Last modified by Eric Nantel on 2024/09/06 14:52
From version < 78.14 >
edited by Eric Nantel
on 2024/07/22 14:31
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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... ... @@ -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" %)(((
... ... @@ -419,11 +419,11 @@
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 -====== __**L**imp (**L**)__ ======
404 +====== __Limp__ ======
427 427  )))
428 428  |(% style="width:30px" %) |(((
429 429  Example: #5L<cr>
... ... @@ -432,7 +432,7 @@
432 432  )))
433 433  
434 434  |(% colspan="2" %)(((
435 -====== __**H**alt & Hold (**H**)__ ======
413 +====== __Halt & Hold__ ======
436 436  )))
437 437  |(% style="width:30px" %) |(((
438 438  Example: #5H<cr>
... ... @@ -443,7 +443,7 @@
443 443  == Motion Setup ==
444 444  
445 445  |(% colspan="2" %)(((
446 -====== __Origin Offset (**O**)__ ======
424 +====== __Origin Offset__ ======
447 447  )))
448 448  |(% style="width:30px" %) |(((
449 449  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).
... ... @@ -470,7 +470,7 @@
470 470  )))
471 471  
472 472  |(% colspan="2" %)(((
473 -====== __Angular Range (**AR**)__ ======
451 +====== __Angular Range__ ======
474 474  )))
475 475  |(% style="width:30px" %) |(((
476 476  Example: #5AR1800<cr>
... ... @@ -499,7 +499,7 @@
499 499  )))
500 500  
501 501  |(% colspan="2" %)(((
502 -====== __Angular Acceleration (**AA**)__ ======
480 +====== __Angular Acceleration__ ======
503 503  )))
504 504  |(% style="width:30px" %) |(((
505 505  The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
... ... @@ -522,7 +522,7 @@
522 522  )))
523 523  
524 524  |(% colspan="2" %)(((
525 -====== __Angular Deceleration (**AD**)__ ======
503 +====== __Angular Deceleration__ ======
526 526  )))
527 527  |(% style="width:30px" %) |(((
528 528  The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
... ... @@ -545,7 +545,7 @@
545 545  )))
546 546  
547 547  |(% colspan="2" %)(((
548 -====== __Gyre Direction (**G**)__ ======
526 +====== __Gyre Direction__ ======
549 549  )))
550 550  |(% style="width:30px" %) |(((
551 551  "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.
... ... @@ -571,15 +571,37 @@
571 571  ====== __First Position__ ======
572 572  )))
573 573  |(% style="width:30px" %) |(((
574 -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>
575 575  )))
576 576  
577 577  |(% colspan="2" %)(((
578 -====== __Maximum Speed in Degrees (**SD**)__ ======
568 +====== __Maximum Speed in Degrees__ ======
579 579  )))
580 580  |(% style="width:30px" %) |(((
581 -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**)
582 582  
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 +
583 583  |**Command sent**|**Returned value (1/10 °)**
584 584  |ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
585 585  |ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
... ... @@ -586,15 +586,41 @@
586 586  |ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
587 587  |ex: #5QSD3<cr>|Target travel speed
588 588  
589 -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.
590 590  )))
591 591  
592 592  |(% colspan="2" %)(((
593 -====== __Maximum Speed in RPM (**SR**)__ ======
597 +====== __Maximum Speed in RPM__ ======
594 594  )))
595 595  |(% style="width:30px" %) |(((
596 -====== 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**)
597 597  
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 +
598 598  |**Command sent**|**Returned value (1/10 °)**
599 599  |ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
600 600  |ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
... ... @@ -601,17 +601,25 @@
601 601  |ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
602 602  |ex: #5QSR3<cr>|Target travel speed
603 603  
604 -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.
605 605  )))
606 606  
607 607  == Modifiers ==
608 608  
609 609  |(% colspan="2" %)(((
610 -====== __Speed (**SD**) modifier__ ======
640 +====== __Speed __ ======
611 611  )))
612 612  |(% style="width:30px" %) |(((
613 -====== Example: #5D0SD180<cr> ======
643 +(% class="wikigeneratedid" %)
644 +Speed in Degrees (**SD**)
614 614  
646 +(% class="wikigeneratedid" id="HExample:235D0SD1803Ccr3E" %)
647 +Example: #5D0SD180<cr>
648 +
615 615  (% class="wikigeneratedid" %)
616 616  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.
617 617  
... ... @@ -626,9 +626,11 @@
626 626  )))
627 627  
628 628  |(% colspan="2" %)(((
629 -====== __Timed move (**T**) modifier__ ======
663 +====== __Timed move__ ======
630 630  )))
631 631  |(% style="width:30px" %) |(((
666 +Timed Move (**T**)
667 +
632 632  Example: #5D15000T2500<cr>
633 633  
634 634  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.
... ... @@ -639,9 +639,11 @@
639 639  == Telemetry ==
640 640  
641 641  |(% colspan="2" %)(((
642 -====== __**Q**uery PCB **T**emperature (**QT**)__ ======
678 +====== __Temperature PCB__ ======
643 643  )))
644 644  |(% style="width:30px" %) |(((
681 +Query Temp PCB (**QT**)
682 +
645 645  Ex: #5QT<cr> might return *5QT564<cr>
646 646  
647 647  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.
... ... @@ -648,27 +648,37 @@
648 648  )))
649 649  
650 650  |(% colspan="2" %)(((
651 -====== __**Q**uery **C**urrent (**QC**)__ ======
689 +====== __Current__ ======
652 652  )))
653 653  |(% style="width:30px" %) |(((
654 -====== Ex: #5QC<cr> might return *5QC140<cr> ======
692 +(% class="wikigeneratedid" %)
693 +Query Current (**QC**)
655 655  
695 +(% class="wikigeneratedid" id="HEx:235QC3Ccr3Emightreturn2A5QC1403Ccr3E" %)
696 +Ex: #5QC<cr> might return *5QC140<cr>
697 +
656 656  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.
657 657  )))
658 658  
659 659  |(% colspan="2" %)(((
660 -====== __**Q**uery **M**odel **S**tring (**QMS**)__ ======
702 +====== __Model String__ ======
661 661  )))
662 662  |(% style="width:30px" %) |(((
663 -====== Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr> ======
705 +(% class="wikigeneratedid" %)
706 +Query Model String (**QMS**)
664 664  
708 +(% class="wikigeneratedid" id="HEx:235QMS3Ccr3Emightreturn2A5QMSLSS-HS13Ccr3E" %)
709 +Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
710 +
665 665  This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
666 666  )))
667 667  
668 668  |(% colspan="2" %)(((
669 -====== __**Q**uery **F**irmware (**QF**)__ ======
715 +====== __Firmware__ ======
670 670  )))
671 671  |(% style="width:30px" %) |(((
718 +Query Firmware (**QF**)
719 +
672 672  Ex: #5QF<cr> might return *5QF368<cr>
673 673  
674 674  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
... ... @@ -675,53 +675,62 @@
675 675  )))
676 676  
677 677  |(% colspan="2" %)(((
678 -====== __**Q**uery Serial **N**umber (**QN**)__ ======
726 +====== __Serial Number__ ======
679 679  )))
680 680  |(% style="width:30px" %) |(((
681 -====== Ex: #5QN<cr> might return *5QN12345678<cr> ======
729 +(% class="wikigeneratedid" %)
730 +Query Serial Number (**QN**)
682 682  
732 +(% class="wikigeneratedid" id="HEx:235QN3Ccr3Emightreturn2A5QN123456783Ccr3E" %)
733 +Ex: #5QN<cr> might return *5QN12345678<cr>
734 +
683 683  The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
684 684  )))
685 685  
686 686  |(% colspan="2" %)(((
687 -====== __**Q**uery **T**emperature **P**robe (**QTP**)__ ======
739 +====== __Temperature Probe__ ======
688 688  )))
689 689  |(% style="width:30px" %) |(((
690 -
742 +Query Temp motor Probe (**QTP**)
691 691  )))
692 692  
693 693  |(% colspan="2" %)(((
694 -====== __**Q**uery **T**emperature **M**CU (**QTM**)__ ======
746 +====== __Temperature MCU__ ======
695 695  )))
696 696  |(% style="width:30px" %) |(((
697 -
749 +Query Temp MCU (**QTM**)
698 698  )))
699 699  
700 700  |(% colspan="2" %)(((
701 -====== __**Q**uery **T**emp **C**ontroller **E**rror (**QTCE**)__ ======
753 +====== __Temp Controller Error__ ======
702 702  )))
703 703  |(% style="width:30px" %) |(((
704 -====== ======
756 +(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
757 +Query Temp Controller Error (**QTCE**)
705 705  )))
706 706  
707 707  |(% colspan="2" %)(((
708 -====== **Q**uery **T**emp **C**ontroller **W**arning (**QTCW**) ======
761 +====== __Temp Controller Warning__ ======
709 709  )))
710 710  |(% style="width:30px" %) |(((
711 -====== ======
764 +(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
765 +Query Temp Controller Warning (**QTCW**)
712 712  )))
713 713  
714 714  |(% colspan="2" %)(((
715 -====== __Query Error Flag (**QEF**)__ ======
769 +====== __Error Flag__ ======
716 716  )))
717 717  |(% style="width:30px" %) |(((
718 -
772 +Query Error Flag (**QEF**)
719 719  )))
720 720  
721 721  |(% colspan="2" %)(((
722 -====== __**Q**uery **I**MU Linear (**QIX QIY QIZ**)__ ======
776 +====== __IMU Linear__ ======
723 723  )))
724 724  |(% style="width:30px" %) |(((
779 +(% class="wikigeneratedid" %)
780 +Query IMU Linear (**QIX QIY QIZ**)
781 +
725 725  ====== Ex: #6QIX<cr> might return *6QIX30<cr> ======
726 726  
727 727  This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
... ... @@ -728,11 +728,15 @@
728 728  )))
729 729  
730 730  |(% colspan="2" %)(((
731 -====== __**Q**uery **I**MU Angular (**QIA QIB QIG**)__ ======
788 +====== __IMU Angular__ ======
732 732  )))
733 733  |(% style="width:30px" %) |(((
734 -====== 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>
735 735  
736 736  This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
737 737  )))
738 738  
798 +
799 +
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