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Title

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1		-LSS-PRO Communication Protocol
	1	+LSS-P - Communication Protocol

Parent

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1		-ses-pro.lss-pro.WebHome
	1	+lynxmotion-smart-servo-pro.WebHome

Author

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1		-xwiki:XWiki.ENantel
	1	+xwiki:XWiki.CBenson

Hidden

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1		-false
	1	+true

Content

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	1	+{{warningBox warningText="More information coming soon"/}}
	2	+
	3	+
	4	+
1	1	(% class="wikigeneratedid" id="HTableofContents" %)
2	2	**Page Contents**
3	3
...	...	@@ -193,7 +193,7 @@
193	193	|(% colspan="2" %)(((
194	194	====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ======
195	195	)))
196		-|(% style="width:30px" %) |(((
	200	+| |(((
197	197	(% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr>
198	198
199	199	(% 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.
...	...	@@ -208,7 +208,7 @@
208	208	|(% colspan="2" %)(((
209	209	====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
210	210	)))
211		-|(% style="width:30px" %) |(((
	215	+| |(((
212	212	(% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
213	213
214	214	(% 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.
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220	220	(% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
221	221	)))
222	222
223		-|(% colspan="2" %)(((
	227	+(% class="wikigeneratedid" %)
	228	+====== ======
	229	+
224	224	====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
225		-)))
226		-|(% style="width:30px" %) |(((
	231	+
227	227	(% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
228	228
229	229	(% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command.
230	230	Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
231		-)))
232	232
233		-|(% colspan="2" %)(((
234		-====== (% style="color:inherit; font-family:inherit" %)__ID Number__(%%) ======
235		-)))
236		-|(% style="width:30px" %) |(((
237		-This assigns ID #5 to the servo previously assigned to ID 0
	237	+====== (% style="color:inherit; font-family:inherit" %)__ID Number (**ID**)__(%%) ======
238	238
239	239	(% style="color:inherit; font-family:inherit" %)Configure ID Number (**CID**)
240	240
...	...	@@ -247,12 +247,9 @@
247	247	Ex: #254QID<cr> might return *254QID5<cr>
248	248
249	249	In this case, the broadcast ID is used to ensure the servo connected will reply with the ID. This can be used in case the ID assigned to a servo is forgotten.
250		-)))
251	251
252		-|(% colspan="2" %)(((
253		-====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor__(%%) ======
254		-)))
255		-|(% style="width:30px" %) |(((
	251	+====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor (**ET**)__(%%) ======
	252	+
256	256	Query Enable CAN Terminal Resistor (**QET**)
257	257
258	258	Ex: #5QET<cr> might return *QET0<cr>
...	...	@@ -264,35 +264,24 @@
264	264	(% style="color:inherit; font-family:inherit" %)Ex: #5CET1<cr>
265	265
266	266	(% style="color:inherit; font-family:inherit" %)This commands sets servo with ID 5 as being the last in the CAN Bus. The last servo in a CAN bus must be configured this way.
267		-)))
268	268
269		-|(% colspan="2" %)(((
270		-====== __USB Connection Status__ ======
271		-)))
272		-|(% style="width:30px" %) |(((
	265	+====== __USB Connection Status (**UC**)__ ======
	266	+
273	273	Query USB Connection Status (**QUC**)
274	274
275	275	Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
276		-)))
277	277
278		-|(% colspan="2" %)(((
279		-====== __Firmware Release__ ======
280		-)))
281		-|(% style="width:30px" %) |(((
	271	+====== __Firmware Release (**FR**)__ ======
	272	+
282	282	Query Firmware Release (**QFR**)
283	283
284	284	Ex: #5QFR<cr> might return *QFR11<cr> meaning it has a (random) firmware release version number 11.
285	285
286	286	This is used to verify if the firmware on the servos is up to date, or which version is running on the microcontroller.
287		-)))
288	288
289	289	== Motion ==
290	290
291		-|(% colspan="2" %)(((
292		-====== __Position in Degrees__ ======
293		-)))
294		-|(% style="width:30px" %) |(((
295		-Position in Degrees (**D**)
	281	+====== __Position in Degrees (**D**)__ ======
296	296
297	297	Example: #5D1456<cr>
298	298
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311	311	Ex: #5QDT<cr> might return *5QDT6783<cr>
312	312
313	313	The query target position command returns the target virtual position during and after an action which results in a rotation of the servo horn. In the example above, the servo is rotating to a virtual position of 678.3 degrees. Should the servo not have a target position or be in wheel mode, it will respond with the last target position used.
314		-)))
315	315
316		-|(% colspan="2" %)(((
317		-====== __(Relative) Move in Degrees__ ======
318		-)))
319		-|(% style="width:30px" %) |(((
320		-Move in Degrees (**MD**)
	301	+====== __(Relative) Move in Degrees (**MD**)__ ======
321	321
	303	+
322	322	Example: #5MD123<cr>
323	323
324	324	The relative move command causes the servo to read its current position and move the specified number of tenths of degrees in the corresponding position. For example if the servo is set to rotate CW (default) and an MD command of 123 is sent to the servo, it will cause the servo to rotate clockwise by 12.3 degrees. Negative commands would cause the servo to rotate in the opposite configured direction.
325		-)))
326	326
327		-|(% colspan="2" %)(((
328		-====== __Wheel Mode in Degrees__ ======
329		-)))
330		-|(% style="width:30px" %) |(((
331		-Wheel mode in Degrees (**WD**)
	308	+====== __Wheel Mode in Degrees (**WD**)__ ======
332	332
333	333	Ex: #5WD90<cr>
334	334
...	...	@@ -339,13 +339,8 @@
339	339	Ex: #5QWD<cr> might return *5QWD90<cr>
340	340
341	341	The servo replies with the angular speed in degrees per second. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
342		-)))
343	343
344		-|(% colspan="2" %)(((
345		-====== __Wheel Mode in RPM__ ======
346		-)))
347		-|(% style="width:30px" %) |(((
348		-Wheel moed in RPM (**WR**)
	320	+====== __Wheel Mode in RPM (**WR**)__ ======
349	349
350	350	Ex: #5WR40<cr>
351	351
...	...	@@ -356,14 +356,8 @@
356	356	Ex: #5QWR<cr> might return *5QWR40<cr>
357	357
358	358	The servo replies with the angular speed in rpm. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
359		-)))
360	360
361		-|(% colspan="2" %)(((
362		-====== __(Relative) Move in Degrees__ ======
363		-)))
364		-|(% style="width:30px" %) |(((
365		-(% class="wikigeneratedid" %)
366		-Move in Degrees (**MD**)
	332	+====== __(Relative) Move in Degrees (**MD**)__ ======
367	367
368	368	(% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %)
369	369	Example: #5M1500<cr>
...	...	@@ -370,13 +370,8 @@
370	370
371	371	(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
372	372	The relative move in PWM command causes the servo to read its current position and move by the specified number of PWM signal. For example if the servo is set to rotate CW (default) and an M command of 1500 is sent to the servo, it will cause the servo to rotate clockwise by 90 degrees. Negative PWM value would cause the servo to rotate in the opposite configured direction.
373		-)))
374	374
375		-|(% colspan="2" %)(((
376		-====== __Query Status__ ======
377		-)))
378		-|(% style="width:30px" %) |(((
379		-Query Status (**Q**)
	340	+====== __Query Status (**Q**)__ ======
380	380
381	381	The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
382	382
...	...	@@ -389,7 +389,7 @@
389	389	| |ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
390	390	| |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
391	391	| |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
392		-| |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will normally be holding)
	353	+| |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will nornally be holding)
393	393	| |ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
394	394	| |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
395	395	| |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
...	...	@@ -406,29 +406,18 @@
406	406	| |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
407	407	| |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
408	408	| |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
409		-)))
410	410
411		-|(% colspan="2" %)(((
412		-====== __Limp__ ======
413		-)))
414		-|(% style="width:30px" %) |(((
415		-Limp (**L**)
	371	+====== __Limp (**L**)__ ======
416	416
417	417	Example: #5L<cr>
418	418
419	419	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		-)))
421	421
422		-|(% colspan="2" %)(((
423		-====== __Halt & Hold__ ======
424		-)))
425		-|(% style="width:30px" %) |(((
426		-Halt & Hold (**H**)
	377	+====== __Halt & Hold (**H**)__ ======
427	427
428	428	Example: #5H<cr>
429	429
430	430	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.)
431		-)))
432	432
433	433	== Motion Setup ==
434	434