Changes for page LSS Communication Protocol
Last modified by Eric Nantel on 2025/06/06 07:47
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... ... @@ -11,11 +11,11 @@ 11 11 12 12 == Session == 13 13 14 -{{html wiki="true"clean="false"}}14 +{{html clean="false" wiki="true"}} 15 15 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 16 16 A "session" is defined as the time between when the servo is powered ON to when it is powered OFF or reset.<div class="wikimodel-emptyline"></div> 17 17 18 -**Note #1:** For a given session, the action related to a specific command soverrides the stored value in EEPROM.<div class="wikimodel-emptyline"></div>18 +**Note #1:** For a given session, the action related to a specific command overrides the stored value in EEPROM.<div class="wikimodel-emptyline"></div> 19 19 **Note #2:** During the power-on / reset process the LSS cannot accept commands for a small amount of time (1.25 s).<div class="wikimodel-emptyline"></div> 20 20 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 to compensate for drivers, OS and buffering delays. 21 21 <div class="wikimodel-emptyline"></div></div></div> ... ... @@ -153,81 +153,87 @@ 153 153 154 154 **Latest firmware version currently : 368.29.14** 155 155 156 -|(% colspan="10" style="color:orange; font-size:18px" %)**Communication Setup** 156 +|(% colspan="10" style="color:orange; font-size:18px" %)[[**Communication Setup**>>||anchor="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**|(% 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 -| |**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**|(% 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. 158 +| |[[**Reset**>>||anchor="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>>||anchor="DEFAULT"]]|(% 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>>||anchor="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. 161 +| |[[**Confirm** Changes>>||anchor="CONFIRM"]]|(% 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**>>||anchor="CHANGE_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** #>>||anchor="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>>||anchor="BAUDRATE"]]|(% 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 -|(% colspan="10" style="color:orange; font-size:18px" %)**Motion** 166 +|(% colspan="10" style="color:orange; font-size:18px" %)[[**Motion**>>||anchor="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** 168 -| |Position in **D**egrees|(% style="text-align:center" %)D|(% style="text-align:center" %)QD/QDT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |1/10°| 169 -| |**M**ove in **D**egrees (relative)|(% style="text-align:center" %)MD|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |1/10°| 170 -| |**W**heel mode in **D**egrees|(% style="text-align:center" %)WD|(% style="text-align:center" %)QWD/QVT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |°/s|A.K.A. "Speed mode" or "Continuous rotation" 171 -| |**W**heel mode in **R**PM|(% style="text-align:center" %)WR|(% style="text-align:center" %)QWR|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |RPM|A.K.A. "Speed mode" or "Continuous rotation" 172 -| |Position in **P**WM|(% style="text-align:center" %)P|(% style="text-align:center" %)QP|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |us|Inherited from SSC-32 serial protocol 173 -| |**M**ove in PWM (relative)|(% style="text-align:center" %)M|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |us| 174 -| |**R**aw **D**uty-cycle **M**ove|(% style="text-align:center" %)RDM|(% style="text-align:center" %)QMD|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |-1023 to 1023 integer|Positive values : CW / Negative values : CCW 175 -| |**Q**uery Status|(% style="text-align:center" %) |(% style="text-align:center" %)Q|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |1 to 8 integer|See command description for details 176 -| |**L**imp|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | | 177 -| |**H**alt & Hold|(% style="text-align:center" %)H|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | | 168 +| |[[Position in **D**egrees>>||anchor="POSITION_D"]]|(% style="text-align:center" %)D|(% style="text-align:center" %)QD/QDT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |1/10°| 169 +| |[[**M**ove in **D**egrees (relative)>>||anchor="MOVE_D"]]|(% style="text-align:center" %)MD|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |1/10°| 170 +| |[[**W**heel mode in **D**egrees>>||anchor="WHEEL_D"]]|(% style="text-align:center" %)WD|(% style="text-align:center" %)QWD/QVT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |°/s|A.K.A. "Speed mode" or "Continuous rotation" 171 +| |[[**W**heel mode in **R**PM>>||anchor="WHEEL_RPM"]]|(% style="text-align:center" %)WR|(% style="text-align:center" %)QWR|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |RPM|A.K.A. "Speed mode" or "Continuous rotation" 172 +| |[[Position in **P**WM>>||anchor="POSITION_PWM"]]|(% style="text-align:center" %)P|(% style="text-align:center" %)QP|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |us|Inherited from SSC-32 serial protocol 173 +| |[[**M**ove in PWM (relative)>>||anchor="MOVE_PWM"]]|(% style="text-align:center" %)M|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |us| 174 +| |[[**R**aw **D**uty-cycle **M**ove>>||anchor="MOVE_RAW"]]|(% style="text-align:center" %)RDM|(% style="text-align:center" %)QMD|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |-1023 to 1023 integer|Positive values : CW / Negative values : CCW 175 +| |[[**Q**uery Status>>||anchor="QUERY_STATUS"]]|(% style="text-align:center" %) |(% style="text-align:center" %)Q|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |1 to 8 integer|See command description for details 176 +| |[[**L**imp>>||anchor="LIMP"]]|(% style="text-align:center" %)L|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | | 177 +| |[[**H**alt & Hold>>||anchor="HALT_HOLD"]]|(% style="text-align:center" %)H|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | | 178 178 179 -|(% colspan="10" style="color:orange; font-size:18px" %)**Motion Setup** 179 +|(% colspan="10" style="color:orange; font-size:18px" %)[[**Motion Setup**>>||anchor="MOTION_SETUP"]] 180 180 |(% 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** 181 -| |**E**nable **M**otion Profile|(% style="text-align:center" %)EM|(% style="text-align:center" %)QEM|(% style="text-align:center" %)CEM|(% style="text-align:center" %) |(% style="text-align:center" %)✓|1| |EM1: trapezoidal motion profile / EM0: no motion profile 182 -| |**F**ilter **P**osition **C**ount|(% style="text-align:center" %)FPC|(% style="text-align:center" %)QFPC|(% style="text-align:center" %)CFPC|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|5| |Affects motion only when motion profile is disabled (EM0) 183 -| |**O**rigin Offset|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|0|1/10°| 184 -| |**A**ngular **R**ange|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|1800|1/10°| 185 -| |**A**ngular **S**tiffness|(% style="text-align:center" %)AS|(% style="text-align:center" %)QAS|(% style="text-align:center" %)CAS|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|0|-4 to +4 integer|Suggested values are between 0 to +4 186 -| |**A**ngular **H**olding Stiffness 187 -| |**A**ngular **A**cceleration|(% style="text-align:center" %)AA|(% style="text-align:center" %)QAA|(% style="text-align:center" %)CAA|(% style="text-align:center" %) |(% style="text-align:center" %)✓|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1). 188 -| |**A**ngular **D**eceleration|(% style="text-align:center" %)AD|(% style="text-align:center" %)QAD|(% style="text-align:center" %)CAD|(% style="text-align:center" %) |(% style="text-align:center" %)✓|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1). 189 -| |**G**yre Direction|(% style="text-align:center" %)G|(% style="text-align:center" %)QG|(% style="text-align:center" %)CG|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|1| |Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise) 190 -| |**F**irst Position (**D**eg)|(% style="text-align:center" %) |(% style="text-align:center" %)QFD|(% style="text-align:center" %)CFD|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|No value|1/10°|Reset required after change. 191 -| |**M**aximum **M**otor **D**uty|(% style="text-align:center" %)MMD|(% style="text-align:center" %)QMMD|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓|1023|255 to 1023 integer| 192 -| |Maximum **S**peed in **D**egrees|(% style="text-align:center" %)SD|(% style="text-align:center" %)QSD|(% style="text-align:center" %)CSD|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|Max|°/s|SD overwrites SR / CSD overwrites CSR and vice-versa 193 -| |Maximum **S**peed in **R**PM|(% style="text-align:center" %)SR|(% style="text-align:center" %)QSR|(% style="text-align:center" %)CSR|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|Max|RPM|SD overwrites SR / CSD overwrites CSR and vice-versa 181 +| |[[**E**nable **M**otion Profile>>||anchor="MOTION_PROFILE"]]|(% style="text-align:center" %)EM|(% style="text-align:center" %)QEM|(% style="text-align:center" %)CEM|(% style="text-align:center" %) |(% style="text-align:center" %)✓|1| |EM1: trapezoidal motion profile / EM0: no motion profile 182 +| |[[**F**ilter **P**osition **C**ount>>||anchor="FILTER_POSITION_COUNT"]]|(% style="text-align:center" %)FPC|(% style="text-align:center" %)QFPC|(% style="text-align:center" %)CFPC|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|5| |Affects motion only when motion profile is disabled (EM0) 183 +| |[[**O**rigin Offset>>||anchor="ORIGIN_OFFSET"]]|(% style="text-align:center" %)O|(% style="text-align:center" %)QO|(% style="text-align:center" %)CO|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|0|1/10°| 184 +| |[[**A**ngular **R**ange>>||anchor="ANGULAR_RANGE"]]|(% style="text-align:center" %)AR|(% style="text-align:center" %)QAR|(% style="text-align:center" %)CAR|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|1800|1/10°| 185 +| |[[**A**ngular **S**tiffness>>||anchor="ANGULAR_STIFFNESS"]]|(% style="text-align:center" %)AS|(% style="text-align:center" %)QAS|(% style="text-align:center" %)CAS|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|0|-4 to +4 integer|Suggested values are between 0 to +4 186 +| |[[**A**ngular **H**olding Stiffness>>||anchor="ANGULAR_HOLDING_STIFFNESS"]]|(% style="text-align:center" %)AH|(% style="text-align:center" %)QAH|(% style="text-align:center" %)CAH|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|4|-10 to +10 integer| 187 +| |[[**A**ngular **A**cceleration>>||anchor="ANGULAR_ACCELERATION"]]|(% style="text-align:center" %)AA|(% style="text-align:center" %)QAA|(% style="text-align:center" %)CAA|(% style="text-align:center" %) |(% style="text-align:center" %)✓|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1). 188 +| |[[**A**ngular **D**eceleration>>||anchor="ANGULAR_DECELERATION"]]|(% style="text-align:center" %)AD|(% style="text-align:center" %)QAD|(% style="text-align:center" %)CAD|(% style="text-align:center" %) |(% style="text-align:center" %)✓|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1). 189 +| |[[**G**yre Direction>>||anchor="GYRE_DIRECTION"]]|(% style="text-align:center" %)G|(% style="text-align:center" %)QG|(% style="text-align:center" %)CG|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|1| |Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise) 190 +| |[[**F**irst Position (**D**eg)>>||anchor="FIRST_POSITION"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QFD|(% style="text-align:center" %)CFD|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|No value|1/10°|Reset required after change. 191 +| |[[**M**aximum **M**otor **D**uty>>||anchor="MAXIMUM_RAW"]]|(% style="text-align:center" %)MMD|(% style="text-align:center" %)QMMD|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓|1023|255 to 1023 integer| 192 +| |[[Maximum **S**peed in **D**egrees>>||anchor="MAXIMUM_SPEED_D"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %)QSD|(% style="text-align:center" %)CSD|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|Max|°/s|SD overwrites SR / CSD overwrites CSR and vice-versa 193 +| |[[Maximum **S**peed in **R**PM>>||anchor="MAXIMUM_SPEED_RPM"]]|(% style="text-align:center" %)SR|(% style="text-align:center" %)QSR|(% style="text-align:center" %)CSR|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|Max|RPM|SD overwrites SR / CSD overwrites CSR and vice-versa 194 194 195 -|(% colspan="10" style="color:orange; font-size:18px" %)**Modifiers** 195 +|(% colspan="10" style="color:orange; font-size:18px" %)[[**Modifiers**>>||anchor="MODIFIERS"]] 196 196 |(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Modifier**|(% 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** 197 -| |**S**peed|(% style="text-align:center" %)S|(% style="text-align:center" %)QS|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |uS/s |For P action command 198 -| |**S**peed in **D**egrees|(% style="text-align:center" %)SD|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |°/s|For D and MD action commands 199 -| |**T**imed move|(% style="text-align:center" %)T|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |ms|Modifier only for P, D and MD. Time can change based on load 200 -| |**C**urrent **H**old|(% style="text-align:center" %)CH|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mA|Modifier for D, MD, WD and WR 201 -| |**C**urrent **L**imp|(% style="text-align:center" %)CL|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mA|Modifier for D, MD, WD and WR 197 +| |[[**S**peed>>||anchor="SPEEDS"]]|(% style="text-align:center" %)S|(% style="text-align:center" %)QS|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |uS/s |For P action command 198 +| |[[**S**peed in **D**egrees>>||anchor="SPEEDS"]]|(% style="text-align:center" %)SD|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |°/s|For D and MD action commands 199 +| |[[**T**imed move>>||anchor="TIMED_MOVE"]]|(% style="text-align:center" %)T|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |ms|Modifier only for P, D and MD. Time can change based on load 200 +| |[[**C**urrent **H**old>>||anchor="CURRENT_HOLD"]]|(% style="text-align:center" %)CH|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mA|Modifier for D, MD, WD and WR 201 +| |[[**C**urrent **L**imp>>||anchor="CURRENT_LIMP"]]|(% style="text-align:center" %)CL|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mA|Modifier for D, MD, WD and WR 202 202 203 -|(% colspan="10" style="color:orange; font-size:18px" %)**Telemetry** 203 +|(% colspan="10" style="color:orange; font-size:18px" %)[[**Telemetry**>>||anchor="TELEMETRY"]] 204 204 |(% 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** 205 -| |**Q**uery **V**oltage|(% style="text-align:center" %) |(% style="text-align:center" %)QV|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mV| 206 -| |**Q**uery **T**emperature|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |1/10°C| 207 -| |**Q**uery **C**urrent|(% style="text-align:center" %) |(% style="text-align:center" %)QC|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mA| 208 -| |**Q**uery **M**odel **S**tring|(% style="text-align:center" %) |(% style="text-align:center" %)QMS|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1) 209 -| |**Q**uery **F**irmware Version|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | | 210 -| |**Q**uery Serial **N**umber|(% style="text-align:center" %) |(% style="text-align:center" %)QN|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Returns the unique serial number for the servo 205 +| |[[**Q**uery **V**oltage>>||anchor="QUERY_VOLTAGE"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QV|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mV| 206 +| |[[**Q**uery **T**emperature>>||anchor="QUERY_TEMP"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |1/10°C| 207 +| |[[**Q**uery **C**urrent>>||anchor="QUERY_CURRENT"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QC|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mA| 208 +| |[[**Q**uery **M**odel **S**tring>>||anchor="QUERY_MODEL"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMS|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1) 209 +| |[[**Q**uery **F**irmware Version>>||anchor="QUERY_FIRMWARE"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | | 210 +| |[[**Q**uery Serial **N**umber>>||anchor="QUERY_SERIAL"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QN|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Returns the unique serial number for the servo 211 211 212 -|(% colspan="10" style="color:orange; font-size:18px" %)**RGB LED** 212 +|(% colspan="10" style="color:orange; font-size:18px" %)[[**RGB LED**>>||anchor="RGB_LED"]] 213 213 |(% 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** 214 -| |**LED** Color|(% style="text-align:center" %)LED|(% style="text-align:center" %)QLED|(% style="text-align:center" %)CLED|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓| |0 to 7 integer|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White 215 -| |**C**onfigure **L**ED **B**linking|(% style="text-align:center" %) |(% style="text-align:center" %)QLB|(% style="text-align:center" %)CLB|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓| |0 to 63 integer|Reset required after change. See command for details. 214 +| |[[**LED** Color>>||anchor="LED_COLOR"]]|(% style="text-align:center" %)LED|(% style="text-align:center" %)QLED|(% style="text-align:center" %)CLED|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓| |0 to 7 integer|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White 215 +| |[[**C**onfigure **L**ED **B**linking>>||anchor="LED_BLINK"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QLB|(% style="text-align:center" %)CLB|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓| |0 to 63 integer|Reset required after change. See command for details. 216 216 217 217 = (% style="color:inherit; font-family:inherit" %)Details(%%) = 218 218 219 +{{id name="COMMUNICATION_SETUP"/}} 220 + 219 219 == (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) == 220 220 223 +{{id name="RESET"/}} 224 + 221 221 ====== __Reset__ ====== 222 222 223 223 {{html wiki="true" clean="false"}} 224 224 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 225 -Ex: #5RESET<div class="wikimodel-emptyline"></div> 229 +Ex: #5RESET<cr><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> 229 229 {{/html}} 230 230 235 +{{id name="DEFAULT"/}} 236 + 231 231 ====== __Default & confirm__ ====== 232 232 233 233 {{html wiki="true" clean="false"}} ... ... @@ -244,6 +244,8 @@ 244 244 </div></div> 245 245 {{/html}} 246 246 253 +{{id name="UPDATE_CONFIRM"/}} 254 + 247 247 ====== __Update & confirm__ ====== 248 248 249 249 {{html wiki="true" clean="false"}} ... ... @@ -260,6 +260,22 @@ 260 260 </div></div> 261 261 {{/html}} 262 262 271 +{{id name="CONFIRM"/}} 272 + 273 +====== __Confirm__ ====== 274 + 275 +{{html wiki="true" clean="false"}} 276 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 277 +Ex: #5CONFIRM<cr><div class="wikimodel-emptyline"></div> 278 + 279 +This command is used to confirm changes after a Default or Update command.<div class="wikimodel-emptyline"></div> 280 + 281 +**Note:** After the CONFIRM command is sent, the servo will automatically perform a RESET.<div class="wikimodel-emptyline"></div> 282 +</div></div> 283 +{{/html}} 284 + 285 +{{id name="CHANGE_RC"/}} 286 + 263 263 ====== __Configure RC Mode (**CRC**)__ ====== 264 264 265 265 {{html wiki="true" clean="false"}} ... ... @@ -279,6 +279,8 @@ 279 279 </div></div> 280 280 {{/html}} 281 281 306 +{{id name="ID"/}} 307 + 282 282 ====== __Identification Number (**ID**)__ ====== 283 283 284 284 {{html wiki="true" clean="false"}} ... ... @@ -299,6 +299,8 @@ 299 299 </div></div> 300 300 {{/html}} 301 301 328 +{{id name="BAUDRATE"/}} 329 + 302 302 ====== __Baud Rate__ ====== 303 303 304 304 {{html wiki="true" clean="false"}} ... ... @@ -321,8 +321,12 @@ 321 321 </div></div> 322 322 {{/html}} 323 323 352 +{{id name="MOTION"/}} 353 + 324 324 == Motion == 325 325 356 +{{id name="POSITION_D"/}} 357 + 326 326 ====== __Position in Degrees (**D**)__ ====== 327 327 328 328 {{html wiki="true" clean="false"}} ... ... @@ -348,6 +348,8 @@ 348 348 <div class="wikimodel-emptyline"></div></div></div> 349 349 {{/html}} 350 350 383 +{{id name="MOVE_D"/}} 384 + 351 351 ====== __(Relative) Move in Degrees (**MD**)__ ====== 352 352 353 353 {{html wiki="true" clean="false"}} ... ... @@ -358,6 +358,8 @@ 358 358 <div class="wikimodel-emptyline"></div></div></div> 359 359 {{/html}} 360 360 395 +{{id name="WHEEL_D"/}} 396 + 361 361 ====== __Wheel Mode in Degrees (**WD**)__ ====== 362 362 363 363 {{html wiki="true" clean="false"}} ... ... @@ -374,6 +374,8 @@ 374 374 <div class="wikimodel-emptyline"></div></div></div> 375 375 {{/html}} 376 376 413 +{{id name="WHEEL_RPM"/}} 414 + 377 377 ====== __Wheel Mode in RPM (**WR**)__ ====== 378 378 379 379 {{html wiki="true" clean="false"}} ... ... @@ -390,6 +390,8 @@ 390 390 <div class="wikimodel-emptyline"></div></div></div> 391 391 {{/html}} 392 392 431 +{{id name="POSITION_PWM"/}} 432 + 393 393 ====== __Position in PWM (**P**)__ ====== 394 394 395 395 {{html wiki="true" clean="false"}} ... ... @@ -407,6 +407,8 @@ 407 407 <div class="wikimodel-emptyline"></div></div></div> 408 408 {{/html}} 409 409 450 +{{id name="MOVE_PWM"/}} 451 + 410 410 ====== __(Relative) Move in PWM (**M**)__ ====== 411 411 412 412 {{html wiki="true" clean="false"}} ... ... @@ -417,6 +417,8 @@ 417 417 <div class="wikimodel-emptyline"></div></div></div> 418 418 {{/html}} 419 419 462 +{{id name="MOVE_RAW"/}} 463 + 420 420 ====== __Raw Duty-cycle Move (**RDM**)__ ====== 421 421 422 422 {{html wiki="true" clean="false"}} ... ... @@ -435,6 +435,8 @@ 435 435 <div class="wikimodel-emptyline"></div></div></div> 436 436 {{/html}} 437 437 482 +{{id name="QUERY_STATUS"/}} 483 + 438 438 ====== __Query Status (**Q**)__ ====== 439 439 440 440 {{html wiki="true" clean="false"}} ... ... @@ -474,6 +474,8 @@ 474 474 | |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source 475 475 | |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely. 476 476 523 +{{id name="LIMP"/}} 524 + 477 477 ====== __Limp (**L**)__ ====== 478 478 479 479 {{html wiki="true" clean="false"}} ... ... @@ -484,6 +484,8 @@ 484 484 <div class="wikimodel-emptyline"></div></div></div> 485 485 {{/html}} 486 486 535 +{{id name="HALT_HOLD"/}} 536 + 487 487 ====== __Halt & Hold (**H**)__ ====== 488 488 489 489 {{html wiki="true" clean="false"}} ... ... @@ -494,8 +494,12 @@ 494 494 <div class="wikimodel-emptyline"></div></div></div> 495 495 {{/html}} 496 496 547 +{{id name="MOTION_SETUP"/}} 548 + 497 497 == Motion Setup == 498 498 551 +{{id name="MOTION_PROFILE"/}} 552 + 499 499 ====== __Enable Motion Profile (**EM**)__ ====== 500 500 501 501 {{html wiki="true" clean="false"}} ... ... @@ -522,6 +522,8 @@ 522 522 <div class="wikimodel-emptyline"></div></div></div> 523 523 {{/html}} 524 524 579 +{{id name="FILTER_POSITION_COUNT"/}} 580 + 525 525 ====== __Filter Position Count (**FPC**)__ ====== 526 526 527 527 {{html wiki="true" clean="false"}} ... ... @@ -543,6 +543,8 @@ 543 543 <div class="wikimodel-emptyline"></div></div></div> 544 544 {{/html}} 545 545 602 +{{id name="ORIGIN_OFFSET"/}} 603 + 546 546 ====== __Origin Offset (**O**)__ ====== 547 547 548 548 {{html wiki="true" clean="false"}} ... ... @@ -571,6 +571,8 @@ 571 571 <div class="wikimodel-emptyline"></div></div></div> 572 572 {{/html}} 573 573 632 +{{id name="ANGULAR_RANGE"/}} 633 + 574 574 ====== __Angular Range (**AR**)__ ====== 575 575 576 576 {{html wiki="true" clean="false"}} ... ... @@ -599,6 +599,8 @@ 599 599 <div class="wikimodel-emptyline"></div></div></div> 600 600 {{/html}} 601 601 662 +{{id name="ANGULAR_STIFFNESS"/}} 663 + 602 602 ====== __Angular Stiffness (**AS**)__ ====== 603 603 604 604 {{html wiki="true" clean="false"}} ... ... @@ -631,6 +631,8 @@ 631 631 <div class="wikimodel-emptyline"></div></div></div> 632 632 {{/html}} 633 633 696 +{{id name="ANGULAR_HOLDING_STIFFNESS"/}} 697 + 634 634 ====== __Angular Holding Stiffness (**AH**)__ ====== 635 635 636 636 {{html wiki="true" clean="false"}} ... ... @@ -655,6 +655,8 @@ 655 655 <div class="wikimodel-emptyline"></div></div></div> 656 656 {{/html}} 657 657 722 +{{id name="ANGULAR_ACCELERATION"/}} 723 + 658 658 ====== __Angular Acceleration (**AA**)__ ====== 659 659 660 660 {{html wiki="true" clean="false"}} ... ... @@ -679,6 +679,8 @@ 679 679 <div class="wikimodel-emptyline"></div></div></div> 680 680 {{/html}} 681 681 748 +{{id name="ANGULAR_DECELERATION"/}} 749 + 682 682 ====== __Angular Deceleration (**AD**)__ ====== 683 683 684 684 {{html wiki="true" clean="false"}} ... ... @@ -703,6 +703,8 @@ 703 703 <div class="wikimodel-emptyline"></div></div></div> 704 704 {{/html}} 705 705 774 +{{id name="GYRE_DIRECTION"/}} 775 + 706 706 ====== __Gyre Direction (**G**)__ ====== 707 707 708 708 {{html wiki="true" clean="false"}} ... ... @@ -727,6 +727,8 @@ 727 727 <div class="wikimodel-emptyline"></div></div></div> 728 728 {{/html}} 729 729 800 +{{id name="FIRST_POSITION"/}} 801 + 730 730 ====== __First Position__ ====== 731 731 732 732 {{html wiki="true" clean="false"}} ... ... @@ -741,12 +741,34 @@ 741 741 742 742 Configure First Position in Degrees (**CFD**)<div class="wikimodel-emptyline"></div> 743 743 744 -Ex: #5CD900<cr><div class="wikimodel-emptyline"></div> 816 +Ex: #5CFD900<cr><div class="wikimodel-emptyline"></div> 745 745 746 746 This configuration command means the servo, when set to smart mode, will immediately move to 90.0 degrees upon power up. Sending a CFD command without a number (Ex. #5CFD<cr>) results in the servo remaining limp upon power up. In order to remove the first position, send no value, ex: #5CFD<cr> 747 747 <div class="wikimodel-emptyline"></div></div></div> 748 748 {{/html}} 749 749 822 +{{id name="MAXIMUM_RAW"/}} 823 + 824 +====== __Maximum Motor Duty (**MMD**)__ ====== 825 + 826 +{{html wiki="true" clean="false"}} 827 +<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 828 +This command allows the user to limit the duty cycle value sent from the servo's MCU to the DC Motor driver. The duty cycle limit value can be within the range of 255 to 1023. The default value is 1023. A typical use-case for this command is active compliance.<div class="wikimodel-emptyline"></div> 829 + 830 +Ex: #5MMD512<cr><div class="wikimodel-emptyline"></div> 831 + 832 +This will set the duty-cycle to 512 for servo with ID 5 for that session.<div class="wikimodel-emptyline"></div> 833 + 834 +Query Maximum Motor Duty (**QMMD**)<div class="wikimodel-emptyline"></div> 835 + 836 +Ex: #5QMMDD<cr> might return *5QMMD512<cr> <div class="wikimodel-emptyline"></div> 837 + 838 +This configuration command means the servo, when set to smart mode, will immediately move to 90.0 degrees upon power up. Sending a CFD command without a number (Ex. #5CFD<cr>) results in the servo remaining limp upon power up. In order to remove the first position, send no value, ex: #5CFD<cr> 839 +<div class="wikimodel-emptyline"></div></div></div> 840 +{{/html}} 841 + 842 +{{id name="MAXIMUM_SPEED_D"/}} 843 + 750 750 ====== __Maximum Speed in Degrees (**SD**)__ ====== 751 751 752 752 {{html wiki="true" clean="false"}} ... ... @@ -773,6 +773,8 @@ 773 773 </div></div> 774 774 {{/html}} 775 775 870 +{{id name="MAXIMUM_SPEED_RPM"/}} 871 + 776 776 ====== __Maximum Speed in RPM (**SR**)__ ====== 777 777 778 778 {{html wiki="true" clean="false"}} ... ... @@ -799,8 +799,12 @@ 799 799 </div></div> 800 800 {{/html}} 801 801 898 +{{id name="MODIFIERS"/}} 899 + 802 802 == Modifiers == 803 803 902 +{{id name="SPEEDS"/}} 903 + 804 804 ====== __Speed (**S**, **SD**) modifier__ ====== 805 805 806 806 {{html wiki="true" clean="false"}} ... ... @@ -815,6 +815,8 @@ 815 815 </div></div> 816 816 {{/html}} 817 817 918 +{{id name="TIMED_MOVE"/}} 919 + 818 818 ====== __Timed move (**T**) modifier__ ====== 819 819 820 820 {{html wiki="true" clean="false"}} ... ... @@ -826,6 +826,8 @@ 826 826 </div></div> 827 827 {{/html}} 828 828 931 +{{id name="CURRENT_HOLD"/}} 932 + 829 829 ====== __Current Halt & Hold (**CH**) modifier__ ====== 830 830 831 831 {{html wiki="true" clean="false"}} ... ... @@ -837,6 +837,8 @@ 837 837 </div></div> 838 838 {{/html}} 839 839 944 +{{id name="CURRENT_LIMP"/}} 945 + 840 840 ====== __Current Limp (**CL**) modifier__ ====== 841 841 842 842 {{html wiki="true" clean="false"}} ... ... @@ -848,8 +848,12 @@ 848 848 </div></div> 849 849 {{/html}} 850 850 957 +{{id name="TELEMETRY"/}} 958 + 851 851 == Telemetry == 852 852 961 +{{id name="QUERY_VOLTAGE"/}} 962 + 853 853 ====== __Query Voltage (**QV**)__ ====== 854 854 855 855 {{html wiki="true" clean="false"}} ... ... @@ -859,6 +859,8 @@ 859 859 </div></div> 860 860 {{/html}} 861 861 972 +{{id name="QUERY_TEMP"/}} 973 + 862 862 ====== __Query Temperature (**QT**)__ ====== 863 863 864 864 {{html wiki="true" clean="false"}} ... ... @@ -868,6 +868,8 @@ 868 868 </div></div> 869 869 {{/html}} 870 870 983 +{{id name="QUERY_CURRENT"/}} 984 + 871 871 ====== __Query Current (**QC**)__ ====== 872 872 873 873 {{html wiki="true" clean="false"}} ... ... @@ -877,6 +877,8 @@ 877 877 </div></div> 878 878 {{/html}} 879 879 994 +{{id name="QUERY_MODEL"/}} 995 + 880 880 ====== __Query Model String (**QMS**)__ ====== 881 881 882 882 {{html wiki="true" clean="false"}} ... ... @@ -886,6 +886,8 @@ 886 886 </div></div> 887 887 {{/html}} 888 888 1005 +{{id name="QUERY_FIRMWARE"/}} 1006 + 889 889 ====== __Query Firmware (**QF**)__ ====== 890 890 891 891 {{html wiki="true" clean="false"}} ... ... @@ -896,6 +896,8 @@ 896 896 </div></div> 897 897 {{/html}} 898 898 1017 +{{id name="QUERY_SERIAL"/}} 1018 + 899 899 ====== __Query Serial Number (**QN**)__ ====== 900 900 901 901 {{html wiki="true" clean="false"}} ... ... @@ -905,8 +905,12 @@ 905 905 </div></div> 906 906 {{/html}} 907 907 1028 +{{id name="RGB_LED"/}} 1029 + 908 908 == RGB LED == 909 909 1032 +{{id name="LED_COLOR"/}} 1033 + 910 910 ====== __LED Color (**LED**)__ ====== 911 911 912 912 {{html wiki="true" clean="false"}} ... ... @@ -923,6 +923,8 @@ 923 923 </div></div> 924 924 {{/html}} 925 925 1050 +{{id name="LED_BLINK"/}} 1051 + 926 926 ====== __Configure LED Blinking (**CLB**)__ ====== 927 927 928 928 {{html wiki="true" clean="false"}} ... ... @@ -951,7 +951,7 @@ 951 951 </div></div> 952 952 {{/html}} 953 953 954 -= RGB LED Patterns = 1080 +== RGB LED Patterns == 955 955 956 956 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]] 957 957
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