Changes for page LSS Communication Protocol
Last modified by Eric Nantel on 2025/06/06 07:47
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... ... @@ -1,1 +1,1 @@ 1 -LSS -Communication Protocol1 +LSS Communication Protocol - Parent
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... ... @@ -1,6 +4,3 @@ 1 -(% class="wikigeneratedid" id="HTableofContents" %) 2 -**Page Contents** 3 - 4 4 {{toc depth="3"/}} 5 5 6 6 = Serial Protocol = ... ... @@ -7,71 +7,69 @@ 7 7 8 8 The Lynxmotion Smart Servo (LSS) serial protocol was created in order to be as simple and straightforward as possible from a user perspective ("human readable format"), while at the same time staying compact and robust yet highly versatile. The protocol was based on Lynxmotion's SSC-32 & SSC-32U RC servo controllers and almost everything one might expect to be able to configure for a smart servomotor is available. 9 9 10 -In order to be able to control each servo individually with commands, the first step should be to assign a different ID number to each servo (see details on the Configure ID, or "CID" command [[here>> doc:||anchor="HIdentificationNumber28ID29"]]). Only the servo(s) which have been configured to a specific ID will act on a command sent to that ID. There is currently no CRC or checksum implemented as part of the protocol.7 +In order to be able to control each servo individually with commands, the first step should be to assign a different ID number to each servo (see details on the Configure ID, or "CID" command [[here>>path:#HIdentificationNumber28ID29]]). Only the servo(s) which have been configured to a specific ID will act on a command sent to that ID. There is currently no CRC or checksum implemented as part of the protocol. 11 11 9 +|(% colspan="2" %)((( 12 12 == Session == 11 +))) 12 +|(% style="width:25px" %) |((( 13 +A "session" is defined as the time between when the servo is powered ON to when it is powered OFF or reset. 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> 15 +**Note 1:** For a given session, the action related to a specific command overrides the stored value in EEPROM. 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}} 17 +**Note 2:** During the power-on / reset process the LSS cannot accept commands for a small amount of time (1.25 s). 23 23 19 +**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. 20 +))) 21 + 22 +|(% colspan="2" %)((( 24 24 == Action Commands == 24 +))) 25 +|(% style="width:25px" %) |((( 26 +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>>url:https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-v2/lynxmotion-smart-servo/lss-communication-protocol/#HVirtualAngularPosition]] (described below). Action commands are sent serially to the servo's Rx pin and must be sent in the following format: 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> 29 - 30 -1. Start with a number sign **#** (Unicode Character: U+0023) 28 +1. Start with a number sign **#** (Unicode Character: U+0023) 31 31 1. Servo ID number as an integer (assigning an ID described below) 32 32 1. Action command (one or more letters, no whitespace, capital or lowercase from the list below) 33 33 1. Action value in the correct units with no decimal 34 -1. End with a carriage return \r**<cr>**32 +1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D) 35 35 36 -((( 37 -Ex: #5D1800<cr><div class="wikimodel-emptyline"></div> 34 +Ex: #5D1800<cr> 38 38 39 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}} 37 +))) 42 42 39 +|(% colspan="2" %)((( 43 43 == Modifiers == 41 +))) 42 +|(% style="width:25px" %) |((( 43 +Modifiers can only be used with certain **action commands**. The format to include a modifier is: 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> 48 - 49 -1. Start with a number sign **#** (Unicode Character: U+0023) 45 +1. Start with a number sign **#** (Unicode Character: U+0023) 50 50 1. Servo ID number as an integer 51 51 1. Action command (one to three letters, no spaces, capital or lowercase from a subset of action commands below) 52 52 1. Action value in the correct units with no decimal 53 -1. Modifier command (one or two letters from 49 +1. Modifier command (one or two letters from the list of modifiers below) 54 54 1. Modifier value in the correct units with no decimal 55 -1. End with a carriage return \r**<cr>**51 +1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D) 56 56 57 -Ex: #5D1800T1500 <cr><divclass="wikimodel-emptyline"></div>53 +Ex: #5D1800T1500<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}} 55 +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). 56 +))) 62 62 58 +|(% colspan="2" %)((( 63 63 == Query Commands == 60 +))) 61 +|(% style="width:25px" %) |((( 62 +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: 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> 68 - 69 -1. Start with a number sign **#** (Unicode Character: U+0023) 64 +1. Start with a number sign **#** (Unicode Character: U+0023) 70 70 1. Servo ID number as an integer 71 71 1. Query command (one to four letters, no spaces, capital or lower case) 72 -1. End with a carriage return \r**<cr>**<div class="wikimodel-emptyline"></div>67 +1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D) 73 73 74 -Ex: #5QD <cr>Query the position in (tenth of) degrees for servo with ID #5<div class="wikimodel-emptyline"></div>69 +Ex: #5QD<cr> Query the position in (tenth of) degrees for servo with ID #5 75 75 76 76 The query will return a serial string (almost instantaneously) via the servo's Tx pin with the following format: 77 77 ... ... @@ -79,407 +79,392 @@ 79 79 1. Servo ID number as an integer 80 80 1. Query command (one to four 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**<cr>**<div class="wikimodel-emptyline"></div>77 +1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D) 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 to multiple 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 new query command. A reply to the query sent above might be: <div class="wikimodel-emptyline"></div>79 +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 to multiple 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 new query command. A reply to the query sent above might be: 85 85 86 -Ex: *5QD1800 <cr><divclass="wikimodel-emptyline"></div>81 +Ex: *5QD1800<cr> 87 87 88 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}} 84 +))) 91 91 86 +|(% colspan="2" %)((( 92 92 == Configuration Commands == 88 +))) 89 +|(% style="width:25px" %) |((( 90 +Configuration commands and corresponding values affect a servo's defaults which are written to and read from the servo's EEPROM. 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> 92 +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>>url:https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-radio-control-pwm/]]. 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. 97 97 98 -The seconfigurations are retained inmemoryafter theservo is resetrpower iscut / lost. Someconfiguration commandsaffectthe session, while others do not. In the Command table below, thecolumn"Session" denotes ifthe configuration commandaffectsthe session. Not all action commands havea corresponding configurationcommandand vice versa. More informationaboutwhich configurationcommands are retained when in RC mode can befoundon the [[LSS - RC PWM page>>doc:lynxmotion-smart-servo.lss-radio-control-pwm.WebHome]]. Configurationcommands are notcumulative. This means that if twoof the same configurationcommands are sent, one after the next, only the last configuration is used and stored.<div class="wikimodel-emptyline"></div>94 +The format to send a configuration command is identical to that of an action command: 99 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) 96 +1. Start with a number sign **#** (Unicode Character: U+0023) 103 103 1. Servo ID number as an integer 104 104 1. Configuration command (two to four 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**<cr>**<div class="wikimodel-emptyline"></div>100 +1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D) 107 107 108 -Ex: #5CO-50 <cr><divclass="wikimodel-emptyline"></div>102 +Ex: #5CO-50<cr> 109 109 110 -This configures an absolute origin offset ("CO") with respect to factory origin of 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 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 that clears all configurations (through the button menu or with DEFAULT command described below). <div class="wikimodel-emptyline"></div>104 +This configures an absolute origin offset ("CO") with respect to factory origin of 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 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 that clears all configurations (through the button menu or with DEFAULT command described below). 111 111 112 -**Session vs Configuration Query** <div class="wikimodel-emptyline"></div>106 +**Session vs Configuration Query** 113 113 114 -By default, the query command returns the session's 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: <div class="wikimodel-emptyline"></div>108 +By default, the query command returns the session's 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.<div class="wikimodel-emptyline"></div>110 +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>112 +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><cr>which represents the value for that session, whereas<div class="wikimodel-emptyline"></div>114 +#5QSR<cr> or #5QSR0<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}} 116 +#5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM 117 +))) 125 125 119 +|(% colspan="2" %)((( 126 126 == Virtual Angular Position == 121 +))) 122 +|(% style="width:25px" %) |((( 123 +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). 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> 125 +[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-v2/lynxmotion-smart-servo/lss-communication-protocol/WebHome/LSS-servo-positions.jpg||alt="LSS-servo-positions.jpg"]] 131 131 132 - [[image:LSS-servo-positions.jpg]]<div class="wikimodel-emptyline"></div>127 +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: 133 133 134 - Inthisexample,thegyredirection (explained below, a.k.a. "rotationdirection")is positive(clockwise), and origin offsethas notbeen modified. Each square represents30 degrees.The followingcommand is sent:<divclass="wikimodel-emptyline"></div>129 +#1D-300<cr> This causes the servo to move to -30.0 degrees (green arrow) 135 135 136 -#1D -300<cr>This causes the servotomove to-30.0 degrees (green arrow)<div class="wikimodel-emptyline"></div>131 +#1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow) 137 137 138 -#1D2 100<cr>Thissecond positioncommandis sentothe servo, which movesit to 210.0degrees (orange arrow)<divclass="wikimodel-emptyline"></div>133 +#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. 139 139 140 - #1D-4200<cr> Thisnextcommand rotatestheservocounterclockwiseto aposition of-420degrees(redarrow),whichmeans onefull rotationof 360 degreesplus60.0 degrees(420.0 - 360.0),witha virtual positionof -420.0 degrees.<div class="wikimodel-emptyline"></div>135 +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. 141 141 142 - Althoughthe finalphysicalpositionwouldbethesameas ifthe servowerecommandedtoove to-60.0 degrees,theservo isinfactat-420.0 degrees.<divclass="wikimodel-emptyline"></div>137 +#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. 143 143 144 -#1D 4800<cr>This newcommand is sent which wouldthencause the servo to rotate from-420.0 degrees to480.0 degrees (bluearrow), which would be a totalf 900 degrees of clockwiserotation, or2.5 completerotations.<div class="wikimodel-emptyline"></div>139 +#1D3300<cr> would cause the servo to rotate from 480.0 degrees to 330.0 degrees (yellow arrow). 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> 147 - 148 148 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}} 142 +))) 151 151 152 152 = Command List = 153 153 154 -**Latest firmware version currently : 3 68.29.14**146 +**Latest firmware version currently : 370** 155 155 156 -|(% colspan="10" st yle="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 details160 -| |[[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.148 +|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Communication Setup**>>path:#HCommunicationSetup]] 149 +| |**Description**|**Action**|**Query**|**Config**|**RC**|**Serial**|**Default**|**Unit**|**Notes** 150 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Reset**>>path:#HReset]]|RESET| | | |✓| | |Soft reset. See command for details. 151 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Default** Configuration>>path:#HDefault26confirm]]|DEFAULT| | | |✓| | |Revert to firmware default values. See command for details 152 +| |[[Firmware (% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Update** Mode>>path:#HUpdate26confirm]]|UPDATE| | | |✓| | |Update firmware. See command for details. 153 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Confirm** Changes>>path:#HConfirm]]|CONFIRM| | | |✓| | | 154 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**C**hange to **RC**>>path:#HConfigureRCMode28CRC29]]| | |CRC| |✓| | |Change to RC mode 1 (position) or 2 (wheel). 155 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**ID** #>>path:#HIdentificationNumber28ID29]]| |QID|CID| |✓|0| |Reset required after change. ID 254 is a "broadcast" which all servos respond to. 156 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**B**audrate>>path:#HBaudRate]]| |QB|CB| |✓|115200| |Reset required after change. 165 165 166 -|(% colspan="10" st yle="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**heelmode in **R**PM>>||anchor="HWheelModeinRPM28WR29"]]|(%style="text-align:center"%)WR|(% style="text-align:center"%)QWR|(% style="text-align:center"%) |(% style="text-align:center" %)|(% style="text-align:center"%)✓| |RPM|A.K.A. "Speed mode" or "Continuous rotation"172 -| |[[Position in **P**WM>>||anchor="HPositioninPWM28P29"]]|(% style="text-align:center" %)P|(% style="text-align:center"%)QP|(% style="text-align:center"%) |(% style="text-align:center"%) |(% style="text-align:center" %)✓| |us|Inherited from SSC-32 serial protocol173 -| |[[ **M**ove in PWM(relative)>>||anchor="H28Relative29MoveinPWM28M29"]]|(%style="text-align:center"%)M|(% style="text-align:center"%) |(% style="text-align:center"%) |(% style="text-align:center" %)|(%style="text-align:center"%)✓| |us|174 -| |[[**R**aw **D**uty-cycle **M**ove>> ||anchor="HRawDuty-cycleMove28RDM29"]]|(% style="text-align:center" %)RDM|(% style="text-align:center" %)QMD|(%style="text-align:center" %)|(%style="text-align:center" %)|(% style="text-align:center" %)✓| |-1023 to 1023 integer|Positive values : CW / Negative values : CCW175 -| |[[ **Q**ueryStatus>>||anchor="HQueryStatus28Q29"]]|(%style="text-align:center"%) |(% style="text-align:center"%)Q|(% style="text-align:center"%) |(% style="text-align:center" %)|(% style="text-align:center"%)✓| |1 to 8 integer|See command description for details176 -| |[[ **L**imp>>||anchor="HLimp28L29"]]|(%style="text-align:center" %)L|(% style="text-align:center"%) |(% style="text-align:center"%) |(% style="text-align:center"%) |(% style="text-align:center" %)✓| | |177 -| |[[ **H**alt& Hold>>||anchor="HHalt26Hold28H29"]]|(%style="text-align:center"%)H|(% style="text-align:center"%) |(% style="text-align:center"%) |(% style="text-align:center" %)|(%style="text-align:center"%)✓| | |158 +|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Motion**>>path:#HMotion]] 159 +| |**Description**|**Action**|**Query**|**Config**|**RC**|**Serial**|**Default**|**Unit**|**Notes** 160 +| |[[Position in (% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**D**egrees>>path:#HPositioninDegrees28D29]]|D|QD/QDT| | |✓| |1/10°| 161 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**M**ove in **D**egrees (relative)>>path:#H28Relative29MoveinDegrees28MD29]]|MD| | | |✓| |1/10°| 162 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**W**heel mode in **D**egrees>>path:#HWheelModeinDegrees28WD29]]|WD|QWD/QVT| | |✓| |°/s|A.K.A. "Speed mode" or "Continuous rotation" 163 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**W**heel mode in **R**PM>>path:#HWheelModeinRPM28WR29]]|WR|QWR| | |✓| |RPM|A.K.A. "Speed mode" or "Continuous rotation" 164 +| |[[Position in (% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**P**WM>>path:#HPositioninPWM28P29]]|P|QP| | |✓| |us|Inherited from SSC-32 serial protocol 165 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**M**ove in PWM (relative)>>path:#H28Relative29MoveinPWM28M29]]|M| | | |✓| |us| 166 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**R**aw **D**uty-cycle **M**ove>>path:#HRawDuty-cycleMove28RDM29]]|RDM|QMD| | |✓| |-1023 to 1023 integer|Positive values : CW / Negative values : CCW 167 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Q**uery Status>>path:#HQueryStatus28Q29]]| |Q| | |✓| |1 to 8 integer|See command description for details 168 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**L**imp>>path:#HLimp28L29]]|L| | | |✓| | | 169 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**H**alt & Hold>>path:#HHalt26Hold28H29]]|H| | | |✓| | | 178 178 179 -|(% colspan="10" st yle="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 profile182 -| |[[**F**ilter **P**osition **C**ount>> ||anchor="HFilterPositionCount28FPC29"]]|(% style="text-align:center" %)FPC|(% style="text-align:center" %)QFPC|(% style="text-align:center" %)CFPC|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|5| |Affects motion only when motion profile is disabled (EM0)183 -| |[[ **O**riginOffset>>||anchor="HOriginOffset28O29"]]|(% style="text-align:center"%)O|(% style="text-align:center"%)QO|(% style="text-align:center"%)CO|(% style="text-align:center" %)✓|(%style="text-align:center" %)✓|0|1/10°|184 -| |[[ **A**ngular**R**ange>>||anchor="HAngularRange28AR29"]]|(%style="text-align:center" %)AR|(% style="text-align:center"%)QAR|(% style="text-align:center"%)CAR|(% style="text-align:center"%)✓|(% style="text-align:center" %)✓|1800|1/10°|185 -| |[[**A**ngular **S**tiffness>> ||anchor="HAngularStiffness28AS29"]]|(% style="text-align:center" %)AS|(% style="text-align:center" %)QAS|(% style="text-align:center" %)CAS|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|0|-4 to +4 integer|Suggested values are between 0 to +4186 -| |[[**A**ngular **H**olding Stiffness>> ||anchor="HAngularHoldingStiffness28AH29"]]|(% style="text-align:center" %)AH|(% style="text-align:center" %)QAH|(% style="text-align:center" %)CAH|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|4|-10 to +10 integer|187 -| |[[**A**ngular **A**cceleration>> ||anchor="HAngularAcceleration28AA29"]]|(% style="text-align:center" %)AA|(% style="text-align:center" %)QAA|(% style="text-align:center" %)CAA|(%style="text-align:center" %)|(% style="text-align:center" %)✓|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).188 -| |[[**A**ngular **D**eceleration>> ||anchor="HAngularDeceleration28AD29"]]|(% style="text-align:center" %)AD|(% style="text-align:center" %)QAD|(% style="text-align:center" %)CAD|(%style="text-align:center" %)|(% style="text-align:center" %)✓|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1).189 -| |[[ **G**yreDirection>>||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**irstPosition(**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-versa193 -| |[[Maximum **S**peed in **R**PM>> ||anchor="HMaximumSpeedinRPM28SR29"]]|(% style="text-align:center" %)SR|(% style="text-align:center" %)QSR|(% style="text-align:center" %)CSR|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓|Max|RPM|SD overwrites SR / CSD overwrites CSR and vice-versa171 +|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Motion Setup**>>path:#HMotionSetup]] 172 +| |**Description**|**Action**|**Query**|**Config**|**RC**|**Serial**|**Default**|**Unit**|**Notes** 173 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**E**nable **M**otion Profile>>path:#HEnableMotionProfile28EM29]]|EM|QEM|CEM| |✓|1| |EM1: trapezoidal motion profile / EM0: no motion profile 174 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**F**ilter **P**osition **C**ount>>path:#HFilterPositionCount28FPC29]]|FPC|QFPC|CFPC|✓|✓|5| |Affects motion only when motion profile is disabled (EM0) 175 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**O**rigin Offset>>path:#HOriginOffset28O29]]|O|QO|CO|✓|✓|0|1/10°| 176 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**A**ngular **R**ange>>path:#HAngularRange28AR29]]|AR|QAR|CAR|✓|✓|1800|1/10°| 177 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**A**ngular **S**tiffness>>path:#HAngularStiffness28AS29]]|AS|QAS|CAS|✓|✓|0|-4 to +4 integer|Suggested values are between 0 to +4 178 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**A**ngular **H**olding Stiffness>>path:#HAngularHoldingStiffness28AH29]]|AH|QAH|CAH|✓|✓|4|-10 to +10 integer| 179 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**A**ngular **A**cceleration>>path:#HAngularAcceleration28AA29]]|AA|QAA|CAA| |✓|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1). 180 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**A**ngular **D**eceleration>>path:#HAngularDeceleration28AD29]]|AD|QAD|CAD| |✓|100|°/s^^2^^|Increments of 10°/s^^2^^. Only when motion profile is enabled (EM1). 181 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**G**yre Direction>>path:#HGyreDirection28G29]]|G|QG|CG|✓|✓|1| |Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise) 182 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**F**irst Position (**D**eg)>>path:#HFirstPosition]]| |QFD|CFD|✓|✓|No value|1/10°|Reset required after change. 183 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**M**aximum **M**otor **D**uty>>path:#HMaximumMotorDuty28MMD29]]|MMD|QMMD| | |✓|1023|255 to 1023 integer| 184 +| |[[Maximum (% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**S**peed in **D**egrees>>path:#HMaximumSpeedinDegrees28SD29]]|SD|QSD|CSD|✓|✓|Max|0.1°/s|SD overwrites SR / CSD overwrites CSR and vice-versa 185 +| |[[Maximum (% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**S**peed in **R**PM>>path:#HMaximumSpeedinRPM28SR29]]|SR|QSR|CSR|✓|✓|Max|RPM|SD overwrites SR / CSD overwrites CSR and vice-versa 194 194 195 -|(% colspan="10" st yle="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 command198 -| |[[ **S**peedin **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 commands199 -| |[[ **T**imedmove>>||anchor="HTimedmove28T29modifier"]]|(%style="text-align:center"%)T|(% style="text-align:center"%) |(% style="text-align:center"%) |(% style="text-align:center" %)|(% style="text-align:center"%)✓| |ms|Modifier only for P, D and MD. Time can change based on load200 -| |[[ **C**urrent**H**old>>||anchor="HCurrentHalt26Hold28CH29modifier"]]|(%style="text-align:center"%)CH|(% style="text-align:center"%) |(% style="text-align:center"%) |(% style="text-align:center" %)|(% style="text-align:center"%)✓| |mA|Modifier for D, MD, WD and WR201 -| |[[ **C**urrent**L**imp>>||anchor="HCurrentLimp28CL29modifier"]]|(%style="text-align:center"%)CL|(% style="text-align:center"%) |(% style="text-align:center"%) |(% style="text-align:center" %)|(% style="text-align:center"%)✓| |mA|Modifier for D, MD, WD and WR187 +|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Modifiers**>>path:#HModifiers]] 188 +| |**Description**|**Modifier**|**Query**|**Config**|**RC**|**Serial**|**Default**|**Unit**|**Notes** 189 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**S**peed>>path:#HSpeed]]|S|QS| | |✓| |uS/s |For P action command 190 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**S**peed in **D**egrees>>path:#HSpeed]]|SD| | | |✓| |0.1°/s|For D and MD action commands 191 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**T**imed move>>path:#HTimedmove28T29modifier]]|T| | | |✓| |ms|Modifier only for P, D and MD. Time can change based on load 192 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**C**urrent **H**old>>path:#HCurrentHalt26Hold28CH29modifier]]|CH| | | |✓| |mA|Modifier for D, MD, WD and WR 193 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**C**urrent **L**imp>>path:#HCurrentLimp28CL29modifier]]|CL| | | |✓| |mA|Modifier for D, MD, WD and WR 202 202 203 -|(% colspan="10" style="color:orange; font-size:18px" %)[[**Telemetry**>>||anchor="HTelemetry"]] 204 -|(% style="width:25px" %) |(% style="width:200px" %)**Description**|(% style="text-align:center; width:100px" %)**Action**|(% style="text-align:center; width:75px" %)**Query**|(% style="text-align:center; width:75px" %)**Config**|(% style="text-align:center; width:75px" %)**RC**|(% style="text-align:center; width:75px" %)**Serial**|(% style="width:100px" %)**Default**|(% style="width:170px" %)**Unit**|**Notes** 205 -| |[[**Q**uery **V**oltage>>||anchor="HQueryVoltage28QV29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QV|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mV| 206 -| |[[**Q**uery **T**emperature>>||anchor="HQueryTemperature28QT29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QT|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |1/10°C| 207 -| |[[**Q**uery **C**urrent>>||anchor="HQueryCurrent28QC29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QC|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| |mA| 208 -| |[[**Q**uery **M**odel **S**tring>>||anchor="HQueryModelString28QMS29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QMS|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1) 209 -| |[[**Q**uery **F**irmware Version>>||anchor="HQueryFirmware28QF29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QF|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | | 210 -| |[[**Q**uery Serial **N**umber>>||anchor="HQuerySerialNumber28QN29"]]|(% style="text-align:center" %) |(% style="text-align:center" %)QN|(% style="text-align:center" %) |(% style="text-align:center" %) |(% style="text-align:center" %)✓| | |Returns the unique serial number for the servo 195 +|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Telemetry**>>path:#HTelemetry]] 196 +| |**Description**|**Action**|**Query**|**Config**|**RC**|**Serial**|**Default**|**Unit**|**Notes** 197 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Q**uery **V**oltage>>path:#HQueryVoltage28QV29]]| |QV| | |✓| |mV| 198 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Q**uery **T**emperature>>path:#HQueryTemperature28QT29]]| |QT| | |✓| |1/10°C| 199 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Q**uery **C**urrent>>path:#HQueryCurrent28QC29]]| |QC| | |✓| |mA| 200 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Q**uery **M**odel **S**tring>>path:#HQueryModelString28QMS29]]| |QMS| | |✓| | |Returns the model of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1) 201 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Q**uery **F**irmware Version>>path:#HQueryFirmware28QF29]]| |QF| | |✓| | | 211 211 212 -|(% colspan="10" st yle="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" %)✓| |0 to 7 integer|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White215 -| |[[**C**onfigure **L**ED **B**linking>> ||anchor="HConfigureLEDBlinking28CLB29"]]|(%style="text-align:center" %)|(%style="text-align:center" %)|(% style="text-align:center" %)CLB|(% style="text-align:center" %)✓|(% style="text-align:center" %)✓| |0 to 63 integer|Reset required after change. See command for details.203 +|(% colspan="10" %)[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**RGB LED**>>path:#HRGBLED]] 204 +| |**Description**|**Action**|**Query**|**Config**|**RC**|**Serial**|**Default**|**Unit**|**Notes** 205 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**LED** Color>>path:#HLEDColor28LED29]]|LED|QLED|CLED|✓|✓| |0 to 7 integer|0=Off; 1=Red; 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White 206 +| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**C**onfigure **L**ED **B**linking>>path:#HConfigureLEDBlinking28CLB29]]| | |CLB|✓|✓| |0 to 63 integer|Reset required after change. See command for details. 216 216 217 -= (% style="color:inherit; font-family:inherit" %)Details(%%)=208 += Details = 218 218 219 -== (% style="color:inherit; font-family:inherit" %)Communication Setup(%%)==210 +== Communication Setup == 220 220 212 +|(% colspan="2" %)((( 221 221 ====== __Reset__ ====== 214 +))) 215 +|(% style="width:30px" %) |((( 216 +Ex: #5RESET<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}} 218 +This command does a "soft reset" and reverts all commands to those stored in EEPROM (i.e. configuration commands). 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>>url:https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-v2/lynxmotion-smart-servo/lss-communication-protocol/#HSession]], note #2 for more details. 219 +))) 230 230 221 +|(% colspan="2" %)((( 231 231 ====== __Default & confirm__ ====== 223 +))) 224 +|(% style="width:30px" %) |((( 225 +Ex: #5DEFAULT<cr> 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> 227 +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. 236 236 237 - Thiscommand sets in motion theresetofall values tothe default values included with the version of the firmwareinstalledonthat servo. The servo then waits for theCONFIRMcommand. Any other command received will cause the servo to exit the DEFAULT function.<divclass="wikimodel-emptyline"></div>229 +Ex: #5DEFAULT<cr> followed by #5CONFIRM<cr> 238 238 239 - EX:#5DEFAULT<cr>followedby#5CONFIRM<cr><divclass="wikimodel-emptyline"></div>231 +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. 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 other than CONFIRM be received by the servo after the firmware command has been received, it will exit the command.<div class="wikimodel-emptyline"></div> 233 +**Note:** After the CONFIRM command is sent, the servo will automatically perform a RESET. 234 +))) 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}} 246 - 236 +|(% colspan="2" %)((( 247 247 ====== __Update & confirm__ ====== 238 +))) 239 +|(% style="width:30px" %) |((( 240 +Ex: #5UPDATE<cr> 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> 242 +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. 252 252 253 - Thiscommandsets in motion the equivalent of along button presswhen the servo is not poweredin order to enter firmware update mode. This is useful should thebuttonbe broken or inaccessible. The servo then waits for theCONFIRMcommand. Any other command received will cause the servo to exit the UPDATE function.<divclass="wikimodel-emptyline"></div>244 +Ex: #5UPDATE<cr> followed by #5CONFIRM<cr> 254 254 255 - EX:#5UPDATE<cr>followedby#5CONFIRM<cr><divclass="wikimodel-emptyline"></div>246 +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. 256 256 257 -Since it it not common to have to update firmware, a confirmation command is needed after an UPDATE command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will leave the firmware action.<div class="wikimodel-emptyline"></div> 248 +**Note:** After the CONFIRM command is sent, the servo will automatically perform a RESET. 249 +))) 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}} 262 - 251 +|(% colspan="2" %)((( 263 263 ====== __Confirm__ ====== 253 +))) 254 +|(% style="width:30px" %) |((( 255 +Ex: #5CONFIRM<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> 257 +This command is used to confirm changes after a Default or Update command. 268 268 269 -This command is used to confirm changes after a Default or Update command.<div class="wikimodel-emptyline"></div> 259 +**Note:** After the CONFIRM command is sent, the servo will automatically perform a RESET. 260 +))) 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}} 274 - 262 +|(% colspan="2" %)((( 275 275 ====== __Configure RC Mode (**CRC**)__ ====== 264 +))) 265 +|(% style="width:30px" %) |((( 266 +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. 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> 268 +Ex: #5CRC1<cr> 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> 270 +Change to RC position mode. 285 285 286 -E X: #5CRC2<cr><divclass="wikimodel-emptyline"></div>272 +Ex: #5CRC2<cr> 287 287 288 - This command would place the servoinRCwheel mode after a RESET or powercycle. Note that after a RESET or power cycle, the servo will be inRC modeand will notreplyto serial commands.Using the command #5CRC<cr> or #5CRC3<cr>which requests that the servo remain in serial modestill requires a RESET command.<div class="wikimodel-emptyline"></div>274 +Change to RC continuous rotation (wheel) mode. 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}} 276 +Ex: #5CRC*<cr> 293 293 294 - ====== __IdentificationNumber (**ID**)__======278 +Where * is any value other than 1 or 2 (or no value): stay in smart mode 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> 280 +Ex: #5CRC2<cr> 299 299 300 - QueryIdentification(**QID**)<divclass="wikimodel-emptyline"></div>282 +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. 301 301 302 -EX: #254QID<cr> might return *QID5<cr><div class="wikimodel-emptyline"></div> 284 +**Important note: **To revert from RC mode back to serial mode, the [[LSS - Button Menu>>url:https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/lynxmotion-smart-servo/lss-button-menu/]] 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. 285 +))) 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 change it. Using the broadcast command (ID 254) with only one servo will have that servo reply with its ID number. Alternatively, pushing the button upon startup and temporarily setting the servo ID to 255 will still result in the servo responding with its "real" ID.<div class="wikimodel-emptyline"></div> 287 +|(% colspan="2" %)((( 288 +====== __Identification Number (**ID**)__ ====== 289 +))) 290 +|(% style="width:30px" %) |((( 291 +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. 305 305 306 - Configure ID(**CID**)<div class="wikimodel-emptyline"></div>293 +Query Identification (**QID**) 307 307 308 -E x: #4CID5<cr><divclass="wikimodel-emptyline"></div>295 +EX: #254QID<cr> might return *QID5<cr> 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}} 297 +When using the broadcast query ID command, it is best to only have one servo connected and thus receive only one reply. This is useful when you are not sure of the servo's ID, but don't want to change it. Using the broadcast command (ID 254) with only one servo will have that servo reply with its ID number. Alternatively, pushing the button upon startup and temporarily setting the servo ID to 255 will still result in the servo responding with its "real" ID. 313 313 314 - ====== __Baud Rate__======299 +Configure ID (**CID**) 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> 301 +Ex: #4CID5<cr> 319 319 320 -Query Baud Rate (**QB**)<div class="wikimodel-emptyline"></div> 303 +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. 304 +))) 321 321 322 -Ex: #5QB<cr> might return *5QB115200<cr><div class="wikimodel-emptyline"></div> 306 +|(% colspan="2" %)((( 307 +====== __Baud Rate__ ====== 308 +))) 309 +|(% style="width:30px" %) |((( 310 +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. 323 323 324 - Since the command to querythe baud rate must be done at the servo's existing baud rate, it can simply be used to confirm the CBconfiguration command was correctly received before the servo is power cycled and the new baudratetakes effect.<div class="wikimodel-emptyline"></div>312 +Query Baud Rate (**QB**) 325 325 326 - Configure BaudRate(**CB**)<div class="wikimodel-emptyline"></div>314 +Ex: #5QB<cr> might return *5QB115200<cr>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. 327 327 328 - **Important Note:** the servo's current session retains thegiven baudrate and the new baudrate will only take effect when the servo is power cycled /RESET.<div class="wikimodel-emptyline"></div>316 +Configure Baud Rate (**CB**) 329 329 330 - Ex:#5CB9600<cr><div class="wikimodel-emptyline"></div>318 +**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. 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}} 320 +Ex: #5CB9600<cr> 335 335 322 +Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second. 323 +))) 324 + 325 +|(% colspan="2" %)((( 336 336 ====== __Automatic Baud Rate__ ====== 327 +))) 328 +|(% style="width:30px" %) |((( 329 +This option allows the LSS to listen to it's serial input and select the right baudrate automatically. 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> 331 +Query Automatic Baud Rate (**QABR**) 341 341 342 -Q ueryAutomaticBaudRate (**QABR**)<divclass="wikimodel-emptyline"></div>333 +Ex: #5QABR<cr> might return *5ABR0<cr> 343 343 344 -E x:#5QABR<cr> might return*5ABR0<cr><div class="wikimodel-emptyline"></div>335 +Enable Baud Rate (**ABR**) 345 345 346 -E nableBaud Rate (**ABR**)<divclass="wikimodel-emptyline"></div>337 +Ex: #5QABR1<cr> 347 347 348 -Ex: #5QABR1<cr><div class="wikimodel-emptyline"></div> 349 -Enable baudrate detection on first byte received after power-up.<div class="wikimodel-emptyline"></div> 339 +Enable baudrate detection on first byte received after power-up. 350 350 351 -Ex: #5QABR2,30<cr><div class="wikimodel-emptyline"></div> 352 -Enable baudrate detection on first byte received after power-up. If no data for 30 seconds enable detection again on next byte.<div class="wikimodel-emptyline"></div> 341 +Ex: #5QABR2,30<cr>Enable baudrate detection on first byte received after power-up. If no data for 30 seconds enable detection again on next byte. 353 353 354 -Warning: ABR doesnt work well with LSS Config at the moment.<div class="wikimodel-emptyline"></div> 355 -</div></div> 356 -{{/html}} 343 +Warning: ABR doesnt work well with LSS Config at the moment. 344 +))) 357 357 358 358 == Motion == 359 359 348 +|(% colspan="2" %)((( 360 360 ====== __Position in Degrees (**D**)__ ====== 350 +))) 351 +|(% style="width:30px" %) |((( 352 +Ex: #5D1456<cr> 361 361 362 -{{html wiki="true" clean="false"}} 363 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 364 -Example: #5D1456<cr><div class="wikimodel-emptyline"></div> 354 +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) 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. 365 365 366 - This moves the servotoan angleof 145.6 degrees,wherethecenter(0) position is centered.Negative values (ex. -176 representing -17.6degrees)couldalsobe used. Afull circlewould be from-1800to 1800 degrees.A value of2700 would bethesame angle(absoluteposition) as -900, exceptthe servowould movein a differentdirection.<div class="wikimodel-emptyline"></div>356 +Larger values are permitted and allow for multi-turn functionality using the concept of virtual position (explained above). 367 367 368 - Larger values arepermitted and allow for multi-turn functionalityusingtheconcept of virtual position (explainedabove). <div class="wikimodel-emptyline"></div>358 +Query Position in Degrees (**QD**) 369 369 370 -Q ueryPositionin Degrees(**QD**)<divclass="wikimodel-emptyline"></div>360 +Ex: #5QD<cr> might return *5QD132<cr> 371 371 372 - Example:#5QD<cr> mightreturn*5QD132<cr><divclass="wikimodel-emptyline"></div>362 +This means the servo is located at 13.2 degrees. 373 373 374 - This meansthe servo islocated at 13.2 degrees.<divclass="wikimodel-emptyline"></div>364 +Query Target Position in Degrees (**QDT**) 375 375 376 -(% class="wikigeneratedid" id="H22.QueryTargetPositioninDegrees28QDT29" %) 377 -Query Target Position in Degrees (**QDT**)<div class="wikimodel-emptyline"></div> 366 +Ex: #5QDT<cr> might return *5QDT6783<cr> 378 378 379 -Ex: #5QDT<cr> might return *5QDT6783<cr><div class="wikimodel-emptyline"></div> 380 - 381 381 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. 382 -<div class="wikimodel-emptyline"></div></div></div> 383 -{{/html}} 369 +))) 384 384 371 +|(% colspan="2" %)((( 385 385 ====== __(Relative) Move in Degrees (**MD**)__ ====== 373 +))) 374 +|(% style="width:30px" %) |((( 375 +Ex: #5MD123<cr> 386 386 387 -{{html wiki="true" clean="false"}} 388 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 389 -Example: #5MD123<cr><div class="wikimodel-emptyline"></div> 390 - 391 391 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. 392 -<div class="wikimodel-emptyline"></div></div></div> 393 -{{/html}} 378 +))) 394 394 380 +|(% colspan="2" %)((( 395 395 ====== __Wheel Mode in Degrees (**WD**)__ ====== 382 +))) 383 +|(% style="width:30px" %) |((( 384 +Ex: #5WD90<cr> 396 396 397 -{{html wiki="true" clean="false"}} 398 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 399 -Ex: #5WD90<cr><div class="wikimodel-emptyline"></div> 386 +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). 400 400 401 - This command sets the servoto wheelmodewhereit will rotate inthedesired direction at the selected speed. The example above would have the servo rotate at 90.0 degreesper second clockwise(assuming factory default configurations).<div class="wikimodel-emptyline"></div>388 +Query Wheel Mode in Degrees (**QWD**) 402 402 403 -Q ueryWheelModeinDegrees (**QWD**)<divclass="wikimodel-emptyline"></div>390 +Ex: #5QWD<cr> might return *5QWD90<cr> 404 404 405 -Ex: #5QWD<cr> might return *5QWD90<cr><div class="wikimodel-emptyline"></div> 406 - 407 407 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). 408 -<div class="wikimodel-emptyline"></div></div></div> 409 -{{/html}} 393 +))) 410 410 395 +|(% colspan="2" %)((( 411 411 ====== __Wheel Mode in RPM (**WR**)__ ====== 397 +))) 398 +|(% style="width:30px" %) |((( 399 +Ex: #5WR40<cr> 412 412 413 -{{html wiki="true" clean="false"}} 414 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 415 -Ex: #5WR40<cr><div class="wikimodel-emptyline"></div> 401 +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). 416 416 417 - 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 theservo operate like a geared DC motor. The servo's maximum rpm cannot be set higher than its physicallimit at a given voltage. Thexampleabove wouldhavethe servo rotate at 40 rpm clockwise (assumingfactorydefault configurations).<div class="wikimodel-emptyline"></div>403 +Query Wheel Mode in RPM (**QWR**) 418 418 419 -Q ueryWheelModeinRPM (**QWR**)<divclass="wikimodel-emptyline"></div>405 +Ex: #5QWR<cr> might return *5QWR40<cr> 420 420 421 -Ex: #5QWR<cr> might return *5QWR40<cr><div class="wikimodel-emptyline"></div> 422 - 423 423 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). 424 -<div class="wikimodel-emptyline"></div></div></div> 425 -{{/html}} 408 +))) 426 426 410 +|(% colspan="2" %)((( 427 427 ====== __Position in PWM (**P**)__ ====== 412 +))) 413 +|(% style="width:30px" %) |((( 414 +Ex: #5P2334<cr> 428 428 429 -{{html wiki="true" clean="false"}} 430 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 431 -Example: #5P2334<cr><div class="wikimodel-emptyline"></div> 416 +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 signal and is further explained in the SSC-32 and [[SSC-32U manuals>>url:https://www.robotshop.com/media/files/pdf2/lynxmotion_ssc-32u_usb_user_guide.pdf#page=24]]. Without any modifications to configuration considered, and a ±90.0 degrees standard range where 1500 microseconds is centered, a PWM signal 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. 432 432 433 - The position in PWM pulses wasretainedin order to be backward compatible with the SSC-32 / 32U protocol. This relates the desired angle with an RC standardPWM signal and is further explained in the SSC-32 and [[SSC-32U manuals>>https://www.robotshop.com/media/files/pdf2/lynxmotion_ssc-32u_usb_user_guide.pdf#page=24]].Without anymodifications to configuration considered, and a ±90.0 degrees standard range where 1500 microseconds is centered, aPWM signal of 2334 wouldsetthe servo to 165.1 degrees. Valid values forPare [500, 2500]. Values outside this range are corrected / restricted to end points.<div class="wikimodel-emptyline"></div>418 +Query Position in Pulse (**QP**) 434 434 435 -Q ueryPositioninPulse (**QP**)<div class="wikimodel-emptyline"></div>420 +Ex: #5QP<cr> might return *5QP2334 436 436 437 -Example: #5QP<cr> might return *5QP2334<div class="wikimodel-emptyline"></div> 422 +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. 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). 423 +))) 438 438 439 -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. 440 -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). 441 -<div class="wikimodel-emptyline"></div></div></div> 442 -{{/html}} 443 - 425 +|(% colspan="2" %)((( 444 444 ====== __(Relative) Move in PWM (**M**)__ ====== 427 +))) 428 +|(% style="width:30px" %) |((( 429 +Ex: #5M1500<cr> 445 445 446 -{{html wiki="true" clean="false"}} 447 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 448 -Example: #5M1500<cr><div class="wikimodel-emptyline"></div> 449 - 450 450 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. 451 -<div class="wikimodel-emptyline"></div></div></div> 452 -{{/html}} 432 +))) 453 453 434 +|(% colspan="2" %)((( 454 454 ====== __Raw Duty-cycle Move (**RDM**)__ ====== 436 +))) 437 +|(% style="width:30px" %) |((( 438 +Ex: #5RDM512<cr> 455 455 456 -{{html wiki="true" clean="false"}} 457 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 458 -Example: #5RDM512<cr><div class="wikimodel-emptyline"></div> 440 +The raw 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 geared DC motor. 459 459 460 -The rawduty-cyclemovecommand(orfreemovecommand)will rotate the servoat a specifiedduty cyclevaluein wheelmode(a.k.a. "continuousrotation")like a gearedDCmotor.<divclass="wikimodel-emptyline"></div>442 +The duty values range from 0 to 1023. Negative values will rotate the servo in the opposite direction (for factory default a negative value would be counter clockwise). 461 461 462 - The duty valuesrangefrom 0 to 1023. Negativevalues will rotate the servo in the opposite direction (for factorydefault a negative value would becounter clockwise).<divclass="wikimodel-emptyline"></div>444 +Query Move in Duty-cycle (**QMD**) 463 463 464 -Q ueryMovein Duty-cycle(**QMD**)<div class="wikimodel-emptyline"></div>446 +Ex: #5QMD<cr> might return *5QMD512 465 465 466 -Example: #5QMD<cr> might return *5QMD512<div class="wikimodel-emptyline"></div> 467 - 468 468 This command queries the raw duty-cycle move value. 512 value means that the motor is rotating at 50% duty-cycle. 469 -<div class="wikimodel-emptyline"></div></div></div> 470 -{{/html}} 449 +))) 471 471 451 +|(% colspan="2" %)((( 472 472 ====== __Query Status (**Q**)__ ====== 453 +))) 454 +|(% style="width:30px" %) |((( 455 +The status query describes what the servo is currently doing. The query returns an integer which must be looked up in the table below. 473 473 474 -{{html wiki="true" clean="false"}} 475 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 476 -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> 457 +Ex: #5Q<cr> might return *5Q6<cr> 477 477 478 -Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.<div class="wikimodel-emptyline"></div> 479 -</div></div> 480 -{{/html}} 459 +which indicates the motor is holding a position. 460 +))) 481 481 482 -|(% style="width: 25px" %) |***Value returned (Q)**|**Status**|**Detailed description**462 +|(% style="width:30px" %) |***Value returned (Q)**|**Status**|**Detailed description** 483 483 | |ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state 484 484 | |ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely 485 485 | |ex: *5Q2<cr>|2: Free moving|Servo is rotating in duty motion / free move using the RDM command ... ... @@ -496,521 +496,521 @@ 496 496 Send a Q1 command to know which limit has been reached (described below). 497 497 ))) 498 498 499 -{{html wiki="true" clean="false"}} 500 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 501 -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> 502 -</div></div> 503 -{{/html}} 504 - 505 -|(% style="width:25px" %) |***Value returned (Q1)**|**Status**|**Detailed description** 479 +|(% style="width:30px" %) |(% colspan="3" rowspan="1" %)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. 480 +| |***Value returned (Q1)**|**Status**|**Detailed description** 506 506 | |ex: *5Q0<cr>|No limits have been passed|Nothing is wrong 507 507 | |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long 508 508 | |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source 509 509 | |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely. 510 510 486 +|(% colspan="2" %)((( 511 511 ====== __Limp (**L**)__ ====== 488 +))) 489 +|(% style="width:30px" %) |((( 490 +Ex: #5L<cr> 512 512 513 -{{html wiki="true" clean="false"}} 514 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 515 -Example: #5L<cr><div class="wikimodel-emptyline"></div> 492 +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>. 493 +))) 516 516 517 -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>. 518 -<div class="wikimodel-emptyline"></div></div></div> 519 -{{/html}} 520 - 495 +|(% colspan="2" %)((( 521 521 ====== __Halt & Hold (**H**)__ ====== 497 +))) 498 +|(% style="width:30px" %) |((( 499 +Example: #5H<cr> 522 522 523 -{{html wiki="true" clean="false"}} 524 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 525 -Example: #5H<cr><div class="wikimodel-emptyline"></div> 526 - 527 527 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.) 528 -<div class="wikimodel-emptyline"></div></div></div> 529 -{{/html}} 502 +))) 530 530 531 531 == Motion Setup == 532 532 506 +|(% colspan="2" %)((( 533 533 ====== __Enable Motion Profile (**EM**)__ ====== 508 +))) 509 +|(% style="width:30px" %) |((( 510 +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. 534 534 535 -{{html clean="false" wiki="true"}} 536 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 537 -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> 512 +Ex: #5EM1<cr> 538 538 539 - Ex:#5EM1<cr><divclass="wikimodel-emptyline"></div>514 +This command enables a trapezoidal motion profile for servo #5 540 540 541 - Thiscommand enables a trapezoidal motion profile for servo#5divclass="wikimodel-emptyline"></div>516 +Ex: #5EM0<cr> 542 542 543 -Ex: #5EM0<cr><div class="wikimodel-emptyline"></div> 544 - 545 545 This command will disable the built-in trapezoidal motion profile. As such, the servo will move at full speed to the target position using the D/MD action commands. Modifiers like SD/S or T cannot be used in EM0 mode. By default the Filter Position Counter, or "FPC" is active in EM0 mode to smooth out its operation. EM0 is suggested for applications where an external controller will be determining all incremental intermediate positions of the servo's motion, effectively replacing a trajectory manager. To prevent having to send position commands continuously to reach the desired position in EM0/FPC active (FPC >= 2), an internal position engine (IPE) repeats the last position command. Note that in EM0 mode, the servo will effectively always be in status: Holding (if using the query status command). 546 546 547 - <divclass="wikimodel-emptyline"></div>520 +Query Motion Profile (**QEM**) 548 548 549 -Q ueryMotionProfile(**QEM**)<divclass="wikimodel-emptyline"></div>522 +Ex: #5QEM<cr> might return *5QEM1<cr> 550 550 551 - Ex:#5QEM<cr>might return*5QEM1<cr><divclass="wikimodel-emptyline"></div>524 +This command will query the motion profile. **0:** motion profile disabled / **1:** trapezoidal motion profile enabled. 552 552 553 - This command will query themotionprofile.**0:**motion profile disabled / **1:** trapezoidal motion profile enabled.<div class="wikimodel-emptyline"></div>526 +Configure Motion Profile (**CEM**) 554 554 555 - ConfigureMotion Profile (**CEM**)<divclass="wikimodel-emptyline"></div>528 +Ex: #5CEM0<cr> 556 556 557 -Ex: #5CEM0<cr><div class="wikimodel-emptyline"></div> 558 - 559 559 This command configures the motion profile and saves it in the EEPROM. The setting will be saved upon servo reset / power cycle. 560 -<div class="wikimodel-emptyline"></div></div></div> 561 -{{/html}} 531 +))) 562 562 533 +|(% colspan="2" %)((( 563 563 ====== __Filter Position Count (**FPC**)__ ====== 564 - 565 -{{html clean="false" wiki="true"}} 566 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 535 +))) 536 +|(% style="width:30px" %) |((( 567 567 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. 568 -<div class="wikimodel-emptyline"></div> 569 -Ex: #5FPC10<cr><div class="wikimodel-emptyline"></div> 570 -This command allows the user to change the Filter Position Count value for that session. <div class="wikimodel-emptyline"></div> 571 571 572 - QueryFilterPositionCount (**QFPC**)<divclass="wikimodel-emptyline"></div>539 +Ex: #5FPC10<cr> 573 573 574 - Ex:#5QFPC<cr>mightreturn*5QFPC10<cr><divclass="wikimodel-emptyline"></div>541 +This command allows the user to change the Filter Position Count value for that session. 575 575 576 - This command will querytheFilter Position Countvalue.<div class="wikimodel-emptyline"></div>543 +Query Filter Position Count (**QFPC**) 577 577 578 - ConfigureFilterPositionCount(**CFPC**)<divclass="wikimodel-emptyline"></div>545 +Ex: #5QFPC<cr> might return *5QFPC10<cr> 579 579 580 - Ex: #5CFPC10<cr><divclass="wikimodel-emptyline"></div>547 +This command will query the Filter Position Count value. 581 581 549 +Configure Filter Position Count (**CFPC**) 550 + 551 +Ex: #5CFPC10<cr> 552 + 582 582 This command configures the Filter Position Count value and saves it in the EEPROM. The setting will be saved upon servo reset / power cycle. 583 -<div class="wikimodel-emptyline"></div></div></div> 584 -{{/html}} 554 +))) 585 585 556 +|(% colspan="2" %)((( 586 586 ====== __Origin Offset (**O**)__ ====== 558 +))) 559 +|(% style="width:30px" %) |((( 560 +Ex: #5O2400<cr> 587 587 588 -{{html wiki="true" clean="false"}} 589 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 590 -Example: #5O2400<cr><div class="wikimodel-emptyline"></div> 562 +This command allows you to 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). 591 591 592 - This command allows you to changethe originfthe servoin relationto the factory zero positionr that session. Aswith all actioncommands, theetting will be lostuponreset/power cycle. Origin offsetcommands are notcumulative and alwaysrelate tofactory zero. In theirst image,the originatfactory offset '0' (centered).<divclass="wikimodel-emptyline"></div>564 +[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-v2/lynxmotion-smart-servo/lss-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]] 593 593 594 - [[image:LSS-servo-default.jpg]]<divclass="wikimodel-emptyline"></div>566 +In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees: 595 595 596 - In the secondimage, the origin, andthe corresponding angular range (explainedbelow) havebeenshifted by +240.0 degrees:<divclass="wikimodel-emptyline"></div>568 +[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-v2/lynxmotion-smart-servo/lss-communication-protocol/WebHome/LSS-servo-origin.jpg||alt="LSS-servo-origin.jpg"]] 597 597 598 - [[image:LSS-servo-origin.jpg]]<divclass="wikimodel-emptyline"></div>570 +Origin Offset Query (**QO**) 599 599 600 -Orig inOffsetQuery(**QO**)<div class="wikimodel-emptyline"></div>572 +Ex: #5QO<cr> might return *5QO-13 601 601 602 - Example: #5QO<cr>might return*5QO-13<divclass="wikimodel-emptyline"></div>574 +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. 603 603 604 - This allows you to query the angle (in tenths ofdegrees) of the origin inrelationto the factory zero position. In this example, the new originis at -1.3 degreesfrom thefactory zero.<div class="wikimodel-emptyline"></div>576 +Configure Origin Offset (**CO**) 605 605 606 - ConfigureOrigin Offset (**CO**)<divclass="wikimodel-emptyline"></div>578 +Ex: #5CO-24<cr> 607 607 608 -Example: #5CO-24<cr><div class="wikimodel-emptyline"></div> 609 - 610 610 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. 611 -<div class="wikimodel-emptyline"></div></div></div> 612 -{{/html}} 581 +))) 613 613 583 +|(% colspan="2" %)((( 614 614 ====== __Angular Range (**AR**)__ ====== 585 +))) 586 +|(% style="width:30px" %) |((( 587 +Ex: #5AR1800<cr> 615 615 616 -{{html wiki="true" clean="false"}} 617 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 618 -Example: #5AR1800<cr><div class="wikimodel-emptyline"></div> 589 +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: 619 619 620 - This command allows youtotemporarilychange the total angular rangeofthe servoenthsofdegrees. This appliestohe Position in Pulse (P)commandand RC mode. The defaultfor (P) and RC modeis1800 (180.0 degrees total, or ±90.0degrees). The image below shows a standard -180.0 to +180.0 range, with no offset:<divclass="wikimodel-emptyline"></div>591 +[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-v2/lynxmotion-smart-servo/lss-communication-protocol/WebHome/LSS-servo-default.jpg||alt="LSS-servo-default.jpg"]] 621 621 622 - [[image:LSS-servo-default.jpg]]<divclass="wikimodel-emptyline"></div>593 +Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged. 623 623 624 - Below,the angular rangeis restrictedto180.0degrees, or-90.0to+90.0. The centerhasremainedunchanged.<divclass="wikimodel-emptyline"></div>595 +[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-v2/lynxmotion-smart-servo/lss-communication-protocol/WebHome/LSS-servo-ar.jpg||alt="LSS-servo-ar.jpg"]] 625 625 626 - [[image:LSS-servo-ar.jpg]]<divclass="wikimodel-emptyline"></div>597 +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: 627 627 628 - Finally, the angular range actionmand (ex. #5AR1800<cr>) andoriginffsetactioncommand(ex. #5O-1200<cr>)are used tove both thecenterndlimittheangularrange:<divclass="wikimodel-emptyline"></div>599 +[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-v2/lynxmotion-smart-servo/lss-communication-protocol/WebHome/LSS-servo-ar-o-1.jpg||alt="LSS-servo-ar-o-1.jpg"]] 629 629 630 - [[image:LSS-servo-ar-o-1.jpg]]<divclass="wikimodel-emptyline"></div>601 +Query Angular Range (**QAR**) 631 631 632 -Q ueryAngularRange(**QAR**)<div class="wikimodel-emptyline"></div>603 +Ex: #5QAR<cr> might return *5AR1800, indicating the total angular range is 180.0 degrees. 633 633 634 - Example: #5QAR<cr> might return*5AR1800, indicatingthe total angularrangeis 180.0 degrees.<div class="wikimodel-emptyline"></div>605 +Configure Angular Range (**CAR**) 635 635 636 -Configure Angular Range (**CAR**)<div class="wikimodel-emptyline"></div> 637 - 638 638 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. 639 -<div class="wikimodel-emptyline"></div></div></div> 640 -{{/html}} 608 +))) 641 641 610 +|(% colspan="2" %)((( 642 642 ====== __Angular Stiffness (**AS**)__ ====== 612 +))) 613 +|(% style="width:30px" %) |((( 614 +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. 643 643 644 -{{html wiki="true" clean="false"}} 645 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 646 -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> 616 +A higher value of "angular stiffness": 647 647 648 -A higher value of "angular stiffness":<div class="wikimodel-emptyline"></div> 649 - 650 650 * The more torque will be applied to try to keep the desired position against external input / changes 651 -* 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>619 +* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position 652 652 653 -A lower value on the other hand: <div class="wikimodel-emptyline"></div>621 +A lower value on the other hand: 654 654 655 655 * Causes a slower acceleration to the travel speed, and a slower deceleration 656 -* Allows the target position to deviate more from its position before additional torque is applied to bring it back <div class="wikimodel-emptyline"></div>624 +* Allows the target position to deviate more from its position before additional torque is applied to bring it back 657 657 658 -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>626 +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. 659 659 660 -Ex: #5AS-2 <cr><divclass="wikimodel-emptyline"></div>628 +Ex: #5AS-2<cr> 661 661 662 -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. <div class="wikimodel-emptyline"></div>630 +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. 663 663 664 -Ex: #5QAS <cr><divclass="wikimodel-emptyline"></div>632 +Ex: #5QAS<cr> 665 665 666 -Queries the value being used. <div class="wikimodel-emptyline"></div>634 +Queries the value being used. 667 667 668 -Ex: #5CAS-2<cr><div class="wikimodel-emptyline"></div> 636 +Ex: #5CAS-2<cr>Writes the desired angular stiffness value to EEPROM. 637 +))) 669 669 670 -Writes the desired angular stiffness value to EEPROM. 671 -<div class="wikimodel-emptyline"></div></div></div> 672 -{{/html}} 673 - 639 +|(% colspan="2" %)((( 674 674 ====== __Angular Holding Stiffness (**AH**)__ ====== 641 +))) 642 +|(% style="width:30px" %) |((( 643 +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. 675 675 676 -{{html wiki="true" clean="false"}} 677 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 678 -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> 645 +Ex: #5AH3<cr> 679 679 680 - Ex:#5AH3<cr><divclass="wikimodel-emptyline"></div>647 +This sets the holding stiffness for servo #5 to 3 for that session. 681 681 682 - This setstheholdingstiffnessfor servo #5 to 3 for that session.<div class="wikimodel-emptyline"></div>649 +Query Angular Holding Stiffness (**QAH**) 683 683 684 - QueryAngularHoldingStiffness(**QAH**)<divclass="wikimodel-emptyline"></div>651 +Ex: #5QAH<cr> might return *5QAH3<cr> 685 685 686 - Ex: #5QAH<cr> mightreturn*5QAH3<cr><divclass="wikimodel-emptyline"></div>653 +This returns the servo's angular holding stiffness value. 687 687 688 - This returns theservo's angularholdingstiffnessvalue.<div class="wikimodel-emptyline"></div>655 +Configure Angular Holding Stiffness (**CAH**) 689 689 690 - ConfigureAngular Holding Stiffness (**CAH**)<divclass="wikimodel-emptyline"></div>657 +Ex: #5CAH2<cr> 691 691 692 -Ex: #5CAH2<cr><div class="wikimodel-emptyline"></div> 659 +This writes the angular holding stiffness of servo #5 to 2 to EEPROM. 660 +))) 693 693 694 -This writes the angular holding stiffness of servo #5 to 2 to EEPROM. 695 -<div class="wikimodel-emptyline"></div></div></div> 696 -{{/html}} 697 - 662 +|(% colspan="2" %)((( 698 698 ====== __Angular Acceleration (**AA**)__ ====== 664 +))) 665 +|(% style="width:30px" %) |((( 666 +The default value for angular acceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared. 699 699 700 -{{html wiki="true" clean="false"}} 701 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 702 -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> 668 +Ex: #5AA30<cr> 703 703 704 - Ex:#5AA30<cr><divclass="wikimodel-emptyline"></div>670 +This sets the angular acceleration for servo #5 to 30 degrees per second squared (°/s^^2^^). 705 705 706 - This setsthe angularaccelerationfor servo #5 to 30 degrees per second squared(°/s^^2^^).<div class="wikimodel-emptyline"></div>672 +Query Angular Acceleration (**QAA**) 707 707 708 -Q ueryAngularAcceleration(**QAA**)<divclass="wikimodel-emptyline"></div>674 +Ex: #5QAA<cr> might return *5QAA30<cr> 709 709 710 - Ex: #5QAA<cr> mightreturn*5QAA30<cr><div class="wikimodel-emptyline"></div>676 +This returns the servo's angular acceleration in degrees per second squared (°/s^^2^^). 711 711 712 - This returns theservo's angularaccelerationin degrees per second squared(°/s^^2^^).<div class="wikimodel-emptyline"></div>678 +Configure Angular Acceleration (**CAA**) 713 713 714 - ConfigureAngular Acceleration (**CAA**)<divclass="wikimodel-emptyline"></div>680 +Ex: #5CAA30<cr> 715 715 716 -Ex: #5CAA30<cr><div class="wikimodel-emptyline"></div> 717 - 718 718 This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM. 719 -<div class="wikimodel-emptyline"></div></div></div> 720 -{{/html}} 683 +))) 721 721 685 +|(% colspan="2" %)((( 722 722 ====== __Angular Deceleration (**AD**)__ ====== 687 +))) 688 +|(% style="width:30px" %) |((( 689 +The default value for angular deceleration is 100. Accepts values of between 1 and 100. Increments of 10 degrees per second squared. 723 723 724 -{{html wiki="true" clean="false"}} 725 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 726 -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> 691 +Ex: #5AD30<cr> 727 727 728 - Ex:#5AD30<cr><divclass="wikimodel-emptyline"></div>693 +This sets the angular deceleration for servo #5 to 30 degrees per second squared (°/s^^2^^). 729 729 730 - This setsthe angulardecelerationfor servo #5 to 30 degrees per second squared(°/s^^2^^).<div class="wikimodel-emptyline"></div>695 +Query Angular Deceleration (**QAD**) 731 731 732 -Q ueryAngularDeceleration(**QAD**)<divclass="wikimodel-emptyline"></div>697 +Ex: #5QAD<cr> might return *5QAD30<cr> 733 733 734 - Ex: #5QAD<cr> mightreturn*5QAD30<cr><div class="wikimodel-emptyline"></div>699 +This returns the servo's angular deceleration in degrees per second squared (°/s^^2^^). 735 735 736 - This returns theservo's angulardecelerationin degrees per second squared(°/s^^2^^).<div class="wikimodel-emptyline"></div>701 +Configure Angular Deceleration (**CAD**) 737 737 738 - ConfigureAngular Deceleration (**CAD**)<divclass="wikimodel-emptyline"></div>703 +Ex: #5CAD30<cr> 739 739 740 -Ex: #5CAD30<cr><div class="wikimodel-emptyline"></div> 705 +This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM. 706 +))) 741 741 742 -This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM. 743 -<div class="wikimodel-emptyline"></div></div></div> 744 -{{/html}} 745 - 708 +|(% colspan="2" %)((( 746 746 ====== __Gyre Direction (**G**)__ ====== 710 +))) 711 +|(% style="width:30px" %) |((( 712 +"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. 747 747 748 -{{html wiki="true" clean="false"}} 749 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 750 -"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> 714 +Ex: #5G-1<cr> 751 751 752 - Ex:#5G-1<cr><div class="wikimodel-emptyline"></div>716 +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. 753 753 754 - This command will causeservo #5's positions to be inverted, effectivelycausing the servo to rotate in the opposite directiongiven 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.<div class="wikimodel-emptyline"></div>718 +Query Gyre Direction (**QG**) 755 755 756 - QueryGyreDirection(**QG**)<divclass="wikimodel-emptyline"></div>720 +Ex: #5QG<cr> might return *5QG-1<cr> 757 757 758 - Ex:#5QG<cr>mightreturn*5QG-1<cr><divclass="wikimodel-emptyline"></div>722 +The value returned above means the servo is in a counter-clockwise gyration. Sending a #5WR30 command will rotate the servo in a counter-clockwise gyration at 30 RPM. 759 759 760 - The value returned above means the servois in a counter-clockwisegyration. Sending a #5WR30 command will rotate the servo in a counter-clockwisegyration at 30 RPM.<div class="wikimodel-emptyline"></div>724 +Configure Gyre (**CG**) 761 761 762 - ConfigureGyre (**CG**)<divclass="wikimodel-emptyline"></div>726 +Ex: #5CG-1<cr> 763 763 764 -Ex: #5CG-1<cr><div class="wikimodel-emptyline"></div> 765 - 766 766 This changes the gyre direction as described above and also writes to EEPROM. 767 -<div class="wikimodel-emptyline"></div></div></div> 768 -{{/html}} 729 +))) 769 769 731 +|(% colspan="2" %)((( 770 770 ====== __First Position__ ====== 733 +))) 734 +|(% style="width:30px" %) |((( 735 +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. 771 771 772 -{{html wiki="true" clean="false"}} 773 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 774 -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> 737 +Query First Position in Degrees (**QFD**) 775 775 776 - QueryFirstPositionin Degrees(**QFD**)<divclass="wikimodel-emptyline"></div>739 +Ex: #5QFD<cr> might return *5QFD900<cr> 777 777 778 - Ex:#5QFD<cr>mightreturn*5QFD900<cr><divclass="wikimodel-emptyline"></div>741 +The reply above indicates that servo with ID 5 has a first position of 90.0 degrees. If there is no first position value stored, the reply will be DIS. 779 779 780 - The reply above indicates that servo with ID 5 has afirst position of 90.0 degrees.If thereis no firstpositionvaluestored, thereply will be DIS.<div class="wikimodel-emptyline"></div>743 +Configure First Position in Degrees (**CFD**) 781 781 782 - ConfigureFirst Position in Degrees (**CFD**)<divclass="wikimodel-emptyline"></div>745 +Ex: #5CFD900<cr> 783 783 784 -Ex: #5CFD900<cr><div class="wikimodel-emptyline"></div> 747 +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> 748 +))) 785 785 786 -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> 787 -<div class="wikimodel-emptyline"></div></div></div> 788 -{{/html}} 789 - 750 +|(% colspan="2" %)((( 790 790 ====== __Maximum Motor Duty (**MMD**)__ ====== 752 +))) 753 +|(% style="width:30px" %) |((( 754 +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. 791 791 792 -{{html wiki="true" clean="false"}} 793 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 794 -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> 756 +Ex: #5MMD512<cr> 795 795 796 - Ex:#5MMD512<cr><divclass="wikimodel-emptyline"></div>758 +This will set the duty-cycle to 512 for servo with ID 5 for that session. 797 797 798 - This will set the duty-cycleto 512 forservo withID 5 forthat session.<divclass="wikimodel-emptyline"></div>760 +Query Maximum Motor Duty (**QMMD**) 799 799 800 -Q ueryMaximumMotorDuty (**QMMD**)<divclass="wikimodel-emptyline"></div>762 +Ex: #5QMMDD<cr> might return *5QMMD512<cr> 801 801 802 -Ex: #5QMMDD<cr> might return *5QMMD512<cr> <div class="wikimodel-emptyline"></div> 803 - 804 804 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. 805 -<div class="wikimodel-emptyline"></div></div></div> 806 -{{/html}} 765 +))) 807 807 767 +|(% colspan="2" %)((( 808 808 ====== __Maximum Speed in Degrees (**SD**)__ ====== 769 +))) 770 +|(% style="width:30px" %) |((( 771 +Ex: #5SD1800<cr> 809 809 810 -{{html wiki="true" clean="false"}} 811 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 812 -Ex: #5SD1800<cr><div class="wikimodel-emptyline"></div> 813 -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> 773 +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. 814 814 815 -Query Speed in Degrees (**QSD**) <div class="wikimodel-emptyline"></div>775 +Query Speed in Degrees (**QSD**) 816 816 817 -Ex: #5QSD <cr>might return *5QSD1800<cr><divclass="wikimodel-emptyline"></div>777 +Ex: #5QSD<cr> might return *5QSD1800<cr> 818 818 819 -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. 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:<div class="wikimodel-emptyline"></div> 779 +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. 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: 780 +))) 820 820 821 -|**Command sent**|**Returned value (1/10 °)** 822 -|ex: #5QSD <cr>|Session value for maximum speed (set by latest SD/SR command)823 -|ex: #5QSD1 <cr>|Configured maximum speed in EEPROM (set by CSD/CSR)824 -|ex: #5QSD2 <cr>|Instantaneous speed (same as QWD)825 -|ex: #5QSD3 <cr>|Target travel speed<div class="wikimodel-emptyline"></div>782 +|(% style="width:30px" %) |**Command sent**|**Returned value (1/10 °)** 783 +| |ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command) 784 +| |ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR) 785 +| |ex: #5QSD2<cr>|Instantaneous speed (same as QWD) 786 +| |ex: #5QSD3<cr>|Target travel speed 826 826 827 -Configure Speed in Degrees (**CSD**)<div class="wikimodel-emptyline"></div> 788 +|(% style="width:30px" %) |((( 789 +Configure Speed in Degrees (**CSD**) 828 828 829 -Ex: #5CSD1800<cr><div class="wikimodel-emptyline"></div> 830 -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> 831 -</div></div> 832 -{{/html}} 791 +Ex: #5CSD1800<cr> 833 833 793 +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. 794 +))) 795 + 796 +|(% colspan="2" %)((( 834 834 ====== __Maximum Speed in RPM (**SR**)__ ====== 798 +))) 799 +|(% style="width:30px" %) |((( 800 +Ex: #5SR45<cr> 835 835 836 -{{html wiki="true" clean="false"}} 837 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 838 -Ex: #5SR45<cr><div class="wikimodel-emptyline"></div> 839 -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> 802 +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. 840 840 841 -Query Speed in RPM (**QSR**) <div class="wikimodel-emptyline"></div>804 +Query Speed in RPM (**QSR**) 842 842 843 -Ex: #5QSR <cr>might return *5QSR45<cr><divclass="wikimodel-emptyline"></div>806 +Ex: #5QSR<cr> might return *5QSR45<cr> 844 844 845 -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. 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:<div class="wikimodel-emptyline"></div> 808 +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. 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: 809 +))) 846 846 847 -|**Command sent**|**Returned value (1/10 °)** 848 -|ex: #5QSR <cr>|Session value for maximum speed (set by latest SD/SR command)849 -|ex: #5QSR1 <cr>|Configured maximum speed in EEPROM (set by CSD/CSR)850 -|ex: #5QSR2 <cr>|Instantaneous speed (same as QWD)851 -|ex: #5QSR3 <cr>|Target travel speed<div class="wikimodel-emptyline"></div>811 +|(% style="width:30px" %) |**Command sent**|**Returned value (1/10 °)** 812 +| |ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command) 813 +| |ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR) 814 +| |ex: #5QSR2<cr>|Instantaneous speed (same as QWD) 815 +| |ex: #5QSR3<cr>|Target travel speed 852 852 853 -Configure Speed in RPM (**CSR**)<div class="wikimodel-emptyline"></div> 817 +|((( 818 +Configure Speed in RPM (**CSR**) 854 854 855 -Ex: #5CSR45<cr><div class="wikimodel-emptyline"></div> 856 -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> 857 -</div></div> 858 -{{/html}} 820 +Ex: #5CSR45<cr> 859 859 822 +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. 823 +)))| 824 + 860 860 == Modifiers == 861 861 862 -====== __Speed (**S**, **SD**) modifier__ ====== 827 +|(% colspan="2" %)((( 828 +====== __Speed__ ====== 829 +))) 830 +|(% style="width:30px" %) |((( 831 +Ex: #5P1500S750<cr> 863 863 864 -{{html clean="false" wiki="true"}} 865 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 866 -Example: #5P1500S750<cr><div class="wikimodel-emptyline"></div> 867 -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> 868 -Example: #5D0SD180<cr><div class="wikimodel-emptyline"></div> 869 -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> 870 -Query Speed (**QS**)<div class="wikimodel-emptyline"></div> 871 -Example: #5QS<cr> might return *5QS300<cr><div class="wikimodel-emptyline"></div> 872 -This command queries the current speed in microseconds per second.<div class="wikimodel-emptyline"></div> 873 -</div></div> 874 -{{/html}} 833 +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. 875 875 835 +Ex: #5D0SD180<cr> 836 + 837 +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. 838 + 839 +Query Speed (**QS**) 840 + 841 +Ex: #5QS<cr> might return *5QS300<cr> 842 + 843 +This command queries the current speed in microseconds per second. 844 +))) 845 + 846 +|(% colspan="2" %)((( 876 876 ====== __Timed move (**T**) modifier__ ====== 848 +))) 849 +|(% style="width:30px" %) |((( 850 +Example: #5P1500T2500<cr> 877 877 878 -{{html wiki="true" clean="false"}} 879 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 880 -Example: #5P1500T2500<cr><div class="wikimodel-emptyline"></div> 852 +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. 881 881 882 -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> 883 -**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> 884 -</div></div> 885 -{{/html}} 854 +**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. 855 +))) 886 886 857 +|(% colspan="2" %)((( 887 887 ====== __Current Halt & Hold (**CH**) modifier__ ====== 859 +))) 860 +|(% style="width:30px" %) |((( 861 +Example: #5D1423CH400<cr> 888 888 889 -{{html wiki="true" clean="false"}} 890 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 891 -Example: #5D1423CH400<cr><div class="wikimodel-emptyline"></div> 863 +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. 892 892 893 -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> 894 -This modifier can be added to the following actions: D; MD; WD; WR.<div class="wikimodel-emptyline"></div> 895 -</div></div> 896 -{{/html}} 865 +This modifier can be added to the following actions: D; MD; WD; WR. 866 +))) 897 897 868 +|(% colspan="2" %)((( 898 898 ====== __Current Limp (**CL**) modifier__ ====== 870 +))) 871 +|(% style="width:30px" %) |((( 872 +Example: #5D1423CL400<cr> 899 899 900 -{{html wiki="true" clean="false"}} 901 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 902 -Example: #5D1423CL400<cr><div class="wikimodel-emptyline"></div> 874 +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. 903 903 904 -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> 905 -This modifier can be added to the following actions: D; MD; WD; WR.<div class="wikimodel-emptyline"></div> 906 -</div></div> 907 -{{/html}} 876 +This modifier can be added to the following actions: D; MD; WD; WR. 877 +))) 908 908 909 909 == Telemetry == 910 910 881 +|(% colspan="2" %)((( 911 911 ====== __Query Voltage (**QV**)__ ====== 883 +))) 884 +|(% style="width:30px" %) |((( 885 +Ex: #5QV<cr> might return *5QV11200<cr> 912 912 913 -{{html wiki="true" clean="false"}} 914 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 915 -Ex: #5QV<cr> might return *5QV11200<cr><div class="wikimodel-emptyline"></div> 916 -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> 917 -</div></div> 918 -{{/html}} 887 +The number returned is in milliVolts, so in the case above, servo with ID 5 has an input voltage of 11.2V. 888 +))) 919 919 890 +|(% colspan="2" %)((( 920 920 ====== __Query Temperature (**QT**)__ ====== 892 +))) 893 +|(% style="width:30px" %) |((( 894 +Ex: #5QT<cr> might return *5QT564<cr> 921 921 922 -{{html wiki="true" clean="false"}} 923 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 924 -Ex: #5QT<cr> might return *5QT564<cr><div class="wikimodel-emptyline"></div> 925 -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> 926 -</div></div> 927 -{{/html}} 896 +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. 897 +))) 928 928 899 +|(% colspan="2" %)((( 929 929 ====== __Query Current (**QC**)__ ====== 901 +))) 902 +|(% style="width:30px" %) |((( 903 +Ex: #5QC<cr> might return *5QC140<cr> 930 930 931 -{{html wiki="true" clean="false"}} 932 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 933 -Ex: #5QC<cr> might return *5QC140<cr><div class="wikimodel-emptyline"></div> 934 -The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.<div class="wikimodel-emptyline"></div> 935 -</div></div> 936 -{{/html}} 905 +The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A. 906 +))) 937 937 908 +|(% colspan="2" %)((( 938 938 ====== __Query Model String (**QMS**)__ ====== 910 +))) 911 +|(% style="width:30px" %) |((( 912 +Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr> 939 939 940 -{{html wiki="true" clean="false"}} 941 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 942 -Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr><div class="wikimodel-emptyline"></div> 943 -This reply means that the servo model is LSS-HS1: a high speed servo, first revision.<div class="wikimodel-emptyline"></div> 944 -</div></div> 945 -{{/html}} 914 +This reply means that the servo model is LSS-HS1: a high speed servo, first revision. 915 +))) 946 946 917 +|(% colspan="2" %)((( 947 947 ====== __Query Firmware (**QF**)__ ====== 919 +))) 920 +|(% style="width:30px" %) |((( 921 +Ex: #5QF<cr> might return *5QF368<cr> 948 948 949 -{{html wiki="true" clean="false"}} 950 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 951 -Ex: #5QF<cr> might return *5QF368<cr><div class="wikimodel-emptyline"></div> 952 -The number in the reply represents the firmware version, in this example being 368.<div class="wikimodel-emptyline"></div> 953 -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> 954 -</div></div> 955 -{{/html}} 923 +The number in the reply represents the firmware version, in this example being 368. 956 956 957 -====== __Query Serial Number (**QN**)__ ====== 925 +The command #5QF3<cr> can also be sent and the servo will reply with a 3 numbers firmware version, for example, 368.29.14 926 +))) 958 958 959 -{{html wiki="true" clean="false"}} 960 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 961 -Ex: #5QN<cr> might return *5QN12345678<cr><div class="wikimodel-emptyline"></div> 962 -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> 963 -</div></div> 964 -{{/html}} 965 - 966 966 == RGB LED == 967 967 930 +|(% colspan="2" %)((( 968 968 ====== __LED Color (**LED**)__ ====== 932 +))) 933 +|(% style="width:30px" %) |((( 934 +Ex: #5LED3<cr> 969 969 970 -{{html wiki="true" clean="false"}} 971 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 972 -Ex: #5LED3<cr><div class="wikimodel-emptyline"></div> 973 -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> 974 -0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;<div class="wikimodel-emptyline"></div> 975 -Query LED Color (**QLED**)<div class="wikimodel-emptyline"></div> 976 -Ex: #5QLED<cr> might return *5QLED5<cr><div class="wikimodel-emptyline"></div> 977 -This simple query returns the indicated servo's LED color.<div class="wikimodel-emptyline"></div> 978 -Configure LED Color (**CLED**)<div class="wikimodel-emptyline"></div> 979 -Ex: #5CLED3<cr><div class="wikimodel-emptyline"></div> 980 -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> 981 -</div></div> 982 -{{/html}} 936 +This action sets the servo's RGB LED color for that session. 983 983 938 +The LED can be used for aesthetics, or (based on user code) to provide visual status updates. Using timing can create patterns. 939 + 940 +0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White; 941 + 942 +Query LED Color (**QLED**) 943 + 944 +Ex: #5QLED<cr> might return *5QLED5<cr> 945 + 946 +This simple query returns the indicated servo's LED color. 947 + 948 +Configure LED Color (**CLED**) 949 + 950 +Ex: #5CLED3<cr> 951 + 952 +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. 953 +))) 954 + 955 +|(% colspan="2" %)((( 984 984 ====== __Configure LED Blinking (**CLB**)__ ====== 957 +))) 958 +|(% style="width:30px" %) |((( 959 +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: 960 +))) 985 985 986 -{{html wiki="true" clean="false"}} 987 -<div class="cmdcnt"><div class="cmdpad"></div><div class="cmdtxt"> 988 -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> 962 +|(% style="width:30px" %) |(% style="width:200px" %)**Blink While:**|(% style="width:50px" %)**#**| 963 +| |No blinking|0| 964 +| |Limp|1| 965 +| |Holding|2| 966 +| |Accelerating|4| 967 +| |Decelerating|8| 968 +| |Free|16| 969 +| |Travelling|32| 970 +| |Always blink|63| 989 989 990 -(% style="width:195px" %) 991 -|(% style="width:134px" %)**Blink While:**|(% style="width:58px" %)**#** 992 -|(% style="width:134px" %)No blinking|(% style="width:58px" %)0 993 -|(% style="width:134px" %)Limp|(% style="width:58px" %)1 994 -|(% style="width:134px" %)Holding|(% style="width:58px" %)2 995 -|(% style="width:134px" %)Accelerating|(% style="width:58px" %)4 996 -|(% style="width:134px" %)Decelerating|(% style="width:58px" %)8 997 -|(% style="width:134px" %)Free|(% style="width:58px" %)16 998 -|(% style="width:134px" %)Travelling|(% style="width:58px" %)32 999 -|(% style="width:134px" %)Always blink|(% style="width:58px" %)63<div class="wikimodel-emptyline"></div> 972 +|(% style="width:30px" %) |((( 973 +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: 1000 1000 1001 -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> 1002 -Ex: #5CLB0<cr> to turn off all blinking (LED always solid)<div class="wikimodel-emptyline"></div> 1003 -Ex: #5CLB1<cr> only blink when limp (1)<div class="wikimodel-emptyline"></div> 1004 -Ex: #5CLB2<cr> only blink when holding (2)<div class="wikimodel-emptyline"></div> 1005 -Ex: #5CLB12<cr> only blink when accel or decel (accel 4 + decel 8 = 12)<div class="wikimodel-emptyline"></div> 1006 -Ex: #5CLB48<cr> only blink when free or travel (free 16 + travel 32 = 48)<div class="wikimodel-emptyline"></div> 1007 -Ex: #5CLB63<cr> blink in all status (1 + 2 + 4 + 8 + 16 + 32)<div class="wikimodel-emptyline"></div> 1008 -RESETTING the servo is needed.<div class="wikimodel-emptyline"></div> 1009 -</div></div> 1010 -{{/html}} 975 +Ex: #5CLB0 to turn off all blinking (LED always solid) 1011 1011 1012 - ==RGBLEDPatterns==977 +Ex: #5CLB1 only blink when limp (1) 1013 1013 1014 - The LEDpatternsbelow do notincludethosewhich arepart of the buttonmenu, which can be found here: [[LSS Button Menu>>doc:lynxmotion-smart-servo.lss-button-menu.WebHome]]979 +Ex: #5CLB2 only blink when holding (2) 1015 1015 1016 -[[image:LSS - LED Patterns.png]] 981 +Ex: #5CLB12 only blink when accel or decel (accel 4 + decel 8 = 12) 982 + 983 +Ex: #5CLB48 only blink when free or travel (free 16 + travel 32 = 48) 984 + 985 +Ex: #5CLB63 blink in all status (1 + 2 + 4 + 8 + 16 + 32) 986 + 987 +RESETTING the servo is needed. 988 +))) 989 + 990 +|(% colspan="2" style="width:30px" %)((( 991 +====== __RGB LED Patterns__ ====== 992 +))) 993 +|(% style="width:30px" %) |((( 994 +The LED patterns below do not include those which are part of the button menu, which can be found here: [[LSS Button Menu>>url:https://wiki.lynxmotion.com/info/wiki/lynxmotion/view/ses-v2/lynxmotion-smart-servo/lss-button-menu/]] 995 +))) 996 +|(% style="width:30px" %) |[[image:https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/ses-v2/lynxmotion-smart-servo/lss-communication-protocol/WebHome/LSS%20-%20LED%20Patterns.png||alt="LSS - LED Patterns.png"]]