Last modified by Eric Nantel on 2025/06/06 07:47
From version < 196.2 >
edited by Coleman Benson
on 2021/02/26 15:31
To version < 190.1 >
edited by Eric Nantel
on 2020/05/01 12:21
< >
Change comment: Uploaded new attachment "LSS-Protocol-Backup-2020-05-01.zip", version 1.1

Summary

Details

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1 -xwiki:XWiki.CBenson
1 +xwiki:XWiki.ENantel
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7 7  
8 8  The Lynxmotion Smart Servo (LSS) serial protocol was created in order to be as simple and straightforward as possible from a user perspective ("human readable format"), while at the same time staying compact and robust yet highly versatile. The protocol was based on Lynxmotion's SSC-32 & SSC-32U RC servo controllers and almost everything one might expect to be able to configure for a smart servomotor is available.
9 9  
10 -In order to be able to control each servo individually with commands, the first step should be to assign a different ID number to each servo (see details on the Configure ID, or "CID" command [[here>>doc:||anchor="HIdentificationNumber28ID29"]]). Only the servo(s) which have been configured to a specific ID will act on a command sent to that ID. There is currently no CRC or checksum implemented as part of the protocol.
10 +In order to be able to control each servo individually with commands, the first step should be to assign a different ID number to each servo (see details on CID [[here>>doc:||anchor="HIdentificationNumber28ID29"]]). Once this has been done, only the servo(s) which have been assigned to the ID sent as part of the command will follow that command. There is currently no CRC or checksum implemented as part of the protocol.
11 11  
12 12  == Session ==
13 13  
14 -{{html clean="false" wiki="true"}}
14 +{{html wiki="true" clean="false"}}
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 overrides the stored value in EEPROM.<div class="wikimodel-emptyline"></div>
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 -**Note 3:** You can ensure the LSS is ready by using a query command to check for response (ex: #[id]Q\r or #[id]QID\r described below). 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.
18 +**Note #1:** For a given session, the action related to a specific commands overrides the stored value in EEPROM.<div class="wikimodel-emptyline"></div>
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 +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>
22 22  {{/html}}
23 23  
24 24  == Action Commands ==
25 25  
26 -{{html clean="false" wiki="true"}}
26 +{{html wiki="true" clean="false"}}
27 27  <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
28 -Action commands tell the servo, within that session, to do something (i.e. "take an action"). The types of action commands which can be sent are described below, and they cannot be combined with other commands such as queries or configurations. Only one action command can be sent at a time. Action commands are session-specific, therefore once a servo is power cycled, it will not have any "memory" of previous actions or [[virtual positions>>||anchor="HVirtualAngularPosition"]] (described below). Action commands are sent serially to the servo's Rx pin and must be sent in the following format:<div class="wikimodel-emptyline"></div>
28 +Action commands tell the servo, within that session, to do something (i.e. "take an action"). The types of action commands which can be sent are described below, and they cannot be combined with other commands such as queries or configurations. Only one action command can be sent at a time. Action commands are session-specific, therefore once a servo is power cycled, it will not have any "memory" of previous actions or [[virtual positions>>||anchor="HVirtualAngularPosition"]]. Action commands are sent serially to the servo's Rx pin and must be sent in the following format:<div class="wikimodel-emptyline"></div>
29 29  
30 30  1. Start with a number sign **#** (Unicode Character: U+0023)
31 -1. Servo ID number as an integer (assigning an ID described below)
32 -1. Action command (one or more letters, no whitespace, capital or lowercase from the list below)
31 +1. Servo ID number as an integer
32 +1. Action command (one or more letters, no whitespace, capital or lower case)
33 33  1. Action value in the correct units with no decimal
34 34  1. End with a carriage return **&#92;r** or **&lt;cr&gt;** Unicode Character (U+000D)
35 35  
... ... @@ -42,15 +42,15 @@
42 42  
43 43  == Modifiers ==
44 44  
45 -{{html clean="false" wiki="true"}}
45 +{{html wiki="true" clean="false"}}
46 46  <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
47 47  Modifiers can only be used with certain **action commands**. The format to include a modifier is:<div class="wikimodel-emptyline"></div>
48 48  
49 49  1. Start with a number sign **#** (Unicode Character: U+0023)
50 50  1. Servo ID number as an integer
51 -1. Action command (one to three letters, no spaces, capital or lowercase from a subset of action commands below)
51 +1. Action command (one to three letters, no spaces, capital or lower case)
52 52  1. Action value in the correct units with no decimal
53 -1. Modifier command (one or two letters from the list of modifiers below)
53 +1. Modifier command (one letter to too letters)
54 54  1. Modifier value in the correct units with no decimal
55 55  1. End with a carriage return **&#92;r** or **&lt;cr&gt;** Unicode Character (U+000D)
56 56  
... ... @@ -62,7 +62,7 @@
62 62  
63 63  == Query Commands ==
64 64  
65 -{{html clean="false" wiki="true"}}
65 +{{html wiki="true" clean="false"}}
66 66  <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
67 67  Query commands request information from the servo. They are received via the Rx pin of the servo, and the servo's reply is sent via the servo's Tx pin. Using separate lines for Tx and Rx is called "full duplex". Query commands are also similar to action and configuration commands and must use the following format:<div class="wikimodel-emptyline"></div>
68 68  
... ... @@ -71,7 +71,7 @@
71 71  1. Query command (one to four letters, no spaces, capital or lower case)
72 72  1. End with a carriage return **&#92;r** or **&lt;cr&gt;** Unicode Character (U+000D)<div class="wikimodel-emptyline"></div>
73 73  
74 -Ex: #5QD&lt;cr&gt; Query the position in (tenth of) degrees for servo with ID #5<div class="wikimodel-emptyline"></div>
74 +Ex: #5QD&lt;cr&gt; Query position in (tenth of) degrees for servo #5<div class="wikimodel-emptyline"></div>
75 75  
76 76  The query will return a serial string (almost instantaneously) via the servo's Tx pin with the following format:
77 77  
... ... @@ -91,11 +91,11 @@
91 91  
92 92  == Configuration Commands ==
93 93  
94 -{{html clean="false" wiki="true"}}
94 +{{html wiki="true" clean="false"}}
95 95  <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
96 96  Configuration commands and corresponding values affect a servo's defaults which are written to and read from the servo's EEPROM.<div class="wikimodel-emptyline"></div>
97 97  
98 -These configurations are retained in memory after the servo is reset or power is cut / lost. Some configuration commands affect the session, while others do not. In the Command table below, the column "Session" denotes if the configuration command affects the session. Not all action commands have a corresponding configuration command and vice versa. More information about which configuration commands are retained when in RC mode can be found on the [[LSS - RC PWM page>>doc:lynxmotion-smart-servo.lss-radio-control-pwm.WebHome]]. Configuration commands are not cumulative. This means that if two of the same configuration commands are sent, one after the next, only the last configuration is used and stored.<div class="wikimodel-emptyline"></div>
98 +These configurations are retained in memory after the servo is reset or power is cut / lost. Some configuration commands affect the session, while others do not. In the Command table below, the column "Session" denotes if the configuration command affects the session. Not all action commands have a corresponding configuration command and vice versa. More information about which configuration commands are retained when in RC mode can be found on the [[LSS - RC PWM page>>doc:lynxmotion-smart-servo.lss-radio-control-pwm.WebHome]]. Configuration commands are not cumulative. This means that if two same configuration commands are sent, one after the next, only the last configuration is used and stored.<div class="wikimodel-emptyline"></div>
99 99  
100 100  The format to send a configuration command is identical to that of an action command:<div class="wikimodel-emptyline"></div>
101 101  
... ... @@ -153,90 +153,93 @@
153 153  
154 154  **Latest firmware version currently : 368.29.14**
155 155  
156 -|(% colspan="10" style="color:orange; font-size:18px" %)[[**Communication Setup**>>||anchor="HCommunicationSetup"]]
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 -| |[[**Reset**>>||anchor="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>>||anchor="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 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="HConfirm"]]|(% 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="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** #>>||anchor="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>>||anchor="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.
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="UPDATE_CONFIRM"]]|(% 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**>>||anchor="HMotion"]]
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>>||anchor="HPositioninDegrees28D29"]]|(% 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="H28Relative29MoveinDegrees28MD29"]]|(% 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="HWheelModeinDegrees28WD29"]]|(% 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="HWheelModeinRPM28WR29"]]|(% 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="HPositioninPWM28P29"]]|(% 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="H28Relative29MoveinPWM28M29"]]|(% 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="HRawDuty-cycleMove28RDM29"]]|(% 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="HQueryStatus28Q29"]]|(% 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="HLimp28L29"]]|(% 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="HHalt26Hold28H29"]]|(% 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**>>||anchor="HMotionSetup"]]
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>>||anchor="HEnableMotionProfile28EM29"]]|(% 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="HFilterPositionCount28FPC29"]]|(% 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="HOriginOffset28O29"]]|(% 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="HAngularRange28AR29"]]|(% 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="HAngularStiffness28AS29"]]|(% 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="HAngularHoldingStiffness28AH29"]]|(% 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="HAngularAcceleration28AA29"]]|(% 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="HAngularDeceleration28AD29"]]|(% 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="HGyreDirection28G29"]]|(% 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="HFirstPosition"]]|(% 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="HMaximumMotorDuty28MMD29"]]|(% 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="HMaximumSpeedinDegrees28SD29"]]|(% 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="HMaximumSpeedinRPM28SR29"]]|(% 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**>>||anchor="HModifiers"]]
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>>||anchor="HSpeed28S2CSD29modifier"]]|(% 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="HSpeed28S2CSD29modifier"]]|(% 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="HTimedmove28T29modifier"]]|(% 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="HCurrentHalt26Hold28CH29modifier"]]|(% 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="HCurrentLimp28CL29modifier"]]|(% 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**>>||anchor="HTelemetry"]]
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>>||anchor="HQueryVoltage28QV29"]]|(% 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="HQueryTemperature28QT29"]]|(% 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="HQueryCurrent28QC29"]]|(% 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="HQueryModelString28QMS29"]]|(% 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="HQueryFirmware28QF29"]]|(% 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="HQuerySerialNumber28QN29"]]|(% 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**>>||anchor="HRGBLED"]]
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>>||anchor="HLEDColor28LED29"]]|(% 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="HConfigureLEDBlinking28CLB29"]]|(% 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" /}}
219 219  == (% style="color:inherit; font-family:inherit" %)Communication Setup(%%) ==
220 220  
222 +{{id name="RESET" /}}
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&lt;cr&gt;<div class="wikimodel-emptyline"></div>
227 +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  
233 +{{id name="DEFAULT" /}}
231 231  ====== __Default & confirm__ ======
232 232  
233 233  {{html wiki="true" clean="false"}}
234 234  <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
235 -Ex: #5DEFAULT&lt;cr&gt;<div class="wikimodel-emptyline"></div>
238 +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&lt;cr&gt; followed by #5CONFIRM&lt;cr&gt;<div class="wikimodel-emptyline"></div>
242 +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  
... ... @@ -244,15 +244,16 @@
244 244  </div></div>
245 245  {{/html}}
246 246  
250 +{{id name="UPDATE_CONFIRM" /}}
247 247  ====== __Update & confirm__ ======
248 248  
249 249  {{html wiki="true" clean="false"}}
250 250  <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
251 -Ex: #5UPDATE&lt;cr&gt;<div class="wikimodel-emptyline"></div>
255 +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&lt;cr&gt; followed by #5CONFIRM&lt;cr&gt;<div class="wikimodel-emptyline"></div>
259 +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  
... ... @@ -260,6 +260,7 @@
260 260  </div></div>
261 261  {{/html}}
262 262  
267 +{{id name="CONFIRM" /}}
263 263  ====== __Confirm__ ======
264 264  
265 265  {{html wiki="true" clean="false"}}
... ... @@ -272,6 +272,7 @@
272 272  </div></div>
273 273  {{/html}}
274 274  
280 +{{id name="CHANGE_RC" /}}
275 275  ====== __Configure RC Mode (**CRC**)__ ======
276 276  
277 277  {{html wiki="true" clean="false"}}
... ... @@ -279,18 +279,19 @@
279 279  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>
280 280  
281 281  |**Command sent**|**Note**
282 -|ex: #5CRC1&lt;cr&gt;|Change to RC position mode.
283 -|ex: #5CRC2&lt;cr&gt;|Change to RC continuous rotation (wheel) mode.
284 -|ex: #5CRC*&lt;cr&gt;|Where * is any value other than 1 or 2 (or no value): stay in smart mode.<div class="wikimodel-emptyline"></div>
288 +|ex: #5CRC1<cr>|Change to RC position mode.
289 +|ex: #5CRC2<cr>|Change to RC continuous rotation (wheel) mode.
290 +|ex: #5CRC*<cr>|Where * is any value other than 1 or 2 (or no value): stay in smart mode.<div class="wikimodel-emptyline"></div>
285 285  
286 -EX: #5CRC2&lt;cr&gt;<div class="wikimodel-emptyline"></div>
292 +EX: #5CRC2<cr><div class="wikimodel-emptyline"></div>
287 287  
288 -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&lt;cr&gt; or #5CRC3&lt;cr&gt; which requests that the servo remain in serial mode still requires a RESET command.<div class="wikimodel-emptyline"></div>
294 +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>
289 289  
290 290  **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>
291 291  </div></div>
292 292  {{/html}}
293 293  
300 +{{id name="ID" /}}
294 294  ====== __Identification Number (**ID**)__ ======
295 295  
296 296  {{html wiki="true" clean="false"}}
... ... @@ -299,18 +299,19 @@
299 299  
300 300  Query Identification (**QID**)<div class="wikimodel-emptyline"></div>
301 301  
302 -EX: #254QID&lt;cr&gt; might return *QID5&lt;cr&gt;<div class="wikimodel-emptyline"></div>
309 +EX: #254QID<cr> might return *QID5<cr><div class="wikimodel-emptyline"></div>
303 303  
304 304  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>
305 305  
306 306  Configure ID (**CID**)<div class="wikimodel-emptyline"></div>
307 307  
308 -Ex: #4CID5&lt;cr&gt;<div class="wikimodel-emptyline"></div>
315 +Ex: #4CID5<cr><div class="wikimodel-emptyline"></div>
309 309  
310 310  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>
311 311  </div></div>
312 312  {{/html}}
313 313  
321 +{{id name="BAUDRATE" /}}
314 314  ====== __Baud Rate__ ======
315 315  
316 316  {{html wiki="true" clean="false"}}
... ... @@ -319,7 +319,7 @@
319 319  
320 320  Query Baud Rate (**QB**)<div class="wikimodel-emptyline"></div>
321 321  
322 -Ex: #5QB&lt;cr&gt; might return *5QB115200&lt;cr&gt;<div class="wikimodel-emptyline"></div>
330 +Ex: #5QB<cr> might return *5QB115200<cr><div class="wikimodel-emptyline"></div>
323 323  
324 324  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>
325 325  
... ... @@ -327,14 +327,16 @@
327 327  
328 328  **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>
329 329  
330 -Ex: #5CB9600&lt;cr&gt;<div class="wikimodel-emptyline"></div>
338 +Ex: #5CB9600<cr><div class="wikimodel-emptyline"></div>
331 331  
332 332  Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.<div class="wikimodel-emptyline"></div>
333 333  </div></div>
334 334  {{/html}}
335 335  
344 +{{id name="MOTION" /}}
336 336  == Motion ==
337 337  
347 +{{id name="POSITION_D" /}}
338 338  ====== __Position in Degrees (**D**)__ ======
339 339  
340 340  {{html wiki="true" clean="false"}}
... ... @@ -360,6 +360,7 @@
360 360  <div class="wikimodel-emptyline"></div></div></div>
361 361  {{/html}}
362 362  
373 +{{id name="MOVE_D" /}}
363 363  ====== __(Relative) Move in Degrees (**MD**)__ ======
364 364  
365 365  {{html wiki="true" clean="false"}}
... ... @@ -370,6 +370,7 @@
370 370  <div class="wikimodel-emptyline"></div></div></div>
371 371  {{/html}}
372 372  
384 +{{id name="WHEEL_D" /}}
373 373  ====== __Wheel Mode in Degrees (**WD**)__ ======
374 374  
375 375  {{html wiki="true" clean="false"}}
... ... @@ -386,6 +386,7 @@
386 386  <div class="wikimodel-emptyline"></div></div></div>
387 387  {{/html}}
388 388  
401 +{{id name="WHEEL_RPM" /}}
389 389  ====== __Wheel Mode in RPM (**WR**)__ ======
390 390  
391 391  {{html wiki="true" clean="false"}}
... ... @@ -402,6 +402,7 @@
402 402  <div class="wikimodel-emptyline"></div></div></div>
403 403  {{/html}}
404 404  
418 +{{id name="POSITION_PWM" /}}
405 405  ====== __Position in PWM (**P**)__ ======
406 406  
407 407  {{html wiki="true" clean="false"}}
... ... @@ -419,6 +419,7 @@
419 419  <div class="wikimodel-emptyline"></div></div></div>
420 420  {{/html}}
421 421  
436 +{{id name="MOVE_PWM" /}}
422 422  ====== __(Relative) Move in PWM (**M**)__ ======
423 423  
424 424  {{html wiki="true" clean="false"}}
... ... @@ -429,6 +429,7 @@
429 429  <div class="wikimodel-emptyline"></div></div></div>
430 430  {{/html}}
431 431  
447 +{{id name="MOVE_RAW" /}}
432 432  ====== __Raw Duty-cycle Move (**RDM**)__ ======
433 433  
434 434  {{html wiki="true" clean="false"}}
... ... @@ -447,6 +447,7 @@
447 447  <div class="wikimodel-emptyline"></div></div></div>
448 448  {{/html}}
449 449  
466 +{{id name="QUERY_STATUS" /}}
450 450  ====== __Query Status (**Q**)__ ======
451 451  
452 452  {{html wiki="true" clean="false"}}
... ... @@ -486,6 +486,7 @@
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  
506 +{{id name="LIMP" /}}
489 489  ====== __Limp (**L**)__ ======
490 490  
491 491  {{html wiki="true" clean="false"}}
... ... @@ -496,6 +496,7 @@
496 496  <div class="wikimodel-emptyline"></div></div></div>
497 497  {{/html}}
498 498  
517 +{{id name="HALT_HOLD" /}}
499 499  ====== __Halt & Hold (**H**)__ ======
500 500  
501 501  {{html wiki="true" clean="false"}}
... ... @@ -506,14 +506,14 @@
506 506  <div class="wikimodel-emptyline"></div></div></div>
507 507  {{/html}}
508 508  
528 +{{id name="MOTION_SETUP" /}}
509 509  == Motion Setup ==
510 510  
531 +{{id name="MOTION_PROFILE" /}}
511 511  ====== __Enable Motion Profile (**EM**)__ ======
512 512  
513 -{{html clean="false" wiki="true"}}
534 +{{html wiki="true" clean="false"}}
514 514  <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
515 -EM1 (Enable Motion Profile #1) is the default mode of the LSS and is an easy way to control the servo's position with a single (serial) position command. This mode uses a trapezoidal motion profile which takes care of acceleration, constant speed travel and deceleration. Once the actual position is within a certain value of the target, it switches to a holding algorithm. The LSS commands for Angular Acceleration and Deceleration (AA/CAA/AD/CAD) Angular Stiffness (AS/CAS) and Angular holding stiffness (AH/CAH) affect this motion.<div class="wikimodel-emptyline"></div>
516 -
517 517  Ex: #5EM1&lt;cr&gt;<div class="wikimodel-emptyline"></div>
518 518  
519 519  This command enables a trapezoidal motion profile. By default, the trapezoidal motion profile is enabled. If the motion profile is enabled, angular acceleration (AA) and angular deceleration(AD) will have an effect on the motion. Also, SD/S and T modifiers can be used.<div class="wikimodel-emptyline"></div>
... ... @@ -520,7 +520,7 @@
520 520  
521 521  Ex: #5EM0&lt;cr&gt;<div class="wikimodel-emptyline"></div>
522 522  
523 -This command will disable the trapezoidal motion profile. As such, the servo will move at full speed for D/MD action commands. Angular acceleration (AA) and angular deceleration(AD) won't have an effect on motion in this mode and modifiers SD/S or T cannot be used. By default the Filter Position Counter, or "FPC" is active in EM0 mode to smooth out its operation.<div class="wikimodel-emptyline"></div>
542 +This command will disable the trapezoidal motion profile. As such, the servo will move at full speed for D/MD action commands. Angular acceleration (AA) and angular deceleration(AD) won't have an effect on motion in this mode and modifiers SD/S or T cannot be used.<div class="wikimodel-emptyline"></div>
524 524  
525 525  Query Motion Profile (**QEM**)<div class="wikimodel-emptyline"></div>
526 526  
... ... @@ -536,12 +536,11 @@
536 536  <div class="wikimodel-emptyline"></div></div></div>
537 537  {{/html}}
538 538  
558 +{{id name="FILTER_POSITION_COUNT" /}}
539 539  ====== __Filter Position Count (**FPC**)__ ======
540 540  
541 -{{html clean="false" wiki="true"}}
561 +{{html wiki="true" clean="false"}}
542 542  <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
543 -The FPC value relates to the depth of a first order filter (exponential weighted average) over the position change. This has the effect of slowing down both acceleration and deceleration while still allowing the LSS to try to reach the desired position at maximum power at all times. A smaller FPC value will reduce the smoothing effect and a larger value will increase it. To prevent having to send position commands continuously to reach the desired position in EM0/FPC active (FPC >= 2), an internal position engine (IPE) has been put in place, which is also active by default.
544 -<div class="wikimodel-emptyline"></div>
545 545  Ex: #5FPC10&lt;cr&gt;<div class="wikimodel-emptyline"></div>
546 546  This command allows the user to change the Filter Position Count value for that session. <div class="wikimodel-emptyline"></div>
547 547  
... ... @@ -559,6 +559,7 @@
559 559  <div class="wikimodel-emptyline"></div></div></div>
560 560  {{/html}}
561 561  
580 +{{id name="ORIGIN_OFFSET" /}}
562 562  ====== __Origin Offset (**O**)__ ======
563 563  
564 564  {{html wiki="true" clean="false"}}
... ... @@ -587,6 +587,7 @@
587 587  <div class="wikimodel-emptyline"></div></div></div>
588 588  {{/html}}
589 589  
609 +{{id name="ANGULAR_RANGE" /}}
590 590  ====== __Angular Range (**AR**)__ ======
591 591  
592 592  {{html wiki="true" clean="false"}}
... ... @@ -615,6 +615,7 @@
615 615  <div class="wikimodel-emptyline"></div></div></div>
616 616  {{/html}}
617 617  
638 +{{id name="ANGULAR_STIFFNESS" /}}
618 618  ====== __Angular Stiffness (**AS**)__ ======
619 619  
620 620  {{html wiki="true" clean="false"}}
... ... @@ -647,6 +647,7 @@
647 647  <div class="wikimodel-emptyline"></div></div></div>
648 648  {{/html}}
649 649  
671 +{{id name="ANGULAR_HOLDING_STIFFNESS" /}}
650 650  ====== __Angular Holding Stiffness (**AH**)__ ======
651 651  
652 652  {{html wiki="true" clean="false"}}
... ... @@ -671,6 +671,7 @@
671 671  <div class="wikimodel-emptyline"></div></div></div>
672 672  {{/html}}
673 673  
696 +{{id name="ANGULAR_ACCELERATION" /}}
674 674  ====== __Angular Acceleration (**AA**)__ ======
675 675  
676 676  {{html wiki="true" clean="false"}}
... ... @@ -695,6 +695,7 @@
695 695  <div class="wikimodel-emptyline"></div></div></div>
696 696  {{/html}}
697 697  
721 +{{id name="ANGULAR_DECELERATION" /}}
698 698  ====== __Angular Deceleration (**AD**)__ ======
699 699  
700 700  {{html wiki="true" clean="false"}}
... ... @@ -719,6 +719,7 @@
719 719  <div class="wikimodel-emptyline"></div></div></div>
720 720  {{/html}}
721 721  
746 +{{id name="GYRE_DIRECTION" /}}
722 722  ====== __Gyre Direction (**G**)__ ======
723 723  
724 724  {{html wiki="true" clean="false"}}
... ... @@ -743,6 +743,7 @@
743 743  <div class="wikimodel-emptyline"></div></div></div>
744 744  {{/html}}
745 745  
771 +{{id name="FIRST_POSITION" /}}
746 746  ====== __First Position__ ======
747 747  
748 748  {{html wiki="true" clean="false"}}
... ... @@ -757,12 +757,13 @@
757 757  
758 758  Configure First Position in Degrees (**CFD**)<div class="wikimodel-emptyline"></div>
759 759  
760 -Ex: #5CFD900&lt;cr&gt;<div class="wikimodel-emptyline"></div>
786 +Ex: #5CD900&lt;cr&gt;<div class="wikimodel-emptyline"></div>
761 761  
762 762  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&lt;cr&gt;) results in the servo remaining limp upon power up. In order to remove the first position, send no value, ex: #5CFD&lt;cr&gt;
763 763  <div class="wikimodel-emptyline"></div></div></div>
764 764  {{/html}}
765 765  
792 +{{id name="MAXIMUM_RAW" /}}
766 766  ====== __Maximum Motor Duty (**MMD**)__ ======
767 767  
768 768  {{html wiki="true" clean="false"}}
... ... @@ -769,18 +769,15 @@
769 769  <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt">
770 770  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>
771 771  
772 -Ex: #5MMD512&lt;cr&gt;<div class="wikimodel-emptyline"></div>
773 -
774 -This will set the duty-cycle to 512 for servo with ID 5 for that session.<div class="wikimodel-emptyline"></div>
775 -
776 776  Query Maximum Motor Duty (**QMMD**)<div class="wikimodel-emptyline"></div>
777 777  
778 778  Ex: #5QMMDD&lt;cr&gt; might return *5QMMD512&lt;cr&gt; <div class="wikimodel-emptyline"></div>
779 779  
780 -This command returns the configured limit of the duty cycle value sent from the servo's MCU to the Motor Controller. The default value is 1023.
803 +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&lt;cr&gt;) results in the servo remaining limp upon power up. In order to remove the first position, send no value, ex: #5CFD&lt;cr&gt;
781 781  <div class="wikimodel-emptyline"></div></div></div>
782 782  {{/html}}
783 783  
807 +{{id name="MAXIMUM_SPEED_D" /}}
784 784  ====== __Maximum Speed in Degrees (**SD**)__ ======
785 785  
786 786  {{html wiki="true" clean="false"}}
... ... @@ -807,6 +807,7 @@
807 807  </div></div>
808 808  {{/html}}
809 809  
834 +{{id name="MAXIMUM_SPEED_RPM" /}}
810 810  ====== __Maximum Speed in RPM (**SR**)__ ======
811 811  
812 812  {{html wiki="true" clean="false"}}
... ... @@ -833,8 +833,10 @@
833 833  </div></div>
834 834  {{/html}}
835 835  
861 +{{id name="MODIFIERS" /}}
836 836  == Modifiers ==
837 837  
864 +{{id name="SPEEDS" /}}
838 838  ====== __Speed (**S**, **SD**) modifier__ ======
839 839  
840 840  {{html wiki="true" clean="false"}}
... ... @@ -849,6 +849,7 @@
849 849  </div></div>
850 850  {{/html}}
851 851  
879 +{{id name="TIMED_MOVE" /}}
852 852  ====== __Timed move (**T**) modifier__ ======
853 853  
854 854  {{html wiki="true" clean="false"}}
... ... @@ -860,6 +860,7 @@
860 860  </div></div>
861 861  {{/html}}
862 862  
891 +{{id name="CURRENT_HOLD" /}}
863 863  ====== __Current Halt & Hold (**CH**) modifier__ ======
864 864  
865 865  {{html wiki="true" clean="false"}}
... ... @@ -871,6 +871,7 @@
871 871  </div></div>
872 872  {{/html}}
873 873  
903 +{{id name="CURRENT_LIMP" /}}
874 874  ====== __Current Limp (**CL**) modifier__ ======
875 875  
876 876  {{html wiki="true" clean="false"}}
... ... @@ -882,8 +882,10 @@
882 882  </div></div>
883 883  {{/html}}
884 884  
915 +{{id name="TELEMETRY" /}}
885 885  == Telemetry ==
886 886  
918 +{{id name="QUERY_VOLTAGE" /}}
887 887  ====== __Query Voltage (**QV**)__ ======
888 888  
889 889  {{html wiki="true" clean="false"}}
... ... @@ -893,6 +893,7 @@
893 893  </div></div>
894 894  {{/html}}
895 895  
928 +{{id name="QUERY_TEMP" /}}
896 896  ====== __Query Temperature (**QT**)__ ======
897 897  
898 898  {{html wiki="true" clean="false"}}
... ... @@ -902,6 +902,7 @@
902 902  </div></div>
903 903  {{/html}}
904 904  
938 +{{id name="QUERY_CURRENT" /}}
905 905  ====== __Query Current (**QC**)__ ======
906 906  
907 907  {{html wiki="true" clean="false"}}
... ... @@ -911,6 +911,7 @@
911 911  </div></div>
912 912  {{/html}}
913 913  
948 +{{id name="QUERY_MODEL" /}}
914 914  ====== __Query Model String (**QMS**)__ ======
915 915  
916 916  {{html wiki="true" clean="false"}}
... ... @@ -920,6 +920,7 @@
920 920  </div></div>
921 921  {{/html}}
922 922  
958 +{{id name="QUERY_FIRMWARE" /}}
923 923  ====== __Query Firmware (**QF**)__ ======
924 924  
925 925  {{html wiki="true" clean="false"}}
... ... @@ -930,6 +930,7 @@
930 930  </div></div>
931 931  {{/html}}
932 932  
969 +{{id name="QUERY_SERIAL" /}}
933 933  ====== __Query Serial Number (**QN**)__ ======
934 934  
935 935  {{html wiki="true" clean="false"}}
... ... @@ -939,8 +939,10 @@
939 939  </div></div>
940 940  {{/html}}
941 941  
979 +{{id name="RGB_LED" /}}
942 942  == RGB LED ==
943 943  
982 +{{id name="LED_COLOR" /}}
944 944  ====== __LED Color (**LED**)__ ======
945 945  
946 946  {{html wiki="true" clean="false"}}
... ... @@ -957,6 +957,7 @@
957 957  </div></div>
958 958  {{/html}}
959 959  
999 +{{id name="LED_BLINK" /}}
960 960  ====== __Configure LED Blinking (**CLB**)__ ======
961 961  
962 962  {{html wiki="true" clean="false"}}
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