Changes for page LSS-PRO Communication Protocol
Last modified by Eric Nantel on 2024/09/06 14:52
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... ... @@ -1,6 +1,8 @@ 1 1 {{warningBox warningText="More information coming soon"/}} 2 2 3 3 4 + 5 + 4 4 (% class="wikigeneratedid" id="HTableofContents" %) 5 5 **Page Contents** 6 6 ... ... @@ -190,3 +190,804 @@ 190 190 |(% 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="text-align:center; width:75px" %)**RC**|(% style="text-align:center; width:75px" %)**Serial**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes** 191 191 | |[[**LED** Color>>||anchor="HLEDColor28LED29"]]|(% style="text-align:center" %)LED|(% style="text-align:center" %)QLED|(% style="text-align:center" %)CLED|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓| |0 to 7 integer|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White 192 192 | |[[**C**onfigure **L**ED **B**linking>>||anchor="HConfigureLEDBlinking28CLB29"]]|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)CLB|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓| |0 to 63 integer|Reset required after change. See command for details. 195 + 196 += (% style="color:inherit; font-family:inherit" %)Details(%%) = 197 + 198 +== (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) == 199 + 200 +====== __Reset__ ====== 201 + 202 +{{html wiki="true" clean="false"}} 203 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 204 +Ex: #5RESET<cr><div class="wikimodel-emptyline"></div> 205 +This command does a "soft reset" and reverts all commands to those stored in EEPROM (i.e. configuration commands). 206 +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>>||anchor="HSession"]], note #2 for more details.<div class="wikimodel-emptyline"></div> 207 +</div></div> 208 +{{/html}} 209 + 210 +====== __Default & confirm__ ====== 211 + 212 +{{html wiki="true" clean="false"}} 213 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 214 +Ex: #5DEFAULT<cr><div class="wikimodel-emptyline"></div> 215 + 216 +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.<div class="wikimodel-emptyline"></div> 217 + 218 +EX: #5DEFAULT<cr> followed by #5CONFIRM<cr><div class="wikimodel-emptyline"></div> 219 + 220 +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.<div class="wikimodel-emptyline"></div> 221 + 222 +**Note:** After the CONFIRM command is sent, the servo will automatically perform a RESET.<div class="wikimodel-emptyline"></div> 223 +</div></div> 224 +{{/html}} 225 + 226 +====== __Update & confirm__ ====== 227 + 228 +{{html wiki="true" clean="false"}} 229 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 230 +Ex: #5UPDATE<cr><div class="wikimodel-emptyline"></div> 231 + 232 +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.<div class="wikimodel-emptyline"></div> 233 + 234 +EX: #5UPDATE<cr> followed by #5CONFIRM<cr><div class="wikimodel-emptyline"></div> 235 + 236 +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.<div class="wikimodel-emptyline"></div> 237 + 238 +**Note:** After the CONFIRM command is sent, the servo will automatically perform a RESET.<div class="wikimodel-emptyline"></div> 239 +</div></div> 240 +{{/html}} 241 + 242 +====== __Confirm__ ====== 243 + 244 +{{html wiki="true" clean="false"}} 245 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 246 +Ex: #5CONFIRM<cr><div class="wikimodel-emptyline"></div> 247 + 248 +This command is used to confirm changes after a Default or Update command.<div class="wikimodel-emptyline"></div> 249 + 250 +**Note:** After the CONFIRM command is sent, the servo will automatically perform a RESET.<div class="wikimodel-emptyline"></div> 251 +</div></div> 252 +{{/html}} 253 + 254 +====== __Configure RC Mode (**CRC**)__ ====== 255 + 256 +{{html wiki="true" clean="false"}} 257 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 258 +This command puts the servo into RC mode (position or continuous), where it will only respond to RC PWM signal on the servo's Rx pin. In this mode, the servo will no longer accept serial commands. The servo can be placed back into smart mode by using the button menu.<div class="wikimodel-emptyline"></div> 259 + 260 +|**Command sent**|**Note** 261 +|ex: #5CRC1<cr>|Change to RC position mode. 262 +|ex: #5CRC2<cr>|Change to RC continuous rotation (wheel) mode. 263 +|ex: #5CRC*<cr>|Where * is any value other than 1 or 2 (or no value): stay in smart mode.<div class="wikimodel-emptyline"></div> 264 + 265 +EX: #5CRC2<cr><div class="wikimodel-emptyline"></div> 266 + 267 +This command would place the servo in RC wheel mode after a RESET or power cycle. Note that after a RESET or power cycle, the servo will be in RC mode and will not reply to serial commands. Using the command #5CRC<cr> or #5CRC3<cr> which requests that the servo remain in serial mode still requires a RESET command.<div class="wikimodel-emptyline"></div> 268 + 269 +**Important note: **To revert from RC mode back to serial mode, the [[LSS - Button Menu>>doc:lynxmotion-smart-servo.lss-button-menu.WebHome]] is required. Should the button be inaccessible (or broken) when the servo is in RC mode and the user needs to change to serial mode, a 5V constant HIGH needs to be sent to the servo's Rx pin (RC PWM pin), **ensuring a common GND** and wait for 30 seconds. Normal RC PWM pulses should not exceed 2500 milliseconds. After 30 seconds, the servo will interpret this as a desired mode change and change to serial mode. This has been implemented as a fail safe.<div class="wikimodel-emptyline"></div> 270 +</div></div> 271 +{{/html}} 272 + 273 +====== __Identification Number (**ID**)__ ====== 274 + 275 +{{html wiki="true" clean="false"}} 276 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 277 +A servo's identification number cannot be set "on the fly" and must be configured via the CID command described below. The factory default ID number for all servos is 0. Since smart servos are intended to be daisy chained, in order to respond differently from one another, the user must set different identification numbers. Servos with the same ID and baud rate will all receive and react to the same commands.<div class="wikimodel-emptyline"></div> 278 + 279 +Query Identification (**QID**)<div class="wikimodel-emptyline"></div> 280 + 281 +EX: #254QID<cr> might return *QID5<cr><div class="wikimodel-emptyline"></div> 282 + 283 +When using the broadcast query ID command, it is best to only have one servo connected and thus receive only one reply. This is useful when you are not sure of the servo's ID, but don't want to change it. Using the broadcast command (ID 254) with only one servo will have that servo reply with its ID number. Alternatively, pushing the button upon startup and temporarily setting the servo ID to 255 will still result in the servo responding with its "real" ID.<div class="wikimodel-emptyline"></div> 284 + 285 +Configure ID (**CID**)<div class="wikimodel-emptyline"></div> 286 + 287 +Ex: #4CID5<cr><div class="wikimodel-emptyline"></div> 288 + 289 +Setting a servo's ID in EEPROM is done via the CID command. All servos connected to the same serial bus that have will be assigned that ID. In most situations each servo must be set a unique ID, which means each servo must be connected individually to the serial bus and receive a unique CID number. It is best to do this before the servos are added to an assembly. Numbered stickers are provided to distinguish each servo after their ID is set, though you are free to use whatever alternative method you like. The servo must be RESET or power cycled in order for the new ID to take effect.<div class="wikimodel-emptyline"></div> 290 +</div></div> 291 +{{/html}} 292 + 293 +====== __Baud Rate__ ====== 294 + 295 +{{html clean="false" wiki="true"}} 296 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 297 +A servo's baud rate cannot be set "on the fly" and must be configured via the CB command described below. The factory default baud rate for all servos is 115200. Since smart servos are intended to be daisy chained, in order to respond to the same serial command, all servos in a project should be set to the same baud rate. Setting different baud rates will have the servos respond differently and may create issues. Available baud rates are: 9600 bps, 19200 bps, 38400 bps, 57600 bps, 115.2 kbps, 230.4 kbps, 250.0 kbps, 460.8 kbps, 500.0 kbps, 750.0 kbps, 921.6 kbps. Servos are shipped with a baud rate set to 115200.<div class="wikimodel-emptyline"></div> 298 + 299 +Query Baud Rate (**QB**)<div class="wikimodel-emptyline"></div> 300 + 301 +Ex: #5QB<cr> might return *5QB115200<cr><div class="wikimodel-emptyline"></div> 302 + 303 +Since the command to query the baud rate must be done at the servo's existing baud rate, it can simply be used to confirm the CB configuration command was correctly received before the servo is power cycled and the new baud rate takes effect.<div class="wikimodel-emptyline"></div> 304 + 305 +Configure Baud Rate (**CB**)<div class="wikimodel-emptyline"></div> 306 + 307 +**Important Note:** the servo's current session retains the given baud rate and the new baud rate will only take effect when the servo is power cycled / RESET.<div class="wikimodel-emptyline"></div> 308 + 309 +Ex: #5CB9600<cr><div class="wikimodel-emptyline"></div> 310 + 311 +Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.<div class="wikimodel-emptyline"></div> 312 +</div></div> 313 +{{/html}} 314 + 315 +====== __Automatic Baud Rate__ ====== 316 + 317 +{{html clean="false" wiki="true"}} 318 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 319 +This option allows the LSS to listen to it's serial input and select the right baudrate automatically.<div class="wikimodel-emptyline"></div> 320 + 321 +Query Automatic Baud Rate (**QABR**)<div class="wikimodel-emptyline"></div> 322 + 323 +Ex: #5QABR<cr> might return *5ABR0<cr><div class="wikimodel-emptyline"></div> 324 + 325 +Enable Baud Rate (**ABR**)<div class="wikimodel-emptyline"></div> 326 + 327 +Ex: #5QABR1<cr><div class="wikimodel-emptyline"></div> 328 +Enable baudrate detection on first byte received after power-up.<div class="wikimodel-emptyline"></div> 329 + 330 +Ex: #5QABR2,30<cr><div class="wikimodel-emptyline"></div> 331 +Enable baudrate detection on first byte received after power-up. If no data for 30 seconds enable detection again on next byte.<div class="wikimodel-emptyline"></div> 332 + 333 +Warning: ABR doesnt work well with LSS Config at the moment.<div class="wikimodel-emptyline"></div> 334 +</div></div> 335 +{{/html}} 336 + 337 +== Motion == 338 + 339 +====== __Position in Degrees (**D**)__ ====== 340 + 341 +{{html wiki="true" clean="false"}} 342 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 343 +Example: #5D1456<cr><div class="wikimodel-emptyline"></div> 344 + 345 +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. <div class="wikimodel-emptyline"></div> 346 + 347 +Larger values are permitted and allow for multi-turn functionality using the concept of virtual position (explained above). <div class="wikimodel-emptyline"></div> 348 + 349 +Query Position in Degrees (**QD**)<div class="wikimodel-emptyline"></div> 350 + 351 +Example: #5QD<cr> might return *5QD132<cr><div class="wikimodel-emptyline"></div> 352 + 353 +This means the servo is located at 13.2 degrees.<div class="wikimodel-emptyline"></div> 354 + 355 +(% class="wikigeneratedid" id="H22.QueryTargetPositioninDegrees28QDT29" %) 356 +Query Target Position in Degrees (**QDT**)<div class="wikimodel-emptyline"></div> 357 + 358 +Ex: #5QDT<cr> might return *5QDT6783<cr><div class="wikimodel-emptyline"></div> 359 + 360 +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. 361 +<div class="wikimodel-emptyline"></div></div></div> 362 +{{/html}} 363 + 364 +====== __(Relative) Move in Degrees (**MD**)__ ====== 365 + 366 +{{html wiki="true" clean="false"}} 367 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 368 +Example: #5MD123<cr><div class="wikimodel-emptyline"></div> 369 + 370 +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. 371 +<div class="wikimodel-emptyline"></div></div></div> 372 +{{/html}} 373 + 374 +====== __Wheel Mode in Degrees (**WD**)__ ====== 375 + 376 +{{html wiki="true" clean="false"}} 377 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 378 +Ex: #5WD90<cr><div class="wikimodel-emptyline"></div> 379 + 380 +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).<div class="wikimodel-emptyline"></div> 381 + 382 +Query Wheel Mode in Degrees (**QWD**)<div class="wikimodel-emptyline"></div> 383 + 384 +Ex: #5QWD<cr> might return *5QWD90<cr><div class="wikimodel-emptyline"></div> 385 + 386 +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). 387 +<div class="wikimodel-emptyline"></div></div></div> 388 +{{/html}} 389 + 390 +====== __Wheel Mode in RPM (**WR**)__ ====== 391 + 392 +{{html wiki="true" clean="false"}} 393 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 394 +Ex: #5WR40<cr><div class="wikimodel-emptyline"></div> 395 + 396 +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).<div class="wikimodel-emptyline"></div> 397 + 398 +Query Wheel Mode in RPM (**QWR**)<div class="wikimodel-emptyline"></div> 399 + 400 +Ex: #5QWR<cr> might return *5QWR40<cr><div class="wikimodel-emptyline"></div> 401 + 402 +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). 403 +<div class="wikimodel-emptyline"></div></div></div> 404 +{{/html}} 405 + 406 +====== __Position in PWM (**P**)__ ====== 407 + 408 +{{html wiki="true" clean="false"}} 409 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 410 +Example: #5P2334<cr><div class="wikimodel-emptyline"></div> 411 + 412 +The position in PWM pulses was retained in order to be backward compatible with the SSC-32 / 32U protocol. This relates the desired angle with an RC standard PWM signal and is further explained in the SSC-32 and [[SSC-32U manuals>>https://www.robotshop.com/media/files/pdf2/lynxmotion_ssc-32u_usb_user_guide.pdf#page=24]]. Without any modifications to configuration considered, and a ±90.0 degrees standard range where 1500 microseconds is centered, a PWM signal of 2334 would set the servo to 165.1 degrees. Valid values for P are [500, 2500]. Values outside this range are corrected / restricted to end points.<div class="wikimodel-emptyline"></div> 413 + 414 +Query Position in Pulse (**QP**)<div class="wikimodel-emptyline"></div> 415 + 416 +Example: #5QP<cr> might return *5QP2334<div class="wikimodel-emptyline"></div> 417 + 418 +This command queries the current angular position in PWM "units". The user must take into consideration that the response includes any angular range and origin configurations in order to determine the actual angle. 419 +Valid values for QP are {-500, [500, 2500], -2500}. Values outside the [500, 2500] range are given a negative corresponding end point value to indicate they are out of bounds (note that if the servo is physically located at one of the endpoints, it may return a negative number if it is a fraction of a degree beyond the position). 420 +<div class="wikimodel-emptyline"></div></div></div> 421 +{{/html}} 422 + 423 +====== __(Relative) Move in PWM (**M**)__ ====== 424 + 425 +{{html wiki="true" clean="false"}} 426 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 427 +Example: #5M1500<cr><div class="wikimodel-emptyline"></div> 428 + 429 +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. 430 +<div class="wikimodel-emptyline"></div></div></div> 431 +{{/html}} 432 + 433 +====== __Raw Duty-cycle Move (**RDM**)__ ====== 434 + 435 +{{html wiki="true" clean="false"}} 436 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 437 +Example: #5RDM512<cr><div class="wikimodel-emptyline"></div> 438 + 439 +The raw duty-cycle move command (or free move command) will rotate the servo at a specified duty cycle value in wheel mode (a.k.a. "continuous rotation") like a geared DC motor.<div class="wikimodel-emptyline"></div> 440 + 441 +The duty values range from 0 to 1023. Negative values will rotate the servo in the opposite direction (for factory default a negative value would be counter clockwise).<div class="wikimodel-emptyline"></div> 442 + 443 +Query Move in Duty-cycle (**QMD**)<div class="wikimodel-emptyline"></div> 444 + 445 +Example: #5QMD<cr> might return *5QMD512<div class="wikimodel-emptyline"></div> 446 + 447 +This command queries the raw duty-cycle move value. 512 value means that the motor is rotating at 50% duty-cycle. 448 +<div class="wikimodel-emptyline"></div></div></div> 449 +{{/html}} 450 + 451 +====== __Query Status (**Q**)__ ====== 452 + 453 +{{html wiki="true" clean="false"}} 454 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 455 +The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.<div class="wikimodel-emptyline"></div> 456 + 457 +Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.<div class="wikimodel-emptyline"></div> 458 +</div></div> 459 +{{/html}} 460 + 461 +|(% style="width:25px" %) |***Value returned (Q)**|**Status**|**Detailed description** 462 +| |ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state 463 +| |ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely 464 +| |ex: *5Q2<cr>|2: Free moving|Servo is rotating in duty motion / free move using the RDM command 465 +| |ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed 466 +| |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed 467 +| |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position. 468 +| |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will nornally be holding) 469 +| |ex: *5Q7<cr>|7: Outside limits|{More details coming soon} 470 +| |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting 471 +| |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled) 472 +| |ex: *5Q10<cr>|10: Safe Mode|((( 473 +A safety limit has been exceeded (temperature, peak current or extended high current draw). 474 + 475 +Send a Q1 command to know which limit has been reached (described below). 476 +))) 477 + 478 +{{html wiki="true" clean="false"}} 479 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 480 +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.<div class="wikimodel-emptyline"></div> 481 +</div></div> 482 +{{/html}} 483 + 484 +|(% style="width:25px" %) |***Value returned (Q1)**|**Status**|**Detailed description** 485 +| |ex: *5Q0<cr>|No limits have been passed|Nothing is wrong 486 +| |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long 487 +| |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source 488 +| |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely. 489 + 490 +====== __Limp (**L**)__ ====== 491 + 492 +{{html wiki="true" clean="false"}} 493 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 494 +Example: #5L<cr><div class="wikimodel-emptyline"></div> 495 + 496 +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>. 497 +<div class="wikimodel-emptyline"></div></div></div> 498 +{{/html}} 499 + 500 +====== __Halt & Hold (**H**)__ ====== 501 + 502 +{{html wiki="true" clean="false"}} 503 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 504 +Example: #5H<cr><div class="wikimodel-emptyline"></div> 505 + 506 +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.) 507 +<div class="wikimodel-emptyline"></div></div></div> 508 +{{/html}} 509 + 510 +== Motion Setup == 511 + 512 +====== __Enable Motion Profile (**EM**)__ ====== 513 + 514 +{{html clean="false" wiki="true"}} 515 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 516 +EM1 (Enable Motion Profile #1) is the default mode of the LSS and is an easy way to control the servo's position with a single (serial) position command. This mode uses a trapezoidal motion profile which takes care of acceleration, constant speed travel and deceleration. Once the actual position is within a certain value of the target, it switches to a holding algorithm. The LSS commands for Angular Acceleration and Deceleration (AA/CAA/AD/CAD) Angular Stiffness (AS/CAS) and Angular holding stiffness (AH/CAH) affect this motion profile. Modifiers like SD/S and T can be used in EM1.<div class="wikimodel-emptyline"></div> 517 + 518 +Ex: #5EM1<cr><div class="wikimodel-emptyline"></div> 519 + 520 +This command enables a trapezoidal motion profile for servo #5 <div class="wikimodel-emptyline"></div> 521 + 522 +Ex: #5EM0<cr><div class="wikimodel-emptyline"></div> 523 + 524 +This command will disable the built-in trapezoidal motion profile. As such, the servo will move at full speed to the target position using the D/MD action commands. Modifiers like SD/S or T cannot be used in EM0 mode. By default the Filter Position Counter, or "FPC" is active in EM0 mode to smooth out its operation. EM0 is suggested for applications where an external controller will be determining all incremental intermediate positions of the servo's motion, effectively replacing a trajectory manager. To prevent having to send position commands continuously to reach the desired position in EM0/FPC active (FPC >= 2), an internal position engine (IPE) repeats the last position command. Note that in EM0 mode, the servo will effectively always be in status: Holding (if using the query status command). 525 + 526 +<div class="wikimodel-emptyline"></div> 527 + 528 +Query Motion Profile (**QEM**)<div class="wikimodel-emptyline"></div> 529 + 530 +Ex: #5QEM<cr> might return *5QEM1<cr><div class="wikimodel-emptyline"></div> 531 + 532 +This command will query the motion profile. **0:** motion profile disabled / **1:** trapezoidal motion profile enabled.<div class="wikimodel-emptyline"></div> 533 + 534 +Configure Motion Profile (**CEM**)<div class="wikimodel-emptyline"></div> 535 + 536 +Ex: #5CEM0<cr><div class="wikimodel-emptyline"></div> 537 + 538 +This command configures the motion profile and saves it in the EEPROM. The setting will be saved upon servo reset / power cycle. 539 +<div class="wikimodel-emptyline"></div></div></div> 540 +{{/html}} 541 + 542 +====== __Filter Position Count (**FPC**)__ ====== 543 + 544 +{{html clean="false" wiki="true"}} 545 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 546 +The FPC value relates to the depth of a first order filter (exponential weighted average) over the position change. This has the effect of slowing down both acceleration and deceleration while still allowing the LSS to try to reach the desired position at maximum power at all times. A smaller FPC value will reduce the smoothing effect and a larger value will increase it. To prevent having to send position commands continuously to reach the desired position in EM0/FPC active (FPC >= 2), an internal position engine (IPE) has been put in place, which is also active by default. 547 +<div class="wikimodel-emptyline"></div> 548 +Ex: #5FPC10<cr><div class="wikimodel-emptyline"></div> 549 +This command allows the user to change the Filter Position Count value for that session. <div class="wikimodel-emptyline"></div> 550 + 551 +Query Filter Position Count (**QFPC**)<div class="wikimodel-emptyline"></div> 552 + 553 +Ex: #5QFPC<cr> might return *5QFPC10<cr><div class="wikimodel-emptyline"></div> 554 + 555 +This command will query the Filter Position Count value.<div class="wikimodel-emptyline"></div> 556 + 557 +Configure Filter Position Count (**CFPC**)<div class="wikimodel-emptyline"></div> 558 + 559 +Ex: #5CFPC10<cr><div class="wikimodel-emptyline"></div> 560 + 561 +This command configures the Filter Position Count value and saves it in the EEPROM. The setting will be saved upon servo reset / power cycle. 562 +<div class="wikimodel-emptyline"></div></div></div> 563 +{{/html}} 564 + 565 +====== __Origin Offset (**O**)__ ====== 566 + 567 +{{html wiki="true" clean="false"}} 568 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 569 +Example: #5O2400<cr><div class="wikimodel-emptyline"></div> 570 + 571 +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).<div class="wikimodel-emptyline"></div> 572 + 573 +[[image:LSS-servo-default.jpg]]<div class="wikimodel-emptyline"></div> 574 + 575 +In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:<div class="wikimodel-emptyline"></div> 576 + 577 +[[image:LSS-servo-origin.jpg]]<div class="wikimodel-emptyline"></div> 578 + 579 +Origin Offset Query (**QO**)<div class="wikimodel-emptyline"></div> 580 + 581 +Example: #5QO<cr> might return *5QO-13<div class="wikimodel-emptyline"></div> 582 + 583 +This allows you to query the angle (in tenths of degrees) of the origin in relation to the factory zero position. In this example, the new origin is at -1.3 degrees from the factory zero.<div class="wikimodel-emptyline"></div> 584 + 585 +Configure Origin Offset (**CO**)<div class="wikimodel-emptyline"></div> 586 + 587 +Example: #5CO-24<cr><div class="wikimodel-emptyline"></div> 588 + 589 +This command allows you to change the origin of the servo in relation to the factory zero position in EEPROM. The setting will be saved upon servo reset / power cycle. Origin offset configuration commands are not cumulative and always relate to factory zero. The new origin is also used in RC mode. In the example, the new origin will be at -2.4 degrees from the factory zero. 590 +<div class="wikimodel-emptyline"></div></div></div> 591 +{{/html}} 592 + 593 +====== __Angular Range (**AR**)__ ====== 594 + 595 +{{html wiki="true" clean="false"}} 596 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 597 +Example: #5AR1800<cr><div class="wikimodel-emptyline"></div> 598 + 599 +This command allows you to temporarily change the total angular range of the servo in tenths of degrees. This applies to the Position in Pulse (P) command and RC mode. The default for (P) and RC mode is 1800 (180.0 degrees total, or ±90.0 degrees). The image below shows a standard -180.0 to +180.0 range, with no offset:<div class="wikimodel-emptyline"></div> 600 + 601 +[[image:LSS-servo-default.jpg]]<div class="wikimodel-emptyline"></div> 602 + 603 +Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.<div class="wikimodel-emptyline"></div> 604 + 605 +[[image:LSS-servo-ar.jpg]]<div class="wikimodel-emptyline"></div> 606 + 607 +Finally, the angular range action command (ex. #5AR1800<cr>) and origin offset action command (ex. #5O-1200<cr>) are used to move both the center and limit the angular range:<div class="wikimodel-emptyline"></div> 608 + 609 +[[image:LSS-servo-ar-o-1.jpg]]<div class="wikimodel-emptyline"></div> 610 + 611 +Query Angular Range (**QAR**)<div class="wikimodel-emptyline"></div> 612 + 613 +Example: #5QAR<cr> might return *5AR1800, indicating the total angular range is 180.0 degrees.<div class="wikimodel-emptyline"></div> 614 + 615 +Configure Angular Range (**CAR**)<div class="wikimodel-emptyline"></div> 616 + 617 +This command allows you to change the total angular range of the servo in tenths of degrees in EEPROM. The setting will be saved upon servo reset / power cycle. 618 +<div class="wikimodel-emptyline"></div></div></div> 619 +{{/html}} 620 + 621 +====== __Angular Stiffness (**AS**)__ ====== 622 + 623 +{{html wiki="true" clean="false"}} 624 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 625 +The servo's rigidity / angular stiffness can be thought of as (though not identical to) a damped spring in which the value affects the stiffness and embodies how much, and how quickly the servo tried keep the requested position against changes. There are no units.<div class="wikimodel-emptyline"></div> 626 + 627 +A higher value of "angular stiffness":<div class="wikimodel-emptyline"></div> 628 + 629 +* The more torque will be applied to try to keep the desired position against external input / changes 630 +* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position<div class="wikimodel-emptyline"></div> 631 + 632 +A lower value on the other hand:<div class="wikimodel-emptyline"></div> 633 + 634 +* Causes a slower acceleration to the travel speed, and a slower deceleration 635 +* Allows the target position to deviate more from its position before additional torque is applied to bring it back<div class="wikimodel-emptyline"></div> 636 + 637 +The default value for stiffness depending on the firmware may be 0 or 1. Greater values produce increasingly erratic behavior and the effect becomes extreme below -4 and above +4. Maximum values are -10 to +10.<div class="wikimodel-emptyline"></div> 638 + 639 +Ex: #5AS-2<cr><div class="wikimodel-emptyline"></div> 640 + 641 +This reduces the angular stiffness to -2 for that session, allowing the servo to deviate more around the desired position. This can be beneficial in many situations such as impacts (legged robots) where more of a "spring" effect is desired. Upon reset, the servo will use the value stored in memory, based on the last configuration command.<div class="wikimodel-emptyline"></div> 642 + 643 +Ex: #5QAS<cr><div class="wikimodel-emptyline"></div> 644 + 645 +Queries the value being used.<div class="wikimodel-emptyline"></div> 646 + 647 +Ex: #5CAS-2<cr><div class="wikimodel-emptyline"></div> 648 + 649 +Writes the desired angular stiffness value to EEPROM. 650 +<div class="wikimodel-emptyline"></div></div></div> 651 +{{/html}} 652 + 653 +====== __Angular Holding Stiffness (**AH**)__ ====== 654 + 655 +{{html wiki="true" clean="false"}} 656 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 657 +The angular holding stiffness determines the servo's ability to hold a desired position under load. The default value for stiffness depending on the firmware may be 0 or 1. Greater values produce increasingly erratic behavior and the effect becomes extreme below -4 and above +4. Maximum values are -10 to +10.<div class="wikimodel-emptyline"></div> 658 + 659 +Ex: #5AH3<cr><div class="wikimodel-emptyline"></div> 660 + 661 +This sets the holding stiffness for servo #5 to 3 for that session.<div class="wikimodel-emptyline"></div> 662 + 663 +Query Angular Holding Stiffness (**QAH**)<div class="wikimodel-emptyline"></div> 664 + 665 +Ex: #5QAH<cr> might return *5QAH3<cr><div class="wikimodel-emptyline"></div> 666 + 667 +This returns the servo's angular holding stiffness value.<div class="wikimodel-emptyline"></div> 668 + 669 +Configure Angular Holding Stiffness (**CAH**)<div class="wikimodel-emptyline"></div> 670 + 671 +Ex: #5CAH2<cr><div class="wikimodel-emptyline"></div> 672 + 673 +This writes the angular holding stiffness of servo #5 to 2 to EEPROM. 674 +<div class="wikimodel-emptyline"></div></div></div> 675 +{{/html}} 676 + 677 +====== __Angular Acceleration (**AA**)__ ====== 678 + 679 +{{html wiki="true" clean="false"}} 680 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 681 +The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.<div class="wikimodel-emptyline"></div> 682 + 683 +Ex: #5AA30<cr><div class="wikimodel-emptyline"></div> 684 + 685 +This sets the angular acceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).<div class="wikimodel-emptyline"></div> 686 + 687 +Query Angular Acceleration (**QAA**)<div class="wikimodel-emptyline"></div> 688 + 689 +Ex: #5QAA<cr> might return *5QAA30<cr><div class="wikimodel-emptyline"></div> 690 + 691 +This returns the servo's angular acceleration in degrees per second squared (°/s^^2^^).<div class="wikimodel-emptyline"></div> 692 + 693 +Configure Angular Acceleration (**CAA**)<div class="wikimodel-emptyline"></div> 694 + 695 +Ex: #5CAA30<cr><div class="wikimodel-emptyline"></div> 696 + 697 +This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM. 698 +<div class="wikimodel-emptyline"></div></div></div> 699 +{{/html}} 700 + 701 +====== __Angular Deceleration (**AD**)__ ====== 702 + 703 +{{html wiki="true" clean="false"}} 704 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 705 +The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.<div class="wikimodel-emptyline"></div> 706 + 707 +Ex: #5AD30<cr><div class="wikimodel-emptyline"></div> 708 + 709 +This sets the angular deceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).<div class="wikimodel-emptyline"></div> 710 + 711 +Query Angular Deceleration (**QAD**)<div class="wikimodel-emptyline"></div> 712 + 713 +Ex: #5QAD<cr> might return *5QAD30<cr><div class="wikimodel-emptyline"></div> 714 + 715 +This returns the servo's angular deceleration in degrees per second squared (°/s^^2^^).<div class="wikimodel-emptyline"></div> 716 + 717 +Configure Angular Deceleration (**CAD**)<div class="wikimodel-emptyline"></div> 718 + 719 +Ex: #5CAD30<cr><div class="wikimodel-emptyline"></div> 720 + 721 +This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM. 722 +<div class="wikimodel-emptyline"></div></div></div> 723 +{{/html}} 724 + 725 +====== __Gyre Direction (**G**)__ ====== 726 + 727 +{{html wiki="true" clean="false"}} 728 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 729 +"Gyre" is defined as a circular course or motion. The effect of changing the gyre direction is as if you were to use a mirror image of a circle. By default: CW = 1; CCW = -1.<div class="wikimodel-emptyline"></div> 730 + 731 +Ex: #5G-1<cr><div class="wikimodel-emptyline"></div> 732 + 733 +This command will cause servo #5's positions to be inverted, effectively causing the servo to rotate in the opposite direction given the same command. For example in a 2WD robot, servos are often physically installed back to back, therefore setting one of the servos to a negative gyration, the same wheel command (ex WR30) to both servos will cause the robot to move forward or backward rather than rotate.<div class="wikimodel-emptyline"></div> 734 + 735 +Query Gyre Direction (**QG**)<div class="wikimodel-emptyline"></div> 736 + 737 +Ex: #5QG<cr> might return *5QG-1<cr><div class="wikimodel-emptyline"></div> 738 + 739 +The value returned above means the servo is in a counter-clockwise gyration. Sending a #5WR30 command will rotate the servo in a counter-clockwise gyration at 30 RPM.<div class="wikimodel-emptyline"></div> 740 + 741 +Configure Gyre (**CG**)<div class="wikimodel-emptyline"></div> 742 + 743 +Ex: #5CG-1<cr><div class="wikimodel-emptyline"></div> 744 + 745 +This changes the gyre direction as described above and also writes to EEPROM. 746 +<div class="wikimodel-emptyline"></div></div></div> 747 +{{/html}} 748 + 749 +====== __First Position__ ====== 750 + 751 +{{html wiki="true" clean="false"}} 752 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 753 +In certain cases, a user might want to have the servo move to a specific angle upon power up; we refer to this as "first position" (a.k.a. "initial position"). The factory default has no first position value stored in EEPROM and therefore upon power up, the servo remains limp until a position (or hold command) is assigned. Note that the number should be restricted to -1790 (-179.0 degrees) to +1790 (179.0 degrees) and values beyond this will be changed to 1800. <div class="wikimodel-emptyline"></div> 754 + 755 +Query First Position in Degrees (**QFD**)<div class="wikimodel-emptyline"></div> 756 + 757 +Ex: #5QFD<cr> might return *5QFD900<cr> <div class="wikimodel-emptyline"></div> 758 + 759 +The reply above indicates that servo with ID 5 has a first position of 90.0 degrees. If there is no first position value stored, the reply will be DIS.<div class="wikimodel-emptyline"></div> 760 + 761 +Configure First Position in Degrees (**CFD**)<div class="wikimodel-emptyline"></div> 762 + 763 +Ex: #5CFD900<cr><div class="wikimodel-emptyline"></div> 764 + 765 +This configuration command means the servo, when set to smart mode, will immediately move to 90.0 degrees upon power up. Sending a CFD command without a number (Ex. #5CFD<cr>) results in the servo remaining limp upon power up. In order to remove the first position, send no value, ex: #5CFD<cr> 766 +<div class="wikimodel-emptyline"></div></div></div> 767 +{{/html}} 768 + 769 +====== __Maximum Motor Duty (**MMD**)__ ====== 770 + 771 +{{html wiki="true" clean="false"}} 772 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 773 +This command allows the user to limit the duty cycle value sent from the servo's MCU to the DC Motor driver. The duty cycle limit value can be within the range of 255 to 1023. The default value is 1023. A typical use-case for this command is active compliance.<div class="wikimodel-emptyline"></div> 774 + 775 +Ex: #5MMD512<cr><div class="wikimodel-emptyline"></div> 776 + 777 +This will set the duty-cycle to 512 for servo with ID 5 for that session.<div class="wikimodel-emptyline"></div> 778 + 779 +Query Maximum Motor Duty (**QMMD**)<div class="wikimodel-emptyline"></div> 780 + 781 +Ex: #5QMMDD<cr> might return *5QMMD512<cr> <div class="wikimodel-emptyline"></div> 782 + 783 +This command returns the configured limit of the duty cycle value sent from the servo's MCU to the Motor Controller. The default value is 1023. 784 +<div class="wikimodel-emptyline"></div></div></div> 785 +{{/html}} 786 + 787 +====== __Maximum Speed in Degrees (**SD**)__ ====== 788 + 789 +{{html wiki="true" clean="false"}} 790 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 791 +Ex: #5SD1800<cr><div class="wikimodel-emptyline"></div> 792 +This command sets the servo's maximum speed for motion commands in tenths of degrees per second for that session. In the example above, the servo's maximum speed for that session would be set to 180.0 degrees per second. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. The SD action command overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD and SR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.<div class="wikimodel-emptyline"></div> 793 + 794 +Query Speed in Degrees (**QSD**)<div class="wikimodel-emptyline"></div> 795 + 796 +Ex: #5QSD<cr> might return *5QSD1800<cr><div class="wikimodel-emptyline"></div> 797 + 798 +By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever an SD/SR command is processed. If #5QSD1<cr> is sent, the configured maximum speed (CSD value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:<div class="wikimodel-emptyline"></div> 799 + 800 +|**Command sent**|**Returned value (1/10 °)** 801 +|ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command) 802 +|ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR) 803 +|ex: #5QSD2<cr>|Instantaneous speed (same as QWD) 804 +|ex: #5QSD3<cr>|Target travel speed<div class="wikimodel-emptyline"></div> 805 + 806 +Configure Speed in Degrees (**CSD**)<div class="wikimodel-emptyline"></div> 807 + 808 +Ex: #5CSD1800<cr><div class="wikimodel-emptyline"></div> 809 +Using the CSD command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 180.0 degrees per second. When the servo is powered on (or after a reset), the CSD value is used. Note that CSD and CSR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) is what the servo uses for that session.<div class="wikimodel-emptyline"></div> 810 +</div></div> 811 +{{/html}} 812 + 813 +====== __Maximum Speed in RPM (**SR**)__ ====== 814 + 815 +{{html wiki="true" clean="false"}} 816 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 817 +Ex: #5SR45<cr><div class="wikimodel-emptyline"></div> 818 +This command sets the servo's maximum speed for motion commands in rpm for that session. In the example above, the servo's maximum speed for that session would be set to 45rpm. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SR overrides CSR (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSR as described below. Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.<div class="wikimodel-emptyline"></div> 819 + 820 +Query Speed in RPM (**QSR**)<div class="wikimodel-emptyline"></div> 821 + 822 +Ex: #5QSR<cr> might return *5QSR45<cr><div class="wikimodel-emptyline"></div> 823 + 824 +By default QSR will return the current session value, which is set to the value of CSR as reset/power cycle and changed whenever an SD/SR command is processed. If #5QSR1<cr> is sent, the configured maximum speed (CSR value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:<div class="wikimodel-emptyline"></div> 825 + 826 +|**Command sent**|**Returned value (1/10 °)** 827 +|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command) 828 +|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR) 829 +|ex: #5QSR2<cr>|Instantaneous speed (same as QWD) 830 +|ex: #5QSR3<cr>|Target travel speed<div class="wikimodel-emptyline"></div> 831 + 832 +Configure Speed in RPM (**CSR**)<div class="wikimodel-emptyline"></div> 833 + 834 +Ex: #5CSR45<cr><div class="wikimodel-emptyline"></div> 835 +Using the CSR command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSR value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) received is what the servo uses for that session.<div class="wikimodel-emptyline"></div> 836 +</div></div> 837 +{{/html}} 838 + 839 +== Modifiers == 840 + 841 +====== __Speed (**S**, **SD**) modifier__ ====== 842 + 843 +{{html clean="false" wiki="true"}} 844 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 845 +Example: #5P1500S750<cr><div class="wikimodel-emptyline"></div> 846 +Modifier (S) is only for a position (P) action and determines the speed of the move in microseconds per second. A speed of 750 microseconds would cause the servo to rotate from its current position to the desired position at a speed of 750 microseconds per second. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.<div class="wikimodel-emptyline"></div> 847 +Example: #5D0SD180<cr><div class="wikimodel-emptyline"></div> 848 +Modifier (SD) is only for a position (D) or relative position (MD) action and determines the speed of the move in tenths of degrees per second. A speed modifier (SD) of 180 would cause the servo to rotate from its current position to the desired absolute or relative position at a speed of 18 degrees per second.<div class="wikimodel-emptyline"></div> 849 +Query Speed (**QS**)<div class="wikimodel-emptyline"></div> 850 +Example: #5QS<cr> might return *5QS300<cr><div class="wikimodel-emptyline"></div> 851 +This command queries the current speed in microseconds per second.<div class="wikimodel-emptyline"></div> 852 +</div></div> 853 +{{/html}} 854 + 855 +====== __Timed move (**T**) modifier__ ====== 856 + 857 +{{html wiki="true" clean="false"}} 858 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 859 +Example: #5P1500T2500<cr><div class="wikimodel-emptyline"></div> 860 + 861 +Timed move can be used only as a modifier for a position (P, D, MD) actions. The units are in milliseconds, so a timed move of 2500 milliseconds would cause the servo to rotate from its current position to the desired position in 2.5 seconds. The onboard controller will attempt to ensure that the move is performed entirely at the desired velocity, though differences in torque may cause it to not be exact. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.<div class="wikimodel-emptyline"></div> 862 +**Note:** If the calculated speed at which a servo must rotate for a timed move is greater than its maximum speed (which depends on voltage and load), then it will move at its maximum speed, and the time of the move may be longer than requested.<div class="wikimodel-emptyline"></div> 863 +</div></div> 864 +{{/html}} 865 + 866 +====== __Current Halt & Hold (**CH**) modifier__ ====== 867 + 868 +{{html wiki="true" clean="false"}} 869 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 870 +Example: #5D1423CH400<cr><div class="wikimodel-emptyline"></div> 871 + 872 +This has servo with ID 5 move to 142.3 degrees but, should it detect a current of 400mA or higher before it reaches the desired position, will immediately halt and hold position.<div class="wikimodel-emptyline"></div> 873 +This modifier can be added to the following actions: D; MD; WD; WR.<div class="wikimodel-emptyline"></div> 874 +</div></div> 875 +{{/html}} 876 + 877 +====== __Current Limp (**CL**) modifier__ ====== 878 + 879 +{{html wiki="true" clean="false"}} 880 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 881 +Example: #5D1423CL400<cr><div class="wikimodel-emptyline"></div> 882 + 883 +This has servo with ID 5 move to 142.3 degrees but, should it detect a current of 400mA or higher before it reaches the desired position, will immediately go limp.<div class="wikimodel-emptyline"></div> 884 +This modifier can be added to the following actions: D; MD; WD; WR.<div class="wikimodel-emptyline"></div> 885 +</div></div> 886 +{{/html}} 887 + 888 +== Telemetry == 889 + 890 +====== __Query Voltage (**QV**)__ ====== 891 + 892 +{{html wiki="true" clean="false"}} 893 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 894 +Ex: #5QV<cr> might return *5QV11200<cr><div class="wikimodel-emptyline"></div> 895 +The number returned is in milliVolts, so in the case above, servo with ID 5 has an input voltage of 11.2V.<div class="wikimodel-emptyline"></div> 896 +</div></div> 897 +{{/html}} 898 + 899 +====== __Query Temperature (**QT**)__ ====== 900 + 901 +{{html wiki="true" clean="false"}} 902 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 903 +Ex: #5QT<cr> might return *5QT564<cr><div class="wikimodel-emptyline"></div> 904 +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.<div class="wikimodel-emptyline"></div> 905 +</div></div> 906 +{{/html}} 907 + 908 +====== __Query Current (**QC**)__ ====== 909 + 910 +{{html wiki="true" clean="false"}} 911 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 912 +Ex: #5QC<cr> might return *5QC140<cr><div class="wikimodel-emptyline"></div> 913 +The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.<div class="wikimodel-emptyline"></div> 914 +</div></div> 915 +{{/html}} 916 + 917 +====== __Query Model String (**QMS**)__ ====== 918 + 919 +{{html wiki="true" clean="false"}} 920 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 921 +Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr><div class="wikimodel-emptyline"></div> 922 +This reply means that the servo model is LSS-HS1: a high speed servo, first revision.<div class="wikimodel-emptyline"></div> 923 +</div></div> 924 +{{/html}} 925 + 926 +====== __Query Firmware (**QF**)__ ====== 927 + 928 +{{html wiki="true" clean="false"}} 929 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 930 +Ex: #5QF<cr> might return *5QF368<cr><div class="wikimodel-emptyline"></div> 931 +The number in the reply represents the firmware version, in this example being 368.<div class="wikimodel-emptyline"></div> 932 +The command #5QF3<cr> can also be sent and the servo will reply with a 3 numbers firmware version, for example, 368.29.14<div class="wikimodel-emptyline"></div> 933 +</div></div> 934 +{{/html}} 935 + 936 +====== __Query Serial Number (**QN**)__ ====== 937 + 938 +{{html wiki="true" clean="false"}} 939 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 940 +Ex: #5QN<cr> might return *5QN12345678<cr><div class="wikimodel-emptyline"></div> 941 +The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.<div class="wikimodel-emptyline"></div> 942 +</div></div> 943 +{{/html}} 944 + 945 +== RGB LED == 946 + 947 +====== __LED Color (**LED**)__ ====== 948 + 949 +{{html wiki="true" clean="false"}} 950 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 951 +Ex: #5LED3<cr><div class="wikimodel-emptyline"></div> 952 +This action sets the servo's RGB LED color for that session.The LED can be used for aesthetics, or (based on user code) to provide visual status updates. Using timing can create patterns.<div class="wikimodel-emptyline"></div> 953 +0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;<div class="wikimodel-emptyline"></div> 954 +Query LED Color (**QLED**)<div class="wikimodel-emptyline"></div> 955 +Ex: #5QLED<cr> might return *5QLED5<cr><div class="wikimodel-emptyline"></div> 956 +This simple query returns the indicated servo's LED color.<div class="wikimodel-emptyline"></div> 957 +Configure LED Color (**CLED**)<div class="wikimodel-emptyline"></div> 958 +Ex: #5CLED3<cr><div class="wikimodel-emptyline"></div> 959 +Configuring the LED color via the CLED command sets the startup color of the servo after a reset or power cycle. Note that it also changes the session's LED color immediately as well. The command above will configure the servo's LED to a Blue color.<div class="wikimodel-emptyline"></div> 960 +</div></div> 961 +{{/html}} 962 + 963 +====== __Configure LED Blinking (**CLB**)__ ====== 964 + 965 +{{html wiki="true" clean="false"}} 966 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 967 +This command allows you to control when the RGB LED will blink the user set color (see RGB LED command for details). This is very useful when visually seeing what the servo is doing. You can turn on or off blinking for various LSS status. The command requires that the servo be RESET. Here is the list and their associated value:<div class="wikimodel-emptyline"></div> 968 + 969 +(% style="width:195px" %) 970 +|(% style="width:134px" %)**Blink While:**|(% style="width:58px" %)**#** 971 +|(% style="width:134px" %)No blinking|(% style="width:58px" %)0 972 +|(% style="width:134px" %)Limp|(% style="width:58px" %)1 973 +|(% style="width:134px" %)Holding|(% style="width:58px" %)2 974 +|(% style="width:134px" %)Accelerating|(% style="width:58px" %)4 975 +|(% style="width:134px" %)Decelerating|(% style="width:58px" %)8 976 +|(% style="width:134px" %)Free|(% style="width:58px" %)16 977 +|(% style="width:134px" %)Travelling|(% style="width:58px" %)32 978 +|(% style="width:134px" %)Always blink|(% style="width:58px" %)63<div class="wikimodel-emptyline"></div> 979 + 980 +To set blinking, use CLB with the value of your choosing. To activate blinking in multiple status, simply add together the values of the corresponding status. See examples below:<div class="wikimodel-emptyline"></div> 981 +Ex: #5CLB0<cr> to turn off all blinking (LED always solid)<div class="wikimodel-emptyline"></div> 982 +Ex: #5CLB1<cr> only blink when limp (1)<div class="wikimodel-emptyline"></div> 983 +Ex: #5CLB2<cr> only blink when holding (2)<div class="wikimodel-emptyline"></div> 984 +Ex: #5CLB12<cr> only blink when accel or decel (accel 4 + decel 8 = 12)<div class="wikimodel-emptyline"></div> 985 +Ex: #5CLB48<cr> only blink when free or travel (free 16 + travel 32 = 48)<div class="wikimodel-emptyline"></div> 986 +Ex: #5CLB63<cr> blink in all status (1 + 2 + 4 + 8 + 16 + 32)<div class="wikimodel-emptyline"></div> 987 +RESETTING the servo is needed.<div class="wikimodel-emptyline"></div> 988 +</div></div> 989 +{{/html}} 990 + 991 +== RGB LED == 992 + 993 +The LED can be 994 + 995 +