Last modified by Eric Nantel on 2025/06/06 07:47
From version < 123.1 >
edited by RB1
on 2019/03/20 15:45
To version < 129.1 >
edited by Coleman Benson
on 2019/05/03 09:48
< >
Change comment: There is no comment for this version

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79 79  
80 80  == Configuration Commands ==
81 81  
82 -Configuration commands and corresponding values affect a servo's defaults which are written to and read from the servo's EEPROM. These configurations are retained in memory after the servo is reset or power is cut / lost. Some configuration commands affect the session, while others do not. In the Command table below, the column "Session" denotes if the configuration command affects the session.. Not all action commands have a corresponding configuration command and vice versa. More information about which configuration commands are retained when in RC mode can be found on the [[LSS - RC PWM page>>doc:lynxmotion-smart-servo.LSS - RC PWM.WebHome]]. Configuration commands are not cumulative, in that if two configurations are sent, one after the next, only the last configuration is used and stored. The format to send a configuration command is identical to that of an action command:
82 +Configuration commands and corresponding values affect a servo's defaults which are written to and read from the servo's EEPROM. These configurations are retained in memory after the servo is reset or power is cut / lost. Some configuration commands affect the session, while others do not. In the Command table below, the column "Session" denotes if the configuration command affects the session.. Not all action commands have a corresponding configuration command and vice versa. More information about which configuration commands are retained when in RC mode can be found on the [[LSS - RC PWM page>>doc:lynxmotion-smart-servo.lss-radio-control-pwm.WebHome]]. Configuration commands are not cumulative, in that if two configurations are sent, one after the next, only the last configuration is used and stored. The format to send a configuration command is identical to that of an action command:
83 83  
84 84  1. Start with a number sign # (U+0023)
85 85  1. Servo ID number as an integer
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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" %)
136 136  | 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" %)
137 +| 4|[[**S**peed>>||anchor="H4.Speed28S29modifier"]]| S|QS| | | | ✓|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
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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
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
190 190  | 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" %)(((
191 +| A6|[[**C**onfigure **L**ED **B**linking>>||anchor="HA6.ConfigureLEDBlinking28CLB29"]]| |QLB| CLB| | ✓| ✓|none (integer from 0 to 63)|(% style="width:510px" %)(((
192 192  0=No blinking, 63=Always blink;
193 193  
194 -Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;
194 +Blink while: 1=Limp; 2=Holding; 4=Accel; 8=Decel; 16=Free 32=Travel;
195 195  )))
196 196  
197 197  == Details ==
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222 222  
223 223  This command is a modifier only for a position (P) action and determines the speed of the move in microseconds per second. A speed of 750 microseconds would cause the servo to rotate from its current position to the desired position at a speed of 750 microseconds per second. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.
224 224  
225 +Query Speed (**QS**)
226 +
227 +Example: #5QS<cr> might return *5QS300<cr>
228 +
229 +This command queries the current speed in microseconds per second.
230 +
225 225  ====== __5. (Relative) Move in Degrees (**MD**)__ ======
226 226  
227 227  Example: #5MD123<cr>
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