Last modified by Eric Nantel on 2024/07/03 09:42
From version < 47.1 >
edited by Coleman Benson
on 2023/07/27 09:31
To version < 58.1 >
edited by Coleman Benson
on 2023/07/27 13:51
< >
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.
... ... @@ -213,7 +213,11 @@
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  
227 +(% class="wikigeneratedid" %)
228 +====== ======
229 +
217 217  ====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
218 218  
219 219  (% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
... ... @@ -556,23 +556,27 @@
556 556  
557 557  == Telemetry ==
558 558  
559 -====== __Query Voltage (**QV**)__ ======
572 +====== __Query PCB Temperature (**QT**)__ ======
560 560  
561 -Ex: #5QV<cr> might return *5QV11200<cr>
574 +Ex: #5QT<cr> might return *5QT564<cr>
562 562  
563 -The number returned is in milliVolts, so in the case above, servo with ID 5 has an input voltage of 11.2V.
576 +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.
564 564  
565 -====== __Query Temperature (**QT**)__ ======
578 +====== __Query Temperature Probe (**QTP**)__ ======
566 566  
567 -Ex: #5QT<cr> might return *5QT564<cr>
580 +Ex:
568 568  
569 -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.
582 +====== __Query Temp of Controller (**QTCW**)__ ======
570 570  
571 -====== __Query Motor Driver Current (**QC**)__ ======
584 +Ex:
572 572  
586 +An alternative is QTCE
587 +
588 +====== __Query Current (**QC**)__ ======
589 +
573 573  Ex: #5QC<cr> might return *5QC140<cr>
574 574  
575 -The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A. It represents the RMS value.
592 +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.
576 576  
577 577  ====== __Query Model String (**QMS**)__ ======
578 578  
... ... @@ -591,3 +591,17 @@
591 591  Ex: #5QN<cr> might return *5QN12345678<cr>
592 592  
593 593  The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
611 +
612 +====== __Query IMU Linear (**QIX** **QIY** **QIZ**)__ ======
613 +
614 +Ex: #6QIX<cr> might return *6QIX30<cr>
615 +
616 +This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
617 +
618 +====== __Query IMU Angular (**QIA** **QIB** **QIC**)__ ======
619 +
620 +Ex: #6QIB<cr> might return *6QIB44<cr>
621 +
622 +This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
623 +
624 +

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