Last modified by Eric Nantel on 2025/06/06 07:47
From version < 66.1 >
edited by Coleman Benson
on 2018/11/20 12:07
To version < 75.2 >
edited by RB1
on 2019/01/15 10:01
< >
Change comment: Update document after refactoring.

Summary

Details

Page properties
Parent
... ... @@ -1,1 +1,1 @@
1 -lynxmotion:LSS - Overview (DEV).WebHome
1 +Lynxmotion Smart Servo (LSS)1.WebHome
Author
... ... @@ -1,1 +1,1 @@
1 -xwiki:XWiki.CBenson
1 +xwiki:XWiki.RB1
Content
... ... @@ -1,6 +1,8 @@
1 += Table of Contents =
2 +
1 1  {{toc depth="3"/}}
2 2  
3 -= Protocol concepts =
5 += Protocol Concepts =
4 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  
... ... @@ -48,7 +48,7 @@
48 48  
49 49  == Configuration Commands ==
50 50  
51 -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]].
53 +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:Lynxmotion Smart Servo (LSS).LSS - RC PWM.WebHome]].
52 52  
53 53  1. Start with a number sign # (U+0023)
54 54  1. Servo ID number as an integer
... ... @@ -134,41 +134,41 @@
134 134  = Command List =
135 135  
136 136  |= #|=Description|= Action|= Query|= Config|= RC|= Serial|= Units|= Notes
137 -| 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| L| | | | ✓| none|
138 -| 2|[[**H**alt & Hold>>||anchor="H2.Halt26Hold28H29"]]| H| | | | ✓| none|
139 -| 3|[[**T**imed move>>||anchor="H3.Timedmove28T29"]]| T| | | | ✓| milliseconds| Modifier only
140 -| 4|[[**S**peed>>||anchor="H4.Speed28S29"]]| S| | | | ✓| microseconds / second| Modifier only
141 -| 5|[[**M**ove in **D**egrees (relative)>>||anchor="H5.28Relative29MoveinDegrees28MD29"]]| MD| | | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
142 -| 6|[[**O**rigin Offset>>||anchor="H6.OriginOffsetAction28O29"]]| O| QO| CO| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
143 -| 7|[[**A**ngular **R**ange>>||anchor="H7.AngularRange28AR29"]]| AR| QAR| CAR| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
144 -| 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| P| QP| | | ✓| microseconds|(((
139 +| 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| L| | | | ✓|none|
140 +| 2|[[**H**alt & Hold>>||anchor="H2.Halt26Hold28H29"]]| H| | | | ✓|none|
141 +| 3|[[**T**imed move>>||anchor="H3.Timedmove28T29"]]| T| | | | ✓|milliseconds| Modifier only (P, D, MD)
142 +| 4|[[**S**peed>>||anchor="H4.Speed28S29"]]| S| | | | ✓|microseconds / second| Modifier only (P)
143 +| 5|[[**M**ove in **D**egrees (relative)>>||anchor="H5.28Relative29MoveinDegrees28MD29"]]| MD| | | | ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
144 +| 6|[[**O**rigin Offset>>||anchor="H6.OriginOffsetAction28O29"]]| O| QO| CO| ✓| ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
145 +| 7|[[**A**ngular **R**ange>>||anchor="H7.AngularRange28AR29"]]| AR| QAR| CAR| ✓| ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
146 +| 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| P| QP| | | ✓|microseconds|(((
145 145  See details below
146 146  )))
147 -| 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| D| QD| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
148 -| 10|[[**W**heel mode in **D**egrees>>||anchor="H10.WheelModeinDegrees28WD29"]]| WD| QWD| | | ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|
149 -| 11|[[**W**heel mode in **R**PM>>||anchor="H11.WheelModeinRPM28WR29"]]| WR| QWR| | | ✓| rpm|
150 -| 12|[[Max **S**peed in **D**egrees>>||anchor="H12.SpeedinDegrees28SD29"]]| SD| QSD| CSD| ✓| ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|QSD: Add modifier "2" for instantaneous speed
151 -| 13|[[Max **S**peed in **R**PM>>||anchor="H13.SpeedinRPM28SR29"]]| SR| QSR| CSR| ✓| ✓| rpm|QSR: Add modifier "2" for instantaneous speed
149 +| 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| D| QD| | | ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
150 +| 10|[[**W**heel mode in **D**egrees>>||anchor="H10.WheelModeinDegrees28WD29"]]| WD| QWD| | | ✓|tenths of degrees per second (ex 248 = 24.8 degrees per second)|A.K.A. "Speed mode" or "Continuous rotation"
151 +| 11|[[**W**heel mode in **R**PM>>||anchor="H11.WheelModeinRPM28WR29"]]| WR| QWR| | | ✓| rpm|A.K.A. "Speed mode" or "Continuous rotation"
152 +| 12|[[Max **S**peed in **D**egrees>>||anchor="H12.SpeedinDegrees28SD29"]]| SD| QSD| CSD| ✓| ✓|tenths of degrees per second (ex 248 = 24.8 degrees per second)|QSD: Add modifier "2" for instantaneous speed
153 +| 13|[[Max **S**peed in **R**PM>>||anchor="H13.SpeedinRPM28SR29"]]| SR| QSR| CSR| ✓| ✓|rpm|QSR: Add modifier "2" for instantaneous speed
152 152  | 14|[[**A**ngular **S**tiffness>>||anchor="H14.AngularStiffness28AS29"]]| AS| QAS| CAS| ✓| ✓|none|-4 to +4, but suggested values are between 0 to +4
153 153  | 15|[[**A**ngular **H**olding Stiffness>>||anchor="H15.AngularHoldStiffness28AH29"]]|AH|QAH|CAH| | ✓|none|-10 to +10, with default as 0.
154 154  |15b|[[**A**ngular **A**cceleration>>||anchor="H15b:AngularAcceleration28AA29"]]|AA|QAA|CAA| | ✓|degrees per second squared|Increments of 10 degrees per second squared
155 155  |15c|[[**A**ngular **D**eceleration>>||anchor="H15c:AngularDeceleration28AD29"]]|AD|QAD|CAD| | ✓|degrees per second squared|Increments of 10 degrees per second squared
156 -|15d|[[**M**otion **C**ontrol>>||anchor="H15d:MotionControl28MC29"]]|MC|QMC| | | ✓|none|MC0 to disable motion control, MC1 to enable. Session specific
157 -| 16|[[**LED** Color>>||anchor="H16.RGBLED28LED29"]]| 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
158 -| 17|[[**ID** #>>||anchor="H17.IdentificationNumber"]]| | QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to
159 -| 18|[[**B**aud rate>>||anchor="H18.BaudRate"]]| B| QB| CB| | ✓| none (integer)|
160 -| 19|[[**G**yre direction (**G**)>>||anchor="H19.GyreRotationDirection"]]| G| QG| CG| ✓| ✓| none | Gyre / rotation direction where 1= CW (clockwise) -1 = CCW (counter-clockwise)
161 -| 20|[[**F**irst Position (**P**ulse)>>||anchor="H20.First2InitialPosition28pulse29"]]| | QFP|CFP | ✓| ✓| none |
162 -| 21|[[**F**irst Position (**D**egrees)>>||anchor="H21.First2InitialPosition28Degrees29"]]| | QFD|CFD| ✓| ✓| none |
163 -| 22|[[**T**arget (**D**egree) **P**osition>>||anchor="H22.QueryTargetPositioninDegrees28QDT29"]]| | QDT| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
164 -| 23|[[**M**odel **String**>>||anchor="H23.QueryModelString28QMS29"]]| | QMS| | | | none (string)| Recommended to determine the model|
165 -| 23b|[[**M**odel>>||anchor="H23b.QueryModel28QM29"]]| | QM| | | | none (integer)| Returns a raw value representing the three model inputs (36 bit)|
166 -| 24|[[Serial **N**umber>>||anchor="H24.QuerySerialNumber28QN29"]]| | QN| | | | none (integer)|
167 -| 25|[[**F**irmware version>>||anchor="H25.QueryFirmware28QF29"]]| | QF| | | | none (integer)|
168 -| 26|[[**Q**uery (general status)>>||anchor="H26.QueryStatus28Q29"]]| | Q| | | ✓| none (integer from 1 to 8)| See command description for details
169 -| 27|[[**V**oltage>>||anchor="H27.QueryVoltage28QV29"]]| | QV| | | ✓| millivolts (ex 5936 = 5936mV = 5.936V)|
170 -| 28|[[**T**emperature>>||anchor="H28.QueryTemperature28QT29"]]| | QT| | | ✓| tenths of degrees Celsius|Max temp before error: 85°C (servo goes limp)
171 -| 29|[[**C**urrent>>||anchor="H29.QueryCurrent28QC29"]]| | QC| | | ✓| milliamps (ex 200 = 0.2A)|
158 +|15d|[[**E**nable **M**otion control>>||anchor="H15d:MotionControl28MC29"]]|EM|QEM| | | ✓|none|EM0 to disable motion control, EM1 to enable. Session specific / does not survive power cycles
159 +| 16|[[**LED** Color>>||anchor="H16.RGBLED28LED29"]]| 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
160 +| 17|[[**ID** #>>||anchor="H17.IdentificationNumber"]]| | QID| CID| | ✓|none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to
161 +| 18|[[**B**aud rate>>||anchor="H18.BaudRate"]]| B| QB| CB| | ✓|none (integer)|
162 +| 19|[[**G**yre direction (**G**)>>||anchor="H19.GyreRotationDirection"]]| G| QG| CG| ✓| ✓|none | Gyre / rotation direction where 1= CW (clockwise) -1 = CCW (counter-clockwise)
163 +| 20|[[**F**irst Position (**P**ulse)>>||anchor="H20.First2InitialPosition28pulse29"]]| | QFP|CFP | ✓| ✓|none |
164 +| 21|[[**F**irst Position (**D**egrees)>>||anchor="H21.First2InitialPosition28Degrees29"]]| | QFD|CFD| ✓| ✓|none |
165 +| 22|[[**T**arget (**D**egree) **P**osition>>||anchor="H22.QueryTargetPositioninDegrees28QDT29"]]| | QDT| | | ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
166 +| 23|[[**M**odel **S**tring>>||anchor="H23.QueryModelString28QMS29"]]| | QMS| | | |none (string)| Recommended to determine the model|
167 +| 23b|[[**M**odel>>||anchor="H23b.QueryModel28QM29"]]| | QM| | | |none (integer)| Returns a raw value representing the three model inputs (36 bit)|
168 +| 24|[[Serial **N**umber>>||anchor="H24.QuerySerialNumber28QN29"]]| | QN| | | |none (integer)|
169 +| 25|[[**F**irmware version>>||anchor="H25.QueryFirmware28QF29"]]| | QF| | | |none (integer)|
170 +| 26|[[**Q**uery (general status)>>||anchor="H26.QueryStatus28Q29"]]| | Q| | | ✓|none (integer from 1 to 8)| See command description for details
171 +| 27|[[**V**oltage>>||anchor="H27.QueryVoltage28QV29"]]| | QV| | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|
172 +| 28|[[**T**emperature>>||anchor="H28.QueryTemperature28QT29"]]| | QT| | | ✓|tenths of degrees Celsius|Max temp before error: 85°C (servo goes limp)
173 +| 29|[[**C**urrent>>||anchor="H29.QueryCurrent28QC29"]]| | QC| | | ✓|milliamps (ex 200 = 0.2A)|
172 172  | 30|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]]| | |CRC| |✓|none|(((
173 173  CRC: Add modifier "1" for RC-position mode.
174 174  CRC: Add modifier "2" for RC-wheel mode.
... ... @@ -199,6 +199,8 @@
199 199  
200 200  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.
201 201  
204 +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.
205 +
202 202  ====== __4. Speed (**S**)__ ======
203 203  
204 204  Example: #5P1500S750<cr>
... ... @@ -416,7 +416,7 @@
416 416  
417 417  {More details to come}
418 418  
419 -====== __15d: Motion Control (**MC**)__ ======
423 +====== __15d: Motion Control (**EM**)__ ======
420 420  
421 421  {More details to come}
422 422  
... ... @@ -561,12 +561,12 @@
561 561  |ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
562 562  |ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
563 563  |ex: *5Q4<cr>|Traveling|Moving at a stable speed
564 -|ex: *5Q5<cr>|Deccelerating|Decreasing speed towards travel speed towards rest
568 +|ex: *5Q5<cr>|Decelerating|Decreasing from travel speed towards final position.
565 565  |ex: *5Q6<cr>|Holding|Keeping current position
566 566  |ex: *5Q7<cr>|Stepping|Special low speed mode to maintain torque
567 -|ex: *5Q8<cr>|Outside limits|More details coming soon
571 +|ex: *5Q8<cr>|Outside limits|{More details coming soon}
568 568  |ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting
569 -|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maxiumum duty and still cannot move (i.e.: stalled)
573 +|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
570 570  
571 571  ====== __27. Query Voltage (**QV**)__ ======
572 572  

Navigation

Copyright RobotShop 2018