Last modified by Eric Nantel on 2024/09/06 14:52
From version < 36.1 >
edited by Coleman Benson
on 2023/07/26 13:29
To version < 63.1 >
edited by Eric Nantel
on 2023/08/01 15:24
< >
Change comment: There is no comment for this version

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1 +xwiki:XWiki.ENantel
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1 1  {{warningBox warningText="More information coming soon"/}}
2 2  
3 -
4 -
5 5  (% class="wikigeneratedid" id="HTableofContents" %)
6 6  **Page Contents**
7 7  
... ... @@ -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 -| |[[**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" %) | | |
125 +| |[[**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.
126 +| |[[**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
127 +| |[[**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
128 +| |[[**Q**uery **F**irmware **R**elease>>doc:||anchor="HFirmwareRelease28FR29"]]|(% 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**
... ... @@ -141,19 +141,15 @@
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)
146 146  | |[[**O**rigin Offset>>||anchor="HOriginOffset28O29"]]|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|0|1/10°|
147 147  | |[[**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|
150 150  | |[[**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).
151 151  | |[[**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).
152 152  | |[[**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)
153 153  | |[[**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|
155 155  | |[[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
156 156  | |[[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
150 +| |[[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
157 157  
158 158  |(% colspan="8" style="color:orange; font-size:18px" %)[[**Modifiers**>>||anchor="HModifiers"]]
159 159  |(% 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**
... ... @@ -167,36 +167,41 @@
167 167  | |[[**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)
168 168  | |[[**Q**uery **F**irmware Version>>||anchor="HQueryFirmware28QF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | | |
169 169  | |[[**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
170 -| |**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
171 -| |**Q**uery **T**emp of **C**ontroller|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW, QTCE|(% style="text-align:center" %) | | |(((
164 +| |[[**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
165 +| |[[**Q**uery **T**emp of **M**CU>>doc:||anchor="HQueryMCUTemperature28QTM29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTM|(% style="text-align:center" %) | | |
166 +| |[[**Q**uery **T**emp of **C**ontroller>>doc:||anchor="HQueryTempofController28QTCW29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW, QTCE|(% style="text-align:center" %) | | |(((
172 172  QTCW: Queries the temperature status of the motor controller (pre-warning)
173 173  
174 174  QTCE: Queries the temperature status of the motor controller (over-temp error)
175 175  )))
176 -| |**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
177 -| |**Q**uery **I**MU Linear **X**|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |mm/s^2|
178 -| |**Q**uery **I**MU Linear **Y**|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |mm/s^2|
179 -| |**Q**uery **I**MU Linear **Z**|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |mm/s^2|
180 -| |**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)
181 -| |**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)
182 -| |**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)
171 +| |[[**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|
172 +| |[[**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|
173 +| |[[**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|
174 +| |[[**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)
175 +| |[[**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)
176 +| |[[**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)
183 183  
184 184  |(% colspan="8" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="HRGBLED"]]
185 185  |(% 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**
186 186  | |[[**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.
188 188  
189 189  = (% style="color:inherit; font-family:inherit" %)Details(%%) =
190 190  
191 191  == (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) ==
192 192  
193 -====== (% style="color:inherit; font-family:inherit" %)__Reset__(%%) ======
186 +|(% colspan="2" %)(((
187 +====== __Reset__ ======
188 +)))
189 +| |(((
190 +Ex: #5RESET<cr>
194 194  
195 -(% style="color:inherit; font-family:inherit" %)Ex: #5RESET<cr>
196 -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.
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.
193 +)))
197 197  
195 +|(% colspan="2" %)(((
198 198  ====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ======
199 -
197 +)))
198 +|(% style="width:30px" %) |(((
200 200  (% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr>
201 201  
202 202  (% 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.
... ... @@ -206,9 +206,12 @@
206 206  (% 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.
207 207  
208 208  (% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
208 +)))
209 209  
210 +|(% colspan="2" %)(((
210 210  ====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
211 -
212 +)))
213 +|(% style="width:30px" %) |(((
212 212  (% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
213 213  
214 214  (% 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.
... ... @@ -218,18 +218,81 @@
218 218  (% 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.
219 219  
220 220  (% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
223 +)))
221 221  
225 +|(% colspan="2" %)(((
222 222  ====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
223 -
227 +)))
228 +|(% style="width:30px" %) |(((
224 224  (% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
225 225  
226 226  (% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command.
227 -Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.(%%)
228 -
232 +Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
233 +)))
229 229  
235 +|(% colspan="2" %)(((
236 +====== (% style="color:inherit; font-family:inherit" %)__ID Number__(%%) ======
237 +)))
238 +|(% style="width:30px" %) |(((
239 +This assigns ID #5 to the servo previously assigned to ID 0
240 +
241 +(% style="color:inherit; font-family:inherit" %)Configure ID Number (**CID**)
242 +
243 +(% style="color:inherit; font-family:inherit" %)Ex: #0CID5<cr>
244 +
245 +The default ID is 0, so this sets the servo to ID 5.
246 +
247 +Query ID Number (**QID**)
248 +
249 +Ex: #254QID<cr> might return *254QID5<cr>
250 +
251 +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.
252 +)))
253 +
254 +|(% colspan="2" %)(((
255 +====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor__(%%) ======
256 +)))
257 +|(% style="width:30px" %) |(((
258 +Query Enable CAN Terminal Resistor (**QET**)
259 +
260 +Ex: #5QET<cr> might return *QET0<cr>
261 +
262 +This means that servo with ID 5 is NOT configured as the last servo in the CAN bus.
263 +
264 +Configure Enable CAN Terminal Resistor (**CET**)
265 +
266 +(% style="color:inherit; font-family:inherit" %)Ex: #5CET1<cr>
267 +
268 +(% 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.
269 +)))
270 +
271 +|(% colspan="2" %)(((
272 +====== __USB Connection Status__ ======
273 +)))
274 +|(% style="width:30px" %) |(((
275 +Query USB Connection Status (**QUC**)
276 +
277 +Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
278 +)))
279 +
280 +|(% colspan="2" %)(((
281 +====== __Firmware Release__ ======
282 +)))
283 +|(% style="width:30px" %) |(((
284 +Query Firmware Release (**QFR**)
285 +
286 +Ex: #5QFR<cr> might return *QFR11<cr> meaning it has a (random) firmware release version number 11.
287 +
288 +This is used to verify if the firmware on the servos is up to date, or which version is running on the microcontroller.
289 +)))
290 +
230 230  == Motion ==
231 231  
232 -====== __Position in Degrees (**D**)__ ======
293 +|(% colspan="2" %)(((
294 +====== __Position in Degrees__ ======
295 +)))
296 +|(% style="width:30px" %) |(((
297 +Position in Degrees (**D**)
233 233  
234 234  Example: #5D1456<cr>
235 235  
... ... @@ -248,15 +248,24 @@
248 248  Ex: #5QDT<cr> might return *5QDT6783<cr>
249 249  
250 250  The query target position command returns the target virtual position during and after an action which results in a rotation of the servo horn. In the example above, the servo is rotating to a virtual position of 678.3 degrees. Should the servo not have a target position or be in wheel mode, it will respond with the last target position used.
316 +)))
251 251  
252 -====== __(Relative) Move in Degrees (**MD**)__ ======
318 +|(% colspan="2" %)(((
319 +====== __(Relative) Move in Degrees__ ======
320 +)))
321 +|(% style="width:30px" %) |(((
322 +Move in Degrees (**MD**)
253 253  
254 -
255 255  Example: #5MD123<cr>
256 256  
257 257  The relative move command causes the servo to read its current position and move the specified number of tenths of degrees in the corresponding position. For example if the servo is set to rotate CW (default) and an MD command of 123 is sent to the servo, it will cause the servo to rotate clockwise by 12.3 degrees. Negative commands would cause the servo to rotate in the opposite configured direction.
327 +)))
258 258  
259 -====== __Wheel Mode in Degrees (**WD**)__ ======
329 +|(% colspan="2" %)(((
330 +====== __Wheel Mode in Degrees__ ======
331 +)))
332 +|(% style="width:30px" %) |(((
333 +Wheel mode in Degrees (**WD**)
260 260  
261 261  Ex: #5WD90<cr>
262 262  
... ... @@ -267,8 +267,13 @@
267 267  Ex: #5QWD<cr> might return *5QWD90<cr>
268 268  
269 269  The servo replies with the angular speed in degrees per second. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
344 +)))
270 270  
271 -====== __Wheel Mode in RPM (**WR**)__ ======
346 +|(% colspan="2" %)(((
347 +====== __Wheel Mode in RPM__ ======
348 +)))
349 +|(% style="width:30px" %) |(((
350 +Wheel moed in RPM (**WR**)
272 272  
273 273  Ex: #5WR40<cr>
274 274  
... ... @@ -279,8 +279,14 @@
279 279  Ex: #5QWR<cr> might return *5QWR40<cr>
280 280  
281 281  The servo replies with the angular speed in rpm. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
361 +)))
282 282  
283 -====== __(Relative) Move in Degrees (**MD**)__ ======
363 +|(% colspan="2" %)(((
364 +====== __(Relative) Move in Degrees__ ======
365 +)))
366 +|(% style="width:30px" %) |(((
367 +(% class="wikigeneratedid" %)
368 +Move in Degrees (**MD**)
284 284  
285 285  (% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %)
286 286  Example: #5M1500<cr>
... ... @@ -287,8 +287,13 @@
287 287  
288 288  (% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
289 289  The relative move in PWM command causes the servo to read its current position and move by the specified number of PWM signal. For example if the servo is set to rotate CW (default) and an M command of 1500 is sent to the servo, it will cause the servo to rotate clockwise by 90 degrees. Negative PWM value would cause the servo to rotate in the opposite configured direction.
375 +)))
290 290  
291 -====== __Query Status (**Q**)__ ======
377 +|(% colspan="2" %)(((
378 +====== __Query Status__ ======
379 +)))
380 +|(% style="width:30px" %) |(((
381 +Query Status (**Q**)
292 292  
293 293  The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
294 294  
... ... @@ -318,18 +318,29 @@
318 318  | |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
319 319  | |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
320 320  | |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
411 +)))
321 321  
322 -====== __Limp (**L**)__ ======
413 +|(% colspan="2" %)(((
414 +====== __Limp__ ======
415 +)))
416 +|(% style="width:30px" %) |(((
417 +Limp (**L**)
323 323  
324 324  Example: #5L<cr>
325 325  
326 326  This action causes the servo to go "limp". The microcontroller will still be powered, but the motor will not. As an emergency safety feature, should the robot not be doing what it is supposed to or risks damage, use the broadcast ID to set all servos limp #254L<cr>.
422 +)))
327 327  
328 -====== __Halt & Hold (**H**)__ ======
424 +|(% colspan="2" %)(((
425 +====== __Halt & Hold__ ======
426 +)))
427 +|(% style="width:30px" %) |(((
428 +Halt & Hold (**H**)
329 329  
330 330  Example: #5H<cr>
331 331  
332 332  This command causes the servo to stop immediately and hold that angular position. It overrides whatever the servo might be doing at the time the command is received (accelerating, travelling, deccelerating, etc.)
433 +)))
333 333  
334 334  == Motion Setup ==
335 335  
... ... @@ -431,8 +431,10 @@
431 431  
432 432  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.
433 433  
434 -Query Gyre Direction (**QG**)Ex: #5QG<cr> might return *5QG-1<cr>
535 +Query Gyre Direction (**QG**)
435 435  
537 +Ex: #5QG<cr> might return *5QG-1<cr>
538 +
436 436  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.
437 437  
438 438  Configure Gyre (**CG**)
... ... @@ -469,6 +469,24 @@
469 469  
470 470  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.
471 471  
575 +====== __Step Mode (**SM**)__ ======
576 +
577 +Ex: #8SM2<cr>
578 +
579 +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.
580 +
581 +Note that the torque and max RPM of the actuator will be affected.
582 +
583 +Query Step Mode (**QSM**)
584 +
585 +Ex: #8QSM<cr> might return *8QSM2<cr> meaning servo with ID 8 is set to half step mode.
586 +
587 +Configure Step Mode (**CSM**)
588 +
589 +Ex: #8SM2<cr>
590 +
591 +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.
592 +
472 472  == Modifiers ==
473 473  
474 474  ====== __Speed (**SD**) modifier__ ======
... ... @@ -500,23 +500,27 @@
500 500  
501 501  == Telemetry ==
502 502  
503 -====== __Query Voltage (**QV**)__ ======
624 +====== __Query PCB Temperature (**QT**)__ ======
504 504  
505 -Ex: #5QV<cr> might return *5QV11200<cr>
626 +Ex: #5QT<cr> might return *5QT564<cr>
506 506  
507 -The number returned is in milliVolts, so in the case above, servo with ID 5 has an input voltage of 11.2V.
628 +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.
508 508  
509 -====== __Query Temperature (**QT**)__ ======
630 +====== __Query Temperature Probe (**QTP**)__ ======
510 510  
511 -Ex: #5QT<cr> might return *5QT564<cr>
632 +Ex:
512 512  
513 -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.
634 +====== __Query Temp of Controller (**QTCW**)__ ======
514 514  
515 -====== __Query Motor Driver Current (**QC**)__ ======
636 +Ex:
516 516  
638 +An alternative is QTCE
639 +
640 +====== __Query Current (**QC**)__ ======
641 +
517 517  Ex: #5QC<cr> might return *5QC140<cr>
518 518  
519 -The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A. It represents the RMS value.
644 +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.
520 520  
521 521  ====== __Query Model String (**QMS**)__ ======
522 522  
... ... @@ -535,3 +535,17 @@
535 535  Ex: #5QN<cr> might return *5QN12345678<cr>
536 536  
537 537  The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
663 +
664 +====== __Query IMU Linear (**QIX** **QIY** **QIZ**)__ ======
665 +
666 +Ex: #6QIX<cr> might return *6QIX30<cr>
667 +
668 +This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
669 +
670 +====== __Query IMU Angular (**QIA** **QIB** **QIC**)__ ======
671 +
672 +Ex: #6QIB<cr> might return *6QIB44<cr>
673 +
674 +This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
675 +
676 +
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