Summary

• Page properties (1 modified, 0 added, 0 removed)

Details

Page properties

Content

...	...	@@ -5,7 +5,7 @@
5	5
6	6	= Serial Protocol =
7	7
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.
	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 staying compact and robust yet highly versatile. The protocol was based on Lynxmotion's SSC-32/SSC-32U RC servo controller and almost everything one might expect to be able to configure for a smart servo motor is available.
9	9
10	10	In order to have servos react differently when commands are sent to all servos in a serial bus, the first step a user should take is to assign a different ID number to each servo (explained below). Once this has been done, only the servo(s) which have been assigned to the ID sent as part of the command will follow that command. There is currently no CRC / checksum implemented as part of the protocol.
11	11
...	...	@@ -136,7 +136,7 @@
136	136	| 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| | L| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
137	137	| 2|[[**H**alt & **H**old>>||anchor="H2.Halt26Hold28H29"]]| | H| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
138	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/SD| |QS| | | | ✓|microseconds per second / degrees per second|(% style="width:510px" %)S modifier only for {P}. SD modifier only for {D, MD}.|(% style="text-align:center; width:113px" %)
	139	+| 4|[[**S**peed>>||anchor="H4.Speed28S2CSD29modifier"]]|S/SD| |QS| | | | ✓|microseconds per second / degrees per second|(% style="width:510px" %)S modifier only for {P}. SD modifier only for {D, MD}.|(% style="text-align:center; width:113px" %)
140	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	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" %)(((
142	142	0
...	...	@@ -148,7 +148,7 @@
148	148	Inherited from SSC-32 serial protocol
149	149	)))|(% style="text-align:center; width:113px" %)
150	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" %)
	151	+| 10|[[**W**heel mode in **D**egrees>>||anchor="H10.WheelModeinDegrees28WD29"]]| | WD| QWD| | | | ✓|degrees per second|(% style="width:510px" %)A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center; width:113px" %)
152	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	153	| 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.
...	...	@@ -220,12 +220,15 @@
220	220
221	221	Note: If the calculated speed at which a servo must rotate for a timed move is greater than its maximum speed (which depends on voltage and load), then it will move at its maximum speed, and the time of the move may be longer than requested.
222	222
223		-====== __4. Speed (**S**) modifier__ ======
	223	+====== __4. Speed (**S**, **SD**) modifier__ ======
224	224
225	225	Example: #5P1500S750<cr>
	226	+Example: #5D0SD180<cr>
226	226
227		-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.
	228	+Modifier (S) is 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.
228	228
	230	+Modifer (S) is only for a position (D) or relative position (MD) action and determines the speed of the move in degrees per second. A speed modifier (SD) of 180 would cause the servo to rotate from its current position to the desired absolute or relative position at a speed of 180 degrees per second.
	231	+
229	229	Query Speed (**QS**)
230	230
231	231	Example: #5QS<cr> might return *5QS300<cr>
...	...	@@ -322,15 +322,15 @@
322	322
323	323	====== __10. Wheel Mode in Degrees (**WD**)__ ======
324	324
325		-Ex: #5WD900<cr>
	328	+Ex: #5WD90<cr>
326	326
327	327	This command sets the servo to wheel mode where it will rotate in the desired direction at the selected speed. The example above would have the servo rotate at 90.0 degrees per second clockwise (assuming factory default configurations).
328	328
329	329	Query Wheel Mode in Degrees (**QWD**)
330	330
331		-Ex: #5QWD<cr> might return *5QWD900<cr>
	334	+Ex: #5QWD<cr> might return *5QWD90<cr>
332	332
333		-The servo replies with the angular speed in tenths of degrees per second. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
	336	+The servo replies with the angular speed in degrees per second. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
334	334
335	335	====== __11. Wheel Mode in RPM (**WR**)__ ======
336	336