Last modified by Eric Nantel on 2024/09/06 14:52
From version < 79.1 >
edited by Eric Nantel
on 2024/07/22 14:56
To version < 72.1 >
edited by Eric Nantel
on 2024/07/22 11:14
< >
Change comment: Upload new image "LSS-servo-default.jpg", version 1.2

Summary

Details

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Content
... ... @@ -91,7 +91,7 @@
91 91  
92 92  The ability to store a "virtual angular position" is a feature which allows for rotation beyond 360 degrees, permitting multiple rotations of the output horn, moving the center position and more. The "absolute position" would be the angle of the output shaft with respect to a 360.00 degree circle and can be obtained by taking the modulus (with respect to 360 degrees) of the value. For example if the virtual position is reported as 153350 (or 1533.50 degrees), taking the modulus would give 93.5 degrees (36000 * 4 + 9350 = 153350) as the absolute position (assuming no origin offset).
93 93  
94 -[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-positions.jpg||alt="LSS-servo-positions.jpg"]]
94 +[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-positions.jpg||alt="LSS-servo-positions.jpg"]]
95 95  
96 96  In this example, the gyre direction (explained below, a.k.a. "rotation direction") is positive (clockwise), and origin offset has not been modified. Each square represents 30 degrees. The following command is sent:
97 97  
... ... @@ -116,62 +116,62 @@
116 116  
117 117  |(% colspan="8" style="color:orange; font-size:18px" %)[[**Communication Setup**>>||anchor="HCommunicationSetup"]]
118 118  |(% 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**
119 -| |[[**Reset**>>||anchor="HReset"]]|(% style="text-align:center" %)RESET|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |Soft reset
120 -| |[[**Default** Configuration>>||anchor="HDefault26confirm"]]|(% style="text-align:center" %)DEFAULT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |Revert to firmware default values
121 -| |[[Firmware **Update** Mode>>||anchor="HUpdate26confirm"]]|(% style="text-align:center" %)UPDATE|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |Update firmware
122 -| |[[**Confirm** Changes>>||anchor="HConfirm"]]|(% style="text-align:center" %)CONFIRM|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |Confirm the action for some commands
123 -| |[[**ID** Number >>||anchor="HIDNumber28ID29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QID|(% style="text-align:center" %)CID|(% style="text-align:center" %)0|(% style="text-align:center" %) |Reset required after change. ID 254 is a "broadcast" which all servos respond to.
124 -| |[[**E**nable CAN **T**erminal>>doc:||anchor="HEnableCANTerminalResistor28ET29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QET|(% style="text-align:center" %)CET|(% style="text-align:center" %)1|(% style="text-align:center" %)0 or 1|0: Disable  1: Enable
125 -| |[[**U**SB **C**onnection Status>>||anchor="HUSBConnectionStatus28UC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QUC|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)0 or 1|0: Not connected 1: Connected
119 +| |[[**Reset**>>||anchor="HReset"]]|(% style="text-align:center" %)RESET|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Soft reset. See command for details.
120 +| |[[**Default** Configuration>>||anchor="HDefault26confirm"]]|(% style="text-align:center" %)DEFAULT|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Revert to firmware default values. See command for details
121 +| |[[Firmware **Update** Mode>>||anchor="HUpdate26confirm"]]|(% style="text-align:center" %)UPDATE|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Update firmware. See command for details.
122 +| |[[**Confirm** Changes>>||anchor="HConfirm"]]|(% style="text-align:center" %)CONFIRM|(% style="text-align:center" %) |(% style="text-align:center" %) | | |
123 +| |[[**ID** Number >>||anchor="HIDNumber28ID29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QID|(% style="text-align:center" %)CID|0| |Reset required after change. ID 254 is a "broadcast" which all servos respond to.
124 +| |[[**E**nable CAN **T**erminal>>doc:||anchor="HEnableCANTerminalResistor28ET29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QET|(% style="text-align:center" %)CET| |0 or 1|0: Disable  1: Enable
125 +| |[[**U**SB **C**onnection Status>>||anchor="HUSBConnectionStatus28UC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QUC|(% style="text-align:center" %) | |0 or 1|0: Not connected 1: Connected
126 +| |[[**Q**uery **F**irmware **R**elease>>doc:||anchor="HFirmwareRelease28FR29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QFR|(% style="text-align:center" %) | | |
126 126  
127 127  |(% colspan="8" style="color:orange; font-size:18px" %)[[**Motion**>>||anchor="HMotion"]]
128 128  |(% 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**
129 -| |[[Position in **D**egrees>>||anchor="HPositioninDegrees28D29"]]|(% style="text-align:center" %)D|(% style="text-align:center" %)QD|(% style="text-align:center" %) | |0.01°|
130 -| |[[**M**ove in **D**egrees (relative)>>||anchor="H28Relative29MoveinDegrees28MD29"]]|(% style="text-align:center" %)MD|(% style="text-align:center" %) |(% style="text-align:center" %) | |0.01°|
131 -| |[[**W**heel mode in **D**egrees>>||anchor="HWheelModeinDegrees28WD29"]]|(% style="text-align:center" %)WD|(% style="text-align:center" %)QWD|(% style="text-align:center" %) | |0.01°/s|A.K.A. "Speed mode" or "Continuous rotation"
130 +| |[[Position in **D**egrees>>||anchor="HPositioninDegrees28D29"]]|(% style="text-align:center" %)D|(% style="text-align:center" %)QD/QDT|(% style="text-align:center" %) | |1/100°|
131 +| |[[**M**ove in **D**egrees (relative)>>||anchor="H28Relative29MoveinDegrees28MD29"]]|(% style="text-align:center" %)MD|(% style="text-align:center" %) |(% style="text-align:center" %) | |1/100°|
132 +| |[[**W**heel mode in **D**egrees>>||anchor="HWheelModeinDegrees28WD29"]]|(% style="text-align:center" %)WD|(% style="text-align:center" %)QWD/QVT|(% style="text-align:center" %) | |°/s|A.K.A. "Speed mode" or "Continuous rotation"
132 132  | |[[**W**heel mode in **R**PM>>||anchor="HWheelModeinRPM28WR29"]]|(% style="text-align:center" %)WR|(% style="text-align:center" %)QWR|(% style="text-align:center" %) | |RPM|A.K.A. "Speed mode" or "Continuous rotation"
133 133  | |[[**Q**uery Motion Status>>||anchor="HQueryStatus28Q29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)Q|(% style="text-align:center" %) | |1 to 8 integer|See command description for details
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 -| |[[**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="HHalt26Hold28H29"]]|(% style="text-align:center" %)H|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Stops (halts) motion and holds last position
136 +| |[[**H**alt & Hold>>||anchor="HHalt26Hold28H29"]]|(% style="text-align:center" %)H|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Stops (halts) motion profile 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**
141 -| |[[**O**rigin Offset>>||anchor="HOriginOffset28O29"]]|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|(% style="text-align:center" %)0|(% style="text-align:center" %)0.01°|
142 -| |[[**A**ngular **R**ange>>||anchor="HAngularRange28AR29"]]|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|(% style="text-align:center" %)36000|(% style="text-align:center" %)0.01°|
143 -| |[[**A**ngular **A**cceleration>>||anchor="HAngularAcceleration28AA29"]]|(% style="text-align:center" %)AA|(% style="text-align:center" %)QAA|(% style="text-align:center" %)CAA|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s^2|
144 -| |[[**A**ngular **D**eceleration>>||anchor="HAngularDeceleration28AD29"]]|(% style="text-align:center" %)AD|(% style="text-align:center" %)QAD|(% style="text-align:center" %)CAD|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s^2|
145 -| |[[**G**yre Direction>>||anchor="HGyreDirection28G29"]]|(% style="text-align:center" %)G|(% style="text-align:center" %)QG|(% style="text-align:center" %)CG|(% style="text-align:center" %)1|(% style="text-align:center" %)1 or -1|Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)
146 -| |[[**F**irst Position (**D**eg)>>||anchor="HFirstPosition"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QFD|(% style="text-align:center" %)CFD|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°|Reset required after change.
147 -| |[[Maximum **S**peed in **D**egrees>>||anchor="HMaximumSpeedinDegrees28SD29"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %)QSD|(% style="text-align:center" %)CSD|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s|SD / CSD overwrites SR / CSR
148 -| |[[Maximum **S**peed in **R**PM>>||anchor="HMaximumSpeedinRPM28SR29"]]|(% style="text-align:center" %)SR|(% style="text-align:center" %)QSR|(% style="text-align:center" %)CSR|(% style="text-align:center" %) |(% style="text-align:center" %)RPM|SR / CSR overwrites SD / CSD
140 +| |[[**O**rigin Offset>>||anchor="HOriginOffset28O29"]]|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|0|1/10°|
141 +| |[[**A**ngular **R**ange>>||anchor="HAngularRange28AR29"]]|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|1800|1/10°|
142 +| |[[**A**ngular **A**cceleration>>||anchor="HAngularAcceleration28AA29"]]|(% style="text-align:center" %)AA|(% style="text-align:center" %)QAA|(% style="text-align:center" %)CAA|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
143 +| |[[**A**ngular **D**eceleration>>||anchor="HAngularDeceleration28AD29"]]|(% style="text-align:center" %)AD|(% style="text-align:center" %)QAD|(% style="text-align:center" %)CAD|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
144 +| |[[**G**yre Direction>>||anchor="HGyreDirection28G29"]]|(% style="text-align:center" %)G|(% style="text-align:center" %)QG|(% style="text-align:center" %)CG|1| |Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)
145 +| |[[**F**irst Position (**D**eg)>>||anchor="HFirstPosition"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QFD|(% style="text-align:center" %)CFD|No value|1/10°|Reset required after change.
146 +| |[[Maximum **S**peed in **D**egrees>>||anchor="HMaximumSpeedinDegrees28SD29"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %)QSD|(% style="text-align:center" %)CSD|Max|0.1°/s|SD overwrites SR / CSD overwrites CSR and vice-versa
147 +| |[[Maximum **S**peed in **R**PM>>||anchor="HMaximumSpeedinRPM28SR29"]]|(% style="text-align:center" %)SR|(% style="text-align:center" %)QSR|(% style="text-align:center" %)CSR|Max|RPM|SD overwrites SR / CSD overwrites CSR and vice-versa
148 +| |[[Step Mode>>doc:||anchor="HStepMode28SM29"]]|(% style="text-align:center" %)SM|(% style="text-align:center" %)QM|(% style="text-align:center" %)CSM|2|1, 2, 4|Numbers represent fractions: full step, &frac12; step, &frac14; step
149 149  
150 150  |(% colspan="8" style="color:orange; font-size:18px" %)[[**Modifiers**>>||anchor="HModifiers"]]
151 151  |(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Modifier**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
152 -| |[[**S**peed in **D**egrees>>doc:||anchor="HSpeed28SD29modifier"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %) |(% style="text-align:center" %) | |0.01°/s|For D and MD action commands
152 +| |[[**S**peed in **D**egrees>>||anchor="HSpeed28S2CSD29modifier"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %) |(% style="text-align:center" %) | |1°/s|For D and MD action commands
153 153  | |[[**T**imed move>>||anchor="HTimedmove28T29modifier"]]|(% style="text-align:center" %)T|(% style="text-align:center" %) |(% style="text-align:center" %) | |ms|Time associated with D, MD commands
154 154  
155 155  |(% colspan="8" style="color:orange; font-size:18px" %)[[**Telemetry**>>||anchor="HTelemetry"]]
156 156  |(% 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**
157 -| |[[**Q**uery PCB **T**emperature>>doc:||anchor="HQueryPCBTemperature28QT29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) | |0.1°C|
158 -| |[[**Q**uery **C**urrent>>doc:||anchor="HQueryCurrent28QC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QC|(% style="text-align:center" %) | |mA|Nominal RMS value to stepper motor driver IC.
159 -| |[[**Q**uery **M**odel **S**tring>>doc:||anchor="HQueryModelString28QMS29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMS|(% style="text-align:center" %) | | |Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1)
160 -| |[[**Q**uery **F**irmware Version>>doc:||anchor="HQueryFirmware28QF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | | |
161 -| |[[**Q**uery Serial **N**umber>>doc:||anchor="HQuerySerialNumber28QN29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QN|(% style="text-align:center" %) | | |Returns the unique serial number for the servo
162 -| |[[**Q**uery **T**emperature **P**robe>>doc:||anchor="HQueryTemperatureProbe28QTP29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTP|(% style="text-align:center" %) | |0.1°C|Queries temperature probe fixed to the stepper motor
163 -| |[[**Q**uery **T**emp of **M**CU>>doc:||anchor="HQueryTemperatureMCU28QTM29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTM|(% style="text-align:center" %) | |0.1°C|
164 -| |[[**Q**uery **T**emp of **C**ontroller **E**rror>>doc:||anchor="HQueryTempControllerError28QTCE29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCE|(% style="text-align:center" %) | | |(((
165 -Temperature error status of the motor controller (over-temp error)
157 +| |[[**Q**uery PCB **T**emperature>>||anchor="HQueryTemperature28QT29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) | |°C|
158 +| |[[**Q**uery **C**urrent>>||anchor="HQueryCurrent28QC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QC|(% style="text-align:center" %) | |mA|Nominal RMS value to stepper motor driver IC.
159 +| |[[**Q**uery **M**odel **S**tring>>||anchor="HQueryModelString28QMS29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMS|(% style="text-align:center" %) | | |Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1)
160 +| |[[**Q**uery **F**irmware Version>>||anchor="HQueryFirmware28QF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | | |
161 +| |[[**Q**uery Serial **N**umber>>||anchor="HQuerySerialNumber28QN29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QN|(% style="text-align:center" %) | | |Returns the unique serial number for the servo
162 +| |[[**Q**uery **T**emperature **P**robe>>doc:||anchor="HQueryTemperatureProbe28QTP29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTP|(% style="text-align:center" %) | | |Queries temperature probe fixed to the stepper motor
163 +| |[[**Q**uery **T**emp of **M**CU>>doc:||anchor="HQueryMCUTemperature28QTM29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTM|(% style="text-align:center" %) | | |
164 +| |[[**Q**uery **T**emp of **C**ontroller>>doc:||anchor="HQueryTempofController28QTCW29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW, QTCE|(% style="text-align:center" %) | | |(((
165 +QTCW: Queries the temperature status of the motor controller (pre-warning)
166 +
167 +QTCE: Queries the temperature status of the motor controller (over-temp error)
166 166  )))
167 -| |[[**Q**uery **T**emp of **C**ontroller **W**arning>>doc:||anchor="HQueryTempControllerWarning28QTCW29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW|(% style="text-align:center" %) | | |Temperature error status of the motor controller (pre-warning)
168 -| |[[**Q**uery **E**rror **F**lag>>doc:||anchor="HQueryErrorFlag28QEF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QEF|(% style="text-align:center" %) | | |
169 169  | |[[**Q**uery **I**MU Linear **X**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |mm/s^2|
170 170  | |[[**Q**uery **I**MU Linear **Y**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |mm/s^2|
171 171  | |[[**Q**uery **I**MU Linear **Z**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |mm/s^2|
172 -| |[[**Q**uery **I**MU Angular Accel **α** >>doc:||anchor="HQueryIMUAngular28QIAQIBQIG29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIA|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel α (Alpha)
173 -| |[[**Q**uery **I**MU Angular Accel **β**>>doc:||anchor="HQueryIMUAngular28QIAQIBQIG29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIB|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel β (Beta)
174 -| |[[**Q**uery **I**MU Angular Accel **γ**>>doc:||anchor="HQueryIMUAngular28QIAQIBQIG29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIG|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel γ (Gamma)
172 +| |[[**Q**uery **I**MU Angular Accel **α** >>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIA|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel α (Alpha)
173 +| |[[**Q**uery **I**MU Angular Accel **β**>>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIB|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel β (Beta)
174 +| |[[**Q**uery **I**MU Angular Accel **γ**>>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIC / QIG|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel γ (Gamma)
175 175  
176 176  |(% colspan="8" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="HRGBLED"]]
177 177  |(% 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**
... ... @@ -275,6 +275,17 @@
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 +
278 278  == Motion ==
279 279  
280 280  |(% colspan="2" %)(((
... ... @@ -303,17 +303,14 @@
303 303  )))
304 304  
305 305  |(% colspan="2" %)(((
306 -====== __Relative Move in Degrees__ ======
317 +====== __(Relative) Move in Degrees__ ======
307 307  )))
308 308  |(% style="width:30px" %) |(((
309 -(% class="wikigeneratedid" %)
310 310  Move in Degrees (**MD**)
311 311  
312 -(% class="wikigeneratedid" %)
313 -Example: #5M1500<cr>
322 +Example: #5MD123<cr>
314 314  
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.
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.
317 317  )))
318 318  
319 319  |(% colspan="2" %)(((
... ... @@ -351,9 +351,23 @@
351 351  )))
352 352  
353 353  |(% colspan="2" %)(((
354 -====== __Status__ ======
362 +====== __(Relative) Move in Degrees__ ======
355 355  )))
356 356  |(% 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" %) |(((
357 357  Query Status (**Q**)
358 358  
359 359  The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
... ... @@ -387,23 +387,11 @@
387 387  )))
388 388  
389 389  |(% colspan="2" %)(((
390 -====== __Motion Time__ ======
391 -)))
392 -|(% style="width:30px" %) |(((
393 -Query Motion Time (**QMT**)
394 -)))
395 -
396 -|(% colspan="2" %)(((
397 -====== __Current Speed__ ======
398 -)))
399 -|(% style="width:30px" %) |(((
400 -Query Current Speed (**QCS**)
401 -)))
402 -
403 -|(% colspan="2" %)(((
404 404  ====== __Limp__ ======
405 405  )))
406 406  |(% style="width:30px" %) |(((
415 +Limp (**L**)
416 +
407 407  Example: #5L<cr>
408 408  
409 409  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>.
... ... @@ -413,6 +413,8 @@
413 413  ====== __Halt & Hold__ ======
414 414  )))
415 415  |(% style="width:30px" %) |(((
426 +Halt & Hold (**H**)
427 +
416 416  Example: #5H<cr>
417 417  
418 418  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.)
... ... @@ -420,18 +420,16 @@
420 420  
421 421  == Motion Setup ==
422 422  
423 -|(% colspan="2" %)(((
424 -====== __Origin Offset__ ======
425 -)))
426 -|(% style="width:30px" %) |(((
435 +====== __Origin Offset (**O**)__ ======
436 +
427 427  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).
428 428  
429 -[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]
439 +[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]
430 430  
431 431  
432 432  In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
433 433  
434 -[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-origin.jpg||alt="LSS-servo-origin.jpg"]]
444 +[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-origin.jpg||alt="LSS-servo-origin.jpg"]]
435 435  
436 436  
437 437  Origin Offset Query (**QO**)
... ... @@ -445,26 +445,23 @@
445 445  Example: #5CO-24<cr>
446 446  
447 447  This command allows you to change the origin of the servo in relation to the factory zero position in EEPROM. The setting will be saved upon servo reset / power cycle. Origin offset configuration commands are not cumulative and always relate to factory zero. The new origin is also used in RC mode. In the example, the new origin will be at -2.4 degrees from the factory zero.
448 -)))
449 449  
450 -|(% colspan="2" %)(((
451 -====== __Angular Range__ ======
452 -)))
453 -|(% style="width:30px" %) |(((
459 +====== __Angular Range (**AR**)__ ======
460 +
454 454  Example: #5AR1800<cr>
455 455  
456 456  This command allows you to temporarily change the total angular range of the servo in tenths of degrees. This applies to the Position in Pulse (P) command and RC mode. The default for (P) and RC mode is 1800 (180.0 degrees total, or ±90.0 degrees). The image below shows a standard -180.0 to +180.0 range, with no offset:
457 457  
458 -[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]
465 +[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]
459 459  
460 460  Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
461 461  
462 -[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar.jpg||alt="LSS-servo-ar.jpg"]]
469 +[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar.jpg||alt="LSS-servo-ar.jpg"]]
463 463  
464 464  
465 465  Finally, the angular range action command (ex. #5AR1800<cr>) and origin offset action command (ex. #5O-1200<cr>) are used to move both the center and limit the angular range:
466 466  
467 -[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar-o-1.jpg||alt="LSS-servo-ar-o-1.jpg"]]
474 +[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar-o-1.jpg||alt="LSS-servo-ar-o-1.jpg"]]
468 468  
469 469  
470 470  Query Angular Range (**QAR**)
... ... @@ -474,12 +474,9 @@
474 474  Configure Angular Range (**CAR**)
475 475  
476 476  This command allows you to change the total angular range of the servo in tenths of degrees in EEPROM. The setting will be saved upon servo reset / power cycle.
477 -)))
478 478  
479 -|(% colspan="2" %)(((
480 -====== __Angular Acceleration__ ======
481 -)))
482 -|(% style="width:30px" %) |(((
485 +====== __Angular Acceleration (**AA**)__ ======
486 +
483 483  The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
484 484  
485 485  Ex: #5AA30<cr>
... ... @@ -497,12 +497,9 @@
497 497  Ex: #5CAA30<cr>
498 498  
499 499  This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
500 -)))
501 501  
502 -|(% colspan="2" %)(((
503 -====== __Angular Deceleration__ ======
504 -)))
505 -|(% style="width:30px" %) |(((
505 +====== __Angular Deceleration (**AD**)__ ======
506 +
506 506  The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
507 507  
508 508  Ex: #5AD30<cr>
... ... @@ -520,12 +520,9 @@
520 520  Ex: #5CAD30<cr>
521 521  
522 522  This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
523 -)))
524 524  
525 -|(% colspan="2" %)(((
526 -====== __Gyre Direction__ ======
527 -)))
528 -|(% style="width:30px" %) |(((
525 +====== __Gyre Direction (**G**)__ ======
526 +
529 529  "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.
530 530  
531 531  Ex: #5G-1<cr>
... ... @@ -543,43 +543,15 @@
543 543  Ex: #5CG-1<cr>
544 544  
545 545  This changes the gyre direction as described above and also writes to EEPROM.
546 -)))
547 547  
548 -|(% colspan="2" %)(((
549 549  ====== __First Position__ ======
550 -)))
551 -|(% style="width:30px" %) |(((
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.
553 553  
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.
547 +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>
555 555  
556 -Query First Position in Degrees (**QFD**)
549 +====== __Maximum Speed in Degrees (**SD**)__ ======
557 557  
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.
551 +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:
559 559  
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>
565 -)))
566 -
567 -|(% colspan="2" %)(((
568 -====== __Maximum Speed in Degrees__ ======
569 -)))
570 -|(% style="width:30px" %) |(((
571 -Maximum Speed in Degrees (**SD**)
572 -
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)
... ... @@ -586,64 +586,43 @@
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**)
559 +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.
590 590  
591 -Ex: #5CSD1800<cr>
561 +====== __Maximum Speed in RPM (**SR**)__ ======
592 592  
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 -)))
563 +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:
595 595  
596 -|(% colspan="2" %)(((
597 -====== __Maximum Speed in RPM__ ======
598 -)))
599 -|(% style="width:30px" %) |(((
600 -(% class="wikigeneratedid" %)
601 -Maximum Speed in RPM (**SR**)
565 +|**Command sent**|**Returned value (1/10 °)**
566 +|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
567 +|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
568 +|ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
569 +|ex: #5QSR3<cr>|Target travel speed
602 602  
603 -(% class="wikigeneratedid" id="HEx:235SR453Ccr3EThiscommandsetstheservo27smaximumspeedformotioncommandsinrpmforthatsession.Intheexampleabove2Ctheservo27smaximumspeedforthatsessionwouldbesetto45rpm.Theservo27smaximumspeedcannotbesethigherthanitsphysicallimitatagivenvoltage.SRoverridesCSR28describedbelow29forthatsession.Uponresetorpowercycle2CtheservorevertstothevalueassociatedwithCSRasdescribedbelow.NotethatSD28describedabove29andSRareeffectivelythesame2Cbutallowtheusertospecifythespeedineitherunit.Thelastcommand28eitherSRorSD29receivediswhattheservousesforthatsession.QuerySpeedinRPM28QSR29Ex:235QSR3Ccr3Emightreturn2A5QSR453Ccr3EBydefaultQSRwillreturnthecurrentsessionvalue2CwhichissettothevalueofCSRasreset2FpowercycleandchangedwheneveranSD2FSRcommandisprocessed.If235QSR13Ccr3Eissent2Ctheconfiguredmaximumspeed28CSRvalue29willbereturnedinstead.Youcanalsoquerythecurrentspeedusing22222andthecurrenttargettravelspeedusing22322.Seethetablebelowforanexample:" %)
604 -Ex: #5SR45<cr>
571 +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.
605 605  
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.
573 +====== __Step Mode (**SM**)__ ======
608 608  
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.
575 +Ex: #8SM2<cr>
611 611  
612 -(% class="wikigeneratedid" %)
613 -The last command (either SR or SD) received is what the servo uses for that session.
577 +This sets servo with ID 8 to 1/2 step mode. Since this is an action as opposed to a configuration, it only affects that session.
614 614  
615 -(% class="wikigeneratedid" %)
616 -Query Speed in RPM (**QSR**)
579 +Note that the torque and max RPM of the actuator will be affected.
617 617  
618 -(% class="wikigeneratedid" %)
619 -Ex: #5QSR<cr> might return *5QSR45<cr>
581 +Query Step Mode (**QSM**)
620 620  
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:
583 +Ex: #8QSM<cr> might return *8QSM2<cr> meaning servo with ID 8 is set to half step mode.
623 623  
624 -|**Command sent**|**Returned value (1/10 °)**
625 -|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
626 -|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
627 -|ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
628 -|ex: #5QSR3<cr>|Target travel speed
585 +Configure Step Mode (**CSM**)
629 629  
630 -Configure Speed in RPM (**CSR**)
587 +Ex: #8SM2<cr>
631 631  
632 -Ex: #5CSR45<cr>
589 +This sets servo with ID 8 to 1/2 step mode. Since this is a configuration as opposed to a configuration and the servo will be in 1/2 step mode when powered.
633 633  
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.
635 -)))
636 -
637 637  == Modifiers ==
638 638  
639 -|(% colspan="2" %)(((
640 -====== __Speed __ ======
641 -)))
642 -|(% style="width:30px" %) |(((
643 -(% class="wikigeneratedid" %)
644 -Speed in Degrees (**SD**)
593 +====== __Speed (**SD**) modifier__ ======
645 645  
646 -(% class="wikigeneratedid" id="HExample:235D0SD1803Ccr3E" %)
595 +(% class="wikigeneratedid" id="HTimedmove28T29modifier" %)
647 647  Example: #5D0SD180<cr>
648 648  
649 649  (% class="wikigeneratedid" %)
... ... @@ -657,13 +657,8 @@
657 657  
658 658  (% class="wikigeneratedid" %)
659 659  This command queries the current speed in microseconds per second.
660 -)))
661 661  
662 -|(% colspan="2" %)(((
663 -====== __Timed move__ ======
664 -)))
665 -|(% style="width:30px" %) |(((
666 -Timed Move (**T**)
610 +====== __Timed move (**T**) modifier__ ======
667 667  
668 668  Example: #5D15000T2500<cr>
669 669  
... ... @@ -670,130 +670,61 @@
670 670  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.
671 671  
672 672  **Note:** If the calculated speed at which a servo must rotate for a timed move is greater than its maximum speed (which depends on voltage and load), then it will move at its maximum speed, and the time of the move may be longer than requested
673 -)))
674 674  
618 +====== ======
619 +
675 675  == Telemetry ==
676 676  
677 -|(% colspan="2" %)(((
678 -====== __Temperature PCB__ ======
679 -)))
680 -|(% style="width:30px" %) |(((
681 -Query Temp PCB (**QT**)
622 +====== __Query PCB Temperature (**QT**)__ ======
682 682  
683 683  Ex: #5QT<cr> might return *5QT564<cr>
684 684  
685 685  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.
686 -)))
687 687  
688 -|(% colspan="2" %)(((
689 -====== __Current__ ======
690 -)))
691 -|(% style="width:30px" %) |(((
692 -(% class="wikigeneratedid" %)
693 -Query Current (**QC**)
628 +====== __Query Temperature Probe (**QTP**)__ ======
694 694  
695 -(% class="wikigeneratedid" id="HEx:235QC3Ccr3Emightreturn2A5QC1403Ccr3E" %)
630 +Ex:
631 +
632 +====== __Query Temp of Controller (**QTCW**)__ ======
633 +
634 +Ex:
635 +
636 +An alternative is QTCE
637 +
638 +====== __Query Current (**QC**)__ ======
639 +
696 696  Ex: #5QC<cr> might return *5QC140<cr>
697 697  
698 698  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.
699 -)))
700 700  
701 -|(% colspan="2" %)(((
702 -====== __Model String__ ======
703 -)))
704 -|(% style="width:30px" %) |(((
705 -(% class="wikigeneratedid" %)
706 -Query Model String (**QMS**)
644 +====== __Query Model String (**QMS**)__ ======
707 707  
708 -(% class="wikigeneratedid" id="HEx:235QMS3Ccr3Emightreturn2A5QMSLSS-HS13Ccr3E" %)
709 709  Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
710 710  
711 711  This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
712 -)))
713 713  
714 -|(% colspan="2" %)(((
715 -====== __Firmware__ ======
716 -)))
717 -|(% style="width:30px" %) |(((
718 -Query Firmware (**QF**)
650 +====== __Query Firmware (**QF**)__ ======
719 719  
720 720  Ex: #5QF<cr> might return *5QF368<cr>
721 721  
722 722  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
723 -)))
724 724  
725 -|(% colspan="2" %)(((
726 -====== __Serial Number__ ======
727 -)))
728 -|(% style="width:30px" %) |(((
729 -(% class="wikigeneratedid" %)
730 -Query Serial Number (**QN**)
656 +====== __Query Serial Number (**QN**)__ ======
731 731  
732 -(% class="wikigeneratedid" id="HEx:235QN3Ccr3Emightreturn2A5QN123456783Ccr3E" %)
733 733  Ex: #5QN<cr> might return *5QN12345678<cr>
734 734  
735 735  The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
736 -)))
737 737  
738 -|(% colspan="2" %)(((
739 -====== __Temperature Probe__ ======
740 -)))
741 -|(% style="width:30px" %) |(((
742 -Query Temp motor Probe (**QTP**)
743 -)))
662 +====== __Query IMU Linear (**QIX** **QIY** **QIZ**)__ ======
744 744  
745 -|(% colspan="2" %)(((
746 -====== __Temperature MCU__ ======
747 -)))
748 -|(% style="width:30px" %) |(((
749 -Query Temp MCU (**QTM**)
750 -)))
664 +Ex: #6QIX<cr> might return *6QIX30<cr>
751 751  
752 -|(% colspan="2" %)(((
753 -====== __Temp Controller Error__ ======
754 -)))
755 -|(% style="width:30px" %) |(((
756 -(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
757 -Query Temp Controller Error (**QTCE**)
758 -)))
759 -
760 -|(% colspan="2" %)(((
761 -====== __Temp Controller Warning__ ======
762 -)))
763 -|(% style="width:30px" %) |(((
764 -(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
765 -Query Temp Controller Warning (**QTCW**)
766 -)))
767 -
768 -|(% colspan="2" %)(((
769 -====== __Error Flag__ ======
770 -)))
771 -|(% style="width:30px" %) |(((
772 -Query Error Flag (**QEF**)
773 -)))
774 -
775 -|(% colspan="2" %)(((
776 -====== __IMU Linear__ ======
777 -)))
778 -|(% style="width:30px" %) |(((
779 -(% class="wikigeneratedid" %)
780 -Query IMU Linear (**QIX QIY QIZ**)
781 -
782 -====== Ex: #6QIX<cr> might return *6QIX30<cr> ======
783 -
784 784  This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
785 -)))
786 786  
787 -|(% colspan="2" %)(((
788 -====== __IMU Angular__ ======
789 -)))
790 -|(% style="width:30px" %) |(((
791 -(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
792 -Query IMU Angular (**QIA QIB QIG**)
668 +====== __Query IMU Angular (**QIA** **QIB** **QIC**)__ ======
669 +
793 793  Ex: #6QIB<cr> might return *6QIB44<cr>
794 794  
795 795  This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
796 -)))
797 797  
798 -
799 799  
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