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 < 81.1 >
edited by Eric Nantel
on 2024/07/22 19:37
<
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... ... @@ -140,14 +140,8 @@
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**
141 141  | |[[**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°|
142 142  | |[[**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" %)
143 +| |[[**A**ngular **A**cceleration>>||anchor="HAngularAcceleration"]]|(% style="text-align:center" %)AA|(% style="text-align:center" %)QAA|(% style="text-align:center" %)CAA|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s^2|
144 +| |[[**A**ngular **D**eceleration>>||anchor="HAngularDeceleration"]]|(% style="text-align:center" %)AD|(% style="text-align:center" %)QAD|(% style="text-align:center" %)CAD|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s^2|
151 151  | |[[**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)
152 152  | |[[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
153 153  | |[[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
... ... @@ -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**)
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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"]])
375 +| |ex: *5Q2<cr>|2: Free moving|Servo is rotating in duty motion / free move using the RDM command
376 +| |ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
377 +| |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
378 +| |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
379 +| |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will normally be holding)
380 +| |ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
381 +| |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
382 +| |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
383 +| |ex: *5Q10<cr>|10: Safe Mode|(((
384 +A safety limit has been exceeded (temperature, peak current or extended high current draw).
392 392  
393 -*Value returned (Q)StatusDetailed description
386 +Send a Q1 command to know which limit has been reached (described below).
387 +)))
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  
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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" %)(((
... ... @@ -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" %)(((
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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" %)(((
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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" %)(((
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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" %)(((
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845 845  )))
846 846  |(% style="width:30px" %) |(((
847 847  (% 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
798 +
867 867  )))
868 868  
869 869  |(% colspan="2" %)(((
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871 871  )))
872 872  |(% style="width:30px" %) |(((
873 873  (% 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.
806 +
889 889  )))
890 890  
891 891  |(% colspan="2" %)(((
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893 893  )))
894 894  |(% style="width:30px" %) |(((
895 895  (% 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]]
814 +
903 903  )))
816 +
817 +
QLI-Info.png
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