Wiki source code of LSS-PRO Communication Protocol

Version 79.3 by Eric Nantel on 2024/07/22 15:08
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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
Eric Nantel 75.1 94 [[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-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**
Eric Nantel 76.1 119 | |[[**Reset**>>||anchor="HReset"]]|(% style="text-align:center" %)RESET|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |Soft reset
Eric Nantel 79.3 120 | |[[**Default** Configuration>>||anchor="HDefault"]]|(% style="text-align:center" %)DEFAULT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |Revert to firmware default values
121 | |[[Firmware **Update** Mode>>||anchor="HUpdate"]]|(% style="text-align:center" %)UPDATE|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |Update firmware
Eric Nantel 76.1 122 | |[[**Confirm** Changes>>||anchor="HConfirm"]]|(% style="text-align:center" %)CONFIRM|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |Confirm the action for some commands
Eric Nantel 79.3 123 | |[[**ID** Number >>||anchor="HIDNumber"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QID|(% style="text-align:center" %)CID|(% style="text-align:center" %)0|(% style="text-align:center" %) |Reset required after change. ID 254 is a "broadcast" which all servos respond to.
124 | |[[**E**nable CAN **T**erminal>>doc:||anchor="HEnableCANTerminalResistor"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QET|(% style="text-align:center" %)CET|(% style="text-align:center" %)1|(% style="text-align:center" %)0 or 1|0: Disable  1: Enable
125 | |[[**U**SB **C**onnection Status>>||anchor="HUSBConnectionStatus"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QUC|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)0 or 1|0: Not connected 1: Connected
Coleman Benson 13.1 126
Coleman Benson 22.1 127 |(% colspan="8" style="color:orange; font-size:18px" %)[[**Motion**>>||anchor="HMotion"]]
128 |(% 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**
Eric Nantel 79.3 129 | |[[Position in **D**egrees>>||anchor="HPositioninDegrees"]]|(% style="text-align:center" %)D|(% style="text-align:center" %)QD|(% style="text-align:center" %) | |0.01°|
130 | |[[**M**ove in **D**egrees (relative)>>||anchor="HRelativeMoveinDegrees"]]|(% style="text-align:center" %)MD|(% style="text-align:center" %) |(% style="text-align:center" %) | |0.01°|
131 | |[[**W**heel mode in **D**egrees>>||anchor="HWheelModeinDegrees"]]|(% style="text-align:center" %)WD|(% style="text-align:center" %)QWD|(% style="text-align:center" %) | |0.01°/s|A.K.A. "Speed mode" or "Continuous rotation"
132 | |[[**W**heel mode in **R**PM>>||anchor="HWheelModeinRPM"]]|(% style="text-align:center" %)WR|(% style="text-align:center" %)QWR|(% style="text-align:center" %) | |RPM|A.K.A. "Speed mode" or "Continuous rotation"
133 | |[[**Q**uery Motion Status>>||anchor="HStatus"]]|(% style="text-align:center" %) |(% style="text-align:center" %)Q|(% style="text-align:center" %) | |1 to 8 integer|See command description for details
Eric Nantel 76.1 134 | |[[**Q**uery **M**otion **T**ime>>doc:||anchor="HMotionTime"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMT|(% style="text-align:center" %) | |0.01s|
135 | |[[**Q**uery **C**urrent **S**peed>>doc:||anchor="HCurrentSpeed"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QCS|(% style="text-align:center" %) | |0.01°/s|
Eric Nantel 79.3 136 | |[[**L**imp>>||anchor="HLimp"]]|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Removes power from stepper coils
137 | |[[**H**alt & Hold>>doc:||anchor="HHalt26Hold"]]|(% style="text-align:center" %)H|(% style="text-align:center" %) |(% style="text-align:center" %) | | |Stops (halts) motion and holds last position
Coleman Benson 13.1 138
Coleman Benson 22.1 139 |(% colspan="8" style="color:orange; font-size:18px" %)[[**Motion Setup**>>||anchor="HMotionSetup"]]
140 |(% 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**
Eric Nantel 79.3 141 | |[[**O**rigin Offset>>||anchor="HOriginOffset"]]|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|(% style="text-align:center" %)0|(% style="text-align:center" %)0.01°|
142 | |[[**A**ngular **R**ange>>||anchor="HAngularRange"]]|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|(% style="text-align:center" %)36000|(% style="text-align:center" %)0.01°|
143 | |[[**A**ngular **A**cceleration>>||anchor="HAngularAcceleration"]]|(% style="text-align:center" %)AA|(% style="text-align:center" %)QAA|(% style="text-align:center" %)CAA|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s^2|
144 | |[[**A**ngular **D**eceleration>>||anchor="HAngularDeceleration"]]|(% style="text-align:center" %)AD|(% style="text-align:center" %)QAD|(% style="text-align:center" %)CAD|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s^2|
145 | |[[**G**yre Direction>>||anchor="HGyreDirection"]]|(% style="text-align:center" %)G|(% style="text-align:center" %)QG|(% style="text-align:center" %)CG|(% style="text-align:center" %)1|(% style="text-align:center" %)1 or -1|Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)
Eric Nantel 76.1 146 | |[[**F**irst Position (**D**eg)>>||anchor="HFirstPosition"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QFD|(% style="text-align:center" %)CFD|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°|Reset required after change.
Eric Nantel 79.3 147 | |[[Maximum **S**peed in **D**egrees>>||anchor="HMaximumSpeedinDegrees"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %)QSD|(% style="text-align:center" %)CSD|(% style="text-align:center" %) |(% style="text-align:center" %)0.01°/s|SD / CSD overwrites SR / CSR
148 | |[[Maximum **S**peed in **R**PM>>||anchor="HMaximumSpeedinRPM"]]|(% style="text-align:center" %)SR|(% style="text-align:center" %)QSR|(% style="text-align:center" %)CSR|(% style="text-align:center" %) |(% style="text-align:center" %)RPM|SR / CSR overwrites SD / CSD
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**
Eric Nantel 79.3 152 | |[[**S**peed in **D**egrees>>doc:||anchor="HSpeed"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %) |(% style="text-align:center" %) | |0.01°/s|For D and MD action commands
153 | |[[**T**imed move>>||anchor="HTimedmove"]]|(% 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**
Eric Nantel 79.3 157 | |[[**Q**uery PCB **T**emperature>>doc:||anchor="HTemperaturePCB"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) | |0.1°C|
158 | |[[**Q**uery **C**urrent>>doc:||anchor="HCurrent"]]|(% 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>>doc:||anchor="HModelString"]]|(% 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>>doc:||anchor="HFirmware"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) | | |
161 | |[[**Q**uery Serial **N**umber>>doc:||anchor="HSerialNumber"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QN|(% style="text-align:center" %) | | |Returns the unique serial number for the servo
162 | |[[**Q**uery **T**emperature **P**robe>>doc:||anchor="HTemperatureProbe"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTP|(% style="text-align:center" %) | |0.1°C|Queries temperature probe fixed to the stepper motor
163 | |[[**Q**uery **T**emp of **M**CU>>doc:||anchor="HTemperatureMCU"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTM|(% style="text-align:center" %) | |0.1°C|
164 | |[[**Q**uery **T**emp of **C**ontroller **E**rror>>doc:||anchor="HTempControllerError"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCE|(% style="text-align:center" %) | | |(((
Eric Nantel 76.1 165 Temperature error status of the motor controller (over-temp error)
Coleman Benson 22.1 166 )))
Eric Nantel 79.3 167 | |[[**Q**uery **T**emp of **C**ontroller **W**arning>>doc:||anchor="HTempControllerWarning"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QTCW|(% style="text-align:center" %) | | |Temperature error status of the motor controller (pre-warning)
168 | |[[**Q**uery **E**rror **F**lag>>doc:||anchor="HErrorFlag"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QEF|(% style="text-align:center" %) | | |
169 | |[[**Q**uery **I**MU Linear **X**>>doc:||anchor="HIMULinear"]]|(% 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="HIMULinear"]]|(% 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="HIMULinear"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QIZ|(% style="text-align:center" %) | |mm/s^2|
172 | |[[**Q**uery **I**MU Angular Accel **α** >>doc:||anchor="HIMUAngular"]]|(% 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="HIMUAngular"]]|(% 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="HIMUAngular"]]|(% style="text-align:center" %) |(% style="text-align:center" %)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 | |(((
Eric Nantel 79.2 188 Reset (**RESET**)
189
Coleman Benson 57.1 190 Ex: #5RESET<cr>
Coleman Benson 36.1 191
Coleman Benson 57.1 192 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.
193 )))
Coleman Benson 36.1 194
Coleman Benson 57.1 195 |(% colspan="2" %)(((
Eric Nantel 79.2 196 ====== (% style="color:inherit; font-family:inherit" %)__Default__(%%) ======
Coleman Benson 57.1 197 )))
Coleman Benson 60.1 198 |(% style="width:30px" %) |(((
Eric Nantel 79.2 199 (% style="color:inherit; font-family:inherit" %)Default (**DEFAULT**)
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" %)(((
Eric Nantel 79.2 213 ====== (% style="color:inherit; font-family:inherit" %)__Update__(%%) ======
Coleman Benson 58.1 214 )))
Coleman Benson 60.1 215 |(% style="width:30px" %) |(((
Eric Nantel 79.2 216 (% style="color:inherit; font-family:inherit" %)Update (**UPDATE**)
217
Coleman Benson 36.1 218 (% style="color:inherit; font-family:inherit" %)Ex: #5UPDATE<cr>
219
220 (% 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.
221
222 (% style="color:inherit; font-family:inherit" %)EX: #5UPDATE<cr> followed by #5CONFIRM<cr>
223
224 (% 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.
225
226 (% style="color:inherit; font-family:inherit" %)Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
Coleman Benson 58.1 227 )))
Coleman Benson 36.1 228
Coleman Benson 60.1 229 |(% colspan="2" %)(((
230 ====== (% style="color:inherit; font-family:inherit" %)__Confirm__(%%) ======
231 )))
Coleman Benson 59.1 232 |(% style="width:30px" %) |(((
Eric Nantel 79.2 233 (% style="color:inherit; font-family:inherit" %)Confirm (**CONFIRM**)
234
Coleman Benson 36.1 235 (% style="color:inherit; font-family:inherit" %)Ex: #5CONFIRM<cr>
236
237 (% style="color:inherit; font-family:inherit" %)This command is used to confirm changes after a Default or Update command.
Coleman Benson 37.1 238 Note: After the CONFIRM command is sent, the servo will automatically perform a RESET.
Coleman Benson 59.1 239 )))
Coleman Benson 36.1 240
Coleman Benson 60.1 241 |(% colspan="2" %)(((
Coleman Benson 61.1 242 ====== (% style="color:inherit; font-family:inherit" %)__ID Number__(%%) ======
Coleman Benson 60.1 243 )))
Coleman Benson 59.1 244 |(% style="width:30px" %) |(((
Coleman Benson 61.1 245 This assigns ID #5 to the servo previously assigned to ID 0
246
Coleman Benson 39.1 247 (% style="color:inherit; font-family:inherit" %)Configure ID Number (**CID**)
248
249 (% style="color:inherit; font-family:inherit" %)Ex: #0CID5<cr>
250
251 The default ID is 0, so this sets the servo to ID 5.
252
253 Query ID Number (**QID**)
254
255 Ex: #254QID<cr> might return *254QID5<cr>
256
257 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 59.1 258 )))
Coleman Benson 39.1 259
Coleman Benson 60.1 260 |(% colspan="2" %)(((
Coleman Benson 61.1 261 ====== (% style="color:inherit; font-family:inherit" %)__Enable CAN Terminal Resistor__(%%) ======
Coleman Benson 60.1 262 )))
Coleman Benson 59.1 263 |(% style="width:30px" %) |(((
Coleman Benson 37.1 264 Query Enable CAN Terminal Resistor (**QET**)
265
266 Ex: #5QET<cr> might return *QET0<cr>
267
268 This means that servo with ID 5 is NOT configured as the last servo in the CAN bus.
269
270 Configure Enable CAN Terminal Resistor (**CET**)
271
272 (% style="color:inherit; font-family:inherit" %)Ex: #5CET1<cr>
273
274 (% 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 59.1 275 )))
Coleman Benson 37.1 276
Coleman Benson 60.1 277 |(% colspan="2" %)(((
Coleman Benson 61.1 278 ====== __USB Connection Status__ ======
Coleman Benson 60.1 279 )))
Coleman Benson 59.1 280 |(% style="width:30px" %) |(((
Coleman Benson 37.1 281 Query USB Connection Status (**QUC**)
282
283 Ex: #5QUC<cr> might return *5QUC1<cr> meaning the servo is connected via USB
Coleman Benson 59.1 284 )))
Coleman Benson 37.1 285
Coleman Benson 19.1 286 == Motion ==
287
Coleman Benson 62.1 288 |(% colspan="2" %)(((
Eric Nantel 79.1 289 ====== __Position in Degrees__ ======
Coleman Benson 62.1 290 )))
291 |(% style="width:30px" %) |(((
Eric Nantel 79.1 292 Position in Degrees (**D**)
293
Coleman Benson 28.1 294 Example: #5D1456<cr>
Coleman Benson 19.1 295
Coleman Benson 28.1 296 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 19.1 297
Coleman Benson 28.1 298 Larger values are permitted and allow for multi-turn functionality using the concept of virtual position (explained above).
Coleman Benson 19.1 299
Coleman Benson 28.1 300 Query Position in Degrees (**QD**)
Coleman Benson 19.1 301
Coleman Benson 28.1 302 Example: #5QD<cr> might return *5QD132<cr>
Coleman Benson 19.1 303
Coleman Benson 28.1 304 This means the servo is located at 13.2 degrees.
Coleman Benson 19.1 305
Coleman Benson 28.1 306 Query Target Position in Degrees (**QDT**)
Coleman Benson 19.1 307
Coleman Benson 28.1 308 Ex: #5QDT<cr> might return *5QDT6783<cr>
309
Coleman Benson 19.1 310 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 62.1 311 )))
Coleman Benson 19.1 312
Coleman Benson 62.1 313 |(% colspan="2" %)(((
Eric Nantel 79.1 314 ====== __Relative Move in Degrees__ ======
Coleman Benson 62.1 315 )))
316 |(% style="width:30px" %) |(((
Eric Nantel 78.16 317 (% class="wikigeneratedid" %)
Eric Nantel 79.1 318 Move in Degrees (**MD**)
319
320 (% class="wikigeneratedid" %)
Eric Nantel 78.16 321 Example: #5M1500<cr>
Coleman Benson 19.1 322
Eric Nantel 78.16 323 (% class="wikigeneratedid" id="HTherelativemoveinPWMcommandcausestheservotoreaditscurrentpositionandmovebythespecifiednumberofPWMsignal.ForexampleiftheservoissettorotateCW28default29andanMcommandof1500issenttotheservo2Citwillcausetheservotorotateclockwiseby90degrees.NegativePWMvaluewouldcausetheservotorotateintheoppositeconfigureddirection." %)
324 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 62.1 325 )))
Coleman Benson 19.1 326
Coleman Benson 62.1 327 |(% colspan="2" %)(((
Eric Nantel 79.1 328 ====== __Wheel Mode in Degrees__ ======
Coleman Benson 62.1 329 )))
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" %)(((
Eric Nantel 79.1 345 ====== __Wheel Mode in RPM__ ======
Coleman Benson 62.1 346 )))
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" %)(((
Eric Nantel 79.1 362 ====== __Status__ ======
Coleman Benson 62.1 363 )))
364 |(% style="width:30px" %) |(((
Eric Nantel 79.1 365 Query Status (**Q**)
366
Coleman Benson 28.1 367 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 19.1 368
Coleman Benson 28.1 369 Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
Coleman Benson 19.1 370
371 |(% style="width:25px" %) |***Value returned (Q)**|**Status**|**Detailed description**
372 | |ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state
373 | |ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely
374 | |ex: *5Q2<cr>|2: Free moving|Servo is rotating in duty motion / free move using the RDM command
375 | |ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
376 | |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
377 | |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
Coleman Benson 64.1 378 | |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will normally be holding)
Coleman Benson 19.1 379 | |ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
380 | |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
381 | |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
382 | |ex: *5Q10<cr>|10: Safe Mode|(((
383 A safety limit has been exceeded (temperature, peak current or extended high current draw).
384
385 Send a Q1 command to know which limit has been reached (described below).
386 )))
387
Coleman Benson 28.1 388 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 19.1 389
390 |(% style="width:25px" %) |***Value returned (Q1)**|**Status**|**Detailed description**
391 | |ex: *5Q0<cr>|No limits have been passed|Nothing is wrong
392 | |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
393 | |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
394 | |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
Coleman Benson 62.1 395 )))
Coleman Benson 19.1 396
Coleman Benson 62.1 397 |(% colspan="2" %)(((
Eric Nantel 79.1 398 ====== __Motion Time__ ======
Eric Nantel 76.1 399 )))
400 |(% style="width:30px" %) |(((
Eric Nantel 79.1 401 Query Motion Time (**QMT**)
Eric Nantel 76.1 402 )))
403
404 |(% colspan="2" %)(((
Eric Nantel 79.1 405 ====== __Current Speed__ ======
Eric Nantel 76.1 406 )))
407 |(% style="width:30px" %) |(((
Eric Nantel 79.1 408 Query Current Speed (**QCS**)
Eric Nantel 76.1 409 )))
410
411 |(% colspan="2" %)(((
Eric Nantel 79.1 412 ====== __Limp__ ======
Coleman Benson 62.1 413 )))
414 |(% style="width:30px" %) |(((
Coleman Benson 28.1 415 Example: #5L<cr>
Coleman Benson 19.1 416
Coleman Benson 28.1 417 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 62.1 418 )))
Coleman Benson 28.1 419
Coleman Benson 62.1 420 |(% colspan="2" %)(((
Eric Nantel 79.1 421 ====== __Halt & Hold__ ======
Coleman Benson 62.1 422 )))
423 |(% style="width:30px" %) |(((
Coleman Benson 28.1 424 Example: #5H<cr>
425
Coleman Benson 19.1 426 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 62.1 427 )))
Coleman Benson 19.1 428
429 == Motion Setup ==
430
Eric Nantel 76.1 431 |(% colspan="2" %)(((
Eric Nantel 79.1 432 ====== __Origin Offset__ ======
Eric Nantel 76.1 433 )))
434 |(% style="width:30px" %) |(((
Coleman Benson 29.1 435 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 19.1 436
Eric Nantel 75.1 437 [[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]
Coleman Benson 19.1 438
439
Coleman Benson 29.1 440 In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
Coleman Benson 19.1 441
Eric Nantel 75.1 442 [[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-origin.jpg||alt="LSS-servo-origin.jpg"]]
Coleman Benson 19.1 443
444
Coleman Benson 29.1 445 Origin Offset Query (**QO**)
Coleman Benson 19.1 446
Coleman Benson 29.1 447 Example: #5QO<cr> might return *5QO-13
Coleman Benson 19.1 448
Coleman Benson 29.1 449 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 19.1 450
Coleman Benson 29.1 451 Configure Origin Offset (**CO**)
Coleman Benson 19.1 452
Coleman Benson 29.1 453 Example: #5CO-24<cr>
Coleman Benson 19.1 454
455 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.
Eric Nantel 76.1 456 )))
Coleman Benson 19.1 457
Eric Nantel 76.1 458 |(% colspan="2" %)(((
Eric Nantel 79.1 459 ====== __Angular Range__ ======
Eric Nantel 76.1 460 )))
461 |(% style="width:30px" %) |(((
Coleman Benson 29.1 462 Example: #5AR1800<cr>
Coleman Benson 19.1 463
Coleman Benson 29.1 464 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 19.1 465
Eric Nantel 75.1 466 [[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]]
Coleman Benson 19.1 467
Coleman Benson 29.1 468 Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
Coleman Benson 19.1 469
Eric Nantel 75.1 470 [[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar.jpg||alt="LSS-servo-ar.jpg"]]
Coleman Benson 19.1 471
472
Coleman Benson 29.1 473 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 19.1 474
Eric Nantel 75.1 475 [[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-pro/lss-pro/lss-p-communication-protocol/WebHome/LSS-servo-ar-o-1.jpg||alt="LSS-servo-ar-o-1.jpg"]]
Coleman Benson 19.1 476
477
Coleman Benson 29.1 478 Query Angular Range (**QAR**)
Coleman Benson 19.1 479
Coleman Benson 29.1 480 Example: #5QAR<cr> might return *5AR1800, indicating the total angular range is 180.0 degrees.
Coleman Benson 19.1 481
Coleman Benson 29.1 482 Configure Angular Range (**CAR**)
Coleman Benson 19.1 483
Coleman Benson 29.1 484 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.
Eric Nantel 76.1 485 )))
Coleman Benson 19.1 486
Eric Nantel 76.1 487 |(% colspan="2" %)(((
Eric Nantel 79.1 488 ====== __Angular Acceleration__ ======
Eric Nantel 76.1 489 )))
490 |(% style="width:30px" %) |(((
Coleman Benson 29.1 491 The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
Coleman Benson 19.1 492
Coleman Benson 29.1 493 Ex: #5AA30<cr>
Coleman Benson 19.1 494
Coleman Benson 29.1 495 This sets the angular acceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).
Coleman Benson 19.1 496
Coleman Benson 29.1 497 Query Angular Acceleration (**QAA**)
Coleman Benson 19.1 498
Coleman Benson 29.1 499 Ex: #5QAA<cr> might return *5QAA30<cr>
Coleman Benson 19.1 500
Coleman Benson 29.1 501 This returns the servo's angular acceleration in degrees per second squared (°/s^^2^^).
Coleman Benson 19.1 502
Coleman Benson 29.1 503 Configure Angular Acceleration (**CAA**)
Coleman Benson 19.1 504
Coleman Benson 29.1 505 Ex: #5CAA30<cr>
Coleman Benson 19.1 506
507 This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
Eric Nantel 76.1 508 )))
Coleman Benson 19.1 509
Eric Nantel 76.1 510 |(% colspan="2" %)(((
Eric Nantel 79.1 511 ====== __Angular Deceleration__ ======
Eric Nantel 76.1 512 )))
513 |(% style="width:30px" %) |(((
Coleman Benson 29.1 514 The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
Coleman Benson 19.1 515
Coleman Benson 29.1 516 Ex: #5AD30<cr>
Coleman Benson 19.1 517
Coleman Benson 29.1 518 This sets the angular deceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).
Coleman Benson 19.1 519
Coleman Benson 29.1 520 Query Angular Deceleration (**QAD**)
Coleman Benson 19.1 521
Coleman Benson 29.1 522 Ex: #5QAD<cr> might return *5QAD30<cr>
Coleman Benson 19.1 523
Coleman Benson 29.1 524 This returns the servo's angular deceleration in degrees per second squared (°/s^^2^^).
Coleman Benson 19.1 525
Coleman Benson 29.1 526 Configure Angular Deceleration (**CAD**)
Coleman Benson 19.1 527
Coleman Benson 29.1 528 Ex: #5CAD30<cr>
Coleman Benson 19.1 529
Coleman Benson 29.1 530 This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
Eric Nantel 76.1 531 )))
Coleman Benson 19.1 532
Eric Nantel 76.1 533 |(% colspan="2" %)(((
Eric Nantel 79.1 534 ====== __Gyre Direction__ ======
Eric Nantel 76.1 535 )))
536 |(% style="width:30px" %) |(((
Coleman Benson 29.1 537 "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 19.1 538
Coleman Benson 29.1 539 Ex: #5G-1<cr>
Coleman Benson 19.1 540
Coleman Benson 29.1 541 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 19.1 542
Coleman Benson 47.1 543 Query Gyre Direction (**QG**)
Coleman Benson 19.1 544
Coleman Benson 47.1 545 Ex: #5QG<cr> might return *5QG-1<cr>
546
Coleman Benson 29.1 547 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 19.1 548
Coleman Benson 29.1 549 Configure Gyre (**CG**)
Coleman Benson 19.1 550
Coleman Benson 29.1 551 Ex: #5CG-1<cr>
Coleman Benson 19.1 552
553 This changes the gyre direction as described above and also writes to EEPROM.
Eric Nantel 76.1 554 )))
Coleman Benson 19.1 555
Eric Nantel 76.1 556 |(% colspan="2" %)(((
Coleman Benson 19.1 557 ====== __First Position__ ======
Eric Nantel 76.1 558 )))
559 |(% style="width:30px" %) |(((
Eric Nantel 79.1 560 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.
561
562 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.
563
564 Query First Position in Degrees (**QFD**)
565
566 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.
567
568 Configure First Position in Degrees (**CFD**)
569
570 Ex: #5CFD900<cr>
571
572 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>
Eric Nantel 76.1 573 )))
Coleman Benson 19.1 574
Eric Nantel 76.1 575 |(% colspan="2" %)(((
Eric Nantel 79.1 576 ====== __Maximum Speed in Degrees__ ======
Eric Nantel 76.1 577 )))
578 |(% style="width:30px" %) |(((
Eric Nantel 79.1 579 Maximum Speed in Degrees (**SD**)
Coleman Benson 19.1 580
Eric Nantel 79.1 581 Ex: #5SD1800<cr>
582
583 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.
584
585 Query Speed in Degrees (**QSD**)
586
587 Ex: #5QSD<cr> might return *5QSD1800<cr>
588
589 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:
590
Coleman Benson 19.1 591 |**Command sent**|**Returned value (1/10 °)**
Coleman Benson 29.1 592 |ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
593 |ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
594 |ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
595 |ex: #5QSD3<cr>|Target travel speed
Coleman Benson 19.1 596
Eric Nantel 79.1 597 Configure Speed in Degrees (**CSD**)
598
599 Ex: #5CSD1800<cr>
600
601 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.
Eric Nantel 76.1 602 )))
Coleman Benson 19.1 603
Eric Nantel 76.1 604 |(% colspan="2" %)(((
Eric Nantel 79.1 605 ====== __Maximum Speed in RPM__ ======
Eric Nantel 76.1 606 )))
607 |(% style="width:30px" %) |(((
Eric Nantel 79.1 608 (% class="wikigeneratedid" %)
609 Maximum Speed in RPM (**SR**)
Coleman Benson 19.1 610
Eric Nantel 79.1 611 (% class="wikigeneratedid" id="HEx:235SR453Ccr3EThiscommandsetstheservo27smaximumspeedformotioncommandsinrpmforthatsession.Intheexampleabove2Ctheservo27smaximumspeedforthatsessionwouldbesetto45rpm.Theservo27smaximumspeedcannotbesethigherthanitsphysicallimitatagivenvoltage.SRoverridesCSR28describedbelow29forthatsession.Uponresetorpowercycle2CtheservorevertstothevalueassociatedwithCSRasdescribedbelow.NotethatSD28describedabove29andSRareeffectivelythesame2Cbutallowtheusertospecifythespeedineitherunit.Thelastcommand28eitherSRorSD29receivediswhattheservousesforthatsession.QuerySpeedinRPM28QSR29Ex:235QSR3Ccr3Emightreturn2A5QSR453Ccr3EBydefaultQSRwillreturnthecurrentsessionvalue2CwhichissettothevalueofCSRasreset2FpowercycleandchangedwheneveranSD2FSRcommandisprocessed.If235QSR13Ccr3Eissent2Ctheconfiguredmaximumspeed28CSRvalue29willbereturnedinstead.Youcanalsoquerythecurrentspeedusing22222andthecurrenttargettravelspeedusing22322.Seethetablebelowforanexample:" %)
612 Ex: #5SR45<cr>
613
614 (% class="wikigeneratedid" %)
615 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.
616
617 (% class="wikigeneratedid" %)
618 Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit.
619
620 (% class="wikigeneratedid" %)
621 The last command (either SR or SD) received is what the servo uses for that session.
622
623 (% class="wikigeneratedid" %)
624 Query Speed in RPM (**QSR**)
625
626 (% class="wikigeneratedid" %)
627 Ex: #5QSR<cr> might return *5QSR45<cr>
628
629 (% class="wikigeneratedid" %)
630 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:
631
Coleman Benson 19.1 632 |**Command sent**|**Returned value (1/10 °)**
Coleman Benson 29.1 633 |ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
634 |ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
635 |ex: #5QSR2<cr>|Instantaneous speed (same as QWD)
636 |ex: #5QSR3<cr>|Target travel speed
Coleman Benson 19.1 637
Eric Nantel 79.1 638 Configure Speed in RPM (**CSR**)
639
640 Ex: #5CSR45<cr>
641
642 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.
Eric Nantel 76.1 643 )))
Coleman Benson 19.1 644
645 == Modifiers ==
646
Eric Nantel 76.1 647 |(% colspan="2" %)(((
Eric Nantel 79.1 648 ====== __Speed __ ======
Eric Nantel 76.1 649 )))
650 |(% style="width:30px" %) |(((
Eric Nantel 79.1 651 (% class="wikigeneratedid" %)
652 Speed in Degrees (**SD**)
Coleman Benson 19.1 653
Eric Nantel 79.1 654 (% class="wikigeneratedid" id="HExample:235D0SD1803Ccr3E" %)
655 Example: #5D0SD180<cr>
656
Coleman Benson 30.1 657 (% class="wikigeneratedid" %)
658 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 19.1 659
Coleman Benson 30.1 660 (% class="wikigeneratedid" %)
661 Query Speed (**QS**)
Coleman Benson 19.1 662
Coleman Benson 30.1 663 (% class="wikigeneratedid" %)
664 Example: #5QS<cr> might return *5QS300<cr>
Coleman Benson 19.1 665
Coleman Benson 30.1 666 (% class="wikigeneratedid" %)
667 This command queries the current speed in microseconds per second.
Eric Nantel 76.1 668 )))
Coleman Benson 19.1 669
Eric Nantel 76.1 670 |(% colspan="2" %)(((
Eric Nantel 79.1 671 ====== __Timed move__ ======
Eric Nantel 76.1 672 )))
673 |(% style="width:30px" %) |(((
Eric Nantel 79.1 674 Timed Move (**T**)
675
Coleman Benson 30.1 676 Example: #5D15000T2500<cr>
Coleman Benson 19.1 677
Coleman Benson 30.1 678 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 19.1 679
Coleman Benson 30.1 680 **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
Eric Nantel 76.1 681 )))
Coleman Benson 19.1 682
683 == Telemetry ==
684
Eric Nantel 76.1 685 |(% colspan="2" %)(((
Eric Nantel 79.1 686 ====== __Temperature PCB__ ======
Eric Nantel 76.1 687 )))
688 |(% style="width:30px" %) |(((
Eric Nantel 79.1 689 Query Temp PCB (**QT**)
690
Coleman Benson 51.1 691 Ex: #5QT<cr> might return *5QT564<cr>
Coleman Benson 19.1 692
Coleman Benson 51.1 693 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.
Eric Nantel 76.1 694 )))
Coleman Benson 31.1 695
Eric Nantel 76.1 696 |(% colspan="2" %)(((
Eric Nantel 79.1 697 ====== __Current__ ======
Eric Nantel 76.1 698 )))
699 |(% style="width:30px" %) |(((
Eric Nantel 79.1 700 (% class="wikigeneratedid" %)
701 Query Current (**QC**)
Coleman Benson 19.1 702
Eric Nantel 79.1 703 (% class="wikigeneratedid" id="HEx:235QC3Ccr3Emightreturn2A5QC1403Ccr3E" %)
704 Ex: #5QC<cr> might return *5QC140<cr>
705
Coleman Benson 51.1 706 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.
Eric Nantel 76.1 707 )))
Coleman Benson 31.1 708
Eric Nantel 76.1 709 |(% colspan="2" %)(((
Eric Nantel 79.1 710 ====== __Model String__ ======
Eric Nantel 76.1 711 )))
712 |(% style="width:30px" %) |(((
Eric Nantel 79.1 713 (% class="wikigeneratedid" %)
714 Query Model String (**QMS**)
Coleman Benson 19.1 715
Eric Nantel 79.1 716 (% class="wikigeneratedid" id="HEx:235QMS3Ccr3Emightreturn2A5QMSLSS-HS13Ccr3E" %)
717 Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
718
Coleman Benson 31.1 719 This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
Eric Nantel 76.1 720 )))
Coleman Benson 31.1 721
Eric Nantel 76.1 722 |(% colspan="2" %)(((
Eric Nantel 79.1 723 ====== __Firmware__ ======
Eric Nantel 76.1 724 )))
725 |(% style="width:30px" %) |(((
Eric Nantel 79.1 726 Query Firmware (**QF**)
727
Coleman Benson 31.1 728 Ex: #5QF<cr> might return *5QF368<cr>
Coleman Benson 19.1 729
Coleman Benson 31.1 730 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
Eric Nantel 76.1 731 )))
Coleman Benson 31.1 732
Eric Nantel 76.1 733 |(% colspan="2" %)(((
Eric Nantel 79.1 734 ====== __Serial Number__ ======
Eric Nantel 76.1 735 )))
736 |(% style="width:30px" %) |(((
Eric Nantel 79.1 737 (% class="wikigeneratedid" %)
738 Query Serial Number (**QN**)
Coleman Benson 19.1 739
Eric Nantel 79.1 740 (% class="wikigeneratedid" id="HEx:235QN3Ccr3Emightreturn2A5QN123456783Ccr3E" %)
741 Ex: #5QN<cr> might return *5QN12345678<cr>
742
Coleman Benson 31.1 743 The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
Eric Nantel 76.1 744 )))
Coleman Benson 49.1 745
Eric Nantel 76.1 746 |(% colspan="2" %)(((
Eric Nantel 79.1 747 ====== __Temperature Probe__ ======
Eric Nantel 76.1 748 )))
749 |(% style="width:30px" %) |(((
Eric Nantel 79.1 750 Query Temp motor Probe (**QTP**)
Eric Nantel 76.1 751 )))
Coleman Benson 49.1 752
Eric Nantel 76.1 753 |(% colspan="2" %)(((
Eric Nantel 79.1 754 ====== __Temperature MCU__ ======
Eric Nantel 76.1 755 )))
756 |(% style="width:30px" %) |(((
Eric Nantel 79.1 757 Query Temp MCU (**QTM**)
Eric Nantel 76.1 758 )))
Coleman Benson 49.1 759
Eric Nantel 76.1 760 |(% colspan="2" %)(((
Eric Nantel 79.1 761 ====== __Temp Controller Error__ ======
Eric Nantel 76.1 762 )))
763 |(% style="width:30px" %) |(((
Eric Nantel 79.1 764 (% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
765 Query Temp Controller Error (**QTCE**)
Eric Nantel 76.1 766 )))
767
768 |(% colspan="2" %)(((
Eric Nantel 79.1 769 ====== __Temp Controller Warning__ ======
Eric Nantel 76.1 770 )))
771 |(% style="width:30px" %) |(((
Eric Nantel 79.1 772 (% class="wikigeneratedid" id="HEx:236QIX3Ccr3Emightreturn2A6QIX303Ccr3E" %)
773 Query Temp Controller Warning (**QTCW**)
Eric Nantel 76.1 774 )))
775
776 |(% colspan="2" %)(((
Eric Nantel 79.1 777 ====== __Error Flag__ ======
Eric Nantel 76.1 778 )))
779 |(% style="width:30px" %) |(((
Eric Nantel 79.1 780 Query Error Flag (**QEF**)
Eric Nantel 76.1 781 )))
782
Eric Nantel 78.2 783 |(% colspan="2" %)(((
Eric Nantel 79.1 784 ====== __IMU Linear__ ======
Eric Nantel 78.2 785 )))
786 |(% style="width:30px" %) |(((
Eric Nantel 79.1 787 (% class="wikigeneratedid" %)
788 Query IMU Linear (**QIX QIY QIZ**)
789
Eric Nantel 76.1 790 ====== Ex: #6QIX<cr> might return *6QIX30<cr> ======
791
Coleman Benson 50.1 792 This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 30mm per second squared.
Eric Nantel 76.1 793 )))
Coleman Benson 49.1 794
Eric Nantel 76.1 795 |(% colspan="2" %)(((
Eric Nantel 79.1 796 ====== __IMU Angular__ ======
Eric Nantel 78.7 797 )))
798 |(% style="width:30px" %) |(((
Eric Nantel 79.1 799 (% class="wikigeneratedid" id="HEx:236QIB3Ccr3Emightreturn2A6QIB443Ccr3E" %)
800 Query IMU Angular (**QIA QIB QIG**)
801 Ex: #6QIB<cr> might return *6QIB44<cr>
Coleman Benson 49.1 802
803 This command queries servo 6's IMU's linear accelerometer in the X direction. The response is 4.4 degrees per second squared.
Eric Nantel 76.1 804 )))
Eric Nantel 78.8 805
Eric Nantel 79.1 806
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