Last modified by Eric Nantel on 2024/11/21 09:43
From version < 64.2 >
edited by RB1
on 2018/11/19 09:26
To version < 61.1 >
edited by Coleman Benson
on 2018/09/24 12:38
< >
Change comment: There is no comment for this version

Summary

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Author
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1 -xwiki:XWiki.RB1
1 +xwiki:XWiki.CBenson
Content
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1 -= Protocol concepts =
2 -
3 3  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.
4 4  
5 -== Session ==
3 +=== Session ===
6 6  
7 7  A "session" is defined as the time between when the servo is powered ON to when it is powered OFF or reset.
8 8  
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44 44  Action modifiers can only be used with certain commands.
45 45  )))
46 46  
45 +(((
46 +
47 +)))
48 +
47 47  == Configuration Commands ==
48 48  
49 49  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]].
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148 148  | 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
149 149  | 13|Max **S**peed in **R**PM| SR| QSR| CSR| ✓| ✓| rpm|QSR: Add modifier "2" for instantaneous speed
150 150  | 14|**A**ngular **S**tiffness| AS| QAS| CAS| ✓| ✓|none|-4 to +4, but suggested values are between 0 to +4
151 -| 15|**A**ngular **H**olding Stiffness|AH|QAH|CAH| | ✓|none|-10 to +10, with default as 0.
152 -|15b|**A**ngular **A**cceleration|AA|QAA|CAA| | ✓|degrees per second squared|Increments of 10 degrees per second squared
153 -|15c|**A**ngular **D**eceleration|AD|QAD|CAD| | ✓|degrees per second squared|Increments of 10 degrees per second squared
154 -|15d|**M**otion **C**ontrol|MC|QMC| | | ✓|none|MC0 to disable motion control, MC1 to enable. Session specific
153 +| 15|//N/A (removed)//| | | | | | |
155 155  | 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
156 156  | 17|**ID** #| | QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to
157 157  | 18|**B**aud rate| B| QB| CB| | ✓| none (integer)|
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159 159  | 20|**F**irst Position (**P**ulse)| | QFP|CFP | ✓| ✓| none |
160 160  | 21|**F**irst Position (**D**egrees)| | QFD|CFD| ✓| ✓| none |
161 161  | 22|**T**arget (**D**egree) **P**osition| | QDT| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
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 +| 23|**M**odel| | QM| | | | none (integer)|
164 164  | 24|Serial **N**umber| | QN| | | | none (integer)|
165 165  | 25|**F**irmware version| | QF| | | | none (integer)|
166 166  | 26|**Q**uery (general status)| | Q| | | ✓| none (integer from 1 to 8)| See command description for details
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358 358  
359 359  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.
360 360  
361 -__14. Angular Stiffness (**AS**)__
359 +__14. Angular Stiffness (AS)__
362 362  
363 363  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.
364 364  
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386 386  
387 387  Writes the desired angular stiffness value to memory.
388 388  
389 -__15. Angular Hold Stiffness (**AH**)__
387 +__15. N/A (removed)__
390 390  
391 -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.
389 +This command has been removed.
392 392  
393 -Ex: #5AH3<cr>
394 -
395 -This sets the holding stiffness for servo #5 to 3 for that session.
396 -
397 -Query Angular Hold Stiffness (**QAH**)
398 -
399 -Ex: #5QAH<cr> might return *5QAH3<cr>
400 -
401 -This returns the servo's angular holding stiffness value.
402 -
403 -Configure Angular Hold Stiffness (**CAH**)
404 -
405 -Ex: #5CAH2<cr>
406 -
407 -This writes the angular holding stiffness of servo #5 to 2 to EEPROM
408 -
409 -__15b: Angular Acceleration (**AA**)__
410 -
411 -{More details to come}
412 -
413 -__15c: Angular Deceleration (**AD**)__
414 -
415 -{More details to come}
416 -
417 -__15d: Motion Control (**MC**)__
418 -
419 -{More details to come}
420 -
421 421  __16. RGB LED (**LED**)__
422 422  
423 423  Ex: #5LED3<cr>
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525 525  
526 526  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>).
527 527  
528 -__23. Query Model String (**QMS**)__
498 +__23. Query Model (**QM**)__
529 529  
530 -Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
500 +Ex: #5QM<cr> might return *5QM11<cr>
531 531  
532 -This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
502 +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)
533 533  
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 -
540 540  __24. Query Serial Number (**QN**)__
541 541  
542 542  Ex: #5QN<cr> might return *5QN~_~_<cr>

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