LSS-P - Communication Protocol

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**Page Contents**

= Serial Protocol =

The Lynxmotion Smart Servo (LSS) PRO serial protocol was created in order to be as simple and straightforward as possible from a user perspective ("human readable format"), while at the same time staying compact and robust yet highly versatile. The protocol was based on Lynxmotion's Smart Servo (LSS) protocol, which itself was based on the SSC-32 & SSC-32U RC servo controllers. The LSS PRO series and normal LSS share many of the same commands, but because of higher angular precision, slightly different operation and different features, the two protocols do not fully overlap.

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In order to be able to control each servo individually with commands, the first step should be to assign a different ID number to each servo (see details on the Configure ID, or "CID" command [[here>>doc:||anchor="HIdentificationNumber28ID29"]]). Only the servo(s) which have been configured to a specific ID will act on a command sent to that ID. There is currently no CRC or checksum implemented as part of the protocol.

= Action Commands =

Action commands tell the servo, within that session, to do something (i.e. "take an action"). The types of action commands which can be sent are described below, and they cannot be combined with other commands such as queries or configurations. Only one action command can be sent at a time. Action commands are session-specific, therefore once a servo is power cycled, it will not have any "memory" of previous actions or [[virtual positions>>||anchor="HVirtualAngularPosition"]] (described below). Action commands are sent serially to the servo's Rx pin and must be sent in the following format:

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1. Start with a number sign **#** (Unicode Character: U+0023)

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1. Servo ID number as an integer (assigning an ID described below)

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1. Action command (one or more letters, no whitespace, capital or lowercase from the list below)

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1. Action value in the correct units with no decimal

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1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)

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Ex: #5D130000<cr>

This sends a serial command to all servo's RX pins which are connected to the bus and only servo(s) with ID #5 will move to a position (13000 in hundredths of degrees) of 130.00 degrees. Any servo on the bus which does not have ID 5 will take no action when receiving this command.

== Modifiers ==

Modifiers can only be used with certain **action commands**. The format to include a modifier is:<div class="wikimodel-emptyline"></div>

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1. Start with a number sign **#** (Unicode Character: U+0023)

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1. Servo ID number as an integer

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1. Action command (one to three letters, no spaces, capital or lowercase from a subset of action commands below)

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1. Action value in the correct units with no decimal

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1. Modifier command (one or two letters from the list of modifiers below)

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1. Modifier value in the correct units with no decimal

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1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)

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Ex: #5D13000T1500<cr><div class="wikimodel-emptyline"></div>

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This results in the servo with ID #5 rotating to a position (1800 in tenths of degrees) of 130.00 degrees in a time ("T") of 1500 milliseconds (1.5 seconds).<div class="wikimodel-emptyline"></div>

Query commands request information from the servo. They are received via the Rx pin of the servo, and the servo's reply is sent via the servo's Tx pin. Using separate lines for Tx and Rx is called "full duplex". Query commands are also similar to action and configuration commands and must use the following format:<div class="wikimodel-emptyline"></div>

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1. Start with a number sign **#** (Unicode Character: U+0023)

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1. Servo ID number as an integer

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1. Query command (one to four letters, no spaces, capital or lower case)

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1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)<div class="wikimodel-emptyline"></div>

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Ex: #5QD<cr> Query the position in (hundredths of) degrees for servo with ID #5<div class="wikimodel-emptyline"></div>

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The query will return a serial string (almost instantaneously) via the servo's Tx in the following format:

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1. Start with an asterisk * (Unicode Character: U+0023)

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1. Servo ID number as an integer

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1. Query command (one to four letters, no spaces, capital letters)

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1. The reported value in the units described, no decimals.

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1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)<div class="wikimodel-emptyline"></div>

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There is currently no option to control how fast a servo replies after it has received a query command, therefore when sending a query command to the bus, the controller should be prepared to immediately "listen" for and parse the reply. Sending multiple queries to multiple servos on a bus in fast succession may result in replies overlapping and giving incorrect or corrupt data. As such, the controller should receive a reply before sending a new query command. A reply to the query sent above might be:<div class="wikimodel-emptyline"></div>

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Ex: *5QD13000<cr><div class="wikimodel-emptyline"></div>

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This indicates that servo #5 is currently at 130.00 degrees (13000 tenths of degrees).

Configuration commands and corresponding values affect a servo's defaults which are written to and read from the servo's EEPROM.<div class="wikimodel-emptyline"></div>

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These configurations are retained in memory after the servo is reset or power is cut / lost. Some configuration commands affect the session, while others do not. In the Command table below, the column "Session" denotes if the configuration command affects the session. Not all action commands have a corresponding configuration command and vice versa. More information about which configuration commands are retained when in RC mode can be found on the [[LSS - RC PWM page>>doc:lynxmotion-smart-servo.lss-radio-control-pwm.WebHome]]. Configuration commands are not cumulative. This means that if two of the same configuration commands are sent, one after the next, only the last configuration is used and stored.<div class="wikimodel-emptyline"></div>

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The format to send a configuration command is identical to that of an action command:<div class="wikimodel-emptyline"></div>

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1. Start with a number sign **#** (Unicode Character: U+0023)

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1. Servo ID number as an integer

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1. Configuration command (two to four letters, no spaces, capital or lower case)

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1. Configuration value in the correct units with no decimal

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1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)<div class="wikimodel-emptyline"></div>

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Ex: #5CO-50<cr><div class="wikimodel-emptyline"></div>

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This configures an absolute origin offset ("CO") with respect to factory origin of servo with ID #5 and changes the offset for that session to -5.0 degrees (50 tenths of degrees). Once the servo is powered off and on, zeroing the servo will cause it to move to -5.0 degrees with respect to the factory origin and report its position as 0 degrees. Configuration commands can be undone / reset either by sending the servo's default value for that configuration, or by doing a factory reset that clears all configurations (through the button menu or with DEFAULT command described below).<div class="wikimodel-emptyline"></div>

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**Session vs Configuration Query**<div class="wikimodel-emptyline"></div>

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By default, the query command returns the session's value. Should no action commands have been sent to change the session value, it will return the value saved in EEPROM which will either be the servo's default, or modified with a configuration command. In order to query the value stored in EEPROM (configuration), add a '1' to the query command:<div class="wikimodel-emptyline"></div>

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Ex: #5CSR20<cr> immediately sets the maximum speed for servo #5 to 20rpm (explained below) and changes the value in memory.<div class="wikimodel-emptyline"></div>

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After RESET, a command of #5SR4<cr> sets the session's speed to 4rpm, but does not change the configuration value in memory. Therefore:<div class="wikimodel-emptyline"></div>

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#5QSR<cr> or #5QSR0<cr> would return *5QSR4<cr> which represents the value for that session, whereas<div class="wikimodel-emptyline"></div>

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#5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM

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 360.0 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 15335 (or 1533.5 degrees), taking the modulus would give 93.5 degrees (3600 * 4 + 935 = 15335) as the absolute position (assuming no origin offset).<div class="wikimodel-emptyline"></div>

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[[image:LSS-servo-positions.jpg]]<div class="wikimodel-emptyline"></div>

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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:<div class="wikimodel-emptyline"></div>

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#1D-300<cr> This causes the servo to move to -30.0 degrees (green arrow)<div class="wikimodel-emptyline"></div>

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#1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)<div class="wikimodel-emptyline"></div>

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#1D-4200<cr> This next command rotates the servo counterclockwise to a position of -420 degrees (red arrow), which means one full rotation of 360 degrees plus 60.0 degrees (420.0 - 360.0), with a virtual position of -420.0 degrees.<div class="wikimodel-emptyline"></div>

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Although the final physical position would be the same as if the servo were commanded to move to -60.0 degrees, the servo is in fact at -420.0 degrees.<div class="wikimodel-emptyline"></div>

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#1D4800<cr> This new command is sent which would then cause the servo to rotate from -420.0 degrees to 480.0 degrees (blue arrow), which would be a total of 900 degrees of clockwise rotation, or 2.5 complete rotations.<div class="wikimodel-emptyline"></div>

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#1D3300<cr> would cause the servo to rotate from 480.0 degrees to 330.0 degrees (yellow arrow).<div class="wikimodel-emptyline"></div>

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If the servo loses power or is power cycled, it also loses the virtual position associated with that session. For example, if the virtual position was 480.0 degrees before power is cycled, upon power up the servo's position will be read as +120.0 degrees from zero (assuming center position has not been modified). The virtual position range at power-up is [-180.0°, 180.0°].

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= Command List =

**Latest firmware version currently : v0.0.780**

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|(% colspan="10" style="color:orange; font-size:18px" %)[[**Communication Setup**>>||anchor="HCommunicationSetup"]]

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| |[[**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. See command for details.

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| |[[**Default** Configuration>>||anchor="HDefault26confirm"]]|(% style="text-align:center" %)DEFAULT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Revert to firmware default values. See command for details

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| |[[Firmware **Update** Mode>>||anchor="HUpdate26confirm"]]|(% style="text-align:center" %)UPDATE|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Update firmware. See command for details.

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| |[[**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" %)✓| | |

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| |[[**C**hange to **RC**>>||anchor="HConfigureRCMode28CRC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)CRC|(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Change to RC mode 1 (position) or 2 (wheel).

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| |[[**ID** #>>||anchor="HIdentificationNumber28ID29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QID|(% style="text-align:center" %)CID|(% style="text-align:center" %) |(% style="text-align:center" %)✓|0| |Reset required after change. ID 254 is a "broadcast" which all servos respond to.

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| |[[**B**audrate>>||anchor="HBaudRate"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QB|(% style="text-align:center" %)CB|(% style="text-align:center" %) |(% style="text-align:center" %)✓|115200| |Reset required after change.

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|(% colspan="10" style="color:orange; font-size:18px" %)[[**Motion**>>||anchor="HMotion"]]

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| |[[Position in **D**egrees>>||anchor="HPositioninDegrees28D29"]]|(% style="text-align:center" %)D|(% style="text-align:center" %)QD/QDT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |1/10°|

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| |[[**M**ove in **D**egrees (relative)>>||anchor="H28Relative29MoveinDegrees28MD29"]]|(% style="text-align:center" %)MD|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |1/10°|

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| |[[**W**heel mode in **D**egrees>>||anchor="HWheelModeinDegrees28WD29"]]|(% style="text-align:center" %)WD|(% style="text-align:center" %)QWD/QVT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |°/s|A.K.A. "Speed mode" or "Continuous rotation"

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| |[[**W**heel mode in **R**PM>>||anchor="HWheelModeinRPM28WR29"]]|(% style="text-align:center" %)WR|(% style="text-align:center" %)QWR|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |RPM|A.K.A. "Speed mode" or "Continuous rotation"

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| |[[Position in **P**WM>>||anchor="HPositioninPWM28P29"]]|(% style="text-align:center" %)P|(% style="text-align:center" %)QP|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |us|Inherited from SSC-32 serial protocol

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| |[[**M**ove in PWM (relative)>>||anchor="H28Relative29MoveinPWM28M29"]]|(% style="text-align:center" %)M|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |us|

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| |[[**R**aw **D**uty-cycle **M**ove>>||anchor="HRawDuty-cycleMove28RDM29"]]|(% style="text-align:center" %)RDM|(% style="text-align:center" %)QMD|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |-1023 to 1023 integer|Positive values : CW / Negative values : CCW

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| |[[**Q**uery Status>>||anchor="HQueryStatus28Q29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)Q|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |1 to 8 integer|See command description for details

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| |[[**L**imp>>||anchor="HLimp28L29"]]|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |

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| |[[**H**alt & Hold>>||anchor="HHalt26Hold28H29"]]|(% style="text-align:center" %)H|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |

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|(% colspan="10" style="color:orange; font-size:18px" %)[[**Motion Setup**>>||anchor="HMotionSetup"]]

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| |[[**E**nable **M**otion Profile>>||anchor="HEnableMotionProfile28EM29"]]|(% style="text-align:center" %)EM|(% style="text-align:center" %)QEM|(% style="text-align:center" %)CEM|(% style="text-align:center" %) |(% style="text-align:center" %)✓|1| |EM1: trapezoidal motion profile / EM0: no motion profile

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| |[[**F**ilter **P**osition **C**ount>>||anchor="HFilterPositionCount28FPC29"]]|(% style="text-align:center" %)FPC|(% style="text-align:center" %)QFPC|(% style="text-align:center" %)CFPC|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|5| |Affects motion only when motion profile is disabled (EM0)

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| |[[**O**rigin Offset>>||anchor="HOriginOffset28O29"]]|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|0|1/10°|

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| |[[**A**ngular **R**ange>>||anchor="HAngularRange28AR29"]]|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|1800|1/10°|

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| |[[**A**ngular **S**tiffness>>||anchor="HAngularStiffness28AS29"]]|(% style="text-align:center" %)AS|(% style="text-align:center" %)QAS|(% style="text-align:center" %)CAS|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|0|-4 to +4 integer|Suggested values are between 0 to +4

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| |[[**A**ngular **H**olding Stiffness>>||anchor="HAngularHoldingStiffness28AH29"]]|(% style="text-align:center" %)AH|(% style="text-align:center" %)QAH|(% style="text-align:center" %)CAH|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|4|-10 to +10 integer|

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| |[[**A**ngular **A**cceleration>>||anchor="HAngularAcceleration28AA29"]]|(% style="text-align:center" %)AA|(% style="text-align:center" %)QAA|(% style="text-align:center" %)CAA|(% style="text-align:center" %) |(% style="text-align:center" %)✓|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).

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| |[[**A**ngular **D**eceleration>>||anchor="HAngularDeceleration28AD29"]]|(% style="text-align:center" %)AD|(% style="text-align:center" %)QAD|(% style="text-align:center" %)CAD|(% style="text-align:center" %) |(% style="text-align:center" %)✓|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).

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| |[[**G**yre Direction>>||anchor="HGyreDirection28G29"]]|(% style="text-align:center" %)G|(% style="text-align:center" %)QG|(% style="text-align:center" %)CG|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|1| |Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)

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| |[[**F**irst Position (**D**eg)>>||anchor="HFirstPosition"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QFD|(% style="text-align:center" %)CFD|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|No value|1/10°|Reset required after change.

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| |[[**M**aximum **M**otor **D**uty>>||anchor="HMaximumMotorDuty28MMD29"]]|(% style="text-align:center" %)MMD|(% style="text-align:center" %)QMMD|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓|1023|255 to 1023 integer|

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| |[[Maximum **S**peed in **D**egrees>>||anchor="HMaximumSpeedinDegrees28SD29"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %)QSD|(% style="text-align:center" %)CSD|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|Max|0.1°/s|SD overwrites SR / CSD overwrites CSR and vice-versa

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| |[[Maximum **S**peed in **R**PM>>||anchor="HMaximumSpeedinRPM28SR29"]]|(% style="text-align:center" %)SR|(% style="text-align:center" %)QSR|(% style="text-align:center" %)CSR|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|Max|RPM|SD overwrites SR / CSD overwrites CSR and vice-versa

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|(% colspan="10" style="color:orange; font-size:18px" %)[[**Modifiers**>>||anchor="HModifiers"]]

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| |[[**S**peed>>||anchor="HSpeed28S2CSD29modifier"]]|(% style="text-align:center" %)S|(% style="text-align:center" %)QS|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |uS/s |For P action command

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| |[[**S**peed in **D**egrees>>||anchor="HSpeed28S2CSD29modifier"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |0.1°/s|For D and MD action commands

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| |[[**T**imed move>>||anchor="HTimedmove28T29modifier"]]|(% style="text-align:center" %)T|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |ms|Modifier only for P, D and MD. Time can change based on load

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| |[[**C**urrent **H**old>>||anchor="HCurrentHalt26Hold28CH29modifier"]]|(% style="text-align:center" %)CH|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mA|Modifier for D, MD, WD and WR

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| |[[**C**urrent **L**imp>>||anchor="HCurrentLimp28CL29modifier"]]|(% style="text-align:center" %)CL|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mA|Modifier for D, MD, WD and WR

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|(% colspan="10" style="color:orange; font-size:18px" %)[[**Telemetry**>>||anchor="HTelemetry"]]

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| |[[**Q**uery **V**oltage>>||anchor="HQueryVoltage28QV29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QV|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mV|

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| |[[**Q**uery **T**emperature>>||anchor="HQueryTemperature28QT29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |1/10°C|

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| |[[**Q**uery **C**urrent>>||anchor="HQueryCurrent28QC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QC|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mA|

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| |[[**Q**uery **M**odel **S**tring>>||anchor="HQueryModelString28QMS29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMS|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1)

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| |[[**Q**uery **F**irmware Version>>||anchor="HQueryFirmware28QF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |

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| |[[**Q**uery Serial **N**umber>>||anchor="HQuerySerialNumber28QN29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QN|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Returns the unique serial number for the servo

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|(% colspan="10" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="HRGBLED"]]

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| |[[**LED** Color>>||anchor="HLEDColor28LED29"]]|(% style="text-align:center" %)LED|(% style="text-align:center" %)QLED|(% style="text-align:center" %)CLED|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓| |0 to 7 integer|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White

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| |[[**C**onfigure **L**ED **B**linking>>||anchor="HConfigureLEDBlinking28CLB29"]]|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)CLB|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓| |0 to 63 integer|Reset required after change. See command for details.

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= (% style="color:inherit; font-family:inherit" %)Details(%%) =

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== (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) ==

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====== __Reset__ ======

Ex: #5RESET<cr><div class="wikimodel-emptyline"></div>

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This command does a "soft reset" and reverts all commands to those stored in EEPROM (i.e. configuration commands).

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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>>||anchor="HSession"]], note #2 for more details.<div class="wikimodel-emptyline"></div>

</div></div>

====== __Default & confirm__ ======

Ex: #5DEFAULT<cr><div class="wikimodel-emptyline"></div>

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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.<div class="wikimodel-emptyline"></div>

215

216

EX: #5DEFAULT<cr> followed by #5CONFIRM<cr><div class="wikimodel-emptyline"></div>

217

218

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.<div class="wikimodel-emptyline"></div>

219

220

**Note:** After the CONFIRM command is sent, the servo will automatically perform a RESET.<div class="wikimodel-emptyline"></div>

</div></div>

====== __Update & confirm__ ======

Ex: #5UPDATE<cr><div class="wikimodel-emptyline"></div>

229

230

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.<div class="wikimodel-emptyline"></div>

231

232

EX: #5UPDATE<cr> followed by #5CONFIRM<cr><div class="wikimodel-emptyline"></div>

233

234

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.<div class="wikimodel-emptyline"></div>

235

236

**Note:** After the CONFIRM command is sent, the servo will automatically perform a RESET.<div class="wikimodel-emptyline"></div>

</div></div>

====== __Confirm__ ======

Ex: #5CONFIRM<cr><div class="wikimodel-emptyline"></div>

245

246

This command is used to confirm changes after a Default or Update command.<div class="wikimodel-emptyline"></div>

247

248

**Note:** After the CONFIRM command is sent, the servo will automatically perform a RESET.<div class="wikimodel-emptyline"></div>

</div></div>

====== ======

====== __Identification Number (**ID**)__ ======

A servo's identification number cannot be set "on the fly" and must be configured via the CID command described below. The factory default ID number for all servos is 0. Since smart servos are intended to be daisy chained, in order to respond differently from one another, the user must set different identification numbers. Servos with the same ID and baud rate will all receive and react to the same commands.<div class="wikimodel-emptyline"></div>

259

260

Query Identification (**QID**)<div class="wikimodel-emptyline"></div>

261

262

EX: #254QID<cr> might return *QID5<cr><div class="wikimodel-emptyline"></div>

263

264

When using the broadcast query ID command, it is best to only have one servo connected and thus receive only one reply. This is useful when you are not sure of the servo's ID, but don't want to change it. Using the broadcast command (ID 254) with only one servo will have that servo reply with its ID number. Alternatively, pushing the button upon startup and temporarily setting the servo ID to 255 will still result in the servo responding with its "real" ID.<div class="wikimodel-emptyline"></div>

265

266

Configure ID (**CID**)<div class="wikimodel-emptyline"></div>

267

268

Ex: #4CID5<cr><div class="wikimodel-emptyline"></div>

269

270

Setting a servo's ID in EEPROM is done via the CID command. All servos connected to the same serial bus that have will be assigned that ID. In most situations each servo must be set a unique ID, which means each servo must be connected individually to the serial bus and receive a unique CID number. It is best to do this before the servos are added to an assembly. Numbered stickers are provided to distinguish each servo after their ID is set, though you are free to use whatever alternative method you like. The servo must be RESET or power cycled in order for the new ID to take effect.<div class="wikimodel-emptyline"></div>

</div></div>

====== __Baud Rate__ ======

A servo's baud rate cannot be set "on the fly" and must be configured via the CB command described below. The factory default baud rate for all servos is 115200. Since smart servos are intended to be daisy chained, in order to respond to the same serial command, all servos in a project should be set to the same baud rate. Setting different baud rates will have the servos respond differently and may create issues. Available baud rates are: 9600 bps, 19200 bps, 38400 bps, 57600 bps, 115.2 kbps, 230.4 kbps, 250.0 kbps, 460.8 kbps, 500.0 kbps, 750.0 kbps, 921.6 kbps. Servos are shipped with a baud rate set to 115200.<div class="wikimodel-emptyline"></div>

279

280

Query Baud Rate (**QB**)<div class="wikimodel-emptyline"></div>

281

282

Ex: #5QB<cr> might return *5QB115200<cr><div class="wikimodel-emptyline"></div>

283

284

Since the command to query the baud rate must be done at the servo's existing baud rate, it can simply be used to confirm the CB configuration command was correctly received before the servo is power cycled and the new baud rate takes effect.<div class="wikimodel-emptyline"></div>

285

286

Configure Baud Rate (**CB**)<div class="wikimodel-emptyline"></div>

287

288

**Important Note:** the servo's current session retains the given baud rate and the new baud rate will only take effect when the servo is power cycled / RESET.<div class="wikimodel-emptyline"></div>

289

290

Ex: #5CB9600<cr><div class="wikimodel-emptyline"></div>

291

292

Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.<div class="wikimodel-emptyline"></div>

</div></div>

====== __Automatic Baud Rate__ ======

This option allows the LSS to listen to it's serial input and select the right baudrate automatically.<div class="wikimodel-emptyline"></div>

301

302

Query Automatic Baud Rate (**QABR**)<div class="wikimodel-emptyline"></div>

303

304

Ex: #5QABR<cr> might return *5ABR0<cr><div class="wikimodel-emptyline"></div>

305

306

Enable Baud Rate (**ABR**)<div class="wikimodel-emptyline"></div>

307

308

Ex: #5QABR1<cr><div class="wikimodel-emptyline"></div>

309

Enable baudrate detection on first byte received after power-up.<div class="wikimodel-emptyline"></div>

310

311

Ex: #5QABR2,30<cr><div class="wikimodel-emptyline"></div>

312

Enable baudrate detection on first byte received after power-up. If no data for 30 seconds enable detection again on next byte.<div class="wikimodel-emptyline"></div>

313

314

Warning: ABR doesnt work well with LSS Config at the moment.<div class="wikimodel-emptyline"></div>

</div></div>

== Motion ==

====== __Position in Degrees (**D**)__ ======

Example: #5D1456<cr><div class="wikimodel-emptyline"></div>

325

326

This moves the servo to an angle of 145.6 degrees, where the center (0) position is centered. Negative values (ex. -176 representing -17.6 degrees) could also be used. A full circle would be from -1800 to 1800 degrees. A value of 2700 would be the same angle (absolute position) as -900, except the servo would move in a different direction. <div class="wikimodel-emptyline"></div>

327

328

Larger values are permitted and allow for multi-turn functionality using the concept of virtual position (explained above). <div class="wikimodel-emptyline"></div>

329

330

Query Position in Degrees (**QD**)<div class="wikimodel-emptyline"></div>

331

332

Example: #5QD<cr> might return *5QD132<cr><div class="wikimodel-emptyline"></div>

333

334

This means the servo is located at 13.2 degrees.<div class="wikimodel-emptyline"></div>

335

336

(% class="wikigeneratedid" id="H22.QueryTargetPositioninDegrees28QDT29" %)

337

Query Target Position in Degrees (**QDT**)<div class="wikimodel-emptyline"></div>

338

339

Ex: #5QDT<cr> might return *5QDT6783<cr><div class="wikimodel-emptyline"></div>

340

341

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.

====== __(Relative) Move in Degrees (**MD**)__ ======

Example: #5MD123<cr><div class="wikimodel-emptyline"></div>

350

351

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.

====== __Wheel Mode in Degrees (**WD**)__ ======

Ex: #5WD90<cr><div class="wikimodel-emptyline"></div>

360

361

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).<div class="wikimodel-emptyline"></div>

362

363

Query Wheel Mode in Degrees (**QWD**)<div class="wikimodel-emptyline"></div>

364

365

Ex: #5QWD<cr> might return *5QWD90<cr><div class="wikimodel-emptyline"></div>

366

367

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).

====== __Wheel Mode in RPM (**WR**)__ ======

Ex: #5WR40<cr><div class="wikimodel-emptyline"></div>

376

377

This command sets the servo to wheel mode where it will rotate in the desired direction at the selected rpm. Wheel mode (a.k.a. "continuous rotation") has the servo operate like a geared DC motor. The servo's maximum rpm cannot be set higher than its physical limit at a given voltage. The example above would have the servo rotate at 40 rpm clockwise (assuming factory default configurations).<div class="wikimodel-emptyline"></div>

378

379

Query Wheel Mode in RPM (**QWR**)<div class="wikimodel-emptyline"></div>

380

381

Ex: #5QWR<cr> might return *5QWR40<cr><div class="wikimodel-emptyline"></div>

382

383

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).

====== __Position in PWM (**P**)__ ======

Example: #5P2334<cr><div class="wikimodel-emptyline"></div>

392

393

The position in PWM pulses was retained in order to be backward compatible with the SSC-32 / 32U protocol. This relates the desired angle with an RC standard PWM signal and is further explained in the SSC-32 and [[SSC-32U manuals>>https://www.robotshop.com/media/files/pdf2/lynxmotion_ssc-32u_usb_user_guide.pdf#page=24]]. Without any modifications to configuration considered, and a ±90.0 degrees standard range where 1500 microseconds is centered, a PWM signal of 2334 would set the servo to 165.1 degrees. Valid values for P are [500, 2500]. Values outside this range are corrected / restricted to end points.<div class="wikimodel-emptyline"></div>

394

395

Query Position in Pulse (**QP**)<div class="wikimodel-emptyline"></div>

396

397

Example: #5QP<cr> might return *5QP2334<div class="wikimodel-emptyline"></div>

398

399

This command queries the current angular position in PWM "units". The user must take into consideration that the response includes any angular range and origin configurations in order to determine the actual angle.

400

Valid values for QP are {-500, [500, 2500], -2500}. Values outside the [500, 2500] range are given a negative corresponding end point value to indicate they are out of bounds (note that if the servo is physically located at one of the endpoints, it may return a negative number if it is a fraction of a degree beyond the position).

====== __(Relative) Move in PWM (**M**)__ ======

Example: #5M1500<cr><div class="wikimodel-emptyline"></div>

409

410

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.

====== __Raw Duty-cycle Move (**RDM**)__ ======

Example: #5RDM512<cr><div class="wikimodel-emptyline"></div>

419

420

The raw duty-cycle move command (or free move command) will rotate the servo at a specified duty cycle value in wheel mode (a.k.a. "continuous rotation") like a geared DC motor.<div class="wikimodel-emptyline"></div>

421

422

The duty values range from 0 to 1023. Negative values will rotate the servo in the opposite direction (for factory default a negative value would be counter clockwise).<div class="wikimodel-emptyline"></div>

423

424

Query Move in Duty-cycle (**QMD**)<div class="wikimodel-emptyline"></div>

425

426

Example: #5QMD<cr> might return *5QMD512<div class="wikimodel-emptyline"></div>

427

428

This command queries the raw duty-cycle move value. 512 value means that the motor is rotating at 50% duty-cycle.

====== __Query Status (**Q**)__ ======

The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.<div class="wikimodel-emptyline"></div>

437

438

Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.<div class="wikimodel-emptyline"></div>

</div></div>

|(% style="width:25px" %) |***Value returned (Q)**|**Status**|**Detailed description**

443

| |ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state

444

| |ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely

445

| |ex: *5Q2<cr>|2: Free moving|Servo is rotating in duty motion / free move using the RDM command

446

| |ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed

447

| |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed

448

| |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.

449

| |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will nornally be holding)

450

| |ex: *5Q7<cr>|7: Outside limits|{More details coming soon}

451

| |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting

452

| |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)

453

| |ex: *5Q10<cr>|10: Safe Mode|(((

454

A safety limit has been exceeded (temperature, peak current or extended high current draw).

455

456

Send a Q1 command to know which limit has been reached (described below).

)))

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.<div class="wikimodel-emptyline"></div>

</div></div>

|(% style="width:25px" %) |***Value returned (Q1)**|**Status**|**Detailed description**

466

| |ex: *5Q0<cr>|No limits have been passed|Nothing is wrong

467

| |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long

468

| |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source

469

| |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.

470

471

====== __Limp (**L**)__ ======

Example: #5L<cr><div class="wikimodel-emptyline"></div>

476

477

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>.

====== __Halt & Hold (**H**)__ ======

Example: #5H<cr><div class="wikimodel-emptyline"></div>

486

487

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.)

== Motion Setup ==

====== __Enable Motion Profile (**EM**)__ ======

EM1 (Enable Motion Profile #1) is the default mode of the LSS and is an easy way to control the servo's position with a single (serial) position command. This mode uses a trapezoidal motion profile which takes care of acceleration, constant speed travel and deceleration. Once the actual position is within a certain value of the target, it switches to a holding algorithm. The LSS commands for Angular Acceleration and Deceleration (AA/CAA/AD/CAD) Angular Stiffness (AS/CAS) and Angular holding stiffness (AH/CAH) affect this motion profile. Modifiers like SD/S and T can be used in EM1.<div class="wikimodel-emptyline"></div>

498

499

Ex: #5EM1<cr><div class="wikimodel-emptyline"></div>

500

501

This command enables a trapezoidal motion profile for servo #5 <div class="wikimodel-emptyline"></div>

502

503

Ex: #5EM0<cr><div class="wikimodel-emptyline"></div>

504

505

This command will disable the built-in trapezoidal motion profile. As such, the servo will move at full speed to the target position using the D/MD action commands. Modifiers like SD/S or T cannot be used in EM0 mode. By default the Filter Position Counter, or "FPC" is active in EM0 mode to smooth out its operation. EM0 is suggested for applications where an external controller will be determining all incremental intermediate positions of the servo's motion, effectively replacing a trajectory manager. To prevent having to send position commands continuously to reach the desired position in EM0/FPC active (FPC >= 2), an internal position engine (IPE) repeats the last position command. Note that in EM0 mode, the servo will effectively always be in status: Holding (if using the query status command).

Query Motion Profile (**QEM**)<div class="wikimodel-emptyline"></div>

510

511

Ex: #5QEM<cr> might return *5QEM1<cr><div class="wikimodel-emptyline"></div>

512

513

This command will query the motion profile. **0:** motion profile disabled / **1:** trapezoidal motion profile enabled.<div class="wikimodel-emptyline"></div>

514

515

Configure Motion Profile (**CEM**)<div class="wikimodel-emptyline"></div>

516

517

Ex: #5CEM0<cr><div class="wikimodel-emptyline"></div>

518

519

This command configures the motion profile and saves it in the EEPROM. The setting will be saved upon servo reset / power cycle.

====== __Filter Position Count (**FPC**)__ ======

The FPC value relates to the depth of a first order filter (exponential weighted average) over the position change. This has the effect of slowing down both acceleration and deceleration while still allowing the LSS to try to reach the desired position at maximum power at all times. A smaller FPC value will reduce the smoothing effect and a larger value will increase it. To prevent having to send position commands continuously to reach the desired position in EM0/FPC active (FPC >= 2), an internal position engine (IPE) has been put in place, which is also active by default.

528

529

Ex: #5FPC10<cr><div class="wikimodel-emptyline"></div>

530

This command allows the user to change the Filter Position Count value for that session. <div class="wikimodel-emptyline"></div>

531

532

Query Filter Position Count (**QFPC**)<div class="wikimodel-emptyline"></div>

533

534

Ex: #5QFPC<cr> might return *5QFPC10<cr><div class="wikimodel-emptyline"></div>

535

536

This command will query the Filter Position Count value.<div class="wikimodel-emptyline"></div>

537

538

Configure Filter Position Count (**CFPC**)<div class="wikimodel-emptyline"></div>

539

540

Ex: #5CFPC10<cr><div class="wikimodel-emptyline"></div>

541

542

This command configures the Filter Position Count value and saves it in the EEPROM. The setting will be saved upon servo reset / power cycle.

====== __Origin Offset (**O**)__ ======

Example: #5O2400<cr><div class="wikimodel-emptyline"></div>

551

552

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).<div class="wikimodel-emptyline"></div>

553

554

[[image:LSS-servo-default.jpg]]<div class="wikimodel-emptyline"></div>

555

556

In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:<div class="wikimodel-emptyline"></div>

557

558

[[image:LSS-servo-origin.jpg]]<div class="wikimodel-emptyline"></div>

559

560

Origin Offset Query (**QO**)<div class="wikimodel-emptyline"></div>

561

562

Example: #5QO<cr> might return *5QO-13<div class="wikimodel-emptyline"></div>

563

564

This allows you to query the angle (in tenths of degrees) of the origin in relation to the factory zero position. In this example, the new origin is at -1.3 degrees from the factory zero.<div class="wikimodel-emptyline"></div>

565

566

Configure Origin Offset (**CO**)<div class="wikimodel-emptyline"></div>

567

568

Example: #5CO-24<cr><div class="wikimodel-emptyline"></div>

569

570

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.

====== __Angular Range (**AR**)__ ======

Example: #5AR1800<cr><div class="wikimodel-emptyline"></div>

579

580

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:<div class="wikimodel-emptyline"></div>

581

582

[[image:LSS-servo-default.jpg]]<div class="wikimodel-emptyline"></div>

583

584

Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.<div class="wikimodel-emptyline"></div>

585

586

[[image:LSS-servo-ar.jpg]]<div class="wikimodel-emptyline"></div>

587

588

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:<div class="wikimodel-emptyline"></div>

589

590

[[image:LSS-servo-ar-o-1.jpg]]<div class="wikimodel-emptyline"></div>

591

592

Query Angular Range (**QAR**)<div class="wikimodel-emptyline"></div>

593

594

Example: #5QAR<cr> might return *5AR1800, indicating the total angular range is 180.0 degrees.<div class="wikimodel-emptyline"></div>

595

596

Configure Angular Range (**CAR**)<div class="wikimodel-emptyline"></div>

597

598

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.

====== __Angular Stiffness (**AS**)__ ======

The servo's rigidity / angular stiffness can be thought of as (though not identical to) a damped spring in which the value affects the stiffness and embodies how much, and how quickly the servo tried keep the requested position against changes. There are no units.<div class="wikimodel-emptyline"></div>

607

608

A higher value of "angular stiffness":<div class="wikimodel-emptyline"></div>

609

610

* The more torque will be applied to try to keep the desired position against external input / changes

611

* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position<div class="wikimodel-emptyline"></div>

612

613

A lower value on the other hand:<div class="wikimodel-emptyline"></div>

614

615

* Causes a slower acceleration to the travel speed, and a slower deceleration

616

* Allows the target position to deviate more from its position before additional torque is applied to bring it back<div class="wikimodel-emptyline"></div>

617

618

The default value for stiffness depending on the firmware may be 0 or 1. Greater values produce increasingly erratic behavior and the effect becomes extreme below -4 and above +4. Maximum values are -10 to +10.<div class="wikimodel-emptyline"></div>

619

620

Ex: #5AS-2<cr><div class="wikimodel-emptyline"></div>

621

622

This reduces the angular stiffness to -2 for that session, allowing the servo to deviate more around the desired position. This can be beneficial in many situations such as impacts (legged robots) where more of a "spring" effect is desired. Upon reset, the servo will use the value stored in memory, based on the last configuration command.<div class="wikimodel-emptyline"></div>

623

624

Ex: #5QAS<cr><div class="wikimodel-emptyline"></div>

625

626

Queries the value being used.<div class="wikimodel-emptyline"></div>

627

628

Ex: #5CAS-2<cr><div class="wikimodel-emptyline"></div>

629

630

Writes the desired angular stiffness value to EEPROM.

====== __Angular Holding Stiffness (**AH**)__ ======

The angular holding stiffness determines the servo's ability to hold a desired position under load. The default value for stiffness depending on the firmware may be 0 or 1. Greater values produce increasingly erratic behavior and the effect becomes extreme below -4 and above +4. Maximum values are -10 to +10.<div class="wikimodel-emptyline"></div>

639

640

Ex: #5AH3<cr><div class="wikimodel-emptyline"></div>

641

642

This sets the holding stiffness for servo #5 to 3 for that session.<div class="wikimodel-emptyline"></div>

643

644

Query Angular Holding Stiffness (**QAH**)<div class="wikimodel-emptyline"></div>

645

646

Ex: #5QAH<cr> might return *5QAH3<cr><div class="wikimodel-emptyline"></div>

647

648

This returns the servo's angular holding stiffness value.<div class="wikimodel-emptyline"></div>

649

650

Configure Angular Holding Stiffness (**CAH**)<div class="wikimodel-emptyline"></div>

651

652

Ex: #5CAH2<cr><div class="wikimodel-emptyline"></div>

653

654

This writes the angular holding stiffness of servo #5 to 2 to EEPROM.

====== __Angular Acceleration (**AA**)__ ======

The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.<div class="wikimodel-emptyline"></div>

663

664

Ex: #5AA30<cr><div class="wikimodel-emptyline"></div>

665

666

This sets the angular acceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).<div class="wikimodel-emptyline"></div>

667

668

Query Angular Acceleration (**QAA**)<div class="wikimodel-emptyline"></div>

669

670

Ex: #5QAA<cr> might return *5QAA30<cr><div class="wikimodel-emptyline"></div>

671

672

This returns the servo's angular acceleration in degrees per second squared (°/s^^2^^).<div class="wikimodel-emptyline"></div>

673

674

Configure Angular Acceleration (**CAA**)<div class="wikimodel-emptyline"></div>

675

676

Ex: #5CAA30<cr><div class="wikimodel-emptyline"></div>

677

678

This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.

====== __Angular Deceleration (**AD**)__ ======

The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.<div class="wikimodel-emptyline"></div>

687

688

Ex: #5AD30<cr><div class="wikimodel-emptyline"></div>

689

690

This sets the angular deceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).<div class="wikimodel-emptyline"></div>

691

692

Query Angular Deceleration (**QAD**)<div class="wikimodel-emptyline"></div>

693

694

Ex: #5QAD<cr> might return *5QAD30<cr><div class="wikimodel-emptyline"></div>

695

696

This returns the servo's angular deceleration in degrees per second squared (°/s^^2^^).<div class="wikimodel-emptyline"></div>

697

698

Configure Angular Deceleration (**CAD**)<div class="wikimodel-emptyline"></div>

699

700

Ex: #5CAD30<cr><div class="wikimodel-emptyline"></div>

701

702

This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.

====== __Gyre Direction (**G**)__ ======

"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.<div class="wikimodel-emptyline"></div>

711

712

Ex: #5G-1<cr><div class="wikimodel-emptyline"></div>

713

714

This command will cause servo #5's positions to be inverted, effectively causing the servo to rotate in the opposite direction given the same command. For example in a 2WD robot, servos are often physically installed back to back, therefore setting one of the servos to a negative gyration, the same wheel command (ex WR30) to both servos will cause the robot to move forward or backward rather than rotate.<div class="wikimodel-emptyline"></div>

715

716

Query Gyre Direction (**QG**)<div class="wikimodel-emptyline"></div>

717

718

Ex: #5QG<cr> might return *5QG-1<cr><div class="wikimodel-emptyline"></div>

719

720

The value returned above means the servo is in a counter-clockwise gyration. Sending a #5WR30 command will rotate the servo in a counter-clockwise gyration at 30 RPM.<div class="wikimodel-emptyline"></div>

721

722

Configure Gyre (**CG**)<div class="wikimodel-emptyline"></div>

723

724

Ex: #5CG-1<cr><div class="wikimodel-emptyline"></div>

725

726

This changes the gyre direction as described above and also writes to EEPROM.

====== __First Position__ ======

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. <div class="wikimodel-emptyline"></div>

735

736

Query First Position in Degrees (**QFD**)<div class="wikimodel-emptyline"></div>

737

738

Ex: #5QFD<cr> might return *5QFD900<cr> <div class="wikimodel-emptyline"></div>

739

740

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.<div class="wikimodel-emptyline"></div>

741

742

Configure First Position in Degrees (**CFD**)<div class="wikimodel-emptyline"></div>

743

744

Ex: #5CFD900<cr><div class="wikimodel-emptyline"></div>

745

746

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>

====== __Maximum Motor Duty (**MMD**)__ ======

This command allows the user to limit the duty cycle value sent from the servo's MCU to the DC Motor driver. The duty cycle limit value can be within the range of 255 to 1023. The default value is 1023. A typical use-case for this command is active compliance.<div class="wikimodel-emptyline"></div>

755

756

Ex: #5MMD512<cr><div class="wikimodel-emptyline"></div>

757

758

This will set the duty-cycle to 512 for servo with ID 5 for that session.<div class="wikimodel-emptyline"></div>

759

760

Query Maximum Motor Duty (**QMMD**)<div class="wikimodel-emptyline"></div>

761

762

Ex: #5QMMDD<cr> might return *5QMMD512<cr> <div class="wikimodel-emptyline"></div>

763

764

This command returns the configured limit of the duty cycle value sent from the servo's MCU to the Motor Controller. The default value is 1023.

====== __Maximum Speed in Degrees (**SD**)__ ======

Ex: #5SD1800<cr><div class="wikimodel-emptyline"></div>

773

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.<div class="wikimodel-emptyline"></div>

774

775

Query Speed in Degrees (**QSD**)<div class="wikimodel-emptyline"></div>

776

777

Ex: #5QSD<cr> might return *5QSD1800<cr><div class="wikimodel-emptyline"></div>

778

779

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:<div class="wikimodel-emptyline"></div>

780

781

|**Command sent**|**Returned value (1/10 °)**

782

|ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)

783

|ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)

784

|ex: #5QSD2<cr>|Instantaneous speed (same as QWD)

785

|ex: #5QSD3<cr>|Target travel speed<div class="wikimodel-emptyline"></div>

786

787

Configure Speed in Degrees (**CSD**)<div class="wikimodel-emptyline"></div>

788

789

Ex: #5CSD1800<cr><div class="wikimodel-emptyline"></div>

790

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.<div class="wikimodel-emptyline"></div>

</div></div>

====== __Maximum Speed in RPM (**SR**)__ ======

Ex: #5SR45<cr><div class="wikimodel-emptyline"></div>

799

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.<div class="wikimodel-emptyline"></div>

800

801

Query Speed in RPM (**QSR**)<div class="wikimodel-emptyline"></div>

802

803

Ex: #5QSR<cr> might return *5QSR45<cr><div class="wikimodel-emptyline"></div>

804

805

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:<div class="wikimodel-emptyline"></div>

806

807

|**Command sent**|**Returned value (1/10 °)**

808

|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)

809

|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)

810

|ex: #5QSR2<cr>|Instantaneous speed (same as QWD)

811

|ex: #5QSR3<cr>|Target travel speed<div class="wikimodel-emptyline"></div>

812

813

Configure Speed in RPM (**CSR**)<div class="wikimodel-emptyline"></div>

814

815

Ex: #5CSR45<cr><div class="wikimodel-emptyline"></div>

816

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.<div class="wikimodel-emptyline"></div>

</div></div>

== Modifiers ==

====== __Speed (**S**, **SD**) modifier__ ======

Example: #5P1500S750<cr><div class="wikimodel-emptyline"></div>

827

Modifier (S) is only for a position (P) action and determines the speed of the move in microseconds per second. A speed of 750 microseconds would cause the servo to rotate from its current position to the desired position at a speed of 750 microseconds per second. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.<div class="wikimodel-emptyline"></div>

828

Example: #5D0SD180<cr><div class="wikimodel-emptyline"></div>

829

Modifier (SD) is only for a position (D) or relative position (MD) action and determines the speed of the move in tenths of degrees per second. A speed modifier (SD) of 180 would cause the servo to rotate from its current position to the desired absolute or relative position at a speed of 18 degrees per second.<div class="wikimodel-emptyline"></div>

830

Query Speed (**QS**)<div class="wikimodel-emptyline"></div>

831

Example: #5QS<cr> might return *5QS300<cr><div class="wikimodel-emptyline"></div>

832

This command queries the current speed in microseconds per second.<div class="wikimodel-emptyline"></div>

</div></div>

====== __Timed move (**T**) modifier__ ======

Example: #5P1500T2500<cr><div class="wikimodel-emptyline"></div>

841

842

Timed move can be used only as a modifier for a position (P, 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.<div class="wikimodel-emptyline"></div>

843

**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.<div class="wikimodel-emptyline"></div>

</div></div>

====== __Current Halt & Hold (**CH**) modifier__ ======

Example: #5D1423CH400<cr><div class="wikimodel-emptyline"></div>

852

853

This has servo with ID 5 move to 142.3 degrees but, should it detect a current of 400mA or higher before it reaches the desired position, will immediately halt and hold position.<div class="wikimodel-emptyline"></div>

854

This modifier can be added to the following actions: D; MD; WD; WR.<div class="wikimodel-emptyline"></div>

</div></div>

====== __Current Limp (**CL**) modifier__ ======

Example: #5D1423CL400<cr><div class="wikimodel-emptyline"></div>

863

864

This has servo with ID 5 move to 142.3 degrees but, should it detect a current of 400mA or higher before it reaches the desired position, will immediately go limp.<div class="wikimodel-emptyline"></div>

865

This modifier can be added to the following actions: D; MD; WD; WR.<div class="wikimodel-emptyline"></div>

</div></div>

== Telemetry ==

====== __Query Voltage (**QV**)__ ======

Ex: #5QV<cr> might return *5QV11200<cr><div class="wikimodel-emptyline"></div>

876

The number returned is in milliVolts, so in the case above, servo with ID 5 has an input voltage of 11.2V.<div class="wikimodel-emptyline"></div>

</div></div>

====== __Query Temperature (**QT**)__ ======

Ex: #5QT<cr> might return *5QT564<cr><div class="wikimodel-emptyline"></div>

885

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.<div class="wikimodel-emptyline"></div>

</div></div>

====== __Query Current (**QC**)__ ======

Ex: #5QC<cr> might return *5QC140<cr><div class="wikimodel-emptyline"></div>

894

The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.<div class="wikimodel-emptyline"></div>

</div></div>

====== __Query Model String (**QMS**)__ ======

Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr><div class="wikimodel-emptyline"></div>

903

This reply means that the servo model is LSS-HS1: a high speed servo, first revision.<div class="wikimodel-emptyline"></div>

</div></div>

====== __Query Firmware (**QF**)__ ======

Ex: #5QF<cr> might return *5QF368<cr><div class="wikimodel-emptyline"></div>

912

The number in the reply represents the firmware version, in this example being 368.<div class="wikimodel-emptyline"></div>

913

The command #5QF3<cr> can also be sent and the servo will reply with a 3 numbers firmware version, for example, 368.29.14<div class="wikimodel-emptyline"></div>

</div></div>

====== __Query Serial Number (**QN**)__ ======

Ex: #5QN<cr> might return *5QN12345678<cr><div class="wikimodel-emptyline"></div>

922

The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.<div class="wikimodel-emptyline"></div>

</div></div>

== RGB LED ==

====== __LED Color (**LED**)__ ======

Ex: #5LED3<cr><div class="wikimodel-emptyline"></div>

933

This action sets the servo's RGB LED color for that session.The LED can be used for aesthetics, or (based on user code) to provide visual status updates. Using timing can create patterns.<div class="wikimodel-emptyline"></div>

934

0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;<div class="wikimodel-emptyline"></div>

935

Query LED Color (**QLED**)<div class="wikimodel-emptyline"></div>

936

Ex: #5QLED<cr> might return *5QLED5<cr><div class="wikimodel-emptyline"></div>

937

This simple query returns the indicated servo's LED color.<div class="wikimodel-emptyline"></div>

938

Configure LED Color (**CLED**)<div class="wikimodel-emptyline"></div>

939

Ex: #5CLED3<cr><div class="wikimodel-emptyline"></div>

940

Configuring the LED color via the CLED command sets the startup color of the servo after a reset or power cycle. Note that it also changes the session's LED color immediately as well. The command above will configure the servo's LED to a Blue color.<div class="wikimodel-emptyline"></div>

</div></div>

====== __Configure LED Blinking (**CLB**)__ ======

This command allows you to control when the RGB LED will blink the user set color (see RGB LED command for details). This is very useful when visually seeing what the servo is doing. You can turn on or off blinking for various LSS status. The command requires that the servo be RESET. Here is the list and their associated value:<div class="wikimodel-emptyline"></div>

949

950

(% style="width:195px" %)

951

|(% style="width:134px" %)**Blink While:**|(% style="width:58px" %)**#**

952

|(% style="width:134px" %)No blinking|(% style="width:58px" %)0

953

|(% style="width:134px" %)Limp|(% style="width:58px" %)1

954

|(% style="width:134px" %)Holding|(% style="width:58px" %)2

955

|(% style="width:134px" %)Accelerating|(% style="width:58px" %)4

956

|(% style="width:134px" %)Decelerating|(% style="width:58px" %)8

957

|(% style="width:134px" %)Free|(% style="width:58px" %)16

958

|(% style="width:134px" %)Travelling|(% style="width:58px" %)32

959

|(% style="width:134px" %)Always blink|(% style="width:58px" %)63<div class="wikimodel-emptyline"></div>

960

961

To set blinking, use CLB with the value of your choosing. To activate blinking in multiple status, simply add together the values of the corresponding status. See examples below:<div class="wikimodel-emptyline"></div>

962

Ex: #5CLB0<cr> to turn off all blinking (LED always solid)<div class="wikimodel-emptyline"></div>

963

Ex: #5CLB1<cr> only blink when limp (1)<div class="wikimodel-emptyline"></div>

964

Ex: #5CLB2<cr> only blink when holding (2)<div class="wikimodel-emptyline"></div>

965

Ex: #5CLB12<cr> only blink when accel or decel (accel 4 + decel 8 = 12)<div class="wikimodel-emptyline"></div>

966

Ex: #5CLB48<cr> only blink when free or travel (free 16 + travel 32 = 48)<div class="wikimodel-emptyline"></div>

967

Ex: #5CLB63<cr> blink in all status (1 + 2 + 4 + 8 + 16 + 32)<div class="wikimodel-emptyline"></div>

968

RESETTING the servo is needed.<div class="wikimodel-emptyline"></div>

</div></div>

== RGB LED ==

The LED can be

Wiki source code of LSS-P - Communication Protocol

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