Last modified by Eric Nantel on 2024/07/03 09:42
From version < 58.1 >
edited by Coleman Benson
on 2023/07/27 13:51
To version < 49.1 >
edited by Coleman Benson
on 2023/07/27 11:22
< >
Change comment: There is no comment for this version

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... ... @@ -163,19 +163,20 @@
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>>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" %) | | |(((
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 the stepper motor
167 +| |**Q**uery **T**emp of **M**CU|(% style="text-align:center" %) |(% style="text-align:center" %)QTM|(% style="text-align:center" %) | | |
168 +| |**Q**uery **T**emp of **C**ontroller|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW, QTCE|(% style="text-align:center" %) | | |(((
169 169  QTCW: Queries the temperature status of the motor controller (pre-warning)
170 170  
171 171  QTCE: Queries the temperature status of the motor controller (over-temp error)
172 172  )))
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)
173 +| |**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
174 +| |**Q**uery **I**MU Linear **X**|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |mm/s^2|
175 +| |**Q**uery **I**MU Linear **Y**|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |mm/s^2|
176 +| |**Q**uery **I**MU Linear **Z**|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |mm/s^2|
177 +| |**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)
178 +| |**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)
179 +| |**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)
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**
... ... @@ -185,19 +185,13 @@
185 185  
186 186  == (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) ==
187 187  
188 -|(% colspan="2" %)(((
189 -====== __Reset__ ======
190 -)))
191 -| |(((
192 -Ex: #5RESET<cr>
189 +====== (% style="color:inherit; font-family:inherit" %)__Reset__(%%) ======
193 193  
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 -)))
191 +(% style="color:inherit; font-family:inherit" %)Ex: #5RESET<cr>
192 +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.
196 196  
197 -|(% colspan="2" %)(((
198 198  ====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ======
199 -)))
200 -| |(((
195 +
201 201  (% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr>
202 202  
203 203  (% 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.
... ... @@ -207,12 +207,9 @@
207 207  (% 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.
208 208  
209 209  (% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
210 -)))
211 211  
212 -|(% colspan="2" %)(((
213 213  ====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
214 -)))
215 -| |(((
207 +
216 216  (% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
217 217  
218 218  (% 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.
... ... @@ -222,11 +222,7 @@
222 222  (% 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.
223 223  
224 224  (% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
225 -)))
226 226  
227 -(% class="wikigeneratedid" %)
228 -====== ======
229 -
230 230  ====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
231 231  
232 232  (% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
... ... @@ -569,27 +569,23 @@
569 569  
570 570  == Telemetry ==
571 571  
572 -====== __Query PCB Temperature (**QT**)__ ======
560 +====== __Query Voltage (**QV**)__ ======
573 573  
574 -Ex: #5QT<cr> might return *5QT564<cr>
562 +Ex: #5QV<cr> might return *5QV11200<cr>
575 575  
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 +The number returned is in milliVolts, so in the case above, servo with ID 5 has an input voltage of 11.2V.
577 577  
578 -====== __Query Temperature Probe (**QTP**)__ ======
566 +====== __Query Temperature (**QT**)__ ======
579 579  
580 -Ex:
568 +Ex: #5QT<cr> might return *5QT564<cr>
581 581  
582 -====== __Query Temp of Controller (**QTCW**)__ ======
570 +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.
583 583  
584 -Ex:
572 +====== __Query Motor Driver Current (**QC**)__ ======
585 585  
586 -An alternative is QTCE
587 -
588 -====== __Query Current (**QC**)__ ======
589 -
590 590  Ex: #5QC<cr> might return *5QC140<cr>
591 591  
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 +The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A. It represents the RMS value.
593 593  
594 594  ====== __Query Model String (**QMS**)__ ======
595 595  
... ... @@ -609,13 +609,13 @@
609 609  
610 610  The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
611 611  
612 -====== __Query IMU Linear (**QIX** **QIY** **QIZ**)__ ======
596 +====== __Query IMU Linear (**QIX**, **QIY**, **QIZ**)__ ======
613 613  
614 -Ex: #6QIX<cr> might return *6QIX30<cr>
598 +Ex: #6QIX<cr> might return *6QIX3<cr>
615 615  
616 -This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
600 +This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 0.3cm per second squared.
617 617  
618 -====== __Query IMU Angular (**QIA** **QIB** **QIC**)__ ======
602 +__Query IMU Angular (**QIA**, **QIB**, **QIC**)__
619 619  
620 620  Ex: #6QIB<cr> might return *6QIB44<cr>
621 621  
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