Last modified by Eric Nantel on 2024/11/21 09:43
From version < 98.35 >
edited by Coleman Benson
on 2019/02/05 14:39
To version < 98.37 >
edited by Coleman Benson
on 2019/02/05 16:16
< >
Change comment: There is no comment for this version

Summary

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Content
... ... @@ -171,13 +171,12 @@
171 171  | 24|[[**V**oltage>>||anchor="H24.QueryVoltage28QV29"]]| | QV| | | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
172 172  | 25|[[**T**emperature>>||anchor="H25.QueryTemperature28QT29"]]| | QT| | | | ✓|tenths of degrees Celsius|(% style="width:510px" %)Max temp before error: 85°C (servo goes limp)|(% style="text-align:center; width:113px" %)
173 173  | 26|[[**C**urrent>>||anchor="H26.QueryCurrent28QC29"]]| | QC| | | | ✓|milliamps (ex 200 = 0.2A)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
174 -| 27|[[**RC** Mode>>||anchor="H2728.RCMode28CRC29"]] - Position| | |CRC1|✓| | ✓|none|(% style="width:510px" %)(((
175 -Change to RC position mode. To revert to smart mode, use the button menu.
174 +| 27|[[**C**hange to** RC**>>||anchor="H27.ConfigureRCMode28CRC29"]]| | |CRC|✓| | ✓|none|(% style="width:510px" %)(((
175 +Change to RC mode 1 (position) or 2 (wheel).
176 176  )))|(% style="text-align:center; width:113px" %)Serial
177 -| 28|[[**RC** Mode>>||anchor="H2728.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
178 -| 29|[[**RESET**>>||anchor="H29.RESET"]]| | | | | | ✓|none|(% style="width:510px" %)Soft reset. See command for details.|(% style="text-align:center; width:113px" %)
179 -| 30|[[**DEFAULT**>>||anchor="H30.DEFAULTA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Revert to firmware default values. See command for details|(% style="text-align:center; width:113px" %)
180 -| 31|[[**UPDATE**>>||anchor="H31.UPDATEA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Update firmware. See command for details.|(% style="text-align:center; width:113px" %)
177 +| 28|[[**RESET**>>||anchor="H28.RESET"]]| | | | | | ✓|none|(% style="width:510px" %)Soft reset. See command for details.|(% style="text-align:center; width:113px" %)
178 +| 29|[[**DEFAULT**>>||anchor="H29.DEFAULTA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Revert to firmware default values. See command for details|(% style="text-align:center; width:113px" %)
179 +| 30|[[**UPDATE**>>||anchor="H30.UPDATEA026CONFIRM"]]| | | | | |✓|none|(% style="width:510px" %)Update firmware. See command for details.|(% style="text-align:center; width:113px" %)
181 181  
182 182  == Advanced ==
183 183  
... ... @@ -491,26 +491,28 @@
491 491  
492 492  Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
493 493  
494 -This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
493 +This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
495 495  
496 496  ====== __21. Query Serial Number (**QN**)__ ======
497 497  
498 -Ex: #5QN<cr> might return *5QN~_~_<cr>
497 +Ex: #5QN<cr> might return *5QN12345678<cr>
499 499  
500 -The number in the response is the servo's serial number which is set and cannot be changed.
499 +The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
501 501  
502 502  ====== __22. Query Firmware (**QF**)__ ======
503 503  
504 -Ex: #5QF<cr> might return *5QF11<cr>
503 +Ex: #5QF<cr> might return *5QF411<cr>
505 505  
506 -The integer in the reply represents the firmware version with one decimal, in this example being 1.1
505 +The number in the reply represents the firmware version, in this example being 411.
507 507  
508 508  ====== __23. Query Status (**Q**)__ ======
509 509  
509 +The status query described what the servo is currently doing. The query returns an integer which must be looked up in the table below.
510 +
510 510  Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
511 511  
512 512  |*Value returned|**Status**|**Detailed description**
513 -|ex: *5Q0<cr>|Unknown|LSS is unsure
514 +|ex: *5Q0<cr>|Unknown|LSS is unsure / unknown state
514 514  |ex: *5Q1<cr>|Limp|Motor driving circuit is not powered and horn can be moved freely
515 515  |ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
516 516  |ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
... ... @@ -540,37 +540,38 @@
540 540  
541 541  The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
542 542  
543 -====== __27 / 28. RC Mode (**CRC**)__ ======
544 +====== __27. Configure RC Mode (**CRC**)__ ======
544 544  
545 545  This command puts the servo into RC mode (position or continuous), where it will only respond to RC pulses. Note that because this is the case, the servo will no longer accept serial commands. The servo can be placed back into smart mode by using the button menu.
546 546  
547 547  |**Command sent**|**Note**
548 -|ex: #5CRC<cr>|Stay in smart mode.
549 549  |ex: #5CRC1<cr>|Change to RC position mode.
550 550  |ex: #5CRC2<cr>|Change to RC continuous (wheel) mode.
551 -|ex: #5CRC*<cr>|Where * is any number or value. Stay in smart mode.
551 +|ex: #5CRC*<cr>|Where * is any number or value other than 1 or 2 (or no value): stay in smart mode.
552 552  
553 -EX: #5CRC<cr>
553 +EX: #5CRC2<cr>
554 554  
555 -====== __29. **RESET**__ ======
555 +This command would place the servo in RC wheel mode after a RESET or power cycle. Note that after a RESET or power cycle, the servo will be in RC mode and will not reply to serial commands.
556 556  
557 +====== __28. **RESET**__ ======
558 +
557 557  Ex: #5RESET<cr> or #5RS<cr>
558 558  
559 559  This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
560 560  
561 -====== __30. **DEFAULT** & CONFIRM__ ======
563 +====== __29. **DEFAULT** & CONFIRM__ ======
562 562  
563 563  Ex: #5DEFAULT<cr>
564 564  
565 -This command sets in motion the reset all values to the default values included with the version of the firmware installed on that servo. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the DEFAULT function.
567 +This command sets in motion the reset of all values to the default values included with the version of the firmware installed on that servo. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the DEFAULT function.
566 566  
567 567  EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
568 568  
569 -Since it it not common to have to restore all configurations, a confirmation command is needed after a firmware 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.
571 +Since it it not common to have to restore all configurations, a confirmation command is needed after a firmware command is sent. Should any command other than CONFIRM be received by the servo after the firmware command has been received, it will exit the command.
570 570  
571 571  Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
572 572  
573 -====== __31. **UPDATE** & CONFIRM__ ======
575 +====== __30. **UPDATE** & CONFIRM__ ======
574 574  
575 575  Ex: #5UPDATE<cr>
576 576  
... ... @@ -582,9 +582,11 @@
582 582  
583 583  Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
584 584  
587 += Advanced =
588 +
585 585  ====== __A1. Angular Stiffness (**AS**)__ ======
586 586  
587 -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.
591 +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. There are no units.
588 588  
589 589  A positive value of "angular stiffness":
590 590  
... ... @@ -596,7 +596,7 @@
596 596  * Causes a slower acceleration to the travel speed, and a slower deceleration
597 597  * Allows the target position to deviate more from its position before additional torque is applied to bring it back
598 598  
599 -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.
603 +The default value for stiffness depending on the firmware may be 0 or 1. Greater values produce increasingly erratic behavior and the effect becomes extreme below -4 and above +4. Maximum values are -10 to +10.
600 600  
601 601  Ex: #5AS-2<cr>
602 602  
... ... @@ -612,7 +612,7 @@
612 612  
613 613  ====== __A2. Angular Holding Stiffness (**AH**)__ ======
614 614  
615 -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.
619 +The angular holding stiffness determines the servo's ability to hold a desired position under load. The default value for stiffness depending on the firmware may be 0 or 1. Greater values produce increasingly erratic behavior and the effect becomes extreme below -4 and above +4. Maximum values are -10 to +10.
616 616  
617 617  Ex: #5AH3<cr>
618 618  
... ... @@ -644,14 +644,24 @@
644 644  
645 645  ====== __A6. Configure LED Blinking (**CLB**)__ ======
646 646  
647 -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).
648 -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;
651 +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). This is very useful when visually seeing what the servo is doing. You can turn on or off blinking for various LSS status. Here is the list and their associated value:
649 649  
653 +(% style="width:195px" %)
654 +|(% style="width:134px" %)**Blink While:**|(% style="width:58px" %)**#**
655 +|(% style="width:134px" %)No blinking|(% style="width:58px" %)0
656 +|(% style="width:134px" %)Limp|(% style="width:58px" %)1
657 +|(% style="width:134px" %)Holding|(% style="width:58px" %)2
658 +|(% style="width:134px" %)Accelerating|(% style="width:58px" %)4
659 +|(% style="width:134px" %)Decelerating|(% style="width:58px" %)8
660 +|(% style="width:134px" %)Free|(% style="width:58px" %)16
661 +|(% style="width:134px" %)Travelling|(% style="width:58px" %)32
662 +|(% style="width:134px" %)Always blink|(% style="width:58px" %)63
663 +
650 650  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:
651 651  
652 652  Ex: #5CLB0<cr> to turn off all blinking (LED always solid)
653 -Ex: #5CLB1<cr> only blink when limp
654 -Ex: #5CLB2<cr> only blink when holding
655 -Ex: #5CLB12<cr> only blink when accel or decel
656 -Ex: #5CLB48<cr> only blink when free or travel
657 -Ex: #5CLB63<cr> blink in all status
667 +Ex: #5CLB1<cr> only blink when limp (1)
668 +Ex: #5CLB2<cr> only blink when holding (2)
669 +Ex: #5CLB12<cr> only blink when accel or decel (accel 4 + decel 8 = 12)
670 +Ex: #5CLB48<cr> only blink when free or travel (free 16 + travel 32 = 48)
671 +Ex: #5CLB63<cr> blink in all status (1 + 2 + 4 + 8 + 16 + 32)

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