Last modified by Eric Nantel on 2024/09/06 14:52
From version < 79.2 >
edited by Eric Nantel
on 2024/07/22 14:59
To version < 73.1 >
edited by Eric Nantel
on 2024/07/22 11:14
< >
Change comment: Upload new image "LSS-servo-ar.jpg", version 1.2

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/ses-pro/lss-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/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  
... ... @@ -116,62 +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" %) |(% 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
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" %) | | |
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"
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"
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 position
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
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
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
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 commands
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
153 153  | |[[**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)
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)
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" %) | | |
169 169  | |[[**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|
170 170  | |[[**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|
171 171  | |[[**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)
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)
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**
... ... @@ -185,8 +185,6 @@
185 185  ====== __Reset__ ======
186 186  )))
187 187  | |(((
188 -Reset (**RESET**)
189 -
190 190  Ex: #5RESET<cr>
191 191  
192 192  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.
... ... @@ -193,11 +193,9 @@
193 193  )))
194 194  
195 195  |(% colspan="2" %)(((
196 -====== (% style="color:inherit; font-family:inherit" %)__Default__(%%) ======
194 +====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ======
197 197  )))
198 198  |(% style="width:30px" %) |(((
199 -(% style="color:inherit; font-family:inherit" %)Default (**DEFAULT**)
200 -
201 201  (% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr>
202 202  
203 203  (% 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.
... ... @@ -210,11 +210,9 @@
210 210  )))
211 211  
212 212  |(% colspan="2" %)(((
213 -====== (% style="color:inherit; font-family:inherit" %)__Update__(%%) ======
209 +====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
214 214  )))
215 215  |(% style="width:30px" %) |(((
216 -(% style="color:inherit; font-family:inherit" %)Update (**UPDATE**)
217 -
218 218  (% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
219 219  
220 220  (% 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.
... ... @@ -230,8 +230,6 @@
230 230  ====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
231 231  )))
232 232  |(% style="width:30px" %) |(((
233 -(% style="color:inherit; font-family:inherit" %)Confirm (**CONFIRM**)
234 -
235 235  (% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
236 236  
237 237  (% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command.
... ... @@ -283,6 +283,17 @@
283 283  Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
284 284  )))
285 285  
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 +
286 286  == Motion ==
287 287  
288 288  |(% colspan="2" %)(((
... ... @@ -311,17 +311,14 @@
311 311  )))
312 312  
313 313  |(% colspan="2" %)(((
314 -====== __Relative Move in Degrees__ ======
317 +====== __(Relative) Move in Degrees__ ======
315 315  )))
316 316  |(% style="width:30px" %) |(((
317 -(% class="wikigeneratedid" %)
318 318  Move in Degrees (**MD**)
319 319  
320 -(% class="wikigeneratedid" %)
321 -Example: #5M1500<cr>
322 +Example: #5MD123<cr>
322 322  
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.
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.
325 325  )))
326 326  
327 327  |(% colspan="2" %)(((
... ... @@ -359,9 +359,23 @@
359 359  )))
360 360  
361 361  |(% colspan="2" %)(((
362 -====== __Status__ ======
362 +====== __(Relative) Move in Degrees__ ======
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" %) |(((
365 365  Query Status (**Q**)
366 366  
367 367  The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
... ... @@ -395,23 +395,11 @@
395 395  )))
396 396  
397 397  |(% colspan="2" %)(((
398 -====== __Motion Time__ ======
399 -)))
400 -|(% style="width:30px" %) |(((
401 -Query Motion Time (**QMT**)
402 -)))
403 -
404 -|(% colspan="2" %)(((
405 -====== __Current Speed__ ======
406 -)))
407 -|(% style="width:30px" %) |(((
408 -Query Current Speed (**QCS**)
409 -)))
410 -
411 -|(% colspan="2" %)(((
412 412  ====== __Limp__ ======
413 413  )))
414 414  |(% style="width:30px" %) |(((
415 +Limp (**L**)
416 +
415 415  Example: #5L<cr>
416 416  
417 417  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>.
... ... @@ -421,6 +421,8 @@
421 421  ====== __Halt & Hold__ ======
422 422  )))
423 423  |(% style="width:30px" %) |(((
426 +Halt & Hold (**H**)
427 +
424 424  Example: #5H<cr>
425 425  
426 426  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.)
... ... @@ -428,18 +428,16 @@
428 428  
429 429  == Motion Setup ==
430 430  
431 -|(% colspan="2" %)(((
432 -====== __Origin Offset__ ======
433 -)))
434 -|(% style="width:30px" %) |(((
435 +====== __Origin Offset (**O**)__ ======
436 +
435 435  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).
436 436  
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"]]
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"]]
438 438  
439 439  
440 440  In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
441 441  
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"]]
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"]]
443 443  
444 444  
445 445  Origin Offset Query (**QO**)
... ... @@ -453,26 +453,23 @@
453 453  Example: #5CO-24<cr>
454 454  
455 455  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 -)))
457 457  
458 -|(% colspan="2" %)(((
459 -====== __Angular Range__ ======
460 -)))
461 -|(% style="width:30px" %) |(((
459 +====== __Angular Range (**AR**)__ ======
460 +
462 462  Example: #5AR1800<cr>
463 463  
464 464  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:
465 465  
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"]]
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"]]
467 467  
468 468  Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
469 469  
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"]]
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"]]
471 471  
472 472  
473 473  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:
474 474  
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"]]
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"]]
476 476  
477 477  
478 478  Query Angular Range (**QAR**)
... ... @@ -482,12 +482,9 @@
482 482  Configure Angular Range (**CAR**)
483 483  
484 484  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 -)))
486 486  
487 -|(% colspan="2" %)(((
488 -====== __Angular Acceleration__ ======
489 -)))
490 -|(% style="width:30px" %) |(((
485 +====== __Angular Acceleration (**AA**)__ ======
486 +
491 491  The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
492 492  
493 493  Ex: #5AA30<cr>
... ... @@ -505,12 +505,9 @@
505 505  Ex: #5CAA30<cr>
506 506  
507 507  This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
508 -)))
509 509  
510 -|(% colspan="2" %)(((
511 -====== __Angular Deceleration__ ======
512 -)))
513 -|(% style="width:30px" %) |(((
505 +====== __Angular Deceleration (**AD**)__ ======
506 +
514 514  The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
515 515  
516 516  Ex: #5AD30<cr>
... ... @@ -528,12 +528,9 @@
528 528  Ex: #5CAD30<cr>
529 529  
530 530  This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
531 -)))
532 532  
533 -|(% colspan="2" %)(((
534 -====== __Gyre Direction__ ======
535 -)))
536 -|(% style="width:30px" %) |(((
525 +====== __Gyre Direction (**G**)__ ======
526 +
537 537  "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.
538 538  
539 539  Ex: #5G-1<cr>
... ... @@ -551,43 +551,15 @@
551 551  Ex: #5CG-1<cr>
552 552  
553 553  This changes the gyre direction as described above and also writes to EEPROM.
554 -)))
555 555  
556 -|(% colspan="2" %)(((
557 557  ====== __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.
561 561  
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.
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>
563 563  
564 -Query First Position in Degrees (**QFD**)
549 +====== __Maximum Speed in Degrees (**SD**)__ ======
565 565  
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.
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:
567 567  
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 -
591 591  |**Command sent**|**Returned value (1/10 °)**
592 592  |ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
593 593  |ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
... ... @@ -594,64 +594,43 @@
594 594  |ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
595 595  |ex: #5QSD3<cr>|Target travel speed
596 596  
597 -Configure Speed in Degrees (**CSD**)
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.
598 598  
599 -Ex: #5CSD1800<cr>
561 +====== __Maximum Speed in RPM (**SR**)__ ======
600 600  
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 -)))
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:
603 603  
604 -|(% colspan="2" %)(((
605 -====== __Maximum Speed in RPM__ ======
606 -)))
607 -|(% style="width:30px" %) |(((
608 -(% class="wikigeneratedid" %)
609 -Maximum Speed in RPM (**SR**)
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
610 610  
611 -(% class="wikigeneratedid" id="HEx:235SR453Ccr3EThiscommandsetstheservo27smaximumspeedformotioncommandsinrpmforthatsession.Intheexampleabove2Ctheservo27smaximumspeedforthatsessionwouldbesetto45rpm.Theservo27smaximumspeedcannotbesethigherthanitsphysicallimitatagivenvoltage.SRoverridesCSR28describedbelow29forthatsession.Uponresetorpowercycle2CtheservorevertstothevalueassociatedwithCSRasdescribedbelow.NotethatSD28describedabove29andSRareeffectivelythesame2Cbutallowtheusertospecifythespeedineitherunit.Thelastcommand28eitherSRorSD29receivediswhattheservousesforthatsession.QuerySpeedinRPM28QSR29Ex:235QSR3Ccr3Emightreturn2A5QSR453Ccr3EBydefaultQSRwillreturnthecurrentsessionvalue2CwhichissettothevalueofCSRasreset2FpowercycleandchangedwheneveranSD2FSRcommandisprocessed.If235QSR13Ccr3Eissent2Ctheconfiguredmaximumspeed28CSRvalue29willbereturnedinstead.Youcanalsoquerythecurrentspeedusing22222andthecurrenttargettravelspeedusing22322.Seethetablebelowforanexample:" %)
612 -Ex: #5SR45<cr>
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.
613 613  
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.
573 +====== __Step Mode (**SM**)__ ======
616 616  
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.
575 +Ex: #8SM2<cr>
619 619  
620 -(% class="wikigeneratedid" %)
621 -The last command (either SR or SD) received is what the servo uses for that session.
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.
622 622  
623 -(% class="wikigeneratedid" %)
624 -Query Speed in RPM (**QSR**)
579 +Note that the torque and max RPM of the actuator will be affected.
625 625  
626 -(% class="wikigeneratedid" %)
627 -Ex: #5QSR<cr> might return *5QSR45<cr>
581 +Query Step Mode (**QSM**)
628 628  
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:
583 +Ex: #8QSM<cr> might return *8QSM2<cr> meaning servo with ID 8 is set to half step mode.
631 631  
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
585 +Configure Step Mode (**CSM**)
637 637  
638 -Configure Speed in RPM (**CSR**)
587 +Ex: #8SM2<cr>
639 639  
640 -Ex: #5CSR45<cr>
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.
641 641  
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 -
645 645  == Modifiers ==
646 646  
647 -|(% colspan="2" %)(((
648 -====== __Speed __ ======
649 -)))
650 -|(% style="width:30px" %) |(((
651 -(% class="wikigeneratedid" %)
652 -Speed in Degrees (**SD**)
593 +====== __Speed (**SD**) modifier__ ======
653 653  
654 -(% class="wikigeneratedid" id="HExample:235D0SD1803Ccr3E" %)
595 +(% class="wikigeneratedid" id="HTimedmove28T29modifier" %)
655 655  Example: #5D0SD180<cr>
656 656  
657 657  (% class="wikigeneratedid" %)
... ... @@ -665,13 +665,8 @@
665 665  
666 666  (% class="wikigeneratedid" %)
667 667  This command queries the current speed in microseconds per second.
668 -)))
669 669  
670 -|(% colspan="2" %)(((
671 -====== __Timed move__ ======
672 -)))
673 -|(% style="width:30px" %) |(((
674 -Timed Move (**T**)
610 +====== __Timed move (**T**) modifier__ ======
675 675  
676 676  Example: #5D15000T2500<cr>
677 677  
... ... @@ -678,129 +678,61 @@
678 678  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.
679 679  
680 680  **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 -)))
682 682  
618 +====== ======
619 +
683 683  == Telemetry ==
684 684  
685 -|(% colspan="2" %)(((
686 -====== __Temperature PCB__ ======
687 -)))
688 -|(% style="width:30px" %) |(((
689 -Query Temp PCB (**QT**)
622 +====== __Query PCB Temperature (**QT**)__ ======
690 690  
691 691  Ex: #5QT<cr> might return *5QT564<cr>
692 692  
693 693  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 -)))
695 695  
696 -|(% colspan="2" %)(((
697 -====== __Current__ ======
698 -)))
699 -|(% style="width:30px" %) |(((
700 -(% class="wikigeneratedid" %)
701 -Query Current (**QC**)
628 +====== __Query Temperature Probe (**QTP**)__ ======
702 702  
703 -(% class="wikigeneratedid" id="HEx:235QC3Ccr3Emightreturn2A5QC1403Ccr3E" %)
630 +Ex:
631 +
632 +====== __Query Temp of Controller (**QTCW**)__ ======
633 +
634 +Ex:
635 +
636 +An alternative is QTCE
637 +
638 +====== __Query Current (**QC**)__ ======
639 +
704 704  Ex: #5QC<cr> might return *5QC140<cr>
705 705  
706 706  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 -)))
708 708  
709 -|(% colspan="2" %)(((
710 -====== __Model String__ ======
711 -)))
712 -|(% style="width:30px" %) |(((
713 -(% class="wikigeneratedid" %)
714 -Query Model String (**QMS**)
644 +====== __Query Model String (**QMS**)__ ======
715 715  
716 -(% class="wikigeneratedid" id="HEx:235QMS3Ccr3Emightreturn2A5QMSLSS-HS13Ccr3E" %)
717 717  Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
718 718  
719 719  This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
720 -)))
721 721  
722 -|(% colspan="2" %)(((
723 -====== __Firmware__ ======
724 -)))
725 -|(% style="width:30px" %) |(((
726 -Query Firmware (**QF**)
650 +====== __Query Firmware (**QF**)__ ======
727 727  
728 728  Ex: #5QF<cr> might return *5QF368<cr>
729 729  
730 730  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 -)))
732 732  
733 -|(% colspan="2" %)(((
734 -====== __Serial Number__ ======
735 -)))
736 -|(% style="width:30px" %) |(((
737 -(% class="wikigeneratedid" %)
738 -Query Serial Number (**QN**)
656 +====== __Query Serial Number (**QN**)__ ======
739 739  
740 -(% class="wikigeneratedid" id="HEx:235QN3Ccr3Emightreturn2A5QN123456783Ccr3E" %)
741 741  Ex: #5QN<cr> might return *5QN12345678<cr>
742 742  
743 743  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 -)))
745 745  
746 -|(% colspan="2" %)(((
747 -====== __Temperature Probe__ ======
748 -)))
749 -|(% style="width:30px" %) |(((
750 -Query Temp motor Probe (**QTP**)
751 -)))
662 +====== __Query IMU Linear (**QIX** **QIY** **QIZ**)__ ======
752 752  
753 -|(% colspan="2" %)(((
754 -====== __Temperature MCU__ ======
755 -)))
756 -|(% style="width:30px" %) |(((
757 -Query Temp MCU (**QTM**)
758 -)))
664 +Ex: #6QIX<cr> might return *6QIX30<cr>
759 759  
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 -)))
767 -
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 -)))
775 -
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 -
792 792  This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
793 -)))
794 794  
795 -|(% colspan="2" %)(((
796 -====== __IMU Angular__ ======
797 -)))
798 -|(% style="width:30px" %) |(((
799 -(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
800 -Query IMU Angular (**QIA QIB QIG**)
668 +====== __Query IMU Angular (**QIA** **QIB** **QIC**)__ ======
669 +
801 801  Ex: #6QIB<cr> might return *6QIB44<cr>
802 802  
803 803  This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
804 -)))
805 805  
806 806  
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