dh4d:consolecommands

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dh4d:consolecommands [2016/03/28 19:38] – [Basic Commands] - added pwr command wadmindh4d:consolecommands [2017/03/23 16:34] (current) wadmin
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-===== SR-DH4D Console Commands =====+===== [Ares Architecture] SR-RH4D/DH4D Console Commands ===== 
 + 
 +//This is a comprehensive list of all commands supported by the SR-RH4D/DH4D console, with ARES Architecture (units built before March st 2017).\\// 
 +//If you are looking for the Console Commands for the EROS architecture (all other units and models) see [[eros:consolecommands|here]].//
  
-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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 __''did'' - List Hand Configuration and Internal Status__\\ __''did'' - List Hand Configuration and Internal Status__\\
 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, servo status (including overload errors, etc.) and additional board information including model, Serial Number, Position Resolution and presence of Bluetooth module.\\+It will display a comprehensive list including Dynamixel IDs, connection settings, actuator status (including overload errors, etc.) and additional board information including model, Serial Number, Position Resolution and presence of Bluetooth module.\\
  
 __''ope'' - Open Hand__\\ __''ope'' - Open Hand__\\
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-__''pos'' - Set servo position__\\ +__''pos'' - Set actuator position__\\ 
-''pos [servo_nr 1-4] [position value]''+''pos [actuator_nr 1-4] [position value]''
  
 The position value should be provided in the range of 0~1023 or 0~4095 depending how your Hand is configured for [[dh4d:1023and4095positionrange|Position Resolution]]. The position value should be provided in the range of 0~1023 or 0~4095 depending how your Hand is configured for [[dh4d:1023and4095positionrange|Position Resolution]].
  
-__''pwr'' - Reset the unit and Power cycle actuators__+__''rst [actuator_nr 1-4]'' - Reset Actuator__\\ 
 +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 and/or electrical limits. 
 + 
 +__''pwr''Power cycle actuators and reboot main board__\\ 
 +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) and have a direct impact on the operation of the hand.
  
 __''ree 1'' - Resets Baud Rate, Return Delay Time and Status Return Level of the Dynamixel communication to factory defaults__\\ __''ree 1'' - Resets Baud Rate, Return Delay Time and Status Return Level of the Dynamixel communication to factory defaults__\\
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-==== Commands to manipulate the Control Tables ====+==== STP Procotol: Commands to manipulate the Control Tables ====
  
-This functionality has been implemented to ensure a 1:1 match in manipulating the [[dh4d:dynamixelcontroltables|Dynamixel Control tables]] through any of the interfaces in the Hand.+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:dynamixelcontroltables|Dynamixel Control tables]] through any of the interfaces in the Hand.
  
-**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 ''byte'' or ''word'' directly to it.
-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 difference is that, when addressing the Actuator control tables, in the console commands we identify them from 1-4 (5 for the Virtual ID) and this is fixed. We do not use the Dynamixel ID in the syntax of these commands.+Another very important point is that, when addressing the Actuator control tables, in the console commands we identify them from 1-4 (5 for the Virtual ID) and this is fixed. We do not use the Dynamixel ID in the syntax of these commands.
  
 __''wrb'' - write BYTE on Dynamixel table__\\ __''wrb'' - write BYTE on Dynamixel table__\\
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 Return\\ Return\\
-''[byte: Dynamixel error flag]\n''+''[byte: bitmask flag]\n''
  
  
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 Return\\ Return\\
-''[byte: Dynamixel error flag]\t[byte:value]\n''+''[byte: bitmask error flag]\t[byte:value]\n''
  
  
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 Return\\ Return\\
-''[byte: Dynamixel error flag]\t[word:value]\n''+''[byte: bitmask error flag]\t[word:value]\n''
  
  
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 To learn about the Control tables see [[dh4d:dynamixelcontroltables|here]]. To learn about the Control tables see [[dh4d:dynamixelcontroltables|here]].
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  • Last modified: 2016/03/28 19:38
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