Last modified by Eric Nantel on 2025/11/28 14:42
From version < 93.1
edited by Eric Nantel
on 2025/11/28 14:42
To version < 78.13 >
edited by Eric Nantel
on 2024/07/22 14:28
<
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="HHalt&Hold"]]|(% 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 -| |(% style="vertical-align:middle" %)[[**A**ngular **A**cceleration>>||anchor="HAngularAcceleration"]]|(% style="text-align:center; vertical-align:middle" %)AA|(% style="text-align:center; vertical-align:middle" %)QAA|(% style="text-align:center; vertical-align:middle" %)CAA|(% style="text-align:center; vertical-align:middle" %)(((
144 -L1: 10000
145 -S1: 10000
146 -M1:
147 -)))|(% style="text-align:center; vertical-align:middle" %)0.01°/s^2|(% style="vertical-align:middle" %)
148 -| |(% style="vertical-align:middle" %)[[**A**ngular **D**eceleration>>||anchor="HAngularDeceleration"]]|(% style="text-align:center; vertical-align:middle" %)AD|(% style="text-align:center; vertical-align:middle" %)QAD|(% style="text-align:center; vertical-align:middle" %)CAD|(% style="text-align:center; vertical-align:middle" %)L1: 10000
149 -S1: 10000
150 -M1: |(% style="text-align:center; vertical-align:middle" %)0.01°/s^2|(% style="vertical-align:middle" %)
151 -| |[[**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)
152 -| |[[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
153 -| |[[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
154 154  
155 155  |(% colspan="8" style="color:orange; font-size:18px" %)[[**Modifiers**>>||anchor="HModifiers"]]
156 156  |(% 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**
157 -| |[[**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
158 -| |[[**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
159 159  
160 160  |(% colspan="8" style="color:orange; font-size:18px" %)[[**Telemetry**>>||anchor="HTelemetry"]]
161 -|(% 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**
162 -| |[[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|
163 -| |[[**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.
164 -| |[[**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)
165 -| |[[**F**irmware Version>>doc:||anchor="HFirmware"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | |(% style="text-align:center" %) |
166 -| |[[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
167 -| |[[**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
168 -| |[[**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|
169 -| |[[**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" %) | | |(((
170 170  Temperature error status of the motor controller (over-temp error)
171 171  )))
172 -| |[[**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)
173 -| |[[**E**rror **F**lag>>doc:||anchor="HErrorFlag"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QEF|(% style="text-align:center" %) | |(% style="text-align:center" %) |
174 -| |[[**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|
175 -| |[[**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|
176 -| |[[**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|
177 -| |[[**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)
178 -| |[[**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)
179 -| |[[**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)
180 180  
181 181  |(% colspan="8" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="HRGBLED"]]
182 -|(% 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**
183 -| |[[**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
184 -| |[[**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" %) |
185 -| |[[**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
186 186  
187 187  = (% style="color:inherit; font-family:inherit" %)Details(%%) =
188 188  
... ... @@ -192,8 +192,6 @@
192 192  ====== __Reset__ ======
193 193  )))
194 194  | |(((
195 -Reset (**RESET**)
196 -
197 197  Ex: #5RESET<cr>
198 198  
199 199  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.
... ... @@ -200,11 +200,9 @@
200 200  )))
201 201  
202 202  |(% colspan="2" %)(((
203 -====== (% style="color:inherit; font-family:inherit" %)__Default__(%%) ======
194 +====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ======
204 204  )))
205 205  |(% style="width:30px" %) |(((
206 -(% style="color:inherit; font-family:inherit" %)Default (**DEFAULT**)
207 -
208 208  (% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr>
209 209  
210 210  (% 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.
... ... @@ -217,11 +217,9 @@
217 217  )))
218 218  
219 219  |(% colspan="2" %)(((
220 -====== (% style="color:inherit; font-family:inherit" %)__Update__(%%) ======
209 +====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
221 221  )))
222 222  |(% style="width:30px" %) |(((
223 -(% style="color:inherit; font-family:inherit" %)Update (**UPDATE**)
224 -
225 225  (% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
226 226  
227 227  (% 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.
... ... @@ -237,8 +237,6 @@
237 237  ====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
238 238  )))
239 239  |(% style="width:30px" %) |(((
240 -(% style="color:inherit; font-family:inherit" %)Confirm (**CONFIRM**)
241 -
242 242  (% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
243 243  
244 244  (% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command.
... ... @@ -290,6 +290,17 @@
290 290  Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
291 291  )))
292 292  
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 +
293 293  == Motion ==
294 294  
295 295  |(% colspan="2" %)(((
... ... @@ -318,17 +318,14 @@
318 318  )))
319 319  
320 320  |(% colspan="2" %)(((
321 -====== __Relative Move in Degrees__ ======
317 +====== __(Relative) Move in Degrees__ ======
322 322  )))
323 323  |(% style="width:30px" %) |(((
324 -(% class="wikigeneratedid" %)
325 325  Move in Degrees (**MD**)
326 326  
327 -(% class="wikigeneratedid" %)
328 -Example: #5M1500<cr>
322 +Example: #5MD123<cr>
329 329  
330 -(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
331 -The relative move in PWM command causes the servo to read its current position and move by the specified number of PWM signal. For example if the servo is set to rotate CW (default) and an M command of 1500 is sent to the servo, it will cause the servo to rotate clockwise by 90 degrees. Negative PWM value would cause the servo to rotate in the opposite configured direction.
324 +The relative move command causes the servo to read its current position and move the specified number of tenths of degrees in the corresponding position. For example if the servo is set to rotate CW (default) and an MD command of 123 is sent to the servo, it will cause the servo to rotate clockwise by 12.3 degrees. Negative commands would cause the servo to rotate in the opposite configured direction.
332 332  )))
333 333  
334 334  |(% colspan="2" %)(((
... ... @@ -339,9 +339,6 @@
339 339  
340 340  Ex: #5WD90<cr>
341 341  
342 -⚠️ //Note~:// The servo’s **Angular Range (AR)** must be disabled when using Wheel Mode.
343 -Set AR0 (or CAR0 to save) before sending this command, otherwise the servo **will not rotate**.
344 -
345 345  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).
346 346  
347 347  Query Wheel Mode in Degrees (**QWD**)
... ... @@ -359,9 +359,6 @@
359 359  
360 360  Ex: #5WR40<cr>
361 361  
362 -⚠️ //Note~:// The servo’s **Angular Range (AR)** must be disabled when using Wheel Mode.
363 -Set AR0 (or CAR0 to save) before sending this command, otherwise the servo **will not rotate**.
364 -
365 365  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).
366 366  
367 367  Query Wheel Mode in RPM (**QWR**)
... ... @@ -372,9 +372,23 @@
372 372  )))
373 373  
374 374  |(% colspan="2" %)(((
375 -====== __Status__ ======
362 +====== __(Relative) Move in Degrees__ ======
376 376  )))
377 377  |(% style="width:30px" %) |(((
365 +(% class="wikigeneratedid" %)
366 +Move in Degrees (**MD**)
367 +
368 +(% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %)
369 +Example: #5M1500<cr>
370 +
371 +(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
372 +The relative move in PWM command causes the servo to read its current position and move by the specified number of PWM signal. For example if the servo is set to rotate CW (default) and an M command of 1500 is sent to the servo, it will cause the servo to rotate clockwise by 90 degrees. Negative PWM value would cause the servo to rotate in the opposite configured direction.
373 +)))
374 +
375 +|(% colspan="2" %)(((
376 +====== __Query Status__ ======
377 +)))
378 +|(% style="width:30px" %) |(((
378 378  Query Status (**Q**)
379 379  
380 380  The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
... ... @@ -384,13 +384,19 @@
384 384  |(% style="width:25px" %) |***Value returned (Q)**|**Status**|**Detailed description**
385 385  | |ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state
386 386  | |ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely
387 -| |ex: *5Q2<cr>|2: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
388 -| |ex: *5Q3<cr>|3: Traveling|Moving at a stable speed
389 -| |ex: *5Q4<cr>|4: Decelerating|Decreasing from travel speed towards final position.
390 -| |ex: *5Q5<cr>|5: Holding|Keeping current position (in EM0 mode, return will normally be holding)
391 -| |ex: *5Q6<cr>|6: Error|If the status is Error, the error value consists of binary flags ([[HERE>>doc:||anchor="HErrorFlag"]])
388 +| |ex: *5Q2<cr>|2: Free moving|Servo is rotating in duty motion / free move using the RDM command
389 +| |ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
390 +| |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
391 +| |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
392 +| |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will normally be holding)
393 +| |ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
394 +| |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
395 +| |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
396 +| |ex: *5Q10<cr>|10: Safe Mode|(((
397 +A safety limit has been exceeded (temperature, peak current or extended high current draw).
392 392  
393 -*Value returned (Q)StatusDetailed description
399 +Send a Q1 command to know which limit has been reached (described below).
400 +)))
394 394  
395 395  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.
396 396  
... ... @@ -405,11 +405,7 @@
405 405  ====== __Motion Time__ ======
406 406  )))
407 407  |(% style="width:30px" %) |(((
408 -Query Motion Time (**QMT**)
409 -
410 -Ex: #5QMT9000<cr> might return *5QMT1000<cr>, which indicates the motor would take 1.000s to do that movement.
411 -
412 -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.
415 +
413 413  )))
414 414  
415 415  |(% colspan="2" %)(((
... ... @@ -416,9 +416,7 @@
416 416  ====== __Current Speed__ ======
417 417  )))
418 418  |(% style="width:30px" %) |(((
419 -Query Current Speed (**QCS**)
420 -
421 -Ex: #5QCS<cr> might return *5QCS1245<cr>, which indicate the actuator is moving currently at 12deg/s.
422 +
422 422  )))
423 423  
424 424  |(% colspan="2" %)(((
... ... @@ -425,6 +425,8 @@
425 425  ====== __Limp__ ======
426 426  )))
427 427  |(% style="width:30px" %) |(((
429 +Limp (**L**)
430 +
428 428  Example: #5L<cr>
429 429  
430 430  This action causes the servo to go "limp". The microcontroller will still be powered, but the motor will not. As an emergency safety feature, should the robot not be doing what it is supposed to or risks damage, use the broadcast ID to set all servos limp #254L<cr>.
... ... @@ -434,6 +434,8 @@
434 434  ====== __Halt & Hold__ ======
435 435  )))
436 436  |(% style="width:30px" %) |(((
440 +Halt & Hold (**H**)
441 +
437 437  Example: #5H<cr>
438 438  
439 439  This command causes the servo to stop immediately and hold that angular position. It overrides whatever the servo might be doing at the time the command is received (accelerating, travelling, deccelerating, etc.)
... ... @@ -442,7 +442,7 @@
442 442  == Motion Setup ==
443 443  
444 444  |(% colspan="2" %)(((
445 -====== __Origin Offset__ ======
450 +====== __Origin Offset (**O**)__ ======
446 446  )))
447 447  |(% style="width:30px" %) |(((
448 448  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).
... ... @@ -469,7 +469,7 @@
469 469  )))
470 470  
471 471  |(% colspan="2" %)(((
472 -====== __Angular Range__ ======
477 +====== __Angular Range (**AR**)__ ======
473 473  )))
474 474  |(% style="width:30px" %) |(((
475 475  Example: #5AR1800<cr>
... ... @@ -495,13 +495,10 @@
495 495  Configure Angular Range (**CAR**)
496 496  
497 497  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.
498 -
499 -⚠️ //Note~:// Setting AR0 removes angular limits and allows **continuous rotation**.
500 -This is required for **Wheel Mode (WD / WR)** otherwise the servo **will not move**.
501 501  )))
502 502  
503 503  |(% colspan="2" %)(((
504 -====== __Angular Acceleration__ ======
506 +====== __Angular Acceleration (**AA**)__ ======
505 505  )))
506 506  |(% style="width:30px" %) |(((
507 507  The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
... ... @@ -524,7 +524,7 @@
524 524  )))
525 525  
526 526  |(% colspan="2" %)(((
527 -====== __Angular Deceleration__ ======
529 +====== __Angular Deceleration (**AD**)__ ======
528 528  )))
529 529  |(% style="width:30px" %) |(((
530 530  The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
... ... @@ -547,7 +547,7 @@
547 547  )))
548 548  
549 549  |(% colspan="2" %)(((
550 -====== __Gyre Direction__ ======
552 +====== __Gyre Direction (**G**)__ ======
551 551  )))
552 552  |(% style="width:30px" %) |(((
553 553  "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.
... ... @@ -570,21 +570,18 @@
570 570  )))
571 571  
572 572  |(% colspan="2" %)(((
573 -====== __Maximum Speed in Degrees__ ======
575 +====== __First Position__ ======
574 574  )))
575 575  |(% style="width:30px" %) |(((
576 -Maximum Speed in Degrees (**SD**)
578 +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>
579 +)))
577 577  
578 -Ex: #5SD1800<cr>
581 +|(% colspan="2" %)(((
582 +====== __Maximum Speed in Degrees (**SD**)__ ======
583 +)))
584 +|(% style="width:30px" %) |(((
585 +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:
579 579  
580 -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.
581 -
582 -Query Speed in Degrees (**QSD**)
583 -
584 -Ex: #5QSD<cr> might return *5QSD1800<cr>
585 -
586 -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:
587 -
588 588  |**Command sent**|**Returned value (1/10 °)**
589 589  |ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
590 590  |ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
... ... @@ -591,41 +591,15 @@
591 591  |ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
592 592  |ex: #5QSD3<cr>|Target travel speed
593 593  
594 -Configure Speed in Degrees (**CSD**)
595 -
596 -Ex: #5CSD1800<cr>
597 -
598 -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 +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.
599 599  )))
600 600  
601 601  |(% colspan="2" %)(((
602 -====== __Maximum Speed in RPM__ ======
597 +====== __Maximum Speed in RPM (**SR**)__ ======
603 603  )))
604 604  |(% style="width:30px" %) |(((
605 -(% class="wikigeneratedid" %)
606 -Maximum Speed in RPM (**SR**)
600 +====== 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: ======
607 607  
608 -(% class="wikigeneratedid" id="HEx:235SR453Ccr3EThiscommandsetstheservo27smaximumspeedformotioncommandsinrpmforthatsession.Intheexampleabove2Ctheservo27smaximumspeedforthatsessionwouldbesetto45rpm.Theservo27smaximumspeedcannotbesethigherthanitsphysicallimitatagivenvoltage.SRoverridesCSR28describedbelow29forthatsession.Uponresetorpowercycle2CtheservorevertstothevalueassociatedwithCSRasdescribedbelow.NotethatSD28describedabove29andSRareeffectivelythesame2Cbutallowtheusertospecifythespeedineitherunit.Thelastcommand28eitherSRorSD29receivediswhattheservousesforthatsession.QuerySpeedinRPM28QSR29Ex:235QSR3Ccr3Emightreturn2A5QSR453Ccr3EBydefaultQSRwillreturnthecurrentsessionvalue2CwhichissettothevalueofCSRasreset2FpowercycleandchangedwheneveranSD2FSRcommandisprocessed.If235QSR13Ccr3Eissent2Ctheconfiguredmaximumspeed28CSRvalue29willbereturnedinstead.Youcanalsoquerythecurrentspeedusing22222andthecurrenttargettravelspeedusing22322.Seethetablebelowforanexample:" %)
609 -Ex: #5SR45<cr>
610 -
611 -(% class="wikigeneratedid" %)
612 -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.
613 -
614 -(% class="wikigeneratedid" %)
615 -Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit.
616 -
617 -(% class="wikigeneratedid" %)
618 -The last command (either SR or SD) received is what the servo uses for that session.
619 -
620 -(% class="wikigeneratedid" %)
621 -Query Speed in RPM (**QSR**)
622 -
623 -(% class="wikigeneratedid" %)
624 -Ex: #5QSR<cr> might return *5QSR45<cr>
625 -
626 -(% class="wikigeneratedid" %)
627 -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:
628 -
629 629  |**Command sent**|**Returned value (1/10 °)**
630 630  |ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
631 631  |ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
... ... @@ -632,25 +632,17 @@
632 632  |ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
633 633  |ex: #5QSR3<cr>|Target travel speed
634 634  
635 -Configure Speed in RPM (**CSR**)
636 -
637 -Ex: #5CSR45<cr>
638 -
639 -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.
608 +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.
640 640  )))
641 641  
642 642  == Modifiers ==
643 643  
644 644  |(% colspan="2" %)(((
645 -====== __Speed __ ======
614 +====== __Speed (**SD**) modifier__ ======
646 646  )))
647 647  |(% style="width:30px" %) |(((
648 -(% class="wikigeneratedid" %)
649 -Speed in Degrees (**SD**)
617 +====== Example: #5D0SD180<cr> ======
650 650  
651 -(% class="wikigeneratedid" id="HExample:235D0SD1803Ccr3E" %)
652 -Example: #5D0SD180<cr>
653 -
654 654  (% class="wikigeneratedid" %)
655 655  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.
656 656  
... ... @@ -665,11 +665,9 @@
665 665  )))
666 666  
667 667  |(% colspan="2" %)(((
668 -====== __Timed move__ ======
633 +====== __Timed move (**T**) modifier__ ======
669 669  )))
670 670  |(% style="width:30px" %) |(((
671 -Timed Move (**T**)
672 -
673 673  Example: #5D15000T2500<cr>
674 674  
675 675  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.
... ... @@ -680,11 +680,9 @@
680 680  == Telemetry ==
681 681  
682 682  |(% colspan="2" %)(((
683 -====== __Temperature PCB__ ======
646 +====== __**Q**uery PCB **T**emperature (**QT**)__ ======
684 684  )))
685 685  |(% style="width:30px" %) |(((
686 -Query Temp PCB (**QT**)
687 -
688 688  Ex: #5QT<cr> might return *5QT564<cr>
689 689  
690 690  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.
... ... @@ -691,37 +691,27 @@
691 691  )))
692 692  
693 693  |(% colspan="2" %)(((
694 -====== __Current__ ======
655 +====== __**Q**uery **C**urrent (**QC**)__ ======
695 695  )))
696 696  |(% style="width:30px" %) |(((
697 -(% class="wikigeneratedid" %)
698 -Query Current (**QC**)
658 +====== Ex: #5QC<cr> might return *5QC140<cr> ======
699 699  
700 -(% class="wikigeneratedid" id="HEx:235QC3Ccr3Emightreturn2A5QC1403Ccr3E" %)
701 -Ex: #5QC<cr> might return *5QC140<cr>
702 -
703 703  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.
704 704  )))
705 705  
706 706  |(% colspan="2" %)(((
707 -====== __Model String__ ======
664 +====== __**Q**uery **M**odel **S**tring (**QMS**)__ ======
708 708  )))
709 709  |(% style="width:30px" %) |(((
710 -(% class="wikigeneratedid" %)
711 -Query Model String (**QMS**)
667 +====== Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr> ======
712 712  
713 -(% class="wikigeneratedid" id="HEx:235QMS3Ccr3Emightreturn2A5QMSLSS-HS13Ccr3E" %)
714 -Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
715 -
716 716  This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
717 717  )))
718 718  
719 719  |(% colspan="2" %)(((
720 -====== __Firmware__ ======
673 +====== __**Q**uery **F**irmware (**QF**)__ ======
721 721  )))
722 722  |(% style="width:30px" %) |(((
723 -Query Firmware (**QF**)
724 -
725 725  Ex: #5QF<cr> might return *5QF368<cr>
726 726  
727 727  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
... ... @@ -728,176 +728,64 @@
728 728  )))
729 729  
730 730  |(% colspan="2" %)(((
731 -====== __Serial Number__ ======
682 +====== __**Q**uery Serial **N**umber (**QN**)__ ======
732 732  )))
733 733  |(% style="width:30px" %) |(((
734 -(% class="wikigeneratedid" %)
735 -Query Serial Number (**QN**)
685 +====== Ex: #5QN<cr> might return *5QN12345678<cr> ======
736 736  
737 -(% class="wikigeneratedid" id="HEx:235QN3Ccr3Emightreturn2A5QN123456783Ccr3E" %)
738 -Ex: #5QN<cr> might return *5QN12345678<cr>
739 -
740 740  The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
741 741  )))
742 742  
743 743  |(% colspan="2" %)(((
744 -====== __Temperature Probe__ ======
691 +====== __**Q**uery **T**emperature **P**robe (**QTP**)__ ======
745 745  )))
746 746  |(% style="width:30px" %) |(((
747 -Query Temp motor Probe (**QTP**)
748 -
749 -Ex: #5QTP<cr> might return *5QTP564<cr>
750 -
751 -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.
694 +
752 752  )))
753 753  
754 754  |(% colspan="2" %)(((
755 -====== __Temperature MCU__ ======
698 +====== __**Q**uery **T**emperature **M**CU (**QTM**)__ ======
756 756  )))
757 757  |(% style="width:30px" %) |(((
758 -Query Temp MCU (**QTM**)
759 -
760 -Ex: #5QTM<cr> might return *5QTM564<cr>
761 -
762 -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.
701 +
763 763  )))
764 764  
765 765  |(% colspan="2" %)(((
766 -====== __Temp Controller Error__ ======
705 +====== __**Q**uery **T**emp **C**ontroller **E**rror (**QTCE**)__ ======
767 767  )))
768 768  |(% style="width:30px" %) |(((
769 -(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
770 -Query Temp Controller Error (**QTCE**)
771 -
772 -
773 -
774 -(% class="wikigeneratedid" %)
775 -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℃).
708 +====== ======
776 776  )))
777 777  
778 778  |(% colspan="2" %)(((
779 -====== __Temp Controller Warning__ ======
712 +====== **Q**uery **T**emp **C**ontroller **W**arning (**QTCW**) ======
780 780  )))
781 781  |(% style="width:30px" %) |(((
782 -(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
783 -Query Temp Controller Warning (**QTCW**)
784 -
785 -
786 -(% class="wikigeneratedid" %)
787 -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℃).
715 +====== ======
788 788  )))
789 789  
790 790  |(% colspan="2" %)(((
791 -====== __Error Flag__ ======
719 +====== __Query Error Flag (**QEF**)__ ======
792 792  )))
793 793  |(% style="width:30px" %) |(((
794 -Query Error Flag (**QEF**)
795 -
796 -Ex: #5QEF<cr> might return *5QEF64<cr>
797 -
798 -
799 -|(% style="width:25px" %) |***Value returned (QEF)**|**Status**|**Detailed description**
800 -| |ex: *5QEF<cr>|LSSP_ERROR_BITS_PCBOverTemerature|
801 -| |ex: *5QEF<cr>|LSSP_ERROR_BITS_MCUOverTemerature|
802 -| |ex: *5QEF<cr>|LSSP_ERROR_BITS_MotorProbeOverTemerature|
803 -| |ex: *5QEF<cr>|LSSP_ERROR_BITS_MotorDriverOverTemerature|
804 -| |ex: *5QEF<cr>|LSSP_ERROR_BITS_Blocked|
805 -| |ex: *5QEF<cr>|LSSP_ERROR_BITS_ExceedSpeedLimit|
806 -| |ex: *5QEF<cr>|LSSP_ERROR_BITS_ExceedAccelLimit|
807 -| |ex: *5QEF<cr>|LSSP_ERROR_BITS_ExceedDecelLimit|
808 -| |ex: *5QEF<cr>|LSSP_ERROR_BITS_CurrentPositionOutOfRangePlus|
809 -| |ex: *5QEF<cr>|LSSP_ERROR_BITS_CurrentPositionOutOfRangeMinus|
810 -| |ex: *5QEF<cr>|LSSP_ERROR_BITS_EEPROMHeaderDataError|
811 -| |ex: *5QEF<cr>|LSSP_ERROR_BITS_EEPROMCheckSumError|
812 -| |ex: *5QEF<cr>|LSSP_ERROR_BITS_EEPROMMapVersionIsNotSupported|
722 +
813 813  )))
814 814  
815 815  |(% colspan="2" %)(((
816 -====== __IMU Linear__ ======
726 +====== __**Q**uery **I**MU Linear (**QIX QIY QIZ**)__ ======
817 817  )))
818 818  |(% style="width:30px" %) |(((
819 -(% class="wikigeneratedid" %)
820 -Query IMU Linear (**QIX QIY QIZ**)
729 +====== Ex: #6QIX<cr> might return *6QIX30<cr> ======
821 821  
822 -(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
823 -Ex: #6QIX<cr> might return *6QIX30<cr>
824 -
825 825  This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
826 826  )))
827 827  
828 828  |(% colspan="2" %)(((
829 -====== __IMU Angular__ ======
735 +====== __**Q**uery **I**MU Angular (**QIA QIB QIG**)__ ======
830 830  )))
831 831  |(% style="width:30px" %) |(((
832 -(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
833 -Query IMU Angular (**QIA QIB QIG**)
738 +====== Ex: #6QIB<cr> might return *6QIB44<cr> ======
834 834  
835 -(% class="wikigeneratedid" %)
836 -Ex: #6QIB<cr> might return *6QIB44<cr>
837 -
838 838  This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
839 839  )))
840 840  
841 -== RGB LED ==
842 -
843 -|(% colspan="2" %)(((
844 -====== __LED Color__ ======
845 -)))
846 -|(% style="width:30px" %) |(((
847 -(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
848 -The user defined LED color can be changed permanently (CLED) or until reboot (LED).
849 -
850 -(% class="wikigeneratedid" %)
851 -Ex: #5LED5<cr>, will set the user LED color to Cyan until reboot of the actuator.
852 -
853 -(% class="wikigeneratedid" %)
854 -Ex: #5CLED3<cr>, will set the user LED color to Blue and will be that way ever after rebooting the actuator.
855 -
856 -
857 -(% style="width:200px" %)
858 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:35px" %)**Color vs Value**
859 -|(% style="text-align:center; vertical-align:middle; width:35px" %)[[image:[email protected]]]|0 = Off / Black
860 -|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]]]|1 = Red
861 -|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]]]|2 = Green
862 -|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]]]|3 = Blue
863 -|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]]]|4 = Yellow
864 -|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]||alt="SQUARE-Black.png"]]|5 = Cyan
865 -|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]]]|6 = Magenta
866 -|(% style="text-align:center; vertical-align:middle" %)[[image:[email protected]]]|7 = White
867 -)))
868 -
869 -|(% colspan="2" %)(((
870 -====== __LED Blinking__ ======
871 -)))
872 -|(% style="width:30px" %) |(((
873 -(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
874 -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:
875 -
876 -(% style="width:200px" %)
877 -|**Blink While:**|(% style="text-align:center; width:35px" %)**#**
878 -|No blinking|(% style="text-align:center" %)0
879 -|Limp|(% style="text-align:center" %)1
880 -|Holding|(% style="text-align:center" %)2
881 -|Accelerating|(% style="text-align:center" %)4
882 -|Decelerating|(% style="text-align:center" %)8
883 -|Free|(% style="text-align:center" %)16
884 -|Travelling|(% style="text-align:center" %)32
885 -|Always blink|(% style="text-align:center" %)63
886 -
887 -(% class="wikigeneratedid" %)
888 -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.
889 -)))
890 -
891 -|(% colspan="2" %)(((
892 -====== __LED Indicator__ ======
893 -)))
894 -|(% style="width:30px" %) |(((
895 -(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
896 -The LED Indicator will reflect the blinking pattern from the LED at a given time.
897 -
898 -(% class="wikigeneratedid" %)
899 -Ex: #5QLI<cr> might return *5QLI4<cr>, and the actuator would be blinking 3 times as an Exceed speed limits error.
900 -
901 -(% class="wikigeneratedid" %)
902 -[[image:QLI-Info.png]]
903 -)))
QLI-Info.png
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