Wiki source code of LSS-P - Communication Protocol

Version 28.1 by Coleman Benson on 2023/07/25 15:05
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1 {{warningBox warningText="More information coming soon"/}}
2
3
4 (% class="wikigeneratedid" id="HTableofContents" %)
5 **Page Contents**
6
7 {{toc depth="3"/}}
8
9 = Serial Protocol =
10
11 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.
12
13 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.
14
15 = Action Commands =
16
17 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 and must be sent in the following format:
18
19 1. Start with a number sign **#** (Unicode Character: U+0023)
20 1. Servo ID number as an integer (assigning an ID described below)
21 1. Action command (one or more letters, no whitespace, capital or lowercase from the list below)
22 1. Action value in the correct units with no decimal
23 1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
24
25 (((
26 Ex: #5D130000<cr>
27
28 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.
29
30 == Modifiers ==
31
32 {{html clean="false" wiki="true"}}
33 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
34 Modifiers can only be used with certain **action commands**. The format to include a modifier is:<div class="wikimodel-emptyline"></div>
35
36 1. Start with a number sign **#** (Unicode Character: U+0023)
37 1. Servo ID number as an integer
38 1. Action command (one to three letters, no spaces, capital or lowercase from a subset of action commands below)
39 1. Action value in the correct units with no decimal
40 1. Modifier command (one or two letters from the list of modifiers below)
41 1. Modifier value in the correct units with no decimal
42 1. End with a carriage return **&#92;r** or **&lt;cr&gt;** Unicode Character (U+000D)
43
44 Ex: #5D13000T1500&lt;cr&gt;<div class="wikimodel-emptyline"></div>
45
46 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>
47 <div class="wikimodel-emptyline"></div></div></div>
48
49 <h2>Queries</h2>
50 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
51 Query commands request information from the servo. Query commands are also similar to action and configuration commands and must use the following format:<div class="wikimodel-emptyline"></div>
52
53 1. Start with a number sign **#** (Unicode Character: U+0023)
54 1. Servo ID number as an integer
55 1. Query command (one to four letters, no spaces, capital or lower case)
56 1. End with a carriage return **&#92;r** or **&lt;cr&gt;** Unicode Character (U+000D)<div class="wikimodel-emptyline"></div>
57
58 Ex: #5QD&lt;cr&gt; Query the position in (hundredths of) degrees for servo with ID #5<div class="wikimodel-emptyline"></div>
59
60 The query will return a serial string (almost instantaneously) via the servo's Tx in the following format:
61
62 1. Start with an asterisk * (Unicode Character: U+0023)
63 1. Servo ID number as an integer
64 1. Query command (one to four letters, no spaces, capital letters)
65 1. The reported value in the units described, no decimals.
66 1. End with a carriage return **&#92;r** or **&lt;cr&gt;** Unicode Character (U+000D)<div class="wikimodel-emptyline"></div>
67
68 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>
69
70 Ex: *5QD13000&lt;cr&gt;<div class="wikimodel-emptyline"></div>
71
72 This indicates that servo #5 is currently at 130.00 degrees (13000 tenths of degrees).
73 <div class="wikimodel-emptyline"></div></div></div>
74
75 <h2>Configurations</h2>
76
77 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
78 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>
79
80 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. 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>
81
82 The format to send a configuration command is identical to that of an action command:<div class="wikimodel-emptyline"></div>
83
84 1. Start with a number sign **#** (Unicode Character: U+0023)
85 1. Servo ID number as an integer
86 1. Configuration command (two to four letters, no spaces, capital or lower case)
87 1. Configuration value in the correct units with no decimal
88 1. End with a carriage return **&#92;r** or **&lt;cr&gt;** Unicode Character (U+000D)<div class="wikimodel-emptyline"></div>
89
90 Ex: #5CO-500&lt;cr&gt;<div class="wikimodel-emptyline"></div>
91
92 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 -5.00 degrees (500 hundredths of degrees). Once the servo is powered off and on, zeroing the servo will cause it to move to -5.00 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>
93
94 **Session vs Configuration Query**<div class="wikimodel-emptyline"></div>
95
96 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>
97
98 Ex: #5CSR10&lt;cr&gt; immediately sets the maximum speed for servo #5 to 10rpm (explained below) and changes the value in memory.<div class="wikimodel-emptyline"></div>
99
100 After RESET, a command of #5SR4&lt;cr&gt; sets the session's speed to 4rpm, but does not change the configuration value in memory. Therefore:<div class="wikimodel-emptyline"></div>
101
102 #5QSR&lt;cr&gt; or #5QSR0&lt;cr&gt; would return *5QSR4&lt;cr&gt; which represents the value for that session, whereas<div class="wikimodel-emptyline"></div>
103
104 #5QSR1&lt;cr&gt; would return *5QSR10&lt;cr&gt; which represents the value in EEPROM
105 <div class="wikimodel-emptyline"></div></div></div>
106
107 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
108 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).<div class="wikimodel-emptyline"></div>
109
110 [[image:LSS-servo-positions.jpg]]<div class="wikimodel-emptyline"></div>
111
112 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>
113
114 #1D-3000&lt;cr&gt; This causes the servo to move to -30.00 degrees (green arrow)<div class="wikimodel-emptyline"></div>
115
116 #1D21000&lt;cr&gt; This second position command is sent to the servo, which moves it to 210.00 degrees (orange arrow)<div class="wikimodel-emptyline"></div>
117
118 #1D-42000&lt;cr&gt; This next command rotates the servo counterclockwise to a position of -420.00 degrees (red arrow), which means one full rotation of 360 degrees plus 60.00 degrees (420.00 - 360.00), with a virtual position of -420.0 degrees.<div class="wikimodel-emptyline"></div>
119
120 Although the final physical position would be the same as if the servo were commanded to move to -60.00 degrees, the servo is in fact at -420.00 degrees.<div class="wikimodel-emptyline"></div>
121
122 #1D48000&lt;cr&gt; This new command is sent which would then cause the servo to rotate from -420.00 degrees to 480.00 degrees (blue arrow), which would be a total of 900 degrees of clockwise rotation, or 2.5 complete rotations.<div class="wikimodel-emptyline"></div>
123
124 #1D33000&lt;cr&gt; would cause the servo to rotate from 480.0 degrees to 330.00 degrees (yellow arrow).<div class="wikimodel-emptyline"></div>
125
126 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 480.00 degrees before power is cycled, upon power up the servo's position will be read as +120.00 degrees from zero (assuming center position has not been modified). The virtual position range at power-up is [-180.00°, 180.00°].
127 <div class="wikimodel-emptyline"></div></div></div>
128
129 {{/html}}
130 )))
131
132 = Command List =
133
134 **Latest firmware version currently : v0.0.780**
135
136 |(% colspan="8" style="color:orange; font-size:18px" %)[[**Communication Setup**>>||anchor="HCommunicationSetup"]]
137 |(% 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**
138 | |[[**Reset**>>||anchor="HReset"]]|(% style="text-align:center" %)RESET|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Soft reset. See command for details.
139 | |[[**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
140 | |[[Firmware **Update** Mode>>||anchor="HUpdate26confirm"]]|(% style="text-align:center" %)UPDATE|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Update firmware. See command for details.
141 | |[[**Confirm** Changes>>||anchor="HConfirm"]]|(% style="text-align:center" %)CONFIRM|(% style="text-align:center" %) |(% style="text-align:center" %) | | |
142 | |[[**E**nable CAN **T**erminal>>||anchor="HConfigureRCMode28CRC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QET|(% style="text-align:center" %)CET| |0 or 1|0: Disable  1: Enable
143 | |[[**ID** Number >>||anchor="HIdentificationNumber28ID29"]]|(% 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.
144 | |[[**U**SB **C**onnection State>>||anchor="HBaudRate"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QUC|(% style="text-align:center" %) | |0 or 1|0: Not connected 1: Connected
145 | |**Q**uery **F**irmware **R**elease|(% style="text-align:center" %) |(% style="text-align:center" %)QFR|(% style="text-align:center" %) | | |
146
147 |(% colspan="8" style="color:orange; font-size:18px" %)[[**Motion**>>||anchor="HMotion"]]
148 |(% 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**
149 | |[[Position in **D**egrees>>||anchor="HPositioninDegrees28D29"]]|(% style="text-align:center" %)D|(% style="text-align:center" %)QD/QDT|(% style="text-align:center" %) | |1/100°|
150 | |[[**M**ove in **D**egrees (relative)>>||anchor="H28Relative29MoveinDegrees28MD29"]]|(% style="text-align:center" %)MD|(% style="text-align:center" %) |(% style="text-align:center" %) | |1/100°|
151 | |[[**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"
152 | |[[**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"
153 | |[[**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
154 | |[[**L**imp>>||anchor="HLimp28L29"]]|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Removes power from stepper coils
155 | |[[**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
156
157 |(% colspan="8" style="color:orange; font-size:18px" %)[[**Motion Setup**>>||anchor="HMotionSetup"]]
158 |(% 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**
159 | |[[**E**nable **M**otion Profile>>||anchor="HEnableMotionProfile28EM29"]]|(% style="text-align:center" %)EM|(% style="text-align:center" %)QEM|(% style="text-align:center" %)CEM|1| |EM1: trapezoidal motion profile / EM0: no motion profile
160 | |[[**F**ilter **P**osition **C**ount>>||anchor="HFilterPositionCount28FPC29"]]|(% style="text-align:center" %)FPC|(% style="text-align:center" %)QFPC|(% style="text-align:center" %)CFPC|5| |Affects motion only when motion profile is disabled (EM0)
161 | |[[**O**rigin Offset>>||anchor="HOriginOffset28O29"]]|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|0|1/10°|
162 | |[[**A**ngular **R**ange>>||anchor="HAngularRange28AR29"]]|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|1800|1/10°|
163 | |[[**A**ngular **S**tiffness>>||anchor="HAngularStiffness28AS29"]]|(% style="text-align:center" %)AS|(% style="text-align:center" %)QAS|(% style="text-align:center" %)CAS|0|-4 to +4 integer|Suggested values are between 0 to +4
164 | |[[**A**ngular **H**olding Stiffness>>||anchor="HAngularHoldingStiffness28AH29"]]|(% style="text-align:center" %)AH|(% style="text-align:center" %)QAH|(% style="text-align:center" %)CAH|4|-10 to +10 integer|
165 | |[[**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).
166 | |[[**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).
167 | |[[**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)
168 | |[[**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.
169 | |[[**M**aximum **M**otor **D**uty>>||anchor="HMaximumMotorDuty28MMD29"]]|(% style="text-align:center" %)MMD|(% style="text-align:center" %)QMMD|(% style="text-align:center" %) |1023|255 to 1023 integer|
170 | |[[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
171 | |[[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
172
173 |(% colspan="8" style="color:orange; font-size:18px" %)[[**Modifiers**>>||anchor="HModifiers"]]
174 |(% 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**
175 | |[[**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
176 | |[[**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
177
178 |(% colspan="8" style="color:orange; font-size:18px" %)[[**Telemetry**>>||anchor="HTelemetry"]]
179 |(% 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**
180 | |[[**Q**uery PCB **T**emperature>>||anchor="HQueryTemperature28QT29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) | |°C|
181 | |[[**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.
182 | |[[**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)
183 | |[[**Q**uery **F**irmware Version>>||anchor="HQueryFirmware28QF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | | |
184 | |[[**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
185 | |**Q**uery **T**emperature **P**robe|(% style="text-align:center" %) |(% style="text-align:center" %)QTP|(% style="text-align:center" %) | | |Queries temperature probe fixed to stepper motor
186 | |**Q**uery **T**emp of **C**ontroller|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW, QTCE|(% style="text-align:center" %) | | |(((
187 QTCW: Queries the temperature status of the motor controller (pre-warning)
188
189 QTCE: Queries the temperature status of the motor controller (over-temp error)
190 )))
191 | |**Q**uery **C**urrent **S**peed |(% style="text-align:center" %) |(% style="text-align:center" %)QCS|(% style="text-align:center" %) | | |Queries the motor controller's calculated speed
192 | |**Q**uery **I**MU Linear **X**|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |mm/s^2|
193 | |**Q**uery **I**MU Linear **Y**|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |mm/s^2|
194 | |**Q**uery **I**MU Linear **Z**|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |mm/s^2|
195 | |**Q**uery **I**MU Angular Accel **α** |(% style="text-align:center" %) |(% style="text-align:center" %)QIA|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel α (Alpha)
196 | |**Q**uery **I**MU Angular Accel **β**|(% style="text-align:center" %) |(% style="text-align:center" %)QIB|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel β (Beta)
197 | |**Q**uery **I**MU Angular Accel **γ**|(% style="text-align:center" %) |(% style="text-align:center" %)QIC / QIG|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel γ (Gamma)
198
199 |(% colspan="8" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="HRGBLED"]]
200 |(% 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**
201 | |[[**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
202 | |[[**C**onfigure **L**ED **B**linking>>||anchor="HConfigureLEDBlinking28CLB29"]]|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)CLB| |0 to 63 integer|Reset required after change. See command for details.
203
204 = (% style="color:inherit; font-family:inherit" %)Details(%%) =
205
206 == (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) ==
207
208
209 ====== ======
210
211 == Motion ==
212
213 ====== __Position in Degrees (**D**)__ ======
214
215
216 Example: #5D1456<cr>
217
218 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.
219
220 Larger values are permitted and allow for multi-turn functionality using the concept of virtual position (explained above).
221
222 Query Position in Degrees (**QD**)
223
224 Example: #5QD<cr> might return *5QD132<cr>
225
226 This means the servo is located at 13.2 degrees.
227
228 Query Target Position in Degrees (**QDT**)
229
230 Ex: #5QDT<cr> might return *5QDT6783<cr>
231
232 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.
233
234 ====== __(Relative) Move in Degrees (**MD**)__ ======
235
236
237 Example: #5MD123<cr>
238
239 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.
240
241 ====== __Wheel Mode in Degrees (**WD**)__ ======
242
243
244 Ex: #5WD90<cr>
245
246 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).
247
248 Query Wheel Mode in Degrees (**QWD**)
249
250 Ex: #5QWD<cr> might return *5QWD90<cr>
251
252 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).
253
254 ====== __Wheel Mode in RPM (**WR**)__ ======
255
256
257 Ex: #5WR40<cr>
258
259 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).
260
261 Query Wheel Mode in RPM (**QWR**)
262
263 Ex: #5QWR<cr> might return *5QWR40<cr>
264
265 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).
266
267 ====== ======
268
269 ====== __(Relative) Move in Degrees (**MD**)__ ======
270
271 ======
272 Example: #5M1500<cr> ======
273
274 (% class="wikigeneratedid" %)
275 ====== 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. ======
276
277 ====== __Query Status (**Q**)__ ======
278
279
280 The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
281
282 Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
283
284 |(% style="width:25px" %) |***Value returned (Q)**|**Status**|**Detailed description**
285 | |ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state
286 | |ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely
287 | |ex: *5Q2<cr>|2: Free moving|Servo is rotating in duty motion / free move using the RDM command
288 | |ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
289 | |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
290 | |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
291 | |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will nornally be holding)
292 | |ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
293 | |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
294 | |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
295 | |ex: *5Q10<cr>|10: Safe Mode|(((
296 A safety limit has been exceeded (temperature, peak current or extended high current draw).
297
298 Send a Q1 command to know which limit has been reached (described below).
299 )))
300
301 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.
302
303
304 |(% style="width:25px" %) |***Value returned (Q1)**|**Status**|**Detailed description**
305 | |ex: *5Q0<cr>|No limits have been passed|Nothing is wrong
306 | |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
307 | |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
308 | |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
309
310 ====== __Limp (**L**)__ ======
311
312
313 Example: #5L<cr>
314
315 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>.
316
317 ====== __Halt & Hold (**H**)__ ======
318
319
320 Example: #5H<cr>
321
322 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.)
323
324 == Motion Setup ==
325
326 ====== __Enable Motion Profile (**EM**)__ ======
327
328 {{html clean="false" wiki="true"}}
329 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
330 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>
331
332 Ex: #5EM1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
333
334 This command enables a trapezoidal motion profile for servo #5 <div class="wikimodel-emptyline"></div>
335
336 Ex: #5EM0&lt;cr&gt;<div class="wikimodel-emptyline"></div>
337
338 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).
339
340 <div class="wikimodel-emptyline"></div>
341
342 Query Motion Profile (**QEM**)<div class="wikimodel-emptyline"></div>
343
344 Ex: #5QEM&lt;cr&gt; might return *5QEM1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
345
346 This command will query the motion profile. **0:** motion profile disabled / **1:** trapezoidal motion profile enabled.<div class="wikimodel-emptyline"></div>
347
348 Configure Motion Profile (**CEM**)<div class="wikimodel-emptyline"></div>
349
350 Ex: #5CEM0&lt;cr&gt;<div class="wikimodel-emptyline"></div>
351
352 This command configures the motion profile and saves it in the EEPROM. The setting will be saved upon servo reset / power cycle.
353 <div class="wikimodel-emptyline"></div></div></div>
354 {{/html}}
355
356 ====== __Filter Position Count (**FPC**)__ ======
357
358 {{html clean="false" wiki="true"}}
359 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
360 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.
361 <div class="wikimodel-emptyline"></div>
362 Ex: #5FPC10&lt;cr&gt;<div class="wikimodel-emptyline"></div>
363 This command allows the user to change the Filter Position Count value for that session. <div class="wikimodel-emptyline"></div>
364
365 Query Filter Position Count (**QFPC**)<div class="wikimodel-emptyline"></div>
366
367 Ex: #5QFPC&lt;cr&gt; might return *5QFPC10&lt;cr&gt;<div class="wikimodel-emptyline"></div>
368
369 This command will query the Filter Position Count value.<div class="wikimodel-emptyline"></div>
370
371 Configure Filter Position Count (**CFPC**)<div class="wikimodel-emptyline"></div>
372
373 Ex: #5CFPC10&lt;cr&gt;<div class="wikimodel-emptyline"></div>
374
375 This command configures the Filter Position Count value and saves it in the EEPROM. The setting will be saved upon servo reset / power cycle.
376 <div class="wikimodel-emptyline"></div></div></div>
377 {{/html}}
378
379 ====== __Origin Offset (**O**)__ ======
380
381 {{html wiki="true" clean="false"}}
382 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
383 Example: #5O2400&lt;cr&gt;<div class="wikimodel-emptyline"></div>
384
385 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>
386
387 [[image:LSS-servo-default.jpg]]<div class="wikimodel-emptyline"></div>
388
389 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>
390
391 [[image:LSS-servo-origin.jpg]]<div class="wikimodel-emptyline"></div>
392
393 Origin Offset Query (**QO**)<div class="wikimodel-emptyline"></div>
394
395 Example: #5QO&lt;cr&gt; might return *5QO-13<div class="wikimodel-emptyline"></div>
396
397 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>
398
399 Configure Origin Offset (**CO**)<div class="wikimodel-emptyline"></div>
400
401 Example: #5CO-24&lt;cr&gt;<div class="wikimodel-emptyline"></div>
402
403 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.
404 <div class="wikimodel-emptyline"></div></div></div>
405 {{/html}}
406
407 ====== __Angular Range (**AR**)__ ======
408
409 {{html wiki="true" clean="false"}}
410 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
411 Example: #5AR1800&lt;cr&gt;<div class="wikimodel-emptyline"></div>
412
413 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>
414
415 [[image:LSS-servo-default.jpg]]<div class="wikimodel-emptyline"></div>
416
417 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>
418
419 [[image:LSS-servo-ar.jpg]]<div class="wikimodel-emptyline"></div>
420
421 Finally, the angular range action command (ex. #5AR1800&lt;cr&gt;) and origin offset action command (ex. #5O-1200&lt;cr&gt;) are used to move both the center and limit the angular range:<div class="wikimodel-emptyline"></div>
422
423 [[image:LSS-servo-ar-o-1.jpg]]<div class="wikimodel-emptyline"></div>
424
425 Query Angular Range (**QAR**)<div class="wikimodel-emptyline"></div>
426
427 Example: #5QAR&lt;cr&gt; might return *5AR1800, indicating the total angular range is 180.0 degrees.<div class="wikimodel-emptyline"></div>
428
429 Configure Angular Range (**CAR**)<div class="wikimodel-emptyline"></div>
430
431 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.
432 <div class="wikimodel-emptyline"></div></div></div>
433 {{/html}}
434
435 ====== __Angular Stiffness (**AS**)__ ======
436
437 {{html wiki="true" clean="false"}}
438 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
439 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>
440
441 A higher value of "angular stiffness":<div class="wikimodel-emptyline"></div>
442
443 * The more torque will be applied to try to keep the desired position against external input / changes
444 * 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>
445
446 A lower value on the other hand:<div class="wikimodel-emptyline"></div>
447
448 * Causes a slower acceleration to the travel speed, and a slower deceleration
449 * Allows the target position to deviate more from its position before additional torque is applied to bring it back<div class="wikimodel-emptyline"></div>
450
451 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>
452
453 Ex: #5AS-2&lt;cr&gt;<div class="wikimodel-emptyline"></div>
454
455 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>
456
457 Ex: #5QAS&lt;cr&gt;<div class="wikimodel-emptyline"></div>
458
459 Queries the value being used.<div class="wikimodel-emptyline"></div>
460
461 Ex: #5CAS-2&lt;cr&gt;<div class="wikimodel-emptyline"></div>
462
463 Writes the desired angular stiffness value to EEPROM.
464 <div class="wikimodel-emptyline"></div></div></div>
465 {{/html}}
466
467 ====== __Angular Holding Stiffness (**AH**)__ ======
468
469 {{html wiki="true" clean="false"}}
470 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
471 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>
472
473 Ex: #5AH3&lt;cr&gt;<div class="wikimodel-emptyline"></div>
474
475 This sets the holding stiffness for servo #5 to 3 for that session.<div class="wikimodel-emptyline"></div>
476
477 Query Angular Holding Stiffness (**QAH**)<div class="wikimodel-emptyline"></div>
478
479 Ex: #5QAH&lt;cr&gt; might return *5QAH3&lt;cr&gt;<div class="wikimodel-emptyline"></div>
480
481 This returns the servo's angular holding stiffness value.<div class="wikimodel-emptyline"></div>
482
483 Configure Angular Holding Stiffness (**CAH**)<div class="wikimodel-emptyline"></div>
484
485 Ex: #5CAH2&lt;cr&gt;<div class="wikimodel-emptyline"></div>
486
487 This writes the angular holding stiffness of servo #5 to 2 to EEPROM.
488 <div class="wikimodel-emptyline"></div></div></div>
489 {{/html}}
490
491 ====== __Angular Acceleration (**AA**)__ ======
492
493 {{html wiki="true" clean="false"}}
494 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
495 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>
496
497 Ex: #5AA30&lt;cr&gt;<div class="wikimodel-emptyline"></div>
498
499 This sets the angular acceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).<div class="wikimodel-emptyline"></div>
500
501 Query Angular Acceleration (**QAA**)<div class="wikimodel-emptyline"></div>
502
503 Ex: #5QAA&lt;cr&gt; might return *5QAA30&lt;cr&gt;<div class="wikimodel-emptyline"></div>
504
505 This returns the servo's angular acceleration in degrees per second squared (°/s^^2^^).<div class="wikimodel-emptyline"></div>
506
507 Configure Angular Acceleration (**CAA**)<div class="wikimodel-emptyline"></div>
508
509 Ex: #5CAA30&lt;cr&gt;<div class="wikimodel-emptyline"></div>
510
511 This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
512 <div class="wikimodel-emptyline"></div></div></div>
513 {{/html}}
514
515 ====== __Angular Deceleration (**AD**)__ ======
516
517 {{html wiki="true" clean="false"}}
518 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
519 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>
520
521 Ex: #5AD30&lt;cr&gt;<div class="wikimodel-emptyline"></div>
522
523 This sets the angular deceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).<div class="wikimodel-emptyline"></div>
524
525 Query Angular Deceleration (**QAD**)<div class="wikimodel-emptyline"></div>
526
527 Ex: #5QAD&lt;cr&gt; might return *5QAD30&lt;cr&gt;<div class="wikimodel-emptyline"></div>
528
529 This returns the servo's angular deceleration in degrees per second squared (°/s^^2^^).<div class="wikimodel-emptyline"></div>
530
531 Configure Angular Deceleration (**CAD**)<div class="wikimodel-emptyline"></div>
532
533 Ex: #5CAD30&lt;cr&gt;<div class="wikimodel-emptyline"></div>
534
535 This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
536 <div class="wikimodel-emptyline"></div></div></div>
537 {{/html}}
538
539 ====== __Gyre Direction (**G**)__ ======
540
541 {{html wiki="true" clean="false"}}
542 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
543 "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>
544
545 Ex: #5G-1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
546
547 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>
548
549 Query Gyre Direction (**QG**)<div class="wikimodel-emptyline"></div>
550
551 Ex: #5QG&lt;cr&gt; might return *5QG-1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
552
553 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>
554
555 Configure Gyre (**CG**)<div class="wikimodel-emptyline"></div>
556
557 Ex: #5CG-1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
558
559 This changes the gyre direction as described above and also writes to EEPROM.
560 <div class="wikimodel-emptyline"></div></div></div>
561 {{/html}}
562
563 ====== __First Position__ ======
564
565 {{html wiki="true" clean="false"}}
566 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
567 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>
568
569 Query First Position in Degrees (**QFD**)<div class="wikimodel-emptyline"></div>
570
571 Ex: #5QFD&lt;cr&gt; might return *5QFD900&lt;cr&gt; <div class="wikimodel-emptyline"></div>
572
573 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>
574
575 Configure First Position in Degrees (**CFD**)<div class="wikimodel-emptyline"></div>
576
577 Ex: #5CFD900&lt;cr&gt;<div class="wikimodel-emptyline"></div>
578
579 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&lt;cr&gt;) results in the servo remaining limp upon power up. In order to remove the first position, send no value, ex: #5CFD&lt;cr&gt;
580 <div class="wikimodel-emptyline"></div></div></div>
581 {{/html}}
582
583 ====== __Maximum Motor Duty (**MMD**)__ ======
584
585 {{html wiki="true" clean="false"}}
586 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
587 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>
588
589 Ex: #5MMD512&lt;cr&gt;<div class="wikimodel-emptyline"></div>
590
591 This will set the duty-cycle to 512 for servo with ID 5 for that session.<div class="wikimodel-emptyline"></div>
592
593 Query Maximum Motor Duty (**QMMD**)<div class="wikimodel-emptyline"></div>
594
595 Ex: #5QMMDD&lt;cr&gt; might return *5QMMD512&lt;cr&gt; <div class="wikimodel-emptyline"></div>
596
597 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.
598 <div class="wikimodel-emptyline"></div></div></div>
599 {{/html}}
600
601 ====== __Maximum Speed in Degrees (**SD**)__ ======
602
603 {{html wiki="true" clean="false"}}
604 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
605 Ex: #5SD1800&lt;cr&gt;<div class="wikimodel-emptyline"></div>
606 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>
607
608 Query Speed in Degrees (**QSD**)<div class="wikimodel-emptyline"></div>
609
610 Ex: #5QSD&lt;cr&gt; might return *5QSD1800&lt;cr&gt;<div class="wikimodel-emptyline"></div>
611
612 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&lt;cr&gt; 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>
613
614 |**Command sent**|**Returned value (1/10 °)**
615 |ex: #5QSD&lt;cr&gt;|Session value for maximum speed (set by latest SD/SR command)
616 |ex: #5QSD1&lt;cr&gt;|Configured maximum speed in EEPROM (set by CSD/CSR)
617 |ex: #5QSD2&lt;cr&gt;|Instantaneous speed (same as QWD)
618 |ex: #5QSD3&lt;cr&gt;|Target travel speed<div class="wikimodel-emptyline"></div>
619
620 Configure Speed in Degrees (**CSD**)<div class="wikimodel-emptyline"></div>
621
622 Ex: #5CSD1800&lt;cr&gt;<div class="wikimodel-emptyline"></div>
623 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>
624 </div></div>
625 {{/html}}
626
627 ====== __Maximum Speed in RPM (**SR**)__ ======
628
629 {{html wiki="true" clean="false"}}
630 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
631 Ex: #5SR45&lt;cr&gt;<div class="wikimodel-emptyline"></div>
632 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>
633
634 Query Speed in RPM (**QSR**)<div class="wikimodel-emptyline"></div>
635
636 Ex: #5QSR&lt;cr&gt; might return *5QSR45&lt;cr&gt;<div class="wikimodel-emptyline"></div>
637
638 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&lt;cr&gt; 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>
639
640 |**Command sent**|**Returned value (1/10 °)**
641 |ex: #5QSR&lt;cr&gt;|Session value for maximum speed (set by latest SD/SR command)
642 |ex: #5QSR1&lt;cr&gt;|Configured maximum speed in EEPROM (set by CSD/CSR)
643 |ex: #5QSR2&lt;cr&gt;|Instantaneous speed (same as QWD)
644 |ex: #5QSR3&lt;cr&gt;|Target travel speed<div class="wikimodel-emptyline"></div>
645
646 Configure Speed in RPM (**CSR**)<div class="wikimodel-emptyline"></div>
647
648 Ex: #5CSR45&lt;cr&gt;<div class="wikimodel-emptyline"></div>
649 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>
650 </div></div>
651 {{/html}}
652
653 == Modifiers ==
654
655 ====== __Speed (**S**, **SD**) modifier__ ======
656
657 {{html clean="false" wiki="true"}}
658 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
659 Example: #5P1500S750&lt;cr&gt;<div class="wikimodel-emptyline"></div>
660 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>
661 Example: #5D0SD180&lt;cr&gt;<div class="wikimodel-emptyline"></div>
662 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>
663 Query Speed (**QS**)<div class="wikimodel-emptyline"></div>
664 Example: #5QS&lt;cr&gt; might return *5QS300&lt;cr&gt;<div class="wikimodel-emptyline"></div>
665 This command queries the current speed in microseconds per second.<div class="wikimodel-emptyline"></div>
666 </div></div>
667 {{/html}}
668
669 ====== __Timed move (**T**) modifier__ ======
670
671 {{html wiki="true" clean="false"}}
672 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
673 Example: #5P1500T2500&lt;cr&gt;<div class="wikimodel-emptyline"></div>
674
675 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>
676 **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>
677 </div></div>
678 {{/html}}
679
680 ====== __Current Halt & Hold (**CH**) modifier__ ======
681
682 {{html wiki="true" clean="false"}}
683 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
684 Example: #5D1423CH400&lt;cr&gt;<div class="wikimodel-emptyline"></div>
685
686 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>
687 This modifier can be added to the following actions: D; MD; WD; WR.<div class="wikimodel-emptyline"></div>
688 </div></div>
689 {{/html}}
690
691 ====== __Current Limp (**CL**) modifier__ ======
692
693 {{html wiki="true" clean="false"}}
694 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
695 Example: #5D1423CL400&lt;cr&gt;<div class="wikimodel-emptyline"></div>
696
697 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>
698 This modifier can be added to the following actions: D; MD; WD; WR.<div class="wikimodel-emptyline"></div>
699 </div></div>
700 {{/html}}
701
702 == Telemetry ==
703
704 ====== __Query Voltage (**QV**)__ ======
705
706 {{html wiki="true" clean="false"}}
707 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
708 Ex: #5QV&lt;cr&gt; might return *5QV11200&lt;cr&gt;<div class="wikimodel-emptyline"></div>
709 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>
710 </div></div>
711 {{/html}}
712
713 ====== __Query Temperature (**QT**)__ ======
714
715 {{html wiki="true" clean="false"}}
716 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
717 Ex: #5QT&lt;cr&gt; might return *5QT564&lt;cr&gt;<div class="wikimodel-emptyline"></div>
718 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>
719 </div></div>
720 {{/html}}
721
722 ====== __Query Current (**QC**)__ ======
723
724 {{html wiki="true" clean="false"}}
725 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
726 Ex: #5QC&lt;cr&gt; might return *5QC140&lt;cr&gt;<div class="wikimodel-emptyline"></div>
727 The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.<div class="wikimodel-emptyline"></div>
728 </div></div>
729 {{/html}}
730
731 ====== __Query Model String (**QMS**)__ ======
732
733 {{html wiki="true" clean="false"}}
734 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
735 Ex: #5QMS&lt;cr&gt; might return *5QMSLSS-HS1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
736 This reply means that the servo model is LSS-HS1: a high speed servo, first revision.<div class="wikimodel-emptyline"></div>
737 </div></div>
738 {{/html}}
739
740 ====== __Query Firmware (**QF**)__ ======
741
742 {{html wiki="true" clean="false"}}
743 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
744 Ex: #5QF&lt;cr&gt; might return *5QF368&lt;cr&gt;<div class="wikimodel-emptyline"></div>
745 The number in the reply represents the firmware version, in this example being 368.<div class="wikimodel-emptyline"></div>
746 The command #5QF3&lt;cr&gt; 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>
747 </div></div>
748 {{/html}}
749
750 ====== __Query Serial Number (**QN**)__ ======
751
752 {{html wiki="true" clean="false"}}
753 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
754 Ex: #5QN&lt;cr&gt; might return *5QN12345678&lt;cr&gt;<div class="wikimodel-emptyline"></div>
755 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>
756 </div></div>
757 {{/html}}
758
759 == RGB LED ==
760
761 ====== __LED Color (**LED**)__ ======
762
763 {{html wiki="true" clean="false"}}
764 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
765 Ex: #5LED3&lt;cr&gt;<div class="wikimodel-emptyline"></div>
766 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>
767 0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;<div class="wikimodel-emptyline"></div>
768 Query LED Color (**QLED**)<div class="wikimodel-emptyline"></div>
769 Ex: #5QLED&lt;cr&gt; might return *5QLED5&lt;cr&gt;<div class="wikimodel-emptyline"></div>
770 This simple query returns the indicated servo's LED color.<div class="wikimodel-emptyline"></div>
771 Configure LED Color (**CLED**)<div class="wikimodel-emptyline"></div>
772 Ex: #5CLED3&lt;cr&gt;<div class="wikimodel-emptyline"></div>
773 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>
774 </div></div>
775 {{/html}}
776
777 ====== __Configure LED Blinking (**CLB**)__ ======
778
779 {{html wiki="true" clean="false"}}
780 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
781 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>
782
783 (% style="width:195px" %)
784 |(% style="width:134px" %)**Blink While:**|(% style="width:58px" %)**#**
785 |(% style="width:134px" %)No blinking|(% style="width:58px" %)0
786 |(% style="width:134px" %)Limp|(% style="width:58px" %)1
787 |(% style="width:134px" %)Holding|(% style="width:58px" %)2
788 |(% style="width:134px" %)Accelerating|(% style="width:58px" %)4
789 |(% style="width:134px" %)Decelerating|(% style="width:58px" %)8
790 |(% style="width:134px" %)Free|(% style="width:58px" %)16
791 |(% style="width:134px" %)Travelling|(% style="width:58px" %)32
792 |(% style="width:134px" %)Always blink|(% style="width:58px" %)63<div class="wikimodel-emptyline"></div>
793
794 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>
795 Ex: #5CLB0<cr> to turn off all blinking (LED always solid)<div class="wikimodel-emptyline"></div>
796 Ex: #5CLB1<cr> only blink when limp (1)<div class="wikimodel-emptyline"></div>
797 Ex: #5CLB2<cr> only blink when holding (2)<div class="wikimodel-emptyline"></div>
798 Ex: #5CLB12<cr> only blink when accel or decel (accel 4 + decel 8 = 12)<div class="wikimodel-emptyline"></div>
799 Ex: #5CLB48<cr> only blink when free or travel (free 16 + travel 32 = 48)<div class="wikimodel-emptyline"></div>
800 Ex: #5CLB63<cr> blink in all status (1 + 2 + 4 + 8 + 16 + 32)<div class="wikimodel-emptyline"></div>
801 RESETTING the servo is needed.<div class="wikimodel-emptyline"></div>
802 </div></div>
803 {{/html}}
804
805 == RGB LED ==
806
807 The LED can be
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