Last modified by Eric Nantel on 2024/07/03 09:42
From version < 45.1 >
edited by Coleman Benson
on 2023/07/26 14:36
To version < 35.1 >
edited by Coleman Benson
on 2023/07/25 15:36
< >
Change comment: There is no comment for this version

Summary

Details

Page properties
Content
... ... @@ -124,10 +124,10 @@
124 124  | |[[**Default** Configuration>>||anchor="HDefault26confirm"]]|(% style="text-align:center" %)DEFAULT|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Revert to firmware default values. See command for details
125 125  | |[[Firmware **Update** Mode>>||anchor="HUpdate26confirm"]]|(% style="text-align:center" %)UPDATE|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Update firmware. See command for details.
126 126  | |[[**Confirm** Changes>>||anchor="HConfirm"]]|(% style="text-align:center" %)CONFIRM|(% style="text-align:center" %) |(% style="text-align:center" %) | | |
127 -| |[[**ID** Number >>||anchor="HIDNumber28ID29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QID|(% style="text-align:center" %)CID|0| |Reset required after change. ID 254 is a "broadcast" which all servos respond to.
128 -| |[[**E**nable CAN **T**erminal>>doc:||anchor="HEnableCANTerminalResistor28ET29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QET|(% style="text-align:center" %)CET| |0 or 1|0: Disable  1: Enable
129 -| |[[**U**SB **C**onnection Status>>||anchor="HUSBConnectionStatus28UC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QUC|(% style="text-align:center" %) | |0 or 1|0: Not connected 1: Connected
130 -| |[[**Q**uery **F**irmware **R**elease>>doc:||anchor="HFirmwareRelease28FR29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QFR|(% style="text-align:center" %) | | |
127 +| |[[**E**nable CAN **T**erminal>>||anchor="HConfigureRCMode28CRC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QET|(% style="text-align:center" %)CET| |0 or 1|0: Disable  1: Enable
128 +| |[[**ID** Number >>||anchor="HIdentificationNumber28ID29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QID|(% style="text-align:center" %)CID|0| |Reset required after change. ID 254 is a "broadcast" which all servos respond to.
129 +| |[[**U**SB **C**onnection State>>||anchor="HBaudRate"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QUC|(% style="text-align:center" %) | |0 or 1|0: Not connected 1: Connected
130 +| |**Q**uery **F**irmware **R**elease|(% style="text-align:center" %) |(% style="text-align:center" %)QFR|(% style="text-align:center" %) | | |
131 131  
132 132  |(% colspan="8" style="color:orange; font-size:18px" %)[[**Motion**>>||anchor="HMotion"]]
133 133  |(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
... ... @@ -141,12 +141,17 @@
141 141  
142 142  |(% colspan="8" style="color:orange; font-size:18px" %)[[**Motion Setup**>>||anchor="HMotionSetup"]]
143 143  |(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
144 +| |[[**E**nable **M**otion Profile>>||anchor="HEnableMotionProfile28EM29"]]|(% style="text-align:center" %)EM|(% style="text-align:center" %)QEM|(% style="text-align:center" %)CEM|1| |EM1: trapezoidal motion profile / EM0: no motion profile
145 +| |[[**F**ilter **P**osition **C**ount>>||anchor="HFilterPositionCount28FPC29"]]|(% style="text-align:center" %)FPC|(% style="text-align:center" %)QFPC|(% style="text-align:center" %)CFPC|5| |Affects motion only when motion profile is disabled (EM0)
144 144  | |[[**O**rigin Offset>>||anchor="HOriginOffset28O29"]]|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|0|1/10°|
145 145  | |[[**A**ngular **R**ange>>||anchor="HAngularRange28AR29"]]|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|1800|1/10°|
148 +| |[[**A**ngular **S**tiffness>>||anchor="HAngularStiffness28AS29"]]|(% style="text-align:center" %)AS|(% style="text-align:center" %)QAS|(% style="text-align:center" %)CAS|0|-4 to +4 integer|Suggested values are between 0 to +4
149 +| |[[**A**ngular **H**olding Stiffness>>||anchor="HAngularHoldingStiffness28AH29"]]|(% style="text-align:center" %)AH|(% style="text-align:center" %)QAH|(% style="text-align:center" %)CAH|4|-10 to +10 integer|
146 146  | |[[**A**ngular **A**cceleration>>||anchor="HAngularAcceleration28AA29"]]|(% style="text-align:center" %)AA|(% style="text-align:center" %)QAA|(% style="text-align:center" %)CAA|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
147 147  | |[[**A**ngular **D**eceleration>>||anchor="HAngularDeceleration28AD29"]]|(% style="text-align:center" %)AD|(% style="text-align:center" %)QAD|(% style="text-align:center" %)CAD|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
148 148  | |[[**G**yre Direction>>||anchor="HGyreDirection28G29"]]|(% style="text-align:center" %)G|(% style="text-align:center" %)QG|(% style="text-align:center" %)CG|1| |Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)
149 149  | |[[**F**irst Position (**D**eg)>>||anchor="HFirstPosition"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QFD|(% style="text-align:center" %)CFD|No value|1/10°|Reset required after change.
154 +| |[[**M**aximum **M**otor **D**uty>>||anchor="HMaximumMotorDuty28MMD29"]]|(% style="text-align:center" %)MMD|(% style="text-align:center" %)QMMD|(% style="text-align:center" %) |1023|255 to 1023 integer|
150 150  | |[[Maximum **S**peed in **D**egrees>>||anchor="HMaximumSpeedinDegrees28SD29"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %)QSD|(% style="text-align:center" %)CSD|Max|0.1°/s|SD overwrites SR / CSD overwrites CSR and vice-versa
151 151  | |[[Maximum **S**peed in **R**PM>>||anchor="HMaximumSpeedinRPM28SR29"]]|(% style="text-align:center" %)SR|(% style="text-align:center" %)QSR|(% style="text-align:center" %)CSR|Max|RPM|SD overwrites SR / CSD overwrites CSR and vice-versa
152 152  
... ... @@ -179,89 +179,12 @@
179 179  |(% colspan="8" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="HRGBLED"]]
180 180  |(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
181 181  | |[[**LED** Color>>||anchor="HLEDColor28LED29"]]|(% style="text-align:center" %)LED|(% style="text-align:center" %)QLED|(% style="text-align:center" %)CLED| |0 to 7 integer|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White
187 +| |[[**C**onfigure **L**ED **B**linking>>||anchor="HConfigureLEDBlinking28CLB29"]]|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)CLB| |0 to 63 integer|Reset required after change. See command for details.
182 182  
183 183  = (% style="color:inherit; font-family:inherit" %)Details(%%) =
184 184  
185 185  == (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) ==
186 186  
187 -====== (% style="color:inherit; font-family:inherit" %)__Reset__(%%) ======
188 -
189 -(% style="color:inherit; font-family:inherit" %)Ex: #5RESET<cr>
190 -This command does a "soft reset" and reverts all commands to those stored in EEPROM (i.e. configuration commands). Note: after a RESET command is received, the LSS will restart and perform initilization again, making it unavailable on the bus for a bit. See Session, note #2 for more details.
191 -
192 -====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ======
193 -
194 -(% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr>
195 -
196 -(% style="color:inherit; font-family:inherit" %)This command sets in motion the reset of all values to the default values included with the version of the firmware installed on that servo. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the DEFAULT function.
197 -
198 -(% style="color:inherit; font-family:inherit" %)EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
199 -
200 -(% style="color:inherit; font-family:inherit" %)Since it it not common to have to restore all configurations, a confirmation command is needed after a firmware command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will exit the command.
201 -
202 -(% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
203 -
204 -====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
205 -
206 -(% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
207 -
208 -(% style="color:inherit; font-family:inherit" %)This command sets in motion the equivalent of a long button press when the servo is not powered in order to enter firmware update mode. This is useful should the button be broken or inaccessible. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the UPDATE function.
209 -
210 -(% style="color:inherit; font-family:inherit" %)EX: #5UPDATE<cr> followed by #5CONFIRM<cr>
211 -
212 -(% style="color:inherit; font-family:inherit" %)Since it it not common to have to update firmware, a confirmation command is needed after an UPDATE command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will leave the firmware action.
213 -
214 -(% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
215 -
216 -====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
217 -
218 -(% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
219 -
220 -(% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command.
221 -Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
222 -
223 -====== (% style="color:inherit; font-family:inherit" %)__ID Number (**ID**)__(%%) ======
224 -
225 -(% style="color:inherit; font-family:inherit" %)Configure ID Number (**CID**)
226 -
227 -(% style="color:inherit; font-family:inherit" %)Ex: #0CID5<cr>
228 -
229 -The default ID is 0, so this sets the servo to ID 5.
230 -
231 -Query ID Number (**QID**)
232 -
233 -Ex: #254QID<cr> might return *254QID5<cr>
234 -
235 -In this case, the broadcast ID is used to ensure the servo connected will reply with the ID. This can be used in case the ID assigned to a servo is forgotten.
236 -
237 -====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor (**ET**)__(%%) ======
238 -
239 -Query Enable CAN Terminal Resistor (**QET**)
240 -
241 -Ex: #5QET<cr> might return *QET0<cr>
242 -
243 -This means that servo with ID 5 is NOT configured as the last servo in the CAN bus.
244 -
245 -Configure Enable CAN Terminal Resistor (**CET**)
246 -
247 -(% style="color:inherit; font-family:inherit" %)Ex: #5CET1<cr>
248 -
249 -(% style="color:inherit; font-family:inherit" %)This commands sets servo with ID 5 as being the last in the CAN Bus. The last servo in a CAN bus must be configured this way.
250 -
251 -====== __USB Connection Status (**UC**)__ ======
252 -
253 -Query USB Connection Status (**QUC**)
254 -
255 -Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
256 -
257 -====== __Firmware Release (**FR**)__ ======
258 -
259 -Query Firmware Release (**QFR**)
260 -
261 -Ex: #5QFR<cr> might return *QFR11<cr> meaning it has a (random) firmware release version number 11.
262 -
263 -This is used to verify if the firmware on the servos is up to date, or which version is running on the microcontroller.
264 -
265 265  == Motion ==
266 266  
267 267  ====== __Position in Degrees (**D**)__ ======
... ... @@ -531,7 +531,7 @@
531 531  
532 532  **Note:** If the calculated speed at which a servo must rotate for a timed move is greater than its maximum speed (which depends on voltage and load), then it will move at its maximum speed, and the time of the move may be longer than requested
533 533  
534 -====== ======
462 +====== ======
535 535  
536 536  == Telemetry ==
537 537  
Copyright RobotShop 2018