Last modified by Eric Nantel on 2025/06/06 07:47
From version < 214.1 >
edited by Eric Nantel
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To version < 95.1 >
edited by Coleman Benson
on 2019/02/01 15:17
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Title
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1 -LSS Communication Protocol
1 +LSS - Communication Protocol
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1 -ses-v2.lynxmotion-smart-servo.WebHome
1 +Lynxmotion Smart Servo (LSS).WebHome
Author
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1 -xwiki:XWiki.ENantel
1 +xwiki:XWiki.CBenson
Content
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1 +(% class="wikigeneratedid" id="HTableofContents" %)
2 +**Table of Contents**
3 +
1 1  {{toc depth="3"/}}
2 2  
3 -= Serial Protocol =
6 += Serial Protocol Concept =
4 4  
5 -The Lynxmotion Smart Servo (LSS) serial protocol was created in order to be as simple and straightforward as possible from a user perspective ("human readable format"), while at the same time staying compact and robust yet highly versatile. The protocol was based on Lynxmotion's SSC-32 & SSC-32U RC servo controllers and almost everything one might expect to be able to configure for a smart servomotor is available.
8 +The custom Lynxmotion Smart Servo (LSS) serial protocol was created in order to be as simple and straightforward as possible from a user perspective ("human readable format"), while at the same time compact and robust yet highly versatile. The protocol was based on Lynxmotion's SSC-32 RC servo controller and almost everything one might expect to be able to configure for a smart servo motor is available.
6 6  
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.
10 +In order to have servos react differently when commands are sent to all servos in a serial bus, the first step a user should take is to assign a different ID number to each servo (explained below). Once this has been done, only the servo(s) which have been assigned to the ID sent as part of the command will follow that command. There is currently no CRC / checksum implemented as part of the protocol.
8 8  
9 -|(% colspan="2" %)(((
10 10  == Session ==
11 -)))
12 -|(% style="width:25px" %) |(((
13 +
13 13  A "session" is defined as the time between when the servo is powered ON to when it is powered OFF or reset.
14 14  
15 -**Note 1:** For a given session, the action related to a specific command overrides the stored value in EEPROM.
16 -
17 -**Note 2:** During the power-on / reset process the LSS cannot accept commands for a small amount of time (1.25 s).
18 -
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" %)(((
23 23  == 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:
27 27  
28 -1. Start with a number sign **#** (Unicode Character: U+0023)
29 -1. Servo ID number as an integer (assigning an ID described below)
30 -1. Action command (one or more letters, no whitespace, capital or lowercase from the list below)
18 +Action commands tell the servo, within that session, to do something (i.e. "take an action"). The types of action commands which can be sent are described below, and they cannot be combined with other commands such as queries or configurations. Only one action command can be sent at a time. Action commands are session-specific, therefore once a servo is power cycled, it will not have any "memory" of previous actions or virtual positions (described below on this page). Action commands are sent serially to the servo's Rx pin and must be sent in the following format:
19 +
20 +1. Start with a number sign # (U+0023)
21 +1. Servo ID number as an integer
22 +1. Action command (one to three letters, no spaces, capital or lower case)
31 31  1. Action value in the correct units with no decimal
32 -1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
24 +1. End with a control / carriage return '<cr>'
33 33  
34 -Ex: #5D1800<cr>
26 +(((
27 +Ex: #5PD1443<cr>
35 35  
36 -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.
37 -)))
29 +This sends a serial command to all servo's Rx pins which are connected to the bus and only servo(s) with ID #5 will move to a position in tenths of degrees ("PD") of 144.3 degrees. Any servo on the bus which does not have ID 5 will take no action when receiving this command.
38 38  
39 -|(% colspan="2" %)(((
40 -== Modifiers ==
41 -)))
42 -|(% style="width:25px" %) |(((
43 -Modifiers can only be used with certain **action commands**. The format to include a modifier is:
31 +== Action Modifiers ==
44 44  
45 -1. Start with a number sign **#** (Unicode Character: U+0023)
33 +Only two commands can be used as action modifiers: Timed Move (T) and Speed (S) described below. Action modifiers can only be used with certain action commands. The format to include a modifier is:
34 +
35 +1. Start with a number sign # (U+0023)
46 46  1. Servo ID number as an integer
47 -1. Action command (one to three letters, no spaces, capital or lowercase from a subset of action commands below)
37 +1. Action command (one to three letters, no spaces, capital or lower case)
48 48  1. Action value in the correct units with no decimal
49 -1. Modifier command (one or two letters from the list of modifiers below)
39 +1. Modifier command (one letter)
50 50  1. Modifier value in the correct units with no decimal
51 -1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
41 +1. End with a control / carriage return '<cr>'
52 52  
53 -Ex: #5D1800T1500<cr>
43 +Ex: #5P1456T1263<cr>
54 54  
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).
45 +This results in the servo with ID #5 rotating from the current angular position to a pulse position ("P") of 1456 in a time ("T") of 1263 milliseconds.
56 56  )))
57 57  
58 -|(% colspan="2" %)(((
59 -== 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:
48 +== Configuration Commands ==
63 63  
64 -1. Start with a number sign **#** (Unicode Character: U+0023)
50 +Configuration commands and corresponding values affect a servo's defaults which are written to and read from the servo's EEPROM. These configurations are retained in memory after the servo is reset or power is cut / lost. Some configuration commands affect the session, while others do not (see each command for details). Not all action commands have a corresponding configuration and vice versa. More information about which configuration commands are retained when in RC mode can be found on the [[LSS - RC PWM page>>doc:Lynxmotion Smart Servo (LSS).LSS - RC PWM.WebHome]]. Configuration commands are not cumulative, in that if two configurations are sent, one after the next, only the last configuration is used and stored. The format to send a configuration command is identical to that of an action command:
51 +
52 +1. Start with a number sign # (U+0023)
65 65  1. Servo ID number as an integer
66 -1. Query command (one to four letters, no spaces, capital or lower case)
67 -1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
54 +1. Configuration command (two to three letters, no spaces, capital or lower case)
55 +1. Configuration value in the correct units with no decimal
56 +1. End with a control / carriage return '<cr>'
68 68  
69 -Ex: #5QD<cr> Query the position in (tenth of) degrees for servo with ID #5
58 +Ex: #5CO-50<cr>
70 70  
71 -The query will return a serial string (almost instantaneously) via the servo's Tx pin with the following format:
60 +This configures an absolute origin offset ("CO") with respect to factory origin to servo with ID #5 and changes the offset for that session to -5.0 degrees (50 tenths of degrees). Once the servo is powered off and then powered on, zeroing the servo will cause it to move to -5.0 degrees with respect to the factory origin and report its position as 0 degrees. Configuration commands can be undone / reset either by sending the servo's default value for that configuration, or by doing a factory reset (clears all configurations) described below.
72 72  
73 -1. Start with an asterisk * (Unicode Character: U+0023)
74 -1. Servo ID number as an integer
75 -1. Query command (one to four letters, no spaces, capital letters)
76 -1. The reported value in the units described, no decimals.
77 -1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
62 +== Query Commands ==
78 78  
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:
64 +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:
80 80  
81 -Ex: *5QD1800<cr>
66 +1. Start with a number sign # (U+0023)
67 +1. Servo ID number as an integer
68 +1. Query command (one to three letters, no spaces, capital or lower case)
69 +1. End with a control / carriage return '<cr>'
82 82  
83 -This indicates that servo #5 is currently at 180.0 degrees (1800 tenths of degrees).
71 +(((
72 +Ex: #5QD<cr>Query position in degrees for servo #5
84 84  )))
85 85  
86 -|(% colspan="2" %)(((
87 -== 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.
75 +(((
76 +The query will return a serial string (almost instantaneously) via the servo's Tx pin with the following format:
91 91  
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.
93 -
94 -The format to send a configuration command is identical to that of an action command:
95 -
96 -1. Start with a number sign **#** (Unicode Character: U+0023)
78 +1. Start with an asterisk * (U+002A)
97 97  1. Servo ID number as an integer
98 -1. Configuration command (two to four letters, no spaces, capital or lower case)
99 -1. Configuration value in the correct units with no decimal
100 -1. End with a carriage return **\r** or **<cr>** Unicode Character (U+000D)
80 +1. Query command (one to three letters, no spaces, capital letters)
81 +1. The reported value in the units described, no decimals.
82 +1. End with a control / carriage return '<cr>'
101 101  
102 -Ex: #5CO-50<cr>
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 on a bus in fast succession may result in replies overlapping and giving incorrect or corrupt data. As such, the controller should receive a reply before sending a new command. A reply to the query sent above might be:
103 103  
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).
86 +(((
87 +Ex: *5QD1443<cr>
88 +)))
105 105  
90 +This indicates that servo #5 is currently at 144.3 degrees (1443 tenths of degrees).
91 +
106 106  **Session vs Configuration Query**
107 107  
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:
94 +By default, the query command returns the sessions' value. Should no action commands have been sent to change the session value, it will return the value saved in EEPROM which will either be the servo's default, or modified with a configuration command. In order to query the value stored in EEPROM (configuration), add a '1' to the query command:
109 109  
110 -Ex: #5CSR20<cr> immediately sets the maximum speed for servo #5 to 20rpm (explained below) and changes the value in memory.
96 +Ex: #5CSR20<cr> immediately sets the maximum speed for servo #5 to 20rpm (explained below) and changes the value in memory.
111 111  
112 112  After RESET, a command of #5SR4<cr> sets the session's speed to 4rpm, but does not change the configuration value in memory. Therefore:
113 113  
114 -#5QSR<cr> or #5QSR0<cr> would return *5QSR4<cr> which represents the value for that session, whereas
100 +#5QSR<cr> would return *5QSR4<cr> which represents the value for that session, whereas
115 115  
116 116  #5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
117 -)))
118 118  
119 -|(% colspan="2" %)(((
120 120  == 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).
124 124  
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"]]
106 +The ability to store a "virtual angular position" is a feature which allows for rotation beyond 360 degrees, permitting multiple rotations of the output horn, moving the center position and more. In virtual position mode, the "absolute position" would be the angle of the output shaft with respect to a 360.0 degree circle, and can be obtained by taking the modulus (with respect to 360 degrees) of the value. For example if the virtual position is reported as 15335 (or 1533.5 degrees), taking the modulus would give 93.5 degrees (3600 * 4 + 935 = 15335) as the absolute position (assuming no origin offset).
126 126  
108 +[[image:LSS-servo-positions.jpg]]
109 +
127 127  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:
128 128  
129 129  #1D-300<cr> This causes the servo to move to -30.0 degrees (green arrow)
... ... @@ -130,275 +130,208 @@
130 130  
131 131  #1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)
132 132  
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.
116 +#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.
134 134  
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.
118 +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.
136 136  
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.
120 +#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.
138 138  
139 139  #1D3300<cr> would cause the servo to rotate from 480.0 degrees to 330.0 degrees (yellow arrow).
140 140  
141 -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°].
124 +If / once the servo loses power or is power cycled, it also loses the virtual position associated with that session. For example, if the virtual position was 480.0 degrees before power is cycled, upon power up the servo's position will be read as +120.0 degrees from zero (assuming center position has not been modified).
142 142  )))
143 143  
144 144  = Command List =
145 145  
146 -**Latest firmware version currently : 370**
147 -
148 -|(% colspan="10" %)[[(% class="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" %)**Reset**>>path:#HReset]]|RESET| | | |✓| | |Soft reset. See command for details.
151 -| |[[(% class="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" %)**Update** Mode>>path:#HUpdate26confirm]]|UPDATE| | | |✓| | |Update firmware. See command for details.
153 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Confirm** Changes>>path:#HConfirm]]|CONFIRM| | | |✓| | |
154 -| |[[(% class="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" %)**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" %)**B**audrate>>path:#HBaudRate]]| |QB|CB| |✓|115200| |Reset required after change.
157 -
158 -|(% colspan="10" %)[[(% class="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" %)**D**egrees>>path:#HPositioninDegrees28D29]]|D|QD/QDT| | |✓| |1/10°|
161 -| |[[(% class="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" %)**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" %)**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" %)**P**WM>>path:#HPositioninPWM28P29]]|P|QP| | |✓| |us|Inherited from SSC-32 serial protocol
165 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**M**ove in PWM (relative)>>path:#H28Relative29MoveinPWM28M29]]|M| | | |✓| |us|
166 -| |[[(% class="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" %)**Q**uery Status>>path:#HQueryStatus28Q29]]| |Q| | |✓| |1 to 8 integer|See command description for details
168 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**L**imp>>path:#HLimp28L29]]|L| | | |✓| | |
169 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**H**alt & Hold>>path:#HHalt26Hold28H29]]|H| | | |✓| | |
170 -
171 -|(% colspan="10" %)[[(% class="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" %)**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" %)**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" %)**O**rigin Offset>>path:#HOriginOffset28O29]]|O|QO|CO|✓|✓|0|1/10°|
176 -| |[[(% class="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" %)**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" %)**A**ngular **H**olding Stiffness>>path:#HAngularHoldingStiffness28AH29]]|AH|QAH|CAH|✓|✓|4|-10 to +10 integer|
179 -| |[[(% class="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" %)**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" %)**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" %)**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" %)**M**aximum **M**otor **D**uty>>path:#HMaximumMotorDuty28MMD29]]|MMD|QMMD| | |✓|1023|255 to 1023 integer|
184 -| |[[Maximum (% class="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" %)**S**peed in **R**PM>>path:#HMaximumSpeedinRPM28SR29]]|SR|QSR|CSR|✓|✓|Max|RPM|SD overwrites SR / CSD overwrites CSR and vice-versa
186 -
187 -|(% colspan="10" %)[[(% class="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" %)**S**peed>>path:#HSpeed28S2CSD29modifier]]|S|QS| | |✓| |uS/s |For P action command
190 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**S**peed in **D**egrees>>path:#HSpeed28S2CSD29modifier]]|SD| | | |✓| |0.1°/s|For D and MD action commands
191 -| |[[(% class="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" %)**C**urrent **H**old>>path:#HCurrentHalt26Hold28CH29modifier]]|CH| | | |✓| |mA|Modifier for D, MD, WD and WR
193 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**C**urrent **L**imp>>path:#HCurrentLimp28CL29modifier]]|CL| | | |✓| |mA|Modifier for D, MD, WD and WR
194 -
195 -|(% colspan="10" %)[[(% class="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" %)**Q**uery **V**oltage>>path:#HQueryVoltage28QV29]]| |QV| | |✓| |mV|
198 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Q**uery **T**emperature>>path:#HQueryTemperature28QT29]]| |QT| | |✓| |1/10°C|
199 -| |[[(% class="wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink wikiinternallink" %)**Q**uery **C**urrent>>path:#HQueryCurrent28QC29]]| |QC| | |✓| |mA|
200 -| |[[(% class="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" %)**Q**uery **F**irmware Version>>path:#HQueryFirmware28QF29]]| |QF| | |✓| | |
202 -
203 -|(% colspan="10" %)[[(% class="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" %)**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" %)**C**onfigure **L**ED **B**linking>>path:#HConfigureLEDBlinking28CLB29]]| | |CLB|✓|✓| |0 to 63 integer|Reset required after change. See command for details.
207 -
208 -= Details =
209 -
210 -== Communication Setup ==
211 -
212 -|(% colspan="2" %)(((
213 -====== Reset ======
129 +|= #|=Description|= Action|= Query|= Config|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
130 +| 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| L| | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
131 +| 2|[[**H**alt & **H**old>>||anchor="H2.Halt26Hold28H29"]]| H| | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
132 +| 3|[[**T**imed move>>||anchor="H3.Timedmove28T29"]]| T| | | | ✓|milliseconds|(% style="width:510px" %) Modifier only for {P, D, MD}|(% style="text-align:center; width:113px" %)
133 +| 4|[[**S**peed>>||anchor="H4.Speed28S29"]]| S| | | | ✓|microseconds per second|(% style="width:510px" %) Modifier only {P}|(% style="text-align:center; width:113px" %)
134 +| 5|[[**M**ove in **D**egrees (relative)>>||anchor="H5.28Relative29MoveinDegrees28MD29"]]| MD| | | | ✓|tenths of degrees (ex 325 = 32.5 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
135 +| 6|[[**O**rigin Offset>>||anchor="H6.OriginOffsetAction28O29"]]| O| QO| CO| ✓| ✓|tenths of degrees (ex 91 = 9.1 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
136 +0
214 214  )))
215 -|(% style="width:30px" %) |(((
216 -Ex: #5RESET<cr>
217 -
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.
138 +| 7|[[**A**ngular **R**ange>>||anchor="H7.AngularRange28AR29"]]| AR| QAR| CAR| ✓| ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
139 +1800
219 219  )))
141 +| 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| P| QP| | | ✓|microseconds|(% style="width:510px" %)(((
142 +Inherited from SSC-32 serial protocol
143 +)))|(% style="text-align:center; width:113px" %)
144 +| 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| D| QD| | | ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
145 +| 10|[[**W**heel mode in **D**egrees>>||anchor="H10.WheelModeinDegrees28WD29"]]| WD| QWD| | | ✓|tenths of degrees per second (ex 248 = 24.8 degrees per second)|(% style="width:510px" %)A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center; width:113px" %)
146 +| 11|[[**W**heel mode in **R**PM>>||anchor="H11.WheelModeinRPM28WR29"]]| WR| QWR| | | ✓|revolutions per minute (rpm)|(% style="width:510px" %)A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center; width:113px" %)
147 +| 12|[[Max **S**peed in **D**egrees>>||anchor="H12.SpeedinDegrees28SD29"]]| SD| QSD|CSD| ✓| ✓|tenths of degrees per second |(% style="width:510px" %)(((
148 +QSD: Add modifier "2" for instantaneous speed.
220 220  
221 -|(% colspan="2" %)(((
222 -====== Default & confirm ======
150 +SD overwrites SR / CSD overwrites CSR and vice-versa.
151 +)))|(% style="text-align:center; width:113px" %)Max per servo
152 +| 13|[[Max **S**peed in **R**PM>>||anchor="H13.SpeedinRPM28SR29"]]| SR| QSR|CSR| ✓| ✓|revolutions per minute (rpm)|(% style="width:510px" %)(((
153 +QSR: Add modifier "2" for instantaneous speed
154 +
155 +SR overwrites SD / CSR overwrites CSD and vice-versa.
156 +)))|(% style="text-align:center; width:113px" %)Max per servo
157 +| 16|[[**LED** Color>>||anchor="H16.RGBLED28LED29"]]| LED| QLED| CLED| ✓| ✓|none (integer from 0 to 8)|(% style="width:510px" %)0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;|(% style="text-align:center; width:113px" %)7
158 +| 17|[[**ID** #>>||anchor="H17.IdentificationNumber"]]| | QID| CID| | ✓|none (integer from 0 to 250)|(% style="width:510px" %)Note: ID 254 is a "broadcast" which all servos respond to|(% style="text-align:center; width:113px" %)0
159 +| 18|[[**B**aud rate>>||anchor="H18.BaudRate"]]| B| QB| CB| | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)9600
160 +| 19|[[**G**yre direction (**G**)>>||anchor="H19.GyreRotationDirection"]]| G| QG| CG| ✓| ✓|none |(% style="width:510px" %)Gyre / rotation direction where 1= CW (clockwise) -1 = CCW (counter-clockwise)|(% style="text-align:center; width:113px" %)1
161 +| 20|[[**F**irst Position (**P**ulse)>>||anchor="H20.First2InitialPosition28pulse29"]]| | QFP|CFP | ✓| ✓|none |(% style="width:510px" %)CFP overwrites CFD and vice-versa|(% style="text-align:center; width:113px" %)(((
162 +Limp
223 223  )))
224 -|(% style="width:30px" %) |(((
225 -Ex: #5DEFAULT<cr>
164 +| 21|[[**F**irst Position (**D**egrees)>>||anchor="H21.First2InitialPosition28Degrees29"]]| | QFD|CFD| ✓| ✓|none |(% style="width:510px" %)CFD overwrites CFP and vice-versa|(% style="text-align:center; width:113px" %)Limp
165 +| 22|[[**T**arget (**D**egree) **P**osition>>||anchor="H22.QueryTargetPositioninDegrees28QDT29"]]| | QDT| | | ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
166 +| 23|[[**M**odel **S**tring>>||anchor="H23.QueryModelString28QMS29"]]| | QMS| | | |none (string)|(% style="width:510px" %) Returns the type of servo (ST, HS, HT)|(% style="text-align:center; width:113px" %)
167 +| 24|[[Serial **N**umber>>||anchor="H24.QuerySerialNumber28QN29"]]| | QN| | | |none (integer)|(% style="width:510px" %) Returns the unique serial number for that servo|(% style="text-align:center; width:113px" %)
168 +| 25|[[**F**irmware version>>||anchor="H25.QueryFirmware28QF29"]]| | QF| | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
169 +| 26|[[**Q**uery (general status)>>||anchor="H26.QueryStatus28Q29"]]| | Q| | | ✓|none (integer from 1 to 8)|(% style="width:510px" %) See command description for details|(% style="text-align:center; width:113px" %)
170 +| 27|[[**V**oltage>>||anchor="H27.QueryVoltage28QV29"]]| | QV| | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
171 +| 28|[[**T**emperature>>||anchor="H28.QueryTemperature28QT29"]]| | QT| | | ✓|tenths of degrees Celsius|(% style="width:510px" %)Max temp before error: 85°C (servo goes limp)|(% style="text-align:center; width:113px" %)
172 +| 29|[[**C**urrent>>||anchor="H29.QueryCurrent28QC29"]]| | QC| | | ✓|milliamps (ex 200 = 0.2A)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
173 +| 30a|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]] - Position| | |CRC1| | ✓|none|(% style="width:510px" %)(((
174 +Puts the servo into RC mode. To revert to smart mode, use the button menu.
175 +)))|(% style="text-align:center; width:113px" %)Serial
176 +| 30b|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]] - Wheel| | |CRC2| | ✓| |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
177 +| 31|[[**RESET**>>||anchor="H31.RESET"]]| | | | | ✓|none|(% style="width:510px" %)Soft reset. See command for details.|(% style="text-align:center; width:113px" %)
178 +| 32|[[**DEFAULT**>>||anchor="H32.DEFAULTA026CONFIRM"]]| | | | |✓|none|(% style="width:510px" %)Revert to firmware default values. See command for details|(% style="text-align:center; width:113px" %)
179 +| 33|[[**UPDATE**>>||anchor="H33.UPDATEA026CONFIRM"]]| | | | |✓|none|(% style="width:510px" %)Update firmware. See command for details.|(% style="text-align:center; width:113px" %)
226 226  
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.
181 +== Advanced ==
228 228  
229 -Ex: #5DEFAULT<cr> followed by #5CONFIRM<cr>
183 +|= #|=Description|= Action|= Query|= Config|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
184 +| 1|[[**A**ngular **S**tiffness>>||anchor="H14.AngularStiffness28AS29"]]| AS|QAS|CAS| ✓| ✓|none (integer -4 to +4)|(% style="width:510px" %)Suggested values are between 0 to +4|(% style="text-align:center; width:113px" %)0
185 +| 2|[[**A**ngular **H**olding Stiffness>>||anchor="H15.AngularHoldStiffness28AH29"]]|AH|QAH|CAH| | ✓|none (integer -10 to +10)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)1
186 +| 3|[[**A**ngular **A**cceleration>>||anchor="H15b:AngularAcceleration28AA29"]]|AA|QAA|CAA| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared|(% style="text-align:center; width:113px" %)
187 +| 4|[[**A**ngular **D**eceleration>>||anchor="H15c:AngularDeceleration28AD29"]]|AD|QAD|CAD| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared|(% style="text-align:center; width:113px" %)
188 +| 5|[[**E**nable **M**otion Control>>||anchor="H15d:MotionControl28MC29"]]|EM|QEM| | | ✓|none|(% style="width:510px" %)EM0 to disable motion control, EM1 to enable|(% style="text-align:center; width:113px" %)
189 +| 6|[[**C**onfigure **L**ED **B**linking>>||anchor="H16b.ConfigureLEDBlinking28CLB29"]]| | | CLB| ✓| |none (integer from 0 to 63)|(% style="width:510px" %)0=No blinking, ; 63=Always blink; Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;|(% style="text-align:center; width:113px" %)
190 +| | | | | | | | |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
230 230  
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.
192 +== Details ==
232 232  
233 -**Note:** After the CONFIRM command is sent, the servo will automatically perform a RESET.
234 -)))
194 +====== __1. Limp (**L**)__ ======
235 235  
236 -|(% colspan="2" %)(((
237 -====== Update & confirm ======
238 -)))
239 -|(% style="width:30px" %) |(((
240 -Ex: #5UPDATE<cr>
196 +Example: #5L<cr>
241 241  
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.
198 +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>.
243 243  
244 -Ex: #5UPDATE<cr> followed by #5CONFIRM<cr>
200 +====== __2. Halt & Hold (**H**)__ ======
245 245  
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.
202 +Example: #5H<cr>
247 247  
248 -**Note:** After the CONFIRM command is sent, the servo will automatically perform a RESET.
249 -)))
204 +This action overrides whatever the servo might be doing at the time the command is received (accelerating, moving continuously etc.) and causes it to stop immediately and hold that position.
250 250  
251 -|(% colspan="2" %)(((
252 -====== Confirm ======
253 -)))
254 -|(% style="width:30px" %) |(((
255 -Ex: #5CONFIRM<cr>
206 +====== __3. Timed move (**T**)__ ======
256 256  
257 -This command is used to confirm changes after a Default or Update command.
208 +Example: #5P1500T2500<cr>
258 258  
259 -**Note:** After the CONFIRM command is sent, the servo will automatically perform a RESET.
260 -)))
210 +Timed move can be used only as a modifier for a position (P) action. 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. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.
261 261  
262 -|(% colspan="2" %)(((
263 -====== 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.
212 +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.
267 267  
268 -Ex: #5CRC1<cr>
214 +====== __4. Speed (**S**)__ ======
269 269  
270 -Change to RC position mode.
216 +Example: #5P1500S750<cr>
271 271  
272 -Ex: #5CRC2<cr>
218 +This command is a modifier 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.
273 273  
274 -Change to RC continuous rotation (wheel) mode.
220 +====== __5. (Relative) Move in Degrees (**MD**)__ ======
275 275  
276 -Ex: #5CRC*<cr>
222 +Example: #5MD123<cr>
277 277  
278 -Where * is any value other than 1 or 2 (or no value): stay in smart mode
224 +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.
279 279  
280 -Ex: #5CRC2<cr>
226 +====== __6. Origin Offset Action (**O**)__ ======
281 281  
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.
228 +Example: #5O2400<cr>
283 283  
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 -)))
230 +This command allows you to temporarily change the origin of the servo in relation to the factory zero position. The setting will be lost upon servo reset / power cycle. Origin offset commands are not cumulative and always relate to factory zero. Note that for a given session, the O command overrides the CO command. In the first image, the origin at factory offset '0' (centered).
286 286  
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.
232 +[[image:LSS-servo-default.jpg]]
292 292  
293 -Query Identification (**QID**)
234 +In the second image, the origina, as well as the angular range (explained below) have been shifted by 240.0 degrees:
294 294  
295 -EX: #254QID<cr> might return *QID5<cr>
236 +[[image:LSS-servo-origin.jpg]]
296 296  
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.
238 +Origin Offset Query (**QO**)
298 298  
299 -Configure ID (**CID**)
240 +Example: #5QO<cr> Returns: *5QO-13
300 300  
301 -Ex: #4CID5<cr>
242 +This allows you to query the angle (in tenths of degrees) of the origin in relation to the factory zero position.
302 302  
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 -)))
244 +Configure Origin Offset (**CO**)
305 305  
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.
246 +Example: #5CO-24<cr>
311 311  
312 -Query Baud Rate (**QB**)
248 +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.
313 313  
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.
250 +====== __7. Angular Range (**AR**)__ ======
315 315  
316 -Configure Baud Rate (**CB**)
252 +Example: #5AR1800<cr>
317 317  
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.
254 +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). In the first image,
319 319  
320 -Ex: #5CB9600<cr>
256 +[[image:LSS-servo-default.jpg]]
321 321  
322 -Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
323 -)))
258 +Here, the angular range has been restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
324 324  
325 -|(% colspan="2" %)(((
326 -====== __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.
260 +[[image:LSS-servo-ar.jpg]]
330 330  
331 -Query Automatic Baud Rate (**QABR**)
262 +The angular range action command (ex. #5AR1800<cr>) and origin offset action command (ex. #5O-1200<cr>) an be used to move both the center and limit the angular range:
332 332  
333 -Ex: #5QABR<cr> might return *5ABR0<cr>
264 +[[image:LSS-servo-ar-o-1.jpg]]
334 334  
335 -Enable Baud Rate (**ABR**)
266 +Query Angular Range (**QAR**)
336 336  
337 -Ex: #5QABR1<cr>
268 +Example: #5QAR<cr> might return *5AR2756
338 338  
339 -Enable baudrate detection on first byte received after power-up.
270 +Configure Angular Range (**CAR**)
340 340  
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.
272 +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.
342 342  
343 -Warning: ABR doesnt work well with LSS Config at the moment.
344 -)))
274 +====== __8. Position in Pulse (**P**)__ ======
345 345  
346 -== Motion ==
276 +Example: #5P2334<cr>
347 347  
348 -|(% colspan="2" %)(((
349 -====== __Position in Degrees (**D**)__ ======
350 -)))
351 -|(% style="width:30px" %) |(((
352 -Ex: #5D1456<cr>
278 +The position in PWM pulses was retained in order to be backward compatible with the SSC-32 / 32U protocol. This relates the desired angle with an RC standard PWM pulse and is further explained in the SSC-32 and SSC-32U manuals found on Lynxmotion.com. Without any modifications to configuration considered, and a ±90.0 degrees standard range where 1500 microseconds is centered, a pulse of 2334 would set the servo to 165.1 degrees. Valid values for P are [500, 2500]. Values outside this range are corrected to end points.
353 353  
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.
280 +Query Position in Pulse (**QP**)
355 355  
356 -Larger values are permitted and allow for multi-turn functionality using the concept of virtual position (explained above).
282 +Example: #5QP<cr> might return *5QP2334
357 357  
358 -Query Position in Degrees (**QD**)
284 +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. 
285 +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).
359 359  
360 -Ex: #5QD<cr> might return *5QD132<cr>
287 +====== __9. Position in Degrees (**D**)__ ======
361 361  
362 -This means the servo is located at 13.2 degrees.
289 +Example: #5PD1456<cr>
363 363  
364 -Query Target Position in Degrees (**QDT**)
291 +This moves the servo to an angle of 145.6 degrees, where the center (0) position is centered. Negative values (ex. -176 representing -17.6 degrees) are used. A full circle would be from -1800 to 1800 degrees. A value of 2700 would be the same angle as -900, except the servo would move in a different direction.
365 365  
366 -Ex: #5QDT<cr> might return *5QDT6783<cr>
293 +Larger values are permitted and allow for multi-turn functionality using the concept of virtual position.
367 367  
368 -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.
369 -)))
295 +Query Position in Degrees (**QD**)
370 370  
371 -|(% colspan="2" %)(((
372 -====== (Relative) Move in Degrees (**MD**) ======
373 -)))
374 -|(% style="width:30px" %) |(((
375 -Ex: #5MD123<cr>
297 +Example: #5QD<cr> might return *5QD132<cr>
376 376  
377 -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.
378 -)))
299 +This means the servo is located at 13.2 degrees.
379 379  
380 -|(% colspan="2" %)(((
381 -====== Wheel Mode in Degrees (**WD**) ======
382 -)))
383 -|(% style="width:30px" %) |(((
384 -Ex: #5WD90<cr>
301 +====== __10. Wheel Mode in Degrees (**WD**)__ ======
385 385  
303 +Ex: #5WD900<cr>
304 +
386 386  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).
387 387  
388 388  Query Wheel Mode in Degrees (**QWD**)
389 389  
390 -Ex: #5QWD<cr> might return *5QWD90<cr>
309 +Ex: #5QWD<cr> might return *5QWD900<cr>
391 391  
392 -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).
393 -)))
311 +The servo replies with the angular speed in tenths of degrees per second. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
394 394  
395 -|(% colspan="2" %)(((
396 -====== Wheel Mode in RPM (**WR**) ======
397 -)))
398 -|(% style="width:30px" %) |(((
313 +====== __11. Wheel Mode in RPM (**WR**)__ ======
314 +
399 399  Ex: #5WR40<cr>
400 400  
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).
317 +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).
402 402  
403 403  Query Wheel Mode in RPM (**QWR**)
404 404  
... ... @@ -405,321 +405,195 @@
405 405  Ex: #5QWR<cr> might return *5QWR40<cr>
406 406  
407 407  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).
408 -)))
409 409  
410 -|(% colspan="2" %)(((
411 -====== Position in PWM (**P**) ======
412 -)))
413 -|(% style="width:30px" %) |(((
414 -Ex: #5P2334<cr>
325 +====== __12. Speed in Degrees (**SD**)__ ======
415 415  
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.
327 +Ex: #5SD1800<cr>
417 417  
418 -Query Position in Pulse (**QP**)
329 +This command sets the servo's maximum speed for action 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. Therefore maximum speed for actions can be set "on the fly". The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SD overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD 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) is what the servo uses for that session.
419 419  
420 -Ex: #5QP<cr> might return *5QP2334
331 +Query Speed in Degrees (**QSD**)
421 421  
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 -)))
333 +Ex: #5QSD<cr> might return *5QSD1800<cr>
424 424  
425 -|(% colspan="2" %)(((
426 -====== __(Relative) Move in PWM (**M**)__ ======
427 -)))
428 -|(% style="width:30px" %) |(((
429 -Ex: #5M1500<cr>
335 +By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever a SD/SR command is processed.
336 +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:
430 430  
431 -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.
432 -)))
338 +|**Command sent**|**Returned value (1/10 °)**
339 +|ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
340 +|ex: #5QSD1<cr>|Configured maximum speed  (set by CSD/CSR)
341 +|ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
342 +|ex: #5QSD3<cr>|Target travel speed
433 433  
434 -|(% colspan="2" %)(((
435 -====== Raw Duty-cycle Move (**RDM**) ======
436 -)))
437 -|(% style="width:30px" %) |(((
438 -Ex: #5RDM512<cr>
344 +Configure Speed in Degrees (**CSD**)
439 439  
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.
346 +Ex: #5CSD1800<cr>
441 441  
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).
348 +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.
443 443  
444 -Query Move in Duty-cycle (**QMD**)
350 +====== __13. Speed in RPM (**SR**)__ ======
445 445  
446 -Ex: #5QMD<cr> might return *5QMD512
352 +Ex: #5SD45<cr>
447 447  
448 -This command queries the raw duty-cycle move value. 512 value means that the motor is rotating at 50% duty-cycle.
449 -)))
354 +This command sets the servo's maximum speed for action commands in rpm for that session. In the example above, the servo's maximum speed for that session would be set to 45rpm. Therefore maximum speed for actions can be set "on the fly". The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SD overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) is what the servo uses for that session.
450 450  
451 -|(% colspan="2" %)(((
452 -====== 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.
356 +Query Speed in Degrees (**QSR**)
456 456  
457 -Ex: #5Q<cr> might return *5Q6<cr>
358 +Ex: #5QSR<cr> might return *5QSR45<cr>
458 458  
459 -which indicates the motor is holding a position.
460 -)))
360 +By default QSR will return the current session value, which is set to the value of CSR as reset/power cycle and changed whenever a SD/SR command is processed.
361 +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:
461 461  
462 -|(% style="width:30px" %) |***Value returned (Q)**|**Status**|**Detailed description**
463 -| |ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state
464 -| |ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely
465 -| |ex: *5Q2<cr>|2: Free moving|Servo is rotating in duty motion / free move using the RDM command
466 -| |ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
467 -| |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
468 -| |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
469 -| |ex: *5Q6<cr>|6: Holding|Keeping current position (in EM0 mode, return will nornally be holding)
470 -| |ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
471 -| |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
472 -| |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
473 -| |ex: *5Q10<cr>|10: Safe Mode|(((
474 -A safety limit has been exceeded (temperature, peak current or extended high current draw).
363 +|**Command sent**|**Returned value (1/10 °)**
364 +|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
365 +|ex: #5QSR1<cr>|Configured maximum speed  (set by CSD/CSR)
366 +|ex: #5QSR2<cr>|Instantaneous speed (same as QWR)
367 +|ex: #5QSR3<cr>|Target travel speed
475 475  
476 -Send a Q1 command to know which limit has been reached (described below).
477 -)))
369 +Configure Speed in RPM (**CSR**)
478 478  
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**
481 -| |ex: *5Q0<cr>|No limits have been passed|Nothing is wrong
482 -| |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
483 -| |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
484 -| |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
371 +Ex: #5CSR45<cr>
485 485  
486 -|(% colspan="2" %)(((
487 -====== Limp (**L**) ======
488 -)))
489 -|(% style="width:30px" %) |(((
490 -Ex: #5L<cr>
373 +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) is what the servo uses for that session.
491 491  
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 -)))
375 +====== __14. Angular Stiffness (**AS**)__ ======
494 494  
495 -|(% colspan="2" %)(((
496 -====== Halt & Hold (**H**) ======
497 -)))
498 -|(% style="width:30px" %) |(((
499 -Example: #5H<cr>
377 +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.
500 500  
501 -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.)
502 -)))
379 +A positive value of "angular stiffness":
503 503  
504 -== Motion Setup ==
381 +* The more torque will be applied to try to keep the desired position against external input / changes
382 +* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position
505 505  
506 -|(% colspan="2" %)(((
507 -====== 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.
384 +A negative value on the other hand:
511 511  
512 -Ex: #5EM1<cr>
386 +* Causes a slower acceleration to the travel speed, and a slower deceleration
387 +* Allows the target position to deviate more from its position before additional torque is applied to bring it back
513 513  
514 -This command enables a trapezoidal motion profile for servo #5
389 +The default value is zero and the effect becomes extreme by -4, +4. There are no units, only integers between -4 to 4. Greater values produce increasingly erratic behavior.
515 515  
516 -Ex: #5EM0<cr>
391 +Ex: #5AS-2<cr>
517 517  
518 -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).
393 +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.
519 519  
520 -Query Motion Profile (**QEM**)
395 +Ex: #5QAS<cr>
521 521  
522 -Ex: #5QEM<cr> might return *5QEM1<cr>
397 +Queries the value being used.
523 523  
524 -This command will query the motion profile. **0:** motion profile disabled / **1:** trapezoidal motion profile enabled.
399 +Ex: #5CAS<cr>
525 525  
526 -Configure Motion Profile (**CEM**)
401 +Writes the desired angular stiffness value to memory.
527 527  
528 -Ex: #5CEM0<cr>
403 +====== __15. Angular Hold Stiffness (**AH**)__ ======
529 529  
530 -This command configures the motion profile and saves it in the EEPROM. The setting will be saved upon servo reset / power cycle.
531 -)))
405 +The angular holding stiffness determines the servo's ability to hold a desired position under load. Values can be from -10 to 10, with the default being 0. Note that negative values mean the final position can be easily deflected.
532 532  
533 -|(% colspan="2" %)(((
534 -====== Filter Position Count (**FPC**) ======
535 -)))
536 -|(% style="width:30px" %) |(((
537 -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.
407 +Ex: #5AH3<cr>
538 538  
539 -Ex: #5FPC10<cr>
409 +This sets the holding stiffness for servo #5 to 3 for that session.
540 540  
541 -This command allows the user to change the Filter Position Count value for that session.
411 +Query Angular Hold Stiffness (**QAH**)
542 542  
543 -Query Filter Position Count (**QFPC**)
413 +Ex: #5QAH<cr> might return *5QAH3<cr>
544 544  
545 -Ex: #5QFPC<cr> might return *5QFPC10<cr>
415 +This returns the servo's angular holding stiffness value.
546 546  
547 -This command will query the Filter Position Count value.
417 +Configure Angular Hold Stiffness (**CAH**)
548 548  
549 -Configure Filter Position Count (**CFPC**)
419 +Ex: #5CAH2<cr>
550 550  
551 -Ex: #5CFPC10<cr>
421 +This writes the angular holding stiffness of servo #5 to 2 to EEPROM
552 552  
553 -This command configures the Filter Position Count value and saves it in the EEPROM. The setting will be saved upon servo reset / power cycle.
554 -)))
423 +====== __15b: Angular Acceleration (**AA**)__ ======
555 555  
556 -|(% colspan="2" %)(((
557 -====== Origin Offset (**O**) ======
558 -)))
559 -|(% style="width:30px" %) |(((
560 -Ex: #5O2400<cr>
425 +{More details to come}
561 561  
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).
427 +====== __15c: Angular Deceleration (**AD**)__ ======
563 563  
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"]]
429 +{More details to come}
565 565  
566 -In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
431 +====== __15d: Motion Control (**EM**)__ ======
567 567  
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"]]
433 +{More details to come}
569 569  
570 -Origin Offset Query (**QO**)
435 +====== __16. RGB LED (**LED**)__ ======
571 571  
572 -Ex: #5QO<cr> might return *5QO-13
437 +Ex: #5LED3<cr>
573 573  
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.
439 +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.
575 575  
576 -Configure Origin Offset (**CO**)
441 +0=OFF 1=RED 2=GREEN 3= BLUE 4=YELLOW 5=CYAN 6= 7=MAGENTA, 8=WHITE 
577 577  
578 -Ex: #5CO-24<cr>
443 +Query LED Color (**QLED**)
579 579  
580 -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.
581 -)))
445 +Ex: #5QLED<cr> might return *5QLED5<cr>
582 582  
583 -|(% colspan="2" %)Angular Range (**AR**)(((
584 -====== ======
585 -)))
586 -|(% style="width:30px" %) |(((
587 -Ex: #5AR1800<cr>
447 +This simple query returns the indicated servo's LED color.
588 588  
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:
449 +Configure LED Color (**CLED**)
590 590  
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"]]
451 +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.
592 592  
593 -Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
453 +====== __16b. Configure LED Blinking (**CLB**)__ ======
594 594  
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"]]
455 +This command allows you to control when the RGB LED will blink the user set color (see [[16. RGB LED>>||anchor="H16.RGBLED28LED29"]] for details).
456 +You can turn on or off blinking for various LSS status. Here is the list and their associated value: 0=No blinking, ; 63=Always blink; Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;
596 596  
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:
458 +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:
598 598  
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"]]
460 +Ex: #5CLB0<cr> to turn off all blinking (LED always solid)
461 +Ex: #5CLB1<cr> only blink when limp
462 +Ex: #5CLB2<cr> only blink when holding
463 +Ex: #5CLB12<cr> only blink when accel or decel
464 +Ex: #5CLB48<cr> only blink when free or travel
465 +Ex: #5CLB63<cr> blink in all status
600 600  
601 -Query Angular Range (**QAR**)
467 +====== __17. Identification Number__ ======
602 602  
603 -Ex: #5QAR<cr> might return *5AR1800, indicating the total angular range is 180.0 degrees.
469 +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.
604 604  
605 -Configure Angular Range (**CAR**)
471 +Query Identification (**QID**)
606 606  
607 -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.
608 -)))
473 +EX: #254QID<cr> might return *QID5<cr>
609 609  
610 -|(% colspan="2" %)(((
611 -====== 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.
475 +When using the query ID command, it is best to only have one servo connected and thus receive only one reply using the broadcast command (ID 254). 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.
615 615  
616 -A higher value of "angular stiffness":
477 +Configure ID (**CID**)
617 617  
618 -* The more torque will be applied to try to keep the desired position against external input / changes
619 -* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position
479 +Ex: #4CID5<cr>
620 620  
621 -A lower value on the other hand:
481 +Setting a servo's ID in EEPROM is done via the CID command. All servos connected to the same serial bus will be assigned that ID. In most situations each servo must be set a unique ID, which means each servo must be connected individually to the serial bus and receive a unique CID number. It is best to do this before the servos are added to an assembly. Numbered stickers are provided to distinguish each servo after their ID is set, though you are free to use whatever alternative method you like.
622 622  
623 -* Causes a slower acceleration to the travel speed, and a slower deceleration
624 -* Allows the target position to deviate more from its position before additional torque is applied to bring it back
483 +====== __18. Baud Rate__ ======
625 625  
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.
485 +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 9600. Since smart servos are intended to be daisy chained, in order to respond to the same serial bus, all servos in that project should ideally be set to the same baud rate. Setting different baud rates will have the servos respond differently and may create issues. Available baud rates are: 9.6 kbps, 19.2 kbps, 38.4 kbps, 57.6 kbps, 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 9600. The baud rates are currently restricted to those above.
486 +\*: Current tests reveal baud rates above 500 kbps are unstable and can cause timeouts. Please keep this in mind if using those / testing them out.
627 627  
628 -Ex: #5AS-2<cr>
488 +Query Baud Rate (**QB**)
629 629  
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.
490 +Ex: #5QB<cr> might return *5QB9600<cr>
631 631  
632 -Ex: #5QAS<cr>
492 +Querying the baud rate is used simply to confirm the CB configuration command before the servo is power cycled.
633 633  
634 -Queries the value being used.
494 +Configure Baud Rate (**CB**)
635 635  
636 -Ex: #5CAS-2<cr>Writes the desired angular stiffness value to EEPROM.
637 -)))
496 +Important Note: the servo's current session retains the given baud rate and the new baud rate will only be in place when the servo is power cycled.
638 638  
639 -|(% colspan="2" %)(((
640 -====== 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.
498 +Ex: #5CB9600<cr>
644 644  
645 -Ex: #5AH3<cr>
500 +Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
646 646  
647 -This sets the holding stiffness for servo #5 to 3 for that session.
502 +====== __19. Gyre Rotation Direction__ ======
648 648  
649 -Query Angular Holding Stiffness (**QAH**)
504 +"Gyre" is defined as a circular course or motion. The effect of changing the gyre direction is as if you were to use a mirror image of a circle. CW = 1; CCW = -1. The factory default is clockwise (CW).
650 650  
651 -Ex: #5QAH<cr> might return *5QAH3<cr>
506 +{images showing before and after with AR and Origin offset}
652 652  
653 -This returns the servo's angular holding stiffness value.
654 -
655 -Configure Angular Holding Stiffness (**CAH**)
656 -
657 -Ex: #5CAH2<cr>
658 -
659 -This writes the angular holding stiffness of servo #5 to 2 to EEPROM.
660 -)))
661 -
662 -|(% colspan="2" %)(((
663 -====== 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.
667 -
668 -Ex: #5AA30<cr>
669 -
670 -This sets the angular acceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).
671 -
672 -Query Angular Acceleration (**QAA**)
673 -
674 -Ex: #5QAA<cr> might return *5QAA30<cr>
675 -
676 -This returns the servo's angular acceleration in degrees per second squared (°/s^^2^^).
677 -
678 -Configure Angular Acceleration (**CAA**)
679 -
680 -Ex: #5CAA30<cr>
681 -
682 -This writes the angular acceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
683 -)))
684 -
685 -|(% colspan="2" %)(((
686 -====== 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.
690 -
691 -Ex: #5AD30<cr>
692 -
693 -This sets the angular deceleration for servo #5 to 30 degrees per second squared (°/s^^2^^).
694 -
695 -Query Angular Deceleration (**QAD**)
696 -
697 -Ex: #5QAD<cr> might return *5QAD30<cr>
698 -
699 -This returns the servo's angular deceleration in degrees per second squared (°/s^^2^^).
700 -
701 -Configure Angular Deceleration (**CAD**)
702 -
703 -Ex: #5CAD30<cr>
704 -
705 -This writes the angular deceleration of servo #5 to 30 degrees per second squared (°/s^^2^^) to EEPROM.
706 -)))
707 -
708 -|(% colspan="2" %)(((
709 -====== 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.
713 -
714 -Ex: #5G-1<cr>
715 -
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.
717 -
718 718  Query Gyre Direction (**QG**)
719 719  
720 720  Ex: #5QG<cr> might return *5QG-1<cr>
721 721  
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.
512 +The value returned above means the servo is in a counter-clockwise gyration.
723 723  
724 724  Configure Gyre (**CG**)
725 725  
... ... @@ -726,272 +726,142 @@
726 726  Ex: #5CG-1<cr>
727 727  
728 728  This changes the gyre direction as described above and also writes to EEPROM.
729 -)))
730 730  
731 -|(% colspan="2" %)(((
732 -====== 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.
520 +====== __20. First / Initial Position (pulse)__ ======
736 736  
737 -Query First Position in Degrees (**QFD**)
522 +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". 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. FP and FD are different in that FP is used for RC mode only, whereas FD is used for smart mode only.
738 738  
739 -Ex: #5QFD<cr> might return *5QFD900<cr>
524 +Query First Position in Pulses (**QFP**)
740 740  
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.
526 +Ex: #5QFP<cr> might return *5QFP1550<cr>
742 742  
743 -Configure First Position in Degrees (**CFD**)
528 +The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds. If no first position has been set, servo will respond with DIS ("disabled").
744 744  
745 -Ex: #5CFD900<cr>
530 +Configure First Position in Pulses (**CFP**)
746 746  
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 -)))
532 +Ex: #5CP1550<cr>
749 749  
750 -|(% colspan="2" %)(((
751 -====== 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.
534 +This configuration command means the servo, when set to RC mode, will immediately move to an angle equivalent to having received an RC pulse of 1550 microseconds upon power up. Sending a CFP command without a number results in the servo remaining limp upon power up (i.e. disabled).
755 755  
756 -Ex: #5MMD512<cr>
536 +====== __21. First / Initial Position (Degrees)__ ======
757 757  
758 -This will set the duty-cycle to 512 for servo with ID 5 for that session.
538 +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". 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. FP and FD are different in that FP is used for RC mode only, whereas FD is used for smart mode only.
759 759  
760 -Query Maximum Motor Duty (**QMMD**)
540 +Query First Position in Degrees (**QFD**)
761 761  
762 -Ex: #5QMMDD<cr> might return *5QMMD512<cr>
542 +Ex: #5QFD<cr> might return *5QFD64<cr>
763 763  
764 -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.
765 -)))
544 +The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds.
766 766  
767 -|(% colspan="2" %)(((
768 -====== Maximum Speed in Degrees (**SD**) ======
769 -)))
770 -|(% style="width:30px" %) |(((
771 -Ex: #5SD1800<cr>
546 +Configure First Position in Degrees (**CFD**)
772 772  
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.
548 +Ex: #5CD64<cr>
774 774  
775 -Query Speed in Degrees (**QSD**)
550 +This configuration command means the servo, when set to smart mode, will immediately move to 6.4 degrees upon power up. Sending a CFD command without a number results in the servo remaining limp upon power up.
776 776  
777 -Ex: #5QSD<cr> might return *5QSD1800<cr>
552 +====== __22. Query Target Position in Degrees (**QDT**)__ ======
778 778  
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 -)))
554 +Ex: #5QDT<cr> might return *5QDT6783<cr>
781 781  
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
556 +The query target position command returns the target angle during and after an action which results in a rotation of the servo horn. In the example above, the servo is rotating to a virtual position of 678.3 degrees. Should the servo not have a target position or be in wheel mode, it will respond without a number (Ex: *5QDT<cr>).
787 787  
788 -|(% style="width:30px" %) |(((
789 -Configure Speed in Degrees (**CSD**)
558 +====== __23. Query Model String (**QMS**)__ ======
790 790  
791 -Ex: #5CSD1800<cr>
560 +Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
792 792  
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 -)))
562 +This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
795 795  
796 -|(% colspan="2" %)(((
797 -====== Maximum Speed in RPM (**SR**) ======
798 -)))
799 -|(% style="width:30px" %) |(((
800 -Ex: #5SR45<cr>
564 +====== __23b. Query Model (**QM**)__ ======
801 801  
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.
566 +Ex: #5QM<cr> might return *5QM68702699520cr>
803 803  
804 -Query Speed in RPM (**QSR**)
568 +This reply means the servo model is 0xFFF000000 or 100, meaning a high speed servo, first revision.
805 805  
806 -Ex: #5QSR<cr> might return *5QSR45<cr>
570 +====== __24. Query Serial Number (**QN**)__ ======
807 807  
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 -)))
572 +Ex: #5QN<cr> might return *5QN~_~_<cr>
810 810  
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
574 +The number in the response is the servo's serial number which is set and cannot be changed.
816 816  
817 -|(((
818 -Configure Speed in RPM (**CSR**)
576 +====== __25. Query Firmware (**QF**)__ ======
819 819  
820 -Ex: #5CSR45<cr>
578 +Ex: #5QF<cr> might return *5QF11<cr>
821 821  
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 -)))|
580 +The integer in the reply represents the firmware version with one decimal, in this example being 1.1
824 824  
825 -== Modifiers ==
582 +====== __26. Query Status (**Q**)__ ======
826 826  
827 -|(% colspan="2" %)(((
828 -====== Speed (**S**, **SD**) modifier ======
829 -)))
830 -|(% style="width:30px" %) |(((
831 -Ex: #5P1500S750<cr>
584 +Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
832 832  
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.
586 +|*Value returned|**Status**|**Detailed description**
587 +|ex: *5Q0<cr>|Unknown|LSS is unsure
588 +|ex: *5Q1<cr>|Limp|Motor driving circuit is not powered and horn can be moved freely
589 +|ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
590 +|ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
591 +|ex: *5Q4<cr>|Traveling|Moving at a stable speed
592 +|ex: *5Q5<cr>|Decelerating|Decreasing from travel speed towards final position.
593 +|ex: *5Q6<cr>|Holding|Keeping current position
594 +|ex: *5Q7<cr>|Stepping|Special low speed mode to maintain torque
595 +|ex: *5Q8<cr>|Outside limits|{More details coming soon}
596 +|ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting
597 +|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
834 834  
835 -Ex: #5D0SD180<cr>
599 +====== __27. Query Voltage (**QV**)__ ======
836 836  
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.
601 +Ex: #5QV<cr> might return *5QV11200<cr>
838 838  
839 -Query Speed (**QS**)
603 +The number returned has one decimal, so in the case above, servo with ID 5 has an input voltage of 11.2V (perhaps a three cell LiPo battery).
840 840  
841 -Ex: #5QS<cr> might return *5QS300<cr>
605 +====== __28. Query Temperature (**QT**)__ ======
842 842  
843 -This command queries the current speed in microseconds per second.
844 -)))
607 +Ex: #5QT<cr> might return *5QT564<cr>
845 845  
846 -|(% colspan="2" %)(((
847 -====== Timed move (**T**) modifier ======
848 -)))
849 -|(% style="width:30px" %) |(((
850 -
609 +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.
851 851  
852 -Example: #5P1500T2500<cr>
611 +====== __29. Query Current (**QC**)__ ======
853 853  
854 -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.
855 -
856 -**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.
857 -)))
858 -
859 -|(% colspan="2" %)(((
860 -====== Current Halt & Hold (**CH**) modifier ======
861 -)))
862 -|(% style="width:30px" %) |(((
863 -Example: #5D1423CH400<cr>
864 -
865 -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.
866 -
867 -This modifier can be added to the following actions: D; MD; WD; WR.
868 -)))
869 -
870 -|(% colspan="2" %)(((
871 -====== Current Limp (**CL**) modifier ======
872 -)))
873 -|(% style="width:30px" %) |(((
874 -Example: #5D1423CL400<cr>
875 -
876 -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.
877 -
878 -This modifier can be added to the following actions: D; MD; WD; WR.
879 -)))
880 -
881 -== Telemetry ==
882 -
883 -|(% colspan="2" %)(((
884 -====== Query Voltage (**QV**) ======
885 -)))
886 -|(% style="width:30px" %) |(((
887 -Ex: #5QV<cr> might return *5QV11200<cr>
888 -
889 -The number returned is in milliVolts, so in the case above, servo with ID 5 has an input voltage of 11.2V.
890 -)))
891 -
892 -|(% colspan="2" %)(((
893 -====== Query Current (**QC**) ======
894 -)))
895 -|(% style="width:30px" %) |(((
896 -
897 -
898 898  Ex: #5QC<cr> might return *5QC140<cr>
899 899  
900 900  The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
901 -)))
902 902  
903 -|(% colspan="2" %)(((
904 -====== Query Model String (**QMS**) ======
905 -)))
906 -|(% style="width:30px" %) |(((
907 -
617 +====== __30. RC Mode (**CRC**)__ ======
908 908  
909 -Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
619 +This command puts the servo into RC mode (position or continuous), where it will only respond to RC pulses. Note that because this is the case, the servo will no longer accept serial commands. The servo can be placed back into smart mode by using the button menu.
910 910  
911 -This reply means that the servo model is LSS-HS1: a high speed servo, first revision.
912 -)))
621 +|**Command sent**|**Note**
622 +|ex: #5CRC<cr>|Stay in smart mode.
623 +|ex: #5CRC1<cr>|Change to RC position mode.
624 +|ex: #5CRC2<cr>|Change to RC continuous (wheel) mode.
625 +|ex: #5CRC*<cr>|Where * is any number or value. Stay in smart mode.
913 913  
914 -|(% colspan="2" %)(((
915 -====== Query Firmware (**QF**) ======
916 -)))
917 -|(% style="width:30px" %) |(((
918 -Ex: #5QF<cr> might return *5QF368<cr>
627 +EX: #5CRC<cr>
919 919  
920 -The number in the reply represents the firmware version, in this example being 368.
629 +====== __31. RESET__ ======
921 921  
922 -The command #5QF3<cr> can also be sent and the servo will reply with a 3 numbers firmware version, for example, 368.29.14
923 -)))
631 +Ex: #5RESET<cr> or #5RS<cr>
924 924  
925 -== RGB LED ==
633 +This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
926 926  
927 -|(% colspan="2" %)(((
928 -====== LED Color (**LED**) ======
929 -)))
930 -|(% style="width:30px" %) |(((
931 -
635 +====== __32. DEFAULT & CONFIRM__ ======
932 932  
933 -Ex: #5LED3<cr>
637 +Ex: #5DEFAULT<cr>
934 934  
935 -This action sets the servo's RGB LED color for that session.
639 +This command sets in motion the reset 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.
936 936  
937 -The LED can be used for aesthetics, or (based on user code) to provide visual status updates. Using timing can create patterns.
641 +EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
938 938  
939 -0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;
643 +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 leave the firmware action.
940 940  
941 -Query LED Color (**QLED**)
645 +Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
942 942  
943 -Ex: #5QLED<cr> might return *5QLED5<cr>
647 +====== __33. UPDATE & CONFIRM__ ======
944 944  
945 -This simple query returns the indicated servo's LED color.
649 +Ex: #5UPDATE<cr>
946 946  
947 -Configure LED Color (**CLED**)
651 +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.
948 948  
949 -Ex: #5CLED3<cr>
653 +EX: #5UPDATE<cr> followed by #5CONFIRM<cr>
950 950  
951 -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.
952 -)))
655 +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.
953 953  
954 -|(% colspan="2" %)(((
955 -====== Configure LED Blinking (**CLB**) ======
956 -)))
957 -|(% style="width:30px" %) |(((
958 -
959 -
960 -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:
961 -)))
962 -
963 -|(% style="width:30px" %) |(% style="width:200px" %)**Blink While:**|(% style="width:50px" %)**#**|
964 -| |No blinking|0|
965 -| |Limp|1|
966 -| |Holding|2|
967 -| |Accelerating|4|
968 -| |Decelerating|8|
969 -| |Free|16|
970 -| |Travelling|32|
971 -| |Always blink|63|
972 -
973 -|(% style="width:30px" %) |(((
974 -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:
975 -
976 -Ex: #5CLB0 to turn off all blinking (LED always solid)
977 -
978 -Ex: #5CLB1 only blink when limp (1)
979 -
980 -Ex: #5CLB2 only blink when holding (2)
981 -
982 -Ex: #5CLB12 only blink when accel or decel (accel 4 + decel 8 = 12)
983 -
984 -Ex: #5CLB48 only blink when free or travel (free 16 + travel 32 = 48)
985 -
986 -Ex: #5CLB63 blink in all status (1 + 2 + 4 + 8 + 16 + 32)
987 -
988 -RESETTING the servo is needed.
989 -)))
990 -
991 -|(% colspan="2" style="width:30px" %)(((
992 -====== RGB LED Patterns ======
993 -)))
994 -|(% style="width:30px" %) |(((
995 -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/]]
996 -)))
997 -|(% 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"]]
657 +Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
LSS - LED Patterns.png
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