Wiki source code of LSS-P - Communication Protocol

Version 57.1 by Coleman Benson on 2023/07/27 13:46
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Eric Nantel 6.1 1 {{warningBox warningText="More information coming soon"/}}
2
Coleman Benson 9.1 3
Coleman Benson 35.1 4
Eric Nantel 1.2 5 (% class="wikigeneratedid" id="HTableofContents" %)
6 **Page Contents**
7
8 {{toc depth="3"/}}
9
10 = Serial Protocol =
11
Coleman Benson 20.1 12 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.
Eric Nantel 1.2 13
14 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.
Coleman Benson 9.1 15
16 = Action Commands =
17
Coleman Benson 23.1 18 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:
Coleman Benson 9.1 19
Coleman Benson 11.1 20 1. Start with a number sign **#** (Unicode Character: U+0023)
21 1. Servo ID number as an integer (assigning an ID described below)
22 1. Action command (one or more letters, no whitespace, capital or lowercase from the list below)
23 1. Action value in the correct units with no decimal
24 1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
Coleman Benson 9.1 25
Coleman Benson 11.1 26 (((
Coleman Benson 20.1 27 Ex: #5D130000<cr>
Coleman Benson 9.1 28
Coleman Benson 20.1 29 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.
Coleman Benson 10.1 30
31 == Modifiers ==
32
Coleman Benson 35.1 33 Modifiers can only be used with certain **action commands**. The format to include a modifier is:
Coleman Benson 10.1 34
Coleman Benson 35.1 35 1. Start with a number sign **#** (Unicode Character: U+0023)
Coleman Benson 10.1 36 1. Servo ID number as an integer
37 1. Action command (one to three letters, no spaces, capital or lowercase from a subset of action commands below)
38 1. Action value in the correct units with no decimal
Coleman Benson 35.1 39 1. Modifier command (one or two letters from the list of modifiers below)
Coleman Benson 10.1 40 1. Modifier value in the correct units with no decimal
Coleman Benson 35.1 41 1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
Coleman Benson 10.1 42
Coleman Benson 35.1 43 Ex: #5D13000T1500<cr>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).
Coleman Benson 10.1 44
Coleman Benson 35.1 45 == Queries ==
Coleman Benson 12.1 46
Coleman Benson 35.1 47 Query commands request information from the servo. Query commands are also similar to action and configuration commands and must use the following format:
Coleman Benson 12.1 48
Coleman Benson 35.1 49 1. Start with a number sign **#** (Unicode Character: U+0023)
Coleman Benson 12.1 50 1. Servo ID number as an integer
51 1. Query command (one to four letters, no spaces, capital or lower case)
Coleman Benson 35.1 52 1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
Coleman Benson 12.1 53
Coleman Benson 35.1 54 Ex: #5QD<cr> Query the position in (hundredths of) degrees for servo with ID #5The query will return a serial string (almost instantaneously) via the servo's Tx in the following format:
Coleman Benson 12.1 55
56 1. Start with an asterisk * (Unicode Character: U+0023)
57 1. Servo ID number as an integer
58 1. Query command (one to four letters, no spaces, capital letters)
59 1. The reported value in the units described, no decimals.
Coleman Benson 35.1 60 1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
Coleman Benson 12.1 61
Coleman Benson 35.1 62 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:
Coleman Benson 12.1 63
Coleman Benson 35.1 64 Ex: *5QD13000<cr>
Coleman Benson 12.1 65
Coleman Benson 20.1 66 This indicates that servo #5 is currently at 130.00 degrees (13000 tenths of degrees).
Coleman Benson 12.1 67
Coleman Benson 35.1 68 == Configurations ==
Coleman Benson 24.1 69
Coleman Benson 35.1 70 Configuration commands and corresponding values affect a servo's defaults which are written to and read from the servo's EEPROM. 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.
Coleman Benson 12.1 71
Coleman Benson 35.1 72 The format to send a configuration command is identical to that of an action command:
Coleman Benson 12.1 73
Coleman Benson 35.1 74 1. Start with a number sign **#** (Unicode Character: U+0023)
Coleman Benson 12.1 75 1. Servo ID number as an integer
76 1. Configuration command (two to four letters, no spaces, capital or lower case)
77 1. Configuration value in the correct units with no decimal
Coleman Benson 35.1 78 1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
Coleman Benson 12.1 79
Coleman Benson 35.1 80 Ex: #5CO-500<cr>
Coleman Benson 12.1 81
Coleman Benson 35.1 82 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).
Coleman Benson 12.1 83
Coleman Benson 35.1 84 **Session vs Configuration Query**
Coleman Benson 12.1 85
Coleman Benson 35.1 86 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:
Coleman Benson 12.1 87
Coleman Benson 35.1 88 Ex: #5CSR10<cr> immediately sets the maximum speed for servo #5 to 10rpm (explained below) and changes the value in memory.
Coleman Benson 12.1 89
Coleman Benson 35.1 90 After RESET, a command of #5SR4<cr> sets the session's speed to 4rpm, but does not change the configuration value in memory. Therefore:
Coleman Benson 12.1 91
Coleman Benson 35.1 92 #5QSR<cr> or #5QSR0<cr> would return *5QSR4<cr> which represents the value for that session, whereas
Coleman Benson 12.1 93
Coleman Benson 35.1 94 #5QSR1<cr> would return *5QSR10<cr> which represents the value in EEPROM
Coleman Benson 12.1 95
Coleman Benson 35.1 96 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).
Coleman Benson 12.1 97
Coleman Benson 35.1 98 [[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-positions.jpg||alt="LSS-servo-positions.jpg"]]
Coleman Benson 12.1 99
Coleman Benson 35.1 100 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:
Coleman Benson 12.1 101
Coleman Benson 35.1 102 #1D-3000<cr> This causes the servo to move to -30.00 degrees (green arrow)
Coleman Benson 12.1 103
Coleman Benson 35.1 104 #1D21000<cr> This second position command is sent to the servo, which moves it to 210.00 degrees (orange arrow)
Coleman Benson 12.1 105
Coleman Benson 35.1 106 #1D-42000<cr> 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.
Coleman Benson 12.1 107
Coleman Benson 35.1 108 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.
Coleman Benson 12.1 109
Coleman Benson 35.1 110 #1D48000<cr> 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.
Coleman Benson 12.1 111
Coleman Benson 35.1 112 #1D33000<cr> would cause the servo to rotate from 480.0 degrees to 330.00 degrees (yellow arrow).
Coleman Benson 12.1 113
Coleman Benson 25.1 114 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°].
Coleman Benson 11.1 115 )))
Coleman Benson 13.1 116
117 = Command List =
118
119 **Latest firmware version currently : v0.0.780**
120
Coleman Benson 22.1 121 |(% colspan="8" style="color:orange; font-size:18px" %)[[**Communication Setup**>>||anchor="HCommunicationSetup"]]
122 |(% 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**
123 | |[[**Reset**>>||anchor="HReset"]]|(% style="text-align:center" %)RESET|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Soft reset. See command for details.
124 | |[[**Default** Configuration>>||anchor="HDefault26confirm"]]|(% style="text-align:center" %)DEFAULT|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Revert to firmware default values. See command for details
125 | |[[Firmware **Update** Mode>>||anchor="HUpdate26confirm"]]|(% style="text-align:center" %)UPDATE|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Update firmware. See command for details.
126 | |[[**Confirm** Changes>>||anchor="HConfirm"]]|(% style="text-align:center" %)CONFIRM|(% style="text-align:center" %) |(% style="text-align:center" %) | | |
Coleman Benson 41.1 127 | |[[**ID** Number >>||anchor="HIDNumber28ID29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QID|(% style="text-align:center" %)CID|0| |Reset required after change. ID 254 is a "broadcast" which all servos respond to.
Coleman Benson 43.1 128 | |[[**E**nable CAN **T**erminal>>doc:||anchor="HEnableCANTerminalResistor28ET29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QET|(% style="text-align:center" %)CET| |0 or 1|0: Disable  1: Enable
129 | |[[**U**SB **C**onnection Status>>||anchor="HUSBConnectionStatus28UC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QUC|(% style="text-align:center" %) | |0 or 1|0: Not connected 1: Connected
130 | |[[**Q**uery **F**irmware **R**elease>>doc:||anchor="HFirmwareRelease28FR29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QFR|(% style="text-align:center" %) | | |
Coleman Benson 13.1 131
Coleman Benson 22.1 132 |(% colspan="8" style="color:orange; font-size:18px" %)[[**Motion**>>||anchor="HMotion"]]
133 |(% 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**
134 | |[[Position in **D**egrees>>||anchor="HPositioninDegrees28D29"]]|(% style="text-align:center" %)D|(% style="text-align:center" %)QD/QDT|(% style="text-align:center" %) | |1/100°|
135 | |[[**M**ove in **D**egrees (relative)>>||anchor="H28Relative29MoveinDegrees28MD29"]]|(% style="text-align:center" %)MD|(% style="text-align:center" %) |(% style="text-align:center" %) | |1/100°|
136 | |[[**W**heel mode in **D**egrees>>||anchor="HWheelModeinDegrees28WD29"]]|(% style="text-align:center" %)WD|(% style="text-align:center" %)QWD/QVT|(% style="text-align:center" %) | |°/s|A.K.A. "Speed mode" or "Continuous rotation"
137 | |[[**W**heel mode in **R**PM>>||anchor="HWheelModeinRPM28WR29"]]|(% style="text-align:center" %)WR|(% style="text-align:center" %)QWR|(% style="text-align:center" %) | |RPM|A.K.A. "Speed mode" or "Continuous rotation"
138 | |[[**Q**uery Motion Status>>||anchor="HQueryStatus28Q29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)Q|(% style="text-align:center" %) | |1 to 8 integer|See command description for details
139 | |[[**L**imp>>||anchor="HLimp28L29"]]|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Removes power from stepper coils
140 | |[[**H**alt & Hold>>||anchor="HHalt26Hold28H29"]]|(% style="text-align:center" %)H|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Stops (halts) motion profile and holds last position
Coleman Benson 13.1 141
Coleman Benson 22.1 142 |(% colspan="8" style="color:orange; font-size:18px" %)[[**Motion Setup**>>||anchor="HMotionSetup"]]
143 |(% 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**
144 | |[[**O**rigin Offset>>||anchor="HOriginOffset28O29"]]|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|0|1/10°|
145 | |[[**A**ngular **R**ange>>||anchor="HAngularRange28AR29"]]|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|1800|1/10°|
146 | |[[**A**ngular **A**cceleration>>||anchor="HAngularAcceleration28AA29"]]|(% style="text-align:center" %)AA|(% style="text-align:center" %)QAA|(% style="text-align:center" %)CAA|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
147 | |[[**A**ngular **D**eceleration>>||anchor="HAngularDeceleration28AD29"]]|(% style="text-align:center" %)AD|(% style="text-align:center" %)QAD|(% style="text-align:center" %)CAD|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
148 | |[[**G**yre Direction>>||anchor="HGyreDirection28G29"]]|(% style="text-align:center" %)G|(% style="text-align:center" %)QG|(% style="text-align:center" %)CG|1| |Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)
149 | |[[**F**irst Position (**D**eg)>>||anchor="HFirstPosition"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QFD|(% style="text-align:center" %)CFD|No value|1/10°|Reset required after change.
150 | |[[Maximum **S**peed in **D**egrees>>||anchor="HMaximumSpeedinDegrees28SD29"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %)QSD|(% style="text-align:center" %)CSD|Max|0.1°/s|SD overwrites SR / CSD overwrites CSR and vice-versa
151 | |[[Maximum **S**peed in **R**PM>>||anchor="HMaximumSpeedinRPM28SR29"]]|(% style="text-align:center" %)SR|(% style="text-align:center" %)QSR|(% style="text-align:center" %)CSR|Max|RPM|SD overwrites SR / CSD overwrites CSR and vice-versa
Coleman Benson 48.1 152 | |[[Step Mode>>doc:||anchor="HStepMode28SM29"]]|(% style="text-align:center" %)SM|(% style="text-align:center" %)QM|(% style="text-align:center" %)CSM|2|1, 2, 4|Numbers represent fractions: full step, &frac12; step, &frac14; step
Coleman Benson 13.1 153
Coleman Benson 22.1 154 |(% colspan="8" style="color:orange; font-size:18px" %)[[**Modifiers**>>||anchor="HModifiers"]]
155 |(% 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**
156 | |[[**S**peed in **D**egrees>>||anchor="HSpeed28S2CSD29modifier"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %) |(% style="text-align:center" %) | |1°/s|For D and MD action commands
157 | |[[**T**imed move>>||anchor="HTimedmove28T29modifier"]]|(% style="text-align:center" %)T|(% style="text-align:center" %) |(% style="text-align:center" %) | |ms|Time associated with D, MD commands
Coleman Benson 13.1 158
Coleman Benson 22.1 159 |(% colspan="8" style="color:orange; font-size:18px" %)[[**Telemetry**>>||anchor="HTelemetry"]]
160 |(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
161 | |[[**Q**uery PCB **T**emperature>>||anchor="HQueryTemperature28QT29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) | |°C|
162 | |[[**Q**uery **C**urrent>>||anchor="HQueryCurrent28QC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QC|(% style="text-align:center" %) | |mA|Nominal RMS value to stepper motor driver IC.
163 | |[[**Q**uery **M**odel **S**tring>>||anchor="HQueryModelString28QMS29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMS|(% style="text-align:center" %) | | |Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1)
164 | |[[**Q**uery **F**irmware Version>>||anchor="HQueryFirmware28QF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | | |
165 | |[[**Q**uery Serial **N**umber>>||anchor="HQuerySerialNumber28QN29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QN|(% style="text-align:center" %) | | |Returns the unique serial number for the servo
Coleman Benson 53.1 166 | |[[**Q**uery **T**emperature **P**robe>>doc:||anchor="HQueryTemperatureProbe28QTP29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTP|(% style="text-align:center" %) | | |Queries temperature probe fixed to the stepper motor
167 | |[[**Q**uery **T**emp of **M**CU>>doc:||anchor="HQueryMCUTemperature28QTM29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTM|(% style="text-align:center" %) | | |
168 | |[[**Q**uery **T**emp of **C**ontroller>>doc:||anchor="HQueryTempofController28QTCW29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW, QTCE|(% style="text-align:center" %) | | |(((
Coleman Benson 22.1 169 QTCW: Queries the temperature status of the motor controller (pre-warning)
Coleman Benson 13.1 170
Coleman Benson 22.1 171 QTCE: Queries the temperature status of the motor controller (over-temp error)
172 )))
Coleman Benson 55.1 173 | |[[**Q**uery **I**MU Linear **X**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |mm/s^2|
174 | |[[**Q**uery **I**MU Linear **Y**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |mm/s^2|
175 | |[[**Q**uery **I**MU Linear **Z**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |mm/s^2|
Coleman Benson 53.1 176 | |[[**Q**uery **I**MU Angular Accel **α** >>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIA|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel α (Alpha)
177 | |[[**Q**uery **I**MU Angular Accel **β**>>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIB|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel β (Beta)
178 | |[[**Q**uery **I**MU Angular Accel **γ**>>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIC / QIG|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel γ (Gamma)
Coleman Benson 19.1 179
Coleman Benson 22.1 180 |(% colspan="8" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="HRGBLED"]]
181 |(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
182 | |[[**LED** Color>>||anchor="HLEDColor28LED29"]]|(% style="text-align:center" %)LED|(% style="text-align:center" %)QLED|(% style="text-align:center" %)CLED| |0 to 7 integer|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White
183
Coleman Benson 19.1 184 = (% style="color:inherit; font-family:inherit" %)Details(%%) =
185
186 == (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) ==
187
Coleman Benson 57.1 188 |(% colspan="2" %)(((
189 ====== __Reset__ ======
190 )))
191 | |(((
192 Ex: #5RESET<cr>
Coleman Benson 36.1 193
Coleman Benson 57.1 194 This command does a "soft reset" and reverts all commands to those stored in EEPROM (i.e. configuration commands). Note: after a RESET command is received, the LSS will restart and perform initilization again, making it unavailable on the bus for a bit. See Session, note #2 for more details.
195 )))
Coleman Benson 36.1 196
Coleman Benson 57.1 197 |(% colspan="2" %)(((
Coleman Benson 36.1 198 ====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ======
Coleman Benson 57.1 199 )))
200 | |(((
201 Ex: #5RESET<cr>
Coleman Benson 36.1 202
Coleman Benson 57.1 203 This command does a "soft reset" and reverts all commands to those stored in EEPROM (i.e. configuration commands). Note: after a RESET command is received, the LSS will restart and perform initilization again, making it unavailable on the bus for a bit. See Session, note #2 for more details.
204 )))
205
206 ====== ======
207
Coleman Benson 36.1 208 (% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr>
209
210 (% style="color:inherit; font-family:inherit" %)This command sets in motion the reset of all values to the default values included with the version of the firmware installed on that servo. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the DEFAULT function.
211
212 (% style="color:inherit; font-family:inherit" %)EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
213
214 (% style="color:inherit; font-family:inherit" %)Since it it not common to have to restore all configurations, a confirmation command is needed after a firmware command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will exit the command.
215
216 (% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
217
218 ====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
219
220 (% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
221
222 (% style="color:inherit; font-family:inherit" %)This command sets in motion the equivalent of a long button press when the servo is not powered in order to enter firmware update mode. This is useful should the button be broken or inaccessible. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the UPDATE function.
223
224 (% style="color:inherit; font-family:inherit" %)EX: #5UPDATE<cr> followed by #5CONFIRM<cr>
225
226 (% style="color:inherit; font-family:inherit" %)Since it it not common to have to update firmware, a confirmation command is needed after an UPDATE command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will leave the firmware action.
227
228 (% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
229
230 ====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
231
232 (% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
233
234 (% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command.
Coleman Benson 37.1 235 Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
Coleman Benson 36.1 236
Coleman Benson 39.1 237 ====== (% style="color:inherit; font-family:inherit" %)__ID Number (**ID**)__(%%) ======
Coleman Benson 37.1 238
Coleman Benson 39.1 239 (% style="color:inherit; font-family:inherit" %)Configure ID Number (**CID**)
240
241 (% style="color:inherit; font-family:inherit" %)Ex: #0CID5<cr>
242
243 The default ID is 0, so this sets the servo to ID 5.
244
245 Query ID Number (**QID**)
246
247 Ex: #254QID<cr> might return *254QID5<cr>
248
249 In this case, the broadcast ID is used to ensure the servo connected will reply with the ID. This can be used in case the ID assigned to a servo is forgotten.
250
Coleman Benson 44.1 251 ====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor (**ET**)__(%%) ======
Coleman Benson 39.1 252
Coleman Benson 37.1 253 Query Enable CAN Terminal Resistor (**QET**)
254
255 Ex: #5QET<cr> might return *QET0<cr>
256
257 This means that servo with ID 5 is NOT configured as the last servo in the CAN bus.
258
259 Configure Enable CAN Terminal Resistor (**CET**)
260
261 (% style="color:inherit; font-family:inherit" %)Ex: #5CET1<cr>
262
263 (% style="color:inherit; font-family:inherit" %)This commands sets servo with ID 5 as being the last in the CAN Bus. The last servo in a CAN bus must be configured this way.
264
265 ====== __USB Connection Status (**UC**)__ ======
266
267 Query USB Connection Status (**QUC**)
268
269 Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
270
Coleman Benson 39.1 271 ====== __Firmware Release (**FR**)__ ======
272
273 Query Firmware Release (**QFR**)
274
275 Ex: #5QFR<cr> might return *QFR11<cr> meaning it has a (random) firmware release version number 11.
276
277 This is used to verify if the firmware on the servos is up to date, or which version is running on the microcontroller.
278
Coleman Benson 19.1 279 == Motion ==
280
281 ====== __Position in Degrees (**D**)__ ======
282
Coleman Benson 28.1 283 Example: #5D1456<cr>
Coleman Benson 19.1 284
Coleman Benson 28.1 285 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.
Coleman Benson 19.1 286
Coleman Benson 28.1 287 Larger values are permitted and allow for multi-turn functionality using the concept of virtual position (explained above).
Coleman Benson 19.1 288
Coleman Benson 28.1 289 Query Position in Degrees (**QD**)
Coleman Benson 19.1 290
Coleman Benson 28.1 291 Example: #5QD<cr> might return *5QD132<cr>
Coleman Benson 19.1 292
Coleman Benson 28.1 293 This means the servo is located at 13.2 degrees.
Coleman Benson 19.1 294
Coleman Benson 28.1 295 Query Target Position in Degrees (**QDT**)
Coleman Benson 19.1 296
Coleman Benson 28.1 297 Ex: #5QDT<cr> might return *5QDT6783<cr>
298
Coleman Benson 19.1 299 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.
300
301 ====== __(Relative) Move in Degrees (**MD**)__ ======
302
303
Coleman Benson 28.1 304 Example: #5MD123<cr>
305
Coleman Benson 19.1 306 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.
307
308 ====== __Wheel Mode in Degrees (**WD**)__ ======
309
Coleman Benson 28.1 310 Ex: #5WD90<cr>
Coleman Benson 19.1 311
Coleman Benson 28.1 312 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).
Coleman Benson 19.1 313
Coleman Benson 28.1 314 Query Wheel Mode in Degrees (**QWD**)
Coleman Benson 19.1 315
Coleman Benson 28.1 316 Ex: #5QWD<cr> might return *5QWD90<cr>
317
Coleman Benson 19.1 318 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).
319
320 ====== __Wheel Mode in RPM (**WR**)__ ======
321
Coleman Benson 28.1 322 Ex: #5WR40<cr>
Coleman Benson 19.1 323
Coleman Benson 28.1 324 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).
Coleman Benson 19.1 325
Coleman Benson 28.1 326 Query Wheel Mode in RPM (**QWR**)
Coleman Benson 19.1 327
Coleman Benson 28.1 328 Ex: #5QWR<cr> might return *5QWR40<cr>
329
Coleman Benson 19.1 330 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).
331
Coleman Benson 28.1 332 ====== __(Relative) Move in Degrees (**MD**)__ ======
Coleman Benson 19.1 333
Coleman Benson 35.1 334 (% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %)
335 Example: #5M1500<cr>
Coleman Benson 19.1 336
Coleman Benson 35.1 337 (% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
338 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.
Coleman Benson 19.1 339
Coleman Benson 28.1 340 ====== __Query Status (**Q**)__ ======
Coleman Benson 19.1 341
Coleman Benson 28.1 342 The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.
Coleman Benson 19.1 343
Coleman Benson 28.1 344 Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
Coleman Benson 19.1 345
346 |(% style="width:25px" %) |***Value returned (Q)**|**Status**|**Detailed description**
347 | |ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state
348 | |ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely
349 | |ex: *5Q2<cr>|2: Free moving|Servo is rotating in duty motion / free move using the RDM command
350 | |ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
351 | |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
352 | |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
353 | |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will nornally be holding)
354 | |ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
355 | |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
356 | |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
357 | |ex: *5Q10<cr>|10: Safe Mode|(((
358 A safety limit has been exceeded (temperature, peak current or extended high current draw).
359
360 Send a Q1 command to know which limit has been reached (described below).
361 )))
362
Coleman Benson 28.1 363 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.
Coleman Benson 19.1 364
365 |(% style="width:25px" %) |***Value returned (Q1)**|**Status**|**Detailed description**
366 | |ex: *5Q0<cr>|No limits have been passed|Nothing is wrong
367 | |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
368 | |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
369 | |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
370
371 ====== __Limp (**L**)__ ======
372
Coleman Benson 28.1 373 Example: #5L<cr>
Coleman Benson 19.1 374
Coleman Benson 28.1 375 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>.
376
Coleman Benson 19.1 377 ====== __Halt & Hold (**H**)__ ======
378
Coleman Benson 28.1 379 Example: #5H<cr>
380
Coleman Benson 19.1 381 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.)
382
383 == Motion Setup ==
384
Coleman Benson 29.1 385 ====== __Origin Offset (**O**)__ ======
Coleman Benson 19.1 386
Coleman Benson 29.1 387 Example: #5O2400<cr>This command allows you to change the origin of the servo in relation to the factory zero position for that session. As with all action commands, the setting will be lost upon servo reset / power cycle. Origin offset commands are not cumulative and always relate to factory zero. In the first image, the origin at factory offset '0' (centered).
Coleman Benson 19.1 388
Coleman Benson 29.1 389 [[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]
Coleman Benson 19.1 390
391
Coleman Benson 29.1 392 In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
Coleman Benson 19.1 393
Coleman Benson 29.1 394 [[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-origin.jpg||alt="LSS-servo-origin.jpg"]]
Coleman Benson 19.1 395
396
Coleman Benson 29.1 397 Origin Offset Query (**QO**)
Coleman Benson 19.1 398
Coleman Benson 29.1 399 Example: #5QO<cr> might return *5QO-13
Coleman Benson 19.1 400
Coleman Benson 29.1 401 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.
Coleman Benson 19.1 402
Coleman Benson 29.1 403 Configure Origin Offset (**CO**)
Coleman Benson 19.1 404
Coleman Benson 29.1 405 Example: #5CO-24<cr>
Coleman Benson 19.1 406
407 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.
408
409 ====== __Angular Range (**AR**)__ ======
410
Coleman Benson 29.1 411 Example: #5AR1800<cr>
Coleman Benson 19.1 412
Coleman Benson 29.1 413 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:
Coleman Benson 19.1 414
Coleman Benson 29.1 415 [[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]
Coleman Benson 19.1 416
Coleman Benson 29.1 417 Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
Coleman Benson 19.1 418
Coleman Benson 29.1 419 [[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar.jpg||alt="LSS-servo-ar.jpg"]]
Coleman Benson 19.1 420
421
Coleman Benson 29.1 422 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:
Coleman Benson 19.1 423
Coleman Benson 29.1 424 [[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar-o-1.jpg||alt="LSS-servo-ar-o-1.jpg"]]
Coleman Benson 19.1 425
426
Coleman Benson 29.1 427 Query Angular Range (**QAR**)
Coleman Benson 19.1 428
Coleman Benson 29.1 429 Example: #5QAR<cr> might return *5AR1800, indicating the total angular range is 180.0 degrees.
Coleman Benson 19.1 430
Coleman Benson 29.1 431 Configure Angular Range (**CAR**)
Coleman Benson 19.1 432
Coleman Benson 29.1 433 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.
Coleman Benson 19.1 434
435 ====== __Angular Acceleration (**AA**)__ ======
436
Coleman Benson 29.1 437 The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
Coleman Benson 19.1 438
Coleman Benson 29.1 439 Ex: #5AA30<cr>
Coleman Benson 19.1 440
Coleman Benson 29.1 441 This sets the angular acceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).
Coleman Benson 19.1 442
Coleman Benson 29.1 443 Query Angular Acceleration (**QAA**)
Coleman Benson 19.1 444
Coleman Benson 29.1 445 Ex: #5QAA<cr> might return *5QAA30<cr>
Coleman Benson 19.1 446
Coleman Benson 29.1 447 This returns the servo's angular acceleration in degrees per second squared (°/s^^2^^).
Coleman Benson 19.1 448
Coleman Benson 29.1 449 Configure Angular Acceleration (**CAA**)
Coleman Benson 19.1 450
Coleman Benson 29.1 451 Ex: #5CAA30<cr>
Coleman Benson 19.1 452
453 This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
454
455 ====== __Angular Deceleration (**AD**)__ ======
456
Coleman Benson 29.1 457 The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
Coleman Benson 19.1 458
Coleman Benson 29.1 459 Ex: #5AD30<cr>
Coleman Benson 19.1 460
Coleman Benson 29.1 461 This sets the angular deceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).
Coleman Benson 19.1 462
Coleman Benson 29.1 463 Query Angular Deceleration (**QAD**)
Coleman Benson 19.1 464
Coleman Benson 29.1 465 Ex: #5QAD<cr> might return *5QAD30<cr>
Coleman Benson 19.1 466
Coleman Benson 29.1 467 This returns the servo's angular deceleration in degrees per second squared (°/s^^2^^).
Coleman Benson 19.1 468
Coleman Benson 29.1 469 Configure Angular Deceleration (**CAD**)
Coleman Benson 19.1 470
Coleman Benson 29.1 471 Ex: #5CAD30<cr>
Coleman Benson 19.1 472
Coleman Benson 29.1 473 This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
Coleman Benson 19.1 474
475 ====== __Gyre Direction (**G**)__ ======
476
Coleman Benson 29.1 477 "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.
Coleman Benson 19.1 478
Coleman Benson 29.1 479 Ex: #5G-1<cr>
Coleman Benson 19.1 480
Coleman Benson 29.1 481 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.
Coleman Benson 19.1 482
Coleman Benson 47.1 483 Query Gyre Direction (**QG**)
Coleman Benson 19.1 484
Coleman Benson 47.1 485 Ex: #5QG<cr> might return *5QG-1<cr>
486
Coleman Benson 29.1 487 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.
Coleman Benson 19.1 488
Coleman Benson 29.1 489 Configure Gyre (**CG**)
Coleman Benson 19.1 490
Coleman Benson 29.1 491 Ex: #5CG-1<cr>
Coleman Benson 19.1 492
493 This changes the gyre direction as described above and also writes to EEPROM.
494
495 ====== __First Position__ ======
496
Coleman Benson 29.1 497 In certain cases, a user might want to have the servo move to a specific angle upon power up; we refer to this as "first position" (a.k.a. "initial position"). The factory default has no first position value stored in EEPROM and therefore upon power up, the servo remains limp until a position (or hold command) is assigned. Note that the number should be restricted to -1790 (-179.0 degrees) to +1790 (179.0 degrees) and values beyond this will be changed to 1800.Query First Position in Degrees (**QFD**)Ex: #5QFD<cr> might return *5QFD900<cr>The reply above indicates that servo with ID 5 has a first position of 90.0 degrees. If there is no first position value stored, the reply will be DIS.Configure First Position in Degrees (**CFD**)Ex: #5CFD900<cr>This configuration command means the servo, when set to smart mode, will immediately move to 90.0 degrees upon power up. Sending a CFD command without a number (Ex. #5CFD<cr>) results in the servo remaining limp upon power up. In order to remove the first position, send no value, ex: #5CFD<cr>
Coleman Benson 19.1 498
499 ====== __Maximum Speed in Degrees (**SD**)__ ======
500
Coleman Benson 29.1 501 Ex: #5SD1800<cr>This command sets the servo's maximum speed for motion commands in tenths of degrees per second for that session. In the example above, the servo's maximum speed for that session would be set to 180.0 degrees per second. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. The SD action command overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD and SR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.Query Speed in Degrees (**QSD**)Ex: #5QSD<cr> might return *5QSD1800<cr>By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever an SD/SR command is processed. If #5QSD1<cr> is sent, the configured maximum speed (CSD value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
Coleman Benson 19.1 502
503 |**Command sent**|**Returned value (1/10 °)**
Coleman Benson 29.1 504 |ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
505 |ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
506 |ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
507 |ex: #5QSD3<cr>|Target travel speed
Coleman Benson 19.1 508
Coleman Benson 29.1 509 Configure Speed in Degrees (**CSD**)Ex: #5CSD1800<cr>Using the CSD command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 180.0 degrees per second. When the servo is powered on (or after a reset), the CSD value is used. Note that CSD and CSR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) is what the servo uses for that session.
Coleman Benson 19.1 510
511 ====== __Maximum Speed in RPM (**SR**)__ ======
512
Coleman Benson 29.1 513 Ex: #5SR45<cr>This command sets the servo's maximum speed for motion commands in rpm for that session. In the example above, the servo's maximum speed for that session would be set to 45rpm. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SR overrides CSR (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSR as described below. Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.Query Speed in RPM (**QSR**)Ex: #5QSR<cr> might return *5QSR45<cr>By default QSR will return the current session value, which is set to the value of CSR as reset/power cycle and changed whenever an SD/SR command is processed. If #5QSR1<cr> is sent, the configured maximum speed (CSR value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
Coleman Benson 19.1 514
515 |**Command sent**|**Returned value (1/10 °)**
Coleman Benson 29.1 516 |ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
517 |ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
518 |ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
519 |ex: #5QSR3<cr>|Target travel speed
Coleman Benson 19.1 520
Coleman Benson 29.1 521 Configure Speed in RPM (**CSR**)Ex: #5CSR45<cr>Using the CSR command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSR value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) received is what the servo uses for that session.
Coleman Benson 19.1 522
Coleman Benson 47.1 523 ====== __Step Mode (**SM**)__ ======
524
525 Ex: #8SM2<cr>
526
527 This sets servo with ID 8 to 1/2 step mode. Since this is an action as opposed to a configuration, it only affects that session.
528
529 Note that the torque and max RPM of the actuator will be affected.
530
531 Query Step Mode (**QSM**)
532
533 Ex: #8QSM<cr> might return *8QSM2<cr> meaning servo with ID 8 is set to half step mode.
534
535 Configure Step Mode (**CSM**)
536
537 Ex: #8SM2<cr>
538
539 This sets servo with ID 8 to 1/2 step mode. Since this is a configuration as opposed to a configuration and the servo will be in 1/2 step mode when powered.
540
Coleman Benson 19.1 541 == Modifiers ==
542
Coleman Benson 30.1 543 ====== __Speed (**SD**) modifier__ ======
Coleman Benson 19.1 544
Coleman Benson 30.1 545 (% class="wikigeneratedid" id="HTimedmove28T29modifier" %)
546 Example: #5D0SD180<cr>
Coleman Benson 19.1 547
Coleman Benson 30.1 548 (% class="wikigeneratedid" %)
549 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.
Coleman Benson 19.1 550
Coleman Benson 30.1 551 (% class="wikigeneratedid" %)
552 Query Speed (**QS**)
Coleman Benson 19.1 553
Coleman Benson 30.1 554 (% class="wikigeneratedid" %)
555 Example: #5QS<cr> might return *5QS300<cr>
Coleman Benson 19.1 556
Coleman Benson 30.1 557 (% class="wikigeneratedid" %)
558 This command queries the current speed in microseconds per second.
Coleman Benson 19.1 559
Coleman Benson 30.1 560 ====== __Timed move (**T**) modifier__ ======
Coleman Benson 19.1 561
Coleman Benson 30.1 562 Example: #5D15000T2500<cr>
Coleman Benson 19.1 563
Coleman Benson 30.1 564 Timed move can be used only as a modifier for a position (D, MD) actions. The units are in milliseconds, so a timed move of 2500 milliseconds would cause the servo to rotate from its current position to the desired position in 2.5 seconds. The onboard controller will attempt to ensure that the move is performed entirely at the desired velocity, though differences in torque may cause it to not be exact. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.
Coleman Benson 19.1 565
Coleman Benson 30.1 566 **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
Coleman Benson 19.1 567
Coleman Benson 36.1 568 ====== ======
Coleman Benson 19.1 569
570 == Telemetry ==
571
Coleman Benson 51.1 572 ====== __Query PCB Temperature (**QT**)__ ======
Coleman Benson 19.1 573
Coleman Benson 51.1 574 Ex: #5QT<cr> might return *5QT564<cr>
Coleman Benson 19.1 575
Coleman Benson 51.1 576 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.
Coleman Benson 31.1 577
Coleman Benson 52.1 578 ====== __Query Temperature Probe (**QTP**)__ ======
Coleman Benson 19.1 579
Coleman Benson 51.1 580 Ex:
Coleman Benson 19.1 581
Coleman Benson 54.1 582 ====== __Query Temp of Controller (**QTCW**)__ ======
Coleman Benson 19.1 583
Coleman Benson 51.1 584 Ex:
Coleman Benson 19.1 585
Coleman Benson 54.1 586 An alternative is QTCE
587
Coleman Benson 51.1 588 ====== __Query Current (**QC**)__ ======
589
Coleman Benson 31.1 590 Ex: #5QC<cr> might return *5QC140<cr>
591
Coleman Benson 51.1 592 The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A. It represents the RMS value. The query calculates the RMS value of the current sent from the motor driver to the stepper motor.
Coleman Benson 31.1 593
Coleman Benson 19.1 594 ====== __Query Model String (**QMS**)__ ======
595
Coleman Benson 31.1 596 Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
Coleman Benson 19.1 597
Coleman Benson 31.1 598 This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
599
Coleman Benson 19.1 600 ====== __Query Firmware (**QF**)__ ======
601
Coleman Benson 31.1 602 Ex: #5QF<cr> might return *5QF368<cr>
Coleman Benson 19.1 603
Coleman Benson 31.1 604 The number in the reply represents the firmware version, in this example being 368.The command #5QF3<cr> can also be sent and the servo will reply with a 3 numbers firmware version, for example, 368.29.14
605
Coleman Benson 19.1 606 ====== __Query Serial Number (**QN**)__ ======
607
Coleman Benson 31.1 608 Ex: #5QN<cr> might return *5QN12345678<cr>
Coleman Benson 19.1 609
Coleman Benson 31.1 610 The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
Coleman Benson 49.1 611
Coleman Benson 54.1 612 ====== __Query IMU Linear (**QIX** **QIY** **QIZ**)__ ======
Coleman Benson 49.1 613
Coleman Benson 50.1 614 Ex: #6QIX<cr> might return *6QIX30<cr>
Coleman Benson 49.1 615
Coleman Benson 50.1 616 This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
Coleman Benson 49.1 617
Coleman Benson 56.1 618 ====== __Query IMU Angular (**QIA** **QIB** **QIC**)__ ======
Coleman Benson 49.1 619
620 Ex: #6QIB<cr> might return *6QIB44<cr>
621
622 This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
623
624
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