Changes for page LSS-PRO Communication Protocol

Last modified by Eric Nantel on 2024/09/06 14:52

From version < 22.1 >

edited by Coleman Benson
on 2023/07/18 09:47

To version < 28.1 >

edited by Coleman Benson
on 2023/07/25 15:05

< >

Change comment: There is no comment for this version

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@@ -14,7
          +14,7 @@
  = Action Commands =
--Action commands tell the servo, within that session, to do something (i.e. "take an action"). The types of action commands which can be sent are described below, and they cannot be combined with other commands such as queries or configurations. Only one action command can be sent at a time. Action commands are session-specific, therefore once a servo is power cycled, it will not have any "memory" of previous actions or [[virtual positions>>||anchor="HVirtualAngularPosition"]] (described below). Action commands are sent serially to the servo's Rx pin and must be sent in the following format:
++Action commands tell the servo, within that session, to do something (i.e. "take an action"). The types of action commands which can be sent are described below, and they cannot be combined with other commands such as queries or configurations. Only one action command can be sent at a time. Action commands are session-specific, therefore once a servo is power cycled, it will not have any "memory" of previous actions or [[virtual positions>>||anchor="HVirtualAngularPosition"]] (described below). Action commands are sent serially to the servo and must be sent in the following format:
 . Start with a number sign **#** (Unicode Character: U+0023)
 . Servo ID number as an integer (assigning an ID described below)
@@ -29,7
          +29,7 @@
  == Modifiers ==
--{{html clean="false" wiki="true" __cke_selected_macro="true"}}
++{{html clean="false" wiki="true"}}
  <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
  Modifiers can only be used with certain **action commands**. The format to include a modifier is:<div class="wikimodel-emptyline"></div>
@@ -46,8
          +46,9 @@
  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>
  <div class="wikimodel-emptyline"></div></div></div>
++<h2>Queries</h2>
  <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
--Query commands request information from the servo. They are received via the Rx pin of the servo, and the servo's reply is sent via the servo's Tx pin. Using separate lines for Tx and Rx is called "full duplex". Query commands are also similar to action and configuration commands and must use the following format:<div class="wikimodel-emptyline"></div>
++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>
 . Start with a number sign **#** (Unicode Character: U+0023)
 . Servo ID number as an integer
@@ -71,10
          +71,12 @@
  This indicates that servo #5 is currently at 130.00 degrees (13000 tenths of degrees).
  <div class="wikimodel-emptyline"></div></div></div>
++<h2>Configurations</h2>
++
  <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
  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>
--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. More information about which configuration commands are retained when in RC mode can be found on the [[LSS - RC PWM page>>doc:lynxmotion-smart-servo.lss-radio-control-pwm.WebHome]]. 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>
++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>
  The format to send a configuration command is identical to that of an action command:<div class="wikimodel-emptyline"></div>
@@ -84,43
          +84,43 @@
 . Configuration value in the correct units with no decimal
 . End with a carriage return **&#92;r** or **&lt;cr&gt;** Unicode Character (U+000D)<div class="wikimodel-emptyline"></div>
--Ex: #5CO-50&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++Ex: #5CO-500&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--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 -5.0 degrees (50 tenths of degrees). Once the servo is powered off and on, zeroing the servo will cause it to move to -5.0 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>
++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>
  **Session vs Configuration Query**<div class="wikimodel-emptyline"></div>
  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>
--Ex: #5CSR20&lt;cr&gt; immediately sets the maximum speed for servo #5 to 20rpm (explained below) and changes the value in memory.<div class="wikimodel-emptyline"></div>
++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>
  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>
  #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>
--#5QSR1&lt;cr&gt; would return *5QSR20&lt;cr&gt; which represents the value in EEPROM
++#5QSR1&lt;cr&gt; would return *5QSR10&lt;cr&gt; which represents the value in EEPROM
  <div class="wikimodel-emptyline"></div></div></div>
  <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
--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 360.0 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 15335 (or 1533.5 degrees), taking the modulus would give 93.5 degrees (3600 * 4 + 935 = 15335) as the absolute position (assuming no origin offset).<div class="wikimodel-emptyline"></div>
++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>
  [[image:LSS-servo-positions.jpg]]<div class="wikimodel-emptyline"></div>
  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>
--#1D-300&lt;cr&gt; This causes the servo to move to -30.0 degrees (green arrow)<div class="wikimodel-emptyline"></div>
++#1D-3000&lt;cr&gt; This causes the servo to move to -30.00 degrees (green arrow)<div class="wikimodel-emptyline"></div>
--#1D2100&lt;cr&gt; This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)<div class="wikimodel-emptyline"></div>
++#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>
--#1D-4200&lt;cr&gt; This next command rotates the servo counterclockwise to a position of -420 degrees (red arrow), which means one full rotation of 360 degrees plus 60.0 degrees (420.0 - 360.0), with a virtual position of -420.0 degrees.<div class="wikimodel-emptyline"></div>
++#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>
--Although the final physical position would be the same as if the servo were commanded to move to -60.0 degrees, the servo is in fact at -420.0 degrees.<div class="wikimodel-emptyline"></div>
++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>
--#1D4800&lt;cr&gt; This new command is sent which would then cause the servo to rotate from -420.0 degrees to 480.0 degrees (blue arrow), which would be a total of 900 degrees of clockwise rotation, or 2.5 complete rotations.<div class="wikimodel-emptyline"></div>
++#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>
--#1D3300&lt;cr&gt; would cause the servo to rotate from 480.0 degrees to 330.0 degrees (yellow arrow).<div class="wikimodel-emptyline"></div>
++#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>
--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 480.0 degrees before power is cycled, upon power up the servo's position will be read as +120.0 degrees from zero (assuming center position has not been modified). The virtual position range at power-up is [-180.0°, 180.0°].
++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°].
  <div class="wikimodel-emptyline"></div></div></div>
  {{/html}}
@@ -202,250
          +202,82 @@
  == (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) ==
--====== __Reset__ ======
--{{html wiki="true" clean="false"}}
--<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
--Ex: #5RESET&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--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>>||anchor="HSession"]], note #2 for more details.<div class="wikimodel-emptyline"></div>
--</div></div>
--{{/html}}
--
--====== __Default & confirm__ ======
--
--{{html wiki="true" clean="false"}}
--<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
--Ex: #5DEFAULT&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--
--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>
--
--EX: #5DEFAULT&lt;cr&gt; followed by #5CONFIRM&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--
--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>
--
--**Note:** After the CONFIRM command is sent, the servo will automatically perform a RESET.<div class="wikimodel-emptyline"></div>
--</div></div>
--{{/html}}
--
--====== __Update & confirm__ ======
--
--{{html wiki="true" clean="false"}}
--<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
--Ex: #5UPDATE&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--
--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>
--
--EX: #5UPDATE&lt;cr&gt; followed by #5CONFIRM&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--
--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>
--
--**Note:** After the CONFIRM command is sent, the servo will automatically perform a RESET.<div class="wikimodel-emptyline"></div>
--</div></div>
--{{/html}}
--
--====== __Confirm__ ======
--
--{{html wiki="true" clean="false"}}
--<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
--Ex: #5CONFIRM&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--
--This command is used to confirm changes after a Default or Update command.<div class="wikimodel-emptyline"></div>
--
--**Note:** After the CONFIRM command is sent, the servo will automatically perform a RESET.<div class="wikimodel-emptyline"></div>
--</div></div>
--{{/html}}
--
  ======  ======
--====== __Identification Number (**ID**)__ ======
--
--{{html wiki="true" clean="false"}}
--<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
--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>
--
--Query Identification (**QID**)<div class="wikimodel-emptyline"></div>
--
--EX: #254QID&lt;cr&gt; might return *QID5&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--
--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>
--
--Configure ID (**CID**)<div class="wikimodel-emptyline"></div>
--
--Ex: #4CID5&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--
--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>
--</div></div>
--{{/html}}
--
--====== __Baud Rate__ ======
--
--{{html clean="false" wiki="true"}}
--<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
--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>
--
--Query Baud Rate (**QB**)<div class="wikimodel-emptyline"></div>
--
--Ex: #5QB&lt;cr&gt; might return *5QB115200&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--
--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>
--
--Configure Baud Rate (**CB**)<div class="wikimodel-emptyline"></div>
--
--**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>
--
--Ex: #5CB9600&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--
--Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.<div class="wikimodel-emptyline"></div>
--</div></div>
--{{/html}}
--
--====== __Automatic Baud Rate__ ======
--
--{{html clean="false" wiki="true"}}
--<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
--This option allows the LSS to listen to it's serial input and select the right baudrate automatically.<div class="wikimodel-emptyline"></div>
--
--Query Automatic Baud Rate (**QABR**)<div class="wikimodel-emptyline"></div>
--
--Ex: #5QABR&lt;cr&gt; might return *5ABR0&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--
--Enable Baud Rate (**ABR**)<div class="wikimodel-emptyline"></div>
--
--Ex: #5QABR1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--Enable baudrate detection on first byte received after power-up.<div class="wikimodel-emptyline"></div>
--
--Ex: #5QABR2,30&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--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>
--
--Warning: ABR doesnt work well with LSS Config at the moment.<div class="wikimodel-emptyline"></div>
--</div></div>
--{{/html}}
--
  == Motion ==
  ====== __Position in Degrees (**D**)__ ======
--{{html wiki="true" clean="false"}}
--<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
--Example: #5D1456&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--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>
++Example: #5D1456<cr>
--Larger values are permitted and allow for multi-turn functionality using the concept of virtual position (explained above). <div class="wikimodel-emptyline"></div>
++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.
--Query Position in Degrees (**QD**)<div class="wikimodel-emptyline"></div>
++Larger values are permitted and allow for multi-turn functionality using the concept of virtual position (explained above).
--Example: #5QD&lt;cr&gt; might return *5QD132&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++Query Position in Degrees (**QD**)
--This means the servo is located at 13.2 degrees.<div class="wikimodel-emptyline"></div>
++Example: #5QD<cr> might return *5QD132<cr>
--(% class="wikigeneratedid" id="H22.QueryTargetPositioninDegrees28QDT29" %)
--Query Target Position in Degrees (**QDT**)<div class="wikimodel-emptyline"></div>
++This means the servo is located at 13.2 degrees.
--Ex: #5QDT&lt;cr&gt; might return *5QDT6783&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++Query Target Position in Degrees (**QDT**)
++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.
--<div class="wikimodel-emptyline"></div></div></div>
--{{/html}}
  ====== __(Relative) Move in Degrees (**MD**)__ ======
--{{html wiki="true" clean="false"}}
--<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
--Example: #5MD123&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++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.
--<div class="wikimodel-emptyline"></div></div></div>
--{{/html}}
  ====== __Wheel Mode in Degrees (**WD**)__ ======
--{{html wiki="true" clean="false"}}
--<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
--Ex: #5WD90&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--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>
++Ex: #5WD90<cr>
--Query Wheel Mode in Degrees (**QWD**)<div class="wikimodel-emptyline"></div>
++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).
--Ex: #5QWD&lt;cr&gt; might return *5QWD90&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++Query Wheel Mode in Degrees (**QWD**)
++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).
--<div class="wikimodel-emptyline"></div></div></div>
--{{/html}}
  ====== __Wheel Mode in RPM (**WR**)__ ======
--{{html wiki="true" clean="false"}}
--<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
--Ex: #5WR40&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--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>
++Ex: #5WR40<cr>
--Query Wheel Mode in RPM (**QWR**)<div class="wikimodel-emptyline"></div>
++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).
--Ex: #5QWR&lt;cr&gt; might return *5QWR40&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++Query Wheel Mode in RPM (**QWR**)
++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).
--<div class="wikimodel-emptyline"></div></div></div>
--{{/html}}
--====== __Position in PWM (**P**)__ ======
++======  ======
--{{html wiki="true" clean="false"}}
--<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
--Example: #5P2334&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++====== __(Relative) Move in Degrees (**MD**)__ ======
--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>
++======
++Example: #5M1500<cr> ======
--Query Position in Pulse (**QP**)<div class="wikimodel-emptyline"></div>
++(% class="wikigeneratedid" %)
++====== 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. ======
--Example: #5QP&lt;cr&gt; might return *5QP2334<div class="wikimodel-emptyline"></div>
--
--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.
--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).
--<div class="wikimodel-emptyline"></div></div></div>
--{{/html}}
--
--====== __(Relative) Move in PWM (**M**)__ ======
--
--{{html wiki="true" clean="false"}}
--<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
--Example: #5M1500&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--
--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.
--<div class="wikimodel-emptyline"></div></div></div>
--{{/html}}
--
--====== __Raw Duty-cycle Move (**RDM**)__ ======
--
--{{html wiki="true" clean="false"}}
--<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
--Example: #5RDM512&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--
--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>
--
--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>
--
--Query Move in Duty-cycle (**QMD**)<div class="wikimodel-emptyline"></div>
--
--Example: #5QMD&lt;cr&gt; might return *5QMD512<div class="wikimodel-emptyline"></div>
--
--This command queries the raw duty-cycle move value. 512 value means that the motor is rotating at 50% duty-cycle.
--<div class="wikimodel-emptyline"></div></div></div>
--{{/html}}
--
  ====== __Query Status (**Q**)__ ======
--{{html wiki="true" clean="false"}}
--<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
--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>
--Ex: #5Q&lt;cr&gt; might return *5Q6&lt;cr&gt;, which indicates the motor is holding a position.<div class="wikimodel-emptyline"></div>
--</div></div>
--{{/html}}
++The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
++Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
++
  |(% style="width:25px" %) |***Value returned (Q)**|**Status**|**Detailed description**
  | |ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state
  | |ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely
@@ -463,12
          +463,9 @@
  Send a Q1 command to know which limit has been reached (described below).
  )))
--{{html wiki="true" clean="false"}}
--<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
--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>
--</div></div>
--{{/html}}
++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.
++
  |(% style="width:25px" %) |***Value returned (Q1)**|**Status**|**Detailed description**
  | |ex: *5Q0<cr>|No limits have been passed|Nothing is wrong
  | |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
@@ -477,23
          +477,17 @@
  ====== __Limp (**L**)__ ======
--{{html wiki="true" clean="false"}}
--<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
--Example: #5L&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--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&lt;cr&gt;.
--<div class="wikimodel-emptyline"></div></div></div>
--{{/html}}
++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>.
++
  ====== __Halt & Hold (**H**)__ ======
--{{html wiki="true" clean="false"}}
--<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
--Example: #5H&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++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.)
--<div class="wikimodel-emptyline"></div></div></div>
--{{/html}}
  == Motion Setup ==

Changes for page LSS-PRO Communication Protocol

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