Last modified by Eric Nantel on 2024/11/21 09:43
From version < 92.3 >
edited by Eric Nantel
on 2019/01/29 15:30
To version < 98.1 >
edited by Coleman Benson
on 2019/02/01 16:13
< >
Change comment: There is no comment for this version

Summary

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Author
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1 -xwiki:XWiki.ENantel
1 +xwiki:XWiki.CBenson
Content
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3 3  
4 4  {{toc depth="3"/}}
5 5  
6 -= Protocol Concepts =
6 += Serial Protocol Concept =
7 7  
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.
8 +The custom Lynxmotion Smart Servo (LSS) serial protocol was created in order to be as simple and straightforward as possible from a user perspective ("human readable format"), while at the same time compact and robust yet highly versatile. The protocol was based on Lynxmotion's SSC-32 RC servo controller and almost everything one might expect to be able to configure for a smart servo motor is available.
9 9  
10 +In order to have servos react differently when commands are sent to all servos in a serial bus, the first step a user should take is to assign a different ID number to each servo (explained below). Once this has been done, only the servo(s) which have been assigned to the ID sent as part of the command will follow that command. There is currently no CRC / checksum implemented as part of the protocol.
11 +
10 10  == Session ==
11 11  
12 12  A "session" is defined as the time between when the servo is powered ON to when it is powered OFF or reset.
13 13  
16 +Note that for a given session, the action related to a specific commands overrides the stored value in EEPROM.
17 +
14 14  == Action Commands ==
15 15  
16 -Action commands are sent serially to the servo's Rx pin and must be set in the following format:
20 +Action commands tell the servo, within that session, to do something (i.e. "take an action"). The types of action commands which can be sent are described below, and they cannot be combined with other commands such as queries or configurations. Only one action command can be sent at a time. Action commands are session-specific, therefore once a servo is power cycled, it will not have any "memory" of previous actions or virtual positions (described below on this page). Action commands are sent serially to the servo's Rx pin and must be sent in the following format:
17 17  
18 18  1. Start with a number sign # (U+0023)
19 19  1. Servo ID number as an integer
... ... @@ -24,15 +24,11 @@
24 24  (((
25 25  Ex: #5PD1443<cr>
26 26  
27 -Move servo with ID #5 to a position of 144.3 degrees.
31 +This sends a serial command to all servo's Rx pins which are connected to the bus and only servo(s) with ID #5 will move to a position in tenths of degrees ("PD") of 144.3 degrees. Any servo on the bus which does not have ID 5 will take no action when receiving this command.
28 28  
29 -Action commands cannot be combined with query commands, and only one action command can be sent at a time.
30 -
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 -
33 33  == Action Modifiers ==
34 34  
35 -Two commands can be used as action modifiers only: Timed Move and Speed. The format is:
35 +Only two commands can be used as action modifiers: Timed Move (T) and Speed (S) described below. Action modifiers can only be used with certain action commands. The format to include a modifier is:
36 36  
37 37  1. Start with a number sign # (U+0023)
38 38  1. Servo ID number as an integer
... ... @@ -44,32 +44,12 @@
44 44  
45 45  Ex: #5P1456T1263<cr>
46 46  
47 -Results in the servo rotating from the current angular position to a pulse position of 1456 in 1263 milliseconds.
48 -
49 -Action modifiers can only be used with certain commands.
47 +This results in the servo with ID #5 rotating from the current angular position to a pulse position ("P") of 1456 in a time ("T") of 1263 milliseconds.
50 50  )))
51 51  
52 -== Configuration Commands ==
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]].
55 -
56 -1. Start with a number sign # (U+0023)
57 -1. Servo ID number as an integer
58 -1. Configuration command (two to three letters, no spaces, capital or lower case)
59 -1. Configuration value in the correct units with no decimal
60 -1. End with a control / carriage return '<cr>'
61 -
62 -Ex: #5CO-50<cr>
63 -
64 -Assigns an absolute origin offset of -5.0 degrees (with respect to factory origin) to servo #5 and changes the offset for that session to -5.0 degrees.
65 -
66 -Configuration commands are not cumulative, in that if two configurations are sent at any time, only the last configuration is used and stored.
67 -
68 -*Important Note: the one exception is the baud rate - the servo's current session retains the given baud rate. The new baud rate will only be in place when the servo is power cycled.
69 -
70 70  == Query Commands ==
71 71  
72 -Query commands are sent serially to the servo's Rx pin and must be set in the following format:
52 +Query commands request information from the servo. They are received via the Rx pin of the servo, and the servo's reply is sent via the servo's Tx pin. Using separate lines for Tx and Rx is called "full duplex". Query commands are also similar to action and configuration commands and must use the following format:
73 73  
74 74  1. Start with a number sign # (U+0023)
75 75  1. Servo ID number as an integer
... ... @@ -81,49 +81,61 @@
81 81  )))
82 82  
83 83  (((
84 -The query will return a value via the Tx pin with the following format:
64 +The query will return a serial string (almost instantaneously) via the servo's Tx pin with the following format:
85 85  
86 -1. Start with an asterisk (U+002A)
66 +1. Start with an asterisk * (U+002A)
87 87  1. Servo ID number as an integer
88 88  1. Query command (one to three letters, no spaces, capital letters)
89 89  1. The reported value in the units described, no decimals.
90 90  1. End with a control / carriage return '<cr>'
91 91  
72 +There is currently no option to control how fast a servo replies after it has received a query command, therefore when sending a query command to the bus, the controller should be prepared to immediately "listen" for and parse the reply. Sending multiple queries on a bus in fast succession may result in replies overlapping and giving incorrect or corrupt data. As such, the controller should receive a reply before sending a new command. A reply to the query sent above might be:
73 +
92 92  (((
93 93  Ex: *5QD1443<cr>
94 94  )))
95 95  
96 -Indicates that servo #5 is currently at 144.3 degrees.
78 +This indicates that servo #5 is currently at 144.3 degrees (1443 tenths of degrees).
97 97  
98 -**Session vs Configuration Query**
80 +== Configuration Commands ==
99 99  
100 -By default, the query command returns the sessions' value; should no action commands have been sent to change, it will return the value saved in EEPROM from the last configuration command.
82 +Configuration commands and corresponding values affect a servo's defaults which are written to and read from the servo's EEPROM. These configurations are retained in memory after the servo is reset or power is cut / lost. Some configuration commands affect the session, while others do not. In the Command table below, the column "Session" denotes if the configuration command affects the session.. Not all action commands have a corresponding configuration and vice versa. More information about which configuration commands are retained when in RC mode can be found on the [[LSS - RC PWM page>>doc:Lynxmotion Smart Servo (LSS).LSS - RC PWM.WebHome]]. Configuration commands are not cumulative, in that if two configurations are sent, one after the next, only the last configuration is used and stored. The format to send a configuration command is identical to that of an action command:
101 101  
102 -In order to query the value in EEPROM, add a '1' to the query command.
84 +1. Start with a number sign # (U+0023)
85 +1. Servo ID number as an integer
86 +1. Configuration command (two to three letters, no spaces, capital or lower case)
87 +1. Configuration value in the correct units with no decimal
88 +1. End with a control / carriage return '<cr>'
103 103  
104 -Ex: #5CSR20<cr> sets the maximum speed for servo #5 to 20rpm upon RESET (explained below).
90 +Ex: #5CO-50<cr>
105 105  
106 -After RESET: #5SR4<cr> sets the session's speed to 4rpm.
92 +This configures an absolute origin offset ("CO") with respect to factory origin to servo with ID #5 and changes the offset for that session to -5.0 degrees (50 tenths of degrees). Once the servo is powered off and then powered on, zeroing the servo will cause it to move to -5.0 degrees with respect to the factory origin and report its position as 0 degrees. Configuration commands can be undone / reset either by sending the servo's default value for that configuration, or by doing a factory reset (clears all configurations) described below.
107 107  
108 -#5QSR<cr> would return *5QSR4<cr> which represents the value for that session.
94 +**Session vs Configuration Query**
109 109  
96 +By default, the query command returns the sessions' value. Should no action commands have been sent to change the session value, it will return the value saved in EEPROM which will either be the servo's default, or modified with a configuration command. In order to query the value stored in EEPROM (configuration), add a '1' to the query command:
97 +
98 +Ex: #5CSR20<cr> immediately sets the maximum speed for servo #5 to 20rpm (explained below) and changes the value in memory.
99 +
100 +After RESET, a command of #5SR4<cr> sets the session's speed to 4rpm, but does not change the configuration value in memory. Therefore:
101 +
102 +#5QSR<cr> would return *5QSR4<cr> which represents the value for that session, whereas
103 +
110 110  #5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
111 111  
112 112  == Virtual Angular Position ==
113 113  
114 -{In progress}
108 +The ability to store a "virtual angular position" is a feature which allows for rotation beyond 360 degrees, permitting multiple rotations of the output horn, moving the center position and more. In virtual position mode, the "absolute position" would be the angle of the output shaft with respect to a 360.0 degree circle, and can be obtained by taking the modulus (with respect to 360 degrees) of the value. For example if the virtual position is reported as 15335 (or 1533.5 degrees), taking the modulus would give 93.5 degrees (3600 * 4 + 935 = 15335) as the absolute position (assuming no origin offset).
115 115  
116 -A "virtual position" is one which allows for multiple rotations of the output horn, moving the center position and more. The "absolute position" would be the angle of the output shaft with respect to 360.0 degrees.
117 -
118 118  [[image:LSS-servo-positions.jpg]]
119 119  
120 -Example: Gyre direction / rotation is positive (clockwise), and origin offset has not been modified. Each square represents 30 degrees.
112 +In this example, the gyre direction (explained below, a.k.a. "rotation direction") is positive (clockwise), and origin offset has not been modified. Each square represents 30 degrees. The following command is sent:
121 121  
122 -#1D-300<cr> The servo is sent a command to move to -30.0 degrees (green arrow)
114 +#1D-300<cr> This causes the servo to move to -30.0 degrees (green arrow)
123 123  
124 124  #1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)
125 125  
126 -#1D-4200<cr> This next command rotates the servo counterclockwise to a position of -420 degrees (red arrow), which means one full rotation of 360 degrees,  stopping at an absolute position of 60.0 degrees (420.0-360.0), with a virtual position of -420.0 degrees.
118 +#1D-4200<cr> This next command rotates the servo counterclockwise to a position of -420 degrees (red arrow), which means one full rotation of 360 degrees plus 60.0 degrees (420.0 - 360.0), with a virtual position of -420.0 degrees.
127 127  
128 128  Although the final physical position would be the same as if the servo were commanded to move to -60.0 degrees, the servo is in fact at -420.0 degrees.
129 129  
... ... @@ -136,63 +136,72 @@
136 136  
137 137  = Command List =
138 138  
139 -|= #|=Description|= Action|= Query|= Config|= RC|= Serial|= Units|= Notes|=(% style="width: 50px;" %)Default
140 -| 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| L| | | | ✓|none| |(% style="text-align:center" %)
141 -| 2|[[**H**alt & Hold>>||anchor="H2.Halt26Hold28H29"]]| H| | | | ✓|none| |(% style="text-align:center" %)
142 -| 3|[[**T**imed move>>||anchor="H3.Timedmove28T29"]]| T| | | | ✓|milliseconds| Modifier only (P, D, MD)|(% style="text-align:center" %)
143 -| 4|[[**S**peed>>||anchor="H4.Speed28S29"]]| S| | | | ✓|microseconds / second| Modifier only (P)|(% style="text-align:center" %)
144 -| 5|[[**M**ove in **D**egrees (relative)>>||anchor="H5.28Relative29MoveinDegrees28MD29"]]| MD| | | | ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)| |(% style="text-align:center" %)
145 -| 6|[[**O**rigin Offset>>||anchor="H6.OriginOffsetAction28O29"]]| O| QO| CO| ✓| ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)| |(% style="text-align:center" %)(((
146 -00
147 -
148 -0.0 degrees
131 +|= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
132 +| 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| L| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
133 +| 2|[[**H**alt & **H**old>>||anchor="H2.Halt26Hold28H29"]]| H| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
134 +| 3|[[**T**imed move>>||anchor="H3.Timedmove28T29"]]| T| | | | | ✓|milliseconds|(% style="width:510px" %) Modifier only for {P, D, MD}|(% style="text-align:center; width:113px" %)
135 +| 4|[[**S**peed>>||anchor="H4.Speed28S29"]]| S| | | | | ✓|microseconds per second|(% style="width:510px" %) Modifier only {P}|(% style="text-align:center; width:113px" %)
136 +| 5|[[**M**ove in **D**egrees (relative)>>||anchor="H5.28Relative29MoveinDegrees28MD29"]]| MD| | | | | ✓|tenths of degrees (ex 325 = 32.5 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
137 +| 6|[[**O**rigin Offset>>||anchor="H6.OriginOffsetAction28O29"]]| O| QO|CO|✓| ✓| ✓|tenths of degrees (ex 91 = 9.1 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
138 +0
149 149  )))
150 -| 7|[[**A**ngular **R**ange>>||anchor="H7.AngularRange28AR29"]]| AR| QAR| CAR| ✓| ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)| |(% style="text-align:center" %)(((
151 -1800
152 -
153 -180.0 degrees
140 +| 7|[[**A**ngular **R**ange>>||anchor="H7.AngularRange28AR29"]]| AR| QAR| CAR|✓| ✓| ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
141 +1800
154 154  )))
155 -| 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| P| QP| | | ✓|microseconds|(((
156 -See details below
157 -)))|(% style="text-align:center" %)
158 -| 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| D| QD| | | ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)| |(% style="text-align:center" %)
159 -| 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"|(% style="text-align:center" %)
160 -| 11|[[**W**heel mode in **R**PM>>||anchor="H11.WheelModeinRPM28WR29"]]| WR| QWR| | | ✓| rpm|A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center" %)
161 -| 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|(% style="text-align:center" %)
162 -| 13|[[Max **S**peed in **R**PM>>||anchor="H13.SpeedinRPM28SR29"]]| SR| QSR| CSR| ✓| ✓|rpm|QSR: Add modifier "2" for instantaneous speed|(% style="text-align:center" %)
163 -| 14|[[**A**ngular **S**tiffness>>||anchor="H14.AngularStiffness28AS29"]]| AS| QAS| CAS| ✓| ✓|none|-4 to +4, but suggested values are between 0 to +4|(% style="text-align:center" %)0
164 -| 15|[[**A**ngular **H**olding Stiffness>>||anchor="H15.AngularHoldStiffness28AH29"]]|AH|QAH|CAH| | ✓|none|-10 to +10, with default as 0. |(% style="text-align:center" %)
165 -|15b|[[**A**ngular **A**cceleration>>||anchor="H15b:AngularAcceleration28AA29"]]|AA|QAA|CAA| | ✓|degrees per second squared|Increments of 10 degrees per second squared|(% style="text-align:center" %)
166 -|15c|[[**A**ngular **D**eceleration>>||anchor="H15c:AngularDeceleration28AD29"]]|AD|QAD|CAD| | ✓|degrees per second squared|Increments of 10 degrees per second squared|(% style="text-align:center" %)
167 -|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|(% style="text-align:center" %)
168 -| 16|[[**LED** Color>>||anchor="H16.RGBLED28LED29"]]| LED| QLED| CLED| ✓| ✓|none (integer from 0 to 8)|0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;|(% style="text-align:center" %)7
169 -| 16b|[[**C**onfigure **L**ED **B**linking>>||anchor="H16b.ConfigureLEDBlinking28CLB29"]]| | | CLB| ✓| |none (integer from 0 to 63)|0=No blinking, ; 63=Always blink; Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;|(% style="text-align:center" %)
170 -| 17|[[**ID** #>>||anchor="H17.IdentificationNumber"]]| | QID| CID| | ✓|none (integer from 0 to 250)|Note: ID 254 is a "broadcast" which all servos respond to|(% style="text-align:center" %)0
171 -| 18|[[**B**aud rate>>||anchor="H18.BaudRate"]]| B| QB| CB| | ✓|none (integer)| |(% style="text-align:center" %)9600
172 -| 19|[[**G**yre direction (**G**)>>||anchor="H19.GyreRotationDirection"]]| G| QG| CG| ✓| ✓|none | Gyre / rotation direction where 1= CW (clockwise) -1 = CCW (counter-clockwise)|(% style="text-align:center" %)1 Clowckwise
173 -| 20|[[**F**irst Position (**P**ulse)>>||anchor="H20.First2InitialPosition28pulse29"]]| | QFP|CFP | ✓| ✓|none | |(% style="text-align:center" %)(((
143 +| 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| P| QP| | | | ✓|microseconds|(% style="width:510px" %)(((
144 +Inherited from SSC-32 serial protocol
145 +)))|(% style="text-align:center; width:113px" %)
146 +| 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| D| QD| | | | ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
147 +| 10|[[**W**heel mode in **D**egrees>>||anchor="H10.WheelModeinDegrees28WD29"]]| WD| QWD| | | | ✓|tenths of degrees per second (ex 248 = 24.8 degrees per second)|(% style="width:510px" %)A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center; width:113px" %)
148 +| 11|[[**W**heel mode in **R**PM>>||anchor="H11.WheelModeinRPM28WR29"]]| WR| QWR| | | | ✓|revolutions per minute (rpm)|(% style="width:510px" %)A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center; width:113px" %)
149 +| 12|[[Max **S**peed in **D**egrees>>||anchor="H12.SpeedinDegrees28SD29"]]| SD| QSD|CSD|✓| ✓| ✓|tenths of degrees per second |(% style="width:510px" %)(((
150 +QSD: Add modifier "2" for instantaneous speed.
151 +
152 +SD overwrites SR / CSD overwrites CSR and vice-versa.
153 +)))|(% style="text-align:center; width:113px" %)Max per servo
154 +| 13|[[Max **S**peed in **R**PM>>||anchor="H13.SpeedinRPM28SR29"]]| SR| QSR|CSR|✓| ✓| ✓|revolutions per minute (rpm)|(% style="width:510px" %)(((
155 +QSR: Add modifier "2" for instantaneous speed
156 +
157 +SR overwrites SD / CSR overwrites CSD and vice-versa.
158 +)))|(% style="text-align:center; width:113px" %)Max per servo
159 +| 16|[[**LED** Color>>||anchor="H16.RGBLED28LED29"]]| LED| QLED| CLED|✓| ✓| ✓|none (integer from 0 to 8)|(% style="width:510px" %)0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;|(% style="text-align:center; width:113px" %)7
160 +| 17|[[**ID** #>>||anchor="H17.IdentificationNumber"]]| | QID| CID| | | ✓|none (integer from 0 to 250)|(% style="width:510px" %)Note: ID 254 is a "broadcast" which all servos respond to|(% style="text-align:center; width:113px" %)0
161 +| 18|[[**B**aud rate>>||anchor="H18.BaudRate"]]| B| QB| CB| | | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)9600
162 +| 19|[[**G**yre direction (**G**)>>||anchor="H19.GyreRotationDirection"]]| G| QG| CG|✓| ✓| ✓|none |(% style="width:510px" %)Gyre / rotation direction where 1= CW (clockwise) -1 = CCW (counter-clockwise)|(% style="text-align:center; width:113px" %)1
163 +| 20|[[**F**irst Position (**P**ulse)>>||anchor="H20.First2InitialPosition28pulse29"]]| | QFP|CFP | | ✓| ✓|none |(% style="width:510px" %)CFP overwrites CFD and vice-versa|(% style="text-align:center; width:113px" %)(((
174 174  Limp
175 175  )))
176 -| 21|[[**F**irst Position (**D**egrees)>>||anchor="H21.First2InitialPosition28Degrees29"]]| | QFD|CFD| ✓| ✓|none | |(% style="text-align:center" %)Limp
177 -| 22|[[**T**arget (**D**egree) **P**osition>>||anchor="H22.QueryTargetPositioninDegrees28QDT29"]]| | QDT| | | ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)| |(% style="text-align:center" %)
178 -| 23|[[**M**odel **S**tring>>||anchor="H23.QueryModelString28QMS29"]]| | QMS| | | |none (string)| Recommended to determine the model|(% style="text-align:center" %) |
179 -| 23b|[[**M**odel>>||anchor="H23b.QueryModel28QM29"]]| | QM| | | |none (integer)| Returns a raw value representing the three model inputs (36 bit)|(% style="text-align:center" %) |
180 -| 24|[[Serial **N**umber>>||anchor="H24.QuerySerialNumber28QN29"]]| | QN| | | |none (integer)| |(% style="text-align:center" %)
181 -| 25|[[**F**irmware version>>||anchor="H25.QueryFirmware28QF29"]]| | QF| | | |none (integer)| |(% style="text-align:center" %)
182 -| 26|[[**Q**uery (general status)>>||anchor="H26.QueryStatus28Q29"]]| | Q| | | ✓|none (integer from 1 to 8)| See command description for details|(% style="text-align:center" %)
183 -| 27|[[**V**oltage>>||anchor="H27.QueryVoltage28QV29"]]| | QV| | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)| |(% style="text-align:center" %)
184 -| 28|[[**T**emperature>>||anchor="H28.QueryTemperature28QT29"]]| | QT| | | ✓|tenths of degrees Celsius|Max temp before error: 85°C (servo goes limp)|(% style="text-align:center" %)
185 -| 29|[[**C**urrent>>||anchor="H29.QueryCurrent28QC29"]]| | QC| | | ✓|milliamps (ex 200 = 0.2A)| |(% style="text-align:center" %)
186 -| 30|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]]| | |CRC| |✓|none|(((
187 -CRC: Add modifier "1" for RC-position mode.
188 -CRC: Add modifier "2" for RC-wheel mode.
189 -Any other value for the modifier results in staying in smart mode.
166 +| 21|[[**F**irst Position (**D**egrees)>>||anchor="H21.First2InitialPosition28Degrees29"]]| | QFD|CFD| | ✓| ✓|none |(% style="width:510px" %)CFD overwrites CFP and vice-versa|(% style="text-align:center; width:113px" %)Limp
167 +| 22|[[**T**arget (**D**egree) **P**osition>>||anchor="H22.QueryTargetPositioninDegrees28QDT29"]]| | QDT| | | | ✓|tenths of degrees (ex 325 = 32.5 degrees; 91 = 9.1 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
168 +| 23|[[**M**odel **S**tring>>||anchor="H23.QueryModelString28QMS29"]]| | QMS| | | | |none (string)|(% style="width:510px" %) Returns the type of servo (ST, HS, HT)|(% style="text-align:center; width:113px" %)
169 +| 24|[[Serial **N**umber>>||anchor="H24.QuerySerialNumber28QN29"]]| | QN| | | | |none (integer)|(% style="width:510px" %) Returns the unique serial number for that servo|(% style="text-align:center; width:113px" %)
170 +| 25|[[**F**irmware version>>||anchor="H25.QueryFirmware28QF29"]]| | QF| | | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
171 +| 26|[[**Q**uery (general status)>>||anchor="H26.QueryStatus28Q29"]]| | Q| | | | ✓|none (integer from 1 to 8)|(% style="width:510px" %) See command description for details|(% style="text-align:center; width:113px" %)
172 +| 27|[[**V**oltage>>||anchor="H27.QueryVoltage28QV29"]]| | QV| | | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
173 +| 28|[[**T**emperature>>||anchor="H28.QueryTemperature28QT29"]]| | QT| | | | ✓|tenths of degrees Celsius|(% style="width:510px" %)Max temp before error: 85°C (servo goes limp)|(% style="text-align:center; width:113px" %)
174 +| 29|[[**C**urrent>>||anchor="H29.QueryCurrent28QC29"]]| | QC| | | | ✓|milliamps (ex 200 = 0.2A)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
175 +| 30a|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]] - Position| | |CRC1| | | ✓|none|(% style="width:510px" %)(((
190 190  Puts the servo into RC mode. To revert to smart mode, use the button menu.
191 -)))|(% style="text-align:center" %)Serial
192 -|31|[[**RESET**>>||anchor="H31.RESET"]]| | | | | ✓|none|Soft reset. See command for details.|(% style="text-align:center" %)
193 -|32|[[**DEFAULT**>>||anchor="H32.DEFAULTA026CONFIRM"]]| | | | |✓|none|Revert to firmware default values. See command for details|(% style="text-align:center" %)
194 -|33|[[**UPDATE**>>||anchor="H33.UPDATEA026CONFIRM"]]| | | | |✓|none|Update firmware. See command for details.|(% style="text-align:center" %)
177 +)))|(% style="text-align:center; width:113px" %)Serial
178 +| 30b|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]] - Wheel| | |CRC2| | | ✓| |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
179 +| 31|[[**RESET**>>||anchor="H31.RESET"]]| | | | | | ✓|none|(% style="width:510px" %)Soft reset. See command for details.|(% style="text-align:center; width:113px" %)
180 +| 32|[[**DEFAULT**>>||anchor="H32.DEFAULTA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Revert to firmware default values. See command for details|(% style="text-align:center; width:113px" %)
181 +| 33|[[**UPDATE**>>||anchor="H33.UPDATEA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Update firmware. See command for details.|(% style="text-align:center; width:113px" %)
195 195  
183 +== Advanced ==
184 +
185 +|= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
186 +| A1|[[**A**ngular **S**tiffness>>||anchor="H14.AngularStiffness28AS29"]]| AS|QAS|CAS|✓| ✓| ✓|none (integer -4 to +4)|(% style="width:510px" %)Suggested values are between 0 to +4|(% style="text-align:center; width:113px" %)0
187 +| A2|[[**A**ngular **H**olding Stiffness>>||anchor="H15.AngularHoldStiffness28AH29"]]|AH|QAH|CAH|✓| | ✓|none (integer -10 to +10)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)1
188 +| A3|[[**A**ngular **A**cceleration>>||anchor="H15b:AngularAcceleration28AA29"]]|AA|QAA|CAA|✓| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared|(% style="text-align:center; width:113px" %)
189 +| A4|[[**A**ngular **D**eceleration>>||anchor="H15c:AngularDeceleration28AD29"]]|AD|QAD|CAD|✓| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared|(% style="text-align:center; width:113px" %)
190 +| A5|[[**E**nable **M**otion Control>>||anchor="H15d:MotionControl28MC29"]]|EM|QEM| | | | ✓|none|(% style="width:510px" %)EM0 to disable motion control, EM1 to enable|(% style="text-align:center; width:113px" %)
191 +| A6|[[**C**onfigure **L**ED **B**linking>>||anchor="H16b.ConfigureLEDBlinking28CLB29"]]| | | CLB| | ✓| |none (integer from 0 to 63)|(% style="width:510px" %)(((
192 +0=No blinking, 63=Always blink;
193 +
194 +Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;
195 +)))|(% style="text-align:center; width:113px" %)
196 +
196 196  == Details ==
197 197  
198 198  ====== __1. Limp (**L**)__ ======
... ... @@ -205,13 +205,13 @@
205 205  
206 206  Example: #5H<cr>
207 207  
208 -This action overrides whatever the servo might be doing at the time the command is received (accelerating, moving continuously etc.) and causes it to stop immediately and hold that position.
209 +This action overrides whatever the servo might be doing at the time the command is received (accelerating, moving continuously etc.) and causes it to stop immediately and hold that angular position.
209 209  
210 210  ====== __3. Timed move (**T**)__ ======
211 211  
212 212  Example: #5P1500T2500<cr>
213 213  
214 -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.
215 +Timed move can be used only as a modifier for a position (P, D, MD) actions. 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. The onboard controller will attempt to ensure that the move is performed entirely at the desired velocity, though differences in torque may cause it to not be exact. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.
215 215  
216 216  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.
217 217  
... ... @@ -231,11 +231,11 @@
231 231  
232 232  Example: #5O2400<cr>
233 233  
234 -This command allows you to temporarily change the origin of the servo in relation to the factory zero position. The setting will be lost upon servo reset / power cycle. Origin offset commands are not cumulative and always relate to factory zero. Note that for a given session, the O command overrides the CO command. In the first image, the origin at factory offset '0' (centered).
235 +This command allows you to temporarily change the origin of the servo in relation to the factory zero position for that session. As with all action commands, the setting will be lost upon servo reset / power cycle. Origin offset commands are not cumulative and always relate to factory zero. In the first image, the origin at factory offset '0' (centered).
235 235  
236 236  [[image:LSS-servo-default.jpg]]
237 237  
238 -In the second image, the origina, as well as the angular range (explained below) have been shifted by 240.0 degrees:
239 +In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
239 239  
240 240  [[image:LSS-servo-origin.jpg]]
241 241  
... ... @@ -243,33 +243,33 @@
243 243  
244 244  Example: #5QO<cr> Returns: *5QO-13
245 245  
246 -This allows you to query the angle (in tenths of degrees) of the origin in relation to the factory zero position.
247 +This allows you to query the angle (in tenths of degrees) of the origin in relation to the factory zero position. In this example, the new origin is at -1.3 degrees from the factory zero.
247 247  
248 248  Configure Origin Offset (**CO**)
249 249  
250 250  Example: #5CO-24<cr>
251 251  
252 -This command allows you to change the origin of the servo in relation to the factory zero position in EEPROM. The setting will be saved upon servo reset / power cycle. Origin offset configuration commands are not cumulative and always relate to factory zero. The new origin is also used in RC mode.
253 +This command allows you to change the origin of the servo in relation to the factory zero position in EEPROM. The setting will be saved upon servo reset / power cycle. Origin offset configuration commands are not cumulative and always relate to factory zero. The new origin is also used in RC mode. In the example, the new origin will be at -2.4 degrees from the factory zero.
253 253  
254 254  ====== __7. Angular Range (**AR**)__ ======
255 255  
256 256  Example: #5AR1800<cr>
257 257  
258 -This command allows you to temporarily change the total angular range of the servo in tenths of degrees. This applies to the Position in Pulse (P) command and RC mode. The default for (P) and RC mode is 1800 (180.0 degrees total, or ±90.0 degrees). In the first image,
259 +This command allows you to temporarily change the total angular range of the servo in tenths of degrees. This applies to the Position in Pulse (P) command and RC mode. The default for (P) and RC mode is 1800 (180.0 degrees total, or ±90.0 degrees). The image below shows a standard -180.0 to +180.0 range, with no offset:
259 259  
260 260  [[image:LSS-servo-default.jpg]]
261 261  
262 -Here, the angular range has been restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
263 +Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
263 263  
264 264  [[image:LSS-servo-ar.jpg]]
265 265  
266 -The angular range action command (ex. #5AR1800<cr>) and origin offset action command (ex. #5O-1200<cr>) an be used to move both the center and limit the angular range:
267 +Finally, the angular range action command (ex. #5AR1800<cr>) and origin offset action command (ex. #5O-1200<cr>) are used to move both the center and limit the angular range:
267 267  
268 268  [[image:LSS-servo-ar-o-1.jpg]]
269 269  
270 270  Query Angular Range (**QAR**)
271 271  
272 -Example: #5QAR<cr> might return *5AR2756
273 +Example: #5QAR<cr> might return *5AR1800, indicating the total angular range is 180.0 degrees.
273 273  
274 274  Configure Angular Range (**CAR**)
275 275  
... ... @@ -497,6 +497,8 @@
497 497  
498 498  Configure Baud Rate (**CB**)
499 499  
501 +Important Note: the servo's current session retains the given baud rate and the new baud rate will only be in place when the servo is power cycled.
502 +
500 500  Ex: #5CB9600<cr>
501 501  
502 502  Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
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