Last modified by Eric Nantel on 2024/09/06 14:52
From version < 36.1 >
edited by Coleman Benson
on 2023/07/26 13:29
To version < 34.1 >
edited by Coleman Benson
on 2023/07/25 15:26
< >
Change comment: There is no comment for this version

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1 1  {{warningBox warningText="More information coming soon"/}}
2 2  
3 3  
4 -
5 5  (% class="wikigeneratedid" id="HTableofContents" %)
6 6  **Page Contents**
7 7  
... ... @@ -30,88 +30,104 @@
30 30  
31 31  == Modifiers ==
32 32  
33 -Modifiers can only be used with certain **action commands**. The format to include a modifier is:
32 +{{html clean="false" wiki="true"}}
33 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
34 +Modifiers can only be used with certain **action commands**. The format to include a modifier is:<div class="wikimodel-emptyline"></div>
34 34  
35 -1. Start with a number sign **#** (Unicode Character: U+0023)
36 +1. Start with a number sign **#** (Unicode Character: U+0023)
36 36  1. Servo ID number as an integer
37 37  1. Action command (one to three letters, no spaces, capital or lowercase from a subset of action commands below)
38 38  1. Action value in the correct units with no decimal
39 -1. Modifier command (one or two letters from the list of modifiers below)
40 +1. Modifier command (one or two letters from the list of modifiers below)
40 40  1. Modifier value in the correct units with no decimal
41 -1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
42 +1. End with a carriage return **&#92;r** or **&lt;cr&gt;** Unicode Character (U+000D)
42 42  
43 -Ex: #5D13000T1500<cr>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).
44 +Ex: #5D13000T1500&lt;cr&gt;<div class="wikimodel-emptyline"></div>
44 44  
45 -== Queries ==
46 +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>
47 +<div class="wikimodel-emptyline"></div></div></div>
46 46  
47 -Query commands request information from the servo. Query commands are also similar to action and configuration commands and must use the following format:
49 +<h2>Queries</h2>
50 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
51 +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>
48 48  
49 -1. Start with a number sign **#** (Unicode Character: U+0023)
53 +1. Start with a number sign **#** (Unicode Character: U+0023)
50 50  1. Servo ID number as an integer
51 51  1. Query command (one to four letters, no spaces, capital or lower case)
52 -1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
56 +1. End with a carriage return **&#92;r** or **&lt;cr&gt;** Unicode Character (U+000D)<div class="wikimodel-emptyline"></div>
53 53  
54 -Ex: #5QD<cr> Query the position in (hundredths of) degrees for servo with ID #5The query will return a serial string (almost instantaneously) via the servo's Tx in the following format:
58 +Ex: #5QD&lt;cr&gt; Query the position in (hundredths of) degrees for servo with ID #5<div class="wikimodel-emptyline"></div>
55 55  
60 +The query will return a serial string (almost instantaneously) via the servo's Tx in the following format:
61 +
56 56  1. Start with an asterisk * (Unicode Character: U+0023)
57 57  1. Servo ID number as an integer
58 58  1. Query command (one to four letters, no spaces, capital letters)
59 59  1. The reported value in the units described, no decimals.
60 -1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
66 +1. End with a carriage return **&#92;r** or **&lt;cr&gt;** Unicode Character (U+000D)<div class="wikimodel-emptyline"></div>
61 61  
62 -There is currently no option to control how fast a servo replies after it has received a query command, therefore when sending a query command to the bus, the controller should be prepared to immediately "listen" for and parse the reply. Sending multiple queries to multiple servos on a bus in fast succession may result in replies overlapping and giving incorrect or corrupt data. As such, the controller should receive a reply before sending a new query command. A reply to the query sent above might be:
68 +There is currently no option to control how fast a servo replies after it has received a query command, therefore when sending a query command to the bus, the controller should be prepared to immediately "listen" for and parse the reply. Sending multiple queries to multiple servos on a bus in fast succession may result in replies overlapping and giving incorrect or corrupt data. As such, the controller should receive a reply before sending a new query command. A reply to the query sent above might be:<div class="wikimodel-emptyline"></div>
63 63  
64 -Ex: *5QD13000<cr>
70 +Ex: *5QD13000&lt;cr&gt;<div class="wikimodel-emptyline"></div>
65 65  
66 66  This indicates that servo #5 is currently at 130.00 degrees (13000 tenths of degrees).
73 +<div class="wikimodel-emptyline"></div></div></div>
67 67  
68 -== Configurations ==
75 +<h2>Configurations</h2>
69 69  
70 -Configuration commands and corresponding values affect a servo's defaults which are written to and read from the servo's EEPROM. 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.
77 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
78 +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>
71 71  
72 -The format to send a configuration command is identical to that of an action command:
80 +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>
73 73  
74 -1. Start with a number sign **#** (Unicode Character: U+0023)
82 +The format to send a configuration command is identical to that of an action command:<div class="wikimodel-emptyline"></div>
83 +
84 +1. Start with a number sign **#** (Unicode Character: U+0023)
75 75  1. Servo ID number as an integer
76 76  1. Configuration command (two to four letters, no spaces, capital or lower case)
77 77  1. Configuration value in the correct units with no decimal
78 -1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
88 +1. End with a carriage return **&#92;r** or **&lt;cr&gt;** Unicode Character (U+000D)<div class="wikimodel-emptyline"></div>
79 79  
80 -Ex: #5CO-500<cr>
90 +Ex: #5CO-500&lt;cr&gt;<div class="wikimodel-emptyline"></div>
81 81  
82 -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).
92 +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>
83 83  
84 -**Session vs Configuration Query**
94 +**Session vs Configuration Query**<div class="wikimodel-emptyline"></div>
85 85  
86 -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:
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>
87 87  
88 -Ex: #5CSR10<cr> immediately sets the maximum speed for servo #5 to 10rpm (explained below) and changes the value in memory.
98 +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>
89 89  
90 -After RESET, a command of #5SR4<cr> sets the session's speed to 4rpm, but does not change the configuration value in memory. Therefore:
100 +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>
91 91  
92 -#5QSR<cr> or #5QSR0<cr> would return *5QSR4<cr> which represents the value for that session, whereas
102 +#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>
93 93  
94 -#5QSR1<cr> would return *5QSR10<cr> which represents the value in EEPROM
104 +#5QSR1&lt;cr&gt; would return *5QSR10&lt;cr&gt; which represents the value in EEPROM
105 +<div class="wikimodel-emptyline"></div></div></div>
95 95  
96 -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).
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 360.00 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>
97 97  
98 -[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-positions.jpg||alt="LSS-servo-positions.jpg"]]
110 +[[image:LSS-servo-positions.jpg]]<div class="wikimodel-emptyline"></div>
99 99  
100 -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:
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>
101 101  
102 -#1D-3000<cr> This causes the servo to move to -30.00 degrees (green arrow)
114 +#1D-3000&lt;cr&gt; This causes the servo to move to -30.00 degrees (green arrow)<div class="wikimodel-emptyline"></div>
103 103  
104 -#1D21000<cr> This second position command is sent to the servo, which moves it to 210.00 degrees (orange arrow)
116 +#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>
105 105  
106 -#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.
118 +#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>
107 107  
108 -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.
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>
109 109  
110 -#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.
122 +#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>
111 111  
112 -#1D33000<cr> would cause the servo to rotate from 480.0 degrees to 330.00 degrees (yellow arrow).
124 +#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>
113 113  
114 114  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 +<div class="wikimodel-emptyline"></div></div></div>
128 +
129 +{{/html}}
115 115  )))
116 116  
117 117  = Command List =
... ... @@ -190,47 +190,14 @@
190 190  
191 191  == (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) ==
192 192  
193 -====== (% style="color:inherit; font-family:inherit" %)__Reset__(%%) ======
194 194  
195 -(% style="color:inherit; font-family:inherit" %)Ex: #5RESET<cr>
196 -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, note #2 for more details.
209 +====== ======
197 197  
198 -====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ======
199 -
200 -(% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr>
201 -
202 -(% style="color:inherit; font-family:inherit" %)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.
203 -
204 -(% style="color:inherit; font-family:inherit" %)EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
205 -
206 -(% style="color:inherit; font-family:inherit" %)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.
207 -
208 -(% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
209 -
210 -====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
211 -
212 -(% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
213 -
214 -(% style="color:inherit; font-family:inherit" %)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.
215 -
216 -(% style="color:inherit; font-family:inherit" %)EX: #5UPDATE<cr> followed by #5CONFIRM<cr>
217 -
218 -(% style="color:inherit; font-family:inherit" %)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.
219 -
220 -(% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
221 -
222 -====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
223 -
224 -(% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
225 -
226 -(% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command.
227 -Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.(%%)
228 -
229 -
230 230  == Motion ==
231 231  
232 232  ====== __Position in Degrees (**D**)__ ======
233 233  
215 +
234 234  Example: #5D1456<cr>
235 235  
236 236  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.
... ... @@ -258,6 +258,7 @@
258 258  
259 259  ====== __Wheel Mode in Degrees (**WD**)__ ======
260 260  
243 +
261 261  Ex: #5WD90<cr>
262 262  
263 263  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).
... ... @@ -270,6 +270,7 @@
270 270  
271 271  ====== __Wheel Mode in RPM (**WR**)__ ======
272 272  
256 +
273 273  Ex: #5WR40<cr>
274 274  
275 275  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).
... ... @@ -280,16 +280,19 @@
280 280  
281 281  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).
282 282  
267 +====== ======
268 +
283 283  ====== __(Relative) Move in Degrees (**MD**)__ ======
284 284  
285 -(% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %)
286 -Example: #5M1500<cr>
271 +======
272 +Example: #5M1500<cr> ======
287 287  
288 -(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
289 -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.
274 +(% class="wikigeneratedid" %)
275 +====== 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. ======
290 290  
291 291  ====== __Query Status (**Q**)__ ======
292 292  
279 +
293 293  The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
294 294  
295 295  Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
... ... @@ -313,6 +313,7 @@
313 313  
314 314  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.
315 315  
303 +
316 316  |(% style="width:25px" %) |***Value returned (Q1)**|**Status**|**Detailed description**
317 317  | |ex: *5Q0<cr>|No limits have been passed|Nothing is wrong
318 318  | |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
... ... @@ -321,6 +321,7 @@
321 321  
322 322  ====== __Limp (**L**)__ ======
323 323  
312 +
324 324  Example: #5L<cr>
325 325  
326 326  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>.
... ... @@ -327,6 +327,7 @@
327 327  
328 328  ====== __Halt & Hold (**H**)__ ======
329 329  
319 +
330 330  Example: #5H<cr>
331 331  
332 332  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.)
... ... @@ -335,6 +335,7 @@
335 335  
336 336  ====== __Origin Offset (**O**)__ ======
337 337  
328 +
338 338  Example: #5O2400<cr>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).
339 339  
340 340  [[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]
... ... @@ -488,6 +488,7 @@
488 488  (% class="wikigeneratedid" %)
489 489  This command queries the current speed in microseconds per second.
490 490  
482 +(% class="wikigeneratedid" %)
491 491  ====== __Timed move (**T**) modifier__ ======
492 492  
493 493  Example: #5D15000T2500<cr>

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