Changes for page LSS Communication Protocol
Last modified by Eric Nantel on 2024/11/21 09:43
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... ... @@ -1,1 +1,1 @@ 1 -xwiki:XWiki. RB11 +xwiki:XWiki.CBenson - Content
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... ... @@ -137,7 +137,7 @@ 137 137 | 23|**M**odel| | QM| | | | none (integer)| 138 138 | 24|Serial **N**umber| | QN| | | | none (integer)| 139 139 | 25|**F**irmware version| | QF| | | | none (integer)| 140 -| 26|**Q**uery (general status)| | Q| | | ✓| none (integer from 1 to 8)| See command description for details140 +| 26|**Q**uery (general status)| | Q| | | ✓| none (integer from 1 to 8)| 141 141 | 27|**V**oltage| | QV| | | ✓| tenths of volt (ex 113 = 11.3V; 92 = 9.2V)| 142 142 | 28|**T**emperature| | QT| | | ✓| degrees Celsius| 143 143 | 29|**C**urrent| | QC| | | ✓| tenths of Amps (ex 2 = 0.2A)| ... ... @@ -287,10 +287,10 @@ 287 287 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: 288 288 289 289 |**Command sent**|**Returned value (1/10 °)** 290 -|ex: #5QSD<cr>| Session value for maximum speed (set by latest SD/SR command)291 -|ex: #5QSD1<cr>|C onfiguredmaximum speed292 -|ex: #5QSD2<cr>| Instantaneousspeed(same as QWD)293 -|ex: #5QSD3<cr>|Target travel speed 290 +|ex: #5QSD<cr>|Current session value for maximum speed (set by latest SD/SR command) 291 +|ex: #5QSD1<cr>|Current maximum speed configured (set by CSD/CSR) 292 +|ex: #5QSD2<cr>|Current speed. 293 +|ex: #5QSD3<cr>|Target travel speed. 294 294 295 295 Configure Speed in Degrees (**CSD**) 296 296 ... ... @@ -312,10 +312,10 @@ 312 312 If #5QSR1<cr> is sent, the configured maximum speed (CSR 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: 313 313 314 314 |**Command sent**|**Returned value (1/10 °)** 315 -|ex: #5QSR<cr>| Session value for maximum speed (set by latest SD/SR command)316 -|ex: #5QSR1<cr>|C onfiguredmaximum speed317 -|ex: #5QSR2<cr>| Instantaneousspeed(same as QWR)318 -|ex: #5QSR3<cr>|Target travel speed 315 +|ex: #5QSR<cr>|Current session value for maximum speed (set by latest SD/SR command) 316 +|ex: #5QSR1<cr>|Current maximum speed configured (set by CSD/CSR) 317 +|ex: #5QSR2<cr>|Current speed. 318 +|ex: #5QSR3<cr>|Target travel speed. 319 319 320 320 Configure Speed in RPM (**CSR**) 321 321 ... ... @@ -482,20 +482,9 @@ 482 482 483 483 __26. Query Status (**Q**)__ 484 484 485 -Ex: #5Q<cr> might return *5Q 6<cr>, which indicates the motor is holding a position.485 +Ex: #5Q<cr> might return *5Q_<cr> 486 486 487 -|*Value returned****|**Status**|**Detailed description** 488 -|ex: *5Q0<cr>|Unknown|LSS is unsure 489 -|ex: *5Q1<cr>|Limp|Motor driving circuit is not powered and horn can be moved freely 490 -|ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely 491 -|ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed 492 -|ex: *5Q4<cr>|Traveling|Moving at a stable speed 493 -|ex: *5Q5<cr>|Deccelerating|Decreasing speed towards travel speed towards rest 494 -|ex: *5Q6<cr>|Holding|Keeping current position 495 -|ex: *5Q7<cr>|Stepping|Special low speed mode to maintain torque 496 -|ex: *5Q8<cr>|Outside limits|More details coming soon 497 -|ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting 498 -|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maxiumum duty and still cannot move (i.e.: stalled) 487 +{Description coming soon} 499 499 500 500 __27. Query Voltage (**QV**)__ 501 501