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  • QLI-Info.png

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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" %)(((
...	...	@@ -778,22 +778,23 @@
778	778	|(% style="width:30px" %) |(((
779	779	Query Error Flag (**QEF**)
780	780
781		-Ex: #5QEF<cr> might return *5QEF<cr>
	790	+Ex: #5QEF<cr> might return *5QEF64<cr>
782	782
	792	+
783	783	|(% style="width:25px" %) |***Value returned (QEF)**|**Status**|**Detailed description**
784		-| |ex: *5QEF0<cr>|0: LSSP_ERROR_BITS_PCBOverTemerature|
785		-| |ex: *5QEF1<cr>|1: LSSP_ERROR_BITS_MCUOverTemerature|
786		-| |ex: *5QEF2<cr>|2: LSSP_ERROR_BITS_MotorProbeOverTemerature|
787		-| |ex: *5QEF3<cr>|3: LSSP_ERROR_BITS_MotorDriverOverTemerature|
788		-| |ex: *5QEF4<cr>|4: LSSP_ERROR_BITS_Blocked|
789		-| |ex: *5QEF5<cr>|5: LSSP_ERROR_BITS_ExceedSpeedLimit|
790		-| |ex: *5QEF6<cr>|6: LSSP_ERROR_BITS_ExceedAccelLimit|
791		-| |ex: *5QEF7<cr>|7: LSSP_ERROR_BITS_ExceedDecelLimit|
792		-| |ex: *5QEF8<cr>|8: LSSP_ERROR_BITS_CurrentPositionOutOfRangePlus|
793		-| |ex: *5QEF9<cr>|9: LSSP_ERROR_BITS_CurrentPositionOutOfRangeMinus|
794		-| |ex: *5QEF10<cr>|10: LSSP_ERROR_BITS_EEPROMHeaderDataError|
795		-| |ex: *5QEF11<cr>|11: LSSP_ERROR_BITS_EEPROMCheckSumError|
796		-| |ex: *5QEF12<cr>|12: LSSP_ERROR_BITS_EEPROMMapVersionIsNotSupported|
	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|
797	797	)))
798	798
799	799	|(% colspan="2" %)(((
...	...	@@ -829,7 +829,25 @@
829	829	)))
830	830	|(% style="width:30px" %) |(((
831	831	(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
832		-
	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
833	833	)))
834	834
835	835	|(% colspan="2" %)(((
...	...	@@ -837,7 +837,21 @@
837	837	)))
838	838	|(% style="width:30px" %) |(((
839	839	(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
840		-
	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.
841	841	)))
842	842
843	843	|(% colspan="2" %)(((
...	...	@@ -845,7 +845,11 @@
845	845	)))
846	846	|(% style="width:30px" %) |(((
847	847	(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
848		-
849		-)))
	890	+The LED Indicator will reflect the blinking pattern from the LED at a given time.
850	850
851		-
	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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