Last modified by Eric Nantel on 2025/06/06 07:47
From version < 183.2 >
edited by Brahim Daouas
on 2020/05/01 11:35
To version < 187.1 >
edited by Eric Nantel
on 2020/05/01 12:04
< >
Change comment: There is no comment for this version

Summary

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1 -xwiki:XWiki.BDaouas
1 +xwiki:XWiki.ENantel
Content
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153 153  
154 154  **Latest firmware version currently : 368.29.14**
155 155  
156 -|(% colspan="10" style="color:orange; font-size:18px" %)**Communication Setup**
156 +|(% colspan="10" style="color:orange; font-size:18px" %)[[**Communication Setup**>>||anchor="COMMUNICATION_SETUP"]]
157 157  |(% 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:75px" %)**RC**|(% style="text-align:center; width:75px" %)**Serial**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
158 -| |Soft **Reset**|(% style="text-align:center" %)RESET|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Soft reset. See command for details.
159 -| |**Default** Configuration|(% 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. See command for details
160 -| |Firmware **Update** Mode|(% style="text-align:center" %)UPDATE|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Update firmware. See command for details.
161 -| |**Confirm** Changes|(% style="text-align:center" %)CONFIRM|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |
162 -| |**C**hange to **RC**|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)CRC|(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Change to RC mode 1 (position) or 2 (wheel).
163 -| |**ID** #|(% style="text-align:center" %) |(% style="text-align:center" %)QID|(% style="text-align:center" %)CID|(% style="text-align:center" %) |(% style="text-align:center" %)✓|0| |Reset required after change. ID 254 is a "broadcast" which all servos respond to.
164 -| |**B**audrate|(% style="text-align:center" %) |(% style="text-align:center" %)QB|(% style="text-align:center" %)CB|(% style="text-align:center" %) |(% style="text-align:center" %)✓|115200| |Reset required after change.
158 +| |[[**Reset**>>||anchor="RESET"]]|(% style="text-align:center" %)RESET|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Soft reset. See command for details.
159 +| |[[**Default** Configuration>>||anchor="DEFAULT"]]|(% 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. See command for details
160 +| |[[Firmware **Update** Mode>>||anchor="UPDATE_CONFIRM"]]|(% style="text-align:center" %)UPDATE|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Update firmware. See command for details.
161 +| |[[**Confirm** Changes>>||anchor="CONFIRM"]]|(% style="text-align:center" %)CONFIRM|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |
162 +| |[[**C**hange to **RC**>>||anchor="CHANGE_RC"]]|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)CRC|(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Change to RC mode 1 (position) or 2 (wheel).
163 +| |[[**ID** #>>||anchor="ID"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QID|(% style="text-align:center" %)CID|(% style="text-align:center" %) |(% style="text-align:center" %)✓|0| |Reset required after change. ID 254 is a "broadcast" which all servos respond to.
164 +| |[[**B**audrate>>||anchor="BAUDRATE"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QB|(% style="text-align:center" %)CB|(% style="text-align:center" %) |(% style="text-align:center" %)✓|115200| |Reset required after change.
165 165  
166 -|(% colspan="10" style="color:orange; font-size:18px" %)**Motion**
166 +|(% colspan="10" style="color:orange; font-size:18px" %)[[**Motion**>>||anchor="MOTION"]]
167 167  |(% 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:75px" %)**RC**|(% style="text-align:center; width:75px" %)**Serial**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
168 -| |Position in **D**egrees|(% style="text-align:center" %)D|(% style="text-align:center" %)QD/QDT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |1/10°|
169 -| |**M**ove in **D**egrees (relative)|(% style="text-align:center" %)MD|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |1/10°|
170 -| |**W**heel mode in **D**egrees|(% style="text-align:center" %)WD|(% style="text-align:center" %)QWD/QVT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |°/s|A.K.A. "Speed mode" or "Continuous rotation"
171 -| |**W**heel mode in **R**PM|(% style="text-align:center" %)WR|(% style="text-align:center" %)QWR|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |RPM|A.K.A. "Speed mode" or "Continuous rotation"
172 -| |Position in **P**WM|(% style="text-align:center" %)P|(% style="text-align:center" %)QP|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |us|Inherited from SSC-32 serial protocol
173 -| |**M**ove in PWM (relative)|(% style="text-align:center" %)M|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |us|
174 -| |**R**aw **D**uty-cycle **M**ove|(% style="text-align:center" %)RDM|(% style="text-align:center" %)QMD|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |-1023 to 1023 integer|Positive values : CW / Negative values : CCW
175 -| |**Q**uery Status|(% style="text-align:center" %) |(% style="text-align:center" %)Q|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |1 to 8 integer|See command description for details
176 -| |**L**imp|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |
177 -| |**H**alt & Hold|(% style="text-align:center" %)H|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |
168 +| |[[Position in **D**egrees>>||anchor="POSITION_D"]]|(% style="text-align:center" %)D|(% style="text-align:center" %)QD/QDT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |1/10°|
169 +| |[[**M**ove in **D**egrees (relative)>>||anchor="MOVE_D"]]|(% style="text-align:center" %)MD|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |1/10°|
170 +| |[[**W**heel mode in **D**egrees>>||anchor="WHEEL_D"]]|(% style="text-align:center" %)WD|(% style="text-align:center" %)QWD/QVT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |°/s|A.K.A. "Speed mode" or "Continuous rotation"
171 +| |[[**W**heel mode in **R**PM>>||anchor="WHEEL_RPM"]]|(% style="text-align:center" %)WR|(% style="text-align:center" %)QWR|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |RPM|A.K.A. "Speed mode" or "Continuous rotation"
172 +| |[[Position in **P**WM>>||anchor="POSITION_PWM"]]|(% style="text-align:center" %)P|(% style="text-align:center" %)QP|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |us|Inherited from SSC-32 serial protocol
173 +| |[[**M**ove in PWM (relative)>>||anchor="MOVE_PWM"]]|(% style="text-align:center" %)M|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |us|
174 +| |[[**R**aw **D**uty-cycle **M**ove>>||anchor="MOVE_RAW"]]|(% style="text-align:center" %)RDM|(% style="text-align:center" %)QMD|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |-1023 to 1023 integer|Positive values : CW / Negative values : CCW
175 +| |[[**Q**uery Status>>||anchor="QUERY_STATUS"]]|(% style="text-align:center" %) |(% style="text-align:center" %)Q|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |1 to 8 integer|See command description for details
176 +| |[[**L**imp>>||anchor="LIMP"]]|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |
177 +| |[[**H**alt & Hold>>||anchor="HALT_HOLD"]]|(% style="text-align:center" %)H|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |
178 178  
179 -|(% colspan="10" style="color:orange; font-size:18px" %)**Motion Setup**
179 +|(% colspan="10" style="color:orange; font-size:18px" %)[[**Motion Setup**>>||anchor="MOTION_SETUP"]]
180 180  |(% 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:75px" %)**RC**|(% style="text-align:center; width:75px" %)**Serial**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
181 -| |**E**nable **M**otion Profile|(% style="text-align:center" %)EM|(% style="text-align:center" %)QEM|(% style="text-align:center" %)CEM|(% style="text-align:center" %) |(% style="text-align:center" %)✓|1| |EM1: trapezoidal motion profile / EM0: no motion profile
182 -| |**F**ilter **P**osition **C**ount|(% style="text-align:center" %)FPC|(% style="text-align:center" %)QFPC|(% style="text-align:center" %)CFPC|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|5| |Affects motion only when motion profile is disabled (EM0)
183 -| |**O**rigin Offset|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|0|1/10°|
184 -| |**A**ngular **R**ange|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|1800|1/10°|
185 -| |**A**ngular **S**tiffness|(% style="text-align:center" %)AS|(% style="text-align:center" %)QAS|(% style="text-align:center" %)CAS|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|0|-4 to +4 integer|Suggested values are between 0 to +4
186 -| |**A**ngular **H**olding Stiffness |(% style="text-align:center" %)AH|(% style="text-align:center" %)QAH|(% style="text-align:center" %)CAH|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|4|-10 to +10 integer|
187 -| |**A**ngular **A**cceleration|(% style="text-align:center" %)AA|(% style="text-align:center" %)QAA|(% style="text-align:center" %)CAA|(% style="text-align:center" %) |(% style="text-align:center" %)✓|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
188 -| |**A**ngular **D**eceleration|(% style="text-align:center" %)AD|(% style="text-align:center" %)QAD|(% style="text-align:center" %)CAD|(% style="text-align:center" %) |(% style="text-align:center" %)✓|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
189 -| |**G**yre Direction|(% style="text-align:center" %)G|(% style="text-align:center" %)QG|(% style="text-align:center" %)CG|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|1| |Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)
190 -| |**F**irst Position (**D**eg)|(% style="text-align:center" %) |(% style="text-align:center" %)QFD|(% style="text-align:center" %)CFD|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|No value|1/10°|Reset required after change.
191 -| |**M**aximum **M**otor **D**uty|(% style="text-align:center" %)MMD|(% style="text-align:center" %)QMMD|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓|1023|255 to 1023 integer|
192 -| |Maximum **S**peed in **D**egrees|(% style="text-align:center" %)SD|(% style="text-align:center" %)QSD|(% style="text-align:center" %)CSD|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|Max|°/s|SD overwrites SR / CSD overwrites CSR and vice-versa
193 -| |Maximum **S**peed in **R**PM|(% style="text-align:center" %)SR|(% style="text-align:center" %)QSR|(% style="text-align:center" %)CSR|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|Max|RPM|SD overwrites SR / CSD overwrites CSR and vice-versa
181 +| |[[**E**nable **M**otion Profile>>||anchor="MOTION_PROFILE"]]|(% style="text-align:center" %)EM|(% style="text-align:center" %)QEM|(% style="text-align:center" %)CEM|(% style="text-align:center" %) |(% style="text-align:center" %)✓|1| |EM1: trapezoidal motion profile / EM0: no motion profile
182 +| |[[**F**ilter **P**osition **C**ount>>||anchor="FILTER_POSITION_COUNT"]]|(% style="text-align:center" %)FPC|(% style="text-align:center" %)QFPC|(% style="text-align:center" %)CFPC|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|5| |Affects motion only when motion profile is disabled (EM0)
183 +| |[[**O**rigin Offset>>||anchor="ORIGIN_OFFSET"]]|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|0|1/10°|
184 +| |[[**A**ngular **R**ange>>||anchor="ANGULAR_RANGE"]]|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|1800|1/10°|
185 +| |[[**A**ngular **S**tiffness>>||anchor="ANGULAR_STIFFNESS"]]|(% style="text-align:center" %)AS|(% style="text-align:center" %)QAS|(% style="text-align:center" %)CAS|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|0|-4 to +4 integer|Suggested values are between 0 to +4
186 +| |[[**A**ngular **H**olding Stiffness>>||anchor="ANGULAR_HOLDING_STIFFNESS"]]|(% style="text-align:center" %)AH|(% style="text-align:center" %)QAH|(% style="text-align:center" %)CAH|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|4|-10 to +10 integer|
187 +| |[[**A**ngular **A**cceleration>>||anchor="ANGULAR_ACCELERATION"]]|(% style="text-align:center" %)AA|(% style="text-align:center" %)QAA|(% style="text-align:center" %)CAA|(% style="text-align:center" %) |(% style="text-align:center" %)✓|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
188 +| |[[**A**ngular **D**eceleration>>||anchor="ANGULAR_DECELERATION"]]|(% style="text-align:center" %)AD|(% style="text-align:center" %)QAD|(% style="text-align:center" %)CAD|(% style="text-align:center" %) |(% style="text-align:center" %)✓|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
189 +| |[[**G**yre Direction>>||anchor="GYRE_DIRECTION"]]|(% style="text-align:center" %)G|(% style="text-align:center" %)QG|(% style="text-align:center" %)CG|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|1| |Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)
190 +| |[[**F**irst Position (**D**eg)>>||anchor="FIRST_POSITION"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QFD|(% style="text-align:center" %)CFD|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|No value|1/10°|Reset required after change.
191 +| |[[**M**aximum **M**otor **D**uty>>||anchor="MAXIMUM_RAW"]]|(% style="text-align:center" %)MMD|(% style="text-align:center" %)QMMD|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓|1023|255 to 1023 integer|
192 +| |[[Maximum **S**peed in **D**egrees>>||anchor="MAXIMUM_SPEED_D"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %)QSD|(% style="text-align:center" %)CSD|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|Max|°/s|SD overwrites SR / CSD overwrites CSR and vice-versa
193 +| |[[Maximum **S**peed in **R**PM>>||anchor="MAXIMUM_SPEED_RPM"]]|(% style="text-align:center" %)SR|(% style="text-align:center" %)QSR|(% style="text-align:center" %)CSR|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|Max|RPM|SD overwrites SR / CSD overwrites CSR and vice-versa
194 194  
195 -|(% colspan="10" style="color:orange; font-size:18px" %)**Modifiers**
195 +|(% colspan="10" style="color:orange; font-size:18px" %)[[**Modifiers**>>||anchor="MODIFIERS"]]
196 196  |(% 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="text-align:center; width:75px" %)**RC**|(% style="text-align:center; width:75px" %)**Serial**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
197 -| |**S**peed|(% style="text-align:center" %)S|(% style="text-align:center" %)QS|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |uS/s |For P action command
198 -| |**S**peed in **D**egrees|(% style="text-align:center" %)SD|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |°/s|For D and MD action commands
199 -| |**T**imed move|(% style="text-align:center" %)T|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |ms|Modifier only for P, D and MD. Time can change based on load
200 -| |**C**urrent **H**old|(% style="text-align:center" %)CH|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mA|Modifier for D, MD, WD and WR
201 -| |**C**urrent **L**imp|(% style="text-align:center" %)CL|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mA|Modifier for D, MD, WD and WR
197 +| |[[**S**peed>>||anchor="SPEEDS"]]|(% style="text-align:center" %)S|(% style="text-align:center" %)QS|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |uS/s |For P action command
198 +| |[[**S**peed in **D**egrees>>||anchor="SPEEDS"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |°/s|For D and MD action commands
199 +| |[[**T**imed move>>||anchor="TIMED_MOVE"]]|(% style="text-align:center" %)T|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |ms|Modifier only for P, D and MD. Time can change based on load
200 +| |[[**C**urrent **H**old>>||anchor="CURRENT_HOLD"]]|(% style="text-align:center" %)CH|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mA|Modifier for D, MD, WD and WR
201 +| |[[**C**urrent **L**imp>>||anchor="CURRENT_LIMP"]]|(% style="text-align:center" %)CL|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mA|Modifier for D, MD, WD and WR
202 202  
203 -|(% colspan="10" style="color:orange; font-size:18px" %)**Telemetry**
203 +|(% colspan="10" style="color:orange; font-size:18px" %)[[**Telemetry**>>||anchor="TELEMETRY"]]
204 204  |(% 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:75px" %)**RC**|(% style="text-align:center; width:75px" %)**Serial**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
205 -| |**Q**uery **V**oltage|(% style="text-align:center" %) |(% style="text-align:center" %)QV|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mV|
206 -| |**Q**uery **T**emperature|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |1/10°C|
207 -| |**Q**uery **C**urrent|(% style="text-align:center" %) |(% style="text-align:center" %)QC|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mA|
208 -| |**Q**uery **M**odel **S**tring|(% style="text-align:center" %) |(% style="text-align:center" %)QMS|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1)
209 -| |**Q**uery **F**irmware Version|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |
210 -| |**Q**uery Serial **N**umber|(% style="text-align:center" %) |(% style="text-align:center" %)QN|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Returns the unique serial number for the servo
205 +| |[[**Q**uery **V**oltage>>||anchor="QUERY_VOLTAGE"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QV|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mV|
206 +| |[[**Q**uery **T**emperature>>||anchor="QUERY_TEMP"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |1/10°C|
207 +| |[[**Q**uery **C**urrent>>||anchor="QUERY_CURRENT"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QC|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mA|
208 +| |[[**Q**uery **M**odel **S**tring>>||anchor="QUERY_MODEL"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMS|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1)
209 +| |[[**Q**uery **F**irmware Version>>||anchor="QUERY_FIRMWARE"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |
210 +| |[[**Q**uery Serial **N**umber>>||anchor="QUERY_SERIAL"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QN|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Returns the unique serial number for the servo
211 211  
212 -|(% colspan="10" style="color:orange; font-size:18px" %)**RGB LED**
212 +|(% colspan="10" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="RGB_LED"]]
213 213  |(% 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:75px" %)**RC**|(% style="text-align:center; width:75px" %)**Serial**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
214 -| |**LED** Color|(% style="text-align:center" %)LED|(% style="text-align:center" %)QLED|(% style="text-align:center" %)CLED|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓| |0 to 7 integer|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White
215 -| |**C**onfigure **L**ED **B**linking|(% style="text-align:center" %) |(% style="text-align:center" %)QLB|(% style="text-align:center" %)CLB|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓| |0 to 63 integer|Reset required after change. See command for details.
214 +| |[[**LED** Color>>||anchor="LED_COLOR"]]|(% style="text-align:center" %)LED|(% style="text-align:center" %)QLED|(% style="text-align:center" %)CLED|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓| |0 to 7 integer|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White
215 +| |[[**C**onfigure **L**ED **B**linking>>||anchor="LED_BLINK]]|(% style="text-align:center" %) |(% style="text-align:center" %)QLB|(% style="text-align:center" %)CLB|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓| |0 to 63 integer|Reset required after change. See command for details.
216 216  
217 217  = (% style="color:inherit; font-family:inherit" %)Details(%%) =
218 218  
219 +{{id name="COMMUNICATION_SETUP" /}}
219 219  == (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) ==
220 220  
222 +{{id name="RESET" /}}
221 221  ====== __Reset__ ======
222 222  
223 223  {{html wiki="true" clean="false"}}
224 224  <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
225 -Ex: #5RESET<div class="wikimodel-emptyline"></div>
227 +Ex: #5RESET<cr><div class="wikimodel-emptyline"></div>
226 226  This command does a "soft reset" and reverts all commands to those stored in EEPROM (i.e. configuration commands).
227 227  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>>||anchor="HSession"]], note #2 for more details.<div class="wikimodel-emptyline"></div>
228 228  </div></div>
229 229  {{/html}}
230 230  
233 +{{id name="DEFAULT" /}}
231 231  ====== __Default & confirm__ ======
232 232  
233 233  {{html wiki="true" clean="false"}}
234 234  <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
235 -Ex: #5DEFAULT&lt;cr&gt;<div class="wikimodel-emptyline"></div>
238 +Ex: #5DEFAULT<cr><div class="wikimodel-emptyline"></div>
236 236  
237 237  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.<div class="wikimodel-emptyline"></div>
238 238  
239 -EX: #5DEFAULT&lt;cr&gt; followed by #5CONFIRM&lt;cr&gt;<div class="wikimodel-emptyline"></div>
242 +EX: #5DEFAULT<cr> followed by #5CONFIRM<cr><div class="wikimodel-emptyline"></div>
240 240  
241 241  Since it it not common to have to restore all configurations, a confirmation command is needed after a firmware command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will exit the command.<div class="wikimodel-emptyline"></div>
242 242  
... ... @@ -244,15 +244,16 @@
244 244  </div></div>
245 245  {{/html}}
246 246  
250 +{{id name="UPDATE_CONFIRM" /}}
247 247  ====== __Update & confirm__ ======
248 248  
249 249  {{html wiki="true" clean="false"}}
250 250  <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
251 -Ex: #5UPDATE&lt;cr&gt;<div class="wikimodel-emptyline"></div>
255 +Ex: #5UPDATE<cr><div class="wikimodel-emptyline"></div>
252 252  
253 253  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.<div class="wikimodel-emptyline"></div>
254 254  
255 -EX: #5UPDATE&lt;cr&gt; followed by #5CONFIRM&lt;cr&gt;<div class="wikimodel-emptyline"></div>
259 +EX: #5UPDATE<cr> followed by #5CONFIRM<cr><div class="wikimodel-emptyline"></div>
256 256  
257 257  Since it it not common to have to update firmware, a confirmation command is needed after an UPDATE command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will leave the firmware action.<div class="wikimodel-emptyline"></div>
258 258  
... ... @@ -260,6 +260,20 @@
260 260  </div></div>
261 261  {{/html}}
262 262  
267 +{{id name="CONFIRM" /}}
268 +====== __Confirm__ ======
269 +
270 +{{html wiki="true" clean="false"}}
271 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
272 +Ex: #5CONFIRM&lt;cr&gt;<div class="wikimodel-emptyline"></div>
273 +
274 +This command is used to confirm changes after a Default or Update command.<div class="wikimodel-emptyline"></div>
275 +
276 +**Note:** After the CONFIRM command is sent, the servo will automatically perform a RESET.<div class="wikimodel-emptyline"></div>
277 +</div></div>
278 +{{/html}}
279 +
280 +{{id name="CHANGE_RC" /}}
263 263  ====== __Configure RC Mode (**CRC**)__ ======
264 264  
265 265  {{html wiki="true" clean="false"}}
... ... @@ -267,18 +267,19 @@
267 267  This command puts the servo into RC mode (position or continuous), where it will only respond to RC PWM signal on the servo's Rx pin. In this mode, the servo will no longer accept serial commands. The servo can be placed back into smart mode by using the button menu.<div class="wikimodel-emptyline"></div>
268 268  
269 269  |**Command sent**|**Note**
270 -|ex: #5CRC1&lt;cr&gt;|Change to RC position mode.
271 -|ex: #5CRC2&lt;cr&gt;|Change to RC continuous rotation (wheel) mode.
272 -|ex: #5CRC*&lt;cr&gt;|Where * is any value other than 1 or 2 (or no value): stay in smart mode.<div class="wikimodel-emptyline"></div>
288 +|ex: #5CRC1<cr>|Change to RC position mode.
289 +|ex: #5CRC2<cr>|Change to RC continuous rotation (wheel) mode.
290 +|ex: #5CRC*<cr>|Where * is any value other than 1 or 2 (or no value): stay in smart mode.<div class="wikimodel-emptyline"></div>
273 273  
274 -EX: #5CRC2&lt;cr&gt;<div class="wikimodel-emptyline"></div>
292 +EX: #5CRC2<cr><div class="wikimodel-emptyline"></div>
275 275  
276 -This command would place the servo in RC wheel mode after a RESET or power cycle. Note that after a RESET or power cycle, the servo will be in RC mode and will not reply to serial commands. Using the command #5CRC&lt;cr&gt; or #5CRC3&lt;cr&gt; which requests that the servo remain in serial mode still requires a RESET command.<div class="wikimodel-emptyline"></div>
294 +This command would place the servo in RC wheel mode after a RESET or power cycle. Note that after a RESET or power cycle, the servo will be in RC mode and will not reply to serial commands. Using the command #5CRC<cr> or #5CRC3<cr> which requests that the servo remain in serial mode still requires a RESET command.<div class="wikimodel-emptyline"></div>
277 277  
278 278  **Important note: **To revert from RC mode back to serial mode, the [[LSS - Button Menu>>doc:lynxmotion-smart-servo.lss-button-menu.WebHome]] is required. Should the button be inaccessible (or broken) when the servo is in RC mode and the user needs to change to serial mode, a 5V constant HIGH needs to be sent to the servo's Rx pin (RC PWM pin), **ensuring a common GND** and wait for 30 seconds. Normal RC PWM pulses should not exceed 2500 milliseconds. After 30 seconds, the servo will interpret this as a desired mode change and change to serial mode. This has been implemented as a fail safe.<div class="wikimodel-emptyline"></div>
279 279  </div></div>
280 280  {{/html}}
281 281  
300 +{{id name="ID" /}}
282 282  ====== __Identification Number (**ID**)__ ======
283 283  
284 284  {{html wiki="true" clean="false"}}
... ... @@ -287,18 +287,19 @@
287 287  
288 288  Query Identification (**QID**)<div class="wikimodel-emptyline"></div>
289 289  
290 -EX: #254QID&lt;cr&gt; might return *QID5&lt;cr&gt;<div class="wikimodel-emptyline"></div>
309 +EX: #254QID<cr> might return *QID5<cr><div class="wikimodel-emptyline"></div>
291 291  
292 292  When using the broadcast query ID command, it is best to only have one servo connected and thus receive only one reply. This is useful when you are not sure of the servo's ID, but don't want to change it. Using the broadcast command (ID 254) with only one servo will have that servo reply with its ID number. Alternatively, pushing the button upon startup and temporarily setting the servo ID to 255 will still result in the servo responding with its "real" ID.<div class="wikimodel-emptyline"></div>
293 293  
294 294  Configure ID (**CID**)<div class="wikimodel-emptyline"></div>
295 295  
296 -Ex: #4CID5&lt;cr&gt;<div class="wikimodel-emptyline"></div>
315 +Ex: #4CID5<cr><div class="wikimodel-emptyline"></div>
297 297  
298 298  Setting a servo's ID in EEPROM is done via the CID command. All servos connected to the same serial bus that have will be assigned that ID. In most situations each servo must be set a unique ID, which means each servo must be connected individually to the serial bus and receive a unique CID number. It is best to do this before the servos are added to an assembly. Numbered stickers are provided to distinguish each servo after their ID is set, though you are free to use whatever alternative method you like. The servo must be RESET or power cycled in order for the new ID to take effect.<div class="wikimodel-emptyline"></div>
299 299  </div></div>
300 300  {{/html}}
301 301  
321 +{{id name="BAUDRATE" /}}
302 302  ====== __Baud Rate__ ======
303 303  
304 304  {{html wiki="true" clean="false"}}
... ... @@ -307,7 +307,7 @@
307 307  
308 308  Query Baud Rate (**QB**)<div class="wikimodel-emptyline"></div>
309 309  
310 -Ex: #5QB&lt;cr&gt; might return *5QB115200&lt;cr&gt;<div class="wikimodel-emptyline"></div>
330 +Ex: #5QB<cr> might return *5QB115200<cr><div class="wikimodel-emptyline"></div>
311 311  
312 312  Since the command to query the baud rate must be done at the servo's existing baud rate, it can simply be used to confirm the CB configuration command was correctly received before the servo is power cycled and the new baud rate takes effect.<div class="wikimodel-emptyline"></div>
313 313  
... ... @@ -315,14 +315,16 @@
315 315  
316 316  **Important Note:** the servo's current session retains the given baud rate and the new baud rate will only take effect when the servo is power cycled / RESET.<div class="wikimodel-emptyline"></div>
317 317  
318 -Ex: #5CB9600&lt;cr&gt;<div class="wikimodel-emptyline"></div>
338 +Ex: #5CB9600<cr><div class="wikimodel-emptyline"></div>
319 319  
320 320  Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.<div class="wikimodel-emptyline"></div>
321 321  </div></div>
322 322  {{/html}}
323 323  
344 +{{id name="MOTION" /}}
324 324  == Motion ==
325 325  
347 +{{id name="POSITION_D" /}}
326 326  ====== __Position in Degrees (**D**)__ ======
327 327  
328 328  {{html wiki="true" clean="false"}}
... ... @@ -348,6 +348,7 @@
348 348  <div class="wikimodel-emptyline"></div></div></div>
349 349  {{/html}}
350 350  
373 +{{id name="MOVE_D" /}}
351 351  ====== __(Relative) Move in Degrees (**MD**)__ ======
352 352  
353 353  {{html wiki="true" clean="false"}}
... ... @@ -358,6 +358,7 @@
358 358  <div class="wikimodel-emptyline"></div></div></div>
359 359  {{/html}}
360 360  
384 +{{id name="WHEEL_D" /}}
361 361  ====== __Wheel Mode in Degrees (**WD**)__ ======
362 362  
363 363  {{html wiki="true" clean="false"}}
... ... @@ -374,6 +374,7 @@
374 374  <div class="wikimodel-emptyline"></div></div></div>
375 375  {{/html}}
376 376  
401 +{{id name="WHEEL_RPM" /}}
377 377  ====== __Wheel Mode in RPM (**WR**)__ ======
378 378  
379 379  {{html wiki="true" clean="false"}}
... ... @@ -390,6 +390,7 @@
390 390  <div class="wikimodel-emptyline"></div></div></div>
391 391  {{/html}}
392 392  
418 +{{id name="POSITION_PWM" /}}
393 393  ====== __Position in PWM (**P**)__ ======
394 394  
395 395  {{html wiki="true" clean="false"}}
... ... @@ -407,6 +407,7 @@
407 407  <div class="wikimodel-emptyline"></div></div></div>
408 408  {{/html}}
409 409  
436 +{{id name="MOVE_PWM" /}}
410 410  ====== __(Relative) Move in PWM (**M**)__ ======
411 411  
412 412  {{html wiki="true" clean="false"}}
... ... @@ -417,6 +417,7 @@
417 417  <div class="wikimodel-emptyline"></div></div></div>
418 418  {{/html}}
419 419  
447 +{{id name="MOVE_RAW" /}}
420 420  ====== __Raw Duty-cycle Move (**RDM**)__ ======
421 421  
422 422  {{html wiki="true" clean="false"}}
... ... @@ -435,6 +435,7 @@
435 435  <div class="wikimodel-emptyline"></div></div></div>
436 436  {{/html}}
437 437  
466 +{{id name="QUERY_STATUS" /}}
438 438  ====== __Query Status (**Q**)__ ======
439 439  
440 440  {{html wiki="true" clean="false"}}
... ... @@ -474,6 +474,7 @@
474 474  | |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
475 475  | |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
476 476  
506 +{{id name="LIMP" /}}
477 477  ====== __Limp (**L**)__ ======
478 478  
479 479  {{html wiki="true" clean="false"}}
... ... @@ -484,6 +484,7 @@
484 484  <div class="wikimodel-emptyline"></div></div></div>
485 485  {{/html}}
486 486  
517 +{{id name="HALT_HOLD" /}}
487 487  ====== __Halt & Hold (**H**)__ ======
488 488  
489 489  {{html wiki="true" clean="false"}}
... ... @@ -494,8 +494,10 @@
494 494  <div class="wikimodel-emptyline"></div></div></div>
495 495  {{/html}}
496 496  
528 +{{id name="MOTION_SETUP" /}}
497 497  == Motion Setup ==
498 498  
531 +{{id name="MOTION_PROFILE" /}}
499 499  ====== __Enable Motion Profile (**EM**)__ ======
500 500  
501 501  {{html wiki="true" clean="false"}}
... ... @@ -522,6 +522,7 @@
522 522  <div class="wikimodel-emptyline"></div></div></div>
523 523  {{/html}}
524 524  
558 +{{id name="FILTER_POSITION_COUNT" /}}
525 525  ====== __Filter Position Count (**FPC**)__ ======
526 526  
527 527  {{html wiki="true" clean="false"}}
... ... @@ -543,6 +543,7 @@
543 543  <div class="wikimodel-emptyline"></div></div></div>
544 544  {{/html}}
545 545  
580 +{{id name="ORIGIN_OFFSET" /}}
546 546  ====== __Origin Offset (**O**)__ ======
547 547  
548 548  {{html wiki="true" clean="false"}}
... ... @@ -571,6 +571,7 @@
571 571  <div class="wikimodel-emptyline"></div></div></div>
572 572  {{/html}}
573 573  
609 +{{id name="ANGULAR_RANGE" /}}
574 574  ====== __Angular Range (**AR**)__ ======
575 575  
576 576  {{html wiki="true" clean="false"}}
... ... @@ -599,6 +599,7 @@
599 599  <div class="wikimodel-emptyline"></div></div></div>
600 600  {{/html}}
601 601  
638 +{{id name="ANGULAR_STIFFNESS" /}}
602 602  ====== __Angular Stiffness (**AS**)__ ======
603 603  
604 604  {{html wiki="true" clean="false"}}
... ... @@ -631,6 +631,7 @@
631 631  <div class="wikimodel-emptyline"></div></div></div>
632 632  {{/html}}
633 633  
671 +{{id name="ANGULAR_HOLDING_STIFFNESS" /}}
634 634  ====== __Angular Holding Stiffness (**AH**)__ ======
635 635  
636 636  {{html wiki="true" clean="false"}}
... ... @@ -655,6 +655,7 @@
655 655  <div class="wikimodel-emptyline"></div></div></div>
656 656  {{/html}}
657 657  
696 +{{id name="ANGULAR_ACCELERATION" /}}
658 658  ====== __Angular Acceleration (**AA**)__ ======
659 659  
660 660  {{html wiki="true" clean="false"}}
... ... @@ -679,6 +679,7 @@
679 679  <div class="wikimodel-emptyline"></div></div></div>
680 680  {{/html}}
681 681  
721 +{{id name="ANGULAR_DECELERATION" /}}
682 682  ====== __Angular Deceleration (**AD**)__ ======
683 683  
684 684  {{html wiki="true" clean="false"}}
... ... @@ -703,6 +703,7 @@
703 703  <div class="wikimodel-emptyline"></div></div></div>
704 704  {{/html}}
705 705  
746 +{{id name="GYRE_DIRECTION" /}}
706 706  ====== __Gyre Direction (**G**)__ ======
707 707  
708 708  {{html wiki="true" clean="false"}}
... ... @@ -727,6 +727,7 @@
727 727  <div class="wikimodel-emptyline"></div></div></div>
728 728  {{/html}}
729 729  
771 +{{id name="FIRST_POSITION" /}}
730 730  ====== __First Position__ ======
731 731  
732 732  {{html wiki="true" clean="false"}}
... ... @@ -747,6 +747,21 @@
747 747  <div class="wikimodel-emptyline"></div></div></div>
748 748  {{/html}}
749 749  
792 +{{id name="MAXIMUM_RAW" /}}
793 +====== __Maximum Motor Duty (**MMD**)__ ======
794 +
795 +{{html wiki="true" clean="false"}}
796 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
797 +This command allows the user to limit the duty cycle value sent from the servo's MCU to the DC Motor driver. The duty cycle limit value can be within the range of 255 to 1023. The default value is 1023. A typical use-case for this command is active compliance.<div class="wikimodel-emptyline"></div>
798 +
799 +Query Maximum Motor Duty (**QMMD**)<div class="wikimodel-emptyline"></div>
800 +
801 +Ex: #5QMMDD&lt;cr&gt; might return *5QMMD512&lt;cr&gt; <div class="wikimodel-emptyline"></div>
802 +
803 +The reply above indicates that servo with ID 5 motor duty is limited to 512.<div class="wikimodel-emptyline"></div>
804 +<div class="w
805 +
806 +{{id name="MAXIMUM_SPEED_D" /}}
750 750  ====== __Maximum Speed in Degrees (**SD**)__ ======
751 751  
752 752  {{html wiki="true" clean="false"}}
... ... @@ -773,6 +773,7 @@
773 773  </div></div>
774 774  {{/html}}
775 775  
833 +{{id name="MAXIMUM_SPEED_RPM" /}}
776 776  ====== __Maximum Speed in RPM (**SR**)__ ======
777 777  
778 778  {{html wiki="true" clean="false"}}
... ... @@ -799,8 +799,10 @@
799 799  </div></div>
800 800  {{/html}}
801 801  
860 +{{id name="MODIFIERS" /}}
802 802  == Modifiers ==
803 803  
863 +{{id name="SPEEDS" /}}
804 804  ====== __Speed (**S**, **SD**) modifier__ ======
805 805  
806 806  {{html wiki="true" clean="false"}}
... ... @@ -815,6 +815,7 @@
815 815  </div></div>
816 816  {{/html}}
817 817  
878 +{{id name="TIMED_MOVE" /}}
818 818  ====== __Timed move (**T**) modifier__ ======
819 819  
820 820  {{html wiki="true" clean="false"}}
... ... @@ -826,6 +826,7 @@
826 826  </div></div>
827 827  {{/html}}
828 828  
890 +{{id name="CURRENT_HOLD" /}}
829 829  ====== __Current Halt & Hold (**CH**) modifier__ ======
830 830  
831 831  {{html wiki="true" clean="false"}}
... ... @@ -837,6 +837,7 @@
837 837  </div></div>
838 838  {{/html}}
839 839  
902 +{{id name="CURRENT_LIMP" /}}
840 840  ====== __Current Limp (**CL**) modifier__ ======
841 841  
842 842  {{html wiki="true" clean="false"}}
... ... @@ -848,8 +848,10 @@
848 848  </div></div>
849 849  {{/html}}
850 850  
914 +{{id name="TELEMETRY" /}}
851 851  == Telemetry ==
852 852  
917 +{{id name="QUERY_VOLTAGE" /}}
853 853  ====== __Query Voltage (**QV**)__ ======
854 854  
855 855  {{html wiki="true" clean="false"}}
... ... @@ -859,6 +859,7 @@
859 859  </div></div>
860 860  {{/html}}
861 861  
927 +{{id name="QUERY_TEMP" /}}
862 862  ====== __Query Temperature (**QT**)__ ======
863 863  
864 864  {{html wiki="true" clean="false"}}
... ... @@ -868,6 +868,7 @@
868 868  </div></div>
869 869  {{/html}}
870 870  
937 +{{id name="QUERY_CURRENT" /}}
871 871  ====== __Query Current (**QC**)__ ======
872 872  
873 873  {{html wiki="true" clean="false"}}
... ... @@ -877,6 +877,7 @@
877 877  </div></div>
878 878  {{/html}}
879 879  
947 +{{id name="QUERY_MODEL" /}}
880 880  ====== __Query Model String (**QMS**)__ ======
881 881  
882 882  {{html wiki="true" clean="false"}}
... ... @@ -886,6 +886,7 @@
886 886  </div></div>
887 887  {{/html}}
888 888  
957 +{{id name="QUERY_FIRMWARE" /}}
889 889  ====== __Query Firmware (**QF**)__ ======
890 890  
891 891  {{html wiki="true" clean="false"}}
... ... @@ -896,6 +896,7 @@
896 896  </div></div>
897 897  {{/html}}
898 898  
968 +{{id name="QUERY_SERIAL" /}}
899 899  ====== __Query Serial Number (**QN**)__ ======
900 900  
901 901  {{html wiki="true" clean="false"}}
... ... @@ -905,8 +905,10 @@
905 905  </div></div>
906 906  {{/html}}
907 907  
978 +{{id name="RGB_LED" /}}
908 908  == RGB LED ==
909 909  
981 +{{id name="LED_COLOR" /}}
910 910  ====== __LED Color (**LED**)__ ======
911 911  
912 912  {{html wiki="true" clean="false"}}
... ... @@ -923,6 +923,7 @@
923 923  </div></div>
924 924  {{/html}}
925 925  
998 +{{id name="LED_BLINK" /}}
926 926  ====== __Configure LED Blinking (**CLB**)__ ======
927 927  
928 928  {{html wiki="true" clean="false"}}
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