Changes for page LSS-PRO Communication Protocol
Last modified by Eric Nantel on 2024/09/06 14:52
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... ... @@ -1,1 +1,1 @@ 1 -LSS-P ROCommunication Protocol1 +LSS-P - Communication Protocol - Parent
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... ... @@ -1,1 +1,1 @@ 1 -s es-pro.lss-pro.WebHome1 +lynxmotion-smart-servo-pro.WebHome - Author
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... ... @@ -1,1 +1,1 @@ 1 -xwiki:XWiki. ENantel1 +xwiki:XWiki.CBenson - Hidden
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... ... @@ -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/s es-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 ... ... @@ -116,183 +116,79 @@ 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" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |Soft reset 120 -| |[[**Default** Configuration>>||anchor="HDefault26confirm"]]|(% 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="HUpdate26confirm"]]|(% 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="HIDNumber28ID29"]]|(% 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="HEnableCANTerminalResistor28ET29"]]|(% 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="HUSBConnectionStatus28UC29"]]|(% 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 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 +| |[[**E**nable CAN **T**erminal>>||anchor="HConfigureRCMode28CRC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QET|(% style="text-align:center" %)CET| |0 or 1|0: Disable 1: Enable 128 +| |[[**ID** Number >>||anchor="HIdentificationNumber28ID29"]]|(% 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. 129 +| |[[**U**SB **C**onnection State>>||anchor="HBaudRate"]]|(% 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|(% style="text-align:center" %) |(% style="text-align:center" %)QFR|(% style="text-align:center" %) | | | 126 126 127 127 |(% colspan="8" style="color:orange; font-size:18px" %)[[**Motion**>>||anchor="HMotion"]] 128 128 |(% 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** 129 -| |[[Position in **D**egrees>>||anchor="HPositioninDegrees28D29"]]|(% style="text-align:center" %)D|(% style="text-align:center" %)QD|(% style="text-align:center" %) | |0 .01°|130 -| |[[**M**ove in **D**egrees (relative)>>||anchor="H28Relative29MoveinDegrees28MD29"]]|(% style="text-align:center" %)MD|(% style="text-align:center" %) |(% style="text-align:center" %) | |0 .01°|131 -| |[[**W**heel mode in **D**egrees>>||anchor="HWheelModeinDegrees28WD29"]]|(% 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"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" 132 132 | |[[**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" 133 133 | |[[**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 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| 136 136 | |[[**L**imp>>||anchor="HLimp28L29"]]|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Removes power from stepper coils 137 -| |[[**H**alt & Hold>> doc:||anchor="HHalt26Hold28H29"]]|(% style="text-align:center" %)H|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Stops (halts) motion and holds last position140 +| |[[**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 138 138 139 139 |(% colspan="8" style="color:orange; font-size:18px" %)[[**Motion Setup**>>||anchor="HMotionSetup"]] 140 140 |(% 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** 141 -| |[[**O**rigin Offset>>||anchor="HOriginOffset28O29"]]|(% 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="HAngularRange28AR29"]]|(% 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="HAngularAcceleration28AA29"]]|(% 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="HAngularDeceleration28AD29"]]|(% 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="HGyreDirection28G29"]]|(% 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="HMaximumSpeedinDegrees28SD29"]]|(% 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="HMaximumSpeedinRPM28SR29"]]|(% 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 144 +| |[[**E**nable **M**otion Profile>>||anchor="HEnableMotionProfile28EM29"]]|(% style="text-align:center" %)EM|(% style="text-align:center" %)QEM|(% style="text-align:center" %)CEM|1| |EM1: trapezoidal motion profile / EM0: no motion profile 145 +| |[[**F**ilter **P**osition **C**ount>>||anchor="HFilterPositionCount28FPC29"]]|(% style="text-align:center" %)FPC|(% style="text-align:center" %)QFPC|(% style="text-align:center" %)CFPC|5| |Affects motion only when motion profile is disabled (EM0) 146 +| |[[**O**rigin Offset>>||anchor="HOriginOffset28O29"]]|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|0|1/10°| 147 +| |[[**A**ngular **R**ange>>||anchor="HAngularRange28AR29"]]|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|1800|1/10°| 148 +| |[[**A**ngular **S**tiffness>>||anchor="HAngularStiffness28AS29"]]|(% style="text-align:center" %)AS|(% style="text-align:center" %)QAS|(% style="text-align:center" %)CAS|0|-4 to +4 integer|Suggested values are between 0 to +4 149 +| |[[**A**ngular **H**olding Stiffness>>||anchor="HAngularHoldingStiffness28AH29"]]|(% style="text-align:center" %)AH|(% style="text-align:center" %)QAH|(% style="text-align:center" %)CAH|4|-10 to +10 integer| 150 +| |[[**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). 151 +| |[[**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). 152 +| |[[**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) 153 +| |[[**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. 154 +| |[[**M**aximum **M**otor **D**uty>>||anchor="HMaximumMotorDuty28MMD29"]]|(% style="text-align:center" %)MMD|(% style="text-align:center" %)QMMD|(% style="text-align:center" %) |1023|255 to 1023 integer| 155 +| |[[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 156 +| |[[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 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>> doc:||anchor="HSpeed28SD29modifier"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %) |(% style="text-align:center" %) | |0.01°/s|For D and MD action commands160 +| |[[**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 153 153 | |[[**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 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>>doc:||anchor="HQueryPCBTemperature28QT29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) | |0.1°C| 158 -| |[[**Q**uery **C**urrent>>doc:||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>>doc:||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>>doc:||anchor="HQueryFirmware28QF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | | | 161 -| |[[**Q**uery Serial **N**umber>>doc:||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" %) | |0.1°C|Queries temperature probe fixed to the stepper motor 163 -| |[[**Q**uery **T**emp of **M**CU>>doc:||anchor="HQueryTemperatureMCU28QTM29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTM|(% style="text-align:center" %) | |0.1°C| 164 -| |[[**Q**uery **T**emp of **C**ontroller **E**rror>>doc:||anchor="HQueryTempControllerError28QTCE29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCE|(% style="text-align:center" %) | | |((( 165 -Temperature error status of the motor controller (over-temp error) 165 +| |[[**Q**uery PCB **T**emperature>>||anchor="HQueryTemperature28QT29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) | |°C| 166 +| |[[**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. 167 +| |[[**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) 168 +| |[[**Q**uery **F**irmware Version>>||anchor="HQueryFirmware28QF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | | | 169 +| |[[**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 170 +| |**Q**uery **T**emperature **P**robe|(% style="text-align:center" %) |(% style="text-align:center" %)QTP|(% style="text-align:center" %) | | |Queries temperature probe fixed to stepper motor 171 +| |**Q**uery **T**emp of **C**ontroller|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW, QTCE|(% style="text-align:center" %) | | |((( 172 +QTCW: Queries the temperature status of the motor controller (pre-warning) 173 + 174 +QTCE: Queries the temperature status of the motor controller (over-temp error) 166 166 ))) 167 -| |[[**Q**uery **T**emp of **C**ontroller **W**arning>>doc:||anchor="HQueryTempControllerWarning28QTCW29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW|(% style="text-align:center" %) | | |Temperature error status of the motor controller (pre-warning) 168 -| |[[**Q**uery **E**rror **F**lag>>doc:||anchor="HQueryErrorFlag28QEF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QEF|(% style="text-align:center" %) | | | 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="HQueryIMUAngular28QIAQIBQIG29"]]|(% 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="HQueryIMUAngular28QIAQIBQIG29"]]|(% 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="HQueryIMUAngular28QIAQIBQIG29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIG|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel γ (Gamma) 176 +| |**Q**uery **C**urrent **S**peed |(% style="text-align:center" %) |(% style="text-align:center" %)QCS|(% style="text-align:center" %) | | |Queries the motor controller's calculated speed 177 +| |**Q**uery **I**MU Linear **X**|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |mm/s^2| 178 +| |**Q**uery **I**MU Linear **Y**|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |mm/s^2| 179 +| |**Q**uery **I**MU Linear **Z**|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |mm/s^2| 180 +| |**Q**uery **I**MU Angular Accel **α** |(% style="text-align:center" %) |(% style="text-align:center" %)QIA|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel α (Alpha) 181 +| |**Q**uery **I**MU Angular Accel **β**|(% style="text-align:center" %) |(% style="text-align:center" %)QIB|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel β (Beta) 182 +| |**Q**uery **I**MU Angular Accel **γ**|(% style="text-align:center" %) |(% style="text-align:center" %)QIC / 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** 178 178 | |[[**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 187 +| |[[**C**onfigure **L**ED **B**linking>>||anchor="HConfigureLEDBlinking28CLB29"]]|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)CLB| |0 to 63 integer|Reset required after change. See command for details. 179 179 180 180 = (% style="color:inherit; font-family:inherit" %)Details(%%) = 181 181 182 182 == (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) == 183 183 184 -|(% colspan="2" %)((( 185 -====== __Reset__ ====== 186 -))) 187 -| |((( 188 -Ex: #5RESET<cr> 189 - 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 -))) 192 - 193 -|(% colspan="2" %)((( 194 -====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ====== 195 -))) 196 -|(% style="width:30px" %) |((( 197 -(% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr> 198 - 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. 200 - 201 -(% style="color:inherit; font-family:inherit" %)EX: #5DEFAULT<cr> followed by #5CONFIRM<cr> 202 - 203 -(% style="color:inherit; font-family:inherit" %)Since it it not common to have to restore all configurations, a confirmation command is needed after a firmware command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will exit the command. 204 - 205 -(% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET. 206 -))) 207 - 208 -|(% colspan="2" %)((( 209 -====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ====== 210 -))) 211 -|(% style="width:30px" %) |((( 212 -(% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr> 213 - 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. 215 - 216 -(% style="color:inherit; font-family:inherit" %)EX: #5UPDATE<cr> followed by #5CONFIRM<cr> 217 - 218 -(% style="color:inherit; font-family:inherit" %)Since it it not common to have to update firmware, a confirmation command is needed after an UPDATE command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will leave the firmware action. 219 - 220 -(% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET. 221 -))) 222 - 223 -|(% colspan="2" %)((( 224 -====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ====== 225 -))) 226 -|(% style="width:30px" %) |((( 227 -(% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr> 228 - 229 -(% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command. 230 -Note: After the CONFIRM command is sent, the servo will automatically perform a RESET. 231 -))) 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 0 238 - 239 -(% style="color:inherit; font-family:inherit" %)Configure ID Number (**CID**) 240 - 241 -(% style="color:inherit; font-family:inherit" %)Ex: #0CID5<cr> 242 - 243 -The default ID is 0, so this sets the servo to ID 5. 244 - 245 -Query ID Number (**QID**) 246 - 247 -Ex: #254QID<cr> might return *254QID5<cr> 248 - 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 - 252 -|(% colspan="2" %)((( 253 -====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor__(%%) ====== 254 -))) 255 -|(% style="width:30px" %) |((( 256 -Query Enable CAN Terminal Resistor (**QET**) 257 - 258 -Ex: #5QET<cr> might return *QET0<cr> 259 - 260 -This means that servo with ID 5 is NOT configured as the last servo in the CAN bus. 261 - 262 -Configure Enable CAN Terminal Resistor (**CET**) 263 - 264 -(% style="color:inherit; font-family:inherit" %)Ex: #5CET1<cr> 265 - 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 - 269 -|(% colspan="2" %)((( 270 -====== __USB Connection Status__ ====== 271 -))) 272 -|(% style="width:30px" %) |((( 273 -Query USB Connection Status (**QUC**) 274 - 275 -Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB 276 -))) 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 -|(% colspan="2" %)((( 292 -====== __Position in Degrees__ ====== 293 -))) 294 -|(% style="width:30px" %) |((( 295 -Position in Degrees (**D**) 195 +====== __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**) 215 +====== __(Relative) Move in Degrees (**MD**)__ ====== 321 321 217 + 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**) 222 +====== __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**) 234 +====== __Wheel Mode in RPM (**WR**)__ ====== 349 349 350 350 Ex: #5WR40<cr> 351 351 ... ... @@ -356,23 +356,17 @@ 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 **M**ove in **D**egrees (**MD**)__ ====== 363 -))) 364 -|(% style="width:30px" %) |((( 365 -(% class="wikigeneratedid" %) 246 +====== __(Relative) Move in Degrees (**MD**)__ ====== 247 + 248 +(% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %) 366 366 Example: #5M1500<cr> 367 367 368 368 (% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %) 369 369 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. 370 -))) 371 371 372 -|(% colspan="2" %)((( 373 -====== __**Q**uery Status (**Q**)__ ====== 374 -))) 375 -|(% style="width:30px" %) |((( 254 +====== __Query Status (**Q**)__ ====== 255 + 376 376 The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below. 377 377 378 378 Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position. ... ... @@ -384,7 +384,7 @@ 384 384 | |ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed 385 385 | |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed 386 386 | |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position. 387 -| |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will nor mally be holding)267 +| |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will nornally be holding) 388 388 | |ex: *5Q7<cr>|7: Outside limits|{More details coming soon} 389 389 | |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting 390 390 | |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled) ... ... @@ -401,54 +401,31 @@ 401 401 | |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long 402 402 | |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source 403 403 | |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely. 404 -))) 405 405 406 -|(% colspan="2" %)((( 407 -====== __**Q**uery** M**otion **T**ime (**QMT**)__ ====== 408 -))) 409 -|(% style="width:30px" %) |((( 410 - 411 -))) 285 +====== __Limp (**L**)__ ====== 412 412 413 -|(% colspan="2" %)((( 414 -====== __**Q**uery** C**urrent **S**peed (**QCS**)__ ====== 415 -))) 416 -|(% style="width:30px" %) |((( 417 - 418 -))) 419 - 420 -|(% colspan="2" %)((( 421 -====== __**L**imp (**L**)__ ====== 422 -))) 423 -|(% style="width:30px" %) |((( 424 424 Example: #5L<cr> 425 425 426 426 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>. 427 -))) 428 428 429 -|(% colspan="2" %)((( 430 -====== __**H**alt & Hold (**H**)__ ====== 431 -))) 432 -|(% style="width:30px" %) |((( 291 +====== __Halt & Hold (**H**)__ ====== 292 + 433 433 Example: #5H<cr> 434 434 435 435 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.) 436 -))) 437 437 438 438 == Motion Setup == 439 439 440 -|(% colspan="2" %)((( 441 441 ====== __Origin Offset (**O**)__ ====== 442 -))) 443 -|(% style="width:30px" %) |((( 300 + 444 444 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). 445 445 446 -[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/s es-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]303 +[[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"]] 447 447 448 448 449 449 In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees: 450 450 451 -[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/s es-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-origin.jpg||alt="LSS-servo-origin.jpg"]]308 +[[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"]] 452 452 453 453 454 454 Origin Offset Query (**QO**) ... ... @@ -462,26 +462,23 @@ 462 462 Example: #5CO-24<cr> 463 463 464 464 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. 465 -))) 466 466 467 -|(% colspan="2" %)((( 468 468 ====== __Angular Range (**AR**)__ ====== 469 -))) 470 -|(% style="width:30px" %) |((( 324 + 471 471 Example: #5AR1800<cr> 472 472 473 473 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: 474 474 475 -[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/s es-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]329 +[[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"]] 476 476 477 477 Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged. 478 478 479 -[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/s es-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar.jpg||alt="LSS-servo-ar.jpg"]]333 +[[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"]] 480 480 481 481 482 482 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: 483 483 484 -[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/s es-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar-o-1.jpg||alt="LSS-servo-ar-o-1.jpg"]]338 +[[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"]] 485 485 486 486 487 487 Query Angular Range (**QAR**) ... ... @@ -491,12 +491,9 @@ 491 491 Configure Angular Range (**CAR**) 492 492 493 493 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. 494 -))) 495 495 496 -|(% colspan="2" %)((( 497 497 ====== __Angular Acceleration (**AA**)__ ====== 498 -))) 499 -|(% style="width:30px" %) |((( 350 + 500 500 The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared. 501 501 502 502 Ex: #5AA30<cr> ... ... @@ -514,12 +514,9 @@ 514 514 Ex: #5CAA30<cr> 515 515 516 516 This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM. 517 -))) 518 518 519 -|(% colspan="2" %)((( 520 520 ====== __Angular Deceleration (**AD**)__ ====== 521 -))) 522 -|(% style="width:30px" %) |((( 370 + 523 523 The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared. 524 524 525 525 Ex: #5AD30<cr> ... ... @@ -537,12 +537,9 @@ 537 537 Ex: #5CAD30<cr> 538 538 539 539 This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM. 540 -))) 541 541 542 -|(% colspan="2" %)((( 543 543 ====== __Gyre Direction (**G**)__ ====== 544 -))) 545 -|(% style="width:30px" %) |((( 390 + 546 546 "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. 547 547 548 548 Ex: #5G-1<cr> ... ... @@ -549,10 +549,8 @@ 549 549 550 550 This command will cause servo #5's positions to be inverted, effectively causing the servo to rotate in the opposite direction given the same command. For example in a 2WD robot, servos are often physically installed back to back, therefore setting one of the servos to a negative gyration, the same wheel command (ex WR30) to both servos will cause the robot to move forward or backward rather than rotate. 551 551 552 -Query Gyre Direction (**QG**) 397 +Query Gyre Direction (**QG**)Ex: #5QG<cr> might return *5QG-1<cr> 553 553 554 -Ex: #5QG<cr> might return *5QG-1<cr> 555 - 556 556 The value returned above means the servo is in a counter-clockwise gyration. Sending a #5WR30 command will rotate the servo in a counter-clockwise gyration at 30 RPM. 557 557 558 558 Configure Gyre (**CG**) ... ... @@ -560,19 +560,13 @@ 560 560 Ex: #5CG-1<cr> 561 561 562 562 This changes the gyre direction as described above and also writes to EEPROM. 563 -))) 564 564 565 -|(% colspan="2" %)((( 566 566 ====== __First Position__ ====== 567 -))) 568 -|(% style="width:30px" %) |((( 408 + 569 569 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> 570 -))) 571 571 572 -|(% colspan="2" %)((( 573 573 ====== __Maximum Speed in Degrees (**SD**)__ ====== 574 -))) 575 -|(% style="width:30px" %) |((( 412 + 576 576 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: 577 577 578 578 |**Command sent**|**Returned value (1/10 °)** ... ... @@ -582,14 +582,11 @@ 582 582 |ex: #5QSD3<cr>|Target travel speed 583 583 584 584 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. 585 -))) 586 586 587 -|(% colspan="2" %)((( 588 588 ====== __Maximum Speed in RPM (**SR**)__ ====== 589 -))) 590 -|(% style="width:30px" %) |((( 591 -====== 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: ====== 592 592 425 +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: 426 + 593 593 |**Command sent**|**Returned value (1/10 °)** 594 594 |ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command) 595 595 |ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR) ... ... @@ -597,16 +597,14 @@ 597 597 |ex: #5QSR3<cr>|Target travel speed 598 598 599 599 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. 600 -))) 601 601 602 602 == Modifiers == 603 603 604 -|(% colspan="2" %)((( 605 605 ====== __Speed (**SD**) modifier__ ====== 606 -))) 607 -|(% style="width:30px" %) |((( 608 -====== Example: #5D0SD180<cr> ====== 609 609 439 +(% class="wikigeneratedid" id="HTimedmove28T29modifier" %) 440 +Example: #5D0SD180<cr> 441 + 610 610 (% class="wikigeneratedid" %) 611 611 Modifier (SD) is only for a position (D) or relative position (MD) action and determines the speed of the move in tenths of degrees per second. A speed modifier (SD) of 180 would cause the servo to rotate from its current position to the desired absolute or relative position at a speed of 18 degrees per second. 612 612 ... ... @@ -618,116 +618,51 @@ 618 618 619 619 (% class="wikigeneratedid" %) 620 620 This command queries the current speed in microseconds per second. 621 -))) 622 622 623 -|(% colspan="2" %)((( 624 624 ====== __Timed move (**T**) modifier__ ====== 625 -))) 626 -|(% style="width:30px" %) |((( 455 + 627 627 Example: #5D15000T2500<cr> 628 628 629 629 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. 630 630 631 631 **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 632 -))) 633 633 462 +====== ====== 463 + 634 634 == Telemetry == 635 635 636 -|(% colspan="2" %)((( 637 -====== __**Q**uery PCB **T**emperature (**QT**)__ ====== 638 -))) 639 -|(% style="width:30px" %) |((( 640 -Ex: #5QT<cr> might return *5QT564<cr> 466 +====== __Query Voltage (**QV**)__ ====== 641 641 642 -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. 643 -))) 468 +Ex: #5QV<cr> might return *5QV11200<cr> 644 644 645 -|(% colspan="2" %)((( 646 -====== __**Q**uery **C**urrent (**QC**)__ ====== 647 -))) 648 -|(% style="width:30px" %) |((( 649 -====== Ex: #5QC<cr> might return *5QC140<cr> ====== 470 +The number returned is in milliVolts, so in the case above, servo with ID 5 has an input voltage of 11.2V. 650 650 651 -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. 652 -))) 472 +====== __Query Temperature (**QT**)__ ====== 653 653 654 -|(% colspan="2" %)((( 655 -====== __**Q**uery **M**odel **S**tring (**QMS**)__ ====== 656 -))) 657 -|(% style="width:30px" %) |((( 658 -====== Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr> ====== 474 +Ex: #5QT<cr> might return *5QT564<cr> 659 659 660 -This reply means that the servo model is LSS-HS1: a high speed servo, first revision. 661 -))) 476 +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. 662 662 663 -|(% colspan="2" %)((( 664 -====== __**Q**uery **F**irmware (**QF**)__ ====== 665 -))) 666 -|(% style="width:30px" %) |((( 667 -Ex: #5QF<cr> might return *5QF368<cr> 478 +====== __Query Motor Driver Current (**QC**)__ ====== 668 668 669 -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, 368.29.14 670 -))) 480 +Ex: #5QC<cr> might return *5QC140<cr> 671 671 672 -|(% colspan="2" %)((( 673 -====== __**Q**uery Serial **N**umber (**QN**)__ ====== 674 -))) 675 -|(% style="width:30px" %) |((( 676 -====== Ex: #5QN<cr> might return *5QN12345678<cr> ====== 482 +The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A. It represents the RMS value. 677 677 678 -The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user. 679 -))) 484 +====== __Query Model String (**QMS**)__ ====== 680 680 681 -|(% colspan="2" %)((( 682 -====== __**Q**uery **T**emperature **P**robe (**QTP**)__ ====== 683 -))) 684 -|(% style="width:30px" %) |((( 685 - 686 -))) 486 +Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr> 687 687 688 -|(% colspan="2" %)((( 689 -====== __**Q**uery **T**emperature **M**CU (**QTM**)__ ====== 690 -))) 691 -|(% style="width:30px" %) |((( 692 - 693 -))) 488 +This reply means that the servo model is LSS-HS1: a high speed servo, first revision. 694 694 695 -|(% colspan="2" %)((( 696 -====== __**Q**uery **T**emp **C**ontroller **E**rror (**QTCE**)__ ====== 697 -))) 698 -|(% style="width:30px" %) |((( 699 -====== ====== 700 -))) 490 +====== __Query Firmware (**QF**)__ ====== 701 701 702 -|(% colspan="2" %)((( 703 -====== **Q**uery **T**emp **C**ontroller **W**arning (**QTCW**) ====== 704 -))) 705 -|(% style="width:30px" %) |((( 706 -====== ====== 707 -))) 492 +Ex: #5QF<cr> might return *5QF368<cr> 708 708 709 -|(% colspan="2" %)((( 710 -====== __Query Error Flag (**QEF**)__ ====== 711 -))) 712 -|(% style="width:30px" %) |((( 713 - 714 -))) 494 +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, 368.29.14 715 715 716 -|(% colspan="2" %)((( 717 -====== __**Q**uery **I**MU Linear (**QIX QIY QIZ**)__ ====== 718 -))) 719 -|(% style="width:30px" %) |((( 720 -====== Ex: #6QIX<cr> might return *6QIX30<cr> ====== 496 +====== __Query Serial Number (**QN**)__ ====== 721 721 722 -This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared. 723 -))) 498 +Ex: #5QN<cr> might return *5QN12345678<cr> 724 724 725 -|(% colspan="2" %)((( 726 -====== __**Q**uery **I**MU Angular (**QIA QIB QIG**)__ ====== 727 -))) 728 -|(% style="width:30px" %) |((( 729 -====== Ex: #6QIB<cr> might return *6QIB44<cr> ====== 730 - 731 -This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared. 732 -))) 733 - 500 +The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.