Changes for page LSS Communication Protocol
Last modified by Eric Nantel on 2024/11/21 09:43
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... ... @@ -1,1 +1,1 @@ 1 -xwiki:XWiki. RB11 +xwiki:XWiki.CBenson - Content
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... ... @@ -13,9 +13,7 @@ 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 #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. 16 +Note that for a given session, the action related to a specific commands overrides the stored value in EEPROM. 19 19 20 20 == Action Commands == 21 21 ... ... @@ -132,55 +132,55 @@ 132 132 133 133 == Regular == 134 134 135 -|= #|=Description|= Mod|=Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value136 -| 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" %)(((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" %)((( 142 142 0 143 143 ))) 144 -| 7|[[**A**ngular **R**ange>>||anchor="H7.AngularRange28AR29"]]| |AR| QAR| CAR|✓| ✓| ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((142 +| 7|[[**A**ngular **R**ange>>||anchor="H7.AngularRange28AR29"]]| AR| QAR| CAR|✓| ✓| ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)((( 145 145 1800 146 146 ))) 147 -| 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| |P| QP| | | | ✓|microseconds|(% style="width:510px" %)(((145 +| 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| P| QP| | | | ✓|microseconds|(% style="width:510px" %)((( 148 148 Inherited from SSC-32 serial protocol 149 149 )))|(% style="text-align:center; width:113px" %) 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" %)(((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" %)((( 154 154 QSD: Add modifier "2" for instantaneous speed. 155 155 156 156 SD overwrites SR / CSD overwrites CSR and vice-versa. 157 157 )))|(% style="text-align:center; width:113px" %)Max per servo 158 -| 13|[[Max **S**peed in **R**PM>>||anchor="H13.MaxSpeedinRPM28SR29"]]| |SR| QSR|CSR|✓| ✓| ✓|revolutions per minute (rpm)|(% style="width:510px" %)(((156 +| 13|[[Max **S**peed in **R**PM>>||anchor="H13.MaxSpeedinRPM28SR29"]]| SR| QSR|CSR|✓| ✓| ✓|revolutions per minute (rpm)|(% style="width:510px" %)((( 159 159 QSR: Add modifier "2" for instantaneous speed 160 160 161 161 SR overwrites SD / CSR overwrites CSD and vice-versa. 162 162 )))|(% style="text-align:center; width:113px" %)Max per servo 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" %)1165 -| 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" %)0166 -| 17|[[**B**aud rate>>||anchor="H17.BaudRate"]]| | |QB| CB| | | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)115200167 -| 18|//{coming soon}//| | | | | | | | |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((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" %)((( 168 168 169 169 ))) 170 -| 19|[[**F**irst Position (**D**eg)>>||anchor="H19.FirstA0Position28Degrees29"]]| | |QFD|CFD|X| ✓| ✓|none |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)No Value171 -| 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" %)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" %)(((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" %)((( 179 179 Change to RC mode 1 (position) or 2 (wheel). 180 180 )))|(% style="text-align:center; width:113px" %)Serial 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" %)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" %) 184 184 185 185 == Advanced == 186 186 ... ... @@ -195,8 +195,8 @@ 195 195 196 196 Blink while: 1=Limp; 2=Holding; 4=Accel; 8=Decel; 16=Free 32=Travel; 197 197 ))) 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" %)Modifierfor D, MD, WD, WR199 -| 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" %)Modifierfor D, MD, WD, WR196 +| 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" %) 200 200 201 201 == Details - Basic == 202 202 ... ... @@ -711,22 +711,6 @@ 711 711 712 712 RESETTING the servo is needed. 713 713 714 -====== __A7. Current Halt & Hold (**CH**)__ ====== 715 - 716 -This modifier, released in firmware v367, can be added to the following actions: D; MD; WD; WR. 717 - 718 -Ex: #5D1423CH400<cr> 719 - 720 -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. 721 - 722 -====== __A8. Current Limp (**CL**)__ ====== 723 - 724 -This modifier, released in firmware v367, can be added to the following actions: D; MD; WD; WR. 725 - 726 -Ex: #5D1423CH400<cr> 727 - 728 -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. 729 - 730 730 = RGB LED Patterns = 731 731 732 732 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]]