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 < 79.8 >
edited by Eric Nantel
on 2024/07/22 15:16
<
Change comment: There is no comment for this version

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... ... @@ -143,6 +143,7 @@
143 143  | |[[**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|
144 144  | |[[**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|
145 145  | |[[**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 +| |[[**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.
146 146  | |[[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
147 147  | |[[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
148 148  
... ... @@ -175,7 +175,7 @@
175 175  |(% colspan="8" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="HRGBLED"]]
176 176  |(% 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**
177 177  | |[[**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 **B**linking>>doc:||anchor="HConfigureLEDBlinking"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QLB|(% style="text-align:center" %)CLB|(% style="text-align:center" %)0|(% style="text-align:center" %) |
179 179  | |[[**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" %) |
180 180  
181 181  = (% style="color:inherit; font-family:inherit" %)Details(%%) =
... ... @@ -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**)
... ... @@ -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**)
... ... @@ -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"]])
376 +| |ex: *5Q2<cr>|2: Free moving|Servo is rotating in duty motion / free move using the RDM command
377 +| |ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
378 +| |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
379 +| |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
380 +| |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will normally be holding)
381 +| |ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
382 +| |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
383 +| |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
384 +| |ex: *5Q10<cr>|10: Safe Mode|(((
385 +A safety limit has been exceeded (temperature, peak current or extended high current draw).
386 386  
387 -*Value returned (Q)StatusDetailed description
387 +Send a Q1 command to know which limit has been reached (described below).
388 +)))
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  
... ... @@ -400,10 +400,6 @@
400 400  )))
401 401  |(% style="width:30px" %) |(((
402 402  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.
407 407  )))
408 408  
409 409  |(% colspan="2" %)(((
... ... @@ -411,8 +411,6 @@
411 411  )))
412 412  |(% style="width:30px" %) |(((
413 413  Query Current Speed (**QCS**)
414 -
415 -Ex: #5QCS<cr> might return *5QCS1245<cr>, which indicate the actuator is moving currently at 12deg/s.
416 416  )))
417 417  
418 418  |(% colspan="2" %)(((
... ... @@ -489,9 +489,6 @@
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" %)(((
... ... @@ -564,6 +564,25 @@
564 564  )))
565 565  
566 566  |(% colspan="2" %)(((
559 +====== __First Position__ ======
560 +)))
561 +|(% style="width:30px" %) |(((
562 +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.
563 +
564 +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.
565 +
566 +Query First Position in Degrees (**QFD**)
567 +
568 +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.
569 +
570 +Configure First Position in Degrees (**CFD**)
571 +
572 +Ex: #5CFD900<cr>
573 +
574 +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>
575 +)))
576 +
577 +|(% colspan="2" %)(((
567 567  ====== __Maximum Speed in Degrees__ ======
568 568  )))
569 569  |(% style="width:30px" %) |(((
... ... @@ -739,10 +739,6 @@
739 739  )))
740 740  |(% style="width:30px" %) |(((
741 741  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.
746 746  )))
747 747  
748 748  |(% colspan="2" %)(((
... ... @@ -750,10 +750,6 @@
750 750  )))
751 751  |(% style="width:30px" %) |(((
752 752  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.
757 757  )))
758 758  
759 759  |(% colspan="2" %)(((
... ... @@ -762,11 +762,6 @@
762 762  |(% style="width:30px" %) |(((
763 763  (% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
764 764  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℃).
770 770  )))
771 771  
772 772  |(% colspan="2" %)(((
... ... @@ -775,10 +775,6 @@
775 775  |(% style="width:30px" %) |(((
776 776  (% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
777 777  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℃).
782 782  )))
783 783  
784 784  |(% colspan="2" %)(((
... ... @@ -786,24 +786,6 @@
786 786  )))
787 787  |(% style="width:30px" %) |(((
788 788  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|
807 807  )))
808 808  
809 809  |(% colspan="2" %)(((
... ... @@ -813,8 +813,7 @@
813 813  (% class="wikigeneratedid" %)
814 814  Query IMU Linear (**QIX QIY QIZ**)
815 815  
816 -(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
817 -Ex: #6QIX<cr> might return *6QIX30<cr>
792 +====== Ex: #6QIX<cr> might return *6QIX30<cr> ======
818 818  
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  )))
... ... @@ -825,8 +825,6 @@
825 825  |(% style="width:30px" %) |(((
826 826  (% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
827 827  Query IMU Angular (**QIA QIB QIG**)
828 -
829 -(% class="wikigeneratedid" %)
830 830  Ex: #6QIB<cr> might return *6QIB44<cr>
831 831  
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.
... ... @@ -839,25 +839,7 @@
839 839  )))
840 840  |(% style="width:30px" %) |(((
841 841  (% 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
815 +
861 861  )))
862 862  
863 863  |(% colspan="2" %)(((
... ... @@ -865,21 +865,7 @@
865 865  )))
866 866  |(% style="width:30px" %) |(((
867 867  (% 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.
823 +
883 883  )))
884 884  
885 885  |(% colspan="2" %)(((
... ... @@ -887,11 +887,7 @@
887 887  )))
888 888  |(% style="width:30px" %) |(((
889 889  (% 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]]
831 +
897 897  )))
833 +
834 +
QLI-Info.png
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