Changes for page LSS Communication Protocol
Last modified by Eric Nantel on 2024/11/21 09:43
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... ... @@ -155,13 +155,13 @@ 155 155 156 156 |(% colspan="10" style="color:orange; font-size:18px" %)**Communication Setup** 157 157 |(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="text-align:center; width:75px" %)**RC**|(% style="text-align:center; width:75px" %)**Serial**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes** 158 -| | [[Soft **Reset**>>https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol#HReset]]|(% style="text-align:center" %)RESET|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Soft reset. See command for details.159 -| | [[**Default** Configuration>>https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol#HDefault26confirm]]|(% style="text-align:center" %)DEFAULT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Revert to firmware default values. See command for details160 -| | [[Firmware **Update** Mode>>https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol#HUpdate26confirm]]|(% style="text-align:center" %)UPDATE|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Update firmware. See command for details.158 +| |Soft **Reset**|(% style="text-align:center" %)RESET|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Soft reset. See command for details. 159 +| |**Default** Configuration|(% style="text-align:center" %)DEFAULT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Revert to firmware default values. See command for details 160 +| |Firmware **Update** Mode|(% style="text-align:center" %)UPDATE|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Update firmware. See command for details. 161 161 | |**Confirm** Changes|(% style="text-align:center" %)CONFIRM|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | | 162 -| | [[**C**hange to **RC**>>https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol#HConfigureRCMode28CRC29]]|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)CRC|(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Change to RC mode 1 (position) or 2 (wheel).163 -| | [[**ID** #>>https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol#HIdentificationNumber28ID29]]|(% style="text-align:center" %) |(% style="text-align:center" %)QID|(% style="text-align:center" %)CID|(% style="text-align:center" %) |(% style="text-align:center" %)✓|0| |Reset required after change. ID 254 is a "broadcast" which all servos respond to.164 -| | [[**B**audrate>>https://www.robotshop.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-communication-protocol#HBaudRate]]|(% style="text-align:center" %) |(% style="text-align:center" %)QB|(% style="text-align:center" %)CB|(% style="text-align:center" %) |(% style="text-align:center" %)✓|115200| |Reset required after change.162 +| |**C**hange to **RC**|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)CRC|(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Change to RC mode 1 (position) or 2 (wheel). 163 +| |**ID** #|(% style="text-align:center" %) |(% style="text-align:center" %)QID|(% style="text-align:center" %)CID|(% style="text-align:center" %) |(% style="text-align:center" %)✓|0| |Reset required after change. ID 254 is a "broadcast" which all servos respond to. 164 +| |**B**audrate|(% style="text-align:center" %) |(% style="text-align:center" %)QB|(% style="text-align:center" %)CB|(% style="text-align:center" %) |(% style="text-align:center" %)✓|115200| |Reset required after change. 165 165 166 166 |(% colspan="10" style="color:orange; font-size:18px" %)**Motion** 167 167 |(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="text-align:center; width:75px" %)**RC**|(% style="text-align:center; width:75px" %)**Serial**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes** ... ... @@ -222,7 +222,7 @@ 222 222 223 223 {{html wiki="true" clean="false"}} 224 224 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 225 -Ex: #5RESET< cr><div class="wikimodel-emptyline"></div>225 +Ex: #5RESET<div class="wikimodel-emptyline"></div> 226 226 This command does a "soft reset" and reverts all commands to those stored in EEPROM (i.e. configuration commands). 227 227 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.<div class="wikimodel-emptyline"></div> 228 228 </div></div> ... ... @@ -232,11 +232,11 @@ 232 232 233 233 {{html wiki="true" clean="false"}} 234 234 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 235 -Ex: #5DEFAULT <cr><div class="wikimodel-emptyline"></div>235 +Ex: #5DEFAULT<cr><div class="wikimodel-emptyline"></div> 236 236 237 237 This command sets in motion the reset of all values to the default values included with the version of the firmware installed on that servo. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the DEFAULT function.<div class="wikimodel-emptyline"></div> 238 238 239 -EX: #5DEFAULT <cr>followed by #5CONFIRM<cr><div class="wikimodel-emptyline"></div>239 +EX: #5DEFAULT<cr> followed by #5CONFIRM<cr><div class="wikimodel-emptyline"></div> 240 240 241 241 Since it it not common to have to restore all configurations, a confirmation command is needed after a firmware command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will exit the command.<div class="wikimodel-emptyline"></div> 242 242 ... ... @@ -248,11 +248,11 @@ 248 248 249 249 {{html wiki="true" clean="false"}} 250 250 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 251 -Ex: #5UPDATE <cr><div class="wikimodel-emptyline"></div>251 +Ex: #5UPDATE<cr><div class="wikimodel-emptyline"></div> 252 252 253 253 This command sets in motion the equivalent of a long button press when the servo is not powered in order to enter firmware update mode. This is useful should the button be broken or inaccessible. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the UPDATE function.<div class="wikimodel-emptyline"></div> 254 254 255 -EX: #5UPDATE <cr>followed by #5CONFIRM<cr><div class="wikimodel-emptyline"></div>255 +EX: #5UPDATE<cr> followed by #5CONFIRM<cr><div class="wikimodel-emptyline"></div> 256 256 257 257 Since it it not common to have to update firmware, a confirmation command is needed after an UPDATE command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will leave the firmware action.<div class="wikimodel-emptyline"></div> 258 258 ... ... @@ -267,13 +267,13 @@ 267 267 This command puts the servo into RC mode (position or continuous), where it will only respond to RC PWM signal on the servo's Rx pin. In this mode, the servo will no longer accept serial commands. The servo can be placed back into smart mode by using the button menu.<div class="wikimodel-emptyline"></div> 268 268 269 269 |**Command sent**|**Note** 270 -|ex: #5CRC1 <cr>|Change to RC position mode.271 -|ex: #5CRC2 <cr>|Change to RC continuous rotation (wheel) mode.272 -|ex: #5CRC* <cr>|Where * is any value other than 1 or 2 (or no value): stay in smart mode.<div class="wikimodel-emptyline"></div>270 +|ex: #5CRC1<cr>|Change to RC position mode. 271 +|ex: #5CRC2<cr>|Change to RC continuous rotation (wheel) mode. 272 +|ex: #5CRC*<cr>|Where * is any value other than 1 or 2 (or no value): stay in smart mode.<div class="wikimodel-emptyline"></div> 273 273 274 -EX: #5CRC2 <cr><div class="wikimodel-emptyline"></div>274 +EX: #5CRC2<cr><div class="wikimodel-emptyline"></div> 275 275 276 -This command would place the servo in RC wheel mode after a RESET or power cycle. Note that after a RESET or power cycle, the servo will be in RC mode and will not reply to serial commands. Using the command #5CRC <cr>or #5CRC3<cr>which requests that the servo remain in serial mode still requires a RESET command.<div class="wikimodel-emptyline"></div>276 +This command would place the servo in RC wheel mode after a RESET or power cycle. Note that after a RESET or power cycle, the servo will be in RC mode and will not reply to serial commands. Using the command #5CRC<cr> or #5CRC3<cr> which requests that the servo remain in serial mode still requires a RESET command.<div class="wikimodel-emptyline"></div> 277 277 278 278 **Important note: **To revert from RC mode back to serial mode, the [[LSS - Button Menu>>doc:lynxmotion-smart-servo.lss-button-menu.WebHome]] is required. Should the button be inaccessible (or broken) when the servo is in RC mode and the user needs to change to serial mode, a 5V constant HIGH needs to be sent to the servo's Rx pin (RC PWM pin), **ensuring a common GND** and wait for 30 seconds. Normal RC PWM pulses should not exceed 2500 milliseconds. After 30 seconds, the servo will interpret this as a desired mode change and change to serial mode. This has been implemented as a fail safe.<div class="wikimodel-emptyline"></div> 279 279 </div></div> ... ... @@ -287,13 +287,13 @@ 287 287 288 288 Query Identification (**QID**)<div class="wikimodel-emptyline"></div> 289 289 290 -EX: #254QID <cr>might return *QID5<cr><div class="wikimodel-emptyline"></div>290 +EX: #254QID<cr> might return *QID5<cr><div class="wikimodel-emptyline"></div> 291 291 292 292 When using the broadcast query ID command, it is best to only have one servo connected and thus receive only one reply. This is useful when you are not sure of the servo's ID, but don't want to change it. Using the broadcast command (ID 254) with only one servo will have that servo reply with its ID number. Alternatively, pushing the button upon startup and temporarily setting the servo ID to 255 will still result in the servo responding with its "real" ID.<div class="wikimodel-emptyline"></div> 293 293 294 294 Configure ID (**CID**)<div class="wikimodel-emptyline"></div> 295 295 296 -Ex: #4CID5 <cr><div class="wikimodel-emptyline"></div>296 +Ex: #4CID5<cr><div class="wikimodel-emptyline"></div> 297 297 298 298 Setting a servo's ID in EEPROM is done via the CID command. All servos connected to the same serial bus that have will be assigned that ID. In most situations each servo must be set a unique ID, which means each servo must be connected individually to the serial bus and receive a unique CID number. It is best to do this before the servos are added to an assembly. Numbered stickers are provided to distinguish each servo after their ID is set, though you are free to use whatever alternative method you like. The servo must be RESET or power cycled in order for the new ID to take effect.<div class="wikimodel-emptyline"></div> 299 299 </div></div> ... ... @@ -307,7 +307,7 @@ 307 307 308 308 Query Baud Rate (**QB**)<div class="wikimodel-emptyline"></div> 309 309 310 -Ex: #5QB <cr>might return *5QB115200<cr><div class="wikimodel-emptyline"></div>310 +Ex: #5QB<cr> might return *5QB115200<cr><div class="wikimodel-emptyline"></div> 311 311 312 312 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.<div class="wikimodel-emptyline"></div> 313 313 ... ... @@ -315,7 +315,7 @@ 315 315 316 316 **Important Note:** the servo's current session retains the given baud rate and the new baud rate will only take effect when the servo is power cycled / RESET.<div class="wikimodel-emptyline"></div> 317 317 318 -Ex: #5CB9600 <cr><div class="wikimodel-emptyline"></div>318 +Ex: #5CB9600<cr><div class="wikimodel-emptyline"></div> 319 319 320 320 Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.<div class="wikimodel-emptyline"></div> 321 321 </div></div>