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

Content

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1		-= Table of Contents =
2		-
3	3	{{toc depth="3"/}}
4	4
5	5	= Protocol concepts =
...	...	@@ -29,7 +29,7 @@
29	29
30	30	Action commands are session-specific, therefore once a servo is power cycled, it will not have any "memory" of previous actions or virtual positions (as described at the bottom of this page).
31	31
32		-== Action Modifiers ==
	30	+=== Action Modifiers ===
33	33
34	34	Two commands can be used as action modifiers only: Timed Move and Speed. The format is:
35	35
...	...	@@ -108,7 +108,7 @@
108	108
109	109	#5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
110	110
111		-== Virtual Angular Position ==
	109	+=== Virtual Angular Position ===
112	112
113	113	{In progress}
114	114
...	...	@@ -136,50 +136,50 @@
136	136	= Command List =
137	137
138	138	|= #|=Description|= Action|= Query|= Config|= RC|= Serial|= Units|= Notes
139		-| 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| L| | | | ✓| none|
140		-| 2|[[**H**alt & Hold>>||anchor="H2.Halt26Hold28H29"]]| H| | | | ✓| none|
141		-| 3|[[**T**imed move>>||anchor="H3.Timedmove28T29"]]| T| | | | ✓| milliseconds| Modifier only
142		-| 4|[[**S**peed>>||anchor="H4.Speed28S29"]]| S| | | | ✓| microseconds / second| Modifier only
143		-| 5|[[**M**ove in **D**egrees (relative)>>||anchor="H5.28Relative29MoveinDegrees28MD29"]]| MD| | | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
144		-| 6|[[**O**rigin Offset>>||anchor="H6.OriginOffsetAction28O29"]]| O| QO| CO| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
145		-| 7|[[**A**ngular **R**ange>>||anchor="H7.AngularRange28AR29"]]| AR| QAR| CAR| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
146		-| 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| P| QP| | | ✓| microseconds|(((
	137	+| 1|[[**L**imp>>||anchor="HLimpL"]]| L| | | | ✓| none|
	138	+| 2|**H**alt & Hold| H| | | | ✓| none|
	139	+| 3|**T**imed move| T| | | | ✓| milliseconds| Modifier only
	140	+| 4|**S**peed| S| | | | ✓| microseconds / second| Modifier only
	141	+| 5|**M**ove in **D**egrees (relative)| MD| | | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
	142	+| 6|**O**rigin Offset| O| QO| CO| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
	143	+| 7|**A**ngular **R**ange| AR| QAR| CAR| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
	144	+| 8|Position in **P**ulse| P| QP| | | ✓| microseconds|(((
147	147	See details below
148	148	)))
149		-| 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| D| QD| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
150		-| 10|[[**W**heel mode in **D**egrees>>||anchor="H10.WheelModeinDegrees28WD29"]]| WD| QWD| | | ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|
151		-| 11|[[**W**heel mode in **R**PM>>||anchor="H11.WheelModeinRPM28WR29"]]| WR| QWR| | | ✓| rpm|
152		-| 12|[[Max **S**peed in **D**egrees>>||anchor="H12.SpeedinDegrees28SD29"]]| SD| QSD| CSD| ✓| ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|QSD: Add modifier "2" for instantaneous speed
153		-| 13|[[Max **S**peed in **R**PM>>||anchor="H13.SpeedinRPM28SR29"]]| SR| QSR| CSR| ✓| ✓| rpm|QSR: Add modifier "2" for instantaneous speed
154		-| 14|[[**A**ngular **S**tiffness>>||anchor="H14.AngularStiffness28AS29"]]| AS| QAS| CAS| ✓| ✓|none|-4 to +4, but suggested values are between 0 to +4
155		-| 15|[[**A**ngular **H**olding Stiffness>>||anchor="H15.AngularHoldStiffness28AH29"]]|AH|QAH|CAH| | ✓|none|-10 to +10, with default as 0.
156		-|15b|[[**A**ngular **A**cceleration>>||anchor="H15b:AngularAcceleration28AA29"]]|AA|QAA|CAA| | ✓|degrees per second squared|Increments of 10 degrees per second squared
157		-|15c|[[**A**ngular **D**eceleration>>||anchor="H15c:AngularDeceleration28AD29"]]|AD|QAD|CAD| | ✓|degrees per second squared|Increments of 10 degrees per second squared
158		-|15d|[[**M**otion **C**ontrol>>||anchor="H15d:MotionControl28MC29"]]|MC|QMC| | | ✓|none|MC0 to disable motion control, MC1 to enable. Session specific
159		-| 16|[[**LED** Color>>||anchor="H16.RGBLED28LED29"]]| 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
160		-| 17|[[**ID** #>>||anchor="H17.IdentificationNumber"]]| | QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to
161		-| 18|[[**B**aud rate>>||anchor="H18.BaudRate"]]| B| QB| CB| | ✓| none (integer)|
162		-| 19|[[**G**yre direction (**G**)>>||anchor="H19.GyreRotationDirection"]]| G| QG| CG| ✓| ✓| none | Gyre / rotation direction where 1= CW (clockwise) -1 = CCW (counter-clockwise)
163		-| 20|[[**F**irst Position (**P**ulse)>>||anchor="H20.First2InitialPosition28pulse29"]]| | QFP|CFP | ✓| ✓| none |
164		-| 21|[[**F**irst Position (**D**egrees)>>||anchor="H21.First2InitialPosition28Degrees29"]]| | QFD|CFD| ✓| ✓| none |
165		-| 22|[[**T**arget (**D**egree) **P**osition>>||anchor="H22.QueryTargetPositioninDegrees28QDT29"]]| | QDT| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
166		-| 23|[[**M**odel **String**>>||anchor="H23.QueryModelString28QMS29"]]| | QMS| | | | none (string)| Recommended to determine the model|
167		-| 23b|[[**M**odel>>||anchor="H23b.QueryModel28QM29"]]| | QM| | | | none (integer)| Returns a raw value representing the three model inputs (36 bit)|
168		-| 24|[[Serial **N**umber>>||anchor="H24.QuerySerialNumber28QN29"]]| | QN| | | | none (integer)|
169		-| 25|[[**F**irmware version>>||anchor="H25.QueryFirmware28QF29"]]| | QF| | | | none (integer)|
170		-| 26|[[**Q**uery (general status)>>||anchor="H26.QueryStatus28Q29"]]| | Q| | | ✓| none (integer from 1 to 8)| See command description for details
171		-| 27|[[**V**oltage>>||anchor="H27.QueryVoltage28QV29"]]| | QV| | | ✓| millivolts (ex 5936 = 5936mV = 5.936V)|
172		-| 28|[[**T**emperature>>||anchor="H28.QueryTemperature28QT29"]]| | QT| | | ✓| tenths of degrees Celsius|Max temp before error: 85°C (servo goes limp)
173		-| 29|[[**C**urrent>>||anchor="H29.QueryCurrent28QC29"]]| | QC| | | ✓| milliamps (ex 200 = 0.2A)|
174		-| 30|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]]| | |CRC| |✓|none|(((
	147	+| 9|Position in **D**egrees| D| QD| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
	148	+| 10|**W**heel mode in **D**egrees| WD| QWD| | | ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|
	149	+| 11|**W**heel mode in **R**PM| WR| QWR| | | ✓| rpm|
	150	+| 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
	151	+| 13|Max **S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|QSR: Add modifier "2" for instantaneous speed
	152	+| 14|**A**ngular **S**tiffness| AS| QAS| CAS| ✓| ✓|none|-4 to +4, but suggested values are between 0 to +4
	153	+| 15|**A**ngular **H**olding Stiffness|AH|QAH|CAH| | ✓|none|-10 to +10, with default as 0.
	154	+|15b|**A**ngular **A**cceleration|AA|QAA|CAA| | ✓|degrees per second squared|Increments of 10 degrees per second squared
	155	+|15c|**A**ngular **D**eceleration|AD|QAD|CAD| | ✓|degrees per second squared|Increments of 10 degrees per second squared
	156	+|15d|**M**otion **C**ontrol|MC|QMC| | | ✓|none|MC0 to disable motion control, MC1 to enable. Session specific
	157	+| 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
	158	+| 17|**ID** #| | QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to
	159	+| 18|**B**aud rate| B| QB| CB| | ✓| none (integer)|
	160	+| 19|**G**yre direction (**G**)| G| QG| CG| ✓| ✓| none | Gyre / rotation direction where 1= CW (clockwise) -1 = CCW (counter-clockwise)
	161	+| 20|**F**irst Position (**P**ulse)| | QFP|CFP | ✓| ✓| none |
	162	+| 21|**F**irst Position (**D**egrees)| | QFD|CFD| ✓| ✓| none |
	163	+| 22|**T**arget (**D**egree) **P**osition| | QDT| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
	164	+| 23|**M**odel **String**| | QMS| | | | none (string)| Recommended to determine the model|
	165	+| 23b|**M**odel| | QM| | | | none (integer)| Returns a raw value representing the three model inputs (36 bit)|
	166	+| 24|Serial **N**umber| | QN| | | | none (integer)|
	167	+| 25|**F**irmware version| | QF| | | | none (integer)|
	168	+| 26|**Q**uery (general status)| | Q| | | ✓| none (integer from 1 to 8)| See command description for details
	169	+| 27|**V**oltage| | QV| | | ✓| millivolts (ex 5936 = 5936mV = 5.936V)|
	170	+| 28|**T**emperature| | QT| | | ✓| tenths of degrees Celsius|Max temp before error: 85°C (servo goes limp)
	171	+| 29|**C**urrent| | QC| | | ✓| milliamps (ex 200 = 0.2A)|
	172	+| 30|**RC** Mode| | |CRC| |✓|none|(((
175	175	CRC: Add modifier "1" for RC-position mode.
176	176	CRC: Add modifier "2" for RC-wheel mode.
177	177	Any other value for the modifier results in staying in smart mode.
178	178	Puts the servo into RC mode. To revert to smart mode, use the button menu.
179	179	)))
180		-|31|[[**RESET**>>||anchor="H31.RESET"]]| | | | | ✓|none|Soft reset. See command for details.
181		-|32|[[**DEFAULT**>>||anchor="H32.DEFAULTA026CONFIRM"]]| | | | |✓|none|Revert to firmware default values. See command for details
182		-|33|[[**UPDATE**>>||anchor="H33.UPDATEA026CONFIRM"]]| | | | |✓|none|Update firmware. See command for details.
	178	+|31|**RESET**| | | | | ✓|none|Soft reset. See command for details.
	179	+|32|**DEFAULT**| | | | |✓|none|Revert to firmware default values. See command for details
	180	+|33|**UPDATE**| | | | |✓|none|Update firmware. See command for details.
183	183
184	184	== Details ==
185	185