Changes for page LSS Communication Protocol
Last modified by Eric Nantel on 2024/11/21 09:43
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... ... @@ -13,7 +13,9 @@ 13 13 14 14 A "session" is defined as the time between when the servo is powered ON to when it is powered OFF or reset. 15 15 16 -Note that for a given session, the action related to a specific commands overrides the stored value in EEPROM. 16 +Note #1: For a given session, the action related to a specific commands overrides the stored value in EEPROM. 17 +Note #2: During the power-on / reset process the LSS cannot accept commands for a small amount of time (1.25 s). 18 +You can ensure the LSS is ready by using a query command to check for response (ex: #[id]Q\r or #[id]QID\r). If the LSS is ready for commands (initialized) it will respond to the query. A timeout between 50-100 ms is recommended. 17 17 18 18 == Action Commands == 19 19 ... ... @@ -130,55 +130,55 @@ 130 130 131 131 == Regular == 132 132 133 -|= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value 134 -| 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| L| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %) 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" %) 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 -| 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" %)((( 135 +|= #|=Description|=Mod|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value 136 +| 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| | L| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %) 137 +| 2|[[**H**alt & **H**old>>||anchor="H2.Halt26Hold28H29"]]| | H| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %) 138 +| 3|[[**T**imed move>>||anchor="H3.Timedmove28T29modifier"]]|T| | | | | | ✓|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" %) 139 +| 4|[[**S**peed>>||anchor="H4.Speed28S29modifier"]]|S| |QS| | | | ✓|microseconds per second|(% style="width:510px" %) Modifier only {P}|(% style="text-align:center; width:113px" %) 140 +| 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" %) 141 +| 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 0 141 141 ))) 142 -| 7|[[**A**ngular **R**ange>>||anchor="H7.AngularRange28AR29"]]| AR| QAR| CAR|✓| ✓| ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)((( 144 +| 7|[[**A**ngular **R**ange>>||anchor="H7.AngularRange28AR29"]]| | AR| QAR| CAR|✓| ✓| ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)((( 143 143 1800 144 144 ))) 145 -| 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| P| QP| | | | ✓|microseconds|(% style="width:510px" %)((( 147 +| 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| | P| QP| | | | ✓|microseconds|(% style="width:510px" %)((( 146 146 Inherited from SSC-32 serial protocol 147 147 )))|(% style="text-align:center; width:113px" %) 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 -| 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 -| 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" %)((( 150 +| 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| | D| QD / QDT| | | | ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %) 151 +| 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" %) 152 +| 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" %) 153 +| 12|[[Max **S**peed in **D**egrees>>||anchor="H12.MaxSpeedinDegrees28SD29"]]| | SD| QSD|CSD|✓| ✓| ✓|degrees per second (°/s)|(% 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. 155 155 )))|(% style="text-align:center; width:113px" %)Max per servo 156 -| 13|[[Max **S**peed in **R**PM>>||anchor="H13.MaxSpeedinRPM28SR29"]]| SR| QSR|CSR|✓| ✓| ✓|revolutions per minute (rpm)|(% style="width:510px" %)((( 158 +| 13|[[Max **S**peed in **R**PM>>||anchor="H13.MaxSpeedinRPM28SR29"]]| | SR| QSR|CSR|✓| ✓| ✓|revolutions per minute (rpm)|(% style="width:510px" %)((( 157 157 QSR: Add modifier "2" for instantaneous speed 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) 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 -| 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" %)115200 165 -| 18|//{coming soon}//| | | | | | | |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)((( 163 +| 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) 164 +| 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" %)1 165 +| 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" %)0 166 +| 17|[[**B**aud rate>>||anchor="H17.BaudRate"]]| | | QB| CB| | | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)115200 167 +| 18|//{coming soon}//| | | | | | | | |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)((( 166 166 167 167 ))) 168 -| 19|[[**F**irst Position (**D**eg)>>||anchor="H19.FirstA0Position28Degrees29"]]| | QFD|CFD|X| ✓| ✓|none |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)No Value 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 -| 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 -| 22|[[**F**irmware version>>||anchor="H22.QueryFirmware28QF29"]]| | QF| | | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %) 172 -| 23|[[**Q**uery (gen. status)>>||anchor="H23.QueryStatus28Q29"]]| | Q| | | | ✓|none (integer from 1 to 8)|(% style="width:510px" %) See command description for details|(% style="text-align:center; width:113px" %) 173 -| 24|[[**V**oltage>>||anchor="H24.QueryVoltage28QV29"]]| | QV| | | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %) 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 -| 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" %)((( 170 +| 19|[[**F**irst Position (**D**eg)>>||anchor="H19.FirstA0Position28Degrees29"]]| | | QFD|CFD|X| ✓| ✓|none |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)No Value 171 +| 20|[[**M**odel **S**tring>>||anchor="H20.QueryModelString28QMS29"]]| | | QMS| | | | |none (string)|(% style="width:510px" %) Returns the type of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1)|(% style="text-align:center; width:113px" %) 172 +| 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" %) 173 +| 22|[[**F**irmware version>>||anchor="H22.QueryFirmware28QF29"]]| | | QF| | | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %) 174 +| 23|[[**Q**uery (gen. status)>>||anchor="H23.QueryStatus28Q29"]]| | | Q| | | | ✓|none (integer from 1 to 8)|(% style="width:510px" %) See command description for details|(% style="text-align:center; width:113px" %) 175 +| 24|[[**V**oltage>>||anchor="H24.QueryVoltage28QV29"]]| | | QV| | | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %) 176 +| 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" %) 177 +| 26|[[**C**urrent>>||anchor="H26.QueryCurrent28QC29"]]| | | QC| | | | ✓|milliamps (ex 200 = 0.2A)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %) 178 +| 27|[[**C**hange to** RC**>>||anchor="H27.ConfigureRCMode28CRC29"]]| | | |CRC|✓| | ✓|none|(% style="width:510px" %)((( 177 177 Change to RC mode 1 (position) or 2 (wheel). 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" %) 181 +| 28|[[**RESET**>>||anchor="H28.RESET"]]| | | | | | | ✓|none|(% style="width:510px" %)Soft reset. See command for details.|(% style="text-align:center; width:113px" %) 182 +| 29|[[**DEFAULT**>>||anchor="H29.DEFAULTA026CONFIRM"]]| | | | | | |✓|none|(% style="width:510px" %)Revert to firmware default values. See command for details|(% style="text-align:center; width:113px" %) 183 +| 30|[[**UPDATE**>>||anchor="H30.UPDATEA026CONFIRM"]]| | | | | | |✓|none|(% style="width:510px" %)Update firmware. See command for details.|(% style="text-align:center; width:113px" %) 182 182 183 183 == Advanced == 184 184 ... ... @@ -193,8 +193,8 @@ 193 193 194 194 Blink while: 1=Limp; 2=Holding; 4=Accel; 8=Decel; 16=Free 32=Travel; 195 195 ))) 196 -| A7|(% style="width:182px" %)Current Halt & Hold|(% style="width:56px" %) 197 -| A8|(% style="width:182px" %)Current Limp|(% style="width:56px" %) 198 +| A7|(% style="width:182px" %)[[**C**urrent **H**alt & **H**old>>||anchor="HA7.CurrentHalt26Hold28CH29"]]|(% style="width:56px" %)CH|(% style="width:70px" %) |(% style="width:71px" %) |(% style="width:77px" %) |(% style="width:77px" %)✓|(% style="width:56px" %) |(% style="width:151px" %)✓|milliamps (ex 400 = 0.4A)|(% style="width:510px" %)Modifier for D, MD, WD, WR 199 +| A8|(% style="width:182px" %)[[**C**urrent **L**imp>>||anchor="HA8.CurrentLimp28CL29"]]|(% style="width:56px" %)CL|(% style="width:70px" %) |(% style="width:71px" %) |(% style="width:77px" %) |(% style="width:77px" %)✓|(% style="width:56px" %) |(% style="width:151px" %)✓|milliamps (ex 400 = 0.4A)|(% style="width:510px" %)Modifier for D, MD, WD, WR 198 198 199 199 == Details - Basic == 200 200 ... ... @@ -448,11 +448,11 @@ 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.453 +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 115200. The baud rates are currently restricted to those above. 452 452 453 453 Query Baud Rate (**QB**) 454 454 455 -Ex: #5QB<cr> might return *5QB 9600<cr>457 +Ex: #5QB<cr> might return *5QB115200<cr> 456 456 457 457 Since the command to query the baud rate must be done at the servo's existing baud rate, it can simply be used to confirm the CB configuration command was correctly received before the servo is power cycled and the new baud rate takes effect. 458 458 ... ... @@ -572,6 +572,7 @@ 572 572 Ex: #5RESET<cr> or #5RS<cr> 573 573 574 574 This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands). 577 +Note: after a RESET command is received the LSS will restart and perform initilization again, making it unavailable on the bus for a bit. See [[Session>>||anchor="HSession"]], note #2 for more details. 575 575 576 576 ====== __29. **DEFAULT** & CONFIRM__ ====== 577 577 ... ... @@ -709,6 +709,22 @@ 709 709 710 710 RESETTING the servo is needed. 711 711 715 +====== __A7. Current Halt & Hold (**CH**)__ ====== 716 + 717 +This modifier, released in firmware v367, can be added to the following actions: D; MD; WD; WR. 718 + 719 +Ex: #5D1423CH400<cr> 720 + 721 +This has servo with ID 5 move to 142.3 degrees but, should it detect a current of 400mA or higher before it reaches the desired position, will immediately halt and hold position. 722 + 723 +====== __A8. Current Limp (**CL**)__ ====== 724 + 725 +This modifier, released in firmware v367, can be added to the following actions: D; MD; WD; WR. 726 + 727 +Ex: #5D1423CH400<cr> 728 + 729 +This has servo with ID 5 move to 142.3 degrees but, should it detect a current of 400mA or higher before it reaches the desired position, will immediately go limp. 730 + 712 712 = RGB LED Patterns = 713 713 714 714 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]]