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 < 79.2 >
edited by Eric Nantel
on 2024/07/22 14:59
<
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 -| |(% 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  
... ... @@ -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**)
... ... @@ -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"]])
374 +| |ex: *5Q2<cr>|2: Free moving|Servo is rotating in duty motion / free move using the RDM command
375 +| |ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
376 +| |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
377 +| |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
378 +| |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will normally be holding)
379 +| |ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
380 +| |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
381 +| |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
382 +| |ex: *5Q10<cr>|10: Safe Mode|(((
383 +A safety limit has been exceeded (temperature, peak current or extended high current draw).
392 392  
393 -*Value returned (Q)StatusDetailed description
385 +Send a Q1 command to know which limit has been reached (described below).
386 +)))
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  
... ... @@ -406,10 +406,6 @@
406 406  )))
407 407  |(% style="width:30px" %) |(((
408 408  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.
413 413  )))
414 414  
415 415  |(% colspan="2" %)(((
... ... @@ -417,8 +417,6 @@
417 417  )))
418 418  |(% style="width:30px" %) |(((
419 419  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  )))
423 423  
424 424  |(% colspan="2" %)(((
... ... @@ -495,9 +495,6 @@
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" %)(((
... ... @@ -570,6 +570,25 @@
570 570  )))
571 571  
572 572  |(% colspan="2" %)(((
557 +====== __First Position__ ======
558 +)))
559 +|(% style="width:30px" %) |(((
560 +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.
561 +
562 +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.
563 +
564 +Query First Position in Degrees (**QFD**)
565 +
566 +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.
567 +
568 +Configure First Position in Degrees (**CFD**)
569 +
570 +Ex: #5CFD900<cr>
571 +
572 +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>
573 +)))
574 +
575 +|(% colspan="2" %)(((
573 573  ====== __Maximum Speed in Degrees__ ======
574 574  )))
575 575  |(% style="width:30px" %) |(((
... ... @@ -745,10 +745,6 @@
745 745  )))
746 746  |(% style="width:30px" %) |(((
747 747  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.
752 752  )))
753 753  
754 754  |(% colspan="2" %)(((
... ... @@ -756,10 +756,6 @@
756 756  )))
757 757  |(% style="width:30px" %) |(((
758 758  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.
763 763  )))
764 764  
765 765  |(% colspan="2" %)(((
... ... @@ -768,11 +768,6 @@
768 768  |(% style="width:30px" %) |(((
769 769  (% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
770 770  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℃).
776 776  )))
777 777  
778 778  |(% colspan="2" %)(((
... ... @@ -781,10 +781,6 @@
781 781  |(% style="width:30px" %) |(((
782 782  (% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
783 783  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℃).
788 788  )))
789 789  
790 790  |(% colspan="2" %)(((
... ... @@ -792,24 +792,6 @@
792 792  )))
793 793  |(% style="width:30px" %) |(((
794 794  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|
813 813  )))
814 814  
815 815  |(% colspan="2" %)(((
... ... @@ -819,8 +819,7 @@
819 819  (% class="wikigeneratedid" %)
820 820  Query IMU Linear (**QIX QIY QIZ**)
821 821  
822 -(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
823 -Ex: #6QIX<cr> might return *6QIX30<cr>
790 +====== Ex: #6QIX<cr> might return *6QIX30<cr> ======
824 824  
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  )))
... ... @@ -831,73 +831,9 @@
831 831  |(% style="width:30px" %) |(((
832 832  (% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
833 833  Query IMU Angular (**QIA QIB QIG**)
834 -
835 -(% class="wikigeneratedid" %)
836 836  Ex: #6QIB<cr> might return *6QIB44<cr>
837 837  
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 -)))
806 +
QLI-Info.png
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