Changes for page LSS Communication Protocol
Last modified by Eric Nantel on 2025/06/06 07:47
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... ... @@ -7,7 +7,7 @@ 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 theConfigureID,or "CID" command[[here>>doc:||anchor="HIdentificationNumber28ID29"]]). Only the servo(s) which have beenconfigured toaspecificIDwillact onacommandsentto thatID. 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 ... ... @@ -15,21 +15,21 @@ 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\rdescribed 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 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 +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 **\r** or **<cr>** 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 lower casefrom a subset of action commandsbelow)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 twolettersfromhelistof modifiersbelow)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 **\r** or **<cr>** 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 **\r** or **<cr>** Unicode Character (U+000D)<div class="wikimodel-emptyline"></div> 73 73 74 -Ex: #5QD<cr> Query theposition in (tenth of) degrees for servowith ID#5<div class="wikimodel-emptyline"></div>74 +Ex: #5QD<cr> 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 thesame 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 ... ... @@ -153,71 +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**>>||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 details158 +| |[[**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 160 160 | |[[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.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 protocol173 -| |[[**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 : CCW175 -| |[[**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 details176 -| |[[**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="HH alt26Hold28H29"]]|(% 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 profile182 -| |[[**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 +4186 -| |[[**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-versa193 -| |[[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-versa181 +| |[[**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 command198 -| |[[**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 commands199 -| |[[**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 load200 -| |[[**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 WR201 -| |[[**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 WR197 +| |[[**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 servo205 +| |[[**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=White215 -| |[[**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"/}} 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"}} ... ... @@ -506,24 +506,24 @@ 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 -{{html clean="false" wiki="true"}}555 +{{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 profile. Modifiers like SD/S and T can be used in EM1.<div class="wikimodel-emptyline"></div> 516 - 517 517 Ex: #5EM1<cr><div class="wikimodel-emptyline"></div> 518 518 519 -This command enables a trapezoidal motion profile for servo #5<div class="wikimodel-emptyline"></div>559 +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> 520 520 521 521 Ex: #5EM0<cr><div class="wikimodel-emptyline"></div> 522 522 523 -This command will disable the built-in trapezoidal motion profile. As such, the servo will move at full speedtothe targetposition using theD/MD action commands.ModifierslikeSD/S orT cannotbe usedinEM0mode.By defaulttheFilterPositionCounter,or "FPC" isactiveinEM0 modesmoothoutits operation. EM0 is suggestedfor applications whereanexternalcontrollerwillbedeterminingall incrementalintermediate positions of the servo'smotion,effectively replacing a trajectory manager.563 +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 -<div class="wikimodel-emptyline"></div> 526 - 527 527 Query Motion Profile (**QEM**)<div class="wikimodel-emptyline"></div> 528 528 529 529 Ex: #5QEM<cr> might return *5QEM1<cr><div class="wikimodel-emptyline"></div> ... ... @@ -538,12 +538,12 @@ 538 538 <div class="wikimodel-emptyline"></div></div></div> 539 539 {{/html}} 540 540 579 +{{id name="FILTER_POSITION_COUNT"/}} 580 + 541 541 ====== __Filter Position Count (**FPC**)__ ====== 542 542 543 -{{html clean="false" wiki="true"}}583 +{{html wiki="true" clean="false"}} 544 544 <div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 545 -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. 546 -<div class="wikimodel-emptyline"></div> 547 547 Ex: #5FPC10<cr><div class="wikimodel-emptyline"></div> 548 548 This command allows the user to change the Filter Position Count value for that session. <div class="wikimodel-emptyline"></div> 549 549 ... ... @@ -561,6 +561,8 @@ 561 561 <div class="wikimodel-emptyline"></div></div></div> 562 562 {{/html}} 563 563 602 +{{id name="ORIGIN_OFFSET"/}} 603 + 564 564 ====== __Origin Offset (**O**)__ ====== 565 565 566 566 {{html wiki="true" clean="false"}} ... ... @@ -589,6 +589,8 @@ 589 589 <div class="wikimodel-emptyline"></div></div></div> 590 590 {{/html}} 591 591 632 +{{id name="ANGULAR_RANGE"/}} 633 + 592 592 ====== __Angular Range (**AR**)__ ====== 593 593 594 594 {{html wiki="true" clean="false"}} ... ... @@ -617,6 +617,8 @@ 617 617 <div class="wikimodel-emptyline"></div></div></div> 618 618 {{/html}} 619 619 662 +{{id name="ANGULAR_STIFFNESS"/}} 663 + 620 620 ====== __Angular Stiffness (**AS**)__ ====== 621 621 622 622 {{html wiki="true" clean="false"}} ... ... @@ -649,6 +649,8 @@ 649 649 <div class="wikimodel-emptyline"></div></div></div> 650 650 {{/html}} 651 651 696 +{{id name="ANGULAR_HOLDING_STIFFNESS"/}} 697 + 652 652 ====== __Angular Holding Stiffness (**AH**)__ ====== 653 653 654 654 {{html wiki="true" clean="false"}} ... ... @@ -673,6 +673,8 @@ 673 673 <div class="wikimodel-emptyline"></div></div></div> 674 674 {{/html}} 675 675 722 +{{id name="ANGULAR_ACCELERATION"/}} 723 + 676 676 ====== __Angular Acceleration (**AA**)__ ====== 677 677 678 678 {{html wiki="true" clean="false"}} ... ... @@ -697,6 +697,8 @@ 697 697 <div class="wikimodel-emptyline"></div></div></div> 698 698 {{/html}} 699 699 748 +{{id name="ANGULAR_DECELERATION"/}} 749 + 700 700 ====== __Angular Deceleration (**AD**)__ ====== 701 701 702 702 {{html wiki="true" clean="false"}} ... ... @@ -721,6 +721,8 @@ 721 721 <div class="wikimodel-emptyline"></div></div></div> 722 722 {{/html}} 723 723 774 +{{id name="GYRE_DIRECTION"/}} 775 + 724 724 ====== __Gyre Direction (**G**)__ ====== 725 725 726 726 {{html wiki="true" clean="false"}} ... ... @@ -745,6 +745,8 @@ 745 745 <div class="wikimodel-emptyline"></div></div></div> 746 746 {{/html}} 747 747 800 +{{id name="FIRST_POSITION"/}} 801 + 748 748 ====== __First Position__ ====== 749 749 750 750 {{html wiki="true" clean="false"}} ... ... @@ -765,6 +765,8 @@ 765 765 <div class="wikimodel-emptyline"></div></div></div> 766 766 {{/html}} 767 767 822 +{{id name="MAXIMUM_RAW"/}} 823 + 768 768 ====== __Maximum Motor Duty (**MMD**)__ ====== 769 769 770 770 {{html wiki="true" clean="false"}} ... ... @@ -779,10 +779,12 @@ 779 779 780 780 Ex: #5QMMDD<cr> might return *5QMMD512<cr> <div class="wikimodel-emptyline"></div> 781 781 782 -This command returns theconfigured limit ofthedutycyclevaluesentfrom theservo'sMCUtotheMotorController.Thedefault valueis1023.838 +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> 783 783 <div class="wikimodel-emptyline"></div></div></div> 784 784 {{/html}} 785 785 842 +{{id name="MAXIMUM_SPEED_D"/}} 843 + 786 786 ====== __Maximum Speed in Degrees (**SD**)__ ====== 787 787 788 788 {{html wiki="true" clean="false"}} ... ... @@ -809,6 +809,8 @@ 809 809 </div></div> 810 810 {{/html}} 811 811 870 +{{id name="MAXIMUM_SPEED_RPM"/}} 871 + 812 812 ====== __Maximum Speed in RPM (**SR**)__ ====== 813 813 814 814 {{html wiki="true" clean="false"}} ... ... @@ -835,8 +835,12 @@ 835 835 </div></div> 836 836 {{/html}} 837 837 898 +{{id name="MODIFIERS"/}} 899 + 838 838 == Modifiers == 839 839 902 +{{id name="SPEEDS"/}} 903 + 840 840 ====== __Speed (**S**, **SD**) modifier__ ====== 841 841 842 842 {{html wiki="true" clean="false"}} ... ... @@ -851,6 +851,8 @@ 851 851 </div></div> 852 852 {{/html}} 853 853 918 +{{id name="TIMED_MOVE"/}} 919 + 854 854 ====== __Timed move (**T**) modifier__ ====== 855 855 856 856 {{html wiki="true" clean="false"}} ... ... @@ -862,6 +862,8 @@ 862 862 </div></div> 863 863 {{/html}} 864 864 931 +{{id name="CURRENT_HOLD"/}} 932 + 865 865 ====== __Current Halt & Hold (**CH**) modifier__ ====== 866 866 867 867 {{html wiki="true" clean="false"}} ... ... @@ -873,6 +873,8 @@ 873 873 </div></div> 874 874 {{/html}} 875 875 944 +{{id name="CURRENT_LIMP"/}} 945 + 876 876 ====== __Current Limp (**CL**) modifier__ ====== 877 877 878 878 {{html wiki="true" clean="false"}} ... ... @@ -884,8 +884,12 @@ 884 884 </div></div> 885 885 {{/html}} 886 886 957 +{{id name="TELEMETRY"/}} 958 + 887 887 == Telemetry == 888 888 961 +{{id name="QUERY_VOLTAGE"/}} 962 + 889 889 ====== __Query Voltage (**QV**)__ ====== 890 890 891 891 {{html wiki="true" clean="false"}} ... ... @@ -895,6 +895,8 @@ 895 895 </div></div> 896 896 {{/html}} 897 897 972 +{{id name="QUERY_TEMP"/}} 973 + 898 898 ====== __Query Temperature (**QT**)__ ====== 899 899 900 900 {{html wiki="true" clean="false"}} ... ... @@ -904,6 +904,8 @@ 904 904 </div></div> 905 905 {{/html}} 906 906 983 +{{id name="QUERY_CURRENT"/}} 984 + 907 907 ====== __Query Current (**QC**)__ ====== 908 908 909 909 {{html wiki="true" clean="false"}} ... ... @@ -913,6 +913,8 @@ 913 913 </div></div> 914 914 {{/html}} 915 915 994 +{{id name="QUERY_MODEL"/}} 995 + 916 916 ====== __Query Model String (**QMS**)__ ====== 917 917 918 918 {{html wiki="true" clean="false"}} ... ... @@ -922,6 +922,8 @@ 922 922 </div></div> 923 923 {{/html}} 924 924 1005 +{{id name="QUERY_FIRMWARE"/}} 1006 + 925 925 ====== __Query Firmware (**QF**)__ ====== 926 926 927 927 {{html wiki="true" clean="false"}} ... ... @@ -932,6 +932,8 @@ 932 932 </div></div> 933 933 {{/html}} 934 934 1017 +{{id name="QUERY_SERIAL"/}} 1018 + 935 935 ====== __Query Serial Number (**QN**)__ ====== 936 936 937 937 {{html wiki="true" clean="false"}} ... ... @@ -941,8 +941,12 @@ 941 941 </div></div> 942 942 {{/html}} 943 943 1028 +{{id name="RGB_LED"/}} 1029 + 944 944 == RGB LED == 945 945 1032 +{{id name="LED_COLOR"/}} 1033 + 946 946 ====== __LED Color (**LED**)__ ====== 947 947 948 948 {{html wiki="true" clean="false"}} ... ... @@ -959,6 +959,8 @@ 959 959 </div></div> 960 960 {{/html}} 961 961 1050 +{{id name="LED_BLINK"/}} 1051 + 962 962 ====== __Configure LED Blinking (**CLB**)__ ====== 963 963 964 964 {{html wiki="true" clean="false"}}