Last modified by Eric Nantel on 2024/11/21 09:43
From version < 64.6 >
edited by RB1
on 2018/11/19 09:29
To version < 63.1 >
edited by Coleman Benson
on 2018/10/19 09:50
< >
Change comment: There is no comment for this version

Summary

Details

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Author
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1 -xwiki:XWiki.RB1
1 +xwiki:XWiki.CBenson
Content
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1 -{{toc depth="3"/}}
2 -
3 -= Protocol concepts =
4 -
5 5  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.
6 6  
7 -== Session ==
3 +=== Session ===
8 8  
9 9  A "session" is defined as the time between when the servo is powered ON to when it is powered OFF or reset.
10 10  
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161 161  | 20|**F**irst Position (**P**ulse)| | QFP|CFP | ✓| ✓| none |
162 162  | 21|**F**irst Position (**D**egrees)| | QFD|CFD| ✓| ✓| none |
163 163  | 22|**T**arget (**D**egree) **P**osition| | QDT| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
164 -| 23|**M**odel **String**| | QMS| | | | none (string)| Recommended to determine the model|
165 -| 23b|**M**odel| | QM| | | | none (integer)| Returns a raw value representing the three model inputs (36 bit)|
160 +| 23|**M**odel| | QM| | | | none (integer)|
166 166  | 24|Serial **N**umber| | QN| | | | none (integer)|
167 167  | 25|**F**irmware version| | QF| | | | none (integer)|
168 168  | 26|**Q**uery (general status)| | Q| | | ✓| none (integer from 1 to 8)| See command description for details
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179 179  |32|**DEFAULT**| | | | |✓|none|Revert to firmware default values. See command for details
180 180  |33|**UPDATE**| | | | |✓|none|Update firmware. See command for details.
181 181  
182 -== Details ==
177 += Details =
183 183  
184 -===== __1. Limp (**L**)__ =====
179 +__1. Limp (**L**)__
185 185  
186 186  Example: #5L<cr>
187 187  
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527 527  
528 528  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>).
529 529  
530 -__23. Query Model String (**QMS**)__
525 +__23. Query Model (**QM**)__
531 531  
532 -Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
527 +Ex: #5QM<cr> might return *5QM11<cr>
533 533  
534 -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)
535 535  
536 -__23b. Query Model (**QM**)__
537 -
538 -Ex: #5QM<cr> might return *5QM68702699520cr>
539 -
540 -This reply means the servo model is 0xFFF000000 or 100, meaning a high speed servo, first revision.
541 -
542 542  __24. Query Serial Number (**QN**)__
543 543  
544 544  Ex: #5QN<cr> might return *5QN~_~_<cr>
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627 627  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.
628 628  
629 629  Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
619 +
620 +=== ===
Copyright RobotShop 2018