Wiki source code of LSS-P - Communication Protocol

Version 59.1 by Coleman Benson on 2023/07/27 14:36
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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 | |(((
Coleman Benson 36.1 201 (% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr>
202
203 (% 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.
204
205 (% style="color:inherit; font-family:inherit" %)EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
206
207 (% 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.
208
209 (% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
Coleman Benson 58.1 210 )))
Coleman Benson 36.1 211
Coleman Benson 58.1 212 |(% colspan="2" %)(((
Coleman Benson 36.1 213 ====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
Coleman Benson 58.1 214 )))
215 | |(((
Coleman Benson 36.1 216 (% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
217
218 (% 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.
219
220 (% style="color:inherit; font-family:inherit" %)EX: #5UPDATE<cr> followed by #5CONFIRM<cr>
221
222 (% 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.
223
224 (% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
Coleman Benson 58.1 225 )))
Coleman Benson 36.1 226
Coleman Benson 59.1 227 |(% colspan="2" %)(% style="color:inherit; font-family:inherit" %)__Confirm__
228 |(% style="width:30px" %) |(((
Coleman Benson 36.1 229 (% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
230
231 (% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command.
Coleman Benson 37.1 232 Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
Coleman Benson 59.1 233 )))
Coleman Benson 36.1 234
Coleman Benson 59.1 235 |(% colspan="2" %)(% style="color:inherit; font-family:inherit" %)__ID Number (**ID**)__
236 |(% style="width:30px" %) |(((
Coleman Benson 39.1 237 (% style="color:inherit; font-family:inherit" %)Configure ID Number (**CID**)
238
239 (% style="color:inherit; font-family:inherit" %)Ex: #0CID5<cr>
240
241 The default ID is 0, so this sets the servo to ID 5.
242
243 Query ID Number (**QID**)
244
245 Ex: #254QID<cr> might return *254QID5<cr>
246
247 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.
Coleman Benson 59.1 248 )))
Coleman Benson 39.1 249
Coleman Benson 59.1 250 |(% colspan="2" %)(% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor (**ET**)__
251 |(% style="width:30px" %) |(((
Coleman Benson 37.1 252 Query Enable CAN Terminal Resistor (**QET**)
253
254 Ex: #5QET<cr> might return *QET0<cr>
255
256 This means that servo with ID 5 is NOT configured as the last servo in the CAN bus.
257
258 Configure Enable CAN Terminal Resistor (**CET**)
259
260 (% style="color:inherit; font-family:inherit" %)Ex: #5CET1<cr>
261
262 (% 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.
Coleman Benson 59.1 263 )))
Coleman Benson 37.1 264
Coleman Benson 59.1 265 |(% colspan="2" %)__USB Connection Status (**UC**)__
266 |(% style="width:30px" %) |(((
Coleman Benson 37.1 267 Query USB Connection Status (**QUC**)
268
269 Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
Coleman Benson 59.1 270 )))
Coleman Benson 37.1 271
Coleman Benson 59.1 272 |(% colspan="2" %)__Firmware Release (**FR**)__
273 |(% style="width:30px" %) |(((
Coleman Benson 39.1 274 Query Firmware Release (**QFR**)
275
276 Ex: #5QFR<cr> might return *QFR11<cr> meaning it has a (random) firmware release version number 11.
277
278 This is used to verify if the firmware on the servos is up to date, or which version is running on the microcontroller.
Coleman Benson 59.1 279 )))
Coleman Benson 39.1 280
Coleman Benson 59.1 281 ====== ======
282
283
284 ====== ======
285
286
287 ====== ======
288
289
290 ====== ======
291
292
293
Coleman Benson 19.1 294 == Motion ==
295
296 ====== __Position in Degrees (**D**)__ ======
297
Coleman Benson 28.1 298 Example: #5D1456<cr>
Coleman Benson 19.1 299
Coleman Benson 28.1 300 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 19.1 301
Coleman Benson 28.1 302 Larger values are permitted and allow for multi-turn functionality using the concept of virtual position (explained above).
Coleman Benson 19.1 303
Coleman Benson 28.1 304 Query Position in Degrees (**QD**)
Coleman Benson 19.1 305
Coleman Benson 28.1 306 Example: #5QD<cr> might return *5QD132<cr>
Coleman Benson 19.1 307
Coleman Benson 28.1 308 This means the servo is located at 13.2 degrees.
Coleman Benson 19.1 309
Coleman Benson 28.1 310 Query Target Position in Degrees (**QDT**)
Coleman Benson 19.1 311
Coleman Benson 28.1 312 Ex: #5QDT<cr> might return *5QDT6783<cr>
313
Coleman Benson 19.1 314 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.
315
316 ====== __(Relative) Move in Degrees (**MD**)__ ======
317
318
Coleman Benson 28.1 319 Example: #5MD123<cr>
320
Coleman Benson 19.1 321 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.
322
323 ====== __Wheel Mode in Degrees (**WD**)__ ======
324
Coleman Benson 28.1 325 Ex: #5WD90<cr>
Coleman Benson 19.1 326
Coleman Benson 28.1 327 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 19.1 328
Coleman Benson 28.1 329 Query Wheel Mode in Degrees (**QWD**)
Coleman Benson 19.1 330
Coleman Benson 28.1 331 Ex: #5QWD<cr> might return *5QWD90<cr>
332
Coleman Benson 19.1 333 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).
334
335 ====== __Wheel Mode in RPM (**WR**)__ ======
336
Coleman Benson 28.1 337 Ex: #5WR40<cr>
Coleman Benson 19.1 338
Coleman Benson 28.1 339 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 19.1 340
Coleman Benson 28.1 341 Query Wheel Mode in RPM (**QWR**)
Coleman Benson 19.1 342
Coleman Benson 28.1 343 Ex: #5QWR<cr> might return *5QWR40<cr>
344
Coleman Benson 19.1 345 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).
346
Coleman Benson 28.1 347 ====== __(Relative) Move in Degrees (**MD**)__ ======
Coleman Benson 19.1 348
Coleman Benson 35.1 349 (% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %)
350 Example: #5M1500<cr>
Coleman Benson 19.1 351
Coleman Benson 35.1 352 (% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
353 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 19.1 354
Coleman Benson 28.1 355 ====== __Query Status (**Q**)__ ======
Coleman Benson 19.1 356
Coleman Benson 28.1 357 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 19.1 358
Coleman Benson 28.1 359 Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
Coleman Benson 19.1 360
361 |(% style="width:25px" %) |***Value returned (Q)**|**Status**|**Detailed description**
362 | |ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state
363 | |ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely
364 | |ex: *5Q2<cr>|2: Free moving|Servo is rotating in duty motion / free move using the RDM command
365 | |ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
366 | |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
367 | |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
368 | |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will nornally be holding)
369 | |ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
370 | |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
371 | |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
372 | |ex: *5Q10<cr>|10: Safe Mode|(((
373 A safety limit has been exceeded (temperature, peak current or extended high current draw).
374
375 Send a Q1 command to know which limit has been reached (described below).
376 )))
377
Coleman Benson 28.1 378 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 19.1 379
380 |(% style="width:25px" %) |***Value returned (Q1)**|**Status**|**Detailed description**
381 | |ex: *5Q0<cr>|No limits have been passed|Nothing is wrong
382 | |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
383 | |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
384 | |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
385
386 ====== __Limp (**L**)__ ======
387
Coleman Benson 28.1 388 Example: #5L<cr>
Coleman Benson 19.1 389
Coleman Benson 28.1 390 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>.
391
Coleman Benson 19.1 392 ====== __Halt & Hold (**H**)__ ======
393
Coleman Benson 28.1 394 Example: #5H<cr>
395
Coleman Benson 19.1 396 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.)
397
398 == Motion Setup ==
399
Coleman Benson 29.1 400 ====== __Origin Offset (**O**)__ ======
Coleman Benson 19.1 401
Coleman Benson 29.1 402 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 19.1 403
Coleman Benson 29.1 404 [[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 19.1 405
406
Coleman Benson 29.1 407 In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
Coleman Benson 19.1 408
Coleman Benson 29.1 409 [[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 19.1 410
411
Coleman Benson 29.1 412 Origin Offset Query (**QO**)
Coleman Benson 19.1 413
Coleman Benson 29.1 414 Example: #5QO<cr> might return *5QO-13
Coleman Benson 19.1 415
Coleman Benson 29.1 416 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 19.1 417
Coleman Benson 29.1 418 Configure Origin Offset (**CO**)
Coleman Benson 19.1 419
Coleman Benson 29.1 420 Example: #5CO-24<cr>
Coleman Benson 19.1 421
422 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.
423
424 ====== __Angular Range (**AR**)__ ======
425
Coleman Benson 29.1 426 Example: #5AR1800<cr>
Coleman Benson 19.1 427
Coleman Benson 29.1 428 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 19.1 429
Coleman Benson 29.1 430 [[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 19.1 431
Coleman Benson 29.1 432 Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
Coleman Benson 19.1 433
Coleman Benson 29.1 434 [[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 19.1 435
436
Coleman Benson 29.1 437 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 19.1 438
Coleman Benson 29.1 439 [[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 19.1 440
441
Coleman Benson 29.1 442 Query Angular Range (**QAR**)
Coleman Benson 19.1 443
Coleman Benson 29.1 444 Example: #5QAR<cr> might return *5AR1800, indicating the total angular range is 180.0 degrees.
Coleman Benson 19.1 445
Coleman Benson 29.1 446 Configure Angular Range (**CAR**)
Coleman Benson 19.1 447
Coleman Benson 29.1 448 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 19.1 449
450 ====== __Angular Acceleration (**AA**)__ ======
451
Coleman Benson 29.1 452 The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
Coleman Benson 19.1 453
Coleman Benson 29.1 454 Ex: #5AA30<cr>
Coleman Benson 19.1 455
Coleman Benson 29.1 456 This sets the angular acceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).
Coleman Benson 19.1 457
Coleman Benson 29.1 458 Query Angular Acceleration (**QAA**)
Coleman Benson 19.1 459
Coleman Benson 29.1 460 Ex: #5QAA<cr> might return *5QAA30<cr>
Coleman Benson 19.1 461
Coleman Benson 29.1 462 This returns the servo's angular acceleration in degrees per second squared (°/s^^2^^).
Coleman Benson 19.1 463
Coleman Benson 29.1 464 Configure Angular Acceleration (**CAA**)
Coleman Benson 19.1 465
Coleman Benson 29.1 466 Ex: #5CAA30<cr>
Coleman Benson 19.1 467
468 This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
469
470 ====== __Angular Deceleration (**AD**)__ ======
471
Coleman Benson 29.1 472 The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
Coleman Benson 19.1 473
Coleman Benson 29.1 474 Ex: #5AD30<cr>
Coleman Benson 19.1 475
Coleman Benson 29.1 476 This sets the angular deceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).
Coleman Benson 19.1 477
Coleman Benson 29.1 478 Query Angular Deceleration (**QAD**)
Coleman Benson 19.1 479
Coleman Benson 29.1 480 Ex: #5QAD<cr> might return *5QAD30<cr>
Coleman Benson 19.1 481
Coleman Benson 29.1 482 This returns the servo's angular deceleration in degrees per second squared (°/s^^2^^).
Coleman Benson 19.1 483
Coleman Benson 29.1 484 Configure Angular Deceleration (**CAD**)
Coleman Benson 19.1 485
Coleman Benson 29.1 486 Ex: #5CAD30<cr>
Coleman Benson 19.1 487
Coleman Benson 29.1 488 This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
Coleman Benson 19.1 489
490 ====== __Gyre Direction (**G**)__ ======
491
Coleman Benson 29.1 492 "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 19.1 493
Coleman Benson 29.1 494 Ex: #5G-1<cr>
Coleman Benson 19.1 495
Coleman Benson 29.1 496 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 19.1 497
Coleman Benson 47.1 498 Query Gyre Direction (**QG**)
Coleman Benson 19.1 499
Coleman Benson 47.1 500 Ex: #5QG<cr> might return *5QG-1<cr>
501
Coleman Benson 29.1 502 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 19.1 503
Coleman Benson 29.1 504 Configure Gyre (**CG**)
Coleman Benson 19.1 505
Coleman Benson 29.1 506 Ex: #5CG-1<cr>
Coleman Benson 19.1 507
508 This changes the gyre direction as described above and also writes to EEPROM.
509
510 ====== __First Position__ ======
511
Coleman Benson 29.1 512 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 19.1 513
514 ====== __Maximum Speed in Degrees (**SD**)__ ======
515
Coleman Benson 29.1 516 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 19.1 517
518 |**Command sent**|**Returned value (1/10 °)**
Coleman Benson 29.1 519 |ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
520 |ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
521 |ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
522 |ex: #5QSD3<cr>|Target travel speed
Coleman Benson 19.1 523
Coleman Benson 29.1 524 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 19.1 525
526 ====== __Maximum Speed in RPM (**SR**)__ ======
527
Coleman Benson 29.1 528 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 19.1 529
530 |**Command sent**|**Returned value (1/10 °)**
Coleman Benson 29.1 531 |ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
532 |ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
533 |ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
534 |ex: #5QSR3<cr>|Target travel speed
Coleman Benson 19.1 535
Coleman Benson 29.1 536 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 19.1 537
Coleman Benson 47.1 538 ====== __Step Mode (**SM**)__ ======
539
540 Ex: #8SM2<cr>
541
542 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.
543
544 Note that the torque and max RPM of the actuator will be affected.
545
546 Query Step Mode (**QSM**)
547
548 Ex: #8QSM<cr> might return *8QSM2<cr> meaning servo with ID 8 is set to half step mode.
549
550 Configure Step Mode (**CSM**)
551
552 Ex: #8SM2<cr>
553
554 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.
555
Coleman Benson 19.1 556 == Modifiers ==
557
Coleman Benson 30.1 558 ====== __Speed (**SD**) modifier__ ======
Coleman Benson 19.1 559
Coleman Benson 30.1 560 (% class="wikigeneratedid" id="HTimedmove28T29modifier" %)
561 Example: #5D0SD180<cr>
Coleman Benson 19.1 562
Coleman Benson 30.1 563 (% class="wikigeneratedid" %)
564 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 19.1 565
Coleman Benson 30.1 566 (% class="wikigeneratedid" %)
567 Query Speed (**QS**)
Coleman Benson 19.1 568
Coleman Benson 30.1 569 (% class="wikigeneratedid" %)
570 Example: #5QS<cr> might return *5QS300<cr>
Coleman Benson 19.1 571
Coleman Benson 30.1 572 (% class="wikigeneratedid" %)
573 This command queries the current speed in microseconds per second.
Coleman Benson 19.1 574
Coleman Benson 30.1 575 ====== __Timed move (**T**) modifier__ ======
Coleman Benson 19.1 576
Coleman Benson 30.1 577 Example: #5D15000T2500<cr>
Coleman Benson 19.1 578
Coleman Benson 30.1 579 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 19.1 580
Coleman Benson 30.1 581 **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 19.1 582
Coleman Benson 36.1 583 ====== ======
Coleman Benson 19.1 584
585 == Telemetry ==
586
Coleman Benson 51.1 587 ====== __Query PCB Temperature (**QT**)__ ======
Coleman Benson 19.1 588
Coleman Benson 51.1 589 Ex: #5QT<cr> might return *5QT564<cr>
Coleman Benson 19.1 590
Coleman Benson 51.1 591 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 31.1 592
Coleman Benson 52.1 593 ====== __Query Temperature Probe (**QTP**)__ ======
Coleman Benson 19.1 594
Coleman Benson 51.1 595 Ex:
Coleman Benson 19.1 596
Coleman Benson 54.1 597 ====== __Query Temp of Controller (**QTCW**)__ ======
Coleman Benson 19.1 598
Coleman Benson 51.1 599 Ex:
Coleman Benson 19.1 600
Coleman Benson 54.1 601 An alternative is QTCE
602
Coleman Benson 51.1 603 ====== __Query Current (**QC**)__ ======
604
Coleman Benson 31.1 605 Ex: #5QC<cr> might return *5QC140<cr>
606
Coleman Benson 51.1 607 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 31.1 608
Coleman Benson 19.1 609 ====== __Query Model String (**QMS**)__ ======
610
Coleman Benson 31.1 611 Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
Coleman Benson 19.1 612
Coleman Benson 31.1 613 This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
614
Coleman Benson 19.1 615 ====== __Query Firmware (**QF**)__ ======
616
Coleman Benson 31.1 617 Ex: #5QF<cr> might return *5QF368<cr>
Coleman Benson 19.1 618
Coleman Benson 31.1 619 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
620
Coleman Benson 19.1 621 ====== __Query Serial Number (**QN**)__ ======
622
Coleman Benson 31.1 623 Ex: #5QN<cr> might return *5QN12345678<cr>
Coleman Benson 19.1 624
Coleman Benson 31.1 625 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 49.1 626
Coleman Benson 54.1 627 ====== __Query IMU Linear (**QIX** **QIY** **QIZ**)__ ======
Coleman Benson 49.1 628
Coleman Benson 50.1 629 Ex: #6QIX<cr> might return *6QIX30<cr>
Coleman Benson 49.1 630
Coleman Benson 50.1 631 This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
Coleman Benson 49.1 632
Coleman Benson 56.1 633 ====== __Query IMU Angular (**QIA** **QIB** **QIC**)__ ======
Coleman Benson 49.1 634
635 Ex: #6QIB<cr> might return *6QIB44<cr>
636
637 This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
638
639
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