Changes for page LSS-PRO Communication Protocol
Last modified by Eric Nantel on 2024/09/06 14:52
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... ... @@ -1,5 +3,3 @@ 1 -{{warningBox warningText="More information coming soon"/}} 2 - 3 3 (% class="wikigeneratedid" id="HTableofContents" %) 4 4 **Page Contents** 5 5 ... ... @@ -93,7 +93,7 @@ 93 93 94 94 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). 95 95 96 -[[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"]] 97 97 98 98 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: 99 99 ... ... @@ -438,12 +438,12 @@ 438 438 439 439 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). 440 440 441 -[[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"]] 442 442 443 443 444 444 In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees: 445 445 446 -[[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"]] 447 447 448 448 449 449 Origin Offset Query (**QO**) ... ... @@ -464,16 +464,16 @@ 464 464 465 465 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: 466 466 467 -[[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"]]465 +[[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"]] 468 468 469 469 Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged. 470 470 471 -[[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"]]469 +[[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"]] 472 472 473 473 474 474 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: 475 475 476 -[[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"]]474 +[[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"]] 477 477 478 478 479 479 Query Angular Range (**QAR**)