Last modified by Eric Nantel on 2025/06/06 07:47
From version < 23.1 >
edited by RB1
on 2018/05/04 09:28
To version < 14.1 >
edited by Coleman Benson
on 2018/04/12 15:53
< >
Change comment: There is no comment for this version

Summary

Details

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Author
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1 -xwiki:XWiki.RB1
1 +xwiki:XWiki.CBenson
Tags
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1 -LSS|communication|protocol|programming|firmware|control
Content
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42 42  Modified commands are command specific.
43 43  )))
44 44  
45 -(((
46 -
47 -)))
48 -
49 -== Configuration Commands ==
50 -
51 -Configuration commands affect the servo's current session* but unlike action commands, configuration commands are written to EEPROM and are retained even if the servo loses power (therefore NOT session specific). Not all action commands have a corresponding configuration and vice versa. Certain configurations are retained for when the servo is used in RC model. More information can be found on the [[LSS - RC PWM page>>doc:Lynxmotion Smart Servos (LSS).LSS - RC PWM.WebHome]].
52 -
53 -1. Start with a number sign # (U+0023)
54 -1. Servo ID number as an integer
55 -1. Configuration command (two to three letters, no spaces, capital or lower case)
56 -1. Configuration value in the correct units with no decimal
57 -1. End with a control / carriage return '<cr>'
58 -
59 -Ex: #5CO-50<cr>
60 -
61 -Assigns an absolute origin offset of -5.0 degrees (with respect to factory origin) to servo #5 and changes the offset for that session to -5.0 degrees.
62 -
63 -Configuration commands are not cumulative, in that if two configurations are sent at any time, only the last configuration is used and stored.
64 -
65 -*Important Note: the one exception is the baud rate - the servo's current session retains the given baud rate. The new baud rate will only be in place when the servo is power cycled.
66 -
67 67  == Query Commands ==
68 68  
69 69  Query commands are sent serially to the servo's Rx pin and must be set in the following format:
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91 91  )))
92 92  
93 93  Indicates that servo #5 is currently at 144.3 degrees.
72 +)))
94 94  
95 -**Session vs Configuration Query**
74 +== Configuration Commands ==
96 96  
97 -By default, the query command returns the sessions' value; should no action commands have been sent to change, it will return the value saved in EEPROM from the last configuration command.
76 +Configuration commands affect the servo's current session* but unlike action commands, configuration commands are written to EEPROM and are retained even if the servo loses power (therefore NOT session specific). Not all action commands have a corresponding configuration and vice versa. Certain configurations are retained for when the servo is used in RC model. More information can be found on the [[LSS - RC PWM page>>doc:Lynxmotion Smart Servos (LSS).LSS - RC PWM.WebHome]].
98 98  
99 -In order to query the value in EEPROM, add a '1' to the query command.
78 +1. Start with a number sign # (U+0023)
79 +1. Servo ID number as an integer
80 +1. Configuration command (two to three letters, no spaces, capital or lower case)
81 +1. Configuration value in the correct units with no decimal
82 +1. End with a control / carriage return '<cr>'
100 100  
101 -Ex: #5CSR20<cr> sets the maximum speed for servo #5 to 20rpm upon RESET (explained below).
84 +Ex: #5CO-50<cr>
102 102  
103 -After RESET: #5SR4<cr> sets the session's speed to 4rpm.
86 +Assigns an absolute origin offset of -5.0 degrees (with respect to factory origin) to servo #5 and changes the offset for that session to -5.0 degrees.
104 104  
105 -#5QSR<cr> would return *5QSR4<cr> which represents the value for that session.
88 +Configuration commands are not cumulative, in that if two configurations are sent at any time, only the last configuration is used and stored.
106 106  
107 -#5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
108 -)))
90 +*Important Note: the one exception is the baud rate - the servo's current session retains the given baud rate. The new baud rate will only be in place when the servo is power cycled.
109 109  
110 110  = Command List =
111 111  
... ... @@ -125,8 +125,8 @@
125 125  | 11|**W**heel mode in **R**PM| WR| QWR| | | ✓| rpm|
126 126  | 12|**S**peed in **D**egrees| SD| QSD| CSD| ✓| ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|
127 127  | 13|**S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|
128 -| 14|**R**igidity| R| QR| CR| ✓| ✓|none|
129 -| 15|//N/A (removed)//| | | | | | |
110 +| 14| | | | | | | |
111 +| 15| | | | | | | |
130 130  | 16|**LED** Color| LED| QLED| CLED| ✓| ✓| none (integer from 1 to 8)|0=OFF 1=RED 2=GREEN 3= BLUE 4=YELLOW 5=CYAN 6= 7=MAGENTA, 8=WHITE
131 131  | 17|**ID** #| ID| QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to.
132 132  | 18|**B**aud rate| B| QB| CB| | ✓| none (integer)|
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283 283  
284 284  Ex: #5QSD<cr> might return *5QSD1800<cr>
285 285  
286 -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 command is processed.
287 -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:
268 +Note that the QSD query will return the current servo speed. Querying the last maximum speed value set using SD or CSD is not possible.
288 288  
289 -no param = session max velocity
290 -1 = configured max velocity
291 -2 = current velocity
292 -3 = target/travel velocity (temporary until next motion command)
293 -
294 294  Configure Speed in Degrees (**CSD**)
295 295  
296 296  Ex: #5CSD1800<cr>
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315 315  
316 316  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 45rpm. When the servo is powered on (or after a reset), the CSD 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.
317 317  
318 -__14. Rigidity (R)__
319 -
320 -The servo's rigidity can be thought of as (though not identical to) a damped spring in which the rigidity value affects the stiffness and embodies how much, and how quickly the servo tried keep the requested position against changes.
321 -
322 -A positive value of "rigidity":
323 -
324 -* The more torque will be applied to try to keep the desired position against external input / changes
325 -* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position
326 -
327 -A negative value on the other hand:
328 -
329 -* Causes a slower acceleration to the travel speed, and a slower deceleration
330 -* Allows the target position to deviate more from its position before additional torque is applied to bring it back
331 -
332 -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.
333 -
334 -Ex: #5R-2<cr>
335 -
336 -This reduces the rigidity 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.
337 -
338 -Ex: #5QR<cr>
339 -
340 -Queries the value being used.
341 -
342 -Ex: #5CR<cr>
343 -
344 -Writes the desired rigidity value to memory.
345 -
346 -__15. N/A (removed)__
347 -
348 -This command has been removed.
349 -
350 350  __16. RGB LED (**LED**)__
351 351  
352 352  Ex: #5LED3<cr>
... ... @@ -367,7 +367,7 @@
367 367  
368 368  __17. Identification Number__
369 369  
370 -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.
314 +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 1. 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.
371 371  
372 372  Query Identification (**QID**)
373 373  
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383 383  
384 384  __18. Baud Rate__
385 385  
386 -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.
387 -\*: 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.
330 +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. Standard / suggested baud rates are: 4800; 9600; 14400; 19200; 38400; 57600; 115200; 128000; 256000, 512000 bits per second. Servos are shipped with a baud rate set to 9600. The baud rates are currently restricted to those above
388 388  
389 389  Query Baud Rate (**QB**)
390 390  
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