Changes for page LSS Communication Protocol
Last modified by Eric Nantel on 2025/06/06 07:47
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... ... @@ -1,1 +1,1 @@ 1 - lynxmotion-smart-servo.WebHome1 +Lynxmotion Smart Servo (LSS).WebHome - Content
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... ... @@ -3,7 +3,7 @@ 3 3 4 4 {{toc depth="3"/}} 5 5 6 -= Serial Protocol = 6 += Serial Protocol Concept = 7 7 8 8 The custom Lynxmotion Smart Servo (LSS) serial protocol was created in order to be as simple and straightforward as possible from a user perspective ("human readable format"), while at the same time compact and robust yet highly versatile. The protocol was based on Lynxmotion's SSC-32 RC servo controller and almost everything one might expect to be able to configure for a smart servo motor is available. 9 9 ... ... @@ -79,7 +79,7 @@ 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 ... ... @@ -133,8 +133,8 @@ 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"]]| | | | | | ✓|milliseconds|(% style="width:510px" %) Modifier only for {P, D, MD} . Time is estimated and can change based on load|(% style="text-align:center; width:113px" %)137 -| 4|[[**S**peed>>||anchor="H4.Speed28S29modifier"]]| |QS| | | | ✓|microseconds per second|(% style="width:510px" %) Modifier only {P}|(% 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" %) 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 ... ... @@ -158,14 +158,14 @@ 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" %) 0 (OFF)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" %)7 162 162 | 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 -| 17|[[**B**aud rate>>||anchor="H17.BaudRate"]]| | QB| CB| | | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %) 115200165 -| 18| //{comingsoon}//| | | |166 - 164 +| 17|[[**B**aud rate>>||anchor="H17.BaudRate"]]| | QB| CB| | | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)9600 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 -| 19|[[**F**irst Position (**D**eg)>>||anchor="H19.First A0Position28Degrees29"]]| | QFD|CFD|X| ✓| ✓|none |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)No Value168 +| 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" %) 170 170 | 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" %) 171 171 | 22|[[**F**irmware version>>||anchor="H22.QueryFirmware28QF29"]]| | QF| | | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %) ... ... @@ -182,21 +182,19 @@ 182 182 183 183 == Advanced == 184 184 185 -|= #|= (% style="width: 182px;" %)Description|=(%style="width: 56px;" %)Mod|=(% style="width: 70px;" %)Action|=(%style="width: 71px;" %)Query|=(%style="width: 77px;" %)Config|=(% style="width: 77px;" %)Session|=(%style="width: 56px;" %) RC|=(% style="width:151px;" %)Serial|= Units|=(% style="width:510px;" %)Notes186 -| A1| (% style="width:182px" %)[[**A**ngular **S**tiffness>>||anchor="HA1.AngularStiffness28AS29"]]|(% style="width:56px" %) |(% style="width:70px" %)AS|(% style="width:71px" %)QAS|(% style="width:77px" %)CAS|(% style="width:77px" %)✓|(%style="width:56px" %)✓|(%style="width:151px" %)✓|none (integer -4 to +4)|(% style="width:510px" %)Suggested values are between 0 to +4187 -| A2| (% style="width:182px" %)[[**A**ngular **H**olding Stiffness>>||anchor="HA2.AngularHoldingStiffness28AH29"]]|(% style="width:56px" %) |(% style="width:70px" %)AH|(% style="width:71px" %)QAH|(% style="width:77px" %)CAH|(% style="width:77px" %)✓|(%style="width:56px" %)|(%style="width:151px" %)✓|none (integer -10 to +10)|(% style="width:510px" %)EffectisdifferentbetweenserialandRC188 -| A3| (% style="width:182px" %)[[**A**ngular **A**cceleration>>||anchor="HA3:AngularAcceleration28AA29"]]|(% style="width:56px" %) |(% style="width:70px" %)AA|(% style="width:71px" %)QAA|(% style="width:77px" %)CAA|(% style="width:77px" %)✓|(%style="width:56px" %)|(%style="width:151px" %)✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared189 -| A4| (% style="width:182px" %)[[**A**ngular **D**eceleration>>||anchor="HA4:AngularDeceleration28AD29"]]|(% style="width:56px" %) |(% style="width:70px" %)AD|(% style="width:71px" %)QAD|(% style="width:77px" %)CAD|(% style="width:77px" %)✓|(%style="width:56px" %)|(%style="width:151px" %)✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared190 -| A5| (% style="width:182px" %)[[**E**nable **M**otion Control>>||anchor="HA5:MotionControl28EM29"]]|(% style="width:56px" %) |(% style="width:70px" %)EM|(% style="width:71px" %)QEM|(%style="width:77px" %)|(%style="width:77px" %)|(%style="width:56px" %)|(%style="width:151px" %)✓|none|(% style="width:510px" %)EM0 to disable motion control, EM1 to enable191 -| A6| (% style="width:182px" %)[[**C**onfigure **L**ED **B**linking>>||anchor="HA6.ConfigureLEDBlinking28CLB29"]]|(%style="width:56px" %)|(%style="width:70px" %)|(%style="width:71px" %)QLB|(% style="width:77px" %)CLB|(%style="width:77px" %)|(%style="width:56px" %)✓|(%style="width:151px" %) ✓|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 -))) 196 -| A7|(% style="width:182px" %)Current Halt & Hold|(% style="width:56px" %) |(% style="width:70px" %) |(% style="width:71px" %) |(% style="width:77px" %) |(% style="width:77px" %) |(% style="width:56px" %) |(% style="width:151px" %) | |(% style="width:510px" %) 197 -| A8|(% style="width:182px" %)Current Limp|(% style="width:56px" %) |(% style="width:70px" %) |(% style="width:71px" %) |(% style="width:77px" %) |(% style="width:77px" %) |(% style="width:56px" %) |(% style="width:151px" %) | |(% style="width:510px" %) 194 +Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel; 195 +)))|(% style="text-align:center; width:113px" %) 198 198 199 -== Details - Basic==197 +== Details == 200 200 201 201 ====== __1. Limp (**L**)__ ====== 202 202 ... ... @@ -224,12 +224,6 @@ 224 224 225 225 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. 226 226 227 -Query Speed (**QS**) 228 - 229 -Example: #5QS<cr> might return *5QS300<cr> 230 - 231 -This command queries the current speed in microseconds per second. 232 - 233 233 ====== __5. (Relative) Move in Degrees (**MD**)__ ====== 234 234 235 235 Example: #5MD123<cr> ... ... @@ -299,7 +299,7 @@ 299 299 300 300 ====== __9. Position in Degrees (**D**)__ ====== 301 301 302 -Example: #5D1456<cr> 294 +Example: #5PD1456<cr> 303 303 304 304 This moves the servo to an angle of 145.6 degrees, where the center (0) position is centered. Negative values (ex. -176 representing -17.6 degrees) are used. A full circle would be from -1800 to 1800 degrees. A value of 2700 would be the same angle as -900, except the servo would move in a different direction. 305 305 ... ... @@ -398,7 +398,7 @@ 398 398 399 399 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. 400 400 401 -0=O ff(black);1=Red2=Green;3=Blue;4=Yellow;5=Cyan;6=Magenta;7=White;393 +0=OFF 1=RED 2=GREEN 3= BLUE 4=YELLOW 5=CYAN 6= 7=MAGENTA, 8=WHITE 402 402 403 403 Query LED Color (**QLED**) 404 404 ... ... @@ -448,7 +448,7 @@ 448 448 449 449 ====== __17. Baud Rate__ ====== 450 450 451 -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 115200. 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.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. 452 452 453 453 Query Baud Rate (**QB**) 454 454 ... ... @@ -464,25 +464,37 @@ 464 464 465 465 Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second. 466 466 467 -====== __18. {//Comingsoon//}__ ======459 +====== __18. First Position (Pulse) (**FP**)__ ====== 468 468 469 - 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. 470 470 471 - ======__19.First(Degrees)__======463 +Query First Position in Pulses (**QFP**) 472 472 473 - Incertaincases, a usermightwant to have the servo moveo a specific angleupon powerup; 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. Note that the number should be restricted to -1790(-179.0 degrees)to +1790 (179.0 degrees) and values beyond this will be changed to 1800.465 +Ex: #5QFP<cr> might return *5QFP1550<cr> 474 474 467 +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 + 475 +====== __19. First Position (Degrees) (**FD**)__ ====== 476 + 477 +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. 478 + 475 475 Query First Position in Degrees (**QFD**) 476 476 477 477 Ex: #5QFD<cr> might return *5QFD64<cr> 478 478 479 -The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds. If there is no first position value stored, the reply will be DIS483 +The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds. 480 480 481 481 Configure First Position in Degrees (**CFD**) 482 482 483 483 Ex: #5CD64<cr> 484 484 485 -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. In order to remove the first position, send no value, ex: #5CFD<cr>489 +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. 486 486 487 487 ====== __20. Query Model String (**QMS**)__ ====== 488 488 ... ... @@ -565,7 +565,7 @@ 565 565 566 566 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. 567 567 568 -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.572 +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. 569 569 570 570 ====== __28. **RESET**__ ====== 571 571 ... ... @@ -597,10 +597,8 @@ 597 597 598 598 Note that after the CONFIRM command is sent, the servo will automatically perform a RESET. 599 599 600 -= =Details -Advanced ==604 += Advanced = 601 601 602 -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. 603 - 604 604 ====== __A1. Angular Stiffness (**AS**)__ ====== 605 605 606 606 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. ... ... @@ -631,7 +631,7 @@ 631 631 632 632 ====== __A2. Angular Holding Stiffness (**AH**)__ ====== 633 633 634 -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.636 +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. 635 635 636 636 Ex: #5AH3<cr> 637 637 ... ... @@ -647,42 +647,20 @@ 647 647 648 648 Ex: #5CAH2<cr> 649 649 650 -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.652 +This writes the angular holding stiffness of servo #5 to 2 to EEPROM 651 651 652 652 ====== __A3: Angular Acceleration (**AA**)__ ====== 653 653 654 - The default value forangular accelerationis 100, which is thesame asthe maximum deceleration. Acceptsvalues of between 1 and 100. Incrementsof10 degrees per second squared.656 +{More details to come} 655 655 656 -Ex: #5AA30<cr> 657 - 658 -Query Angular Acceleration (**QAD**) 659 - 660 -Ex: #5QA<cr> might return *5QA30<cr> 661 - 662 -Configure Angular Acceleration (**CAD**) 663 - 664 -Ex: #5CA30<cr> 665 - 666 666 ====== __A4: Angular Deceleration (**AD**)__ ====== 667 667 668 - The default value forangulardeceleration is 100, which is the same as the maximum acceleration. Valuesbetween1 and 15 have the greatest impact.660 +{More details to come} 669 669 670 -Ex: #5AD8<cr> 671 - 672 -Query Angular Deceleration (**QAD**) 673 - 674 -Ex: #5QD<cr> might return *5QD8<cr> 675 - 676 -Configure Angular Deceleration (**CAD**) 677 - 678 -Ex: #5CD8<cr> 679 - 680 680 ====== __A5: Motion Control (**EM**)__ ====== 681 681 682 - The command EM0 disables useof the motion controller(acceleration, velocity / travel,deceleration). As such, the servo will move at fullspeedfor all motioncommands. Thecommand EM1 enables use of the motion controller.664 +{More details to come} 683 683 684 -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. 685 - 686 686 ====== __A6. Configure LED Blinking (**CLB**)__ ====== 687 687 688 688 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: ... ... @@ -708,9 +708,3 @@ 708 708 Ex: #5CLB63<cr> blink in all status (1 + 2 + 4 + 8 + 16 + 32) 709 709 710 710 RESETTING the servo is needed. 711 - 712 -= RGB LED Patterns = 713 - 714 -The LED patterns below do not include those which are part of the button menu, which can be found here: [[LSS Button Menu>>doc:lynxmotion-smart-servo.lss-button-menu.WebHome]] 715 - 716 -[[image:LSS - LED Patterns.png]]
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