Changes for page LSS-PRO Communication Protocol
Last modified by Eric Nantel on 2024/09/06 14:52
Change comment: Upload new image "LSS-servo-origin.jpg", version 1.2
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... ... @@ -91,7 +91,7 @@ 91 91 92 92 The ability to store a "virtual angular position" is a feature which allows for rotation beyond 360 degrees, permitting multiple rotations of the output horn, moving the center position and more. The "absolute position" would be the angle of the output shaft with respect to a 360.00 degree circle and can be obtained by taking the modulus (with respect to 360 degrees) of the value. For example if the virtual position is reported as 153350 (or 1533.50 degrees), taking the modulus would give 93.5 degrees (36000 * 4 + 9350 = 153350) as the absolute position (assuming no origin offset). 93 93 94 -[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/s es-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-positions.jpg||alt="LSS-servo-positions.jpg"]]94 +[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-positions.jpg||alt="LSS-servo-positions.jpg"]] 95 95 96 96 In this example, the gyre direction (explained below, a.k.a. "rotation direction") is positive (clockwise), and origin offset has not been modified. Each square represents 30 degrees. The following command is sent: 97 97 ... ... @@ -116,67 +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 -| |[[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 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 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 commands152 -| |[[**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 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) 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) 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) 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) 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" %) | 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 180 180 181 181 = (% style="color:inherit; font-family:inherit" %)Details(%%) = 182 182 ... ... @@ -186,8 +186,6 @@ 186 186 ====== __Reset__ ====== 187 187 ))) 188 188 | |((( 189 -Reset (**RESET**) 190 - 191 191 Ex: #5RESET<cr> 192 192 193 193 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. ... ... @@ -194,11 +194,9 @@ 194 194 ))) 195 195 196 196 |(% colspan="2" %)((( 197 -====== (% style="color:inherit; font-family:inherit" %)__Default__(%%) ====== 194 +====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ====== 198 198 ))) 199 199 |(% 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. ... ... @@ -211,11 +211,9 @@ 211 211 ))) 212 212 213 213 |(% colspan="2" %)((( 214 -====== (% style="color:inherit; font-family:inherit" %)__Update__(%%) ====== 209 +====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ====== 215 215 ))) 216 216 |(% style="width:30px" %) |((( 217 -(% style="color:inherit; font-family:inherit" %)Update (**UPDATE**) 218 - 219 219 (% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr> 220 220 221 221 (% 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. ... ... @@ -231,8 +231,6 @@ 231 231 ====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ====== 232 232 ))) 233 233 |(% style="width:30px" %) |((( 234 -(% style="color:inherit; font-family:inherit" %)Confirm (**CONFIRM**) 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. ... ... @@ -284,6 +284,17 @@ 284 284 Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB 285 285 ))) 286 286 278 +|(% 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 + 287 287 == Motion == 288 288 289 289 |(% colspan="2" %)((( ... ... @@ -312,17 +312,14 @@ 312 312 ))) 313 313 314 314 |(% colspan="2" %)((( 315 -====== __Relative Move in Degrees__ ====== 317 +====== __(Relative) Move in Degrees__ ====== 316 316 ))) 317 317 |(% style="width:30px" %) |((( 318 -(% class="wikigeneratedid" %) 319 319 Move in Degrees (**MD**) 320 320 321 -(% class="wikigeneratedid" %) 322 -Example: #5M1500<cr> 322 +Example: #5MD123<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. 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. 326 326 ))) 327 327 328 328 |(% colspan="2" %)((( ... ... @@ -360,9 +360,23 @@ 360 360 ))) 361 361 362 362 |(% colspan="2" %)((( 363 -====== __ Status__ ======362 +====== __(Relative) Move in Degrees__ ====== 364 364 ))) 365 365 |(% 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" %) |((( 366 366 Query Status (**Q**) 367 367 368 368 The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below. ... ... @@ -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 388 +| |ex: *5Q2<cr>|2: Free moving|Servo is rotating in duty motion / free move using the RDM command 389 +| |ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed 390 +| |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed 391 +| |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position. 392 +| |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will normally be holding) 393 +| |ex: *5Q7<cr>|7: Outside limits|{More details coming soon} 394 +| |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting 395 +| |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled) 396 +| |ex: *5Q10<cr>|10: Safe Mode|((( 397 +A safety limit has been exceeded (temperature, peak current or extended high current draw). 380 380 381 -Query Error Flag (**QEF**) 399 +Send a Q1 command to know which limit has been reached (described below). 400 +))) 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** ... ... @@ -407,23 +407,11 @@ 407 407 ))) 408 408 409 409 |(% colspan="2" %)((( 410 -====== __Motion Time__ ====== 411 -))) 412 -|(% style="width:30px" %) |((( 413 -Query Motion Time (**QMT**) 414 -))) 415 - 416 -|(% colspan="2" %)((( 417 -====== __Current Speed__ ====== 418 -))) 419 -|(% style="width:30px" %) |((( 420 -Query Current Speed (**QCS**) 421 -))) 422 - 423 -|(% colspan="2" %)((( 424 424 ====== __Limp__ ====== 425 425 ))) 426 426 |(% style="width:30px" %) |((( 415 +Limp (**L**) 416 + 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>. ... ... @@ -433,6 +433,8 @@ 433 433 ====== __Halt & Hold__ ====== 434 434 ))) 435 435 |(% style="width:30px" %) |((( 426 +Halt & Hold (**H**) 427 + 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.) ... ... @@ -440,18 +440,16 @@ 440 440 441 441 == Motion Setup == 442 442 443 -|(% colspan="2" %)((( 444 -====== __Origin Offset__ ====== 445 -))) 446 -|(% style="width:30px" %) |((( 435 +====== __Origin Offset (**O**)__ ====== 436 + 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/s es-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]439 +[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]] 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/s es-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-origin.jpg||alt="LSS-servo-origin.jpg"]]444 +[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-origin.jpg||alt="LSS-servo-origin.jpg"]] 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" %) |((( 459 +====== __Angular Range (**AR**)__ ====== 460 + 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/s es-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]465 +[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]] 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/s es-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar.jpg||alt="LSS-servo-ar.jpg"]]469 +[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar.jpg||alt="LSS-servo-ar.jpg"]] 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/s es-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar-o-1.jpg||alt="LSS-servo-ar-o-1.jpg"]]474 +[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar-o-1.jpg||alt="LSS-servo-ar-o-1.jpg"]] 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" %) |((( 485 +====== __Angular Acceleration (**AA**)__ ====== 486 + 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" %) |((( 505 +====== __Angular Deceleration (**AD**)__ ====== 506 + 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" %) |((( 525 +====== __Gyre Direction (**G**)__ ====== 526 + 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**) 545 +====== __First Position__ ====== 573 573 574 -Ex: #5SD 1800<cr>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> 575 575 576 - Thiscommand sets the servo's maximumspeedfor motioncommands in tenths of degreesper 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 CSDas 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.549 +====== __Maximum Speed in Degrees (**SD**)__ ====== 577 577 578 -Query Speed in Degrees (**QSD**) 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: 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**) 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. 591 591 592 - Ex:#5CSD1800<cr>561 +====== __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 -))) 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: 596 596 597 -|(% colspan="2" %)((( 598 -====== __Maximum Speed in RPM__ ====== 599 -))) 600 -|(% style="width:30px" %) |((( 601 -(% class="wikigeneratedid" %) 602 -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 603 603 604 -(% class="wikigeneratedid" id="HEx:235SR453Ccr3EThiscommandsetstheservo27smaximumspeedformotioncommandsinrpmforthatsession.Intheexampleabove2Ctheservo27smaximumspeedforthatsessionwouldbesetto45rpm.Theservo27smaximumspeedcannotbesethigherthanitsphysicallimitatagivenvoltage.SRoverridesCSR28describedbelow29forthatsession.Uponresetorpowercycle2CtheservorevertstothevalueassociatedwithCSRasdescribedbelow.NotethatSD28describedabove29andSRareeffectivelythesame2Cbutallowtheusertospecifythespeedineitherunit.Thelastcommand28eitherSRorSD29receivediswhattheservousesforthatsession.QuerySpeedinRPM28QSR29Ex:235QSR3Ccr3Emightreturn2A5QSR453Ccr3EBydefaultQSRwillreturnthecurrentsessionvalue2CwhichissettothevalueofCSRasreset2FpowercycleandchangedwheneveranSD2FSRcommandisprocessed.If235QSR13Ccr3Eissent2Ctheconfiguredmaximumspeed28CSRvalue29willbereturnedinstead.Youcanalsoquerythecurrentspeedusing22222andthecurrenttargettravelspeedusing22322.Seethetablebelowforanexample:" %) 605 -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. 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. 573 +====== __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. 575 +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. 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. 615 615 616 -(% class="wikigeneratedid" %) 617 -Query Speed in RPM (**QSR**) 579 +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> 581 +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: 583 +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 585 +Configure Step Mode (**CSM**) 630 630 631 - ConfigureSpeed in RPM(**CSR**)587 +Ex: #8SM2<cr> 632 632 633 - 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. 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**) 593 +====== __Speed (**SD**) modifier__ ====== 646 646 647 -(% class="wikigeneratedid" id="H Example:235D0SD1803Ccr3E" %)595 +(% 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**) 610 +====== __Timed move (**T**) modifier__ ====== 668 668 669 669 Example: #5D15000T2500<cr> 670 670 ... ... @@ -671,158 +671,61 @@ 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 -))) 675 675 618 +====== ====== 619 + 676 676 == Telemetry == 677 677 678 -|(% colspan="2" %)((( 679 -====== __Temperature PCB__ ====== 680 -))) 681 -|(% style="width:30px" %) |((( 682 -Query Temp PCB (**QT**) 622 +====== __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**) 628 +====== __Query Temperature Probe (**QTP**)__ ====== 695 695 696 -(% 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 + 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**) 644 +====== __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**) 650 +====== __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**) 656 +====== __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 -))) 662 +====== __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**) 668 +====== __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 -