Status indication LED

The RGB LED indicates the current state of the device. More advanced state information is available via Cyphal.

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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
$$ Cyan	Bootloader	Power-on integrity check, firmware integrity check.
$$ Green	Bootloader	BootDelay, BootCanceled
$$ Blue	Bootloader	AppUpdateInProgress
$$ Yellow	Bootloader	NoAppToBoot
$$ White	Init, shutdown	Either initialization or shutdown is in progress.
$$ Magenta	Init, shutdown	Transient non-volatile memory error.
$$ 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
$$	Standby
$$	Self test
$$	Motor ID
$$	Drive	Torque control mode
$$	Drive	Torque control mode, ratiometric
$$	Drive	Voltage control mode
$$	Drive	Voltage control mode, ratiometric
$$	Drive	Velocity control mode
$$	Servo
$$	Fault	Runtime error (inspect the error code using other interfaces)
$$	Fault	Invalid parameters
$$	Fault	Hardware error

Uninitialized state

In the uninitialized state, the status LED is blinking as follows: $$