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

From version < 64.1 >
edited by RB1
on 2018/10/22 13:32
To version < 98.8 >
edited by Coleman Benson
on 2019/02/05 13:31
< >
Change comment: There is no comment for this version

Summary

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Parent
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1 -lynxmotion:LSS - Overview (DEV).WebHome
1 +Lynxmotion Smart Servo (LSS).WebHome
Author
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1 -xwiki:XWiki.RB1
1 +xwiki:XWiki.CBenson
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1 -LSS|communication|protocol|programming|firmware|control
1 +LSS|communication|protocol|programming|firmware|control|LSS-Ref
Content
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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.
1 +(% class="wikigeneratedid" id="HTableofContents" %)
2 +**Table of Contents**
2 2  
3 -=== Session ===
4 +{{toc depth="3"/}}
4 4  
6 += Serial Protocol Concept =
7 +
8 +The custom Lynxmotion Smart Servo (LSS) serial protocol was created in order to be as simple and straightforward as possible from a user perspective ("human readable format"), while at the same time compact and robust yet highly versatile. The protocol was based on Lynxmotion's SSC-32 RC servo controller and almost everything one might expect to be able to configure for a smart servo motor is available.
9 +
10 +In order to have servos react differently when commands are sent to all servos in a serial bus, the first step a user should take is to assign a different ID number to each servo (explained below). Once this has been done, only the servo(s) which have been assigned to the ID sent as part of the command will follow that command. There is currently no CRC / checksum implemented as part of the protocol.
11 +
12 +== Session ==
13 +
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  
16 +Note that for a given session, the action related to a specific commands overrides the stored value in EEPROM.
17 +
7 7  == Action Commands ==
8 8  
9 -Action commands are sent serially to the servo's Rx pin and must be set in the following format:
20 +Action commands tell the servo, within that session, to do something (i.e. "take an action"). The types of action commands which can be sent are described below, and they cannot be combined with other commands such as queries or configurations. Only one action command can be sent at a time. Action commands are session-specific, therefore once a servo is power cycled, it will not have any "memory" of previous actions or virtual positions (described below on this page). Action commands are sent serially to the servo's Rx pin and must be sent in the following format:
10 10  
11 11  1. Start with a number sign # (U+0023)
12 12  1. Servo ID number as an integer
... ... @@ -17,16 +17,12 @@
17 17  (((
18 18  Ex: #5PD1443<cr>
19 19  
20 -Move servo with ID #5 to a position of 144.3 degrees.
31 +This sends a serial command to all servo's Rx pins which are connected to the bus and only servo(s) with ID #5 will move to a position in tenths of degrees ("PD") of 144.3 degrees. Any servo on the bus which does not have ID 5 will take no action when receiving this command.
21 21  
22 -Action commands cannot be combined with query commands, and only one action command can be sent at a time.
33 +== Action Modifiers ==
23 23  
24 -Action commands are session-specific, therefore once a servo is power cycled, it will not have any "memory" of previous actions or virtual positions (as described at the bottom of this page).
35 +Only two commands can be used as action modifiers: Timed Move (T) and Speed (S) described below. Action modifiers can only be used with certain action commands. The format to include a modifier is:
25 25  
26 -=== Action Modifiers ===
27 -
28 -Two commands can be used as action modifiers only: Timed Move and Speed. The format is:
29 -
30 30  1. Start with a number sign # (U+0023)
31 31  1. Servo ID number as an integer
32 32  1. Action command (one to three letters, no spaces, capital or lower case)
... ... @@ -37,32 +37,12 @@
37 37  
38 38  Ex: #5P1456T1263<cr>
39 39  
40 -Results in the servo rotating from the current angular position to a pulse position of 1456 in 1263 milliseconds.
41 -
42 -Action modifiers can only be used with certain commands.
47 +This results in the servo with ID #5 rotating from the current angular position to a pulse position ("P") of 1456 in a time ("T") of 1263 milliseconds.
43 43  )))
44 44  
45 -== Configuration Commands ==
46 -
47 -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]].
48 -
49 -1. Start with a number sign # (U+0023)
50 -1. Servo ID number as an integer
51 -1. Configuration command (two to three letters, no spaces, capital or lower case)
52 -1. Configuration value in the correct units with no decimal
53 -1. End with a control / carriage return '<cr>'
54 -
55 -Ex: #5CO-50<cr>
56 -
57 -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.
58 -
59 -Configuration commands are not cumulative, in that if two configurations are sent at any time, only the last configuration is used and stored.
60 -
61 -*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.
62 -
63 63  == Query Commands ==
64 64  
65 -Query commands are sent serially to the servo's Rx pin and must be set in the following format:
52 +Query commands request information from the servo. They are received via the Rx pin of the servo, and the servo's reply is sent via the servo's Tx pin. Using separate lines for Tx and Rx is called "full duplex". Query commands are also similar to action and configuration commands and must use the following format:
66 66  
67 67  1. Start with a number sign # (U+0023)
68 68  1. Servo ID number as an integer
... ... @@ -74,49 +74,61 @@
74 74  )))
75 75  
76 76  (((
77 -The query will return a value via the Tx pin with the following format:
64 +The query will return a serial string (almost instantaneously) via the servo's Tx pin with the following format:
78 78  
79 -1. Start with an asterisk (U+002A)
66 +1. Start with an asterisk * (U+002A)
80 80  1. Servo ID number as an integer
81 81  1. Query command (one to three letters, no spaces, capital letters)
82 82  1. The reported value in the units described, no decimals.
83 83  1. End with a control / carriage return '<cr>'
84 84  
72 +There is currently no option to control how fast a servo replies after it has received a query command, therefore when sending a query command to the bus, the controller should be prepared to immediately "listen" for and parse the reply. Sending multiple queries on a bus in fast succession may result in replies overlapping and giving incorrect or corrupt data. As such, the controller should receive a reply before sending a new command. A reply to the query sent above might be:
73 +
85 85  (((
86 86  Ex: *5QD1443<cr>
87 87  )))
88 88  
89 -Indicates that servo #5 is currently at 144.3 degrees.
78 +This indicates that servo #5 is currently at 144.3 degrees (1443 tenths of degrees).
90 90  
91 -**Session vs Configuration Query**
80 +== Configuration Commands ==
92 92  
93 -By default, the query command returns the sessions' value; should no action commands have been sent to change, it will return the value saved in EEPROM from the last configuration command.
82 +Configuration commands and corresponding values affect a servo's defaults which are written to and read from the servo's EEPROM. These configurations are retained in memory aftethe servo is reset or power is cut / lost. Some configuration commands affect the session, while others do not. In the Command table below, the column "Session" denotes if the configuration command affects the session.. Not all action commands have a corresponding configuration command and vice versa. More information about which configuration commands are retained when in RC mode can be found on the [[LSS - RC PWM page>>doc:Lynxmotion Smart Servo (LSS).LSS - RC PWM.WebHome]]. Configuration commands are not cumulative, in that if two configurations are sent, one after the next, only the last configuration is used and stored. The format to send a configuration command is identical to that of an action command:
94 94  
95 -In order to query the value in EEPROM, add a '1' to the query command.
84 +1. Start with a number sign # (U+0023)
85 +1. Servo ID number as an integer
86 +1. Configuration command (two to three letters, no spaces, capital or lower case)
87 +1. Configuration value in the correct units with no decimal
88 +1. End with a control / carriage return '<cr>'
96 96  
97 -Ex: #5CSR20<cr> sets the maximum speed for servo #5 to 20rpm upon RESET (explained below).
90 +Ex: #5CO-50<cr>
98 98  
99 -After RESET: #5SR4<cr> sets the session's speed to 4rpm.
92 +This configures an absolute origin offset ("CO") with respect to factory origin to servo with ID #5 and changes the offset for that session to -5.0 degrees (50 tenths of degrees). Once the servo is powered off and then powered on, zeroing the servo will cause it to move to -5.0 degrees with respect to the factory origin and report its position as 0 degrees. Configuration commands can be undone / reset either by sending the servo's default value for that configuration, or by doing a factory reset (clears all configurations) described below.
100 100  
101 -#5QSR<cr> would return *5QSR4<cr> which represents the value for that session.
94 +**Session vs Configuration Query**
102 102  
103 -#5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
96 +By default, the query command returns the sessions' value. Should no action commands have been sent to change the session value, it will return the value saved in EEPROM which will either be the servo's default, or modified with a configuration command. In order to query the value stored in EEPROM (configuration), add a '1' to the query command:
104 104  
105 -=== Virtual Angular Position ===
98 +Ex: #5CSR20<cr> immediately sets the maximum speed for servo #5 to 20rpm (explained below) and changes the value in memory.
106 106  
107 -{In progress}
100 +After RESET, a command of #5SR4<cr> sets the session's speed to 4rpm, but does not change the configuration value in memory. Therefore:
108 108  
109 -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.
102 +#5QSR<cr> would return *5QSR4<cr> which represents the value for that session, whereas
110 110  
104 +#5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
105 +
106 +== Virtual Angular Position ==
107 +
108 +The ability to store a "virtual angular position" is a feature which allows for rotation beyond 360 degrees, permitting multiple rotations of the output horn, moving the center position and more. In virtual position mode, the "absolute position" would be the angle of the output shaft with respect to a 360.0 degree circle, and can be obtained by taking the modulus (with respect to 360 degrees) of the value. For example if the virtual position is reported as 15335 (or 1533.5 degrees), taking the modulus would give 93.5 degrees (3600 * 4 + 935 = 15335) as the absolute position (assuming no origin offset).
109 +
111 111  [[image:LSS-servo-positions.jpg]]
112 112  
113 -Example: Gyre direction / rotation is positive (clockwise), and origin offset has not been modified. Each square represents 30 degrees.
112 +In this example, the gyre direction (explained below, a.k.a. "rotation direction") is positive (clockwise), and origin offset has not been modified. Each square represents 30 degrees. The following command is sent:
114 114  
115 -#1D-300<cr> The servo is sent a command to move to -30.0 degrees (green arrow)
114 +#1D-300<cr> This causes the servo to move to -30.0 degrees (green arrow)
116 116  
117 117  #1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)
118 118  
119 -#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.
118 +#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 plus 60.0 degrees (420.0 - 360.0), with a virtual position of -420.0 degrees.
120 120  
121 121  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.
122 122  
... ... @@ -129,93 +129,114 @@
129 129  
130 130  = Command List =
131 131  
132 -|= #|=Description|= Action|= Query|= Config|= RC|= Serial|= Units|= Notes
133 -| 1|**L**imp| L| | | | ✓| none|
134 -| 2|**H**alt & Hold| H| | | | ✓| none|
135 -| 3|**T**imed move| T| | | | ✓| milliseconds| Modifier only
136 -| 4|**S**peed| S| | | | ✓| microseconds / second| Modifier only
137 -| 5|**M**ove in **D**egrees (relative)| MD| | | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
138 -| 6|**O**rigin Offset| O| QO| CO| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
139 -| 7|**A**ngular **R**ange| AR| QAR| CAR| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
140 -| 8|Position in **P**ulse| P| QP| | | ✓| microseconds|(((
141 -See details below
131 +|= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
132 +| 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| L| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
133 +| 2|[[**H**alt & **H**old>>||anchor="H2.Halt26Hold28H29"]]| H| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
134 +| 3|[[**T**imed move>>||anchor="H3.Timedmove28T29modifier"]]| T| | | | | ✓|milliseconds|(% style="width:510px" %) Modifier only for {P, D, MD}|(% style="text-align:center; width:113px" %)
135 +| 4|[[**S**peed>>||anchor="H4.Speed28S29"]]| S| | | | | ✓|microseconds per second|(% style="width:510px" %) Modifier only {P}|(% style="text-align:center; width:113px" %)
136 +| 5|[[**M**ove in **D**egrees (relative)>>||anchor="H5.28Relative29MoveinDegrees28MD29"]]| MD| | | | | ✓|tenths of degrees (ex 325 = 32.5 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
137 +| 6|[[**O**rigin Offset>>||anchor="H6.OriginOffsetAction28O29"]]| O| QO|CO|✓| ✓| ✓|tenths of degrees (ex 91 = 9.1 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
138 +0
142 142  )))
143 -| 9|Position in **D**egrees| D| QD| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
144 -| 10|**W**heel mode in **D**egrees| WD| QWD| | | ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|
145 -| 11|**W**heel mode in **R**PM| WR| QWR| | | ✓| rpm|
146 -| 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
147 -| 13|Max **S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|QSR: Add modifier "2" for instantaneous speed
148 -| 14|**A**ngular **S**tiffness| AS| QAS| CAS| ✓| ✓|none|-4 to +4, but suggested values are between 0 to +4
149 -| 15|**A**ngular **H**olding Stiffness|AH|QAH|CAH| | ✓|none|-10 to +10, with default as 0.
150 -|15b|**A**ngular **A**cceleration|AA|QAA|CAA| | ✓|degrees per second squared|Increments of 10 degrees per second squared
151 -|15c|**A**ngular **D**eceleration|AD|QAD|CAD| | ✓|degrees per second squared|Increments of 10 degrees per second squared
152 -|15d|**M**otion **C**ontrol|MC|QMC| | | ✓|none|MC0 to disable motion control, MC1 to enable. Session specific
153 -| 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
154 -| 17|**ID** #| | QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to
155 -| 18|**B**aud rate| B| QB| CB| | ✓| none (integer)|
156 -| 19|**G**yre direction (**G**)| G| QG| CG| ✓| ✓| none | Gyre / rotation direction where 1= CW (clockwise) -1 = CCW (counter-clockwise)
157 -| 20|**F**irst Position (**P**ulse)| | QFP|CFP | ✓| ✓| none |
158 -| 21|**F**irst Position (**D**egrees)| | QFD|CFD| ✓| ✓| none |
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 **String**| | QMS| | | | none (string)| Recommended to determine the model|
161 -| 23b|**M**odel| | QM| | | | none (integer)| Returns a raw value representing the three model inputs (36 bit)|
162 -| 24|Serial **N**umber| | QN| | | | none (integer)|
163 -| 25|**F**irmware version| | QF| | | | none (integer)|
164 -| 26|**Q**uery (general status)| | Q| | | ✓| none (integer from 1 to 8)| See command description for details
165 -| 27|**V**oltage| | QV| | | ✓| millivolts (ex 5936 = 5936mV = 5.936V)|
166 -| 28|**T**emperature| | QT| | | ✓| tenths of degrees Celsius|Max temp before error: 85°C (servo goes limp)
167 -| 29|**C**urrent| | QC| | | ✓| milliamps (ex 200 = 0.2A)|
168 -| 30|**RC** Mode| | |CRC| |✓|none|(((
169 -CRC: Add modifier "1" for RC-position mode.
170 -CRC: Add modifier "2" for RC-wheel mode.
171 -Any other value for the modifier results in staying in smart mode.
172 -Puts the servo into RC mode. To revert to smart mode, use the button menu.
140 +| 7|[[**A**ngular **R**ange>>||anchor="H7.AngularRange28AR29"]]| AR| QAR| CAR|✓| ✓| ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
141 +1800
173 173  )))
174 -|31|**RESET**| | | | | ✓|none|Soft reset. See command for details.
175 -|32|**DEFAULT**| | | | |✓|none|Revert to firmware default values. See command for details
176 -|33|**UPDATE**| | | | |✓|none|Update firmware. See command for details.
143 +| 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| P| QP| | | | ✓|microseconds|(% style="width:510px" %)(((
144 +Inherited from SSC-32 serial protocol
145 +)))|(% style="text-align:center; width:113px" %)
146 +| 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| D| QD / QDT| | | | ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
147 +| 10|[[**W**heel mode in **D**egrees>>||anchor="H10.WheelModeinDegrees28WD29"]]| WD| QWD| | | | ✓|tenths of degrees per second (ex 248 = 24.8 degrees per second)|(% style="width:510px" %)A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center; width:113px" %)
148 +| 11|[[**W**heel mode in **R**PM>>||anchor="H11.WheelModeinRPM28WR29"]]| WR| QWR| | | | ✓|revolutions per minute (rpm)|(% style="width:510px" %)A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center; width:113px" %)
149 +| 12|[[Max **S**peed in **D**egrees>>||anchor="H12.SpeedinDegrees28SD29"]]| SD| QSD|CSD|✓| ✓| ✓|tenths of degrees per second |(% style="width:510px" %)(((
150 +QSD: Add modifier "2" for instantaneous speed.
177 177  
178 -= Details =
152 +SD overwrites SR / CSD overwrites CSR and vice-versa.
153 +)))|(% style="text-align:center; width:113px" %)Max per servo
154 +| 13|[[Max **S**peed in **R**PM>>||anchor="H13.SpeedinRPM28SR29"]]| SR| QSR|CSR|✓| ✓| ✓|revolutions per minute (rpm)|(% style="width:510px" %)(((
155 +QSR: Add modifier "2" for instantaneous speed
179 179  
180 -__1. Limp (**L**)__
157 +SR overwrites SD / CSR overwrites CSD and vice-versa.
158 +)))|(% style="text-align:center; width:113px" %)Max per servo
159 +| 14|[[**LED** Color>>||anchor="H16.RGBLED28LED29"]]| LED| QLED| CLED|✓| ✓| ✓|none (integer from 0 to 8)|(% style="width:510px" %)0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;|(% style="text-align:center; width:113px" %)7
160 +| 15|[[**G**yre direction (**G**)>>||anchor="H19.GyreRotationDirection"]]| G| QG| CG|✓| ✓| ✓|none |(% style="width:510px" %)Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)|(% style="text-align:center; width:113px" %)1
161 +| 16|[[**ID** #>>||anchor="H17.IdentificationNumber"]]| | QID| CID| | | ✓|none (integer from 0 to 250)|(% style="width:510px" %)Note: ID 254 is a "broadcast" which all servos respond to. |(% style="text-align:center; width:113px" %)0
162 +| 17|[[**B**aud rate>>||anchor="H18.BaudRate"]]| | QB| CB| | | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)9600
163 +| 18|[[**F**irst Position (**P**ulse)>>||anchor="H20.First2InitialPosition28pulse29"]]| | QFP|CFP |X| ✓| ✓|none |(% style="width:510px" %)CFP overwrites CFD and vice-versa|(% style="text-align:center; width:113px" %)(((
164 +Limp
165 +)))
166 +| 19|[[**F**irst Position (**D**eg)>>||anchor="H21.First2InitialPosition28Degrees29"]]| | QFD|CFD|X| ✓| ✓|none |(% style="width:510px" %)CFD overwrites CFP and vice-versa|(% style="text-align:center; width:113px" %)Limp
167 +| 20|[[**M**odel **S**tring>>||anchor="H23.QueryModelString28QMS29"]]| | QMS| | | | |none (string)|(% style="width:510px" %) Returns the type of servo (ST, HS, HT)|(% style="text-align:center; width:113px" %)
168 +| 21|[[Serial **N**umber>>||anchor="H24.QuerySerialNumber28QN29"]]| | QN| | | | |none (integer)|(% style="width:510px" %) Returns the unique serial number for that servo|(% style="text-align:center; width:113px" %)
169 +| 22|[[**F**irmware version>>||anchor="H25.QueryFirmware28QF29"]]| | QF| | | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
170 +| 23|[[**Q**uery (gen. status)>>||anchor="H26.QueryStatus28Q29"]]| | Q| | | | ✓|none (integer from 1 to 8)|(% style="width:510px" %) See command description for details|(% style="text-align:center; width:113px" %)
171 +| 24|[[**V**oltage>>||anchor="H27.QueryVoltage28QV29"]]| | QV| | | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
172 +| 25|[[**T**emperature>>||anchor="H28.QueryTemperature28QT29"]]| | QT| | | | ✓|tenths of degrees Celsius|(% style="width:510px" %)Max temp before error: 85°C (servo goes limp)|(% style="text-align:center; width:113px" %)
173 +| 26|[[**C**urrent>>||anchor="H29.QueryCurrent28QC29"]]| | QC| | | | ✓|milliamps (ex 200 = 0.2A)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
174 +| 27|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]] - Position| | |CRC1|✓| | ✓|none|(% style="width:510px" %)(((
175 +Change to RC position mode. To revert to smart mode, use the button menu.
176 +)))|(% style="text-align:center; width:113px" %)Serial
177 +| 28|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]] - Wheel| | |CRC2|✓| | ✓| |(% style="width:510px" %)Change to RC wheel mode. To revert to smart mode, use the button menu.|(% style="text-align:center; width:113px" %)Serial
178 +| 29|[[**RESET**>>||anchor="H31.RESET"]]| | | | | | ✓|none|(% style="width:510px" %)Soft reset. See command for details.|(% style="text-align:center; width:113px" %)
179 +| 30|[[**DEFAULT**>>||anchor="H32.DEFAULTA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Revert to firmware default values. See command for details|(% style="text-align:center; width:113px" %)
180 +| 31|[[**UPDATE**>>||anchor="H33.UPDATEA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Update firmware. See command for details.|(% style="text-align:center; width:113px" %)
181 181  
182 +== Advanced ==
183 +
184 +|= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
185 +| A1|[[**A**ngular **S**tiffness>>||anchor="H14.AngularStiffness28AS29"]]| AS|QAS|CAS|✓| ✓| ✓|none (integer -4 to +4)|(% style="width:510px" %)Suggested values are between 0 to +4|(% style="text-align:center; width:113px" %)0
186 +| A2|[[**A**ngular **H**olding Stiffness>>||anchor="H15.AngularHoldStiffness28AH29"]]|AH|QAH|CAH|✓| | ✓|none (integer -10 to +10)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)1
187 +| A3|[[**A**ngular **A**cceleration>>||anchor="H15b:AngularAcceleration28AA29"]]|AA|QAA|CAA|✓| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared|(% style="text-align:center; width:113px" %)
188 +| A4|[[**A**ngular **D**eceleration>>||anchor="H15c:AngularDeceleration28AD29"]]|AD|QAD|CAD|✓| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared|(% style="text-align:center; width:113px" %)
189 +| A5|[[**E**nable **M**otion Control>>||anchor="H15d:MotionControl28MC29"]]|EM|QEM| | | | ✓|none|(% style="width:510px" %)EM0 to disable motion control, EM1 to enable|(% style="text-align:center; width:113px" %)
190 +| A6|[[**C**onfigure **L**ED **B**linking>>||anchor="H16b.ConfigureLEDBlinking28CLB29"]]| | | CLB| | ✓| |none (integer from 0 to 63)|(% style="width:510px" %)(((
191 +0=No blinking, 63=Always blink;
192 +
193 +Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;
194 +)))|(% style="text-align:center; width:113px" %)
195 +
196 +== Details ==
197 +
198 +====== __1. Limp (**L**)__ ======
199 +
182 182  Example: #5L<cr>
183 183  
184 184  This action causes the servo to go "limp". The microcontroller will still be powered, but the motor will not. As an emergency safety feature, should the robot not be doing what it is supposed to or risks damage, use the broadcast ID to set all servos limp #254L<cr>.
185 185  
186 -__2. Halt & Hold (**H**)__
204 +====== __2. Halt & Hold (**H**)__ ======
187 187  
188 188  Example: #5H<cr>
189 189  
190 -This action overrides whatever the servo might be doing at the time the command is received (accelerating, moving continuously etc.) and causes it to stop immediately and hold that position.
208 +This action overrides whatever the servo might be doing at the time the command is received (accelerating, moving continuously etc.) and causes it to stop immediately and hold that angular position.
191 191  
192 -__3. Timed move (**T**)__
210 +====== __3. Timed move (**T**) modifier__ ======
193 193  
194 194  Example: #5P1500T2500<cr>
195 195  
196 -Timed move can be used only as a modifier for a position (P) action. The units are in milliseconds, so a timed move of 2500 milliseconds would cause the servo to rotate from its current position to the desired position in 2.5 seconds. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.
214 +Timed move can be used only as a modifier for a position (P, D, MD) actions. The units are in milliseconds, so a timed move of 2500 milliseconds would cause the servo to rotate from its current position to the desired position in 2.5 seconds. The onboard controller will attempt to ensure that the move is performed entirely at the desired velocity, though differences in torque may cause it to not be exact. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.
197 197  
198 -__4. Speed (**S**)__
216 +Note: If the calculated speed at which a servo must rotate for a timed move is greater than its maximum speed (which depends on voltage and load), then it will move at its maximum speed, and the time of the move may be longer than requested.
199 199  
218 +====== __4. Speed (**S**) modifier__ ======
219 +
200 200  Example: #5P1500S750<cr>
201 201  
202 202  This command is a modifier only for a position (P) action and determines the speed of the move in microseconds per second. A speed of 750 microseconds would cause the servo to rotate from its current position to the desired position at a speed of 750 microseconds per second. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.
203 203  
204 -__5. (Relative) Move in Degrees (**MD**)__
224 +====== __5. (Relative) Move in Degrees (**MD**)__ ======
205 205  
206 206  Example: #5MD123<cr>
207 207  
208 208  The relative move command causes the servo to read its current position and move the specified number of tenths of degrees in the corresponding position. For example if the servo is set to rotate CW (default) and an MD command of 123 is sent to the servo, it will cause the servo to rotate clockwise by 12.3 degrees. Negative commands would cause the servo to rotate in the opposite configured direction.
209 209  
210 -__6. Origin Offset Action (**O**)__
230 +====== __6. Origin Offset Action (**O**)__ ======
211 211  
212 212  Example: #5O2400<cr>
213 213  
214 -This command allows you to temporarily change the origin of the servo in relation to the factory zero position. The setting will be lost upon servo reset / power cycle. Origin offset commands are not cumulative and always relate to factory zero. Note that for a given session, the O command overrides the CO command. In the first image, the origin at factory offset '0' (centered).
234 +This command allows you to temporarily change the origin of the servo in relation to the factory zero position for that session. As with all action commands, the setting will be lost upon servo reset / power cycle. Origin offset commands are not cumulative and always relate to factory zero. In the first image, the origin at factory offset '0' (centered).
215 215  
216 216  [[image:LSS-servo-default.jpg]]
217 217  
218 -In the second image, the origina, as well as the angular range (explained below) have been shifted by 240.0 degrees:
238 +In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
219 219  
220 220  [[image:LSS-servo-origin.jpg]]
221 221  
... ... @@ -223,39 +223,39 @@
223 223  
224 224  Example: #5QO<cr> Returns: *5QO-13
225 225  
226 -This allows you to query the angle (in tenths of degrees) of the origin in relation to the factory zero position.
246 +This allows you to query the angle (in tenths of degrees) of the origin in relation to the factory zero position. In this example, the new origin is at -1.3 degrees from the factory zero.
227 227  
228 228  Configure Origin Offset (**CO**)
229 229  
230 230  Example: #5CO-24<cr>
231 231  
232 -This command allows you to change the origin of the servo in relation to the factory zero position in EEPROM. The setting will be saved upon servo reset / power cycle. Origin offset configuration commands are not cumulative and always relate to factory zero. The new origin is also used in RC mode.
252 +This command allows you to change the origin of the servo in relation to the factory zero position in EEPROM. The setting will be saved upon servo reset / power cycle. Origin offset configuration commands are not cumulative and always relate to factory zero. The new origin is also used in RC mode. In the example, the new origin will be at -2.4 degrees from the factory zero.
233 233  
234 -__7. Angular Range (**AR**)__
254 +====== __7. Angular Range (**AR**)__ ======
235 235  
236 236  Example: #5AR1800<cr>
237 237  
238 -This command allows you to temporarily change the total angular range of the servo in tenths of degrees. This applies to the Position in Pulse (P) command and RC mode. The default for (P) and RC mode is 1800 (180.0 degrees total, or ±90.0 degrees). In the first image,
258 +This command allows you to temporarily change the total angular range of the servo in tenths of degrees. This applies to the Position in Pulse (P) command and RC mode. The default for (P) and RC mode is 1800 (180.0 degrees total, or ±90.0 degrees). The image below shows a standard -180.0 to +180.0 range, with no offset:
239 239  
240 240  [[image:LSS-servo-default.jpg]]
241 241  
242 -Here, the angular range has been restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
262 +Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
243 243  
244 244  [[image:LSS-servo-ar.jpg]]
245 245  
246 -The angular range action command (ex. #5AR1800<cr>) and origin offset action command (ex. #5O-1200<cr>) an be used to move both the center and limit the angular range:
266 +Finally, the angular range action command (ex. #5AR1800<cr>) and origin offset action command (ex. #5O-1200<cr>) are used to move both the center and limit the angular range:
247 247  
248 248  [[image:LSS-servo-ar-o-1.jpg]]
249 249  
250 250  Query Angular Range (**QAR**)
251 251  
252 -Example: #5QAR<cr> might return *5AR2756
272 +Example: #5QAR<cr> might return *5AR1800, indicating the total angular range is 180.0 degrees.
253 253  
254 254  Configure Angular Range (**CAR**)
255 255  
256 256  This command allows you to change the total angular range of the servo in tenths of degrees in EEPROM. The setting will be saved upon servo reset / power cycle.
257 257  
258 -__8. Position in Pulse (**P**)__
278 +====== __8. Position in Pulse (**P**)__ ======
259 259  
260 260  Example: #5P2334<cr>
261 261  
... ... @@ -268,7 +268,7 @@
268 268  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. 
269 269  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).
270 270  
271 -__9. Position in Degrees (**D**)__
291 +====== __9. Position in Degrees (**D**)__ ======
272 272  
273 273  Example: #5PD1456<cr>
274 274  
... ... @@ -282,8 +282,15 @@
282 282  
283 283  This means the servo is located at 13.2 degrees.
284 284  
285 -__10. Wheel Mode in Degrees (**WD**)__
305 +(% class="wikigeneratedid" id="H22.QueryTargetPositioninDegrees28QDT29" %)
306 +Query Target Position in Degrees (**QDT**)
286 286  
308 +Ex: #5QDT<cr> might return *5QDT6783<cr>
309 +
310 +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>).
311 +
312 +====== __10. Wheel Mode in Degrees (**WD**)__ ======
313 +
287 287  Ex: #5WD900<cr>
288 288  
289 289  This command sets the servo to wheel mode where it will rotate in the desired direction at the selected speed. The example above would have the servo rotate at 90.0 degrees per second clockwise (assuming factory default configurations).
... ... @@ -294,7 +294,7 @@
294 294  
295 295  The servo replies with the angular speed in tenths of degrees per second. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
296 296  
297 -__11. Wheel Mode in RPM (**WR**)__
324 +====== __11. Wheel Mode in RPM (**WR**)__ ======
298 298  
299 299  Ex: #5WR40<cr>
300 300  
... ... @@ -306,22 +306,22 @@
306 306  
307 307  The servo replies with the angular speed in rpm. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
308 308  
309 -__12. Speed in Degrees (**SD**)__
336 +====== __12. Max Speed in Degrees (**SD**)__ ======
310 310  
311 311  Ex: #5SD1800<cr>
312 312  
313 -This command sets the servo's maximum speed for action commands in tenths of degrees per second for that session. In the example above, the servo's maximum speed for that session would be set to 180.0 degrees per second. Therefore maximum speed for actions can be set "on the fly". The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SD overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD and SR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) is what the servo uses for that session.
340 +This command sets the servo's maximum speed for motion commands in tenths of degrees per second for that session. In the example above, the servo's maximum speed for that session would be set to 180.0 degrees per second. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. The SD action command overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD and SR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.
314 314  
315 315  Query Speed in Degrees (**QSD**)
316 316  
317 317  Ex: #5QSD<cr> might return *5QSD1800<cr>
318 318  
319 -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.
346 +By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever an SD/SR command is processed.
320 320  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:
321 321  
322 322  |**Command sent**|**Returned value (1/10 °)**
323 323  |ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
324 -|ex: #5QSD1<cr>|Configured maximum speed  (set by CSD/CSR)
351 +|ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
325 325  |ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
326 326  |ex: #5QSD3<cr>|Target travel speed
327 327  
... ... @@ -331,22 +331,22 @@
331 331  
332 332  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 180.0 degrees per second. When the servo is powered on (or after a reset), the CSD value is used. Note that CSD and CSR (described below) 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.
333 333  
334 -__13. Speed in RPM (**SR**)__
361 +====== __13. Max Speed in RPM (**SR**)__ ======
335 335  
336 336  Ex: #5SD45<cr>
337 337  
338 -This command sets the servo's maximum speed for action commands in rpm for that session. In the example above, the servo's maximum speed for that session would be set to 45rpm. Therefore maximum speed for actions can be set "on the fly". The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SD overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) is what the servo uses for that session.
365 +This command sets the servo's maximum speed for motion commands in rpm for that session. In the example above, the servo's maximum speed for that session would be set to 45rpm. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SD overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.
339 339  
340 340  Query Speed in Degrees (**QSR**)
341 341  
342 342  Ex: #5QSR<cr> might return *5QSR45<cr>
343 343  
344 -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.
371 +By default QSR will return the current session value, which is set to the value of CSR as reset/power cycle and changed whenever an SD/SR command is processed.
345 345  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:
346 346  
347 347  |**Command sent**|**Returned value (1/10 °)**
348 348  |ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
349 -|ex: #5QSR1<cr>|Configured maximum speed  (set by CSD/CSR)
376 +|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
350 350  |ex: #5QSR2<cr>|Instantaneous speed (same as QWR)
351 351  |ex: #5QSR3<cr>|Target travel speed
352 352  
... ... @@ -354,141 +354,84 @@
354 354  
355 355  Ex: #5CSR45<cr>
356 356  
357 -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.
384 +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) received is what the servo uses for that session.
358 358  
359 -__14. Angular Stiffness (**AS**)__
386 +====== __14. LED Color (**LED**)__ ======
360 360  
361 -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.
388 +Ex: #5LED3<cr>
362 362  
363 -A positive value of "angular stiffness":
390 +This action sets the servo's RGB LED color for that session.The LED can be used for aesthetics, or (based on user code) to provide visual status updates. Using timing can create patterns.
364 364  
365 -* The more torque will be applied to try to keep the desired position against external input / changes
366 -* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position
392 +0=OFF 1=RED 2=GREEN 3= BLUE 4=YELLOW 5=CYAN 6= 7=MAGENTA, 8=WHITE 
367 367  
368 -A negative value on the other hand:
394 +Query LED Color (**QLED**)
369 369  
370 -* Causes a slower acceleration to the travel speed, and a slower deceleration
371 -* Allows the target position to deviate more from its position before additional torque is applied to bring it back
396 +Ex: #5QLED<cr> might return *5QLED5<cr>
372 372  
373 -The default value is zero and the effect becomes extreme by -4, +4. There are no units, only integers between -4 to 4. Greater values produce increasingly erratic behavior.
398 +This simple query returns the indicated servo's LED color.
374 374  
375 -Ex: #5AS-2<cr>
400 +Configure LED Color (**CLED**)
376 376  
377 -This reduces 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.
402 +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.
378 378  
379 -Ex: #5QAS<cr>
404 +====== __15. Gyre Rotation Direction (**G**)__ ======
380 380  
381 -Queries the value being used.
406 +"Gyre" is defined as a circular course or motion. The effect of changing the gyre direction is as if you were to use a mirror image of a circle. CW = 1; CCW = -1. The factory default is clockwise (CW).
382 382  
383 -Ex: #5CAS<cr>
408 +Ex: #5G-1<cr>
384 384  
385 -Writes the desired angular stiffness value to memory.
410 +This command will cause servo #5's positions to be inverted, effectively causing the servo to rotate in the opposite direction given the same command. For example in a 2WD robot, servos are often physically installed back to back, therefore setting one of the servos to a negative gyration, the same wheel command (ex WR30) to both servos will cause the robot to move forward or backward rather than rotate.
386 386  
387 -__15. Angular Hold Stiffness (**AH**)__
412 +Query Gyre Direction (**QG**)
388 388  
389 -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.
414 +Ex: #5QG<cr> might return *5QG-1<cr>
390 390  
391 -Ex: #5AH3<cr>
416 +The value returned above means the servo is in a counter-clockwise gyration.
392 392  
393 -This sets the holding stiffness for servo #5 to 3 for that session.
418 +Configure Gyre (**CG**)
394 394  
395 -Query Angular Hold Stiffness (**QAH**)
420 +Ex: #5CG-1<cr>
396 396  
397 -Ex: #5QAH<cr> might return *5QAH3<cr>
422 +This changes the gyre direction as described above and also writes to EEPROM.
398 398  
399 -This returns the servo's angular holding stiffness value.
424 +====== __16. Identification Number (**ID** #)__ ======
400 400  
401 -Configure Angular Hold Stiffness (**CAH**)
426 +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 (assuming same baud rate).
402 402  
403 -Ex: #5CAH2<cr>
404 -
405 -This writes the angular holding stiffness of servo #5 to 2 to EEPROM
406 -
407 -__15b: Angular Acceleration (**AA**)__
408 -
409 -{More details to come}
410 -
411 -__15c: Angular Deceleration (**AD**)__
412 -
413 -{More details to come}
414 -
415 -__15d: Motion Control (**MC**)__
416 -
417 -{More details to come}
418 -
419 -__16. RGB LED (**LED**)__
420 -
421 -Ex: #5LED3<cr>
422 -
423 -This action sets the servo's RGB LED color for that session.The LED can be used for aesthetics, or (based on user code) to provide visual status updates. Using timing can create patterns.
424 -
425 -0=OFF 1=RED 2=GREEN 3= BLUE 4=YELLOW 5=CYAN 6= 7=MAGENTA, 8=WHITE 
426 -
427 -Query LED Color (**QLED**)
428 -
429 -Ex: #5QLED<cr> might return *5QLED5<cr>
430 -
431 -This simple query returns the indicated servo's LED color.
432 -
433 -Configure LED Color (**CLED**)
434 -
435 -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.
436 -
437 -__17. Identification Number__
438 -
439 -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.
440 -
441 441  Query Identification (**QID**)
442 442  
443 443  EX: #254QID<cr> might return *QID5<cr>
444 444  
445 -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.
432 +When using the query ID command, it is best to only have one servo connected and thus receive only one reply. This is useful when you are not sure of the servo's ID, but don't want to change it. Using the broadcast command (ID 254) with only one servo will have that servo reply with its ID number (assuming the query is sent . 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.
446 446  
447 447  Configure ID (**CID**)
448 448  
449 449  Ex: #4CID5<cr>
450 450  
451 -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.
438 +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. The servo must be RESET or power cycled in order for the new ID to take effect.
452 452  
453 -__18. Baud Rate__
440 +====== __17. Baud Rate__ ======
454 454  
455 -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.
456 -\*: 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.
442 +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 a 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: 9600 bps, 19200 bps, 38400 bps, 57600 bps, 115.2 kbps, 230.4 kbps, 250.0 kbps, 460.8 kbps, 500.0 kbps. Servos are shipped with a baud rate set to 9600. The baud rates are currently restricted to those above.
457 457  
458 458  Query Baud Rate (**QB**)
459 459  
460 460  Ex: #5QB<cr> might return *5QB9600<cr>
461 461  
462 -Querying the baud rate is used simply to confirm the CB configuration command before the servo is power cycled.
448 +Since the command to query the baud rate must be done at the servo's existing baud rate, it can simply be used to confirm the CB configuration command was correctly received before the servo is power cycled and the new baud rate takes effect.
463 463  
464 464  Configure Baud Rate (**CB**)
465 465  
452 +Important Note: the servo's current session retains the given baud rate and the new baud rate will only take effect when the servo is power cycled / RESET.
453 +
466 466  Ex: #5CB9600<cr>
467 467  
468 468  Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
469 469  
470 -__19. Gyre Rotation Direction__
458 +====== __18. First Position (Pulse) (**FP**)__ ======
471 471  
472 -"Gyre" is defined as a circular course or motion. The effect of changing the gyre direction is as if you were to use a mirror image of a circle. CW = 1; CCW = -1. The factory default is clockwise (CW).
460 +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" (a.k.a. "initial 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.
473 473  
474 -{images showing before and after with AR and Origin offset}
475 -
476 -Query Gyre Direction (**QG**)
477 -
478 -Ex: #5QG<cr> might return *5QG-1<cr>
479 -
480 -The value returned above means the servo is in a counter-clockwise gyration.
481 -
482 -Configure Gyre (**CG**)
483 -
484 -Ex: #5CG-1<cr>
485 -
486 -This changes the gyre direction as described above and also writes to EEPROM.
487 -
488 -__20. First / Initial Position (pulse)__
489 -
490 -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.
491 -
492 492  Query First Position in Pulses (**QFP**)
493 493  
494 494  Ex: #5QFP<cr> might return *5QFP1550<cr>
... ... @@ -499,11 +499,11 @@
499 499  
500 500  Ex: #5CP1550<cr>
501 501  
502 -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).
472 +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 (Ex. #5CFP<cr>) results in the servo remaining limp upon power up (i.e. disabled).
503 503  
504 -__21. First / Initial Position (Degrees)__
474 +====== __19. First / Initial Position (Degrees) (**FD**)__ ======
505 505  
506 -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.
476 +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" (a.k.a. "initial 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.
507 507  
508 508  Query First Position in Degrees (**QFD**)
509 509  
... ... @@ -515,39 +515,27 @@
515 515  
516 516  Ex: #5CD64<cr>
517 517  
518 -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.
488 +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 (Ex. #5CFD<cr>) results in the servo remaining limp upon power up.
519 519  
520 -__22. Query Target Position in Degrees (**QDT**)__
490 +====== __20. Query Model String (**QMS**)__ ======
521 521  
522 -Ex: #5QDT<cr> might return *5QDT6783<cr>
523 -
524 -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>).
525 -
526 -__23. Query Model String (**QMS**)__
527 -
528 528  Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
529 529  
530 530  This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
531 531  
532 -__23b. Query Model (**QM**)__
496 +====== __241. Query Serial Number (**QN**)__ ======
533 533  
534 -Ex: #5QM<cr> might return *5QM68702699520cr>
535 -
536 -This reply means the servo model is 0xFFF000000 or 100, meaning a high speed servo, first revision.
537 -
538 -__24. Query Serial Number (**QN**)__
539 -
540 540  Ex: #5QN<cr> might return *5QN~_~_<cr>
541 541  
542 542  The number in the response is the servo's serial number which is set and cannot be changed.
543 543  
544 -__25. Query Firmware (**QF**)__
502 +====== __22. Query Firmware (**QF**)__ ======
545 545  
546 546  Ex: #5QF<cr> might return *5QF11<cr>
547 547  
548 548  The integer in the reply represents the firmware version with one decimal, in this example being 1.1
549 549  
550 -__26. Query Status (**Q**)__
508 +====== __23. Query Status (**Q**)__ ======
551 551  
552 552  Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
553 553  
... ... @@ -557,32 +557,32 @@
557 557  |ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
558 558  |ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
559 559  |ex: *5Q4<cr>|Traveling|Moving at a stable speed
560 -|ex: *5Q5<cr>|Deccelerating|Decreasing speed towards travel speed towards rest
518 +|ex: *5Q5<cr>|Decelerating|Decreasing from travel speed towards final position.
561 561  |ex: *5Q6<cr>|Holding|Keeping current position
562 562  |ex: *5Q7<cr>|Stepping|Special low speed mode to maintain torque
563 -|ex: *5Q8<cr>|Outside limits|More details coming soon
521 +|ex: *5Q8<cr>|Outside limits|{More details coming soon}
564 564  |ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting
565 -|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maxiumum duty and still cannot move (i.e.: stalled)
523 +|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
566 566  
567 -__27. Query Voltage (**QV**)__
525 +====== __24. Query Voltage (**QV**)__ ======
568 568  
569 569  Ex: #5QV<cr> might return *5QV11200<cr>
570 570  
571 571  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).
572 572  
573 -__28. Query Temperature (**QT**)__
531 +====== __25. Query Temperature (**QT**)__ ======
574 574  
575 575  Ex: #5QT<cr> might return *5QT564<cr>
576 576  
577 577  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.
578 578  
579 -__29. Query Current (**QC**)__
537 +====== __26. Query Current (**QC**)__ ======
580 580  
581 581  Ex: #5QC<cr> might return *5QC140<cr>
582 582  
583 583  The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
584 584  
585 -__30. RC Mode (**CRC**)__
543 +====== __27 / 28. RC Mode (**CRC**)__ ======
586 586  
587 587  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.
588 588  
... ... @@ -594,13 +594,13 @@
594 594  
595 595  EX: #5CRC<cr>
596 596  
597 -__31. RESET__
555 +====== __29. **RESET**__ ======
598 598  
599 599  Ex: #5RESET<cr> or #5RS<cr>
600 600  
601 601  This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
602 602  
603 -__32. DEFAULT & CONFIRM__
561 +====== __30. **DEFAULT** & CONFIRM__ ======
604 604  
605 605  Ex: #5DEFAULT<cr>
606 606  
... ... @@ -612,7 +612,7 @@
612 612  
613 613  Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
614 614  
615 -__33. UPDATE & CONFIRM__
573 +====== __31. **UPDATE** & CONFIRM__ ======
616 616  
617 617  Ex: #5UPDATE<cr>
618 618  
... ... @@ -624,4 +624,76 @@
624 624  
625 625  Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
626 626  
627 -=== ===
585 +====== __A1. Angular Stiffness (**AS**)__ ======
586 +
587 +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.
588 +
589 +A positive value of "angular stiffness":
590 +
591 +* The more torque will be applied to try to keep the desired position against external input / changes
592 +* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position
593 +
594 +A negative value on the other hand:
595 +
596 +* Causes a slower acceleration to the travel speed, and a slower deceleration
597 +* Allows the target position to deviate more from its position before additional torque is applied to bring it back
598 +
599 +The default value is zero and the effect becomes extreme by -4, +4. There are no units, only integers between -4 to 4. Greater values produce increasingly erratic behavior.
600 +
601 +Ex: #5AS-2<cr>
602 +
603 +This reduces 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.
604 +
605 +Ex: #5QAS<cr>
606 +
607 +Queries the value being used.
608 +
609 +Ex: #5CAS<cr>
610 +
611 +Writes the desired angular stiffness value to memory.
612 +
613 +====== __A2. Angular Holding Stiffness (**AH**)__ ======
614 +
615 +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.
616 +
617 +Ex: #5AH3<cr>
618 +
619 +This sets the holding stiffness for servo #5 to 3 for that session.
620 +
621 +Query Angular Hold Stiffness (**QAH**)
622 +
623 +Ex: #5QAH<cr> might return *5QAH3<cr>
624 +
625 +This returns the servo's angular holding stiffness value.
626 +
627 +Configure Angular Hold Stiffness (**CAH**)
628 +
629 +Ex: #5CAH2<cr>
630 +
631 +This writes the angular holding stiffness of servo #5 to 2 to EEPROM
632 +
633 +====== __A3: Angular Acceleration (**AA**)__ ======
634 +
635 +{More details to come}
636 +
637 +====== __A4: Angular Deceleration (**AD**)__ ======
638 +
639 +{More details to come}
640 +
641 +====== __A5: Motion Control (**EM**)__ ======
642 +
643 +{More details to come}
644 +
645 +====== __A6. Configure LED Blinking (**CLB**)__ ======
646 +
647 +This command allows you to control when the RGB LED will blink the user set color (see [[16. RGB LED>>||anchor="H16.RGBLED28LED29"]] for details).
648 +You can turn on or off blinking for various LSS status. Here is the list and their associated value: 0=No blinking, ; 63=Always blink; Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;
649 +
650 +To set blinking, use CLB with the value of your choosing. To activate blinking in multiple status, simply add together the values of the corresponding status. See examples below:
651 +
652 +Ex: #5CLB0<cr> to turn off all blinking (LED always solid)
653 +Ex: #5CLB1<cr> only blink when limp
654 +Ex: #5CLB2<cr> only blink when holding
655 +Ex: #5CLB12<cr> only blink when accel or decel
656 +Ex: #5CLB48<cr> only blink when free or travel
657 +Ex: #5CLB63<cr> blink in all status
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