Wiki source code of LSS-PRO Communication Protocol

Version 74.1 by Eric Nantel on 2024/07/22 11:14
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Eric Nantel 1.2 1 (% class="wikigeneratedid" id="HTableofContents" %)
2 **Page Contents**
3
4 {{toc depth="3"/}}
5
6 = Serial Protocol =
7
Coleman Benson 20.1 8 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 9
10 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 11
12 = Action Commands =
13
Coleman Benson 23.1 14 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 15
Coleman Benson 11.1 16 1. Start with a number sign **#** (Unicode Character: U+0023)
17 1. Servo ID number as an integer (assigning an ID described below)
18 1. Action command (one or more letters, no whitespace, capital or lowercase from the list below)
19 1. Action value in the correct units with no decimal
20 1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
Coleman Benson 9.1 21
Coleman Benson 11.1 22 (((
Coleman Benson 20.1 23 Ex: #5D130000<cr>
Coleman Benson 9.1 24
Coleman Benson 20.1 25 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 26
27 == Modifiers ==
28
Coleman Benson 35.1 29 Modifiers can only be used with certain **action commands**. The format to include a modifier is:
Coleman Benson 10.1 30
Coleman Benson 35.1 31 1. Start with a number sign **#** (Unicode Character: U+0023)
Coleman Benson 10.1 32 1. Servo ID number as an integer
33 1. Action command (one to three letters, no spaces, capital or lowercase from a subset of action commands below)
34 1. Action value in the correct units with no decimal
Coleman Benson 35.1 35 1. Modifier command (one or two letters from the list of modifiers below)
Coleman Benson 10.1 36 1. Modifier value in the correct units with no decimal
Coleman Benson 35.1 37 1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
Coleman Benson 10.1 38
Coleman Benson 35.1 39 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 40
Coleman Benson 35.1 41 == Queries ==
Coleman Benson 12.1 42
Coleman Benson 35.1 43 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 44
Coleman Benson 35.1 45 1. Start with a number sign **#** (Unicode Character: U+0023)
Coleman Benson 12.1 46 1. Servo ID number as an integer
47 1. Query command (one to four letters, no spaces, capital or lower case)
Coleman Benson 35.1 48 1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
Coleman Benson 12.1 49
Coleman Benson 35.1 50 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 51
52 1. Start with an asterisk * (Unicode Character: U+0023)
53 1. Servo ID number as an integer
54 1. Query command (one to four letters, no spaces, capital letters)
55 1. The reported value in the units described, no decimals.
Coleman Benson 35.1 56 1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
Coleman Benson 12.1 57
Coleman Benson 35.1 58 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 59
Coleman Benson 35.1 60 Ex: *5QD13000<cr>
Coleman Benson 12.1 61
Coleman Benson 20.1 62 This indicates that servo #5 is currently at 130.00 degrees (13000 tenths of degrees).
Coleman Benson 12.1 63
Coleman Benson 35.1 64 == Configurations ==
Coleman Benson 24.1 65
Coleman Benson 35.1 66 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 67
Coleman Benson 35.1 68 The format to send a configuration command is identical to that of an action command:
Coleman Benson 12.1 69
Coleman Benson 35.1 70 1. Start with a number sign **#** (Unicode Character: U+0023)
Coleman Benson 12.1 71 1. Servo ID number as an integer
72 1. Configuration command (two to four letters, no spaces, capital or lower case)
73 1. Configuration value in the correct units with no decimal
Coleman Benson 35.1 74 1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
Coleman Benson 12.1 75
Coleman Benson 35.1 76 Ex: #5CO-500<cr>
Coleman Benson 12.1 77
Coleman Benson 35.1 78 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 79
Coleman Benson 35.1 80 **Session vs Configuration Query**
Coleman Benson 12.1 81
Coleman Benson 35.1 82 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 83
Coleman Benson 35.1 84 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 85
Coleman Benson 35.1 86 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 87
Coleman Benson 35.1 88 #5QSR<cr> or #5QSR0<cr> would return *5QSR4<cr> which represents the value for that session, whereas
Coleman Benson 12.1 89
Coleman Benson 35.1 90 #5QSR1<cr> would return *5QSR10<cr> which represents the value in EEPROM
Coleman Benson 12.1 91
Coleman Benson 35.1 92 The ability to store a "virtual angular position" is a feature which allows for rotation beyond 360 degrees, permitting multiple rotations of the output horn, moving the center position and more. The "absolute position" would be the angle of the output shaft with respect to a 360.00 degree circle and can be obtained by taking the modulus (with respect to 360 degrees) of the value. For example if the virtual position is reported as 153350 (or 1533.50 degrees), taking the modulus would give 93.5 degrees (36000 * 4 + 9350 = 153350) as the absolute position (assuming no origin offset).
Coleman Benson 12.1 93
Coleman Benson 35.1 94 [[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-positions.jpg||alt="LSS-servo-positions.jpg"]]
Coleman Benson 12.1 95
Coleman Benson 35.1 96 In this example, the gyre direction (explained below, a.k.a. "rotation direction") is positive (clockwise), and origin offset has not been modified. Each square represents 30 degrees. The following command is sent:
Coleman Benson 12.1 97
Coleman Benson 35.1 98 #1D-3000<cr> This causes the servo to move to -30.00 degrees (green arrow)
Coleman Benson 12.1 99
Coleman Benson 35.1 100 #1D21000<cr> This second position command is sent to the servo, which moves it to 210.00 degrees (orange arrow)
Coleman Benson 12.1 101
Coleman Benson 35.1 102 #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 12.1 103
Coleman Benson 35.1 104 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 12.1 105
Coleman Benson 35.1 106 #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 12.1 107
Coleman Benson 35.1 108 #1D33000<cr> would cause the servo to rotate from 480.0 degrees to 330.00 degrees (yellow arrow).
Coleman Benson 12.1 109
Coleman Benson 25.1 110 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 11.1 111 )))
Coleman Benson 13.1 112
113 = Command List =
114
115 **Latest firmware version currently : v0.0.780**
116
Coleman Benson 22.1 117 |(% colspan="8" style="color:orange; font-size:18px" %)[[**Communication Setup**>>||anchor="HCommunicationSetup"]]
118 |(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
119 | |[[**Reset**>>||anchor="HReset"]]|(% style="text-align:center" %)RESET|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Soft reset. See command for details.
120 | |[[**Default** Configuration>>||anchor="HDefault26confirm"]]|(% style="text-align:center" %)DEFAULT|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Revert to firmware default values. See command for details
121 | |[[Firmware **Update** Mode>>||anchor="HUpdate26confirm"]]|(% style="text-align:center" %)UPDATE|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Update firmware. See command for details.
122 | |[[**Confirm** Changes>>||anchor="HConfirm"]]|(% style="text-align:center" %)CONFIRM|(% style="text-align:center" %) |(% style="text-align:center" %) | | |
Coleman Benson 41.1 123 | |[[**ID** Number >>||anchor="HIDNumber28ID29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QID|(% style="text-align:center" %)CID|0| |Reset required after change. ID 254 is a "broadcast" which all servos respond to.
Coleman Benson 43.1 124 | |[[**E**nable CAN **T**erminal>>doc:||anchor="HEnableCANTerminalResistor28ET29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QET|(% style="text-align:center" %)CET| |0 or 1|0: Disable  1: Enable
125 | |[[**U**SB **C**onnection Status>>||anchor="HUSBConnectionStatus28UC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QUC|(% style="text-align:center" %) | |0 or 1|0: Not connected 1: Connected
126 | |[[**Q**uery **F**irmware **R**elease>>doc:||anchor="HFirmwareRelease28FR29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QFR|(% style="text-align:center" %) | | |
Coleman Benson 13.1 127
Coleman Benson 22.1 128 |(% colspan="8" style="color:orange; font-size:18px" %)[[**Motion**>>||anchor="HMotion"]]
129 |(% 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**
130 | |[[Position in **D**egrees>>||anchor="HPositioninDegrees28D29"]]|(% style="text-align:center" %)D|(% style="text-align:center" %)QD/QDT|(% style="text-align:center" %) | |1/100°|
131 | |[[**M**ove in **D**egrees (relative)>>||anchor="H28Relative29MoveinDegrees28MD29"]]|(% style="text-align:center" %)MD|(% style="text-align:center" %) |(% style="text-align:center" %) | |1/100°|
132 | |[[**W**heel mode in **D**egrees>>||anchor="HWheelModeinDegrees28WD29"]]|(% style="text-align:center" %)WD|(% style="text-align:center" %)QWD/QVT|(% style="text-align:center" %) | |°/s|A.K.A. "Speed mode" or "Continuous rotation"
133 | |[[**W**heel mode in **R**PM>>||anchor="HWheelModeinRPM28WR29"]]|(% style="text-align:center" %)WR|(% style="text-align:center" %)QWR|(% style="text-align:center" %) | |RPM|A.K.A. "Speed mode" or "Continuous rotation"
134 | |[[**Q**uery Motion Status>>||anchor="HQueryStatus28Q29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)Q|(% style="text-align:center" %) | |1 to 8 integer|See command description for details
135 | |[[**L**imp>>||anchor="HLimp28L29"]]|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Removes power from stepper coils
136 | |[[**H**alt & Hold>>||anchor="HHalt26Hold28H29"]]|(% style="text-align:center" %)H|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Stops (halts) motion profile and holds last position
Coleman Benson 13.1 137
Coleman Benson 22.1 138 |(% colspan="8" style="color:orange; font-size:18px" %)[[**Motion Setup**>>||anchor="HMotionSetup"]]
139 |(% 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**
140 | |[[**O**rigin Offset>>||anchor="HOriginOffset28O29"]]|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|0|1/10°|
141 | |[[**A**ngular **R**ange>>||anchor="HAngularRange28AR29"]]|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|1800|1/10°|
142 | |[[**A**ngular **A**cceleration>>||anchor="HAngularAcceleration28AA29"]]|(% style="text-align:center" %)AA|(% style="text-align:center" %)QAA|(% style="text-align:center" %)CAA|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
143 | |[[**A**ngular **D**eceleration>>||anchor="HAngularDeceleration28AD29"]]|(% style="text-align:center" %)AD|(% style="text-align:center" %)QAD|(% style="text-align:center" %)CAD|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).
144 | |[[**G**yre Direction>>||anchor="HGyreDirection28G29"]]|(% style="text-align:center" %)G|(% style="text-align:center" %)QG|(% style="text-align:center" %)CG|1| |Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)
145 | |[[**F**irst Position (**D**eg)>>||anchor="HFirstPosition"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QFD|(% style="text-align:center" %)CFD|No value|1/10°|Reset required after change.
146 | |[[Maximum **S**peed in **D**egrees>>||anchor="HMaximumSpeedinDegrees28SD29"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %)QSD|(% style="text-align:center" %)CSD|Max|0.1°/s|SD overwrites SR / CSD overwrites CSR and vice-versa
147 | |[[Maximum **S**peed in **R**PM>>||anchor="HMaximumSpeedinRPM28SR29"]]|(% style="text-align:center" %)SR|(% style="text-align:center" %)QSR|(% style="text-align:center" %)CSR|Max|RPM|SD overwrites SR / CSD overwrites CSR and vice-versa
Coleman Benson 48.1 148 | |[[Step Mode>>doc:||anchor="HStepMode28SM29"]]|(% style="text-align:center" %)SM|(% style="text-align:center" %)QM|(% style="text-align:center" %)CSM|2|1, 2, 4|Numbers represent fractions: full step, &frac12; step, &frac14; step
Coleman Benson 13.1 149
Coleman Benson 22.1 150 |(% colspan="8" style="color:orange; font-size:18px" %)[[**Modifiers**>>||anchor="HModifiers"]]
151 |(% 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**
152 | |[[**S**peed in **D**egrees>>||anchor="HSpeed28S2CSD29modifier"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %) |(% style="text-align:center" %) | |1°/s|For D and MD action commands
153 | |[[**T**imed move>>||anchor="HTimedmove28T29modifier"]]|(% style="text-align:center" %)T|(% style="text-align:center" %) |(% style="text-align:center" %) | |ms|Time associated with D, MD commands
Coleman Benson 13.1 154
Coleman Benson 22.1 155 |(% colspan="8" style="color:orange; font-size:18px" %)[[**Telemetry**>>||anchor="HTelemetry"]]
156 |(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
157 | |[[**Q**uery PCB **T**emperature>>||anchor="HQueryTemperature28QT29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) | |°C|
158 | |[[**Q**uery **C**urrent>>||anchor="HQueryCurrent28QC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QC|(% style="text-align:center" %) | |mA|Nominal RMS value to stepper motor driver IC.
159 | |[[**Q**uery **M**odel **S**tring>>||anchor="HQueryModelString28QMS29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMS|(% style="text-align:center" %) | | |Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1)
160 | |[[**Q**uery **F**irmware Version>>||anchor="HQueryFirmware28QF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | | |
161 | |[[**Q**uery Serial **N**umber>>||anchor="HQuerySerialNumber28QN29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QN|(% style="text-align:center" %) | | |Returns the unique serial number for the servo
Coleman Benson 53.1 162 | |[[**Q**uery **T**emperature **P**robe>>doc:||anchor="HQueryTemperatureProbe28QTP29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTP|(% style="text-align:center" %) | | |Queries temperature probe fixed to the stepper motor
163 | |[[**Q**uery **T**emp of **M**CU>>doc:||anchor="HQueryMCUTemperature28QTM29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTM|(% style="text-align:center" %) | | |
164 | |[[**Q**uery **T**emp of **C**ontroller>>doc:||anchor="HQueryTempofController28QTCW29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW, QTCE|(% style="text-align:center" %) | | |(((
Coleman Benson 22.1 165 QTCW: Queries the temperature status of the motor controller (pre-warning)
Coleman Benson 13.1 166
Coleman Benson 22.1 167 QTCE: Queries the temperature status of the motor controller (over-temp error)
168 )))
Coleman Benson 55.1 169 | |[[**Q**uery **I**MU Linear **X**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIX|(% style="text-align:center" %) | |mm/s^2|
170 | |[[**Q**uery **I**MU Linear **Y**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIY|(% style="text-align:center" %) | |mm/s^2|
171 | |[[**Q**uery **I**MU Linear **Z**>>doc:||anchor="HQueryIMULinear28QIXQIYQIZ29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |mm/s^2|
Coleman Benson 53.1 172 | |[[**Q**uery **I**MU Angular Accel **α** >>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIA|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel α (Alpha)
173 | |[[**Q**uery **I**MU Angular Accel **β**>>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIB|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel β (Beta)
174 | |[[**Q**uery **I**MU Angular Accel **γ**>>doc:||anchor="HQueryIMUAngular28QIAQIBQIC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIC / QIG|(% style="text-align:center" %) | |°/s^2|Query IMU Angular Accel γ (Gamma)
Coleman Benson 19.1 175
Coleman Benson 22.1 176 |(% colspan="8" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="HRGBLED"]]
177 |(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes**
178 | |[[**LED** Color>>||anchor="HLEDColor28LED29"]]|(% style="text-align:center" %)LED|(% style="text-align:center" %)QLED|(% style="text-align:center" %)CLED| |0 to 7 integer|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White
179
Coleman Benson 19.1 180 = (% style="color:inherit; font-family:inherit" %)Details(%%) =
181
182 == (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) ==
183
Coleman Benson 57.1 184 |(% colspan="2" %)(((
185 ====== __Reset__ ======
186 )))
187 | |(((
188 Ex: #5RESET<cr>
Coleman Benson 36.1 189
Coleman Benson 57.1 190 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.
191 )))
Coleman Benson 36.1 192
Coleman Benson 57.1 193 |(% colspan="2" %)(((
Coleman Benson 36.1 194 ====== (% style="color:inherit; font-family:inherit" %)__Default & confirm__(%%) ======
Coleman Benson 57.1 195 )))
Coleman Benson 60.1 196 |(% style="width:30px" %) |(((
Coleman Benson 36.1 197 (% style="color:inherit; font-family:inherit" %)Ex: #5DEFAULT<cr>
198
199 (% 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.
200
201 (% style="color:inherit; font-family:inherit" %)EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
202
203 (% 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.
204
205 (% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
Coleman Benson 58.1 206 )))
Coleman Benson 36.1 207
Coleman Benson 58.1 208 |(% colspan="2" %)(((
Coleman Benson 36.1 209 ====== (% style="color:inherit; font-family:inherit" %)__Update & confirm__(%%) ======
Coleman Benson 58.1 210 )))
Coleman Benson 60.1 211 |(% style="width:30px" %) |(((
Coleman Benson 36.1 212 (% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
213
214 (% 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.
215
216 (% style="color:inherit; font-family:inherit" %)EX: #5UPDATE<cr> followed by #5CONFIRM<cr>
217
218 (% 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.
219
220 (% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
Coleman Benson 58.1 221 )))
Coleman Benson 36.1 222
Coleman Benson 60.1 223 |(% colspan="2" %)(((
224 ====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
225 )))
Coleman Benson 59.1 226 |(% style="width:30px" %) |(((
Coleman Benson 36.1 227 (% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
228
229 (% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command.
Coleman Benson 37.1 230 Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
Coleman Benson 59.1 231 )))
Coleman Benson 36.1 232
Coleman Benson 60.1 233 |(% colspan="2" %)(((
Coleman Benson 61.1 234 ====== (% style="color:inherit; font-family:inherit" %)__ID Number__(%%) ======
Coleman Benson 60.1 235 )))
Coleman Benson 59.1 236 |(% style="width:30px" %) |(((
Coleman Benson 61.1 237 This assigns ID #5 to the servo previously assigned to ID 0
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.
Coleman Benson 59.1 250 )))
Coleman Benson 39.1 251
Coleman Benson 60.1 252 |(% colspan="2" %)(((
Coleman Benson 61.1 253 ====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor__(%%) ======
Coleman Benson 60.1 254 )))
Coleman Benson 59.1 255 |(% style="width:30px" %) |(((
Coleman Benson 37.1 256 Query Enable CAN Terminal Resistor (**QET**)
257
258 Ex: #5QET<cr> might return *QET0<cr>
259
260 This means that servo with ID 5 is NOT configured as the last servo in the CAN bus.
261
262 Configure Enable CAN Terminal Resistor (**CET**)
263
264 (% style="color:inherit; font-family:inherit" %)Ex: #5CET1<cr>
265
266 (% 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 59.1 267 )))
Coleman Benson 37.1 268
Coleman Benson 60.1 269 |(% colspan="2" %)(((
Coleman Benson 61.1 270 ====== __USB Connection Status__ ======
Coleman Benson 60.1 271 )))
Coleman Benson 59.1 272 |(% style="width:30px" %) |(((
Coleman Benson 37.1 273 Query USB Connection Status (**QUC**)
274
275 Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
Coleman Benson 59.1 276 )))
Coleman Benson 37.1 277
Coleman Benson 60.1 278 |(% colspan="2" %)(((
Coleman Benson 61.1 279 ====== __Firmware Release__ ======
Coleman Benson 60.1 280 )))
Coleman Benson 59.1 281 |(% style="width:30px" %) |(((
Coleman Benson 39.1 282 Query Firmware Release (**QFR**)
283
284 Ex: #5QFR<cr> might return *QFR11<cr> meaning it has a (random) firmware release version number 11.
285
286 This is used to verify if the firmware on the servos is up to date, or which version is running on the microcontroller.
Coleman Benson 59.1 287 )))
Coleman Benson 39.1 288
Coleman Benson 19.1 289 == Motion ==
290
Coleman Benson 62.1 291 |(% colspan="2" %)(((
292 ====== __Position in Degrees__ ======
293 )))
294 |(% style="width:30px" %) |(((
295 Position in Degrees (**D**)
Coleman Benson 19.1 296
Coleman Benson 28.1 297 Example: #5D1456<cr>
Coleman Benson 19.1 298
Coleman Benson 28.1 299 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 19.1 300
Coleman Benson 28.1 301 Larger values are permitted and allow for multi-turn functionality using the concept of virtual position (explained above).
Coleman Benson 19.1 302
Coleman Benson 28.1 303 Query Position in Degrees (**QD**)
Coleman Benson 19.1 304
Coleman Benson 28.1 305 Example: #5QD<cr> might return *5QD132<cr>
Coleman Benson 19.1 306
Coleman Benson 28.1 307 This means the servo is located at 13.2 degrees.
Coleman Benson 19.1 308
Coleman Benson 28.1 309 Query Target Position in Degrees (**QDT**)
Coleman Benson 19.1 310
Coleman Benson 28.1 311 Ex: #5QDT<cr> might return *5QDT6783<cr>
312
Coleman Benson 19.1 313 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.
Coleman Benson 62.1 314 )))
Coleman Benson 19.1 315
Coleman Benson 62.1 316 |(% colspan="2" %)(((
317 ====== __(Relative) Move in Degrees__ ======
318 )))
319 |(% style="width:30px" %) |(((
320 Move in Degrees (**MD**)
Coleman Benson 19.1 321
Coleman Benson 28.1 322 Example: #5MD123<cr>
323
Coleman Benson 19.1 324 The relative move command causes the servo to read its current position and move the specified number of tenths of degrees in the corresponding position. For example if the servo is set to rotate CW (default) and an MD command of 123 is sent to the servo, it will cause the servo to rotate clockwise by 12.3 degrees. Negative commands would cause the servo to rotate in the opposite configured direction.
Coleman Benson 62.1 325 )))
Coleman Benson 19.1 326
Coleman Benson 62.1 327 |(% colspan="2" %)(((
328 ====== __Wheel Mode in Degrees__ ======
329 )))
330 |(% style="width:30px" %) |(((
331 Wheel mode in Degrees (**WD**)
Coleman Benson 19.1 332
Coleman Benson 28.1 333 Ex: #5WD90<cr>
Coleman Benson 19.1 334
Coleman Benson 28.1 335 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 19.1 336
Coleman Benson 28.1 337 Query Wheel Mode in Degrees (**QWD**)
Coleman Benson 19.1 338
Coleman Benson 28.1 339 Ex: #5QWD<cr> might return *5QWD90<cr>
340
Coleman Benson 19.1 341 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).
Coleman Benson 62.1 342 )))
Coleman Benson 19.1 343
Coleman Benson 62.1 344 |(% colspan="2" %)(((
345 ====== __Wheel Mode in RPM__ ======
346 )))
347 |(% style="width:30px" %) |(((
348 Wheel moed in RPM (**WR**)
Coleman Benson 19.1 349
Coleman Benson 28.1 350 Ex: #5WR40<cr>
Coleman Benson 19.1 351
Coleman Benson 28.1 352 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 19.1 353
Coleman Benson 28.1 354 Query Wheel Mode in RPM (**QWR**)
Coleman Benson 19.1 355
Coleman Benson 28.1 356 Ex: #5QWR<cr> might return *5QWR40<cr>
357
Coleman Benson 19.1 358 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).
Coleman Benson 62.1 359 )))
Coleman Benson 19.1 360
Coleman Benson 62.1 361 |(% colspan="2" %)(((
362 ====== __(Relative) Move in Degrees__ ======
363 )))
364 |(% style="width:30px" %) |(((
365 (% class="wikigeneratedid" %)
366 Move in Degrees (**MD**)
Coleman Benson 19.1 367
Coleman Benson 35.1 368 (% class="wikigeneratedid" id="HExample:235M15003Ccr3E" %)
369 Example: #5M1500<cr>
Coleman Benson 19.1 370
Coleman Benson 35.1 371 (% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
372 The relative move in PWM command causes the servo to read its current position and move by the specified number of PWM signal. For example if the servo is set to rotate CW (default) and an M command of 1500 is sent to the servo, it will cause the servo to rotate clockwise by 90 degrees. Negative PWM value would cause the servo to rotate in the opposite configured direction.
Coleman Benson 62.1 373 )))
Coleman Benson 19.1 374
Coleman Benson 62.1 375 |(% colspan="2" %)(((
376 ====== __Query Status__ ======
377 )))
378 |(% style="width:30px" %) |(((
379 Query Status (**Q**)
Coleman Benson 19.1 380
Coleman Benson 28.1 381 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 19.1 382
Coleman Benson 28.1 383 Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
Coleman Benson 19.1 384
385 |(% style="width:25px" %) |***Value returned (Q)**|**Status**|**Detailed description**
386 | |ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state
387 | |ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely
388 | |ex: *5Q2<cr>|2: Free moving|Servo is rotating in duty motion / free move using the RDM command
389 | |ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
390 | |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
391 | |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
Coleman Benson 64.1 392 | |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will normally be holding)
Coleman Benson 19.1 393 | |ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
394 | |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
395 | |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
396 | |ex: *5Q10<cr>|10: Safe Mode|(((
397 A safety limit has been exceeded (temperature, peak current or extended high current draw).
398
399 Send a Q1 command to know which limit has been reached (described below).
400 )))
401
Coleman Benson 28.1 402 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 19.1 403
404 |(% style="width:25px" %) |***Value returned (Q1)**|**Status**|**Detailed description**
405 | |ex: *5Q0<cr>|No limits have been passed|Nothing is wrong
406 | |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
407 | |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
408 | |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
Coleman Benson 62.1 409 )))
Coleman Benson 19.1 410
Coleman Benson 62.1 411 |(% colspan="2" %)(((
412 ====== __Limp__ ======
413 )))
414 |(% style="width:30px" %) |(((
415 Limp (**L**)
Coleman Benson 19.1 416
Coleman Benson 28.1 417 Example: #5L<cr>
Coleman Benson 19.1 418
Coleman Benson 28.1 419 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>.
Coleman Benson 62.1 420 )))
Coleman Benson 28.1 421
Coleman Benson 62.1 422 |(% colspan="2" %)(((
423 ====== __Halt & Hold__ ======
424 )))
425 |(% style="width:30px" %) |(((
426 Halt & Hold (**H**)
Coleman Benson 19.1 427
Coleman Benson 28.1 428 Example: #5H<cr>
429
Coleman Benson 19.1 430 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.)
Coleman Benson 62.1 431 )))
Coleman Benson 19.1 432
433 == Motion Setup ==
434
Coleman Benson 29.1 435 ====== __Origin Offset (**O**)__ ======
Coleman Benson 19.1 436
Coleman Benson 29.1 437 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 19.1 438
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-default.jpg||alt="LSS-servo-default.jpg"]]
Coleman Benson 19.1 440
441
Coleman Benson 29.1 442 In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
Coleman Benson 19.1 443
Coleman Benson 29.1 444 [[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-origin.jpg||alt="LSS-servo-origin.jpg"]]
Coleman Benson 19.1 445
446
Coleman Benson 29.1 447 Origin Offset Query (**QO**)
Coleman Benson 19.1 448
Coleman Benson 29.1 449 Example: #5QO<cr> might return *5QO-13
Coleman Benson 19.1 450
Coleman Benson 29.1 451 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 19.1 452
Coleman Benson 29.1 453 Configure Origin Offset (**CO**)
Coleman Benson 19.1 454
Coleman Benson 29.1 455 Example: #5CO-24<cr>
Coleman Benson 19.1 456
457 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.
458
459 ====== __Angular Range (**AR**)__ ======
460
Coleman Benson 29.1 461 Example: #5AR1800<cr>
Coleman Benson 19.1 462
Coleman Benson 29.1 463 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 19.1 464
Coleman Benson 29.1 465 [[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]
Coleman Benson 19.1 466
Coleman Benson 29.1 467 Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
Coleman Benson 19.1 468
Coleman Benson 29.1 469 [[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar.jpg||alt="LSS-servo-ar.jpg"]]
Coleman Benson 19.1 470
471
Coleman Benson 29.1 472 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 19.1 473
Coleman Benson 29.1 474 [[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/lynxmotion-smart-servo-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar-o-1.jpg||alt="LSS-servo-ar-o-1.jpg"]]
Coleman Benson 19.1 475
476
Coleman Benson 29.1 477 Query Angular Range (**QAR**)
Coleman Benson 19.1 478
Coleman Benson 29.1 479 Example: #5QAR<cr> might return *5AR1800, indicating the total angular range is 180.0 degrees.
Coleman Benson 19.1 480
Coleman Benson 29.1 481 Configure Angular Range (**CAR**)
Coleman Benson 19.1 482
Coleman Benson 29.1 483 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 19.1 484
485 ====== __Angular Acceleration (**AA**)__ ======
486
Coleman Benson 29.1 487 The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
Coleman Benson 19.1 488
Coleman Benson 29.1 489 Ex: #5AA30<cr>
Coleman Benson 19.1 490
Coleman Benson 29.1 491 This sets the angular acceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).
Coleman Benson 19.1 492
Coleman Benson 29.1 493 Query Angular Acceleration (**QAA**)
Coleman Benson 19.1 494
Coleman Benson 29.1 495 Ex: #5QAA<cr> might return *5QAA30<cr>
Coleman Benson 19.1 496
Coleman Benson 29.1 497 This returns the servo's angular acceleration in degrees per second squared (°/s^^2^^).
Coleman Benson 19.1 498
Coleman Benson 29.1 499 Configure Angular Acceleration (**CAA**)
Coleman Benson 19.1 500
Coleman Benson 29.1 501 Ex: #5CAA30<cr>
Coleman Benson 19.1 502
503 This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
504
505 ====== __Angular Deceleration (**AD**)__ ======
506
Coleman Benson 29.1 507 The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
Coleman Benson 19.1 508
Coleman Benson 29.1 509 Ex: #5AD30<cr>
Coleman Benson 19.1 510
Coleman Benson 29.1 511 This sets the angular deceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).
Coleman Benson 19.1 512
Coleman Benson 29.1 513 Query Angular Deceleration (**QAD**)
Coleman Benson 19.1 514
Coleman Benson 29.1 515 Ex: #5QAD<cr> might return *5QAD30<cr>
Coleman Benson 19.1 516
Coleman Benson 29.1 517 This returns the servo's angular deceleration in degrees per second squared (°/s^^2^^).
Coleman Benson 19.1 518
Coleman Benson 29.1 519 Configure Angular Deceleration (**CAD**)
Coleman Benson 19.1 520
Coleman Benson 29.1 521 Ex: #5CAD30<cr>
Coleman Benson 19.1 522
Coleman Benson 29.1 523 This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
Coleman Benson 19.1 524
525 ====== __Gyre Direction (**G**)__ ======
526
Coleman Benson 29.1 527 "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 19.1 528
Coleman Benson 29.1 529 Ex: #5G-1<cr>
Coleman Benson 19.1 530
Coleman Benson 29.1 531 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 19.1 532
Coleman Benson 47.1 533 Query Gyre Direction (**QG**)
Coleman Benson 19.1 534
Coleman Benson 47.1 535 Ex: #5QG<cr> might return *5QG-1<cr>
536
Coleman Benson 29.1 537 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 19.1 538
Coleman Benson 29.1 539 Configure Gyre (**CG**)
Coleman Benson 19.1 540
Coleman Benson 29.1 541 Ex: #5CG-1<cr>
Coleman Benson 19.1 542
543 This changes the gyre direction as described above and also writes to EEPROM.
544
545 ====== __First Position__ ======
546
Coleman Benson 29.1 547 In certain cases, a user might want to have the servo move to a specific angle upon power up; we refer to this as "first position" (a.k.a. "initial position"). The factory default has no first position value stored in EEPROM and therefore upon power up, the servo remains limp until a position (or hold command) is assigned. Note that the number should be restricted to -1790 (-179.0 degrees) to +1790 (179.0 degrees) and values beyond this will be changed to 1800.Query First Position in Degrees (**QFD**)Ex: #5QFD<cr> might return *5QFD900<cr>The reply above indicates that servo with ID 5 has a first position of 90.0 degrees. If there is no first position value stored, the reply will be DIS.Configure First Position in Degrees (**CFD**)Ex: #5CFD900<cr>This configuration command means the servo, when set to smart mode, will immediately move to 90.0 degrees upon power up. Sending a CFD command without a number (Ex. #5CFD<cr>) results in the servo remaining limp upon power up. In order to remove the first position, send no value, ex: #5CFD<cr>
Coleman Benson 19.1 548
549 ====== __Maximum Speed in Degrees (**SD**)__ ======
550
Coleman Benson 29.1 551 Ex: #5SD1800<cr>This command sets the servo's maximum speed for motion commands in tenths of degrees per second for that session. In the example above, the servo's maximum speed for that session would be set to 180.0 degrees per second. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. The SD action command overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD and SR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.Query Speed in Degrees (**QSD**)Ex: #5QSD<cr> might return *5QSD1800<cr>By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever an SD/SR command is processed. If #5QSD1<cr> is sent, the configured maximum speed (CSD value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
Coleman Benson 19.1 552
553 |**Command sent**|**Returned value (1/10 °)**
Coleman Benson 29.1 554 |ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
555 |ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
556 |ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
557 |ex: #5QSD3<cr>|Target travel speed
Coleman Benson 19.1 558
Coleman Benson 29.1 559 Configure Speed in Degrees (**CSD**)Ex: #5CSD1800<cr>Using the CSD command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 180.0 degrees per second. When the servo is powered on (or after a reset), the CSD value is used. Note that CSD and CSR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) is what the servo uses for that session.
Coleman Benson 19.1 560
561 ====== __Maximum Speed in RPM (**SR**)__ ======
562
Coleman Benson 29.1 563 Ex: #5SR45<cr>This command sets the servo's maximum speed for motion commands in rpm for that session. In the example above, the servo's maximum speed for that session would be set to 45rpm. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SR overrides CSR (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSR as described below. Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.Query Speed in RPM (**QSR**)Ex: #5QSR<cr> might return *5QSR45<cr>By default QSR will return the current session value, which is set to the value of CSR as reset/power cycle and changed whenever an SD/SR command is processed. If #5QSR1<cr> is sent, the configured maximum speed (CSR value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
Coleman Benson 19.1 564
565 |**Command sent**|**Returned value (1/10 °)**
Coleman Benson 29.1 566 |ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
567 |ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
568 |ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
569 |ex: #5QSR3<cr>|Target travel speed
Coleman Benson 19.1 570
Coleman Benson 29.1 571 Configure Speed in RPM (**CSR**)Ex: #5CSR45<cr>Using the CSR command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSR value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) received is what the servo uses for that session.
Coleman Benson 19.1 572
Coleman Benson 47.1 573 ====== __Step Mode (**SM**)__ ======
574
575 Ex: #8SM2<cr>
576
577 This sets servo with ID 8 to 1/2 step mode. Since this is an action as opposed to a configuration, it only affects that session.
578
579 Note that the torque and max RPM of the actuator will be affected.
580
581 Query Step Mode (**QSM**)
582
583 Ex: #8QSM<cr> might return *8QSM2<cr> meaning servo with ID 8 is set to half step mode.
584
585 Configure Step Mode (**CSM**)
586
587 Ex: #8SM2<cr>
588
589 This sets servo with ID 8 to 1/2 step mode. Since this is a configuration as opposed to a configuration and the servo will be in 1/2 step mode when powered.
590
Coleman Benson 19.1 591 == Modifiers ==
592
Coleman Benson 30.1 593 ====== __Speed (**SD**) modifier__ ======
Coleman Benson 19.1 594
Coleman Benson 30.1 595 (% class="wikigeneratedid" id="HTimedmove28T29modifier" %)
596 Example: #5D0SD180<cr>
Coleman Benson 19.1 597
Coleman Benson 30.1 598 (% class="wikigeneratedid" %)
599 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 19.1 600
Coleman Benson 30.1 601 (% class="wikigeneratedid" %)
602 Query Speed (**QS**)
Coleman Benson 19.1 603
Coleman Benson 30.1 604 (% class="wikigeneratedid" %)
605 Example: #5QS<cr> might return *5QS300<cr>
Coleman Benson 19.1 606
Coleman Benson 30.1 607 (% class="wikigeneratedid" %)
608 This command queries the current speed in microseconds per second.
Coleman Benson 19.1 609
Coleman Benson 30.1 610 ====== __Timed move (**T**) modifier__ ======
Coleman Benson 19.1 611
Coleman Benson 30.1 612 Example: #5D15000T2500<cr>
Coleman Benson 19.1 613
Coleman Benson 30.1 614 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 19.1 615
Coleman Benson 30.1 616 **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 19.1 617
Coleman Benson 36.1 618 ====== ======
Coleman Benson 19.1 619
620 == Telemetry ==
621
Coleman Benson 51.1 622 ====== __Query PCB Temperature (**QT**)__ ======
Coleman Benson 19.1 623
Coleman Benson 51.1 624 Ex: #5QT<cr> might return *5QT564<cr>
Coleman Benson 19.1 625
Coleman Benson 51.1 626 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 31.1 627
Coleman Benson 52.1 628 ====== __Query Temperature Probe (**QTP**)__ ======
Coleman Benson 19.1 629
Coleman Benson 51.1 630 Ex:
Coleman Benson 19.1 631
Coleman Benson 54.1 632 ====== __Query Temp of Controller (**QTCW**)__ ======
Coleman Benson 19.1 633
Coleman Benson 51.1 634 Ex:
Coleman Benson 19.1 635
Coleman Benson 54.1 636 An alternative is QTCE
637
Coleman Benson 51.1 638 ====== __Query Current (**QC**)__ ======
639
Coleman Benson 31.1 640 Ex: #5QC<cr> might return *5QC140<cr>
641
Coleman Benson 51.1 642 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 31.1 643
Coleman Benson 19.1 644 ====== __Query Model String (**QMS**)__ ======
645
Coleman Benson 31.1 646 Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
Coleman Benson 19.1 647
Coleman Benson 31.1 648 This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
649
Coleman Benson 19.1 650 ====== __Query Firmware (**QF**)__ ======
651
Coleman Benson 31.1 652 Ex: #5QF<cr> might return *5QF368<cr>
Coleman Benson 19.1 653
Coleman Benson 31.1 654 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
655
Coleman Benson 19.1 656 ====== __Query Serial Number (**QN**)__ ======
657
Coleman Benson 31.1 658 Ex: #5QN<cr> might return *5QN12345678<cr>
Coleman Benson 19.1 659
Coleman Benson 31.1 660 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 49.1 661
Coleman Benson 54.1 662 ====== __Query IMU Linear (**QIX** **QIY** **QIZ**)__ ======
Coleman Benson 49.1 663
Coleman Benson 50.1 664 Ex: #6QIX<cr> might return *6QIX30<cr>
Coleman Benson 49.1 665
Coleman Benson 50.1 666 This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
Coleman Benson 49.1 667
Coleman Benson 56.1 668 ====== __Query IMU Angular (**QIA** **QIB** **QIC**)__ ======
Coleman Benson 49.1 669
670 Ex: #6QIB<cr> might return *6QIB44<cr>
671
672 This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
673
674
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