Last modified by Eric Nantel on 2024/09/06 14:52
From version < 78.13 >
edited by Eric Nantel
on 2024/07/22 14:28
To version < 79.1 >
edited by Eric Nantel
on 2024/07/22 14:56
< >
Change comment: There is no comment for this version

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... ... @@ -134,7 +134,7 @@
134 134  | |[[**Q**uery **M**otion **T**ime>>doc:||anchor="HMotionTime"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMT|(% style="text-align:center" %) | |0.01s|
135 135  | |[[**Q**uery **C**urrent **S**peed>>doc:||anchor="HCurrentSpeed"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QCS|(% style="text-align:center" %) | |0.01°/s|
136 136  | |[[**L**imp>>||anchor="HLimp28L29"]]|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Removes power from stepper coils
137 -| |[[**H**alt & Hold>>doc:||anchor="HHalt&Hold"]]|(% style="text-align:center" %)H|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Stops (halts) motion and holds last position
137 +| |[[**H**alt & Hold>>doc:||anchor="HHalt26Hold28H29"]]|(% style="text-align:center" %)H|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Stops (halts) motion and holds last position
138 138  
139 139  |(% colspan="8" style="color:orange; font-size:18px" %)[[**Motion Setup**>>||anchor="HMotionSetup"]]
140 140  |(% 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**
... ... @@ -275,17 +275,6 @@
275 275  Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
276 276  )))
277 277  
278 -|(% colspan="2" %)(((
279 -====== __Firmware Release__ ======
280 -)))
281 -|(% style="width:30px" %) |(((
282 -Query Firmware Release (**QFR**)
283 -
284 -Ex: #5QFR<cr> might return *QFR11<cr> meaning it has a (random) firmware release version number 11.
285 -
286 -This is used to verify if the firmware on the servos is up to date, or which version is running on the microcontroller.
287 -)))
288 -
289 289  == Motion ==
290 290  
291 291  |(% colspan="2" %)(((
... ... @@ -314,14 +314,17 @@
314 314  )))
315 315  
316 316  |(% colspan="2" %)(((
317 -====== __(Relative) Move in Degrees__ ======
306 +====== __Relative Move in Degrees__ ======
318 318  )))
319 319  |(% style="width:30px" %) |(((
309 +(% class="wikigeneratedid" %)
320 320  Move in Degrees (**MD**)
321 321  
322 -Example: #5MD123<cr>
312 +(% class="wikigeneratedid" %)
313 +Example: #5M1500<cr>
323 323  
324 -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.
315 +(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
316 +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.
325 325  )))
326 326  
327 327  |(% colspan="2" %)(((
... ... @@ -359,23 +359,9 @@
359 359  )))
360 360  
361 361  |(% colspan="2" %)(((
362 -====== __(Relative) Move in Degrees__ ======
354 +====== __Status__ ======
363 363  )))
364 364  |(% style="width:30px" %) |(((
365 -(% class="wikigeneratedid" %)
366 -Move in Degrees (**MD**)
367 -
368 -(% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %)
369 -Example: #5M1500<cr>
370 -
371 -(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
372 -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.
373 -)))
374 -
375 -|(% colspan="2" %)(((
376 -====== __Query Status__ ======
377 -)))
378 -|(% style="width:30px" %) |(((
379 379  Query Status (**Q**)
380 380  
381 381  The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
... ... @@ -412,7 +412,7 @@
412 412  ====== __Motion Time__ ======
413 413  )))
414 414  |(% style="width:30px" %) |(((
415 -
393 +Query Motion Time (**QMT**)
416 416  )))
417 417  
418 418  |(% colspan="2" %)(((
... ... @@ -419,7 +419,7 @@
419 419  ====== __Current Speed__ ======
420 420  )))
421 421  |(% style="width:30px" %) |(((
422 -
400 +Query Current Speed (**QCS**)
423 423  )))
424 424  
425 425  |(% colspan="2" %)(((
... ... @@ -426,8 +426,6 @@
426 426  ====== __Limp__ ======
427 427  )))
428 428  |(% style="width:30px" %) |(((
429 -Limp (**L**)
430 -
431 431  Example: #5L<cr>
432 432  
433 433  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>.
... ... @@ -437,8 +437,6 @@
437 437  ====== __Halt & Hold__ ======
438 438  )))
439 439  |(% style="width:30px" %) |(((
440 -Halt & Hold (**H**)
441 -
442 442  Example: #5H<cr>
443 443  
444 444  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.)
... ... @@ -447,7 +447,7 @@
447 447  == Motion Setup ==
448 448  
449 449  |(% colspan="2" %)(((
450 -====== __Origin Offset (**O**)__ ======
424 +====== __Origin Offset__ ======
451 451  )))
452 452  |(% style="width:30px" %) |(((
453 453  Example: #5O2400<cr>This command allows you to change the origin of the servo in relation to the factory zero position for that session. As with all action commands, the setting will be lost upon servo reset / power cycle. Origin offset commands are not cumulative and always relate to factory zero. In the first image, the origin at factory offset '0' (centered).
... ... @@ -474,7 +474,7 @@
474 474  )))
475 475  
476 476  |(% colspan="2" %)(((
477 -====== __Angular Range (**AR**)__ ======
451 +====== __Angular Range__ ======
478 478  )))
479 479  |(% style="width:30px" %) |(((
480 480  Example: #5AR1800<cr>
... ... @@ -503,7 +503,7 @@
503 503  )))
504 504  
505 505  |(% colspan="2" %)(((
506 -====== __Angular Acceleration (**AA**)__ ======
480 +====== __Angular Acceleration__ ======
507 507  )))
508 508  |(% style="width:30px" %) |(((
509 509  The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
... ... @@ -526,7 +526,7 @@
526 526  )))
527 527  
528 528  |(% colspan="2" %)(((
529 -====== __Angular Deceleration (**AD**)__ ======
503 +====== __Angular Deceleration__ ======
530 530  )))
531 531  |(% style="width:30px" %) |(((
532 532  The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
... ... @@ -549,7 +549,7 @@
549 549  )))
550 550  
551 551  |(% colspan="2" %)(((
552 -====== __Gyre Direction (**G**)__ ======
526 +====== __Gyre Direction__ ======
553 553  )))
554 554  |(% style="width:30px" %) |(((
555 555  "Gyre" is defined as a circular course or motion. The effect of changing the gyre direction is as if you were to use a mirror image of a circle. By default: CW = 1; CCW = -1.
... ... @@ -575,15 +575,37 @@
575 575  ====== __First Position__ ======
576 576  )))
577 577  |(% style="width:30px" %) |(((
578 -In certain cases, a user might want to have the servo move to a specific angle upon power up; we refer to this as "first position" (a.k.a. "initial position"). The factory default has no first position value stored in EEPROM and therefore upon power up, the servo remains limp until a position (or hold command) is assigned. Note that the number should be restricted to -1790 (-179.0 degrees) to +1790 (179.0 degrees) and values beyond this will be changed to 1800.Query First Position in Degrees (**QFD**)Ex: #5QFD<cr> might return *5QFD900<cr>The reply above indicates that servo with ID 5 has a first position of 90.0 degrees. If there is no first position value stored, the reply will be DIS.Configure First Position in Degrees (**CFD**)Ex: #5CFD900<cr>This configuration command means the servo, when set to smart mode, will immediately move to 90.0 degrees upon power up. Sending a CFD command without a number (Ex. #5CFD<cr>) results in the servo remaining limp upon power up. In order to remove the first position, send no value, ex: #5CFD<cr>
552 +In certain cases, a user might want to have the servo move to a specific angle upon power up; we refer to this as "first position" (a.k.a. "initial position"). The factory default has no first position value stored in EEPROM and therefore upon power up, the servo remains limp until a position (or hold command) is assigned.
553 +
554 +Note that the number should be restricted to -1790 (-179.0 degrees) to +1790 (179.0 degrees) and values beyond this will be changed to 1800.
555 +
556 +Query First Position in Degrees (**QFD**)
557 +
558 +Ex: #5QFD<cr> might return *5QFD900<cr>The reply above indicates that servo with ID 5 has a first position of 90.0 degrees. If there is no first position value stored, the reply will be DIS.
559 +
560 +Configure First Position in Degrees (**CFD**)
561 +
562 +Ex: #5CFD900<cr>
563 +
564 +This configuration command means the servo, when set to smart mode, will immediately move to 90.0 degrees upon power up. Sending a CFD command without a number (Ex. #5CFD<cr>) results in the servo remaining limp upon power up. In order to remove the first position, send no value, ex: #5CFD<cr>
579 579  )))
580 580  
581 581  |(% colspan="2" %)(((
582 -====== __Maximum Speed in Degrees (**SD**)__ ======
568 +====== __Maximum Speed in Degrees__ ======
583 583  )))
584 584  |(% style="width:30px" %) |(((
585 -Ex: #5SD1800<cr>This command sets the servo's maximum speed for motion commands in tenths of degrees per second for that session. In the example above, the servo's maximum speed for that session would be set to 180.0 degrees per second. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. The SD action command overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD and SR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.Query Speed in Degrees (**QSD**)Ex: #5QSD<cr> might return *5QSD1800<cr>By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever an SD/SR command is processed. If #5QSD1<cr> is sent, the configured maximum speed (CSD value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
571 +Maximum Speed in Degrees (**SD**)
586 586  
573 +Ex: #5SD1800<cr>
574 +
575 +This command sets the servo's maximum speed for motion commands in tenths of degrees per second for that session. In the example above, the servo's maximum speed for that session would be set to 180.0 degrees per second. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. The SD action command overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD and SR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.
576 +
577 +Query Speed in Degrees (**QSD**)
578 +
579 +Ex: #5QSD<cr> might return *5QSD1800<cr>
580 +
581 +By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever an SD/SR command is processed. If #5QSD1<cr> is sent, the configured maximum speed (CSD value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
582 +
587 587  |**Command sent**|**Returned value (1/10 °)**
588 588  |ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
589 589  |ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
... ... @@ -590,15 +590,41 @@
590 590  |ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
591 591  |ex: #5QSD3<cr>|Target travel speed
592 592  
593 -Configure Speed in Degrees (**CSD**)Ex: #5CSD1800<cr>Using the CSD 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 180.0 degrees per second. When the servo is powered on (or after a reset), the CSD value is used. Note that CSD and CSR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) is what the servo uses for that session.
589 +Configure Speed in Degrees (**CSD**)
590 +
591 +Ex: #5CSD1800<cr>
592 +
593 +Using the CSD 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 180.0 degrees per second. When the servo is powered on (or after a reset), the CSD value is used. Note that CSD and CSR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) is what the servo uses for that session.
594 594  )))
595 595  
596 596  |(% colspan="2" %)(((
597 -====== __Maximum Speed in RPM (**SR**)__ ======
597 +====== __Maximum Speed in RPM__ ======
598 598  )))
599 599  |(% style="width:30px" %) |(((
600 -====== Ex: #5SR45<cr>This command sets the servo's maximum speed for motion commands in rpm for that session. In the example above, the servo's maximum speed for that session would be set to 45rpm. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SR overrides CSR (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSR as described below. Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.Query Speed in RPM (**QSR**)Ex: #5QSR<cr> might return *5QSR45<cr>By default QSR will return the current session value, which is set to the value of CSR as reset/power cycle and changed whenever an SD/SR command is processed. If #5QSR1<cr> is sent, the configured maximum speed (CSR value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example: ======
600 +(% class="wikigeneratedid" %)
601 +Maximum Speed in RPM (**SR**)
601 601  
603 +(% class="wikigeneratedid" id="HEx:235SR453Ccr3EThiscommandsetstheservo27smaximumspeedformotioncommandsinrpmforthatsession.Intheexampleabove2Ctheservo27smaximumspeedforthatsessionwouldbesetto45rpm.Theservo27smaximumspeedcannotbesethigherthanitsphysicallimitatagivenvoltage.SRoverridesCSR28describedbelow29forthatsession.Uponresetorpowercycle2CtheservorevertstothevalueassociatedwithCSRasdescribedbelow.NotethatSD28describedabove29andSRareeffectivelythesame2Cbutallowtheusertospecifythespeedineitherunit.Thelastcommand28eitherSRorSD29receivediswhattheservousesforthatsession.QuerySpeedinRPM28QSR29Ex:235QSR3Ccr3Emightreturn2A5QSR453Ccr3EBydefaultQSRwillreturnthecurrentsessionvalue2CwhichissettothevalueofCSRasreset2FpowercycleandchangedwheneveranSD2FSRcommandisprocessed.If235QSR13Ccr3Eissent2Ctheconfiguredmaximumspeed28CSRvalue29willbereturnedinstead.Youcanalsoquerythecurrentspeedusing22222andthecurrenttargettravelspeedusing22322.Seethetablebelowforanexample:" %)
604 +Ex: #5SR45<cr>
605 +
606 +(% class="wikigeneratedid" %)
607 +This command sets the servo's maximum speed for motion commands in rpm for that session. In the example above, the servo's maximum speed for that session would be set to 45rpm. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SR overrides CSR (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSR as described below.
608 +
609 +(% class="wikigeneratedid" %)
610 +Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit.
611 +
612 +(% class="wikigeneratedid" %)
613 +The last command (either SR or SD) received is what the servo uses for that session.
614 +
615 +(% class="wikigeneratedid" %)
616 +Query Speed in RPM (**QSR**)
617 +
618 +(% class="wikigeneratedid" %)
619 +Ex: #5QSR<cr> might return *5QSR45<cr>
620 +
621 +(% class="wikigeneratedid" %)
622 +By default QSR will return the current session value, which is set to the value of CSR as reset/power cycle and changed whenever an SD/SR command is processed. If #5QSR1<cr> is sent, the configured maximum speed (CSR value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
623 +
602 602  |**Command sent**|**Returned value (1/10 °)**
603 603  |ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
604 604  |ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
... ... @@ -605,17 +605,25 @@
605 605  |ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
606 606  |ex: #5QSR3<cr>|Target travel speed
607 607  
608 -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.
630 +Configure Speed in RPM (**CSR**)
631 +
632 +Ex: #5CSR45<cr>
633 +
634 +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.
609 609  )))
610 610  
611 611  == Modifiers ==
612 612  
613 613  |(% colspan="2" %)(((
614 -====== __Speed (**SD**) modifier__ ======
640 +====== __Speed __ ======
615 615  )))
616 616  |(% style="width:30px" %) |(((
617 -====== Example: #5D0SD180<cr> ======
643 +(% class="wikigeneratedid" %)
644 +Speed in Degrees (**SD**)
618 618  
646 +(% class="wikigeneratedid" id="HExample:235D0SD1803Ccr3E" %)
647 +Example: #5D0SD180<cr>
648 +
619 619  (% class="wikigeneratedid" %)
620 620  Modifier (SD) is only for a position (D) or relative position (MD) action and determines the speed of the move in tenths of degrees per second. A speed modifier (SD) of 180 would cause the servo to rotate from its current position to the desired absolute or relative position at a speed of 18 degrees per second.
621 621  
... ... @@ -630,9 +630,11 @@
630 630  )))
631 631  
632 632  |(% colspan="2" %)(((
633 -====== __Timed move (**T**) modifier__ ======
663 +====== __Timed move__ ======
634 634  )))
635 635  |(% style="width:30px" %) |(((
666 +Timed Move (**T**)
667 +
636 636  Example: #5D15000T2500<cr>
637 637  
638 638  Timed move can be used only as a modifier for a position (D, MD) actions. The units are in milliseconds, so a timed move of 2500 milliseconds would cause the servo to rotate from its current position to the desired position in 2.5 seconds. The onboard controller will attempt to ensure that the move is performed entirely at the desired velocity, though differences in torque may cause it to not be exact. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.
... ... @@ -643,9 +643,11 @@
643 643  == Telemetry ==
644 644  
645 645  |(% colspan="2" %)(((
646 -====== __**Q**uery PCB **T**emperature (**QT**)__ ======
678 +====== __Temperature PCB__ ======
647 647  )))
648 648  |(% style="width:30px" %) |(((
681 +Query Temp PCB (**QT**)
682 +
649 649  Ex: #5QT<cr> might return *5QT564<cr>
650 650  
651 651  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.
... ... @@ -652,27 +652,37 @@
652 652  )))
653 653  
654 654  |(% colspan="2" %)(((
655 -====== __**Q**uery **C**urrent (**QC**)__ ======
689 +====== __Current__ ======
656 656  )))
657 657  |(% style="width:30px" %) |(((
658 -====== Ex: #5QC<cr> might return *5QC140<cr> ======
692 +(% class="wikigeneratedid" %)
693 +Query Current (**QC**)
659 659  
695 +(% class="wikigeneratedid" id="HEx:235QC3Ccr3Emightreturn2A5QC1403Ccr3E" %)
696 +Ex: #5QC<cr> might return *5QC140<cr>
697 +
660 660  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.
661 661  )))
662 662  
663 663  |(% colspan="2" %)(((
664 -====== __**Q**uery **M**odel **S**tring (**QMS**)__ ======
702 +====== __Model String__ ======
665 665  )))
666 666  |(% style="width:30px" %) |(((
667 -====== Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr> ======
705 +(% class="wikigeneratedid" %)
706 +Query Model String (**QMS**)
668 668  
708 +(% class="wikigeneratedid" id="HEx:235QMS3Ccr3Emightreturn2A5QMSLSS-HS13Ccr3E" %)
709 +Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
710 +
669 669  This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
670 670  )))
671 671  
672 672  |(% colspan="2" %)(((
673 -====== __**Q**uery **F**irmware (**QF**)__ ======
715 +====== __Firmware__ ======
674 674  )))
675 675  |(% style="width:30px" %) |(((
718 +Query Firmware (**QF**)
719 +
676 676  Ex: #5QF<cr> might return *5QF368<cr>
677 677  
678 678  The number in the reply represents the firmware version, in this example being 368.The command #5QF3<cr> can also be sent and the servo will reply with a 3 numbers firmware version, for example, 368.29.14
... ... @@ -679,53 +679,62 @@
679 679  )))
680 680  
681 681  |(% colspan="2" %)(((
682 -====== __**Q**uery Serial **N**umber (**QN**)__ ======
726 +====== __Serial Number__ ======
683 683  )))
684 684  |(% style="width:30px" %) |(((
685 -====== Ex: #5QN<cr> might return *5QN12345678<cr> ======
729 +(% class="wikigeneratedid" %)
730 +Query Serial Number (**QN**)
686 686  
732 +(% class="wikigeneratedid" id="HEx:235QN3Ccr3Emightreturn2A5QN123456783Ccr3E" %)
733 +Ex: #5QN<cr> might return *5QN12345678<cr>
734 +
687 687  The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
688 688  )))
689 689  
690 690  |(% colspan="2" %)(((
691 -====== __**Q**uery **T**emperature **P**robe (**QTP**)__ ======
739 +====== __Temperature Probe__ ======
692 692  )))
693 693  |(% style="width:30px" %) |(((
694 -
742 +Query Temp motor Probe (**QTP**)
695 695  )))
696 696  
697 697  |(% colspan="2" %)(((
698 -====== __**Q**uery **T**emperature **M**CU (**QTM**)__ ======
746 +====== __Temperature MCU__ ======
699 699  )))
700 700  |(% style="width:30px" %) |(((
701 -
749 +Query Temp MCU (**QTM**)
702 702  )))
703 703  
704 704  |(% colspan="2" %)(((
705 -====== __**Q**uery **T**emp **C**ontroller **E**rror (**QTCE**)__ ======
753 +====== __Temp Controller Error__ ======
706 706  )))
707 707  |(% style="width:30px" %) |(((
708 -====== ======
756 +(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
757 +Query Temp Controller Error (**QTCE**)
709 709  )))
710 710  
711 711  |(% colspan="2" %)(((
712 -====== **Q**uery **T**emp **C**ontroller **W**arning (**QTCW**) ======
761 +====== __Temp Controller Warning__ ======
713 713  )))
714 714  |(% style="width:30px" %) |(((
715 -====== ======
764 +(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
765 +Query Temp Controller Warning (**QTCW**)
716 716  )))
717 717  
718 718  |(% colspan="2" %)(((
719 -====== __Query Error Flag (**QEF**)__ ======
769 +====== __Error Flag__ ======
720 720  )))
721 721  |(% style="width:30px" %) |(((
722 -
772 +Query Error Flag (**QEF**)
723 723  )))
724 724  
725 725  |(% colspan="2" %)(((
726 -====== __**Q**uery **I**MU Linear (**QIX QIY QIZ**)__ ======
776 +====== __IMU Linear__ ======
727 727  )))
728 728  |(% style="width:30px" %) |(((
779 +(% class="wikigeneratedid" %)
780 +Query IMU Linear (**QIX QIY QIZ**)
781 +
729 729  ====== Ex: #6QIX<cr> might return *6QIX30<cr> ======
730 730  
731 731  This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
... ... @@ -732,11 +732,15 @@
732 732  )))
733 733  
734 734  |(% colspan="2" %)(((
735 -====== __**Q**uery **I**MU Angular (**QIA QIB QIG**)__ ======
788 +====== __IMU Angular__ ======
736 736  )))
737 737  |(% style="width:30px" %) |(((
738 -====== Ex: #6QIB<cr> might return *6QIB44<cr> ======
791 +(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
792 +Query IMU Angular (**QIA QIB QIG**)
793 +Ex: #6QIB<cr> might return *6QIB44<cr>
739 739  
740 740  This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
741 741  )))
742 742  
798 +
799 +

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