Last modified by Eric Nantel on 2024/09/06 14:52
From version < 78.16 >
edited by Eric Nantel
on 2024/07/22 14:36
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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... ... @@ -275,23 +275,14 @@
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" %)(((
292 -====== __Position in **D**egrees (**D**)__ ======
281 +====== __Position in Degrees__ ======
293 293  )))
294 294  |(% style="width:30px" %) |(((
284 +Position in Degrees (**D**)
285 +
295 295  Example: #5D1456<cr>
296 296  
297 297  This moves the servo to an angle of 145.6 degrees, where the center (0) position is centered. Negative values (ex. -176 representing -17.6 degrees) could also be used. A full circle would be from -1800 to 1800 degrees. A value of 2700 would be the same angle (absolute position) as -900, except the servo would move in a different direction.
... ... @@ -312,10 +312,13 @@
312 312  )))
313 313  
314 314  |(% colspan="2" %)(((
315 -====== __Relative **M**ove in **D**egrees (**MD**)__ ======
306 +====== __Relative Move in Degrees__ ======
316 316  )))
317 317  |(% style="width:30px" %) |(((
318 318  (% class="wikigeneratedid" %)
310 +Move in Degrees (**MD**)
311 +
312 +(% class="wikigeneratedid" %)
319 319  Example: #5M1500<cr>
320 320  
321 321  (% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
... ... @@ -323,7 +323,7 @@
323 323  )))
324 324  
325 325  |(% colspan="2" %)(((
326 -====== __**W**heel Mode in **D**egrees (**WD**)__ ======
320 +====== __Wheel Mode in Degrees__ ======
327 327  )))
328 328  |(% style="width:30px" %) |(((
329 329  Wheel mode in Degrees (**WD**)
... ... @@ -340,7 +340,7 @@
340 340  )))
341 341  
342 342  |(% colspan="2" %)(((
343 -====== __**W**heel Mode in **R**PM (**WR**)__ ======
337 +====== __Wheel Mode in RPM__ ======
344 344  )))
345 345  |(% style="width:30px" %) |(((
346 346  Wheel moed in RPM (**WR**)
... ... @@ -357,9 +357,11 @@
357 357  )))
358 358  
359 359  |(% colspan="2" %)(((
360 -====== __**Q**uery Status (**Q**)__ ======
354 +====== __Status__ ======
361 361  )))
362 362  |(% style="width:30px" %) |(((
357 +Query Status (**Q**)
358 +
363 363  The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
364 364  
365 365  Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
... ... @@ -391,21 +391,21 @@
391 391  )))
392 392  
393 393  |(% colspan="2" %)(((
394 -====== __**Q**uery** M**otion **T**ime (**QMT**)__ ======
390 +====== __Motion Time__ ======
395 395  )))
396 396  |(% style="width:30px" %) |(((
397 -
393 +Query Motion Time (**QMT**)
398 398  )))
399 399  
400 400  |(% colspan="2" %)(((
401 -====== __**Q**uery** C**urrent **S**peed (**QCS**)__ ======
397 +====== __Current Speed__ ======
402 402  )))
403 403  |(% style="width:30px" %) |(((
404 -
400 +Query Current Speed (**QCS**)
405 405  )))
406 406  
407 407  |(% colspan="2" %)(((
408 -====== __**L**imp (**L**)__ ======
404 +====== __Limp__ ======
409 409  )))
410 410  |(% style="width:30px" %) |(((
411 411  Example: #5L<cr>
... ... @@ -414,7 +414,7 @@
414 414  )))
415 415  
416 416  |(% colspan="2" %)(((
417 -====== __**H**alt & Hold (**H**)__ ======
413 +====== __Halt & Hold__ ======
418 418  )))
419 419  |(% style="width:30px" %) |(((
420 420  Example: #5H<cr>
... ... @@ -425,7 +425,7 @@
425 425  == Motion Setup ==
426 426  
427 427  |(% colspan="2" %)(((
428 -====== __Origin Offset (**O**)__ ======
424 +====== __Origin Offset__ ======
429 429  )))
430 430  |(% style="width:30px" %) |(((
431 431  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).
... ... @@ -452,7 +452,7 @@
452 452  )))
453 453  
454 454  |(% colspan="2" %)(((
455 -====== __Angular Range (**AR**)__ ======
451 +====== __Angular Range__ ======
456 456  )))
457 457  |(% style="width:30px" %) |(((
458 458  Example: #5AR1800<cr>
... ... @@ -481,7 +481,7 @@
481 481  )))
482 482  
483 483  |(% colspan="2" %)(((
484 -====== __Angular Acceleration (**AA**)__ ======
480 +====== __Angular Acceleration__ ======
485 485  )))
486 486  |(% style="width:30px" %) |(((
487 487  The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
... ... @@ -504,7 +504,7 @@
504 504  )))
505 505  
506 506  |(% colspan="2" %)(((
507 -====== __Angular Deceleration (**AD**)__ ======
503 +====== __Angular Deceleration__ ======
508 508  )))
509 509  |(% style="width:30px" %) |(((
510 510  The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
... ... @@ -527,7 +527,7 @@
527 527  )))
528 528  
529 529  |(% colspan="2" %)(((
530 -====== __Gyre Direction (**G**)__ ======
526 +====== __Gyre Direction__ ======
531 531  )))
532 532  |(% style="width:30px" %) |(((
533 533  "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.
... ... @@ -553,15 +553,37 @@
553 553  ====== __First Position__ ======
554 554  )))
555 555  |(% style="width:30px" %) |(((
556 -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>
557 557  )))
558 558  
559 559  |(% colspan="2" %)(((
560 -====== __Maximum Speed in Degrees (**SD**)__ ======
568 +====== __Maximum Speed in Degrees__ ======
561 561  )))
562 562  |(% style="width:30px" %) |(((
563 -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**)
564 564  
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 +
565 565  |**Command sent**|**Returned value (1/10 °)**
566 566  |ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
567 567  |ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
... ... @@ -568,15 +568,41 @@
568 568  |ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
569 569  |ex: #5QSD3<cr>|Target travel speed
570 570  
571 -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.
572 572  )))
573 573  
574 574  |(% colspan="2" %)(((
575 -====== __Maximum Speed in RPM (**SR**)__ ======
597 +====== __Maximum Speed in RPM__ ======
576 576  )))
577 577  |(% style="width:30px" %) |(((
578 -====== 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**)
579 579  
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 +
580 580  |**Command sent**|**Returned value (1/10 °)**
581 581  |ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
582 582  |ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
... ... @@ -583,17 +583,25 @@
583 583  |ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
584 584  |ex: #5QSR3<cr>|Target travel speed
585 585  
586 -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.
587 587  )))
588 588  
589 589  == Modifiers ==
590 590  
591 591  |(% colspan="2" %)(((
592 -====== __Speed (**SD**) modifier__ ======
640 +====== __Speed __ ======
593 593  )))
594 594  |(% style="width:30px" %) |(((
595 -====== Example: #5D0SD180<cr> ======
643 +(% class="wikigeneratedid" %)
644 +Speed in Degrees (**SD**)
596 596  
646 +(% class="wikigeneratedid" id="HExample:235D0SD1803Ccr3E" %)
647 +Example: #5D0SD180<cr>
648 +
597 597  (% class="wikigeneratedid" %)
598 598  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.
599 599  
... ... @@ -608,9 +608,11 @@
608 608  )))
609 609  
610 610  |(% colspan="2" %)(((
611 -====== __Timed move (**T**) modifier__ ======
663 +====== __Timed move__ ======
612 612  )))
613 613  |(% style="width:30px" %) |(((
666 +Timed Move (**T**)
667 +
614 614  Example: #5D15000T2500<cr>
615 615  
616 616  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.
... ... @@ -621,9 +621,11 @@
621 621  == Telemetry ==
622 622  
623 623  |(% colspan="2" %)(((
624 -====== __**Q**uery PCB **T**emperature (**QT**)__ ======
678 +====== __Temperature PCB__ ======
625 625  )))
626 626  |(% style="width:30px" %) |(((
681 +Query Temp PCB (**QT**)
682 +
627 627  Ex: #5QT<cr> might return *5QT564<cr>
628 628  
629 629  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.
... ... @@ -630,27 +630,37 @@
630 630  )))
631 631  
632 632  |(% colspan="2" %)(((
633 -====== __**Q**uery **C**urrent (**QC**)__ ======
689 +====== __Current__ ======
634 634  )))
635 635  |(% style="width:30px" %) |(((
636 -====== Ex: #5QC<cr> might return *5QC140<cr> ======
692 +(% class="wikigeneratedid" %)
693 +Query Current (**QC**)
637 637  
695 +(% class="wikigeneratedid" id="HEx:235QC3Ccr3Emightreturn2A5QC1403Ccr3E" %)
696 +Ex: #5QC<cr> might return *5QC140<cr>
697 +
638 638  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.
639 639  )))
640 640  
641 641  |(% colspan="2" %)(((
642 -====== __**Q**uery **M**odel **S**tring (**QMS**)__ ======
702 +====== __Model String__ ======
643 643  )))
644 644  |(% style="width:30px" %) |(((
645 -====== Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr> ======
705 +(% class="wikigeneratedid" %)
706 +Query Model String (**QMS**)
646 646  
708 +(% class="wikigeneratedid" id="HEx:235QMS3Ccr3Emightreturn2A5QMSLSS-HS13Ccr3E" %)
709 +Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
710 +
647 647  This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
648 648  )))
649 649  
650 650  |(% colspan="2" %)(((
651 -====== __**Q**uery **F**irmware (**QF**)__ ======
715 +====== __Firmware__ ======
652 652  )))
653 653  |(% style="width:30px" %) |(((
718 +Query Firmware (**QF**)
719 +
654 654  Ex: #5QF<cr> might return *5QF368<cr>
655 655  
656 656  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
... ... @@ -657,53 +657,62 @@
657 657  )))
658 658  
659 659  |(% colspan="2" %)(((
660 -====== __**Q**uery Serial **N**umber (**QN**)__ ======
726 +====== __Serial Number__ ======
661 661  )))
662 662  |(% style="width:30px" %) |(((
663 -====== Ex: #5QN<cr> might return *5QN12345678<cr> ======
729 +(% class="wikigeneratedid" %)
730 +Query Serial Number (**QN**)
664 664  
732 +(% class="wikigeneratedid" id="HEx:235QN3Ccr3Emightreturn2A5QN123456783Ccr3E" %)
733 +Ex: #5QN<cr> might return *5QN12345678<cr>
734 +
665 665  The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
666 666  )))
667 667  
668 668  |(% colspan="2" %)(((
669 -====== __**Q**uery **T**emperature **P**robe (**QTP**)__ ======
739 +====== __Temperature Probe__ ======
670 670  )))
671 671  |(% style="width:30px" %) |(((
672 -
742 +Query Temp motor Probe (**QTP**)
673 673  )))
674 674  
675 675  |(% colspan="2" %)(((
676 -====== __**Q**uery **T**emperature **M**CU (**QTM**)__ ======
746 +====== __Temperature MCU__ ======
677 677  )))
678 678  |(% style="width:30px" %) |(((
679 -
749 +Query Temp MCU (**QTM**)
680 680  )))
681 681  
682 682  |(% colspan="2" %)(((
683 -====== __**Q**uery **T**emp **C**ontroller **E**rror (**QTCE**)__ ======
753 +====== __Temp Controller Error__ ======
684 684  )))
685 685  |(% style="width:30px" %) |(((
686 -====== ======
756 +(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
757 +Query Temp Controller Error (**QTCE**)
687 687  )))
688 688  
689 689  |(% colspan="2" %)(((
690 -====== **Q**uery **T**emp **C**ontroller **W**arning (**QTCW**) ======
761 +====== __Temp Controller Warning__ ======
691 691  )))
692 692  |(% style="width:30px" %) |(((
693 -====== ======
764 +(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
765 +Query Temp Controller Warning (**QTCW**)
694 694  )))
695 695  
696 696  |(% colspan="2" %)(((
697 -====== __Query Error Flag (**QEF**)__ ======
769 +====== __Error Flag__ ======
698 698  )))
699 699  |(% style="width:30px" %) |(((
700 -
772 +Query Error Flag (**QEF**)
701 701  )))
702 702  
703 703  |(% colspan="2" %)(((
704 -====== __**Q**uery **I**MU Linear (**QIX QIY QIZ**)__ ======
776 +====== __IMU Linear__ ======
705 705  )))
706 706  |(% style="width:30px" %) |(((
779 +(% class="wikigeneratedid" %)
780 +Query IMU Linear (**QIX QIY QIZ**)
781 +
707 707  ====== Ex: #6QIX<cr> might return *6QIX30<cr> ======
708 708  
709 709  This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
... ... @@ -710,11 +710,15 @@
710 710  )))
711 711  
712 712  |(% colspan="2" %)(((
713 -====== __**Q**uery **I**MU Angular (**QIA QIB QIG**)__ ======
788 +====== __IMU Angular__ ======
714 714  )))
715 715  |(% style="width:30px" %) |(((
716 -====== 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>
717 717  
718 718  This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
719 719  )))
720 720  
798 +
799 +

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