Last modified by Eric Nantel on 2024/09/06 14:52
From version < 82.2 >
edited by Eric Nantel
on 2024/09/06 09:41
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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Content
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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.
... ... @@ -372,31 +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 -Query Error Flag (**QEF**)
381 +Send a Q1 command to know which limit has been reached (described below).
382 +)))
382 382  
383 -|(% style="width:25px" %) |***Value returned (QEF)**|**Status**|**Detailed description**
384 -| |ex: *5QEF0<cr>|0: LSSP_ERROR_BITS_PCBOverTemerature|
385 -| |ex: *5QEF1<cr>|1: LSSP_ERROR_BITS_MCUOverTemerature|
386 -| |ex: *5QEF2<cr>|2: LSSP_ERROR_BITS_MotorProbeOverTemerature|
387 -| |ex: *5QEF3<cr>|3: LSSP_ERROR_BITS_MotorDriverOverTemerature|
388 -| |ex: *5QEF4<cr>|4: LSSP_ERROR_BITS_Blocked|
389 -| |ex: *5QEF5<cr>|5: LSSP_ERROR_BITS_ExceedSpeedLimit|
390 -| |ex: *5QEF6<cr>|6: LSSP_ERROR_BITS_ExceedAccelLimit|
391 -| |ex: *5QEF7<cr>|7: LSSP_ERROR_BITS_ExceedDecelLimit|
392 -| |ex: *5QEF8<cr>|8: LSSP_ERROR_BITS_CurrentPositionOutOfRangePlus|
393 -| |ex: *5QEF9<cr>|9: LSSP_ERROR_BITS_CurrentPositionOutOfRangeMinus|
394 -| |ex: *5QEF10<cr>|10: LSSP_ERROR_BITS_EEPROMHeaderDataError|
395 -| |ex: *5QEF11<cr>|11: LSSP_ERROR_BITS_EEPROMCheckSumError|
396 -| |ex: *5QEF12<cr>|12: LSSP_ERROR_BITS_EEPROMMapVersionIsNotSupported|
397 -
398 -*Value returned (Q)StatusDetailed description
399 -
400 400  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.
401 401  
402 402  |(% style="width:25px" %) |***Value returned (Q1)**|**Status**|**Detailed description**
... ... @@ -407,21 +407,21 @@
407 407  )))
408 408  
409 409  |(% colspan="2" %)(((
410 -====== __Motion Time__ ======
394 +====== __**Q**uery** M**otion **T**ime (**QMT**)__ ======
411 411  )))
412 412  |(% style="width:30px" %) |(((
413 -Query Motion Time (**QMT**)
397 +
414 414  )))
415 415  
416 416  |(% colspan="2" %)(((
417 -====== __Current Speed__ ======
401 +====== __**Q**uery** C**urrent **S**peed (**QCS**)__ ======
418 418  )))
419 419  |(% style="width:30px" %) |(((
420 -Query Current Speed (**QCS**)
404 +
421 421  )))
422 422  
423 423  |(% colspan="2" %)(((
424 -====== __Limp__ ======
408 +====== __**L**imp (**L**)__ ======
425 425  )))
426 426  |(% style="width:30px" %) |(((
427 427  Example: #5L<cr>
... ... @@ -430,7 +430,7 @@
430 430  )))
431 431  
432 432  |(% colspan="2" %)(((
433 -====== __Halt & Hold__ ======
417 +====== __**H**alt & Hold (**H**)__ ======
434 434  )))
435 435  |(% style="width:30px" %) |(((
436 436  Example: #5H<cr>
... ... @@ -441,7 +441,7 @@
441 441  == Motion Setup ==
442 442  
443 443  |(% colspan="2" %)(((
444 -====== __Origin Offset__ ======
428 +====== __Origin Offset (**O**)__ ======
445 445  )))
446 446  |(% style="width:30px" %) |(((
447 447  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).
... ... @@ -468,7 +468,7 @@
468 468  )))
469 469  
470 470  |(% colspan="2" %)(((
471 -====== __Angular Range__ ======
455 +====== __Angular Range (**AR**)__ ======
472 472  )))
473 473  |(% style="width:30px" %) |(((
474 474  Example: #5AR1800<cr>
... ... @@ -497,7 +497,7 @@
497 497  )))
498 498  
499 499  |(% colspan="2" %)(((
500 -====== __Angular Acceleration__ ======
484 +====== __Angular Acceleration (**AA**)__ ======
501 501  )))
502 502  |(% style="width:30px" %) |(((
503 503  The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
... ... @@ -520,7 +520,7 @@
520 520  )))
521 521  
522 522  |(% colspan="2" %)(((
523 -====== __Angular Deceleration__ ======
507 +====== __Angular Deceleration (**AD**)__ ======
524 524  )))
525 525  |(% style="width:30px" %) |(((
526 526  The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
... ... @@ -543,7 +543,7 @@
543 543  )))
544 544  
545 545  |(% colspan="2" %)(((
546 -====== __Gyre Direction__ ======
530 +====== __Gyre Direction (**G**)__ ======
547 547  )))
548 548  |(% style="width:30px" %) |(((
549 549  "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.
... ... @@ -566,21 +566,18 @@
566 566  )))
567 567  
568 568  |(% colspan="2" %)(((
569 -====== __Maximum Speed in Degrees__ ======
553 +====== __First Position__ ======
570 570  )))
571 571  |(% style="width:30px" %) |(((
572 -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 +)))
573 573  
574 -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:
575 575  
576 -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.
577 -
578 -Query Speed in Degrees (**QSD**)
579 -
580 -Ex: #5QSD<cr> might return *5QSD1800<cr>
581 -
582 -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:
583 -
584 584  |**Command sent**|**Returned value (1/10 °)**
585 585  |ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
586 586  |ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
... ... @@ -587,41 +587,15 @@
587 587  |ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
588 588  |ex: #5QSD3<cr>|Target travel speed
589 589  
590 -Configure Speed in Degrees (**CSD**)
591 -
592 -Ex: #5CSD1800<cr>
593 -
594 -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.
595 595  )))
596 596  
597 597  |(% colspan="2" %)(((
598 -====== __Maximum Speed in RPM__ ======
575 +====== __Maximum Speed in RPM (**SR**)__ ======
599 599  )))
600 600  |(% style="width:30px" %) |(((
601 -(% class="wikigeneratedid" %)
602 -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: ======
603 603  
604 -(% class="wikigeneratedid" id="HEx:235SR453Ccr3EThiscommandsetstheservo27smaximumspeedformotioncommandsinrpmforthatsession.Intheexampleabove2Ctheservo27smaximumspeedforthatsessionwouldbesetto45rpm.Theservo27smaximumspeedcannotbesethigherthanitsphysicallimitatagivenvoltage.SRoverridesCSR28describedbelow29forthatsession.Uponresetorpowercycle2CtheservorevertstothevalueassociatedwithCSRasdescribedbelow.NotethatSD28describedabove29andSRareeffectivelythesame2Cbutallowtheusertospecifythespeedineitherunit.Thelastcommand28eitherSRorSD29receivediswhattheservousesforthatsession.QuerySpeedinRPM28QSR29Ex:235QSR3Ccr3Emightreturn2A5QSR453Ccr3EBydefaultQSRwillreturnthecurrentsessionvalue2CwhichissettothevalueofCSRasreset2FpowercycleandchangedwheneveranSD2FSRcommandisprocessed.If235QSR13Ccr3Eissent2Ctheconfiguredmaximumspeed28CSRvalue29willbereturnedinstead.Youcanalsoquerythecurrentspeedusing22222andthecurrenttargettravelspeedusing22322.Seethetablebelowforanexample:" %)
605 -Ex: #5SR45<cr>
606 -
607 -(% class="wikigeneratedid" %)
608 -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.
609 -
610 -(% class="wikigeneratedid" %)
611 -Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit.
612 -
613 -(% class="wikigeneratedid" %)
614 -The last command (either SR or SD) received is what the servo uses for that session.
615 -
616 -(% class="wikigeneratedid" %)
617 -Query Speed in RPM (**QSR**)
618 -
619 -(% class="wikigeneratedid" %)
620 -Ex: #5QSR<cr> might return *5QSR45<cr>
621 -
622 -(% class="wikigeneratedid" %)
623 -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:
624 -
625 625  |**Command sent**|**Returned value (1/10 °)**
626 626  |ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
627 627  |ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
... ... @@ -628,25 +628,17 @@
628 628  |ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
629 629  |ex: #5QSR3<cr>|Target travel speed
630 630  
631 -Configure Speed in RPM (**CSR**)
632 -
633 -Ex: #5CSR45<cr>
634 -
635 -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.
636 636  )))
637 637  
638 638  == Modifiers ==
639 639  
640 640  |(% colspan="2" %)(((
641 -====== __Speed __ ======
592 +====== __Speed (**SD**) modifier__ ======
642 642  )))
643 643  |(% style="width:30px" %) |(((
644 -(% class="wikigeneratedid" %)
645 -Speed in Degrees (**SD**)
595 +====== Example: #5D0SD180<cr> ======
646 646  
647 -(% class="wikigeneratedid" id="HExample:235D0SD1803Ccr3E" %)
648 -Example: #5D0SD180<cr>
649 -
650 650  (% class="wikigeneratedid" %)
651 651  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.
652 652  
... ... @@ -661,11 +661,9 @@
661 661  )))
662 662  
663 663  |(% colspan="2" %)(((
664 -====== __Timed move__ ======
611 +====== __Timed move (**T**) modifier__ ======
665 665  )))
666 666  |(% style="width:30px" %) |(((
667 -Timed Move (**T**)
668 -
669 669  Example: #5D15000T2500<cr>
670 670  
671 671  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.
... ... @@ -676,11 +676,9 @@
676 676  == Telemetry ==
677 677  
678 678  |(% colspan="2" %)(((
679 -====== __Temperature PCB__ ======
624 +====== __**Q**uery PCB **T**emperature (**QT**)__ ======
680 680  )))
681 681  |(% style="width:30px" %) |(((
682 -Query Temp PCB (**QT**)
683 -
684 684  Ex: #5QT<cr> might return *5QT564<cr>
685 685  
686 686  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.
... ... @@ -687,37 +687,27 @@
687 687  )))
688 688  
689 689  |(% colspan="2" %)(((
690 -====== __Current__ ======
633 +====== __**Q**uery **C**urrent (**QC**)__ ======
691 691  )))
692 692  |(% style="width:30px" %) |(((
693 -(% class="wikigeneratedid" %)
694 -Query Current (**QC**)
636 +====== Ex: #5QC<cr> might return *5QC140<cr> ======
695 695  
696 -(% class="wikigeneratedid" id="HEx:235QC3Ccr3Emightreturn2A5QC1403Ccr3E" %)
697 -Ex: #5QC<cr> might return *5QC140<cr>
698 -
699 699  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.
700 700  )))
701 701  
702 702  |(% colspan="2" %)(((
703 -====== __Model String__ ======
642 +====== __**Q**uery **M**odel **S**tring (**QMS**)__ ======
704 704  )))
705 705  |(% style="width:30px" %) |(((
706 -(% class="wikigeneratedid" %)
707 -Query Model String (**QMS**)
645 +====== Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr> ======
708 708  
709 -(% class="wikigeneratedid" id="HEx:235QMS3Ccr3Emightreturn2A5QMSLSS-HS13Ccr3E" %)
710 -Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
711 -
712 712  This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
713 713  )))
714 714  
715 715  |(% colspan="2" %)(((
716 -====== __Firmware__ ======
651 +====== __**Q**uery **F**irmware (**QF**)__ ======
717 717  )))
718 718  |(% style="width:30px" %) |(((
719 -Query Firmware (**QF**)
720 -
721 721  Ex: #5QF<cr> might return *5QF368<cr>
722 722  
723 723  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
... ... @@ -724,105 +724,64 @@
724 724  )))
725 725  
726 726  |(% colspan="2" %)(((
727 -====== __Serial Number__ ======
660 +====== __**Q**uery Serial **N**umber (**QN**)__ ======
728 728  )))
729 729  |(% style="width:30px" %) |(((
730 -(% class="wikigeneratedid" %)
731 -Query Serial Number (**QN**)
663 +====== Ex: #5QN<cr> might return *5QN12345678<cr> ======
732 732  
733 -(% class="wikigeneratedid" id="HEx:235QN3Ccr3Emightreturn2A5QN123456783Ccr3E" %)
734 -Ex: #5QN<cr> might return *5QN12345678<cr>
735 -
736 736  The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
737 737  )))
738 738  
739 739  |(% colspan="2" %)(((
740 -====== __Temperature Probe__ ======
669 +====== __**Q**uery **T**emperature **P**robe (**QTP**)__ ======
741 741  )))
742 742  |(% style="width:30px" %) |(((
743 -Query Temp motor Probe (**QTP**)
672 +
744 744  )))
745 745  
746 746  |(% colspan="2" %)(((
747 -====== __Temperature MCU__ ======
676 +====== __**Q**uery **T**emperature **M**CU (**QTM**)__ ======
748 748  )))
749 749  |(% style="width:30px" %) |(((
750 -Query Temp MCU (**QTM**)
679 +
751 751  )))
752 752  
753 753  |(% colspan="2" %)(((
754 -====== __Temp Controller Error__ ======
683 +====== __**Q**uery **T**emp **C**ontroller **E**rror (**QTCE**)__ ======
755 755  )))
756 756  |(% style="width:30px" %) |(((
757 -(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
758 -Query Temp Controller Error (**QTCE**)
686 +====== ======
759 759  )))
760 760  
761 761  |(% colspan="2" %)(((
762 -====== __Temp Controller Warning__ ======
690 +====== **Q**uery **T**emp **C**ontroller **W**arning (**QTCW**) ======
763 763  )))
764 764  |(% style="width:30px" %) |(((
765 -(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
766 -Query Temp Controller Warning (**QTCW**)
693 +====== ======
767 767  )))
768 768  
769 769  |(% colspan="2" %)(((
770 -====== __Error Flag__ ======
697 +====== __Query Error Flag (**QEF**)__ ======
771 771  )))
772 772  |(% style="width:30px" %) |(((
773 -Query Error Flag (**QEF**)
700 +
774 774  )))
775 775  
776 776  |(% colspan="2" %)(((
777 -====== __IMU Linear__ ======
704 +====== __**Q**uery **I**MU Linear (**QIX QIY QIZ**)__ ======
778 778  )))
779 779  |(% style="width:30px" %) |(((
780 -(% class="wikigeneratedid" %)
781 -Query IMU Linear (**QIX QIY QIZ**)
707 +====== Ex: #6QIX<cr> might return *6QIX30<cr> ======
782 782  
783 -(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
784 -Ex: #6QIX<cr> might return *6QIX30<cr>
785 -
786 786  This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
787 787  )))
788 788  
789 789  |(% colspan="2" %)(((
790 -====== __IMU Angular__ ======
713 +====== __**Q**uery **I**MU Angular (**QIA QIB QIG**)__ ======
791 791  )))
792 792  |(% style="width:30px" %) |(((
793 -(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
794 -Query IMU Angular (**QIA QIB QIG**)
716 +====== Ex: #6QIB<cr> might return *6QIB44<cr> ======
795 795  
796 -(% class="wikigeneratedid" %)
797 -Ex: #6QIB<cr> might return *6QIB44<cr>
798 -
799 799  This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
800 800  )))
801 801  
802 -== RGB LED ==
803 -
804 -|(% colspan="2" %)(((
805 -====== __LED Color__ ======
806 -)))
807 -|(% style="width:30px" %) |(((
808 -(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
809 -
810 -)))
811 -
812 -|(% colspan="2" %)(((
813 -====== __LED Blinking__ ======
814 -)))
815 -|(% style="width:30px" %) |(((
816 -(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
817 -
818 -)))
819 -
820 -|(% colspan="2" %)(((
821 -====== __LED Indicator__ ======
822 -)))
823 -|(% style="width:30px" %) |(((
824 -(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
825 -
826 -)))
827 -
828 -
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