Last modified by Eric Nantel on 2024/09/06 14:52
From version < 79.7 >
edited by Eric Nantel
on 2024/07/22 15:15
To version < 78.13 >
edited by Eric Nantel
on 2024/07/22 14:28
< >
Change comment: There is no comment for this version

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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**
119 119  | |[[**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
120 +| |[[**Default** Configuration>>||anchor="HDefault26confirm"]]|(% style="text-align:center" %)DEFAULT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |Revert to firmware default values
121 +| |[[Firmware **Update** Mode>>||anchor="HUpdate26confirm"]]|(% style="text-align:center" %)UPDATE|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |Update firmware
122 122  | |[[**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
123 +| |[[**ID** Number >>||anchor="HIDNumber28ID29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QID|(% style="text-align:center" %)CID|(% style="text-align:center" %)0|(% style="text-align:center" %) |Reset required after change. ID 254 is a "broadcast" which all servos respond to.
124 +| |[[**E**nable CAN **T**erminal>>doc:||anchor="HEnableCANTerminalResistor28ET29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QET|(% style="text-align:center" %)CET|(% style="text-align:center" %)1|(% style="text-align:center" %)0 or 1|0: Disable  1: Enable
125 +| |[[**U**SB **C**onnection Status>>||anchor="HUSBConnectionStatus28UC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QUC|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)0 or 1|0: Not connected 1: Connected
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
129 +| |[[Position in **D**egrees>>||anchor="HPositioninDegrees28D29"]]|(% style="text-align:center" %)D|(% style="text-align:center" %)QD|(% style="text-align:center" %) | |0.01°|
130 +| |[[**M**ove in **D**egrees (relative)>>||anchor="H28Relative29MoveinDegrees28MD29"]]|(% style="text-align:center" %)MD|(% style="text-align:center" %) |(% style="text-align:center" %) | |0.01°|
131 +| |[[**W**heel mode in **D**egrees>>||anchor="HWheelModeinDegrees28WD29"]]|(% style="text-align:center" %)WD|(% style="text-align:center" %)QWD|(% style="text-align:center" %) | |0.01°/s|A.K.A. "Speed mode" or "Continuous rotation"
132 +| |[[**W**heel mode in **R**PM>>||anchor="HWheelModeinRPM28WR29"]]|(% style="text-align:center" %)WR|(% style="text-align:center" %)QWR|(% style="text-align:center" %) | |RPM|A.K.A. "Speed mode" or "Continuous rotation"
133 +| |[[**Q**uery Motion Status>>||anchor="HQueryStatus28Q29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)Q|(% style="text-align:center" %) | |1 to 8 integer|See command description for details
134 134  | |[[**Q**uery **M**otion **T**ime>>doc:||anchor="HMotionTime"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMT|(% style="text-align:center" %) | |0.01s|
135 135  | |[[**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
136 +| |[[**L**imp>>||anchor="HLimp28L29"]]|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Removes power from stepper coils
137 +| |[[**H**alt & Hold>>doc:||anchor="HHalt&Hold"]]|(% style="text-align:center" %)H|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Stops (halts) motion 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)
141 +| |[[**O**rigin Offset>>||anchor="HOriginOffset28O29"]]|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|(% style="text-align:center" %)0|(% style="text-align:center" %)0.01°|
142 +| |[[**A**ngular **R**ange>>||anchor="HAngularRange28AR29"]]|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|(% style="text-align:center" %)36000|(% style="text-align:center" %)0.01°|
143 +| |[[**A**ngular **A**cceleration>>||anchor="HAngularAcceleration28AA29"]]|(% style="text-align:center" %)AA|(% style="text-align:center" %)QAA|(% style="text-align:center" %)CAA|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s^2|
144 +| |[[**A**ngular **D**eceleration>>||anchor="HAngularDeceleration28AD29"]]|(% style="text-align:center" %)AD|(% style="text-align:center" %)QAD|(% style="text-align:center" %)CAD|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s^2|
145 +| |[[**G**yre Direction>>||anchor="HGyreDirection28G29"]]|(% style="text-align:center" %)G|(% style="text-align:center" %)QG|(% style="text-align:center" %)CG|(% style="text-align:center" %)1|(% style="text-align:center" %)1 or -1|Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)
146 146  | |[[**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
147 +| |[[Maximum **S**peed in **D**egrees>>||anchor="HMaximumSpeedinDegrees28SD29"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %)QSD|(% style="text-align:center" %)CSD|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s|SD / CSD overwrites SR / CSR
148 +| |[[Maximum **S**peed in **R**PM>>||anchor="HMaximumSpeedinRPM28SR29"]]|(% style="text-align:center" %)SR|(% style="text-align:center" %)QSR|(% style="text-align:center" %)CSR|(% style="text-align:center" %) |(% style="text-align:center" %)RPM|SR / CSR overwrites SD / CSD
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 commands
153 -| |[[**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>>doc:||anchor="HSpeed28SD29modifier"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %) |(% style="text-align:center" %) | |0.01°/s|For D and MD action commands
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 -|(% 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="text-align:center; width:100px" %)**Default**|(% style="text-align:center; width:170px" %)**Unit**|**Notes**
157 -| |[[PCB **T**emperature>>doc:||anchor="HTemperaturePCB"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) | |(% 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" %) | |(% 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" %) | |(% 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" %) | |(% style="text-align:center" %) |
161 -| |[[Serial **N**umber>>doc:||anchor="HSerialNumber"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QN|(% style="text-align:center" %) | |(% 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" %) | |(% 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" %) | |(% 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" %) | |(% style="text-align:center" %) |(((
156 +|(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
157 +| |[[**Q**uery PCB **T**emperature>>doc:||anchor="HQueryPCBTemperature28QT29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) | |0.1°C|
158 +| |[[**Q**uery **C**urrent>>doc:||anchor="HQueryCurrent28QC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QC|(% style="text-align:center" %) | |mA|Nominal RMS value to stepper motor driver IC.
159 +| |[[**Q**uery **M**odel **S**tring>>doc:||anchor="HQueryModelString28QMS29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMS|(% style="text-align:center" %) | | |Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1)
160 +| |[[**Q**uery **F**irmware Version>>doc:||anchor="HQueryFirmware28QF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | | |
161 +| |[[**Q**uery Serial **N**umber>>doc:||anchor="HQuerySerialNumber28QN29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QN|(% style="text-align:center" %) | | |Returns the unique serial number for the servo
162 +| |[[**Q**uery **T**emperature **P**robe>>doc:||anchor="HQueryTemperatureProbe28QTP29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTP|(% style="text-align:center" %) | |0.1°C|Queries temperature probe fixed to the stepper motor
163 +| |[[**Q**uery **T**emp of **M**CU>>doc:||anchor="HQueryTemperatureMCU28QTM29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTM|(% style="text-align:center" %) | |0.1°C|
164 +| |[[**Q**uery **T**emp of **C**ontroller **E**rror>>doc:||anchor="HQueryTempControllerError28QTCE29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCE|(% style="text-align:center" %) | | |(((
165 165  Temperature error 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" %) | |(% 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" %) | |(% 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" %) | |(% 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" %) | |(% 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" %) | |(% 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" %) | |(% 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" %) | |(% 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" %) | |(% style="text-align:center" %)°/s^2|Query IMU Angular Accel γ (Gamma)
167 +| |[[**Q**uery **T**emp of **C**ontroller **W**arning>>doc:||anchor="HQueryTempControllerWarning28QTCW29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW|(% style="text-align:center" %) | | |Temperature error status of the motor controller (pre-warning)
168 +| |[[**Q**uery **E**rror **F**lag>>doc:||anchor="HQueryErrorFlag28QEF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QEF|(% style="text-align:center" %) | | |
169 +| |[[**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="HQueryIMUAngular28QIAQIBQIG29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIA|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel α (Alpha)
173 +| |[[**Q**uery **I**MU Angular Accel **β**>>doc:||anchor="HQueryIMUAngular28QIAQIBQIG29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIB|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel β (Beta)
174 +| |[[**Q**uery **I**MU Angular Accel **γ**>>doc:||anchor="HQueryIMUAngular28QIAQIBQIG29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIG|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel γ (Gamma)
175 175  
176 176  |(% colspan="8" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="HRGBLED"]]
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="text-align:center; width:100px" %)**Default**|(% style="text-align:center; width:170px" %)**Unit**|**Notes**
178 -| |[[**LED** Color>>||anchor="HLEDColor"]]|(% style="text-align:center" %)LED|(% style="text-align:center" %)QLED|(% style="text-align:center" %)CLED|(% style="text-align:center" %) |(% style="text-align:center" %)0 to 7 integer|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White
179 -| |Configure LED Blinking|(% style="text-align:center" %) |(% style="text-align:center" %)QLB|(% style="text-align:center" %)CLB|(% style="text-align:center" %)0|(% style="text-align:center" %) |
180 -| |LED Indicator|(% style="text-align:center" %) |(% style="text-align:center" %)QLI|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |
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**
178 +| |[[**LED** Color>>||anchor="HLEDColor28LED29"]]|(% style="text-align:center" %)LED|(% style="text-align:center" %)QLED|(% style="text-align:center" %)CLED| |0 to 7 integer|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White
181 181  
182 182  = (% style="color:inherit; font-family:inherit" %)Details(%%) =
183 183  
... ... @@ -187,8 +187,6 @@
187 187  ====== __Reset__ ======
188 188  )))
189 189  | |(((
190 -Reset (**RESET**)
191 -
192 192  Ex: #5RESET<cr>
193 193  
194 194  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.
... ... @@ -195,11 +195,9 @@
195 195  )))
196 196  
197 197  |(% colspan="2" %)(((
198 -====== (% style="color:inherit; font-family:inherit" %)__Default__(%%) ======
194 +====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ======
199 199  )))
200 200  |(% style="width:30px" %) |(((
201 -(% style="color:inherit; font-family:inherit" %)Default (**DEFAULT**)
202 -
203 203  (% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr>
204 204  
205 205  (% 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.
... ... @@ -212,11 +212,9 @@
212 212  )))
213 213  
214 214  |(% colspan="2" %)(((
215 -====== (% style="color:inherit; font-family:inherit" %)__Update__(%%) ======
209 +====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
216 216  )))
217 217  |(% style="width:30px" %) |(((
218 -(% style="color:inherit; font-family:inherit" %)Update (**UPDATE**)
219 -
220 220  (% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
221 221  
222 222  (% 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.
... ... @@ -232,8 +232,6 @@
232 232  ====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
233 233  )))
234 234  |(% style="width:30px" %) |(((
235 -(% style="color:inherit; font-family:inherit" %)Confirm (**CONFIRM**)
236 -
237 237  (% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
238 238  
239 239  (% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command.
... ... @@ -285,6 +285,17 @@
285 285  Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
286 286  )))
287 287  
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 +
288 288  == Motion ==
289 289  
290 290  |(% colspan="2" %)(((
... ... @@ -313,17 +313,14 @@
313 313  )))
314 314  
315 315  |(% colspan="2" %)(((
316 -====== __Relative Move in Degrees__ ======
317 +====== __(Relative) Move in Degrees__ ======
317 317  )))
318 318  |(% style="width:30px" %) |(((
319 -(% class="wikigeneratedid" %)
320 320  Move in Degrees (**MD**)
321 321  
322 -(% class="wikigeneratedid" %)
323 -Example: #5M1500<cr>
322 +Example: #5MD123<cr>
324 324  
325 -(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
326 -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.
327 327  )))
328 328  
329 329  |(% colspan="2" %)(((
... ... @@ -361,9 +361,23 @@
361 361  )))
362 362  
363 363  |(% colspan="2" %)(((
364 -====== __Status__ ======
362 +====== __(Relative) Move in Degrees__ ======
365 365  )))
366 366  |(% 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" %) |(((
367 367  Query Status (**Q**)
368 368  
369 369  The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
... ... @@ -400,7 +400,7 @@
400 400  ====== __Motion Time__ ======
401 401  )))
402 402  |(% style="width:30px" %) |(((
403 -Query Motion Time (**QMT**)
415 +
404 404  )))
405 405  
406 406  |(% colspan="2" %)(((
... ... @@ -407,7 +407,7 @@
407 407  ====== __Current Speed__ ======
408 408  )))
409 409  |(% style="width:30px" %) |(((
410 -Query Current Speed (**QCS**)
422 +
411 411  )))
412 412  
413 413  |(% colspan="2" %)(((
... ... @@ -414,6 +414,8 @@
414 414  ====== __Limp__ ======
415 415  )))
416 416  |(% style="width:30px" %) |(((
429 +Limp (**L**)
430 +
417 417  Example: #5L<cr>
418 418  
419 419  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>.
... ... @@ -423,6 +423,8 @@
423 423  ====== __Halt & Hold__ ======
424 424  )))
425 425  |(% style="width:30px" %) |(((
440 +Halt & Hold (**H**)
441 +
426 426  Example: #5H<cr>
427 427  
428 428  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.)
... ... @@ -431,7 +431,7 @@
431 431  == Motion Setup ==
432 432  
433 433  |(% colspan="2" %)(((
434 -====== __Origin Offset__ ======
450 +====== __Origin Offset (**O**)__ ======
435 435  )))
436 436  |(% style="width:30px" %) |(((
437 437  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).
... ... @@ -458,7 +458,7 @@
458 458  )))
459 459  
460 460  |(% colspan="2" %)(((
461 -====== __Angular Range__ ======
477 +====== __Angular Range (**AR**)__ ======
462 462  )))
463 463  |(% style="width:30px" %) |(((
464 464  Example: #5AR1800<cr>
... ... @@ -487,7 +487,7 @@
487 487  )))
488 488  
489 489  |(% colspan="2" %)(((
490 -====== __Angular Acceleration__ ======
506 +====== __Angular Acceleration (**AA**)__ ======
491 491  )))
492 492  |(% style="width:30px" %) |(((
493 493  The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
... ... @@ -510,7 +510,7 @@
510 510  )))
511 511  
512 512  |(% colspan="2" %)(((
513 -====== __Angular Deceleration__ ======
529 +====== __Angular Deceleration (**AD**)__ ======
514 514  )))
515 515  |(% style="width:30px" %) |(((
516 516  The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
... ... @@ -533,7 +533,7 @@
533 533  )))
534 534  
535 535  |(% colspan="2" %)(((
536 -====== __Gyre Direction__ ======
552 +====== __Gyre Direction (**G**)__ ======
537 537  )))
538 538  |(% style="width:30px" %) |(((
539 539  "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.
... ... @@ -559,37 +559,15 @@
559 559  ====== __First Position__ ======
560 560  )))
561 561  |(% style="width:30px" %) |(((
562 -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.
563 -
564 -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.
565 -
566 -Query First Position in Degrees (**QFD**)
567 -
568 -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.
569 -
570 -Configure First Position in Degrees (**CFD**)
571 -
572 -Ex: #5CFD900<cr>
573 -
574 -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>
578 +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>
575 575  )))
576 576  
577 577  |(% colspan="2" %)(((
578 -====== __Maximum Speed in Degrees__ ======
582 +====== __Maximum Speed in Degrees (**SD**)__ ======
579 579  )))
580 580  |(% style="width:30px" %) |(((
581 -Maximum Speed in Degrees (**SD**)
585 +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:
582 582  
583 -Ex: #5SD1800<cr>
584 -
585 -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.
586 -
587 -Query Speed in Degrees (**QSD**)
588 -
589 -Ex: #5QSD<cr> might return *5QSD1800<cr>
590 -
591 -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:
592 -
593 593  |**Command sent**|**Returned value (1/10 °)**
594 594  |ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
595 595  |ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
... ... @@ -596,41 +596,15 @@
596 596  |ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
597 597  |ex: #5QSD3<cr>|Target travel speed
598 598  
599 -Configure Speed in Degrees (**CSD**)
600 -
601 -Ex: #5CSD1800<cr>
602 -
603 -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.
593 +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.
604 604  )))
605 605  
606 606  |(% colspan="2" %)(((
607 -====== __Maximum Speed in RPM__ ======
597 +====== __Maximum Speed in RPM (**SR**)__ ======
608 608  )))
609 609  |(% style="width:30px" %) |(((
610 -(% class="wikigeneratedid" %)
611 -Maximum Speed in RPM (**SR**)
600 +====== 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: ======
612 612  
613 -(% class="wikigeneratedid" id="HEx:235SR453Ccr3EThiscommandsetstheservo27smaximumspeedformotioncommandsinrpmforthatsession.Intheexampleabove2Ctheservo27smaximumspeedforthatsessionwouldbesetto45rpm.Theservo27smaximumspeedcannotbesethigherthanitsphysicallimitatagivenvoltage.SRoverridesCSR28describedbelow29forthatsession.Uponresetorpowercycle2CtheservorevertstothevalueassociatedwithCSRasdescribedbelow.NotethatSD28describedabove29andSRareeffectivelythesame2Cbutallowtheusertospecifythespeedineitherunit.Thelastcommand28eitherSRorSD29receivediswhattheservousesforthatsession.QuerySpeedinRPM28QSR29Ex:235QSR3Ccr3Emightreturn2A5QSR453Ccr3EBydefaultQSRwillreturnthecurrentsessionvalue2CwhichissettothevalueofCSRasreset2FpowercycleandchangedwheneveranSD2FSRcommandisprocessed.If235QSR13Ccr3Eissent2Ctheconfiguredmaximumspeed28CSRvalue29willbereturnedinstead.Youcanalsoquerythecurrentspeedusing22222andthecurrenttargettravelspeedusing22322.Seethetablebelowforanexample:" %)
614 -Ex: #5SR45<cr>
615 -
616 -(% class="wikigeneratedid" %)
617 -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.
618 -
619 -(% class="wikigeneratedid" %)
620 -Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit.
621 -
622 -(% class="wikigeneratedid" %)
623 -The last command (either SR or SD) received is what the servo uses for that session.
624 -
625 -(% class="wikigeneratedid" %)
626 -Query Speed in RPM (**QSR**)
627 -
628 -(% class="wikigeneratedid" %)
629 -Ex: #5QSR<cr> might return *5QSR45<cr>
630 -
631 -(% class="wikigeneratedid" %)
632 -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:
633 -
634 634  |**Command sent**|**Returned value (1/10 °)**
635 635  |ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
636 636  |ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
... ... @@ -637,25 +637,17 @@
637 637  |ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
638 638  |ex: #5QSR3<cr>|Target travel speed
639 639  
640 -Configure Speed in RPM (**CSR**)
641 -
642 -Ex: #5CSR45<cr>
643 -
644 -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.
608 +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.
645 645  )))
646 646  
647 647  == Modifiers ==
648 648  
649 649  |(% colspan="2" %)(((
650 -====== __Speed __ ======
614 +====== __Speed (**SD**) modifier__ ======
651 651  )))
652 652  |(% style="width:30px" %) |(((
653 -(% class="wikigeneratedid" %)
654 -Speed in Degrees (**SD**)
617 +====== Example: #5D0SD180<cr> ======
655 655  
656 -(% class="wikigeneratedid" id="HExample:235D0SD1803Ccr3E" %)
657 -Example: #5D0SD180<cr>
658 -
659 659  (% class="wikigeneratedid" %)
660 660  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.
661 661  
... ... @@ -670,11 +670,9 @@
670 670  )))
671 671  
672 672  |(% colspan="2" %)(((
673 -====== __Timed move__ ======
633 +====== __Timed move (**T**) modifier__ ======
674 674  )))
675 675  |(% style="width:30px" %) |(((
676 -Timed Move (**T**)
677 -
678 678  Example: #5D15000T2500<cr>
679 679  
680 680  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.
... ... @@ -685,11 +685,9 @@
685 685  == Telemetry ==
686 686  
687 687  |(% colspan="2" %)(((
688 -====== __Temperature PCB__ ======
646 +====== __**Q**uery PCB **T**emperature (**QT**)__ ======
689 689  )))
690 690  |(% style="width:30px" %) |(((
691 -Query Temp PCB (**QT**)
692 -
693 693  Ex: #5QT<cr> might return *5QT564<cr>
694 694  
695 695  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.
... ... @@ -696,37 +696,27 @@
696 696  )))
697 697  
698 698  |(% colspan="2" %)(((
699 -====== __Current__ ======
655 +====== __**Q**uery **C**urrent (**QC**)__ ======
700 700  )))
701 701  |(% style="width:30px" %) |(((
702 -(% class="wikigeneratedid" %)
703 -Query Current (**QC**)
658 +====== Ex: #5QC<cr> might return *5QC140<cr> ======
704 704  
705 -(% class="wikigeneratedid" id="HEx:235QC3Ccr3Emightreturn2A5QC1403Ccr3E" %)
706 -Ex: #5QC<cr> might return *5QC140<cr>
707 -
708 708  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.
709 709  )))
710 710  
711 711  |(% colspan="2" %)(((
712 -====== __Model String__ ======
664 +====== __**Q**uery **M**odel **S**tring (**QMS**)__ ======
713 713  )))
714 714  |(% style="width:30px" %) |(((
715 -(% class="wikigeneratedid" %)
716 -Query Model String (**QMS**)
667 +====== Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr> ======
717 717  
718 -(% class="wikigeneratedid" id="HEx:235QMS3Ccr3Emightreturn2A5QMSLSS-HS13Ccr3E" %)
719 -Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
720 -
721 721  This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
722 722  )))
723 723  
724 724  |(% colspan="2" %)(((
725 -====== __Firmware__ ======
673 +====== __**Q**uery **F**irmware (**QF**)__ ======
726 726  )))
727 727  |(% style="width:30px" %) |(((
728 -Query Firmware (**QF**)
729 -
730 730  Ex: #5QF<cr> might return *5QF368<cr>
731 731  
732 732  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
... ... @@ -733,62 +733,53 @@
733 733  )))
734 734  
735 735  |(% colspan="2" %)(((
736 -====== __Serial Number__ ======
682 +====== __**Q**uery Serial **N**umber (**QN**)__ ======
737 737  )))
738 738  |(% style="width:30px" %) |(((
739 -(% class="wikigeneratedid" %)
740 -Query Serial Number (**QN**)
685 +====== Ex: #5QN<cr> might return *5QN12345678<cr> ======
741 741  
742 -(% class="wikigeneratedid" id="HEx:235QN3Ccr3Emightreturn2A5QN123456783Ccr3E" %)
743 -Ex: #5QN<cr> might return *5QN12345678<cr>
744 -
745 745  The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
746 746  )))
747 747  
748 748  |(% colspan="2" %)(((
749 -====== __Temperature Probe__ ======
691 +====== __**Q**uery **T**emperature **P**robe (**QTP**)__ ======
750 750  )))
751 751  |(% style="width:30px" %) |(((
752 -Query Temp motor Probe (**QTP**)
694 +
753 753  )))
754 754  
755 755  |(% colspan="2" %)(((
756 -====== __Temperature MCU__ ======
698 +====== __**Q**uery **T**emperature **M**CU (**QTM**)__ ======
757 757  )))
758 758  |(% style="width:30px" %) |(((
759 -Query Temp MCU (**QTM**)
701 +
760 760  )))
761 761  
762 762  |(% colspan="2" %)(((
763 -====== __Temp Controller Error__ ======
705 +====== __**Q**uery **T**emp **C**ontroller **E**rror (**QTCE**)__ ======
764 764  )))
765 765  |(% style="width:30px" %) |(((
766 -(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
767 -Query Temp Controller Error (**QTCE**)
708 +====== ======
768 768  )))
769 769  
770 770  |(% colspan="2" %)(((
771 -====== __Temp Controller Warning__ ======
712 +====== **Q**uery **T**emp **C**ontroller **W**arning (**QTCW**) ======
772 772  )))
773 773  |(% style="width:30px" %) |(((
774 -(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
775 -Query Temp Controller Warning (**QTCW**)
715 +====== ======
776 776  )))
777 777  
778 778  |(% colspan="2" %)(((
779 -====== __Error Flag__ ======
719 +====== __Query Error Flag (**QEF**)__ ======
780 780  )))
781 781  |(% style="width:30px" %) |(((
782 -Query Error Flag (**QEF**)
722 +
783 783  )))
784 784  
785 785  |(% colspan="2" %)(((
786 -====== __IMU Linear__ ======
726 +====== __**Q**uery **I**MU Linear (**QIX QIY QIZ**)__ ======
787 787  )))
788 788  |(% style="width:30px" %) |(((
789 -(% class="wikigeneratedid" %)
790 -Query IMU Linear (**QIX QIY QIZ**)
791 -
792 792  ====== Ex: #6QIX<cr> might return *6QIX30<cr> ======
793 793  
794 794  This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
... ... @@ -795,40 +795,11 @@
795 795  )))
796 796  
797 797  |(% colspan="2" %)(((
798 -====== __IMU Angular__ ======
735 +====== __**Q**uery **I**MU Angular (**QIA QIB QIG**)__ ======
799 799  )))
800 800  |(% style="width:30px" %) |(((
801 -(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
802 -Query IMU Angular (**QIA QIB QIG**)
803 -Ex: #6QIB<cr> might return *6QIB44<cr>
738 +====== Ex: #6QIB<cr> might return *6QIB44<cr> ======
804 804  
805 805  This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
806 806  )))
807 807  
808 -== RGB LED ==
809 -
810 -|(% colspan="2" %)(((
811 -====== __LED Color__ ======
812 -)))
813 -|(% style="width:30px" %) |(((
814 -(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
815 -
816 -)))
817 -
818 -|(% colspan="2" %)(((
819 -====== __Configure LED Blinking__ ======
820 -)))
821 -|(% style="width:30px" %) |(((
822 -(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
823 -
824 -)))
825 -
826 -|(% colspan="2" %)(((
827 -====== __LED Indicator__ ======
828 -)))
829 -|(% style="width:30px" %) |(((
830 -(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
831 -
832 -)))
833 -
834 -

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