Changes for page LSS-P - Communication Protocol

Last modified by Eric Nantel on 2024/07/03 09:42

From version < 64.1 >

edited by Coleman Benson
on 2023/12/14 07:01

To version < 58.1 >

edited by Coleman Benson
on 2023/07/27 13:51

< >

Change comment: There is no comment for this version

Summary

Page properties (2 modified, 0 added, 0 removed)

Details

Page properties

Hidden

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Content

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  {{warningBox warningText="More information coming soon"/}}
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++
  (% class="wikigeneratedid" id="HTableofContents" %)
  **Page Contents**
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  |(% colspan="2" %)(((
  ====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ======
  )))
--|(% style="width:30px" %) |(((
++| |(((
  (% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr>
  (% 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.
@@ -210,7
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  |(% colspan="2" %)(((
  ====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
  )))
--|(% style="width:30px" %) |(((
++| |(((
  (% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
  (% 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.
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  (% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
  )))
--|(% colspan="2" %)(((
++(% class="wikigeneratedid" %)
++======  ======
++
  ====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
--)))
--|(% style="width:30px" %) |(((
++
  (% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
  (% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command.
  Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
--)))
--|(% colspan="2" %)(((
--====== (% style="color:inherit; font-family:inherit" %)__ID Number__(%%) ======
--)))
--|(% style="width:30px" %) |(((
--This assigns ID #5 to the servo previously assigned to ID 0
++====== (% style="color:inherit; font-family:inherit" %)__ID Number (**ID**)__(%%) ======
  (% style="color:inherit; font-family:inherit" %)Configure ID Number (**CID**)
@@ -249,12
          +249,9 @@
  Ex: #254QID<cr> might return *254QID5<cr>
  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.
--)))
--|(% colspan="2" %)(((
--====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor__(%%) ======
--)))
--|(% style="width:30px" %) |(((
++====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor (**ET**)__(%%) ======
++
  Query Enable CAN Terminal Resistor (**QET**)
  Ex: #5QET<cr> might return *QET0<cr>
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  (% style="color:inherit; font-family:inherit" %)Ex: #5CET1<cr>
  (% 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.
--)))
--|(% colspan="2" %)(((
--====== __USB Connection Status__ ======
--)))
--|(% style="width:30px" %) |(((
++====== __USB Connection Status (**UC**)__ ======
++
  Query USB Connection Status (**QUC**)
  Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
--)))
--|(% colspan="2" %)(((
--====== __Firmware Release__ ======
--)))
--|(% style="width:30px" %) |(((
++====== __Firmware Release (**FR**)__ ======
++
  Query Firmware Release (**QFR**)
  Ex: #5QFR<cr> might return *QFR11<cr> meaning it has a (random) firmware release version number 11.
  This is used to verify if the firmware on the servos is up to date, or which version is running on the microcontroller.
--)))
  == Motion ==
--|(% colspan="2" %)(((
--====== __Position in Degrees__ ======
--)))
--|(% style="width:30px" %) |(((
--Position in Degrees (**D**)
++====== __Position in Degrees (**D**)__ ======
  Example: #5D1456<cr>
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  Ex: #5QDT<cr> might return *5QDT6783<cr>
  The query target position command returns the target virtual position 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 with the last target position used.
--)))
--|(% colspan="2" %)(((
--====== __(Relative) Move in Degrees__ ======
--)))
--|(% style="width:30px" %) |(((
--Move in Degrees (**MD**)
++====== __(Relative) Move in Degrees (**MD**)__ ======
++
  Example: #5MD123<cr>
  The relative move command causes the servo to read its current position and move the specified number of tenths of degrees in the corresponding position. For example if the servo is set to rotate CW (default) and an MD command of 123 is sent to the servo, it will cause the servo to rotate clockwise by 12.3 degrees. Negative commands would cause the servo to rotate in the opposite configured direction.
--)))
--|(% colspan="2" %)(((
--====== __Wheel Mode in Degrees__ ======
--)))
--|(% style="width:30px" %) |(((
--Wheel mode in Degrees (**WD**)
++====== __Wheel Mode in Degrees (**WD**)__ ======
  Ex: #5WD90<cr>
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  Ex: #5QWD<cr> might return *5QWD90<cr>
  The servo replies with the angular speed in degrees per second. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
--)))
--|(% colspan="2" %)(((
--====== __Wheel Mode in RPM__ ======
--)))
--|(% style="width:30px" %) |(((
--Wheel moed in RPM (**WR**)
++====== __Wheel Mode in RPM (**WR**)__ ======
  Ex: #5WR40<cr>
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  Ex: #5QWR<cr> might return *5QWR40<cr>
  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).
--)))
--|(% colspan="2" %)(((
--====== __(Relative) Move in Degrees__ ======
--)))
--|(% style="width:30px" %) |(((
--(% class="wikigeneratedid" %)
--Move in Degrees (**MD**)
++====== __(Relative) Move in Degrees (**MD**)__ ======
  (% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %)
  Example: #5M1500<cr>
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  (% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
  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.
--)))
--|(% colspan="2" %)(((
--====== __Query Status__ ======
--)))
--|(% style="width:30px" %) |(((
--Query Status (**Q**)
++====== __Query Status (**Q**)__ ======
  The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
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  | |ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
  | |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
  | |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
--| |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will normally be holding)
++| |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will nornally be holding)
  | |ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
  | |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
  | |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
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  | |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
  | |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
  | |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
--)))
--|(% colspan="2" %)(((
--====== __Limp__ ======
--)))
--|(% style="width:30px" %) |(((
--Limp (**L**)
++====== __Limp (**L**)__ ======
  Example: #5L<cr>
  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>.
--)))
--|(% colspan="2" %)(((
--====== __Halt & Hold__ ======
--)))
--|(% style="width:30px" %) |(((
--Halt & Hold (**H**)
++====== __Halt & Hold (**H**)__ ======
  Example: #5H<cr>
  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.)
--)))
  == Motion Setup ==

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