AK80-64 AK Series Actuator Driver Manual V1.0.8

https://www.cubemars.com/
48 / 52
handler_states[handler_num].tx_buffer[b_ind++] = 2;
handler_states[handler_num].tx_buffer[b_ind++] = len;
} else {
handler_states[handler_num].tx_buffer[b_ind++] = 3;
handler_states[handler_num].tx_buffer[b_ind++] = len >> 8;
handler_states[handler_num].tx_buffer[b_ind++] = len & 0xFF;
}
memcpy(handler_states[handler_num].tx_buffer + b_ind, data, len);
b_ind += len;
crc = crc16(data, len);
handler_states[handler_num].tx_buffer[b_ind++] = (uint8_t)(crc >> 8);
handler_states[handler_num].tx_buffer[b_ind++] = (uint8_t)(crc & 0xFF);
handler_states[handler_num].tx_buffer[b_ind++] = 3;
if (handler_states[handler_num].send_func) {
handler_states[handler_num].send_func(handler_states[handler_num].tx_buffer,
b_ind);
}
}
5.3 MIT power mode communication protocol
Special Can code
Enter motor control mode {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,0XFC }
Exit motor control mode {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0XFD}
Set the current position of the motor to 0 {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0XFE }
Note: motor control mode must be entered before using CAN communication control
motor!
If you want to read the current state when there is no state, the command sent is:
{0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,0XFC }）
Force control mode drive board receives data definition
Identifier: set motor ID (default: 1) Frame type: standard
frame
Frame format: DATA DLC: 8 bytes