Summary

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Details

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Author

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

Content

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	1	+= Protocol concepts =
	2	+
1	1	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.
2	2
3		-=== Session ===
	5	+== Session ==
4	4
5	5	A "session" is defined as the time between when the servo is powered ON to when it is powered OFF or reset.
6	6
...	...	@@ -157,7 +157,8 @@
157	157	| 20|**F**irst Position (**P**ulse)| | QFP|CFP | ✓| ✓| none |
158	158	| 21|**F**irst Position (**D**egrees)| | QFD|CFD| ✓| ✓| none |
159	159	| 22|**T**arget (**D**egree) **P**osition| | QDT| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
160		-| 23|**M**odel| | QM| | | | none (integer)|
	162	+| 23|**M**odel **String**| | QMS| | | | none (string)| Recommended to determine the model|
	163	+| 23b|**M**odel| | QM| | | | none (integer)| Returns a raw value representing the three model inputs (36 bit)|
161	161	| 24|Serial **N**umber| | QN| | | | none (integer)|
162	162	| 25|**F**irmware version| | QF| | | | none (integer)|
163	163	| 26|**Q**uery (general status)| | Q| | | ✓| none (integer from 1 to 8)| See command description for details
...	...	@@ -174,7 +174,7 @@
174	174	|32|**DEFAULT**| | | | |✓|none|Revert to firmware default values. See command for details
175	175	|33|**UPDATE**| | | | |✓|none|Update firmware. See command for details.
176	176
177		-= Details =
	180	+== Details ==
178	178
179	179	__1. Limp (**L**)__
180	180
...	...	@@ -522,12 +522,18 @@
522	522
523	523	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>).
524	524
525		-__23. Query Model (**QM**)__
	528	+__23. Query Model String (**QMS**)__
526	526
527		-Ex: #5QM<cr> might return *5QM11<cr>
	530	+Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
528	528
529		-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)
	532	+This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
530	530
	534	+__23b. Query Model (**QM**)__
	535	+
	536	+Ex: #5QM<cr> might return *5QM68702699520cr>
	537	+
	538	+This reply means the servo model is 0xFFF000000 or 100, meaning a high speed servo, first revision.
	539	+
531	531	__24. Query Serial Number (**QN**)__
532	532
533	533	Ex: #5QN<cr> might return *5QN~_~_<cr>
...	...	@@ -616,5 +616,3 @@
616	616	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.
617	617
618	618	Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
619		-
620		-=== ===