Last modified by Eric Nantel on 2024/09/06 14:52
From version < 55.1 >
edited by Coleman Benson
on 2023/07/27 13:06
To version < 76.1 >
edited by Eric Nantel
on 2024/07/22 13:53
< >
Change comment: There is no comment for this version

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Title
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1 -LSS-P - Communication Protocol
1 +LSS-PRO Communication Protocol
Parent
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1 -lynxmotion-smart-servo-pro.WebHome
1 +ses-pro.lss-pro.WebHome
Author
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1 -xwiki:XWiki.CBenson
1 +xwiki:XWiki.ENantel
Hidden
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1 -true
1 +false
Content
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1 -{{warningBox warningText="More information coming soon"/}}
2 -
3 -
4 -
5 5  (% class="wikigeneratedid" id="HTableofContents" %)
6 6  **Page Contents**
7 7  
... ... @@ -95,7 +95,7 @@
95 95  
96 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).
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"]]
94 +[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-positions.jpg||alt="LSS-servo-positions.jpg"]]
99 99  
100 100  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:
101 101  
... ... @@ -120,62 +120,62 @@
120 120  
121 121  |(% colspan="8" style="color:orange; font-size:18px" %)[[**Communication Setup**>>||anchor="HCommunicationSetup"]]
122 122  |(% 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**
123 -| |[[**Reset**>>||anchor="HReset"]]|(% style="text-align:center" %)RESET|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Soft reset. See command for details.
124 -| |[[**Default** Configuration>>||anchor="HDefault26confirm"]]|(% style="text-align:center" %)DEFAULT|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Revert to firmware default values. See command for details
125 -| |[[Firmware **Update** Mode>>||anchor="HUpdate26confirm"]]|(% style="text-align:center" %)UPDATE|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Update firmware. See command for details.
126 -| |[[**Confirm** Changes>>||anchor="HConfirm"]]|(% style="text-align:center" %)CONFIRM|(% style="text-align:center" %) |(% style="text-align:center" %) | | |
127 -| |[[**ID** Number >>||anchor="HIDNumber28ID29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QID|(% style="text-align:center" %)CID|0| |Reset required after change. ID 254 is a "broadcast" which all servos respond to.
128 -| |[[**E**nable CAN **T**erminal>>doc:||anchor="HEnableCANTerminalResistor28ET29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QET|(% style="text-align:center" %)CET| |0 or 1|0: Disable  1: Enable
129 -| |[[**U**SB **C**onnection Status>>||anchor="HUSBConnectionStatus28UC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QUC|(% style="text-align:center" %) | |0 or 1|0: Not connected 1: Connected
130 -| |[[**Q**uery **F**irmware **R**elease>>doc:||anchor="HFirmwareRelease28FR29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QFR|(% style="text-align:center" %) | | |
119 +| |[[**Reset**>>||anchor="HReset"]]|(% style="text-align:center" %)RESET|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |Soft reset
120 +| |[[**Default** Configuration>>||anchor="HDefault26confirm"]]|(% style="text-align:center" %)DEFAULT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |Revert to firmware default values
121 +| |[[Firmware **Update** Mode>>||anchor="HUpdate26confirm"]]|(% style="text-align:center" %)UPDATE|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |Update firmware
122 +| |[[**Confirm** Changes>>||anchor="HConfirm"]]|(% style="text-align:center" %)CONFIRM|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |Confirm the action for some commands
123 +| |[[**ID** Number >>||anchor="HIDNumber28ID29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QID|(% style="text-align:center" %)CID|(% style="text-align:center" %)0|(% style="text-align:center" %) |Reset required after change. ID 254 is a "broadcast" which all servos respond to.
124 +| |[[**E**nable CAN **T**erminal>>doc:||anchor="HEnableCANTerminalResistor28ET29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QET|(% style="text-align:center" %)CET|(% style="text-align:center" %)1|(% style="text-align:center" %)0 or 1|0: Disable  1: Enable
125 +| |[[**U**SB **C**onnection Status>>||anchor="HUSBConnectionStatus28UC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QUC|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)0 or 1|0: Not connected 1: Connected
131 131  
132 132  |(% colspan="8" style="color:orange; font-size:18px" %)[[**Motion**>>||anchor="HMotion"]]
133 133  |(% 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**
134 -| |[[Position in **D**egrees>>||anchor="HPositioninDegrees28D29"]]|(% style="text-align:center" %)D|(% style="text-align:center" %)QD/QDT|(% style="text-align:center" %) | |1/100°|
135 -| |[[**M**ove in **D**egrees (relative)>>||anchor="H28Relative29MoveinDegrees28MD29"]]|(% style="text-align:center" %)MD|(% style="text-align:center" %) |(% style="text-align:center" %) | |1/100°|
136 -| |[[**W**heel mode in **D**egrees>>||anchor="HWheelModeinDegrees28WD29"]]|(% style="text-align:center" %)WD|(% style="text-align:center" %)QWD/QVT|(% style="text-align:center" %) | |°/s|A.K.A. "Speed mode" or "Continuous rotation"
129 +| |[[Position in **D**egrees>>||anchor="HPositioninDegrees28D29"]]|(% style="text-align:center" %)D|(% style="text-align:center" %)QD|(% style="text-align:center" %) | |0.01°|
130 +| |[[**M**ove in **D**egrees (relative)>>||anchor="H28Relative29MoveinDegrees28MD29"]]|(% style="text-align:center" %)MD|(% style="text-align:center" %) |(% style="text-align:center" %) | |0.01°|
131 +| |[[**W**heel mode in **D**egrees>>||anchor="HWheelModeinDegrees28WD29"]]|(% style="text-align:center" %)WD|(% style="text-align:center" %)QWD|(% style="text-align:center" %) | |0.01°/s|A.K.A. "Speed mode" or "Continuous rotation"
137 137  | |[[**W**heel mode in **R**PM>>||anchor="HWheelModeinRPM28WR29"]]|(% style="text-align:center" %)WR|(% style="text-align:center" %)QWR|(% style="text-align:center" %) | |RPM|A.K.A. "Speed mode" or "Continuous rotation"
138 138  | |[[**Q**uery Motion Status>>||anchor="HQueryStatus28Q29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)Q|(% style="text-align:center" %) | |1 to 8 integer|See command description for details
134 +| |[[**Q**uery **M**otion **T**ime>>doc:||anchor="HMotionTime"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMT|(% style="text-align:center" %) | |0.01s|
135 +| |[[**Q**uery **C**urrent **S**peed>>doc:||anchor="HCurrentSpeed"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QCS|(% style="text-align:center" %) | |0.01°/s|
139 139  | |[[**L**imp>>||anchor="HLimp28L29"]]|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Removes power from stepper coils
140 -| |[[**H**alt & Hold>>||anchor="HHalt26Hold28H29"]]|(% style="text-align:center" %)H|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Stops (halts) motion profile and holds last position
137 +| |[[**H**alt & Hold>>||anchor="HHalt26Hold28H29"]]|(% style="text-align:center" %)H|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Stops (halts) motion and holds last position
141 141  
142 142  |(% colspan="8" style="color:orange; font-size:18px" %)[[**Motion Setup**>>||anchor="HMotionSetup"]]
143 143  |(% 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**
144 -| |[[**O**rigin Offset>>||anchor="HOriginOffset28O29"]]|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|0|1/10°|
145 -| |[[**A**ngular **R**ange>>||anchor="HAngularRange28AR29"]]|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|1800|1/10°|
146 -| |[[**A**ngular **A**cceleration>>||anchor="HAngularAcceleration28AA29"]]|(% style="text-align:center" %)AA|(% style="text-align:center" %)QAA|(% style="text-align:center" %)CAA|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
147 -| |[[**A**ngular **D**eceleration>>||anchor="HAngularDeceleration28AD29"]]|(% style="text-align:center" %)AD|(% style="text-align:center" %)QAD|(% style="text-align:center" %)CAD|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
148 -| |[[**G**yre Direction>>||anchor="HGyreDirection28G29"]]|(% style="text-align:center" %)G|(% style="text-align:center" %)QG|(% style="text-align:center" %)CG|1| |Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)
149 -| |[[**F**irst Position (**D**eg)>>||anchor="HFirstPosition"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QFD|(% style="text-align:center" %)CFD|No value|1/10°|Reset required after change.
150 -| |[[Maximum **S**peed in **D**egrees>>||anchor="HMaximumSpeedinDegrees28SD29"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %)QSD|(% style="text-align:center" %)CSD|Max|0.1°/s|SD overwrites SR / CSD overwrites CSR and vice-versa
151 -| |[[Maximum **S**peed in **R**PM>>||anchor="HMaximumSpeedinRPM28SR29"]]|(% style="text-align:center" %)SR|(% style="text-align:center" %)QSR|(% style="text-align:center" %)CSR|Max|RPM|SD overwrites SR / CSD overwrites CSR and vice-versa
152 -| |[[Step Mode>>doc:||anchor="HStepMode28SM29"]]|(% style="text-align:center" %)SM|(% style="text-align:center" %)QM|(% style="text-align:center" %)CSM|2|1, 2, 4|Numbers represent fractions: full step, &frac12; step, &frac14; step
141 +| |[[**O**rigin Offset>>||anchor="HOriginOffset28O29"]]|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|(% style="text-align:center" %)0|(% style="text-align:center" %)0.01°|
142 +| |[[**A**ngular **R**ange>>||anchor="HAngularRange28AR29"]]|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|(% style="text-align:center" %)36000|(% style="text-align:center" %)0.01°|
143 +| |[[**A**ngular **A**cceleration>>||anchor="HAngularAcceleration28AA29"]]|(% style="text-align:center" %)AA|(% style="text-align:center" %)QAA|(% style="text-align:center" %)CAA|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s^2|
144 +| |[[**A**ngular **D**eceleration>>||anchor="HAngularDeceleration28AD29"]]|(% style="text-align:center" %)AD|(% style="text-align:center" %)QAD|(% style="text-align:center" %)CAD|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s^2|
145 +| |[[**G**yre Direction>>||anchor="HGyreDirection28G29"]]|(% style="text-align:center" %)G|(% style="text-align:center" %)QG|(% style="text-align:center" %)CG|(% style="text-align:center" %)1|(% style="text-align:center" %)1 or -1|Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)
146 +| |[[**F**irst Position (**D**eg)>>||anchor="HFirstPosition"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QFD|(% style="text-align:center" %)CFD|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°|Reset required after change.
147 +| |[[Maximum **S**peed in **D**egrees>>||anchor="HMaximumSpeedinDegrees28SD29"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %)QSD|(% style="text-align:center" %)CSD|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s|SD / CSD overwrites SR / CSR
148 +| |[[Maximum **S**peed in **R**PM>>||anchor="HMaximumSpeedinRPM28SR29"]]|(% style="text-align:center" %)SR|(% style="text-align:center" %)QSR|(% style="text-align:center" %)CSR|(% style="text-align:center" %) |(% style="text-align:center" %)RPM|SR / CSR overwrites SD / CSD
153 153  
154 154  |(% colspan="8" style="color:orange; font-size:18px" %)[[**Modifiers**>>||anchor="HModifiers"]]
155 155  |(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Modifier**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
156 -| |[[**S**peed in **D**egrees>>||anchor="HSpeed28S2CSD29modifier"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %) |(% style="text-align:center" %) | |1°/s|For D and MD action commands
152 +| |[[**S**peed in **D**egrees>>||anchor="HSpeed28S2CSD29modifier"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %) |(% style="text-align:center" %) | |0.01°/s|For D and MD action commands
157 157  | |[[**T**imed move>>||anchor="HTimedmove28T29modifier"]]|(% style="text-align:center" %)T|(% style="text-align:center" %) |(% style="text-align:center" %) | |ms|Time associated with D, MD commands
158 158  
159 159  |(% colspan="8" style="color:orange; font-size:18px" %)[[**Telemetry**>>||anchor="HTelemetry"]]
160 160  |(% 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**
161 -| |[[**Q**uery PCB **T**emperature>>||anchor="HQueryTemperature28QT29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) | |°C|
162 -| |[[**Q**uery **C**urrent>>||anchor="HQueryCurrent28QC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QC|(% style="text-align:center" %) | |mA|Nominal RMS value to stepper motor driver IC.
157 +| |[[**Q**uery PCB **T**emperature>>doc:||anchor="HQueryPCBTemperature28QT29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) | |0.1°C|
158 +| |[[**Q**uery **C**urrent>>doc:||anchor="HQueryCurrent28QC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QC|(% style="text-align:center" %) | |mA|Nominal RMS value to stepper motor driver IC.
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>>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 -QTCW: Queries the temperature status of the motor controller (pre-warning)
170 -
171 -QTCE: Queries the temperature status of the motor controller (over-temp error)
162 +| |[[**Q**uery **T**emperature **P**robe>>doc:||anchor="HQueryTemperatureProbe28QTP29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTP|(% style="text-align:center" %) | |0.1°C|Queries temperature probe fixed to the stepper motor
163 +| |[[**Q**uery **T**emp of **M**CU>>doc:||anchor="HQueryMCUTemperature28QTM29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTM|(% style="text-align:center" %) | |0.1°C|
164 +| |[[Query Temp of Controller Error>>doc:||anchor="HQueryTempControllerError28QTCE29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCE|(% style="text-align:center" %) | | |(((
165 +Temperature error status of the motor controller (over-temp error)
172 172  )))
167 +| |[[Query Temp of Controller Pre-Warning>>doc:||anchor="HQueryTempControllerWarning28QTCW29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW|(% style="text-align:center" %) | | |Temperature error status of the motor controller (pre-warning)
168 +| |[[**Q**uery **E**rror **F**lag>>doc:||anchor="HQueryErrorFlag28QEF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QEF|(% style="text-align:center" %) | | |
173 173  | |[[**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|
174 174  | |[[**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|
175 175  | |[[**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|
176 176  | |[[**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)
177 177  | |[[**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)
174 +| |[[**Q**uery **I**MU Angular Accel **γ**>>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIG|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel γ (Gamma)
179 179  
180 180  |(% colspan="8" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="HRGBLED"]]
181 181  |(% 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**
... ... @@ -185,13 +185,19 @@
185 185  
186 186  == (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) ==
187 187  
188 -====== (% style="color:inherit; font-family:inherit" %)__Reset__(%%) ======
184 +|(% colspan="2" %)(((
185 +====== __Reset__ ======
186 +)))
187 +| |(((
188 +Ex: #5RESET<cr>
189 189  
190 -(% style="color:inherit; font-family:inherit" %)Ex: #5RESET<cr>
191 -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.
190 +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.
191 +)))
192 192  
193 +|(% colspan="2" %)(((
193 193  ====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ======
194 -
195 +)))
196 +|(% style="width:30px" %) |(((
195 195  (% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr>
196 196  
197 197  (% 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.
... ... @@ -201,9 +201,12 @@
201 201  (% 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.
202 202  
203 203  (% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
206 +)))
204 204  
208 +|(% colspan="2" %)(((
205 205  ====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
206 -
210 +)))
211 +|(% style="width:30px" %) |(((
207 207  (% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
208 208  
209 209  (% 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.
... ... @@ -213,15 +213,23 @@
213 213  (% 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.
214 214  
215 215  (% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
221 +)))
216 216  
223 +|(% colspan="2" %)(((
217 217  ====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
218 -
225 +)))
226 +|(% style="width:30px" %) |(((
219 219  (% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
220 220  
221 221  (% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command.
222 222  Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
231 +)))
223 223  
224 -====== (% style="color:inherit; font-family:inherit" %)__ID Number (**ID**)__(%%) ======
233 +|(% colspan="2" %)(((
234 +====== (% style="color:inherit; font-family:inherit" %)__ID Number__(%%) ======
235 +)))
236 +|(% style="width:30px" %) |(((
237 +This assigns ID #5 to the servo previously assigned to ID 0
225 225  
226 226  (% style="color:inherit; font-family:inherit" %)Configure ID Number (**CID**)
227 227  
... ... @@ -234,9 +234,12 @@
234 234  Ex: #254QID<cr> might return *254QID5<cr>
235 235  
236 236  In this case, the broadcast ID is used to ensure the servo connected will reply with the ID. This can be used in case the ID assigned to a servo is forgotten.
250 +)))
237 237  
238 -====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor (**ET**)__(%%) ======
239 -
252 +|(% colspan="2" %)(((
253 +====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor__(%%) ======
254 +)))
255 +|(% style="width:30px" %) |(((
240 240  Query Enable CAN Terminal Resistor (**QET**)
241 241  
242 242  Ex: #5QET<cr> might return *QET0<cr>
... ... @@ -248,24 +248,35 @@
248 248  (% style="color:inherit; font-family:inherit" %)Ex: #5CET1<cr>
249 249  
250 250  (% style="color:inherit; font-family:inherit" %)This commands sets servo with ID 5 as being the last in the CAN Bus. The last servo in a CAN bus must be configured this way.
267 +)))
251 251  
252 -====== __USB Connection Status (**UC**)__ ======
253 -
269 +|(% colspan="2" %)(((
270 +====== __USB Connection Status__ ======
271 +)))
272 +|(% style="width:30px" %) |(((
254 254  Query USB Connection Status (**QUC**)
255 255  
256 256  Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
276 +)))
257 257  
258 -====== __Firmware Release (**FR**)__ ======
259 -
278 +|(% colspan="2" %)(((
279 +====== __Firmware Release__ ======
280 +)))
281 +|(% style="width:30px" %) |(((
260 260  Query Firmware Release (**QFR**)
261 261  
262 262  Ex: #5QFR<cr> might return *QFR11<cr> meaning it has a (random) firmware release version number 11.
263 263  
264 264  This is used to verify if the firmware on the servos is up to date, or which version is running on the microcontroller.
287 +)))
265 265  
266 266  == Motion ==
267 267  
268 -====== __Position in Degrees (**D**)__ ======
291 +|(% colspan="2" %)(((
292 +====== __Position in Degrees__ ======
293 +)))
294 +|(% style="width:30px" %) |(((
295 +Position in Degrees (**D**)
269 269  
270 270  Example: #5D1456<cr>
271 271  
... ... @@ -284,15 +284,24 @@
284 284  Ex: #5QDT<cr> might return *5QDT6783<cr>
285 285  
286 286  The query target position command returns the target virtual position during and after an action which results in a rotation of the servo horn. In the example above, the servo is rotating to a virtual position of 678.3 degrees. Should the servo not have a target position or be in wheel mode, it will respond with the last target position used.
314 +)))
287 287  
288 -====== __(Relative) Move in Degrees (**MD**)__ ======
316 +|(% colspan="2" %)(((
317 +====== __(Relative) Move in Degrees__ ======
318 +)))
319 +|(% style="width:30px" %) |(((
320 +Move in Degrees (**MD**)
289 289  
290 -
291 291  Example: #5MD123<cr>
292 292  
293 293  The relative move command causes the servo to read its current position and move the specified number of tenths of degrees in the corresponding position. For example if the servo is set to rotate CW (default) and an MD command of 123 is sent to the servo, it will cause the servo to rotate clockwise by 12.3 degrees. Negative commands would cause the servo to rotate in the opposite configured direction.
325 +)))
294 294  
295 -====== __Wheel Mode in Degrees (**WD**)__ ======
327 +|(% colspan="2" %)(((
328 +====== __Wheel Mode in Degrees__ ======
329 +)))
330 +|(% style="width:30px" %) |(((
331 +Wheel mode in Degrees (**WD**)
296 296  
297 297  Ex: #5WD90<cr>
298 298  
... ... @@ -303,8 +303,13 @@
303 303  Ex: #5QWD<cr> might return *5QWD90<cr>
304 304  
305 305  The servo replies with the angular speed in degrees per second. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
342 +)))
306 306  
307 -====== __Wheel Mode in RPM (**WR**)__ ======
344 +|(% colspan="2" %)(((
345 +====== __Wheel Mode in RPM__ ======
346 +)))
347 +|(% style="width:30px" %) |(((
348 +Wheel moed in RPM (**WR**)
308 308  
309 309  Ex: #5WR40<cr>
310 310  
... ... @@ -315,8 +315,14 @@
315 315  Ex: #5QWR<cr> might return *5QWR40<cr>
316 316  
317 317  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).
359 +)))
318 318  
319 -====== __(Relative) Move in Degrees (**MD**)__ ======
361 +|(% colspan="2" %)(((
362 +====== __(Relative) Move in Degrees__ ======
363 +)))
364 +|(% style="width:30px" %) |(((
365 +(% class="wikigeneratedid" %)
366 +Move in Degrees (**MD**)
320 320  
321 321  (% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %)
322 322  Example: #5M1500<cr>
... ... @@ -323,8 +323,13 @@
323 323  
324 324  (% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
325 325  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.
373 +)))
326 326  
327 -====== __Query Status (**Q**)__ ======
375 +|(% colspan="2" %)(((
376 +====== __Query Status__ ======
377 +)))
378 +|(% style="width:30px" %) |(((
379 +Query Status (**Q**)
328 328  
329 329  The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
330 330  
... ... @@ -337,7 +337,7 @@
337 337  | |ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
338 338  | |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
339 339  | |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
340 -| |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will nornally be holding)
392 +| |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will normally be holding)
341 341  | |ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
342 342  | |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
343 343  | |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
... ... @@ -354,31 +354,58 @@
354 354  | |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
355 355  | |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
356 356  | |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
409 +)))
357 357  
358 -====== __Limp (**L**)__ ======
411 +|(% colspan="2" %)(((
412 +====== __Motion Time__ ======
413 +)))
414 +|(% style="width:30px" %) |(((
415 +
416 +)))
359 359  
418 +|(% colspan="2" %)(((
419 +====== __Current Speed__ ======
420 +)))
421 +|(% style="width:30px" %) |(((
422 +
423 +)))
424 +
425 +|(% colspan="2" %)(((
426 +====== __Limp__ ======
427 +)))
428 +|(% style="width:30px" %) |(((
429 +Limp (**L**)
430 +
360 360  Example: #5L<cr>
361 361  
362 362  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>.
434 +)))
363 363  
364 -====== __Halt & Hold (**H**)__ ======
436 +|(% colspan="2" %)(((
437 +====== __Halt & Hold__ ======
438 +)))
439 +|(% style="width:30px" %) |(((
440 +Halt & Hold (**H**)
365 365  
366 366  Example: #5H<cr>
367 367  
368 368  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.)
445 +)))
369 369  
370 370  == Motion Setup ==
371 371  
449 +|(% colspan="2" %)(((
372 372  ====== __Origin Offset (**O**)__ ======
373 -
451 +)))
452 +|(% style="width:30px" %) |(((
374 374  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).
375 375  
376 -[[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"]]
455 +[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]
377 377  
378 378  
379 379  In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
380 380  
381 -[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-origin.jpg||alt="LSS-servo-origin.jpg"]]
460 +[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-origin.jpg||alt="LSS-servo-origin.jpg"]]
382 382  
383 383  
384 384  Origin Offset Query (**QO**)
... ... @@ -392,23 +392,26 @@
392 392  Example: #5CO-24<cr>
393 393  
394 394  This command allows you to change the origin of the servo in relation to the factory zero position in EEPROM. The setting will be saved upon servo reset / power cycle. Origin offset configuration commands are not cumulative and always relate to factory zero. The new origin is also used in RC mode. In the example, the new origin will be at -2.4 degrees from the factory zero.
474 +)))
395 395  
476 +|(% colspan="2" %)(((
396 396  ====== __Angular Range (**AR**)__ ======
397 -
478 +)))
479 +|(% style="width:30px" %) |(((
398 398  Example: #5AR1800<cr>
399 399  
400 400  This command allows you to temporarily change the total angular range of the servo in tenths of degrees. This applies to the Position in Pulse (P) command and RC mode. The default for (P) and RC mode is 1800 (180.0 degrees total, or ±90.0 degrees). The image below shows a standard -180.0 to +180.0 range, with no offset:
401 401  
402 -[[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"]]
484 +[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]
403 403  
404 404  Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
405 405  
406 -[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar.jpg||alt="LSS-servo-ar.jpg"]]
488 +[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar.jpg||alt="LSS-servo-ar.jpg"]]
407 407  
408 408  
409 409  Finally, the angular range action command (ex. #5AR1800<cr>) and origin offset action command (ex. #5O-1200<cr>) are used to move both the center and limit the angular range:
410 410  
411 -[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar-o-1.jpg||alt="LSS-servo-ar-o-1.jpg"]]
493 +[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar-o-1.jpg||alt="LSS-servo-ar-o-1.jpg"]]
412 412  
413 413  
414 414  Query Angular Range (**QAR**)
... ... @@ -418,9 +418,12 @@
418 418  Configure Angular Range (**CAR**)
419 419  
420 420  This command allows you to change the total angular range of the servo in tenths of degrees in EEPROM. The setting will be saved upon servo reset / power cycle.
503 +)))
421 421  
505 +|(% colspan="2" %)(((
422 422  ====== __Angular Acceleration (**AA**)__ ======
423 -
507 +)))
508 +|(% style="width:30px" %) |(((
424 424  The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
425 425  
426 426  Ex: #5AA30<cr>
... ... @@ -438,9 +438,12 @@
438 438  Ex: #5CAA30<cr>
439 439  
440 440  This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
526 +)))
441 441  
528 +|(% colspan="2" %)(((
442 442  ====== __Angular Deceleration (**AD**)__ ======
443 -
530 +)))
531 +|(% style="width:30px" %) |(((
444 444  The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
445 445  
446 446  Ex: #5AD30<cr>
... ... @@ -458,9 +458,12 @@
458 458  Ex: #5CAD30<cr>
459 459  
460 460  This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
549 +)))
461 461  
551 +|(% colspan="2" %)(((
462 462  ====== __Gyre Direction (**G**)__ ======
463 -
553 +)))
554 +|(% style="width:30px" %) |(((
464 464  "Gyre" is defined as a circular course or motion. The effect of changing the gyre direction is as if you were to use a mirror image of a circle. By default: CW = 1; CCW = -1.
465 465  
466 466  Ex: #5G-1<cr>
... ... @@ -478,13 +478,19 @@
478 478  Ex: #5CG-1<cr>
479 479  
480 480  This changes the gyre direction as described above and also writes to EEPROM.
572 +)))
481 481  
574 +|(% colspan="2" %)(((
482 482  ====== __First Position__ ======
483 -
576 +)))
577 +|(% style="width:30px" %) |(((
484 484  In certain cases, a user might want to have the servo move to a specific angle upon power up; we refer to this as "first position" (a.k.a. "initial position"). The factory default has no first position value stored in EEPROM and therefore upon power up, the servo remains limp until a position (or hold command) is assigned. Note that the number should be restricted to -1790 (-179.0 degrees) to +1790 (179.0 degrees) and values beyond this will be changed to 1800.Query First Position in Degrees (**QFD**)Ex: #5QFD<cr> might return *5QFD900<cr>The reply above indicates that servo with ID 5 has a first position of 90.0 degrees. If there is no first position value stored, the reply will be DIS.Configure First Position in Degrees (**CFD**)Ex: #5CFD900<cr>This configuration command means the servo, when set to smart mode, will immediately move to 90.0 degrees upon power up. Sending a CFD command without a number (Ex. #5CFD<cr>) results in the servo remaining limp upon power up. In order to remove the first position, send no value, ex: #5CFD<cr>
579 +)))
485 485  
581 +|(% colspan="2" %)(((
486 486  ====== __Maximum Speed in Degrees (**SD**)__ ======
487 -
583 +)))
584 +|(% style="width:30px" %) |(((
488 488  Ex: #5SD1800<cr>This command sets the servo's maximum speed for motion commands in tenths of degrees per second for that session. In the example above, the servo's maximum speed for that session would be set to 180.0 degrees per second. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. The SD action command overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD and SR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.Query Speed in Degrees (**QSD**)Ex: #5QSD<cr> might return *5QSD1800<cr>By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever an SD/SR command is processed. If #5QSD1<cr> is sent, the configured maximum speed (CSD value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
489 489  
490 490  |**Command sent**|**Returned value (1/10 °)**
... ... @@ -494,11 +494,14 @@
494 494  |ex: #5QSD3<cr>|Target travel speed
495 495  
496 496  Configure Speed in Degrees (**CSD**)Ex: #5CSD1800<cr>Using the CSD command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 180.0 degrees per second. When the servo is powered on (or after a reset), the CSD value is used. Note that CSD and CSR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) is what the servo uses for that session.
594 +)))
497 497  
596 +|(% colspan="2" %)(((
498 498  ====== __Maximum Speed in RPM (**SR**)__ ======
598 +)))
599 +|(% style="width:30px" %) |(((
600 +====== Ex: #5SR45<cr>This command sets the servo's maximum speed for motion commands in rpm for that session. In the example above, the servo's maximum speed for that session would be set to 45rpm. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SR overrides CSR (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSR as described below. Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.Query Speed in RPM (**QSR**)Ex: #5QSR<cr> might return *5QSR45<cr>By default QSR will return the current session value, which is set to the value of CSR as reset/power cycle and changed whenever an SD/SR command is processed. If #5QSR1<cr> is sent, the configured maximum speed (CSR value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example: ======
499 499  
500 -Ex: #5SR45<cr>This command sets the servo's maximum speed for motion commands in rpm for that session. In the example above, the servo's maximum speed for that session would be set to 45rpm. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SR overrides CSR (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSR as described below. Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.Query Speed in RPM (**QSR**)Ex: #5QSR<cr> might return *5QSR45<cr>By default QSR will return the current session value, which is set to the value of CSR as reset/power cycle and changed whenever an SD/SR command is processed. If #5QSR1<cr> is sent, the configured maximum speed (CSR value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
501 -
502 502  |**Command sent**|**Returned value (1/10 °)**
503 503  |ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
504 504  |ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
... ... @@ -506,32 +506,16 @@
506 506  |ex: #5QSR3<cr>|Target travel speed
507 507  
508 508  Configure Speed in RPM (**CSR**)Ex: #5CSR45<cr>Using the CSR command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSR value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) received is what the servo uses for that session.
609 +)))
509 509  
510 -====== __Step Mode (**SM**)__ ======
511 -
512 -Ex: #8SM2<cr>
513 -
514 -This sets servo with ID 8 to 1/2 step mode. Since this is an action as opposed to a configuration, it only affects that session.
515 -
516 -Note that the torque and max RPM of the actuator will be affected.
517 -
518 -Query Step Mode (**QSM**)
519 -
520 -Ex: #8QSM<cr> might return *8QSM2<cr> meaning servo with ID 8 is set to half step mode.
521 -
522 -Configure Step Mode (**CSM**)
523 -
524 -Ex: #8SM2<cr>
525 -
526 -This sets servo with ID 8 to 1/2 step mode. Since this is a configuration as opposed to a configuration and the servo will be in 1/2 step mode when powered.
527 -
528 528  == Modifiers ==
529 529  
613 +|(% colspan="2" %)(((
530 530  ====== __Speed (**SD**) modifier__ ======
615 +)))
616 +|(% style="width:30px" %) |(((
617 +====== Example: #5D0SD180<cr> ======
531 531  
532 -(% class="wikigeneratedid" id="HTimedmove28T29modifier" %)
533 -Example: #5D0SD180<cr>
534 -
535 535  (% class="wikigeneratedid" %)
536 536  Modifier (SD) is only for a position (D) or relative position (MD) action and determines the speed of the move in tenths of degrees per second. A speed modifier (SD) of 180 would cause the servo to rotate from its current position to the desired absolute or relative position at a speed of 18 degrees per second.
537 537  
... ... @@ -543,69 +543,115 @@
543 543  
544 544  (% class="wikigeneratedid" %)
545 545  This command queries the current speed in microseconds per second.
630 +)))
546 546  
632 +|(% colspan="2" %)(((
547 547  ====== __Timed move (**T**) modifier__ ======
548 -
634 +)))
635 +|(% style="width:30px" %) |(((
549 549  Example: #5D15000T2500<cr>
550 550  
551 551  Timed move can be used only as a modifier for a position (D, MD) actions. The units are in milliseconds, so a timed move of 2500 milliseconds would cause the servo to rotate from its current position to the desired position in 2.5 seconds. The onboard controller will attempt to ensure that the move is performed entirely at the desired velocity, though differences in torque may cause it to not be exact. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.
552 552  
553 553  **Note:** If the calculated speed at which a servo must rotate for a timed move is greater than its maximum speed (which depends on voltage and load), then it will move at its maximum speed, and the time of the move may be longer than requested
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554 554  
555 -====== ======
556 -
557 557  == Telemetry ==
558 558  
559 -====== __Query PCB Temperature (**QT**)__ ======
560 -
645 +|(% colspan="2" %)(((
646 +====== __**Q**uery PCB **T**emperature (**QT**)__ ======
647 +)))
648 +|(% style="width:30px" %) |(((
561 561  Ex: #5QT<cr> might return *5QT564<cr>
562 562  
563 563  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.
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564 564  
565 -====== __Query Temperature Probe (**QTP**)__ ======
654 +|(% colspan="2" %)(((
655 +====== __**Q**uery **C**urrent (**QC**)__ ======
656 +)))
657 +|(% style="width:30px" %) |(((
658 +====== Ex: #5QC<cr> might return *5QC140<cr> ======
566 566  
567 -Ex:
568 -
569 -====== __Query Temp of Controller (**QTCW**)__ ======
570 -
571 -Ex:
572 -
573 -An alternative is QTCE
574 -
575 -====== __Query Current (**QC**)__ ======
576 -
577 -Ex: #5QC<cr> might return *5QC140<cr>
578 -
579 579  The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A. It represents the RMS value. The query calculates the RMS value of the current sent from the motor driver to the stepper motor.
661 +)))
580 580  
581 -====== __Query Model String (**QMS**)__ ======
663 +|(% colspan="2" %)(((
664 +====== __**Q**uery **M**odel **S**tring (**QMS**)__ ======
665 +)))
666 +|(% style="width:30px" %) |(((
667 +====== Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr> ======
582 582  
583 -Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
584 -
585 585  This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
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586 586  
587 -====== __Query Firmware (**QF**)__ ======
588 -
672 +|(% colspan="2" %)(((
673 +====== __**Q**uery **F**irmware (**QF**)__ ======
674 +)))
675 +|(% style="width:30px" %) |(((
589 589  Ex: #5QF<cr> might return *5QF368<cr>
590 590  
591 591  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
679 +)))
592 592  
593 -====== __Query Serial Number (**QN**)__ ======
681 +|(% colspan="2" %)(((
682 +====== __**Q**uery Serial **N**umber (**QN**)__ ======
683 +)))
684 +|(% style="width:30px" %) |(((
685 +====== Ex: #5QN<cr> might return *5QN12345678<cr> ======
594 594  
595 -Ex: #5QN<cr> might return *5QN12345678<cr>
596 -
597 597  The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
688 +)))
598 598  
599 -====== __Query IMU Linear (**QIX** **QIY** **QIZ**)__ ======
690 +|(% colspan="2" %)(((
691 +====== __**Q**uery **T**emperature **P**robe (**QTP**)__ ======
692 +)))
693 +|(% style="width:30px" %) |(((
694 +
695 +)))
600 600  
601 -Ex: #6QIX<cr> might return *6QIX30<cr>
697 +|(% colspan="2" %)(((
698 +====== __**Q**uery **T**emperature **M**CU (**QTM**)__ ======
699 +)))
700 +|(% style="width:30px" %) |(((
701 +
702 +)))
602 602  
603 -This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
704 +|(% colspan="2" %)(((
705 +====== __Query Temp Controller Error (**QTCE**)__ ======
706 +)))
707 +|(% style="width:30px" %) |(((
708 +
709 +)))
604 604  
605 -__Query IMU Angular (**QIA** **QIB** **QIC**)__
711 +|(% colspan="2" %)(((
712 +====== __Query Temp Controller Warning (**QTCW**)__ ======
713 +)))
714 +|(% style="width:30px" %) |(((
715 +
716 +)))
606 606  
607 -Ex: #6QIB<cr> might return *6QIB44<cr>
718 +|(% colspan="2" %)(((
719 +====== __Query Error Flag (**QEF**)__ ======
720 +)))
721 +|(% style="width:30px" %) |(((
722 +
723 +)))
608 608  
725 +|(% colspan="2" %)__**Q**uery **I**MU Linear (**QIX** **QIY** **QIZ**)__
726 +|(% style="width:30px" %) |(((
727 +====== Ex: #6QIX<cr> might return *6QIX30<cr> ======
728 +
729 +This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
730 +)))
731 +
732 +|(% colspan="2" %)(((
733 +====== __**Q**uery **I**MU Angular (**QIA** **QIB** **QIG**)__ ======
734 +)))
735 +|(% style="width:30px" %) |(((
736 +====== Ex: #6QIB<cr> might return *6QIB44<cr> ======
737 +
609 609  This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
739 +)))
610 610  
611 611  
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