Changes for page LSS Communication Protocol
Last modified by Eric Nantel on 2025/06/06 07:47
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... ... @@ -148,7 +148,7 @@ 148 148 | 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| D| QD / QDT| | | | ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %) 149 149 | 10|[[**W**heel mode in **D**egrees>>||anchor="H10.WheelModeinDegrees28WD29"]]| WD| QWD| | | | ✓|tenths of degrees per second (ex 248 = 24.8 degrees per second)|(% style="width:510px" %)A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center; width:113px" %) 150 150 | 11|[[**W**heel mode in **R**PM>>||anchor="H11.WheelModeinRPM28WR29"]]| WR| QWR| | | | ✓|revolutions per minute (rpm)|(% style="width:510px" %)A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center; width:113px" %) 151 -| 12|[[Max **S**peed in **D**egrees>>||anchor="H12.MaxSpeedinDegrees28SD29"]]| SD| QSD|CSD|✓| ✓| ✓| tenths ofdegrees per second |(% style="width:510px" %)(((151 +| 12|[[Max **S**peed in **D**egrees>>||anchor="H12.MaxSpeedinDegrees28SD29"]]| SD| QSD|CSD|✓| ✓| ✓|degrees per second (°/s)|(% style="width:510px" %)((( 152 152 QSD: Add modifier "2" for instantaneous speed. 153 153 154 154 SD overwrites SR / CSD overwrites CSR and vice-versa. ... ... @@ -508,23 +508,36 @@ 508 508 509 509 ====== __23. Query Status (**Q**)__ ====== 510 510 511 -The status query described what the servo is currently doing. The query returns an integer which must be looked up in the table below. 511 +The status query described what the servo is currently doing. The query returns an integer which must be looked up in the table below. Use the CLB advanced command to have the LED blink for certain statuses. 512 512 513 513 Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position. 514 514 515 -|*Value returned|**Status**|**Detailed description** 516 -|ex: *5Q0<cr>|Unknown|LSS is unsure / unknown state 517 -|ex: *5Q1<cr>|Limp|Motor driving circuit is not powered and horn can be moved freely 518 -|ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely 519 -|ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed 520 -|ex: *5Q4<cr>|Traveling|Moving at a stable speed 521 -|ex: *5Q5<cr>|Decelerating|Decreasing from travel speed towards final position. 522 -|ex: *5Q6<cr>|Holding|Keeping current position 523 -|ex: *5Q7<cr>|Stepping|Special low speed mode to maintain torque 524 -|ex: *5Q8<cr>|Outside limits|{More details coming soon} 525 -|ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting 526 -|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled) 515 +|***Value returned (Q)**|**Status**|**Detailed description** 516 +|ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state 517 +|ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely 518 +|ex: *5Q2<cr>|2: Free moving|Motor driving circuit is not powered and horn can be moved freely 519 +|ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed 520 +|ex: *5Q4<cr>|4: Traveling|Moving at a stable speed 521 +|ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position. 522 +|ex: *5Q6<cr>|6: Holding|Keeping current position 523 +|ex: *5Q7<cr>|7: Outside limits|{More details coming soon} 524 +|ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting 525 +|ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled) 526 +|ex: *5Q10<cr>|10: Safe Mode|((( 527 +A safety limit has been exceeded (temperature, peak current or extended high current draw). 527 527 529 +Send a Q1 command to know which limit has been reached (described below). 530 +))) 531 + 532 +(% class="wikigeneratedid" %) 533 +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. 534 + 535 +|***Value returned (Q1)**|**Status**|**Detailed description** 536 +|ex: *5Q0<cr>|No limits have been passed|Nothing is wrong 537 +|ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long 538 +|ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source 539 +|ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely. 540 + 528 528 ====== __24. Query Voltage (**QV**)__ ====== 529 529 530 530 Ex: #5QV<cr> might return *5QV11200<cr> ... ... @@ -554,7 +554,7 @@ 554 554 555 555 EX: #5CRC2<cr> 556 556 557 -This command would place the servo in RC wheel mode after a RESET or power cycle. Note that after a RESET or power cycle, the servo will be in RC mode and will not reply to serial commands. 570 +This command would place the servo in RC wheel mode after a RESET or power cycle. Note that after a RESET or power cycle, the servo will be in RC mode and will not reply to serial commands. Using the command #5CRC<cr> or #5CRC3<cr> which requests that the servo remain in serial mode still requires a RESET command. 558 558 559 559 Important note:** **To revert from RC mode back to serial mode, the [[LSS - Button Menu>>doc:Lynxmotion Smart Servo (LSS).LSS - Button Menu.WebHome]] is required. Should the button be inaccessible (or broken) when the servo is in RC mode and the user needs to change to serial mode, a 5V constant HIGH needs to be sent to the servo's Rx pin (RC PWM pin), ensuring a common GND and wait for 30 seconds. Normal RC PWM pulses should not exceed 2500 milliseconds. After 30 seconds, the servo will interpret this as a desired mode change and change to serial mode. This has been implemented as a fail safe. 560 560 ... ... @@ -640,12 +640,32 @@ 640 640 641 641 ====== __A3: Angular Acceleration (**AA**)__ ====== 642 642 643 - {Moredetails to come}656 +The default value for angular acceleration is 100, which is the same as the maximum deceleration. Accepts values of between 1 and 100. Increments of 10 degrees per second squared. 644 644 658 +Ex: #5AA30<cr> 659 + 660 +Query Angular Acceleration (**QAD**) 661 + 662 +Ex: #5QA<cr> might return *5QA30<cr> 663 + 664 +Configure Angular Acceleration (**CAD**) 665 + 666 +Ex: #5CA30<cr> 667 + 645 645 ====== __A4: Angular Deceleration (**AD**)__ ====== 646 646 647 - {More detailsto come}670 +The default value for angular deceleration is 100, which is the same as the maximum acceleration. Values between 1 and 15 have the greatest impact. 648 648 672 +Ex: #5AD8<cr> 673 + 674 +Query Angular Deceleration (**QAD**) 675 + 676 +Ex: #5QD<cr> might return *5QD8<cr> 677 + 678 +Configure Angular Deceleration (**CAD**) 679 + 680 +Ex: #5CD8<cr> 681 + 649 649 ====== __A5: Motion Control (**EM**)__ ====== 650 650 651 651 {More details to come} ... ... @@ -652,7 +652,7 @@ 652 652 653 653 ====== __A6. Configure LED Blinking (**CLB**)__ ====== 654 654 655 -This command allows you to control when the RGB LED will blink the user set color (see [[16. RGB LED>>||anchor="H16.RGBLED28LED29"]] for details). This is very useful when visually seeing what the servo is doing. You can turn on or off blinking for various LSS status. Here is the list and their associated value: 688 +This command allows you to control when the RGB LED will blink the user set color (see [[16. RGB LED>>||anchor="H16.RGBLED28LED29"]] for details). This is very useful when visually seeing what the servo is doing. You can turn on or off blinking for various LSS status. The command requires that the servo be RESET. Here is the list and their associated value: 656 656 657 657 (% style="width:195px" %) 658 658 |(% style="width:134px" %)**Blink While:**|(% style="width:58px" %)**#** ... ... @@ -673,3 +673,5 @@ 673 673 Ex: #5CLB12<cr> only blink when accel or decel (accel 4 + decel 8 = 12) 674 674 Ex: #5CLB48<cr> only blink when free or travel (free 16 + travel 32 = 48) 675 675 Ex: #5CLB63<cr> blink in all status (1 + 2 + 4 + 8 + 16 + 32) 709 + 710 +RESETTING the servo is needed.