Last modified by Eric Nantel on 2024/09/06 14:52
From version < 59.1 >
edited by Coleman Benson
on 2023/07/27 14:36
To version < 62.1 >
edited by Coleman Benson
on 2023/07/27 15:22
< >
Change comment: There is no comment for this version

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... ... @@ -197,7 +197,7 @@
197 197  |(% colspan="2" %)(((
198 198  ====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ======
199 199  )))
200 -| |(((
200 +|(% style="width:30px" %) |(((
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.
... ... @@ -212,7 +212,7 @@
212 212  |(% colspan="2" %)(((
213 213  ====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
214 214  )))
215 -| |(((
215 +|(% style="width:30px" %) |(((
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.
... ... @@ -224,7 +224,9 @@
224 224  (% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
225 225  )))
226 226  
227 -|(% colspan="2" %)(% style="color:inherit; font-family:inherit" %)__Confirm__
227 +|(% colspan="2" %)(((
228 +====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
229 +)))
228 228  |(% style="width:30px" %) |(((
229 229  (% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
230 230  
... ... @@ -232,8 +232,12 @@
232 232  Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
233 233  )))
234 234  
235 -|(% colspan="2" %)(% style="color:inherit; font-family:inherit" %)__ID Number (**ID**)__
237 +|(% colspan="2" %)(((
238 +====== (% style="color:inherit; font-family:inherit" %)__ID Number__(%%) ======
239 +)))
236 236  |(% style="width:30px" %) |(((
241 +This assigns ID #5 to the servo previously assigned to ID 0
242 +
237 237  (% style="color:inherit; font-family:inherit" %)Configure ID Number (**CID**)
238 238  
239 239  (% style="color:inherit; font-family:inherit" %)Ex: #0CID5<cr>
... ... @@ -247,7 +247,9 @@
247 247  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.
248 248  )))
249 249  
250 -|(% colspan="2" %)(% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor (**ET**)__
256 +|(% colspan="2" %)(((
257 +====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor__(%%) ======
258 +)))
251 251  |(% style="width:30px" %) |(((
252 252  Query Enable CAN Terminal Resistor (**QET**)
253 253  
... ... @@ -262,7 +262,9 @@
262 262  (% 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.
263 263  )))
264 264  
265 -|(% colspan="2" %)__USB Connection Status (**UC**)__
273 +|(% colspan="2" %)(((
274 +====== __USB Connection Status__ ======
275 +)))
266 266  |(% style="width:30px" %) |(((
267 267  Query USB Connection Status (**QUC**)
268 268  
... ... @@ -269,7 +269,9 @@
269 269  Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
270 270  )))
271 271  
272 -|(% colspan="2" %)__Firmware Release (**FR**)__
282 +|(% colspan="2" %)(((
283 +====== __Firmware Release__ ======
284 +)))
273 273  |(% style="width:30px" %) |(((
274 274  Query Firmware Release (**QFR**)
275 275  
... ... @@ -278,22 +278,13 @@
278 278  This is used to verify if the firmware on the servos is up to date, or which version is running on the microcontroller.
279 279  )))
280 280  
281 -====== ======
282 -
283 -
284 -====== ======
285 -
286 -
287 -====== ======
288 -
289 -
290 -====== ======
291 -
292 -
293 -
294 294  == Motion ==
295 295  
296 -====== __Position in Degrees (**D**)__ ======
295 +|(% colspan="2" %)(((
296 +====== __Position in Degrees__ ======
297 +)))
298 +|(% style="width:30px" %) |(((
299 +Position in Degrees (**D**)
297 297  
298 298  Example: #5D1456<cr>
299 299  
... ... @@ -312,15 +312,24 @@
312 312  Ex: #5QDT<cr> might return *5QDT6783<cr>
313 313  
314 314  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.
318 +)))
315 315  
316 -====== __(Relative) Move in Degrees (**MD**)__ ======
320 +|(% colspan="2" %)(((
321 +====== __(Relative) Move in Degrees__ ======
322 +)))
323 +|(% style="width:30px" %) |(((
324 +Move in Degrees (**MD**)
317 317  
318 -
319 319  Example: #5MD123<cr>
320 320  
321 321  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.
329 +)))
322 322  
323 -====== __Wheel Mode in Degrees (**WD**)__ ======
331 +|(% colspan="2" %)(((
332 +====== __Wheel Mode in Degrees__ ======
333 +)))
334 +|(% style="width:30px" %) |(((
335 +Wheel mode in Degrees (**WD**)
324 324  
325 325  Ex: #5WD90<cr>
326 326  
... ... @@ -331,8 +331,13 @@
331 331  Ex: #5QWD<cr> might return *5QWD90<cr>
332 332  
333 333  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).
346 +)))
334 334  
335 -====== __Wheel Mode in RPM (**WR**)__ ======
348 +|(% colspan="2" %)(((
349 +====== __Wheel Mode in RPM__ ======
350 +)))
351 +|(% style="width:30px" %) |(((
352 +Wheel moed in RPM (**WR**)
336 336  
337 337  Ex: #5WR40<cr>
338 338  
... ... @@ -343,8 +343,14 @@
343 343  Ex: #5QWR<cr> might return *5QWR40<cr>
344 344  
345 345  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).
363 +)))
346 346  
347 -====== __(Relative) Move in Degrees (**MD**)__ ======
365 +|(% colspan="2" %)(((
366 +====== __(Relative) Move in Degrees__ ======
367 +)))
368 +|(% style="width:30px" %) |(((
369 +(% class="wikigeneratedid" %)
370 +Move in Degrees (**MD**)
348 348  
349 349  (% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %)
350 350  Example: #5M1500<cr>
... ... @@ -351,8 +351,13 @@
351 351  
352 352  (% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
353 353  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.
377 +)))
354 354  
355 -====== __Query Status (**Q**)__ ======
379 +|(% colspan="2" %)(((
380 +====== __Query Status__ ======
381 +)))
382 +|(% style="width:30px" %) |(((
383 +Query Status (**Q**)
356 356  
357 357  The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
358 358  
... ... @@ -382,18 +382,29 @@
382 382  | |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
383 383  | |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
384 384  | |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
413 +)))
385 385  
386 -====== __Limp (**L**)__ ======
415 +|(% colspan="2" %)(((
416 +====== __Limp__ ======
417 +)))
418 +|(% style="width:30px" %) |(((
419 +Limp (**L**)
387 387  
388 388  Example: #5L<cr>
389 389  
390 390  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>.
424 +)))
391 391  
392 -====== __Halt & Hold (**H**)__ ======
426 +|(% colspan="2" %)(((
427 +====== __Halt & Hold__ ======
428 +)))
429 +|(% style="width:30px" %) |(((
430 +Halt & Hold (**H**)
393 393  
394 394  Example: #5H<cr>
395 395  
396 396  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.)
435 +)))
397 397  
398 398  == Motion Setup ==
399 399  
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