Last modified by Eric Nantel on 2024/11/21 09:43
From version < 216.1
edited by Eric Nantel
on 2024/11/21 09:43
To version < 215.7 >
edited by Eric Nantel
on 2024/11/21 09:31
<
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Summary

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... ... @@ -145,65 +145,65 @@
145 145  
146 146  **Latest firmware version currently : 370**
147 147  
148 -|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Communication Setup**>>path:#HCommunicationSetup]]
148 +|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Communication Setup**>>path:#HCommunicationSetup]]
149 149  | |**Description**|**Action**|**Query**|**Config**|**RC**|**Serial**|**Default**|**Unit**|**Notes**
150 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Reset**>>path:#HReset]]|RESET| | | |✓| | |Soft reset. See command for details.
151 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Default** Configuration>>path:#HDefault26confirm]]|DEFAULT| | | |✓| | |Revert to firmware default values. See command for details
152 -| |[[Firmware (% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Update** Mode>>path:#HUpdate26confirm]]|UPDATE| | | |✓| | |Update firmware. See command for details.
153 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Confirm** Changes>>path:#HConfirm]]|CONFIRM| | | |✓| | |
154 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**C**hange to **RC**>>path:#HConfigureRCMode28CRC29]]| | |CRC| |✓| | |Change to RC mode 1 (position) or 2 (wheel).
155 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**ID** #>>path:#HIdentificationNumber28ID29]]| |QID|CID| |✓|0| |Reset required after change. ID 254 is a "broadcast" which all servos respond to.
156 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**B**audrate>>path:#HBaudRate]]| |QB|CB| |✓|115200| |Reset required after change.
150 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Reset**>>path:#HReset]]|RESET| | | |✓| | |Soft reset. See command for details.
151 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Default** Configuration>>path:#HDefault26confirm]]|DEFAULT| | | |✓| | |Revert to firmware default values. See command for details
152 +| |[[Firmware (% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Update** Mode>>path:#HUpdate26confirm]]|UPDATE| | | |✓| | |Update firmware. See command for details.
153 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Confirm** Changes>>path:#HConfirm]]|CONFIRM| | | |✓| | |
154 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**C**hange to **RC**>>path:#HConfigureRCMode28CRC29]]| | |CRC| |✓| | |Change to RC mode 1 (position) or 2 (wheel).
155 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**ID** #>>path:#HIdentificationNumber28ID29]]| |QID|CID| |✓|0| |Reset required after change. ID 254 is a "broadcast" which all servos respond to.
156 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**B**audrate>>path:#HBaudRate]]| |QB|CB| |✓|115200| |Reset required after change.
157 157  
158 -|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Motion**>>path:#HMotion]]
158 +|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Motion**>>path:#HMotion]]
159 159  | |**Description**|**Action**|**Query**|**Config**|**RC**|**Serial**|**Default**|**Unit**|**Notes**
160 -| |[[Position in (% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**D**egrees>>path:#HPositioninDegrees28D29]]|D|QD/QDT| | |✓| |1/10°|
161 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**M**ove in **D**egrees (relative)>>path:#H28Relative29MoveinDegrees28MD29]]|MD| | | |✓| |1/10°|
162 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**W**heel mode in **D**egrees>>path:#HWheelModeinDegrees28WD29]]|WD|QWD/QVT| | |✓| |°/s|A.K.A. "Speed mode" or "Continuous rotation"
163 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**W**heel mode in **R**PM>>path:#HWheelModeinRPM28WR29]]|WR|QWR| | |✓| |RPM|A.K.A. "Speed mode" or "Continuous rotation"
164 -| |[[Position in (% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**P**WM>>path:#HPositioninPWM28P29]]|P|QP| | |✓| |us|Inherited from SSC-32 serial protocol
165 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**M**ove in PWM (relative)>>path:#H28Relative29MoveinPWM28M29]]|M| | | |✓| |us|
166 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**R**aw **D**uty-cycle **M**ove>>path:#HRawDuty-cycleMove28RDM29]]|RDM|QMD| | |✓| |-1023 to 1023 integer|Positive values : CW / Negative values : CCW
167 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Q**uery Status>>path:#HQueryStatus28Q29]]| |Q| | |✓| |1 to 8 integer|See command description for details
168 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**L**imp>>path:#HLimp28L29]]|L| | | |✓| | |
169 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**H**alt & Hold>>path:#HHalt26Hold28H29]]|H| | | |✓| | |
160 +| |[[Position in (% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**D**egrees>>path:#HPositioninDegrees28D29]]|D|QD/QDT| | |✓| |1/10°|
161 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**M**ove in **D**egrees (relative)>>path:#H28Relative29MoveinDegrees28MD29]]|MD| | | |✓| |1/10°|
162 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**W**heel mode in **D**egrees>>path:#HWheelModeinDegrees28WD29]]|WD|QWD/QVT| | |✓| |°/s|A.K.A. "Speed mode" or "Continuous rotation"
163 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**W**heel mode in **R**PM>>path:#HWheelModeinRPM28WR29]]|WR|QWR| | |✓| |RPM|A.K.A. "Speed mode" or "Continuous rotation"
164 +| |[[Position in (% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**P**WM>>path:#HPositioninPWM28P29]]|P|QP| | |✓| |us|Inherited from SSC-32 serial protocol
165 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**M**ove in PWM (relative)>>path:#H28Relative29MoveinPWM28M29]]|M| | | |✓| |us|
166 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**R**aw **D**uty-cycle **M**ove>>path:#HRawDuty-cycleMove28RDM29]]|RDM|QMD| | |✓| |-1023 to 1023 integer|Positive values : CW / Negative values : CCW
167 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Q**uery Status>>path:#HQueryStatus28Q29]]| |Q| | |✓| |1 to 8 integer|See command description for details
168 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**L**imp>>path:#HLimp28L29]]|L| | | |✓| | |
169 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**H**alt & Hold>>path:#HHalt26Hold28H29]]|H| | | |✓| | |
170 170  
171 -|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Motion Setup**>>path:#HMotionSetup]]
171 +|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Motion Setup**>>path:#HMotionSetup]]
172 172  | |**Description**|**Action**|**Query**|**Config**|**RC**|**Serial**|**Default**|**Unit**|**Notes**
173 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**E**nable **M**otion Profile>>path:#HEnableMotionProfile28EM29]]|EM|QEM|CEM| |✓|1| |EM1: trapezoidal motion profile / EM0: no motion profile
174 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**F**ilter **P**osition **C**ount>>path:#HFilterPositionCount28FPC29]]|FPC|QFPC|CFPC|✓|✓|5| |Affects motion only when motion profile is disabled (EM0)
175 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**O**rigin Offset>>path:#HOriginOffset28O29]]|O|QO|CO|✓|✓|0|1/10°|
176 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**A**ngular **R**ange>>path:#HAngularRange28AR29]]|AR|QAR|CAR|✓|✓|1800|1/10°|
177 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**A**ngular **S**tiffness>>path:#HAngularStiffness28AS29]]|AS|QAS|CAS|✓|✓|0|-4 to +4 integer|Suggested values are between 0 to +4
178 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**A**ngular **H**olding Stiffness>>path:#HAngularHoldingStiffness28AH29]]|AH|QAH|CAH|✓|✓|4|-10 to +10 integer|
179 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**A**ngular **A**cceleration>>path:#HAngularAcceleration28AA29]]|AA|QAA|CAA| |✓|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
180 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**A**ngular **D**eceleration>>path:#HAngularDeceleration28AD29]]|AD|QAD|CAD| |✓|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
181 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**G**yre Direction>>path:#HGyreDirection28G29]]|G|QG|CG|✓|✓|1| |Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)
182 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**F**irst Position (**D**eg)>>path:#HFirstPosition]]| |QFD|CFD|✓|✓|No value|1/10°|Reset required after change.
183 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**M**aximum **M**otor **D**uty>>path:#HMaximumMotorDuty28MMD29]]|MMD|QMMD| | |✓|1023|255 to 1023 integer|
184 -| |[[Maximum (% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**S**peed in **D**egrees>>path:#HMaximumSpeedinDegrees28SD29]]|SD|QSD|CSD|✓|✓|Max|0.1°/s|SD overwrites SR / CSD overwrites CSR and vice-versa
185 -| |[[Maximum (% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**S**peed in **R**PM>>path:#HMaximumSpeedinRPM28SR29]]|SR|QSR|CSR|✓|✓|Max|RPM|SD overwrites SR / CSD overwrites CSR and vice-versa
173 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**E**nable **M**otion Profile>>path:#HEnableMotionProfile28EM29]]|EM|QEM|CEM| |✓|1| |EM1: trapezoidal motion profile / EM0: no motion profile
174 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**F**ilter **P**osition **C**ount>>path:#HFilterPositionCount28FPC29]]|FPC|QFPC|CFPC|✓|✓|5| |Affects motion only when motion profile is disabled (EM0)
175 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**O**rigin Offset>>path:#HOriginOffset28O29]]|O|QO|CO|✓|✓|0|1/10°|
176 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**A**ngular **R**ange>>path:#HAngularRange28AR29]]|AR|QAR|CAR|✓|✓|1800|1/10°|
177 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**A**ngular **S**tiffness>>path:#HAngularStiffness28AS29]]|AS|QAS|CAS|✓|✓|0|-4 to +4 integer|Suggested values are between 0 to +4
178 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**A**ngular **H**olding Stiffness>>path:#HAngularHoldingStiffness28AH29]]|AH|QAH|CAH|✓|✓|4|-10 to +10 integer|
179 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**A**ngular **A**cceleration>>path:#HAngularAcceleration28AA29]]|AA|QAA|CAA| |✓|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
180 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**A**ngular **D**eceleration>>path:#HAngularDeceleration28AD29]]|AD|QAD|CAD| |✓|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
181 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**G**yre Direction>>path:#HGyreDirection28G29]]|G|QG|CG|✓|✓|1| |Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)
182 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**F**irst Position (**D**eg)>>path:#HFirstPosition]]| |QFD|CFD|✓|✓|No value|1/10°|Reset required after change.
183 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**M**aximum **M**otor **D**uty>>path:#HMaximumMotorDuty28MMD29]]|MMD|QMMD| | |✓|1023|255 to 1023 integer|
184 +| |[[Maximum (% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**S**peed in **D**egrees>>path:#HMaximumSpeedinDegrees28SD29]]|SD|QSD|CSD|✓|✓|Max|0.1°/s|SD overwrites SR / CSD overwrites CSR and vice-versa
185 +| |[[Maximum (% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**S**peed in **R**PM>>path:#HMaximumSpeedinRPM28SR29]]|SR|QSR|CSR|✓|✓|Max|RPM|SD overwrites SR / CSD overwrites CSR and vice-versa
186 186  
187 -|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Modifiers**>>path:#HModifiers]]
187 +|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Modifiers**>>path:#HModifiers]]
188 188  | |**Description**|**Modifier**|**Query**|**Config**|**RC**|**Serial**|**Default**|**Unit**|**Notes**
189 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**S**peed>>path:#HSpeed]]|S|QS| | |✓| |uS/s |For P action command
190 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**S**peed in **D**egrees>>path:#HSpeed]]|SD| | | |✓| |0.1°/s|For D and MD action commands
191 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**T**imed move>>path:#HTimedmove28T29modifier]]|T| | | |✓| |ms|Modifier only for P, D and MD. Time can change based on load
192 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**C**urrent **H**old>>path:#HCurrentHalt26Hold28CH29modifier]]|CH| | | |✓| |mA|Modifier for D, MD, WD and WR
193 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**C**urrent **L**imp>>path:#HCurrentLimp28CL29modifier]]|CL| | | |✓| |mA|Modifier for D, MD, WD and WR
189 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**S**peed>>path:#HSpeed]]|S|QS| | |✓| |uS/s |For P action command
190 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**S**peed in **D**egrees>>path:#HSpeed]]|SD| | | |✓| |0.1°/s|For D and MD action commands
191 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**T**imed move>>path:#HTimedmove28T29modifier]]|T| | | |✓| |ms|Modifier only for P, D and MD. Time can change based on load
192 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**C**urrent **H**old>>path:#HCurrentHalt26Hold28CH29modifier]]|CH| | | |✓| |mA|Modifier for D, MD, WD and WR
193 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**C**urrent **L**imp>>path:#HCurrentLimp28CL29modifier]]|CL| | | |✓| |mA|Modifier for D, MD, WD and WR
194 194  
195 -|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Telemetry**>>path:#HTelemetry]]
195 +|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Telemetry**>>path:#HTelemetry]]
196 196  | |**Description**|**Action**|**Query**|**Config**|**RC**|**Serial**|**Default**|**Unit**|**Notes**
197 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Q**uery **V**oltage>>path:#HQueryVoltage28QV29]]| |QV| | |✓| |mV|
198 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Q**uery **T**emperature>>path:#HQueryTemperature28QT29]]| |QT| | |✓| |1/10°C|
199 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Q**uery **C**urrent>>path:#HQueryCurrent28QC29]]| |QC| | |✓| |mA|
200 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Q**uery **M**odel **S**tring>>path:#HQueryModelString28QMS29]]| |QMS| | |✓| | |Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1)
201 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Q**uery **F**irmware Version>>path:#HQueryFirmware28QF29]]| |QF| | |✓| | |
197 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Q**uery **V**oltage>>path:#HQueryVoltage28QV29]]| |QV| | |✓| |mV|
198 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Q**uery **T**emperature>>path:#HQueryTemperature28QT29]]| |QT| | |✓| |1/10°C|
199 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Q**uery **C**urrent>>path:#HQueryCurrent28QC29]]| |QC| | |✓| |mA|
200 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Q**uery **M**odel **S**tring>>path:#HQueryModelString28QMS29]]| |QMS| | |✓| | |Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1)
201 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Q**uery **F**irmware Version>>path:#HQueryFirmware28QF29]]| |QF| | |✓| | |
202 202  
203 -|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**RGB LED**>>path:#HRGBLED]]
203 +|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**RGB LED**>>path:#HRGBLED]]
204 204  | |**Description**|**Action**|**Query**|**Config**|**RC**|**Serial**|**Default**|**Unit**|**Notes**
205 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**LED** Color>>path:#HLEDColor28LED29]]|LED|QLED|CLED|✓|✓| |0 to 7 integer|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White
206 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**C**onfigure **L**ED **B**linking>>path:#HConfigureLEDBlinking28CLB29]]| | |CLB|✓|✓| |0 to 63 integer|Reset required after change. See command for details.
205 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**LED** Color>>path:#HLEDColor28LED29]]|LED|QLED|CLED|✓|✓| |0 to 7 integer|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White
206 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**C**onfigure **L**ED **B**linking>>path:#HConfigureLEDBlinking28CLB29]]| | |CLB|✓|✓| |0 to 63 integer|Reset required after change. See command for details.
207 207  
208 208  = Details =
209 209  
... ... @@ -210,7 +210,7 @@
210 210  == Communication Setup ==
211 211  
212 212  |(% colspan="2" %)(((
213 -====== __Reset__ ======
213 +====== Reset ======
214 214  )))
215 215  |(% style="width:30px" %) |(((
216 216  Ex: #5RESET<cr>
... ... @@ -219,7 +219,7 @@
219 219  )))
220 220  
221 221  |(% colspan="2" %)(((
222 -====== __Default & confirm__ ======
222 +====== Default & confirm ======
223 223  )))
224 224  |(% style="width:30px" %) |(((
225 225  Ex: #5DEFAULT<cr>
... ... @@ -234,7 +234,7 @@
234 234  )))
235 235  
236 236  |(% colspan="2" %)(((
237 -====== __Update & confirm__ ======
237 +====== Update & confirm ======
238 238  )))
239 239  |(% style="width:30px" %) |(((
240 240  Ex: #5UPDATE<cr>
... ... @@ -249,7 +249,7 @@
249 249  )))
250 250  
251 251  |(% colspan="2" %)(((
252 -====== __Confirm__ ======
252 +====== Confirm ======
253 253  )))
254 254  |(% style="width:30px" %) |(((
255 255  Ex: #5CONFIRM<cr>
... ... @@ -260,7 +260,7 @@
260 260  )))
261 261  
262 262  |(% colspan="2" %)(((
263 -====== __Configure RC Mode (**CRC**)__ ======
263 +====== Configure RC Mode (**CRC**) ======
264 264  )))
265 265  |(% style="width:30px" %) |(((
266 266  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.
... ... @@ -285,7 +285,7 @@
285 285  )))
286 286  
287 287  |(% colspan="2" %)(((
288 -====== __Identification Number (**ID**)__ ======
288 +====== Identification Number (**ID**) ======
289 289  )))
290 290  |(% style="width:30px" %) |(((
291 291  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.
... ... @@ -304,7 +304,7 @@
304 304  )))
305 305  
306 306  |(% colspan="2" %)(((
307 -====== __Baud Rate__ ======
307 +====== Baud Rate ======
308 308  )))
309 309  |(% style="width:30px" %) |(((
310 310  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 115200. Since smart servos are intended to be daisy chained, in order to respond to the same serial command, all servos in a project should 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: 9600 bps, 19200 bps, 38400 bps, 57600 bps, 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 115200.
... ... @@ -369,7 +369,7 @@
369 369  )))
370 370  
371 371  |(% colspan="2" %)(((
372 -====== __(Relative) Move in Degrees (**MD**)__ ======
372 +====== (Relative) Move in Degrees (**MD**) ======
373 373  )))
374 374  |(% style="width:30px" %) |(((
375 375  Ex: #5MD123<cr>
... ... @@ -378,7 +378,7 @@
378 378  )))
379 379  
380 380  |(% colspan="2" %)(((
381 -====== __Wheel Mode in Degrees (**WD**)__ ======
381 +====== Wheel Mode in Degrees (**WD**) ======
382 382  )))
383 383  |(% style="width:30px" %) |(((
384 384  Ex: #5WD90<cr>
... ... @@ -393,7 +393,7 @@
393 393  )))
394 394  
395 395  |(% colspan="2" %)(((
396 -====== __Wheel Mode in RPM (**WR**)__ ======
396 +====== Wheel Mode in RPM (**WR**) ======
397 397  )))
398 398  |(% style="width:30px" %) |(((
399 399  Ex: #5WR40<cr>
... ... @@ -408,7 +408,7 @@
408 408  )))
409 409  
410 410  |(% colspan="2" %)(((
411 -====== __Position in PWM (**P**)__ ======
411 +====== Position in PWM (**P**) ======
412 412  )))
413 413  |(% style="width:30px" %) |(((
414 414  Ex: #5P2334<cr>
... ... @@ -432,7 +432,7 @@
432 432  )))
433 433  
434 434  |(% colspan="2" %)(((
435 -====== __Raw Duty-cycle Move (**RDM**)__ ======
435 +====== Raw Duty-cycle Move (**RDM**) ======
436 436  )))
437 437  |(% style="width:30px" %) |(((
438 438  Ex: #5RDM512<cr>
... ... @@ -449,7 +449,7 @@
449 449  )))
450 450  
451 451  |(% colspan="2" %)(((
452 -====== __Query Status (**Q**)__ ======
452 +====== Query Status (**Q**) ======
453 453  )))
454 454  |(% style="width:30px" %) |(((
455 455  The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
... ... @@ -484,7 +484,7 @@
484 484  | |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
485 485  
486 486  |(% colspan="2" %)(((
487 -====== __Limp (**L**)__ ======
487 +====== Limp (**L**) ======
488 488  )))
489 489  |(% style="width:30px" %) |(((
490 490  Ex: #5L<cr>
... ... @@ -493,7 +493,7 @@
493 493  )))
494 494  
495 495  |(% colspan="2" %)(((
496 -====== __Halt & Hold (**H**)__ ======
496 +====== Halt & Hold (**H**) ======
497 497  )))
498 498  |(% style="width:30px" %) |(((
499 499  Example: #5H<cr>
... ... @@ -504,7 +504,7 @@
504 504  == Motion Setup ==
505 505  
506 506  |(% colspan="2" %)(((
507 -====== __Enable Motion Profile (**EM**)__ ======
507 +====== Enable Motion Profile (**EM**) ======
508 508  )))
509 509  |(% style="width:30px" %) |(((
510 510  EM1 (Enable Motion Profile #1) is the default mode of the LSS and is an easy way to control the servo's position with a single (serial) position command. This mode uses a trapezoidal motion profile which takes care of acceleration, constant speed travel and deceleration. Once the actual position is within a certain value of the target, it switches to a holding algorithm. The LSS commands for Angular Acceleration and Deceleration (AA/CAA/AD/CAD) Angular Stiffness (AS/CAS) and Angular holding stiffness (AH/CAH) affect this motion profile. Modifiers like SD/S and T can be used in EM1.
... ... @@ -531,7 +531,7 @@
531 531  )))
532 532  
533 533  |(% colspan="2" %)(((
534 -====== __Filter Position Count (**FPC**)__ ======
534 +====== Filter Position Count (**FPC**) ======
535 535  )))
536 536  |(% style="width:30px" %) |(((
537 537  The FPC value relates to the depth of a first order filter (exponential weighted average) over the position change. This has the effect of slowing down both acceleration and deceleration while still allowing the LSS to try to reach the desired position at maximum power at all times. A smaller FPC value will reduce the smoothing effect and a larger value will increase it. To prevent having to send position commands continuously to reach the desired position in EM0/FPC active (FPC >= 2), an internal position engine (IPE) has been put in place, which is also active by default.
... ... @@ -554,7 +554,7 @@
554 554  )))
555 555  
556 556  |(% colspan="2" %)(((
557 -====== __Origin Offset (**O**)__ ======
557 +====== Origin Offset (**O**) ======
558 558  )))
559 559  |(% style="width:30px" %) |(((
560 560  Ex: #5O2400<cr>
... ... @@ -581,7 +581,7 @@
581 581  )))
582 582  
583 583  |(% colspan="2" %)(((
584 -====== __Angular Range (**AR**)__ ======
584 +====== Angular Range (**AR**) ======
585 585  )))
586 586  |(% style="width:30px" %) |(((
587 587  Ex: #5AR1800<cr>
... ... @@ -608,7 +608,7 @@
608 608  )))
609 609  
610 610  |(% colspan="2" %)(((
611 -====== __Angular Stiffness (**AS**)__ ======
611 +====== Angular Stiffness (**AS**) ======
612 612  )))
613 613  |(% style="width:30px" %) |(((
614 614  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.
... ... @@ -637,7 +637,7 @@
637 637  )))
638 638  
639 639  |(% colspan="2" %)(((
640 -====== __Angular Holding Stiffness (**AH**)__ ======
640 +====== Angular Holding Stiffness (**AH**) ======
641 641  )))
642 642  |(% style="width:30px" %) |(((
643 643  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.
... ... @@ -660,7 +660,7 @@
660 660  )))
661 661  
662 662  |(% colspan="2" %)(((
663 -====== __Angular Acceleration (**AA**)__ ======
663 +====== Angular Acceleration (**AA**) ======
664 664  )))
665 665  |(% style="width:30px" %) |(((
666 666  The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
... ... @@ -683,7 +683,7 @@
683 683  )))
684 684  
685 685  |(% colspan="2" %)(((
686 -====== __Angular Deceleration (**AD**)__ ======
686 +====== Angular Deceleration (**AD**) ======
687 687  )))
688 688  |(% style="width:30px" %) |(((
689 689  The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
... ... @@ -706,7 +706,7 @@
706 706  )))
707 707  
708 708  |(% colspan="2" %)(((
709 -====== __Gyre Direction (**G**)__ ======
709 +====== Gyre Direction (**G**) ======
710 710  )))
711 711  |(% style="width:30px" %) |(((
712 712  "Gyre" is defined as a circular course or motion. The effect of changing the gyre direction is as if you were to use a mirror image of a circle. By default: CW = 1; CCW = -1.
... ... @@ -729,7 +729,7 @@
729 729  )))
730 730  
731 731  |(% colspan="2" %)(((
732 -====== __First Position__ ======
732 +====== First Position ======
733 733  )))
734 734  |(% style="width:30px" %) |(((
735 735  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. 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.
... ... @@ -748,7 +748,7 @@
748 748  )))
749 749  
750 750  |(% colspan="2" %)(((
751 -====== __Maximum Motor Duty (**MMD**)__ ======
751 +====== Maximum Motor Duty (**MMD**) ======
752 752  )))
753 753  |(% style="width:30px" %) |(((
754 754  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.
... ... @@ -765,7 +765,7 @@
765 765  )))
766 766  
767 767  |(% colspan="2" %)(((
768 -====== __Maximum Speed in Degrees (**SD**)__ ======
768 +====== Maximum Speed in Degrees (**SD**) ======
769 769  )))
770 770  |(% style="width:30px" %) |(((
771 771  Ex: #5SD1800<cr>
... ... @@ -794,7 +794,7 @@
794 794  )))
795 795  
796 796  |(% colspan="2" %)(((
797 -====== __Maximum Speed in RPM (**SR**)__ ======
797 +====== Maximum Speed in RPM (**SR**) ======
798 798  )))
799 799  |(% style="width:30px" %) |(((
800 800  Ex: #5SR45<cr>
... ... @@ -825,7 +825,7 @@
825 825  == Modifiers ==
826 826  
827 827  |(% colspan="2" %)(((
828 -====== __Speed__ ======
828 +====== Speed ======
829 829  )))
830 830  |(% style="width:30px" %) |(((
831 831  Ex: #5P1500S750<cr>
... ... @@ -844,9 +844,11 @@
844 844  )))
845 845  
846 846  |(% colspan="2" %)(((
847 -====== __Timed move (**T**) modifier__ ======
847 +====== Timed move (**T**) modifier ======
848 848  )))
849 849  |(% style="width:30px" %) |(((
850 +
851 +
850 850  Example: #5P1500T2500<cr>
851 851  
852 852  Timed move can be used only as a modifier for a position (P, D, MD) actions. The units are in milliseconds, so a timed move of 2500 milliseconds would cause the servo to rotate from its current position to the desired position in 2.5 seconds. The onboard controller will attempt to ensure that the move is performed entirely at the desired velocity, though differences in torque may cause it to not be exact. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.
... ... @@ -855,7 +855,7 @@
855 855  )))
856 856  
857 857  |(% colspan="2" %)(((
858 -====== __Current Halt & Hold (**CH**) modifier__ ======
860 +====== Current Halt & Hold (**CH**) modifier ======
859 859  )))
860 860  |(% style="width:30px" %) |(((
861 861  Example: #5D1423CH400<cr>
... ... @@ -866,7 +866,7 @@
866 866  )))
867 867  
868 868  |(% colspan="2" %)(((
869 -====== __Current Limp (**CL**) modifier__ ======
871 +====== Current Limp (**CL**) modifier ======
870 870  )))
871 871  |(% style="width:30px" %) |(((
872 872  Example: #5D1423CL400<cr>
... ... @@ -879,7 +879,7 @@
879 879  == Telemetry ==
880 880  
881 881  |(% colspan="2" %)(((
882 -====== __Query Voltage (**QV**)__ ======
884 +====== Query Voltage (**QV**) ======
883 883  )))
884 884  |(% style="width:30px" %) |(((
885 885  Ex: #5QV<cr> might return *5QV11200<cr>
... ... @@ -888,7 +888,7 @@
888 888  )))
889 889  
890 890  |(% colspan="2" %)(((
891 -====== __Query Temperature (**QT**)__ ======
893 +====== Query Temperature (**QT**) ======
892 892  )))
893 893  |(% style="width:30px" %) |(((
894 894  Ex: #5QT<cr> might return *5QT564<cr>
... ... @@ -897,7 +897,7 @@
897 897  )))
898 898  
899 899  |(% colspan="2" %)(((
900 -====== __Query Current (**QC**)__ ======
902 +====== Query Current (**QC**) ======
901 901  )))
902 902  |(% style="width:30px" %) |(((
903 903  Ex: #5QC<cr> might return *5QC140<cr>
... ... @@ -906,7 +906,7 @@
906 906  )))
907 907  
908 908  |(% colspan="2" %)(((
909 -====== __Query Model String (**QMS**)__ ======
911 +====== Query Model String (**QMS**) ======
910 910  )))
911 911  |(% style="width:30px" %) |(((
912 912  Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
... ... @@ -915,7 +915,7 @@
915 915  )))
916 916  
917 917  |(% colspan="2" %)(((
918 -====== __Query Firmware (**QF**)__ ======
920 +====== Query Firmware (**QF**) ======
919 919  )))
920 920  |(% style="width:30px" %) |(((
921 921  Ex: #5QF<cr> might return *5QF368<cr>
... ... @@ -928,9 +928,11 @@
928 928  == RGB LED ==
929 929  
930 930  |(% colspan="2" %)(((
931 -====== __LED Color (**LED**)__ ======
933 +====== LED Color (**LED**) ======
932 932  )))
933 933  |(% style="width:30px" %) |(((
936 +
937 +
934 934  Ex: #5LED3<cr>
935 935  
936 936  This action sets the servo's RGB LED color for that session.
... ... @@ -953,9 +953,11 @@
953 953  )))
954 954  
955 955  |(% colspan="2" %)(((
956 -====== __Configure LED Blinking (**CLB**)__ ======
960 +====== Configure LED Blinking (**CLB**) ======
957 957  )))
958 958  |(% style="width:30px" %) |(((
963 +
964 +
959 959  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:
960 960  )))
961 961  
... ... @@ -988,7 +988,7 @@
988 988  )))
989 989  
990 990  |(% colspan="2" style="width:30px" %)(((
991 -====== __RGB LED Patterns__ ======
997 +====== RGB LED Patterns ======
992 992  )))
993 993  |(% style="width:30px" %) |(((
994 994  The LED patterns below do not include those which are part of the button menu, which can be found here: [[LSS Button Menu>>url:https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-v2/lynxmotion-smart-servo/lss-button-menu/]]

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