Last modified by Eric Nantel on 2025/06/06 07:47
From version < 98.2 >
edited by Coleman Benson
on 2019/02/05 11:13
To version < 98.37 >
edited by Coleman Benson
on 2019/02/05 16:16
< >
Change comment: There is no comment for this version

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Content
... ... @@ -131,8 +131,8 @@
131 131  |= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
132 132  | 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| L| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
133 133  | 2|[[**H**alt & **H**old>>||anchor="H2.Halt26Hold28H29"]]| H| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
134 -| 3|[[**T**imed move>>||anchor="H3.Timedmove28T29"]]| T| | | | | ✓|milliseconds|(% style="width:510px" %) Modifier only for {P, D, MD}|(% style="text-align:center; width:113px" %)
135 -| 4|[[**S**peed>>||anchor="H4.Speed28S29"]]| S| | | | | ✓|microseconds per second|(% style="width:510px" %) Modifier only {P}|(% style="text-align:center; width:113px" %)
134 +| 3|[[**T**imed move>>||anchor="H3.Timedmove28T29modifier"]]| T| | | | | ✓|milliseconds|(% style="width:510px" %) Modifier only for {P, D, MD}|(% style="text-align:center; width:113px" %)
135 +| 4|[[**S**peed>>||anchor="H4.Speed28S29modifier"]]| S| | | | | ✓|microseconds per second|(% style="width:510px" %) Modifier only {P}|(% style="text-align:center; width:113px" %)
136 136  | 5|[[**M**ove in **D**egrees (relative)>>||anchor="H5.28Relative29MoveinDegrees28MD29"]]| MD| | | | | ✓|tenths of degrees (ex 325 = 32.5 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
137 137  | 6|[[**O**rigin Offset>>||anchor="H6.OriginOffsetAction28O29"]]| O| QO|CO|✓| ✓| ✓|tenths of degrees (ex 91 = 9.1 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
138 138  0
... ... @@ -143,52 +143,50 @@
143 143  | 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| P| QP| | | | ✓|microseconds|(% style="width:510px" %)(((
144 144  Inherited from SSC-32 serial protocol
145 145  )))|(% style="text-align:center; width:113px" %)
146 -| 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| D| QD| | | | ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
146 +| 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| D| QD / QDT| | | | ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
147 147  | 10|[[**W**heel mode in **D**egrees>>||anchor="H10.WheelModeinDegrees28WD29"]]| WD| QWD| | | | ✓|tenths of degrees per second (ex 248 = 24.8 degrees per second)|(% style="width:510px" %)A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center; width:113px" %)
148 148  | 11|[[**W**heel mode in **R**PM>>||anchor="H11.WheelModeinRPM28WR29"]]| WR| QWR| | | | ✓|revolutions per minute (rpm)|(% style="width:510px" %)A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center; width:113px" %)
149 -| 12|[[Max **S**peed in **D**egrees>>||anchor="H12.SpeedinDegrees28SD29"]]| SD| QSD|CSD|✓| ✓| ✓|tenths of degrees per second |(% style="width:510px" %)(((
149 +| 12|[[Max **S**peed in **D**egrees>>||anchor="H12.MaxSpeedinDegrees28SD29"]]| SD| QSD|CSD|✓| ✓| ✓|tenths of degrees per second |(% style="width:510px" %)(((
150 150  QSD: Add modifier "2" for instantaneous speed.
151 151  
152 152  SD overwrites SR / CSD overwrites CSR and vice-versa.
153 153  )))|(% style="text-align:center; width:113px" %)Max per servo
154 -| 13|[[Max **S**peed in **R**PM>>||anchor="H13.SpeedinRPM28SR29"]]| SR| QSR|CSR|✓| ✓| ✓|revolutions per minute (rpm)|(% style="width:510px" %)(((
154 +| 13|[[Max **S**peed in **R**PM>>||anchor="H13.MaxSpeedinRPM28SR29"]]| SR| QSR|CSR|✓| ✓| ✓|revolutions per minute (rpm)|(% style="width:510px" %)(((
155 155  QSR: Add modifier "2" for instantaneous speed
156 156  
157 157  SR overwrites SD / CSR overwrites CSD and vice-versa.
158 158  )))|(% style="text-align:center; width:113px" %)Max per servo
159 -| 14|[[**LED** Color>>||anchor="H16.RGBLED28LED29"]]| LED| QLED| CLED|✓| ✓| ✓|none (integer from 0 to 8)|(% style="width:510px" %)0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;|(% style="text-align:center; width:113px" %)7
160 -| 15|[[**ID** #>>||anchor="H17.IdentificationNumber"]]| | QID| CID| | | ✓|none (integer from 0 to 250)|(% style="width:510px" %)Note: ID 254 is a "broadcast" which all servos respond to. |(% style="text-align:center; width:113px" %)0
161 -| 16|[[**B**aud rate>>||anchor="H18.BaudRate"]]| B| QB| CB| | | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)9600
162 -| 17|[[**G**yre direction (**G**)>>||anchor="H19.GyreRotationDirection"]]| G| QG| CG|✓| ✓| ✓|none |(% style="width:510px" %)Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)|(% style="text-align:center; width:113px" %)1
163 -| 18|[[**F**irst Position (**P**ulse)>>||anchor="H20.First2InitialPosition28pulse29"]]| | QFP|CFP | | ✓| ✓|none |(% style="width:510px" %)CFP overwrites CFD and vice-versa|(% style="text-align:center; width:113px" %)(((
159 +| 14|[[**LED** Color>>||anchor="H14.LEDColor28LED29"]]| LED| QLED| CLED|✓| ✓| ✓|none (integer from 0 to 8)|(% style="width:510px" %)0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;|(% style="text-align:center; width:113px" %)7
160 +| 15|[[**G**yre direction (**G**)>>||anchor="H15.GyreRotationDirection28G29"]]| G| QG| CG|✓| ✓| ✓|none |(% style="width:510px" %)Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)|(% style="text-align:center; width:113px" %)1
161 +| 16|[[**ID** #>>||anchor="H16.IdentificationNumber28ID29"]]| | QID| CID| | | ✓|none (integer from 0 to 250)|(% style="width:510px" %)Note: ID 254 is a "broadcast" which all servos respond to. |(% style="text-align:center; width:113px" %)0
162 +| 17|[[**B**aud rate>>||anchor="H17.BaudRate"]]| | QB| CB| | | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)9600
163 +| 18|[[**F**irst Position (**P**ulse)>>||anchor="H18.FirstPosition28Pulse2928FP29"]]| | QFP|CFP |X| ✓| ✓|none |(% style="width:510px" %)CFP overwrites CFD and vice-versa|(% style="text-align:center; width:113px" %)(((
164 164  Limp
165 165  )))
166 -| 19|[[**F**irst Position (**D**eg)>>||anchor="H21.First2InitialPosition28Degrees29"]]| | QFD|CFD| | ✓| ✓|none |(% style="width:510px" %)CFD overwrites CFP and vice-versa|(% style="text-align:center; width:113px" %)Limp
167 -| 20|[[**T**arget (**D**eg) **P**osition>>||anchor="H22.QueryTargetPositioninDegrees28QDT29"]]| | QDT| | | | ✓|tenths of degrees (ex 325 = 32.5 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
168 -| 21|[[**M**odel **S**tring>>||anchor="H23.QueryModelString28QMS29"]]| | QMS| | | | |none (string)|(% style="width:510px" %) Returns the type of servo (ST, HS, HT)|(% style="text-align:center; width:113px" %)
169 -| 22|[[Serial **N**umber>>||anchor="H24.QuerySerialNumber28QN29"]]| | QN| | | | |none (integer)|(% style="width:510px" %) Returns the unique serial number for that servo|(% style="text-align:center; width:113px" %)
170 -| 23|[[**F**irmware version>>||anchor="H25.QueryFirmware28QF29"]]| | QF| | | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
171 -| 24|[[**Q**uery (gen. status)>>||anchor="H26.QueryStatus28Q29"]]| | Q| | | | ✓|none (integer from 1 to 8)|(% style="width:510px" %) See command description for details|(% style="text-align:center; width:113px" %)
172 -| 25|[[**V**oltage>>||anchor="H27.QueryVoltage28QV29"]]| | QV| | | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
173 -| 26|[[**T**emperature>>||anchor="H28.QueryTemperature28QT29"]]| | QT| | | | ✓|tenths of degrees Celsius|(% style="width:510px" %)Max temp before error: 85°C (servo goes limp)|(% style="text-align:center; width:113px" %)
174 -| 27|[[**C**urrent>>||anchor="H29.QueryCurrent28QC29"]]| | QC| | | | ✓|milliamps (ex 200 = 0.2A)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
175 -| 28|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]] - Position| | |CRC1|✓| | ✓|none|(% style="width:510px" %)(((
176 -Change to RC position mode. To revert to smart mode, use the button menu.
166 +| 19|[[**F**irst Position (**D**eg)>>||anchor="H19.FirstPosition28Degrees2928FD29"]]| | QFD|CFD|X| ✓| ✓|none |(% style="width:510px" %)CFD overwrites CFP and vice-versa|(% style="text-align:center; width:113px" %)Limp
167 +| 20|[[**M**odel **S**tring>>||anchor="H20.QueryModelString28QMS29"]]| | QMS| | | | |none (string)|(% style="width:510px" %) Returns the type of servo (ST, HS, HT)|(% style="text-align:center; width:113px" %)
168 +| 21|[[Serial **N**umber>>||anchor="H21.QuerySerialNumber28QN29"]]| | QN| | | | |none (integer)|(% style="width:510px" %) Returns the unique serial number for that servo|(% style="text-align:center; width:113px" %)
169 +| 22|[[**F**irmware version>>||anchor="H22.QueryFirmware28QF29"]]| | QF| | | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
170 +| 23|[[**Q**uery (gen. status)>>||anchor="H23.QueryStatus28Q29"]]| | Q| | | | ✓|none (integer from 1 to 8)|(% style="width:510px" %) See command description for details|(% style="text-align:center; width:113px" %)
171 +| 24|[[**V**oltage>>||anchor="H24.QueryVoltage28QV29"]]| | QV| | | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
172 +| 25|[[**T**emperature>>||anchor="H25.QueryTemperature28QT29"]]| | QT| | | | ✓|tenths of degrees Celsius|(% style="width:510px" %)Max temp before error: 85°C (servo goes limp)|(% style="text-align:center; width:113px" %)
173 +| 26|[[**C**urrent>>||anchor="H26.QueryCurrent28QC29"]]| | QC| | | | ✓|milliamps (ex 200 = 0.2A)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
174 +| 27|[[**C**hange to** RC**>>||anchor="H27.ConfigureRCMode28CRC29"]]| | |CRC|✓| | ✓|none|(% style="width:510px" %)(((
175 +Change to RC mode 1 (position) or 2 (wheel).
177 177  )))|(% style="text-align:center; width:113px" %)Serial
178 -| 29|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]] - Wheel| | |CRC2|✓| | ✓| |(% style="width:510px" %)Change to RC wheel mode. To revert to smart mode, use the button menu.|(% style="text-align:center; width:113px" %)Serial
179 -| 30|[[**RESET**>>||anchor="H31.RESET"]]| | | | | | ✓|none|(% style="width:510px" %)Soft reset. See command for details.|(% style="text-align:center; width:113px" %)
180 -| 31|[[**DEFAULT**>>||anchor="H32.DEFAULTA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Revert to firmware default values. See command for details|(% style="text-align:center; width:113px" %)
181 -| 32|[[**UPDATE**>>||anchor="H33.UPDATEA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Update firmware. See command for details.|(% style="text-align:center; width:113px" %)
177 +| 28|[[**RESET**>>||anchor="H28.RESET"]]| | | | | | ✓|none|(% style="width:510px" %)Soft reset. See command for details.|(% style="text-align:center; width:113px" %)
178 +| 29|[[**DEFAULT**>>||anchor="H29.DEFAULTA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Revert to firmware default values. See command for details|(% style="text-align:center; width:113px" %)
179 +| 30|[[**UPDATE**>>||anchor="H30.UPDATEA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Update firmware. See command for details.|(% style="text-align:center; width:113px" %)
182 182  
183 183  == Advanced ==
184 184  
185 185  |= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
186 -| A1|[[**A**ngular **S**tiffness>>||anchor="H14.AngularStiffness28AS29"]]| AS|QAS|CAS|✓| ✓| ✓|none (integer -4 to +4)|(% style="width:510px" %)Suggested values are between 0 to +4|(% style="text-align:center; width:113px" %)0
187 -| A2|[[**A**ngular **H**olding Stiffness>>||anchor="H15.AngularHoldStiffness28AH29"]]|AH|QAH|CAH|✓| | ✓|none (integer -10 to +10)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)1
188 -| A3|[[**A**ngular **A**cceleration>>||anchor="H15b:AngularAcceleration28AA29"]]|AA|QAA|CAA|✓| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared|(% style="text-align:center; width:113px" %)
189 -| A4|[[**A**ngular **D**eceleration>>||anchor="H15c:AngularDeceleration28AD29"]]|AD|QAD|CAD|✓| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared|(% style="text-align:center; width:113px" %)
190 -| A5|[[**E**nable **M**otion Control>>||anchor="H15d:MotionControl28MC29"]]|EM|QEM| | | | ✓|none|(% style="width:510px" %)EM0 to disable motion control, EM1 to enable|(% style="text-align:center; width:113px" %)
191 -| A6|[[**C**onfigure **L**ED **B**linking>>||anchor="H16b.ConfigureLEDBlinking28CLB29"]]| | | CLB| | ✓| |none (integer from 0 to 63)|(% style="width:510px" %)(((
184 +| A1|[[**A**ngular **S**tiffness>>||anchor="HA1.AngularStiffness28AS29"]]| AS|QAS|CAS|✓| ✓| ✓|none (integer -4 to +4)|(% style="width:510px" %)Suggested values are between 0 to +4|(% style="text-align:center; width:113px" %)0
185 +| A2|[[**A**ngular **H**olding Stiffness>>||anchor="HA2.AngularHoldingStiffness28AH29"]]|AH|QAH|CAH|✓| | ✓|none (integer -10 to +10)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)1
186 +| A3|[[**A**ngular **A**cceleration>>||anchor="HA3:AngularAcceleration28AA29"]]|AA|QAA|CAA|✓| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared|(% style="text-align:center; width:113px" %)
187 +| A4|[[**A**ngular **D**eceleration>>||anchor="HA4:AngularDeceleration28AD29"]]|AD|QAD|CAD|✓| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared|(% style="text-align:center; width:113px" %)
188 +| A5|[[**E**nable **M**otion Control>>||anchor="HA5:MotionControl28EM29"]]|EM|QEM| | | | ✓|none|(% style="width:510px" %)EM0 to disable motion control, EM1 to enable|(% style="text-align:center; width:113px" %)
189 +| A6|[[**C**onfigure **L**ED **B**linking>>||anchor="HA6.ConfigureLEDBlinking28CLB29"]]| | | CLB| | ✓| |none (integer from 0 to 63)|(% style="width:510px" %)(((
192 192  0=No blinking, 63=Always blink;
193 193  
194 194  Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;
... ... @@ -208,7 +208,7 @@
208 208  
209 209  This action overrides whatever the servo might be doing at the time the command is received (accelerating, moving continuously etc.) and causes it to stop immediately and hold that angular position.
210 210  
211 -====== __3. Timed move (**T**)__ ======
209 +====== __3. Timed move (**T**) modifier__ ======
212 212  
213 213  Example: #5P1500T2500<cr>
214 214  
... ... @@ -216,7 +216,7 @@
216 216  
217 217  Note: If the calculated speed at which a servo must rotate for a timed move is greater than its maximum speed (which depends on voltage and load), then it will move at its maximum speed, and the time of the move may be longer than requested.
218 218  
219 -====== __4. Speed (**S**)__ ======
217 +====== __4. Speed (**S**) modifier__ ======
220 220  
221 221  Example: #5P1500S750<cr>
222 222  
... ... @@ -303,6 +303,13 @@
303 303  
304 304  This means the servo is located at 13.2 degrees.
305 305  
304 +(% class="wikigeneratedid" id="H22.QueryTargetPositioninDegrees28QDT29" %)
305 +Query Target Position in Degrees (**QDT**)
306 +
307 +Ex: #5QDT<cr> might return *5QDT6783<cr>
308 +
309 +The query target position command returns the target angle during and after an action which results in a rotation of the servo horn. In the example above, the servo is rotating to a virtual position of 678.3 degrees. Should the servo not have a target position or be in wheel mode, it will respond without a number (Ex: *5QDT<cr>).
310 +
306 306  ====== __10. Wheel Mode in Degrees (**WD**)__ ======
307 307  
308 308  Ex: #5WD900<cr>
... ... @@ -377,10 +377,8 @@
377 377  
378 378  Using the CSR command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSR value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) received is what the servo uses for that session.
379 379  
380 -====== ======
385 +====== __14. LED Color (**LED**)__ ======
381 381  
382 -====== __16. RGB LED (**LED**)__ ======
383 -
384 384  Ex: #5LED3<cr>
385 385  
386 386  This action sets the servo's RGB LED color for that session.The LED can be used for aesthetics, or (based on user code) to provide visual status updates. Using timing can create patterns.
... ... @@ -395,65 +395,66 @@
395 395  
396 396  Configure LED Color (**CLED**)
397 397  
398 -Configuring the LED color via the CLED command sets the startup color of the servo after a reset or power cycle. Note that it also changes the session's LED color immediately as well.
401 +Configuring the LED color via the CLED command sets the startup color of the servo after a reset or power cycle. Note that it also changes the session's LED color immediately as well.
399 399  
400 -====== __17. Identification Number__ ======
403 +====== __15. Gyre Rotation Direction (**G**)__ ======
401 401  
402 -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.
405 +"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. CW = 1; CCW = -1. The factory default is clockwise (CW).
403 403  
404 -Query Identification (**QID**)
407 +Ex: #5G-1<cr>
405 405  
406 -EX: #254QID<cr> might return *QID5<cr>
409 +This command will cause servo #5's positions to be inverted, effectively causing the servo to rotate in the opposite direction given the same command. For example in a 2WD robot, servos are often physically installed back to back, therefore setting one of the servos to a negative gyration, the same wheel command (ex WR30) to both servos will cause the robot to move forward or backward rather than rotate.
407 407  
408 -When using the query ID command, it is best to only have one servo connected and thus receive only one reply using the broadcast command (ID 254). 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.
411 +Query Gyre Direction (**QG**)
409 409  
410 -Configure ID (**CID**)
413 +Ex: #5QG<cr> might return *5QG-1<cr>
411 411  
412 -Ex: #4CID5<cr>
415 +The value returned above means the servo is in a counter-clockwise gyration.
413 413  
414 -Setting a servo's ID in EEPROM is done via the CID command. All servos connected to the same serial bus 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.
417 +Configure Gyre (**CG**)
415 415  
416 -====== __18. Baud Rate__ ======
419 +Ex: #5CG-1<cr>
417 417  
418 -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 9600. Since smart servos are intended to be daisy chained, in order to respond to the same serial bus, all servos in that project should ideally 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: 9.6 kbps, 19.2 kbps, 38.4 kbps, 57.6 kbps, 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 9600. The baud rates are currently restricted to those above.
419 -\*: Current tests reveal baud rates above 500 kbps are unstable and can cause timeouts. Please keep this in mind if using those / testing them out.
421 +This changes the gyre direction as described above and also writes to EEPROM.
420 420  
421 -Query Baud Rate (**QB**)
423 +====== __16. Identification Number (**ID**)__ ======
422 422  
423 -Ex: #5QB<cr> might return *5QB9600<cr>
425 +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 (assuming same baud rate).
424 424  
425 -Querying the baud rate is used simply to confirm the CB configuration command before the servo is power cycled.
427 +Query Identification (**QID**)
426 426  
427 -Configure Baud Rate (**CB**)
429 +EX: #254QID<cr> might return *QID5<cr>
428 428  
429 -Important Note: the servo's current session retains the given baud rate and the new baud rate will only be in place when the servo is power cycled.
431 +When using the 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 (assuming the query is sent . 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.
430 430  
431 -Ex: #5CB9600<cr>
433 +Configure ID (**CID**)
432 432  
433 -Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
435 +Ex: #4CID5<cr>
434 434  
435 -====== __19. Gyre Rotation Direction__ ======
437 +Setting a servo's ID in EEPROM is done via the CID command. All servos connected to the same serial bus 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.
436 436  
437 -"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. CW = 1; CCW = -1. The factory default is clockwise (CW).
439 +====== __17. Baud Rate__ ======
438 438  
439 -{images showing before and after with AR and Origin offset}
441 +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 9600. Since smart servos are intended to be daisy chained, in order to respond to the same serial bus, all servos in a project should ideally 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. Servos are shipped with a baud rate set to 9600. The baud rates are currently restricted to those above.
440 440  
441 -Query Gyre Direction (**QG**)
443 +Query Baud Rate (**QB**)
442 442  
443 -Ex: #5QG<cr> might return *5QG-1<cr>
445 +Ex: #5QB<cr> might return *5QB9600<cr>
444 444  
445 -The value returned above means the servo is in a counter-clockwise gyration.
447 +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.
446 446  
447 -Configure Gyre (**CG**)
449 +Configure Baud Rate (**CB**)
448 448  
449 -Ex: #5CG-1<cr>
451 +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.
450 450  
451 -This changes the gyre direction as described above and also writes to EEPROM.
453 +Ex: #5CB9600<cr>
452 452  
453 -====== __20. First / Initial Position (pulse)__ ======
455 +Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
454 454  
455 -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.
457 +====== __18. First Position (Pulse) (**FP**)__ ======
456 456  
459 +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. FP and FD are different in that FP is used for RC mode only, whereas FD is used for smart mode only.
460 +
457 457  Query First Position in Pulses (**QFP**)
458 458  
459 459  Ex: #5QFP<cr> might return *5QFP1550<cr>
... ... @@ -464,11 +464,11 @@
464 464  
465 465  Ex: #5CP1550<cr>
466 466  
467 -This configuration command means the servo, when set to RC mode, will immediately move to an angle equivalent to having received an RC pulse of 1550 microseconds upon power up. Sending a CFP command without a number results in the servo remaining limp upon power up (i.e. disabled).
471 +This configuration command means the servo, when set to RC mode, will immediately move to an angle equivalent to having received an RC pulse of 1550 microseconds upon power up. Sending a CFP command without a number (Ex. #5CFP<cr>) results in the servo remaining limp upon power up (i.e. disabled).
468 468  
469 -====== __21. First / Initial Position (Degrees)__ ======
473 +====== __19. First Position (Degrees) (**FD**)__ ======
470 470  
471 -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.
475 +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. FP and FD are different in that FP is used for RC mode only, whereas FD is used for smart mode only.
472 472  
473 473  Query First Position in Degrees (**QFD**)
474 474  
... ... @@ -480,44 +480,34 @@
480 480  
481 481  Ex: #5CD64<cr>
482 482  
483 -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.
487 +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 (Ex. #5CFD<cr>) results in the servo remaining limp upon power up.
484 484  
485 -====== __22. Query Target Position in Degrees (**QDT**)__ ======
489 +====== __20. Query Model String (**QMS**)__ ======
486 486  
487 -Ex: #5QDT<cr> might return *5QDT6783<cr>
488 -
489 -The query target position command returns the target angle during and after an action which results in a rotation of the servo horn. In the example above, the servo is rotating to a virtual position of 678.3 degrees. Should the servo not have a target position or be in wheel mode, it will respond without a number (Ex: *5QDT<cr>).
490 -
491 -====== __23. Query Model String (**QMS**)__ ======
492 -
493 493  Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
494 494  
495 -This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
493 +This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
496 496  
497 -====== __23b. Query Model (**QM**)__ ======
495 +====== __21. Query Serial Number (**QN**)__ ======
498 498  
499 -Ex: #5QM<cr> might return *5QM68702699520cr>
497 +Ex: #5QN<cr> might return *5QN12345678<cr>
500 500  
501 -This reply means the servo model is 0xFFF000000 or 100, meaning a high speed servo, first revision.
499 +The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
502 502  
503 -====== __24. Query Serial Number (**QN**)__ ======
501 +====== __22. Query Firmware (**QF**)__ ======
504 504  
505 -Ex: #5QN<cr> might return *5QN~_~_<cr>
503 +Ex: #5QF<cr> might return *5QF411<cr>
506 506  
507 -The number in the response is the servo's serial number which is set and cannot be changed.
505 +The number in the reply represents the firmware version, in this example being 411.
508 508  
509 -====== __25. Query Firmware (**QF**)__ ======
507 +====== __23. Query Status (**Q**)__ ======
510 510  
511 -Ex: #5QF<cr> might return *5QF11<cr>
509 +The status query described what the servo is currently doing. The query returns an integer which must be looked up in the table below.
512 512  
513 -The integer in the reply represents the firmware version with one decimal, in this example being 1.1
514 -
515 -====== __26. Query Status (**Q**)__ ======
516 -
517 517  Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
518 518  
519 519  |*Value returned|**Status**|**Detailed description**
520 -|ex: *5Q0<cr>|Unknown|LSS is unsure
514 +|ex: *5Q0<cr>|Unknown|LSS is unsure / unknown state
521 521  |ex: *5Q1<cr>|Limp|Motor driving circuit is not powered and horn can be moved freely
522 522  |ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
523 523  |ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
... ... @@ -529,55 +529,56 @@
529 529  |ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting
530 530  |ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
531 531  
532 -====== __27. Query Voltage (**QV**)__ ======
526 +====== __24. Query Voltage (**QV**)__ ======
533 533  
534 534  Ex: #5QV<cr> might return *5QV11200<cr>
535 535  
536 536  The number returned has one decimal, so in the case above, servo with ID 5 has an input voltage of 11.2V (perhaps a three cell LiPo battery).
537 537  
538 -====== __28. Query Temperature (**QT**)__ ======
532 +====== __25. Query Temperature (**QT**)__ ======
539 539  
540 540  Ex: #5QT<cr> might return *5QT564<cr>
541 541  
542 542  The units are in tenths of degrees Celcius, so in the example above, the servo's internal temperature is 56.4 degrees C. To convert from degrees Celcius to degrees Farenheit, multiply by 1.8 and add 32. Therefore 56.4C = 133.52F.
543 543  
544 -====== __29. Query Current (**QC**)__ ======
538 +====== __26. Query Current (**QC**)__ ======
545 545  
546 546  Ex: #5QC<cr> might return *5QC140<cr>
547 547  
548 548  The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
549 549  
550 -====== __30. RC Mode (**CRC**)__ ======
544 +====== __27. Configure RC Mode (**CRC**)__ ======
551 551  
552 552  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.
553 553  
554 554  |**Command sent**|**Note**
555 -|ex: #5CRC<cr>|Stay in smart mode.
556 556  |ex: #5CRC1<cr>|Change to RC position mode.
557 557  |ex: #5CRC2<cr>|Change to RC continuous (wheel) mode.
558 -|ex: #5CRC*<cr>|Where * is any number or value. Stay in smart mode.
551 +|ex: #5CRC*<cr>|Where * is any number or value other than 1 or 2 (or no value): stay in smart mode.
559 559  
560 -EX: #5CRC<cr>
553 +EX: #5CRC2<cr>
561 561  
562 -====== __31. RESET__ ======
555 +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.
563 563  
557 +====== __28. **RESET**__ ======
558 +
564 564  Ex: #5RESET<cr> or #5RS<cr>
565 565  
566 566  This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
567 567  
568 -====== __32. DEFAULT & CONFIRM__ ======
563 +====== __29. **DEFAULT** & CONFIRM__ ======
569 569  
570 570  Ex: #5DEFAULT<cr>
571 571  
572 -This command sets in motion the reset 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.
567 +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.
573 573  
574 574  EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
575 575  
576 -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 leave the firmware action.
571 +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.
577 577  
578 578  Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
579 579  
580 -====== __33. UPDATE & CONFIRM__ ======
575 +====== __30. **UPDATE** & CONFIRM__ ======
581 581  
582 582  Ex: #5UPDATE<cr>
583 583  
... ... @@ -589,9 +589,11 @@
589 589  
590 590  Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
591 591  
587 += Advanced =
588 +
592 592  ====== __A1. Angular Stiffness (**AS**)__ ======
593 593  
594 -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.
591 +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.
595 595  
596 596  A positive value of "angular stiffness":
597 597  
... ... @@ -603,7 +603,7 @@
603 603  * Causes a slower acceleration to the travel speed, and a slower deceleration
604 604  * Allows the target position to deviate more from its position before additional torque is applied to bring it back
605 605  
606 -The default value is zero and the effect becomes extreme by -4, +4. There are no units, only integers between -4 to 4. Greater values produce increasingly erratic behavior.
603 +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.
607 607  
608 608  Ex: #5AS-2<cr>
609 609  
... ... @@ -617,9 +617,9 @@
617 617  
618 618  Writes the desired angular stiffness value to memory.
619 619  
620 -====== __A2. Angular Holding Stiffness (**AH**)__ ======
617 +====== __A2. Angular Holding Stiffness (**AH**)__ ======
621 621  
622 -The angular holding stiffness determines the servo's ability to hold a desired position under load. Values can be from -10 to 10, with the default being 0. Note that negative values mean the final position can be easily deflected.
619 +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.
623 623  
624 624  Ex: #5AH3<cr>
625 625  
... ... @@ -651,14 +651,24 @@
651 651  
652 652  ====== __A6. Configure LED Blinking (**CLB**)__ ======
653 653  
654 -This command allows you to control when the RGB LED will blink the user set color (see [[16. RGB LED>>||anchor="H16.RGBLED28LED29"]] for details).
655 -You can turn on or off blinking for various LSS status. Here is the list and their associated value: 0=No blinking, ; 63=Always blink; Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;
651 +This command allows you to control when the RGB LED will blink the user set color (see [[16. RGB LED>>||anchor="H16.RGBLED28LED29"]] 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. Here is the list and their associated value:
656 656  
653 +(% style="width:195px" %)
654 +|(% style="width:134px" %)**Blink While:**|(% style="width:58px" %)**#**
655 +|(% style="width:134px" %)No blinking|(% style="width:58px" %)0
656 +|(% style="width:134px" %)Limp|(% style="width:58px" %)1
657 +|(% style="width:134px" %)Holding|(% style="width:58px" %)2
658 +|(% style="width:134px" %)Accelerating|(% style="width:58px" %)4
659 +|(% style="width:134px" %)Decelerating|(% style="width:58px" %)8
660 +|(% style="width:134px" %)Free|(% style="width:58px" %)16
661 +|(% style="width:134px" %)Travelling|(% style="width:58px" %)32
662 +|(% style="width:134px" %)Always blink|(% style="width:58px" %)63
663 +
657 657  To set blinking, use CLB with the value of your choosing. To activate blinking in multiple status, simply add together the values of the corresponding status. See examples below:
658 658  
659 659  Ex: #5CLB0<cr> to turn off all blinking (LED always solid)
660 -Ex: #5CLB1<cr> only blink when limp
661 -Ex: #5CLB2<cr> only blink when holding
662 -Ex: #5CLB12<cr> only blink when accel or decel
663 -Ex: #5CLB48<cr> only blink when free or travel
664 -Ex: #5CLB63<cr> blink in all status
667 +Ex: #5CLB1<cr> only blink when limp (1)
668 +Ex: #5CLB2<cr> only blink when holding (2)
669 +Ex: #5CLB12<cr> only blink when accel or decel (accel 4 + decel 8 = 12)
670 +Ex: #5CLB48<cr> only blink when free or travel (free 16 + travel 32 = 48)
671 +Ex: #5CLB63<cr> blink in all status (1 + 2 + 4 + 8 + 16 + 32)
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