Changes for page LSS Communication Protocol

Last modified by Eric Nantel on 2025/06/06 07:47

From version < 45.1 >

edited by Coleman Benson
on 2018/06/29 12:18

To version < 56.1 >

edited by RB1
on 2018/09/14 16:02

< >

Change comment: There is no comment for this version

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@@ -1,1
          +1,1 @@
--xwiki:XWiki.CBenson
++xwiki:XWiki.RB1

Content

@@ -39,7
          +39,7 @@
  Results in the servo rotating from the current angular position to a pulse position of 1456 in 1263 milliseconds.
--Modified commands are command specific.
++Action modifiers can only be used with certain commands.
  )))
  (((
@@ -105,6
          +105,30 @@
  #5QSR<cr> would return *5QSR4<cr> which represents the value for that session.
  #5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
++
++=== Virtual Angular Position ===
++
++{In progress}
++
++A "virtual position" is one which allows for 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 360.0 degrees.
++
++[[image:LSS-servo-positions.jpg]]
++
++Example: Gyre direction / rotation is positive (clockwise), and origin offset has not been modified. Each square represents 30 degrees.
++
++#1D-300<cr> The servo is sent a command to move to -30.0 degrees (green arrow)
++
++#1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)
++
++#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,  stopping at an absolute position of 60.0 degrees (420.0-360.0), with a virtual position of -420.0 degrees.
++
++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.
++
++#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.
++
++#1D3300<cr> would cause the servo to rotate from 480.0 degrees to 330.0 degrees (yellow arrow).
++
++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).
  )))
  = Command List =
@@ -125,10
          +125,10 @@
  | 11|**W**heel mode in **R**PM| WR| QWR| | | ✓| rpm|
  | 12|Max **S**peed in **D**egrees| SD| QSD| CSD| ✓| ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|QSD: Add modifier "2" for instantaneous speed
  | 13|Max **S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|QSR: Add modifier "2" for instantaneous speed
--| 14|**A**ngular **S**tiffness| AS| QAS| CAS| ✓| ✓|none|
++| 14|**A**ngular **S**tiffness| AS| QAS| CAS| ✓| ✓|none|-4 to +4, but suggested values are between 0 to +4
  | 15|//N/A (removed)//| | | | | | |
  | 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=MAGENTA, 7=WHITE
--| 17|**ID** #| ID| QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to
++| 17|**ID** #| | QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to
  | 18|**B**aud rate| B| QB| CB| | ✓| none (integer)|
  | 19|**G**yre direction (**G**)| G| QG| CG| ✓| ✓| none | Gyre / rotation direction where 1= CW (clockwise) -1 = CCW (counter-clockwise)
  | 20|**F**irst Position (**P**ulse)| | QFP|CFP | ✓| ✓| none |
@@ -141,8
          +141,15 @@
  | 27|**V**oltage| | QV| | | ✓| tenths of volt (ex 113 = 11.3V; 92 = 9.2V)|
  | 28|**T**emperature| | QT| | | ✓| degrees Celsius|Max temp before error: 85°C (servo goes limp)
  | 29|**C**urrent| | QC| | | ✓| tenths of Amps (ex 2 = 0.2A)|
--| 30|**RC** Mode| | |CRC| |✓| |Puts the servo into RC mode. To revert to serial mode, use the button menu.
--| | | | | | | | |
++| 30|**RC** Mode| | |CRC| |✓| |(((
++CRC: Add modifier "1" for RC-position mode.
++CRC: Add modifier "2" for RC-wheel mode.
++Any other value for the modifier results in staying in smart mode.
++Puts the servo into RC mode. To revert to smart mode, use the button menu.
++)))
++|31|**RESET**| | | | | ✓|none|Soft reset. See command for details.
++|32|**DEFAULT**| | | | |✓|none|Revert to firmware defaults. See command for details
++|33|**UPDATE**| | | | |✓|none|Update firmware. See command for details.
  = Details =
@@ -428,7
          +428,7 @@
  __20. First / Initial Position (pulse)__
--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 serial mode only.
++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.
  Query First Position in Pulses (**QFP**)
@@ -444,7
          +444,7 @@
  __21. First / Initial Position (Degrees)__
--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 serial mode only.
++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.
  Query First Position in Degrees (**QFD**)
@@ -456,7
          +456,7 @@
  Ex: #5CD64<cr>
--This configuration command means the servo, when set to serial 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.
++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.
  __22. Query Target Position in Degrees (**QDT**)__
@@ -517,19
          +517,25 @@
  The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
--__20. RC Mode (**CRC**)__
++__30. RC Mode (**CRC**)__
--This command puts the servo into RC mode, 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 serial model only using the button menu.
++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.
++|**Command sent**|**Note**
++|ex: #5CRC<cr>|Stay in smart mode.
++|ex: #5CRC1<cr>|Change to RC position mode.
++|ex: #5CRC2<cr>|Change to RC continuous (wheel) mode.
++|ex: #5CRC*<cr>|Where * is any number or value. Stay in smart mode.
++
  EX: #5CRC<cr>
--__**RESET**__
++__31. RESET__
  Ex: #5RESET<cr> or #5RS<cr>
  This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
--**__DEFAULT __**__& **CONFIRM**__
++__32. DEFAULT & CONFIRM__
  Ex: #5DEFAULT<cr>
@@ -541,7
          +541,7 @@
  Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
--**__UPDATE __**__& **CONFIRM**__
++__33. UPDATE & CONFIRM__
  Ex: #5UPDATE<cr>
@@ -553,22
          +553,4 @@
  Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
--=== Virtual Angular Position ===
--
--{In progress}
--
--A "virtual position" is one which allows for 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 360.0 degrees.
--
--[[image:LSS-servo-positions.jpg]]
--
--Example: Gyre direction / rotation is positive (clockwise), and origin offset has not been modified.
--
--#1D-300<cr> The servo is commander to move to -30.0 degrees (green arrow)
--
--#1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)
--
--#1D-4200<cr> The servo rotates counterclockwise to a position of -420 degrees (red arrow), which means one full rotation of 360 degrees and (420.0-360.0) stopping at an absolute position of 60.0 degrees, but virtual position of -420.0.
--
--Although the final position would be the same as if the servo were commanded to move to -60.0 degrees, it is in fact at -420.0 degrees.
--
--#1D4800<cr> This new command is sent which would then cause the servo to rotate from -420.0 degrees to 480.0 degrees, which would be a total of 900 degrees of clockwise rotation, or 2.5 complete rotations.
++===   ===

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