Last modified by Eric Nantel on 2024/07/03 09:42
From version < 45.1 >
edited by Coleman Benson
on 2023/07/26 14:36
To version < 34.1 >
edited by Coleman Benson
on 2023/07/25 15:26
< >
Change comment: There is no comment for this version

Summary

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1 1  {{warningBox warningText="More information coming soon"/}}
2 2  
3 3  
4 -
5 5  (% class="wikigeneratedid" id="HTableofContents" %)
6 6  **Page Contents**
7 7  
... ... @@ -30,88 +30,104 @@
30 30  
31 31  == Modifiers ==
32 32  
33 -Modifiers can only be used with certain **action commands**. The format to include a modifier is:
32 +{{html clean="false" wiki="true"}}
33 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
34 +Modifiers can only be used with certain **action commands**. The format to include a modifier is:<div class="wikimodel-emptyline"></div>
34 34  
35 -1. Start with a number sign **#** (Unicode Character: U+0023)
36 +1. Start with a number sign **#** (Unicode Character: U+0023)
36 36  1. Servo ID number as an integer
37 37  1. Action command (one to three letters, no spaces, capital or lowercase from a subset of action commands below)
38 38  1. Action value in the correct units with no decimal
39 -1. Modifier command (one or two letters from the list of modifiers below)
40 +1. Modifier command (one or two letters from the list of modifiers below)
40 40  1. Modifier value in the correct units with no decimal
41 -1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
42 +1. End with a carriage return **&#92;r** or **&lt;cr&gt;** Unicode Character (U+000D)
42 42  
43 -Ex: #5D13000T1500<cr>This results in the servo with ID #5 rotating to a position (1800 in tenths of degrees) of 130.00 degrees in a time ("T") of 1500 milliseconds (1.5 seconds).
44 +Ex: #5D13000T1500&lt;cr&gt;<div class="wikimodel-emptyline"></div>
44 44  
45 -== Queries ==
46 +This results in the servo with ID #5 rotating to a position (1800 in tenths of degrees) of 130.00 degrees in a time ("T") of 1500 milliseconds (1.5 seconds).<div class="wikimodel-emptyline"></div>
47 +<div class="wikimodel-emptyline"></div></div></div>
46 46  
47 -Query commands request information from the servo. Query commands are also similar to action and configuration commands and must use the following format:
49 +<h2>Queries</h2>
50 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
51 +Query commands request information from the servo. Query commands are also similar to action and configuration commands and must use the following format:<div class="wikimodel-emptyline"></div>
48 48  
49 -1. Start with a number sign **#** (Unicode Character: U+0023)
53 +1. Start with a number sign **#** (Unicode Character: U+0023)
50 50  1. Servo ID number as an integer
51 51  1. Query command (one to four letters, no spaces, capital or lower case)
52 -1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
56 +1. End with a carriage return **&#92;r** or **&lt;cr&gt;** Unicode Character (U+000D)<div class="wikimodel-emptyline"></div>
53 53  
54 -Ex: #5QD<cr> Query the position in (hundredths of) degrees for servo with ID #5The query will return a serial string (almost instantaneously) via the servo's Tx in the following format:
58 +Ex: #5QD&lt;cr&gt; Query the position in (hundredths of) degrees for servo with ID #5<div class="wikimodel-emptyline"></div>
55 55  
60 +The query will return a serial string (almost instantaneously) via the servo's Tx in the following format:
61 +
56 56  1. Start with an asterisk * (Unicode Character: U+0023)
57 57  1. Servo ID number as an integer
58 58  1. Query command (one to four letters, no spaces, capital letters)
59 59  1. The reported value in the units described, no decimals.
60 -1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
66 +1. End with a carriage return **&#92;r** or **&lt;cr&gt;** Unicode Character (U+000D)<div class="wikimodel-emptyline"></div>
61 61  
62 -There is currently no option to control how fast a servo replies after it has received a query command, therefore when sending a query command to the bus, the controller should be prepared to immediately "listen" for and parse the reply. Sending multiple queries to multiple servos on a bus in fast succession may result in replies overlapping and giving incorrect or corrupt data. As such, the controller should receive a reply before sending a new query command. A reply to the query sent above might be:
68 +There is currently no option to control how fast a servo replies after it has received a query command, therefore when sending a query command to the bus, the controller should be prepared to immediately "listen" for and parse the reply. Sending multiple queries to multiple servos on a bus in fast succession may result in replies overlapping and giving incorrect or corrupt data. As such, the controller should receive a reply before sending a new query command. A reply to the query sent above might be:<div class="wikimodel-emptyline"></div>
63 63  
64 -Ex: *5QD13000<cr>
70 +Ex: *5QD13000&lt;cr&gt;<div class="wikimodel-emptyline"></div>
65 65  
66 66  This indicates that servo #5 is currently at 130.00 degrees (13000 tenths of degrees).
73 +<div class="wikimodel-emptyline"></div></div></div>
67 67  
68 -== Configurations ==
75 +<h2>Configurations</h2>
69 69  
70 -Configuration commands and corresponding values affect a servo's defaults which are written to and read from the servo's EEPROM. These configurations are retained in memory after the servo is reset or power is cut / lost. Some configuration commands affect the session, while others do not. In the Command table below, the column "Session" denotes if the configuration command affects the session. Not all action commands have a corresponding configuration command and vice versa. Configuration commands are not cumulative; this means that if two of the same configuration commands are sent, one after the next, only the last configuration is used and stored.
77 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
78 +Configuration commands and corresponding values affect a servo's defaults which are written to and read from the servo's EEPROM.<div class="wikimodel-emptyline"></div>
71 71  
72 -The format to send a configuration command is identical to that of an action command:
80 +These configurations are retained in memory after the servo is reset or power is cut / lost. Some configuration commands affect the session, while others do not. In the Command table below, the column "Session" denotes if the configuration command affects the session. Not all action commands have a corresponding configuration command and vice versa. Configuration commands are not cumulative; this means that if two of the same configuration commands are sent, one after the next, only the last configuration is used and stored.<div class="wikimodel-emptyline"></div>
73 73  
74 -1. Start with a number sign **#** (Unicode Character: U+0023)
82 +The format to send a configuration command is identical to that of an action command:<div class="wikimodel-emptyline"></div>
83 +
84 +1. Start with a number sign **#** (Unicode Character: U+0023)
75 75  1. Servo ID number as an integer
76 76  1. Configuration command (two to four letters, no spaces, capital or lower case)
77 77  1. Configuration value in the correct units with no decimal
78 -1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
88 +1. End with a carriage return **&#92;r** or **&lt;cr&gt;** Unicode Character (U+000D)<div class="wikimodel-emptyline"></div>
79 79  
80 -Ex: #5CO-500<cr>
90 +Ex: #5CO-500&lt;cr&gt;<div class="wikimodel-emptyline"></div>
81 81  
82 -This configures an absolute origin offset ("CO") with respect to factory origin of servo with ID #5 and changes the offset for that session to -5.00 degrees (500 hundredths of degrees). Once the servo is powered off and on, zeroing the servo will cause it to move to -5.00 degrees with respect to the factory origin and report its position as 0 degrees. Configuration commands can be undone / reset either by sending the servo's default value for that configuration, or by doing a factory reset that clears all configurations (through the button menu or with DEFAULT command described below).
92 +This configures an absolute origin offset ("CO") with respect to factory origin of servo with ID #5 and changes the offset for that session to -5.00 degrees (500 hundredths of degrees). Once the servo is powered off and on, zeroing the servo will cause it to move to -5.00 degrees with respect to the factory origin and report its position as 0 degrees. Configuration commands can be undone / reset either by sending the servo's default value for that configuration, or by doing a factory reset that clears all configurations (through the button menu or with DEFAULT command described below).<div class="wikimodel-emptyline"></div>
83 83  
84 -**Session vs Configuration Query**
94 +**Session vs Configuration Query**<div class="wikimodel-emptyline"></div>
85 85  
86 -By default, the query command returns the session's value. Should no action commands have been sent to change the session value, it will return the value saved in EEPROM which will either be the servo's default, or modified with a configuration command. In order to query the value stored in EEPROM (configuration), add a '1' to the query command:
96 +By default, the query command returns the session's value. Should no action commands have been sent to change the session value, it will return the value saved in EEPROM which will either be the servo's default, or modified with a configuration command. In order to query the value stored in EEPROM (configuration), add a '1' to the query command:<div class="wikimodel-emptyline"></div>
87 87  
88 -Ex: #5CSR10<cr> immediately sets the maximum speed for servo #5 to 10rpm (explained below) and changes the value in memory.
98 +Ex: #5CSR10&lt;cr&gt; immediately sets the maximum speed for servo #5 to 10rpm (explained below) and changes the value in memory.<div class="wikimodel-emptyline"></div>
89 89  
90 -After RESET, a command of #5SR4<cr> sets the session's speed to 4rpm, but does not change the configuration value in memory. Therefore:
100 +After RESET, a command of #5SR4&lt;cr&gt; sets the session's speed to 4rpm, but does not change the configuration value in memory. Therefore:<div class="wikimodel-emptyline"></div>
91 91  
92 -#5QSR<cr> or #5QSR0<cr> would return *5QSR4<cr> which represents the value for that session, whereas
102 +#5QSR&lt;cr&gt; or #5QSR0&lt;cr&gt; would return *5QSR4&lt;cr&gt; which represents the value for that session, whereas<div class="wikimodel-emptyline"></div>
93 93  
94 -#5QSR1<cr> would return *5QSR10<cr> which represents the value in EEPROM
104 +#5QSR1&lt;cr&gt; would return *5QSR10&lt;cr&gt; which represents the value in EEPROM
105 +<div class="wikimodel-emptyline"></div></div></div>
95 95  
96 -The ability to store a "virtual angular position" is a feature which allows for rotation beyond 360 degrees, permitting multiple rotations of the output horn, moving the center position and more. The "absolute position" would be the angle of the output shaft with respect to a 360.00 degree circle and can be obtained by taking the modulus (with respect to 360 degrees) of the value. For example if the virtual position is reported as 153350 (or 1533.50 degrees), taking the modulus would give 93.5 degrees (36000 * 4 + 9350 = 153350) as the absolute position (assuming no origin offset).
107 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
108 +The ability to store a "virtual angular position" is a feature which allows for rotation beyond 360 degrees, permitting multiple rotations of the output horn, moving the center position and more. The "absolute position" would be the angle of the output shaft with respect to a 360.00 degree circle and can be obtained by taking the modulus (with respect to 360 degrees) of the value. For example if the virtual position is reported as 153350 (or 1533.50 degrees), taking the modulus would give 93.5 degrees (36000 * 4 + 9350 = 153350) as the absolute position (assuming no origin offset).<div class="wikimodel-emptyline"></div>
97 97  
98 -[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-positions.jpg||alt="LSS-servo-positions.jpg"]]
110 +[[image:LSS-servo-positions.jpg]]<div class="wikimodel-emptyline"></div>
99 99  
100 -In this example, the gyre direction (explained below, a.k.a. "rotation direction") is positive (clockwise), and origin offset has not been modified. Each square represents 30 degrees. The following command is sent:
112 +In this example, the gyre direction (explained below, a.k.a. "rotation direction") is positive (clockwise), and origin offset has not been modified. Each square represents 30 degrees. The following command is sent:<div class="wikimodel-emptyline"></div>
101 101  
102 -#1D-3000<cr> This causes the servo to move to -30.00 degrees (green arrow)
114 +#1D-3000&lt;cr&gt; This causes the servo to move to -30.00 degrees (green arrow)<div class="wikimodel-emptyline"></div>
103 103  
104 -#1D21000<cr> This second position command is sent to the servo, which moves it to 210.00 degrees (orange arrow)
116 +#1D21000&lt;cr&gt; This second position command is sent to the servo, which moves it to 210.00 degrees (orange arrow)<div class="wikimodel-emptyline"></div>
105 105  
106 -#1D-42000<cr> This next command rotates the servo counterclockwise to a position of -420.00 degrees (red arrow), which means one full rotation of 360 degrees plus 60.00 degrees (420.00 - 360.00), with a virtual position of -420.0 degrees.
118 +#1D-42000&lt;cr&gt; This next command rotates the servo counterclockwise to a position of -420.00 degrees (red arrow), which means one full rotation of 360 degrees plus 60.00 degrees (420.00 - 360.00), with a virtual position of -420.0 degrees.<div class="wikimodel-emptyline"></div>
107 107  
108 -Although the final physical position would be the same as if the servo were commanded to move to -60.00 degrees, the servo is in fact at -420.00 degrees.
120 +Although the final physical position would be the same as if the servo were commanded to move to -60.00 degrees, the servo is in fact at -420.00 degrees.<div class="wikimodel-emptyline"></div>
109 109  
110 -#1D48000<cr> This new command is sent which would then cause the servo to rotate from -420.00 degrees to 480.00 degrees (blue arrow), which would be a total of 900 degrees of clockwise rotation, or 2.5 complete rotations.
122 +#1D48000&lt;cr&gt; This new command is sent which would then cause the servo to rotate from -420.00 degrees to 480.00 degrees (blue arrow), which would be a total of 900 degrees of clockwise rotation, or 2.5 complete rotations.<div class="wikimodel-emptyline"></div>
111 111  
112 -#1D33000<cr> would cause the servo to rotate from 480.0 degrees to 330.00 degrees (yellow arrow).
124 +#1D33000&lt;cr&gt; would cause the servo to rotate from 480.0 degrees to 330.00 degrees (yellow arrow).<div class="wikimodel-emptyline"></div>
113 113  
114 114  If the servo loses power or is power cycled, it also loses the virtual position associated with that session. For example, if the virtual position was 480.00 degrees before power is cycled, upon power up the servo's position will be read as +120.00 degrees from zero (assuming center position has not been modified). The virtual position range at power-up is [-180.00°, 180.00°].
127 +<div class="wikimodel-emptyline"></div></div></div>
128 +
129 +{{/html}}
115 115  )))
116 116  
117 117  = Command List =
... ... @@ -124,10 +124,10 @@
124 124  | |[[**Default** Configuration>>||anchor="HDefault26confirm"]]|(% style="text-align:center" %)DEFAULT|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Revert to firmware default values. See command for details
125 125  | |[[Firmware **Update** Mode>>||anchor="HUpdate26confirm"]]|(% style="text-align:center" %)UPDATE|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Update firmware. See command for details.
126 126  | |[[**Confirm** Changes>>||anchor="HConfirm"]]|(% style="text-align:center" %)CONFIRM|(% style="text-align:center" %) |(% style="text-align:center" %) | | |
127 -| |[[**ID** Number >>||anchor="HIDNumber28ID29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QID|(% style="text-align:center" %)CID|0| |Reset required after change. ID 254 is a "broadcast" which all servos respond to.
128 -| |[[**E**nable CAN **T**erminal>>doc:||anchor="HEnableCANTerminalResistor28ET29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QET|(% style="text-align:center" %)CET| |0 or 1|0: Disable  1: Enable
129 -| |[[**U**SB **C**onnection Status>>||anchor="HUSBConnectionStatus28UC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QUC|(% style="text-align:center" %) | |0 or 1|0: Not connected 1: Connected
130 -| |[[**Q**uery **F**irmware **R**elease>>doc:||anchor="HFirmwareRelease28FR29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QFR|(% style="text-align:center" %) | | |
142 +| |[[**E**nable CAN **T**erminal>>||anchor="HConfigureRCMode28CRC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QET|(% style="text-align:center" %)CET| |0 or 1|0: Disable  1: Enable
143 +| |[[**ID** Number >>||anchor="HIdentificationNumber28ID29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QID|(% style="text-align:center" %)CID|0| |Reset required after change. ID 254 is a "broadcast" which all servos respond to.
144 +| |[[**U**SB **C**onnection State>>||anchor="HBaudRate"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QUC|(% style="text-align:center" %) | |0 or 1|0: Not connected 1: Connected
145 +| |**Q**uery **F**irmware **R**elease|(% style="text-align:center" %) |(% style="text-align:center" %)QFR|(% style="text-align:center" %) | | |
131 131  
132 132  |(% colspan="8" style="color:orange; font-size:18px" %)[[**Motion**>>||anchor="HMotion"]]
133 133  |(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
... ... @@ -141,12 +141,17 @@
141 141  
142 142  |(% colspan="8" style="color:orange; font-size:18px" %)[[**Motion Setup**>>||anchor="HMotionSetup"]]
143 143  |(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
159 +| |[[**E**nable **M**otion Profile>>||anchor="HEnableMotionProfile28EM29"]]|(% style="text-align:center" %)EM|(% style="text-align:center" %)QEM|(% style="text-align:center" %)CEM|1| |EM1: trapezoidal motion profile / EM0: no motion profile
160 +| |[[**F**ilter **P**osition **C**ount>>||anchor="HFilterPositionCount28FPC29"]]|(% style="text-align:center" %)FPC|(% style="text-align:center" %)QFPC|(% style="text-align:center" %)CFPC|5| |Affects motion only when motion profile is disabled (EM0)
144 144  | |[[**O**rigin Offset>>||anchor="HOriginOffset28O29"]]|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|0|1/10°|
145 145  | |[[**A**ngular **R**ange>>||anchor="HAngularRange28AR29"]]|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|1800|1/10°|
163 +| |[[**A**ngular **S**tiffness>>||anchor="HAngularStiffness28AS29"]]|(% style="text-align:center" %)AS|(% style="text-align:center" %)QAS|(% style="text-align:center" %)CAS|0|-4 to +4 integer|Suggested values are between 0 to +4
164 +| |[[**A**ngular **H**olding Stiffness>>||anchor="HAngularHoldingStiffness28AH29"]]|(% style="text-align:center" %)AH|(% style="text-align:center" %)QAH|(% style="text-align:center" %)CAH|4|-10 to +10 integer|
146 146  | |[[**A**ngular **A**cceleration>>||anchor="HAngularAcceleration28AA29"]]|(% style="text-align:center" %)AA|(% style="text-align:center" %)QAA|(% style="text-align:center" %)CAA|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
147 147  | |[[**A**ngular **D**eceleration>>||anchor="HAngularDeceleration28AD29"]]|(% style="text-align:center" %)AD|(% style="text-align:center" %)QAD|(% style="text-align:center" %)CAD|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
148 148  | |[[**G**yre Direction>>||anchor="HGyreDirection28G29"]]|(% style="text-align:center" %)G|(% style="text-align:center" %)QG|(% style="text-align:center" %)CG|1| |Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)
149 149  | |[[**F**irst Position (**D**eg)>>||anchor="HFirstPosition"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QFD|(% style="text-align:center" %)CFD|No value|1/10°|Reset required after change.
169 +| |[[**M**aximum **M**otor **D**uty>>||anchor="HMaximumMotorDuty28MMD29"]]|(% style="text-align:center" %)MMD|(% style="text-align:center" %)QMMD|(% style="text-align:center" %) |1023|255 to 1023 integer|
150 150  | |[[Maximum **S**peed in **D**egrees>>||anchor="HMaximumSpeedinDegrees28SD29"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %)QSD|(% style="text-align:center" %)CSD|Max|0.1°/s|SD overwrites SR / CSD overwrites CSR and vice-versa
151 151  | |[[Maximum **S**peed in **R**PM>>||anchor="HMaximumSpeedinRPM28SR29"]]|(% style="text-align:center" %)SR|(% style="text-align:center" %)QSR|(% style="text-align:center" %)CSR|Max|RPM|SD overwrites SR / CSD overwrites CSR and vice-versa
152 152  
... ... @@ -179,93 +179,20 @@
179 179  |(% colspan="8" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="HRGBLED"]]
180 180  |(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
181 181  | |[[**LED** Color>>||anchor="HLEDColor28LED29"]]|(% style="text-align:center" %)LED|(% style="text-align:center" %)QLED|(% style="text-align:center" %)CLED| |0 to 7 integer|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White
202 +| |[[**C**onfigure **L**ED **B**linking>>||anchor="HConfigureLEDBlinking28CLB29"]]|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)CLB| |0 to 63 integer|Reset required after change. See command for details.
182 182  
183 183  = (% style="color:inherit; font-family:inherit" %)Details(%%) =
184 184  
185 185  == (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) ==
186 186  
187 -====== (% style="color:inherit; font-family:inherit" %)__Reset__(%%) ======
188 188  
189 -(% style="color:inherit; font-family:inherit" %)Ex: #5RESET<cr>
190 -This command does a "soft reset" and reverts all commands to those stored in EEPROM (i.e. configuration commands). Note: after a RESET command is received, the LSS will restart and perform initilization again, making it unavailable on the bus for a bit. See Session, note #2 for more details.
209 +====== ======
191 191  
192 -====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ======
193 -
194 -(% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr>
195 -
196 -(% style="color:inherit; font-family:inherit" %)This command sets in motion the reset of all values to the default values included with the version of the firmware installed on that servo. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the DEFAULT function.
197 -
198 -(% style="color:inherit; font-family:inherit" %)EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
199 -
200 -(% style="color:inherit; font-family:inherit" %)Since it it not common to have to restore all configurations, a confirmation command is needed after a firmware command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will exit the command.
201 -
202 -(% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
203 -
204 -====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
205 -
206 -(% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
207 -
208 -(% style="color:inherit; font-family:inherit" %)This command sets in motion the equivalent of a long button press when the servo is not powered in order to enter firmware update mode. This is useful should the button be broken or inaccessible. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the UPDATE function.
209 -
210 -(% style="color:inherit; font-family:inherit" %)EX: #5UPDATE<cr> followed by #5CONFIRM<cr>
211 -
212 -(% style="color:inherit; font-family:inherit" %)Since it it not common to have to update firmware, a confirmation command is needed after an UPDATE command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will leave the firmware action.
213 -
214 -(% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
215 -
216 -====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
217 -
218 -(% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
219 -
220 -(% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command.
221 -Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
222 -
223 -====== (% style="color:inherit; font-family:inherit" %)__ID Number (**ID**)__(%%) ======
224 -
225 -(% style="color:inherit; font-family:inherit" %)Configure ID Number (**CID**)
226 -
227 -(% style="color:inherit; font-family:inherit" %)Ex: #0CID5<cr>
228 -
229 -The default ID is 0, so this sets the servo to ID 5.
230 -
231 -Query ID Number (**QID**)
232 -
233 -Ex: #254QID<cr> might return *254QID5<cr>
234 -
235 -In this case, the broadcast ID is used to ensure the servo connected will reply with the ID. This can be used in case the ID assigned to a servo is forgotten.
236 -
237 -====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor (**ET**)__(%%) ======
238 -
239 -Query Enable CAN Terminal Resistor (**QET**)
240 -
241 -Ex: #5QET<cr> might return *QET0<cr>
242 -
243 -This means that servo with ID 5 is NOT configured as the last servo in the CAN bus.
244 -
245 -Configure Enable CAN Terminal Resistor (**CET**)
246 -
247 -(% style="color:inherit; font-family:inherit" %)Ex: #5CET1<cr>
248 -
249 -(% style="color:inherit; font-family:inherit" %)This commands sets servo with ID 5 as being the last in the CAN Bus. The last servo in a CAN bus must be configured this way.
250 -
251 -====== __USB Connection Status (**UC**)__ ======
252 -
253 -Query USB Connection Status (**QUC**)
254 -
255 -Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
256 -
257 -====== __Firmware Release (**FR**)__ ======
258 -
259 -Query Firmware Release (**QFR**)
260 -
261 -Ex: #5QFR<cr> might return *QFR11<cr> meaning it has a (random) firmware release version number 11.
262 -
263 -This is used to verify if the firmware on the servos is up to date, or which version is running on the microcontroller.
264 -
265 265  == Motion ==
266 266  
267 267  ====== __Position in Degrees (**D**)__ ======
268 268  
215 +
269 269  Example: #5D1456<cr>
270 270  
271 271  This moves the servo to an angle of 145.6 degrees, where the center (0) position is centered. Negative values (ex. -176 representing -17.6 degrees) could also be used. A full circle would be from -1800 to 1800 degrees. A value of 2700 would be the same angle (absolute position) as -900, except the servo would move in a different direction.
... ... @@ -293,6 +293,7 @@
293 293  
294 294  ====== __Wheel Mode in Degrees (**WD**)__ ======
295 295  
243 +
296 296  Ex: #5WD90<cr>
297 297  
298 298  This command sets the servo to wheel mode where it will rotate in the desired direction at the selected speed. The example above would have the servo rotate at 90.0 degrees per second clockwise (assuming factory default configurations).
... ... @@ -305,6 +305,7 @@
305 305  
306 306  ====== __Wheel Mode in RPM (**WR**)__ ======
307 307  
256 +
308 308  Ex: #5WR40<cr>
309 309  
310 310  This command sets the servo to wheel mode where it will rotate in the desired direction at the selected rpm. Wheel mode (a.k.a. "continuous rotation") has the servo operate like a geared DC motor. The servo's maximum rpm cannot be set higher than its physical limit at a given voltage. The example above would have the servo rotate at 40 rpm clockwise (assuming factory default configurations).
... ... @@ -315,16 +315,19 @@
315 315  
316 316  The servo replies with the angular speed in rpm. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
317 317  
267 +====== ======
268 +
318 318  ====== __(Relative) Move in Degrees (**MD**)__ ======
319 319  
320 -(% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %)
321 -Example: #5M1500<cr>
271 +======
272 +Example: #5M1500<cr> ======
322 322  
323 -(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
324 -The relative move in PWM command causes the servo to read its current position and move by the specified number of PWM signal. For example if the servo is set to rotate CW (default) and an M command of 1500 is sent to the servo, it will cause the servo to rotate clockwise by 90 degrees. Negative PWM value would cause the servo to rotate in the opposite configured direction.
274 +(% class="wikigeneratedid" %)
275 +====== The relative move in PWM command causes the servo to read its current position and move by the specified number of PWM signal. For example if the servo is set to rotate CW (default) and an M command of 1500 is sent to the servo, it will cause the servo to rotate clockwise by 90 degrees. Negative PWM value would cause the servo to rotate in the opposite configured direction. ======
325 325  
326 326  ====== __Query Status (**Q**)__ ======
327 327  
279 +
328 328  The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
329 329  
330 330  Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
... ... @@ -348,6 +348,7 @@
348 348  
349 349  If a safety limit has been reached and exceeded, the LED will flash red and the servo will stop providing torque (no longer react to commands which cause the motor to rotate). In order to determine which limit has been reached, send a Q1 command. The servo must be RESET in order to return to normal operation, though if a limit is still detected (for example the servo is still too hot), it will revert back to Safe Mode.
350 350  
303 +
351 351  |(% style="width:25px" %) |***Value returned (Q1)**|**Status**|**Detailed description**
352 352  | |ex: *5Q0<cr>|No limits have been passed|Nothing is wrong
353 353  | |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
... ... @@ -356,6 +356,7 @@
356 356  
357 357  ====== __Limp (**L**)__ ======
358 358  
312 +
359 359  Example: #5L<cr>
360 360  
361 361  This action causes the servo to go "limp". The microcontroller will still be powered, but the motor will not. As an emergency safety feature, should the robot not be doing what it is supposed to or risks damage, use the broadcast ID to set all servos limp #254L<cr>.
... ... @@ -362,6 +362,7 @@
362 362  
363 363  ====== __Halt & Hold (**H**)__ ======
364 364  
319 +
365 365  Example: #5H<cr>
366 366  
367 367  This command causes the servo to stop immediately and hold that angular position. It overrides whatever the servo might be doing at the time the command is received (accelerating, travelling, deccelerating, etc.)
... ... @@ -370,6 +370,7 @@
370 370  
371 371  ====== __Origin Offset (**O**)__ ======
372 372  
328 +
373 373  Example: #5O2400<cr>This command allows you to change the origin of the servo in relation to the factory zero position for that session. As with all action commands, the setting will be lost upon servo reset / power cycle. Origin offset commands are not cumulative and always relate to factory zero. In the first image, the origin at factory offset '0' (centered).
374 374  
375 375  [[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]
... ... @@ -523,6 +523,7 @@
523 523  (% class="wikigeneratedid" %)
524 524  This command queries the current speed in microseconds per second.
525 525  
482 +(% class="wikigeneratedid" %)
526 526  ====== __Timed move (**T**) modifier__ ======
527 527  
528 528  Example: #5D15000T2500<cr>
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