |
Fault |
Runtime error (inspect the error code using other interfaces) |
\(\LED{red}{3}\Pause{3}\LED{red}{3}\) |
Fault |
Invalid parameters |
\(\LED{red}{3}\Pause{3}\LED{red}{3}\Pause{3}\LED{red}{3}\) |
Fault |
Hardware error |
Uninitialized state#
In the uninitialized state, the status LED is blinking as follows: \(\LED{red}{3}\LED{yellow}{3}\LED{red}{3}\LED{yellow}{3}\LED{red}{3}\LED{yellow}{3}\)