Changes for page LSS Communication Protocol
Last modified by Eric Nantel on 2025/06/06 07:47
Change comment: Rollback to version 169.1
Summary
-
Page properties (1 modified, 0 added, 0 removed)
-
Attachments (0 modified, 0 added, 1 removed)
-
Objects (0 modified, 0 added, 1 removed)
Details
- Page properties
-
- Content
-
... ... @@ -5,1005 +5,734 @@ 5 5 6 6 = Serial Protocol = 7 7 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. 8 +The custom 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 servo motor 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 ( seetailson the ConfigureID, or "CID" command [[here>>doc:||anchor="HIdentificationNumber28ID29"]]).Only the servo(s) which have beenconfigured toaspecificIDwillact onacommandsentto thatID. There is currently no CRCorchecksum implemented as part of10 +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 (explained below). 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 / checksum implemented as part of the protocol. 11 11 12 12 == Session == 13 13 14 -{{html clean="false" wiki="true"}} 15 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 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> 14 +A "session" is defined as the time between when the servo is powered ON to when it is powered OFF or reset. 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. 21 -<div class="wikimodel-emptyline"></div></div></div> 22 -{{/html}} 16 +Note #1: For a given session, the action related to a specific commands overrides the stored value in EEPROM. 17 +Note #2: During the power-on / reset process the LSS cannot accept commands for a small amount of time (1.25 s). 18 +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. 23 23 24 24 == Action Commands == 25 25 26 -{{html clean="false" wiki="true"}} 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> 22 +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 (described below on this page). Action commands are sent serially to the servo's Rx pin and must be sent in the following format: 29 29 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 o rmore letters, nowhitespace, capital or lowercasefrom the list below)24 +1. Start with a number sign # (U+0023) 25 +1. Servo ID number as an integer 26 +1. Action command (one to three letters, no spaces, capital or lower case) 33 33 1. Action value in the correct units with no decimal 34 -1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)28 +1. End with a control / carriage return '<cr>' 35 35 36 36 ((( 37 -Ex: #5D1 800<cr><divclass="wikimodel-emptyline"></div>31 +Ex: #5PD1443<cr> 38 38 39 -This sends a serial command to all servo's RX pins which are connected to the bus and only servo(s) with ID #5 will move to a position (1800 in tenths of degrees) of 180.0 degrees. Any servo on the bus which does not have ID 5 will take no action when receiving this command. 40 -<div class="wikimodel-emptyline"></div></div></div> 41 -{{/html}} 33 +This sends a serial command to all servo's Rx pins which are connected to the bus and only servo(s) with ID #5 will move to a position in tenths of degrees ("PD") of 144.3 degrees. Any servo on the bus which does not have ID 5 will take no action when receiving this command. 42 42 43 -== Modifiers == 35 +== Action Modifiers == 44 44 45 -{{html clean="false" wiki="true"}} 46 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 47 -Modifiers can only be used with certain **action commands**. The format to include a modifier is:<div class="wikimodel-emptyline"></div> 37 +Only two commands can be used as action modifiers: Timed Move (T) and Speed (S) described below. Action modifiers can only be used with certain action commands. The format to include a modifier is: 48 48 49 -1. Start with a number sign **#**(Unicode Character: U+0023)39 +1. Start with a number sign # (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)41 +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 twoletters from the list of modifiers below)43 +1. Modifier command (one letter) 54 54 1. Modifier value in the correct units with no decimal 55 -1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)45 +1. End with a control / carriage return '<cr>' 56 56 57 -Ex: #5 D1800T1500<cr><divclass="wikimodel-emptyline"></div>47 +Ex: #5P1456T1263<cr> 58 58 59 -This results in the servo with ID #5 rotating to a position (1800 in tenths of degrees) of 180.0 degrees in a time ("T") of 1500 milliseconds (1.5 seconds).<div class="wikimodel-emptyline"></div> 60 -<div class="wikimodel-emptyline"></div></div></div> 61 -{{/html}} 49 +This results in the servo with ID #5 rotating from the current angular position to a pulse position ("P") of 1456 in a time ("T") of 1263 milliseconds. 50 +))) 62 62 63 63 == Query Commands == 64 64 65 -{{html clean="false" wiki="true"}} 66 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 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> 54 +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: 68 68 69 -1. Start with a number sign **#**(Unicode Character: U+0023)56 +1. Start with a number sign # (U+0023) 70 70 1. Servo ID number as an integer 71 -1. Query command (one to four72 -1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)<divclass="wikimodel-emptyline"></div>58 +1. Query command (one to three letters, no spaces, capital or lower case) 59 +1. End with a control / carriage return '<cr>' 73 73 74 -Ex: #5QD<cr> Query the position in (tenth of) degrees for servo with ID #5<div class="wikimodel-emptyline"></div> 61 +((( 62 +Ex: #5QD<cr>Query position in degrees for servo #5 63 +))) 75 75 65 +((( 76 76 The query will return a serial string (almost instantaneously) via the servo's Tx pin with the following format: 77 77 78 -1. Start with an asterisk * (U nicode Character: U+0023)68 +1. Start with an asterisk * (U+002A) 79 79 1. Servo ID number as an integer 80 -1. Query command (one to four70 +1. Query command (one to three letters, no spaces, capital letters) 81 81 1. The reported value in the units described, no decimals. 82 -1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)<divclass="wikimodel-emptyline"></div>72 +1. End with a control / carriage return '<cr>' 83 83 84 -There is currently no option to control how fast a servo replies after it has received a query command, therefore when sending a query command to the bus, the controller should be prepared to immediately "listen" for and parse the reply. Sending multiple queries tomultiple servos on a bus in fast succession may result in replies overlapping and giving incorrect or corrupt data. As such, the controller should receive a reply before sending a newquerycommand. A reply to the query sent above might be:<div class="wikimodel-emptyline"></div>74 +There is currently no option to control how fast a servo replies after it has received a query command, therefore when sending a query command to the bus, the controller should be prepared to immediately "listen" for and parse the reply. Sending multiple queries on a bus in fast succession may result in replies overlapping and giving incorrect or corrupt data. As such, the controller should receive a reply before sending a new command. A reply to the query sent above might be: 85 85 86 -Ex: *5QD1800<cr><div class="wikimodel-emptyline"></div> 76 +((( 77 +Ex: *5QD1443<cr> 78 +))) 87 87 88 -This indicates that servo #5 is currently at 180.0 degrees (1800 tenths of degrees). 89 -<div class="wikimodel-emptyline"></div></div></div> 90 -{{/html}} 80 +This indicates that servo #5 is currently at 144.3 degrees (1443 tenths of degrees). 91 91 92 92 == Configuration Commands == 93 93 94 -{{html clean="false" wiki="true"}} 95 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 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> 84 +Configuration commands and corresponding values affect a servo's defaults which are written to and read from the servo's EEPROM. 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, in that if two configurations are sent, one after the next, only the last configuration is used and stored. The format to send a configuration command is identical to that of an action command: 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> 99 - 100 -The format to send a configuration command is identical to that of an action command:<div class="wikimodel-emptyline"></div> 101 - 102 -1. Start with a number sign **#** (Unicode Character: U+0023) 86 +1. Start with a number sign # (U+0023) 103 103 1. Servo ID number as an integer 104 -1. Configuration command (two to four88 +1. Configuration command (two to three letters, no spaces, capital or lower case) 105 105 1. Configuration value in the correct units with no decimal 106 -1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)<divclass="wikimodel-emptyline"></div>90 +1. End with a control / carriage return '<cr>' 107 107 108 -Ex: #5CO-50 <cr><divclass="wikimodel-emptyline"></div>92 +Ex: #5CO-50<cr> 109 109 110 -This configures an absolute origin offset ("CO") with respect to factory origin ofservo with ID #5 and changes the offset for that session to -5.0 degrees (50 tenths of degrees). Once the servo is powered off and on, zeroing the servo will cause it to move to -5.0 degrees with respect to the factory origin and report its position as 0 degrees. Configuration commands can be undone / reset either by sending the servo's default value for that configuration, or by doing a factory resetthatclears all configurations(through the button menu or with DEFAULT commanddescribed below).<div class="wikimodel-emptyline"></div>94 +This configures an absolute origin offset ("CO") with respect to factory origin to servo with ID #5 and changes the offset for that session to -5.0 degrees (50 tenths of degrees). Once the servo is powered off and then powered on, zeroing the servo will cause it to move to -5.0 degrees with respect to the factory origin and report its position as 0 degrees. Configuration commands can be undone / reset either by sending the servo's default value for that configuration, or by doing a factory reset (clears all configurations) described below. 111 111 112 -**Session vs Configuration Query** <div class="wikimodel-emptyline"></div>96 +**Session vs Configuration Query** 113 113 114 -By default, the query command returns the session 's<div class="wikimodel-emptyline"></div>98 +By default, the query command returns the sessions' value. Should no action commands have been sent to change the session value, it will return the value saved in EEPROM which will either be the servo's default, or modified with a configuration command. In order to query the value stored in EEPROM (configuration), add a '1' to the query command: 115 115 116 -Ex: #5CSR20 <cr>immediately sets the maximum speed for servo #5 to 20rpm (explained below) and changes the value in memory.<divclass="wikimodel-emptyline"></div>100 +Ex: #5CSR20<cr> immediately sets the maximum speed for servo #5 to 20rpm (explained below) and changes the value in memory. 117 117 118 -After RESET, a command of #5SR4 <cr>sets the session's speed to 4rpm, but does not change the configuration value in memory. Therefore:<div class="wikimodel-emptyline"></div>102 +After RESET, a command of #5SR4<cr> sets the session's speed to 4rpm, but does not change the configuration value in memory. Therefore: 119 119 120 -#5QSR <cr>or #5QSR0<cr>would return *5QSR4<cr>which represents the value for that session, whereas<div class="wikimodel-emptyline"></div>104 +#5QSR<cr> would return *5QSR4<cr> which represents the value for that session, whereas 121 121 122 -#5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM 123 -<div class="wikimodel-emptyline"></div></div></div> 124 -{{/html}} 106 +#5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM 125 125 126 126 == Virtual Angular Position == 127 127 128 -{{html wiki="true" clean="false"}} 129 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 130 -The ability to store a "virtual angular position" is a feature which allows for rotation beyond 360 degrees, permitting multiple rotations of the output horn, moving the center position and more. The "absolute position" would be the angle of the output shaft with respect to a 360.0 degree circle and can be obtained by taking the modulus (with respect to 360 degrees) of the value. For example if the virtual position is reported as 15335 (or 1533.5 degrees), taking the modulus would give 93.5 degrees (3600 * 4 + 935 = 15335) as the absolute position (assuming no origin offset).<div class="wikimodel-emptyline"></div> 110 +The ability to store a "virtual angular position" is a feature which allows for rotation beyond 360 degrees, permitting multiple rotations of the output horn, moving the center position and more. In virtual position mode, the "absolute position" would be the angle of the output shaft with respect to a 360.0 degree circle, and can be obtained by taking the modulus (with respect to 360 degrees) of the value. For example if the virtual position is reported as 15335 (or 1533.5 degrees), taking the modulus would give 93.5 degrees (3600 * 4 + 935 = 15335) as the absolute position (assuming no origin offset). 131 131 132 -[[image:LSS-servo-positions.jpg]] <div class="wikimodel-emptyline"></div>112 +[[image:LSS-servo-positions.jpg]] 133 133 134 -In this example, the gyre direction (explained below, a.k.a. "rotation direction") is positive (clockwise), and origin offset has not been modified. Each square represents 30 degrees. The following command is sent: <div class="wikimodel-emptyline"></div>114 +In this example, the gyre direction (explained below, a.k.a. "rotation direction") is positive (clockwise), and origin offset has not been modified. Each square represents 30 degrees. The following command is sent: 135 135 136 -#1D-300 <cr>This causes the servo to move to -30.0 degrees (green arrow)<div class="wikimodel-emptyline"></div>116 +#1D-300<cr> This causes the servo to move to -30.0 degrees (green arrow) 137 137 138 -#1D2100 <cr>This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)<div class="wikimodel-emptyline"></div>118 +#1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow) 139 139 140 -#1D-4200 <cr>This next command rotates the servo counterclockwise to a position of -420 degrees (red arrow), which means one full rotation of 360 degrees plus 60.0 degrees (420.0 - 360.0), with a virtual position of -420.0 degrees.<divclass="wikimodel-emptyline"></div>120 +#1D-4200<cr> This next command rotates the servo counterclockwise to a position of -420 degrees (red arrow), which means one full rotation of 360 degrees plus 60.0 degrees (420.0 - 360.0), with a virtual position of -420.0 degrees. 141 141 142 -Although the final physical position would be the same as if the servo were commanded to move to -60.0 degrees, the servo is in fact at -420.0 degrees. <divclass="wikimodel-emptyline"></div>122 +Although the final physical position would be the same as if the servo were commanded to move to -60.0 degrees, the servo is in fact at -420.0 degrees. 143 143 144 -#1D4800 <cr>This new command is sent which would then cause the servo to rotate from -420.0 degrees to 480.0 degrees (blue arrow), which would be a total of 900 degrees of clockwise rotation, or 2.5 complete rotations.<divclass="wikimodel-emptyline"></div>124 +#1D4800<cr> This new command is sent which would then cause the servo to rotate from -420.0 degrees to 480.0 degrees (blue arrow), which would be a total of 900 degrees of clockwise rotation, or 2.5 complete rotations. 145 145 146 -#1D3300 <cr>would cause the servo to rotate from 480.0 degrees to 330.0 degrees (yellow arrow).<div class="wikimodel-emptyline"></div>126 +#1D3300<cr> would cause the servo to rotate from 480.0 degrees to 330.0 degrees (yellow arrow). 147 147 148 -If the servo loses power or is power cycled, it also loses the virtual position associated with that session. For example, if the virtual position was 480.0 degrees before power is cycled, upon power up the servo's position will be read as +120.0 degrees from zero (assuming center position has not been modified). The virtual position range at power-up is [-180.0°, 180.0°]. 149 -<div class="wikimodel-emptyline"></div></div></div> 150 -{{/html}} 128 +If / once the servo loses power or is power cycled, it also loses the virtual position associated with that session. For example, if the virtual position was 480.0 degrees before power is cycled, upon power up the servo's position will be read as +120.0 degrees from zero (assuming center position has not been modified). 129 +))) 151 151 152 152 = Command List = 153 153 154 - **Latestfirmwareversion currently: 368.29.14**133 +== Regular == 155 155 156 -|(% colspan="10" style="color:orange; font-size:18px" %)[[**Communication Setup**>>||anchor="HCommunicationSetup"]] 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. 135 +|= #|=Description|=Mod|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value 136 +| 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| | L| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %) 137 +| 2|[[**H**alt & **H**old>>||anchor="H2.Halt26Hold28H29"]]| | H| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %) 138 +| 3|[[**T**imed move>>||anchor="H3.Timedmove28T29modifier"]]|T| | | | | | ✓|milliseconds|(% style="width:510px" %)Modifier only for {P, D, MD}. Time is estimated and can change based on load|(% style="text-align:center; width:113px" %) 139 +| 4|[[**S**peed>>||anchor="H4.Speed28S2CSD29modifier"]]|S/SD| |QS| | | | ✓|microseconds per second / degrees per second|(% style="width:510px" %)S modifier only for {P}. SD modifier only for {D, MD}.|(% style="text-align:center; width:113px" %) 140 +| 5|[[**M**ove in **D**egrees (relative)>>||anchor="H5.28Relative29MoveinDegrees28MD29"]]| | MD| | | | | ✓|tenths of degrees (ex 325 = 32.5 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %) 141 +| 6|[[**O**rigin Offset>>||anchor="H6.OriginOffsetAction28O29"]]| | O| QO|CO|✓| ✓| ✓|tenths of degrees (ex 91 = 9.1 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)((( 142 +0 143 +))) 144 +| 7|[[**A**ngular **R**ange>>||anchor="H7.AngularRange28AR29"]]| | AR| QAR| CAR|✓| ✓| ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)((( 145 +1800 146 +))) 147 +| 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| | P| QP| | | | ✓|microseconds|(% style="width:510px" %)((( 148 +Inherited from SSC-32 serial protocol 149 +)))|(% style="text-align:center; width:113px" %) 150 +| 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| | D| QD / QDT| | | | ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %) 151 +| 10|[[**W**heel mode in **D**egrees>>||anchor="H10.WheelModeinDegrees28WD29"]]| | WD| QWD| | | | ✓|degrees per second|(% style="width:510px" %)A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center; width:113px" %) 152 +| 11|[[**W**heel mode in **R**PM>>||anchor="H11.WheelModeinRPM28WR29"]]| | WR| QWR| | | | ✓|revolutions per minute (rpm)|(% style="width:510px" %)A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center; width:113px" %) 153 +| 12|[[Max **S**peed in **D**egrees>>||anchor="H12.MaxSpeedinDegrees28SD29"]]| | SD| QSD|CSD|✓| ✓| ✓|degrees per second (°/s)|(% style="width:510px" %)((( 154 +QSD: Add modifier "2" for instantaneous speed. 165 165 166 -|(% colspan="10" style="color:orange; font-size:18px" %)[[**Motion**>>||anchor="HMotion"]] 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" %)✓| | | 156 +SD overwrites SR / CSD overwrites CSR and vice-versa. 157 +)))|(% style="text-align:center; width:113px" %)Max per servo 158 +| 13|[[Max **S**peed in **R**PM>>||anchor="H13.MaxSpeedinRPM28SR29"]]| | SR| QSR|CSR|✓| ✓| ✓|revolutions per minute (rpm)|(% style="width:510px" %)((( 159 +QSR: Add modifier "2" for instantaneous speed 178 178 179 -|(% colspan="10" style="color:orange; font-size:18px" %)[[**Motion Setup**>>||anchor="HMotionSetup"]] 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|0.1°/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 161 +SR overwrites SD / CSR overwrites CSD and vice-versa. 162 +)))|(% style="text-align:center; width:113px" %)Max per servo 163 +| 14|[[**LED** Color>>||anchor="H14.LEDColor28LED29"]]| | LED| QLED| CLED|✓| ✓| ✓|none (integer from 0 to 7)|(% style="width:510px" %)0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;|(% style="text-align:center; width:113px" %)0 (OFF) 164 +| 15|[[**G**yre direction (**G**)>>||anchor="H15.GyreRotationDirection28G29"]]| | G| QG| CG|✓| ✓| ✓|none |(% style="width:510px" %)Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)|(% style="text-align:center; width:113px" %)1 165 +| 16|[[**ID** #>>||anchor="H16.IdentificationNumber28ID29"]]| | | QID| CID| | | ✓|none (integer from 0 to 250)|(% style="width:510px" %)Note: ID 254 is a "broadcast" which all servos respond to. |(% style="text-align:center; width:113px" %)0 166 +| 17|[[**B**aud rate>>||anchor="H17.BaudRate"]]| | | QB| CB| | | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)115200 167 +| 18|//{coming soon}//| | | | | | | | |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)((( 168 + 169 +))) 170 +| 19|[[**F**irst Position (**D**eg)>>||anchor="H19.FirstA0Position28Degrees29"]]| | | QFD|CFD|X| ✓| ✓|none |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)No Value 171 +| 20|[[**M**odel **S**tring>>||anchor="H20.QueryModelString28QMS29"]]| | | QMS| | | | |none (string)|(% style="width:510px" %) Returns the type of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1)|(% style="text-align:center; width:113px" %) 172 +| 21|[[Serial **N**umber>>||anchor="H21.QuerySerialNumber28QN29"]]| | | QN| | | | |none (integer)|(% style="width:510px" %) Returns the unique serial number for that servo|(% style="text-align:center; width:113px" %) 173 +| 22|[[**F**irmware version>>||anchor="H22.QueryFirmware28QF29"]]| | | QF| | | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %) 174 +| 23|[[**Q**uery (gen. status)>>||anchor="H23.QueryStatus28Q29"]]| | | Q| | | | ✓|none (integer from 1 to 8)|(% style="width:510px" %) See command description for details|(% style="text-align:center; width:113px" %) 175 +| 24|[[**V**oltage>>||anchor="H24.QueryVoltage28QV29"]]| | | QV| | | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %) 176 +| 25|[[**T**emperature>>||anchor="H25.QueryTemperature28QT29"]]| | | QT| | | | ✓|tenths of degrees Celsius|(% style="width:510px" %)Max temp before error: 85°C (servo goes limp)|(% style="text-align:center; width:113px" %) 177 +| 26|[[**C**urrent>>||anchor="H26.QueryCurrent28QC29"]]| | | QC| | | | ✓|milliamps (ex 200 = 0.2A)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %) 178 +| 27|[[**C**hange to** RC**>>||anchor="H27.ConfigureRCMode28CRC29"]]| | | |CRC|✓| | ✓|none|(% style="width:510px" %)((( 179 +Change to RC mode 1 (position) or 2 (wheel). 180 +)))|(% style="text-align:center; width:113px" %)Serial 181 +| 28|[[**RESET**>>||anchor="H28.RESET"]]| | | | | | | ✓|none|(% style="width:510px" %)Soft reset. See command for details.|(% style="text-align:center; width:113px" %) 182 +| 29|[[**DEFAULT**>>||anchor="H29.DEFAULTA026CONFIRM"]]| | | | | | |✓|none|(% style="width:510px" %)Revert to firmware default values. See command for details|(% style="text-align:center; width:113px" %) 183 +| 30|[[**UPDATE**>>||anchor="H30.UPDATEA026CONFIRM"]]| | | | | | |✓|none|(% style="width:510px" %)Update firmware. See command for details.|(% style="text-align:center; width:113px" %) 194 194 195 -|(% colspan="10" style="color:orange; font-size:18px" %)[[**Modifiers**>>||anchor="HModifiers"]] 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" %)✓| |0.1°/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 185 +== Advanced == 202 202 203 -|(% colspan="10" style="color:orange;font-size:18px" %)[[**Telemetry**>>||anchor="HTelemetry"]]204 -|(% style="width:2 5px" %) |(% 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" %)ext-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" %)ext-align:center" %) |(% style="text-align:center"%)✓||1/10°C|207 -| |[[** Q**uery**C**urrent>>||anchor="HQueryCurrent28QC29"]]|(% style="text-align:center" %)ext-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" %)✓||Returnshemodel ofservo(ex: LSS-ST1,LSS-HS1,LSS-HT1)209 -| |[[** Q**uery**F**irmwareVersion>>||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" %)✓| | |Returnsthe unique serialumber for the servo187 +|= #|=(% style="width: 182px;" %)Description|=(% style="width: 56px;" %)Mod|=(% style="width: 70px;" %) Action|=(% style="width: 71px;" %) Query|=(% style="width: 77px;" %) Config|=(% style="width: 77px;" %)Session|=(% style="width: 56px;" %) RC|=(% style="width: 151px;" %) Serial|= Units|=(% style="width: 510px;" %) Notes 188 +| A1|(% style="width:182px" %)[[**A**ngular **S**tiffness>>||anchor="HA1.AngularStiffness28AS29"]]|(% style="width:56px" %) |(% style="width:70px" %)AS|(% style="width:71px" %)QAS|(% style="width:77px" %)CAS|(% style="width:77px" %)✓|(% style="width:56px" %) ✓|(% style="width:151px" %) ✓|none (integer -4 to +4)|(% style="width:510px" %)Suggested values are between 0 to +4 189 +| A2|(% style="width:182px" %)[[**A**ngular **H**olding Stiffness>>||anchor="HA2.AngularHoldingStiffness28AH29"]]|(% style="width:56px" %) |(% style="width:70px" %)AH|(% style="width:71px" %)QAH|(% style="width:77px" %)CAH|(% style="width:77px" %)✓|(% style="width:56px" %) |(% style="width:151px" %) ✓|none (integer -10 to +10)|(% style="width:510px" %)Effect is different between serial and RC 190 +| A3|(% style="width:182px" %)[[**A**ngular **A**cceleration>>||anchor="HA3:AngularAcceleration28AA29"]]|(% style="width:56px" %) |(% style="width:70px" %)AA|(% style="width:71px" %)QAA|(% style="width:77px" %)CAA|(% style="width:77px" %)✓|(% style="width:56px" %) |(% style="width:151px" %) ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared 191 +| A4|(% style="width:182px" %)[[**A**ngular **D**eceleration>>||anchor="HA4:AngularDeceleration28AD29"]]|(% style="width:56px" %) |(% style="width:70px" %)AD|(% style="width:71px" %)QAD|(% style="width:77px" %)CAD|(% style="width:77px" %)✓|(% style="width:56px" %) |(% style="width:151px" %) ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared 192 +| A5|(% style="width:182px" %)[[**E**nable **M**otion Control>>||anchor="HA5:MotionControl28EM29"]]|(% style="width:56px" %) |(% style="width:70px" %)EM|(% style="width:71px" %)QEM|(% style="width:77px" %) |(% style="width:77px" %) |(% style="width:56px" %) |(% style="width:151px" %) ✓|none|(% style="width:510px" %)EM0 to disable motion control, EM1 to enable 193 +| A6|(% style="width:182px" %)[[**C**onfigure **L**ED **B**linking>>||anchor="HA6.ConfigureLEDBlinking28CLB29"]]|(% style="width:56px" %) |(% style="width:70px" %) |(% style="width:71px" %)QLB|(% style="width:77px" %) CLB|(% style="width:77px" %) |(% style="width:56px" %) ✓|(% style="width:151px" %) ✓|none (integer from 0 to 63)|(% style="width:510px" %)((( 194 +0=No blinking, 63=Always blink; 211 211 212 - |(% colspan="10"style="color:orange;font-size:18px"%)[[**RGB LED**>>||anchor="HRGBLED"]]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" %)✓||0to7integer|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" %) |(% style="text-align:center" %)CLB|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓||0to63 integer|Resetrequiredafter change.See command fordetails.196 +Blink while: 1=Limp; 2=Holding; 4=Accel; 8=Decel; 16=Free 32=Travel; 197 +))) 198 +| A7|(% style="width:182px" %)[[**C**urrent **H**alt & **H**old>>||anchor="HA7.CurrentHalt26Hold28CH29"]]|(% style="width:56px" %)CH|(% style="width:70px" %) |(% style="width:71px" %) |(% style="width:77px" %) |(% style="width:77px" %)✓|(% style="width:56px" %) |(% style="width:151px" %)✓|milliamps (ex 400 = 0.4A)|(% style="width:510px" %)Modifier for D, MD, WD, WR 199 +| A8|(% style="width:182px" %)[[**C**urrent **L**imp>>||anchor="HA8.CurrentLimp28CL29"]]|(% style="width:56px" %)CL|(% style="width:70px" %) |(% style="width:71px" %) |(% style="width:77px" %) |(% style="width:77px" %)✓|(% style="width:56px" %) |(% style="width:151px" %)✓|milliamps (ex 400 = 0.4A)|(% style="width:510px" %)Modifier for D, MD, WD, WR 216 216 217 -= (% style="color:inherit;font-family:inherit" %)Details(%%)=201 +== Details - Basic == 218 218 219 -== (% style="color:inherit;font-family:inherit"%)Communication Setup(%%) ==203 +====== __1. Limp (**L**)__ ====== 220 220 221 - ====== __Reset__======205 +Example: #5L<cr> 222 222 223 -{{html wiki="true" clean="false"}} 224 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 225 -Ex: #5RESET<cr><div class="wikimodel-emptyline"></div> 226 -This command does a "soft reset" and reverts all commands to those stored in EEPROM (i.e. configuration commands). 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 -</div></div> 229 -{{/html}} 207 +This action causes the servo to go "limp". The microcontroller will still be powered, but the motor will not. As an emergency safety feature, should the robot not be doing what it is supposed to or risks damage, use the broadcast ID to set all servos limp #254L<cr>. 230 230 231 -====== __ Default &confirm__ ======209 +====== __2. Halt & Hold (**H**)__ ====== 232 232 233 -{{html wiki="true" clean="false"}} 234 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 235 -Ex: #5DEFAULT<cr><div class="wikimodel-emptyline"></div> 211 +Example: #5H<cr> 236 236 237 -This command setsin motionthe resetof allvalues to thedefault valuesincludedwithhesionofthefirmware installed on that servo.TheservothenwaitsfortheCONFIRM command.Any othercommand receivedwillcause theservo to exittheDEFAULT function.<divclass="wikimodel-emptyline"></div>213 +This action overrides whatever the servo might be doing at the time the command is received (accelerating, moving continuously etc.) and causes it to stop immediately and hold that angular position. 238 238 239 - EX:#5DEFAULT<cr>followedby #5CONFIRM<cr><divclass="wikimodel-emptyline"></div>215 +====== __3. Timed move (**T**) modifier__ ====== 240 240 241 - 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 otherthan CONFIRM be received by the servo after the firmware command has been received, it will exit the command.<divclass="wikimodel-emptyline"></div>217 +Example: #5P1500T2500<cr> 242 242 243 -**Note:** After the CONFIRM command is sent, the servo will automatically perform a RESET.<div class="wikimodel-emptyline"></div> 244 -</div></div> 245 -{{/html}} 219 +Timed move can be used only as a modifier for a position (P, D, MD) actions. The units are in milliseconds, so a timed move of 2500 milliseconds would cause the servo to rotate from its current position to the desired position in 2.5 seconds. The onboard controller will attempt to ensure that the move is performed entirely at the desired velocity, though differences in torque may cause it to not be exact. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol. 246 246 247 - ======__Update&confirm__======221 +Note: If the calculated speed at which a servo must rotate for a timed move is greater than its maximum speed (which depends on voltage and load), then it will move at its maximum speed, and the time of the move may be longer than requested. 248 248 249 -{{html wiki="true" clean="false"}} 250 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 251 -Ex: #5UPDATE<cr><div class="wikimodel-emptyline"></div> 223 +====== __4. Speed (**S**, **SD**) modifier__ ====== 252 252 253 -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> 225 +Example: #5P1500S750<cr> 226 +Example: #5D0SD180<cr> 254 254 255 - EX:#5UPDATE<cr>followedby#5CONFIRM<cr><divclass="wikimodel-emptyline"></div>228 +Modifier (S) is only for a position (P) action and determines the speed of the move in microseconds per second. A speed of 750 microseconds would cause the servo to rotate from its current position to the desired position at a speed of 750 microseconds per second. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol. 256 256 257 - Sinceititnot commontohavetoupdatefirmware,aconfirmation command isneededafteranUPDATEcommandissent. Shouldany commandotherthanCONFIRMbereceivedbythe servoafterthe firmwarecommandhasbeenreceived,itwillleavethe firmwareaction.<divclass="wikimodel-emptyline"></div>230 +Modifer (SD) is only for a position (D) or relative position (MD) action and determines the speed of the move in degrees per second. A speed modifier (SD) of 180 would cause the servo to rotate from its current position to the desired absolute or relative position at a speed of 180 degrees per second. 258 258 259 -**Note:** After the CONFIRM command is sent, the servo will automatically perform a RESET.<div class="wikimodel-emptyline"></div> 260 -</div></div> 261 -{{/html}} 232 +Query Speed (**QS**) 262 262 263 - ======__Confirm__======234 +Example: #5QS<cr> might return *5QS300<cr> 264 264 265 -{{html wiki="true" clean="false"}} 266 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 267 -Ex: #5CONFIRM<cr><div class="wikimodel-emptyline"></div> 236 +This command queries the current speed in microseconds per second. 268 268 269 - Thiscommandis usedtoconfirm changesafter aDefault orUpdatecommand.<divclass="wikimodel-emptyline"></div>238 +====== __5. (Relative) Move in Degrees (**MD**)__ ====== 270 270 271 -**Note:** After the CONFIRM command is sent, the servo will automatically perform a RESET.<div class="wikimodel-emptyline"></div> 272 -</div></div> 273 -{{/html}} 240 +Example: #5MD123<cr> 274 274 275 - ======__ConfigureRCMode(**CRC**)__======242 +The relative move command causes the servo to read its current position and move the specified number of tenths of degrees in the corresponding position. For example if the servo is set to rotate CW (default) and an MD command of 123 is sent to the servo, it will cause the servo to rotate clockwise by 12.3 degrees. Negative commands would cause the servo to rotate in the opposite configured direction. 276 276 277 -{{html wiki="true" clean="false"}} 278 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 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> 244 +====== __6. Origin Offset Action (**O**)__ ====== 280 280 281 -|**Command sent**|**Note** 282 -|ex: #5CRC1<cr>|Change to RC position mode. 283 -|ex: #5CRC2<cr>|Change to RC continuous rotation (wheel) mode. 284 -|ex: #5CRC*<cr>|Where * is any value other than 1 or 2 (or no value): stay in smart mode.<div class="wikimodel-emptyline"></div> 246 +Example: #5O2400<cr> 285 285 286 - EX:#5CRC2<cr><divclass="wikimodel-emptyline"></div>248 +This command allows you to temporarily change the origin of the servo in relation to the factory zero position for that session. As with all action commands, the setting will be lost upon servo reset / power cycle. Origin offset commands are not cumulative and always relate to factory zero. In the first image, the origin at factory offset '0' (centered). 287 287 288 - This command would placethe servo in RC wheel mode after a RESET or power cycle. Note that after a RESET or power cycle, theservowill be in RC modend will not reply to serial commands. Using the command #5CRC<cr> or #5CRC3<cr> which requests that the servo remain in serialmode still requires a RESET command.<div class="wikimodel-emptyline"></div>250 +[[image:LSS-servo-default.jpg]] 289 289 290 -**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 -</div></div> 292 -{{/html}} 252 +In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees: 293 293 294 - ====== __Identification Number(**ID**)__ ======254 +[[image:LSS-servo-origin.jpg]] 295 295 296 -{{html wiki="true" clean="false"}} 297 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 298 -A servo's identification number cannot be set "on the fly" and must be configured via the CID command described below. The factory default ID number for all servos is 0. Since smart servos are intended to be daisy chained, in order to respond differently from one another, the user must set different identification numbers. Servos with the same ID and baud rate will all receive and react to the same commands.<div class="wikimodel-emptyline"></div> 256 +Origin Offset Query (**QO**) 299 299 300 - QueryIdentification(**QID**)<div class="wikimodel-emptyline"></div>258 +Example: #5QO<cr> Returns: *5QO-13 301 301 302 - EX:#254QID<cr>might return*QID5<cr><divclass="wikimodel-emptyline"></div>260 +This allows you to query the angle (in tenths of degrees) of the origin in relation to the factory zero position. In this example, the new origin is at -1.3 degrees from the factory zero. 303 303 304 - 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 changeit. Usingthe 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 settingthe servo ID to 255 will still result intheservo responding withits "real" ID.<div class="wikimodel-emptyline"></div>262 +Configure Origin Offset (**CO**) 305 305 306 - Configure ID (**CID**)<div class="wikimodel-emptyline"></div>264 +Example: #5CO-24<cr> 307 307 308 - Ex:#4CID5<cr><div class="wikimodel-emptyline"></div>266 +This command allows you to change the origin of the servo in relation to the factory zero position in EEPROM. The setting will be saved upon servo reset / power cycle. Origin offset configuration commands are not cumulative and always relate to factory zero. The new origin is also used in RC mode. In the example, the new origin will be at -2.4 degrees from the factory zero. 309 309 310 -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 -</div></div> 312 -{{/html}} 268 +====== __7. Angular Range (**AR**)__ ====== 313 313 314 - ====== __Baud Rate__======270 +Example: #5AR1800<cr> 315 315 316 -{{html clean="false" wiki="true"}} 317 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 318 -A servo's baud rate cannot be set "on the fly" and must be configured via the CB command described below. The factory default baud rate for all servos is 115200. Since smart servos are intended to be daisy chained, in order to respond to the same serial command, all servos in a project should be set to the same baud rate. Setting different baud rates will have the servos respond differently and may create issues. Available baud rates are: 9600 bps, 19200 bps, 38400 bps, 57600 bps, 115.2 kbps, 230.4 kbps, 250.0 kbps, 460.8 kbps, 500.0 kbps, 750.0 kbps, 921.6 kbps. Servos are shipped with a baud rate set to 115200.<div class="wikimodel-emptyline"></div> 272 +This command allows you to temporarily change the total angular range of the servo in tenths of degrees. This applies to the Position in Pulse (P) command and RC mode. The default for (P) and RC mode is 1800 (180.0 degrees total, or ±90.0 degrees). The image below shows a standard -180.0 to +180.0 range, with no offset: 319 319 320 - Query Baud Rate (**QB**)<div class="wikimodel-emptyline"></div>274 +[[image:LSS-servo-default.jpg]] 321 321 322 - Ex: #5QB<cr>mightreturn*5QB115200<cr><divclass="wikimodel-emptyline"></div>276 +Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged. 323 323 324 - Since the command to query the baud rate must be done at the servo's existingbaud rate, it cansimply beused to confirm the CB configuration command was correctly received before the servo is power cycledand the new baudrate takes effect.<div class="wikimodel-emptyline"></div>278 +[[image:LSS-servo-ar.jpg]] 325 325 326 - ConfigureBaudRate(**CB**)<divclass="wikimodel-emptyline"></div>280 +Finally, the angular range action command (ex. #5AR1800<cr>) and origin offset action command (ex. #5O-1200<cr>) are used to move both the center and limit the angular range: 327 327 328 - **Important Note:** theservo's current session retains the given baudrate and the new baud rate willonly take effect when the servo is power cycled / RESET.<div class="wikimodel-emptyline"></div>282 +[[image:LSS-servo-ar-o-1.jpg]] 329 329 330 - Ex:#5CB9600<cr><divclass="wikimodel-emptyline"></div>284 +Query Angular Range (**QAR**) 331 331 332 -Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.<div class="wikimodel-emptyline"></div> 333 -</div></div> 334 -{{/html}} 286 +Example: #5QAR<cr> might return *5AR1800, indicating the total angular range is 180.0 degrees. 335 335 336 - ======__AutomaticBaudRate__======288 +Configure Angular Range (**CAR**) 337 337 338 -{{html clean="false" wiki="true"}} 339 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 340 -This option allows the LSS to listen to it's serial input and select the right baudrate automatically.<div class="wikimodel-emptyline"></div> 290 +This command allows you to change the total angular range of the servo in tenths of degrees in EEPROM. The setting will be saved upon servo reset / power cycle. 341 341 342 - QueryAutomaticBaudRate (**QABR**)<divclass="wikimodel-emptyline"></div>292 +====== __8. Position in Pulse (**P**)__ ====== 343 343 344 -E nableBaud Rate (**ABR**)<divclass="wikimodel-emptyline"></div>294 +Example: #5P2334<cr> 345 345 346 - ConfigureBaudRate(**CABR**)<divclass="wikimodel-emptyline"></div>296 +The position in PWM pulses was retained in order to be backward compatible with the SSC-32 / 32U protocol. This relates the desired angle with an RC standard PWM pulse and is further explained in the SSC-32 and SSC-32U manuals found on Lynxmotion.com. Without any modifications to configuration considered, and a ±90.0 degrees standard range where 1500 microseconds is centered, a pulse of 2334 would set the servo to 165.1 degrees. Valid values for P are [500, 2500]. Values outside this range are corrected / restricted to end points. 347 347 348 -</div></div> 349 -{{/html}} 298 +Query Position in Pulse (**QP**) 350 350 351 - ==Motion==300 +Example: #5QP<cr> might return *5QP2334 352 352 353 -====== __Position in Degrees (**D**)__ ====== 302 +This command queries the current angular position in PWM "units". The user must take into consideration that the response includes any angular range and origin configurations in order to determine the actual angle. 303 +Valid values for QP are {-500, [500, 2500], -2500}. Values outside the [500, 2500] range are given a negative corresponding end point value to indicate they are out of bounds (note that if the servo is physically located at one of the endpoints, it may return a negative number if it is a fraction of a degree beyond the position). 354 354 355 -{{html wiki="true" clean="false"}} 356 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 357 -Example: #5D1456<cr><div class="wikimodel-emptyline"></div> 305 +====== __9. Position in Degrees (**D**)__ ====== 358 358 359 - This moves the servo toan angleof145.6degrees, where the center (0) position is centered. Negative values (ex. -176 representing -17.6 degrees) could also be used. A full circle would be from -1800 to 1800 degrees. A value of 2700 would be the same angle (absolute position) as -900, except the servo would move in a different direction.<divclass="wikimodel-emptyline"></div>307 +Example: #5D1456<cr> 360 360 361 - Largervaluesarepermittedandallowformulti-turnfunctionalityusingtheconceptofvirtual position(explainedabove).<divclass="wikimodel-emptyline"></div>309 +This moves the servo to an angle of 145.6 degrees, where the center (0) position is centered. Negative values (ex. -176 representing -17.6 degrees) are used. A full circle would be from -1800 to 1800 degrees. A value of 2700 would be the same angle as -900, except the servo would move in a different direction. 362 362 363 - QueryPositioninDegrees(**QD**)<divclass="wikimodel-emptyline"></div>311 +Larger values are permitted and allow for multi-turn functionality using the concept of virtual position. 364 364 365 - Example: #5QD<cr>mightreturn*5QD132<cr><div class="wikimodel-emptyline"></div>313 +Query Position in Degrees (**QD**) 366 366 367 - Thismeansthe servois locatedat 13.2degrees.<divclass="wikimodel-emptyline"></div>315 +Example: #5QD<cr> might return *5QD132<cr> 368 368 317 +This means the servo is located at 13.2 degrees. 318 + 369 369 (% class="wikigeneratedid" id="H22.QueryTargetPositioninDegrees28QDT29" %) 370 -Query Target Position <div class="wikimodel-emptyline"></div>320 +Query Target Position in Degrees (**QDT**) 371 371 372 -Ex: #5QDT <cr>might return *5QDT6783<cr><divclass="wikimodel-emptyline"></div>322 +Ex: #5QDT<cr> might return *5QDT6783<cr> 373 373 374 -The query target position command returns the target virtual position during and after an action which results in a rotation of the servo horn. In the example above, the servo is rotating to a virtual position of 678.3 degrees. Should the servo not have a target position or be in wheel mode, it will respond with the last target position used. 375 -<div class="wikimodel-emptyline"></div></div></div> 376 -{{/html}} 324 +The query target position command returns the target angle during and after an action which results in a rotation of the servo horn. In the example above, the servo is rotating to a virtual position of 678.3 degrees. Should the servo not have a target position or be in wheel mode, it will respond without a number (Ex: *5QDT<cr>). 377 377 378 -====== __ (Relative)Move in Degrees (**MD**)__ ======326 +====== __10. Wheel Mode in Degrees (**WD**)__ ====== 379 379 380 -{{html wiki="true" clean="false"}} 381 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 382 -Example: #5MD123<cr><div class="wikimodel-emptyline"></div> 328 +Ex: #5WD90<cr> 383 383 384 -The relative move command causes the servo to read its current position and move the specified number of tenths of degrees in the corresponding position. For example if the servo is set to rotate CW (default) and an MD command of 123 is sent to the servo, it will cause the servo to rotate clockwise by 12.3 degrees. Negative commands would cause the servo to rotate in the opposite configured direction. 385 -<div class="wikimodel-emptyline"></div></div></div> 386 -{{/html}} 330 +This command sets the servo to wheel mode where it will rotate in the desired direction at the selected speed. The example above would have the servo rotate at 90.0 degrees per second clockwise (assuming factory default configurations). 387 387 388 - ======__Wheel Mode in Degrees (**WD**)__ ======332 +Query Wheel Mode in Degrees (**QWD**) 389 389 390 -{{html wiki="true" clean="false"}} 391 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 392 -Ex: #5WD90<cr><div class="wikimodel-emptyline"></div> 334 +Ex: #5QWD<cr> might return *5QWD90<cr> 393 393 394 -This command sets the servo to wheel mode where it will rotate in the desired direction at the selected speed. The example above would have the servo rotate at 90.0 degrees per second clockwise (assuming factory default configurations).<div class="wikimodel-emptyline"></div> 395 - 396 -Query Wheel Mode in Degrees (**QWD**)<div class="wikimodel-emptyline"></div> 397 - 398 -Ex: #5QWD<cr> might return *5QWD90<cr><div class="wikimodel-emptyline"></div> 399 - 400 400 The servo replies with the angular speed in degrees per second. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise). 401 -<div class="wikimodel-emptyline"></div></div></div> 402 -{{/html}} 403 403 404 -====== __Wheel Mode in RPM (**WR**)__ ====== 338 +====== __11. Wheel Mode in RPM (**WR**)__ ====== 405 405 406 -{{html wiki="true" clean="false"}} 407 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 408 -Ex: #5WR40<cr><div class="wikimodel-emptyline"></div> 340 +Ex: #5WR40<cr> 409 409 410 -This command sets the servo to wheel mode where it will rotate in the desired direction at the selected rpm. Wheel mode (a.k.a. "continuous rotation") has the servo operate like a geared DC motor. The servo's maximum rpm cannot be set higher than its physical limit at a given voltage. The example above would have the servo rotate at 40 rpm clockwise (assuming factory default configurations). <div class="wikimodel-emptyline"></div>342 +This command sets the servo to wheel mode where it will rotate in the desired direction at the selected rpm. Wheel mode (a.k.a. "continuous rotation") has the servo operate like a geared DC motor. The servo's maximum rpm cannot be set higher than its physical limit at a given voltage. The example above would have the servo rotate at 40 rpm clockwise (assuming factory default configurations). 411 411 412 -Query Wheel Mode in RPM (**QWR**) <div class="wikimodel-emptyline"></div>344 +Query Wheel Mode in RPM (**QWR**) 413 413 414 -Ex: #5QWR <cr>might return *5QWR40<cr><divclass="wikimodel-emptyline"></div>346 +Ex: #5QWR<cr> might return *5QWR40<cr> 415 415 416 416 The servo replies with the angular speed in rpm. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise). 417 -<div class="wikimodel-emptyline"></div></div></div> 418 -{{/html}} 419 419 420 -====== __ PositioninPWM(**P**)__ ======350 +====== __12. Max Speed in Degrees (**SD**)__ ====== 421 421 422 -{{html wiki="true" clean="false"}} 423 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 424 -Example: #5P2334<cr><div class="wikimodel-emptyline"></div> 352 +Ex: #5SD1800<cr> 425 425 426 -Th epositioninPWM pulseswasretainedinordertobe backward compatiblewiththeSSC-32 / 32U protocol. This relatesthedesiredanglewithn RC standardPWMsignalandis furtherexplainedintheSSC-32and[[SSC-32Umanuals>>https://www.robotshop.com/media/files/pdf2/lynxmotion_ssc-32u_usb_user_guide.pdf#page=24]].Withoutanymodificationsto configurationconsidered,anda±90.0 degreesstandard rangewhere1500microsecondsiscentered,aPWMsignalof2334wouldsetthe servoto 165.1 degrees.Validvaluesfor Pare[500,2500].Valuesoutside thisrange are corrected/restricted to endpoints.<divclass="wikimodel-emptyline"></div>354 +This command sets the servo's maximum speed for motion commands in tenths of degrees per second for that session. In the example above, the servo's maximum speed for that session would be set to 180.0 degrees per second. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. The SD action command overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD and SR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session. 427 427 428 -Query PositioninPulse (**QP**)<div class="wikimodel-emptyline"></div>356 +Query Speed in Degrees (**QSD**) 429 429 430 -Ex ample: #5QP<cr>might return *5QP2334<divclass="wikimodel-emptyline"></div>358 +Ex: #5QSD<cr> might return *5QSD1800<cr> 431 431 432 -This command queries the current angular position in PWM "units". The user must take into consideration that the response includes any angular range and origin configurations in order to determine the actual angle. 433 -Valid values for QP are {-500, [500, 2500], -2500}. Values outside the [500, 2500] range are given a negative corresponding end point value to indicate they are out of bounds (note that if the servo is physically located at one of the endpoints, it may return a negative number if it is a fraction of a degree beyond the position). 434 -<div class="wikimodel-emptyline"></div></div></div> 435 -{{/html}} 360 +By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever an SD/SR command is processed. 361 +If #5QSD1<cr> is sent, the configured maximum speed (CSD value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example: 436 436 437 -====== __(Relative) Move in PWM (**M**)__ ====== 363 +|**Command sent**|**Returned value (1/10 °)** 364 +|ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command) 365 +|ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR) 366 +|ex: #5QSD2<cr>|Instantaneous speed (same as QWD) 367 +|ex: #5QSD3<cr>|Target travel speed 438 438 439 -{{html wiki="true" clean="false"}} 440 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 441 -Example: #5M1500<cr><div class="wikimodel-emptyline"></div> 369 +Configure Speed in Degrees (**CSD**) 442 442 443 -The relative move in PWM command causes the servo to read its current position and move by the specified number of PWM signal. For example if the servo is set to rotate CW (default) and an M command of 1500 is sent to the servo, it will cause the servo to rotate clockwise by 90 degrees. Negative PWM value would cause the servo to rotate in the opposite configured direction. 444 -<div class="wikimodel-emptyline"></div></div></div> 445 -{{/html}} 371 +Ex: #5CSD1800<cr> 446 446 447 - ======__Raw Duty-cycleMove (**RDM**)__======373 +Using the CSD command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 180.0 degrees per second. When the servo is powered on (or after a reset), the CSD value is used. Note that CSD and CSR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) is what the servo uses for that session. 448 448 449 -{{html wiki="true" clean="false"}} 450 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 451 -Example: #5RDM512<cr><div class="wikimodel-emptyline"></div> 375 +====== __13. Max Speed in RPM (**SR**)__ ====== 452 452 453 - Theraw duty-cycle move command (or free move command) will rotate the servo at a specified duty cycle value in wheel mode (a.k.a. "continuous rotation") like a gearedDC motor.<divclass="wikimodel-emptyline"></div>377 +Ex: #5SD45<cr> 454 454 455 -Th edutyvalues rangefrom0to1023.Negativevalueswillrotate the servo in theoppositedirection(forfactorydefaultanegative valuewould becounter clockwise).<divclass="wikimodel-emptyline"></div>379 +This command sets the servo's maximum speed for motion commands in rpm for that session. In the example above, the servo's maximum speed for that session would be set to 45rpm. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SD overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session. 456 456 457 -Query Move in Duty-cycle (**QMD**)<div class="wikimodel-emptyline"></div>381 +Query Speed in Degrees (**QSR**) 458 458 459 -Ex ample: #5QMD<cr>might return *5QMD512<divclass="wikimodel-emptyline"></div>383 +Ex: #5QSR<cr> might return *5QSR45<cr> 460 460 461 -This command queries the raw duty-cycle move value. 512 value means that the motor is rotating at 50% duty-cycle. 462 -<div class="wikimodel-emptyline"></div></div></div> 463 -{{/html}} 385 +By default QSR will return the current session value, which is set to the value of CSR as reset/power cycle and changed whenever an SD/SR command is processed. 386 +If #5QSR1<cr> is sent, the configured maximum speed (CSR value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example: 464 464 465 -====== __Query Status (**Q**)__ ====== 388 +|**Command sent**|**Returned value (1/10 °)** 389 +|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command) 390 +|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR) 391 +|ex: #5QSR2<cr>|Instantaneous speed (same as QWR) 392 +|ex: #5QSR3<cr>|Target travel speed 466 466 467 -{{html wiki="true" clean="false"}} 468 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 469 -The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below.<div class="wikimodel-emptyline"></div> 394 +Configure Speed in RPM (**CSR**) 470 470 471 -Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.<div class="wikimodel-emptyline"></div> 472 -</div></div> 473 -{{/html}} 396 +Ex: #5CSR45<cr> 474 474 475 -|(% style="width:25px" %) |***Value returned (Q)**|**Status**|**Detailed description** 476 -| |ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state 477 -| |ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely 478 -| |ex: *5Q2<cr>|2: Free moving|Servo is rotating in duty motion / free move using the RDM command 479 -| |ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed 480 -| |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed 481 -| |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position. 482 -| |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will nornally be holding) 483 -| |ex: *5Q7<cr>|7: Outside limits|{More details coming soon} 484 -| |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting 485 -| |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled) 486 -| |ex: *5Q10<cr>|10: Safe Mode|((( 487 -A safety limit has been exceeded (temperature, peak current or extended high current draw). 398 +Using the CSR command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSR value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) received is what the servo uses for that session. 488 488 489 -Send a Q1 command to know which limit has been reached (described below). 490 -))) 400 +====== __14. LED Color (**LED**)__ ====== 491 491 492 -{{html wiki="true" clean="false"}} 493 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 494 -If a safety limit has been reached and exceeded, the LED will flash red and the servo will stop providing torque (no longer react to commands which cause the motor to rotate). In order to determine which limit has been reached, send a Q1 command. The servo must be RESET in order to return to normal operation, though if a limit is still detected (for example the servo is still too hot), it will revert back to Safe Mode.<div class="wikimodel-emptyline"></div> 495 -</div></div> 496 -{{/html}} 402 +Ex: #5LED3<cr> 497 497 498 -|(% style="width:25px" %) |***Value returned (Q1)**|**Status**|**Detailed description** 499 -| |ex: *5Q0<cr>|No limits have been passed|Nothing is wrong 500 -| |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long 501 -| |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source 502 -| |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely. 404 +This action sets the servo's RGB LED color for that session.The LED can be used for aesthetics, or (based on user code) to provide visual status updates. Using timing can create patterns. 503 503 504 -= =====__Limp(**L**)__======406 +0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White; 505 505 506 -{{html wiki="true" clean="false"}} 507 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 508 -Example: #5L<cr><div class="wikimodel-emptyline"></div> 408 +Query LED Color (**QLED**) 509 509 510 -This action causes the servo to go "limp". The microcontroller will still be powered, but the motor will not. As an emergency safety feature, should the robot not be doing what it is supposed to or risks damage, use the broadcast ID to set all servos limp #254L<cr>. 511 -<div class="wikimodel-emptyline"></div></div></div> 512 -{{/html}} 410 +Ex: #5QLED<cr> might return *5QLED5<cr> 513 513 514 - ======__Halt&Hold(**H**)__======412 +This simple query returns the indicated servo's LED color. 515 515 516 -{{html wiki="true" clean="false"}} 517 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 518 -Example: #5H<cr><div class="wikimodel-emptyline"></div> 414 +Configure LED Color (**CLED**) 519 519 520 -This command causes the servo to stop immediately and hold that angular position. It overrides whatever the servo might be doing at the time the command is received (accelerating, travelling, deccelerating, etc.) 521 -<div class="wikimodel-emptyline"></div></div></div> 522 -{{/html}} 416 +Configuring the LED color via the CLED command sets the startup color of the servo after a reset or power cycle. Note that it also changes the session's LED color immediately as well. 523 523 524 -== MotionSetup==418 +====== __15. Gyre Rotation Direction (**G**)__ ====== 525 525 526 - ======__EnableMotionProfile(**EM**)__======420 +"Gyre" is defined as a circular course or motion. The effect of changing the gyre direction is as if you were to use a mirror image of a circle. CW = 1; CCW = -1. The factory default is clockwise (CW). 527 527 528 -{{html clean="false" wiki="true"}} 529 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 530 -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> 422 +Ex: #5G-1<cr> 531 531 532 - Ex:#5EM1<cr><div class="wikimodel-emptyline"></div>424 +This command will cause servo #5's positions to be inverted, effectively causing the servo to rotate in the opposite direction given the same command. For example in a 2WD robot, servos are often physically installed back to back, therefore setting one of the servos to a negative gyration, the same wheel command (ex WR30) to both servos will cause the robot to move forward or backward rather than rotate. 533 533 534 - This commandenablesa trapezoidalmotion profilefor servo #5 <divclass="wikimodel-emptyline"></div>426 +Query Gyre Direction (**QG**) 535 535 536 -Ex: #5 EM0<cr><divclass="wikimodel-emptyline"></div>428 +Ex: #5QG<cr> might return *5QG-1<cr> 537 537 538 -Th is command will disablethe built-in trapezoidalmotion profile. As such, theservo will moveatfull speed to the target positionusing theD/MD action commands.Modifiers like SD/S or T cannotbe used in EM0 mode. By default the Filter Position Counter, or "FPC" is activein EM0modeto smooth out its operation. EM0 issuggested for applications wherean external controller will be determining all incremental intermediate positions of theservo'smotion, effectively replacing a trajectory manager. To prevent having tosendpositioncommandscontinuously to reach the desired positionin EM0/FPC active(FPC >= 2), an internalposition engine (IPE) repeats the last positioncommand. Note that in EM0 mode, the servowill effectively alwaysbein status: Holding(if using the querystatus command).430 +The value returned above means the servo is in a counter-clockwise gyration. 539 539 540 - <div class="wikimodel-emptyline"></div>432 +Configure Gyre (**CG**) 541 541 542 - Query Motion Profile (**QEM**)<divclass="wikimodel-emptyline"></div>434 +Ex: #5CG-1<cr> 543 543 544 - Ex:#5QEM<cr>mightreturn*5QEM1<cr><divclass="wikimodel-emptyline"></div>436 +This changes the gyre direction as described above and also writes to EEPROM. 545 545 546 - Thiscommandwill querythe motion profile. **0:** motionprofile disabled/**1:**trapezoidal motion profile enabled.<div class="wikimodel-emptyline"></div>438 +====== __16. Identification Number (**ID**)__ ====== 547 547 548 - ConfigureMotionProfile(**CEM**)<divclass="wikimodel-emptyline"></div>440 +A servo's identification number cannot be set "on the fly" and must be configured via the CID command described below. The factory default ID number for all servos is 0. Since smart servos are intended to be daisy chained, in order to respond differently from one another, the user must set different identification numbers. Servos with the same ID and baud rate will all receive and react to the same commands (assuming same baud rate). 549 549 550 - Ex: #5CEM0<cr><divclass="wikimodel-emptyline"></div>442 +Query Identification (**QID**) 551 551 552 -This command configures the motion profile and saves it in the EEPROM. The setting will be saved upon servo reset / power cycle. 553 -<div class="wikimodel-emptyline"></div></div></div> 554 -{{/html}} 444 +EX: #254QID<cr> might return *QID5<cr> 555 555 556 - ======__FilterPositionCount (**FPC**)__======446 +When using the 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 (assuming the query is sent . 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. 557 557 558 -{{html clean="false" wiki="true"}} 559 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 560 -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. 561 -<div class="wikimodel-emptyline"></div> 562 -Ex: #5FPC10<cr><div class="wikimodel-emptyline"></div> 563 -This command allows the user to change the Filter Position Count value for that session. <div class="wikimodel-emptyline"></div> 448 +Configure ID (**CID**) 564 564 565 - QueryFilter PositionCount (**QFPC**)<divclass="wikimodel-emptyline"></div>450 +Ex: #4CID5<cr> 566 566 567 - Ex:#5QFPC<cr>might return*5QFPC10<cr><divclass="wikimodel-emptyline"></div>452 +Setting a servo's ID in EEPROM is done via the CID command. All servos connected to the same serial bus 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. 568 568 569 - Thiscommandwill query the Filter Position Count value.<divclass="wikimodel-emptyline"></div>454 +====== __17. Baud Rate__ ====== 570 570 571 - ConfigureFilterPositionCount(**CFPC**)<div class="wikimodel-emptyline"></div>456 +A servo's baud rate cannot be set "on the fly" and must be configured via the CB command described below. The factory default baud rate for all servos is 115200. Since smart servos are intended to be daisy chained, in order to respond to the same serial bus, all servos in a project should ideally be set to the same baud rate. Setting different baud rates will have the servos respond differently and may create issues. Available baud rates are: 9600 bps, 19200 bps, 38400 bps, 57600 bps, 115.2 kbps, 230.4 kbps, 250.0 kbps, 460.8 kbps, 500.0 kbps. Servos are shipped with a baud rate set to 115200. The baud rates are currently restricted to those above. 572 572 573 - Ex: #5CFPC10<cr><divclass="wikimodel-emptyline"></div>458 +Query Baud Rate (**QB**) 574 574 575 -This command configures the Filter Position Count value and saves it in the EEPROM. The setting will be saved upon servo reset / power cycle. 576 -<div class="wikimodel-emptyline"></div></div></div> 577 -{{/html}} 460 +Ex: #5QB<cr> might return *5QB115200<cr> 578 578 579 - ======__OriginOffset(**O**)__======462 +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. 580 580 581 -{{html wiki="true" clean="false"}} 582 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 583 -Example: #5O2400<cr><div class="wikimodel-emptyline"></div> 464 +Configure Baud Rate (**CB**) 584 584 585 - This command allows youto changetheorigin ofthe servoin relation to the factory zero positionforthatsession.As withall actioncommands,thesettingwill belostuponservo reset/ powercycle.Originoffsetcommandsare not cumulativeandalwaysrelatetofactoryzero. In thefirst image, the origin at factoryoffset'0' (centered).<divclass="wikimodel-emptyline"></div>466 +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. 586 586 587 - [[image:LSS-servo-default.jpg]]<divclass="wikimodel-emptyline"></div>468 +Ex: #5CB9600<cr> 588 588 589 - In thesecond image,theorigin,and thecorrespondingangular range(explainedbelow)havebeenshiftedby +240.0degrees:<divclass="wikimodel-emptyline"></div>470 +Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second. 590 590 591 - [[image:LSS-servo-origin.jpg]]<divclass="wikimodel-emptyline"></div>472 +====== __18. {//Coming soon//}__ ====== 592 592 593 - OriginOffset Query (**QO**)<divclass="wikimodel-emptyline"></div>474 +Command coming soon.... 594 594 595 - Example:#5QO<cr>mightreturn *5QO-13<div class="wikimodel-emptyline"></div>476 +====== __19. First Position (Degrees)__ ====== 596 596 597 - Thisallowsyou toquerythe angle(intenthsof degrees)oftheorigin inrelationto the factoryzero position.Inthisexample, theneworigin is at -1.3degreesfromthefactoryzero.<divclass="wikimodel-emptyline"></div>478 +In certain cases, a user might want to have the servo move to a specific angle upon power up; we refer to this as "first position" (a.k.a. "initial position"). The factory default has no first position value stored in EEPROM and therefore upon power up, the servo remains limp until a position (or hold command) is assigned. Note that the number should be restricted to -1790 (-179.0 degrees) to +1790 (179.0 degrees) and values beyond this will be changed to 1800. 598 598 599 - ConfigureOriginOffset(**CO**)<div class="wikimodel-emptyline"></div>480 +Query First Position in Degrees (**QFD**) 600 600 601 -Ex ample: #5CO-24<cr><divclass="wikimodel-emptyline"></div>482 +Ex: #5QFD<cr> might return *5QFD64<cr> 602 602 603 -This command allows you to change the origin of the servo in relation to the factory zero position in EEPROM. The setting will be saved upon servo reset / power cycle. Origin offset configuration commands are not cumulative and always relate to factory zero. The new origin is also used in RC mode. In the example, the new origin will be at -2.4 degrees from the factory zero. 604 -<div class="wikimodel-emptyline"></div></div></div> 605 -{{/html}} 484 +The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds. If there is no first position value stored, the reply will be DIS 606 606 607 - ====== __AngularRange (**AR**)__ ======486 +Configure First Position in Degrees (**CFD**) 608 608 609 -{{html wiki="true" clean="false"}} 610 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 611 -Example: #5AR1800<cr><div class="wikimodel-emptyline"></div> 488 +Ex: #5CD64<cr> 612 612 613 -This command a llowsyoutotemporarilychangethe totalangularrangeoftheservoin tenthsofdegrees.ThisappliestothePositionPulse(P)command andRCmode.Thedefaultfor (P) andRC modeis1800 (180.0 degrees total,or±90.0 degrees). The imagebelowshowsa standard-180.0to+180.0range,withno offset:<divclass="wikimodel-emptyline"></div>490 +This configuration command means the servo, when set to smart mode, will immediately move to 6.4 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> 614 614 615 - [[image:LSS-servo-default.jpg]]<divclass="wikimodel-emptyline"></div>492 +====== __20. Query Model String (**QMS**)__ ====== 616 616 617 - Below,the angularrangeis restricted to 180.0 degrees, or -90.0 to +90.0. The centerhasremainedunchanged.<divclass="wikimodel-emptyline"></div>494 +Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr> 618 618 619 - [[image:LSS-servo-ar.jpg]]<divclass="wikimodel-emptyline"></div>496 +This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision. 620 620 621 - Finally,theangularrangeaction command (ex. #5AR1800<cr>) and origin offsetaction command (ex. #5O-1200<cr>)areused tomoveboth thecenterandlimit the angular range:<div class="wikimodel-emptyline"></div>498 +====== __21. Query Serial Number (**QN**)__ ====== 622 622 623 - [[image:LSS-servo-ar-o-1.jpg]]<divclass="wikimodel-emptyline"></div>500 +Ex: #5QN<cr> might return *5QN12345678<cr> 624 624 625 - QueryAngularRange (**QAR**)<divclass="wikimodel-emptyline"></div>502 +The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user. 626 626 627 - Example:#5QAR<cr>might return*5AR1800,indicating the total angularrange is 180.0 degrees.<divclass="wikimodel-emptyline"></div>504 +====== __22. Query Firmware (**QF**)__ ====== 628 628 629 - ConfigureAngularRange(**CAR**)<divclass="wikimodel-emptyline"></div>506 +Ex: #5QF<cr> might return *5QF411<cr> 630 630 631 -This command allows you to change the total angular range of the servo in tenths of degrees in EEPROM. The setting will be saved upon servo reset / power cycle. 632 -<div class="wikimodel-emptyline"></div></div></div> 633 -{{/html}} 508 +The number in the reply represents the firmware version, in this example being 411. 634 634 635 -====== __ Angular Stiffness(**AS**)__ ======510 +====== __23. Query Status (**Q**)__ ====== 636 636 637 -{{html wiki="true" clean="false"}} 638 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 639 -The servo's rigidity / angular stiffness can be thought of as (though not identical to) a damped spring in which the value affects the stiffness and embodies how much, and how quickly the servo tried keep the requested position against changes. There are no units.<div class="wikimodel-emptyline"></div> 512 +The status query described what the servo is currently doing. The query returns an integer which must be looked up in the table below. Use the CLB advanced command to have the LED blink for certain statuses. 640 640 641 - Ahighervalueof"angularstiffness":<divclass="wikimodel-emptyline"></div>514 +Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position. 642 642 643 -* The more torque will be applied to try to keep the desired position against external input / changes 644 -* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position<div class="wikimodel-emptyline"></div> 516 +|***Value returned (Q)**|**Status**|**Detailed description** 517 +|ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state 518 +|ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely 519 +|ex: *5Q2<cr>|2: Free moving|Motor driving circuit is not powered and horn can be moved freely 520 +|ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed 521 +|ex: *5Q4<cr>|4: Traveling|Moving at a stable speed 522 +|ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position. 523 +|ex: *5Q6<cr>|6: Holding|Keeping current position 524 +|ex: *5Q7<cr>|7: Outside limits|{More details coming soon} 525 +|ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting 526 +|ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled) 527 +|ex: *5Q10<cr>|10: Safe Mode|((( 528 +A safety limit has been exceeded (temperature, peak current or extended high current draw). 645 645 646 -A lower value on the other hand:<div class="wikimodel-emptyline"></div> 530 +Send a Q1 command to know which limit has been reached (described below). 531 +))) 647 647 648 - *Causesa slower acceleration to thetravel speed, anda slower deceleration649 - *Allows the targetposition to deviate morefrom itspositionbeforeadditionaltorqueisappliedtobringitback<divclass="wikimodel-emptyline"></div>533 +(% class="wikigeneratedid" %) 534 +If a safety limit has been reached and exceeded, the LED will flash red and the servo will stop providing torque (no longer react to commands which cause the motor to rotate). In order to determine which limit has been reached, send a Q1 command. The servo must be RESET in order to return to normal operation, though if a limit is still detected (for example the servo is still too hot), it will revert back to Safe Mode. 650 650 651 -The default value for stiffness depending on the firmware may be 0 or 1. Greater values produce increasingly erratic behavior and the effect becomes extreme below -4 and above +4. Maximum values are -10 to +10.<div class="wikimodel-emptyline"></div> 536 +|***Value returned (Q1)**|**Status**|**Detailed description** 537 +|ex: *5Q0<cr>|No limits have been passed|Nothing is wrong 538 +|ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long 539 +|ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source 540 +|ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely. 652 652 653 - Ex:#5AS-2<cr><divclass="wikimodel-emptyline"></div>542 +====== __24. Query Voltage (**QV**)__ ====== 654 654 655 - Thisreduces the angularstiffness to -2 for that session, allowing the servo to deviatemore around the desired position. This can be beneficial in many situations such as impacts (legged robots) where more of a "spring" effectis desired. Upon reset, the servo willuse the value stored inmemory, based on the last configuration command.<divclass="wikimodel-emptyline"></div>544 +Ex: #5QV<cr> might return *5QV11200<cr> 656 656 657 - Ex:#5QAS<cr><divclass="wikimodel-emptyline"></div>546 +The number returned has one decimal, so in the case above, servo with ID 5 has an input voltage of 11.2V (perhaps a three cell LiPo battery). 658 658 659 -Quer iesthevaluebeingused.<div class="wikimodel-emptyline"></div>548 +====== __25. Query Temperature (**QT**)__ ====== 660 660 661 -Ex: #5 CAS-2<cr><divclass="wikimodel-emptyline"></div>550 +Ex: #5QT<cr> might return *5QT564<cr> 662 662 663 -Writes the desired angular stiffness value to EEPROM. 664 -<div class="wikimodel-emptyline"></div></div></div> 665 -{{/html}} 552 +The units are in tenths of degrees Celcius, so in the example above, the servo's internal temperature is 56.4 degrees C. To convert from degrees Celcius to degrees Farenheit, multiply by 1.8 and add 32. Therefore 56.4C = 133.52F. 666 666 667 -====== __ AngularHolding Stiffness(**AH**)__ ======554 +====== __26. Query Current (**QC**)__ ====== 668 668 669 -{{html wiki="true" clean="false"}} 670 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 671 -The angular holding stiffness determines the servo's ability to hold a desired position under load. The default value for stiffness depending on the firmware may be 0 or 1. Greater values produce increasingly erratic behavior and the effect becomes extreme below -4 and above +4. Maximum values are -10 to +10.<div class="wikimodel-emptyline"></div> 556 +Ex: #5QC<cr> might return *5QC140<cr> 672 672 673 - Ex:#5AH3<cr><divclass="wikimodel-emptyline"></div>558 +The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A. 674 674 675 - Thissetsthe holding stiffness forservo#5to3 for that session.<divclass="wikimodel-emptyline"></div>560 +====== __27. Configure RC Mode (**CRC**)__ ====== 676 676 677 - QueryAngularHoldingStiffness(**QAH**)<divclass="wikimodel-emptyline"></div>562 +This command puts the servo into RC mode (position or continuous), where it will only respond to RC pulses. Note that because this is the case, the servo will no longer accept serial commands. The servo can be placed back into smart mode by using the button menu. 678 678 679 -Ex: #5QAH<cr> might return *5QAH3<cr><div class="wikimodel-emptyline"></div> 564 +|**Command sent**|**Note** 565 +|ex: #5CRC1<cr>|Change to RC position mode. 566 +|ex: #5CRC2<cr>|Change to RC continuous (wheel) mode. 567 +|ex: #5CRC*<cr>|Where * is any number or value other than 1 or 2 (or no value): stay in smart mode. 680 680 681 - Thisreturns the servo's angular holding stiffness value.<divclass="wikimodel-emptyline"></div>569 +EX: #5CRC2<cr> 682 682 683 - ConfigureAngularHoldingStiffness(**CAH**)<divclass="wikimodel-emptyline"></div>571 +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. 684 684 685 - Ex:#5CAH2<cr><div class="wikimodel-emptyline"></div>573 +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. 686 686 687 -This writes the angular holding stiffness of servo #5 to 2 to EEPROM. 688 -<div class="wikimodel-emptyline"></div></div></div> 689 -{{/html}} 575 +====== __28. **RESET**__ ====== 690 690 691 - ======__Angular Acceleration(**AA**)__ ======577 +Ex: #5RESET<cr> or #5RS<cr> 692 692 693 -{{html wiki="true" clean="false"}} 694 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 695 -The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.<div class="wikimodel-emptyline"></div> 579 +This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands). 580 +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. 696 696 697 - Ex:#5AA30<cr><divclass="wikimodel-emptyline"></div>582 +====== __29. **DEFAULT** & CONFIRM__ ====== 698 698 699 - Thissets the angular acceleration for servo#5to 30 degrees per second squared (°/s^^2^^).<divclass="wikimodel-emptyline"></div>584 +Ex: #5DEFAULT<cr> 700 700 701 - QueryAngularAcceleration(**QAA**)<divclass="wikimodel-emptyline"></div>586 +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. 702 702 703 -E x: #5QAA<cr>might return *5QAA30<cr><div class="wikimodel-emptyline"></div>588 +EX: #5DEFAULT<cr> followed by #5CONFIRM<cr> 704 704 705 - This returnstheservo's angular accelerationingreespersecond squared(°/s^^2^^).<divclass="wikimodel-emptyline"></div>590 +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. 706 706 707 - ConfigureAngularAcceleration(**CAA**)<divclass="wikimodel-emptyline"></div>592 +Note that after the CONFIRM command is sent, the servo will automatically perform a RESET. 708 708 709 - Ex:#5CAA30<cr><divclass="wikimodel-emptyline"></div>594 +====== __30. **UPDATE** & CONFIRM__ ====== 710 710 711 -This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM. 712 -<div class="wikimodel-emptyline"></div></div></div> 713 -{{/html}} 596 +Ex: #5UPDATE<cr> 714 714 715 - ======__AngularDeceleration(**AD**)__======598 +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. 716 716 717 -{{html wiki="true" clean="false"}} 718 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 719 -The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.<div class="wikimodel-emptyline"></div> 600 +EX: #5UPDATE<cr> followed by #5CONFIRM<cr> 720 720 721 - Ex:#5AD30<cr><divclass="wikimodel-emptyline"></div>602 +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. 722 722 723 - This setstheangular decelerationfor servo#5to 30 degreespersecond squared(°/s^^2^^).<divclass="wikimodel-emptyline"></div>604 +Note that after the CONFIRM command is sent, the servo will automatically perform a RESET. 724 724 725 - QueryAngularDeceleration(**QAD**)<divclass="wikimodel-emptyline"></div>606 +== Details - Advanced == 726 726 727 - Ex:#5QAD<cr>might return*5QAD30<cr><divclass="wikimodel-emptyline"></div>608 +The motion controller used in serial mode is not the same as the motion controller use in RC mode. RC mode is intended to add functionality to what would be considered "normal" RC behavior based on PWM input. 728 728 729 - Thisreturnsthe servo's angulardecelerationin degreespersecondsquared(°/s^^2^^).<divclass="wikimodel-emptyline"></div>610 +====== __A1. Angular Stiffness (**AS**)__ ====== 730 730 731 - ConfigureAngularDeceleration(**CAD**)<divclass="wikimodel-emptyline"></div>612 +The servo's rigidity / angular stiffness can be thought of as (though not identical to) a damped spring in which the value affects the stiffness and embodies how much, and how quickly the servo tried keep the requested position against changes. There are no units. 732 732 733 - Ex: #5CAD30<cr><divclass="wikimodel-emptyline"></div>614 +A positive value of "angular stiffness": 734 734 735 -This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM. 736 -<div class="wikimodel-emptyline"></div></div></div> 737 -{{/html}} 616 +* The more torque will be applied to try to keep the desired position against external input / changes 617 +* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position 738 738 739 - ======__GyreDirection(**G**)__======619 +A negative value on the other hand: 740 740 741 -{{html wiki="true" clean="false"}} 742 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 743 -"Gyre" is defined as a circular course or motion. The effect of changing the gyre direction is as if you were to use a mirror image of a circle. By default: CW = 1; CCW = -1.<div class="wikimodel-emptyline"></div> 621 +* Causes a slower acceleration to the travel speed, and a slower deceleration 622 +* Allows the target position to deviate more from its position before additional torque is applied to bring it back 744 744 745 - Ex:#5G-1<cr><div class="wikimodel-emptyline"></div>624 +The default value for stiffness depending on the firmware may be 0 or 1. Greater values produce increasingly erratic behavior and the effect becomes extreme below -4 and above +4. Maximum values are -10 to +10. 746 746 747 - Thiscommand will cause servo#5's positions to be inverted, effectively causing the servo to rotate in the opposite direction given the same command. For example in a2WD robot, servos are often physically installed back to back, therefore setting one of the servos to a negative gyration, the same wheel command (ex WR30) to both servos will cause the robot to move forward or backward rather than rotate.<divclass="wikimodel-emptyline"></div>626 +Ex: #5AS-2<cr> 748 748 749 - QueryGyreDirection(**QG**)<divclass="wikimodel-emptyline"></div>628 +This reduces the angular stiffness to -2 for that session, allowing the servo to deviate more around the desired position. This can be beneficial in many situations such as impacts (legged robots) where more of a "spring" effect is desired. Upon reset, the servo will use the value stored in memory, based on the last configuration command. 750 750 751 -Ex: #5Q G<cr> might return *5QG-1<cr><divclass="wikimodel-emptyline"></div>630 +Ex: #5QAS<cr> 752 752 753 - The valueturned above means theservo is inacounter-clockwisegyration. Sendinga #5WR30 command will rotate the servo in a counter-clockwisegyration at 30 RPM.<div class="wikimodel-emptyline"></div>632 +Queries the value being used. 754 754 755 - ConfigureGyre (**CG**)<divclass="wikimodel-emptyline"></div>634 +Ex: #5CAS<cr> 756 756 757 - Ex: #5CG-1<cr><divclass="wikimodel-emptyline"></div>636 +Writes the desired angular stiffness value to memory. 758 758 759 -This changes the gyre direction as described above and also writes to EEPROM. 760 -<div class="wikimodel-emptyline"></div></div></div> 761 -{{/html}} 638 +====== __A2. Angular Holding Stiffness (**AH**)__ ====== 762 762 763 - ======__FirstPosition__======640 +The angular holding stiffness determines the servo's ability to hold a desired position under load. The default value for stiffness depending on the firmware may be 0 or 1. Greater values produce increasingly erratic behavior and the effect becomes extreme below -4 and above +4. Maximum values are -10 to +10. Note that when considering altering a stiffness value, the end effect depends on the mode being tested. 764 764 765 -{{html wiki="true" clean="false"}} 766 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 767 -In certain cases, a user might want to have the servo move to a specific angle upon power up; we refer to this as "first position" (a.k.a. "initial position"). The factory default has no first position value stored in EEPROM and therefore upon power up, the servo remains limp until a position (or hold command) is assigned. Note that the number should be restricted to -1790 (-179.0 degrees) to +1790 (179.0 degrees) and values beyond this will be changed to 1800. <div class="wikimodel-emptyline"></div> 642 +Ex: #5AH3<cr> 768 768 769 - Query FirstPosition inDegrees(**QFD**)<divclass="wikimodel-emptyline"></div>644 +This sets the holding stiffness for servo #5 to 3 for that session. 770 770 771 - Ex: #5QFD<cr>might return *5QFD900<cr><div class="wikimodel-emptyline"></div>646 +Query Angular Hold Stiffness (**QAH**) 772 772 773 - Thereply above indicates that servowithID 5 has a firstposition of 90.0 degrees. Ifthere isnofirst position value stored, the reply will be DIS.<divclass="wikimodel-emptyline"></div>648 +Ex: #5QAH<cr> might return *5QAH3<cr> 774 774 775 - ConfigureFirstPositioninDegrees(**CFD**)<divclass="wikimodel-emptyline"></div>650 +This returns the servo's angular holding stiffness value. 776 776 777 - Ex: #5CFD900<cr><divclass="wikimodel-emptyline"></div>652 +Configure Angular Hold Stiffness (**CAH**) 778 778 779 -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> 780 -<div class="wikimodel-emptyline"></div></div></div> 781 -{{/html}} 654 +Ex: #5CAH2<cr> 782 782 783 - ======__MaximumMotorDuty(**MMD**)__======656 +This writes the angular holding stiffness of servo #5 to 2 to EEPROM. Note that when considering altering a stiffness value, the end effect depends on the mode being tested. 784 784 785 -{{html wiki="true" clean="false"}} 786 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 787 -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> 658 +====== __A3: Angular Acceleration (**AA**)__ ====== 788 788 789 - Ex:#5MMD512<cr><divclass="wikimodel-emptyline"></div>660 +The default value for angular acceleration is 100, which is the same as the maximum deceleration. Accepts values of between 1 and 100. Increments of 10 degrees per second squared. 790 790 791 - Thiswill set the duty-cycle to512 for servo with ID 5 for that session.<divclass="wikimodel-emptyline"></div>662 +Ex: #5AA30<cr> 792 792 793 -Query MaximumMotorDuty(**QMMD**)<div class="wikimodel-emptyline"></div>664 +Query Angular Acceleration (**QAD**) 794 794 795 -Ex: #5Q MMDD<cr>might return *5QMMD512<cr><divclass="wikimodel-emptyline"></div>666 +Ex: #5QA<cr> might return *5QA30<cr> 796 796 797 -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. 798 -<div class="wikimodel-emptyline"></div></div></div> 799 -{{/html}} 668 +Configure Angular Acceleration (**CAD**) 800 800 801 - ====== __MaximumSpeed in Degrees (**SD**)__ ======670 +Ex: #5CA30<cr> 802 802 803 -{{html wiki="true" clean="false"}} 804 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 805 -Ex: #5SD1800<cr><div class="wikimodel-emptyline"></div> 806 -This command sets the servo's maximum speed for motion commands in tenths of degrees per second for that session. In the example above, the servo's maximum speed for that session would be set to 180.0 degrees per second. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. The SD action command overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD and SR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.<div class="wikimodel-emptyline"></div> 672 +====== __A4: Angular Deceleration (**AD**)__ ====== 807 807 808 - QuerySpeedinDegrees(**QSD**)<divclass="wikimodel-emptyline"></div>674 +The default value for angular deceleration is 100, which is the same as the maximum acceleration. Values between 1 and 15 have the greatest impact. 809 809 810 -Ex: #5 QSD<cr> might return *5QSD1800<cr><divclass="wikimodel-emptyline"></div>676 +Ex: #5AD8<cr> 811 811 812 - By defaultQSD will return thecurrentsessionvalue, which is set to the value of CSDasreset/powercycleandchanged whenevern SD/SR command is processed. If #5QSD1<cr>is sent, the configuredmaximum speed(CSDvalue)will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:<div class="wikimodel-emptyline"></div>678 +Query Angular Deceleration (**QAD**) 813 813 814 -|**Command sent**|**Returned value (1/10 °)** 815 -|ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command) 816 -|ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR) 817 -|ex: #5QSD2<cr>|Instantaneous speed (same as QWD) 818 -|ex: #5QSD3<cr>|Target travel speed<div class="wikimodel-emptyline"></div> 680 +Ex: #5QD<cr> might return *5QD8<cr> 819 819 820 -Configure Speed in Degrees(**CSD**)<div class="wikimodel-emptyline"></div>682 +Configure Angular Deceleration (**CAD**) 821 821 822 -Ex: #5CSD1800<cr><div class="wikimodel-emptyline"></div> 823 -Using the CSD command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 180.0 degrees per second. When the servo is powered on (or after a reset), the CSD value is used. Note that CSD and CSR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) is what the servo uses for that session.<div class="wikimodel-emptyline"></div> 824 -</div></div> 825 -{{/html}} 684 +Ex: #5CD8<cr> 826 826 827 -====== __M aximumSpeed inRPM(**SR**)__ ======686 +====== __A5: Motion Control (**EM**)__ ====== 828 828 829 -{{html wiki="true" clean="false"}} 830 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 831 -Ex: #5SR45<cr><div class="wikimodel-emptyline"></div> 832 -This command sets the servo's maximum speed for motion commands in rpm for that session. In the example above, the servo's maximum speed for that session would be set to 45rpm. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SR overrides CSR (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSR as described below. Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.<div class="wikimodel-emptyline"></div> 688 +The command EM0 disables use of the motion controller (acceleration, velocity / travel, deceleration). As such, the servo will move at full speed for all motion commands. The command EM1 enables use of the motion controller. 833 833 834 - QuerySpeed inRPM(**QSR**)<divclass="wikimodel-emptyline"></div>690 +Note that if the modifiers S or T are used, it is assumed that motion control is desired, and for that command, EM1 will be used. 835 835 836 - Ex:#5QSR<cr>might return*5QSR45<cr><divclass="wikimodel-emptyline"></div>692 +====== __A6. Configure LED Blinking (**CLB**)__ ====== 837 837 838 - Bydefault QSR willreturnthecurrentsessionvalue,whichissetto thevalueof CSR asreset/powercycleand changed wheneveranSD/SRcommand is processed.If#5QSR1<cr>is sent,theconfiguredmaximumspeed(CSR value)will bereturnedinstead.also querythecurrentspeedusing"2"andthe currenttarget travelspeedusing "3".See thetablebelow foran example:<divclass="wikimodel-emptyline"></div>694 +This command allows you to control when the RGB LED will blink the user set color (see [[16. RGB LED>>||anchor="H16.RGBLED28LED29"]] for details). This is very useful when visually seeing what the servo is doing. You can turn on or off blinking for various LSS status. The command requires that the servo be RESET. Here is the list and their associated value: 839 839 840 -|**Command sent**|**Returned value (1/10 °)** 841 -|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command) 842 -|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR) 843 -|ex: #5QSR2<cr>|Instantaneous speed (same as QWD) 844 -|ex: #5QSR3<cr>|Target travel speed<div class="wikimodel-emptyline"></div> 696 +(% style="width:195px" %) 697 +|(% style="width:134px" %)**Blink While:**|(% style="width:58px" %)**#** 698 +|(% style="width:134px" %)No blinking|(% style="width:58px" %)0 699 +|(% style="width:134px" %)Limp|(% style="width:58px" %)1 700 +|(% style="width:134px" %)Holding|(% style="width:58px" %)2 701 +|(% style="width:134px" %)Accelerating|(% style="width:58px" %)4 702 +|(% style="width:134px" %)Decelerating|(% style="width:58px" %)8 703 +|(% style="width:134px" %)Free|(% style="width:58px" %)16 704 +|(% style="width:134px" %)Travelling|(% style="width:58px" %)32 705 +|(% style="width:134px" %)Always blink|(% style="width:58px" %)63 845 845 846 - ConfigureSpeedinRPM(**CSR**)<divclass="wikimodel-emptyline"></div>707 +To set blinking, use CLB with the value of your choosing. To activate blinking in multiple status, simply add together the values of the corresponding status. See examples below: 847 847 848 -Ex: #5CSR45<cr><div class="wikimodel-emptyline"></div> 849 -Using the CSR command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSR value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) received is what the servo uses for that session.<div class="wikimodel-emptyline"></div> 850 -</div></div> 851 -{{/html}} 709 +Ex: #5CLB0<cr> to turn off all blinking (LED always solid) 710 +Ex: #5CLB1<cr> only blink when limp (1) 711 +Ex: #5CLB2<cr> only blink when holding (2) 712 +Ex: #5CLB12<cr> only blink when accel or decel (accel 4 + decel 8 = 12) 713 +Ex: #5CLB48<cr> only blink when free or travel (free 16 + travel 32 = 48) 714 +Ex: #5CLB63<cr> blink in all status (1 + 2 + 4 + 8 + 16 + 32) 852 852 853 - ==Modifiers==716 +RESETTING the servo is needed. 854 854 855 -====== __ Speed (**S**, **SD**)modifier__ ======718 +====== __A7. Current Halt & Hold (**CH**)__ ====== 856 856 857 -{{html clean="false" wiki="true"}} 858 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 859 -Example: #5P1500S750<cr><div class="wikimodel-emptyline"></div> 860 -Modifier (S) is only for a position (P) action and determines the speed of the move in microseconds per second. A speed of 750 microseconds would cause the servo to rotate from its current position to the desired position at a speed of 750 microseconds per second. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.<div class="wikimodel-emptyline"></div> 861 -Example: #5D0SD180<cr><div class="wikimodel-emptyline"></div> 862 -Modifier (SD) is only for a position (D) or relative position (MD) action and determines the speed of the move in tenths of degrees per second. A speed modifier (SD) of 180 would cause the servo to rotate from its current position to the desired absolute or relative position at a speed of 18 degrees per second.<div class="wikimodel-emptyline"></div> 863 -Query Speed (**QS**)<div class="wikimodel-emptyline"></div> 864 -Example: #5QS<cr> might return *5QS300<cr><div class="wikimodel-emptyline"></div> 865 -This command queries the current speed in microseconds per second.<div class="wikimodel-emptyline"></div> 866 -</div></div> 867 -{{/html}} 720 +This modifier, released in firmware v367, can be added to the following actions: D; MD; WD; WR. 868 868 869 - ======__Timed move (**T**) modifier__ ======722 +Ex: #5D1423CH400<cr> 870 870 871 -{{html wiki="true" clean="false"}} 872 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 873 -Example: #5P1500T2500<cr><div class="wikimodel-emptyline"></div> 724 +This has servo with ID 5 move to 142.3 degrees but, should it detect a current of 400mA or higher before it reaches the desired position, will immediately halt and hold position. 874 874 875 -Timed move can be used only as a modifier for a position (P, D, MD) actions. The units are in milliseconds, so a timed move of 2500 milliseconds would cause the servo to rotate from its current position to the desired position in 2.5 seconds. The onboard controller will attempt to ensure that the move is performed entirely at the desired velocity, though differences in torque may cause it to not be exact. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.<div class="wikimodel-emptyline"></div> 876 -**Note:** If the calculated speed at which a servo must rotate for a timed move is greater than its maximum speed (which depends on voltage and load), then it will move at its maximum speed, and the time of the move may be longer than requested.<div class="wikimodel-emptyline"></div> 877 -</div></div> 878 -{{/html}} 726 +====== __A8. Current Limp (**CL**)__ ====== 879 879 880 - ======__CurrentHalt&Hold(**CH**)modifier__======728 +This modifier, released in firmware v367, can be added to the following actions: D; MD; WD; WR. 881 881 882 -{{html wiki="true" clean="false"}} 883 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 884 -Example: #5D1423CH400<cr><div class="wikimodel-emptyline"></div> 730 +Ex: #5D1423CH400<cr> 885 885 886 -This has servo with ID 5 move to 142.3 degrees but, should it detect a current of 400mA or higher before it reaches the desired position, will immediately halt and hold position.<div class="wikimodel-emptyline"></div> 887 -This modifier can be added to the following actions: D; MD; WD; WR.<div class="wikimodel-emptyline"></div> 888 -</div></div> 889 -{{/html}} 732 +This has servo with ID 5 move to 142.3 degrees but, should it detect a current of 400mA or higher before it reaches the desired position, will immediately go limp. 890 890 891 -= =====__CurrentLimp(**CL**) modifier__======734 += RGB LED Patterns = 892 892 893 -{{html wiki="true" clean="false"}} 894 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 895 -Example: #5D1423CL400<cr><div class="wikimodel-emptyline"></div> 896 - 897 -This has servo with ID 5 move to 142.3 degrees but, should it detect a current of 400mA or higher before it reaches the desired position, will immediately go limp.<div class="wikimodel-emptyline"></div> 898 -This modifier can be added to the following actions: D; MD; WD; WR.<div class="wikimodel-emptyline"></div> 899 -</div></div> 900 -{{/html}} 901 - 902 -== Telemetry == 903 - 904 -====== __Query Voltage (**QV**)__ ====== 905 - 906 -{{html wiki="true" clean="false"}} 907 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 908 -Ex: #5QV<cr> might return *5QV11200<cr><div class="wikimodel-emptyline"></div> 909 -The number returned is in milliVolts, so in the case above, servo with ID 5 has an input voltage of 11.2V.<div class="wikimodel-emptyline"></div> 910 -</div></div> 911 -{{/html}} 912 - 913 -====== __Query Temperature (**QT**)__ ====== 914 - 915 -{{html wiki="true" clean="false"}} 916 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 917 -Ex: #5QT<cr> might return *5QT564<cr><div class="wikimodel-emptyline"></div> 918 -The units are in tenths of degrees Celcius, so in the example above, the servo's internal temperature is 56.4 degrees C. To convert from degrees Celcius to degrees Farenheit, multiply by 1.8 and add 32. Therefore 56.4C = 133.52F.<div class="wikimodel-emptyline"></div> 919 -</div></div> 920 -{{/html}} 921 - 922 -====== __Query Current (**QC**)__ ====== 923 - 924 -{{html wiki="true" clean="false"}} 925 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 926 -Ex: #5QC<cr> might return *5QC140<cr><div class="wikimodel-emptyline"></div> 927 -The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.<div class="wikimodel-emptyline"></div> 928 -</div></div> 929 -{{/html}} 930 - 931 -====== __Query Model String (**QMS**)__ ====== 932 - 933 -{{html wiki="true" clean="false"}} 934 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 935 -Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr><div class="wikimodel-emptyline"></div> 936 -This reply means that the servo model is LSS-HS1: a high speed servo, first revision.<div class="wikimodel-emptyline"></div> 937 -</div></div> 938 -{{/html}} 939 - 940 -====== __Query Firmware (**QF**)__ ====== 941 - 942 -{{html wiki="true" clean="false"}} 943 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 944 -Ex: #5QF<cr> might return *5QF368<cr><div class="wikimodel-emptyline"></div> 945 -The number in the reply represents the firmware version, in this example being 368.<div class="wikimodel-emptyline"></div> 946 -The command #5QF3<cr> can also be sent and the servo will reply with a 3 numbers firmware version, for example, 368.29.14<div class="wikimodel-emptyline"></div> 947 -</div></div> 948 -{{/html}} 949 - 950 -====== __Query Serial Number (**QN**)__ ====== 951 - 952 -{{html wiki="true" clean="false"}} 953 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 954 -Ex: #5QN<cr> might return *5QN12345678<cr><div class="wikimodel-emptyline"></div> 955 -The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.<div class="wikimodel-emptyline"></div> 956 -</div></div> 957 -{{/html}} 958 - 959 -== RGB LED == 960 - 961 -====== __LED Color (**LED**)__ ====== 962 - 963 -{{html wiki="true" clean="false"}} 964 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 965 -Ex: #5LED3<cr><div class="wikimodel-emptyline"></div> 966 -This action sets the servo's RGB LED color for that session.The LED can be used for aesthetics, or (based on user code) to provide visual status updates. Using timing can create patterns.<div class="wikimodel-emptyline"></div> 967 -0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;<div class="wikimodel-emptyline"></div> 968 -Query LED Color (**QLED**)<div class="wikimodel-emptyline"></div> 969 -Ex: #5QLED<cr> might return *5QLED5<cr><div class="wikimodel-emptyline"></div> 970 -This simple query returns the indicated servo's LED color.<div class="wikimodel-emptyline"></div> 971 -Configure LED Color (**CLED**)<div class="wikimodel-emptyline"></div> 972 -Ex: #5CLED3<cr><div class="wikimodel-emptyline"></div> 973 -Configuring the LED color via the CLED command sets the startup color of the servo after a reset or power cycle. Note that it also changes the session's LED color immediately as well. The command above will configure the servo's LED to a Blue color.<div class="wikimodel-emptyline"></div> 974 -</div></div> 975 -{{/html}} 976 - 977 -====== __Configure LED Blinking (**CLB**)__ ====== 978 - 979 -{{html wiki="true" clean="false"}} 980 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 981 -This command allows you to control when the RGB LED will blink the user set color (see RGB LED command for details). This is very useful when visually seeing what the servo is doing. You can turn on or off blinking for various LSS status. The command requires that the servo be RESET. Here is the list and their associated value:<div class="wikimodel-emptyline"></div> 982 - 983 -(% style="width:195px" %) 984 -|(% style="width:134px" %)**Blink While:**|(% style="width:58px" %)**#** 985 -|(% style="width:134px" %)No blinking|(% style="width:58px" %)0 986 -|(% style="width:134px" %)Limp|(% style="width:58px" %)1 987 -|(% style="width:134px" %)Holding|(% style="width:58px" %)2 988 -|(% style="width:134px" %)Accelerating|(% style="width:58px" %)4 989 -|(% style="width:134px" %)Decelerating|(% style="width:58px" %)8 990 -|(% style="width:134px" %)Free|(% style="width:58px" %)16 991 -|(% style="width:134px" %)Travelling|(% style="width:58px" %)32 992 -|(% style="width:134px" %)Always blink|(% style="width:58px" %)63<div class="wikimodel-emptyline"></div> 993 - 994 -To set blinking, use CLB with the value of your choosing. To activate blinking in multiple status, simply add together the values of the corresponding status. See examples below:<div class="wikimodel-emptyline"></div> 995 -Ex: #5CLB0<cr> to turn off all blinking (LED always solid)<div class="wikimodel-emptyline"></div> 996 -Ex: #5CLB1<cr> only blink when limp (1)<div class="wikimodel-emptyline"></div> 997 -Ex: #5CLB2<cr> only blink when holding (2)<div class="wikimodel-emptyline"></div> 998 -Ex: #5CLB12<cr> only blink when accel or decel (accel 4 + decel 8 = 12)<div class="wikimodel-emptyline"></div> 999 -Ex: #5CLB48<cr> only blink when free or travel (free 16 + travel 32 = 48)<div class="wikimodel-emptyline"></div> 1000 -Ex: #5CLB63<cr> blink in all status (1 + 2 + 4 + 8 + 16 + 32)<div class="wikimodel-emptyline"></div> 1001 -RESETTING the servo is needed.<div class="wikimodel-emptyline"></div> 1002 -</div></div> 1003 -{{/html}} 1004 - 1005 -== RGB LED Patterns == 1006 - 1007 1007 The LED patterns below do not include those which are part of the button menu, which can be found here: [[LSS Button Menu>>doc:lynxmotion-smart-servo.lss-button-menu.WebHome]] 1008 1008 1009 1009 [[image:LSS - LED Patterns.png]]
- LSS-Protocol-Backup-2020-05-01.zip
-
- Author
-
... ... @@ -1,1 +1,0 @@ 1 -xwiki:XWiki.ENantel - Size
-
... ... @@ -1,1 +1,0 @@ 1 -47.4 KB - Content
- XWiki.StyleSheetExtension[0]
-
- Caching policy
-
... ... @@ -1,1 +1,0 @@ 1 -long - Code
-
... ... @@ -1,13 +1,0 @@ 1 -div.cmdcnt 2 -{ 3 - display:table-row; 4 -} 5 -div.cmdpad 6 -{ 7 - display:table-cell; 8 - padding:16px; 9 -} 10 -div.cmdtxt 11 -{ 12 - display:table-cell; 13 -} - Content Type
-
... ... @@ -1,1 +1,0 @@ 1 -CSS - Name
-
... ... @@ -1,1 +1,0 @@ 1 -DivTextIndentation - Parse content
-
... ... @@ -1,1 +1,0 @@ 1 -0 - Use this extension
-
... ... @@ -1,1 +1,0 @@ 1 -currentPage