Changes for page LSS-PRO Communication Protocol

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

From version < 33.1 >

edited by Coleman Benson
on 2023/07/25 15:26

To version < 30.1 >

edited by Coleman Benson
on 2023/07/25 15:19

< >

Change comment: There is no comment for this version

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@@ -494,40
          +494,105 @@
  ====== __Query Voltage (**QV**)__ ======
--Ex: #5QV<cr> might return *5QV11200<cr>
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Ex: #5QV&lt;cr&gt; might return *5QV11200&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++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>
++</div></div>
++{{/html}}
--The number returned is in milliVolts, so in the case above, servo with ID 5 has an input voltage of 11.2V.
--
  ====== __Query Temperature (**QT**)__ ======
--Ex: #5QT<cr> might return *5QT564<cr>
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Ex: #5QT&lt;cr&gt; might return *5QT564&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++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>
++</div></div>
++{{/html}}
--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.
++====== __Query Current (**QC**)__ ======
--====== __Query Motor Driver Current (**QC**)__ ======
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Ex: #5QC&lt;cr&gt; might return *5QC140&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.<div class="wikimodel-emptyline"></div>
++</div></div>
++{{/html}}
--Ex: #5QC<cr> might return *5QC140<cr>
++====== __Query Model String (**QMS**)__ ======
--The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A. It represents the RMS value.
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Ex: #5QMS&lt;cr&gt; might return *5QMSLSS-HS1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++This reply means that the servo model is LSS-HS1: a high speed servo, first revision.<div class="wikimodel-emptyline"></div>
++</div></div>
++{{/html}}
--====== __Query Model String (**QMS**)__ ======
++====== __Query Firmware (**QF**)__ ======
--Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Ex: #5QF&lt;cr&gt; might return *5QF368&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++The number in the reply represents the firmware version, in this example being 368.<div class="wikimodel-emptyline"></div>
++The command #5QF3&lt;cr&gt; 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>
++</div></div>
++{{/html}}
--This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
++====== __Query Serial Number (**QN**)__ ======
--====== __Query Firmware (**QF**)__ ======
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Ex: #5QN&lt;cr&gt; might return *5QN12345678&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++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>
++</div></div>
++{{/html}}
--Ex: #5QF<cr> might return *5QF368<cr>
++== RGB LED ==
--The number in the reply represents the firmware version, in this example being 368.The command #5QF3<cr> can also be sent and the servo will reply with a 3 numbers firmware version, for example, 368.29.14
++====== __LED Color (**LED**)__ ======
--====== __Query Serial Number (**QN**)__ ======
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++Ex: #5LED3&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++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>
++0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;<div class="wikimodel-emptyline"></div>
++Query LED Color (**QLED**)<div class="wikimodel-emptyline"></div>
++Ex: #5QLED&lt;cr&gt; might return *5QLED5&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++This simple query returns the indicated servo's LED color.<div class="wikimodel-emptyline"></div>
++Configure LED Color (**CLED**)<div class="wikimodel-emptyline"></div>
++Ex: #5CLED3&lt;cr&gt;<div class="wikimodel-emptyline"></div>
++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>
++</div></div>
++{{/html}}
--Ex: #5QN<cr> might return *5QN12345678<cr>
++====== __Configure LED Blinking (**CLB**)__ ======
--The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
++{{html wiki="true" clean="false"}}
++<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
++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>
++(% style="width:195px" %)
++|(% style="width:134px" %)**Blink While:**|(% style="width:58px" %)**#**
++|(% style="width:134px" %)No blinking|(% style="width:58px" %)0
++|(% style="width:134px" %)Limp|(% style="width:58px" %)1
++|(% style="width:134px" %)Holding|(% style="width:58px" %)2
++|(% style="width:134px" %)Accelerating|(% style="width:58px" %)4
++|(% style="width:134px" %)Decelerating|(% style="width:58px" %)8
++|(% style="width:134px" %)Free|(% style="width:58px" %)16
++|(% style="width:134px" %)Travelling|(% style="width:58px" %)32
++|(% style="width:134px" %)Always blink|(% style="width:58px" %)63<div class="wikimodel-emptyline"></div>
++
++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>
++Ex: #5CLB0<cr> to turn off all blinking (LED always solid)<div class="wikimodel-emptyline"></div>
++Ex: #5CLB1<cr> only blink when limp (1)<div class="wikimodel-emptyline"></div>
++Ex: #5CLB2<cr> only blink when holding (2)<div class="wikimodel-emptyline"></div>
++Ex: #5CLB12<cr> only blink when accel or decel (accel 4 + decel 8 = 12)<div class="wikimodel-emptyline"></div>
++Ex: #5CLB48<cr> only blink when free or travel (free 16 + travel 32 = 48)<div class="wikimodel-emptyline"></div>
++Ex: #5CLB63<cr> blink in all status (1 + 2 + 4 + 8 + 16 + 32)<div class="wikimodel-emptyline"></div>
++RESETTING the servo is needed.<div class="wikimodel-emptyline"></div>
++</div></div>
++{{/html}}
++
  == RGB LED ==
--More information to come.
++The LED can be

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