Changes for page LSS-PRO Communication Protocol
Last modified by Eric Nantel on 2024/09/06 14:52
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... ... @@ -95,35 +95,35 @@ 95 95 96 96 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> 97 97 98 -Ex: #5CSR 20<cr> immediately sets the maximum speed for servo #5 to20rpm (explained below) and changes the value in memory.<div class="wikimodel-emptyline"></div>98 +Ex: #5CSR10<cr> immediately sets the maximum speed for servo #5 to 10rpm (explained below) and changes the value in memory.<div class="wikimodel-emptyline"></div> 99 99 100 100 After RESET, a command of #5SR4<cr> sets the session's speed to 4rpm, but does not change the configuration value in memory. Therefore:<div class="wikimodel-emptyline"></div> 101 101 102 102 #5QSR<cr> or #5QSR0<cr> would return *5QSR4<cr> which represents the value for that session, whereas<div class="wikimodel-emptyline"></div> 103 103 104 -#5QSR1<cr> would return *5QSR 20<cr> which represents the value in EEPROM104 +#5QSR1<cr> would return *5QSR10<cr> which represents the value in EEPROM 105 105 <div class="wikimodel-emptyline"></div></div></div> 106 106 107 107 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 108 -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> 108 +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> 109 109 110 110 [[image:LSS-servo-positions.jpg]]<div class="wikimodel-emptyline"></div> 111 111 112 112 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> 113 113 114 -#1D-300<cr> This causes the servo to move to -30.0 degrees (green arrow)<div class="wikimodel-emptyline"></div> 114 +#1D-3000<cr> This causes the servo to move to -30.00 degrees (green arrow)<div class="wikimodel-emptyline"></div> 115 115 116 -#1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)<div class="wikimodel-emptyline"></div> 116 +#1D21000<cr> This second position command is sent to the servo, which moves it to 210.00 degrees (orange arrow)<div class="wikimodel-emptyline"></div> 117 117 118 -#1D-4200<cr> 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> 118 +#1D-42000<cr> 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> 119 119 120 -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> 120 +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> 121 121 122 -#1D4800<cr> 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> 122 +#1D48000<cr> 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> 123 123 124 -#1D3300<cr> would cause the servo to rotate from 480.0 degrees to 330.0 degrees (yellow arrow).<div class="wikimodel-emptyline"></div> 124 +#1D33000<cr> would cause the servo to rotate from 480.0 degrees to 330.00 degrees (yellow arrow).<div class="wikimodel-emptyline"></div> 125 125 126 -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°]. 126 +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°]. 127 127 <div class="wikimodel-emptyline"></div></div></div> 128 128 129 129 {{/html}} ... ... @@ -205,126 +205,9 @@ 205 205 206 206 == (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) == 207 207 208 -====== __Reset__ ====== 209 209 210 -{{html wiki="true" clean="false"}} 211 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 212 -Ex: #5RESET<cr><div class="wikimodel-emptyline"></div> 213 -This command does a "soft reset" and reverts all commands to those stored in EEPROM (i.e. configuration commands). 214 -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> 215 -</div></div> 216 -{{/html}} 217 - 218 -====== __Default & confirm__ ====== 219 - 220 -{{html wiki="true" clean="false"}} 221 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 222 -Ex: #5DEFAULT<cr><div class="wikimodel-emptyline"></div> 223 - 224 -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> 225 - 226 -EX: #5DEFAULT<cr> followed by #5CONFIRM<cr><div class="wikimodel-emptyline"></div> 227 - 228 -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> 229 - 230 -**Note:** After the CONFIRM command is sent, the servo will automatically perform a RESET.<div class="wikimodel-emptyline"></div> 231 -</div></div> 232 -{{/html}} 233 - 234 -====== __Update & confirm__ ====== 235 - 236 -{{html wiki="true" clean="false"}} 237 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 238 -Ex: #5UPDATE<cr><div class="wikimodel-emptyline"></div> 239 - 240 -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> 241 - 242 -EX: #5UPDATE<cr> followed by #5CONFIRM<cr><div class="wikimodel-emptyline"></div> 243 - 244 -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> 245 - 246 -**Note:** After the CONFIRM command is sent, the servo will automatically perform a RESET.<div class="wikimodel-emptyline"></div> 247 -</div></div> 248 -{{/html}} 249 - 250 -====== __Confirm__ ====== 251 - 252 -{{html wiki="true" clean="false"}} 253 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 254 -Ex: #5CONFIRM<cr><div class="wikimodel-emptyline"></div> 255 - 256 -This command is used to confirm changes after a Default or Update command.<div class="wikimodel-emptyline"></div> 257 - 258 -**Note:** After the CONFIRM command is sent, the servo will automatically perform a RESET.<div class="wikimodel-emptyline"></div> 259 -</div></div> 260 -{{/html}} 261 - 262 262 ====== ====== 263 263 264 -====== __Identification Number (**ID**)__ ====== 265 - 266 -{{html wiki="true" clean="false"}} 267 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 268 -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> 269 - 270 -Query Identification (**QID**)<div class="wikimodel-emptyline"></div> 271 - 272 -EX: #254QID<cr> might return *QID5<cr><div class="wikimodel-emptyline"></div> 273 - 274 -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> 275 - 276 -Configure ID (**CID**)<div class="wikimodel-emptyline"></div> 277 - 278 -Ex: #4CID5<cr><div class="wikimodel-emptyline"></div> 279 - 280 -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> 281 -</div></div> 282 -{{/html}} 283 - 284 -====== __Baud Rate__ ====== 285 - 286 -{{html clean="false" wiki="true"}} 287 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 288 -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> 289 - 290 -Query Baud Rate (**QB**)<div class="wikimodel-emptyline"></div> 291 - 292 -Ex: #5QB<cr> might return *5QB115200<cr><div class="wikimodel-emptyline"></div> 293 - 294 -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> 295 - 296 -Configure Baud Rate (**CB**)<div class="wikimodel-emptyline"></div> 297 - 298 -**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> 299 - 300 -Ex: #5CB9600<cr><div class="wikimodel-emptyline"></div> 301 - 302 -Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.<div class="wikimodel-emptyline"></div> 303 -</div></div> 304 -{{/html}} 305 - 306 -====== __Automatic Baud Rate__ ====== 307 - 308 -{{html clean="false" wiki="true"}} 309 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 310 -This option allows the LSS to listen to it's serial input and select the right baudrate automatically.<div class="wikimodel-emptyline"></div> 311 - 312 -Query Automatic Baud Rate (**QABR**)<div class="wikimodel-emptyline"></div> 313 - 314 -Ex: #5QABR<cr> might return *5ABR0<cr><div class="wikimodel-emptyline"></div> 315 - 316 -Enable Baud Rate (**ABR**)<div class="wikimodel-emptyline"></div> 317 - 318 -Ex: #5QABR1<cr><div class="wikimodel-emptyline"></div> 319 -Enable baudrate detection on first byte received after power-up.<div class="wikimodel-emptyline"></div> 320 - 321 -Ex: #5QABR2,30<cr><div class="wikimodel-emptyline"></div> 322 -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> 323 - 324 -Warning: ABR doesnt work well with LSS Config at the moment.<div class="wikimodel-emptyline"></div> 325 -</div></div> 326 -{{/html}} 327 - 328 328 == Motion == 329 329 330 330 ====== __Position in Degrees (**D**)__ ======