Last modified by Eric Nantel on 2024/09/06 14:52
From version < 74.1 >
edited by Eric Nantel
on 2024/07/22 11:14
To version < 79.4 >
edited by Eric Nantel
on 2024/07/22 15:10
< >
Change comment: There is no comment for this version

Summary

Details

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Content
... ... @@ -91,7 +91,7 @@
91 91  
92 92  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).
93 93  
94 -[[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"]]
95 95  
96 96  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:
97 97  
... ... @@ -116,62 +116,62 @@
116 116  
117 117  |(% colspan="8" style="color:orange; font-size:18px" %)[[**Communication Setup**>>||anchor="HCommunicationSetup"]]
118 118  |(% 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**
119 -| |[[**Reset**>>||anchor="HReset"]]|(% style="text-align:center" %)RESET|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Soft reset. See command for details.
120 -| |[[**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
121 -| |[[Firmware **Update** Mode>>||anchor="HUpdate26confirm"]]|(% style="text-align:center" %)UPDATE|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Update firmware. See command for details.
122 -| |[[**Confirm** Changes>>||anchor="HConfirm"]]|(% style="text-align:center" %)CONFIRM|(% style="text-align:center" %) |(% style="text-align:center" %) | | |
123 -| |[[**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.
124 -| |[[**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
125 -| |[[**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
126 -| |[[**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
127 127  
128 128  |(% colspan="8" style="color:orange; font-size:18px" %)[[**Motion**>>||anchor="HMotion"]]
129 129  |(% 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**
130 -| |[[Position in **D**egrees>>||anchor="HPositioninDegrees28D29"]]|(% style="text-align:center" %)D|(% style="text-align:center" %)QD/QDT|(% style="text-align:center" %) | |1/100°|
131 -| |[[**M**ove in **D**egrees (relative)>>||anchor="H28Relative29MoveinDegrees28MD29"]]|(% style="text-align:center" %)MD|(% style="text-align:center" %) |(% style="text-align:center" %) | |1/100°|
132 -| |[[**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"
133 -| |[[**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"
134 -| |[[**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
135 -| |[[**L**imp>>||anchor="HLimp28L29"]]|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Removes power from stepper coils
136 -| |[[**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
137 137  
138 138  |(% colspan="8" style="color:orange; font-size:18px" %)[[**Motion Setup**>>||anchor="HMotionSetup"]]
139 139  |(% 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**
140 -| |[[**O**rigin Offset>>||anchor="HOriginOffset28O29"]]|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|0|1/10°|
141 -| |[[**A**ngular **R**ange>>||anchor="HAngularRange28AR29"]]|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|1800|1/10°|
142 -| |[[**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).
143 -| |[[**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).
144 -| |[[**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)
145 -| |[[**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.
146 -| |[[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
147 -| |[[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
148 -| |[[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
149 149  
150 150  |(% colspan="8" style="color:orange; font-size:18px" %)[[**Modifiers**>>||anchor="HModifiers"]]
151 151  |(% 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**
152 -| |[[**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
153 -| |[[**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
154 154  
155 155  |(% colspan="8" style="color:orange; font-size:18px" %)[[**Telemetry**>>||anchor="HTelemetry"]]
156 156  |(% 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="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
157 -| |[[**Q**uery PCB **T**emperature>>||anchor="HQueryTemperature28QT29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) | |°C|
158 -| |[[**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.
159 -| |[[**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)
160 -| |[[**Q**uery **F**irmware Version>>||anchor="HQueryFirmware28QF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | | |
161 -| |[[**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
162 -| |[[**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
163 -| |[[**Q**uery **T**emp of **M**CU>>doc:||anchor="HQueryMCUTemperature28QTM29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTM|(% style="text-align:center" %) | | |
164 -| |[[**Q**uery **T**emp of **C**ontroller>>doc:||anchor="HQueryTempofController28QTCW29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW, QTCE|(% style="text-align:center" %) | | |(((
165 -QTCW: Queries the temperature status of the motor controller (pre-warning)
166 -
167 -QTCE: Queries the temperature status of the motor controller (over-temp error)
157 +| |[[PCB **T**emperature>>doc:||anchor="HTemperaturePCB"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% 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" %) | |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" %) | | |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" %) | | |
161 +| |[[Serial **N**umber>>doc:||anchor="HSerialNumber"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QN|(% 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" %) | |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" %) | |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" %) | | |(((
165 +Temperature error status of the motor controller (over-temp error)
168 168  )))
169 -| |[[**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|
170 -| |[[**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|
171 -| |[[**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|
172 -| |[[**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)
173 -| |[[**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)
174 -| |[[**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" %) | | |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" %) | | |
169 +| |[[**I**MU Linear **X**>>doc:||anchor="HIMULinear"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% 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" %) | |mm/s^2|
171 +| |[[**I**MU Linear **Z**>>doc:||anchor="HIMULinear"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% 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" %) | |°/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" %) | |°/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" %) | |°/s^2|Query IMU Angular Accel γ (Gamma)
175 175  
176 176  |(% colspan="8" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="HRGBLED"]]
177 177  |(% 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="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
... ... @@ -185,6 +185,8 @@
185 185  ====== __Reset__ ======
186 186  )))
187 187  | |(((
188 +Reset (**RESET**)
189 +
188 188  Ex: #5RESET<cr>
189 189  
190 190  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.
... ... @@ -191,9 +191,11 @@
191 191  )))
192 192  
193 193  |(% colspan="2" %)(((
194 -====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ======
196 +====== (% style="color:inherit; font-family:inherit" %)__Default__(%%) ======
195 195  )))
196 196  |(% style="width:30px" %) |(((
199 +(% style="color:inherit; font-family:inherit" %)Default (**DEFAULT**)
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.
... ... @@ -206,9 +206,11 @@
206 206  )))
207 207  
208 208  |(% colspan="2" %)(((
209 -====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
213 +====== (% style="color:inherit; font-family:inherit" %)__Update__(%%) ======
210 210  )))
211 211  |(% style="width:30px" %) |(((
216 +(% style="color:inherit; font-family:inherit" %)Update (**UPDATE**)
217 +
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.
... ... @@ -224,6 +224,8 @@
224 224  ====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
225 225  )))
226 226  |(% style="width:30px" %) |(((
233 +(% style="color:inherit; font-family:inherit" %)Confirm (**CONFIRM**)
234 +
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.
... ... @@ -275,17 +275,6 @@
275 275  Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
276 276  )))
277 277  
278 -|(% colspan="2" %)(((
279 -====== __Firmware Release__ ======
280 -)))
281 -|(% style="width:30px" %) |(((
282 -Query Firmware Release (**QFR**)
283 -
284 -Ex: #5QFR<cr> might return *QFR11<cr> meaning it has a (random) firmware release version number 11.
285 -
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 -
289 289  == Motion ==
290 290  
291 291  |(% colspan="2" %)(((
... ... @@ -314,14 +314,17 @@
314 314  )))
315 315  
316 316  |(% colspan="2" %)(((
317 -====== __(Relative) Move in Degrees__ ======
314 +====== __Relative Move in Degrees__ ======
318 318  )))
319 319  |(% style="width:30px" %) |(((
317 +(% class="wikigeneratedid" %)
320 320  Move in Degrees (**MD**)
321 321  
322 -Example: #5MD123<cr>
320 +(% class="wikigeneratedid" %)
321 +Example: #5M1500<cr>
323 323  
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.
323 +(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
324 +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.
325 325  )))
326 326  
327 327  |(% colspan="2" %)(((
... ... @@ -359,23 +359,9 @@
359 359  )))
360 360  
361 361  |(% colspan="2" %)(((
362 -====== __(Relative) Move in Degrees__ ======
362 +====== __Status__ ======
363 363  )))
364 364  |(% style="width:30px" %) |(((
365 -(% class="wikigeneratedid" %)
366 -Move in Degrees (**MD**)
367 -
368 -(% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %)
369 -Example: #5M1500<cr>
370 -
371 -(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
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 -
375 -|(% colspan="2" %)(((
376 -====== __Query Status__ ======
377 -)))
378 -|(% style="width:30px" %) |(((
379 379  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.
... ... @@ -409,11 +409,23 @@
409 409  )))
410 410  
411 411  |(% colspan="2" %)(((
412 -====== __Limp__ ======
398 +====== __Motion Time__ ======
413 413  )))
414 414  |(% style="width:30px" %) |(((
415 -Limp (**L**)
401 +Query Motion Time (**QMT**)
402 +)))
416 416  
404 +|(% colspan="2" %)(((
405 +====== __Current Speed__ ======
406 +)))
407 +|(% style="width:30px" %) |(((
408 +Query Current Speed (**QCS**)
409 +)))
410 +
411 +|(% colspan="2" %)(((
412 +====== __Limp__ ======
413 +)))
414 +|(% style="width:30px" %) |(((
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>.
... ... @@ -423,8 +423,6 @@
423 423  ====== __Halt & Hold__ ======
424 424  )))
425 425  |(% style="width:30px" %) |(((
426 -Halt & Hold (**H**)
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.)
... ... @@ -432,16 +432,18 @@
432 432  
433 433  == Motion Setup ==
434 434  
435 -====== __Origin Offset (**O**)__ ======
436 -
431 +|(% colspan="2" %)(((
432 +====== __Origin Offset__ ======
433 +)))
434 +|(% style="width:30px" %) |(((
437 437  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).
438 438  
439 -[[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"]]
437 +[[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"]]
440 440  
441 441  
442 442  In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
443 443  
444 -[[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"]]
442 +[[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"]]
445 445  
446 446  
447 447  Origin Offset Query (**QO**)
... ... @@ -455,23 +455,26 @@
455 455  Example: #5CO-24<cr>
456 456  
457 457  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.
456 +)))
458 458  
459 -====== __Angular Range (**AR**)__ ======
460 -
458 +|(% colspan="2" %)(((
459 +====== __Angular Range__ ======
460 +)))
461 +|(% style="width:30px" %) |(((
461 461  Example: #5AR1800<cr>
462 462  
463 463  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:
464 464  
465 -[[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"]]
466 +[[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"]]
466 466  
467 467  Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
468 468  
469 -[[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"]]
470 +[[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"]]
470 470  
471 471  
472 472  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:
473 473  
474 -[[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"]]
475 +[[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"]]
475 475  
476 476  
477 477  Query Angular Range (**QAR**)
... ... @@ -481,9 +481,12 @@
481 481  Configure Angular Range (**CAR**)
482 482  
483 483  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.
485 +)))
484 484  
485 -====== __Angular Acceleration (**AA**)__ ======
486 -
487 +|(% colspan="2" %)(((
488 +====== __Angular Acceleration__ ======
489 +)))
490 +|(% style="width:30px" %) |(((
487 487  The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
488 488  
489 489  Ex: #5AA30<cr>
... ... @@ -501,9 +501,12 @@
501 501  Ex: #5CAA30<cr>
502 502  
503 503  This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
508 +)))
504 504  
505 -====== __Angular Deceleration (**AD**)__ ======
506 -
510 +|(% colspan="2" %)(((
511 +====== __Angular Deceleration__ ======
512 +)))
513 +|(% style="width:30px" %) |(((
507 507  The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
508 508  
509 509  Ex: #5AD30<cr>
... ... @@ -521,9 +521,12 @@
521 521  Ex: #5CAD30<cr>
522 522  
523 523  This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
531 +)))
524 524  
525 -====== __Gyre Direction (**G**)__ ======
526 -
533 +|(% colspan="2" %)(((
534 +====== __Gyre Direction__ ======
535 +)))
536 +|(% style="width:30px" %) |(((
527 527  "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.
528 528  
529 529  Ex: #5G-1<cr>
... ... @@ -541,15 +541,43 @@
541 541  Ex: #5CG-1<cr>
542 542  
543 543  This changes the gyre direction as described above and also writes to EEPROM.
554 +)))
544 544  
556 +|(% colspan="2" %)(((
545 545  ====== __First Position__ ======
558 +)))
559 +|(% style="width:30px" %) |(((
560 +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.
546 546  
547 -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>
562 +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.
548 548  
549 -====== __Maximum Speed in Degrees (**SD**)__ ======
564 +Query First Position in Degrees (**QFD**)
550 550  
551 -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:
566 +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.
552 552  
568 +Configure First Position in Degrees (**CFD**)
569 +
570 +Ex: #5CFD900<cr>
571 +
572 +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>
573 +)))
574 +
575 +|(% colspan="2" %)(((
576 +====== __Maximum Speed in Degrees__ ======
577 +)))
578 +|(% style="width:30px" %) |(((
579 +Maximum Speed in Degrees (**SD**)
580 +
581 +Ex: #5SD1800<cr>
582 +
583 +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.
584 +
585 +Query Speed in Degrees (**QSD**)
586 +
587 +Ex: #5QSD<cr> might return *5QSD1800<cr>
588 +
589 +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:
590 +
553 553  |**Command sent**|**Returned value (1/10 °)**
554 554  |ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
555 555  |ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
... ... @@ -556,43 +556,64 @@
556 556  |ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
557 557  |ex: #5QSD3<cr>|Target travel speed
558 558  
559 -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.
597 +Configure Speed in Degrees (**CSD**)
560 560  
561 -====== __Maximum Speed in RPM (**SR**)__ ======
599 +Ex: #5CSD1800<cr>
562 562  
563 -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:
601 +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.
602 +)))
564 564  
565 -|**Command sent**|**Returned value (1/10 °)**
566 -|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
567 -|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
568 -|ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
569 -|ex: #5QSR3<cr>|Target travel speed
604 +|(% colspan="2" %)(((
605 +====== __Maximum Speed in RPM__ ======
606 +)))
607 +|(% style="width:30px" %) |(((
608 +(% class="wikigeneratedid" %)
609 +Maximum Speed in RPM (**SR**)
570 570  
571 -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.
611 +(% class="wikigeneratedid" id="HEx:235SR453Ccr3EThiscommandsetstheservo27smaximumspeedformotioncommandsinrpmforthatsession.Intheexampleabove2Ctheservo27smaximumspeedforthatsessionwouldbesetto45rpm.Theservo27smaximumspeedcannotbesethigherthanitsphysicallimitatagivenvoltage.SRoverridesCSR28describedbelow29forthatsession.Uponresetorpowercycle2CtheservorevertstothevalueassociatedwithCSRasdescribedbelow.NotethatSD28describedabove29andSRareeffectivelythesame2Cbutallowtheusertospecifythespeedineitherunit.Thelastcommand28eitherSRorSD29receivediswhattheservousesforthatsession.QuerySpeedinRPM28QSR29Ex:235QSR3Ccr3Emightreturn2A5QSR453Ccr3EBydefaultQSRwillreturnthecurrentsessionvalue2CwhichissettothevalueofCSRasreset2FpowercycleandchangedwheneveranSD2FSRcommandisprocessed.If235QSR13Ccr3Eissent2Ctheconfiguredmaximumspeed28CSRvalue29willbereturnedinstead.Youcanalsoquerythecurrentspeedusing22222andthecurrenttargettravelspeedusing22322.Seethetablebelowforanexample:" %)
612 +Ex: #5SR45<cr>
572 572  
573 -====== __Step Mode (**SM**)__ ======
614 +(% class="wikigeneratedid" %)
615 +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.
574 574  
575 -Ex: #8SM2<cr>
617 +(% class="wikigeneratedid" %)
618 +Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit.
576 576  
577 -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.
620 +(% class="wikigeneratedid" %)
621 +The last command (either SR or SD) received is what the servo uses for that session.
578 578  
579 -Note that the torque and max RPM of the actuator will be affected.
623 +(% class="wikigeneratedid" %)
624 +Query Speed in RPM (**QSR**)
580 580  
581 -Query Step Mode (**QSM**)
626 +(% class="wikigeneratedid" %)
627 +Ex: #5QSR<cr> might return *5QSR45<cr>
582 582  
583 -Ex: #8QSM<cr> might return *8QSM2<cr> meaning servo with ID 8 is set to half step mode.
629 +(% class="wikigeneratedid" %)
630 +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:
584 584  
585 -Configure Step Mode (**CSM**)
632 +|**Command sent**|**Returned value (1/10 °)**
633 +|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
634 +|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
635 +|ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
636 +|ex: #5QSR3<cr>|Target travel speed
586 586  
587 -Ex: #8SM2<cr>
638 +Configure Speed in RPM (**CSR**)
588 588  
589 -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.
640 +Ex: #5CSR45<cr>
590 590  
642 +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.
643 +)))
644 +
591 591  == Modifiers ==
592 592  
593 -====== __Speed (**SD**) modifier__ ======
647 +|(% colspan="2" %)(((
648 +====== __Speed __ ======
649 +)))
650 +|(% style="width:30px" %) |(((
651 +(% class="wikigeneratedid" %)
652 +Speed in Degrees (**SD**)
594 594  
595 -(% class="wikigeneratedid" id="HTimedmove28T29modifier" %)
654 +(% class="wikigeneratedid" id="HExample:235D0SD1803Ccr3E" %)
596 596  Example: #5D0SD180<cr>
597 597  
598 598  (% class="wikigeneratedid" %)
... ... @@ -606,8 +606,13 @@
606 606  
607 607  (% class="wikigeneratedid" %)
608 608  This command queries the current speed in microseconds per second.
668 +)))
609 609  
610 -====== __Timed move (**T**) modifier__ ======
670 +|(% colspan="2" %)(((
671 +====== __Timed move__ ======
672 +)))
673 +|(% style="width:30px" %) |(((
674 +Timed Move (**T**)
611 611  
612 612  Example: #5D15000T2500<cr>
613 613  
... ... @@ -614,61 +614,129 @@
614 614  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.
615 615  
616 616  **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
681 +)))
617 617  
618 -====== ======
619 -
620 620  == Telemetry ==
621 621  
622 -====== __Query PCB Temperature (**QT**)__ ======
685 +|(% colspan="2" %)(((
686 +====== __Temperature PCB__ ======
687 +)))
688 +|(% style="width:30px" %) |(((
689 +Query Temp PCB (**QT**)
623 623  
624 624  Ex: #5QT<cr> might return *5QT564<cr>
625 625  
626 626  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.
694 +)))
627 627  
628 -====== __Query Temperature Probe (**QTP**)__ ======
696 +|(% colspan="2" %)(((
697 +====== __Current__ ======
698 +)))
699 +|(% style="width:30px" %) |(((
700 +(% class="wikigeneratedid" %)
701 +Query Current (**QC**)
629 629  
630 -Ex:
631 -
632 -====== __Query Temp of Controller (**QTCW**)__ ======
633 -
634 -Ex:
635 -
636 -An alternative is QTCE
637 -
638 -====== __Query Current (**QC**)__ ======
639 -
703 +(% class="wikigeneratedid" id="HEx:235QC3Ccr3Emightreturn2A5QC1403Ccr3E" %)
640 640  Ex: #5QC<cr> might return *5QC140<cr>
641 641  
642 642  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.
707 +)))
643 643  
644 -====== __Query Model String (**QMS**)__ ======
709 +|(% colspan="2" %)(((
710 +====== __Model String__ ======
711 +)))
712 +|(% style="width:30px" %) |(((
713 +(% class="wikigeneratedid" %)
714 +Query Model String (**QMS**)
645 645  
716 +(% class="wikigeneratedid" id="HEx:235QMS3Ccr3Emightreturn2A5QMSLSS-HS13Ccr3E" %)
646 646  Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
647 647  
648 648  This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
720 +)))
649 649  
650 -====== __Query Firmware (**QF**)__ ======
722 +|(% colspan="2" %)(((
723 +====== __Firmware__ ======
724 +)))
725 +|(% style="width:30px" %) |(((
726 +Query Firmware (**QF**)
651 651  
652 652  Ex: #5QF<cr> might return *5QF368<cr>
653 653  
654 654  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
731 +)))
655 655  
656 -====== __Query Serial Number (**QN**)__ ======
733 +|(% colspan="2" %)(((
734 +====== __Serial Number__ ======
735 +)))
736 +|(% style="width:30px" %) |(((
737 +(% class="wikigeneratedid" %)
738 +Query Serial Number (**QN**)
657 657  
740 +(% class="wikigeneratedid" id="HEx:235QN3Ccr3Emightreturn2A5QN123456783Ccr3E" %)
658 658  Ex: #5QN<cr> might return *5QN12345678<cr>
659 659  
660 660  The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
744 +)))
661 661  
662 -====== __Query IMU Linear (**QIX** **QIY** **QIZ**)__ ======
746 +|(% colspan="2" %)(((
747 +====== __Temperature Probe__ ======
748 +)))
749 +|(% style="width:30px" %) |(((
750 +Query Temp motor Probe (**QTP**)
751 +)))
663 663  
664 -Ex: #6QIX<cr> might return *6QIX30<cr>
753 +|(% colspan="2" %)(((
754 +====== __Temperature MCU__ ======
755 +)))
756 +|(% style="width:30px" %) |(((
757 +Query Temp MCU (**QTM**)
758 +)))
665 665  
666 -This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
760 +|(% colspan="2" %)(((
761 +====== __Temp Controller Error__ ======
762 +)))
763 +|(% style="width:30px" %) |(((
764 +(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
765 +Query Temp Controller Error (**QTCE**)
766 +)))
667 667  
668 -====== __Query IMU Angular (**QIA** **QIB** **QIC**)__ ======
768 +|(% colspan="2" %)(((
769 +====== __Temp Controller Warning__ ======
770 +)))
771 +|(% style="width:30px" %) |(((
772 +(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
773 +Query Temp Controller Warning (**QTCW**)
774 +)))
669 669  
776 +|(% colspan="2" %)(((
777 +====== __Error Flag__ ======
778 +)))
779 +|(% style="width:30px" %) |(((
780 +Query Error Flag (**QEF**)
781 +)))
782 +
783 +|(% colspan="2" %)(((
784 +====== __IMU Linear__ ======
785 +)))
786 +|(% style="width:30px" %) |(((
787 +(% class="wikigeneratedid" %)
788 +Query IMU Linear (**QIX QIY QIZ**)
789 +
790 +====== Ex: #6QIX<cr> might return *6QIX30<cr> ======
791 +
792 +This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
793 +)))
794 +
795 +|(% colspan="2" %)(((
796 +====== __IMU Angular__ ======
797 +)))
798 +|(% style="width:30px" %) |(((
799 +(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
800 +Query IMU Angular (**QIA QIB QIG**)
670 670  Ex: #6QIB<cr> might return *6QIB44<cr>
671 671  
672 672  This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
804 +)))
673 673  
674 674  
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