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1		-lynxmotion:LSS - Overview (DEV).WebHome
	1	+Main.WebHome

Content

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48	48
49	49	== Configuration Commands ==
50	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 - Overview (DEV).LSS - RC PWM.WebHome]].
	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	52
53	53	1. Start with a number sign # (U+0023)
54	54	1. Servo ID number as an integer
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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)|QSD: Add modifier "2" for instantaneous speed
127		-| 13|Max **S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|QSR: Add modifier "2" for instantaneous speed
128		-| 14|**A**ngular **S**tiffness| AS| QAS| CAS| ✓| ✓|none|-4 to +4, but suggested values are between 0 to +4
	126	+| 12|Max **S**peed in **D**egrees| SD| QSD| CSD| ✓| ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|Add modifier "2" for instantaneous speed
	127	+| 13|Max **S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|Add modifier "2" for instantaneous speed
	128	+| 14|**A**ngular **S**tiffness| AS| QAS| CAS| ✓| ✓|none|
129	129	| 15|//N/A (removed)//| | | | | | |
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=MAGENTA, 7=WHITE
	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)|
133	133	| 19|**G**yre direction (**G**)| G| QG| CG| ✓| ✓| none | Gyre / rotation direction where 1= CW (clockwise) -1 = CCW (counter-clockwise)
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139	139	| 25|**F**irmware version| | QF| | | | none (integer)|
140	140	| 26|**Q**uery (general status)| | Q| | | ✓| none (integer from 1 to 8)| See command description for details
141	141	| 27|**V**oltage| | QV| | | ✓| tenths of volt (ex 113 = 11.3V; 92 = 9.2V)|
142		-| 28|**T**emperature| | QT| | | ✓| degrees Celsius|Max temp before error: 85°C (servo goes limp)
	142	+| 28|**T**emperature| | QT| | | ✓| degrees Celsius|
143	143	| 29|**C**urrent| | QC| | | ✓| tenths of Amps (ex 2 = 0.2A)|
144		-| 30|**RC** Mode| | |CRC| |✓| |(((
145		-CRC: Add modifier "1" for RC-position mode.
146		-CRC: Add modifier "2" for RC-wheel mode.
147		-Any other value for the modifier results in staying in smart mode.
148		-Puts the servo into RC mode. To revert to smart mode, use the button menu.
149		-)))
150	150	| | | | | | | | |
	145	+| | | | | | | | |
151	151
152	152	= Details =
153	153
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237	237
238	238	Query Position in Pulse (**QP**)
239	239
240		-Example: #5QP<cr> might return *5QP2334
	235	+Example: #5QP<cr> might return *5QP
241	241
242	242	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.
243		-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).
	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.
244	244
245	245	__9. Position in Degrees (**D**)__
246	246
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252	252
253	253	Query Position in Degrees (**QD**)
254	254
255		-Example: #5QD<cr> might return *5QD132<cr>
	250	+Example: #5QD<cr> might return *5QD0<cr>
256	256
257		-This means the servo is located at 13.2 degrees.
258		-
259	259	__10. Wheel Mode in Degrees (**WD**)__
260	260
261	261	Ex: #5WD900<cr>
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378	378
379	379	Configure LED Color (**CLED**)
380	380
381		-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.
	374	+Configuring the LED color via the CLED command sets the startup color of the servo after a reset or power cycle.
382	382
383	383	__17. Identification Number__
384	384
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386	386
387	387	Query Identification (**QID**)
388	388
389		-EX: #254QID<cr> might return *QID5<cr>
	382	+EX: #QID<cr> might return *QID5<cr>
390	390
391		-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.
	384	+When using the query ID command, it is best to only have one servo connected and thus receive only one reply.
392	392
393	393	Configure ID (**CID**)
394	394
395		-Ex: #4CID5<cr>
	388	+Ex: #CID5<cr>
396	396
397	397	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.
398	398
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439	439
440	440	Ex: #5QFP<cr> might return *5QFP1550<cr>
441	441
442		-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").
	435	+The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds.
443	443
444		-Configure First Position in Pulses (**CFP**)
	437	+Configure First Position in Pulses (CFP)
445	445
446	446	Ex: #5CP1550<cr>
447	447
448		-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).
	441	+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.
449	449
450	450	__21. First / Initial Position (Degrees)__
451	451
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491	491
492	492	Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
493	493
494		-|*Value returned|**Status**|**Detailed description**
	487	+|*Value returned****|**Status**|**Detailed description**
495	495	|ex: *5Q0<cr>|Unknown|LSS is unsure
496	496	|ex: *5Q1<cr>|Limp|Motor driving circuit is not powered and horn can be moved freely
497	497	|ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
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516	516
517	517	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.
518	518
519		-__29. Query Current (**QC**)__
	512	+__29. Query Current (QC)__
520	520
521	521	Ex: #5QC<cr> might return *5QC140<cr>
522	522
523	523	The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
524	524
525		-__20. RC Mode (**CRC**)__
526		-
527		-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.
528		-
529		-EX: #5CRC<cr>
530		-
531	531	__**RESET**__
532	532
533	533	Ex: #5RESET<cr> or #5RS<cr>