Last modified by Eric Nantel on 2024/07/03 09:42
From version < 46.1 >
edited by Coleman Benson
on 2023/07/27 09:26
To version < 59.1 >
edited by Coleman Benson
on 2023/07/27 14:36
< >
Change comment: There is no comment for this version

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... ... @@ -149,7 +149,7 @@
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.
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 -| |[[Step Mode>>doc:||anchor="HStepMode"]]|(% style="text-align:center" %)SM|(% style="text-align:center" %)QM|(% style="text-align:center" %)CSM|2|1, 2, 4|Numbers represent fractions: full step, &frac12; step, &frac14; step
152 +| |[[Step Mode>>doc:||anchor="HStepMode28SM29"]]|(% style="text-align:center" %)SM|(% style="text-align:center" %)QM|(% style="text-align:center" %)CSM|2|1, 2, 4|Numbers represent fractions: full step, &frac12; step, &frac14; step
153 153  
154 154  |(% colspan="8" style="color:orange; font-size:18px" %)[[**Modifiers**>>||anchor="HModifiers"]]
155 155  |(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Modifier**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
... ... @@ -163,19 +163,19 @@
163 163  | |[[**Q**uery **M**odel **S**tring>>||anchor="HQueryModelString28QMS29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMS|(% style="text-align:center" %) | | |Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1)
164 164  | |[[**Q**uery **F**irmware Version>>||anchor="HQueryFirmware28QF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | | |
165 165  | |[[**Q**uery Serial **N**umber>>||anchor="HQuerySerialNumber28QN29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QN|(% style="text-align:center" %) | | |Returns the unique serial number for the servo
166 -| |**Q**uery **T**emperature **P**robe|(% style="text-align:center" %) |(% style="text-align:center" %)QTP|(% style="text-align:center" %) | | |Queries temperature probe fixed to stepper motor
167 -| |**Q**uery **T**emp of **C**ontroller|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW, QTCE|(% style="text-align:center" %) | | |(((
166 +| |[[**Q**uery **T**emperature **P**robe>>doc:||anchor="HQueryTemperatureProbe28QTP29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTP|(% style="text-align:center" %) | | |Queries temperature probe fixed to the stepper motor
167 +| |[[**Q**uery **T**emp of **M**CU>>doc:||anchor="HQueryMCUTemperature28QTM29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTM|(% style="text-align:center" %) | | |
168 +| |[[**Q**uery **T**emp of **C**ontroller>>doc:||anchor="HQueryTempofController28QTCW29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW, QTCE|(% style="text-align:center" %) | | |(((
168 168  QTCW: Queries the temperature status of the motor controller (pre-warning)
169 169  
170 170  QTCE: Queries the temperature status of the motor controller (over-temp error)
171 171  )))
172 -| |**Q**uery **C**urrent **S**peed |(% style="text-align:center" %) |(% style="text-align:center" %)QCS|(% style="text-align:center" %) | | |Queries the motor controller's calculated speed
173 -| |**Q**uery **I**MU Linear **X**|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |mm/s^2|
174 -| |**Q**uery **I**MU Linear **Y**|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |mm/s^2|
175 -| |**Q**uery **I**MU Linear **Z**|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |mm/s^2|
176 -| |**Q**uery **I**MU Angular Accel **α** |(% style="text-align:center" %) |(% style="text-align:center" %)QIA|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel α (Alpha)
177 -| |**Q**uery **I**MU Angular Accel **β**|(% style="text-align:center" %) |(% style="text-align:center" %)QIB|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel β (Beta)
178 -| |**Q**uery **I**MU Angular Accel **γ**|(% style="text-align:center" %) |(% style="text-align:center" %)QIC / QIG|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel γ (Gamma)
173 +| |[[**Q**uery **I**MU Linear **X**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |mm/s^2|
174 +| |[[**Q**uery **I**MU Linear **Y**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |mm/s^2|
175 +| |[[**Q**uery **I**MU Linear **Z**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |mm/s^2|
176 +| |[[**Q**uery **I**MU Angular Accel **α** >>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIA|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel α (Alpha)
177 +| |[[**Q**uery **I**MU Angular Accel **β**>>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIB|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel β (Beta)
178 +| |[[**Q**uery **I**MU Angular Accel **γ**>>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIC / QIG|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel γ (Gamma)
179 179  
180 180  |(% colspan="8" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="HRGBLED"]]
181 181  |(% 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**
... ... @@ -185,13 +185,19 @@
185 185  
186 186  == (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) ==
187 187  
188 -====== (% style="color:inherit; font-family:inherit" %)__Reset__(%%) ======
188 +|(% colspan="2" %)(((
189 +====== __Reset__ ======
190 +)))
191 +| |(((
192 +Ex: #5RESET<cr>
189 189  
190 -(% style="color:inherit; font-family:inherit" %)Ex: #5RESET<cr>
191 -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.
194 +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.
195 +)))
192 192  
197 +|(% colspan="2" %)(((
193 193  ====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ======
194 -
199 +)))
200 +| |(((
195 195  (% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr>
196 196  
197 197  (% 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.
... ... @@ -201,9 +201,12 @@
201 201  (% 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.
202 202  
203 203  (% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
210 +)))
204 204  
212 +|(% colspan="2" %)(((
205 205  ====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
206 -
214 +)))
215 +| |(((
207 207  (% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
208 208  
209 209  (% 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.
... ... @@ -213,16 +213,18 @@
213 213  (% 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.
214 214  
215 215  (% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
225 +)))
216 216  
217 -====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
218 -
227 +|(% colspan="2" %)(% style="color:inherit; font-family:inherit" %)__Confirm__
228 +|(% style="width:30px" %) |(((
219 219  (% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
220 220  
221 221  (% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command.
222 222  Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
233 +)))
223 223  
224 -====== (% style="color:inherit; font-family:inherit" %)__ID Number (**ID**)__(%%) ======
225 -
235 +|(% colspan="2" %)(% style="color:inherit; font-family:inherit" %)__ID Number (**ID**)__
236 +|(% style="width:30px" %) |(((
226 226  (% style="color:inherit; font-family:inherit" %)Configure ID Number (**CID**)
227 227  
228 228  (% style="color:inherit; font-family:inherit" %)Ex: #0CID5<cr>
... ... @@ -234,9 +234,10 @@
234 234  Ex: #254QID<cr> might return *254QID5<cr>
235 235  
236 236  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.
248 +)))
237 237  
238 -====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor (**ET**)__(%%) ======
239 -
250 +|(% colspan="2" %)(% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor (**ET**)__
251 +|(% style="width:30px" %) |(((
240 240  Query Enable CAN Terminal Resistor (**QET**)
241 241  
242 242  Ex: #5QET<cr> might return *QET0<cr>
... ... @@ -248,21 +248,37 @@
248 248  (% style="color:inherit; font-family:inherit" %)Ex: #5CET1<cr>
249 249  
250 250  (% 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.
263 +)))
251 251  
252 -====== __USB Connection Status (**UC**)__ ======
253 -
265 +|(% colspan="2" %)__USB Connection Status (**UC**)__
266 +|(% style="width:30px" %) |(((
254 254  Query USB Connection Status (**QUC**)
255 255  
256 256  Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
270 +)))
257 257  
258 -====== __Firmware Release (**FR**)__ ======
259 -
272 +|(% colspan="2" %)__Firmware Release (**FR**)__
273 +|(% style="width:30px" %) |(((
260 260  Query Firmware Release (**QFR**)
261 261  
262 262  Ex: #5QFR<cr> might return *QFR11<cr> meaning it has a (random) firmware release version number 11.
263 263  
264 264  This is used to verify if the firmware on the servos is up to date, or which version is running on the microcontroller.
279 +)))
265 265  
281 +====== ======
282 +
283 +
284 +====== ======
285 +
286 +
287 +====== ======
288 +
289 +
290 +====== ======
291 +
292 +
293 +
266 266  == Motion ==
267 267  
268 268  ====== __Position in Degrees (**D**)__ ======
... ... @@ -467,8 +467,10 @@
467 467  
468 468  This command will cause servo #5's positions to be inverted, effectively causing the servo to rotate in the opposite direction given the same command. For example in a 2WD robot, servos are often physically installed back to back, therefore setting one of the servos to a negative gyration, the same wheel command (ex WR30) to both servos will cause the robot to move forward or backward rather than rotate.
469 469  
470 -Query Gyre Direction (**QG**)Ex: #5QG<cr> might return *5QG-1<cr>
498 +Query Gyre Direction (**QG**)
471 471  
500 +Ex: #5QG<cr> might return *5QG-1<cr>
501 +
472 472  The value returned above means the servo is in a counter-clockwise gyration. Sending a #5WR30 command will rotate the servo in a counter-clockwise gyration at 30 RPM.
473 473  
474 474  Configure Gyre (**CG**)
... ... @@ -505,6 +505,24 @@
505 505  
506 506  Configure Speed in RPM (**CSR**)Ex: #5CSR45<cr>Using the CSR command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSR value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) received is what the servo uses for that session.
507 507  
538 +====== __Step Mode (**SM**)__ ======
539 +
540 +Ex: #8SM2<cr>
541 +
542 +This sets servo with ID 8 to 1/2 step mode. Since this is an action as opposed to a configuration, it only affects that session.
543 +
544 +Note that the torque and max RPM of the actuator will be affected.
545 +
546 +Query Step Mode (**QSM**)
547 +
548 +Ex: #8QSM<cr> might return *8QSM2<cr> meaning servo with ID 8 is set to half step mode.
549 +
550 +Configure Step Mode (**CSM**)
551 +
552 +Ex: #8SM2<cr>
553 +
554 +This sets servo with ID 8 to 1/2 step mode. Since this is a configuration as opposed to a configuration and the servo will be in 1/2 step mode when powered.
555 +
508 508  == Modifiers ==
509 509  
510 510  ====== __Speed (**SD**) modifier__ ======
... ... @@ -536,23 +536,27 @@
536 536  
537 537  == Telemetry ==
538 538  
539 -====== __Query Voltage (**QV**)__ ======
587 +====== __Query PCB Temperature (**QT**)__ ======
540 540  
541 -Ex: #5QV<cr> might return *5QV11200<cr>
589 +Ex: #5QT<cr> might return *5QT564<cr>
542 542  
543 -The number returned is in milliVolts, so in the case above, servo with ID 5 has an input voltage of 11.2V.
591 +The units are in tenths of degrees Celcius, so in the example above, the servo's internal temperature is 56.4 degrees C. To convert from degrees Celcius to degrees Farenheit, multiply by 1.8 and add 32. Therefore 56.4C = 133.52F.
544 544  
545 -====== __Query Temperature (**QT**)__ ======
593 +====== __Query Temperature Probe (**QTP**)__ ======
546 546  
547 -Ex: #5QT<cr> might return *5QT564<cr>
595 +Ex:
548 548  
549 -The units are in tenths of degrees Celcius, so in the example above, the servo's internal temperature is 56.4 degrees C. To convert from degrees Celcius to degrees Farenheit, multiply by 1.8 and add 32. Therefore 56.4C = 133.52F.
597 +====== __Query Temp of Controller (**QTCW**)__ ======
550 550  
551 -====== __Query Motor Driver Current (**QC**)__ ======
599 +Ex:
552 552  
601 +An alternative is QTCE
602 +
603 +====== __Query Current (**QC**)__ ======
604 +
553 553  Ex: #5QC<cr> might return *5QC140<cr>
554 554  
555 -The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A. It represents the RMS value.
607 +The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A. It represents the RMS value. The query calculates the RMS value of the current sent from the motor driver to the stepper motor.
556 556  
557 557  ====== __Query Model String (**QMS**)__ ======
558 558  
... ... @@ -571,3 +571,17 @@
571 571  Ex: #5QN<cr> might return *5QN12345678<cr>
572 572  
573 573  The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
626 +
627 +====== __Query IMU Linear (**QIX** **QIY** **QIZ**)__ ======
628 +
629 +Ex: #6QIX<cr> might return *6QIX30<cr>
630 +
631 +This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
632 +
633 +====== __Query IMU Angular (**QIA** **QIB** **QIC**)__ ======
634 +
635 +Ex: #6QIB<cr> might return *6QIB44<cr>
636 +
637 +This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
638 +
639 +
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