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dh4d:consolecommands [2016/03/28 19:38] – [Basic Commands] - added pwr command wadmin | dh4d:consolecommands [2017/03/23 16:34] (current) – wadmin | ||
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- | ===== SR-DH4D Console Commands ===== | + | ===== [Ares Architecture] |
+ | |||
+ | //This is a comprehensive list of all commands supported by the SR-RH4D/ | ||
+ | //If you are looking for the Console Commands for the EROS architecture (all other units and models) see [[eros: | ||
- | This is a comprehensive list of all commands supported by the SR-DH4D console. | ||
These commands can be used through the USB console or through the Bluetooth interface (if installed). | These commands can be used through the USB console or through the Bluetooth interface (if installed). | ||
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This should be your first go-to command for troubleshooting. | This should be your first go-to command for troubleshooting. | ||
- | It will display a comprehensive list including Dynamixel IDs, connection settings, | + | It will display a comprehensive list including Dynamixel IDs, connection settings, |
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- | __'' | + | __'' |
- | '' | + | '' |
The position value should be provided in the range of 0~1023 or 0~4095 depending how your Hand is configured for [[dh4d: | The position value should be provided in the range of 0~1023 or 0~4095 depending how your Hand is configured for [[dh4d: | ||
- | __'' | + | __'' |
+ | This command will clear all errors (including overload), disable torque, power save and force control modes.\\ | ||
+ | When using this command to clear overload errors, use caution as the detection of an overload means the unit is indeed operating near it's mechanical | ||
+ | |||
+ | __'' | ||
+ | This command will force a reboot of the complete unit. | ||
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These commands let you configure the inner workings and settings for your hand. | These commands let you configure the inner workings and settings for your hand. | ||
- | They should be used with caution as they typically manipulate settings that will be save din permanent storage (EEPROM). | + | They should be used with caution as they typically manipulate settings that will be saved in permanent storage (EEPROM) |
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- | ==== Commands to manipulate the Control Tables ==== | + | ==== STP Procotol: |
- | This functionality | + | The Seed Robotics High Speed (SHSP) Protocol is implemented as an extension of the console commands and is designed to offer a simple and efficient way to control the hand by manipulating the control tables. |
+ | It has been implemented to ensure a 1:1 match in manipulating the [[dh4d: | ||
- | **Please note that the console syntax does not follow the Dynamixel protocol format:** | + | **Please note that console syntax does not follow the Dynamixel protocol format:** |
- | Instead, commands are provided to let you target a Control Table position and read or write a byte or word directly to it. | + | Instead, commands are provided to let you target a Control Table position and read or write a '' |
- | It has the same effect as sending a READ or WRITE command to the hand, except here, we do it in a console environment and console syntax. | + | |
- | Another very important | + | Another very important |
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Return\\ | Return\\ | ||
- | '' | + | '' |
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Return\\ | Return\\ | ||
- | '' | + | '' |
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Return\\ | Return\\ | ||
- | '' | + | '' |
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To learn about the Control tables see [[dh4d: | To learn about the Control tables see [[dh4d: | ||
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