Changes for page LSS-PRO Communication Protocol

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

From version < 24.1 >

edited by Coleman Benson
on 2023/07/18 09:58

To version < 26.1 >

edited by Coleman Benson
on 2023/07/18 10:17

< >

Change comment: There is no comment for this version

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@@ -95,35
          +95,35 @@
  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}}
@@ -247,84
          +247,23 @@
  </div></div>
  {{/html}}
--====== __Confirm__ ======
++====== __Enable CAN Terminal__ ======
--{{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>
++<div class="cmdcnt">
++<div class="cmdpad"></div>
++<div class="cmdtxt">Ex: #5CET1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
--Query Baud Rate (**QB**)<div class="wikimodel-emptyline"></div>
++This sets servo with ID #5 to be the final servo in the bus.
--Ex: #5QB&lt;cr&gt; might return *5QB115200&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++<div class="cmdtxt">Ex: #5QET&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>
++The reply to this query should be *5QET1 to indicate it is the last in the servo bus.
--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 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**)__ ======

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