Changes for page LSS Communication Protocol
Last modified by Eric Nantel on 2025/06/06 07:47
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... ... @@ -39,9 +39,31 @@ 39 39 40 40 Results in the servo rotating from the current angular position to a pulse position of 1456 in 1263 milliseconds. 41 41 42 - Modifiedcommandsare commandpecific.42 +Action modifiers can only be used with certain commands. 43 43 ))) 44 44 45 +((( 46 + 47 +))) 48 + 49 +== Configuration Commands == 50 + 51 +Configuration commands affect the servo's current session* but unlike action commands, configuration commands are written to EEPROM and are retained even if the servo loses power (therefore NOT session specific). Not all action commands have a corresponding configuration and vice versa. Certain configurations are retained for when the servo is used in RC model. More information can be found on the [[LSS - RC PWM page>>doc:LSS - Overview (DEV).LSS - RC PWM.WebHome]]. 52 + 53 +1. Start with a number sign # (U+0023) 54 +1. Servo ID number as an integer 55 +1. Configuration command (two to three letters, no spaces, capital or lower case) 56 +1. Configuration value in the correct units with no decimal 57 +1. End with a control / carriage return '<cr>' 58 + 59 +Ex: #5CO-50<cr> 60 + 61 +Assigns an absolute origin offset of -5.0 degrees (with respect to factory origin) to servo #5 and changes the offset for that session to -5.0 degrees. 62 + 63 +Configuration commands are not cumulative, in that if two configurations are sent at any time, only the last configuration is used and stored. 64 + 65 +*Important Note: the one exception is the baud rate - the servo's current session retains the given baud rate. The new baud rate will only be in place when the servo is power cycled. 66 + 45 45 == Query Commands == 46 46 47 47 Query commands are sent serially to the servo's Rx pin and must be set in the following format: ... ... @@ -69,26 +69,46 @@ 69 69 ))) 70 70 71 71 Indicates that servo #5 is currently at 144.3 degrees. 72 -))) 73 73 74 - ==ConfigurationCommands ==95 +**Session vs Configuration Query** 75 75 76 - Configurationcommands affect theservo's current session* but unlike action commands, configurationcommandsarewritten to EEPROM and are retained even if theservoloses power (thereforeNOTsessionpecific).Not allaction commands havea correspondingconfigurationand viceversa. Certainconfigurationsareretained forwhen theservoisused in RC model.Moreinformationcan be found onthe[[LSS - RC PWM page>>doc:LynxmotionSmart Servos (LSS).LSS - RC PWM.WebHome]].97 +By default, the query command returns the sessions' value; should no action commands have been sent to change, it will return the value saved in EEPROM from the last configuration command. 77 77 78 -1. Start with a number sign # (U+0023) 79 -1. Servo ID number as an integer 80 -1. Configuration command (two to three letters, no spaces, capital or lower case) 81 -1. Configuration value in the correct units with no decimal 82 -1. End with a control / carriage return '<cr>' 99 +In order to query the value in EEPROM, add a '1' to the query command. 83 83 84 -Ex: #5C O-50<cr>101 +Ex: #5CSR20<cr> sets the maximum speed for servo #5 to 20rpm upon RESET (explained below). 85 85 86 -A ssigns an absoluteoriginoffsetof -5.0 degrees(with respectto factory origin) toservo#5 and changestheoffset for thatsession to-5.0 degrees.103 +After RESET: #5SR4<cr> sets the session's speed to 4rpm. 87 87 88 - Configurationcommandsarenotcumulative, inthatif two configurationsareat any time,onlythe lastconfiguration isused andstored.105 +#5QSR<cr> would return *5QSR4<cr> which represents the value for that session. 89 89 90 - *ImportantNote: the one exception is the baud rate-the servo's currentsessionretainsthe given baud rate. Thenew baudratewill only be inplacewhen theservo is power cycled.107 +#5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM 91 91 109 +=== Virtual Angular Position === 110 + 111 +{In progress} 112 + 113 +A "virtual position" is one which allows for multiple rotations of the output horn, moving the center position and more. The "absolute position" would be the angle of the output shaft with respect to 360.0 degrees. 114 + 115 +[[image:LSS-servo-positions.jpg]] 116 + 117 +Example: Gyre direction / rotation is positive (clockwise), and origin offset has not been modified. Each square represents 30 degrees. 118 + 119 +#1D-300<cr> The servo is sent a command to move to -30.0 degrees (green arrow) 120 + 121 +#1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow) 122 + 123 +#1D-4200<cr> This next command rotates the servo counterclockwise to a position of -420 degrees (red arrow), which means one full rotation of 360 degrees, stopping at an absolute position of 60.0 degrees (420.0-360.0), with a virtual position of -420.0 degrees. 124 + 125 +Although the final physical position would be the same as if the servo were commanded to move to -60.0 degrees, the servo is in fact at -420.0 degrees. 126 + 127 +#1D4800<cr> This new command is sent which would then cause the servo to rotate from -420.0 degrees to 480.0 degrees (blue arrow), which would be a total of 900 degrees of clockwise rotation, or 2.5 complete rotations. 128 + 129 +#1D3300<cr> would cause the servo to rotate from 480.0 degrees to 330.0 degrees (yellow arrow). 130 + 131 +If / once the servo loses power or is power cycled, it also loses the virtual position associated with that session. For example, if the virtual position was 480.0 degrees before power is cycled, upon power up the servo's position will be read as +120.0 degrees from zero (assuming center position has not been modified). 132 +))) 133 + 92 92 = Command List = 93 93 94 94 |= #|=Description|= Action|= Query|= Config|= RC|= Serial|= Units|= Notes ... ... @@ -100,17 +100,17 @@ 100 100 | 6|**O**rigin Offset| O| QO| CO| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)| 101 101 | 7|**A**ngular **R**ange| AR| QAR| CAR| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)| 102 102 | 8|Position in **P**ulse| P| QP| | | ✓| microseconds|((( 103 -See details below .145 +See details below 104 104 ))) 105 105 | 9|Position in **D**egrees| D| QD| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)| 106 106 | 10|**W**heel mode in **D**egrees| WD| QWD| | | ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)| 107 107 | 11|**W**heel mode in **R**PM| WR| QWR| | | ✓| rpm| 108 -| 12|**S**peed in **D**egrees| SD| QSD| CSD| ✓| ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)| 109 -| 13|**S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm| 110 -| 14|**A**ngular ** A**cceleration| AA| QAA| CAA| ✓| ✓|tenthsofdegreespersecondsquared|111 -| 15| **A**ngular**D**eceleration|AD|QAD|CAD|✓|✓|tenths of degrees per second squared|112 -| 16|**LED** Color| LED| QLED| CLED| ✓| ✓| none (integer from 1 to 8)|0=OFF 1=RED 2=GREEN 3= BLUE 4=YELLOW 5=CYAN 6= 7=MAGENTA,8=WHITE113 -| 17|**ID** #| ID| QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to.150 +| 12|Max **S**peed in **D**egrees| SD| QSD| CSD| ✓| ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|QSD: Add modifier "2" for instantaneous speed 151 +| 13|Max **S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|QSR: Add modifier "2" for instantaneous speed 152 +| 14|**A**ngular **S**tiffness| AS| QAS| CAS| ✓| ✓|none|-4 to +4, but suggested values are between 0 to +4 153 +| 15|//N/A (removed)//| | | | | | | 154 +| 16|**LED** Color| LED| QLED| CLED| ✓| ✓| none (integer from 1 to 8)|0=OFF 1=RED 2=GREEN 3= BLUE 4=YELLOW 5=CYAN 6=MAGENTA, 7=WHITE 155 +| 17|**ID** #| | QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to 114 114 | 18|**B**aud rate| B| QB| CB| | ✓| none (integer)| 115 115 | 19|**G**yre direction (**G**)| G| QG| CG| ✓| ✓| none | Gyre / rotation direction where 1= CW (clockwise) -1 = CCW (counter-clockwise) 116 116 | 20|**F**irst Position (**P**ulse)| | QFP|CFP | ✓| ✓| none | ... ... @@ -119,12 +119,19 @@ 119 119 | 23|**M**odel| | QM| | | | none (integer)| 120 120 | 24|Serial **N**umber| | QN| | | | none (integer)| 121 121 | 25|**F**irmware version| | QF| | | | none (integer)| 122 -| 26|**Q**uery (general status)| | Q| | | ✓| none (integer from 1 to 8)| 123 -| 27|**V**oltage| | QV| | | ✓| tenths of volt (ex 113 = 11.3V; 92 = 9.2V)| 124 -| 28|**T**emperature| | QT| | | ✓| degrees Celsius| 125 -| 29|**C**urrent| | QC| | | ✓| tenths of Amps (ex 2 = 0.2A)| 126 -| | | | | | | | | 127 -| | | | | | | | | 164 +| 26|**Q**uery (general status)| | Q| | | ✓| none (integer from 1 to 8)| See command description for details 165 +| 27|**V**oltage| | QV| | | ✓| millivolts (ex 5936 = 5936mV = 5.936V)| 166 +| 28|**T**emperature| | QT| | | ✓| tenths of degrees Celsius|Max temp before error: 85°C (servo goes limp) 167 +| 29|**C**urrent| | QC| | | ✓| milliamps (ex 200 = 0.2A)| 168 +| 30|**RC** Mode| | |CRC| |✓|none|((( 169 +CRC: Add modifier "1" for RC-position mode. 170 +CRC: Add modifier "2" for RC-wheel mode. 171 +Any other value for the modifier results in staying in smart mode. 172 +Puts the servo into RC mode. To revert to smart mode, use the button menu. 173 +))) 174 +|31|**RESET**| | | | | ✓|none|Soft reset. See command for details. 175 +|32|**DEFAULT**| | | | |✓|none|Revert to firmware default values. See command for details 176 +|33|**UPDATE**| | | | |✓|none|Update firmware. See command for details. 128 128 129 129 = Details = 130 130 ... ... @@ -214,10 +214,10 @@ 214 214 215 215 Query Position in Pulse (**QP**) 216 216 217 -Example: #5QP<cr> might return *5QP 266 +Example: #5QP<cr> might return *5QP2334 218 218 219 219 This command queries the current angular position in PWM "units". The user must take into consideration that the response includes any angular range and origin configurations in order to determine the actual angle. 220 -Valid values for QP are {-500, [500, 2500], -2500}. Values outside the [500, 2500] range are given a negative corresponding end point value to indicate they are out of bounds. 269 +Valid values for QP are {-500, [500, 2500], -2500}. Values outside the [500, 2500] range are given a negative corresponding end point value to indicate they are out of bounds (note that if the servo is physically located at one of the endpoints, it may return a negative number if it is a fraction of a degree beyond the position). 221 221 222 222 __9. Position in Degrees (**D**)__ 223 223 ... ... @@ -229,8 +229,10 @@ 229 229 230 230 Query Position in Degrees (**QD**) 231 231 232 -Example: #5QD<cr> might return *5QD 0<cr>281 +Example: #5QD<cr> might return *5QD132<cr> 233 233 283 +This means the servo is located at 13.2 degrees. 284 + 234 234 __10. Wheel Mode in Degrees (**WD**)__ 235 235 236 236 Ex: #5WD900<cr> ... ... @@ -265,8 +265,15 @@ 265 265 266 266 Ex: #5QSD<cr> might return *5QSD1800<cr> 267 267 268 -Note that the QSD query will return the current servo speed. Querying the last maximum speed value set using SD or CSD is not possible. 319 +By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever a SD/SR command is processed. 320 +If #5QSD1<cr> is sent, the configured maximum speed (CSD value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example: 269 269 322 +|**Command sent**|**Returned value (1/10 °)** 323 +|ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command) 324 +|ex: #5QSD1<cr>|Configured maximum speed (set by CSD/CSR) 325 +|ex: #5QSD2<cr>|Instantaneous speed (same as QWD) 326 +|ex: #5QSD3<cr>|Target travel speed 327 + 270 270 Configure Speed in Degrees (**CSD**) 271 271 272 272 Ex: #5CSD1800<cr> ... ... @@ -283,54 +283,53 @@ 283 283 284 284 Ex: #5QSR<cr> might return *5QSR45<cr> 285 285 286 -Note that the QSD query will return the current servo speed. Querying the last maximum speed value set using SR or CSR is not possible. 344 +By default QSR will return the current session value, which is set to the value of CSR as reset/power cycle and changed whenever a SD/SR command is processed. 345 +If #5QSR1<cr> is sent, the configured maximum speed (CSR value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example: 287 287 288 -Configure Speed in Degrees (**CSR**) 347 +|**Command sent**|**Returned value (1/10 °)** 348 +|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command) 349 +|ex: #5QSR1<cr>|Configured maximum speed (set by CSD/CSR) 350 +|ex: #5QSR2<cr>|Instantaneous speed (same as QWR) 351 +|ex: #5QSR3<cr>|Target travel speed 289 289 353 +Configure Speed in RPM (**CSR**) 354 + 290 290 Ex: #5CSR45<cr> 291 291 292 -Using the CS Dcommand 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 CSDvalue 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) is what the servo uses for that session.357 +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) is what the servo uses for that session. 293 293 294 -__14. Angular Acceleration (**AA**)__359 +__14. Angular Stiffness (AS)__ 295 295 296 - {More information coming soon}361 +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. 297 297 298 - Ex:363 +A positive value of "angular stiffness": 299 299 300 -{Description coming soon} 365 +* The more torque will be applied to try to keep the desired position against external input / changes 366 +* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position 301 301 302 - QueryAngular Acceleration(**QAA**)368 +A negative value on the other hand: 303 303 304 -Ex: 370 +* Causes a slower acceleration to the travel speed, and a slower deceleration 371 +* Allows the target position to deviate more from its position before additional torque is applied to bring it back 305 305 306 - {Description coming soon}373 +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. 307 307 308 - ConfigureAngular Acceleration (**CAA**)375 +Ex: #5AS-2<cr> 309 309 310 - Ex:377 +This reduces the angular stiffness to -2 for that session, allowing the servo to deviate more around the desired position. This can be beneficial in many situations such as impacts (legged robots) where more of a "spring" effect is desired. Upon reset, the servo will use the value stored in memory, based on the last configuration command. 311 311 312 - {Descriptioncoming soon}379 +Ex: #5QAS<cr> 313 313 314 - __15. AngularDeceleration(**AD**)__381 +Queries the value being used. 315 315 316 - {Moreinformationcoming soon}383 +Ex: #5CAS<cr> 317 317 318 - Ex:385 +Writes the desired angular stiffness value to memory. 319 319 320 - {Descriptioncomingsoon}387 +__15. N/A (removed)__ 321 321 322 - QueryAngularAcceleration(**QAD**)389 +This command has been removed. 323 323 324 -Ex: 325 - 326 -{Description coming soon} 327 - 328 -Configure Angular Acceleration (**CAD**) 329 - 330 -Ex: 331 - 332 -{Description coming soon} 333 - 334 334 __16. RGB LED (**LED**)__ 335 335 336 336 Ex: #5LED3<cr> ... ... @@ -347,27 +347,28 @@ 347 347 348 348 Configure LED Color (**CLED**) 349 349 350 -Configuring the LED color via the CLED command sets the startup color of the servo after a reset or power cycle. 407 +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. 351 351 352 352 __17. Identification Number__ 353 353 354 -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 1. 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.411 +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. 355 355 356 356 Query Identification (**QID**) 357 357 358 -EX: #QID<cr> might return *QID5<cr> 415 +EX: #254QID<cr> might return *QID5<cr> 359 359 360 -When using the query ID command, it is best to only have one servo connected and thus receive only one reply. 417 +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. 361 361 362 362 Configure ID (**CID**) 363 363 364 -Ex: #CID5<cr> 421 +Ex: #4CID5<cr> 365 365 366 366 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. 367 367 368 368 __18. Baud Rate__ 369 369 370 -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. Standard / suggested baud rates are: 4800; 9600; 14400; 19200; 38400; 57600; 115200; 128000; 256000, 512000 bits per second. Servos are shipped with a baud rate set to 9600. The baud rates are currently restricted to those above 427 +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. 428 +\*: 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. 371 371 372 372 Query Baud Rate (**QB**) 373 373 ... ... @@ -401,23 +401,23 @@ 401 401 402 402 __20. First / Initial Position (pulse)__ 403 403 404 -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 s erialmode only.462 +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. 405 405 406 406 Query First Position in Pulses (**QFP**) 407 407 408 408 Ex: #5QFP<cr> might return *5QFP1550<cr> 409 409 410 -The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds. 468 +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"). 411 411 412 -Configure First Position in Pulses (CFP) 470 +Configure First Position in Pulses (**CFP**) 413 413 414 414 Ex: #5CP1550<cr> 415 415 416 -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. 474 +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). 417 417 418 418 __21. First / Initial Position (Degrees)__ 419 419 420 -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 s erialmode only.478 +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. 421 421 422 422 Query First Position in Degrees (**QFD**) 423 423 ... ... @@ -429,7 +429,7 @@ 429 429 430 430 Ex: #5CD64<cr> 431 431 432 -This configuration command means the servo, when set to s erialmode, 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.490 +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. 433 433 434 434 __22. Query Target Position in Degrees (**QDT**)__ 435 435 ... ... @@ -457,13 +457,24 @@ 457 457 458 458 __26. Query Status (**Q**)__ 459 459 460 -Ex: #5Q<cr> might return *5Q _<cr>518 +Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position. 461 461 462 -{Description coming soon} 520 +|*Value returned|**Status**|**Detailed description** 521 +|ex: *5Q0<cr>|Unknown|LSS is unsure 522 +|ex: *5Q1<cr>|Limp|Motor driving circuit is not powered and horn can be moved freely 523 +|ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely 524 +|ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed 525 +|ex: *5Q4<cr>|Traveling|Moving at a stable speed 526 +|ex: *5Q5<cr>|Deccelerating|Decreasing speed towards travel speed towards rest 527 +|ex: *5Q6<cr>|Holding|Keeping current position 528 +|ex: *5Q7<cr>|Stepping|Special low speed mode to maintain torque 529 +|ex: *5Q8<cr>|Outside limits|More details coming soon 530 +|ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting 531 +|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maxiumum duty and still cannot move (i.e.: stalled) 463 463 464 464 __27. Query Voltage (**QV**)__ 465 465 466 -Ex: #5QV<cr> might return *5QV112<cr> 535 +Ex: #5QV<cr> might return *5QV11200<cr> 467 467 468 468 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). 469 469 ... ... @@ -473,19 +473,31 @@ 473 473 474 474 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. 475 475 476 -__29. Query Current (QC)__ 545 +__29. Query Current (**QC**)__ 477 477 478 478 Ex: #5QC<cr> might return *5QC140<cr> 479 479 480 480 The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A. 481 481 482 -__**R ESET**__551 +__30. RC Mode (**CRC**)__ 483 483 553 +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. 554 + 555 +|**Command sent**|**Note** 556 +|ex: #5CRC<cr>|Stay in smart mode. 557 +|ex: #5CRC1<cr>|Change to RC position mode. 558 +|ex: #5CRC2<cr>|Change to RC continuous (wheel) mode. 559 +|ex: #5CRC*<cr>|Where * is any number or value. Stay in smart mode. 560 + 561 +EX: #5CRC<cr> 562 + 563 +__31. RESET__ 564 + 484 484 Ex: #5RESET<cr> or #5RS<cr> 485 485 486 486 This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands). 487 487 488 - **__DEFAULT__**__&**CONFIRM**__569 +__32. DEFAULT & CONFIRM__ 489 489 490 490 Ex: #5DEFAULT<cr> 491 491 ... ... @@ -495,8 +495,10 @@ 495 495 496 496 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. 497 497 498 - **__UPDATE__**__&**CONFIRM**__579 +Note that after the CONFIRM command is sent, the servo will automatically perform a RESET. 499 499 581 +__33. UPDATE & CONFIRM__ 582 + 500 500 Ex: #5UPDATE<cr> 501 501 502 502 This command sets in motion the equivalent of a long button press when the servo is not powered in order to enter firmware update mode. This is useful should the button be broken or inaccessible. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the UPDATE function. ... ... @@ -505,22 +505,6 @@ 505 505 506 506 Since it it not common to have to update firmware, a confirmation command is needed after an UPDATE 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. 507 507 508 - ===VirtualAngularPosition===591 +Note that after the CONFIRM command is sent, the servo will automatically perform a RESET. 509 509 510 -{In progress} 511 - 512 -A "virtual position" is one which allows for multiple rotations of the output horn, moving the center position and more. The "absolute position" would be the angle of the output shaft with respect to 360.0 degrees. 513 - 514 -[[image:LSS-servo-positions.jpg]] 515 - 516 -Example: Gyre direction / rotation is positive (clockwise), and origin offset has not been modified. 517 - 518 -#1D-300<cr> The servo is commander to move to -30.0 degrees (green arrow) 519 - 520 -#1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow) 521 - 522 -#1D-4200<cr> The servo rotates counterclockwise to a position of -420 degrees (red arrow), which means one full rotation of 360 degrees and (420.0-360.0) stopping at an absolute position of 60.0 degrees, but virtual position of -420.0. 523 - 524 -Although the final position would be the same as if the servo were commanded to move to -60.0 degrees, it is in fact at -420.0 degrees. 525 - 526 -#1D4800<cr> This new command is sent which would then cause the servo to rotate from -420.0 degrees to 480.0 degrees, which would be a total of 900 degrees of clockwise rotation, or 2.5 complete rotations. 593 +=== ===