Last modified by Eric Nantel on 2025/06/06 07:47
From version < 16.1 >
edited by Coleman Benson
on 2018/04/13 16:11
To version < 24.1 >
edited by RB1
on 2018/05/04 09:31
< >
Change comment: There is no comment for this version

Summary

Details

Page properties
Author
... ... @@ -1,1 +1,1 @@
1 -xwiki:XWiki.CBenson
1 +xwiki:XWiki.RB1
Tags
... ... @@ -1,0 +1,1 @@
1 +LSS|communication|protocol|programming|firmware|control
Content
... ... @@ -283,8 +283,15 @@
283 283  
284 284  Ex: #5QSD<cr> might return *5QSD1800<cr>
285 285  
286 -Note that the QSD query will return the current servo speed. Querying the last maximum speed value set using SD or CSD is not possible.
286 +By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever a SD command is processed.
287 +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:
287 287  
289 +|**Command sent**|**Returned value (1/10 °)**
290 +|ex: #5QSR<cr>|Current session value for maximum speed (set by latest SD/SR command)
291 +|ex: #5QSR1<cr>|Current maximum speed configured (set by CSD/CSR)
292 +|ex: #5QSR2<cr>|Current speed.
293 +|ex: #5QSR3<cr>|Target travel speed.
294 +
288 288  Configure Speed in Degrees (**CSD**)
289 289  
290 290  Ex: #5CSD1800<cr>
... ... @@ -361,7 +361,7 @@
361 361  
362 362  __17. Identification Number__
363 363  
364 -A servo's identification number cannot be set "on the fly" and must be configured via the CID command described below. The factory default ID number for all servos is 1. Since smart servos are intended to be daisy chained, in order to respond differently from one another, the user must set different identification numbers. Servos with the same ID and baud rate will all receive and react to the same commands.
371 +A servo's identification number cannot be set "on the fly" and must be configured via the CID command described below. The factory default ID number for all servos is 0. Since smart servos are intended to be daisy chained, in order to respond differently from one another, the user must set different identification numbers. Servos with the same ID and baud rate will all receive and react to the same commands.
365 365  
366 366  Query Identification (**QID**)
367 367  
... ... @@ -377,7 +377,8 @@
377 377  
378 378  __18. Baud Rate__
379 379  
380 -A servo's baud rate cannot be set "on the fly" and must be configured via the CB command described below. The factory default baud rate for all servos is 9600. Since smart servos are intended to be daisy chained, in order to respond to the same serial bus, all servos in that project should ideally be set to the same baud rate. Setting different baud rates will have the servos respond differently and may create issues. Standard / suggested baud rates are: 4800; 9600; 14400; 19200; 38400; 57600; 115200; 128000; 256000, 512000 bits per second. Servos are shipped with a baud rate set to 9600. The baud rates are currently restricted to those above
387 +A servo's baud rate cannot be set "on the fly" and must be configured via the CB command described below. The factory default baud rate for all servos is 9600. Since smart servos are intended to be daisy chained, in order to respond to the same serial bus, all servos in that project should ideally be set to the same baud rate. Setting different baud rates will have the servos respond differently and may create issues. Available baud rates are: 9.6 kbps, 19.2 kbps, 38.4 kbps, 57.6 kbps, 115.2 kbps, 230.4 kbps, 250.0 kbps, 460.8 kbps, 500.0 kbps, 750.0 kbps*, 921.6 kbps*. Servos are shipped with a baud rate set to 9600. The baud rates are currently restricted to those above.
388 +\*: Current tests reveal baud rates above 500 kbps are unstable and can cause timeouts. Please keep this in mind if using those / testing them out.
381 381  
382 382  Query Baud Rate (**QB**)
383 383  
Copyright RobotShop 2018