Changes for page LSS Communication Protocol
Last modified by Eric Nantel on 2024/11/21 09:43
Change comment: There is no comment for this version
Summary
-
Page properties (1 modified, 0 added, 0 removed)
Details
- Page properties
-
- Content
-
... ... @@ -226,7 +226,7 @@ 226 226 227 227 {{html wiki="true" clean="false"}} 228 228 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 229 -Ex: #5RESET <cr><div class="wikimodel-emptyline"></div>229 +Ex: #5RESET<cr><div class="wikimodel-emptyline"></div> 230 230 This command does a "soft reset" and reverts all commands to those stored in EEPROM (i.e. configuration commands). 231 231 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> 232 232 </div></div> ... ... @@ -238,11 +238,11 @@ 238 238 239 239 {{html wiki="true" clean="false"}} 240 240 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 241 -Ex: #5DEFAULT <cr><div class="wikimodel-emptyline"></div>241 +Ex: #5DEFAULT<cr><div class="wikimodel-emptyline"></div> 242 242 243 243 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> 244 244 245 -EX: #5DEFAULT <cr>followed by #5CONFIRM<cr><div class="wikimodel-emptyline"></div>245 +EX: #5DEFAULT<cr> followed by #5CONFIRM<cr><div class="wikimodel-emptyline"></div> 246 246 247 247 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> 248 248 ... ... @@ -256,11 +256,11 @@ 256 256 257 257 {{html wiki="true" clean="false"}} 258 258 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 259 -Ex: #5UPDATE <cr><div class="wikimodel-emptyline"></div>259 +Ex: #5UPDATE<cr><div class="wikimodel-emptyline"></div> 260 260 261 261 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> 262 262 263 -EX: #5UPDATE <cr>followed by #5CONFIRM<cr><div class="wikimodel-emptyline"></div>263 +EX: #5UPDATE<cr> followed by #5CONFIRM<cr><div class="wikimodel-emptyline"></div> 264 264 265 265 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> 266 266 ... ... @@ -291,13 +291,13 @@ 291 291 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> 292 292 293 293 |**Command sent**|**Note** 294 -|ex: #5CRC1 <cr>|Change to RC position mode.295 -|ex: #5CRC2 <cr>|Change to RC continuous rotation (wheel) mode.296 -|ex: #5CRC* <cr>|Where * is any value other than 1 or 2 (or no value): stay in smart mode.<div class="wikimodel-emptyline"></div>294 +|ex: #5CRC1<cr>|Change to RC position mode. 295 +|ex: #5CRC2<cr>|Change to RC continuous rotation (wheel) mode. 296 +|ex: #5CRC*<cr>|Where * is any value other than 1 or 2 (or no value): stay in smart mode.<div class="wikimodel-emptyline"></div> 297 297 298 -EX: #5CRC2 <cr><div class="wikimodel-emptyline"></div>298 +EX: #5CRC2<cr><div class="wikimodel-emptyline"></div> 299 299 300 -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>300 +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> 301 301 302 302 **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> 303 303 </div></div> ... ... @@ -313,13 +313,13 @@ 313 313 314 314 Query Identification (**QID**)<div class="wikimodel-emptyline"></div> 315 315 316 -EX: #254QID <cr>might return *QID5<cr><div class="wikimodel-emptyline"></div>316 +EX: #254QID<cr> might return *QID5<cr><div class="wikimodel-emptyline"></div> 317 317 318 318 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> 319 319 320 320 Configure ID (**CID**)<div class="wikimodel-emptyline"></div> 321 321 322 -Ex: #4CID5 <cr><div class="wikimodel-emptyline"></div>322 +Ex: #4CID5<cr><div class="wikimodel-emptyline"></div> 323 323 324 324 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> 325 325 </div></div> ... ... @@ -335,7 +335,7 @@ 335 335 336 336 Query Baud Rate (**QB**)<div class="wikimodel-emptyline"></div> 337 337 338 -Ex: #5QB <cr>might return *5QB115200<cr><div class="wikimodel-emptyline"></div>338 +Ex: #5QB<cr> might return *5QB115200<cr><div class="wikimodel-emptyline"></div> 339 339 340 340 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> 341 341 ... ... @@ -343,7 +343,7 @@ 343 343 344 344 **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> 345 345 346 -Ex: #5CB9600 <cr><div class="wikimodel-emptyline"></div>346 +Ex: #5CB9600<cr><div class="wikimodel-emptyline"></div> 347 347 348 348 Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.<div class="wikimodel-emptyline"></div> 349 349 </div></div>