Last modified by Eric Nantel on 2025/10/02 08:47
From version < 92.1
edited by Eric Nantel
on 2025/10/02 08:47
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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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**)
... ... @@ -333,9 +333,6 @@
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 -
339 339  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).
340 340  
341 341  Query Wheel Mode in Degrees (**QWD**)
... ... @@ -346,7 +346,7 @@
346 346  )))
347 347  
348 348  |(% colspan="2" %)(((
349 -====== __Wheel Mode in RPM__ ======
343 +====== __**W**heel Mode in **R**PM (**WR**)__ ======
350 350  )))
351 351  |(% style="width:30px" %) |(((
352 352  Wheel moed in RPM (**WR**)
... ... @@ -353,9 +353,6 @@
353 353  
354 354  Ex: #5WR40<cr>
355 355  
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 -
359 359  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).
360 360  
361 361  Query Wheel Mode in RPM (**QWR**)
... ... @@ -366,11 +366,9 @@
366 366  )))
367 367  
368 368  |(% colspan="2" %)(((
369 -====== __Status__ ======
360 +====== __**Q**uery Status (**Q**)__ ======
370 370  )))
371 371  |(% style="width:30px" %) |(((
372 -Query Status (**Q**)
373 -
374 374  The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
375 375  
376 376  Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
... ... @@ -378,13 +378,19 @@
378 378  |(% style="width:25px" %) |***Value returned (Q)**|**Status**|**Detailed description**
379 379  | |ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state
380 380  | |ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely
381 -| |ex: *5Q2<cr>|2: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
382 -| |ex: *5Q3<cr>|3: Traveling|Moving at a stable speed
383 -| |ex: *5Q4<cr>|4: Decelerating|Decreasing from travel speed towards final position.
384 -| |ex: *5Q5<cr>|5: Holding|Keeping current position (in EM0 mode, return will normally be holding)
385 -| |ex: *5Q6<cr>|6: Error|If the status is Error, the error value consists of binary flags ([[HERE>>doc:||anchor="HErrorFlag"]])
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).
386 386  
387 -*Value returned (Q)StatusDetailed description
381 +Send a Q1 command to know which limit has been reached (described below).
382 +)))
388 388  
389 389  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.
390 390  
... ... @@ -396,27 +396,21 @@
396 396  )))
397 397  
398 398  |(% colspan="2" %)(((
399 -====== __Motion Time__ ======
394 +====== __**Q**uery** M**otion **T**ime (**QMT**)__ ======
400 400  )))
401 401  |(% style="width:30px" %) |(((
402 -Query Motion Time (**QMT**)
403 -
404 -Ex: #5QMT9000<cr> might return *5QMT1000<cr>, which indicates the motor would take 1.000s to do that movement.
405 -
406 -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 +
407 407  )))
408 408  
409 409  |(% colspan="2" %)(((
410 -====== __Current Speed__ ======
401 +====== __**Q**uery** C**urrent **S**peed (**QCS**)__ ======
411 411  )))
412 412  |(% style="width:30px" %) |(((
413 -Query Current Speed (**QCS**)
414 -
415 -Ex: #5QCS<cr> might return *5QCS1245<cr>, which indicate the actuator is moving currently at 12deg/s.
404 +
416 416  )))
417 417  
418 418  |(% colspan="2" %)(((
419 -====== __Limp__ ======
408 +====== __**L**imp (**L**)__ ======
420 420  )))
421 421  |(% style="width:30px" %) |(((
422 422  Example: #5L<cr>
... ... @@ -425,7 +425,7 @@
425 425  )))
426 426  
427 427  |(% colspan="2" %)(((
428 -====== __Halt & Hold__ ======
417 +====== __**H**alt & Hold (**H**)__ ======
429 429  )))
430 430  |(% style="width:30px" %) |(((
431 431  Example: #5H<cr>
... ... @@ -436,7 +436,7 @@
436 436  == Motion Setup ==
437 437  
438 438  |(% colspan="2" %)(((
439 -====== __Origin Offset__ ======
428 +====== __Origin Offset (**O**)__ ======
440 440  )))
441 441  |(% style="width:30px" %) |(((
442 442  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).
... ... @@ -463,7 +463,7 @@
463 463  )))
464 464  
465 465  |(% colspan="2" %)(((
466 -====== __Angular Range__ ======
455 +====== __Angular Range (**AR**)__ ======
467 467  )))
468 468  |(% style="width:30px" %) |(((
469 469  Example: #5AR1800<cr>
... ... @@ -489,13 +489,10 @@
489 489  Configure Angular Range (**CAR**)
490 490  
491 491  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**.
495 495  )))
496 496  
497 497  |(% colspan="2" %)(((
498 -====== __Angular Acceleration__ ======
484 +====== __Angular Acceleration (**AA**)__ ======
499 499  )))
500 500  |(% style="width:30px" %) |(((
501 501  The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
... ... @@ -518,7 +518,7 @@
518 518  )))
519 519  
520 520  |(% colspan="2" %)(((
521 -====== __Angular Deceleration__ ======
507 +====== __Angular Deceleration (**AD**)__ ======
522 522  )))
523 523  |(% style="width:30px" %) |(((
524 524  The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
... ... @@ -541,7 +541,7 @@
541 541  )))
542 542  
543 543  |(% colspan="2" %)(((
544 -====== __Gyre Direction__ ======
530 +====== __Gyre Direction (**G**)__ ======
545 545  )))
546 546  |(% style="width:30px" %) |(((
547 547  "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.
... ... @@ -564,21 +564,18 @@
564 564  )))
565 565  
566 566  |(% colspan="2" %)(((
567 -====== __Maximum Speed in Degrees__ ======
553 +====== __First Position__ ======
568 568  )))
569 569  |(% style="width:30px" %) |(((
570 -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 +)))
571 571  
572 -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:
573 573  
574 -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.
575 -
576 -Query Speed in Degrees (**QSD**)
577 -
578 -Ex: #5QSD<cr> might return *5QSD1800<cr>
579 -
580 -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:
581 -
582 582  |**Command sent**|**Returned value (1/10 °)**
583 583  |ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
584 584  |ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
... ... @@ -585,41 +585,15 @@
585 585  |ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
586 586  |ex: #5QSD3<cr>|Target travel speed
587 587  
588 -Configure Speed in Degrees (**CSD**)
589 -
590 -Ex: #5CSD1800<cr>
591 -
592 -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.
593 593  )))
594 594  
595 595  |(% colspan="2" %)(((
596 -====== __Maximum Speed in RPM__ ======
575 +====== __Maximum Speed in RPM (**SR**)__ ======
597 597  )))
598 598  |(% style="width:30px" %) |(((
599 -(% class="wikigeneratedid" %)
600 -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: ======
601 601  
602 -(% class="wikigeneratedid" id="HEx:235SR453Ccr3EThiscommandsetstheservo27smaximumspeedformotioncommandsinrpmforthatsession.Intheexampleabove2Ctheservo27smaximumspeedforthatsessionwouldbesetto45rpm.Theservo27smaximumspeedcannotbesethigherthanitsphysicallimitatagivenvoltage.SRoverridesCSR28describedbelow29forthatsession.Uponresetorpowercycle2CtheservorevertstothevalueassociatedwithCSRasdescribedbelow.NotethatSD28describedabove29andSRareeffectivelythesame2Cbutallowtheusertospecifythespeedineitherunit.Thelastcommand28eitherSRorSD29receivediswhattheservousesforthatsession.QuerySpeedinRPM28QSR29Ex:235QSR3Ccr3Emightreturn2A5QSR453Ccr3EBydefaultQSRwillreturnthecurrentsessionvalue2CwhichissettothevalueofCSRasreset2FpowercycleandchangedwheneveranSD2FSRcommandisprocessed.If235QSR13Ccr3Eissent2Ctheconfiguredmaximumspeed28CSRvalue29willbereturnedinstead.Youcanalsoquerythecurrentspeedusing22222andthecurrenttargettravelspeedusing22322.Seethetablebelowforanexample:" %)
603 -Ex: #5SR45<cr>
604 -
605 -(% class="wikigeneratedid" %)
606 -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.
607 -
608 -(% class="wikigeneratedid" %)
609 -Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit.
610 -
611 -(% class="wikigeneratedid" %)
612 -The last command (either SR or SD) received is what the servo uses for that session.
613 -
614 -(% class="wikigeneratedid" %)
615 -Query Speed in RPM (**QSR**)
616 -
617 -(% class="wikigeneratedid" %)
618 -Ex: #5QSR<cr> might return *5QSR45<cr>
619 -
620 -(% class="wikigeneratedid" %)
621 -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:
622 -
623 623  |**Command sent**|**Returned value (1/10 °)**
624 624  |ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
625 625  |ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
... ... @@ -626,25 +626,17 @@
626 626  |ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
627 627  |ex: #5QSR3<cr>|Target travel speed
628 628  
629 -Configure Speed in RPM (**CSR**)
630 -
631 -Ex: #5CSR45<cr>
632 -
633 -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.
634 634  )))
635 635  
636 636  == Modifiers ==
637 637  
638 638  |(% colspan="2" %)(((
639 -====== __Speed __ ======
592 +====== __Speed (**SD**) modifier__ ======
640 640  )))
641 641  |(% style="width:30px" %) |(((
642 -(% class="wikigeneratedid" %)
643 -Speed in Degrees (**SD**)
595 +====== Example: #5D0SD180<cr> ======
644 644  
645 -(% class="wikigeneratedid" id="HExample:235D0SD1803Ccr3E" %)
646 -Example: #5D0SD180<cr>
647 -
648 648  (% class="wikigeneratedid" %)
649 649  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.
650 650  
... ... @@ -659,11 +659,9 @@
659 659  )))
660 660  
661 661  |(% colspan="2" %)(((
662 -====== __Timed move__ ======
611 +====== __Timed move (**T**) modifier__ ======
663 663  )))
664 664  |(% style="width:30px" %) |(((
665 -Timed Move (**T**)
666 -
667 667  Example: #5D15000T2500<cr>
668 668  
669 669  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.
... ... @@ -674,11 +674,9 @@
674 674  == Telemetry ==
675 675  
676 676  |(% colspan="2" %)(((
677 -====== __Temperature PCB__ ======
624 +====== __**Q**uery PCB **T**emperature (**QT**)__ ======
678 678  )))
679 679  |(% style="width:30px" %) |(((
680 -Query Temp PCB (**QT**)
681 -
682 682  Ex: #5QT<cr> might return *5QT564<cr>
683 683  
684 684  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.
... ... @@ -685,37 +685,27 @@
685 685  )))
686 686  
687 687  |(% colspan="2" %)(((
688 -====== __Current__ ======
633 +====== __**Q**uery **C**urrent (**QC**)__ ======
689 689  )))
690 690  |(% style="width:30px" %) |(((
691 -(% class="wikigeneratedid" %)
692 -Query Current (**QC**)
636 +====== Ex: #5QC<cr> might return *5QC140<cr> ======
693 693  
694 -(% class="wikigeneratedid" id="HEx:235QC3Ccr3Emightreturn2A5QC1403Ccr3E" %)
695 -Ex: #5QC<cr> might return *5QC140<cr>
696 -
697 697  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.
698 698  )))
699 699  
700 700  |(% colspan="2" %)(((
701 -====== __Model String__ ======
642 +====== __**Q**uery **M**odel **S**tring (**QMS**)__ ======
702 702  )))
703 703  |(% style="width:30px" %) |(((
704 -(% class="wikigeneratedid" %)
705 -Query Model String (**QMS**)
645 +====== Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr> ======
706 706  
707 -(% class="wikigeneratedid" id="HEx:235QMS3Ccr3Emightreturn2A5QMSLSS-HS13Ccr3E" %)
708 -Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
709 -
710 710  This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
711 711  )))
712 712  
713 713  |(% colspan="2" %)(((
714 -====== __Firmware__ ======
651 +====== __**Q**uery **F**irmware (**QF**)__ ======
715 715  )))
716 716  |(% style="width:30px" %) |(((
717 -Query Firmware (**QF**)
718 -
719 719  Ex: #5QF<cr> might return *5QF368<cr>
720 720  
721 721  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
... ... @@ -722,176 +722,64 @@
722 722  )))
723 723  
724 724  |(% colspan="2" %)(((
725 -====== __Serial Number__ ======
660 +====== __**Q**uery Serial **N**umber (**QN**)__ ======
726 726  )))
727 727  |(% style="width:30px" %) |(((
728 -(% class="wikigeneratedid" %)
729 -Query Serial Number (**QN**)
663 +====== Ex: #5QN<cr> might return *5QN12345678<cr> ======
730 730  
731 -(% class="wikigeneratedid" id="HEx:235QN3Ccr3Emightreturn2A5QN123456783Ccr3E" %)
732 -Ex: #5QN<cr> might return *5QN12345678<cr>
733 -
734 734  The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
735 735  )))
736 736  
737 737  |(% colspan="2" %)(((
738 -====== __Temperature Probe__ ======
669 +====== __**Q**uery **T**emperature **P**robe (**QTP**)__ ======
739 739  )))
740 740  |(% style="width:30px" %) |(((
741 -Query Temp motor Probe (**QTP**)
742 -
743 -Ex: #5QTP<cr> might return *5QTP564<cr>
744 -
745 -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.
672 +
746 746  )))
747 747  
748 748  |(% colspan="2" %)(((
749 -====== __Temperature MCU__ ======
676 +====== __**Q**uery **T**emperature **M**CU (**QTM**)__ ======
750 750  )))
751 751  |(% style="width:30px" %) |(((
752 -Query Temp MCU (**QTM**)
753 -
754 -Ex: #5QTM<cr> might return *5QTM564<cr>
755 -
756 -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.
679 +
757 757  )))
758 758  
759 759  |(% colspan="2" %)(((
760 -====== __Temp Controller Error__ ======
683 +====== __**Q**uery **T**emp **C**ontroller **E**rror (**QTCE**)__ ======
761 761  )))
762 762  |(% style="width:30px" %) |(((
763 -(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
764 -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℃).
686 +====== ======
770 770  )))
771 771  
772 772  |(% colspan="2" %)(((
773 -====== __Temp Controller Warning__ ======
690 +====== **Q**uery **T**emp **C**ontroller **W**arning (**QTCW**) ======
774 774  )))
775 775  |(% style="width:30px" %) |(((
776 -(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
777 -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℃).
693 +====== ======
782 782  )))
783 783  
784 784  |(% colspan="2" %)(((
785 -====== __Error Flag__ ======
697 +====== __Query Error Flag (**QEF**)__ ======
786 786  )))
787 787  |(% style="width:30px" %) |(((
788 -Query Error Flag (**QEF**)
789 -
790 -Ex: #5QEF<cr> might return *5QEF64<cr>
791 -
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|
700 +
807 807  )))
808 808  
809 809  |(% colspan="2" %)(((
810 -====== __IMU Linear__ ======
704 +====== __**Q**uery **I**MU Linear (**QIX QIY QIZ**)__ ======
811 811  )))
812 812  |(% style="width:30px" %) |(((
813 -(% class="wikigeneratedid" %)
814 -Query IMU Linear (**QIX QIY QIZ**)
707 +====== Ex: #6QIX<cr> might return *6QIX30<cr> ======
815 815  
816 -(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
817 -Ex: #6QIX<cr> might return *6QIX30<cr>
818 -
819 819  This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
820 820  )))
821 821  
822 822  |(% colspan="2" %)(((
823 -====== __IMU Angular__ ======
713 +====== __**Q**uery **I**MU Angular (**QIA QIB QIG**)__ ======
824 824  )))
825 825  |(% style="width:30px" %) |(((
826 -(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
827 -Query IMU Angular (**QIA QIB QIG**)
716 +====== Ex: #6QIB<cr> might return *6QIB44<cr> ======
828 828  
829 -(% class="wikigeneratedid" %)
830 -Ex: #6QIB<cr> might return *6QIB44<cr>
831 -
832 832  This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
833 833  )))
834 834  
835 -== RGB LED ==
836 -
837 -|(% colspan="2" %)(((
838 -====== __LED Color__ ======
839 -)))
840 -|(% style="width:30px" %) |(((
841 -(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
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
861 -)))
862 -
863 -|(% colspan="2" %)(((
864 -====== __LED Blinking__ ======
865 -)))
866 -|(% style="width:30px" %) |(((
867 -(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
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.
883 -)))
884 -
885 -|(% colspan="2" %)(((
886 -====== __LED Indicator__ ======
887 -)))
888 -|(% style="width:30px" %) |(((
889 -(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
890 -The LED Indicator will reflect the blinking pattern from the LED at a given time.
891 -
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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