Changes for page LSS Communication Protocol
Last modified by Eric Nantel on 2024/11/21 09:43
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... ... @@ -135,8 +135,8 @@ 135 135 |= #|=Description|=Mod|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value 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 -| 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.Speed28S2 CSD29modifier"]]|S/SD| |QS| | | | ✓|microseconds per second/ degrees per second|(% style="width:510px" %)Smodifier onlyfor{P}. SD modifier only for {D, MD}.|(% 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" %) 140 140 | 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 ... ... @@ -160,7 +160,7 @@ 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 7)|(% 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)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) 164 164 | 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" %)1 165 165 | 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" %)0 166 166 | 17|[[**B**aud rate>>||anchor="H17.BaudRate"]]| | | QB| CB| | | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)115200 ... ... @@ -220,15 +220,12 @@ 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** , **SD**) modifier__ ======223 +====== __4. Speed (**S**) modifier__ ====== 224 224 225 225 Example: #5P1500S750<cr> 226 -Example: #5D0SD180<cr> 227 227 228 - Modifier(S) isonly 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.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. 229 229 230 -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 - 232 232 Query Speed (**QS**) 233 233 234 234 Example: #5QS<cr> might return *5QS300<cr> ... ... @@ -491,7 +491,7 @@ 491 491 492 492 ====== __20. Query Model String (**QMS**)__ ====== 493 493 494 -Ex: #5QMS<cr> might return *5QMSLSS-HS1 <cr>491 +Ex: #5QMS<cr> might return *5QMSLSS-HS1cr> 495 495 496 496 This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision. 497 497