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Author

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1		-xwiki:XWiki.CBenson
	1	+xwiki:XWiki.RB1

Content

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125	125	| 11|**W**heel mode in **R**PM| WR| QWR| | | ✓| rpm|
126	126	| 12|Max **S**peed in **D**egrees| SD| QSD| CSD| ✓| ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|QSD: Add modifier "2" for instantaneous speed
127	127	| 13|Max **S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|QSR: Add modifier "2" for instantaneous speed
128		-| 14|**A**ngular **S**tiffness| AS| QAS| CAS| ✓| ✓|none|-5 to +5, but suggested values are between 0 to +4
	128	+| 14|**A**ngular **S**tiffness| AS| QAS| CAS| ✓| ✓|none|-4 to +4, but suggested values are between 0 to +4
129	129	| 15|//N/A (removed)//| | | | | | |
130	130	| 16|**LED** Color| LED| QLED| CLED| ✓| ✓| none (integer from 1 to 8)|0=OFF 1=RED 2=GREEN 3= BLUE 4=YELLOW 5=CYAN 6=MAGENTA, 7=WHITE
131		-| 17|**ID** #| ID| QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to
	131	+| 17|**ID** #| | QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to
132	132	| 18|**B**aud rate| B| QB| CB| | ✓| none (integer)|
133	133	| 19|**G**yre direction (**G**)| G| QG| CG| ✓| ✓| none | Gyre / rotation direction where 1= CW (clockwise) -1 = CCW (counter-clockwise)
134	134	| 20|**F**irst Position (**P**ulse)| | QFP|CFP | ✓| ✓| none |
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141	141	| 27|**V**oltage| | QV| | | ✓| tenths of volt (ex 113 = 11.3V; 92 = 9.2V)|
142	142	| 28|**T**emperature| | QT| | | ✓| degrees Celsius|Max temp before error: 85°C (servo goes limp)
143	143	| 29|**C**urrent| | QC| | | ✓| tenths of Amps (ex 2 = 0.2A)|
144		-| 30|**RC** Mode| | |CRC| |✓| |Puts the servo into RC mode. To revert to serial mode, use the button menu.
	144	+| 30|**RC** Mode| | |CRC| |✓| |(((
	145	+CRC: Add modifier "1" for RC-position mode.
	146	+CRC: Add modifier "2" for RC-wheel mode.
	147	+Any other value for the modifier results in staying in smart mode.
	148	+Puts the servo into RC mode. To revert to smart mode, use the button menu.
	149	+)))
145	145	| | | | | | | | |
146	146
147	147	= Details =
...	...	@@ -428,7 +428,7 @@
428	428
429	429	__20. First / Initial Position (pulse)__
430	430
431		-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". 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. FP and FD are different in that FP is used for RC mode only, whereas FD is used for serial mode only.
	436	+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". 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. FP and FD are different in that FP is used for RC mode only, whereas FD is used for smart mode only.
432	432
433	433	Query First Position in Pulses (**QFP**)
434	434
...	...	@@ -444,7 +444,7 @@
444	444
445	445	__21. First / Initial Position (Degrees)__
446	446
447		-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". 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. FP and FD are different in that FP is used for RC mode only, whereas FD is used for serial mode only.
	452	+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". 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. FP and FD are different in that FP is used for RC mode only, whereas FD is used for smart mode only.
448	448
449	449	Query First Position in Degrees (**QFD**)
450	450
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456	456
457	457	Ex: #5CD64<cr>
458	458
459		-This configuration command means the servo, when set to serial mode, will immediately move to 6.4 degrees upon power up. Sending a CFD command without a number results in the servo remaining limp upon power up.
	464	+This configuration command means the servo, when set to smart mode, will immediately move to 6.4 degrees upon power up. Sending a CFD command without a number results in the servo remaining limp upon power up.
460	460
461	461	__22. Query Target Position in Degrees (**QDT**)__
462	462
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517	517
518	518	The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
519	519
520		-__20. RC Mode (**CRC**)__
	525	+__30. RC Mode (**CRC**)__
521	521
522		-This command puts the servo into RC mode, where it will only respond to RC pulses. Note that because this is the case, the servo will no longer accept serial commands. The servo can be placed back into serial model only using the button menu.
	527	+This command puts the servo into RC mode (position or continuous), where it will only respond to RC pulses. Note that because this is the case, the servo will no longer accept serial commands. The servo can be placed back into smart mode by using the button menu.
523	523
	529	+|**Command sent**|**Note**
	530	+|ex: #5CRC<cr>|Stay in smart mode.
	531	+|ex: #5CRC1<cr>|Change to RC position mode.
	532	+|ex: #5CRC2<cr>|Change to RC continuous (wheel) mode.
	533	+|ex: #5CRC*<cr>|Where * is any number or value. Stay in smart mode.
	534	+
524	524	EX: #5CRC<cr>
525	525
526	526	__**RESET**__
...	...	@@ -561,14 +561,19 @@
561	561
562	562	[[image:LSS-servo-positions.jpg]]
563	563
564		-Example: Gyre direction / rotation is positive (clockwise), and origin offset has not been modified.
	575	+Example: Gyre direction / rotation is positive (clockwise), and origin offset has not been modified. Each square represents 30 degrees.
565	565
566		-#1D-300<cr> The servo is commander to move to -30.0 degrees (green arrow)
	577	+#1D-300<cr> The servo is sent a command to move to -30.0 degrees (green arrow)
567	567
568	568	#1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)
569	569
570		-#1D-4200<cr> The servo rotates counterclockwise to a position of -420 degrees (red arrow), which means one full rotation of 360 degrees and (420.0-360.0) stopping at an absolute position of 60.0 degrees, but virtual position of -420.0.
	581	+#1D-4200<cr> This next command rotates the servo counterclockwise to a position of -420 degrees (red arrow), which means one full rotation of 360 degrees,  stopping at an absolute position of 60.0 degrees (420.0-360.0), with a virtual position of -420.0 degrees.
571	571
572		-Although the final position would be the same as if the servo were commanded to move to -60.0 degrees, it is in fact at -420.0 degrees.
	583	+Although the final physical position would be the same as if the servo were commanded to move to -60.0 degrees, the servo is in fact at -420.0 degrees.
573	573
574		-#1D4800<cr> This new command is sent which would then cause the servo to rotate from -420.0 degrees to 480.0 degrees, which would be a total of 900 degrees of clockwise rotation, or 2.5 complete rotations.
	585	+#1D4800<cr> This new command is sent which would then cause the servo to rotate from -420.0 degrees to 480.0 degrees (blue arrow), which would be a total of 900 degrees of clockwise rotation, or 2.5 complete rotations.
	586	+
	587	+#1D3300<cr> would cause the servo to rotate from 480.0 degrees to 330.0 degrees (yellow arrow).
	588	+
	589	+
	590	+If / once the servo loses power or is power cycled, it also loses the virtual position associated with that session. For example, if the virtual position was 480.0 degrees before power is cycled, upon power up the servo's position will be read as +120.0 degrees from zero (assuming center position has not been modified).