Changes for page LSS-P - Communication Protocol
Last modified by Eric Nantel on 2024/07/03 09:42
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... ... @@ -163,19 +163,20 @@ 163 163 | |[[**Q**uery **M**odel **S**tring>>||anchor="HQueryModelString28QMS29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMS|(% style="text-align:center" %) | | |Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1) 164 164 | |[[**Q**uery **F**irmware Version>>||anchor="HQueryFirmware28QF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | | | 165 165 | |[[**Q**uery Serial **N**umber>>||anchor="HQuerySerialNumber28QN29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QN|(% style="text-align:center" %) | | |Returns the unique serial number for the servo 166 -| | [[**Q**uery **T**emperature **P**robe>>doc:||anchor="HQueryTemperatureProbe28QTP29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTP|(% style="text-align:center" %) | | |Queries temperature probe fixed to the stepper motor167 -| | [[**Q**uery **T**emp of **M**CU>>doc:||anchor="HQueryMCUTemperature28QTM29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTM|(% style="text-align:center" %) | | |168 -| | [[**Q**uery **T**emp of **C**ontroller>>doc:||anchor="HQueryTempofController28QTCW29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW, QTCE|(% style="text-align:center" %) | | |(((166 +| |**Q**uery **T**emperature **P**robe|(% style="text-align:center" %) |(% style="text-align:center" %)QTP|(% style="text-align:center" %) | | |Queries temperature probe fixed to the stepper motor 167 +| |**Q**uery **T**emp of **M**CU|(% style="text-align:center" %) |(% style="text-align:center" %)QTM|(% style="text-align:center" %) | | | 168 +| |**Q**uery **T**emp of **C**ontroller|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW, QTCE|(% style="text-align:center" %) | | |((( 169 169 QTCW: Queries the temperature status of the motor controller (pre-warning) 170 170 171 171 QTCE: Queries the temperature status of the motor controller (over-temp error) 172 172 ))) 173 -| |[[**Q**uery **I**MU Linear **X**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |mm/s^2| 174 -| |[[**Q**uery **I**MU Linear **Y**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |mm/s^2| 175 -| |[[**Q**uery **I**MU Linear **Z**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |mm/s^2| 176 -| |[[**Q**uery **I**MU Angular Accel **α** >>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIA|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel α (Alpha) 177 -| |[[**Q**uery **I**MU Angular Accel **β**>>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIB|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel β (Beta) 178 -| |[[**Q**uery **I**MU Angular Accel **γ**>>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIC / QIG|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel γ (Gamma) 173 +| |**Q**uery **C**urrent **S**peed |(% style="text-align:center" %) |(% style="text-align:center" %)QCS|(% style="text-align:center" %) | | |Queries the motor controller's calculated speed 174 +| |**Q**uery **I**MU Linear **X**|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |mm/s^2| 175 +| |**Q**uery **I**MU Linear **Y**|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |mm/s^2| 176 +| |**Q**uery **I**MU Linear **Z**|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |mm/s^2| 177 +| |**Q**uery **I**MU Angular Accel **α** |(% style="text-align:center" %) |(% style="text-align:center" %)QIA|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel α (Alpha) 178 +| |**Q**uery **I**MU Angular Accel **β**|(% style="text-align:center" %) |(% style="text-align:center" %)QIB|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel β (Beta) 179 +| |**Q**uery **I**MU Angular Accel **γ**|(% style="text-align:center" %) |(% style="text-align:center" %)QIC / QIG|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel γ (Gamma) 179 179 180 180 |(% colspan="8" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="HRGBLED"]] 181 181 |(% 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** ... ... @@ -185,26 +185,13 @@ 185 185 186 186 == (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) == 187 187 188 -|(% colspan="2" %)((( 189 -====== __Reset__ ====== 190 -))) 191 -| |((( 192 -Ex: #5RESET<cr> 189 +====== (% style="color:inherit; font-family:inherit" %)__Reset__(%%) ====== 193 193 194 - Thiscommand doesa "softreset"and reverts allcommands tothose storedinEEPROM (i.e. configuration commands). Note:after a RESET command is received,the LSS will restart and performnitilizationagain, making it unavailable on thebus fora bit.See Session,note#2 formore details.195 -) ))191 +(% style="color:inherit; font-family:inherit" %)Ex: #5RESET<cr> 192 +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. 196 196 197 -|(% colspan="2" %)((( 198 198 ====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ====== 199 -))) 200 -| |((( 201 -Ex: #5RESET<cr> 202 202 203 -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. 204 -))) 205 - 206 -====== ====== 207 - 208 208 (% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr> 209 209 210 210 (% 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. ... ... @@ -569,27 +569,23 @@ 569 569 570 570 == Telemetry == 571 571 572 -====== __Query PCB Temperature (**QT**)__ ======560 +====== __Query Voltage (**QV**)__ ====== 573 573 574 -Ex: #5Q T<cr> might return *5QT564<cr>562 +Ex: #5QV<cr> might return *5QV11200<cr> 575 575 576 -The unitsareintenths of degreesCelcius, so in theexample above,theservo'sinternaltemperatureis56.4degreesC. To convertfrom degrees Celciustodegrees Farenheit, multiply by 1.8and add 32. Therefore56.4C =133.52F.564 +The number returned is in milliVolts, so in the case above, servo with ID 5 has an input voltage of 11.2V. 577 577 578 -====== __Query Temperature Probe(**QTP**)__ ======566 +====== __Query Temperature (**QT**)__ ====== 579 579 580 -Ex: 568 +Ex: #5QT<cr> might return *5QT564<cr> 581 581 582 - ======__QueryTemp ofController(**QTCW**)__======570 +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. 583 583 584 - Ex:572 +====== __Query Motor Driver Current (**QC**)__ ====== 585 585 586 -An alternative is QTCE 587 - 588 -====== __Query Current (**QC**)__ ====== 589 - 590 590 Ex: #5QC<cr> might return *5QC140<cr> 591 591 592 -The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A. It represents the RMS value. The query calculates the RMS value of the current sent from the motor driver to the stepper motor.576 +The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A. It represents the RMS value. 593 593 594 594 ====== __Query Model String (**QMS**)__ ====== 595 595 ... ... @@ -608,17 +608,3 @@ 608 608 Ex: #5QN<cr> might return *5QN12345678<cr> 609 609 610 610 The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user. 611 - 612 -====== __Query IMU Linear (**QIX** **QIY** **QIZ**)__ ====== 613 - 614 -Ex: #6QIX<cr> might return *6QIX30<cr> 615 - 616 -This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared. 617 - 618 -====== __Query IMU Angular (**QIA** **QIB** **QIC**)__ ====== 619 - 620 -Ex: #6QIB<cr> might return *6QIB44<cr> 621 - 622 -This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared. 623 - 624 -