Changes for page LSS Communication Protocol

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

From version < 48.1 >

edited by RB1
on 2018/09/10 16:54

To version < 64.2 >

edited by RB1
on 2018/11/19 09:26

< >

Change comment: There is no comment for this version

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@@ -1,6
          +1,8 @@
++= Protocol concepts =
++
  The Lynxmotion Smart Servo (LSS) protocol was created in order to be as simple and straightforward as possible from a user perspective, while at the same time trying to stay compact and robust yet highly versatile. Almost everything one might expect to be able to configure for a smart servo motor is available.
--=== Session ===
++== Session ==
  A "session" is defined as the time between when the servo is powered ON to when it is powered OFF or reset.
@@ -39,13
          +39,9 @@
  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.
  )))
--(((
--
--)))
--
  == Configuration Commands ==
  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]].
@@ -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 =
@@ -126,28
          +126,34 @@
  | 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|-4 to +4, but suggested values are between 0 to +4
--| 15|//N/A (removed)//| | | | | | |
++| 15|**A**ngular **H**olding Stiffness|AH|QAH|CAH| | ✓|none|-10 to +10, with default as 0.
++|15b|**A**ngular **A**cceleration|AA|QAA|CAA| | ✓|degrees per second squared|Increments of 10 degrees per second squared
++|15c|**A**ngular **D**eceleration|AD|QAD|CAD| | ✓|degrees per second squared|Increments of 10 degrees per second squared
++|15d|**M**otion **C**ontrol|MC|QMC| | | ✓|none|MC0 to disable motion control, MC1 to enable. Session specific
  | 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 |
  | 21|**F**irst Position (**D**egrees)| | QFD|CFD| ✓| ✓| none |
  | 22|**T**arget (**D**egree) **P**osition| | QDT| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
--| 23|**M**odel| | QM| | | | none (integer)|
++| 23|**M**odel **String**| | QMS| | | | none (string)| Recommended to determine the model|
++| 23b|**M**odel| | QM| | | | none (integer)| Returns a raw value representing the three model inputs (36 bit)|
  | 24|Serial **N**umber| | QN| | | | none (integer)|
  | 25|**F**irmware version| | QF| | | | none (integer)|
  | 26|**Q**uery (general status)| | Q| | | ✓| none (integer from 1 to 8)| See command description for details
--| 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| |✓| |(((
++| 27|**V**oltage| | QV| | | ✓| millivolts (ex 5936 = 5936mV = 5.936V)|
++| 28|**T**emperature| | QT| | | ✓| tenths of degrees Celsius|Max temp before error: 85°C (servo goes limp)
++| 29|**C**urrent| | QC| | | ✓| milliamps (ex 200 = 0.2A)|
++| 30|**RC** Mode| | |CRC| |✓|none|(((
  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 default values. See command for details
++|33|**UPDATE**| | | | |✓|none|Update firmware. See command for details.
  = Details =
@@ -330,7
          +330,7 @@
  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.
--__14. Angular Stiffness (AS)__
++__14. Angular Stiffness (**AS**)__
  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.
@@ -358,10
          +358,38 @@
  Writes the desired angular stiffness value to memory.
--__15. N/A (removed)__
++__15. Angular Hold Stiffness (**AH**)__
--This command has been removed.
++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.
++Ex: #5AH3<cr>
++
++This sets the holding stiffness for servo #5 to 3 for that session.
++
++Query Angular Hold Stiffness (**QAH**)
++
++Ex: #5QAH<cr> might return *5QAH3<cr>
++
++This returns the servo's angular holding stiffness value.
++
++Configure Angular Hold Stiffness (**CAH**)
++
++Ex: #5CAH2<cr>
++
++This writes the angular holding stiffness of servo #5 to 2 to EEPROM
++
++__15b: Angular Acceleration (**AA**)__
++
++{More details to come}
++
++__15c: Angular Deceleration (**AD**)__
++
++{More details to come}
++
++__15d: Motion Control (**MC**)__
++
++{More details to come}
++
  __16. RGB LED (**LED**)__
  Ex: #5LED3<cr>
@@ -433,7
          +433,7 @@
  __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**)
@@ -449,7
          +449,7 @@
  __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**)
@@ -461,7
          +461,7 @@
  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**)__
@@ -469,12
          +469,18 @@
  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>).
--__23. Query Model (**QM**)__
++__23. Query Model String (**QMS**)__
--Ex: #5QM<cr> might return *5QM11<cr>
++Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
--This reply means the servo model is 1.1, meaning high speed servo, first revision. 1=HS (high speed) 2=ST (standard) 3=HT (high torque)
++This reply means the servo model  is LSS-HS1, meaning a high speed servo, first revision.
++__23b. Query Model (**QM**)__
++
++Ex: #5QM<cr> might return *5QM68702699520cr>
++
++This reply means the servo model is 0xFFF000000 or 100, meaning a high speed servo, first revision.
++
  __24. Query Serial Number (**QN**)__
  Ex: #5QN<cr> might return *5QN~_~_<cr>
@@ -506,7
          +506,7 @@
  __27. Query Voltage (**QV**)__
--Ex: #5QV<cr> might return *5QV112<cr>
++Ex: #5QV<cr> might return *5QV11200<cr>
  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).
@@ -522,19
          +522,25 @@
  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>
@@ -546,7
          +546,7 @@
  Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
--**__UPDATE __**__& **CONFIRM**__
++__33. UPDATE & CONFIRM__
  Ex: #5UPDATE<cr>
@@ -558,22
          +558,4 @@
  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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