Last modified by Eric Nantel on 2025/06/06 07:47
From version < 79.2 >
edited by RB1
on 2019/01/23 10:22
To version < 64.27 >
edited by RB1
on 2018/11/19 09:42
< >
Change comment: There is no comment for this version

Summary

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1 -Lynxmotion Smart Servo (LSS).WebHome
1 +lynxmotion:LSS - Overview (DEV).WebHome
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1 -true
1 +false
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1 -LSS|communication|protocol|programming|firmware|control|LSS-Ref
1 +LSS|communication|protocol|programming|firmware|control
Content
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1 -(% class="wikigeneratedid" id="HTableofContents" %)
2 -**Table of Contents**
3 -
4 4  {{toc depth="3"/}}
5 5  
6 -= Protocol Concepts =
3 += Protocol concepts =
7 7  
8 8  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.
9 9  
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30 30  
31 31  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).
32 32  
33 -== Action Modifiers ==
30 +=== Action Modifiers ===
34 34  
35 35  Two commands can be used as action modifiers only: Timed Move and Speed. The format is:
36 36  
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51 51  
52 52  == Configuration Commands ==
53 53  
54 -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]].
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]].
55 55  
56 56  1. Start with a number sign # (U+0023)
57 57  1. Servo ID number as an integer
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109 109  
110 110  #5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
111 111  
112 -== Virtual Angular Position ==
109 +=== Virtual Angular Position ===
113 113  
114 114  {In progress}
115 115  
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137 137  = Command List =
138 138  
139 139  |= #|=Description|= Action|= Query|= Config|= RC|= Serial|= Units|= Notes
140 -| 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| L| | | | ✓|none|
141 -| 2|[[**H**alt & Hold>>||anchor="H2.Halt26Hold28H29"]]| H| | | | ✓|none|
142 -| 3|[[**T**imed move>>||anchor="H3.Timedmove28T29"]]| T| | | | ✓|milliseconds| Modifier only (P, D, MD)
143 -| 4|[[**S**peed>>||anchor="H4.Speed28S29"]]| S| | | | ✓|microseconds / second| Modifier only (P)
144 -| 5|[[**M**ove in **D**egrees (relative)>>||anchor="H5.28Relative29MoveinDegrees28MD29"]]| MD| | | | ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
145 -| 6|[[**O**rigin Offset>>||anchor="H6.OriginOffsetAction28O29"]]| O| QO| CO| ✓| ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
146 -| 7|[[**A**ngular **R**ange>>||anchor="H7.AngularRange28AR29"]]| AR| QAR| CAR| ✓| ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
147 -| 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| P| QP| | | ✓|microseconds|(((
137 +| 1|[[**L**imp>>||anchor="HLimpL"]]| L| | | | ✓| none|
138 +| 2|**H**alt & Hold| H| | | | ✓| none|
139 +| 3|**T**imed move| T| | | | ✓| milliseconds| Modifier only
140 +| 4|**S**peed| S| | | | ✓| microseconds / second| Modifier only
141 +| 5|**M**ove in **D**egrees (relative)| MD| | | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
142 +| 6|**O**rigin Offset| O| QO| CO| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
143 +| 7|**A**ngular **R**ange| AR| QAR| CAR| ✓| ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
144 +| 8|Position in **P**ulse| P| QP| | | ✓| microseconds|(((
148 148  See details below
149 149  )))
150 -| 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| D| QD| | | ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
151 -| 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"
152 -| 11|[[**W**heel mode in **R**PM>>||anchor="H11.WheelModeinRPM28WR29"]]| WR| QWR| | | ✓| rpm|A.K.A. "Speed mode" or "Continuous rotation"
153 -| 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
154 -| 13|[[Max **S**peed in **R**PM>>||anchor="H13.SpeedinRPM28SR29"]]| SR| QSR| CSR| ✓| ✓|rpm|QSR: Add modifier "2" for instantaneous speed
155 -| 14|[[**A**ngular **S**tiffness>>||anchor="H14.AngularStiffness28AS29"]]| AS| QAS| CAS| ✓| ✓|none|-4 to +4, but suggested values are between 0 to +4
156 -| 15|[[**A**ngular **H**olding Stiffness>>||anchor="H15.AngularHoldStiffness28AH29"]]|AH|QAH|CAH| | ✓|none|-10 to +10, with default as 0.
157 -|15b|[[**A**ngular **A**cceleration>>||anchor="H15b:AngularAcceleration28AA29"]]|AA|QAA|CAA| | ✓|degrees per second squared|Increments of 10 degrees per second squared
158 -|15c|[[**A**ngular **D**eceleration>>||anchor="H15c:AngularDeceleration28AD29"]]|AD|QAD|CAD| | ✓|degrees per second squared|Increments of 10 degrees per second squared
159 -|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
160 -| 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
161 -| 17|[[**ID** #>>||anchor="H17.IdentificationNumber"]]| | QID| CID| | ✓|none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to
162 -| 18|[[**B**aud rate>>||anchor="H18.BaudRate"]]| B| QB| CB| | ✓|none (integer)|
163 -| 19|[[**G**yre direction (**G**)>>||anchor="H19.GyreRotationDirection"]]| G| QG| CG| ✓| ✓|none | Gyre / rotation direction where 1= CW (clockwise) -1 = CCW (counter-clockwise)
164 -| 20|[[**F**irst Position (**P**ulse)>>||anchor="H20.First2InitialPosition28pulse29"]]| | QFP|CFP | ✓| ✓|none |
165 -| 21|[[**F**irst Position (**D**egrees)>>||anchor="H21.First2InitialPosition28Degrees29"]]| | QFD|CFD| ✓| ✓|none |
166 -| 22|[[**T**arget (**D**egree) **P**osition>>||anchor="H22.QueryTargetPositioninDegrees28QDT29"]]| | QDT| | | ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
167 -| 23|[[**M**odel **S**tring>>||anchor="H23.QueryModelString28QMS29"]]| | QMS| | | |none (string)| Recommended to determine the model|
168 -| 23b|[[**M**odel>>||anchor="H23b.QueryModel28QM29"]]| | QM| | | |none (integer)| Returns a raw value representing the three model inputs (36 bit)|
169 -| 24|[[Serial **N**umber>>||anchor="H24.QuerySerialNumber28QN29"]]| | QN| | | |none (integer)|
170 -| 25|[[**F**irmware version>>||anchor="H25.QueryFirmware28QF29"]]| | QF| | | |none (integer)|
171 -| 26|[[**Q**uery (general status)>>||anchor="H26.QueryStatus28Q29"]]| | Q| | | ✓|none (integer from 1 to 8)| See command description for details
172 -| 27|[[**V**oltage>>||anchor="H27.QueryVoltage28QV29"]]| | QV| | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|
173 -| 28|[[**T**emperature>>||anchor="H28.QueryTemperature28QT29"]]| | QT| | | ✓|tenths of degrees Celsius|Max temp before error: 85°C (servo goes limp)
174 -| 29|[[**C**urrent>>||anchor="H29.QueryCurrent28QC29"]]| | QC| | | ✓|milliamps (ex 200 = 0.2A)|
175 -| 30|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]]| | |CRC| |✓|none|(((
147 +| 9|Position in **D**egrees| D| QD| | | ✓| tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|
148 +| 10|**W**heel mode in **D**egrees| WD| QWD| | | ✓| tenths of degrees per second (ex 248 = 24.8 degrees per second)|
149 +| 11|**W**heel mode in **R**PM| WR| QWR| | | ✓| rpm|
150 +| 12|Max **S**peed in **D**egrees| 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| SR| QSR| CSR| ✓| ✓| rpm|QSR: Add modifier "2" for instantaneous speed
152 +| 14|**A**ngular **S**tiffness| AS| QAS| CAS| ✓| ✓|none|-4 to +4, but suggested values are between 0 to +4
153 +| 15|**A**ngular **H**olding Stiffness|AH|QAH|CAH| | ✓|none|-10 to +10, with default as 0.
154 +|15b|**A**ngular **A**cceleration|AA|QAA|CAA| | ✓|degrees per second squared|Increments of 10 degrees per second squared
155 +|15c|**A**ngular **D**eceleration|AD|QAD|CAD| | ✓|degrees per second squared|Increments of 10 degrees per second squared
156 +|15d|**M**otion **C**ontrol|MC|QMC| | | ✓|none|MC0 to disable motion control, MC1 to enable. Session specific
157 +| 16|**LED** Color| 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** #| | QID| CID| | ✓| none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to
159 +| 18|**B**aud rate| B| QB| CB| | ✓| none (integer)|
160 +| 19|**G**yre direction (**G**)| G| QG| CG| ✓| ✓| none | Gyre / rotation direction where 1= CW (clockwise) -1 = CCW (counter-clockwise)
161 +| 20|**F**irst Position (**P**ulse)| | QFP|CFP | ✓| ✓| none |
162 +| 21|**F**irst Position (**D**egrees)| | QFD|CFD| ✓| ✓| none |
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)|
166 +| 24|Serial **N**umber| | QN| | | | none (integer)|
167 +| 25|**F**irmware version| | QF| | | | none (integer)|
168 +| 26|**Q**uery (general status)| | Q| | | ✓| none (integer from 1 to 8)| See command description for details
169 +| 27|**V**oltage| | QV| | | ✓| millivolts (ex 5936 = 5936mV = 5.936V)|
170 +| 28|**T**emperature| | QT| | | ✓| tenths of degrees Celsius|Max temp before error: 85°C (servo goes limp)
171 +| 29|**C**urrent| | QC| | | ✓| milliamps (ex 200 = 0.2A)|
172 +| 30|**RC** Mode| | |CRC| |✓|none|(((
176 176  CRC: Add modifier "1" for RC-position mode.
177 177  CRC: Add modifier "2" for RC-wheel mode.
178 178  Any other value for the modifier results in staying in smart mode.
179 179  Puts the servo into RC mode. To revert to smart mode, use the button menu.
180 180  )))
181 -|31|[[**RESET**>>||anchor="H31.RESET"]]| | | | | ✓|none|Soft reset. See command for details.
182 -|32|[[**DEFAULT**>>||anchor="H32.DEFAULTA026CONFIRM"]]| | | | |✓|none|Revert to firmware default values. See command for details
183 -|33|[[**UPDATE**>>||anchor="H33.UPDATEA026CONFIRM"]]| | | | |✓|none|Update firmware. See command for details.
178 +|31|**RESET**| | | | | ✓|none|Soft reset. See command for details.
179 +|32|**DEFAULT**| | | | |✓|none|Revert to firmware default values. See command for details
180 +|33|**UPDATE**| | | | |✓|none|Update firmware. See command for details.
184 184  
185 185  == Details ==
186 186  
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202 202  
203 203  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.
204 204  
205 -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.
202 +====== __4. Speed ====== (**S**)__
206 206  
207 -====== __4. Speed (**S**)__ ======
208 -
209 209  Example: #5P1500S750<cr>
210 210  
211 211  This command is a modifier only for a position (P) action and determines the speed of the move in microseconds per second. A speed of 750 microseconds would cause the servo to rotate from its current position to the desired position at a speed of 750 microseconds per second. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.
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421 421  
422 422  {More details to come}
423 423  
424 -====== __15d: Motion Control (**EM**)__ ======
419 +====== __15d: Motion Control (**MC**)__ ======
425 425  
426 426  {More details to come}
427 427  
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566 566  |ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
567 567  |ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
568 568  |ex: *5Q4<cr>|Traveling|Moving at a stable speed
569 -|ex: *5Q5<cr>|Decelerating|Decreasing from travel speed towards final position.
564 +|ex: *5Q5<cr>|Deccelerating|Decreasing speed towards travel speed towards rest
570 570  |ex: *5Q6<cr>|Holding|Keeping current position
571 571  |ex: *5Q7<cr>|Stepping|Special low speed mode to maintain torque
572 -|ex: *5Q8<cr>|Outside limits|{More details coming soon}
567 +|ex: *5Q8<cr>|Outside limits|More details coming soon
573 573  |ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting
574 -|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)
575 575  
576 576  ====== __27. Query Voltage (**QV**)__ ======
577 577  
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