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Author

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1		-xwiki:XWiki.CBenson
	1	+xwiki:XWiki.RB1

Content

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1		-= Table of Contents =
2		-
3	3	{{toc depth="3"/}}
4	4
5		-= Protocol Concepts =
	3	+= Protocol concepts =
6	6
7	7	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.
8	8
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29	29
30	30	Action commands are session-specific, therefore once a servo is power cycled, it will not have any "memory" of previous actions or virtual positions (as described at the bottom of this page).
31	31
32		-== Action Modifiers ==
	30	+=== Action Modifiers ===
33	33
34	34	Two commands can be used as action modifiers only: Timed Move and Speed. The format is:
35	35
...	...	@@ -108,7 +108,7 @@
108	108
109	109	#5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
110	110
111		-== Virtual Angular Position ==
	109	+=== Virtual Angular Position ===
112	112
113	113	{In progress}
114	114
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163	163	| 20|[[**F**irst Position (**P**ulse)>>||anchor="H20.First2InitialPosition28pulse29"]]| | QFP|CFP | ✓| ✓| none |
164	164	| 21|[[**F**irst Position (**D**egrees)>>||anchor="H21.First2InitialPosition28Degrees29"]]| | QFD|CFD| ✓| ✓| none |
165	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|
	164	+| 23|[[**M**odel **String**>>||anchor="H23.QueryModelString28QMS29"]]| | QMS| | | | none (string)| Recommended to determine the model|
167	167	| 23b|[[**M**odel>>||anchor="H23b.QueryModel28QM29"]]| | QM| | | | none (integer)| Returns a raw value representing the three model inputs (36 bit)|
168	168	| 24|[[Serial **N**umber>>||anchor="H24.QuerySerialNumber28QN29"]]| | QN| | | | none (integer)|
169	169	| 25|[[**F**irmware version>>||anchor="H25.QueryFirmware28QF29"]]| | QF| | | | none (integer)|
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178	178	Puts the servo into RC mode. To revert to smart mode, use the button menu.
179	179	)))
180	180	|31|[[**RESET**>>||anchor="H31.RESET"]]| | | | | ✓|none|Soft reset. See command for details.
181		-|32|[[**DEFAULT**>>||anchor="H32.DEFAULTA026CONFIRM"]]| | | | |✓|none|Revert to firmware default values. See command for details
182		-|33|[[**UPDATE**>>||anchor="H33.UPDATEA026CONFIRM"]]| | | | |✓|none|Update firmware. See command for details.
	179	+|32|[[**DEFAULT**>>||anchor="H32.DEFAULT026CONFIRM"]]| | | | |✓|none|Revert to firmware default values. See command for details
	180	+|33|[[**UPDATE**>>||anchor="H33.UPDATE026CONFIRM"]]| | | | |✓|none|Update firmware. See command for details.
183	183
184	184	== Details ==
185	185
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563	563	|ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
564	564	|ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
565	565	|ex: *5Q4<cr>|Traveling|Moving at a stable speed
566		-|ex: *5Q5<cr>|Decelerating|Decreasing from travel speed towards final position.
	564	+|ex: *5Q5<cr>|Deccelerating|Decreasing speed towards travel speed towards rest
567	567	|ex: *5Q6<cr>|Holding|Keeping current position
568	568	|ex: *5Q7<cr>|Stepping|Special low speed mode to maintain torque
569		-|ex: *5Q8<cr>|Outside limits|{More details coming soon}
	567	+|ex: *5Q8<cr>|Outside limits|More details coming soon
570	570	|ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting
571		-|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
	569	+|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maxiumum duty and still cannot move (i.e.: stalled)
572	572
573	573	====== __27. Query Voltage (**QV**)__ ======
574	574