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

Summary

Details

Page properties
Content
... ... @@ -197,7 +197,7 @@
197 197  |(% colspan="2" %)(((
198 198  ====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ======
199 199  )))
200 -|(% style="width:30px" %) |(((
200 +| |(((
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 -|(% style="width:30px" %) |(((
215 +| |(((
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.
... ... @@ -224,9 +224,7 @@
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" %)(((
228 -====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
229 -)))
227 +|(% colspan="2" %)(% style="color:inherit; font-family:inherit" %)__Confirm__
230 230  |(% style="width:30px" %) |(((
231 231  (% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
232 232  
... ... @@ -234,12 +234,8 @@
234 234  Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
235 235  )))
236 236  
237 -|(% colspan="2" %)(((
238 -====== (% style="color:inherit; font-family:inherit" %)__ID Number__(%%) ======
239 -)))
235 +|(% colspan="2" %)(% style="color:inherit; font-family:inherit" %)__ID Number (**ID**)__
240 240  |(% style="width:30px" %) |(((
241 -This assigns ID #5 to the servo previously assigned to ID 0
242 -
243 243  (% style="color:inherit; font-family:inherit" %)Configure ID Number (**CID**)
244 244  
245 245  (% style="color:inherit; font-family:inherit" %)Ex: #0CID5<cr>
... ... @@ -253,9 +253,7 @@
253 253  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.
254 254  )))
255 255  
256 -|(% colspan="2" %)(((
257 -====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor__(%%) ======
258 -)))
250 +|(% colspan="2" %)(% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor (**ET**)__
259 259  |(% style="width:30px" %) |(((
260 260  Query Enable CAN Terminal Resistor (**QET**)
261 261  
... ... @@ -270,9 +270,7 @@
270 270  (% 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.
271 271  )))
272 272  
273 -|(% colspan="2" %)(((
274 -====== __USB Connection Status__ ======
275 -)))
265 +|(% colspan="2" %)__USB Connection Status (**UC**)__
276 276  |(% style="width:30px" %) |(((
277 277  Query USB Connection Status (**QUC**)
278 278  
... ... @@ -279,9 +279,7 @@
279 279  Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
280 280  )))
281 281  
282 -|(% colspan="2" %)(((
283 -====== __Firmware Release__ ======
284 -)))
272 +|(% colspan="2" %)__Firmware Release (**FR**)__
285 285  |(% style="width:30px" %) |(((
286 286  Query Firmware Release (**QFR**)
287 287  
... ... @@ -290,13 +290,22 @@
290 290  This is used to verify if the firmware on the servos is up to date, or which version is running on the microcontroller.
291 291  )))
292 292  
281 +====== ======
282 +
283 +
284 +====== ======
285 +
286 +
287 +====== ======
288 +
289 +
290 +====== ======
291 +
292 +
293 +
293 293  == Motion ==
294 294  
295 -|(% colspan="2" %)(((
296 -====== __Position in Degrees__ ======
297 -)))
298 -|(% style="width:30px" %) |(((
299 -Position in Degrees (**D**)
296 +====== __Position in Degrees (**D**)__ ======
300 300  
301 301  Example: #5D1456<cr>
302 302  
... ... @@ -315,24 +315,15 @@
315 315  Ex: #5QDT<cr> might return *5QDT6783<cr>
316 316  
317 317  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 -)))
319 319  
320 -|(% colspan="2" %)(((
321 -====== __(Relative) Move in Degrees__ ======
322 -)))
323 -|(% style="width:30px" %) |(((
324 -Move in Degrees (**MD**)
316 +====== __(Relative) Move in Degrees (**MD**)__ ======
325 325  
318 +
326 326  Example: #5MD123<cr>
327 327  
328 328  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 -)))
330 330  
331 -|(% colspan="2" %)(((
332 -====== __Wheel Mode in Degrees__ ======
333 -)))
334 -|(% style="width:30px" %) |(((
335 -Wheel mode in Degrees (**WD**)
323 +====== __Wheel Mode in Degrees (**WD**)__ ======
336 336  
337 337  Ex: #5WD90<cr>
338 338  
... ... @@ -343,13 +343,8 @@
343 343  Ex: #5QWD<cr> might return *5QWD90<cr>
344 344  
345 345  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 -)))
347 347  
348 -|(% colspan="2" %)(((
349 -====== __Wheel Mode in RPM__ ======
350 -)))
351 -|(% style="width:30px" %) |(((
352 -Wheel moed in RPM (**WR**)
335 +====== __Wheel Mode in RPM (**WR**)__ ======
353 353  
354 354  Ex: #5WR40<cr>
355 355  
... ... @@ -360,14 +360,8 @@
360 360  Ex: #5QWR<cr> might return *5QWR40<cr>
361 361  
362 362  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 -)))
364 364  
365 -|(% colspan="2" %)(((
366 -====== __(Relative) Move in Degrees__ ======
367 -)))
368 -|(% style="width:30px" %) |(((
369 -(% class="wikigeneratedid" %)
370 -Move in Degrees (**MD**)
347 +====== __(Relative) Move in Degrees (**MD**)__ ======
371 371  
372 372  (% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %)
373 373  Example: #5M1500<cr>
... ... @@ -374,13 +374,8 @@
374 374  
375 375  (% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
376 376  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 -)))
378 378  
379 -|(% colspan="2" %)(((
380 -====== __Query Status__ ======
381 -)))
382 -|(% style="width:30px" %) |(((
383 -Query Status (**Q**)
355 +====== __Query Status (**Q**)__ ======
384 384  
385 385  The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
386 386  
... ... @@ -410,29 +410,18 @@
410 410  | |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
411 411  | |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
412 412  | |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
413 -)))
414 414  
415 -|(% colspan="2" %)(((
416 -====== __Limp__ ======
417 -)))
418 -|(% style="width:30px" %) |(((
419 -Limp (**L**)
386 +====== __Limp (**L**)__ ======
420 420  
421 421  Example: #5L<cr>
422 422  
423 423  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 -)))
425 425  
426 -|(% colspan="2" %)(((
427 -====== __Halt & Hold__ ======
428 -)))
429 -|(% style="width:30px" %) |(((
430 -Halt & Hold (**H**)
392 +====== __Halt & Hold (**H**)__ ======
431 431  
432 432  Example: #5H<cr>
433 433  
434 434  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 -)))
436 436  
437 437  == Motion Setup ==
438 438  
Copyright RobotShop 2018