Changes for page LSS Communication Protocol
Last modified by Eric Nantel on 2025/06/06 07:47
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... ... @@ -1,5 +1,5 @@ 1 1 (% class="wikigeneratedid" id="HTableofContents" %) 2 -** Page Contents**2 +**Table of Contents** 3 3 4 4 {{toc depth="3"/}} 5 5 ... ... @@ -128,8 +128,6 @@ 128 128 129 129 = Command List = 130 130 131 -== Regular == 132 - 133 133 |= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value 134 134 | 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| L| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %) 135 135 | 2|[[**H**alt & **H**old>>||anchor="H2.Halt26Hold28H29"]]| H| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %) ... ... @@ -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|✓| ✓| ✓|degrees per second (°/s)|(% style="width:510px" %)(((149 +| 12|[[Max **S**peed in **D**egrees>>||anchor="H12.MaxSpeedinDegrees28SD29"]]| SD| QSD|CSD|✓| ✓| ✓|tenths of degrees per second |(% 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. ... ... @@ -183,7 +183,7 @@ 183 183 == Advanced == 184 184 185 185 |= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value 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|(% style="text-align:center; width:113px" %)0 184 +| 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" %)0 187 187 | 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" %)1 188 188 | 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|(% style="text-align:center; width:113px" %) 189 189 | 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" %) ... ... @@ -280,7 +280,7 @@ 280 280 281 281 Example: #5P2334<cr> 282 282 283 -The position in PWM pulses was retained in order to be backward compatible with the SSC-32 / 32U protocol. This relates the desired angle with an RC standard PWM pulse and is further explained in the SSC-32 and SSC-32U manuals found on Lynxmotion.com. Without any modifications to configuration considered, and a ±90.0 degrees standard range where 1500 microseconds is centered, a pulse of 2334 would set the servo to 165.1 degrees. Valid values for P are [500, 2500]. Values outside this range are corrected / restricted to end points.281 +The position in PWM pulses was retained in order to be backward compatible with the SSC-32 / 32U protocol. This relates the desired angle with an RC standard PWM pulse and is further explained in the SSC-32 and SSC-32U manuals found on Lynxmotion.com. Without any modifications to configuration considered, and a ±90.0 degrees standard range where 1500 microseconds is centered, a pulse of 2334 would set the servo to 165.1 degrees. Valid values for P are [500, 2500]. Values outside this range are corrected to end points. 284 284 285 285 Query Position in Pulse (**QP**) 286 286 ... ... @@ -458,7 +458,7 @@ 458 458 459 459 ====== __18. First Position (Pulse) (**FP**)__ ====== 460 460 461 -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.459 +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. 462 462 463 463 Query First Position in Pulses (**QFP**) 464 464 ... ... @@ -492,47 +492,37 @@ 492 492 493 493 Ex: #5QMS<cr> might return *5QMSLSS-HS1cr> 494 494 495 -This reply means the servo model 493 +This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision. 496 496 497 497 ====== __21. Query Serial Number (**QN**)__ ====== 498 498 499 -Ex: #5QN<cr> might return *5QN 12345678<cr>497 +Ex: #5QN<cr> might return *5QN~_~_<cr> 500 500 501 -The number in the response (12345678)would bethe servo's serial number which is set andshouldnotby the user.499 +The number in the response is the servo's serial number which is set and cannot be changed. 502 502 503 503 ====== __22. Query Firmware (**QF**)__ ====== 504 504 505 -Ex: #5QF<cr> might return *5QF 411<cr>503 +Ex: #5QF<cr> might return *5QF11<cr> 506 506 507 -The n umber411.505 +The integer in the reply represents the firmware version with one decimal, in this example being 1.1 508 508 509 509 ====== __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. 512 - 513 513 Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position. 514 514 515 -|* **Value returned(Q)**|**Status**|**Detailed description**516 -|ex: *5Q0<cr>| 0:Unknown|LSS is unsure/ unknown state517 -|ex: *5Q1<cr>| 1:Limp|Motor driving circuit is not powered and horn can be moved freely518 -|ex: *5Q2<cr>| 2:Free moving|Motor driving circuit is not powered and horn can be moved freely519 -|ex: *5Q3<cr>| 3:Accelerating|Increasing speed from rest (or previous speeD) towards travel speed520 -|ex: *5Q4<cr>| 4:Traveling|Moving at a stable speed521 -|ex: *5Q5<cr>| 5:Decelerating|Decreasing from travel speed towards final position.522 -|ex: *5Q6<cr>| 6:Holding|Keeping current position523 -|ex: *5Q7<cr>| 7: Outside limits|{More detailscomingsoon}524 -|ex: *5Q8<cr>| 8:Stuck|Motorcannot performrequestmovementat currentspeed setting525 -|ex: *5Q9<cr>| 9: Blocked|Similartostuck, butthemotorisat maximum dutyand stillcannotmove(i.e.:stalled)526 -|ex: *5Q10<cr>| 10: Safe Mode|A safety limithas beenexceeded (temperature,peakcurrentor extendedhighcurrentdraw).511 +|*Value returned|**Status**|**Detailed description** 512 +|ex: *5Q0<cr>|Unknown|LSS is unsure 513 +|ex: *5Q1<cr>|Limp|Motor driving circuit is not powered and horn can be moved freely 514 +|ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely 515 +|ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed 516 +|ex: *5Q4<cr>|Traveling|Moving at a stable speed 517 +|ex: *5Q5<cr>|Decelerating|Decreasing from travel speed towards final position. 518 +|ex: *5Q6<cr>|Holding|Keeping current position 519 +|ex: *5Q7<cr>|Stepping|Special low speed mode to maintain torque 520 +|ex: *5Q8<cr>|Outside limits|{More details coming soon} 521 +|ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting 522 +|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled) 527 527 528 -(% class="wikigeneratedid" %) 529 -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. 530 - 531 -|***Value returned (Q1)**|**Status**|**Detailed description** 532 -|ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long 533 -|ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries 534 -|ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely. 535 - 536 536 ====== __24. Query Voltage (**QV**)__ ====== 537 537 538 538 Ex: #5QV<cr> might return *5QV11200<cr> ... ... @@ -556,16 +556,15 @@ 556 556 This command puts the servo into RC mode (position or continuous), where it will only respond to RC pulses. Note that because this is the case, the servo will no longer accept serial commands. The servo can be placed back into smart mode by using the button menu. 557 557 558 558 |**Command sent**|**Note** 547 +|ex: #5CRC<cr>|Stay in smart mode. 559 559 |ex: #5CRC1<cr>|Change to RC position mode. 560 560 |ex: #5CRC2<cr>|Change to RC continuous (wheel) mode. 561 -|ex: #5CRC*<cr>|Where * is any number or value other than 1 or 2 (or no value): stay in smart mode.550 +|ex: #5CRC*<cr>|Where * is any number or value. Stay in smart mode. 562 562 563 -EX: #5CRC 2<cr>552 +EX: #5CRC<cr> 564 564 565 - Thiscommandwouldplace 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.554 +====== ====== 566 566 567 -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. 568 - 569 569 ====== __28. **RESET**__ ====== 570 570 571 571 Ex: #5RESET<cr> or #5RS<cr> ... ... @@ -576,11 +576,11 @@ 576 576 577 577 Ex: #5DEFAULT<cr> 578 578 579 -This command sets in motion the reset ofall 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.566 +This command sets in motion the reset 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. 580 580 581 581 EX: #5DEFAULT<cr> followed by #5CONFIRM<cr> 582 582 583 -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 e xitthecommand.570 +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 leave the firmware action. 584 584 585 585 Note that after the CONFIRM command is sent, the servo will automatically perform a RESET. 586 586 ... ... @@ -596,11 +596,9 @@ 596 596 597 597 Note that after the CONFIRM command is sent, the servo will automatically perform a RESET. 598 598 599 -= Advanced = 600 - 601 601 ====== __A1. Angular Stiffness (**AS**)__ ====== 602 602 603 -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. Thereare no units.588 +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. 604 604 605 605 A positive value of "angular stiffness": 606 606 ... ... @@ -612,7 +612,7 @@ 612 612 * Causes a slower acceleration to the travel speed, and a slower deceleration 613 613 * Allows the target position to deviate more from its position before additional torque is applied to bring it back 614 614 615 -The default value forstiffnessdependingonthefirmwaremay be0or1.and the effect becomes extreme below -4 and above +4.Maximum values are -10 to +10.600 +The default value is zero and the effect becomes extreme by -4, +4. There are no units, only integers between -4 to 4. Greater values produce increasingly erratic behavior. 616 616 617 617 Ex: #5AS-2<cr> 618 618 ... ... @@ -628,7 +628,7 @@ 628 628 629 629 ====== __A2. Angular Holding Stiffness (**AH**)__ ====== 630 630 631 -The angular holding stiffness determines the servo's ability to hold a desired position under load. The defaultvalue forstiffnessdependingonthe firmwaremaybe 0 or1. Greatervaluesproduceincreasinglyerratic behavior and theeffectbecomesextreme below -4andabove+4.Maximum valuesare-10to +10.616 +The angular holding stiffness determines the servo's ability to hold a desired position under load. Values can be from -10 to 10, with the default being 0. Note that negative values mean the final position can be easily deflected. 632 632 633 633 Ex: #5AH3<cr> 634 634 ... ... @@ -660,26 +660,14 @@ 660 660 661 661 ====== __A6. Configure LED Blinking (**CLB**)__ ====== 662 662 663 -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: 648 +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). 649 +You can turn on or off blinking for various LSS status. Here is the list and their associated value: 0=No blinking, ; 63=Always blink; Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel; 664 664 665 -(% style="width:195px" %) 666 -|(% style="width:134px" %)**Blink While:**|(% style="width:58px" %)**#** 667 -|(% style="width:134px" %)No blinking|(% style="width:58px" %)0 668 -|(% style="width:134px" %)Limp|(% style="width:58px" %)1 669 -|(% style="width:134px" %)Holding|(% style="width:58px" %)2 670 -|(% style="width:134px" %)Accelerating|(% style="width:58px" %)4 671 -|(% style="width:134px" %)Decelerating|(% style="width:58px" %)8 672 -|(% style="width:134px" %)Free|(% style="width:58px" %)16 673 -|(% style="width:134px" %)Travelling|(% style="width:58px" %)32 674 -|(% style="width:134px" %)Always blink|(% style="width:58px" %)63 675 - 676 676 To set blinking, use CLB with the value of your choosing. To activate blinking in multiple status, simply add together the values of the corresponding status. See examples below: 677 677 678 678 Ex: #5CLB0<cr> to turn off all blinking (LED always solid) 679 -Ex: #5CLB1<cr> only blink when limp (1) 680 -Ex: #5CLB2<cr> only blink when holding (2) 681 -Ex: #5CLB12<cr> only blink when accel or decel (accel 4 + decel 8 = 12) 682 -Ex: #5CLB48<cr> only blink when free or travel (free 16 + travel 32 = 48) 683 -Ex: #5CLB63<cr> blink in all status (1 + 2 + 4 + 8 + 16 + 32) 684 - 685 -RESETTING the servo is needed. 654 +Ex: #5CLB1<cr> only blink when limp 655 +Ex: #5CLB2<cr> only blink when holding 656 +Ex: #5CLB12<cr> only blink when accel or decel 657 +Ex: #5CLB48<cr> only blink when free or travel 658 +Ex: #5CLB63<cr> blink in all status