Last modified by Eric Nantel on 2024/11/21 09:43
From version < 98.3 >
edited by Coleman Benson
on 2019/02/05 13:03
To version < 98.10 >
edited by Coleman Benson
on 2019/02/05 13:32
< >
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
... ... @@ -143,7 +143,7 @@
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" %)
149 149  | 12|[[Max **S**peed in **D**egrees>>||anchor="H12.SpeedinDegrees28SD29"]]| SD| QSD|CSD|✓| ✓| ✓|tenths of degrees per second |(% style="width:510px" %)(((
... ... @@ -164,21 +164,20 @@
164 164  Limp
165 165  )))
166 166  | 19|[[**F**irst Position (**D**eg)>>||anchor="H21.First2InitialPosition28Degrees29"]]| | QFD|CFD|X| ✓| ✓|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" %)(((
167 +| 20|[[**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" %)
168 +| 21|[[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" %)
169 +| 22|[[**F**irmware version>>||anchor="H25.QueryFirmware28QF29"]]| | QF| | | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
170 +| 23|[[**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" %)
171 +| 24|[[**V**oltage>>||anchor="H27.QueryVoltage28QV29"]]| | QV| | | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
172 +| 25|[[**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" %)
173 +| 26|[[**C**urrent>>||anchor="H29.QueryCurrent28QC29"]]| | QC| | | | ✓|milliamps (ex 200 = 0.2A)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
174 +| 27|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]] - Position| | |CRC1|✓| | ✓|none|(% style="width:510px" %)(((
176 176  Change to RC position mode. To revert to smart mode, use the button menu.
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|[[**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
178 +| 29|[[**RESET**>>||anchor="H31.RESET"]]| | | | | | ✓|none|(% style="width:510px" %)Soft reset. See command for details.|(% style="text-align:center; width:113px" %)
179 +| 30|[[**DEFAULT**>>||anchor="H32.DEFAULTA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Revert to firmware default values. See command for details|(% style="text-align:center; width:113px" %)
180 +| 31|[[**UPDATE**>>||anchor="H33.UPDATEA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Update firmware. See command for details.|(% style="text-align:center; width:113px" %)
182 182  
183 183  == Advanced ==
184 184  
... ... @@ -303,6 +303,13 @@
303 303  
304 304  This means the servo is located at 13.2 degrees.
305 305  
305 +(% class="wikigeneratedid" id="H22.QueryTargetPositioninDegrees28QDT29" %)
306 +Query Target Position in Degrees (**QDT**)
307 +
308 +Ex: #5QDT<cr> might return *5QDT6783<cr>
309 +
310 +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>).
311 +
306 306  ====== __10. Wheel Mode in Degrees (**WD**)__ ======
307 307  
308 308  Ex: #5WD900<cr>
... ... @@ -395,8 +395,28 @@
395 395  
396 396  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.
397 397  
398 -====== __15. Identification Number (**ID** #)__ ======
404 +====== __15. Gyre Rotation Direction (**G**)__ ======
399 399  
406 +"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).
407 +
408 +Ex: #5G-1<cr>
409 +
410 +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.
411 +
412 +Query Gyre Direction (**QG**)
413 +
414 +Ex: #5QG<cr> might return *5QG-1<cr>
415 +
416 +The value returned above means the servo is in a counter-clockwise gyration.
417 +
418 +Configure Gyre (**CG**)
419 +
420 +Ex: #5CG-1<cr>
421 +
422 +This changes the gyre direction as described above and also writes to EEPROM.
423 +
424 +====== __16. Identification Number (**ID** #)__ ======
425 +
400 400  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).
401 401  
402 402  Query Identification (**QID**)
... ... @@ -411,7 +411,7 @@
411 411  
412 412  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.
413 413  
414 -====== __16. Baud Rate (B)__ ======
440 +====== __17. Baud Rate__ ======
415 415  
416 416  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.
417 417  
... ... @@ -429,26 +429,6 @@
429 429  
430 430  Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
431 431  
432 -====== __17. Gyre Rotation Direction (**G**)__ ======
433 -
434 -"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).
435 -
436 -Ex: #5G-1<cr>
437 -
438 -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.
439 -
440 -Query Gyre Direction (**QG**)
441 -
442 -Ex: #5QG<cr> might return *5QG-1<cr>
443 -
444 -The value returned above means the servo is in a counter-clockwise gyration.
445 -
446 -Configure Gyre (**CG**)
447 -
448 -Ex: #5CG-1<cr>
449 -
450 -This changes the gyre direction as described above and also writes to EEPROM.
451 -
452 452  ====== __18. First Position (Pulse) (**FP**)__ ======
453 453  
454 454  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.
... ... @@ -463,7 +463,7 @@
463 463  
464 464  Ex: #5CP1550<cr>
465 465  
466 -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).
472 +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).
467 467  
468 468  ====== __19. First / Initial Position (Degrees) (**FD**)__ ======
469 469  
... ... @@ -479,39 +479,27 @@
479 479  
480 480  Ex: #5CD64<cr>
481 481  
482 -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.
488 +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.
483 483  
484 -====== __22. Query Target Position in Degrees (**QDT**)__ ======
490 +====== __20. Query Model String (**QMS**)__ ======
485 485  
486 -Ex: #5QDT<cr> might return *5QDT6783<cr>
487 -
488 -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>).
489 -
490 -====== __23. Query Model String (**QMS**)__ ======
491 -
492 492  Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
493 493  
494 494  This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
495 495  
496 -====== __23b. Query Model (**QM**)__ ======
496 +====== __241. Query Serial Number (**QN**)__ ======
497 497  
498 -Ex: #5QM<cr> might return *5QM68702699520cr>
499 -
500 -This reply means the servo model is 0xFFF000000 or 100, meaning a high speed servo, first revision.
501 -
502 -====== __24. Query Serial Number (**QN**)__ ======
503 -
504 504  Ex: #5QN<cr> might return *5QN~_~_<cr>
505 505  
506 506  The number in the response is the servo's serial number which is set and cannot be changed.
507 507  
508 -====== __25. Query Firmware (**QF**)__ ======
502 +====== __22. Query Firmware (**QF**)__ ======
509 509  
510 510  Ex: #5QF<cr> might return *5QF11<cr>
511 511  
512 512  The integer in the reply represents the firmware version with one decimal, in this example being 1.1
513 513  
514 -====== __26. Query Status (**Q**)__ ======
508 +====== __23. Query Status (**Q**)__ ======
515 515  
516 516  Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
517 517  
... ... @@ -528,25 +528,25 @@
528 528  |ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting
529 529  |ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
530 530  
531 -====== __27. Query Voltage (**QV**)__ ======
525 +====== __24. Query Voltage (**QV**)__ ======
532 532  
533 533  Ex: #5QV<cr> might return *5QV11200<cr>
534 534  
535 535  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).
536 536  
537 -====== __28. Query Temperature (**QT**)__ ======
531 +====== __25. Query Temperature (**QT**)__ ======
538 538  
539 539  Ex: #5QT<cr> might return *5QT564<cr>
540 540  
541 541  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.
542 542  
543 -====== __29. Query Current (**QC**)__ ======
537 +====== __26. Query Current (**QC**)__ ======
544 544  
545 545  Ex: #5QC<cr> might return *5QC140<cr>
546 546  
547 547  The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
548 548  
549 -====== __30. RC Mode (**CRC**)__ ======
543 +====== __27 / 28. RC Mode (**CRC**)__ ======
550 550  
551 551  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.
552 552  
... ... @@ -558,13 +558,13 @@
558 558  
559 559  EX: #5CRC<cr>
560 560  
561 -====== __31. RESET__ ======
555 +====== __29. **RESET**__ ======
562 562  
563 563  Ex: #5RESET<cr> or #5RS<cr>
564 564  
565 565  This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
566 566  
567 -====== __32. DEFAULT & CONFIRM__ ======
561 +====== __30. **DEFAULT** & CONFIRM__ ======
568 568  
569 569  Ex: #5DEFAULT<cr>
570 570  
... ... @@ -576,7 +576,7 @@
576 576  
577 577  Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
578 578  
579 -====== __33. UPDATE & CONFIRM__ ======
573 +====== __31. **UPDATE** & CONFIRM__ ======
580 580  
581 581  Ex: #5UPDATE<cr>
582 582  

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