Last modified by Eric Nantel on 2024/09/06 14:52
From version < 91.1
edited by Eric Nantel
on 2024/09/06 14:52
To version < 83.1 >
edited by Eric Nantel
on 2024/09/06 09:42
<
Change comment: There is no comment for this version

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... ... @@ -376,8 +376,25 @@
376 376  | |ex: *5Q3<cr>|3: Traveling|Moving at a stable speed
377 377  | |ex: *5Q4<cr>|4: Decelerating|Decreasing from travel speed towards final position.
378 378  | |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 ([[HERE>>doc:||anchor="HErrorFlag"]])
379 +| |ex: *5Q6<cr>|6: Error|If the status is Error, the error value consists of binary flags
380 380  
381 +Query Error Flag (**QEF**)
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 +
381 381  *Value returned (Q)StatusDetailed description
382 382  
383 383  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.
... ... @@ -394,10 +394,6 @@
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.
401 401  )))
402 402  
403 403  |(% colspan="2" %)(((
... ... @@ -405,8 +405,6 @@
405 405  )))
406 406  |(% style="width:30px" %) |(((
407 407  Query Current Speed (**QCS**)
408 -
409 -Ex: #5QCS<cr> might return *5QCS1245<cr>, which indicate the actuator is moving currently at 12deg/s.
410 410  )))
411 411  
412 412  |(% colspan="2" %)(((
... ... @@ -730,10 +730,6 @@
730 730  )))
731 731  |(% style="width:30px" %) |(((
732 732  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.
737 737  )))
738 738  
739 739  |(% colspan="2" %)(((
... ... @@ -741,10 +741,6 @@
741 741  )))
742 742  |(% style="width:30px" %) |(((
743 743  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.
748 748  )))
749 749  
750 750  |(% colspan="2" %)(((
... ... @@ -753,11 +753,6 @@
753 753  |(% style="width:30px" %) |(((
754 754  (% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
755 755  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℃).
761 761  )))
762 762  
763 763  |(% colspan="2" %)(((
... ... @@ -766,10 +766,6 @@
766 766  |(% style="width:30px" %) |(((
767 767  (% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
768 768  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℃).
773 773  )))
774 774  
775 775  |(% colspan="2" %)(((
... ... @@ -777,24 +777,6 @@
777 777  )))
778 778  |(% style="width:30px" %) |(((
779 779  Query Error Flag (**QEF**)
780 -
781 -Ex: #5QEF<cr> might return *5QEF64<cr>
782 -
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|
798 798  )))
799 799  
800 800  |(% colspan="2" %)(((
... ... @@ -830,25 +830,7 @@
830 830  )))
831 831  |(% style="width:30px" %) |(((
832 832  (% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
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
809 +
852 852  )))
853 853  
854 854  |(% colspan="2" %)(((
... ... @@ -856,21 +856,7 @@
856 856  )))
857 857  |(% style="width:30px" %) |(((
858 858  (% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
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.
817 +
874 874  )))
875 875  
876 876  |(% colspan="2" %)(((
... ... @@ -878,11 +878,7 @@
878 878  )))
879 879  |(% style="width:30px" %) |(((
880 880  (% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
881 -The LED Indicator will reflect the blinking pattern from the LED at a given time.
882 -
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]]
825 +
888 888  )))
827 +
828 +
QLI-Info.png
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