Changes for page LSS Communication Protocol

Last modified by Eric Nantel on 2025/06/06 07:47

From version < 15.1 >

edited by Coleman Benson
on 2018/04/13 11:04

To version < 37.1 >

edited by Coleman Benson
on 2018/05/15 14:44

< >

Change comment: There is no comment for this version

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...	...	@@ -1,0 +1,1 @@
	1	+LSS\|communication\|protocol\|programming\|firmware\|control

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@@ -42,6
          +42,28 @@
  Modified commands are command specific.
  )))
++(((
++
++)))
++
++== Configuration Commands ==
++
++Configuration commands affect the servo's current session* but unlike action commands, configuration commands are written to EEPROM and are retained even if the servo loses power (therefore NOT session specific). Not all action commands have a corresponding configuration and vice versa. Certain configurations are retained for when the servo is used in RC model. More information can be found on the [[LSS - RC PWM page>>doc:LSS - RC PWM.WebHome]].
++
++1. Start with a number sign # (U+0023)
++1. Servo ID number as an integer
++1. Configuration command (two to three letters, no spaces, capital or lower case)
++1. Configuration value in the correct units with no decimal
++1. End with a control / carriage return '<cr>'
++
++Ex: #5CO-50<cr>
++
++Assigns an absolute origin offset of -5.0 degrees (with respect to factory origin) to servo #5 and changes the offset for that session to -5.0 degrees.
++
++Configuration commands are not cumulative, in that if two configurations are sent at any time, only the last configuration is used and stored.
++
++*Important Note: the one exception is the baud rate - the servo's current session retains the given baud rate. The new baud rate will only be in place when the servo is power cycled.
++
  == Query Commands ==
  Query commands are sent serially to the servo's Rx pin and must be set in the following format:
@@ -69,25
          +69,21 @@
  )))
  Indicates that servo #5 is currently at 144.3 degrees.
--)))
--== Configuration Commands ==
++**Session vs Configuration Query**
--Configuration commands affect the servo's current session* but unlike action commands, configuration commands are written to EEPROM and are retained even if the servo loses power (therefore NOT session specific). Not all action commands have a corresponding configuration and vice versa. Certain configurations are retained for when the servo is used in RC model. More information can be found on the [[LSS - RC PWM page>>doc:Lynxmotion Smart Servos (LSS).LSS - RC PWM.WebHome]].
++By default, the query command returns the sessions' value; should no action commands have been sent to change, it will return the value saved in EEPROM from the last configuration command.
--1. Start with a number sign # (U+0023)
--1. Servo ID number as an integer
--1. Configuration command (two to three letters, no spaces, capital or lower case)
--1. Configuration value in the correct units with no decimal
--1. End with a control / carriage return '<cr>'
++In order to query the value in EEPROM, add a '1' to the query command.
--Ex: #5CO-50<cr>
++Ex: #5CSR20<cr> sets the maximum speed for servo #5 to 20rpm upon RESET (explained below).
--Assigns an absolute origin offset of -5.0 degrees (with respect to factory origin) to servo #5 and changes the offset for that session to -5.0 degrees.
++After RESET: #5SR4<cr> sets the session's speed to 4rpm.
--Configuration commands are not cumulative, in that if two configurations are sent at any time, only the last configuration is used and stored.
++#5QSR<cr> would return *5QSR4<cr> which represents the value for that session.
--*Important Note: the one exception is the baud rate - the servo's current session retains the given baud rate. The new baud rate will only be in place when the servo is power cycled.
++#5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
++)))
  = Command List =
@@ -100,17
          +100,17 @@
  | 6|**O**rigin Offset| O| QO| CO| ✓|  ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
  | 7|**A**ngular **R**ange| AR| QAR| CAR| ✓|  ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
  | 8|Position in **P**ulse| P| QP| | | ✓| microseconds|(((
--See details below.
++See details below
  )))
  | 9|Position in **D**egrees| D| QD| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
  | 10|**W**heel mode in **D**egrees| WD| QWD| | | ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|
  | 11|**W**heel mode in **R**PM| WR| QWR| | | ✓| rpm|
--| 12|**S**peed in **D**egrees| SD| QSD| CSD| ✓| ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|
--| 13|**S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|
--| 14|**R**igidity| R| QR| CR| ✓| ✓|none|
++| 12|Max **S**peed in **D**egrees| SD| QSD| CSD| ✓| ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|Add modifier "2" for instantaneous speed
++| 13|Max **S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|Add modifier "2" for instantaneous speed
++| 14|**A**ngular **S**tiffness| AS| QAS| CAS| ✓| ✓|none|
  | 15|//N/A (removed)//| | | | | | |
  | 16|**LED** Color| LED| QLED| CLED| ✓| ✓| none (integer from 1 to 8)|0=OFF 1=RED 2=GREEN 3= BLUE 4=YELLOW 5=CYAN 6= 7=MAGENTA, 8=WHITE
--| 17|**ID** #| ID| QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to.
++| 17|**ID** #| ID| QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to
  | 18|**B**aud rate| B| QB| CB| | ✓| none (integer)|
  | 19|**G**yre direction (**G**)| G| QG| CG| ✓| ✓| none | Gyre / rotation direction where 1= CW (clockwise) -1 = CCW (counter-clockwise)
  | 20|**F**irst Position (**P**ulse)| | QFP|CFP | ✓| ✓| none |
@@ -119,7
          +119,7 @@
  | 23|**M**odel| | QM| | | | none (integer)|
  | 24|Serial **N**umber| | QN| | | | none (integer)|
  | 25|**F**irmware version| | QF| | | | none (integer)|
--| 26|**Q**uery (general status)| | Q| | | ✓| none (integer from 1 to 8)|
++| 26|**Q**uery (general status)| | Q| | | ✓| none (integer from 1 to 8)| See command description for details
  | 27|**V**oltage| | QV| | | ✓| tenths of volt (ex 113 = 11.3V; 92 = 9.2V)|
  | 28|**T**emperature| | QT| | | ✓| degrees Celsius|
  | 29|**C**urrent| | QC| | | ✓| tenths of Amps (ex 2 = 0.2A)|
@@ -214,10
          +214,10 @@
  Query Position in Pulse (**QP**)
--Example: #5QP<cr> might return *5QP
++Example: #5QP<cr> might return *5QP2334
  This command queries the current angular position in PWM "units". The user must take into consideration that the response includes any angular range and origin configurations in order to determine the actual angle.
--Valid values for QP are {-500, [500, 2500], -2500}. Values outside the [500, 2500] range are given a negative corresponding end point value to indicate they are out of bounds.
++Valid values for QP are {-500, [500, 2500], -2500}. Values outside the [500, 2500] range are given a negative corresponding end point value to indicate they are out of bounds (note that if the servo is physically located at one of the endpoints, it may return a negative number if it is a fraction of a degree beyond the position).
  __9. Position in Degrees (**D**)__
@@ -229,8
          +229,10 @@
  Query Position in Degrees (**QD**)
--Example: #5QD<cr> might return *5QD0<cr>
++Example: #5QD<cr> might return *5QD132<cr>
++This means the servo is located at 13.2 degrees.
++
  __10. Wheel Mode in Degrees (**WD**)__
  Ex: #5WD900<cr>
@@ -265,8
          +265,15 @@
  Ex: #5QSD<cr> might return *5QSD1800<cr>
--Note that the QSD query will return the current servo speed. Querying the last maximum speed value set using SD or CSD is not possible.
++By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever a SD/SR command is processed.
++If #5QSD1<cr> is sent, the configured maximum speed (CSD value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
++|**Command sent**|**Returned value (1/10 °)**
++|ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
++|ex: #5QSD1<cr>|Configured maximum speed  (set by CSD/CSR)
++|ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
++|ex: #5QSD3<cr>|Target travel speed
++
  Configure Speed in Degrees (**CSD**)
  Ex: #5CSD1800<cr>
@@ -283,19
          +283,26 @@
  Ex: #5QSR<cr> might return *5QSR45<cr>
--Note that the QSD query will return the current servo speed. Querying the last maximum speed value set using SR or CSR is not possible.
++By default QSR will return the current session value, which is set to the value of CSR as reset/power cycle and changed whenever a SD/SR command is processed.
++If #5QSR1<cr> is sent, the configured maximum speed (CSR value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
--Configure Speed in Degrees (**CSR**)
++|**Command sent**|**Returned value (1/10 °)**
++|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
++|ex: #5QSR1<cr>|Configured maximum speed  (set by CSD/CSR)
++|ex: #5QSR2<cr>|Instantaneous speed (same as QWR)
++|ex: #5QSR3<cr>|Target travel speed
++Configure Speed in RPM (**CSR**)
++
  Ex: #5CSR45<cr>
--Using the CSD command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSD value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) is what the servo uses for that session.
++Using the CSR command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSR value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) is what the servo uses for that session.
--__14. Rigidity (R)__
++__14. Angular Stiffness (AS)__
--The servo's rigidity can be thought of as (though not identical to) a damped spring in which the rigidity value affects the stiffness and embodies how much, and how quickly the servo tried keep the requested position against changes.
++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.
--A positive value of "rigidity":
++A positive value of "angular stiffness":
  * The more torque will be applied to try to keep the desired position against external input / changes
  * The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position
@@ -307,17
          +307,17 @@
  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.
--Ex: #5R-2<cr>
++Ex: #5AS-2<cr>
--This reduces the rigidity to -2 for that session, allowing the servo to deviate more around the desired position. This can be beneficial in many situations such as impacts (legged robots) where more of a "spring" effect is desired. Upon reset, the servo will use the value stored in memory, based on the last configuration command.
++This reduces the angular stiffness to -2 for that session, allowing the servo to deviate more around the desired position. This can be beneficial in many situations such as impacts (legged robots) where more of a "spring" effect is desired. Upon reset, the servo will use the value stored in memory, based on the last configuration command.
--Ex: #5QR<cr>
++Ex: #5QAS<cr>
  Queries the value being used.
--Ex: #5CR<cr>
++Ex: #5CAS<cr>
--Writes the desired rigidity value to memory.
++Writes the desired angular stiffness value to memory.
  __15. N/A (removed)__
@@ -339,11
          +339,11 @@
  Configure LED Color (**CLED**)
--Configuring the LED color via the CLED command sets the startup color of the servo after a reset or power cycle.
++Configuring the LED color via the CLED command sets the startup color of the servo after a reset or power cycle. Note that it also changes the session's LED color immediately as well.
  __17. Identification Number__
--A servo's identification number cannot be set "on the fly" and must be configured via the CID command described below. The factory default ID number for all servos is 1. Since smart servos are intended to be daisy chained, in order to respond differently from one another, the user must set different identification numbers. Servos with the same ID and baud rate will all receive and react to the same commands.
++A servo's identification number cannot be set "on the fly" and must be configured via the CID command described below. The factory default ID number for all servos is 0. Since smart servos are intended to be daisy chained, in order to respond differently from one another, the user must set different identification numbers. Servos with the same ID and baud rate will all receive and react to the same commands.
  Query Identification (**QID**)
@@ -359,7
          +359,8 @@
  __18. Baud Rate__
--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 that project should ideally be set to the same baud rate. Setting different baud rates will have the servos respond differently and may create issues. Standard / suggested baud rates are: 4800; 9600; 14400; 19200; 38400; 57600; 115200; 128000; 256000, 512000 bits per second. Servos are shipped with a baud rate set to 9600. The baud rates are currently restricted to those above
++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 that 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: 9.6 kbps, 19.2 kbps, 38.4 kbps, 57.6 kbps, 115.2 kbps, 230.4 kbps, 250.0 kbps, 460.8 kbps, 500.0 kbps, 750.0 kbps*, 921.6 kbps*. Servos are shipped with a baud rate set to 9600. The baud rates are currently restricted to those above.
++\*: Current tests reveal baud rates above 500 kbps are unstable and can cause timeouts. Please keep this in mind if using those / testing them out.
  Query Baud Rate (**QB**)
@@ -399,13
          +399,13 @@
  Ex: #5QFP<cr> might return *5QFP1550<cr>
--The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds.
++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").
--Configure First Position in Pulses (CFP)
++Configure First Position in Pulses (**CFP**)
  Ex: #5CP1550<cr>
--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 results in the servo remaining limp upon power up.
++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 results in the servo remaining limp upon power up (i.e. disabled).
  __21. First / Initial Position (Degrees)__
@@ -449,9
          +449,20 @@
  __26. Query Status (**Q**)__
--Ex: #5Q<cr> might return *5Q_<cr>
++Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
--{Description coming soon}
++|*Value returned|**Status**|**Detailed description**
++|ex: *5Q0<cr>|Unknown|LSS is unsure
++|ex: *5Q1<cr>|Limp|Motor driving circuit is not powered and horn can be moved freely
++|ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
++|ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
++|ex: *5Q4<cr>|Traveling|Moving at a stable speed
++|ex: *5Q5<cr>|Deccelerating|Decreasing speed towards travel speed towards rest
++|ex: *5Q6<cr>|Holding|Keeping current position
++|ex: *5Q7<cr>|Stepping|Special low speed mode to maintain torque
++|ex: *5Q8<cr>|Outside limits|More details coming soon
++|ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting
++|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maxiumum duty and still cannot move (i.e.: stalled)
  __27. Query Voltage (**QV**)__

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