Changes for page LSS Communication Protocol

Last modified by Eric Nantel on 2025/06/06 07:47

From version < 109.1 >

edited by Coleman Benson
on 2019/02/22 12:02

To version < 114.1 >

edited by Coleman Benson
on 2019/02/27 10:24

< >

Change comment: There is no comment for this version

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@@ -162,8
          +162,8 @@
  | 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
  | 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
  | 17|[[**B**aud rate>>||anchor="H17.BaudRate"]]| | QB| CB| | | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)9600
--| 18|[[**F**irst Position (**P**ulse)>>||anchor="H18.FirstPosition28Pulse2928FP29"]]| | QFP|CFP |X| ✓| ✓|none |(% style="width:510px" %)CFP overwrites CFD and vice-versa|(% style="text-align:center; width:113px" %)(((
--Limp
++| 18|//{coming soon}//| | | | | | | |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
++
  )))
  | 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
  | 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 @@
  == Advanced ==
--|= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
--| 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" %)0
--| 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" %)1
--| 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" %)
--| 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" %)
--| 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" %)
++|= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes
++| 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
++| 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
++| 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
++| 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
++| A5|[[**E**nable **M**otion Control>>||anchor="HA5:MotionControl28EM29"]]|EM|QEM| | | | ✓|none|(% style="width:510px" %)EM0 to disable motion control, EM1 to enable
  | A6|[[**C**onfigure **L**ED **B**linking>>||anchor="HA6.ConfigureLEDBlinking28CLB29"]]| | | CLB| | ✓| |none (integer from 0 to 63)|(% style="width:510px" %)(((
 =No blinking,  63=Always blink;
  Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;
--)))|(% style="text-align:center; width:113px" %)
++)))
  == Details ==
@@ -456,22
          +456,10 @@
  Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
--====== __18. First Position (Pulse) (**FP**)__ ======
++====== __18. {//Coming soon//}__ ======
--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. If a first position pulse is assigned, the servo will move to that angle and hold there for up to 2 seconds before going limp should a new pulse not be received.
++Command coming soon....
--Query First Position in Pulses (**QFP**)
--
--Ex: #5QFP<cr> might return *5QFP1550<cr>
--
--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").
--
--Configure First Position in Pulses (**CFP**)
--
--Ex: #5CP1550<cr>
--
--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).
--
  ====== __19. First Position (Degrees) (**FD**)__ ======
  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.
@@ -508,7
          +508,7 @@
  ====== __23. Query Status (**Q**)__ ======
--The status query described what the servo is currently doing. The query returns an integer which must be looked up in the table below.
++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.
  Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
@@ -516,7
          +516,7 @@
  |ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state
  |ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely
  |ex: *5Q2<cr>|2: Free moving|Motor driving circuit is not powered and horn can be moved freely
--|ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
++|ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
  |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
  |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
  |ex: *5Q6<cr>|6: Holding|Keeping current position
@@ -523,14
          +523,19 @@
  |ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
  |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
  |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
--|ex: *5Q10<cr>|10: Safe Mode|A safety limit has been exceeded (temperature, peak current or extended high current draw).
++|ex: *5Q10<cr>|10: Safe Mode|(((
++A safety limit has been exceeded (temperature, peak current or extended high current draw).
++Send a Q1 command to know which limit has been reached (described below).
++)))
++
  (% class="wikigeneratedid" %)
--If a safety limit has been reached, 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.
++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.
  |***Value returned (Q1)**|**Status**|**Detailed description**
++|ex: *5Q0<cr>|No limits have been passed|Nothing is wrong
  |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
--|ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries
++|ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
  |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
  ====== __24. Query Voltage (**QV**)__ ======
@@ -598,6
          +598,8 @@
  = Advanced =
++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.
++
  ====== __A1. Angular Stiffness (**AS**)__ ======
  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.
@@ -628,7
          +628,7 @@
  ====== __A2. Angular Holding Stiffness (**AH**)__ ======
--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.
++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.
  Ex: #5AH3<cr>
@@ -644,16
          +644,36 @@
  Ex: #5CAH2<cr>
--This writes the angular holding stiffness of servo #5 to 2 to EEPROM
++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.
  ====== __A3: Angular Acceleration (**AA**)__ ======
--{More details to come}
++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.
++Ex: #5AA30<cr>
++
++Query Angular Acceleration (**QAD**)
++
++Ex: #5QA<cr> might return *5QA30<cr>
++
++Configure Angular Acceleration (**CAD**)
++
++Ex: #5CA30<cr>
++
  ====== __A4: Angular Deceleration (**AD**)__ ======
--{More details to come}
++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.
++Ex: #5AD8<cr>
++
++Query Angular Deceleration (**QAD**)
++
++Ex: #5QD<cr> might return *5QD8<cr>
++
++Configure Angular Deceleration (**CAD**)
++
++Ex: #5CD8<cr>
++
  ====== __A5: Motion Control (**EM**)__ ======
  {More details to come}

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