Last modified by Eric Nantel on 2025/06/06 07:47
From version < 115.1 >
edited by Coleman Benson
on 2019/02/27 12:09
To version < 98.2 >
edited by Coleman Benson
on 2019/02/05 11:13
< >
Change comment: There is no comment for this version

Summary

Details

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Content
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1 1  (% class="wikigeneratedid" id="HTableofContents" %)
2 -**Page Contents**
2 +**Table of Contents**
3 3  
4 4  {{toc depth="3"/}}
5 5  
... ... @@ -128,13 +128,11 @@
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" %)
136 -| 3|[[**T**imed move>>||anchor="H3.Timedmove28T29modifier"]]| T| | | | | ✓|milliseconds|(% style="width:510px" %) Modifier only for {P, D, MD}|(% style="text-align:center; width:113px" %)
137 -| 4|[[**S**peed>>||anchor="H4.Speed28S29modifier"]]| S| | | | | ✓|microseconds per second|(% style="width:510px" %) Modifier only {P}|(% style="text-align:center; width:113px" %)
134 +| 3|[[**T**imed move>>||anchor="H3.Timedmove28T29"]]| T| | | | | ✓|milliseconds|(% style="width:510px" %) Modifier only for {P, D, MD}|(% style="text-align:center; width:113px" %)
135 +| 4|[[**S**peed>>||anchor="H4.Speed28S29"]]| S| | | | | ✓|microseconds per second|(% style="width:510px" %) Modifier only {P}|(% style="text-align:center; width:113px" %)
138 138  | 5|[[**M**ove in **D**egrees (relative)>>||anchor="H5.28Relative29MoveinDegrees28MD29"]]| MD| | | | | ✓|tenths of degrees (ex 325 = 32.5 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
139 139  | 6|[[**O**rigin Offset>>||anchor="H6.OriginOffsetAction28O29"]]| O| QO|CO|✓| ✓| ✓|tenths of degrees (ex 91 = 9.1 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
140 140  0
... ... @@ -145,54 +145,56 @@
145 145  | 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| P| QP| | | | ✓|microseconds|(% style="width:510px" %)(((
146 146  Inherited from SSC-32 serial protocol
147 147  )))|(% style="text-align:center; width:113px" %)
148 -| 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| D| QD / QDT| | | | ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
146 +| 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| D| QD| | | | ✓|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.SpeedinDegrees28SD29"]]| 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.
155 155  )))|(% style="text-align:center; width:113px" %)Max per servo
156 -| 13|[[Max **S**peed in **R**PM>>||anchor="H13.MaxSpeedinRPM28SR29"]]| SR| QSR|CSR|✓| ✓| ✓|revolutions per minute (rpm)|(% style="width:510px" %)(((
154 +| 13|[[Max **S**peed in **R**PM>>||anchor="H13.SpeedinRPM28SR29"]]| SR| QSR|CSR|✓| ✓| ✓|revolutions per minute (rpm)|(% style="width:510px" %)(((
157 157  QSR: Add modifier "2" for instantaneous speed
158 158  
159 159  SR overwrites SD / CSR overwrites CSD and vice-versa.
160 160  )))|(% style="text-align:center; width:113px" %)Max per servo
161 -| 14|[[**LED** Color>>||anchor="H14.LEDColor28LED29"]]| LED| QLED| CLED|✓| ✓| ✓|none (integer from 0 to 8)|(% style="width:510px" %)0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;|(% style="text-align:center; width:113px" %)7
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 -| 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 -| 17|[[**B**aud rate>>||anchor="H17.BaudRate"]]| | QB| CB| | | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)9600
165 -| 18|//{coming soon}//| | | | | | | |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
166 -
159 +| 14|[[**LED** Color>>||anchor="H16.RGBLED28LED29"]]| LED| QLED| CLED|✓| ✓| ✓|none (integer from 0 to 8)|(% style="width:510px" %)0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;|(% style="text-align:center; width:113px" %)7
160 +| 15|[[**ID** #>>||anchor="H17.IdentificationNumber"]]| | 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
161 +| 16|[[**B**aud rate>>||anchor="H18.BaudRate"]]| B| QB| CB| | | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)9600
162 +| 17|[[**G**yre direction (**G**)>>||anchor="H19.GyreRotationDirection"]]| 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 +| 18|[[**F**irst Position (**P**ulse)>>||anchor="H20.First2InitialPosition28pulse29"]]| | QFP|CFP | | ✓| ✓|none |(% style="width:510px" %)CFP overwrites CFD and vice-versa|(% style="text-align:center; width:113px" %)(((
164 +Limp
167 167  )))
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 -| 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" %)
170 -| 21|[[Serial **N**umber>>||anchor="H21.QuerySerialNumber28QN29"]]| | QN| | | | |none (integer)|(% style="width:510px" %) Returns the unique serial number for that servo|(% style="text-align:center; width:113px" %)
171 -| 22|[[**F**irmware version>>||anchor="H22.QueryFirmware28QF29"]]| | QF| | | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
172 -| 23|[[**Q**uery (gen. status)>>||anchor="H23.QueryStatus28Q29"]]| | Q| | | | ✓|none (integer from 1 to 8)|(% style="width:510px" %) See command description for details|(% style="text-align:center; width:113px" %)
173 -| 24|[[**V**oltage>>||anchor="H24.QueryVoltage28QV29"]]| | QV| | | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
174 -| 25|[[**T**emperature>>||anchor="H25.QueryTemperature28QT29"]]| | QT| | | | ✓|tenths of degrees Celsius|(% style="width:510px" %)Max temp before error: 85°C (servo goes limp)|(% style="text-align:center; width:113px" %)
175 -| 26|[[**C**urrent>>||anchor="H26.QueryCurrent28QC29"]]| | QC| | | | ✓|milliamps (ex 200 = 0.2A)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
176 -| 27|[[**C**hange to** RC**>>||anchor="H27.ConfigureRCMode28CRC29"]]| | |CRC|✓| | ✓|none|(% style="width:510px" %)(((
177 -Change to RC mode 1 (position) or 2 (wheel).
166 +| 19|[[**F**irst Position (**D**eg)>>||anchor="H21.First2InitialPosition28Degrees29"]]| | QFD|CFD| | ✓| ✓|none |(% style="width:510px" %)CFD overwrites CFP and vice-versa|(% style="text-align:center; width:113px" %)Limp
167 +| 20|[[**T**arget (**D**eg) **P**osition>>||anchor="H22.QueryTargetPositioninDegrees28QDT29"]]| | QDT| | | | ✓|tenths of degrees (ex 325 = 32.5 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
168 +| 21|[[**M**odel **S**tring>>||anchor="H23.QueryModelString28QMS29"]]| | QMS| | | | |none (string)|(% style="width:510px" %) Returns the type of servo (ST, HS, HT)|(% style="text-align:center; width:113px" %)
169 +| 22|[[Serial **N**umber>>||anchor="H24.QuerySerialNumber28QN29"]]| | QN| | | | |none (integer)|(% style="width:510px" %) Returns the unique serial number for that servo|(% style="text-align:center; width:113px" %)
170 +| 23|[[**F**irmware version>>||anchor="H25.QueryFirmware28QF29"]]| | QF| | | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
171 +| 24|[[**Q**uery (gen. status)>>||anchor="H26.QueryStatus28Q29"]]| | Q| | | | ✓|none (integer from 1 to 8)|(% style="width:510px" %) See command description for details|(% style="text-align:center; width:113px" %)
172 +| 25|[[**V**oltage>>||anchor="H27.QueryVoltage28QV29"]]| | QV| | | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
173 +| 26|[[**T**emperature>>||anchor="H28.QueryTemperature28QT29"]]| | QT| | | | ✓|tenths of degrees Celsius|(% style="width:510px" %)Max temp before error: 85°C (servo goes limp)|(% style="text-align:center; width:113px" %)
174 +| 27|[[**C**urrent>>||anchor="H29.QueryCurrent28QC29"]]| | QC| | | | ✓|milliamps (ex 200 = 0.2A)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
175 +| 28|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]] - Position| | |CRC1|✓| | ✓|none|(% style="width:510px" %)(((
176 +Change to RC position mode. To revert to smart mode, use the button menu.
178 178  )))|(% style="text-align:center; width:113px" %)Serial
179 -| 28|[[**RESET**>>||anchor="H28.RESET"]]| | | | | | ✓|none|(% style="width:510px" %)Soft reset. See command for details.|(% style="text-align:center; width:113px" %)
180 -| 29|[[**DEFAULT**>>||anchor="H29.DEFAULTA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Revert to firmware default values. See command for details|(% style="text-align:center; width:113px" %)
181 -| 30|[[**UPDATE**>>||anchor="H30.UPDATEA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Update firmware. See command for details.|(% style="text-align:center; width:113px" %)
178 +| 29|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]] - Wheel| | |CRC2|✓| | ✓| |(% style="width:510px" %)Change to RC wheel mode. To revert to smart mode, use the button menu.|(% style="text-align:center; width:113px" %)Serial
179 +| 30|[[**RESET**>>||anchor="H31.RESET"]]| | | | | | ✓|none|(% style="width:510px" %)Soft reset. See command for details.|(% style="text-align:center; width:113px" %)
180 +| 31|[[**DEFAULT**>>||anchor="H32.DEFAULTA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Revert to firmware default values. See command for details|(% style="text-align:center; width:113px" %)
181 +| 32|[[**UPDATE**>>||anchor="H33.UPDATEA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Update firmware. See command for details.|(% style="text-align:center; width:113px" %)
182 182  
183 183  == Advanced ==
184 184  
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 -| A6|[[**C**onfigure **L**ED **B**linking>>||anchor="HA6.ConfigureLEDBlinking28CLB29"]]| | | CLB| | ✓| |none (integer from 0 to 63)|(% style="width:510px" %)(((
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="H14.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 +| A2|[[**A**ngular **H**olding Stiffness>>||anchor="H15.AngularHoldStiffness28AH29"]]|AH|QAH|CAH|✓| | ✓|none (integer -10 to +10)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)1
188 +| A3|[[**A**ngular **A**cceleration>>||anchor="H15b: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="H15c: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="H15d:MotionControl28MC29"]]|EM|QEM| | | | ✓|none|(% style="width:510px" %)EM0 to disable motion control, EM1 to enable|(% style="text-align:center; width:113px" %)
191 +| A6|[[**C**onfigure **L**ED **B**linking>>||anchor="H16b.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 -)))
195 +)))|(% style="text-align:center; width:113px" %)
196 196  
197 197  == Details ==
198 198  
... ... @@ -208,7 +208,7 @@
208 208  
209 209  This action overrides whatever the servo might be doing at the time the command is received (accelerating, moving continuously etc.) and causes it to stop immediately and hold that angular position.
210 210  
211 -====== __3. Timed move (**T**) modifier__ ======
211 +====== __3. Timed move (**T**)__ ======
212 212  
213 213  Example: #5P1500T2500<cr>
214 214  
... ... @@ -216,7 +216,7 @@
216 216  
217 217  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.
218 218  
219 -====== __4. Speed (**S**) modifier__ ======
219 +====== __4. Speed (**S**)__ ======
220 220  
221 221  Example: #5P1500S750<cr>
222 222  
... ... @@ -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.
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 to end points.
284 284  
285 285  Query Position in Pulse (**QP**)
286 286  
... ... @@ -303,13 +303,6 @@
303 303  
304 304  This means the servo is located at 13.2 degrees.
305 305  
306 -(% class="wikigeneratedid" id="H22.QueryTargetPositioninDegrees28QDT29" %)
307 -Query Target Position in Degrees (**QDT**)
308 -
309 -Ex: #5QDT<cr> might return *5QDT6783<cr>
310 -
311 -The query target position command returns the target angle 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 without a number (Ex: *5QDT<cr>).
312 -
313 313  ====== __10. Wheel Mode in Degrees (**WD**)__ ======
314 314  
315 315  Ex: #5WD900<cr>
... ... @@ -384,8 +384,10 @@
384 384  
385 385  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.
386 386  
387 -====== __14. LED Color (**LED**)__ ======
380 +====== ======
388 388  
382 +====== __16. RGB LED (**LED**)__ ======
383 +
389 389  Ex: #5LED3<cr>
390 390  
391 391  This action sets the servo's RGB LED color for that session.The LED can be used for aesthetics, or (based on user code) to provide visual status updates. Using timing can create patterns.
... ... @@ -400,70 +400,81 @@
400 400  
401 401  Configure LED Color (**CLED**)
402 402  
403 -Configuring the LED color via the CLED command sets the startup color of the servo after a reset or power cycle. Note that it also changes the session's LED color immediately as well.
398 +Configuring the LED color via the CLED command sets the startup color of the servo after a reset or power cycle. Note that it also changes the session's LED color immediately as well.
404 404  
405 -====== __15. Gyre Rotation Direction (**G**)__ ======
400 +====== __17. Identification Number__ ======
406 406  
407 -"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. CW = 1; CCW = -1. The factory default is clockwise (CW).
402 +A servo's identification number cannot be set "on the fly" and must be configured via the CID command described below. The factory default ID number for all servos is 0. Since smart servos are intended to be daisy chained, in order to respond differently from one another, the user must set different identification numbers. Servos with the same ID and baud rate will all receive and react to the same commands.
408 408  
409 -Ex: #5G-1<cr>
404 +Query Identification (**QID**)
410 410  
411 -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.
406 +EX: #254QID<cr> might return *QID5<cr>
412 412  
413 -Query Gyre Direction (**QG**)
408 +When using the query ID command, it is best to only have one servo connected and thus receive only one reply using the broadcast command (ID 254). Alternatively, pushing the button upon startup and temporarily setting the servo ID to 255 will still result in the servo responding with its "real" ID.
414 414  
415 -Ex: #5QG<cr> might return *5QG-1<cr>
410 +Configure ID (**CID**)
416 416  
417 -The value returned above means the servo is in a counter-clockwise gyration.
412 +Ex: #4CID5<cr>
418 418  
419 -Configure Gyre (**CG**)
414 +Setting a servo's ID in EEPROM is done via the CID command. All servos connected to the same serial bus will be assigned that ID. In most situations each servo must be set a unique ID, which means each servo must be connected individually to the serial bus and receive a unique CID number. It is best to do this before the servos are added to an assembly. Numbered stickers are provided to distinguish each servo after their ID is set, though you are free to use whatever alternative method you like.
420 420  
421 -Ex: #5CG-1<cr>
416 +====== __18. Baud Rate__ ======
422 422  
423 -This changes the gyre direction as described above and also writes to EEPROM.
418 +A servo's baud rate cannot be set "on the fly" and must be configured via the CB command described below. The factory default baud rate for all servos is 9600. Since smart servos are intended to be daisy chained, in order to respond to the same serial bus, all servos in that project should ideally be set to the same baud rate. Setting different baud rates will have the servos respond differently and may create issues. Available baud rates are: 9.6 kbps, 19.2 kbps, 38.4 kbps, 57.6 kbps, 115.2 kbps, 230.4 kbps, 250.0 kbps, 460.8 kbps, 500.0 kbps, 750.0 kbps*, 921.6 kbps*. Servos are shipped with a baud rate set to 9600. The baud rates are currently restricted to those above.
419 +\*: Current tests reveal baud rates above 500 kbps are unstable and can cause timeouts. Please keep this in mind if using those / testing them out.
424 424  
425 -====== __16. Identification Number (**ID**)__ ======
421 +Query Baud Rate (**QB**)
426 426  
427 -A servo's identification number cannot be set "on the fly" and must be configured via the CID command described below. The factory default ID number for all servos is 0. Since smart servos are intended to be daisy chained, in order to respond differently from one another, the user must set different identification numbers. Servos with the same ID and baud rate will all receive and react to the same commands (assuming same baud rate).
423 +Ex: #5QB<cr> might return *5QB9600<cr>
428 428  
429 -Query Identification (**QID**)
425 +Querying the baud rate is used simply to confirm the CB configuration command before the servo is power cycled.
430 430  
431 -EX: #254QID<cr> might return *QID5<cr>
427 +Configure Baud Rate (**CB**)
432 432  
433 -When using the query ID command, it is best to only have one servo connected and thus receive only one reply. This is useful when you are not sure of the servo's ID, but don't want to change it. Using the broadcast command (ID 254) with only one servo will have that servo reply with its ID number (assuming the query is sent . Alternatively, pushing the button upon startup and temporarily setting the servo ID to 255 will still result in the servo responding with its "real" ID.
429 +Important Note: the servo's current session retains the given baud rate and the new baud rate will only be in place when the servo is power cycled.
434 434  
435 -Configure ID (**CID**)
431 +Ex: #5CB9600<cr>
436 436  
437 -Ex: #4CID5<cr>
433 +Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
438 438  
439 -Setting a servo's ID in EEPROM is done via the CID command. All servos connected to the same serial bus will be assigned that ID. In most situations each servo must be set a unique ID, which means each servo must be connected individually to the serial bus and receive a unique CID number. It is best to do this before the servos are added to an assembly. Numbered stickers are provided to distinguish each servo after their ID is set, though you are free to use whatever alternative method you like. The servo must be RESET or power cycled in order for the new ID to take effect.
435 +====== __19. Gyre Rotation Direction__ ======
440 440  
441 -====== __17. Baud Rate__ ======
437 +"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. CW = 1; CCW = -1. The factory default is clockwise (CW).
442 442  
443 -A servo's baud rate cannot be set "on the fly" and must be configured via the CB command described below. The factory default baud rate for all servos is 9600. Since smart servos are intended to be daisy chained, in order to respond to the same serial bus, all servos in a project should ideally be set to the same baud rate. Setting different baud rates will have the servos respond differently and may create issues. Available baud rates are: 9600 bps, 19200 bps, 38400 bps, 57600 bps, 115.2 kbps, 230.4 kbps, 250.0 kbps, 460.8 kbps, 500.0 kbps. Servos are shipped with a baud rate set to 9600. The baud rates are currently restricted to those above.
439 +{images showing before and after with AR and Origin offset}
444 444  
445 -Query Baud Rate (**QB**)
441 +Query Gyre Direction (**QG**)
446 446  
447 -Ex: #5QB<cr> might return *5QB9600<cr>
443 +Ex: #5QG<cr> might return *5QG-1<cr>
448 448  
449 -Since the command to query the baud rate must be done at the servo's existing baud rate, it can simply be used to confirm the CB configuration command was correctly received before the servo is power cycled and the new baud rate takes effect.
445 +The value returned above means the servo is in a counter-clockwise gyration.
450 450  
451 -Configure Baud Rate (**CB**)
447 +Configure Gyre (**CG**)
452 452  
453 -Important Note: the servo's current session retains the given baud rate and the new baud rate will only take effect when the servo is power cycled / RESET.
449 +Ex: #5CG-1<cr>
454 454  
455 -Ex: #5CB9600<cr>
451 +This changes the gyre direction as described above and also writes to EEPROM.
456 456  
457 -Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
453 +====== __20. First / Initial Position (pulse)__ ======
458 458  
459 -====== __18. {//Coming soon//}__ ======
455 +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". 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.
460 460  
461 -Command coming soon....
457 +Query First Position in Pulses (**QFP**)
462 462  
463 -====== __19. First Position (Degrees) (**FD**)__ ======
459 +Ex: #5QFP<cr> might return *5QFP1550<cr>
464 464  
465 -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.
461 +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").
466 466  
463 +Configure First Position in Pulses (**CFP**)
464 +
465 +Ex: #5CP1550<cr>
466 +
467 +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 results in the servo remaining limp upon power up (i.e. disabled).
468 +
469 +====== __21. First / Initial Position (Degrees)__ ======
470 +
471 +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". 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.
472 +
467 467  Query First Position in Degrees (**QFD**)
468 468  
469 469  Ex: #5QFD<cr> might return *5QFD64<cr>
... ... @@ -474,110 +474,104 @@
474 474  
475 475  Ex: #5CD64<cr>
476 476  
477 -This configuration command means the servo, when set to smart mode, will immediately move to 6.4 degrees upon power up. Sending a CFD command without a number (Ex. #5CFD<cr>) results in the servo remaining limp upon power up.
483 +This configuration command means the servo, when set to smart mode, will immediately move to 6.4 degrees upon power up. Sending a CFD command without a number results in the servo remaining limp upon power up.
478 478  
479 -====== __20. Query Model String (**QMS**)__ ======
485 +====== __22. Query Target Position in Degrees (**QDT**)__ ======
480 480  
481 -Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
487 +Ex: #5QDT<cr> might return *5QDT6783<cr>
482 482  
483 -This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
489 +The query target position command returns the target angle 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 without a number (Ex: *5QDT<cr>).
484 484  
485 -====== __21. Query Serial Number (**QN**)__ ======
491 +====== __23. Query Model String (**QMS**)__ ======
486 486  
487 -Ex: #5QN<cr> might return *5QN12345678<cr>
493 +Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
488 488  
489 -The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
495 +This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
490 490  
491 -====== __22. Query Firmware (**QF**)__ ======
497 +====== __23b. Query Model (**QM**)__ ======
492 492  
493 -Ex: #5QF<cr> might return *5QF411<cr>
499 +Ex: #5QM<cr> might return *5QM68702699520cr>
494 494  
495 -The number in the reply represents the firmware version, in this example being 411.
501 +This reply means the servo model is 0xFFF000000 or 100, meaning a high speed servo, first revision.
496 496  
497 -====== __23. Query Status (**Q**)__ ======
503 +====== __24. Query Serial Number (**QN**)__ ======
498 498  
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.
505 +Ex: #5QN<cr> might return *5QN~_~_<cr>
500 500  
501 -Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
507 +The number in the response is the servo's serial number which is set and cannot be changed.
502 502  
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).
509 +====== __25. Query Firmware (**QF**)__ ======
516 516  
517 -Send a Q1 command to know which limit has been reached (described below).
518 -)))
511 +Ex: #5QF<cr> might return *5QF11<cr>
519 519  
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.
513 +The integer in the reply represents the firmware version with one decimal, in this example being 1.1
522 522  
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.
515 +====== __26. Query Status (**Q**)__ ======
528 528  
529 -====== __24. Query Voltage (**QV**)__ ======
517 +Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
530 530  
519 +|*Value returned|**Status**|**Detailed description**
520 +|ex: *5Q0<cr>|Unknown|LSS is unsure
521 +|ex: *5Q1<cr>|Limp|Motor driving circuit is not powered and horn can be moved freely
522 +|ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
523 +|ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
524 +|ex: *5Q4<cr>|Traveling|Moving at a stable speed
525 +|ex: *5Q5<cr>|Decelerating|Decreasing from travel speed towards final position.
526 +|ex: *5Q6<cr>|Holding|Keeping current position
527 +|ex: *5Q7<cr>|Stepping|Special low speed mode to maintain torque
528 +|ex: *5Q8<cr>|Outside limits|{More details coming soon}
529 +|ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting
530 +|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
531 +
532 +====== __27. Query Voltage (**QV**)__ ======
533 +
531 531  Ex: #5QV<cr> might return *5QV11200<cr>
532 532  
533 533  The number returned has one decimal, so in the case above, servo with ID 5 has an input voltage of 11.2V (perhaps a three cell LiPo battery).
534 534  
535 -====== __25. Query Temperature (**QT**)__ ======
538 +====== __28. Query Temperature (**QT**)__ ======
536 536  
537 537  Ex: #5QT<cr> might return *5QT564<cr>
538 538  
539 539  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.
540 540  
541 -====== __26. Query Current (**QC**)__ ======
544 +====== __29. Query Current (**QC**)__ ======
542 542  
543 543  Ex: #5QC<cr> might return *5QC140<cr>
544 544  
545 545  The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
546 546  
547 -====== __27. Configure RC Mode (**CRC**)__ ======
550 +====== __30. RC Mode (**CRC**)__ ======
548 548  
549 549  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.
550 550  
551 551  |**Command sent**|**Note**
555 +|ex: #5CRC<cr>|Stay in smart mode.
552 552  |ex: #5CRC1<cr>|Change to RC position mode.
553 553  |ex: #5CRC2<cr>|Change to RC continuous (wheel) mode.
554 -|ex: #5CRC*<cr>|Where * is any number or value other than 1 or 2 (or no value): stay in smart mode.
558 +|ex: #5CRC*<cr>|Where * is any number or value. Stay in smart mode.
555 555  
556 -EX: #5CRC2<cr>
560 +EX: #5CRC<cr>
557 557  
558 -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.
562 +====== __31. RESET__ ======
559 559  
560 -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.
561 -
562 -====== __28. **RESET**__ ======
563 -
564 564  Ex: #5RESET<cr> or #5RS<cr>
565 565  
566 566  This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
567 567  
568 -====== __29. **DEFAULT** & CONFIRM__ ======
568 +====== __32. DEFAULT & CONFIRM__ ======
569 569  
570 570  Ex: #5DEFAULT<cr>
571 571  
572 -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.
572 +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.
573 573  
574 574  EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
575 575  
576 -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.
576 +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.
577 577  
578 578  Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
579 579  
580 -====== __30. **UPDATE** & CONFIRM__ ======
580 +====== __33. UPDATE & CONFIRM__ ======
581 581  
582 582  Ex: #5UPDATE<cr>
583 583  
... ... @@ -589,13 +589,9 @@
589 589  
590 590  Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
591 591  
592 -= Advanced =
593 -
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 -
596 596  ====== __A1. Angular Stiffness (**AS**)__ ======
597 597  
598 -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.
594 +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.
599 599  
600 600  A positive value of "angular stiffness":
601 601  
... ... @@ -607,7 +607,7 @@
607 607  * Causes a slower acceleration to the travel speed, and a slower deceleration
608 608  * Allows the target position to deviate more from its position before additional torque is applied to bring it back
609 609  
610 -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.
606 +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.
611 611  
612 612  Ex: #5AS-2<cr>
613 613  
... ... @@ -621,9 +621,9 @@
621 621  
622 622  Writes the desired angular stiffness value to memory.
623 623  
624 -====== __A2. Angular Holding Stiffness (**AH**)__ ======
620 +====== __A2. Angular Holding Stiffness (**AH**)__ ======
625 625  
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.
622 +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.
627 627  
628 628  Ex: #5AH3<cr>
629 629  
... ... @@ -639,64 +639,30 @@
639 639  
640 640  Ex: #5CAH2<cr>
641 641  
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.
638 +This writes the angular holding stiffness of servo #5 to 2 to EEPROM
643 643  
644 644  ====== __A3: Angular Acceleration (**AA**)__ ======
645 645  
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.
642 +{More details to come}
647 647  
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 -
658 658  ====== __A4: Angular Deceleration (**AD**)__ ======
659 659  
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.
646 +{More details to come}
661 661  
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 -
672 672  ====== __A5: Motion Control (**EM**)__ ======
673 673  
674 -The command EM0 disables use of the motion controller (acceleration, velocity / travel, deceleration). As such, the servo will move at full speed for all motion commands. The command EM1 enables use of the motion controller.
650 +{More details to come}
675 675  
676 -Note that if the modifiers S or T are used, it is assumed that motion control is desired, and for that command, EM1 will be used.
677 -
678 678  ====== __A6. Configure LED Blinking (**CLB**)__ ======
679 679  
680 -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:
654 +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).
655 +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;
681 681  
682 -(% style="width:195px" %)
683 -|(% style="width:134px" %)**Blink While:**|(% style="width:58px" %)**#**
684 -|(% style="width:134px" %)No blinking|(% style="width:58px" %)0
685 -|(% style="width:134px" %)Limp|(% style="width:58px" %)1
686 -|(% style="width:134px" %)Holding|(% style="width:58px" %)2
687 -|(% style="width:134px" %)Accelerating|(% style="width:58px" %)4
688 -|(% style="width:134px" %)Decelerating|(% style="width:58px" %)8
689 -|(% style="width:134px" %)Free|(% style="width:58px" %)16
690 -|(% style="width:134px" %)Travelling|(% style="width:58px" %)32
691 -|(% style="width:134px" %)Always blink|(% style="width:58px" %)63
692 -
693 693  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:
694 694  
695 695  Ex: #5CLB0<cr> to turn off all blinking (LED always solid)
696 -Ex: #5CLB1<cr> only blink when limp (1)
697 -Ex: #5CLB2<cr> only blink when holding (2)
698 -Ex: #5CLB12<cr> only blink when accel or decel (accel 4 + decel 8 = 12)
699 -Ex: #5CLB48<cr> only blink when free or travel (free 16 + travel 32 = 48)
700 -Ex: #5CLB63<cr> blink in all status (1 + 2 + 4 + 8 + 16 + 32)
701 -
702 -RESETTING the servo is needed.
660 +Ex: #5CLB1<cr> only blink when limp
661 +Ex: #5CLB2<cr> only blink when holding
662 +Ex: #5CLB12<cr> only blink when accel or decel
663 +Ex: #5CLB48<cr> only blink when free or travel
664 +Ex: #5CLB63<cr> blink in all status
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