Last modified by Eric Nantel on 2024/11/21 09:43
From version < 98.3 >
edited by Coleman Benson
on 2019/02/05 13:03
To version < 94.1 >
edited by Coleman Benson
on 2019/02/01 12:00
< >
Change comment: There is no comment for this version

Summary

Details

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Content
... ... @@ -13,8 +13,6 @@
13 13  
14 14  A "session" is defined as the time between when the servo is powered ON to when it is powered OFF or reset.
15 15  
16 -Note that for a given session, the action related to a specific commands overrides the stored value in EEPROM.
17 -
18 18  == Action Commands ==
19 19  
20 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:
... ... @@ -47,6 +47,20 @@
47 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.
48 48  )))
49 49  
48 +== Configuration Commands ==
49 +
50 +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 (see each command for details). 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:
51 +
52 +1. Start with a number sign # (U+0023)
53 +1. Servo ID number as an integer
54 +1. Configuration command (two to three letters, no spaces, capital or lower case)
55 +1. Configuration value in the correct units with no decimal
56 +1. End with a control / carriage return '<cr>'
57 +
58 +Ex: #5CO-50<cr>
59 +
60 +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.
61 +
50 50  == Query Commands ==
51 51  
52 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:
... ... @@ -77,20 +77,6 @@
77 77  
78 78  This indicates that servo #5 is currently at 144.3 degrees (1443 tenths of degrees).
79 79  
80 -== Configuration Commands ==
81 -
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 command 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:
83 -
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>'
89 -
90 -Ex: #5CO-50<cr>
91 -
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.
93 -
94 94  **Session vs Configuration Query**
95 95  
96 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:
... ... @@ -128,72 +128,72 @@
128 128  
129 129  = Command List =
130 130  
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" %)(((
129 +|= #|=Description|= Action|= Query|= Config|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
130 +| 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| L| | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
131 +| 2|[[**H**alt & **H**old>>||anchor="H2.Halt26Hold28H29"]]| H| | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
132 +| 3|[[**T**imed move>>||anchor="H3.Timedmove28T29"]]| T| | | | ✓|milliseconds|(% style="width:510px" %) Modifier only for {P, D, MD}|(% style="text-align:center; width:113px" %)
133 +| 4|[[**S**peed>>||anchor="H4.Speed28S29"]]| S| | | | ✓|microseconds / second|(% style="width:510px" %) Modifier only {P}|(% style="text-align:center; width:113px" %)
134 +| 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" %)
135 +| 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" %)(((
138 138  0
139 139  )))
140 -| 7|[[**A**ngular **R**ange>>||anchor="H7.AngularRange28AR29"]]| AR| QAR| CAR|✓| ✓| ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
138 +| 7|[[**A**ngular **R**ange>>||anchor="H7.AngularRange28AR29"]]| AR| QAR| CAR| ✓| ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
141 141  1800
142 142  )))
143 -| 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| P| QP| | | | ✓|microseconds|(% style="width:510px" %)(((
141 +| 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| P| QP| | | ✓|microseconds|(% style="width:510px" %)(((
144 144  Inherited from SSC-32 serial protocol
145 145  )))|(% 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" %)(((
144 +| 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| D| QD| | | ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
145 +| 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" %)
146 +| 11|[[**W**heel mode in **R**PM>>||anchor="H11.WheelModeinRPM28WR29"]]| WR| QWR| | | ✓| rpm|(% style="width:510px" %)A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center; width:113px" %)
147 +| 12|[[Max **S**peed in **D**egrees>>||anchor="H12.SpeedinDegrees28SD29"]]| SD| QSD|CSD| ✓| ✓|tenths of degrees per second |(% style="width:510px" %)(((
150 150  QSD: Add modifier "2" for instantaneous speed.
151 151  
152 152  SD overwrites SR / CSD overwrites CSR and vice-versa.
153 153  )))|(% 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" %)(((
152 +| 13|[[Max **S**peed in **R**PM>>||anchor="H13.SpeedinRPM28SR29"]]| SR| QSR|CSR| ✓| ✓|rpm|(% style="width:510px" %)(((
155 155  QSR: Add modifier "2" for instantaneous speed
156 156  
157 157  SR overwrites SD / CSR overwrites CSD and vice-versa.
158 158  )))|(% style="text-align:center; width:113px" %)Max per servo
159 -| 14|[[**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 -| 15|[[**G**yre direction (**G**)>>||anchor="H19.GyreRotationDirection"]]| G| QG| CG|✓| ✓| ✓|none |(% style="width:510px" %)Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)|(% style="text-align:center; width:113px" %)1
161 -| 16|[[**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
162 -| 17|[[**B**aud rate>>||anchor="H18.BaudRate"]]| | QB| CB| | | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)9600
163 -| 18|[[**F**irst Position (**P**ulse)>>||anchor="H20.First2InitialPosition28pulse29"]]| | QFP|CFP |X| ✓| ✓|none |(% style="width:510px" %)CFP overwrites CFD and vice-versa|(% style="text-align:center; width:113px" %)(((
157 +| 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
158 +| 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
159 +| 18|[[**B**aud rate>>||anchor="H18.BaudRate"]]| B| QB| CB| | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)9600
160 +| 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
161 +| 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" %)(((
164 164  Limp
165 165  )))
166 -| 19|[[**F**irst Position (**D**eg)>>||anchor="H21.First2InitialPosition28Degrees29"]]| | QFD|CFD|X| ✓| ✓|none |(% style="width:510px" %)CFD overwrites CFP and vice-versa|(% style="text-align:center; width:113px" %)Limp
167 -| 20|[[**T**arget (**D**eg) **P**osition>>||anchor="H22.QueryTargetPositioninDegrees28QDT29"]]| | QDT| | | | ✓|tenths of degrees (ex 325 = 32.5 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
168 -| 21|[[**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 -| 22|[[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 -| 23|[[**F**irmware version>>||anchor="H25.QueryFirmware28QF29"]]| | QF| | | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
171 -| 24|[[**Q**uery (gen. 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 -| 25|[[**V**oltage>>||anchor="H27.QueryVoltage28QV29"]]| | QV| | | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
173 -| 26|[[**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 -| 27|[[**C**urrent>>||anchor="H29.QueryCurrent28QC29"]]| | QC| | | | ✓|milliamps (ex 200 = 0.2A)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
175 -| 28|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]] - Position| | |CRC1|✓| | ✓|none|(% style="width:510px" %)(((
176 -Change to RC position mode. To revert to smart mode, use the button menu.
164 +| 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
165 +| 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" %)
166 +| 23|[[**M**odel **S**tring>>||anchor="H23.QueryModelString28QMS29"]]| | QMS| | | |none (string)|(% style="width:510px" %) Recommended to determine the model|(% style="text-align:center; width:113px" %)
167 +| 23b|[[**M**odel>>||anchor="H23b.QueryModel28QM29"]]| | QM| | | |none (integer)|(% style="width:510px" %) Returns a raw value representing the three model inputs (36 bit)|(% style="text-align:center; width:113px" %)
168 +| 24|[[Serial **N**umber>>||anchor="H24.QuerySerialNumber28QN29"]]| | QN| | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
169 +| 25|[[**F**irmware version>>||anchor="H25.QueryFirmware28QF29"]]| | QF| | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
170 +| 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" %)
171 +| 27|[[**V**oltage>>||anchor="H27.QueryVoltage28QV29"]]| | QV| | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
172 +| 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" %)
173 +| 29|[[**C**urrent>>||anchor="H29.QueryCurrent28QC29"]]| | QC| | | ✓|milliamps (ex 200 = 0.2A)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
174 +| 30|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]]| | |CRC| |✓|none|(% style="width:510px" %)(((
175 +CRC: Add modifier "1" for RC-position mode.
176 +CRC: Add modifier "2" for RC-wheel mode.
177 +Any other value for the modifier results in staying in smart mode.
178 +Puts the servo into RC mode. To revert to smart mode, use the button menu.
177 177  )))|(% style="text-align:center; width:113px" %)Serial
178 -| 29|[[**RC** Mode>>||anchor="H30.RCMode28CRC29"]] - Wheel| | |CRC2|✓| | ✓| |(% style="width:510px" %)Change to RC wheel mode. To revert to smart mode, use the button menu.|(% style="text-align:center; width:113px" %)Serial
179 -| 30|[[**RESET**>>||anchor="H31.RESET"]]| | | | | | ✓|none|(% style="width:510px" %)Soft reset. See command for details.|(% style="text-align:center; width:113px" %)
180 -| 31|[[**DEFAULT**>>||anchor="H32.DEFAULTA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Revert to firmware default values. See command for details|(% style="text-align:center; width:113px" %)
181 -| 32|[[**UPDATE**>>||anchor="H33.UPDATEA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Update firmware. See command for details.|(% style="text-align:center; width:113px" %)
180 +|31|[[**RESET**>>||anchor="H31.RESET"]]| | | | | ✓|none|(% style="width:510px" %)Soft reset. See command for details.|(% style="text-align:center; width:113px" %)
181 +|32|[[**DEFAULT**>>||anchor="H32.DEFAULTA026CONFIRM"]]| | | | |✓|none|(% style="width:510px" %)Revert to firmware default values. See command for details|(% style="text-align:center; width:113px" %)
182 +|33|[[**UPDATE**>>||anchor="H33.UPDATEA026CONFIRM"]]| | | | |✓|none|(% style="width:510px" %)Update firmware. See command for details.|(% style="text-align:center; width:113px" %)
182 182  
183 183  == Advanced ==
184 184  
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;
186 +|= #|=Description|= Action|= Query|= Config|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
187 +| 1|[[**A**ngular **S**tiffness>>||anchor="H14.AngularStiffness28AS29"]]| AS| QAS|CAS| ✓| ✓|none|(% style="width:510px" %)-4 to +4, but suggested values are between 0 to +4|(% style="text-align:center; width:113px" %)0
188 +| 2|[[**A**ngular **H**olding Stiffness>>||anchor="H15.AngularHoldStiffness28AH29"]]|AH|QAH|CAH| | ✓|none|(% style="width:510px" %)-10 to +10, with default as 0. |(% style="text-align:center; width:113px" %)1
189 +| 3|[[**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" %)
190 +| 4|[[**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" %)
191 +| 5|[[**E**nable **M**otion control>>||anchor="H15d:MotionControl28MC29"]]|EM|QEM| | | ✓|none|(% style="width:510px" %)EM0 to disable motion control, EM1 to enable. Session specific / does not survive power cycles|(% style="text-align:center; width:113px" %)
192 +| 6|[[**C**onfigure **L**ED **B**linking>>||anchor="H16b.ConfigureLEDBlinking28CLB29"]]| | | CLB| ✓| |none (integer from 0 to 63)|(% style="width:510px" %)0=No blinking, ; 63=Always blink; Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;|(% style="text-align:center; width:113px" %)
193 +| | | | | | | | |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
193 193  
194 -Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;
195 -)))|(% style="text-align:center; width:113px" %)
196 -
197 197  == Details ==
198 198  
199 199  ====== __1. Limp (**L**)__ ======
... ... @@ -206,17 +206,17 @@
206 206  
207 207  Example: #5H<cr>
208 208  
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.
207 +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.
210 210  
211 -====== __3. Timed move (**T**) modifier__ ======
209 +====== __3. Timed move (**T**)__ ======
212 212  
213 213  Example: #5P1500T2500<cr>
214 214  
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.
213 +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.
216 216  
217 217  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.
218 218  
219 -====== __4. Speed (**S**) modifier__ ======
217 +====== __4. Speed (**S**)__ ======
220 220  
221 221  Example: #5P1500S750<cr>
222 222  
... ... @@ -232,11 +232,11 @@
232 232  
233 233  Example: #5O2400<cr>
234 234  
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).
233 +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).
236 236  
237 237  [[image:LSS-servo-default.jpg]]
238 238  
239 -In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
237 +In the second image, the origina, as well as the angular range (explained below) have been shifted by 240.0 degrees:
240 240  
241 241  [[image:LSS-servo-origin.jpg]]
242 242  
... ... @@ -244,33 +244,33 @@
244 244  
245 245  Example: #5QO<cr> Returns: *5QO-13
246 246  
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.
245 +This allows you to query the angle (in tenths of degrees) of the origin in relation to the factory zero position.
248 248  
249 249  Configure Origin Offset (**CO**)
250 250  
251 251  Example: #5CO-24<cr>
252 252  
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.
251 +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.
254 254  
255 255  ====== __7. Angular Range (**AR**)__ ======
256 256  
257 257  Example: #5AR1800<cr>
258 258  
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:
257 +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,
260 260  
261 261  [[image:LSS-servo-default.jpg]]
262 262  
263 -Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
261 +Here, the angular range has been restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
264 264  
265 265  [[image:LSS-servo-ar.jpg]]
266 266  
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:
265 +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:
268 268  
269 269  [[image:LSS-servo-ar-o-1.jpg]]
270 270  
271 271  Query Angular Range (**QAR**)
272 272  
273 -Example: #5QAR<cr> might return *5AR1800, indicating the total angular range is 180.0 degrees.
271 +Example: #5QAR<cr> might return *5AR2756
274 274  
275 275  Configure Angular Range (**CAR**)
276 276  
... ... @@ -327,22 +327,22 @@
327 327  
328 328  The servo replies with the angular speed in rpm. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
329 329  
330 -====== __12. Max Speed in Degrees (**SD**)__ ======
328 +====== __12. Speed in Degrees (**SD**)__ ======
331 331  
332 332  Ex: #5SD1800<cr>
333 333  
334 -This command sets the servo's maximum speed for motion commands in tenths of degrees per second for that session. In the example above, the servo's maximum speed for that session would be set to 180.0 degrees per second. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. The SD action command overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD and SR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.
332 +This command sets the servo's maximum speed for action commands in tenths of degrees per second for that session. In the example above, the servo's maximum speed for that session would be set to 180.0 degrees per second. Therefore maximum speed for actions can be set "on the fly". The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SD overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD and SR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) is what the servo uses for that session.
335 335  
336 336  Query Speed in Degrees (**QSD**)
337 337  
338 338  Ex: #5QSD<cr> might return *5QSD1800<cr>
339 339  
340 -By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever an SD/SR command is processed.
338 +By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever a SD/SR command is processed.
341 341  If #5QSD1<cr> is sent, the configured maximum speed (CSD value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
342 342  
343 343  |**Command sent**|**Returned value (1/10 °)**
344 344  |ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
345 -|ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
343 +|ex: #5QSD1<cr>|Configured maximum speed  (set by CSD/CSR)
346 346  |ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
347 347  |ex: #5QSD3<cr>|Target travel speed
348 348  
... ... @@ -352,22 +352,22 @@
352 352  
353 353  Using the CSD command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 180.0 degrees per second. When the servo is powered on (or after a reset), the CSD value is used. Note that CSD and CSR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) is what the servo uses for that session.
354 354  
355 -====== __13. Max Speed in RPM (**SR**)__ ======
353 +====== __13. Speed in RPM (**SR**)__ ======
356 356  
357 357  Ex: #5SD45<cr>
358 358  
359 -This command sets the servo's maximum speed for motion commands in rpm for that session. In the example above, the servo's maximum speed for that session would be set to 45rpm. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SD overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.
357 +This command sets the servo's maximum speed for action commands in rpm for that session. In the example above, the servo's maximum speed for that session would be set to 45rpm. Therefore maximum speed for actions can be set "on the fly". The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SD overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) is what the servo uses for that session.
360 360  
361 361  Query Speed in Degrees (**QSR**)
362 362  
363 363  Ex: #5QSR<cr> might return *5QSR45<cr>
364 364  
365 -By default QSR will return the current session value, which is set to the value of CSR as reset/power cycle and changed whenever an SD/SR command is processed.
363 +By default QSR will return the current session value, which is set to the value of CSR as reset/power cycle and changed whenever a SD/SR command is processed.
366 366  If #5QSR1<cr> is sent, the configured maximum speed (CSR value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
367 367  
368 368  |**Command sent**|**Returned value (1/10 °)**
369 369  |ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
370 -|ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
368 +|ex: #5QSR1<cr>|Configured maximum speed  (set by CSD/CSR)
371 371  |ex: #5QSR2<cr>|Instantaneous speed (same as QWR)
372 372  |ex: #5QSR3<cr>|Target travel speed
373 373  
... ... @@ -375,10 +375,70 @@
375 375  
376 376  Ex: #5CSR45<cr>
377 377  
378 -Using the CSR command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSR value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) received is what the servo uses for that session.
376 +Using the CSR command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSR value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) is what the servo uses for that session.
379 379  
380 -====== __14. LED Color (**LED**)__ ======
378 +====== __14. Angular Stiffness (**AS**)__ ======
381 381  
380 +The servo's rigidity / angular stiffness can be thought of as (though not identical to) a damped spring in which the value affects the stiffness and embodies how much, and how quickly the servo tried keep the requested position against changes.
381 +
382 +A positive value of "angular stiffness":
383 +
384 +* The more torque will be applied to try to keep the desired position against external input / changes
385 +* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position
386 +
387 +A negative value on the other hand:
388 +
389 +* Causes a slower acceleration to the travel speed, and a slower deceleration
390 +* Allows the target position to deviate more from its position before additional torque is applied to bring it back
391 +
392 +The default value is zero and the effect becomes extreme by -4, +4. There are no units, only integers between -4 to 4. Greater values produce increasingly erratic behavior.
393 +
394 +Ex: #5AS-2<cr>
395 +
396 +This reduces the angular stiffness to -2 for that session, allowing the servo to deviate more around the desired position. This can be beneficial in many situations such as impacts (legged robots) where more of a "spring" effect is desired. Upon reset, the servo will use the value stored in memory, based on the last configuration command.
397 +
398 +Ex: #5QAS<cr>
399 +
400 +Queries the value being used.
401 +
402 +Ex: #5CAS<cr>
403 +
404 +Writes the desired angular stiffness value to memory.
405 +
406 +====== __15. Angular Hold Stiffness (**AH**)__ ======
407 +
408 +The angular holding stiffness determines the servo's ability to hold a desired position under load. Values can be from -10 to 10, with the default being 0. Note that negative values mean the final position can be easily deflected.
409 +
410 +Ex: #5AH3<cr>
411 +
412 +This sets the holding stiffness for servo #5 to 3 for that session.
413 +
414 +Query Angular Hold Stiffness (**QAH**)
415 +
416 +Ex: #5QAH<cr> might return *5QAH3<cr>
417 +
418 +This returns the servo's angular holding stiffness value.
419 +
420 +Configure Angular Hold Stiffness (**CAH**)
421 +
422 +Ex: #5CAH2<cr>
423 +
424 +This writes the angular holding stiffness of servo #5 to 2 to EEPROM
425 +
426 +====== __15b: Angular Acceleration (**AA**)__ ======
427 +
428 +{More details to come}
429 +
430 +====== __15c: Angular Deceleration (**AD**)__ ======
431 +
432 +{More details to come}
433 +
434 +====== __15d: Motion Control (**EM**)__ ======
435 +
436 +{More details to come}
437 +
438 +====== __16. RGB LED (**LED**)__ ======
439 +
382 382  Ex: #5LED3<cr>
383 383  
384 384  This action sets the servo's RGB LED color for that session.The LED can be used for aesthetics, or (based on user code) to provide visual status updates. Using timing can create patterns.
... ... @@ -393,50 +393,63 @@
393 393  
394 394  Configure LED Color (**CLED**)
395 395  
396 -Configuring the LED color via the CLED command sets the startup color of the servo after a reset or power cycle. Note that it also changes the session's LED color immediately as well.
454 +Configuring the LED color via the CLED command sets the startup color of the servo after a reset or power cycle. Note that it also changes the session's LED color immediately as well.
397 397  
398 -====== __15. Identification Number (**ID** #)__ ======
456 +====== __16b. Configure LED Blinking (**CLB**)__ ======
399 399  
400 -A servo's identification number cannot be set "on the fly" and must be configured via the CID command described below. The factory default ID number for all servos is 0. Since smart servos are intended to be daisy chained, in order to respond differently from one another, the user must set different identification numbers. Servos with the same ID and baud rate will all receive and react to the same commands (assuming same baud rate).
458 +This command allows you to control when the RGB LED will blink the user set color (see [[16. RGB LED>>||anchor="H16.RGBLED28LED29"]] for details).
459 +You can turn on or off blinking for various LSS status. Here is the list and their associated value: 0=No blinking, ; 63=Always blink; Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;
401 401  
461 +To set blinking, use CLB with the value of your choosing. To activate blinking in multiple status, simply add together the values of the corresponding status. See examples below:
462 +
463 +Ex: #5CLB0<cr> to turn off all blinking (LED always solid)
464 +Ex: #5CLB1<cr> only blink when limp
465 +Ex: #5CLB2<cr> only blink when holding
466 +Ex: #5CLB12<cr> only blink when accel or decel
467 +Ex: #5CLB48<cr> only blink when free or travel
468 +Ex: #5CLB63<cr> blink in all status
469 +
470 +====== __17. Identification Number__ ======
471 +
472 +A servo's identification number cannot be set "on the fly" and must be configured via the CID command described below. The factory default ID number for all servos is 0. Since smart servos are intended to be daisy chained, in order to respond differently from one another, the user must set different identification numbers. Servos with the same ID and baud rate will all receive and react to the same commands.
473 +
402 402  Query Identification (**QID**)
403 403  
404 404  EX: #254QID<cr> might return *QID5<cr>
405 405  
406 -When using the query ID command, it is best to only have one servo connected and thus receive only one reply. This is useful when you are not sure of the servo's ID, but don't want to change it. Using the broadcast command (ID 254) with only one servo will have that servo reply with its ID number (assuming the query is sent . Alternatively, pushing the button upon startup and temporarily setting the servo ID to 255 will still result in the servo responding with its "real" ID.
478 +When using the query ID command, it is best to only have one servo connected and thus receive only one reply using the broadcast command (ID 254). Alternatively, pushing the button upon startup and temporarily setting the servo ID to 255 will still result in the servo responding with its "real" ID.
407 407  
408 408  Configure ID (**CID**)
409 409  
410 410  Ex: #4CID5<cr>
411 411  
412 -Setting a servo's ID in EEPROM is done via the CID command. All servos connected to the same serial bus will be assigned that ID. In most situations each servo must be set a unique ID, which means each servo must be connected individually to the serial bus and receive a unique CID number. It is best to do this before the servos are added to an assembly. Numbered stickers are provided to distinguish each servo after their ID is set, though you are free to use whatever alternative method you like. The servo must be RESET or power cycled in order for the new ID to take effect.
484 +Setting a servo's ID in EEPROM is done via the CID command. All servos connected to the same serial bus will be assigned that ID. In most situations each servo must be set a unique ID, which means each servo must be connected individually to the serial bus and receive a unique CID number. It is best to do this before the servos are added to an assembly. Numbered stickers are provided to distinguish each servo after their ID is set, though you are free to use whatever alternative method you like.
413 413  
414 -====== __16. Baud Rate (B)__ ======
486 +====== __18. Baud Rate__ ======
415 415  
416 -A servo's baud rate cannot be set "on the fly" and must be configured via the CB command described below. The factory default baud rate for all servos is 9600. Since smart servos are intended to be daisy chained, in order to respond to the same serial bus, all servos in a project should ideally be set to the same baud rate. Setting different baud rates will have the servos respond differently and may create issues. Available baud rates are: 9600 bps, 19200 bps, 38400 bps, 57600 bps, 115.2 kbps, 230.4 kbps, 250.0 kbps, 460.8 kbps, 500.0 kbps. Servos are shipped with a baud rate set to 9600. The baud rates are currently restricted to those above.
488 +A servo's baud rate cannot be set "on the fly" and must be configured via the CB command described below. The factory default baud rate for all servos is 9600. Since smart servos are intended to be daisy chained, in order to respond to the same serial bus, all servos in that project should ideally be set to the same baud rate. Setting different baud rates will have the servos respond differently and may create issues. Available baud rates are: 9.6 kbps, 19.2 kbps, 38.4 kbps, 57.6 kbps, 115.2 kbps, 230.4 kbps, 250.0 kbps, 460.8 kbps, 500.0 kbps, 750.0 kbps*, 921.6 kbps*. Servos are shipped with a baud rate set to 9600. The baud rates are currently restricted to those above.
489 +\*: Current tests reveal baud rates above 500 kbps are unstable and can cause timeouts. Please keep this in mind if using those / testing them out.
417 417  
418 418  Query Baud Rate (**QB**)
419 419  
420 420  Ex: #5QB<cr> might return *5QB9600<cr>
421 421  
422 -Since the command to query the baud rate must be done at the servo's existing baud rate, it can simply be used to confirm the CB configuration command was correctly received before the servo is power cycled and the new baud rate takes effect.
495 +Querying the baud rate is used simply to confirm the CB configuration command before the servo is power cycled.
423 423  
424 424  Configure Baud Rate (**CB**)
425 425  
426 -Important Note: the servo's current session retains the given baud rate and the new baud rate will only take effect when the servo is power cycled / RESET.
499 +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.
427 427  
428 428  Ex: #5CB9600<cr>
429 429  
430 430  Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
431 431  
432 -====== __17. Gyre Rotation Direction (**G**)__ ======
505 +====== __19. Gyre Rotation Direction__ ======
433 433  
434 434  "Gyre" is defined as a circular course or motion. The effect of changing the gyre direction is as if you were to use a mirror image of a circle. CW = 1; CCW = -1. The factory default is clockwise (CW).
435 435  
436 -Ex: #5G-1<cr>
509 +{images showing before and after with AR and Origin offset}
437 437  
438 -This command will cause servo #5's positions to be inverted, effectively causing the servo to rotate in the opposite direction given the same command. For example in a 2WD robot, servos are often physically installed back to back, therefore setting one of the servos to a negative gyration, the same wheel command (ex WR30) to both servos will cause the robot to move forward or backward rather than rotate.
439 -
440 440  Query Gyre Direction (**QG**)
441 441  
442 442  Ex: #5QG<cr> might return *5QG-1<cr>
... ... @@ -449,9 +449,9 @@
449 449  
450 450  This changes the gyre direction as described above and also writes to EEPROM.
451 451  
452 -====== __18. First Position (Pulse) (**FP**)__ ======
523 +====== __20. First / Initial Position (pulse)__ ======
453 453  
454 -In certain cases, a user might want to have the servo move to a specific angle upon power up; we refer to this as "first position" (a.k.a. "initial position"). The factory default has no first position value stored in EEPROM and therefore upon power up, the servo remains limp until a position (or hold command) is assigned. FP and FD are different in that FP is used for RC mode only, whereas FD is used for smart mode only.
525 +In certain cases, a user might want to have the servo move to a specific angle upon power up. We refer to this as "first position". The factory default has no first position value stored in EEPROM and therefore upon power up, the servo remains limp until a position (or hold command) is assigned. FP and FD are different in that FP is used for RC mode only, whereas FD is used for smart mode only.
455 455  
456 456  Query First Position in Pulses (**QFP**)
457 457  
... ... @@ -463,11 +463,11 @@
463 463  
464 464  Ex: #5CP1550<cr>
465 465  
466 -This configuration command means the servo, when set to RC mode, will immediately move to an angle equivalent to having received an RC pulse of 1550 microseconds upon power up. Sending a CFP command without a number results in the servo remaining limp upon power up (i.e. disabled).
537 +This configuration command means the servo, when set to RC mode, will immediately move to an angle equivalent to having received an RC pulse of 1550 microseconds upon power up. Sending a CFP command without a number results in the servo remaining limp upon power up (i.e. disabled).
467 467  
468 -====== __19. First / Initial Position (Degrees) (**FD**)__ ======
539 +====== __21. First / Initial Position (Degrees)__ ======
469 469  
470 -In certain cases, a user might want to have the servo move to a specific angle upon power up; we refer to this as "first position" (a.k.a. "initial position"). The factory default has no first position value stored in EEPROM and therefore upon power up, the servo remains limp until a position (or hold command) is assigned. FP and FD are different in that FP is used for RC mode only, whereas FD is used for smart mode only.
541 +In certain cases, a user might want to have the servo move to a specific angle upon power up. We refer to this as "first position". The factory default has no first position value stored in EEPROM and therefore upon power up, the servo remains limp until a position (or hold command) is assigned. FP and FD are different in that FP is used for RC mode only, whereas FD is used for smart mode only.
471 471  
472 472  Query First Position in Degrees (**QFD**)
473 473  
... ... @@ -587,77 +587,3 @@
587 587  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.
588 588  
589 589  Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
590 -
591 -====== __A1. Angular Stiffness (**AS**)__ ======
592 -
593 -The servo's rigidity / angular stiffness can be thought of as (though not identical to) a damped spring in which the value affects the stiffness and embodies how much, and how quickly the servo tried keep the requested position against changes.
594 -
595 -A positive value of "angular stiffness":
596 -
597 -* The more torque will be applied to try to keep the desired position against external input / changes
598 -* The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position
599 -
600 -A negative value on the other hand:
601 -
602 -* Causes a slower acceleration to the travel speed, and a slower deceleration
603 -* Allows the target position to deviate more from its position before additional torque is applied to bring it back
604 -
605 -The default value is zero and the effect becomes extreme by -4, +4. There are no units, only integers between -4 to 4. Greater values produce increasingly erratic behavior.
606 -
607 -Ex: #5AS-2<cr>
608 -
609 -This reduces the angular stiffness to -2 for that session, allowing the servo to deviate more around the desired position. This can be beneficial in many situations such as impacts (legged robots) where more of a "spring" effect is desired. Upon reset, the servo will use the value stored in memory, based on the last configuration command.
610 -
611 -Ex: #5QAS<cr>
612 -
613 -Queries the value being used.
614 -
615 -Ex: #5CAS<cr>
616 -
617 -Writes the desired angular stiffness value to memory.
618 -
619 -====== __A2. Angular Holding Stiffness (**AH**)__ ======
620 -
621 -The angular holding stiffness determines the servo's ability to hold a desired position under load. Values can be from -10 to 10, with the default being 0. Note that negative values mean the final position can be easily deflected.
622 -
623 -Ex: #5AH3<cr>
624 -
625 -This sets the holding stiffness for servo #5 to 3 for that session.
626 -
627 -Query Angular Hold Stiffness (**QAH**)
628 -
629 -Ex: #5QAH<cr> might return *5QAH3<cr>
630 -
631 -This returns the servo's angular holding stiffness value.
632 -
633 -Configure Angular Hold Stiffness (**CAH**)
634 -
635 -Ex: #5CAH2<cr>
636 -
637 -This writes the angular holding stiffness of servo #5 to 2 to EEPROM
638 -
639 -====== __A3: Angular Acceleration (**AA**)__ ======
640 -
641 -{More details to come}
642 -
643 -====== __A4: Angular Deceleration (**AD**)__ ======
644 -
645 -{More details to come}
646 -
647 -====== __A5: Motion Control (**EM**)__ ======
648 -
649 -{More details to come}
650 -
651 -====== __A6. Configure LED Blinking (**CLB**)__ ======
652 -
653 -This command allows you to control when the RGB LED will blink the user set color (see [[16. RGB LED>>||anchor="H16.RGBLED28LED29"]] for details).
654 -You can turn on or off blinking for various LSS status. Here is the list and their associated value: 0=No blinking, ; 63=Always blink; Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;
655 -
656 -To set blinking, use CLB with the value of your choosing. To activate blinking in multiple status, simply add together the values of the corresponding status. See examples below:
657 -
658 -Ex: #5CLB0<cr> to turn off all blinking (LED always solid)
659 -Ex: #5CLB1<cr> only blink when limp
660 -Ex: #5CLB2<cr> only blink when holding
661 -Ex: #5CLB12<cr> only blink when accel or decel
662 -Ex: #5CLB48<cr> only blink when free or travel
663 -Ex: #5CLB63<cr> blink in all status

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