Last modified by Eric Nantel on 2024/09/06 14:52
From version < 46.1 >
edited by Coleman Benson
on 2023/07/27 09:26
To version < 51.1 >
edited by Coleman Benson
on 2023/07/27 11:54
< >
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**
... ... @@ -163,7 +163,8 @@
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
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" %) | | |
167 167  | |**Q**uery **T**emp of **C**ontroller|(% 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  
... ... @@ -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>
471 +Query Gyre Direction (**QG**)
471 471  
473 +Ex: #5QG<cr> might return *5QG-1<cr>
474 +
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  
511 +====== __Step Mode (**SM**)__ ======
512 +
513 +Ex: #8SM2<cr>
514 +
515 +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.
516 +
517 +Note that the torque and max RPM of the actuator will be affected.
518 +
519 +Query Step Mode (**QSM**)
520 +
521 +Ex: #8QSM<cr> might return *8QSM2<cr> meaning servo with ID 8 is set to half step mode.
522 +
523 +Configure Step Mode (**CSM**)
524 +
525 +Ex: #8SM2<cr>
526 +
527 +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.
528 +
508 508  == Modifiers ==
509 509  
510 510  ====== __Speed (**SD**) modifier__ ======
... ... @@ -536,23 +536,25 @@
536 536  
537 537  == Telemetry ==
538 538  
539 -====== __Query Voltage (**QV**)__ ======
560 +====== __Query PCB Temperature (**QT**)__ ======
540 540  
541 -Ex: #5QV<cr> might return *5QV11200<cr>
562 +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.
564 +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**)__ ======
566 +====== Query Temperature Probe (**QTP**) ======
546 546  
547 -Ex: #5QT<cr> might return *5QT564<cr>
568 +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.
570 +====== Query Temp of Controller (**QTCW**, **QTCE**) ======
550 550  
551 -====== __Query Motor Driver Current (**QC**)__ ======
572 +Ex:
552 552  
574 +====== __Query Current (**QC**)__ ======
575 +
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.
578 +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.
597 +
598 +====== __Query IMU Linear (**QIX**, **QIY**, **QIZ**)__ ======
599 +
600 +Ex: #6QIX<cr> might return *6QIX30<cr>
601 +
602 +This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
603 +
604 +__Query IMU Angular (**QIA**, **QIB**, **QIC**)__
605 +
606 +Ex: #6QIB<cr> might return *6QIB44<cr>
607 +
608 +This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
609 +
610 +
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