Last modified by Eric Nantel on 2024/09/06 14:52
From version < 85.1 >
edited by Eric Nantel
on 2024/09/06 13:21
To version < 90.3 >
edited by Eric Nantel
on 2024/09/06 14:49
< >
Change comment: There is no comment for this version

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... ... @@ -394,6 +394,10 @@
394 394  )))
395 395  |(% style="width:30px" %) |(((
396 396  Query Motion Time (**QMT**)
397 +
398 +Ex: #5QMT9000<cr> might return *5QMT1000<cr>, which indicates the motor would take 1.000s to do that movement.
399 +
400 +This is really important for movement using the modifier "T" as asking a movement that could not be achieved in the time asked will result in no movement.
397 397  )))
398 398  
399 399  |(% colspan="2" %)(((
... ... @@ -401,6 +401,8 @@
401 401  )))
402 402  |(% style="width:30px" %) |(((
403 403  Query Current Speed (**QCS**)
408 +
409 +Ex: #5QCS<cr> might return *5QCS1245<cr>, which indicate the actuator is moving currently at 12deg/s.
404 404  )))
405 405  
406 406  |(% colspan="2" %)(((
... ... @@ -724,6 +724,10 @@
724 724  )))
725 725  |(% style="width:30px" %) |(((
726 726  Query Temp motor Probe (**QTP**)
733 +
734 +Ex: #5QTP<cr> might return *5QTP564<cr>
735 +
736 +The units are in tenths of degrees Celcius, so in the example above, the servo's motor 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.
727 727  )))
728 728  
729 729  |(% colspan="2" %)(((
... ... @@ -731,6 +731,10 @@
731 731  )))
732 732  |(% style="width:30px" %) |(((
733 733  Query Temp MCU (**QTM**)
744 +
745 +Ex: #5QTM<cr> might return *5QTM564<cr>
746 +
747 +The units are in tenths of degrees Celcius, so in the example above, the servo's microcontroller 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.
734 734  )))
735 735  
736 736  |(% colspan="2" %)(((
... ... @@ -739,6 +739,11 @@
739 739  |(% style="width:30px" %) |(((
740 740  (% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
741 741  Query Temp Controller Error (**QTCE**)
756 +
757 +
758 +
759 +(% class="wikigeneratedid" %)
760 +Returns the value of the "ot" bit of the motor driver's DRV_STATUS register (addr: 0x6F). If the response is 1, the motor driver has detected overtemperature (over 150℃).
742 742  )))
743 743  
744 744  |(% colspan="2" %)(((
... ... @@ -747,6 +747,10 @@
747 747  |(% style="width:30px" %) |(((
748 748  (% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
749 749  Query Temp Controller Warning (**QTCW**)
769 +
770 +
771 +(% class="wikigeneratedid" %)
772 +Returns the value of the "otpw" bit of the motor driver's DRV_STATUS register (addr: 0x6F). If the response is 1, the motor driver has detected overtemperature pre-warning (over 120℃).
750 750  )))
751 751  
752 752  |(% colspan="2" %)(((
... ... @@ -755,22 +755,23 @@
755 755  |(% style="width:30px" %) |(((
756 756  Query Error Flag (**QEF**)
757 757  
758 -|(% style="width:25px" %) |***Value returned (QEF)**|**Status**|**Detailed description**
759 -| |ex: *5QEF0<cr>|0: LSSP_ERROR_BITS_PCBOverTemerature|
760 -| |ex: *5QEF1<cr>|1: LSSP_ERROR_BITS_MCUOverTemerature|
761 -| |ex: *5QEF2<cr>|2: LSSP_ERROR_BITS_MotorProbeOverTemerature|
762 -| |ex: *5QEF3<cr>|3: LSSP_ERROR_BITS_MotorDriverOverTemerature|
763 -| |ex: *5QEF4<cr>|4: LSSP_ERROR_BITS_Blocked|
764 -| |ex: *5QEF5<cr>|5: LSSP_ERROR_BITS_ExceedSpeedLimit|
765 -| |ex: *5QEF6<cr>|6: LSSP_ERROR_BITS_ExceedAccelLimit|
766 -| |ex: *5QEF7<cr>|7: LSSP_ERROR_BITS_ExceedDecelLimit|
767 -| |ex: *5QEF8<cr>|8: LSSP_ERROR_BITS_CurrentPositionOutOfRangePlus|
768 -| |ex: *5QEF9<cr>|9: LSSP_ERROR_BITS_CurrentPositionOutOfRangeMinus|
769 -| |ex: *5QEF10<cr>|10: LSSP_ERROR_BITS_EEPROMHeaderDataError|
770 -| |ex: *5QEF11<cr>|11: LSSP_ERROR_BITS_EEPROMCheckSumError|
771 -| |ex: *5QEF12<cr>|12: LSSP_ERROR_BITS_EEPROMMapVersionIsNotSupported|
781 +Ex: #5QEF<cr> might return *5QEF64<cr>
772 772  
773 -
783 +
784 +|(% style="width:25px" %) |***Value returned (QEF)**|**Status**|**Detailed description**
785 +| |ex: *5QEF<cr>|LSSP_ERROR_BITS_PCBOverTemerature|
786 +| |ex: *5QEF<cr>|LSSP_ERROR_BITS_MCUOverTemerature|
787 +| |ex: *5QEF<cr>|LSSP_ERROR_BITS_MotorProbeOverTemerature|
788 +| |ex: *5QEF<cr>|LSSP_ERROR_BITS_MotorDriverOverTemerature|
789 +| |ex: *5QEF<cr>|LSSP_ERROR_BITS_Blocked|
790 +| |ex: *5QEF<cr>|LSSP_ERROR_BITS_ExceedSpeedLimit|
791 +| |ex: *5QEF<cr>|LSSP_ERROR_BITS_ExceedAccelLimit|
792 +| |ex: *5QEF<cr>|LSSP_ERROR_BITS_ExceedDecelLimit|
793 +| |ex: *5QEF<cr>|LSSP_ERROR_BITS_CurrentPositionOutOfRangePlus|
794 +| |ex: *5QEF<cr>|LSSP_ERROR_BITS_CurrentPositionOutOfRangeMinus|
795 +| |ex: *5QEF<cr>|LSSP_ERROR_BITS_EEPROMHeaderDataError|
796 +| |ex: *5QEF<cr>|LSSP_ERROR_BITS_EEPROMCheckSumError|
797 +| |ex: *5QEF<cr>|LSSP_ERROR_BITS_EEPROMMapVersionIsNotSupported|
774 774  )))
775 775  
776 776  |(% colspan="2" %)(((
... ... @@ -806,7 +806,25 @@
806 806  )))
807 807  |(% style="width:30px" %) |(((
808 808  (% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
809 -
833 +The user defined LED color can be changed permanently (CLED) or until reboot (LED).
834 +
835 +(% class="wikigeneratedid" %)
836 +Ex: #5LED5<cr>, will set the user LED color to Cyan until reboot of the actuator.
837 +
838 +(% class="wikigeneratedid" %)
839 +Ex: #5CLED3<cr>, will set the user LED color to Blue and will be that way ever after rebooting the actuator.
840 +
841 +
842 +(% style="width:200px" %)
843 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:35px" %)**Color vs Value**
844 +|(% style="text-align:center; vertical-align:middle; width:35px" %)[[image:[email protected]]]|0 = Off / Black
845 +|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]]]|1 = Red
846 +|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]]]|2 = Green
847 +|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]]]|3 = Blue
848 +|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]]]|4 = Yellow
849 +|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]||alt="SQUARE-Black.png"]]|5 = Cyan
850 +|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]]]|6 = Magenta
851 +|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]]]|7 = White
810 810  )))
811 811  
812 812  |(% colspan="2" %)(((
... ... @@ -814,7 +814,21 @@
814 814  )))
815 815  |(% style="width:30px" %) |(((
816 816  (% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
817 -
859 +This command allows you to control when the RGB LED will blink the user set color (see RGB LED command for details). This is very useful when visually seeing what the servo is doing. You can turn on or off blinking for various LSS status. The command requires that the servo be RESET. Here is the list and their associated value:
860 +
861 +(% style="width:200px" %)
862 +|**Blink While:**|(% style="text-align:center; width:35px" %)**#**
863 +|No blinking|(% style="text-align:center" %)0
864 +|Limp|(% style="text-align:center" %)1
865 +|Holding|(% style="text-align:center" %)2
866 +|Accelerating|(% style="text-align:center" %)4
867 +|Decelerating|(% style="text-align:center" %)8
868 +|Free|(% style="text-align:center" %)16
869 +|Travelling|(% style="text-align:center" %)32
870 +|Always blink|(% style="text-align:center" %)63
871 +
872 +(% class="wikigeneratedid" %)
873 +To set blinking, use CLB with the value of your choosing. To activate blinking in multiple status, simply add together the values of the corresponding status. See examples below:Ex: #5CLB0 to turn off all blinking (LED always solid)Ex: #5CLB1 only blink when limp (1)Ex: #5CLB2 only blink when holding (2)Ex: #5CLB12 only blink when accel or decel (accel 4 + decel 8 = 12)Ex: #5CLB48 only blink when free or travel (free 16 + travel 32 = 48)Ex: #5CLB63 blink in all status (1 + 2 + 4 + 8 + 16 + 32)RESETTING the servo is needed.
818 818  )))
819 819  
820 820  |(% colspan="2" %)(((
... ... @@ -822,7 +822,11 @@
822 822  )))
823 823  |(% style="width:30px" %) |(((
824 824  (% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
825 -
826 -)))
881 +The LED Indicator will reflect the blinking pattern from the LED at a given time.
827 827  
828 -
883 +(% class="wikigeneratedid" %)
884 +Ex: #5QLI<cr> might return *5QLI4<cr>, and the actuator would be blinking 3 times as an Exceed speed limits error.
885 +
886 +(% class="wikigeneratedid" %)
887 +[[image:QLI-Info.png]]
888 +)))
QLI-Info.png
Author
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1 +xwiki:XWiki.ENantel
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