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> ... ... @@ -153,71 +153,75 @@ 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"}} ... ... @@ -228,6 +228,8 @@ 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 +260,8 @@ 260 260 </div></div> 261 261 {{/html}} 262 262 271 +{{id name="CONFIRM"/}} 272 + 263 263 ====== __Confirm__ ====== 264 264 265 265 {{html wiki="true" clean="false"}} ... ... @@ -272,6 +272,8 @@ 272 272 </div></div> 273 273 {{/html}} 274 274 285 +{{id name="CHANGE_RC"/}} 286 + 275 275 ====== __Configure RC Mode (**CRC**)__ ====== 276 276 277 277 {{html wiki="true" clean="false"}} ... ... @@ -291,6 +291,8 @@ 291 291 </div></div> 292 292 {{/html}} 293 293 306 +{{id name="ID"/}} 307 + 294 294 ====== __Identification Number (**ID**)__ ====== 295 295 296 296 {{html wiki="true" clean="false"}} ... ... @@ -311,6 +311,8 @@ 311 311 </div></div> 312 312 {{/html}} 313 313 328 +{{id name="BAUDRATE"/}} 329 + 314 314 ====== __Baud Rate__ ====== 315 315 316 316 {{html wiki="true" clean="false"}} ... ... @@ -333,8 +333,12 @@ 333 333 </div></div> 334 334 {{/html}} 335 335 352 +{{id name="MOTION"/}} 353 + 336 336 == Motion == 337 337 356 +{{id name="POSITION_D"/}} 357 + 338 338 ====== __Position in Degrees (**D**)__ ====== 339 339 340 340 {{html wiki="true" clean="false"}} ... ... @@ -360,6 +360,8 @@ 360 360 <div class="wikimodel-emptyline"></div></div></div> 361 361 {{/html}} 362 362 383 +{{id name="MOVE_D"/}} 384 + 363 363 ====== __(Relative) Move in Degrees (**MD**)__ ====== 364 364 365 365 {{html wiki="true" clean="false"}} ... ... @@ -370,6 +370,8 @@ 370 370 <div class="wikimodel-emptyline"></div></div></div> 371 371 {{/html}} 372 372 395 +{{id name="WHEEL_D"/}} 396 + 373 373 ====== __Wheel Mode in Degrees (**WD**)__ ====== 374 374 375 375 {{html wiki="true" clean="false"}} ... ... @@ -386,6 +386,8 @@ 386 386 <div class="wikimodel-emptyline"></div></div></div> 387 387 {{/html}} 388 388 413 +{{id name="WHEEL_RPM"/}} 414 + 389 389 ====== __Wheel Mode in RPM (**WR**)__ ====== 390 390 391 391 {{html wiki="true" clean="false"}} ... ... @@ -402,6 +402,8 @@ 402 402 <div class="wikimodel-emptyline"></div></div></div> 403 403 {{/html}} 404 404 431 +{{id name="POSITION_PWM"/}} 432 + 405 405 ====== __Position in PWM (**P**)__ ====== 406 406 407 407 {{html wiki="true" clean="false"}} ... ... @@ -419,6 +419,8 @@ 419 419 <div class="wikimodel-emptyline"></div></div></div> 420 420 {{/html}} 421 421 450 +{{id name="MOVE_PWM"/}} 451 + 422 422 ====== __(Relative) Move in PWM (**M**)__ ====== 423 423 424 424 {{html wiki="true" clean="false"}} ... ... @@ -429,6 +429,8 @@ 429 429 <div class="wikimodel-emptyline"></div></div></div> 430 430 {{/html}} 431 431 462 +{{id name="MOVE_RAW"/}} 463 + 432 432 ====== __Raw Duty-cycle Move (**RDM**)__ ====== 433 433 434 434 {{html wiki="true" clean="false"}} ... ... @@ -447,6 +447,8 @@ 447 447 <div class="wikimodel-emptyline"></div></div></div> 448 448 {{/html}} 449 449 482 +{{id name="QUERY_STATUS"/}} 483 + 450 450 ====== __Query Status (**Q**)__ ====== 451 451 452 452 {{html wiki="true" clean="false"}} ... ... @@ -486,6 +486,8 @@ 486 486 | |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source 487 487 | |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely. 488 488 523 +{{id name="LIMP"/}} 524 + 489 489 ====== __Limp (**L**)__ ====== 490 490 491 491 {{html wiki="true" clean="false"}} ... ... @@ -496,6 +496,8 @@ 496 496 <div class="wikimodel-emptyline"></div></div></div> 497 497 {{/html}} 498 498 535 +{{id name="HALT_HOLD"/}} 536 + 499 499 ====== __Halt & Hold (**H**)__ ====== 500 500 501 501 {{html wiki="true" clean="false"}} ... ... @@ -506,8 +506,12 @@ 506 506 <div class="wikimodel-emptyline"></div></div></div> 507 507 {{/html}} 508 508 547 +{{id name="MOTION_SETUP"/}} 548 + 509 509 == Motion Setup == 510 510 551 +{{id name="MOTION_PROFILE"/}} 552 + 511 511 ====== __Enable Motion Profile (**EM**)__ ====== 512 512 513 513 {{html wiki="true" clean="false"}} ... ... @@ -534,6 +534,8 @@ 534 534 <div class="wikimodel-emptyline"></div></div></div> 535 535 {{/html}} 536 536 579 +{{id name="FILTER_POSITION_COUNT"/}} 580 + 537 537 ====== __Filter Position Count (**FPC**)__ ====== 538 538 539 539 {{html wiki="true" clean="false"}} ... ... @@ -555,6 +555,8 @@ 555 555 <div class="wikimodel-emptyline"></div></div></div> 556 556 {{/html}} 557 557 602 +{{id name="ORIGIN_OFFSET"/}} 603 + 558 558 ====== __Origin Offset (**O**)__ ====== 559 559 560 560 {{html wiki="true" clean="false"}} ... ... @@ -583,6 +583,8 @@ 583 583 <div class="wikimodel-emptyline"></div></div></div> 584 584 {{/html}} 585 585 632 +{{id name="ANGULAR_RANGE"/}} 633 + 586 586 ====== __Angular Range (**AR**)__ ====== 587 587 588 588 {{html wiki="true" clean="false"}} ... ... @@ -611,6 +611,8 @@ 611 611 <div class="wikimodel-emptyline"></div></div></div> 612 612 {{/html}} 613 613 662 +{{id name="ANGULAR_STIFFNESS"/}} 663 + 614 614 ====== __Angular Stiffness (**AS**)__ ====== 615 615 616 616 {{html wiki="true" clean="false"}} ... ... @@ -643,6 +643,8 @@ 643 643 <div class="wikimodel-emptyline"></div></div></div> 644 644 {{/html}} 645 645 696 +{{id name="ANGULAR_HOLDING_STIFFNESS"/}} 697 + 646 646 ====== __Angular Holding Stiffness (**AH**)__ ====== 647 647 648 648 {{html wiki="true" clean="false"}} ... ... @@ -667,6 +667,8 @@ 667 667 <div class="wikimodel-emptyline"></div></div></div> 668 668 {{/html}} 669 669 722 +{{id name="ANGULAR_ACCELERATION"/}} 723 + 670 670 ====== __Angular Acceleration (**AA**)__ ====== 671 671 672 672 {{html wiki="true" clean="false"}} ... ... @@ -691,6 +691,8 @@ 691 691 <div class="wikimodel-emptyline"></div></div></div> 692 692 {{/html}} 693 693 748 +{{id name="ANGULAR_DECELERATION"/}} 749 + 694 694 ====== __Angular Deceleration (**AD**)__ ====== 695 695 696 696 {{html wiki="true" clean="false"}} ... ... @@ -715,6 +715,8 @@ 715 715 <div class="wikimodel-emptyline"></div></div></div> 716 716 {{/html}} 717 717 774 +{{id name="GYRE_DIRECTION"/}} 775 + 718 718 ====== __Gyre Direction (**G**)__ ====== 719 719 720 720 {{html wiki="true" clean="false"}} ... ... @@ -739,6 +739,8 @@ 739 739 <div class="wikimodel-emptyline"></div></div></div> 740 740 {{/html}} 741 741 800 +{{id name="FIRST_POSITION"/}} 801 + 742 742 ====== __First Position__ ====== 743 743 744 744 {{html wiki="true" clean="false"}} ... ... @@ -759,6 +759,8 @@ 759 759 <div class="wikimodel-emptyline"></div></div></div> 760 760 {{/html}} 761 761 822 +{{id name="MAXIMUM_RAW"/}} 823 + 762 762 ====== __Maximum Motor Duty (**MMD**)__ ====== 763 763 764 764 {{html wiki="true" clean="false"}} ... ... @@ -765,14 +765,20 @@ 765 765 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 766 766 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> 767 767 830 +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 + 768 768 Query Maximum Motor Duty (**QMMD**)<div class="wikimodel-emptyline"></div> 769 769 770 770 Ex: #5QMMDD<cr> might return *5QMMD512<cr> <div class="wikimodel-emptyline"></div> 771 771 772 -Th ereplyaboveindicates thatservo withID5 motor dutyislimitedto512.<divclass="wikimodel-emptyline"></div>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> 773 773 <div class="wikimodel-emptyline"></div></div></div> 774 774 {{/html}} 775 775 842 +{{id name="MAXIMUM_SPEED_D"/}} 843 + 776 776 ====== __Maximum Speed in Degrees (**SD**)__ ====== 777 777 778 778 {{html wiki="true" clean="false"}} ... ... @@ -799,6 +799,8 @@ 799 799 </div></div> 800 800 {{/html}} 801 801 870 +{{id name="MAXIMUM_SPEED_RPM"/}} 871 + 802 802 ====== __Maximum Speed in RPM (**SR**)__ ====== 803 803 804 804 {{html wiki="true" clean="false"}} ... ... @@ -825,8 +825,12 @@ 825 825 </div></div> 826 826 {{/html}} 827 827 898 +{{id name="MODIFIERS"/}} 899 + 828 828 == Modifiers == 829 829 902 +{{id name="SPEEDS"/}} 903 + 830 830 ====== __Speed (**S**, **SD**) modifier__ ====== 831 831 832 832 {{html wiki="true" clean="false"}} ... ... @@ -841,6 +841,8 @@ 841 841 </div></div> 842 842 {{/html}} 843 843 918 +{{id name="TIMED_MOVE"/}} 919 + 844 844 ====== __Timed move (**T**) modifier__ ====== 845 845 846 846 {{html wiki="true" clean="false"}} ... ... @@ -852,6 +852,8 @@ 852 852 </div></div> 853 853 {{/html}} 854 854 931 +{{id name="CURRENT_HOLD"/}} 932 + 855 855 ====== __Current Halt & Hold (**CH**) modifier__ ====== 856 856 857 857 {{html wiki="true" clean="false"}} ... ... @@ -863,6 +863,8 @@ 863 863 </div></div> 864 864 {{/html}} 865 865 944 +{{id name="CURRENT_LIMP"/}} 945 + 866 866 ====== __Current Limp (**CL**) modifier__ ====== 867 867 868 868 {{html wiki="true" clean="false"}} ... ... @@ -874,8 +874,12 @@ 874 874 </div></div> 875 875 {{/html}} 876 876 957 +{{id name="TELEMETRY"/}} 958 + 877 877 == Telemetry == 878 878 961 +{{id name="QUERY_VOLTAGE"/}} 962 + 879 879 ====== __Query Voltage (**QV**)__ ====== 880 880 881 881 {{html wiki="true" clean="false"}} ... ... @@ -885,6 +885,8 @@ 885 885 </div></div> 886 886 {{/html}} 887 887 972 +{{id name="QUERY_TEMP"/}} 973 + 888 888 ====== __Query Temperature (**QT**)__ ====== 889 889 890 890 {{html wiki="true" clean="false"}} ... ... @@ -894,6 +894,8 @@ 894 894 </div></div> 895 895 {{/html}} 896 896 983 +{{id name="QUERY_CURRENT"/}} 984 + 897 897 ====== __Query Current (**QC**)__ ====== 898 898 899 899 {{html wiki="true" clean="false"}} ... ... @@ -903,6 +903,8 @@ 903 903 </div></div> 904 904 {{/html}} 905 905 994 +{{id name="QUERY_MODEL"/}} 995 + 906 906 ====== __Query Model String (**QMS**)__ ====== 907 907 908 908 {{html wiki="true" clean="false"}} ... ... @@ -912,6 +912,8 @@ 912 912 </div></div> 913 913 {{/html}} 914 914 1005 +{{id name="QUERY_FIRMWARE"/}} 1006 + 915 915 ====== __Query Firmware (**QF**)__ ====== 916 916 917 917 {{html wiki="true" clean="false"}} ... ... @@ -922,6 +922,8 @@ 922 922 </div></div> 923 923 {{/html}} 924 924 1017 +{{id name="QUERY_SERIAL"/}} 1018 + 925 925 ====== __Query Serial Number (**QN**)__ ====== 926 926 927 927 {{html wiki="true" clean="false"}} ... ... @@ -931,8 +931,12 @@ 931 931 </div></div> 932 932 {{/html}} 933 933 1028 +{{id name="RGB_LED"/}} 1029 + 934 934 == RGB LED == 935 935 1032 +{{id name="LED_COLOR"/}} 1033 + 936 936 ====== __LED Color (**LED**)__ ====== 937 937 938 938 {{html wiki="true" clean="false"}} ... ... @@ -949,6 +949,8 @@ 949 949 </div></div> 950 950 {{/html}} 951 951 1050 +{{id name="LED_BLINK"/}} 1051 + 952 952 ====== __Configure LED Blinking (**CLB**)__ ====== 953 953 954 954 {{html wiki="true" clean="false"}} ... ... @@ -977,7 +977,7 @@ 977 977 </div></div> 978 978 {{/html}} 979 979 980 -= RGB LED Patterns = 1080 +== RGB LED Patterns == 981 981 982 982 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]] 983 983
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