Last modified by Eric Nantel on 2024/09/06 14:52

From version < 25.1 >
edited by Coleman Benson
on 2023/07/18 10:08
To version < 26.1 >
edited by Coleman Benson
on 2023/07/18 10:17
< >
Change comment: There is no comment for this version

Summary

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Content
... ... @@ -247,84 +247,23 @@
247 247  </div></div>
248 248  {{/html}}
249 249  
250 -====== __Confirm__ ======
250 +====== __Enable CAN Terminal__ ======
251 251  
252 -{{html wiki="true" clean="false"}}
253 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
254 -Ex: #5CONFIRM&lt;cr&gt;<div class="wikimodel-emptyline"></div>
255 -
256 -This command is used to confirm changes after a Default or Update command.<div class="wikimodel-emptyline"></div>
257 -
258 -**Note:** After the CONFIRM command is sent, the servo will automatically perform a RESET.<div class="wikimodel-emptyline"></div>
259 -</div></div>
260 -{{/html}}
261 -
262 -====== ======
263 -
264 -====== __Identification Number (**ID**)__ ======
265 -
266 -{{html wiki="true" clean="false"}}
267 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
268 -A servo's identification number cannot be set "on the fly" and must be configured via the CID command described below. The factory default ID number for all servos is 0. Since smart servos are intended to be daisy chained, in order to respond differently from one another, the user must set different identification numbers. Servos with the same ID and baud rate will all receive and react to the same commands.<div class="wikimodel-emptyline"></div>
269 -
270 -Query Identification (**QID**)<div class="wikimodel-emptyline"></div>
271 -
272 -EX: #254QID&lt;cr&gt; might return *QID5&lt;cr&gt;<div class="wikimodel-emptyline"></div>
273 -
274 -When using the broadcast query ID command, it is best to only have one servo connected and thus receive only one reply. This is useful when you are not sure of the servo's ID, but don't want to change it. Using the broadcast command (ID 254) with only one servo will have that servo reply with its ID number. Alternatively, pushing the button upon startup and temporarily setting the servo ID to 255 will still result in the servo responding with its "real" ID.<div class="wikimodel-emptyline"></div>
275 -
276 -Configure ID (**CID**)<div class="wikimodel-emptyline"></div>
277 -
278 -Ex: #4CID5&lt;cr&gt;<div class="wikimodel-emptyline"></div>
279 -
280 -Setting a servo's ID in EEPROM is done via the CID command. All servos connected to the same serial bus that have will be assigned that ID. In most situations each servo must be set a unique ID, which means each servo must be connected individually to the serial bus and receive a unique CID number. It is best to do this before the servos are added to an assembly. Numbered stickers are provided to distinguish each servo after their ID is set, though you are free to use whatever alternative method you like. The servo must be RESET or power cycled in order for the new ID to take effect.<div class="wikimodel-emptyline"></div>
281 -</div></div>
282 -{{/html}}
283 -
284 -====== __Baud Rate__ ======
285 -
286 286  {{html clean="false" wiki="true"}}
287 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
288 -A servo's baud rate cannot be set "on the fly" and must be configured via the CB command described below. The factory default baud rate for all servos is 115200. Since smart servos are intended to be daisy chained, in order to respond to the same serial command, all servos in a project should be set to the same baud rate. Setting different baud rates will have the servos respond differently and may create issues. Available baud rates are: 9600 bps, 19200 bps, 38400 bps, 57600 bps, 115.2 kbps, 230.4 kbps, 250.0 kbps, 460.8 kbps, 500.0 kbps, 750.0 kbps, 921.6 kbps. Servos are shipped with a baud rate set to 115200.<div class="wikimodel-emptyline"></div>
253 +<div class="cmdcnt">
254 +<div class="cmdpad"></div>
255 +<div class="cmdtxt">Ex: #5CET1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
289 289  
290 -Query Baud Rate (**QB**)<div class="wikimodel-emptyline"></div>
257 +This sets servo with ID #5 to be the final servo in the bus.
291 291  
292 -Ex: #5QB&lt;cr&gt; might return *5QB115200&lt;cr&gt;<div class="wikimodel-emptyline"></div>
259 +<div class="cmdtxt">Ex: #5QET&lt;cr&gt;<div class="wikimodel-emptyline"></div>
293 293  
294 -Since the command to query the baud rate must be done at the servo's existing baud rate, it can simply be used to confirm the CB configuration command was correctly received before the servo is power cycled and the new baud rate takes effect.<div class="wikimodel-emptyline"></div>
261 +The reply to this query should be *5QET1 to indicate it is the last in the servo bus.
295 295  
296 -Configure Baud Rate (**CB**)<div class="wikimodel-emptyline"></div>
297 -
298 -**Important Note:** the servo's current session retains the given baud rate and the new baud rate will only take effect when the servo is power cycled / RESET.<div class="wikimodel-emptyline"></div>
299 -
300 -Ex: #5CB9600&lt;cr&gt;<div class="wikimodel-emptyline"></div>
301 -
302 -Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.<div class="wikimodel-emptyline"></div>
263 +<div class="wikimodel-emptyline"></div>
303 303  </div></div>
304 304  {{/html}}
305 305  
306 -====== __Automatic Baud Rate__ ======
307 -
308 -{{html clean="false" wiki="true"}}
309 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
310 -This option allows the LSS to listen to it's serial input and select the right baudrate automatically.<div class="wikimodel-emptyline"></div>
311 -
312 -Query Automatic Baud Rate (**QABR**)<div class="wikimodel-emptyline"></div>
313 -
314 -Ex: #5QABR&lt;cr&gt; might return *5ABR0&lt;cr&gt;<div class="wikimodel-emptyline"></div>
315 -
316 -Enable Baud Rate (**ABR**)<div class="wikimodel-emptyline"></div>
317 -
318 -Ex: #5QABR1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
319 -Enable baudrate detection on first byte received after power-up.<div class="wikimodel-emptyline"></div>
320 -
321 -Ex: #5QABR2,30&lt;cr&gt;<div class="wikimodel-emptyline"></div>
322 -Enable baudrate detection on first byte received after power-up. If no data for 30 seconds enable detection again on next byte.<div class="wikimodel-emptyline"></div>
323 -
324 -Warning: ABR doesnt work well with LSS Config at the moment.<div class="wikimodel-emptyline"></div>
325 -</div></div>
326 -{{/html}}
327 -
328 328  == Motion ==
329 329  
330 330  ====== __Position in Degrees (**D**)__ ======
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