Changes for page LSS-PRO Communication Protocol
Last modified by Eric Nantel on 2024/09/06 14:52
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... ... @@ -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="HDefault"]]|(% 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="HUpdate"]]|(% 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="HIDNumber"]]|(% 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="HEnableCANTerminalResistor"]]|(% 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="HUSBConnectionStatus"]]|(% 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="HPositioninDegrees"]]|(% style="text-align:center" %)D|(% style="text-align:center" %)QD|(% style="text-align:center" %) | |0.01°| 130 -| |[[**M**ove in **D**egrees (relative)>>||anchor="HRelativeMoveinDegrees"]]|(% style="text-align:center" %)MD|(% style="text-align:center" %) |(% style="text-align:center" %) | |0.01°| 131 -| |[[**W**heel mode in **D**egrees>>||anchor="HWheelModeinDegrees"]]|(% 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" 132 -| |[[**W**heel mode in **R**PM>>||anchor="HWheelModeinRPM"]]|(% style="text-align:center" %)WR|(% style="text-align:center" %)QWR|(% style="text-align:center" %) | |RPM|A.K.A. "Speed mode" or "Continuous rotation" 133 -| |[[**Q**uery Motion Status>>||anchor="HStatus"]]|(% 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 -| |[[**L**imp>>||anchor="HLimp"]]|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Removes power from stepper coils 137 -| |[[**H**alt & Hold>>doc:||anchor="HHalt26Hold"]]|(% style="text-align:center" %)H|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Stops (halts) motion and holds last position 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" 133 +| |[[**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" 134 +| |[[**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 135 +| |[[**L**imp>>||anchor="HLimp28L29"]]|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Removes power from stepper coils 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="HOriginOffset"]]|(% 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="HAngularRange"]]|(% 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="HAngularAcceleration"]]|(% 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="HAngularDeceleration"]]|(% 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="HGyreDirection"]]|(% 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="HMaximumSpeedinDegrees"]]|(% 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="HMaximumSpeedinRPM"]]|(% 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, ½ step, ¼ 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="HSpeed"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %) |(% style="text-align:center" %) | |0.01°/s|For D and MD action commands153 -| |[[**T**imed move>>||anchor="HTimedmove"]]|(% style="text-align:center" %)T|(% style="text-align:center" %) |(% style="text-align:center" %) | |ms|Time associated with D, MD 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 +| |[[**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 -| |[[PCB **T**emperature>>doc:||anchor="HTemperaturePCB"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) | |0.1°C| 158 -| |[[**C**urrent>>doc:||anchor="HCurrent"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QC|(% style="text-align:center" %) | |mA|Nominal RMS value to stepper motor driver IC. 159 -| |[[**M**odel **S**tring>>doc:||anchor="HModelString"]]|(% 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 -| |[[**F**irmware Version>>doc:||anchor="HFirmware"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | | | 161 -| |[[Serial **N**umber>>doc:||anchor="HSerialNumber"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QN|(% style="text-align:center" %) | | |Returns the unique serial number for the servo 162 -| |[[**T**emperature **P**robe>>doc:||anchor="HTemperatureProbe"]]|(% 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 -| |[[**T**emp of **M**CU>>doc:||anchor="HTemperatureMCU"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTM|(% style="text-align:center" %) | |0.1°C| 164 -| |[[**T**emp of **C**ontroller **E**rror>>doc:||anchor="HTempControllerError"]]|(% 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 -| |[[**T**emp of **C**ontroller **W**arning>>doc:||anchor="HTempControllerWarning"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW|(% style="text-align:center" %) | | |Temperature error status of the motor controller (pre-warning) 168 -| |[[**E**rror **F**lag>>doc:||anchor="HErrorFlag"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QEF|(% style="text-align:center" %) | | | 169 -| |[[**I**MU Linear **X**>>doc:||anchor="HIMULinear"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |mm/s^2| 170 -| |[[**I**MU Linear **Y**>>doc:||anchor="HIMULinear"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |mm/s^2| 171 -| |[[**I**MU Linear **Z**>>doc:||anchor="HIMULinear"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |mm/s^2| 172 -| |[[**I**MU Angular Accel **α** >>doc:||anchor="HIMUAngular"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIA|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel α (Alpha) 173 -| |[[**I**MU Angular Accel **β**>>doc:||anchor="HIMUAngular"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIB|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel β (Beta) 174 -| |[[**I**MU Angular Accel **γ**>>doc:||anchor="HIMUAngular"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIG|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel γ (Gamma) 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 +| |[[**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 +| |[[**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="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** ... ... @@ -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. ... ... @@ -283,6 +283,17 @@ 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" %)((( ... ... @@ -311,17 +311,14 @@ 311 311 ))) 312 312 313 313 |(% colspan="2" %)((( 314 -====== __Relative Move in Degrees__ ====== 317 +====== __(Relative) Move in Degrees__ ====== 315 315 ))) 316 316 |(% style="width:30px" %) |((( 317 -(% class="wikigeneratedid" %) 318 318 Move in Degrees (**MD**) 319 319 320 -(% class="wikigeneratedid" %) 321 -Example: #5M1500<cr> 322 +Example: #5MD123<cr> 322 322 323 -(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %) 324 -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. 325 325 ))) 326 326 327 327 |(% colspan="2" %)((( ... ... @@ -359,9 +359,23 @@ 359 359 ))) 360 360 361 361 |(% colspan="2" %)((( 362 -====== __ Status__ ======362 +====== __(Relative) Move in Degrees__ ====== 363 363 ))) 364 364 |(% 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" %) |((( 365 365 Query Status (**Q**) 366 366 367 367 The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below. ... ... @@ -395,23 +395,11 @@ 395 395 ))) 396 396 397 397 |(% colspan="2" %)((( 398 -====== __Motion Time__ ====== 399 -))) 400 -|(% style="width:30px" %) |((( 401 -Query Motion Time (**QMT**) 402 -))) 403 - 404 -|(% colspan="2" %)((( 405 -====== __Current Speed__ ====== 406 -))) 407 -|(% style="width:30px" %) |((( 408 -Query Current Speed (**QCS**) 409 -))) 410 - 411 -|(% colspan="2" %)((( 412 412 ====== __Limp__ ====== 413 413 ))) 414 414 |(% style="width:30px" %) |((( 415 +Limp (**L**) 416 + 415 415 Example: #5L<cr> 416 416 417 417 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>. ... ... @@ -421,6 +421,8 @@ 421 421 ====== __Halt & Hold__ ====== 422 422 ))) 423 423 |(% style="width:30px" %) |((( 426 +Halt & Hold (**H**) 427 + 424 424 Example: #5H<cr> 425 425 426 426 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.) ... ... @@ -428,10 +428,8 @@ 428 428 429 429 == Motion Setup == 430 430 431 -|(% colspan="2" %)((( 432 -====== __Origin Offset__ ====== 433 -))) 434 -|(% style="width:30px" %) |((( 435 +====== __Origin Offset (**O**)__ ====== 436 + 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). 436 436 437 437 [[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"]] ... ... @@ -453,12 +453,9 @@ 453 453 Example: #5CO-24<cr> 454 454 455 455 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. 456 -))) 457 457 458 -|(% colspan="2" %)((( 459 -====== __Angular Range__ ====== 460 -))) 461 -|(% style="width:30px" %) |((( 459 +====== __Angular Range (**AR**)__ ====== 460 + 462 462 Example: #5AR1800<cr> 463 463 464 464 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: ... ... @@ -482,12 +482,9 @@ 482 482 Configure Angular Range (**CAR**) 483 483 484 484 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. 485 -))) 486 486 487 -|(% colspan="2" %)((( 488 -====== __Angular Acceleration__ ====== 489 -))) 490 -|(% style="width:30px" %) |((( 485 +====== __Angular Acceleration (**AA**)__ ====== 486 + 491 491 The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared. 492 492 493 493 Ex: #5AA30<cr> ... ... @@ -505,12 +505,9 @@ 505 505 Ex: #5CAA30<cr> 506 506 507 507 This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM. 508 -))) 509 509 510 -|(% colspan="2" %)((( 511 -====== __Angular Deceleration__ ====== 512 -))) 513 -|(% style="width:30px" %) |((( 505 +====== __Angular Deceleration (**AD**)__ ====== 506 + 514 514 The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared. 515 515 516 516 Ex: #5AD30<cr> ... ... @@ -528,12 +528,9 @@ 528 528 Ex: #5CAD30<cr> 529 529 530 530 This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM. 531 -))) 532 532 533 -|(% colspan="2" %)((( 534 -====== __Gyre Direction__ ====== 535 -))) 536 -|(% style="width:30px" %) |((( 525 +====== __Gyre Direction (**G**)__ ====== 526 + 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. 538 538 539 539 Ex: #5G-1<cr> ... ... @@ -551,43 +551,15 @@ 551 551 Ex: #5CG-1<cr> 552 552 553 553 This changes the gyre direction as described above and also writes to EEPROM. 554 -))) 555 555 556 -|(% colspan="2" %)((( 557 557 ====== __First Position__ ====== 558 -))) 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. 561 561 562 -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. 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> 563 563 564 - QueryFirstPositionin Degrees (**QFD**)549 +====== __Maximum Speed in Degrees (**SD**)__ ====== 565 565 566 -Ex: #5 QFD<cr> mightreturn*5QFD900<cr>The reply above indicates that servo withID5has a firstposition of90.0degrees.If there isno first position value stored,the replywillbeDIS.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: 567 567 568 -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> 573 -))) 574 - 575 -|(% colspan="2" %)((( 576 -====== __Maximum Speed in Degrees__ ====== 577 -))) 578 -|(% style="width:30px" %) |((( 579 -Maximum Speed in Degrees (**SD**) 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) ... ... @@ -594,64 +594,43 @@ 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**) 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. 598 598 599 - Ex:#5CSD1800<cr>561 +====== __Maximum Speed in RPM (**SR**)__ ====== 600 600 601 -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. 602 -))) 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: 603 603 604 -|(% colspan="2" %)((( 605 -====== __Maximum Speed in RPM__ ====== 606 -))) 607 -|(% style="width:30px" %) |((( 608 -(% class="wikigeneratedid" %) 609 -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 610 610 611 -(% class="wikigeneratedid" id="HEx:235SR453Ccr3EThiscommandsetstheservo27smaximumspeedformotioncommandsinrpmforthatsession.Intheexampleabove2Ctheservo27smaximumspeedforthatsessionwouldbesetto45rpm.Theservo27smaximumspeedcannotbesethigherthanitsphysicallimitatagivenvoltage.SRoverridesCSR28describedbelow29forthatsession.Uponresetorpowercycle2CtheservorevertstothevalueassociatedwithCSRasdescribedbelow.NotethatSD28describedabove29andSRareeffectivelythesame2Cbutallowtheusertospecifythespeedineitherunit.Thelastcommand28eitherSRorSD29receivediswhattheservousesforthatsession.QuerySpeedinRPM28QSR29Ex:235QSR3Ccr3Emightreturn2A5QSR453Ccr3EBydefaultQSRwillreturnthecurrentsessionvalue2CwhichissettothevalueofCSRasreset2FpowercycleandchangedwheneveranSD2FSRcommandisprocessed.If235QSR13Ccr3Eissent2Ctheconfiguredmaximumspeed28CSRvalue29willbereturnedinstead.Youcanalsoquerythecurrentspeedusing22222andthecurrenttargettravelspeedusing22322.Seethetablebelowforanexample:" %) 612 -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. 613 613 614 -(% 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. 573 +====== __Step Mode (**SM**)__ ====== 616 616 617 -(% 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. 575 +Ex: #8SM2<cr> 619 619 620 -(% class="wikigeneratedid" %) 621 -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. 622 622 623 -(% class="wikigeneratedid" %) 624 -Query Speed in RPM (**QSR**) 579 +Note that the torque and max RPM of the actuator will be affected. 625 625 626 -(% class="wikigeneratedid" %) 627 -Ex: #5QSR<cr> might return *5QSR45<cr> 581 +Query Step Mode (**QSM**) 628 628 629 -(% 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: 583 +Ex: #8QSM<cr> might return *8QSM2<cr> meaning servo with ID 8 is set to half step mode. 631 631 632 -|**Command sent**|**Returned value (1/10 °)** 633 -|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command) 634 -|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR) 635 -|ex: #5QSR2<cr>|Instantaneous speed (same as QWD) 636 -|ex: #5QSR3<cr>|Target travel speed 585 +Configure Step Mode (**CSM**) 637 637 638 - ConfigureSpeed in RPM(**CSR**)587 +Ex: #8SM2<cr> 639 639 640 - 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. 641 641 642 -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. 643 -))) 644 - 645 645 == Modifiers == 646 646 647 -|(% colspan="2" %)((( 648 -====== __Speed __ ====== 649 -))) 650 -|(% style="width:30px" %) |((( 651 -(% class="wikigeneratedid" %) 652 -Speed in Degrees (**SD**) 593 +====== __Speed (**SD**) modifier__ ====== 653 653 654 -(% class="wikigeneratedid" id="H Example:235D0SD1803Ccr3E" %)595 +(% class="wikigeneratedid" id="HTimedmove28T29modifier" %) 655 655 Example: #5D0SD180<cr> 656 656 657 657 (% class="wikigeneratedid" %) ... ... @@ -665,13 +665,8 @@ 665 665 666 666 (% class="wikigeneratedid" %) 667 667 This command queries the current speed in microseconds per second. 668 -))) 669 669 670 -|(% colspan="2" %)((( 671 -====== __Timed move__ ====== 672 -))) 673 -|(% style="width:30px" %) |((( 674 -Timed Move (**T**) 610 +====== __Timed move (**T**) modifier__ ====== 675 675 676 676 Example: #5D15000T2500<cr> 677 677 ... ... @@ -678,137 +678,61 @@ 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. 679 679 680 680 **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 681 -))) 682 682 618 +====== ====== 619 + 683 683 == Telemetry == 684 684 685 -|(% colspan="2" %)((( 686 -====== __Temperature PCB__ ====== 687 -))) 688 -|(% style="width:30px" %) |((( 689 -Query Temp PCB (**QT**) 622 +====== __Query PCB Temperature (**QT**)__ ====== 690 690 691 691 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 -))) 695 695 696 -|(% colspan="2" %)((( 697 -====== __Current__ ====== 698 -))) 699 -|(% style="width:30px" %) |((( 700 -(% class="wikigeneratedid" %) 701 -Query Current (**QC**) 628 +====== __Query Temperature Probe (**QTP**)__ ====== 702 702 703 -(% 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 + 704 704 Ex: #5QC<cr> might return *5QC140<cr> 705 705 706 706 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 -))) 708 708 709 -|(% colspan="2" %)((( 710 -====== __Model String__ ====== 711 -))) 712 -|(% style="width:30px" %) |((( 713 -(% class="wikigeneratedid" %) 714 -Query Model String (**QMS**) 644 +====== __Query Model String (**QMS**)__ ====== 715 715 716 -(% class="wikigeneratedid" id="HEx:235QMS3Ccr3Emightreturn2A5QMSLSS-HS13Ccr3E" %) 717 717 Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr> 718 718 719 719 This reply means that the servo model is LSS-HS1: a high speed servo, first revision. 720 -))) 721 721 722 -|(% colspan="2" %)((( 723 -====== __Firmware__ ====== 724 -))) 725 -|(% style="width:30px" %) |((( 726 -Query Firmware (**QF**) 650 +====== __Query Firmware (**QF**)__ ====== 727 727 728 728 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 -))) 732 732 733 -|(% colspan="2" %)((( 734 -====== __Serial Number__ ====== 735 -))) 736 -|(% style="width:30px" %) |((( 737 -(% class="wikigeneratedid" %) 738 -Query Serial Number (**QN**) 656 +====== __Query Serial Number (**QN**)__ ====== 739 739 740 -(% class="wikigeneratedid" id="HEx:235QN3Ccr3Emightreturn2A5QN123456783Ccr3E" %) 741 741 Ex: #5QN<cr> might return *5QN12345678<cr> 742 742 743 743 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 -))) 745 745 746 -|(% colspan="2" %)((( 747 -====== __Temperature Probe__ ====== 748 -))) 749 -|(% style="width:30px" %) |((( 750 -Query Temp motor Probe (**QTP**) 751 -))) 662 +====== __Query IMU Linear (**QIX** **QIY** **QIZ**)__ ====== 752 752 753 -|(% colspan="2" %)((( 754 -====== __Temperature MCU__ ====== 755 -))) 756 -|(% style="width:30px" %) |((( 757 -Query Temp MCU (**QTM**) 758 -))) 664 +Ex: #6QIX<cr> might return *6QIX30<cr> 759 759 760 -|(% colspan="2" %)((( 761 -====== __Temp Controller Error__ ====== 762 -))) 763 -|(% style="width:30px" %) |((( 764 -(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %) 765 -Query Temp Controller Error (**QTCE**) 766 -))) 767 - 768 -|(% colspan="2" %)((( 769 -====== __Temp Controller Warning__ ====== 770 -))) 771 -|(% style="width:30px" %) |((( 772 -(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %) 773 -Query Temp Controller Warning (**QTCW**) 774 -))) 775 - 776 -|(% colspan="2" %)((( 777 -====== __Error Flag__ ====== 778 -))) 779 -|(% style="width:30px" %) |((( 780 -Query Error Flag (**QEF**) 781 -))) 782 - 783 -|(% colspan="2" %)((( 784 -====== __IMU Linear__ ====== 785 -))) 786 -|(% style="width:30px" %) |((( 787 -(% class="wikigeneratedid" %) 788 -Query IMU Linear (**QIX QIY QIZ**) 789 - 790 -====== Ex: #6QIX<cr> might return *6QIX30<cr> ====== 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 -))) 794 794 795 -|(% colspan="2" %)((( 796 -====== __IMU Angular__ ====== 797 -))) 798 -|(% style="width:30px" %) |((( 799 -(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %) 800 -Query IMU Angular (**QIA QIB QIG**) 668 +====== __Query IMU Angular (**QIA** **QIB** **QIC**)__ ====== 669 + 801 801 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 -))) 805 805 806 -== RGB LED == 807 - 808 -|(% colspan="2" %)((( 809 -====== __LED Color__ ====== 810 -))) 811 -|(% style="width:30px" %) |((( 812 -(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %) 813 813 814 -)))