Last modified by Eric Nantel on 2024/09/06 14:52
From version < 59.1 >
edited by Coleman Benson
on 2023/07/27 14:36
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.
... ... @@ -195,9 +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 -| |(((
200 +|(% style="width:30px" %) |(((
201 +(% style="color:inherit; font-family:inherit" %)Default (**DEFAULT**)
202 +
201 201  (% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr>
202 202  
203 203  (% 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.
... ... @@ -210,9 +210,11 @@
210 210  )))
211 211  
212 212  |(% colspan="2" %)(((
213 -====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
215 +====== (% style="color:inherit; font-family:inherit" %)__Update__(%%) ======
214 214  )))
215 -| |(((
217 +|(% style="width:30px" %) |(((
218 +(% style="color:inherit; font-family:inherit" %)Update (**UPDATE**)
219 +
216 216  (% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
217 217  
218 218  (% 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.
... ... @@ -224,8 +224,12 @@
224 224  (% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
225 225  )))
226 226  
227 -|(% colspan="2" %)(% style="color:inherit; font-family:inherit" %)__Confirm__
231 +|(% colspan="2" %)(((
232 +====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
233 +)))
228 228  |(% style="width:30px" %) |(((
235 +(% style="color:inherit; font-family:inherit" %)Confirm (**CONFIRM**)
236 +
229 229  (% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
230 230  
231 231  (% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command.
... ... @@ -232,8 +232,12 @@
232 232  Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
233 233  )))
234 234  
235 -|(% colspan="2" %)(% style="color:inherit; font-family:inherit" %)__ID Number (**ID**)__
243 +|(% colspan="2" %)(((
244 +====== (% style="color:inherit; font-family:inherit" %)__ID Number__(%%) ======
245 +)))
236 236  |(% style="width:30px" %) |(((
247 +This assigns ID #5 to the servo previously assigned to ID 0
248 +
237 237  (% style="color:inherit; font-family:inherit" %)Configure ID Number (**CID**)
238 238  
239 239  (% style="color:inherit; font-family:inherit" %)Ex: #0CID5<cr>
... ... @@ -247,7 +247,9 @@
247 247  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.
248 248  )))
249 249  
250 -|(% colspan="2" %)(% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor (**ET**)__
262 +|(% colspan="2" %)(((
263 +====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor__(%%) ======
264 +)))
251 251  |(% style="width:30px" %) |(((
252 252  Query Enable CAN Terminal Resistor (**QET**)
253 253  
... ... @@ -262,7 +262,9 @@
262 262  (% 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.
263 263  )))
264 264  
265 -|(% colspan="2" %)__USB Connection Status (**UC**)__
279 +|(% colspan="2" %)(((
280 +====== __USB Connection Status__ ======
281 +)))
266 266  |(% style="width:30px" %) |(((
267 267  Query USB Connection Status (**QUC**)
268 268  
... ... @@ -269,32 +269,14 @@
269 269  Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
270 270  )))
271 271  
272 -|(% colspan="2" %)__Firmware Release (**FR**)__
273 -|(% style="width:30px" %) |(((
274 -Query Firmware Release (**QFR**)
288 +== Motion ==
275 275  
276 -Ex: #5QFR<cr> might return *QFR11<cr> meaning it has a (random) firmware release version number 11.
277 -
278 -This is used to verify if the firmware on the servos is up to date, or which version is running on the microcontroller.
290 +|(% colspan="2" %)(((
291 +====== __Position in Degrees__ ======
279 279  )))
293 +|(% style="width:30px" %) |(((
294 +Position in Degrees (**D**)
280 280  
281 -====== ======
282 -
283 -
284 -====== ======
285 -
286 -
287 -====== ======
288 -
289 -
290 -====== ======
291 -
292 -
293 -
294 -== Motion ==
295 -
296 -====== __Position in Degrees (**D**)__ ======
297 -
298 298  Example: #5D1456<cr>
299 299  
300 300  This moves the servo to an angle of 145.6 degrees, where the center (0) position is centered. Negative values (ex. -176 representing -17.6 degrees) could also be used. A full circle would be from -1800 to 1800 degrees. A value of 2700 would be the same angle (absolute position) as -900, except the servo would move in a different direction.
... ... @@ -312,16 +312,28 @@
312 312  Ex: #5QDT<cr> might return *5QDT6783<cr>
313 313  
314 314  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 +)))
315 315  
316 -====== __(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**)
317 317  
322 +(% class="wikigeneratedid" %)
323 +Example: #5M1500<cr>
318 318  
319 -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 +)))
320 320  
321 -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**)
322 322  
323 -====== __Wheel Mode in Degrees (**WD**)__ ======
324 -
325 325  Ex: #5WD90<cr>
326 326  
327 327  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).
... ... @@ -331,8 +331,13 @@
331 331  Ex: #5QWD<cr> might return *5QWD90<cr>
332 332  
333 333  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 +)))
334 334  
335 -====== __Wheel Mode in RPM (**WR**)__ ======
346 +|(% colspan="2" %)(((
347 +====== __Wheel Mode in RPM__ ======
348 +)))
349 +|(% style="width:30px" %) |(((
350 +Wheel moed in RPM (**WR**)
336 336  
337 337  Ex: #5WR40<cr>
338 338  
... ... @@ -343,17 +343,14 @@
343 343  Ex: #5QWR<cr> might return *5QWR40<cr>
344 344  
345 345  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 +)))
346 346  
347 -====== __(Relative) Move in Degrees (**MD**)__ ======
363 +|(% colspan="2" %)(((
364 +====== __Status__ ======
365 +)))
366 +|(% style="width:30px" %) |(((
367 +Query Status (**Q**)
348 348  
349 -(% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %)
350 -Example: #5M1500<cr>
351 -
352 -(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
353 -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.
354 -
355 -====== __Query Status (**Q**)__ ======
356 -
357 357  The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
358 358  
359 359  Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
... ... @@ -365,7 +365,7 @@
365 365  | |ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
366 366  | |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
367 367  | |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
368 -| |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)
369 369  | |ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
370 370  | |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
371 371  | |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
... ... @@ -382,31 +382,54 @@
382 382  | |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
383 383  | |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
384 384  | |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
397 +)))
385 385  
386 -====== __Limp (**L**)__ ======
399 +|(% colspan="2" %)(((
400 +====== __Motion Time__ ======
401 +)))
402 +|(% style="width:30px" %) |(((
403 +Query Motion Time (**QMT**)
404 +)))
387 387  
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" %) |(((
388 388  Example: #5L<cr>
389 389  
390 390  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 +)))
391 391  
392 -====== __Halt & Hold (**H**)__ ======
393 -
422 +|(% colspan="2" %)(((
423 +====== __Halt & Hold__ ======
424 +)))
425 +|(% style="width:30px" %) |(((
394 394  Example: #5H<cr>
395 395  
396 396  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 +)))
397 397  
398 398  == Motion Setup ==
399 399  
400 -====== __Origin Offset (**O**)__ ======
401 -
433 +|(% colspan="2" %)(((
434 +====== __Origin Offset__ ======
435 +)))
436 +|(% style="width:30px" %) |(((
402 402  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).
403 403  
404 -[[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"]]
405 405  
406 406  
407 407  In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
408 408  
409 -[[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"]]
410 410  
411 411  
412 412  Origin Offset Query (**QO**)
... ... @@ -420,23 +420,26 @@
420 420  Example: #5CO-24<cr>
421 421  
422 422  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 +)))
423 423  
424 -====== __Angular Range (**AR**)__ ======
425 -
460 +|(% colspan="2" %)(((
461 +====== __Angular Range__ ======
462 +)))
463 +|(% style="width:30px" %) |(((
426 426  Example: #5AR1800<cr>
427 427  
428 428  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:
429 429  
430 -[[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"]]
431 431  
432 432  Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
433 433  
434 -[[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"]]
435 435  
436 436  
437 437  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:
438 438  
439 -[[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"]]
440 440  
441 441  
442 442  Query Angular Range (**QAR**)
... ... @@ -446,9 +446,12 @@
446 446  Configure Angular Range (**CAR**)
447 447  
448 448  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 +)))
449 449  
450 -====== __Angular Acceleration (**AA**)__ ======
451 -
489 +|(% colspan="2" %)(((
490 +====== __Angular Acceleration__ ======
491 +)))
492 +|(% style="width:30px" %) |(((
452 452  The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
453 453  
454 454  Ex: #5AA30<cr>
... ... @@ -466,9 +466,12 @@
466 466  Ex: #5CAA30<cr>
467 467  
468 468  This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
510 +)))
469 469  
470 -====== __Angular Deceleration (**AD**)__ ======
471 -
512 +|(% colspan="2" %)(((
513 +====== __Angular Deceleration__ ======
514 +)))
515 +|(% style="width:30px" %) |(((
472 472  The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
473 473  
474 474  Ex: #5AD30<cr>
... ... @@ -486,9 +486,12 @@
486 486  Ex: #5CAD30<cr>
487 487  
488 488  This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
533 +)))
489 489  
490 -====== __Gyre Direction (**G**)__ ======
491 -
535 +|(% colspan="2" %)(((
536 +====== __Gyre Direction__ ======
537 +)))
538 +|(% style="width:30px" %) |(((
492 492  "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.
493 493  
494 494  Ex: #5G-1<cr>
... ... @@ -506,15 +506,43 @@
506 506  Ex: #5CG-1<cr>
507 507  
508 508  This changes the gyre direction as described above and also writes to EEPROM.
556 +)))
509 509  
558 +|(% colspan="2" %)(((
510 510  ====== __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.
511 511  
512 -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.
513 513  
514 -====== __Maximum Speed in Degrees (**SD**)__ ======
566 +Query First Position in Degrees (**QFD**)
515 515  
516 -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.
517 517  
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 +
518 518  |**Command sent**|**Returned value (1/10 °)**
519 519  |ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
520 520  |ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
... ... @@ -521,43 +521,64 @@
521 521  |ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
522 522  |ex: #5QSD3<cr>|Target travel speed
523 523  
524 -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**)
525 525  
526 -====== __Maximum Speed in RPM (**SR**)__ ======
601 +Ex: #5CSD1800<cr>
527 527  
528 -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 +)))
529 529  
530 -|**Command sent**|**Returned value (1/10 °)**
531 -|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
532 -|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
533 -|ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
534 -|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**)
535 535  
536 -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>
537 537  
538 -====== __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.
539 539  
540 -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.
541 541  
542 -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.
543 543  
544 -Note that the torque and max RPM of the actuator will be affected.
625 +(% class="wikigeneratedid" %)
626 +Query Speed in RPM (**QSR**)
545 545  
546 -Query Step Mode (**QSM**)
628 +(% class="wikigeneratedid" %)
629 +Ex: #5QSR<cr> might return *5QSR45<cr>
547 547  
548 -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:
549 549  
550 -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
551 551  
552 -Ex: #8SM2<cr>
640 +Configure Speed in RPM (**CSR**)
553 553  
554 -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>
555 555  
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 +
556 556  == Modifiers ==
557 557  
558 -====== __Speed (**SD**) modifier__ ======
649 +|(% colspan="2" %)(((
650 +====== __Speed __ ======
651 +)))
652 +|(% style="width:30px" %) |(((
653 +(% class="wikigeneratedid" %)
654 +Speed in Degrees (**SD**)
559 559  
560 -(% class="wikigeneratedid" id="HTimedmove28T29modifier" %)
656 +(% class="wikigeneratedid" id="HExample:235D0SD1803Ccr3E" %)
561 561  Example: #5D0SD180<cr>
562 562  
563 563  (% class="wikigeneratedid" %)
... ... @@ -571,8 +571,13 @@
571 571  
572 572  (% class="wikigeneratedid" %)
573 573  This command queries the current speed in microseconds per second.
670 +)))
574 574  
575 -====== __Timed move (**T**) modifier__ ======
672 +|(% colspan="2" %)(((
673 +====== __Timed move__ ======
674 +)))
675 +|(% style="width:30px" %) |(((
676 +Timed Move (**T**)
576 576  
577 577  Example: #5D15000T2500<cr>
578 578  
... ... @@ -579,61 +579,155 @@
579 579  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.
580 580  
581 581  **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 +)))
582 582  
583 -====== ======
584 -
585 585  == Telemetry ==
586 586  
587 -====== __Query PCB Temperature (**QT**)__ ======
687 +|(% colspan="2" %)(((
688 +====== __Temperature PCB__ ======
689 +)))
690 +|(% style="width:30px" %) |(((
691 +Query Temp PCB (**QT**)
588 588  
589 589  Ex: #5QT<cr> might return *5QT564<cr>
590 590  
591 591  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 +)))
592 592  
593 -====== __Query Temperature Probe (**QTP**)__ ======
698 +|(% colspan="2" %)(((
699 +====== __Current__ ======
700 +)))
701 +|(% style="width:30px" %) |(((
702 +(% class="wikigeneratedid" %)
703 +Query Current (**QC**)
594 594  
595 -Ex:
596 -
597 -====== __Query Temp of Controller (**QTCW**)__ ======
598 -
599 -Ex:
600 -
601 -An alternative is QTCE
602 -
603 -====== __Query Current (**QC**)__ ======
604 -
705 +(% class="wikigeneratedid" id="HEx:235QC3Ccr3Emightreturn2A5QC1403Ccr3E" %)
605 605  Ex: #5QC<cr> might return *5QC140<cr>
606 606  
607 607  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 +)))
608 608  
609 -====== __Query Model String (**QMS**)__ ======
711 +|(% colspan="2" %)(((
712 +====== __Model String__ ======
713 +)))
714 +|(% style="width:30px" %) |(((
715 +(% class="wikigeneratedid" %)
716 +Query Model String (**QMS**)
610 610  
718 +(% class="wikigeneratedid" id="HEx:235QMS3Ccr3Emightreturn2A5QMSLSS-HS13Ccr3E" %)
611 611  Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
612 612  
613 613  This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
722 +)))
614 614  
615 -====== __Query Firmware (**QF**)__ ======
724 +|(% colspan="2" %)(((
725 +====== __Firmware__ ======
726 +)))
727 +|(% style="width:30px" %) |(((
728 +Query Firmware (**QF**)
616 616  
617 617  Ex: #5QF<cr> might return *5QF368<cr>
618 618  
619 619  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 +)))
620 620  
621 -====== __Query Serial Number (**QN**)__ ======
735 +|(% colspan="2" %)(((
736 +====== __Serial Number__ ======
737 +)))
738 +|(% style="width:30px" %) |(((
739 +(% class="wikigeneratedid" %)
740 +Query Serial Number (**QN**)
622 622  
742 +(% class="wikigeneratedid" id="HEx:235QN3Ccr3Emightreturn2A5QN123456783Ccr3E" %)
623 623  Ex: #5QN<cr> might return *5QN12345678<cr>
624 624  
625 625  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 +)))
626 626  
627 -====== __Query IMU Linear (**QIX** **QIY** **QIZ**)__ ======
748 +|(% colspan="2" %)(((
749 +====== __Temperature Probe__ ======
750 +)))
751 +|(% style="width:30px" %) |(((
752 +Query Temp motor Probe (**QTP**)
753 +)))
628 628  
629 -Ex: #6QIX<cr> might return *6QIX30<cr>
755 +|(% colspan="2" %)(((
756 +====== __Temperature MCU__ ======
757 +)))
758 +|(% style="width:30px" %) |(((
759 +Query Temp MCU (**QTM**)
760 +)))
630 630  
631 -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 +)))
632 632  
633 -====== __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 +)))
634 634  
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**)
635 635  Ex: #6QIB<cr> might return *6QIB44<cr>
636 636  
637 637  This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
806 +)))
638 638  
808 +== RGB LED ==
809 +
810 +|(% colspan="2" %)(((
811 +====== __LED Color__ ======
812 +)))
813 +|(% style="width:30px" %) |(((
814 +(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
639 639  
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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