Summary

• Page properties (1 modified, 0 added, 0 removed)

Details

Page properties

Content

...	...	@@ -182,17 +182,17 @@
182	182
183	183	== Advanced ==
184	184
185		-|= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
186		-| A1|[[**A**ngular **S**tiffness>>||anchor="HA1.AngularStiffness28AS29"]]|AS|QAS|CAS|✓| ✓| ✓|none (integer -4 to +4)|(% style="width:510px" %)Suggested values are between 0 to +4|(% style="text-align:center; width:113px" %)0
187		-| A2|[[**A**ngular **H**olding Stiffness>>||anchor="HA2.AngularHoldingStiffness28AH29"]]|AH|QAH|CAH|✓| | ✓|none (integer -10 to +10)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)1
188		-| A3|[[**A**ngular **A**cceleration>>||anchor="HA3:AngularAcceleration28AA29"]]|AA|QAA|CAA|✓| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared|(% style="text-align:center; width:113px" %)
189		-| A4|[[**A**ngular **D**eceleration>>||anchor="HA4:AngularDeceleration28AD29"]]|AD|QAD|CAD|✓| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared|(% style="text-align:center; width:113px" %)
190		-| A5|[[**E**nable **M**otion Control>>||anchor="HA5:MotionControl28EM29"]]|EM|QEM| | | | ✓|none|(% style="width:510px" %)EM0 to disable motion control, EM1 to enable|(% style="text-align:center; width:113px" %)
	185	+|= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes
	186	+| A1|[[**A**ngular **S**tiffness>>||anchor="HA1.AngularStiffness28AS29"]]|AS|QAS|CAS|✓| ✓| ✓|none (integer -4 to +4)|(% style="width:510px" %)Suggested values are between 0 to +4
	187	+| A2|[[**A**ngular **H**olding Stiffness>>||anchor="HA2.AngularHoldingStiffness28AH29"]]|AH|QAH|CAH|✓| | ✓|none (integer -10 to +10)|(% style="width:510px" %)Effect is different between serial and RC
	188	+| A3|[[**A**ngular **A**cceleration>>||anchor="HA3:AngularAcceleration28AA29"]]|AA|QAA|CAA|✓| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared
	189	+| A4|[[**A**ngular **D**eceleration>>||anchor="HA4:AngularDeceleration28AD29"]]|AD|QAD|CAD|✓| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared
	190	+| A5|[[**E**nable **M**otion Control>>||anchor="HA5:MotionControl28EM29"]]|EM|QEM| | | | ✓|none|(% style="width:510px" %)EM0 to disable motion control, EM1 to enable
191	191	| A6|[[**C**onfigure **L**ED **B**linking>>||anchor="HA6.ConfigureLEDBlinking28CLB29"]]| | | CLB| | ✓| |none (integer from 0 to 63)|(% style="width:510px" %)(((
192	192	0=No blinking, 63=Always blink;
193	193
194	194	Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;
195		-)))|(% style="text-align:center; width:113px" %)
	195	+)))
196	196
197	197	== Details ==
198	198
...	...	@@ -508,7 +508,7 @@
508	508
509	509	====== __23. Query Status (**Q**)__ ======
510	510
511		-The status query described what the servo is currently doing. The query returns an integer which must be looked up in the table below.
	511	+The status query described what the servo is currently doing. The query returns an integer which must be looked up in the table below. Use the CLB advanced command to have the LED blink for certain statuses.
512	512
513	513	Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
514	514
...	...	@@ -516,7 +516,7 @@
516	516	|ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state
517	517	|ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely
518	518	|ex: *5Q2<cr>|2: Free moving|Motor driving circuit is not powered and horn can be moved freely
519		-|ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
	519	+|ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
520	520	|ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
521	521	|ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
522	522	|ex: *5Q6<cr>|6: Holding|Keeping current position
...	...	@@ -523,14 +523,19 @@
523	523	|ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
524	524	|ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
525	525	|ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
526		-|ex: *5Q10<cr>|10: Safe Mode|A safety limit has been exceeded (temperature, peak current or extended high current draw).
	526	+|ex: *5Q10<cr>|10: Safe Mode|(((
	527	+A safety limit has been exceeded (temperature, peak current or extended high current draw).
527	527
	529	+Send a Q1 command to know which limit has been reached (described below).
	530	+)))
	531	+
528	528	(% class="wikigeneratedid" %)
529		-If a safety limit has been reached, 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.
	533	+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.
530	530
531	531	|***Value returned (Q1)**|**Status**|**Detailed description**
	536	+|ex: *5Q0<cr>|No limits have been passed|Nothing is wrong
532	532	|ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
533		-|ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries
	538	+|ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
534	534	|ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
535	535
536	536	====== __24. Query Voltage (**QV**)__ ======
...	...	@@ -598,6 +598,8 @@
598	598
599	599	= Advanced =
600	600
	606	+The motion controller used in serial mode is not the same as the motion controller use in RC mode. RC mode is intended to add functionality to what would be considered "normal" RC behavior based on PWM input.
	607	+
601	601	====== __A1. Angular Stiffness (**AS**)__ ======
602	602
603	603	The servo's rigidity / angular stiffness can be thought of as (though not identical to) a damped spring in which the value affects the stiffness and embodies how much, and how quickly the servo tried keep the requested position against changes. There are no units.
...	...	@@ -628,7 +628,7 @@
628	628
629	629	====== __A2. Angular Holding Stiffness (**AH**)__ ======
630	630
631		-The angular holding stiffness determines the servo's ability to hold a desired position under load. The default value for stiffness depending on the firmware may be 0 or 1. Greater values produce increasingly erratic behavior and the effect becomes extreme below -4 and above +4. Maximum values are -10 to +10.
	638	+The angular holding stiffness determines the servo's ability to hold a desired position under load. The default value for stiffness depending on the firmware may be 0 or 1. Greater values produce increasingly erratic behavior and the effect becomes extreme below -4 and above +4. Maximum values are -10 to +10. Note that when  considering altering a stiffness value, the end effect depends on the mode being tested.
632	632
633	633	Ex: #5AH3<cr>
634	634
...	...	@@ -644,16 +644,36 @@
644	644
645	645	Ex: #5CAH2<cr>
646	646
647		-This writes the angular holding stiffness of servo #5 to 2 to EEPROM
	654	+This writes the angular holding stiffness of servo #5 to 2 to EEPROM. Note that when  considering altering a stiffness value, the end effect depends on the mode being tested.
648	648
649	649	====== __A3: Angular Acceleration (**AA**)__ ======
650	650
651		-{More details to come}
	658	+The default value for angular acceleration is 100, which is the same as the maximum deceleration. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
652	652
	660	+Ex: #5AA30<cr>
	661	+
	662	+Query Angular Acceleration (**QAD**)
	663	+
	664	+Ex: #5QA<cr> might return *5QA30<cr>
	665	+
	666	+Configure Angular Acceleration (**CAD**)
	667	+
	668	+Ex: #5CA30<cr>
	669	+
653	653	====== __A4: Angular Deceleration (**AD**)__ ======
654	654
655		-{More details to come}
	672	+The default value for angular deceleration is 100, which is the same as the maximum acceleration. Values between 1 and 15 have the greatest impact.
656	656
	674	+Ex: #5AD8<cr>
	675	+
	676	+Query Angular Deceleration (**QAD**)
	677	+
	678	+Ex: #5QD<cr> might return *5QD8<cr>
	679	+
	680	+Configure Angular Deceleration (**CAD**)
	681	+
	682	+Ex: #5CD8<cr>
	683	+
657	657	====== __A5: Motion Control (**EM**)__ ======
658	658
659	659	{More details to come}