Last modified by Eric Nantel on 2024/09/06 14:52
From version < 78.15 >
edited by Eric Nantel
on 2024/07/22 14:34
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" %)(((
... ... @@ -359,20 +359,11 @@
359 359  )))
360 360  
361 361  |(% colspan="2" %)(((
362 -====== __Relative **M**ove in **D**egrees (**MD**)__ ======
354 +====== __Status__ ======
363 363  )))
364 364  |(% style="width:30px" %) |(((
365 -(% class="wikigeneratedid" %)
366 -Example: #5M1500<cr>
357 +Query Status (**Q**)
367 367  
368 -(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
369 -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.
370 -)))
371 -
372 -|(% colspan="2" %)(((
373 -====== __**Q**uery Status (**Q**)__ ======
374 -)))
375 -|(% style="width:30px" %) |(((
376 376  The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
377 377  
378 378  Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
... ... @@ -404,21 +404,21 @@
404 404  )))
405 405  
406 406  |(% colspan="2" %)(((
407 -====== __**Q**uery** M**otion **T**ime (**QMT**)__ ======
390 +====== __Motion Time__ ======
408 408  )))
409 409  |(% style="width:30px" %) |(((
410 -
393 +Query Motion Time (**QMT**)
411 411  )))
412 412  
413 413  |(% colspan="2" %)(((
414 -====== __**Q**uery** C**urrent **S**peed (**QCS**)__ ======
397 +====== __Current Speed__ ======
415 415  )))
416 416  |(% style="width:30px" %) |(((
417 -
400 +Query Current Speed (**QCS**)
418 418  )))
419 419  
420 420  |(% colspan="2" %)(((
421 -====== __**L**imp (**L**)__ ======
404 +====== __Limp__ ======
422 422  )))
423 423  |(% style="width:30px" %) |(((
424 424  Example: #5L<cr>
... ... @@ -427,7 +427,7 @@
427 427  )))
428 428  
429 429  |(% colspan="2" %)(((
430 -====== __**H**alt & Hold (**H**)__ ======
413 +====== __Halt & Hold__ ======
431 431  )))
432 432  |(% style="width:30px" %) |(((
433 433  Example: #5H<cr>
... ... @@ -438,7 +438,7 @@
438 438  == Motion Setup ==
439 439  
440 440  |(% colspan="2" %)(((
441 -====== __Origin Offset (**O**)__ ======
424 +====== __Origin Offset__ ======
442 442  )))
443 443  |(% style="width:30px" %) |(((
444 444  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).
... ... @@ -465,7 +465,7 @@
465 465  )))
466 466  
467 467  |(% colspan="2" %)(((
468 -====== __Angular Range (**AR**)__ ======
451 +====== __Angular Range__ ======
469 469  )))
470 470  |(% style="width:30px" %) |(((
471 471  Example: #5AR1800<cr>
... ... @@ -494,7 +494,7 @@
494 494  )))
495 495  
496 496  |(% colspan="2" %)(((
497 -====== __Angular Acceleration (**AA**)__ ======
480 +====== __Angular Acceleration__ ======
498 498  )))
499 499  |(% style="width:30px" %) |(((
500 500  The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
... ... @@ -517,7 +517,7 @@
517 517  )))
518 518  
519 519  |(% colspan="2" %)(((
520 -====== __Angular Deceleration (**AD**)__ ======
503 +====== __Angular Deceleration__ ======
521 521  )))
522 522  |(% style="width:30px" %) |(((
523 523  The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
... ... @@ -540,7 +540,7 @@
540 540  )))
541 541  
542 542  |(% colspan="2" %)(((
543 -====== __Gyre Direction (**G**)__ ======
526 +====== __Gyre Direction__ ======
544 544  )))
545 545  |(% style="width:30px" %) |(((
546 546  "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.
... ... @@ -566,15 +566,37 @@
566 566  ====== __First Position__ ======
567 567  )))
568 568  |(% style="width:30px" %) |(((
569 -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>
570 570  )))
571 571  
572 572  |(% colspan="2" %)(((
573 -====== __Maximum Speed in Degrees (**SD**)__ ======
568 +====== __Maximum Speed in Degrees__ ======
574 574  )))
575 575  |(% style="width:30px" %) |(((
576 -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**)
577 577  
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 +
578 578  |**Command sent**|**Returned value (1/10 °)**
579 579  |ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
580 580  |ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
... ... @@ -581,15 +581,41 @@
581 581  |ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
582 582  |ex: #5QSD3<cr>|Target travel speed
583 583  
584 -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.
585 585  )))
586 586  
587 587  |(% colspan="2" %)(((
588 -====== __Maximum Speed in RPM (**SR**)__ ======
597 +====== __Maximum Speed in RPM__ ======
589 589  )))
590 590  |(% style="width:30px" %) |(((
591 -====== 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**)
592 592  
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 +
593 593  |**Command sent**|**Returned value (1/10 °)**
594 594  |ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
595 595  |ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
... ... @@ -596,17 +596,25 @@
596 596  |ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
597 597  |ex: #5QSR3<cr>|Target travel speed
598 598  
599 -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.
600 600  )))
601 601  
602 602  == Modifiers ==
603 603  
604 604  |(% colspan="2" %)(((
605 -====== __Speed (**SD**) modifier__ ======
640 +====== __Speed __ ======
606 606  )))
607 607  |(% style="width:30px" %) |(((
608 -====== Example: #5D0SD180<cr> ======
643 +(% class="wikigeneratedid" %)
644 +Speed in Degrees (**SD**)
609 609  
646 +(% class="wikigeneratedid" id="HExample:235D0SD1803Ccr3E" %)
647 +Example: #5D0SD180<cr>
648 +
610 610  (% class="wikigeneratedid" %)
611 611  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.
612 612  
... ... @@ -621,9 +621,11 @@
621 621  )))
622 622  
623 623  |(% colspan="2" %)(((
624 -====== __Timed move (**T**) modifier__ ======
663 +====== __Timed move__ ======
625 625  )))
626 626  |(% style="width:30px" %) |(((
666 +Timed Move (**T**)
667 +
627 627  Example: #5D15000T2500<cr>
628 628  
629 629  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.
... ... @@ -634,9 +634,11 @@
634 634  == Telemetry ==
635 635  
636 636  |(% colspan="2" %)(((
637 -====== __**Q**uery PCB **T**emperature (**QT**)__ ======
678 +====== __Temperature PCB__ ======
638 638  )))
639 639  |(% style="width:30px" %) |(((
681 +Query Temp PCB (**QT**)
682 +
640 640  Ex: #5QT<cr> might return *5QT564<cr>
641 641  
642 642  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.
... ... @@ -643,27 +643,37 @@
643 643  )))
644 644  
645 645  |(% colspan="2" %)(((
646 -====== __**Q**uery **C**urrent (**QC**)__ ======
689 +====== __Current__ ======
647 647  )))
648 648  |(% style="width:30px" %) |(((
649 -====== Ex: #5QC<cr> might return *5QC140<cr> ======
692 +(% class="wikigeneratedid" %)
693 +Query Current (**QC**)
650 650  
695 +(% class="wikigeneratedid" id="HEx:235QC3Ccr3Emightreturn2A5QC1403Ccr3E" %)
696 +Ex: #5QC<cr> might return *5QC140<cr>
697 +
651 651  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.
652 652  )))
653 653  
654 654  |(% colspan="2" %)(((
655 -====== __**Q**uery **M**odel **S**tring (**QMS**)__ ======
702 +====== __Model String__ ======
656 656  )))
657 657  |(% style="width:30px" %) |(((
658 -====== Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr> ======
705 +(% class="wikigeneratedid" %)
706 +Query Model String (**QMS**)
659 659  
708 +(% class="wikigeneratedid" id="HEx:235QMS3Ccr3Emightreturn2A5QMSLSS-HS13Ccr3E" %)
709 +Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
710 +
660 660  This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
661 661  )))
662 662  
663 663  |(% colspan="2" %)(((
664 -====== __**Q**uery **F**irmware (**QF**)__ ======
715 +====== __Firmware__ ======
665 665  )))
666 666  |(% style="width:30px" %) |(((
718 +Query Firmware (**QF**)
719 +
667 667  Ex: #5QF<cr> might return *5QF368<cr>
668 668  
669 669  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
... ... @@ -670,53 +670,62 @@
670 670  )))
671 671  
672 672  |(% colspan="2" %)(((
673 -====== __**Q**uery Serial **N**umber (**QN**)__ ======
726 +====== __Serial Number__ ======
674 674  )))
675 675  |(% style="width:30px" %) |(((
676 -====== Ex: #5QN<cr> might return *5QN12345678<cr> ======
729 +(% class="wikigeneratedid" %)
730 +Query Serial Number (**QN**)
677 677  
732 +(% class="wikigeneratedid" id="HEx:235QN3Ccr3Emightreturn2A5QN123456783Ccr3E" %)
733 +Ex: #5QN<cr> might return *5QN12345678<cr>
734 +
678 678  The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
679 679  )))
680 680  
681 681  |(% colspan="2" %)(((
682 -====== __**Q**uery **T**emperature **P**robe (**QTP**)__ ======
739 +====== __Temperature Probe__ ======
683 683  )))
684 684  |(% style="width:30px" %) |(((
685 -
742 +Query Temp motor Probe (**QTP**)
686 686  )))
687 687  
688 688  |(% colspan="2" %)(((
689 -====== __**Q**uery **T**emperature **M**CU (**QTM**)__ ======
746 +====== __Temperature MCU__ ======
690 690  )))
691 691  |(% style="width:30px" %) |(((
692 -
749 +Query Temp MCU (**QTM**)
693 693  )))
694 694  
695 695  |(% colspan="2" %)(((
696 -====== __**Q**uery **T**emp **C**ontroller **E**rror (**QTCE**)__ ======
753 +====== __Temp Controller Error__ ======
697 697  )))
698 698  |(% style="width:30px" %) |(((
699 -====== ======
756 +(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
757 +Query Temp Controller Error (**QTCE**)
700 700  )))
701 701  
702 702  |(% colspan="2" %)(((
703 -====== **Q**uery **T**emp **C**ontroller **W**arning (**QTCW**) ======
761 +====== __Temp Controller Warning__ ======
704 704  )))
705 705  |(% style="width:30px" %) |(((
706 -====== ======
764 +(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
765 +Query Temp Controller Warning (**QTCW**)
707 707  )))
708 708  
709 709  |(% colspan="2" %)(((
710 -====== __Query Error Flag (**QEF**)__ ======
769 +====== __Error Flag__ ======
711 711  )))
712 712  |(% style="width:30px" %) |(((
713 -
772 +Query Error Flag (**QEF**)
714 714  )))
715 715  
716 716  |(% colspan="2" %)(((
717 -====== __**Q**uery **I**MU Linear (**QIX QIY QIZ**)__ ======
776 +====== __IMU Linear__ ======
718 718  )))
719 719  |(% style="width:30px" %) |(((
779 +(% class="wikigeneratedid" %)
780 +Query IMU Linear (**QIX QIY QIZ**)
781 +
720 720  ====== Ex: #6QIX<cr> might return *6QIX30<cr> ======
721 721  
722 722  This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
... ... @@ -723,11 +723,15 @@
723 723  )))
724 724  
725 725  |(% colspan="2" %)(((
726 -====== __**Q**uery **I**MU Angular (**QIA QIB QIG**)__ ======
788 +====== __IMU Angular__ ======
727 727  )))
728 728  |(% style="width:30px" %) |(((
729 -====== 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>
730 730  
731 731  This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
732 732  )))
733 733  
798 +
799 +
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