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. ... ... @@ -162,8 +162,8 @@ 162 162 | 15|[[**G**yre direction (**G**)>>||anchor="H15.GyreRotationDirection28G29"]]| G| QG| CG|✓| ✓| ✓|none |(% style="width:510px" %)Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)|(% style="text-align:center; width:113px" %)1 163 163 | 16|[[**ID** #>>||anchor="H16.IdentificationNumber28ID29"]]| | QID| CID| | | ✓|none (integer from 0 to 250)|(% style="width:510px" %)Note: ID 254 is a "broadcast" which all servos respond to. |(% style="text-align:center; width:113px" %)0 164 164 | 17|[[**B**aud rate>>||anchor="H17.BaudRate"]]| | QB| CB| | | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)9600 165 -| 18| [[**F**irst Position(**P**ulse)>>||anchor="H18.FirstPosition28Pulse2928FP29"]]| |QFP|CFP|X|✓|✓|none|(% style="width:510px" %)CFPoverwrites CFD and vice-versa|(% style="text-align:center; width:113px" %)(((166 - Limp165 +| 18|//{coming soon}//| | | | | | | |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)((( 166 + 167 167 ))) 168 168 | 19|[[**F**irst Position (**D**eg)>>||anchor="H19.FirstPosition28Degrees2928FD29"]]| | QFD|CFD|X| ✓| ✓|none |(% style="width:510px" %)CFD overwrites CFP and vice-versa|(% style="text-align:center; width:113px" %)Limp 169 169 | 20|[[**M**odel **S**tring>>||anchor="H20.QueryModelString28QMS29"]]| | QMS| | | | |none (string)|(% style="width:510px" %) Returns the type of servo (ST, HS, HT)|(% style="text-align:center; width:113px" %) ... ... @@ -182,17 +182,17 @@ 182 182 183 183 == Advanced == 184 184 185 -|= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes |=(% style="width: 113px;" %)Default Value186 -| A1|[[**A**ngular **S**tiffness>>||anchor="HA1.AngularStiffness28AS29"]]|AS|QAS|CAS|✓| ✓| ✓|none (integer -4 to +4)|(% style="width:510px" %)Suggested values are between 0 to +4 |(% style="text-align:center; width:113px" %)0187 -| A2|[[**A**ngular **H**olding Stiffness>>||anchor="HA2.AngularHoldingStiffness28AH29"]]|AH|QAH|CAH|✓| | ✓|none (integer -10 to +10)|(% style="width:510px" %) |(%style="text-align:center; width:113px"%)1188 -| A3|[[**A**ngular **A**cceleration>>||anchor="HA3:AngularAcceleration28AA29"]]|AA|QAA|CAA|✓| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared |(% style="text-align:center; width:113px" %)189 -| A4|[[**A**ngular **D**eceleration>>||anchor="HA4:AngularDeceleration28AD29"]]|AD|QAD|CAD|✓| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared |(% style="text-align:center; width:113px" %)190 -| A5|[[**E**nable **M**otion Control>>||anchor="HA5:MotionControl28EM29"]]|EM|QEM| | | | ✓|none|(% style="width:510px" %)EM0 to disable motion control, EM1 to enable |(% style="text-align:center; width:113px" %)185 +|= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes 186 +| A1|[[**A**ngular **S**tiffness>>||anchor="HA1.AngularStiffness28AS29"]]|AS|QAS|CAS|✓| ✓| ✓|none (integer -4 to +4)|(% style="width:510px" %)Suggested values are between 0 to +4 187 +| A2|[[**A**ngular **H**olding Stiffness>>||anchor="HA2.AngularHoldingStiffness28AH29"]]|AH|QAH|CAH|✓| | ✓|none (integer -10 to +10)|(% style="width:510px" %)Effect is different between serial and RC 188 +| A3|[[**A**ngular **A**cceleration>>||anchor="HA3:AngularAcceleration28AA29"]]|AA|QAA|CAA|✓| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared 189 +| A4|[[**A**ngular **D**eceleration>>||anchor="HA4:AngularDeceleration28AD29"]]|AD|QAD|CAD|✓| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared 190 +| A5|[[**E**nable **M**otion Control>>||anchor="HA5:MotionControl28EM29"]]|EM|QEM| | | | ✓|none|(% style="width:510px" %)EM0 to disable motion control, EM1 to enable 191 191 | A6|[[**C**onfigure **L**ED **B**linking>>||anchor="HA6.ConfigureLEDBlinking28CLB29"]]| | | CLB| | ✓| |none (integer from 0 to 63)|(% style="width:510px" %)((( 192 192 0=No blinking, 63=Always blink; 193 193 194 194 Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel; 195 -))) |(% style="text-align:center; width:113px" %)195 +))) 196 196 197 197 == Details == 198 198 ... ... @@ -456,22 +456,10 @@ 456 456 457 457 Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second. 458 458 459 -====== __18. First Position(Pulse) (**FP**)__ ======459 +====== __18. {//Coming soon//}__ ====== 460 460 461 - In certain cases, a user might want tohave the servomove 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. FP and FD are different in that FP is used for RC mode only, whereas FD is used for smart mode only. If a first position pulse is assigned,theservowill move to that angle and hold there for up to 2 seconds before going limp should a new pulse not be received.461 +Command coming soon.... 462 462 463 -Query First Position in Pulses (**QFP**) 464 - 465 -Ex: #5QFP<cr> might return *5QFP1550<cr> 466 - 467 -The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds. If no first position has been set, servo will respond with DIS ("disabled"). 468 - 469 -Configure First Position in Pulses (**CFP**) 470 - 471 -Ex: #5CP1550<cr> 472 - 473 -This configuration command means the servo, when set to RC mode, will immediately move to an angle equivalent to having received an RC pulse of 1550 microseconds upon power up. Sending a CFP command without a number (Ex. #5CFP<cr>) results in the servo remaining limp upon power up (i.e. disabled). 474 - 475 475 ====== __19. First Position (Degrees) (**FD**)__ ====== 476 476 477 477 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. FP and FD are different in that FP is used for RC mode only, whereas FD is used for smart mode only. ... ... @@ -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. 499 +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) 503 +|***Value returned (Q)**|**Status**|**Detailed description** 504 +|ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state 505 +|ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely 506 +|ex: *5Q2<cr>|2: Free moving|Motor driving circuit is not powered and horn can be moved freely 507 +|ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed 508 +|ex: *5Q4<cr>|4: Traveling|Moving at a stable speed 509 +|ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position. 510 +|ex: *5Q6<cr>|6: Holding|Keeping current position 511 +|ex: *5Q7<cr>|7: Outside limits|{More details coming soon} 512 +|ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting 513 +|ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled) 514 +|ex: *5Q10<cr>|10: Safe Mode|((( 515 +A safety limit has been exceeded (temperature, peak current or extended high current draw). 527 527 517 +Send a Q1 command to know which limit has been reached (described below). 518 +))) 519 + 520 +(% class="wikigeneratedid" %) 521 +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. 522 + 523 +|***Value returned (Q1)**|**Status**|**Detailed description** 524 +|ex: *5Q0<cr>|No limits have been passed|Nothing is wrong 525 +|ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long 526 +|ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source 527 +|ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely. 528 + 528 528 ====== __24. Query Voltage (**QV**)__ ====== 529 529 530 530 Ex: #5QV<cr> might return *5QV11200<cr> ... ... @@ -590,6 +590,8 @@ 590 590 591 591 = Advanced = 592 592 594 +The motion controller used in serial mode is not the same as the motion controller use in RC mode. RC mode is intended to add functionality to what would be considered "normal" RC behavior based on PWM input. 595 + 593 593 ====== __A1. Angular Stiffness (**AS**)__ ====== 594 594 595 595 The servo's rigidity / angular stiffness can be thought of as (though not identical to) a damped spring in which the value affects the stiffness and embodies how much, and how quickly the servo tried keep the requested position against changes. There are no units. ... ... @@ -620,7 +620,7 @@ 620 620 621 621 ====== __A2. Angular Holding Stiffness (**AH**)__ ====== 622 622 623 -The angular holding stiffness determines the servo's ability to hold a desired position under load. The default value for stiffness depending on the firmware may be 0 or 1. Greater values produce increasingly erratic behavior and the effect becomes extreme below -4 and above +4. Maximum values are -10 to +10. 626 +The angular holding stiffness determines the servo's ability to hold a desired position under load. The default value for stiffness depending on the firmware may be 0 or 1. Greater values produce increasingly erratic behavior and the effect becomes extreme below -4 and above +4. Maximum values are -10 to +10. Note that when considering altering a stiffness value, the end effect depends on the mode being tested. 624 624 625 625 Ex: #5AH3<cr> 626 626 ... ... @@ -636,16 +636,36 @@ 636 636 637 637 Ex: #5CAH2<cr> 638 638 639 -This writes the angular holding stiffness of servo #5 to 2 to EEPROM 642 +This writes the angular holding stiffness of servo #5 to 2 to EEPROM. Note that when considering altering a stiffness value, the end effect depends on the mode being tested. 640 640 641 641 ====== __A3: Angular Acceleration (**AA**)__ ====== 642 642 643 - {Moredetails to come}646 +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. 644 644 648 +Ex: #5AA30<cr> 649 + 650 +Query Angular Acceleration (**QAD**) 651 + 652 +Ex: #5QA<cr> might return *5QA30<cr> 653 + 654 +Configure Angular Acceleration (**CAD**) 655 + 656 +Ex: #5CA30<cr> 657 + 645 645 ====== __A4: Angular Deceleration (**AD**)__ ====== 646 646 647 - {More detailsto come}660 +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. 648 648 662 +Ex: #5AD8<cr> 663 + 664 +Query Angular Deceleration (**QAD**) 665 + 666 +Ex: #5QD<cr> might return *5QD8<cr> 667 + 668 +Configure Angular Deceleration (**CAD**) 669 + 670 +Ex: #5CD8<cr> 671 + 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: 678 +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) 699 + 700 +RESETTING the servo is needed.