Last modified by Eric Nantel on 2024/09/06 14:52
From version < 82.1 >
edited by Eric Nantel
on 2024/09/06 09:27
To version < 78.16 >
edited by Eric Nantel
on 2024/07/22 14:36
< >
Change comment: There is no comment for this version

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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="HHalt26Hold28H29"]]|(% 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)
146 -| |[[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
147 -| |[[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
141 +| |[[**O**rigin Offset>>||anchor="HOriginOffset28O29"]]|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|(% style="text-align:center" %)0|(% style="text-align:center" %)0.01°|
142 +| |[[**A**ngular **R**ange>>||anchor="HAngularRange28AR29"]]|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|(% style="text-align:center" %)36000|(% style="text-align:center" %)0.01°|
143 +| |[[**A**ngular **A**cceleration>>||anchor="HAngularAcceleration28AA29"]]|(% style="text-align:center" %)AA|(% style="text-align:center" %)QAA|(% style="text-align:center" %)CAA|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s^2|
144 +| |[[**A**ngular **D**eceleration>>||anchor="HAngularDeceleration28AD29"]]|(% style="text-align:center" %)AD|(% style="text-align:center" %)QAD|(% style="text-align:center" %)CAD|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s^2|
145 +| |[[**G**yre Direction>>||anchor="HGyreDirection28G29"]]|(% style="text-align:center" %)G|(% style="text-align:center" %)QG|(% style="text-align:center" %)CG|(% style="text-align:center" %)1|(% style="text-align:center" %)1 or -1|Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)
146 +| |[[**F**irst Position (**D**eg)>>||anchor="HFirstPosition"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QFD|(% style="text-align:center" %)CFD|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°|Reset required after change.
147 +| |[[Maximum **S**peed in **D**egrees>>||anchor="HMaximumSpeedinDegrees28SD29"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %)QSD|(% style="text-align:center" %)CSD|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s|SD / CSD overwrites SR / CSR
148 +| |[[Maximum **S**peed in **R**PM>>||anchor="HMaximumSpeedinRPM28SR29"]]|(% style="text-align:center" %)SR|(% style="text-align:center" %)QSR|(% style="text-align:center" %)CSR|(% style="text-align:center" %) |(% style="text-align:center" %)RPM|SR / CSR overwrites SD / CSD
148 148  
149 149  |(% colspan="8" style="color:orange; font-size:18px" %)[[**Modifiers**>>||anchor="HModifiers"]]
150 150  |(% 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**
151 -| |[[**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
152 -| |[[**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
153 153  
154 154  |(% colspan="8" style="color:orange; font-size:18px" %)[[**Telemetry**>>||anchor="HTelemetry"]]
155 -|(% 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**
156 -| |[[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|
157 -| |[[**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.
158 -| |[[**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)
159 -| |[[**F**irmware Version>>doc:||anchor="HFirmware"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | |(% style="text-align:center" %) |
160 -| |[[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
161 -| |[[**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
162 -| |[[**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|
163 -| |[[**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" %) | | |(((
164 164  Temperature error status of the motor controller (over-temp error)
165 165  )))
166 -| |[[**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)
167 -| |[[**E**rror **F**lag>>doc:||anchor="HErrorFlag"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QEF|(% style="text-align:center" %) | |(% style="text-align:center" %) |
168 -| |[[**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|
169 -| |[[**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|
170 -| |[[**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|
171 -| |[[**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)
172 -| |[[**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)
173 -| |[[**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)
174 174  
175 175  |(% colspan="8" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="HRGBLED"]]
176 -|(% 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**
177 -| |[[**LED** Color>>||anchor="HLEDColor"]]|(% style="text-align:center" %)LED|(% style="text-align:center" %)QLED|(% style="text-align:center" %)CLED|(% style="text-align:center" %)3|(% style="text-align:center" %)0 to 7 integer|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White
178 -| |[[**L**ED **B**linking>>doc:||anchor="HLEDBlinking"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QLB|(% style="text-align:center" %)CLB|(% style="text-align:center" %)0|(% style="text-align:center" %) |
179 -| |[[**L**ED **I**ndicator>>doc:||anchor="HLEDIndicator"]]|(% 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
180 180  
181 181  = (% style="color:inherit; font-family:inherit" %)Details(%%) =
182 182  
... ... @@ -186,8 +186,6 @@
186 186  ====== __Reset__ ======
187 187  )))
188 188  | |(((
189 -Reset (**RESET**)
190 -
191 191  Ex: #5RESET<cr>
192 192  
193 193  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.
... ... @@ -194,11 +194,9 @@
194 194  )))
195 195  
196 196  |(% colspan="2" %)(((
197 -====== (% style="color:inherit; font-family:inherit" %)__Default__(%%) ======
194 +====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ======
198 198  )))
199 199  |(% style="width:30px" %) |(((
200 -(% style="color:inherit; font-family:inherit" %)Default (**DEFAULT**)
201 -
202 202  (% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr>
203 203  
204 204  (% 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.
... ... @@ -211,11 +211,9 @@
211 211  )))
212 212  
213 213  |(% colspan="2" %)(((
214 -====== (% style="color:inherit; font-family:inherit" %)__Update__(%%) ======
209 +====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
215 215  )))
216 216  |(% style="width:30px" %) |(((
217 -(% style="color:inherit; font-family:inherit" %)Update (**UPDATE**)
218 -
219 219  (% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
220 220  
221 221  (% 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.
... ... @@ -231,8 +231,6 @@
231 231  ====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
232 232  )))
233 233  |(% style="width:30px" %) |(((
234 -(% style="color:inherit; font-family:inherit" %)Confirm (**CONFIRM**)
235 -
236 236  (% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
237 237  
238 238  (% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command.
... ... @@ -284,14 +284,23 @@
284 284  Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
285 285  )))
286 286  
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 +
287 287  == Motion ==
288 288  
289 289  |(% colspan="2" %)(((
290 -====== __Position in Degrees__ ======
292 +====== __Position in **D**egrees (**D**)__ ======
291 291  )))
292 292  |(% style="width:30px" %) |(((
293 -Position in Degrees (**D**)
294 -
295 295  Example: #5D1456<cr>
296 296  
297 297  This moves the servo to an angle of 145.6 degrees, where the center (0) position is centered. Negative values (ex. -176 representing -17.6 degrees) could also be used. A full circle would be from -1800 to 1800 degrees. A value of 2700 would be the same angle (absolute position) as -900, except the servo would move in a different direction.
... ... @@ -312,13 +312,10 @@
312 312  )))
313 313  
314 314  |(% colspan="2" %)(((
315 -====== __Relative Move in Degrees__ ======
315 +====== __Relative **M**ove in **D**egrees (**MD**)__ ======
316 316  )))
317 317  |(% style="width:30px" %) |(((
318 318  (% class="wikigeneratedid" %)
319 -Move in Degrees (**MD**)
320 -
321 -(% class="wikigeneratedid" %)
322 322  Example: #5M1500<cr>
323 323  
324 324  (% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
... ... @@ -326,7 +326,7 @@
326 326  )))
327 327  
328 328  |(% colspan="2" %)(((
329 -====== __Wheel Mode in Degrees__ ======
326 +====== __**W**heel Mode in **D**egrees (**WD**)__ ======
330 330  )))
331 331  |(% style="width:30px" %) |(((
332 332  Wheel mode in Degrees (**WD**)
... ... @@ -343,7 +343,7 @@
343 343  )))
344 344  
345 345  |(% colspan="2" %)(((
346 -====== __Wheel Mode in RPM__ ======
343 +====== __**W**heel Mode in **R**PM (**WR**)__ ======
347 347  )))
348 348  |(% style="width:30px" %) |(((
349 349  Wheel moed in RPM (**WR**)
... ... @@ -360,11 +360,9 @@
360 360  )))
361 361  
362 362  |(% colspan="2" %)(((
363 -====== __Status__ ======
360 +====== __**Q**uery Status (**Q**)__ ======
364 364  )))
365 365  |(% style="width:30px" %) |(((
366 -Query Status (**Q**)
367 -
368 368  The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
369 369  
370 370  Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
... ... @@ -372,23 +372,20 @@
372 372  |(% style="width:25px" %) |***Value returned (Q)**|**Status**|**Detailed description**
373 373  | |ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state
374 374  | |ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely
375 -| |ex: *5Q2<cr>|2: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
376 -| |ex: *5Q3<cr>|3: Traveling|Moving at a stable speed
377 -| |ex: *5Q4<cr>|4: Decelerating|Decreasing from travel speed towards final position.
378 -| |ex: *5Q5<cr>|5: Holding|Keeping current position (in EM0 mode, return will normally be holding)
379 -| |ex: *5Q6<cr>|6: Error|If the status is Error, the error value consists of binary flags
370 +| |ex: *5Q2<cr>|2: Free moving|Servo is rotating in duty motion / free move using the RDM command
371 +| |ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
372 +| |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
373 +| |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
374 +| |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will normally be holding)
375 +| |ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
376 +| |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
377 +| |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
378 +| |ex: *5Q10<cr>|10: Safe Mode|(((
379 +A safety limit has been exceeded (temperature, peak current or extended high current draw).
380 380  
381 -|(% style="width:25px" %)
382 -| | | |
383 -| | | |
384 -| | | |
385 -| | | |
386 -| | | |
387 -| | | |
388 -| | | |
381 +Send a Q1 command to know which limit has been reached (described below).
382 +)))
389 389  
390 -*Value returned (Q)StatusDetailed description
391 -
392 392  If a safety limit has been reached and exceeded, the LED will flash red and the servo will stop providing torque (no longer react to commands which cause the motor to rotate). In order to determine which limit has been reached, send a Q1 command. The servo must be RESET in order to return to normal operation, though if a limit is still detected (for example the servo is still too hot), it will revert back to Safe Mode.
393 393  
394 394  |(% style="width:25px" %) |***Value returned (Q1)**|**Status**|**Detailed description**
... ... @@ -399,21 +399,21 @@
399 399  )))
400 400  
401 401  |(% colspan="2" %)(((
402 -====== __Motion Time__ ======
394 +====== __**Q**uery** M**otion **T**ime (**QMT**)__ ======
403 403  )))
404 404  |(% style="width:30px" %) |(((
405 -Query Motion Time (**QMT**)
397 +
406 406  )))
407 407  
408 408  |(% colspan="2" %)(((
409 -====== __Current Speed__ ======
401 +====== __**Q**uery** C**urrent **S**peed (**QCS**)__ ======
410 410  )))
411 411  |(% style="width:30px" %) |(((
412 -Query Current Speed (**QCS**)
404 +
413 413  )))
414 414  
415 415  |(% colspan="2" %)(((
416 -====== __Limp__ ======
408 +====== __**L**imp (**L**)__ ======
417 417  )))
418 418  |(% style="width:30px" %) |(((
419 419  Example: #5L<cr>
... ... @@ -422,7 +422,7 @@
422 422  )))
423 423  
424 424  |(% colspan="2" %)(((
425 -====== __Halt & Hold__ ======
417 +====== __**H**alt & Hold (**H**)__ ======
426 426  )))
427 427  |(% style="width:30px" %) |(((
428 428  Example: #5H<cr>
... ... @@ -433,7 +433,7 @@
433 433  == Motion Setup ==
434 434  
435 435  |(% colspan="2" %)(((
436 -====== __Origin Offset__ ======
428 +====== __Origin Offset (**O**)__ ======
437 437  )))
438 438  |(% style="width:30px" %) |(((
439 439  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).
... ... @@ -460,7 +460,7 @@
460 460  )))
461 461  
462 462  |(% colspan="2" %)(((
463 -====== __Angular Range__ ======
455 +====== __Angular Range (**AR**)__ ======
464 464  )))
465 465  |(% style="width:30px" %) |(((
466 466  Example: #5AR1800<cr>
... ... @@ -489,7 +489,7 @@
489 489  )))
490 490  
491 491  |(% colspan="2" %)(((
492 -====== __Angular Acceleration__ ======
484 +====== __Angular Acceleration (**AA**)__ ======
493 493  )))
494 494  |(% style="width:30px" %) |(((
495 495  The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
... ... @@ -512,7 +512,7 @@
512 512  )))
513 513  
514 514  |(% colspan="2" %)(((
515 -====== __Angular Deceleration__ ======
507 +====== __Angular Deceleration (**AD**)__ ======
516 516  )))
517 517  |(% style="width:30px" %) |(((
518 518  The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
... ... @@ -535,7 +535,7 @@
535 535  )))
536 536  
537 537  |(% colspan="2" %)(((
538 -====== __Gyre Direction__ ======
530 +====== __Gyre Direction (**G**)__ ======
539 539  )))
540 540  |(% style="width:30px" %) |(((
541 541  "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.
... ... @@ -558,21 +558,18 @@
558 558  )))
559 559  
560 560  |(% colspan="2" %)(((
561 -====== __Maximum Speed in Degrees__ ======
553 +====== __First Position__ ======
562 562  )))
563 563  |(% style="width:30px" %) |(((
564 -Maximum Speed in Degrees (**SD**)
556 +In certain cases, a user might want to have the servo move to a specific angle upon power up; we refer to this as "first position" (a.k.a. "initial position"). The factory default has no first position value stored in EEPROM and therefore upon power up, the servo remains limp until a position (or hold command) is assigned. Note that the number should be restricted to -1790 (-179.0 degrees) to +1790 (179.0 degrees) and values beyond this will be changed to 1800.Query First Position in Degrees (**QFD**)Ex: #5QFD<cr> might return *5QFD900<cr>The reply above indicates that servo with ID 5 has a first position of 90.0 degrees. If there is no first position value stored, the reply will be DIS.Configure First Position in Degrees (**CFD**)Ex: #5CFD900<cr>This configuration command means the servo, when set to smart mode, will immediately move to 90.0 degrees upon power up. Sending a CFD command without a number (Ex. #5CFD<cr>) results in the servo remaining limp upon power up. In order to remove the first position, send no value, ex: #5CFD<cr>
557 +)))
565 565  
566 -Ex: #5SD1800<cr>
559 +|(% colspan="2" %)(((
560 +====== __Maximum Speed in Degrees (**SD**)__ ======
561 +)))
562 +|(% style="width:30px" %) |(((
563 +Ex: #5SD1800<cr>This command sets the servo's maximum speed for motion commands in tenths of degrees per second for that session. In the example above, the servo's maximum speed for that session would be set to 180.0 degrees per second. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. The SD action command overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD and SR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.Query Speed in Degrees (**QSD**)Ex: #5QSD<cr> might return *5QSD1800<cr>By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever an SD/SR command is processed. If #5QSD1<cr> is sent, the configured maximum speed (CSD value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
567 567  
568 -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.
569 -
570 -Query Speed in Degrees (**QSD**)
571 -
572 -Ex: #5QSD<cr> might return *5QSD1800<cr>
573 -
574 -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:
575 -
576 576  |**Command sent**|**Returned value (1/10 °)**
577 577  |ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
578 578  |ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
... ... @@ -579,41 +579,15 @@
579 579  |ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
580 580  |ex: #5QSD3<cr>|Target travel speed
581 581  
582 -Configure Speed in Degrees (**CSD**)
583 -
584 -Ex: #5CSD1800<cr>
585 -
586 -Using the CSD command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 180.0 degrees per second. When the servo is powered on (or after a reset), the CSD value is used. Note that CSD and CSR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) is what the servo uses for that session.
571 +Configure Speed in Degrees (**CSD**)Ex: #5CSD1800<cr>Using the CSD command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 180.0 degrees per second. When the servo is powered on (or after a reset), the CSD value is used. Note that CSD and CSR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) is what the servo uses for that session.
587 587  )))
588 588  
589 589  |(% colspan="2" %)(((
590 -====== __Maximum Speed in RPM__ ======
575 +====== __Maximum Speed in RPM (**SR**)__ ======
591 591  )))
592 592  |(% style="width:30px" %) |(((
593 -(% class="wikigeneratedid" %)
594 -Maximum Speed in RPM (**SR**)
578 +====== Ex: #5SR45<cr>This command sets the servo's maximum speed for motion commands in rpm for that session. In the example above, the servo's maximum speed for that session would be set to 45rpm. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SR overrides CSR (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSR as described below. Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.Query Speed in RPM (**QSR**)Ex: #5QSR<cr> might return *5QSR45<cr>By default QSR will return the current session value, which is set to the value of CSR as reset/power cycle and changed whenever an SD/SR command is processed. If #5QSR1<cr> is sent, the configured maximum speed (CSR value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example: ======
595 595  
596 -(% class="wikigeneratedid" id="HEx:235SR453Ccr3EThiscommandsetstheservo27smaximumspeedformotioncommandsinrpmforthatsession.Intheexampleabove2Ctheservo27smaximumspeedforthatsessionwouldbesetto45rpm.Theservo27smaximumspeedcannotbesethigherthanitsphysicallimitatagivenvoltage.SRoverridesCSR28describedbelow29forthatsession.Uponresetorpowercycle2CtheservorevertstothevalueassociatedwithCSRasdescribedbelow.NotethatSD28describedabove29andSRareeffectivelythesame2Cbutallowtheusertospecifythespeedineitherunit.Thelastcommand28eitherSRorSD29receivediswhattheservousesforthatsession.QuerySpeedinRPM28QSR29Ex:235QSR3Ccr3Emightreturn2A5QSR453Ccr3EBydefaultQSRwillreturnthecurrentsessionvalue2CwhichissettothevalueofCSRasreset2FpowercycleandchangedwheneveranSD2FSRcommandisprocessed.If235QSR13Ccr3Eissent2Ctheconfiguredmaximumspeed28CSRvalue29willbereturnedinstead.Youcanalsoquerythecurrentspeedusing22222andthecurrenttargettravelspeedusing22322.Seethetablebelowforanexample:" %)
597 -Ex: #5SR45<cr>
598 -
599 -(% class="wikigeneratedid" %)
600 -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.
601 -
602 -(% class="wikigeneratedid" %)
603 -Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit.
604 -
605 -(% class="wikigeneratedid" %)
606 -The last command (either SR or SD) received is what the servo uses for that session.
607 -
608 -(% class="wikigeneratedid" %)
609 -Query Speed in RPM (**QSR**)
610 -
611 -(% class="wikigeneratedid" %)
612 -Ex: #5QSR<cr> might return *5QSR45<cr>
613 -
614 -(% class="wikigeneratedid" %)
615 -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:
616 -
617 617  |**Command sent**|**Returned value (1/10 °)**
618 618  |ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
619 619  |ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
... ... @@ -620,25 +620,17 @@
620 620  |ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
621 621  |ex: #5QSR3<cr>|Target travel speed
622 622  
623 -Configure Speed in RPM (**CSR**)
624 -
625 -Ex: #5CSR45<cr>
626 -
627 -Using the CSR command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSR value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) received is what the servo uses for that session.
586 +Configure Speed in RPM (**CSR**)Ex: #5CSR45<cr>Using the CSR command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSR value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) received is what the servo uses for that session.
628 628  )))
629 629  
630 630  == Modifiers ==
631 631  
632 632  |(% colspan="2" %)(((
633 -====== __Speed __ ======
592 +====== __Speed (**SD**) modifier__ ======
634 634  )))
635 635  |(% style="width:30px" %) |(((
636 -(% class="wikigeneratedid" %)
637 -Speed in Degrees (**SD**)
595 +====== Example: #5D0SD180<cr> ======
638 638  
639 -(% class="wikigeneratedid" id="HExample:235D0SD1803Ccr3E" %)
640 -Example: #5D0SD180<cr>
641 -
642 642  (% class="wikigeneratedid" %)
643 643  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.
644 644  
... ... @@ -653,11 +653,9 @@
653 653  )))
654 654  
655 655  |(% colspan="2" %)(((
656 -====== __Timed move__ ======
611 +====== __Timed move (**T**) modifier__ ======
657 657  )))
658 658  |(% style="width:30px" %) |(((
659 -Timed Move (**T**)
660 -
661 661  Example: #5D15000T2500<cr>
662 662  
663 663  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.
... ... @@ -668,11 +668,9 @@
668 668  == Telemetry ==
669 669  
670 670  |(% colspan="2" %)(((
671 -====== __Temperature PCB__ ======
624 +====== __**Q**uery PCB **T**emperature (**QT**)__ ======
672 672  )))
673 673  |(% style="width:30px" %) |(((
674 -Query Temp PCB (**QT**)
675 -
676 676  Ex: #5QT<cr> might return *5QT564<cr>
677 677  
678 678  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.
... ... @@ -679,37 +679,27 @@
679 679  )))
680 680  
681 681  |(% colspan="2" %)(((
682 -====== __Current__ ======
633 +====== __**Q**uery **C**urrent (**QC**)__ ======
683 683  )))
684 684  |(% style="width:30px" %) |(((
685 -(% class="wikigeneratedid" %)
686 -Query Current (**QC**)
636 +====== Ex: #5QC<cr> might return *5QC140<cr> ======
687 687  
688 -(% class="wikigeneratedid" id="HEx:235QC3Ccr3Emightreturn2A5QC1403Ccr3E" %)
689 -Ex: #5QC<cr> might return *5QC140<cr>
690 -
691 691  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.
692 692  )))
693 693  
694 694  |(% colspan="2" %)(((
695 -====== __Model String__ ======
642 +====== __**Q**uery **M**odel **S**tring (**QMS**)__ ======
696 696  )))
697 697  |(% style="width:30px" %) |(((
698 -(% class="wikigeneratedid" %)
699 -Query Model String (**QMS**)
645 +====== Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr> ======
700 700  
701 -(% class="wikigeneratedid" id="HEx:235QMS3Ccr3Emightreturn2A5QMSLSS-HS13Ccr3E" %)
702 -Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
703 -
704 704  This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
705 705  )))
706 706  
707 707  |(% colspan="2" %)(((
708 -====== __Firmware__ ======
651 +====== __**Q**uery **F**irmware (**QF**)__ ======
709 709  )))
710 710  |(% style="width:30px" %) |(((
711 -Query Firmware (**QF**)
712 -
713 713  Ex: #5QF<cr> might return *5QF368<cr>
714 714  
715 715  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
... ... @@ -716,105 +716,64 @@
716 716  )))
717 717  
718 718  |(% colspan="2" %)(((
719 -====== __Serial Number__ ======
660 +====== __**Q**uery Serial **N**umber (**QN**)__ ======
720 720  )))
721 721  |(% style="width:30px" %) |(((
722 -(% class="wikigeneratedid" %)
723 -Query Serial Number (**QN**)
663 +====== Ex: #5QN<cr> might return *5QN12345678<cr> ======
724 724  
725 -(% class="wikigeneratedid" id="HEx:235QN3Ccr3Emightreturn2A5QN123456783Ccr3E" %)
726 -Ex: #5QN<cr> might return *5QN12345678<cr>
727 -
728 728  The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
729 729  )))
730 730  
731 731  |(% colspan="2" %)(((
732 -====== __Temperature Probe__ ======
669 +====== __**Q**uery **T**emperature **P**robe (**QTP**)__ ======
733 733  )))
734 734  |(% style="width:30px" %) |(((
735 -Query Temp motor Probe (**QTP**)
672 +
736 736  )))
737 737  
738 738  |(% colspan="2" %)(((
739 -====== __Temperature MCU__ ======
676 +====== __**Q**uery **T**emperature **M**CU (**QTM**)__ ======
740 740  )))
741 741  |(% style="width:30px" %) |(((
742 -Query Temp MCU (**QTM**)
679 +
743 743  )))
744 744  
745 745  |(% colspan="2" %)(((
746 -====== __Temp Controller Error__ ======
683 +====== __**Q**uery **T**emp **C**ontroller **E**rror (**QTCE**)__ ======
747 747  )))
748 748  |(% style="width:30px" %) |(((
749 -(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
750 -Query Temp Controller Error (**QTCE**)
686 +====== ======
751 751  )))
752 752  
753 753  |(% colspan="2" %)(((
754 -====== __Temp Controller Warning__ ======
690 +====== **Q**uery **T**emp **C**ontroller **W**arning (**QTCW**) ======
755 755  )))
756 756  |(% style="width:30px" %) |(((
757 -(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
758 -Query Temp Controller Warning (**QTCW**)
693 +====== ======
759 759  )))
760 760  
761 761  |(% colspan="2" %)(((
762 -====== __Error Flag__ ======
697 +====== __Query Error Flag (**QEF**)__ ======
763 763  )))
764 764  |(% style="width:30px" %) |(((
765 -Query Error Flag (**QEF**)
700 +
766 766  )))
767 767  
768 768  |(% colspan="2" %)(((
769 -====== __IMU Linear__ ======
704 +====== __**Q**uery **I**MU Linear (**QIX QIY QIZ**)__ ======
770 770  )))
771 771  |(% style="width:30px" %) |(((
772 -(% class="wikigeneratedid" %)
773 -Query IMU Linear (**QIX QIY QIZ**)
707 +====== Ex: #6QIX<cr> might return *6QIX30<cr> ======
774 774  
775 -(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
776 -Ex: #6QIX<cr> might return *6QIX30<cr>
777 -
778 778  This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
779 779  )))
780 780  
781 781  |(% colspan="2" %)(((
782 -====== __IMU Angular__ ======
713 +====== __**Q**uery **I**MU Angular (**QIA QIB QIG**)__ ======
783 783  )))
784 784  |(% style="width:30px" %) |(((
785 -(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
786 -Query IMU Angular (**QIA QIB QIG**)
716 +====== Ex: #6QIB<cr> might return *6QIB44<cr> ======
787 787  
788 -(% class="wikigeneratedid" %)
789 -Ex: #6QIB<cr> might return *6QIB44<cr>
790 -
791 791  This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
792 792  )))
793 793  
794 -== RGB LED ==
795 -
796 -|(% colspan="2" %)(((
797 -====== __LED Color__ ======
798 -)))
799 -|(% style="width:30px" %) |(((
800 -(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
801 -
802 -)))
803 -
804 -|(% colspan="2" %)(((
805 -====== __LED Blinking__ ======
806 -)))
807 -|(% style="width:30px" %) |(((
808 -(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
809 -
810 -)))
811 -
812 -|(% colspan="2" %)(((
813 -====== __LED Indicator__ ======
814 -)))
815 -|(% style="width:30px" %) |(((
816 -(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
817 -
818 -)))
819 -
820 -

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