Changes for page LSS-PRO Communication Protocol
Last modified by Eric Nantel on 2024/09/06 14:52
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... ... @@ -163,20 +163,19 @@ 163 163 | |[[**Q**uery **M**odel **S**tring>>||anchor="HQueryModelString28QMS29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMS|(% style="text-align:center" %) | | |Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1) 164 164 | |[[**Q**uery **F**irmware Version>>||anchor="HQueryFirmware28QF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | | | 165 165 | |[[**Q**uery Serial **N**umber>>||anchor="HQuerySerialNumber28QN29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QN|(% style="text-align:center" %) | | |Returns the unique serial number for the servo 166 -| |**Q**uery **T**emperature **P**robe|(% style="text-align:center" %) |(% style="text-align:center" %)QTP|(% style="text-align:center" %) | | |Queries temperature probe fixed to the stepper motor 167 -| |**Q**uery **T**emp of **M**CU|(% style="text-align:center" %) |(% style="text-align:center" %)QTM|(% style="text-align:center" %) | | | 168 -| |**Q**uery **T**emp of **C**ontroller|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW, QTCE|(% style="text-align:center" %) | | |((( 166 +| |[[**Q**uery **T**emperature **P**robe>>doc:||anchor="HQueryTemperatureProbe28QTP29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTP|(% style="text-align:center" %) | | |Queries temperature probe fixed to the stepper motor 167 +| |[[**Q**uery **T**emp of **M**CU>>doc:||anchor="HQueryMCUTemperature28QTM29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTM|(% style="text-align:center" %) | | | 168 +| |[[**Q**uery **T**emp of **C**ontroller>>doc:||anchor="HQueryTempofController28QTCW29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW, QTCE|(% style="text-align:center" %) | | |((( 169 169 QTCW: Queries the temperature status of the motor controller (pre-warning) 170 170 171 171 QTCE: Queries the temperature status of the motor controller (over-temp error) 172 172 ))) 173 -| |**Q**uery **C**urrent **S**peed |(% style="text-align:center" %) |(% style="text-align:center" %)QCS|(% style="text-align:center" %) | | |Queries the motor controller's calculated speed 174 -| |**Q**uery **I**MU Linear **X**|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |mm/s^2| 175 -| |**Q**uery **I**MU Linear **Y**|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |mm/s^2| 176 -| |**Q**uery **I**MU Linear **Z**|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |mm/s^2| 177 -| |**Q**uery **I**MU Angular Accel **α** |(% style="text-align:center" %) |(% style="text-align:center" %)QIA|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel α (Alpha) 178 -| |**Q**uery **I**MU Angular Accel **β**|(% style="text-align:center" %) |(% style="text-align:center" %)QIB|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel β (Beta) 179 -| |**Q**uery **I**MU Angular Accel **γ**|(% style="text-align:center" %) |(% style="text-align:center" %)QIC / QIG|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel γ (Gamma) 173 +| |[[**Q**uery **I**MU Linear **X**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |mm/s^2| 174 +| |[[**Q**uery **I**MU Linear **Y**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |mm/s^2| 175 +| |[[**Q**uery **I**MU Linear **Z**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |mm/s^2| 176 +| |[[**Q**uery **I**MU Angular Accel **α** >>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIA|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel α (Alpha) 177 +| |[[**Q**uery **I**MU Angular Accel **β**>>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIB|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel β (Beta) 178 +| |[[**Q**uery **I**MU Angular Accel **γ**>>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIC / QIG|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel γ (Gamma) 180 180 181 181 |(% colspan="8" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="HRGBLED"]] 182 182 |(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes** ... ... @@ -186,13 +186,19 @@ 186 186 187 187 == (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) == 188 188 189 -====== (% style="color:inherit; font-family:inherit" %)__Reset__(%%) ====== 188 +|(% colspan="2" %)((( 189 +====== __Reset__ ====== 190 +))) 191 +| |((( 192 +Ex: #5RESET<cr> 190 190 191 - (%style="color:inherit;font-family:inherit"%)Ex:#5RESET<cr>192 - 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.194 +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. 195 +))) 193 193 197 +|(% colspan="2" %)((( 194 194 ====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ====== 195 - 199 +))) 200 +| |((( 196 196 (% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr> 197 197 198 198 (% 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. ... ... @@ -202,9 +202,12 @@ 202 202 (% 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. 203 203 204 204 (% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET. 210 +))) 205 205 212 +|(% colspan="2" %)((( 206 206 ====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ====== 207 - 214 +))) 215 +| |((( 208 208 (% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr> 209 209 210 210 (% 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. ... ... @@ -214,7 +214,11 @@ 214 214 (% 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. 215 215 216 216 (% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET. 225 +))) 217 217 227 +(% class="wikigeneratedid" %) 228 +====== ====== 229 + 218 218 ====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ====== 219 219 220 220 (% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr> ... ... @@ -567,10 +567,12 @@ 567 567 568 568 Ex: 569 569 570 -====== __Query Temp of Controller (**QTCW** , **QTCE**)__ ======582 +====== __Query Temp of Controller (**QTCW**)__ ====== 571 571 572 572 Ex: 573 573 586 +An alternative is QTCE 587 + 574 574 ====== __Query Current (**QC**)__ ====== 575 575 576 576 Ex: #5QC<cr> might return *5QC140<cr> ... ... @@ -595,13 +595,13 @@ 595 595 596 596 The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user. 597 597 598 -====== __Query IMU Linear (**QIX** ,**QIY**,**QIZ**)__ ======612 +====== __Query IMU Linear (**QIX** **QIY** **QIZ**)__ ====== 599 599 600 600 Ex: #6QIX<cr> might return *6QIX30<cr> 601 601 602 602 This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared. 603 603 604 -__Query IMU Angular (**QIA** ,**QIB**,**QIC**)__618 +====== __Query IMU Angular (**QIA** **QIB** **QIC**)__ ====== 605 605 606 606 Ex: #6QIB<cr> might return *6QIB44<cr> 607 607