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 < 78.16 >
edited by Eric Nantel
on 2024/07/22 14:36
< >
Change comment: There is no comment for this version

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... ... @@ -275,14 +275,23 @@
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" %)(((
281 -====== __Position in Degrees__ ======
292 +====== __Position in **D**egrees (**D**)__ ======
282 282  )))
283 283  |(% style="width:30px" %) |(((
284 -Position in Degrees (**D**)
285 -
286 286  Example: #5D1456<cr>
287 287  
288 288  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.
... ... @@ -303,13 +303,10 @@
303 303  )))
304 304  
305 305  |(% colspan="2" %)(((
306 -====== __Relative Move in Degrees__ ======
315 +====== __Relative **M**ove in **D**egrees (**MD**)__ ======
307 307  )))
308 308  |(% style="width:30px" %) |(((
309 309  (% class="wikigeneratedid" %)
310 -Move in Degrees (**MD**)
311 -
312 -(% class="wikigeneratedid" %)
313 313  Example: #5M1500<cr>
314 314  
315 315  (% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
... ... @@ -317,7 +317,7 @@
317 317  )))
318 318  
319 319  |(% colspan="2" %)(((
320 -====== __Wheel Mode in Degrees__ ======
326 +====== __**W**heel Mode in **D**egrees (**WD**)__ ======
321 321  )))
322 322  |(% style="width:30px" %) |(((
323 323  Wheel mode in Degrees (**WD**)
... ... @@ -334,7 +334,7 @@
334 334  )))
335 335  
336 336  |(% colspan="2" %)(((
337 -====== __Wheel Mode in RPM__ ======
343 +====== __**W**heel Mode in **R**PM (**WR**)__ ======
338 338  )))
339 339  |(% style="width:30px" %) |(((
340 340  Wheel moed in RPM (**WR**)
... ... @@ -351,11 +351,9 @@
351 351  )))
352 352  
353 353  |(% colspan="2" %)(((
354 -====== __Status__ ======
360 +====== __**Q**uery Status (**Q**)__ ======
355 355  )))
356 356  |(% style="width:30px" %) |(((
357 -Query Status (**Q**)
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.
360 360  
361 361  Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
... ... @@ -387,21 +387,21 @@
387 387  )))
388 388  
389 389  |(% colspan="2" %)(((
390 -====== __Motion Time__ ======
394 +====== __**Q**uery** M**otion **T**ime (**QMT**)__ ======
391 391  )))
392 392  |(% style="width:30px" %) |(((
393 -Query Motion Time (**QMT**)
397 +
394 394  )))
395 395  
396 396  |(% colspan="2" %)(((
397 -====== __Current Speed__ ======
401 +====== __**Q**uery** C**urrent **S**peed (**QCS**)__ ======
398 398  )))
399 399  |(% style="width:30px" %) |(((
400 -Query Current Speed (**QCS**)
404 +
401 401  )))
402 402  
403 403  |(% colspan="2" %)(((
404 -====== __Limp__ ======
408 +====== __**L**imp (**L**)__ ======
405 405  )))
406 406  |(% style="width:30px" %) |(((
407 407  Example: #5L<cr>
... ... @@ -410,7 +410,7 @@
410 410  )))
411 411  
412 412  |(% colspan="2" %)(((
413 -====== __Halt & Hold__ ======
417 +====== __**H**alt & Hold (**H**)__ ======
414 414  )))
415 415  |(% style="width:30px" %) |(((
416 416  Example: #5H<cr>
... ... @@ -421,7 +421,7 @@
421 421  == Motion Setup ==
422 422  
423 423  |(% colspan="2" %)(((
424 -====== __Origin Offset__ ======
428 +====== __Origin Offset (**O**)__ ======
425 425  )))
426 426  |(% style="width:30px" %) |(((
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).
... ... @@ -448,7 +448,7 @@
448 448  )))
449 449  
450 450  |(% colspan="2" %)(((
451 -====== __Angular Range__ ======
455 +====== __Angular Range (**AR**)__ ======
452 452  )))
453 453  |(% style="width:30px" %) |(((
454 454  Example: #5AR1800<cr>
... ... @@ -477,7 +477,7 @@
477 477  )))
478 478  
479 479  |(% colspan="2" %)(((
480 -====== __Angular Acceleration__ ======
484 +====== __Angular Acceleration (**AA**)__ ======
481 481  )))
482 482  |(% style="width:30px" %) |(((
483 483  The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
... ... @@ -500,7 +500,7 @@
500 500  )))
501 501  
502 502  |(% colspan="2" %)(((
503 -====== __Angular Deceleration__ ======
507 +====== __Angular Deceleration (**AD**)__ ======
504 504  )))
505 505  |(% style="width:30px" %) |(((
506 506  The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
... ... @@ -523,7 +523,7 @@
523 523  )))
524 524  
525 525  |(% colspan="2" %)(((
526 -====== __Gyre Direction__ ======
530 +====== __Gyre Direction (**G**)__ ======
527 527  )))
528 528  |(% style="width:30px" %) |(((
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.
... ... @@ -549,37 +549,15 @@
549 549  ====== __First Position__ ======
550 550  )))
551 551  |(% 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 -
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>
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>
565 565  )))
566 566  
567 567  |(% colspan="2" %)(((
568 -====== __Maximum Speed in Degrees__ ======
560 +====== __Maximum Speed in Degrees (**SD**)__ ======
569 569  )))
570 570  |(% style="width:30px" %) |(((
571 -Maximum Speed in Degrees (**SD**)
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:
572 572  
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)
... ... @@ -586,41 +586,15 @@
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**)
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.
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.
594 594  )))
595 595  
596 596  |(% colspan="2" %)(((
597 -====== __Maximum Speed in RPM__ ======
575 +====== __Maximum Speed in RPM (**SR**)__ ======
598 598  )))
599 599  |(% style="width:30px" %) |(((
600 -(% class="wikigeneratedid" %)
601 -Maximum Speed in RPM (**SR**)
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: ======
602 602  
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 -
624 624  |**Command sent**|**Returned value (1/10 °)**
625 625  |ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
626 626  |ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
... ... @@ -627,25 +627,17 @@
627 627  |ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
628 628  |ex: #5QSR3<cr>|Target travel speed
629 629  
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.
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.
635 635  )))
636 636  
637 637  == Modifiers ==
638 638  
639 639  |(% colspan="2" %)(((
640 -====== __Speed __ ======
592 +====== __Speed (**SD**) modifier__ ======
641 641  )))
642 642  |(% style="width:30px" %) |(((
643 -(% class="wikigeneratedid" %)
644 -Speed in Degrees (**SD**)
595 +====== Example: #5D0SD180<cr> ======
645 645  
646 -(% class="wikigeneratedid" id="HExample:235D0SD1803Ccr3E" %)
647 -Example: #5D0SD180<cr>
648 -
649 649  (% class="wikigeneratedid" %)
650 650  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.
651 651  
... ... @@ -660,11 +660,9 @@
660 660  )))
661 661  
662 662  |(% colspan="2" %)(((
663 -====== __Timed move__ ======
611 +====== __Timed move (**T**) modifier__ ======
664 664  )))
665 665  |(% style="width:30px" %) |(((
666 -Timed Move (**T**)
667 -
668 668  Example: #5D15000T2500<cr>
669 669  
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.
... ... @@ -675,11 +675,9 @@
675 675  == Telemetry ==
676 676  
677 677  |(% colspan="2" %)(((
678 -====== __Temperature PCB__ ======
624 +====== __**Q**uery PCB **T**emperature (**QT**)__ ======
679 679  )))
680 680  |(% style="width:30px" %) |(((
681 -Query Temp PCB (**QT**)
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.
... ... @@ -686,37 +686,27 @@
686 686  )))
687 687  
688 688  |(% colspan="2" %)(((
689 -====== __Current__ ======
633 +====== __**Q**uery **C**urrent (**QC**)__ ======
690 690  )))
691 691  |(% style="width:30px" %) |(((
692 -(% class="wikigeneratedid" %)
693 -Query Current (**QC**)
636 +====== Ex: #5QC<cr> might return *5QC140<cr> ======
694 694  
695 -(% class="wikigeneratedid" id="HEx:235QC3Ccr3Emightreturn2A5QC1403Ccr3E" %)
696 -Ex: #5QC<cr> might return *5QC140<cr>
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.
699 699  )))
700 700  
701 701  |(% colspan="2" %)(((
702 -====== __Model String__ ======
642 +====== __**Q**uery **M**odel **S**tring (**QMS**)__ ======
703 703  )))
704 704  |(% style="width:30px" %) |(((
705 -(% class="wikigeneratedid" %)
706 -Query Model String (**QMS**)
645 +====== Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr> ======
707 707  
708 -(% class="wikigeneratedid" id="HEx:235QMS3Ccr3Emightreturn2A5QMSLSS-HS13Ccr3E" %)
709 -Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
710 -
711 711  This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
712 712  )))
713 713  
714 714  |(% colspan="2" %)(((
715 -====== __Firmware__ ======
651 +====== __**Q**uery **F**irmware (**QF**)__ ======
716 716  )))
717 717  |(% style="width:30px" %) |(((
718 -Query Firmware (**QF**)
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
... ... @@ -723,62 +723,53 @@
723 723  )))
724 724  
725 725  |(% colspan="2" %)(((
726 -====== __Serial Number__ ======
660 +====== __**Q**uery Serial **N**umber (**QN**)__ ======
727 727  )))
728 728  |(% style="width:30px" %) |(((
729 -(% class="wikigeneratedid" %)
730 -Query Serial Number (**QN**)
663 +====== Ex: #5QN<cr> might return *5QN12345678<cr> ======
731 731  
732 -(% class="wikigeneratedid" id="HEx:235QN3Ccr3Emightreturn2A5QN123456783Ccr3E" %)
733 -Ex: #5QN<cr> might return *5QN12345678<cr>
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.
736 736  )))
737 737  
738 738  |(% colspan="2" %)(((
739 -====== __Temperature Probe__ ======
669 +====== __**Q**uery **T**emperature **P**robe (**QTP**)__ ======
740 740  )))
741 741  |(% style="width:30px" %) |(((
742 -Query Temp motor Probe (**QTP**)
672 +
743 743  )))
744 744  
745 745  |(% colspan="2" %)(((
746 -====== __Temperature MCU__ ======
676 +====== __**Q**uery **T**emperature **M**CU (**QTM**)__ ======
747 747  )))
748 748  |(% style="width:30px" %) |(((
749 -Query Temp MCU (**QTM**)
679 +
750 750  )))
751 751  
752 752  |(% colspan="2" %)(((
753 -====== __Temp Controller Error__ ======
683 +====== __**Q**uery **T**emp **C**ontroller **E**rror (**QTCE**)__ ======
754 754  )))
755 755  |(% style="width:30px" %) |(((
756 -(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
757 -Query Temp Controller Error (**QTCE**)
686 +====== ======
758 758  )))
759 759  
760 760  |(% colspan="2" %)(((
761 -====== __Temp Controller Warning__ ======
690 +====== **Q**uery **T**emp **C**ontroller **W**arning (**QTCW**) ======
762 762  )))
763 763  |(% style="width:30px" %) |(((
764 -(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
765 -Query Temp Controller Warning (**QTCW**)
693 +====== ======
766 766  )))
767 767  
768 768  |(% colspan="2" %)(((
769 -====== __Error Flag__ ======
697 +====== __Query Error Flag (**QEF**)__ ======
770 770  )))
771 771  |(% style="width:30px" %) |(((
772 -Query Error Flag (**QEF**)
700 +
773 773  )))
774 774  
775 775  |(% colspan="2" %)(((
776 -====== __IMU Linear__ ======
704 +====== __**Q**uery **I**MU Linear (**QIX QIY QIZ**)__ ======
777 777  )))
778 778  |(% style="width:30px" %) |(((
779 -(% class="wikigeneratedid" %)
780 -Query IMU Linear (**QIX QIY QIZ**)
781 -
782 782  ====== Ex: #6QIX<cr> might return *6QIX30<cr> ======
783 783  
784 784  This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
... ... @@ -785,15 +785,11 @@
785 785  )))
786 786  
787 787  |(% colspan="2" %)(((
788 -====== __IMU Angular__ ======
713 +====== __**Q**uery **I**MU Angular (**QIA QIB QIG**)__ ======
789 789  )))
790 790  |(% style="width:30px" %) |(((
791 -(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
792 -Query IMU Angular (**QIA QIB QIG**)
793 -Ex: #6QIB<cr> might return *6QIB44<cr>
716 +====== 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.
796 796  )))
797 797  
798 -
799 -

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