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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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
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177	177	|32|**DEFAULT**| | | | |✓|none|Revert to firmware default values. See command for details
178	178	|33|**UPDATE**| | | | |✓|none|Update firmware. See command for details.
179	179
180		-== Details ==
	177	+= Details =
181	181
182		-==== __1. Limp (**L**)__ ====
	179	+__1. Limp (**L**)__
183	183
184	184	Example: #5L<cr>
185	185
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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**)__
	525	+__23. Query Model (**QM**)__
529	529
530		-Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
	527	+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.
	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>
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625	625	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.
626	626
627	627	Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
	619	+
	620	+=== ===