Last modified by Eric Nantel on 2024/09/06 14:52
From version < 82.2 >
edited by Eric Nantel
on 2024/09/06 09:41
To version < 53.1 >
edited by Coleman Benson
on 2023/07/27 13:04
< >
Change comment: There is no comment for this version

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Title
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1 -LSS-PRO Communication Protocol
1 +LSS-P - Communication Protocol
Parent
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1 -ses-pro.lss-pro.WebHome
1 +lynxmotion-smart-servo-pro.WebHome
Author
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1 -xwiki:XWiki.ENantel
1 +xwiki:XWiki.CBenson
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1 -false
1 +true
Content
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1 +{{warningBox warningText="More information coming soon"/}}
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1 1  (% class="wikigeneratedid" id="HTableofContents" %)
2 2  **Page Contents**
3 3  
... ... @@ -91,7 +91,7 @@
91 91  
92 92  The ability to store a "virtual angular position" is a feature which allows for rotation beyond 360 degrees, permitting multiple rotations of the output horn, moving the center position and more. The "absolute position" would be the angle of the output shaft with respect to a 360.00 degree circle and can be obtained by taking the modulus (with respect to 360 degrees) of the value. For example if the virtual position is reported as 153350 (or 1533.50 degrees), taking the modulus would give 93.5 degrees (36000 * 4 + 9350 = 153350) as the absolute position (assuming no origin offset).
93 93  
94 -[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-positions.jpg||alt="LSS-servo-positions.jpg"]]
98 +[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-positions.jpg||alt="LSS-servo-positions.jpg"]]
95 95  
96 96  In this example, the gyre direction (explained below, a.k.a. "rotation direction") is positive (clockwise), and origin offset has not been modified. Each square represents 30 degrees. The following command is sent:
97 97  
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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
123 +| |[[**Reset**>>||anchor="HReset"]]|(% style="text-align:center" %)RESET|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Soft reset. See command for details.
124 +| |[[**Default** Configuration>>||anchor="HDefault26confirm"]]|(% style="text-align:center" %)DEFAULT|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Revert to firmware default values. See command for details
125 +| |[[Firmware **Update** Mode>>||anchor="HUpdate26confirm"]]|(% style="text-align:center" %)UPDATE|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Update firmware. See command for details.
126 +| |[[**Confirm** Changes>>||anchor="HConfirm"]]|(% style="text-align:center" %)CONFIRM|(% style="text-align:center" %) |(% style="text-align:center" %) | | |
127 +| |[[**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.
128 +| |[[**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
129 +| |[[**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
130 +| |[[**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
134 +| |[[Position in **D**egrees>>||anchor="HPositioninDegrees28D29"]]|(% style="text-align:center" %)D|(% style="text-align:center" %)QD/QDT|(% style="text-align:center" %) | |1/100°|
135 +| |[[**M**ove in **D**egrees (relative)>>||anchor="H28Relative29MoveinDegrees28MD29"]]|(% style="text-align:center" %)MD|(% style="text-align:center" %) |(% style="text-align:center" %) | |1/100°|
136 +| |[[**W**heel mode in **D**egrees>>||anchor="HWheelModeinDegrees28WD29"]]|(% style="text-align:center" %)WD|(% style="text-align:center" %)QWD/QVT|(% style="text-align:center" %) | |°/s|A.K.A. "Speed mode" or "Continuous rotation"
137 +| |[[**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"
138 +| |[[**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
139 +| |[[**L**imp>>||anchor="HLimp28L29"]]|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Removes power from stepper coils
140 +| |[[**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 -| |[[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
147 -| |[[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
144 +| |[[**O**rigin Offset>>||anchor="HOriginOffset28O29"]]|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|0|1/10°|
145 +| |[[**A**ngular **R**ange>>||anchor="HAngularRange28AR29"]]|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|1800|1/10°|
146 +| |[[**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).
147 +| |[[**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).
148 +| |[[**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)
149 +| |[[**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.
150 +| |[[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
151 +| |[[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
152 +| |[[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
148 148  
149 149  |(% colspan="8" style="color:orange; font-size:18px" %)[[**Modifiers**>>||anchor="HModifiers"]]
150 150  |(% 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**
151 -| |[[**S**peed in **D**egrees>>doc:||anchor="HSpeed"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %) |(% style="text-align:center" %) | |0.01°/s|For D and MD action commands
152 -| |[[**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
156 +| |[[**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
157 +| |[[**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
153 153  
154 154  |(% colspan="8" style="color:orange; font-size:18px" %)[[**Telemetry**>>||anchor="HTelemetry"]]
155 -|(% 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**
156 -| |[[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|
157 -| |[[**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.
158 -| |[[**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)
159 -| |[[**F**irmware Version>>doc:||anchor="HFirmware"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | |(% style="text-align:center" %) |
160 -| |[[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
161 -| |[[**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
162 -| |[[**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|
163 -| |[[**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" %) |(((
164 -Temperature error status of the motor controller (over-temp error)
160 +|(% 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**
161 +| |[[**Q**uery PCB **T**emperature>>||anchor="HQueryTemperature28QT29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) | |°C|
162 +| |[[**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.
163 +| |[[**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)
164 +| |[[**Q**uery **F**irmware Version>>||anchor="HQueryFirmware28QF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | | |
165 +| |[[**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
166 +| |[[**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
167 +| |[[**Q**uery **T**emp of **M**CU>>doc:||anchor="HQueryMCUTemperature28QTM29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTM|(% style="text-align:center" %) | | |
168 +| |[[**Q**uery **T**emp of **C**ontroller>>doc:||anchor="HQueryTempofController28QTCW29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW, QTCE|(% style="text-align:center" %) | | |(((
169 +QTCW: Queries the temperature status of the motor controller (pre-warning)
170 +
171 +QTCE: Queries the temperature status of the motor controller (over-temp error)
165 165  )))
166 -| |[[**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)
167 -| |[[**E**rror **F**lag>>doc:||anchor="HErrorFlag"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QEF|(% style="text-align:center" %) | |(% style="text-align:center" %) |
168 -| |[[**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|
169 -| |[[**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|
170 -| |[[**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|
171 -| |[[**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)
172 -| |[[**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)
173 -| |[[**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)
173 +| |[[**Q**uery **I**MU Linear **X**>>doc:||anchor="HQueryIMULinear29QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |mm/s^2|
174 +| |[[**Q**uery **I**MU Linear **Y**>>doc:||anchor="HQueryIMULinear29QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |mm/s^2|
175 +| |[[**Q**uery **I**MU Linear **Z**>>doc:||anchor="HQueryIMULinear29QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |mm/s^2|
176 +| |[[**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)
177 +| |[[**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)
178 +| |[[**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)
174 174  
175 175  |(% colspan="8" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="HRGBLED"]]
176 -|(% 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**
177 -| |[[**LED** Color>>||anchor="HLEDColor"]]|(% style="text-align:center" %)LED|(% style="text-align:center" %)QLED|(% style="text-align:center" %)CLED|(% style="text-align:center" %)3|(% style="text-align:center" %)0 to 7 integer|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White
178 -| |[[**L**ED **B**linking>>doc:||anchor="HLEDBlinking"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QLB|(% style="text-align:center" %)CLB|(% style="text-align:center" %)0|(% style="text-align:center" %) |
179 -| |[[**L**ED **I**ndicator>>doc:||anchor="HLEDIndicator"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QLI|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |
181 +|(% 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**
182 +| |[[**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
180 180  
181 181  = (% style="color:inherit; font-family:inherit" %)Details(%%) =
182 182  
183 183  == (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) ==
184 184  
185 -|(% colspan="2" %)(((
186 -====== __Reset__ ======
187 -)))
188 -| |(((
189 -Reset (**RESET**)
188 +====== (% style="color:inherit; font-family:inherit" %)__Reset__(%%) ======
190 190  
191 -Ex: #5RESET<cr>
190 +(% style="color:inherit; font-family:inherit" %)Ex: #5RESET<cr>
191 +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.
192 192  
193 -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.
194 -)))
193 +====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ======
195 195  
196 -|(% colspan="2" %)(((
197 -====== (% style="color:inherit; font-family:inherit" %)__Default__(%%) ======
198 -)))
199 -|(% style="width:30px" %) |(((
200 -(% style="color:inherit; font-family:inherit" %)Default (**DEFAULT**)
201 -
202 202  (% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr>
203 203  
204 204  (% 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.
... ... @@ -208,13 +208,8 @@
208 208  (% style="color:inherit; font-family:inherit" %)Since it it not common to have to restore all configurations, a confirmation command is needed after a firmware command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will exit the command.
209 209  
210 210  (% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
211 -)))
212 212  
213 -|(% colspan="2" %)(((
214 -====== (% style="color:inherit; font-family:inherit" %)__Update__(%%) ======
215 -)))
216 -|(% style="width:30px" %) |(((
217 -(% style="color:inherit; font-family:inherit" %)Update (**UPDATE**)
205 +====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
218 218  
219 219  (% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
220 220  
... ... @@ -225,25 +225,15 @@
225 225  (% style="color:inherit; font-family:inherit" %)Since it it not common to have to update firmware, a confirmation command is needed after an UPDATE command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will leave the firmware action.
226 226  
227 227  (% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
228 -)))
229 229  
230 -|(% colspan="2" %)(((
231 231  ====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
232 -)))
233 -|(% style="width:30px" %) |(((
234 -(% style="color:inherit; font-family:inherit" %)Confirm (**CONFIRM**)
235 235  
236 236  (% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
237 237  
238 238  (% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command.
239 239  Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
240 -)))
241 241  
242 -|(% colspan="2" %)(((
243 -====== (% style="color:inherit; font-family:inherit" %)__ID Number__(%%) ======
244 -)))
245 -|(% style="width:30px" %) |(((
246 -This assigns ID #5 to the servo previously assigned to ID 0
224 +====== (% style="color:inherit; font-family:inherit" %)__ID Number (**ID**)__(%%) ======
247 247  
248 248  (% style="color:inherit; font-family:inherit" %)Configure ID Number (**CID**)
249 249  
... ... @@ -256,12 +256,9 @@
256 256  Ex: #254QID<cr> might return *254QID5<cr>
257 257  
258 258  In this case, the broadcast ID is used to ensure the servo connected will reply with the ID. This can be used in case the ID assigned to a servo is forgotten.
259 -)))
260 260  
261 -|(% colspan="2" %)(((
262 -====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor__(%%) ======
263 -)))
264 -|(% style="width:30px" %) |(((
238 +====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor (**ET**)__(%%) ======
239 +
265 265  Query Enable CAN Terminal Resistor (**QET**)
266 266  
267 267  Ex: #5QET<cr> might return *QET0<cr>
... ... @@ -273,24 +273,24 @@
273 273  (% style="color:inherit; font-family:inherit" %)Ex: #5CET1<cr>
274 274  
275 275  (% style="color:inherit; font-family:inherit" %)This commands sets servo with ID 5 as being the last in the CAN Bus. The last servo in a CAN bus must be configured this way.
276 -)))
277 277  
278 -|(% colspan="2" %)(((
279 -====== __USB Connection Status__ ======
280 -)))
281 -|(% style="width:30px" %) |(((
252 +====== __USB Connection Status (**UC**)__ ======
253 +
282 282  Query USB Connection Status (**QUC**)
283 283  
284 284  Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
285 -)))
286 286  
258 +====== __Firmware Release (**FR**)__ ======
259 +
260 +Query Firmware Release (**QFR**)
261 +
262 +Ex: #5QFR<cr> might return *QFR11<cr> meaning it has a (random) firmware release version number 11.
263 +
264 +This is used to verify if the firmware on the servos is up to date, or which version is running on the microcontroller.
265 +
287 287  == Motion ==
288 288  
289 -|(% colspan="2" %)(((
290 -====== __Position in Degrees__ ======
291 -)))
292 -|(% style="width:30px" %) |(((
293 -Position in Degrees (**D**)
268 +====== __Position in Degrees (**D**)__ ======
294 294  
295 295  Example: #5D1456<cr>
296 296  
... ... @@ -309,28 +309,16 @@
309 309  Ex: #5QDT<cr> might return *5QDT6783<cr>
310 310  
311 311  The query target position command returns the target virtual position during and after an action which results in a rotation of the servo horn. In the example above, the servo is rotating to a virtual position of 678.3 degrees. Should the servo not have a target position or be in wheel mode, it will respond with the last target position used.
312 -)))
313 313  
314 -|(% colspan="2" %)(((
315 -====== __Relative Move in Degrees__ ======
316 -)))
317 -|(% style="width:30px" %) |(((
318 -(% class="wikigeneratedid" %)
319 -Move in Degrees (**MD**)
288 +====== __(Relative) Move in Degrees (**MD**)__ ======
320 320  
321 -(% class="wikigeneratedid" %)
322 -Example: #5M1500<cr>
323 323  
324 -(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
325 -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.
326 -)))
291 +Example: #5MD123<cr>
327 327  
328 -|(% colspan="2" %)(((
329 -====== __Wheel Mode in Degrees__ ======
330 -)))
331 -|(% style="width:30px" %) |(((
332 -Wheel mode in Degrees (**WD**)
293 +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.
333 333  
295 +====== __Wheel Mode in Degrees (**WD**)__ ======
296 +
334 334  Ex: #5WD90<cr>
335 335  
336 336  This command sets the servo to wheel mode where it will rotate in the desired direction at the selected speed. The example above would have the servo rotate at 90.0 degrees per second clockwise (assuming factory default configurations).
... ... @@ -340,13 +340,8 @@
340 340  Ex: #5QWD<cr> might return *5QWD90<cr>
341 341  
342 342  The servo replies with the angular speed in degrees per second. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
343 -)))
344 344  
345 -|(% colspan="2" %)(((
346 -====== __Wheel Mode in RPM__ ======
347 -)))
348 -|(% style="width:30px" %) |(((
349 -Wheel moed in RPM (**WR**)
307 +====== __Wheel Mode in RPM (**WR**)__ ======
350 350  
351 351  Ex: #5WR40<cr>
352 352  
... ... @@ -357,14 +357,17 @@
357 357  Ex: #5QWR<cr> might return *5QWR40<cr>
358 358  
359 359  The servo replies with the angular speed in rpm. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
360 -)))
361 361  
362 -|(% colspan="2" %)(((
363 -====== __Status__ ======
364 -)))
365 -|(% style="width:30px" %) |(((
366 -Query Status (**Q**)
319 +====== __(Relative) Move in Degrees (**MD**)__ ======
367 367  
321 +(% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %)
322 +Example: #5M1500<cr>
323 +
324 +(% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
325 +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.
326 +
327 +====== __Query Status (**Q**)__ ======
328 +
368 368  The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
369 369  
370 370  Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
... ... @@ -372,31 +372,20 @@
372 372  |(% style="width:25px" %) |***Value returned (Q)**|**Status**|**Detailed description**
373 373  | |ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state
374 374  | |ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely
375 -| |ex: *5Q2<cr>|2: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
376 -| |ex: *5Q3<cr>|3: Traveling|Moving at a stable speed
377 -| |ex: *5Q4<cr>|4: Decelerating|Decreasing from travel speed towards final position.
378 -| |ex: *5Q5<cr>|5: Holding|Keeping current position (in EM0 mode, return will normally be holding)
379 -| |ex: *5Q6<cr>|6: Error|If the status is Error, the error value consists of binary flags
336 +| |ex: *5Q2<cr>|2: Free moving|Servo is rotating in duty motion / free move using the RDM command
337 +| |ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
338 +| |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
339 +| |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
340 +| |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will nornally be holding)
341 +| |ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
342 +| |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
343 +| |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
344 +| |ex: *5Q10<cr>|10: Safe Mode|(((
345 +A safety limit has been exceeded (temperature, peak current or extended high current draw).
380 380  
381 -Query Error Flag (**QEF**)
347 +Send a Q1 command to know which limit has been reached (described below).
348 +)))
382 382  
383 -|(% style="width:25px" %) |***Value returned (QEF)**|**Status**|**Detailed description**
384 -| |ex: *5QEF0<cr>|0: LSSP_ERROR_BITS_PCBOverTemerature|
385 -| |ex: *5QEF1<cr>|1: LSSP_ERROR_BITS_MCUOverTemerature|
386 -| |ex: *5QEF2<cr>|2: LSSP_ERROR_BITS_MotorProbeOverTemerature|
387 -| |ex: *5QEF3<cr>|3: LSSP_ERROR_BITS_MotorDriverOverTemerature|
388 -| |ex: *5QEF4<cr>|4: LSSP_ERROR_BITS_Blocked|
389 -| |ex: *5QEF5<cr>|5: LSSP_ERROR_BITS_ExceedSpeedLimit|
390 -| |ex: *5QEF6<cr>|6: LSSP_ERROR_BITS_ExceedAccelLimit|
391 -| |ex: *5QEF7<cr>|7: LSSP_ERROR_BITS_ExceedDecelLimit|
392 -| |ex: *5QEF8<cr>|8: LSSP_ERROR_BITS_CurrentPositionOutOfRangePlus|
393 -| |ex: *5QEF9<cr>|9: LSSP_ERROR_BITS_CurrentPositionOutOfRangeMinus|
394 -| |ex: *5QEF10<cr>|10: LSSP_ERROR_BITS_EEPROMHeaderDataError|
395 -| |ex: *5QEF11<cr>|11: LSSP_ERROR_BITS_EEPROMCheckSumError|
396 -| |ex: *5QEF12<cr>|12: LSSP_ERROR_BITS_EEPROMMapVersionIsNotSupported|
397 -
398 -*Value returned (Q)StatusDetailed description
399 -
400 400  If a safety limit has been reached and exceeded, the LED will flash red and the servo will stop providing torque (no longer react to commands which cause the motor to rotate). In order to determine which limit has been reached, send a Q1 command. The servo must be RESET in order to return to normal operation, though if a limit is still detected (for example the servo is still too hot), it will revert back to Safe Mode.
401 401  
402 402  |(% style="width:25px" %) |***Value returned (Q1)**|**Status**|**Detailed description**
... ... @@ -404,54 +404,31 @@
404 404  | |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
405 405  | |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
406 406  | |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
407 -)))
408 408  
409 -|(% colspan="2" %)(((
410 -====== __Motion Time__ ======
411 -)))
412 -|(% style="width:30px" %) |(((
413 -Query Motion Time (**QMT**)
414 -)))
358 +====== __Limp (**L**)__ ======
415 415  
416 -|(% colspan="2" %)(((
417 -====== __Current Speed__ ======
418 -)))
419 -|(% style="width:30px" %) |(((
420 -Query Current Speed (**QCS**)
421 -)))
422 -
423 -|(% colspan="2" %)(((
424 -====== __Limp__ ======
425 -)))
426 -|(% style="width:30px" %) |(((
427 427  Example: #5L<cr>
428 428  
429 429  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>.
430 -)))
431 431  
432 -|(% colspan="2" %)(((
433 -====== __Halt & Hold__ ======
434 -)))
435 -|(% style="width:30px" %) |(((
364 +====== __Halt & Hold (**H**)__ ======
365 +
436 436  Example: #5H<cr>
437 437  
438 438  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.)
439 -)))
440 440  
441 441  == Motion Setup ==
442 442  
443 -|(% colspan="2" %)(((
444 -====== __Origin Offset__ ======
445 -)))
446 -|(% style="width:30px" %) |(((
372 +====== __Origin Offset (**O**)__ ======
373 +
447 447  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).
448 448  
449 -[[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"]]
376 +[[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"]]
450 450  
451 451  
452 452  In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
453 453  
454 -[[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"]]
381 +[[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"]]
455 455  
456 456  
457 457  Origin Offset Query (**QO**)
... ... @@ -465,26 +465,23 @@
465 465  Example: #5CO-24<cr>
466 466  
467 467  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.
468 -)))
469 469  
470 -|(% colspan="2" %)(((
471 -====== __Angular Range__ ======
472 -)))
473 -|(% style="width:30px" %) |(((
396 +====== __Angular Range (**AR**)__ ======
397 +
474 474  Example: #5AR1800<cr>
475 475  
476 476  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:
477 477  
478 -[[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"]]
402 +[[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"]]
479 479  
480 480  Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
481 481  
482 -[[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"]]
406 +[[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"]]
483 483  
484 484  
485 485  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:
486 486  
487 -[[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"]]
411 +[[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"]]
488 488  
489 489  
490 490  Query Angular Range (**QAR**)
... ... @@ -494,12 +494,9 @@
494 494  Configure Angular Range (**CAR**)
495 495  
496 496  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.
497 -)))
498 498  
499 -|(% colspan="2" %)(((
500 -====== __Angular Acceleration__ ======
501 -)))
502 -|(% style="width:30px" %) |(((
422 +====== __Angular Acceleration (**AA**)__ ======
423 +
503 503  The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
504 504  
505 505  Ex: #5AA30<cr>
... ... @@ -517,12 +517,9 @@
517 517  Ex: #5CAA30<cr>
518 518  
519 519  This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
520 -)))
521 521  
522 -|(% colspan="2" %)(((
523 -====== __Angular Deceleration__ ======
524 -)))
525 -|(% style="width:30px" %) |(((
442 +====== __Angular Deceleration (**AD**)__ ======
443 +
526 526  The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
527 527  
528 528  Ex: #5AD30<cr>
... ... @@ -540,12 +540,9 @@
540 540  Ex: #5CAD30<cr>
541 541  
542 542  This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
543 -)))
544 544  
545 -|(% colspan="2" %)(((
546 -====== __Gyre Direction__ ======
547 -)))
548 -|(% style="width:30px" %) |(((
462 +====== __Gyre Direction (**G**)__ ======
463 +
549 549  "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.
550 550  
551 551  Ex: #5G-1<cr>
... ... @@ -563,24 +563,15 @@
563 563  Ex: #5CG-1<cr>
564 564  
565 565  This changes the gyre direction as described above and also writes to EEPROM.
566 -)))
567 567  
568 -|(% colspan="2" %)(((
569 -====== __Maximum Speed in Degrees__ ======
570 -)))
571 -|(% style="width:30px" %) |(((
572 -Maximum Speed in Degrees (**SD**)
482 +====== __First Position__ ======
573 573  
574 -Ex: #5SD1800<cr>
484 +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>
575 575  
576 -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.
486 +====== __Maximum Speed in Degrees (**SD**)__ ======
577 577  
578 -Query Speed in Degrees (**QSD**)
488 +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:
579 579  
580 -Ex: #5QSD<cr> might return *5QSD1800<cr>
581 -
582 -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:
583 -
584 584  |**Command sent**|**Returned value (1/10 °)**
585 585  |ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
586 586  |ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
... ... @@ -587,64 +587,43 @@
587 587  |ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
588 588  |ex: #5QSD3<cr>|Target travel speed
589 589  
590 -Configure Speed in Degrees (**CSD**)
496 +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.
591 591  
592 -Ex: #5CSD1800<cr>
498 +====== __Maximum Speed in RPM (**SR**)__ ======
593 593  
594 -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.
595 -)))
500 +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:
596 596  
597 -|(% colspan="2" %)(((
598 -====== __Maximum Speed in RPM__ ======
599 -)))
600 -|(% style="width:30px" %) |(((
601 -(% class="wikigeneratedid" %)
602 -Maximum Speed in RPM (**SR**)
502 +|**Command sent**|**Returned value (1/10 °)**
503 +|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
504 +|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
505 +|ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
506 +|ex: #5QSR3<cr>|Target travel speed
603 603  
604 -(% class="wikigeneratedid" id="HEx:235SR453Ccr3EThiscommandsetstheservo27smaximumspeedformotioncommandsinrpmforthatsession.Intheexampleabove2Ctheservo27smaximumspeedforthatsessionwouldbesetto45rpm.Theservo27smaximumspeedcannotbesethigherthanitsphysicallimitatagivenvoltage.SRoverridesCSR28describedbelow29forthatsession.Uponresetorpowercycle2CtheservorevertstothevalueassociatedwithCSRasdescribedbelow.NotethatSD28describedabove29andSRareeffectivelythesame2Cbutallowtheusertospecifythespeedineitherunit.Thelastcommand28eitherSRorSD29receivediswhattheservousesforthatsession.QuerySpeedinRPM28QSR29Ex:235QSR3Ccr3Emightreturn2A5QSR453Ccr3EBydefaultQSRwillreturnthecurrentsessionvalue2CwhichissettothevalueofCSRasreset2FpowercycleandchangedwheneveranSD2FSRcommandisprocessed.If235QSR13Ccr3Eissent2Ctheconfiguredmaximumspeed28CSRvalue29willbereturnedinstead.Youcanalsoquerythecurrentspeedusing22222andthecurrenttargettravelspeedusing22322.Seethetablebelowforanexample:" %)
605 -Ex: #5SR45<cr>
508 +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.
606 606  
607 -(% class="wikigeneratedid" %)
608 -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.
510 +====== __Step Mode (**SM**)__ ======
609 609  
610 -(% class="wikigeneratedid" %)
611 -Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit.
512 +Ex: #8SM2<cr>
612 612  
613 -(% class="wikigeneratedid" %)
614 -The last command (either SR or SD) received is what the servo uses for that session.
514 +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.
615 615  
616 -(% class="wikigeneratedid" %)
617 -Query Speed in RPM (**QSR**)
516 +Note that the torque and max RPM of the actuator will be affected.
618 618  
619 -(% class="wikigeneratedid" %)
620 -Ex: #5QSR<cr> might return *5QSR45<cr>
518 +Query Step Mode (**QSM**)
621 621  
622 -(% class="wikigeneratedid" %)
623 -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:
520 +Ex: #8QSM<cr> might return *8QSM2<cr> meaning servo with ID 8 is set to half step mode.
624 624  
625 -|**Command sent**|**Returned value (1/10 °)**
626 -|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
627 -|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
628 -|ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
629 -|ex: #5QSR3<cr>|Target travel speed
522 +Configure Step Mode (**CSM**)
630 630  
631 -Configure Speed in RPM (**CSR**)
524 +Ex: #8SM2<cr>
632 632  
633 -Ex: #5CSR45<cr>
526 +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.
634 634  
635 -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.
636 -)))
637 -
638 638  == Modifiers ==
639 639  
640 -|(% colspan="2" %)(((
641 -====== __Speed __ ======
642 -)))
643 -|(% style="width:30px" %) |(((
644 -(% class="wikigeneratedid" %)
645 -Speed in Degrees (**SD**)
530 +====== __Speed (**SD**) modifier__ ======
646 646  
647 -(% class="wikigeneratedid" id="HExample:235D0SD1803Ccr3E" %)
532 +(% class="wikigeneratedid" id="HTimedmove28T29modifier" %)
648 648  Example: #5D0SD180<cr>
649 649  
650 650  (% class="wikigeneratedid" %)
... ... @@ -658,13 +658,8 @@
658 658  
659 659  (% class="wikigeneratedid" %)
660 660  This command queries the current speed in microseconds per second.
661 -)))
662 662  
663 -|(% colspan="2" %)(((
664 -====== __Timed move__ ======
665 -)))
666 -|(% style="width:30px" %) |(((
667 -Timed Move (**T**)
547 +====== __Timed move (**T**) modifier__ ======
668 668  
669 669  Example: #5D15000T2500<cr>
670 670  
... ... @@ -671,158 +671,59 @@
671 671  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.
672 672  
673 673  **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
674 -)))
675 675  
555 +====== ======
556 +
676 676  == Telemetry ==
677 677  
678 -|(% colspan="2" %)(((
679 -====== __Temperature PCB__ ======
680 -)))
681 -|(% style="width:30px" %) |(((
682 -Query Temp PCB (**QT**)
559 +====== __Query PCB Temperature (**QT**)__ ======
683 683  
684 684  Ex: #5QT<cr> might return *5QT564<cr>
685 685  
686 686  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.
687 -)))
688 688  
689 -|(% colspan="2" %)(((
690 -====== __Current__ ======
691 -)))
692 -|(% style="width:30px" %) |(((
693 -(% class="wikigeneratedid" %)
694 -Query Current (**QC**)
565 +====== __Query Temperature Probe (**QTP**)__ ======
695 695  
696 -(% class="wikigeneratedid" id="HEx:235QC3Ccr3Emightreturn2A5QC1403Ccr3E" %)
567 +Ex:
568 +
569 +====== __Query Temp of Controller (**QTCW**, **QTCE**)__ ======
570 +
571 +Ex:
572 +
573 +====== __Query Current (**QC**)__ ======
574 +
697 697  Ex: #5QC<cr> might return *5QC140<cr>
698 698  
699 699  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.
700 -)))
701 701  
702 -|(% colspan="2" %)(((
703 -====== __Model String__ ======
704 -)))
705 -|(% style="width:30px" %) |(((
706 -(% class="wikigeneratedid" %)
707 -Query Model String (**QMS**)
579 +====== __Query Model String (**QMS**)__ ======
708 708  
709 -(% class="wikigeneratedid" id="HEx:235QMS3Ccr3Emightreturn2A5QMSLSS-HS13Ccr3E" %)
710 710  Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
711 711  
712 712  This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
713 -)))
714 714  
715 -|(% colspan="2" %)(((
716 -====== __Firmware__ ======
717 -)))
718 -|(% style="width:30px" %) |(((
719 -Query Firmware (**QF**)
585 +====== __Query Firmware (**QF**)__ ======
720 720  
721 721  Ex: #5QF<cr> might return *5QF368<cr>
722 722  
723 723  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
724 -)))
725 725  
726 -|(% colspan="2" %)(((
727 -====== __Serial Number__ ======
728 -)))
729 -|(% style="width:30px" %) |(((
730 -(% class="wikigeneratedid" %)
731 -Query Serial Number (**QN**)
591 +====== __Query Serial Number (**QN**)__ ======
732 732  
733 -(% class="wikigeneratedid" id="HEx:235QN3Ccr3Emightreturn2A5QN123456783Ccr3E" %)
734 734  Ex: #5QN<cr> might return *5QN12345678<cr>
735 735  
736 736  The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
737 -)))
738 738  
739 -|(% colspan="2" %)(((
740 -====== __Temperature Probe__ ======
741 -)))
742 -|(% style="width:30px" %) |(((
743 -Query Temp motor Probe (**QTP**)
744 -)))
597 +====== __Query IMU Linear (**QIX**, **QIY**, **QIZ**)__ ======
745 745  
746 -|(% colspan="2" %)(((
747 -====== __Temperature MCU__ ======
748 -)))
749 -|(% style="width:30px" %) |(((
750 -Query Temp MCU (**QTM**)
751 -)))
752 -
753 -|(% colspan="2" %)(((
754 -====== __Temp Controller Error__ ======
755 -)))
756 -|(% style="width:30px" %) |(((
757 -(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
758 -Query Temp Controller Error (**QTCE**)
759 -)))
760 -
761 -|(% colspan="2" %)(((
762 -====== __Temp Controller Warning__ ======
763 -)))
764 -|(% style="width:30px" %) |(((
765 -(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
766 -Query Temp Controller Warning (**QTCW**)
767 -)))
768 -
769 -|(% colspan="2" %)(((
770 -====== __Error Flag__ ======
771 -)))
772 -|(% style="width:30px" %) |(((
773 -Query Error Flag (**QEF**)
774 -)))
775 -
776 -|(% colspan="2" %)(((
777 -====== __IMU Linear__ ======
778 -)))
779 -|(% style="width:30px" %) |(((
780 -(% class="wikigeneratedid" %)
781 -Query IMU Linear (**QIX QIY QIZ**)
782 -
783 -(% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
784 784  Ex: #6QIX<cr> might return *6QIX30<cr>
785 785  
786 786  This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
787 -)))
788 788  
789 -|(% colspan="2" %)(((
790 -====== __IMU Angular__ ======
791 -)))
792 -|(% style="width:30px" %) |(((
793 -(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
794 -Query IMU Angular (**QIA QIB QIG**)
603 +__Query IMU Angular (**QIA**, **QIB**, **QIC**)__
795 795  
796 -(% class="wikigeneratedid" %)
797 797  Ex: #6QIB<cr> might return *6QIB44<cr>
798 798  
799 799  This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
800 -)))
801 801  
802 -== RGB LED ==
803 -
804 -|(% colspan="2" %)(((
805 -====== __LED Color__ ======
806 -)))
807 -|(% style="width:30px" %) |(((
808 -(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
809 809  
810 -)))
811 -
812 -|(% colspan="2" %)(((
813 -====== __LED Blinking__ ======
814 -)))
815 -|(% style="width:30px" %) |(((
816 -(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
817 -
818 -)))
819 -
820 -|(% colspan="2" %)(((
821 -====== __LED Indicator__ ======
822 -)))
823 -|(% style="width:30px" %) |(((
824 -(% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
825 -
826 -)))
827 -
828 -
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