Last modified by Eric Nantel on 2024/09/06 14:52
From version < 79.2 >
edited by Eric Nantel
on 2024/07/22 14:59
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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... ... @@ -185,8 +185,6 @@
185 185  ====== __Reset__ ======
186 186  )))
187 187  | |(((
188 -Reset (**RESET**)
189 -
190 190  Ex: #5RESET<cr>
191 191  
192 192  This command does a "soft reset" and reverts all commands to those stored in EEPROM (i.e. configuration commands). Note: after a RESET command is received, the LSS will restart and perform initilization again, making it unavailable on the bus for a bit. See Session, note #2 for more details.
... ... @@ -193,11 +193,9 @@
193 193  )))
194 194  
195 195  |(% colspan="2" %)(((
196 -====== (% style="color:inherit; font-family:inherit" %)__Default__(%%) ======
194 +====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ======
197 197  )))
198 198  |(% style="width:30px" %) |(((
199 -(% style="color:inherit; font-family:inherit" %)Default (**DEFAULT**)
200 -
201 201  (% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr>
202 202  
203 203  (% style="color:inherit; font-family:inherit" %)This command sets in motion the reset of all values to the default values included with the version of the firmware installed on that servo. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the DEFAULT function.
... ... @@ -210,11 +210,9 @@
210 210  )))
211 211  
212 212  |(% colspan="2" %)(((
213 -====== (% style="color:inherit; font-family:inherit" %)__Update__(%%) ======
209 +====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
214 214  )))
215 215  |(% style="width:30px" %) |(((
216 -(% style="color:inherit; font-family:inherit" %)Update (**UPDATE**)
217 -
218 218  (% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
219 219  
220 220  (% style="color:inherit; font-family:inherit" %)This command sets in motion the equivalent of a long button press when the servo is not powered in order to enter firmware update mode. This is useful should the button be broken or inaccessible. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the UPDATE function.
... ... @@ -230,8 +230,6 @@
230 230  ====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
231 231  )))
232 232  |(% style="width:30px" %) |(((
233 -(% style="color:inherit; font-family:inherit" %)Confirm (**CONFIRM**)
234 -
235 235  (% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
236 236  
237 237  (% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command.
... ... @@ -283,14 +283,23 @@
283 283  Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
284 284  )))
285 285  
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 +
286 286  == Motion ==
287 287  
288 288  |(% colspan="2" %)(((
289 -====== __Position in Degrees__ ======
292 +====== __Position in **D**egrees (**D**)__ ======
290 290  )))
291 291  |(% style="width:30px" %) |(((
292 -Position in Degrees (**D**)
293 -
294 294  Example: #5D1456<cr>
295 295  
296 296  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.
... ... @@ -311,13 +311,10 @@
311 311  )))
312 312  
313 313  |(% colspan="2" %)(((
314 -====== __Relative Move in Degrees__ ======
315 +====== __Relative **M**ove in **D**egrees (**MD**)__ ======
315 315  )))
316 316  |(% style="width:30px" %) |(((
317 317  (% class="wikigeneratedid" %)
318 -Move in Degrees (**MD**)
319 -
320 -(% class="wikigeneratedid" %)
321 321  Example: #5M1500<cr>
322 322  
323 323  (% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
... ... @@ -325,7 +325,7 @@
325 325  )))
326 326  
327 327  |(% colspan="2" %)(((
328 -====== __Wheel Mode in Degrees__ ======
326 +====== __**W**heel Mode in **D**egrees (**WD**)__ ======
329 329  )))
330 330  |(% style="width:30px" %) |(((
331 331  Wheel mode in Degrees (**WD**)
... ... @@ -342,7 +342,7 @@
342 342  )))
343 343  
344 344  |(% colspan="2" %)(((
345 -====== __Wheel Mode in RPM__ ======
343 +====== __**W**heel Mode in **R**PM (**WR**)__ ======
346 346  )))
347 347  |(% style="width:30px" %) |(((
348 348  Wheel moed in RPM (**WR**)
... ... @@ -359,11 +359,9 @@
359 359  )))
360 360  
361 361  |(% colspan="2" %)(((
362 -====== __Status__ ======
360 +====== __**Q**uery Status (**Q**)__ ======
363 363  )))
364 364  |(% style="width:30px" %) |(((
365 -Query Status (**Q**)
366 -
367 367  The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
368 368  
369 369  Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
... ... @@ -395,21 +395,21 @@
395 395  )))
396 396  
397 397  |(% colspan="2" %)(((
398 -====== __Motion Time__ ======
394 +====== __**Q**uery** M**otion **T**ime (**QMT**)__ ======
399 399  )))
400 400  |(% style="width:30px" %) |(((
401 -Query Motion Time (**QMT**)
397 +
402 402  )))
403 403  
404 404  |(% colspan="2" %)(((
405 -====== __Current Speed__ ======
401 +====== __**Q**uery** C**urrent **S**peed (**QCS**)__ ======
406 406  )))
407 407  |(% style="width:30px" %) |(((
408 -Query Current Speed (**QCS**)
404 +
409 409  )))
410 410  
411 411  |(% colspan="2" %)(((
412 -====== __Limp__ ======
408 +====== __**L**imp (**L**)__ ======
413 413  )))
414 414  |(% style="width:30px" %) |(((
415 415  Example: #5L<cr>
... ... @@ -418,7 +418,7 @@
418 418  )))
419 419  
420 420  |(% colspan="2" %)(((
421 -====== __Halt & Hold__ ======
417 +====== __**H**alt & Hold (**H**)__ ======
422 422  )))
423 423  |(% style="width:30px" %) |(((
424 424  Example: #5H<cr>
... ... @@ -429,7 +429,7 @@
429 429  == Motion Setup ==
430 430  
431 431  |(% colspan="2" %)(((
432 -====== __Origin Offset__ ======
428 +====== __Origin Offset (**O**)__ ======
433 433  )))
434 434  |(% style="width:30px" %) |(((
435 435  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).
... ... @@ -456,7 +456,7 @@
456 456  )))
457 457  
458 458  |(% colspan="2" %)(((
459 -====== __Angular Range__ ======
455 +====== __Angular Range (**AR**)__ ======
460 460  )))
461 461  |(% style="width:30px" %) |(((
462 462  Example: #5AR1800<cr>
... ... @@ -485,7 +485,7 @@
485 485  )))
486 486  
487 487  |(% colspan="2" %)(((
488 -====== __Angular Acceleration__ ======
484 +====== __Angular Acceleration (**AA**)__ ======
489 489  )))
490 490  |(% style="width:30px" %) |(((
491 491  The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
... ... @@ -508,7 +508,7 @@
508 508  )))
509 509  
510 510  |(% colspan="2" %)(((
511 -====== __Angular Deceleration__ ======
507 +====== __Angular Deceleration (**AD**)__ ======
512 512  )))
513 513  |(% style="width:30px" %) |(((
514 514  The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
... ... @@ -531,7 +531,7 @@
531 531  )))
532 532  
533 533  |(% colspan="2" %)(((
534 -====== __Gyre Direction__ ======
530 +====== __Gyre Direction (**G**)__ ======
535 535  )))
536 536  |(% style="width:30px" %) |(((
537 537  "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.
... ... @@ -557,37 +557,15 @@
557 557  ====== __First Position__ ======
558 558  )))
559 559  |(% style="width:30px" %) |(((
560 -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.
561 -
562 -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.
563 -
564 -Query First Position in Degrees (**QFD**)
565 -
566 -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.
567 -
568 -Configure First Position in Degrees (**CFD**)
569 -
570 -Ex: #5CFD900<cr>
571 -
572 -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>
573 573  )))
574 574  
575 575  |(% colspan="2" %)(((
576 -====== __Maximum Speed in Degrees__ ======
560 +====== __Maximum Speed in Degrees (**SD**)__ ======
577 577  )))
578 578  |(% style="width:30px" %) |(((
579 -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:
580 580  
581 -Ex: #5SD1800<cr>
582 -
583 -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.
584 -
585 -Query Speed in Degrees (**QSD**)
586 -
587 -Ex: #5QSD<cr> might return *5QSD1800<cr>
588 -
589 -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:
590 -
591 591  |**Command sent**|**Returned value (1/10 °)**
592 592  |ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
593 593  |ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
... ... @@ -594,41 +594,15 @@
594 594  |ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
595 595  |ex: #5QSD3<cr>|Target travel speed
596 596  
597 -Configure Speed in Degrees (**CSD**)
598 -
599 -Ex: #5CSD1800<cr>
600 -
601 -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.
602 602  )))
603 603  
604 604  |(% colspan="2" %)(((
605 -====== __Maximum Speed in RPM__ ======
575 +====== __Maximum Speed in RPM (**SR**)__ ======
606 606  )))
607 607  |(% style="width:30px" %) |(((
608 -(% class="wikigeneratedid" %)
609 -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: ======
610 610  
611 -(% class="wikigeneratedid" id="HEx:235SR453Ccr3EThiscommandsetstheservo27smaximumspeedformotioncommandsinrpmforthatsession.Intheexampleabove2Ctheservo27smaximumspeedforthatsessionwouldbesetto45rpm.Theservo27smaximumspeedcannotbesethigherthanitsphysicallimitatagivenvoltage.SRoverridesCSR28describedbelow29forthatsession.Uponresetorpowercycle2CtheservorevertstothevalueassociatedwithCSRasdescribedbelow.NotethatSD28describedabove29andSRareeffectivelythesame2Cbutallowtheusertospecifythespeedineitherunit.Thelastcommand28eitherSRorSD29receivediswhattheservousesforthatsession.QuerySpeedinRPM28QSR29Ex:235QSR3Ccr3Emightreturn2A5QSR453Ccr3EBydefaultQSRwillreturnthecurrentsessionvalue2CwhichissettothevalueofCSRasreset2FpowercycleandchangedwheneveranSD2FSRcommandisprocessed.If235QSR13Ccr3Eissent2Ctheconfiguredmaximumspeed28CSRvalue29willbereturnedinstead.Youcanalsoquerythecurrentspeedusing22222andthecurrenttargettravelspeedusing22322.Seethetablebelowforanexample:" %)
612 -Ex: #5SR45<cr>
613 -
614 -(% class="wikigeneratedid" %)
615 -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.
616 -
617 -(% class="wikigeneratedid" %)
618 -Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit.
619 -
620 -(% class="wikigeneratedid" %)
621 -The last command (either SR or SD) received is what the servo uses for that session.
622 -
623 -(% class="wikigeneratedid" %)
624 -Query Speed in RPM (**QSR**)
625 -
626 -(% class="wikigeneratedid" %)
627 -Ex: #5QSR<cr> might return *5QSR45<cr>
628 -
629 -(% class="wikigeneratedid" %)
630 -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:
631 -
632 632  |**Command sent**|**Returned value (1/10 °)**
633 633  |ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
634 634  |ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
... ... @@ -635,25 +635,17 @@
635 635  |ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
636 636  |ex: #5QSR3<cr>|Target travel speed
637 637  
638 -Configure Speed in RPM (**CSR**)
639 -
640 -Ex: #5CSR45<cr>
641 -
642 -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.
643 643  )))
644 644  
645 645  == Modifiers ==
646 646  
647 647  |(% colspan="2" %)(((
648 -====== __Speed __ ======
592 +====== __Speed (**SD**) modifier__ ======
649 649  )))
650 650  |(% style="width:30px" %) |(((
651 -(% class="wikigeneratedid" %)
652 -Speed in Degrees (**SD**)
595 +====== Example: #5D0SD180<cr> ======
653 653  
654 -(% class="wikigeneratedid" id="HExample:235D0SD1803Ccr3E" %)
655 -Example: #5D0SD180<cr>
656 -
657 657  (% class="wikigeneratedid" %)
658 658  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.
659 659  
... ... @@ -668,11 +668,9 @@
668 668  )))
669 669  
670 670  |(% colspan="2" %)(((
671 -====== __Timed move__ ======
611 +====== __Timed move (**T**) modifier__ ======
672 672  )))
673 673  |(% style="width:30px" %) |(((
674 -Timed Move (**T**)
675 -
676 676  Example: #5D15000T2500<cr>
677 677  
678 678  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.
... ... @@ -683,11 +683,9 @@
683 683  == Telemetry ==
684 684  
685 685  |(% colspan="2" %)(((
686 -====== __Temperature PCB__ ======
624 +====== __**Q**uery PCB **T**emperature (**QT**)__ ======
687 687  )))
688 688  |(% style="width:30px" %) |(((
689 -Query Temp PCB (**QT**)
690 -
691 691  Ex: #5QT<cr> might return *5QT564<cr>
692 692  
693 693  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.
... ... @@ -694,37 +694,27 @@
694 694  )))
695 695  
696 696  |(% colspan="2" %)(((
697 -====== __Current__ ======
633 +====== __**Q**uery **C**urrent (**QC**)__ ======
698 698  )))
699 699  |(% style="width:30px" %) |(((
700 -(% class="wikigeneratedid" %)
701 -Query Current (**QC**)
636 +====== Ex: #5QC<cr> might return *5QC140<cr> ======
702 702  
703 -(% class="wikigeneratedid" id="HEx:235QC3Ccr3Emightreturn2A5QC1403Ccr3E" %)
704 -Ex: #5QC<cr> might return *5QC140<cr>
705 -
706 706  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.
707 707  )))
708 708  
709 709  |(% colspan="2" %)(((
710 -====== __Model String__ ======
642 +====== __**Q**uery **M**odel **S**tring (**QMS**)__ ======
711 711  )))
712 712  |(% style="width:30px" %) |(((
713 -(% class="wikigeneratedid" %)
714 -Query Model String (**QMS**)
645 +====== Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr> ======
715 715  
716 -(% class="wikigeneratedid" id="HEx:235QMS3Ccr3Emightreturn2A5QMSLSS-HS13Ccr3E" %)
717 -Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
718 -
719 719  This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
720 720  )))
721 721  
722 722  |(% colspan="2" %)(((
723 -====== __Firmware__ ======
651 +====== __**Q**uery **F**irmware (**QF**)__ ======
724 724  )))
725 725  |(% style="width:30px" %) |(((
726 -Query Firmware (**QF**)
727 -
728 728  Ex: #5QF<cr> might return *5QF368<cr>
729 729  
730 730  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
... ... @@ -731,62 +731,53 @@
731 731  )))
732 732  
733 733  |(% colspan="2" %)(((
734 -====== __Serial Number__ ======
660 +====== __**Q**uery Serial **N**umber (**QN**)__ ======
735 735  )))
736 736  |(% style="width:30px" %) |(((
737 -(% class="wikigeneratedid" %)
738 -Query Serial Number (**QN**)
663 +====== Ex: #5QN<cr> might return *5QN12345678<cr> ======
739 739  
740 -(% class="wikigeneratedid" id="HEx:235QN3Ccr3Emightreturn2A5QN123456783Ccr3E" %)
741 -Ex: #5QN<cr> might return *5QN12345678<cr>
742 -
743 743  The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
744 744  )))
745 745  
746 746  |(% colspan="2" %)(((
747 -====== __Temperature Probe__ ======
669 +====== __**Q**uery **T**emperature **P**robe (**QTP**)__ ======
748 748  )))
749 749  |(% style="width:30px" %) |(((
750 -Query Temp motor Probe (**QTP**)
672 +
751 751  )))
752 752  
753 753  |(% colspan="2" %)(((
754 -====== __Temperature MCU__ ======
676 +====== __**Q**uery **T**emperature **M**CU (**QTM**)__ ======
755 755  )))
756 756  |(% style="width:30px" %) |(((
757 -Query Temp MCU (**QTM**)
679 +
758 758  )))
759 759  
760 760  |(% colspan="2" %)(((
761 -====== __Temp Controller Error__ ======
683 +====== __**Q**uery **T**emp **C**ontroller **E**rror (**QTCE**)__ ======
762 762  )))
763 763  |(% style="width:30px" %) |(((
764 -(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
765 -Query Temp Controller Error (**QTCE**)
686 +====== ======
766 766  )))
767 767  
768 768  |(% colspan="2" %)(((
769 -====== __Temp Controller Warning__ ======
690 +====== **Q**uery **T**emp **C**ontroller **W**arning (**QTCW**) ======
770 770  )))
771 771  |(% style="width:30px" %) |(((
772 -(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
773 -Query Temp Controller Warning (**QTCW**)
693 +====== ======
774 774  )))
775 775  
776 776  |(% colspan="2" %)(((
777 -====== __Error Flag__ ======
697 +====== __Query Error Flag (**QEF**)__ ======
778 778  )))
779 779  |(% style="width:30px" %) |(((
780 -Query Error Flag (**QEF**)
700 +
781 781  )))
782 782  
783 783  |(% colspan="2" %)(((
784 -====== __IMU Linear__ ======
704 +====== __**Q**uery **I**MU Linear (**QIX QIY QIZ**)__ ======
785 785  )))
786 786  |(% style="width:30px" %) |(((
787 -(% class="wikigeneratedid" %)
788 -Query IMU Linear (**QIX QIY QIZ**)
789 -
790 790  ====== Ex: #6QIX<cr> might return *6QIX30<cr> ======
791 791  
792 792  This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
... ... @@ -793,14 +793,11 @@
793 793  )))
794 794  
795 795  |(% colspan="2" %)(((
796 -====== __IMU Angular__ ======
713 +====== __**Q**uery **I**MU Angular (**QIA QIB QIG**)__ ======
797 797  )))
798 798  |(% style="width:30px" %) |(((
799 -(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
800 -Query IMU Angular (**QIA QIB QIG**)
801 -Ex: #6QIB<cr> might return *6QIB44<cr>
716 +====== Ex: #6QIB<cr> might return *6QIB44<cr> ======
802 802  
803 803  This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
804 804  )))
805 805  
806 -

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