Changes for page LSS-PRO Communication Protocol
Last modified by Eric Nantel on 2024/09/06 14:52
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... ... @@ -116,68 +116,66 @@ 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="HDefault"]]|(% style="text-align:center" %)DEFAULT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |Revert to firmware default values 121 -| |[[Firmware **Update** Mode>>||anchor="HUpdate"]]|(% style="text-align:center" %)UPDATE|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |Update firmware 122 -| |[[**Confirm** Changes>>||anchor="HConfirm"]]|(% style="text-align:center" %)CONFIRM|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |Confirm the action for some commands 123 -| |[[**ID** Number >>||anchor="HIDNumber"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QID|(% style="text-align:center" %)CID|(% style="text-align:center" %)0|(% style="text-align:center" %) |Reset required after change. ID 254 is a "broadcast" which all servos respond to. 124 -| |[[**E**nable CAN **T**erminal>>doc:||anchor="HEnableCANTerminalResistor"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QET|(% style="text-align:center" %)CET|(% style="text-align:center" %)1|(% style="text-align:center" %)0 or 1|0: Disable 1: Enable 125 -| |[[**U**SB **C**onnection Status>>||anchor="HUSBConnectionStatus"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QUC|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)0 or 1|0: Not connected 1: Connected 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="HPositioninDegrees"]]|(% style="text-align:center" %)D|(% style="text-align:center" %)QD|(% style="text-align:center" %) | |0.01°| 130 -| |[[**M**ove in **D**egrees (relative)>>||anchor="HRelativeMoveinDegrees"]]|(% style="text-align:center" %)MD|(% style="text-align:center" %) |(% style="text-align:center" %) | |0.01°| 131 -| |[[**W**heel mode in **D**egrees>>||anchor="HWheelModeinDegrees"]]|(% style="text-align:center" %)WD|(% style="text-align:center" %)QWD|(% style="text-align:center" %) | |0.01°/s|A.K.A. "Speed mode" or "Continuous rotation" 132 -| |[[**W**heel mode in **R**PM>>||anchor="HWheelModeinRPM"]]|(% style="text-align:center" %)WR|(% style="text-align:center" %)QWR|(% style="text-align:center" %) | |RPM|A.K.A. "Speed mode" or "Continuous rotation" 133 -| |[[**Q**uery Motion Status>>||anchor="HStatus"]]|(% style="text-align:center" %) |(% style="text-align:center" %)Q|(% style="text-align:center" %) | |1 to 8 integer|See command description for details 134 -| |[[**Q**uery **M**otion **T**ime>>doc:||anchor="HMotionTime"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMT|(% style="text-align:center" %) | |0.01s| 135 -| |[[**Q**uery **C**urrent **S**peed>>doc:||anchor="HCurrentSpeed"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QCS|(% style="text-align:center" %) | |0.01°/s| 136 -| |[[**L**imp>>||anchor="HLimp"]]|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Removes power from stepper coils 137 -| |[[**H**alt & Hold>>doc:||anchor="HHalt26Hold"]]|(% style="text-align:center" %)H|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Stops (halts) motion and holds last position 130 +| |[[Position in **D**egrees>>||anchor="HPositioninDegrees28D29"]]|(% style="text-align:center" %)D|(% style="text-align:center" %)QD/QDT|(% style="text-align:center" %) | |1/100°| 131 +| |[[**M**ove in **D**egrees (relative)>>||anchor="H28Relative29MoveinDegrees28MD29"]]|(% style="text-align:center" %)MD|(% style="text-align:center" %) |(% style="text-align:center" %) | |1/100°| 132 +| |[[**W**heel mode in **D**egrees>>||anchor="HWheelModeinDegrees28WD29"]]|(% style="text-align:center" %)WD|(% style="text-align:center" %)QWD/QVT|(% style="text-align:center" %) | |°/s|A.K.A. "Speed mode" or "Continuous rotation" 133 +| |[[**W**heel mode in **R**PM>>||anchor="HWheelModeinRPM28WR29"]]|(% style="text-align:center" %)WR|(% style="text-align:center" %)QWR|(% style="text-align:center" %) | |RPM|A.K.A. "Speed mode" or "Continuous rotation" 134 +| |[[**Q**uery Motion Status>>||anchor="HQueryStatus28Q29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)Q|(% style="text-align:center" %) | |1 to 8 integer|See command description for details 135 +| |[[**L**imp>>||anchor="HLimp28L29"]]|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Removes power from stepper coils 136 +| |[[**H**alt & Hold>>||anchor="HHalt26Hold28H29"]]|(% style="text-align:center" %)H|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Stops (halts) motion profile and holds last position 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="HOriginOffset"]]|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|(% style="text-align:center" %)0|(% style="text-align:center" %)0.01°| 142 -| |[[**A**ngular **R**ange>>||anchor="HAngularRange"]]|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|(% style="text-align:center" %)36000|(% style="text-align:center" %)0.01°| 143 -| |[[**A**ngular **A**cceleration>>||anchor="HAngularAcceleration"]]|(% style="text-align:center" %)AA|(% style="text-align:center" %)QAA|(% style="text-align:center" %)CAA|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s^2| 144 -| |[[**A**ngular **D**eceleration>>||anchor="HAngularDeceleration"]]|(% style="text-align:center" %)AD|(% style="text-align:center" %)QAD|(% style="text-align:center" %)CAD|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s^2| 145 -| |[[**G**yre Direction>>||anchor="HGyreDirection"]]|(% style="text-align:center" %)G|(% style="text-align:center" %)QG|(% style="text-align:center" %)CG|(% style="text-align:center" %)1|(% style="text-align:center" %)1 or -1|Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise) 146 -| |[[**F**irst Position (**D**eg)>>||anchor="HFirstPosition"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QFD|(% style="text-align:center" %)CFD|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°|Reset required after change. 147 -| |[[Maximum **S**peed in **D**egrees>>||anchor="HMaximumSpeedinDegrees"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %)QSD|(% style="text-align:center" %)CSD|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s|SD / CSD overwrites SR / CSR 148 -| |[[Maximum **S**peed in **R**PM>>||anchor="HMaximumSpeedinRPM"]]|(% style="text-align:center" %)SR|(% style="text-align:center" %)QSR|(% style="text-align:center" %)CSR|(% style="text-align:center" %) |(% style="text-align:center" %)RPM|SR / CSR overwrites SD / CSD 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, ½ step, ¼ 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="HSpeed"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %) |(% style="text-align:center" %) | |0.01°/s|For D and MD action commands153 -| |[[**T**imed move>>||anchor="HTimedmove"]]|(% style="text-align:center" %)T|(% style="text-align:center" %) |(% style="text-align:center" %) | |ms|Time associated with D, MD commands 152 +| |[[**S**peed in **D**egrees>>||anchor="HSpeed28S2CSD29modifier"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %) |(% style="text-align:center" %) | |1°/s|For D and MD action commands 153 +| |[[**T**imed move>>||anchor="HTimedmove28T29modifier"]]|(% style="text-align:center" %)T|(% style="text-align:center" %) |(% style="text-align:center" %) | |ms|Time associated with D, MD commands 154 154 155 155 |(% colspan="8" style="color:orange; font-size:18px" %)[[**Telemetry**>>||anchor="HTelemetry"]] 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="text-align:center; width:100px" %)**Default**|(% style="text-align:center; width:170px" %)**Unit**|**Notes** 157 -| |[[PCB **T**emperature>>doc:||anchor="HTemperaturePCB"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) | |(% style="text-align:center" %)0.1°C| 158 -| |[[**C**urrent>>doc:||anchor="HCurrent"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QC|(% style="text-align:center" %) | |(% style="text-align:center" %)mA|Nominal RMS value to stepper motor driver IC. 159 -| |[[**M**odel **S**tring>>doc:||anchor="HModelString"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMS|(% style="text-align:center" %) | |(% style="text-align:center" %) |Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1) 160 -| |[[**F**irmware Version>>doc:||anchor="HFirmware"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | |(% style="text-align:center" %) | 161 -| |[[Serial **N**umber>>doc:||anchor="HSerialNumber"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QN|(% style="text-align:center" %) | |(% style="text-align:center" %) |Returns the unique serial number for the servo 162 -| |[[**T**emperature **P**robe>>doc:||anchor="HTemperatureProbe"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTP|(% style="text-align:center" %) | |(% style="text-align:center" %)0.1°C|Queries temperature probe fixed to the stepper motor 163 -| |[[**T**emp of **M**CU>>doc:||anchor="HTemperatureMCU"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTM|(% style="text-align:center" %) | |(% style="text-align:center" %)0.1°C| 164 -| |[[**T**emp of **C**ontroller **E**rror>>doc:||anchor="HTempControllerError"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCE|(% style="text-align:center" %) | |(% style="text-align:center" %) |((( 165 -Temperature error status of the motor controller (over-temp error) 156 +|(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes** 157 +| |[[**Q**uery PCB **T**emperature>>||anchor="HQueryTemperature28QT29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) | |°C| 158 +| |[[**Q**uery **C**urrent>>||anchor="HQueryCurrent28QC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QC|(% style="text-align:center" %) | |mA|Nominal RMS value to stepper motor driver IC. 159 +| |[[**Q**uery **M**odel **S**tring>>||anchor="HQueryModelString28QMS29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMS|(% style="text-align:center" %) | | |Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1) 160 +| |[[**Q**uery **F**irmware Version>>||anchor="HQueryFirmware28QF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | | | 161 +| |[[**Q**uery Serial **N**umber>>||anchor="HQuerySerialNumber28QN29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QN|(% style="text-align:center" %) | | |Returns the unique serial number for the servo 162 +| |[[**Q**uery **T**emperature **P**robe>>doc:||anchor="HQueryTemperatureProbe28QTP29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTP|(% style="text-align:center" %) | | |Queries temperature probe fixed to the stepper motor 163 +| |[[**Q**uery **T**emp of **M**CU>>doc:||anchor="HQueryMCUTemperature28QTM29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTM|(% style="text-align:center" %) | | | 164 +| |[[**Q**uery **T**emp of **C**ontroller>>doc:||anchor="HQueryTempofController28QTCW29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW, QTCE|(% style="text-align:center" %) | | |((( 165 +QTCW: Queries the temperature status of the motor controller (pre-warning) 166 + 167 +QTCE: Queries the temperature status of the motor controller (over-temp error) 166 166 ))) 167 -| |[[**T**emp of **C**ontroller **W**arning>>doc:||anchor="HTempControllerWarning"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW|(% style="text-align:center" %) | |(% style="text-align:center" %) |Temperature error status of the motor controller (pre-warning) 168 -| |[[**E**rror **F**lag>>doc:||anchor="HErrorFlag"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QEF|(% style="text-align:center" %) | |(% style="text-align:center" %) | 169 -| |[[**I**MU Linear **X**>>doc:||anchor="HIMULinear"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |(% style="text-align:center" %)mm/s^2| 170 -| |[[**I**MU Linear **Y**>>doc:||anchor="HIMULinear"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |(% style="text-align:center" %)mm/s^2| 171 -| |[[**I**MU Linear **Z**>>doc:||anchor="HIMULinear"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |(% style="text-align:center" %)mm/s^2| 172 -| |[[**I**MU Angular Accel **α** >>doc:||anchor="HIMUAngular"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIA|(% style="text-align:center" %) | |(% style="text-align:center" %)°/s^2|Query IMU Angular Accel α (Alpha) 173 -| |[[**I**MU Angular Accel **β**>>doc:||anchor="HIMUAngular"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIB|(% style="text-align:center" %) | |(% style="text-align:center" %)°/s^2|Query IMU Angular Accel β (Beta) 174 -| |[[**I**MU Angular Accel **γ**>>doc:||anchor="HIMUAngular"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIG|(% style="text-align:center" %) | |(% style="text-align:center" %)°/s^2|Query IMU Angular Accel γ (Gamma) 169 +| |[[**Q**uery **I**MU Linear **X**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |mm/s^2| 170 +| |[[**Q**uery **I**MU Linear **Y**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |mm/s^2| 171 +| |[[**Q**uery **I**MU Linear **Z**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |mm/s^2| 172 +| |[[**Q**uery **I**MU Angular Accel **α** >>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIA|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel α (Alpha) 173 +| |[[**Q**uery **I**MU Angular Accel **β**>>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIB|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel β (Beta) 174 +| |[[**Q**uery **I**MU Angular Accel **γ**>>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIC / QIG|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel γ (Gamma) 175 175 176 176 |(% colspan="8" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="HRGBLED"]] 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="text-align:center; width:100px" %)**Default**|(% style="text-align:center; width:170px" %)**Unit**|**Notes** 178 -| |[[**LED** Color>>||anchor="HLEDColor"]]|(% style="text-align:center" %)LED|(% style="text-align:center" %)QLED|(% style="text-align:center" %)CLED|(% style="text-align:center" %) |(% style="text-align:center" %)0 to 7 integer|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White 179 -| |Configure LED Blinking|(% style="text-align:center" %) |(% style="text-align:center" %)QLB|(% style="text-align:center" %)CLB|(% style="text-align:center" %)0|(% style="text-align:center" %) | 180 -| |LED Indicator|(% style="text-align:center" %) |(% style="text-align:center" %)QLI|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) | 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 +| |[[**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 181 181 182 182 = (% style="color:inherit; font-family:inherit" %)Details(%%) = 183 183 ... ... @@ -187,8 +187,6 @@ 187 187 ====== __Reset__ ====== 188 188 ))) 189 189 | |((( 190 -Reset (**RESET**) 191 - 192 192 Ex: #5RESET<cr> 193 193 194 194 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. ... ... @@ -195,11 +195,9 @@ 195 195 ))) 196 196 197 197 |(% colspan="2" %)((( 198 -====== (% style="color:inherit; font-family:inherit" %)__Default__(%%) ====== 194 +====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ====== 199 199 ))) 200 200 |(% style="width:30px" %) |((( 201 -(% style="color:inherit; font-family:inherit" %)Default (**DEFAULT**) 202 - 203 203 (% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr> 204 204 205 205 (% 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. ... ... @@ -212,11 +212,9 @@ 212 212 ))) 213 213 214 214 |(% colspan="2" %)((( 215 -====== (% style="color:inherit; font-family:inherit" %)__Update__(%%) ====== 209 +====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ====== 216 216 ))) 217 217 |(% style="width:30px" %) |((( 218 -(% style="color:inherit; font-family:inherit" %)Update (**UPDATE**) 219 - 220 220 (% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr> 221 221 222 222 (% 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. ... ... @@ -232,8 +232,6 @@ 232 232 ====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ====== 233 233 ))) 234 234 |(% style="width:30px" %) |((( 235 -(% style="color:inherit; font-family:inherit" %)Confirm (**CONFIRM**) 236 - 237 237 (% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr> 238 238 239 239 (% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command. ... ... @@ -285,6 +285,17 @@ 285 285 Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB 286 286 ))) 287 287 278 +|(% 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 + 288 288 == Motion == 289 289 290 290 |(% colspan="2" %)((( ... ... @@ -313,17 +313,14 @@ 313 313 ))) 314 314 315 315 |(% colspan="2" %)((( 316 -====== __Relative Move in Degrees__ ====== 317 +====== __(Relative) Move in Degrees__ ====== 317 317 ))) 318 318 |(% style="width:30px" %) |((( 319 -(% class="wikigeneratedid" %) 320 320 Move in Degrees (**MD**) 321 321 322 -(% class="wikigeneratedid" %) 323 -Example: #5M1500<cr> 322 +Example: #5MD123<cr> 324 324 325 -(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %) 326 -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. 327 327 ))) 328 328 329 329 |(% colspan="2" %)((( ... ... @@ -361,9 +361,23 @@ 361 361 ))) 362 362 363 363 |(% colspan="2" %)((( 364 -====== __ Status__ ======362 +====== __(Relative) Move in Degrees__ ====== 365 365 ))) 366 366 |(% 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" %) |((( 367 367 Query Status (**Q**) 368 368 369 369 The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below. ... ... @@ -397,23 +397,11 @@ 397 397 ))) 398 398 399 399 |(% colspan="2" %)((( 400 -====== __Motion Time__ ====== 401 -))) 402 -|(% style="width:30px" %) |((( 403 -Query Motion Time (**QMT**) 404 -))) 405 - 406 -|(% colspan="2" %)((( 407 -====== __Current Speed__ ====== 408 -))) 409 -|(% style="width:30px" %) |((( 410 -Query Current Speed (**QCS**) 411 -))) 412 - 413 -|(% colspan="2" %)((( 414 414 ====== __Limp__ ====== 415 415 ))) 416 416 |(% style="width:30px" %) |((( 415 +Limp (**L**) 416 + 417 417 Example: #5L<cr> 418 418 419 419 This action causes the servo to go "limp". The microcontroller will still be powered, but the motor will not. As an emergency safety feature, should the robot not be doing what it is supposed to or risks damage, use the broadcast ID to set all servos limp #254L<cr>. ... ... @@ -423,6 +423,8 @@ 423 423 ====== __Halt & Hold__ ====== 424 424 ))) 425 425 |(% style="width:30px" %) |((( 426 +Halt & Hold (**H**) 427 + 426 426 Example: #5H<cr> 427 427 428 428 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.) ... ... @@ -430,10 +430,8 @@ 430 430 431 431 == Motion Setup == 432 432 433 -|(% colspan="2" %)((( 434 -====== __Origin Offset__ ====== 435 -))) 436 -|(% style="width:30px" %) |((( 435 +====== __Origin Offset (**O**)__ ====== 436 + 437 437 Example: #5O2400<cr>This command allows you to change the origin of the servo in relation to the factory zero position for that session. As with all action commands, the setting will be lost upon servo reset / power cycle. Origin offset commands are not cumulative and always relate to factory zero. In the first image, the origin at factory offset '0' (centered). 438 438 439 439 [[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]] ... ... @@ -455,12 +455,9 @@ 455 455 Example: #5CO-24<cr> 456 456 457 457 This command allows you to change the origin of the servo in relation to the factory zero position in EEPROM. The setting will be saved upon servo reset / power cycle. Origin offset configuration commands are not cumulative and always relate to factory zero. The new origin is also used in RC mode. In the example, the new origin will be at -2.4 degrees from the factory zero. 458 -))) 459 459 460 -|(% colspan="2" %)((( 461 -====== __Angular Range__ ====== 462 -))) 463 -|(% style="width:30px" %) |((( 459 +====== __Angular Range (**AR**)__ ====== 460 + 464 464 Example: #5AR1800<cr> 465 465 466 466 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: ... ... @@ -484,12 +484,9 @@ 484 484 Configure Angular Range (**CAR**) 485 485 486 486 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. 487 -))) 488 488 489 -|(% colspan="2" %)((( 490 -====== __Angular Acceleration__ ====== 491 -))) 492 -|(% style="width:30px" %) |((( 485 +====== __Angular Acceleration (**AA**)__ ====== 486 + 493 493 The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared. 494 494 495 495 Ex: #5AA30<cr> ... ... @@ -507,12 +507,9 @@ 507 507 Ex: #5CAA30<cr> 508 508 509 509 This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM. 510 -))) 511 511 512 -|(% colspan="2" %)((( 513 -====== __Angular Deceleration__ ====== 514 -))) 515 -|(% style="width:30px" %) |((( 505 +====== __Angular Deceleration (**AD**)__ ====== 506 + 516 516 The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared. 517 517 518 518 Ex: #5AD30<cr> ... ... @@ -530,12 +530,9 @@ 530 530 Ex: #5CAD30<cr> 531 531 532 532 This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM. 533 -))) 534 534 535 -|(% colspan="2" %)((( 536 -====== __Gyre Direction__ ====== 537 -))) 538 -|(% style="width:30px" %) |((( 525 +====== __Gyre Direction (**G**)__ ====== 526 + 539 539 "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. 540 540 541 541 Ex: #5G-1<cr> ... ... @@ -553,43 +553,15 @@ 553 553 Ex: #5CG-1<cr> 554 554 555 555 This changes the gyre direction as described above and also writes to EEPROM. 556 -))) 557 557 558 -|(% colspan="2" %)((( 559 559 ====== __First Position__ ====== 560 -))) 561 -|(% style="width:30px" %) |((( 562 -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. 563 563 564 -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> 565 565 566 - QueryFirstPositionin Degrees (**QFD**)549 +====== __Maximum Speed in Degrees (**SD**)__ ====== 567 567 568 -Ex: #5 QFD<cr> mightreturn*5QFD900<cr>The reply above indicates that servo withID5has a firstposition of90.0degrees.If there isno first position value stored,the replywillbeDIS.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: 569 569 570 -Configure First Position in Degrees (**CFD**) 571 - 572 -Ex: #5CFD900<cr> 573 - 574 -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> 575 -))) 576 - 577 -|(% colspan="2" %)((( 578 -====== __Maximum Speed in Degrees__ ====== 579 -))) 580 -|(% style="width:30px" %) |((( 581 -Maximum Speed in Degrees (**SD**) 582 - 583 -Ex: #5SD1800<cr> 584 - 585 -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. 586 - 587 -Query Speed in Degrees (**QSD**) 588 - 589 -Ex: #5QSD<cr> might return *5QSD1800<cr> 590 - 591 -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: 592 - 593 593 |**Command sent**|**Returned value (1/10 °)** 594 594 |ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command) 595 595 |ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR) ... ... @@ -596,64 +596,43 @@ 596 596 |ex: #5QSD2<cr>|Instantaneous speed (same as QWD) 597 597 |ex: #5QSD3<cr>|Target travel speed 598 598 599 -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. 600 600 601 - Ex:#5CSD1800<cr>561 +====== __Maximum Speed in RPM (**SR**)__ ====== 602 602 603 -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. 604 -))) 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: 605 605 606 -|(% colspan="2" %)((( 607 -====== __Maximum Speed in RPM__ ====== 608 -))) 609 -|(% style="width:30px" %) |((( 610 -(% class="wikigeneratedid" %) 611 -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 612 612 613 -(% class="wikigeneratedid" id="HEx:235SR453Ccr3EThiscommandsetstheservo27smaximumspeedformotioncommandsinrpmforthatsession.Intheexampleabove2Ctheservo27smaximumspeedforthatsessionwouldbesetto45rpm.Theservo27smaximumspeedcannotbesethigherthanitsphysicallimitatagivenvoltage.SRoverridesCSR28describedbelow29forthatsession.Uponresetorpowercycle2CtheservorevertstothevalueassociatedwithCSRasdescribedbelow.NotethatSD28describedabove29andSRareeffectivelythesame2Cbutallowtheusertospecifythespeedineitherunit.Thelastcommand28eitherSRorSD29receivediswhattheservousesforthatsession.QuerySpeedinRPM28QSR29Ex:235QSR3Ccr3Emightreturn2A5QSR453Ccr3EBydefaultQSRwillreturnthecurrentsessionvalue2CwhichissettothevalueofCSRasreset2FpowercycleandchangedwheneveranSD2FSRcommandisprocessed.If235QSR13Ccr3Eissent2Ctheconfiguredmaximumspeed28CSRvalue29willbereturnedinstead.Youcanalsoquerythecurrentspeedusing22222andthecurrenttargettravelspeedusing22322.Seethetablebelowforanexample:" %) 614 -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. 615 615 616 -(% class="wikigeneratedid" %) 617 -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**)__ ====== 618 618 619 -(% class="wikigeneratedid" %) 620 -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> 621 621 622 -(% class="wikigeneratedid" %) 623 -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. 624 624 625 -(% class="wikigeneratedid" %) 626 -Query Speed in RPM (**QSR**) 579 +Note that the torque and max RPM of the actuator will be affected. 627 627 628 -(% class="wikigeneratedid" %) 629 -Ex: #5QSR<cr> might return *5QSR45<cr> 581 +Query Step Mode (**QSM**) 630 630 631 -(% class="wikigeneratedid" %) 632 -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. 633 633 634 -|**Command sent**|**Returned value (1/10 °)** 635 -|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command) 636 -|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR) 637 -|ex: #5QSR2<cr>|Instantaneous speed (same as QWD) 638 -|ex: #5QSR3<cr>|Target travel speed 585 +Configure Step Mode (**CSM**) 639 639 640 - ConfigureSpeed in RPM(**CSR**)587 +Ex: #8SM2<cr> 641 641 642 - 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. 643 643 644 -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. 645 -))) 646 - 647 647 == Modifiers == 648 648 649 -|(% colspan="2" %)((( 650 -====== __Speed __ ====== 651 -))) 652 -|(% style="width:30px" %) |((( 653 -(% class="wikigeneratedid" %) 654 -Speed in Degrees (**SD**) 593 +====== __Speed (**SD**) modifier__ ====== 655 655 656 -(% class="wikigeneratedid" id="H Example:235D0SD1803Ccr3E" %)595 +(% class="wikigeneratedid" id="HTimedmove28T29modifier" %) 657 657 Example: #5D0SD180<cr> 658 658 659 659 (% class="wikigeneratedid" %) ... ... @@ -667,13 +667,8 @@ 667 667 668 668 (% class="wikigeneratedid" %) 669 669 This command queries the current speed in microseconds per second. 670 -))) 671 671 672 -|(% colspan="2" %)((( 673 -====== __Timed move__ ====== 674 -))) 675 -|(% style="width:30px" %) |((( 676 -Timed Move (**T**) 610 +====== __Timed move (**T**) modifier__ ====== 677 677 678 678 Example: #5D15000T2500<cr> 679 679 ... ... @@ -680,155 +680,61 @@ 680 680 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. 681 681 682 682 **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 683 -))) 684 684 618 +====== ====== 619 + 685 685 == Telemetry == 686 686 687 -|(% colspan="2" %)((( 688 -====== __Temperature PCB__ ====== 689 -))) 690 -|(% style="width:30px" %) |((( 691 -Query Temp PCB (**QT**) 622 +====== __Query PCB Temperature (**QT**)__ ====== 692 692 693 693 Ex: #5QT<cr> might return *5QT564<cr> 694 694 695 695 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. 696 -))) 697 697 698 -|(% colspan="2" %)((( 699 -====== __Current__ ====== 700 -))) 701 -|(% style="width:30px" %) |((( 702 -(% class="wikigeneratedid" %) 703 -Query Current (**QC**) 628 +====== __Query Temperature Probe (**QTP**)__ ====== 704 704 705 -(% 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 + 706 706 Ex: #5QC<cr> might return *5QC140<cr> 707 707 708 708 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. 709 -))) 710 710 711 -|(% colspan="2" %)((( 712 -====== __Model String__ ====== 713 -))) 714 -|(% style="width:30px" %) |((( 715 -(% class="wikigeneratedid" %) 716 -Query Model String (**QMS**) 644 +====== __Query Model String (**QMS**)__ ====== 717 717 718 -(% class="wikigeneratedid" id="HEx:235QMS3Ccr3Emightreturn2A5QMSLSS-HS13Ccr3E" %) 719 719 Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr> 720 720 721 721 This reply means that the servo model is LSS-HS1: a high speed servo, first revision. 722 -))) 723 723 724 -|(% colspan="2" %)((( 725 -====== __Firmware__ ====== 726 -))) 727 -|(% style="width:30px" %) |((( 728 -Query Firmware (**QF**) 650 +====== __Query Firmware (**QF**)__ ====== 729 729 730 730 Ex: #5QF<cr> might return *5QF368<cr> 731 731 732 732 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, 368.29.14 733 -))) 734 734 735 -|(% colspan="2" %)((( 736 -====== __Serial Number__ ====== 737 -))) 738 -|(% style="width:30px" %) |((( 739 -(% class="wikigeneratedid" %) 740 -Query Serial Number (**QN**) 656 +====== __Query Serial Number (**QN**)__ ====== 741 741 742 -(% class="wikigeneratedid" id="HEx:235QN3Ccr3Emightreturn2A5QN123456783Ccr3E" %) 743 743 Ex: #5QN<cr> might return *5QN12345678<cr> 744 744 745 745 The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user. 746 -))) 747 747 748 -|(% colspan="2" %)((( 749 -====== __Temperature Probe__ ====== 750 -))) 751 -|(% style="width:30px" %) |((( 752 -Query Temp motor Probe (**QTP**) 753 -))) 662 +====== __Query IMU Linear (**QIX** **QIY** **QIZ**)__ ====== 754 754 755 -|(% colspan="2" %)((( 756 -====== __Temperature MCU__ ====== 757 -))) 758 -|(% style="width:30px" %) |((( 759 -Query Temp MCU (**QTM**) 760 -))) 664 +Ex: #6QIX<cr> might return *6QIX30<cr> 761 761 762 -|(% colspan="2" %)((( 763 -====== __Temp Controller Error__ ====== 764 -))) 765 -|(% style="width:30px" %) |((( 766 -(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %) 767 -Query Temp Controller Error (**QTCE**) 768 -))) 769 - 770 -|(% colspan="2" %)((( 771 -====== __Temp Controller Warning__ ====== 772 -))) 773 -|(% style="width:30px" %) |((( 774 -(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %) 775 -Query Temp Controller Warning (**QTCW**) 776 -))) 777 - 778 -|(% colspan="2" %)((( 779 -====== __Error Flag__ ====== 780 -))) 781 -|(% style="width:30px" %) |((( 782 -Query Error Flag (**QEF**) 783 -))) 784 - 785 -|(% colspan="2" %)((( 786 -====== __IMU Linear__ ====== 787 -))) 788 -|(% style="width:30px" %) |((( 789 -(% class="wikigeneratedid" %) 790 -Query IMU Linear (**QIX QIY QIZ**) 791 - 792 -====== Ex: #6QIX<cr> might return *6QIX30<cr> ====== 793 - 794 794 This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared. 795 -))) 796 796 797 -|(% colspan="2" %)((( 798 -====== __IMU Angular__ ====== 799 -))) 800 -|(% style="width:30px" %) |((( 801 -(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %) 802 -Query IMU Angular (**QIA QIB QIG**) 668 +====== __Query IMU Angular (**QIA** **QIB** **QIC**)__ ====== 669 + 803 803 Ex: #6QIB<cr> might return *6QIB44<cr> 804 804 805 805 This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared. 806 -))) 807 807 808 -== RGB LED == 809 - 810 -|(% colspan="2" %)((( 811 -====== __LED Color__ ====== 812 -))) 813 -|(% style="width:30px" %) |((( 814 -(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %) 815 815 816 -))) 817 - 818 -|(% colspan="2" %)((( 819 -====== __Configure LED Blinking__ ====== 820 -))) 821 -|(% style="width:30px" %) |((( 822 -(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %) 823 - 824 -))) 825 - 826 -|(% colspan="2" %)((( 827 -====== __LED Indicator__ ====== 828 -))) 829 -|(% style="width:30px" %) |((( 830 -(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %) 831 - 832 -))) 833 - 834 -