Last modified by Eric Nantel on 2025/06/06 07:47
From version < 129.1 >
edited by Coleman Benson
on 2019/05/03 09:48
To version < 109.1 >
edited by Coleman Benson
on 2019/02/22 12:02
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1 -lynxmotion-smart-servo.WebHome
1 +Lynxmotion Smart Servo (LSS).WebHome
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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-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:
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).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:
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|QS| | | | ✓|microseconds per second|(% style="width:510px" %) Modifier only {P}|(% 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" %)
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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162 162  | 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
163 163  | 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
164 164  | 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 -
165 +| 18|[[**F**irst Position (**P**ulse)>>||anchor="H18.FirstPosition28Pulse2928FP29"]]| | QFP|CFP |X| ✓| ✓|none |(% style="width:510px" %)CFP overwrites CFD and vice-versa|(% style="text-align:center; width:113px" %)(((
166 +Limp
167 167  )))
168 168  | 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
169 169  | 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" %)
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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"]]| |QLB| 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="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 +| 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 +| 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 +| 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" %)
190 +| A5|[[**E**nable **M**otion Control>>||anchor="HA5:MotionControl28EM29"]]|EM|QEM| | | | ✓|none|(% style="width:510px" %)EM0 to disable motion control, EM1 to enable|(% style="text-align:center; width:113px" %)
191 +| A6|[[**C**onfigure **L**ED **B**linking>>||anchor="HA6.ConfigureLEDBlinking28CLB29"]]| | | 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;
195 -)))
194 +Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;
195 +)))|(% style="text-align:center; width:113px" %)
196 196  
197 197  == Details ==
198 198  
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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 -
231 231  ====== __5. (Relative) Move in Degrees (**MD**)__ ======
232 232  
233 233  Example: #5MD123<cr>
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462 462  
463 463  Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
464 464  
465 -====== __18. {//Coming soon//}__ ======
459 +====== __18. First Position (Pulse) (**FP**)__ ======
466 466  
467 -Command coming soon....
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.
468 468  
463 +Query First Position in Pulses (**QFP**)
464 +
465 +Ex: #5QFP<cr> might return *5QFP1550<cr>
466 +
467 +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").
468 +
469 +Configure First Position in Pulses (**CFP**)
470 +
471 +Ex: #5CP1550<cr>
472 +
473 +This configuration command means the servo, when set to RC mode, will immediately move to an angle equivalent to having received an RC pulse of 1550 microseconds upon power up. Sending a CFP command without a number (Ex. #5CFP<cr>) results in the servo remaining limp upon power up (i.e. disabled).
474 +
469 469  ====== __19. First Position (Degrees) (**FD**)__ ======
470 470  
471 471  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" (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.
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502 502  
503 503  ====== __23. Query Status (**Q**)__ ======
504 504  
505 -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.
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.
506 506  
507 507  Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
508 508  
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510 510  |ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state
511 511  |ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely
512 512  |ex: *5Q2<cr>|2: Free moving|Motor driving circuit is not powered and horn can be moved freely
513 -|ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
519 +|ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
514 514  |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
515 515  |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
516 516  |ex: *5Q6<cr>|6: Holding|Keeping current position
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517 517  |ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
518 518  |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
519 519  |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
520 -|ex: *5Q10<cr>|10: Safe Mode|(((
521 -A safety limit has been exceeded (temperature, peak current or extended high current draw).
526 +|ex: *5Q10<cr>|10: Safe Mode|A safety limit has been exceeded (temperature, peak current or extended high current draw).
522 522  
523 -Send a Q1 command to know which limit has been reached (described below).
524 -)))
525 -
526 526  (% class="wikigeneratedid" %)
527 -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.
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.
528 528  
529 529  |***Value returned (Q1)**|**Status**|**Detailed description**
530 -|ex: *5Q0<cr>|No limits have been passed|Nothing is wrong
531 531  |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
532 -|ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
533 +|ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries
533 533  |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
534 534  
535 535  ====== __24. Query Voltage (**QV**)__ ======
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563 563  
564 564  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.
565 565  
566 -Important note:** **To revert from RC mode back to serial mode, the [[LSS - Button Menu>>doc:lynxmotion-smart-servo.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.
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.
567 567  
568 568  ====== __28. **RESET**__ ======
569 569  
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597 597  
598 598  = Advanced =
599 599  
600 -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.
601 -
602 602  ====== __A1. Angular Stiffness (**AS**)__ ======
603 603  
604 604  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.
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629 629  
630 630  ====== __A2. Angular Holding Stiffness (**AH**)__ ======
631 631  
632 -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.
631 +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.
633 633  
634 634  Ex: #5AH3<cr>
635 635  
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645 645  
646 646  Ex: #5CAH2<cr>
647 647  
648 -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.
647 +This writes the angular holding stiffness of servo #5 to 2 to EEPROM
649 649  
650 650  ====== __A3: Angular Acceleration (**AA**)__ ======
651 651  
652 -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.
651 +{More details to come}
653 653  
654 -Ex: #5AA30<cr>
655 -
656 -Query Angular Acceleration (**QAD**)
657 -
658 -Ex: #5QA<cr> might return *5QA30<cr>
659 -
660 -Configure Angular Acceleration (**CAD**)
661 -
662 -Ex: #5CA30<cr>
663 -
664 664  ====== __A4: Angular Deceleration (**AD**)__ ======
665 665  
666 -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.
655 +{More details to come}
667 667  
668 -Ex: #5AD8<cr>
669 -
670 -Query Angular Deceleration (**QAD**)
671 -
672 -Ex: #5QD<cr> might return *5QD8<cr>
673 -
674 -Configure Angular Deceleration (**CAD**)
675 -
676 -Ex: #5CD8<cr>
677 -
678 678  ====== __A5: Motion Control (**EM**)__ ======
679 679  
680 -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.
659 +{More details to come}
681 681  
682 -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.
683 -
684 684  ====== __A6. Configure LED Blinking (**CLB**)__ ======
685 685  
686 686  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:
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