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 < 98.33 >
edited by Coleman Benson
on 2019/02/05 13:58
< >
Change comment: There is no comment for this version

Summary

Details

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Parent
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1 -lynxmotion-smart-servo.WebHome
1 +Lynxmotion Smart Servo (LSS).WebHome
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  
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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
... ... @@ -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" %)
136 136  | 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" %)
135 +| 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
... ... @@ -148,7 +148,7 @@
148 148  | 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| D| QD / QDT| | | | ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
149 149  | 10|[[**W**heel mode in **D**egrees>>||anchor="H10.WheelModeinDegrees28WD29"]]| WD| QWD| | | | ✓|tenths of degrees per second (ex 248 = 24.8 degrees per second)|(% style="width:510px" %)A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center; width:113px" %)
150 150  | 11|[[**W**heel mode in **R**PM>>||anchor="H11.WheelModeinRPM28WR29"]]| WR| QWR| | | | ✓|revolutions per minute (rpm)|(% style="width:510px" %)A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center; width:113px" %)
151 -| 12|[[Max **S**peed in **D**egrees>>||anchor="H12.MaxSpeedinDegrees28SD29"]]| SD| QSD|CSD|✓| ✓| ✓|degrees per second (°/s)|(% style="width:510px" %)(((
149 +| 12|[[Max **S**peed in **D**egrees>>||anchor="H12.MaxSpeedinDegrees28SD29"]]| SD| QSD|CSD|✓| ✓| ✓|tenths of degrees per second |(% style="width:510px" %)(((
152 152  QSD: Add modifier "2" for instantaneous speed.
153 153  
154 154  SD overwrites SR / CSD overwrites CSR and vice-versa.
... ... @@ -162,8 +162,8 @@
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 -
163 +| 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" %)(((
164 +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" %)
... ... @@ -173,26 +173,27 @@
173 173  | 24|[[**V**oltage>>||anchor="H24.QueryVoltage28QV29"]]| | QV| | | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
174 174  | 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" %)
175 175  | 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).
174 +| 27|[[**RC** Mode>>||anchor="H2728.RCMode28CRC29"]] - Position| | |CRC1|✓| | ✓|none|(% style="width:510px" %)(((
175 +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" %)
177 +| 28|[[**RC** Mode>>||anchor="H2728.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
178 +| 29|[[**RESET**>>||anchor="H29.RESET"]]| | | | | | ✓|none|(% style="width:510px" %)Soft reset. See command for details.|(% style="text-align:center; width:113px" %)
179 +| 30|[[**DEFAULT**>>||anchor="H30.DEFAULTA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Revert to firmware default values. See command for details|(% style="text-align:center; width:113px" %)
180 +| 31|[[**UPDATE**>>||anchor="H31.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"]]| |QLB| CLB| | ✓| ✓|none (integer from 0 to 63)|(% style="width:510px" %)(((
184 +|= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
185 +| 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
186 +| 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
187 +| 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" %)
188 +| 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" %)
189 +| 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" %)
190 +| 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 -)))
193 +Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;
194 +)))|(% style="text-align:center; width:113px" %)
196 196  
197 197  == Details ==
198 198  
... ... @@ -222,12 +222,6 @@
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>
... ... @@ -286,7 +286,7 @@
286 286  
287 287  Example: #5P2334<cr>
288 288  
289 -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.
282 +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.
290 290  
291 291  Query Position in Pulse (**QP**)
292 292  
... ... @@ -462,10 +462,22 @@
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//}__ ======
458 +====== __18. First Position (Pulse) (**FP**)__ ======
466 466  
467 -Command coming soon....
460 +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.
468 468  
462 +Query First Position in Pulses (**QFP**)
463 +
464 +Ex: #5QFP<cr> might return *5QFP1550<cr>
465 +
466 +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").
467 +
468 +Configure First Position in Pulses (**CFP**)
469 +
470 +Ex: #5CP1550<cr>
471 +
472 +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).
473 +
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.
... ... @@ -486,52 +486,37 @@
486 486  
487 487  Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
488 488  
489 -This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
494 +This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
490 490  
491 -====== __21. Query Serial Number (**QN**)__ ======
496 +====== __241. Query Serial Number (**QN**)__ ======
492 492  
493 -Ex: #5QN<cr> might return *5QN12345678<cr>
498 +Ex: #5QN<cr> might return *5QN~_~_<cr>
494 494  
495 -The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
500 +The number in the response is the servo's serial number which is set and cannot be changed.
496 496  
497 497  ====== __22. Query Firmware (**QF**)__ ======
498 498  
499 -Ex: #5QF<cr> might return *5QF411<cr>
504 +Ex: #5QF<cr> might return *5QF11<cr>
500 500  
501 -The number in the reply represents the firmware version, in this example being 411.
506 +The integer in the reply represents the firmware version with one decimal, in this example being 1.1
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.
506 -
507 507  Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
508 508  
509 -|***Value returned (Q)**|**Status**|**Detailed description**
510 -|ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state
511 -|ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely
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
514 -|ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
515 -|ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
516 -|ex: *5Q6<cr>|6: Holding|Keeping current position
517 -|ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
518 -|ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
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).
512 +|*Value returned|**Status**|**Detailed description**
513 +|ex: *5Q0<cr>|Unknown|LSS is unsure
514 +|ex: *5Q1<cr>|Limp|Motor driving circuit is not powered and horn can be moved freely
515 +|ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
516 +|ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
517 +|ex: *5Q4<cr>|Traveling|Moving at a stable speed
518 +|ex: *5Q5<cr>|Decelerating|Decreasing from travel speed towards final position.
519 +|ex: *5Q6<cr>|Holding|Keeping current position
520 +|ex: *5Q7<cr>|Stepping|Special low speed mode to maintain torque
521 +|ex: *5Q8<cr>|Outside limits|{More details coming soon}
522 +|ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting
523 +|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
522 522  
523 -Send a Q1 command to know which limit has been reached (described below).
524 -)))
525 -
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.
528 -
529 -|***Value returned (Q1)**|**Status**|**Detailed description**
530 -|ex: *5Q0<cr>|No limits have been passed|Nothing is wrong
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: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
534 -
535 535  ====== __24. Query Voltage (**QV**)__ ======
536 536  
537 537  Ex: #5QV<cr> might return *5QV11200<cr>
... ... @@ -550,40 +550,37 @@
550 550  
551 551  The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
552 552  
553 -====== __27. Configure RC Mode (**CRC**)__ ======
543 +====== __27 / 28. RC Mode (**CRC**)__ ======
554 554  
555 555  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.
556 556  
557 557  |**Command sent**|**Note**
548 +|ex: #5CRC<cr>|Stay in smart mode.
558 558  |ex: #5CRC1<cr>|Change to RC position mode.
559 559  |ex: #5CRC2<cr>|Change to RC continuous (wheel) mode.
560 -|ex: #5CRC*<cr>|Where * is any number or value other than 1 or 2 (or no value): stay in smart mode.
551 +|ex: #5CRC*<cr>|Where * is any number or value. Stay in smart mode.
561 561  
562 -EX: #5CRC2<cr>
553 +EX: #5CRC<cr>
563 563  
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.
555 +====== __29. **RESET**__ ======
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 -
568 -====== __28. **RESET**__ ======
569 -
570 570  Ex: #5RESET<cr> or #5RS<cr>
571 571  
572 572  This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
573 573  
574 -====== __29. **DEFAULT** & CONFIRM__ ======
561 +====== __30. **DEFAULT** & CONFIRM__ ======
575 575  
576 576  Ex: #5DEFAULT<cr>
577 577  
578 -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.
565 +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.
579 579  
580 580  EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
581 581  
582 -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.
569 +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.
583 583  
584 584  Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
585 585  
586 -====== __30. **UPDATE** & CONFIRM__ ======
573 +====== __31. **UPDATE** & CONFIRM__ ======
587 587  
588 588  Ex: #5UPDATE<cr>
589 589  
... ... @@ -595,13 +595,9 @@
595 595  
596 596  Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
597 597  
598 -= Advanced =
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 -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.
587 +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.
605 605  
606 606  A positive value of "angular stiffness":
607 607  
... ... @@ -613,7 +613,7 @@
613 613  * Causes a slower acceleration to the travel speed, and a slower deceleration
614 614  * Allows the target position to deviate more from its position before additional torque is applied to bring it back
615 615  
616 -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.
599 +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.
617 617  
618 618  Ex: #5AS-2<cr>
619 619  
... ... @@ -629,7 +629,7 @@
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.
615 +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.
633 633  
634 634  Ex: #5AH3<cr>
635 635  
... ... @@ -645,64 +645,30 @@
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.
631 +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.
635 +{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.
639 +{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.
643 +{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 -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:
647 +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).
648 +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;
687 687  
688 -(% style="width:195px" %)
689 -|(% style="width:134px" %)**Blink While:**|(% style="width:58px" %)**#**
690 -|(% style="width:134px" %)No blinking|(% style="width:58px" %)0
691 -|(% style="width:134px" %)Limp|(% style="width:58px" %)1
692 -|(% style="width:134px" %)Holding|(% style="width:58px" %)2
693 -|(% style="width:134px" %)Accelerating|(% style="width:58px" %)4
694 -|(% style="width:134px" %)Decelerating|(% style="width:58px" %)8
695 -|(% style="width:134px" %)Free|(% style="width:58px" %)16
696 -|(% style="width:134px" %)Travelling|(% style="width:58px" %)32
697 -|(% style="width:134px" %)Always blink|(% style="width:58px" %)63
698 -
699 699  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:
700 700  
701 701  Ex: #5CLB0<cr> to turn off all blinking (LED always solid)
702 -Ex: #5CLB1<cr> only blink when limp (1)
703 -Ex: #5CLB2<cr> only blink when holding (2)
704 -Ex: #5CLB12<cr> only blink when accel or decel (accel 4 + decel 8 = 12)
705 -Ex: #5CLB48<cr> only blink when free or travel (free 16 + travel 32 = 48)
706 -Ex: #5CLB63<cr> blink in all status (1 + 2 + 4 + 8 + 16 + 32)
707 -
708 -RESETTING the servo is needed.
653 +Ex: #5CLB1<cr> only blink when limp
654 +Ex: #5CLB2<cr> only blink when holding
655 +Ex: #5CLB12<cr> only blink when accel or decel
656 +Ex: #5CLB48<cr> only blink when free or travel
657 +Ex: #5CLB63<cr> blink in all status
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