Last modified by Eric Nantel on 2025/10/02 08:47
From version < 85.2 >
edited by Eric Nantel
on 2024/09/06 13:31
To version < 92.1
edited by Eric Nantel
on 2025/10/02 08:47
<
Change comment: There is no comment for this version

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... ... @@ -333,6 +333,9 @@
333 333  
334 334  Ex: #5WD90<cr>
335 335  
336 +⚠️ //Note~:// The servo’s **Angular Range (AR)** must be disabled when using Wheel Mode.
337 +Set AR0 (or CAR0 to save) before sending this command, otherwise the servo **will not rotate**.
338 +
336 336  This command sets the servo to wheel mode where it will rotate in the desired direction at the selected speed. The example above would have the servo rotate at 90.0 degrees per second clockwise (assuming factory default configurations).
337 337  
338 338  Query Wheel Mode in Degrees (**QWD**)
... ... @@ -350,6 +350,9 @@
350 350  
351 351  Ex: #5WR40<cr>
352 352  
356 +⚠️ //Note~:// The servo’s **Angular Range (AR)** must be disabled when using Wheel Mode.
357 +Set AR0 (or CAR0 to save) before sending this command, otherwise the servo **will not rotate**.
358 +
353 353  This command sets the servo to wheel mode where it will rotate in the desired direction at the selected rpm. Wheel mode (a.k.a. "continuous rotation") has the servo operate like a geared DC motor. The servo's maximum rpm cannot be set higher than its physical limit at a given voltage. The example above would have the servo rotate at 40 rpm clockwise (assuming factory default configurations).
354 354  
355 355  Query Wheel Mode in RPM (**QWR**)
... ... @@ -483,6 +483,9 @@
483 483  Configure Angular Range (**CAR**)
484 484  
485 485  This command allows you to change the total angular range of the servo in tenths of degrees in EEPROM. The setting will be saved upon servo reset / power cycle.
492 +
493 +⚠️ //Note~:// Setting AR0 removes angular limits and allows **continuous rotation**.
494 +This is required for **Wheel Mode (WD / WR)** otherwise the servo **will not move**.
486 486  )))
487 487  
488 488  |(% colspan="2" %)(((
... ... @@ -753,6 +753,11 @@
753 753  |(% style="width:30px" %) |(((
754 754  (% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
755 755  Query Temp Controller Error (**QTCE**)
765 +
766 +
767 +
768 +(% class="wikigeneratedid" %)
769 +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℃).
756 756  )))
757 757  
758 758  |(% colspan="2" %)(((
... ... @@ -761,6 +761,10 @@
761 761  |(% style="width:30px" %) |(((
762 762  (% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
763 763  Query Temp Controller Warning (**QTCW**)
778 +
779 +
780 +(% class="wikigeneratedid" %)
781 +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℃).
764 764  )))
765 765  
766 766  |(% colspan="2" %)(((
... ... @@ -769,22 +769,23 @@
769 769  |(% style="width:30px" %) |(((
770 770  Query Error Flag (**QEF**)
771 771  
772 -|(% style="width:25px" %) |***Value returned (QEF)**|**Status**|**Detailed description**
773 -| |ex: *5QEF0<cr>|0: LSSP_ERROR_BITS_PCBOverTemerature|
774 -| |ex: *5QEF1<cr>|1: LSSP_ERROR_BITS_MCUOverTemerature|
775 -| |ex: *5QEF2<cr>|2: LSSP_ERROR_BITS_MotorProbeOverTemerature|
776 -| |ex: *5QEF3<cr>|3: LSSP_ERROR_BITS_MotorDriverOverTemerature|
777 -| |ex: *5QEF4<cr>|4: LSSP_ERROR_BITS_Blocked|
778 -| |ex: *5QEF5<cr>|5: LSSP_ERROR_BITS_ExceedSpeedLimit|
779 -| |ex: *5QEF6<cr>|6: LSSP_ERROR_BITS_ExceedAccelLimit|
780 -| |ex: *5QEF7<cr>|7: LSSP_ERROR_BITS_ExceedDecelLimit|
781 -| |ex: *5QEF8<cr>|8: LSSP_ERROR_BITS_CurrentPositionOutOfRangePlus|
782 -| |ex: *5QEF9<cr>|9: LSSP_ERROR_BITS_CurrentPositionOutOfRangeMinus|
783 -| |ex: *5QEF10<cr>|10: LSSP_ERROR_BITS_EEPROMHeaderDataError|
784 -| |ex: *5QEF11<cr>|11: LSSP_ERROR_BITS_EEPROMCheckSumError|
785 -| |ex: *5QEF12<cr>|12: LSSP_ERROR_BITS_EEPROMMapVersionIsNotSupported|
790 +Ex: #5QEF<cr> might return *5QEF64<cr>
786 786  
787 -
792 +
793 +|(% style="width:25px" %) |***Value returned (QEF)**|**Status**|**Detailed description**
794 +| |ex: *5QEF<cr>|LSSP_ERROR_BITS_PCBOverTemerature|
795 +| |ex: *5QEF<cr>|LSSP_ERROR_BITS_MCUOverTemerature|
796 +| |ex: *5QEF<cr>|LSSP_ERROR_BITS_MotorProbeOverTemerature|
797 +| |ex: *5QEF<cr>|LSSP_ERROR_BITS_MotorDriverOverTemerature|
798 +| |ex: *5QEF<cr>|LSSP_ERROR_BITS_Blocked|
799 +| |ex: *5QEF<cr>|LSSP_ERROR_BITS_ExceedSpeedLimit|
800 +| |ex: *5QEF<cr>|LSSP_ERROR_BITS_ExceedAccelLimit|
801 +| |ex: *5QEF<cr>|LSSP_ERROR_BITS_ExceedDecelLimit|
802 +| |ex: *5QEF<cr>|LSSP_ERROR_BITS_CurrentPositionOutOfRangePlus|
803 +| |ex: *5QEF<cr>|LSSP_ERROR_BITS_CurrentPositionOutOfRangeMinus|
804 +| |ex: *5QEF<cr>|LSSP_ERROR_BITS_EEPROMHeaderDataError|
805 +| |ex: *5QEF<cr>|LSSP_ERROR_BITS_EEPROMCheckSumError|
806 +| |ex: *5QEF<cr>|LSSP_ERROR_BITS_EEPROMMapVersionIsNotSupported|
788 788  )))
789 789  
790 790  |(% colspan="2" %)(((
... ... @@ -820,7 +820,25 @@
820 820  )))
821 821  |(% style="width:30px" %) |(((
822 822  (% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
823 -
842 +The user defined LED color can be changed permanently (CLED) or until reboot (LED).
843 +
844 +(% class="wikigeneratedid" %)
845 +Ex: #5LED5<cr>, will set the user LED color to Cyan until reboot of the actuator.
846 +
847 +(% class="wikigeneratedid" %)
848 +Ex: #5CLED3<cr>, will set the user LED color to Blue and will be that way ever after rebooting the actuator.
849 +
850 +
851 +(% style="width:200px" %)
852 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:35px" %)**Color vs Value**
853 +|(% style="text-align:center; vertical-align:middle; width:35px" %)[[image:[email protected]]]|0 = Off / Black
854 +|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]]]|1 = Red
855 +|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]]]|2 = Green
856 +|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]]]|3 = Blue
857 +|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]]]|4 = Yellow
858 +|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]||alt="SQUARE-Black.png"]]|5 = Cyan
859 +|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]]]|6 = Magenta
860 +|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]]]|7 = White
824 824  )))
825 825  
826 826  |(% colspan="2" %)(((
... ... @@ -828,7 +828,21 @@
828 828  )))
829 829  |(% style="width:30px" %) |(((
830 830  (% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
831 -
868 +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:
869 +
870 +(% style="width:200px" %)
871 +|**Blink While:**|(% style="text-align:center; width:35px" %)**#**
872 +|No blinking|(% style="text-align:center" %)0
873 +|Limp|(% style="text-align:center" %)1
874 +|Holding|(% style="text-align:center" %)2
875 +|Accelerating|(% style="text-align:center" %)4
876 +|Decelerating|(% style="text-align:center" %)8
877 +|Free|(% style="text-align:center" %)16
878 +|Travelling|(% style="text-align:center" %)32
879 +|Always blink|(% style="text-align:center" %)63
880 +
881 +(% class="wikigeneratedid" %)
882 +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.
832 832  )))
833 833  
834 834  |(% colspan="2" %)(((
... ... @@ -836,7 +836,11 @@
836 836  )))
837 837  |(% style="width:30px" %) |(((
838 838  (% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
839 -
840 -)))
890 +The LED Indicator will reflect the blinking pattern from the LED at a given time.
841 841  
842 -
892 +(% class="wikigeneratedid" %)
893 +Ex: #5QLI<cr> might return *5QLI4<cr>, and the actuator would be blinking 3 times as an Exceed speed limits error.
894 +
895 +(% class="wikigeneratedid" %)
896 +[[image:QLI-Info.png]]
897 +)))
QLI-Info.png
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