Last modified by Eric Nantel on 2025/06/06 07:47
From version < 98.9 >
edited by Coleman Benson
on 2019/02/05 13:32
To version < 98.3 >
edited by Coleman Benson
on 2019/02/05 13:03
< >
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.Timedmove28T29modifier"]]| T| | | | | ✓|milliseconds|(% style="width:510px" %) Modifier only for {P, D, MD}|(% style="text-align:center; width:113px" %)
135 -| 4|[[**S**peed>>||anchor="H4.Speedmodifier28S29"]]| S| | | | | ✓|microseconds per second|(% style="width:510px" %) Modifier only {P}|(% 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" %)
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 / QDT| | | | ✓|tenths of degrees |(% style="width:510px" %) |(% 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" %)
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" %)(((
... ... @@ -164,20 +164,21 @@
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|[[**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" %)(((
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" %)(((
175 175  Change to RC position mode. To revert to smart mode, use the button menu.
176 176  )))|(% style="text-align:center; width:113px" %)Serial
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" %)
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" %)
181 181  
182 182  == Advanced ==
183 183  
... ... @@ -302,13 +302,6 @@
302 302  
303 303  This means the servo is located at 13.2 degrees.
304 304  
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 -
312 312  ====== __10. Wheel Mode in Degrees (**WD**)__ ======
313 313  
314 314  Ex: #5WD900<cr>
... ... @@ -401,28 +401,8 @@
401 401  
402 402  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.
403 403  
404 -====== __15. Gyre Rotation Direction (**G**)__ ======
398 +====== __15. Identification Number (**ID** #)__ ======
405 405  
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 -
426 426  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).
427 427  
428 428  Query Identification (**QID**)
... ... @@ -437,7 +437,7 @@
437 437  
438 438  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.
439 439  
440 -====== __17. Baud Rate__ ======
414 +====== __16. Baud Rate (B)__ ======
441 441  
442 442  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.
443 443  
... ... @@ -455,6 +455,26 @@
455 455  
456 456  Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
457 457  
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 +
458 458  ====== __18. First Position (Pulse) (**FP**)__ ======
459 459  
460 460  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.
... ... @@ -469,7 +469,7 @@
469 469  
470 470  Ex: #5CP1550<cr>
471 471  
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).
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).
473 473  
474 474  ====== __19. First / Initial Position (Degrees) (**FD**)__ ======
475 475  
... ... @@ -485,27 +485,39 @@
485 485  
486 486  Ex: #5CD64<cr>
487 487  
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.
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.
489 489  
490 -====== __20. Query Model String (**QMS**)__ ======
484 +====== __22. Query Target Position in Degrees (**QDT**)__ ======
491 491  
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 -====== __241. Query Serial Number (**QN**)__ ======
496 +====== __23b. Query Model (**QM**)__ ======
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 +
498 498  Ex: #5QN<cr> might return *5QN~_~_<cr>
499 499  
500 500  The number in the response is the servo's serial number which is set and cannot be changed.
501 501  
502 -====== __22. Query Firmware (**QF**)__ ======
508 +====== __25. Query Firmware (**QF**)__ ======
503 503  
504 504  Ex: #5QF<cr> might return *5QF11<cr>
505 505  
506 506  The integer in the reply represents the firmware version with one decimal, in this example being 1.1
507 507  
508 -====== __23. Query Status (**Q**)__ ======
514 +====== __26. Query Status (**Q**)__ ======
509 509  
510 510  Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
511 511  
... ... @@ -522,25 +522,25 @@
522 522  |ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting
523 523  |ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
524 524  
525 -====== __24. Query Voltage (**QV**)__ ======
531 +====== __27. Query Voltage (**QV**)__ ======
526 526  
527 527  Ex: #5QV<cr> might return *5QV11200<cr>
528 528  
529 529  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).
530 530  
531 -====== __25. Query Temperature (**QT**)__ ======
537 +====== __28. Query Temperature (**QT**)__ ======
532 532  
533 533  Ex: #5QT<cr> might return *5QT564<cr>
534 534  
535 535  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.
536 536  
537 -====== __26. Query Current (**QC**)__ ======
543 +====== __29. Query Current (**QC**)__ ======
538 538  
539 539  Ex: #5QC<cr> might return *5QC140<cr>
540 540  
541 541  The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
542 542  
543 -====== __27 / 28. RC Mode (**CRC**)__ ======
549 +====== __30. RC Mode (**CRC**)__ ======
544 544  
545 545  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.
546 546  
... ... @@ -552,13 +552,13 @@
552 552  
553 553  EX: #5CRC<cr>
554 554  
555 -====== __29. **RESET**__ ======
561 +====== __31. RESET__ ======
556 556  
557 557  Ex: #5RESET<cr> or #5RS<cr>
558 558  
559 559  This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
560 560  
561 -====== __30. **DEFAULT** & CONFIRM__ ======
567 +====== __32. DEFAULT & CONFIRM__ ======
562 562  
563 563  Ex: #5DEFAULT<cr>
564 564  
... ... @@ -570,7 +570,7 @@
570 570  
571 571  Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
572 572  
573 -====== __31. **UPDATE** & CONFIRM__ ======
579 +====== __33. UPDATE & CONFIRM__ ======
574 574  
575 575  Ex: #5UPDATE<cr>
576 576  

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