Changes for page LSS Communication Protocol
Last modified by Eric Nantel on 2025/06/06 07:47
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... ... @@ -1,1 +1,0 @@ 1 -LSS|communication|protocol|programming|firmware|control - Content
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... ... @@ -42,28 +42,6 @@ 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: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: ... ... @@ -91,21 +91,25 @@ 91 91 ))) 92 92 93 93 Indicates that servo #5 is currently at 144.3 degrees. 72 +))) 94 94 95 - **SessionvsConfigurationQuery**74 +== Configuration Commands == 96 96 97 - Bydefault,thequerycommand returns the sessions'value;shouldnoaction commands havebeensenttochange,itwillreturn thevalue saved inEEPROMfromthelast configurationcommand.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: #5C SR20<cr>sets the maximum speed for servo #5 to 20rpm upon RESET (explained below).84 +Ex: #5CO-50<cr> 102 102 103 -A fterRESET:#5SR4<cr>sets the session'sspeedto4rpm.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>whichrepresentsthevalueforthat 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 ... ... @@ -118,17 +118,17 @@ 118 118 | 6|**O**rigin Offset| O| QO| CO| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)| 119 119 | 7|**A**ngular **R**ange| AR| QAR| CAR| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)| 120 120 | 8|Position in **P**ulse| P| QP| | | ✓| microseconds|((( 121 -See details below 103 +See details below. 122 122 ))) 123 123 | 9|Position in **D**egrees| D| QD| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)| 124 124 | 10|**W**heel mode in **D**egrees| WD| QWD| | | ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)| 125 125 | 11|**W**heel mode in **R**PM| WR| QWR| | | ✓| rpm| 126 -| 12| Max**S**peed in **D**egrees| SD| QSD| CSD| ✓| ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|Addmodifier "2" for instantaneous speed127 -| 13| Max**S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|Addmodifier "2" for instantaneous speed128 -| 14|**A**ngular ** S**tiffness| AS| QAS| CAS| ✓| ✓|none|129 -| 15| //N/A(removed)//| | | | | | |108 +| 12|**S**peed in **D**egrees| SD| QSD| CSD| ✓| ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)| 109 +| 13|**S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm| 110 +| 14|**A**ngular **A**cceleration| AA| QAA| CAA| ✓| ✓| tenths of degrees per second squared| 111 +| 15|**A**ngular **D**eceleration| AD| QAD| CAD| ✓| ✓| tenths of degrees per second squared| 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 -| 17|**ID** #| ID| QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to 113 +| 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)| 133 133 | 19|**G**yre direction (**G**)| G| QG| CG| ✓| ✓| none | Gyre / rotation direction where 1= CW (clockwise) -1 = CCW (counter-clockwise) 134 134 | 20|**F**irst Position (**P**ulse)| | QFP|CFP | ✓| ✓| none | ... ... @@ -137,7 +137,7 @@ 137 137 | 23|**M**odel| | QM| | | | none (integer)| 138 138 | 24|Serial **N**umber| | QN| | | | none (integer)| 139 139 | 25|**F**irmware version| | QF| | | | none (integer)| 140 -| 26|**Q**uery (general status)| | Q| | | ✓| none (integer from 1 to 8)| See command description for details122 +| 26|**Q**uery (general status)| | Q| | | ✓| none (integer from 1 to 8)| 141 141 | 27|**V**oltage| | QV| | | ✓| tenths of volt (ex 113 = 11.3V; 92 = 9.2V)| 142 142 | 28|**T**emperature| | QT| | | ✓| degrees Celsius| 143 143 | 29|**C**urrent| | QC| | | ✓| tenths of Amps (ex 2 = 0.2A)| ... ... @@ -232,10 +232,10 @@ 232 232 233 233 Query Position in Pulse (**QP**) 234 234 235 -Example: #5QP<cr> might return *5QP 2334217 +Example: #5QP<cr> might return *5QP 236 236 237 237 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. 238 -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).220 +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. 239 239 240 240 __9. Position in Degrees (**D**)__ 241 241 ... ... @@ -247,10 +247,8 @@ 247 247 248 248 Query Position in Degrees (**QD**) 249 249 250 -Example: #5QD<cr> might return *5QD 132<cr>232 +Example: #5QD<cr> might return *5QD0<cr> 251 251 252 -This means the servo is located at 13.2 degrees. 253 - 254 254 __10. Wheel Mode in Degrees (**WD**)__ 255 255 256 256 Ex: #5WD900<cr> ... ... @@ -285,15 +285,8 @@ 285 285 286 286 Ex: #5QSD<cr> might return *5QSD1800<cr> 287 287 288 -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. 289 -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. 290 290 291 -|**Command sent**|**Returned value (1/10 °)** 292 -|ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command) 293 -|ex: #5QSD1<cr>|Configured maximum speed (set by CSD/CSR) 294 -|ex: #5QSD2<cr>|Instantaneous speed (same as QWD) 295 -|ex: #5QSD3<cr>|Target travel speed 296 - 297 297 Configure Speed in Degrees (**CSD**) 298 298 299 299 Ex: #5CSD1800<cr> ... ... @@ -310,53 +310,54 @@ 310 310 311 311 Ex: #5QSR<cr> might return *5QSR45<cr> 312 312 313 -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. 314 -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: 286 +Note that the QSD query will return the current servo speed. Querying the last maximum speed value set using SR or CSR is not possible. 315 315 316 -|**Command sent**|**Returned value (1/10 °)** 317 -|ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command) 318 -|ex: #5QSR1<cr>|Configured maximum speed (set by CSD/CSR) 319 -|ex: #5QSR2<cr>|Instantaneous speed (same as QWR) 320 -|ex: #5QSR3<cr>|Target travel speed 288 +Configure Speed in Degrees (**CSR**) 321 321 322 -Configure Speed in RPM (**CSR**) 323 - 324 324 Ex: #5CSR45<cr> 325 325 326 -Using the CS Rcommand 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 CSRvalue 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.292 +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. 327 327 328 -__14. Angular Stiffness(AS)__294 +__14. Angular Acceleration (**AA**)__ 329 329 330 - The servo'srigidity/ angular stiffness can be thought ofs (thoughnotidentical to) a damped springin which the value affectsthe stiffness and embodies how much, and how quickly the servo tried keep the requested position against changes.296 +{More information coming soon} 331 331 332 - A positive value of "angular stiffness":298 +Ex: 333 333 334 -* The more torque will be applied to try to keep the desired position against external input / changes 335 -* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position 300 +{Description coming soon} 336 336 337 - Anegativevalueon the otherhand:302 +Query Angular Acceleration (**QAA**) 338 338 339 -* Causes a slower acceleration to the travel speed, and a slower deceleration 340 -* Allows the target position to deviate more from its position before additional torque is applied to bring it back 304 +Ex: 341 341 342 - Thedefault value iszeroandthe effect becomes extreme by -4, +4. There are no units, only integersbetween -4 to 4. Greater valuesproduce increasingly erratic behavior.306 +{Description coming soon} 343 343 344 - Ex:#5AS-2<cr>308 +Configure Angular Acceleration (**CAA**) 345 345 346 - Thisreduces 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.310 +Ex: 347 347 348 - Ex: #5QAS<cr>312 +{Description coming soon} 349 349 350 - Queriesthevaluebeingused.314 +__15. Angular Deceleration (**AD**)__ 351 351 352 - Ex:#5CAS<cr>316 +{More information coming soon} 353 353 354 - Writesthe desired angular stiffness value to memory.318 +Ex: 355 355 356 - __15. N/A (removed)__320 +{Description coming soon} 357 357 358 - Thiscommand hasbeenremoved.322 +Query Angular Acceleration (**QAD**) 359 359 324 +Ex: 325 + 326 +{Description coming soon} 327 + 328 +Configure Angular Acceleration (**CAD**) 329 + 330 +Ex: 331 + 332 +{Description coming soon} 333 + 360 360 __16. RGB LED (**LED**)__ 361 361 362 362 Ex: #5LED3<cr> ... ... @@ -373,11 +373,11 @@ 373 373 374 374 Configure LED Color (**CLED**) 375 375 376 -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.350 +Configuring the LED color via the CLED command sets the startup color of the servo after a reset or power cycle. 377 377 378 378 __17. Identification Number__ 379 379 380 -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.354 +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. 381 381 382 382 Query Identification (**QID**) 383 383 ... ... @@ -393,8 +393,7 @@ 393 393 394 394 __18. Baud Rate__ 395 395 396 -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. 397 -\*: 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. 370 +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 398 398 399 399 Query Baud Rate (**QB**) 400 400 ... ... @@ -434,13 +434,13 @@ 434 434 435 435 Ex: #5QFP<cr> might return *5QFP1550<cr> 436 436 437 -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").410 +The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds. 438 438 439 -Configure First Position in Pulses ( **CFP**)412 +Configure First Position in Pulses (CFP) 440 440 441 441 Ex: #5CP1550<cr> 442 442 443 -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).416 +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. 444 444 445 445 __21. First / Initial Position (Degrees)__ 446 446 ... ... @@ -484,20 +484,9 @@ 484 484 485 485 __26. Query Status (**Q**)__ 486 486 487 -Ex: #5Q<cr> might return *5Q 6<cr>, which indicates the motor is holding a position.460 +Ex: #5Q<cr> might return *5Q_<cr> 488 488 489 -|*Value returned|**Status**|**Detailed description** 490 -|ex: *5Q0<cr>|Unknown|LSS is unsure 491 -|ex: *5Q1<cr>|Limp|Motor driving circuit is not powered and horn can be moved freely 492 -|ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely 493 -|ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed 494 -|ex: *5Q4<cr>|Traveling|Moving at a stable speed 495 -|ex: *5Q5<cr>|Deccelerating|Decreasing speed towards travel speed towards rest 496 -|ex: *5Q6<cr>|Holding|Keeping current position 497 -|ex: *5Q7<cr>|Stepping|Special low speed mode to maintain torque 498 -|ex: *5Q8<cr>|Outside limits|More details coming soon 499 -|ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting 500 -|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maxiumum duty and still cannot move (i.e.: stalled) 462 +{Description coming soon} 501 501 502 502 __27. Query Voltage (**QV**)__ 503 503 ... ... @@ -523,30 +523,23 @@ 523 523 524 524 This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands). 525 525 526 -**__DEFAULT __& **CONFIRM**__488 +**__DEFAULT__** 527 527 528 528 Ex: #5DEFAULT<cr> 529 529 530 -This command sets in motion the resetall 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.492 +This command sets all values to the default values included with the version of the firmware installed on that servo. 531 531 532 - EX: #5DEFAULT<cr>followedby #5CONFIRM<cr>494 +__**FIRMWARE** & **CONFIRM**__ 533 533 534 - Sinceit 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 CONFIRMbe received by the servo after the firmware command has been received, it will leave the firmware action.496 +Ex: #5FIRMWARE<cr> 535 535 536 - Note that after theCONFIRM commandissent,theservo willautomaticallyperformaRESET.498 +This command clears all user-input values in EEPROM and reverts back to factory defaults for the firmware installed. It does not overwrite any firmware updates. To revert to an older firmware version, please refer to the LSS - Firmware page. The firmware command alone does nothing other than have the servo wait for a confirmation. 537 537 538 - **__UPDATE__**__&**CONFIRM**__500 +EX: #5FIRMWARE<cr> followed by #5CONFIRM<cr> 539 539 540 - Ex:#5UPDATE<cr>502 +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. 541 541 542 -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. 543 543 544 -EX: #5UPDATE<cr> followed by #5CONFIRM<cr> 545 - 546 -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. 547 - 548 -Note that after the CONFIRM command is sent, the servo will automatically perform a RESET. 549 - 550 550 === Virtual Angular Position === 551 551 552 552 {In progress}