Changes for page LSS Communication Protocol
Last modified by Eric Nantel on 2025/06/06 07:47
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... ... @@ -1,8 +3,6 @@ 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 ... ... @@ -159,8 +159,7 @@ 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)| 160 +| 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 ... ... @@ -525,18 +525,12 @@ 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**)__525 +__23. Query Model (**QM**)__ 529 529 530 -Ex: #5QM S<cr> might return *5QMSLSS-HS1cr>527 +Ex: #5QM<cr> might return *5QM11<cr> 531 531 532 -This reply means the servo model LSS-HS1, meaningahigh speed servo, first revision.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) 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>