Last modified by Eric Nantel on 2024/09/06 14:52
From version < 60.1 >
edited by Coleman Benson
on 2023/07/27 14:47
To version < 81.1 >
edited by Eric Nantel
on 2024/07/22 19:37
< >
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 +120,67 @@
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 +| |[[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
147 +| |[[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
151 +| |[[**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
152 +| |[[**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)
155 +|(% 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**
156 +| |[[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|
157 +| |[[**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.
158 +| |[[**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)
159 +| |[[**F**irmware Version>>doc:||anchor="HFirmware"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | |(% style="text-align:center" %) |
160 +| |[[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
161 +| |[[**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
162 +| |[[**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|
163 +| |[[**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" %) |(((
164 +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)
166 +| |[[**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)
167 +| |[[**E**rror **F**lag>>doc:||anchor="HErrorFlag"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QEF|(% style="text-align:center" %) | |(% style="text-align:center" %) |
168 +| |[[**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|
169 +| |[[**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|
170 +| |[[**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|
171 +| |[[**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)
172 +| |[[**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)
173 +| |[[**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
176 +|(% 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**
177 +| |[[**LED** Color>>||anchor="HLEDColor"]]|(% style="text-align:center" %)LED|(% style="text-align:center" %)QLED|(% style="text-align:center" %)CLED|(% style="text-align:center" %)3|(% style="text-align:center" %)0 to 7 integer|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White
178 +| |[[**L**ED **B**linking>>doc:||anchor="HLEDBlinking"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QLB|(% style="text-align:center" %)CLB|(% style="text-align:center" %)0|(% style="text-align:center" %) |
179 +| |[[**L**ED **I**ndicator>>doc:||anchor="HLEDIndicator"]]|(% 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  | |(((
189 +Reset (**RESET**)
190 +
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__(%%) ======
197 +====== (% style="color:inherit; font-family:inherit" %)__Default__(%%) ======
199 199  )))
200 200  |(% style="width:30px" %) |(((
200 +(% style="color:inherit; font-family:inherit" %)Default (**DEFAULT**)
201 +
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__(%%) ======
214 +====== (% style="color:inherit; font-family:inherit" %)__Update__(%%) ======
214 214  )))
215 215  |(% style="width:30px" %) |(((
217 +(% style="color:inherit; font-family:inherit" %)Update (**UPDATE**)
218 +
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.
... ... @@ -228,6 +228,8 @@
228 228  ====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
229 229  )))
230 230  |(% style="width:30px" %) |(((
234 +(% style="color:inherit; font-family:inherit" %)Confirm (**CONFIRM**)
235 +
231 231  (% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
232 232  
233 233  (% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command.
... ... @@ -235,9 +235,11 @@
235 235  )))
236 236  
237 237  |(% colspan="2" %)(((
238 -====== (% style="color:inherit; font-family:inherit" %)__ID Number (**ID**)__(%%) ======
243 +====== (% style="color:inherit; font-family:inherit" %)__ID Number__(%%) ======
239 239  )))
240 240  |(% style="width:30px" %) |(((
246 +This assigns ID #5 to the servo previously assigned to ID 0
247 +
241 241  (% style="color:inherit; font-family:inherit" %)Configure ID Number (**CID**)
242 242  
243 243  (% style="color:inherit; font-family:inherit" %)Ex: #0CID5<cr>
... ... @@ -252,7 +252,7 @@
252 252  )))
253 253  
254 254  |(% colspan="2" %)(((
255 -====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor (**ET**)__(%%) ======
262 +====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor__(%%) ======
256 256  )))
257 257  |(% style="width:30px" %) |(((
258 258  Query Enable CAN Terminal Resistor (**QET**)
... ... @@ -269,7 +269,7 @@
269 269  )))
270 270  
271 271  |(% colspan="2" %)(((
272 -====== __USB Connection Status (**UC**)__ ======
279 +====== __USB Connection Status__ ======
273 273  )))
274 274  |(% style="width:30px" %) |(((
275 275  Query USB Connection Status (**QUC**)
... ... @@ -277,21 +277,14 @@
277 277  Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
278 278  )))
279 279  
287 +== Motion ==
288 +
280 280  |(% colspan="2" %)(((
281 -====== __Firmware Release (**FR**)__ ======
290 +====== __Position in Degrees__ ======
282 282  )))
283 283  |(% style="width:30px" %) |(((
284 -Query Firmware Release (**QFR**)
293 +Position in Degrees (**D**)
285 285  
286 -Ex: #5QFR<cr> might return *QFR11<cr> meaning it has a (random) firmware release version number 11.
287 -
288 -This is used to verify if the firmware on the servos is up to date, or which version is running on the microcontroller.
289 -)))
290 -
291 -== Motion ==
292 -
293 -====== __Position in Degrees (**D**)__ ======
294 -
295 295  Example: #5D1456<cr>
296 296  
297 297  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.
... ... @@ -309,16 +309,28 @@
309 309  Ex: #5QDT<cr> might return *5QDT6783<cr>
310 310  
311 311  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.
312 +)))
312 312  
313 -====== __(Relative) Move in Degrees (**MD**)__ ======
314 +|(% colspan="2" %)(((
315 +====== __Relative Move in Degrees__ ======
316 +)))
317 +|(% style="width:30px" %) |(((
318 +(% class="wikigeneratedid" %)
319 +Move in Degrees (**MD**)
314 314  
321 +(% class="wikigeneratedid" %)
322 +Example: #5M1500<cr>
315 315  
316 -Example: #5MD123<cr>
324 +(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
325 +The relative move in PWM command causes the servo to read its current position and move by the specified number of PWM signal. For example if the servo is set to rotate CW (default) and an M command of 1500 is sent to the servo, it will cause the servo to rotate clockwise by 90 degrees. Negative PWM value would cause the servo to rotate in the opposite configured direction.
326 +)))
317 317  
318 -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.
328 +|(% colspan="2" %)(((
329 +====== __Wheel Mode in Degrees__ ======
330 +)))
331 +|(% style="width:30px" %) |(((
332 +Wheel mode in Degrees (**WD**)
319 319  
320 -====== __Wheel Mode in Degrees (**WD**)__ ======
321 -
322 322  Ex: #5WD90<cr>
323 323  
324 324  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).
... ... @@ -328,8 +328,13 @@
328 328  Ex: #5QWD<cr> might return *5QWD90<cr>
329 329  
330 330  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).
343 +)))
331 331  
332 -====== __Wheel Mode in RPM (**WR**)__ ======
345 +|(% colspan="2" %)(((
346 +====== __Wheel Mode in RPM__ ======
347 +)))
348 +|(% style="width:30px" %) |(((
349 +Wheel moed in RPM (**WR**)
333 333  
334 334  Ex: #5WR40<cr>
335 335  
... ... @@ -340,17 +340,14 @@
340 340  Ex: #5QWR<cr> might return *5QWR40<cr>
341 341  
342 342  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).
360 +)))
343 343  
344 -====== __(Relative) Move in Degrees (**MD**)__ ======
362 +|(% colspan="2" %)(((
363 +====== __Status__ ======
364 +)))
365 +|(% style="width:30px" %) |(((
366 +Query Status (**Q**)
345 345  
346 -(% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %)
347 -Example: #5M1500<cr>
348 -
349 -(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
350 -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.
351 -
352 -====== __Query Status (**Q**)__ ======
353 -
354 354  The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
355 355  
356 356  Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
... ... @@ -362,7 +362,7 @@
362 362  | |ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
363 363  | |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
364 364  | |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
365 -| |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will nornally be holding)
379 +| |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will normally be holding)
366 366  | |ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
367 367  | |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
368 368  | |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
... ... @@ -379,31 +379,54 @@
379 379  | |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
380 380  | |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
381 381  | |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
396 +)))
382 382  
383 -====== __Limp (**L**)__ ======
398 +|(% colspan="2" %)(((
399 +====== __Motion Time__ ======
400 +)))
401 +|(% style="width:30px" %) |(((
402 +Query Motion Time (**QMT**)
403 +)))
384 384  
405 +|(% colspan="2" %)(((
406 +====== __Current Speed__ ======
407 +)))
408 +|(% style="width:30px" %) |(((
409 +Query Current Speed (**QCS**)
410 +)))
411 +
412 +|(% colspan="2" %)(((
413 +====== __Limp__ ======
414 +)))
415 +|(% style="width:30px" %) |(((
385 385  Example: #5L<cr>
386 386  
387 387  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>.
419 +)))
388 388  
389 -====== __Halt & Hold (**H**)__ ======
390 -
421 +|(% colspan="2" %)(((
422 +====== __Halt & Hold__ ======
423 +)))
424 +|(% style="width:30px" %) |(((
391 391  Example: #5H<cr>
392 392  
393 393  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.)
428 +)))
394 394  
395 395  == Motion Setup ==
396 396  
397 -====== __Origin Offset (**O**)__ ======
398 -
432 +|(% colspan="2" %)(((
433 +====== __Origin Offset__ ======
434 +)))
435 +|(% style="width:30px" %) |(((
399 399  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).
400 400  
401 -[[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"]]
438 +[[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"]]
402 402  
403 403  
404 404  In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
405 405  
406 -[[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"]]
443 +[[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"]]
407 407  
408 408  
409 409  Origin Offset Query (**QO**)
... ... @@ -417,23 +417,26 @@
417 417  Example: #5CO-24<cr>
418 418  
419 419  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.
457 +)))
420 420  
421 -====== __Angular Range (**AR**)__ ======
422 -
459 +|(% colspan="2" %)(((
460 +====== __Angular Range__ ======
461 +)))
462 +|(% style="width:30px" %) |(((
423 423  Example: #5AR1800<cr>
424 424  
425 425  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:
426 426  
427 -[[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"]]
467 +[[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"]]
428 428  
429 429  Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
430 430  
431 -[[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"]]
471 +[[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"]]
432 432  
433 433  
434 434  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:
435 435  
436 -[[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"]]
476 +[[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"]]
437 437  
438 438  
439 439  Query Angular Range (**QAR**)
... ... @@ -443,9 +443,12 @@
443 443  Configure Angular Range (**CAR**)
444 444  
445 445  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.
486 +)))
446 446  
447 -====== __Angular Acceleration (**AA**)__ ======
448 -
488 +|(% colspan="2" %)(((
489 +====== __Angular Acceleration__ ======
490 +)))
491 +|(% style="width:30px" %) |(((
449 449  The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
450 450  
451 451  Ex: #5AA30<cr>
... ... @@ -463,9 +463,12 @@
463 463  Ex: #5CAA30<cr>
464 464  
465 465  This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
509 +)))
466 466  
467 -====== __Angular Deceleration (**AD**)__ ======
468 -
511 +|(% colspan="2" %)(((
512 +====== __Angular Deceleration__ ======
513 +)))
514 +|(% style="width:30px" %) |(((
469 469  The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
470 470  
471 471  Ex: #5AD30<cr>
... ... @@ -483,9 +483,12 @@
483 483  Ex: #5CAD30<cr>
484 484  
485 485  This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
532 +)))
486 486  
487 -====== __Gyre Direction (**G**)__ ======
488 -
534 +|(% colspan="2" %)(((
535 +====== __Gyre Direction__ ======
536 +)))
537 +|(% style="width:30px" %) |(((
489 489  "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.
490 490  
491 491  Ex: #5G-1<cr>
... ... @@ -503,15 +503,24 @@
503 503  Ex: #5CG-1<cr>
504 504  
505 505  This changes the gyre direction as described above and also writes to EEPROM.
555 +)))
506 506  
507 -====== __First Position__ ======
557 +|(% colspan="2" %)(((
558 +====== __Maximum Speed in Degrees__ ======
559 +)))
560 +|(% style="width:30px" %) |(((
561 +Maximum Speed in Degrees (**SD**)
508 508  
509 -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>
563 +Ex: #5SD1800<cr>
510 510  
511 -====== __Maximum Speed in Degrees (**SD**)__ ======
565 +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.
512 512  
513 -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:
567 +Query Speed in Degrees (**QSD**)
514 514  
569 +Ex: #5QSD<cr> might return *5QSD1800<cr>
570 +
571 +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:
572 +
515 515  |**Command sent**|**Returned value (1/10 °)**
516 516  |ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
517 517  |ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
... ... @@ -518,43 +518,64 @@
518 518  |ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
519 519  |ex: #5QSD3<cr>|Target travel speed
520 520  
521 -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.
579 +Configure Speed in Degrees (**CSD**)
522 522  
523 -====== __Maximum Speed in RPM (**SR**)__ ======
581 +Ex: #5CSD1800<cr>
524 524  
525 -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:
583 +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.
584 +)))
526 526  
527 -|**Command sent**|**Returned value (1/10 °)**
528 -|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
529 -|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
530 -|ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
531 -|ex: #5QSR3<cr>|Target travel speed
586 +|(% colspan="2" %)(((
587 +====== __Maximum Speed in RPM__ ======
588 +)))
589 +|(% style="width:30px" %) |(((
590 +(% class="wikigeneratedid" %)
591 +Maximum Speed in RPM (**SR**)
532 532  
533 -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.
593 +(% class="wikigeneratedid" id="HEx:235SR453Ccr3EThiscommandsetstheservo27smaximumspeedformotioncommandsinrpmforthatsession.Intheexampleabove2Ctheservo27smaximumspeedforthatsessionwouldbesetto45rpm.Theservo27smaximumspeedcannotbesethigherthanitsphysicallimitatagivenvoltage.SRoverridesCSR28describedbelow29forthatsession.Uponresetorpowercycle2CtheservorevertstothevalueassociatedwithCSRasdescribedbelow.NotethatSD28describedabove29andSRareeffectivelythesame2Cbutallowtheusertospecifythespeedineitherunit.Thelastcommand28eitherSRorSD29receivediswhattheservousesforthatsession.QuerySpeedinRPM28QSR29Ex:235QSR3Ccr3Emightreturn2A5QSR453Ccr3EBydefaultQSRwillreturnthecurrentsessionvalue2CwhichissettothevalueofCSRasreset2FpowercycleandchangedwheneveranSD2FSRcommandisprocessed.If235QSR13Ccr3Eissent2Ctheconfiguredmaximumspeed28CSRvalue29willbereturnedinstead.Youcanalsoquerythecurrentspeedusing22222andthecurrenttargettravelspeedusing22322.Seethetablebelowforanexample:" %)
594 +Ex: #5SR45<cr>
534 534  
535 -====== __Step Mode (**SM**)__ ======
596 +(% class="wikigeneratedid" %)
597 +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.
536 536  
537 -Ex: #8SM2<cr>
599 +(% class="wikigeneratedid" %)
600 +Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit.
538 538  
539 -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.
602 +(% class="wikigeneratedid" %)
603 +The last command (either SR or SD) received is what the servo uses for that session.
540 540  
541 -Note that the torque and max RPM of the actuator will be affected.
605 +(% class="wikigeneratedid" %)
606 +Query Speed in RPM (**QSR**)
542 542  
543 -Query Step Mode (**QSM**)
608 +(% class="wikigeneratedid" %)
609 +Ex: #5QSR<cr> might return *5QSR45<cr>
544 544  
545 -Ex: #8QSM<cr> might return *8QSM2<cr> meaning servo with ID 8 is set to half step mode.
611 +(% class="wikigeneratedid" %)
612 +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:
546 546  
547 -Configure Step Mode (**CSM**)
614 +|**Command sent**|**Returned value (1/10 °)**
615 +|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
616 +|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
617 +|ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
618 +|ex: #5QSR3<cr>|Target travel speed
548 548  
549 -Ex: #8SM2<cr>
620 +Configure Speed in RPM (**CSR**)
550 550  
551 -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.
622 +Ex: #5CSR45<cr>
552 552  
624 +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.
625 +)))
626 +
553 553  == Modifiers ==
554 554  
555 -====== __Speed (**SD**) modifier__ ======
629 +|(% colspan="2" %)(((
630 +====== __Speed __ ======
631 +)))
632 +|(% style="width:30px" %) |(((
633 +(% class="wikigeneratedid" %)
634 +Speed in Degrees (**SD**)
556 556  
557 -(% class="wikigeneratedid" id="HTimedmove28T29modifier" %)
636 +(% class="wikigeneratedid" id="HExample:235D0SD1803Ccr3E" %)
558 558  Example: #5D0SD180<cr>
559 559  
560 560  (% class="wikigeneratedid" %)
... ... @@ -568,8 +568,13 @@
568 568  
569 569  (% class="wikigeneratedid" %)
570 570  This command queries the current speed in microseconds per second.
650 +)))
571 571  
572 -====== __Timed move (**T**) modifier__ ======
652 +|(% colspan="2" %)(((
653 +====== __Timed move__ ======
654 +)))
655 +|(% style="width:30px" %) |(((
656 +Timed Move (**T**)
573 573  
574 574  Example: #5D15000T2500<cr>
575 575  
... ... @@ -576,61 +576,158 @@
576 576  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.
577 577  
578 578  **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
663 +)))
579 579  
580 -====== ======
581 -
582 582  == Telemetry ==
583 583  
584 -====== __Query PCB Temperature (**QT**)__ ======
667 +|(% colspan="2" %)(((
668 +====== __Temperature PCB__ ======
669 +)))
670 +|(% style="width:30px" %) |(((
671 +Query Temp PCB (**QT**)
585 585  
586 586  Ex: #5QT<cr> might return *5QT564<cr>
587 587  
588 588  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.
676 +)))
589 589  
590 -====== __Query Temperature Probe (**QTP**)__ ======
678 +|(% colspan="2" %)(((
679 +====== __Current__ ======
680 +)))
681 +|(% style="width:30px" %) |(((
682 +(% class="wikigeneratedid" %)
683 +Query Current (**QC**)
591 591  
592 -Ex:
593 -
594 -====== __Query Temp of Controller (**QTCW**)__ ======
595 -
596 -Ex:
597 -
598 -An alternative is QTCE
599 -
600 -====== __Query Current (**QC**)__ ======
601 -
685 +(% class="wikigeneratedid" id="HEx:235QC3Ccr3Emightreturn2A5QC1403Ccr3E" %)
602 602  Ex: #5QC<cr> might return *5QC140<cr>
603 603  
604 604  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.
689 +)))
605 605  
606 -====== __Query Model String (**QMS**)__ ======
691 +|(% colspan="2" %)(((
692 +====== __Model String__ ======
693 +)))
694 +|(% style="width:30px" %) |(((
695 +(% class="wikigeneratedid" %)
696 +Query Model String (**QMS**)
607 607  
698 +(% class="wikigeneratedid" id="HEx:235QMS3Ccr3Emightreturn2A5QMSLSS-HS13Ccr3E" %)
608 608  Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
609 609  
610 610  This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
702 +)))
611 611  
612 -====== __Query Firmware (**QF**)__ ======
704 +|(% colspan="2" %)(((
705 +====== __Firmware__ ======
706 +)))
707 +|(% style="width:30px" %) |(((
708 +Query Firmware (**QF**)
613 613  
614 614  Ex: #5QF<cr> might return *5QF368<cr>
615 615  
616 616  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
713 +)))
617 617  
618 -====== __Query Serial Number (**QN**)__ ======
715 +|(% colspan="2" %)(((
716 +====== __Serial Number__ ======
717 +)))
718 +|(% style="width:30px" %) |(((
719 +(% class="wikigeneratedid" %)
720 +Query Serial Number (**QN**)
619 619  
722 +(% class="wikigeneratedid" id="HEx:235QN3Ccr3Emightreturn2A5QN123456783Ccr3E" %)
620 620  Ex: #5QN<cr> might return *5QN12345678<cr>
621 621  
622 622  The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
726 +)))
623 623  
624 -====== __Query IMU Linear (**QIX** **QIY** **QIZ**)__ ======
728 +|(% colspan="2" %)(((
729 +====== __Temperature Probe__ ======
730 +)))
731 +|(% style="width:30px" %) |(((
732 +Query Temp motor Probe (**QTP**)
733 +)))
625 625  
735 +|(% colspan="2" %)(((
736 +====== __Temperature MCU__ ======
737 +)))
738 +|(% style="width:30px" %) |(((
739 +Query Temp MCU (**QTM**)
740 +)))
741 +
742 +|(% colspan="2" %)(((
743 +====== __Temp Controller Error__ ======
744 +)))
745 +|(% style="width:30px" %) |(((
746 +(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
747 +Query Temp Controller Error (**QTCE**)
748 +)))
749 +
750 +|(% colspan="2" %)(((
751 +====== __Temp Controller Warning__ ======
752 +)))
753 +|(% style="width:30px" %) |(((
754 +(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
755 +Query Temp Controller Warning (**QTCW**)
756 +)))
757 +
758 +|(% colspan="2" %)(((
759 +====== __Error Flag__ ======
760 +)))
761 +|(% style="width:30px" %) |(((
762 +Query Error Flag (**QEF**)
763 +)))
764 +
765 +|(% colspan="2" %)(((
766 +====== __IMU Linear__ ======
767 +)))
768 +|(% style="width:30px" %) |(((
769 +(% class="wikigeneratedid" %)
770 +Query IMU Linear (**QIX QIY QIZ**)
771 +
772 +(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
626 626  Ex: #6QIX<cr> might return *6QIX30<cr>
627 627  
628 628  This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
776 +)))
629 629  
630 -====== __Query IMU Angular (**QIA** **QIB** **QIC**)__ ======
778 +|(% colspan="2" %)(((
779 +====== __IMU Angular__ ======
780 +)))
781 +|(% style="width:30px" %) |(((
782 +(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
783 +Query IMU Angular (**QIA QIB QIG**)
631 631  
785 +(% class="wikigeneratedid" %)
632 632  Ex: #6QIB<cr> might return *6QIB44<cr>
633 633  
634 634  This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
789 +)))
635 635  
791 +== RGB LED ==
792 +
793 +|(% colspan="2" %)(((
794 +====== __LED Color__ ======
795 +)))
796 +|(% style="width:30px" %) |(((
797 +(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
636 636  
799 +)))
800 +
801 +|(% colspan="2" %)(((
802 +====== __LED Blinking__ ======
803 +)))
804 +|(% style="width:30px" %) |(((
805 +(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
806 +
807 +)))
808 +
809 +|(% colspan="2" %)(((
810 +====== __LED Indicator__ ======
811 +)))
812 +|(% style="width:30px" %) |(((
813 +(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
814 +
815 +)))
816 +
817 +
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