Last modified by Eric Nantel on 2024/11/21 09:43
From version < 98.4 >
edited by Coleman Benson
on 2019/02/05 13:05
To version < 98.11 >
edited by Coleman Benson
on 2019/02/05 13:34
< >
Change comment: There is no comment for this version

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... ... @@ -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
... ... @@ -143,10 +143,10 @@
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.
... ... @@ -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>
... ... @@ -431,7 +431,7 @@
431 431  
432 432  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.
433 433  
434 -====== __17. Baud Rate (B)__ ======
440 +====== __17. Baud Rate__ ======
435 435  
436 436  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.
437 437  
... ... @@ -481,37 +481,25 @@
481 481  
482 482  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 (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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