Summary

• Page properties (5 modified, 0 added, 0 removed)

Details

Page properties

Title

...	...	@@ -1,1 +1,1 @@
1		-LSS-PRO Communication Protocol
	1	+LSS-P - Communication Protocol

Parent

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

Author

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

Hidden

...	...	@@ -1,1 +1,1 @@
1		-false
	1	+true

Content

...	...	@@ -1,3 +1,7 @@
	1	+{{warningBox warningText="More information coming soon"/}}
	2	+
	3	+
	4	+
1	1	(% class="wikigeneratedid" id="HTableofContents" %)
2	2	**Page Contents**
3	3
...	...	@@ -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/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-positions.jpg||alt="LSS-servo-positions.jpg"]]
	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"]]
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
...	...	@@ -231,11 +231,9 @@
231	231	)))
232	232
233	233	|(% colspan="2" %)(((
234		-====== (% style="color:inherit; font-family:inherit" %)__ID Number__(%%) ======
	238	+====== (% style="color:inherit; font-family:inherit" %)__ID Number (**ID**)__(%%) ======
235	235	)))
236	236	|(% style="width:30px" %) |(((
237		-This assigns ID #5 to the servo previously assigned to ID 0
238		-
239	239	(% style="color:inherit; font-family:inherit" %)Configure ID Number (**CID**)
240	240
241	241	(% style="color:inherit; font-family:inherit" %)Ex: #0CID5<cr>
...	...	@@ -250,7 +250,7 @@
250	250	)))
251	251
252	252	|(% colspan="2" %)(((
253		-====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor__(%%) ======
	255	+====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor (**ET**)__(%%) ======
254	254	)))
255	255	|(% style="width:30px" %) |(((
256	256	Query Enable CAN Terminal Resistor (**QET**)
...	...	@@ -267,7 +267,7 @@
267	267	)))
268	268
269	269	|(% colspan="2" %)(((
270		-====== __USB Connection Status__ ======
	272	+====== __USB Connection Status (**UC**)__ ======
271	271	)))
272	272	|(% style="width:30px" %) |(((
273	273	Query USB Connection Status (**QUC**)
...	...	@@ -276,7 +276,7 @@
276	276	)))
277	277
278	278	|(% colspan="2" %)(((
279		-====== __Firmware Release__ ======
	281	+====== __Firmware Release (**FR**)__ ======
280	280	)))
281	281	|(% style="width:30px" %) |(((
282	282	Query Firmware Release (**QFR**)
...	...	@@ -288,11 +288,7 @@
288	288
289	289	== Motion ==
290	290
291		-|(% colspan="2" %)(((
292		-====== __Position in Degrees__ ======
293		-)))
294		-|(% style="width:30px" %) |(((
295		-Position in Degrees (**D**)
	293	+====== __Position in Degrees (**D**)__ ======
296	296
297	297	Example: #5D1456<cr>
298	298
...	...	@@ -311,24 +311,15 @@
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**)
	313	+====== __(Relative) Move in Degrees (**MD**)__ ======
321	321
	315	+
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**)
	320	+====== __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**)
	332	+====== __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**)
	344	+====== __(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**)
	352	+====== __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)
	365	+| |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**)
	383	+====== __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**)
	389	+====== __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
...	...	@@ -436,12 +436,12 @@
436	436
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/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]
	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"]]
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/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-origin.jpg||alt="LSS-servo-origin.jpg"]]
	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"]]
445	445
446	446
447	447	Origin Offset Query (**QO**)
...	...	@@ -462,16 +462,16 @@
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/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]
	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"]]
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/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar.jpg||alt="LSS-servo-ar.jpg"]]
	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"]]
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/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar-o-1.jpg||alt="LSS-servo-ar-o-1.jpg"]]
	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"]]
475	475
476	476
477	477	Query Angular Range (**QAR**)