Last modified by Eric Nantel on 2024/09/06 14:52
From version < 57.1 >
edited by Coleman Benson
on 2023/07/27 13:46
To version < 79.7 >
edited by Eric Nantel
on 2024/07/22 15:15
< >
Change comment: There is no comment for this version

Summary

Details

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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  
... ... @@ -120,66 +120,68 @@
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="HDefault"]]|(% 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="HUpdate"]]|(% 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="HIDNumber"]]|(% 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="HEnableCANTerminalResistor"]]|(% 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="HUSBConnectionStatus"]]|(% 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"
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 -| |[[**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
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
129 +| |[[Position in **D**egrees>>||anchor="HPositioninDegrees"]]|(% style="text-align:center" %)D|(% style="text-align:center" %)QD|(% style="text-align:center" %) | |0.01°|
130 +| |[[**M**ove in **D**egrees (relative)>>||anchor="HRelativeMoveinDegrees"]]|(% style="text-align:center" %)MD|(% style="text-align:center" %) |(% style="text-align:center" %) | |0.01°|
131 +| |[[**W**heel mode in **D**egrees>>||anchor="HWheelModeinDegrees"]]|(% 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"
132 +| |[[**W**heel mode in **R**PM>>||anchor="HWheelModeinRPM"]]|(% style="text-align:center" %)WR|(% style="text-align:center" %)QWR|(% style="text-align:center" %) | |RPM|A.K.A. "Speed mode" or "Continuous rotation"
133 +| |[[**Q**uery Motion Status>>||anchor="HStatus"]]|(% 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|
136 +| |[[**L**imp>>||anchor="HLimp"]]|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Removes power from stepper coils
137 +| |[[**H**alt & Hold>>doc:||anchor="HHalt26Hold"]]|(% 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="HOriginOffset"]]|(% 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="HAngularRange"]]|(% 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="HAngularAcceleration"]]|(% 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="HAngularDeceleration"]]|(% 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="HGyreDirection"]]|(% 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="HMaximumSpeedinDegrees"]]|(% 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="HMaximumSpeedinRPM"]]|(% 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
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
152 +| |[[**S**peed in **D**egrees>>doc:||anchor="HSpeed"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %) |(% style="text-align:center" %) | |0.01°/s|For D and MD action commands
153 +| |[[**T**imed move>>||anchor="HTimedmove"]]|(% 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 -|(% 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.
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 -| |[[**Q**uery **F**irmware Version>>||anchor="HQueryFirmware28QF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | | |
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)
156 +|(% 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="text-align:center; width:100px" %)**Default**|(% style="text-align:center; width:170px" %)**Unit**|**Notes**
157 +| |[[PCB **T**emperature>>doc:||anchor="HTemperaturePCB"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) | |(% style="text-align:center" %)0.1°C|
158 +| |[[**C**urrent>>doc:||anchor="HCurrent"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QC|(% style="text-align:center" %) | |(% style="text-align:center" %)mA|Nominal RMS value to stepper motor driver IC.
159 +| |[[**M**odel **S**tring>>doc:||anchor="HModelString"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMS|(% style="text-align:center" %) | |(% style="text-align:center" %) |Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1)
160 +| |[[**F**irmware Version>>doc:||anchor="HFirmware"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | |(% style="text-align:center" %) |
161 +| |[[Serial **N**umber>>doc:||anchor="HSerialNumber"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QN|(% style="text-align:center" %) | |(% style="text-align:center" %) |Returns the unique serial number for the servo
162 +| |[[**T**emperature **P**robe>>doc:||anchor="HTemperatureProbe"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTP|(% style="text-align:center" %) | |(% style="text-align:center" %)0.1°C|Queries temperature probe fixed to the stepper motor
163 +| |[[**T**emp of **M**CU>>doc:||anchor="HTemperatureMCU"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTM|(% style="text-align:center" %) | |(% style="text-align:center" %)0.1°C|
164 +| |[[**T**emp of **C**ontroller **E**rror>>doc:||anchor="HTempControllerError"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCE|(% style="text-align:center" %) | |(% style="text-align:center" %) |(((
165 +Temperature error status of the motor controller (over-temp error)
172 172  )))
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)
167 +| |[[**T**emp of **C**ontroller **W**arning>>doc:||anchor="HTempControllerWarning"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW|(% style="text-align:center" %) | |(% style="text-align:center" %) |Temperature error status of the motor controller (pre-warning)
168 +| |[[**E**rror **F**lag>>doc:||anchor="HErrorFlag"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QEF|(% style="text-align:center" %) | |(% style="text-align:center" %) |
169 +| |[[**I**MU Linear **X**>>doc:||anchor="HIMULinear"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |(% style="text-align:center" %)mm/s^2|
170 +| |[[**I**MU Linear **Y**>>doc:||anchor="HIMULinear"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |(% style="text-align:center" %)mm/s^2|
171 +| |[[**I**MU Linear **Z**>>doc:||anchor="HIMULinear"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |(% style="text-align:center" %)mm/s^2|
172 +| |[[**I**MU Angular Accel **α** >>doc:||anchor="HIMUAngular"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIA|(% style="text-align:center" %) | |(% style="text-align:center" %)°/s^2|Query IMU Angular Accel α (Alpha)
173 +| |[[**I**MU Angular Accel **β**>>doc:||anchor="HIMUAngular"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIB|(% style="text-align:center" %) | |(% style="text-align:center" %)°/s^2|Query IMU Angular Accel β (Beta)
174 +| |[[**I**MU Angular Accel **γ**>>doc:||anchor="HIMUAngular"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIG|(% style="text-align:center" %) | |(% 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 -|(% 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**
182 -| |[[**LED** Color>>||anchor="HLEDColor28LED29"]]|(% style="text-align:center" %)LED|(% style="text-align:center" %)QLED|(% style="text-align:center" %)CLED| |0 to 7 integer|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White
177 +|(% 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="text-align:center; width:100px" %)**Default**|(% style="text-align:center; width:170px" %)**Unit**|**Notes**
178 +| |[[**LED** Color>>||anchor="HLEDColor"]]|(% style="text-align:center" %)LED|(% style="text-align:center" %)QLED|(% style="text-align:center" %)CLED|(% style="text-align:center" %) |(% style="text-align:center" %)0 to 7 integer|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White
179 +| |Configure LED Blinking|(% style="text-align:center" %) |(% style="text-align:center" %)QLB|(% style="text-align:center" %)CLB|(% style="text-align:center" %)0|(% style="text-align:center" %) |
180 +| |LED Indicator|(% style="text-align:center" %) |(% style="text-align:center" %)QLI|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |
183 183  
184 184  = (% style="color:inherit; font-family:inherit" %)Details(%%) =
185 185  
... ... @@ -189,6 +189,8 @@
189 189  ====== __Reset__ ======
190 190  )))
191 191  | |(((
190 +Reset (**RESET**)
191 +
192 192  Ex: #5RESET<cr>
193 193  
194 194  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.
... ... @@ -195,16 +195,11 @@
195 195  )))
196 196  
197 197  |(% colspan="2" %)(((
198 -====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ======
198 +====== (% style="color:inherit; font-family:inherit" %)__Default__(%%) ======
199 199  )))
200 -| |(((
201 -Ex: #5RESET<cr>
200 +|(% style="width:30px" %) |(((
201 +(% style="color:inherit; font-family:inherit" %)Default (**DEFAULT**)
202 202  
203 -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.
204 -)))
205 -
206 -====== ======
207 -
208 208  (% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr>
209 209  
210 210  (% 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.
... ... @@ -214,8 +214,13 @@
214 214  (% 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.
215 215  
216 216  (% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
212 +)))
217 217  
218 -====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
214 +|(% colspan="2" %)(((
215 +====== (% style="color:inherit; font-family:inherit" %)__Update__(%%) ======
216 +)))
217 +|(% style="width:30px" %) |(((
218 +(% style="color:inherit; font-family:inherit" %)Update (**UPDATE**)
219 219  
220 220  (% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
221 221  
... ... @@ -226,15 +226,25 @@
226 226  (% 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.
227 227  
228 228  (% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
229 +)))
229 229  
231 +|(% colspan="2" %)(((
230 230  ====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
233 +)))
234 +|(% style="width:30px" %) |(((
235 +(% style="color:inherit; font-family:inherit" %)Confirm (**CONFIRM**)
231 231  
232 232  (% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
233 233  
234 234  (% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command.
235 235  Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
241 +)))
236 236  
237 -====== (% style="color:inherit; font-family:inherit" %)__ID Number (**ID**)__(%%) ======
243 +|(% colspan="2" %)(((
244 +====== (% style="color:inherit; font-family:inherit" %)__ID Number__(%%) ======
245 +)))
246 +|(% style="width:30px" %) |(((
247 +This assigns ID #5 to the servo previously assigned to ID 0
238 238  
239 239  (% style="color:inherit; font-family:inherit" %)Configure ID Number (**CID**)
240 240  
... ... @@ -247,9 +247,12 @@
247 247  Ex: #254QID<cr> might return *254QID5<cr>
248 248  
249 249  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.
260 +)))
250 250  
251 -====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor (**ET**)__(%%) ======
252 -
262 +|(% colspan="2" %)(((
263 +====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor__(%%) ======
264 +)))
265 +|(% style="width:30px" %) |(((
253 253  Query Enable CAN Terminal Resistor (**QET**)
254 254  
255 255  Ex: #5QET<cr> might return *QET0<cr>
... ... @@ -261,24 +261,24 @@
261 261  (% style="color:inherit; font-family:inherit" %)Ex: #5CET1<cr>
262 262  
263 263  (% 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.
277 +)))
264 264  
265 -====== __USB Connection Status (**UC**)__ ======
266 -
279 +|(% colspan="2" %)(((
280 +====== __USB Connection Status__ ======
281 +)))
282 +|(% style="width:30px" %) |(((
267 267  Query USB Connection Status (**QUC**)
268 268  
269 269  Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
286 +)))
270 270  
271 -====== __Firmware Release (**FR**)__ ======
272 -
273 -Query Firmware Release (**QFR**)
274 -
275 -Ex: #5QFR<cr> might return *QFR11<cr> meaning it has a (random) firmware release version number 11.
276 -
277 -This is used to verify if the firmware on the servos is up to date, or which version is running on the microcontroller.
278 -
279 279  == Motion ==
280 280  
281 -====== __Position in Degrees (**D**)__ ======
290 +|(% colspan="2" %)(((
291 +====== __Position in Degrees__ ======
292 +)))
293 +|(% style="width:30px" %) |(((
294 +Position in Degrees (**D**)
282 282  
283 283  Example: #5D1456<cr>
284 284  
... ... @@ -297,16 +297,28 @@
297 297  Ex: #5QDT<cr> might return *5QDT6783<cr>
298 298  
299 299  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.
313 +)))
300 300  
301 -====== __(Relative) Move in Degrees (**MD**)__ ======
315 +|(% colspan="2" %)(((
316 +====== __Relative Move in Degrees__ ======
317 +)))
318 +|(% style="width:30px" %) |(((
319 +(% class="wikigeneratedid" %)
320 +Move in Degrees (**MD**)
302 302  
322 +(% class="wikigeneratedid" %)
323 +Example: #5M1500<cr>
303 303  
304 -Example: #5MD123<cr>
325 +(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
326 +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.
327 +)))
305 305  
306 -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.
329 +|(% colspan="2" %)(((
330 +====== __Wheel Mode in Degrees__ ======
331 +)))
332 +|(% style="width:30px" %) |(((
333 +Wheel mode in Degrees (**WD**)
307 307  
308 -====== __Wheel Mode in Degrees (**WD**)__ ======
309 -
310 310  Ex: #5WD90<cr>
311 311  
312 312  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).
... ... @@ -316,8 +316,13 @@
316 316  Ex: #5QWD<cr> might return *5QWD90<cr>
317 317  
318 318  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).
344 +)))
319 319  
320 -====== __Wheel Mode in RPM (**WR**)__ ======
346 +|(% colspan="2" %)(((
347 +====== __Wheel Mode in RPM__ ======
348 +)))
349 +|(% style="width:30px" %) |(((
350 +Wheel moed in RPM (**WR**)
321 321  
322 322  Ex: #5WR40<cr>
323 323  
... ... @@ -328,17 +328,14 @@
328 328  Ex: #5QWR<cr> might return *5QWR40<cr>
329 329  
330 330  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).
361 +)))
331 331  
332 -====== __(Relative) Move in Degrees (**MD**)__ ======
363 +|(% colspan="2" %)(((
364 +====== __Status__ ======
365 +)))
366 +|(% style="width:30px" %) |(((
367 +Query Status (**Q**)
333 333  
334 -(% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %)
335 -Example: #5M1500<cr>
336 -
337 -(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
338 -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.
339 -
340 -====== __Query Status (**Q**)__ ======
341 -
342 342  The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
343 343  
344 344  Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
... ... @@ -350,7 +350,7 @@
350 350  | |ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
351 351  | |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
352 352  | |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
353 -| |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will nornally be holding)
380 +| |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will normally be holding)
354 354  | |ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
355 355  | |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
356 356  | |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
... ... @@ -367,31 +367,54 @@
367 367  | |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
368 368  | |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
369 369  | |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
397 +)))
370 370  
371 -====== __Limp (**L**)__ ======
399 +|(% colspan="2" %)(((
400 +====== __Motion Time__ ======
401 +)))
402 +|(% style="width:30px" %) |(((
403 +Query Motion Time (**QMT**)
404 +)))
372 372  
406 +|(% colspan="2" %)(((
407 +====== __Current Speed__ ======
408 +)))
409 +|(% style="width:30px" %) |(((
410 +Query Current Speed (**QCS**)
411 +)))
412 +
413 +|(% colspan="2" %)(((
414 +====== __Limp__ ======
415 +)))
416 +|(% style="width:30px" %) |(((
373 373  Example: #5L<cr>
374 374  
375 375  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>.
420 +)))
376 376  
377 -====== __Halt & Hold (**H**)__ ======
378 -
422 +|(% colspan="2" %)(((
423 +====== __Halt & Hold__ ======
424 +)))
425 +|(% style="width:30px" %) |(((
379 379  Example: #5H<cr>
380 380  
381 381  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.)
429 +)))
382 382  
383 383  == Motion Setup ==
384 384  
385 -====== __Origin Offset (**O**)__ ======
386 -
433 +|(% colspan="2" %)(((
434 +====== __Origin Offset__ ======
435 +)))
436 +|(% style="width:30px" %) |(((
387 387  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).
388 388  
389 -[[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"]]
439 +[[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"]]
390 390  
391 391  
392 392  In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
393 393  
394 -[[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"]]
444 +[[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"]]
395 395  
396 396  
397 397  Origin Offset Query (**QO**)
... ... @@ -405,23 +405,26 @@
405 405  Example: #5CO-24<cr>
406 406  
407 407  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.
458 +)))
408 408  
409 -====== __Angular Range (**AR**)__ ======
410 -
460 +|(% colspan="2" %)(((
461 +====== __Angular Range__ ======
462 +)))
463 +|(% style="width:30px" %) |(((
411 411  Example: #5AR1800<cr>
412 412  
413 413  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:
414 414  
415 -[[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"]]
468 +[[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"]]
416 416  
417 417  Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
418 418  
419 -[[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"]]
472 +[[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"]]
420 420  
421 421  
422 422  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:
423 423  
424 -[[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"]]
477 +[[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"]]
425 425  
426 426  
427 427  Query Angular Range (**QAR**)
... ... @@ -431,9 +431,12 @@
431 431  Configure Angular Range (**CAR**)
432 432  
433 433  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.
487 +)))
434 434  
435 -====== __Angular Acceleration (**AA**)__ ======
436 -
489 +|(% colspan="2" %)(((
490 +====== __Angular Acceleration__ ======
491 +)))
492 +|(% style="width:30px" %) |(((
437 437  The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
438 438  
439 439  Ex: #5AA30<cr>
... ... @@ -451,9 +451,12 @@
451 451  Ex: #5CAA30<cr>
452 452  
453 453  This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
510 +)))
454 454  
455 -====== __Angular Deceleration (**AD**)__ ======
456 -
512 +|(% colspan="2" %)(((
513 +====== __Angular Deceleration__ ======
514 +)))
515 +|(% style="width:30px" %) |(((
457 457  The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
458 458  
459 459  Ex: #5AD30<cr>
... ... @@ -471,9 +471,12 @@
471 471  Ex: #5CAD30<cr>
472 472  
473 473  This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
533 +)))
474 474  
475 -====== __Gyre Direction (**G**)__ ======
476 -
535 +|(% colspan="2" %)(((
536 +====== __Gyre Direction__ ======
537 +)))
538 +|(% style="width:30px" %) |(((
477 477  "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.
478 478  
479 479  Ex: #5G-1<cr>
... ... @@ -491,15 +491,43 @@
491 491  Ex: #5CG-1<cr>
492 492  
493 493  This changes the gyre direction as described above and also writes to EEPROM.
556 +)))
494 494  
558 +|(% colspan="2" %)(((
495 495  ====== __First Position__ ======
560 +)))
561 +|(% style="width:30px" %) |(((
562 +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.
496 496  
497 -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>
564 +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.
498 498  
499 -====== __Maximum Speed in Degrees (**SD**)__ ======
566 +Query First Position in Degrees (**QFD**)
500 500  
501 -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:
568 +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.
502 502  
570 +Configure First Position in Degrees (**CFD**)
571 +
572 +Ex: #5CFD900<cr>
573 +
574 +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>
575 +)))
576 +
577 +|(% colspan="2" %)(((
578 +====== __Maximum Speed in Degrees__ ======
579 +)))
580 +|(% style="width:30px" %) |(((
581 +Maximum Speed in Degrees (**SD**)
582 +
583 +Ex: #5SD1800<cr>
584 +
585 +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.
586 +
587 +Query Speed in Degrees (**QSD**)
588 +
589 +Ex: #5QSD<cr> might return *5QSD1800<cr>
590 +
591 +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:
592 +
503 503  |**Command sent**|**Returned value (1/10 °)**
504 504  |ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
505 505  |ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
... ... @@ -506,43 +506,64 @@
506 506  |ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
507 507  |ex: #5QSD3<cr>|Target travel speed
508 508  
509 -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.
599 +Configure Speed in Degrees (**CSD**)
510 510  
511 -====== __Maximum Speed in RPM (**SR**)__ ======
601 +Ex: #5CSD1800<cr>
512 512  
513 -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:
603 +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.
604 +)))
514 514  
515 -|**Command sent**|**Returned value (1/10 °)**
516 -|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
517 -|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
518 -|ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
519 -|ex: #5QSR3<cr>|Target travel speed
606 +|(% colspan="2" %)(((
607 +====== __Maximum Speed in RPM__ ======
608 +)))
609 +|(% style="width:30px" %) |(((
610 +(% class="wikigeneratedid" %)
611 +Maximum Speed in RPM (**SR**)
520 520  
521 -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.
613 +(% class="wikigeneratedid" id="HEx:235SR453Ccr3EThiscommandsetstheservo27smaximumspeedformotioncommandsinrpmforthatsession.Intheexampleabove2Ctheservo27smaximumspeedforthatsessionwouldbesetto45rpm.Theservo27smaximumspeedcannotbesethigherthanitsphysicallimitatagivenvoltage.SRoverridesCSR28describedbelow29forthatsession.Uponresetorpowercycle2CtheservorevertstothevalueassociatedwithCSRasdescribedbelow.NotethatSD28describedabove29andSRareeffectivelythesame2Cbutallowtheusertospecifythespeedineitherunit.Thelastcommand28eitherSRorSD29receivediswhattheservousesforthatsession.QuerySpeedinRPM28QSR29Ex:235QSR3Ccr3Emightreturn2A5QSR453Ccr3EBydefaultQSRwillreturnthecurrentsessionvalue2CwhichissettothevalueofCSRasreset2FpowercycleandchangedwheneveranSD2FSRcommandisprocessed.If235QSR13Ccr3Eissent2Ctheconfiguredmaximumspeed28CSRvalue29willbereturnedinstead.Youcanalsoquerythecurrentspeedusing22222andthecurrenttargettravelspeedusing22322.Seethetablebelowforanexample:" %)
614 +Ex: #5SR45<cr>
522 522  
523 -====== __Step Mode (**SM**)__ ======
616 +(% class="wikigeneratedid" %)
617 +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.
524 524  
525 -Ex: #8SM2<cr>
619 +(% class="wikigeneratedid" %)
620 +Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit.
526 526  
527 -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.
622 +(% class="wikigeneratedid" %)
623 +The last command (either SR or SD) received is what the servo uses for that session.
528 528  
529 -Note that the torque and max RPM of the actuator will be affected.
625 +(% class="wikigeneratedid" %)
626 +Query Speed in RPM (**QSR**)
530 530  
531 -Query Step Mode (**QSM**)
628 +(% class="wikigeneratedid" %)
629 +Ex: #5QSR<cr> might return *5QSR45<cr>
532 532  
533 -Ex: #8QSM<cr> might return *8QSM2<cr> meaning servo with ID 8 is set to half step mode.
631 +(% class="wikigeneratedid" %)
632 +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:
534 534  
535 -Configure Step Mode (**CSM**)
634 +|**Command sent**|**Returned value (1/10 °)**
635 +|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
636 +|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
637 +|ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
638 +|ex: #5QSR3<cr>|Target travel speed
536 536  
537 -Ex: #8SM2<cr>
640 +Configure Speed in RPM (**CSR**)
538 538  
539 -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.
642 +Ex: #5CSR45<cr>
540 540  
644 +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.
645 +)))
646 +
541 541  == Modifiers ==
542 542  
543 -====== __Speed (**SD**) modifier__ ======
649 +|(% colspan="2" %)(((
650 +====== __Speed __ ======
651 +)))
652 +|(% style="width:30px" %) |(((
653 +(% class="wikigeneratedid" %)
654 +Speed in Degrees (**SD**)
544 544  
545 -(% class="wikigeneratedid" id="HTimedmove28T29modifier" %)
656 +(% class="wikigeneratedid" id="HExample:235D0SD1803Ccr3E" %)
546 546  Example: #5D0SD180<cr>
547 547  
548 548  (% class="wikigeneratedid" %)
... ... @@ -556,8 +556,13 @@
556 556  
557 557  (% class="wikigeneratedid" %)
558 558  This command queries the current speed in microseconds per second.
670 +)))
559 559  
560 -====== __Timed move (**T**) modifier__ ======
672 +|(% colspan="2" %)(((
673 +====== __Timed move__ ======
674 +)))
675 +|(% style="width:30px" %) |(((
676 +Timed Move (**T**)
561 561  
562 562  Example: #5D15000T2500<cr>
563 563  
... ... @@ -564,61 +564,155 @@
564 564  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.
565 565  
566 566  **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
683 +)))
567 567  
568 -====== ======
569 -
570 570  == Telemetry ==
571 571  
572 -====== __Query PCB Temperature (**QT**)__ ======
687 +|(% colspan="2" %)(((
688 +====== __Temperature PCB__ ======
689 +)))
690 +|(% style="width:30px" %) |(((
691 +Query Temp PCB (**QT**)
573 573  
574 574  Ex: #5QT<cr> might return *5QT564<cr>
575 575  
576 576  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.
696 +)))
577 577  
578 -====== __Query Temperature Probe (**QTP**)__ ======
698 +|(% colspan="2" %)(((
699 +====== __Current__ ======
700 +)))
701 +|(% style="width:30px" %) |(((
702 +(% class="wikigeneratedid" %)
703 +Query Current (**QC**)
579 579  
580 -Ex:
581 -
582 -====== __Query Temp of Controller (**QTCW**)__ ======
583 -
584 -Ex:
585 -
586 -An alternative is QTCE
587 -
588 -====== __Query Current (**QC**)__ ======
589 -
705 +(% class="wikigeneratedid" id="HEx:235QC3Ccr3Emightreturn2A5QC1403Ccr3E" %)
590 590  Ex: #5QC<cr> might return *5QC140<cr>
591 591  
592 592  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.
709 +)))
593 593  
594 -====== __Query Model String (**QMS**)__ ======
711 +|(% colspan="2" %)(((
712 +====== __Model String__ ======
713 +)))
714 +|(% style="width:30px" %) |(((
715 +(% class="wikigeneratedid" %)
716 +Query Model String (**QMS**)
595 595  
718 +(% class="wikigeneratedid" id="HEx:235QMS3Ccr3Emightreturn2A5QMSLSS-HS13Ccr3E" %)
596 596  Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
597 597  
598 598  This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
722 +)))
599 599  
600 -====== __Query Firmware (**QF**)__ ======
724 +|(% colspan="2" %)(((
725 +====== __Firmware__ ======
726 +)))
727 +|(% style="width:30px" %) |(((
728 +Query Firmware (**QF**)
601 601  
602 602  Ex: #5QF<cr> might return *5QF368<cr>
603 603  
604 604  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
733 +)))
605 605  
606 -====== __Query Serial Number (**QN**)__ ======
735 +|(% colspan="2" %)(((
736 +====== __Serial Number__ ======
737 +)))
738 +|(% style="width:30px" %) |(((
739 +(% class="wikigeneratedid" %)
740 +Query Serial Number (**QN**)
607 607  
742 +(% class="wikigeneratedid" id="HEx:235QN3Ccr3Emightreturn2A5QN123456783Ccr3E" %)
608 608  Ex: #5QN<cr> might return *5QN12345678<cr>
609 609  
610 610  The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
746 +)))
611 611  
612 -====== __Query IMU Linear (**QIX** **QIY** **QIZ**)__ ======
748 +|(% colspan="2" %)(((
749 +====== __Temperature Probe__ ======
750 +)))
751 +|(% style="width:30px" %) |(((
752 +Query Temp motor Probe (**QTP**)
753 +)))
613 613  
614 -Ex: #6QIX<cr> might return *6QIX30<cr>
755 +|(% colspan="2" %)(((
756 +====== __Temperature MCU__ ======
757 +)))
758 +|(% style="width:30px" %) |(((
759 +Query Temp MCU (**QTM**)
760 +)))
615 615  
616 -This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
762 +|(% colspan="2" %)(((
763 +====== __Temp Controller Error__ ======
764 +)))
765 +|(% style="width:30px" %) |(((
766 +(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
767 +Query Temp Controller Error (**QTCE**)
768 +)))
617 617  
618 -====== __Query IMU Angular (**QIA** **QIB** **QIC**)__ ======
770 +|(% colspan="2" %)(((
771 +====== __Temp Controller Warning__ ======
772 +)))
773 +|(% style="width:30px" %) |(((
774 +(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
775 +Query Temp Controller Warning (**QTCW**)
776 +)))
619 619  
778 +|(% colspan="2" %)(((
779 +====== __Error Flag__ ======
780 +)))
781 +|(% style="width:30px" %) |(((
782 +Query Error Flag (**QEF**)
783 +)))
784 +
785 +|(% colspan="2" %)(((
786 +====== __IMU Linear__ ======
787 +)))
788 +|(% style="width:30px" %) |(((
789 +(% class="wikigeneratedid" %)
790 +Query IMU Linear (**QIX QIY QIZ**)
791 +
792 +====== Ex: #6QIX<cr> might return *6QIX30<cr> ======
793 +
794 +This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
795 +)))
796 +
797 +|(% colspan="2" %)(((
798 +====== __IMU Angular__ ======
799 +)))
800 +|(% style="width:30px" %) |(((
801 +(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
802 +Query IMU Angular (**QIA QIB QIG**)
620 620  Ex: #6QIB<cr> might return *6QIB44<cr>
621 621  
622 622  This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
806 +)))
623 623  
808 +== RGB LED ==
809 +
810 +|(% colspan="2" %)(((
811 +====== __LED Color__ ======
812 +)))
813 +|(% style="width:30px" %) |(((
814 +(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
624 624  
816 +)))
817 +
818 +|(% colspan="2" %)(((
819 +====== __Configure LED Blinking__ ======
820 +)))
821 +|(% style="width:30px" %) |(((
822 +(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
823 +
824 +)))
825 +
826 +|(% colspan="2" %)(((
827 +====== __LED Indicator__ ======
828 +)))
829 +|(% style="width:30px" %) |(((
830 +(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
831 +
832 +)))
833 +
834 +
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