Changes for page LSS Communication Protocol

Last modified by Eric Nantel on 2025/06/06 07:47

From version < 98.36 >

edited by Coleman Benson
on 2019/02/05 14:59

To version < 115.1 >

edited by Coleman Benson
on 2019/02/27 12:09

< >

Change comment: There is no comment for this version

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Content

@@ -1,5
          +1,5 @@
  (% class="wikigeneratedid" id="HTableofContents" %)
--**Table of Contents**
++**Page Contents**
  {{toc depth="3"/}}
@@ -128,6
          +128,8 @@
  = Command List =
++== Regular ==
++
  |= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
  | 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| L| | | | |  ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
  | 2|[[**H**alt & **H**old>>||anchor="H2.Halt26Hold28H29"]]| H| | | | |  ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
@@ -146,7
          +146,7 @@
  | 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| D| QD / QDT| | | | ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
  | 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" %)
  | 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" %)
--| 12|[[Max **S**peed in **D**egrees>>||anchor="H12.MaxSpeedinDegrees28SD29"]]| SD| QSD|CSD|✓| ✓| ✓|tenths of degrees per second |(% style="width:510px" %)(((
++| 12|[[Max **S**peed in **D**egrees>>||anchor="H12.MaxSpeedinDegrees28SD29"]]| SD| QSD|CSD|✓| ✓| ✓|degrees per second (°/s)|(% style="width:510px" %)(((
  QSD: Add modifier "2" for instantaneous speed.
  SD overwrites SR / CSD overwrites CSR and vice-versa.
@@ -160,8
          +160,8 @@
  | 15|[[**G**yre direction (**G**)>>||anchor="H15.GyreRotationDirection28G29"]]| G| QG| CG|✓| ✓| ✓|none |(% style="width:510px" %)Gyre / rotation direction: 1= CW (clockwise) -1 = CCW (counter-clockwise)|(% style="text-align:center; width:113px" %)1
  | 16|[[**ID** #>>||anchor="H16.IdentificationNumber28ID29"]]| | 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
  | 17|[[**B**aud rate>>||anchor="H17.BaudRate"]]| | QB| CB| | | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)9600
--| 18|[[**F**irst Position (**P**ulse)>>||anchor="H18.FirstPosition28Pulse2928FP29"]]| | QFP|CFP |X| ✓| ✓|none |(% style="width:510px" %)CFP overwrites CFD and vice-versa|(% style="text-align:center; width:113px" %)(((
--Limp
++| 18|//{coming soon}//| | | | | | | |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
++
  )))
  | 19|[[**F**irst Position (**D**eg)>>||anchor="H19.FirstPosition28Degrees2928FD29"]]| | QFD|CFD|X| ✓| ✓|none |(% style="width:510px" %)CFD overwrites CFP and vice-versa|(% style="text-align:center; width:113px" %)Limp
  | 20|[[**M**odel **S**tring>>||anchor="H20.QueryModelString28QMS29"]]| | QMS| | | | |none (string)|(% style="width:510px" %) Returns the type of servo (ST, HS, HT)|(% style="text-align:center; width:113px" %)
@@ -180,17
          +180,17 @@
  == Advanced ==
--|= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
--| A1|[[**A**ngular **S**tiffness>>||anchor="HA1.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
--| A2|[[**A**ngular **H**olding Stiffness>>||anchor="HA2.AngularHoldingStiffness28AH29"]]|AH|QAH|CAH|✓| | ✓|none (integer -10 to +10)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)1
--| A3|[[**A**ngular **A**cceleration>>||anchor="HA3:AngularAcceleration28AA29"]]|AA|QAA|CAA|✓| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared|(% style="text-align:center; width:113px" %)
--| A4|[[**A**ngular **D**eceleration>>||anchor="HA4:AngularDeceleration28AD29"]]|AD|QAD|CAD|✓| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared|(% style="text-align:center; width:113px" %)
--| A5|[[**E**nable **M**otion Control>>||anchor="HA5:MotionControl28EM29"]]|EM|QEM| | | | ✓|none|(% style="width:510px" %)EM0 to disable motion control, EM1 to enable|(% style="text-align:center; width:113px" %)
++|= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes
++| A1|[[**A**ngular **S**tiffness>>||anchor="HA1.AngularStiffness28AS29"]]|AS|QAS|CAS|✓| ✓| ✓|none (integer -4 to +4)|(% style="width:510px" %)Suggested values are between 0 to +4
++| A2|[[**A**ngular **H**olding Stiffness>>||anchor="HA2.AngularHoldingStiffness28AH29"]]|AH|QAH|CAH|✓| | ✓|none (integer -10 to +10)|(% style="width:510px" %)Effect is different between serial and RC
++| A3|[[**A**ngular **A**cceleration>>||anchor="HA3:AngularAcceleration28AA29"]]|AA|QAA|CAA|✓| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared
++| A4|[[**A**ngular **D**eceleration>>||anchor="HA4:AngularDeceleration28AD29"]]|AD|QAD|CAD|✓| | ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared
++| A5|[[**E**nable **M**otion Control>>||anchor="HA5:MotionControl28EM29"]]|EM|QEM| | | | ✓|none|(% style="width:510px" %)EM0 to disable motion control, EM1 to enable
  | A6|[[**C**onfigure **L**ED **B**linking>>||anchor="HA6.ConfigureLEDBlinking28CLB29"]]| | | CLB| | ✓| |none (integer from 0 to 63)|(% style="width:510px" %)(((
 =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" %)
++)))
  == Details ==
@@ -278,7
          +278,7 @@
  Example: #5P2334<cr>
--The position in PWM pulses was retained in order to be backward compatible with the SSC-32 / 32U protocol. This relates the desired angle with an RC standard PWM pulse and is further explained in the SSC-32 and SSC-32U manuals found on Lynxmotion.com. Without any modifications to configuration considered, and a ±90.0 degrees standard range where 1500 microseconds is centered, a pulse of 2334 would set the servo to 165.1 degrees. Valid values for P are [500, 2500]. Values outside this range are corrected to end points.
++The position in PWM pulses was retained in order to be backward compatible with the SSC-32 / 32U protocol. This relates the desired angle with an RC standard PWM pulse and is further explained in the SSC-32 and SSC-32U manuals found on Lynxmotion.com. Without any modifications to configuration considered, and a ±90.0 degrees standard range where 1500 microseconds is centered, a pulse of 2334 would set the servo to 165.1 degrees. Valid values for P are [500, 2500]. Values outside this range are corrected / restricted to end points.
  Query Position in Pulse (**QP**)
@@ -454,22
          +454,10 @@
  Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
--====== __18. First Position (Pulse) (**FP**)__ ======
++====== __18. {//Coming soon//}__ ======
--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.
++Command coming soon....
--Query First Position in Pulses (**QFP**)
--
--Ex: #5QFP<cr> might return *5QFP1550<cr>
--
--The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds. If no first position has been set, servo will respond with DIS ("disabled").
--
--Configure First Position in Pulses (**CFP**)
--
--Ex: #5CP1550<cr>
--
--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 (Ex. #5CFP<cr>) results in the servo remaining limp upon power up (i.e. disabled).
--
  ====== __19. First Position (Degrees) (**FD**)__ ======
  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.
@@ -490,37
          +490,52 @@
  Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
--This reply means the servo model  is LSS-HS1, meaning a high speed servo, first revision.
++This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
  ====== __21. Query Serial Number (**QN**)__ ======
--Ex: #5QN<cr> might return *5QN~_~_<cr>
++Ex: #5QN<cr> might return *5QN12345678<cr>
--The number in the response is the servo's serial number which is set and cannot be changed.
++The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
  ====== __22. Query Firmware (**QF**)__ ======
--Ex: #5QF<cr> might return *5QF11<cr>
++Ex: #5QF<cr> might return *5QF411<cr>
--The integer in the reply represents the firmware version with one decimal, in this example being 1.1
++The number in the reply represents the firmware version, in this example being 411.
  ====== __23. Query Status (**Q**)__ ======
++The status query described what the servo is currently doing. The query returns an integer which must be looked up in the table below. Use the CLB advanced command to have the LED blink for certain statuses.
++
  Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
--|*Value returned|**Status**|**Detailed description**
--|ex: *5Q0<cr>|Unknown|LSS is unsure
--|ex: *5Q1<cr>|Limp|Motor driving circuit is not powered and horn can be moved freely
--|ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
--|ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
--|ex: *5Q4<cr>|Traveling|Moving at a stable speed
--|ex: *5Q5<cr>|Decelerating|Decreasing from travel speed towards final position.
--|ex: *5Q6<cr>|Holding|Keeping current position
--|ex: *5Q7<cr>|Stepping|Special low speed mode to maintain torque
--|ex: *5Q8<cr>|Outside limits|{More details coming soon}
--|ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting
--|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
++|***Value returned (Q)**|**Status**|**Detailed description**
++|ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state
++|ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely
++|ex: *5Q2<cr>|2: Free moving|Motor driving circuit is not powered and horn can be moved freely
++|ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
++|ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
++|ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
++|ex: *5Q6<cr>|6: Holding|Keeping current position
++|ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
++|ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
++|ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
++|ex: *5Q10<cr>|10: Safe Mode|(((
++A safety limit has been exceeded (temperature, peak current or extended high current draw).
++Send a Q1 command to know which limit has been reached (described below).
++)))
++
++(% class="wikigeneratedid" %)
++If a safety limit has been reached and exceeded, the LED will flash red and the servo will stop providing torque (no longer react to commands which cause the motor to rotate). In order to determine which limit has been reached, send a Q1 command. The servo must be RESET in order to return to normal operation, though if a limit is still detected (for example the servo is still too hot), it will revert back to Safe Mode.
++
++|***Value returned (Q1)**|**Status**|**Detailed description**
++|ex: *5Q0<cr>|No limits have been passed|Nothing is wrong
++|ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
++|ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
++|ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
++
  ====== __24. Query Voltage (**QV**)__ ======
  Ex: #5QV<cr> might return *5QV11200<cr>
@@ -544,15
          +544,16 @@
  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.
  |**Command sent**|**Note**
--|ex: #5CRC<cr>|Stay in smart mode.
  |ex: #5CRC1<cr>|Change to RC position mode.
  |ex: #5CRC2<cr>|Change to RC continuous (wheel) mode.
--|ex: #5CRC*<cr>|Where * is any number or value. Stay in smart mode.
++|ex: #5CRC*<cr>|Where * is any number or value other than 1 or 2 (or no value): stay in smart mode.
--EX: #5CRC<cr>
++EX: #5CRC2<cr>
--======   ======
++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. Using the command #5CRC<cr> or #5CRC3<cr> which requests that the servo remain in serial mode still requires a RESET command.
++Important note:** **To revert from RC mode back to serial mode, the [[LSS - Button Menu>>doc:Lynxmotion Smart Servo (LSS).LSS - Button Menu.WebHome]] is required. Should the button be inaccessible (or broken) when the servo is in RC mode and the user needs to change to serial mode, a 5V constant HIGH needs to be sent to the servo's Rx pin (RC PWM pin), ensuring a common GND and wait for 30 seconds. Normal RC PWM pulses should not exceed 2500 milliseconds. After 30 seconds, the servo will interpret this as a desired mode change and change to serial mode. This has been implemented as a fail safe.
++
  ====== __28. **RESET**__ ======
  Ex: #5RESET<cr> or #5RS<cr>
@@ -563,11
          +563,11 @@
  Ex: #5DEFAULT<cr>
--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.
++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.
  EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
--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.
++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.
  Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
@@ -583,9
          +583,13 @@
  Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
++= Advanced =
++
++The motion controller used in serial mode is not the same as the motion controller use in RC mode. RC mode is intended to add functionality to what would be considered "normal" RC behavior based on PWM input.
++
  ====== __A1. Angular Stiffness (**AS**)__ ======
--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.
++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.
  A positive value of "angular stiffness":
@@ -597,7
          +597,7 @@
  * Causes a slower acceleration to the travel speed, and a slower deceleration
  * Allows the target position to deviate more from its position before additional torque is applied to bring it back
--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.
++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.
  Ex: #5AS-2<cr>
@@ -613,7
          +613,7 @@
  ====== __A2. Angular Holding Stiffness (**AH**)__ ======
--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.
++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. Note that when  considering altering a stiffness value, the end effect depends on the mode being tested.
  Ex: #5AH3<cr>
@@ -629,30
          +629,64 @@
  Ex: #5CAH2<cr>
--This writes the angular holding stiffness of servo #5 to 2 to EEPROM
++This writes the angular holding stiffness of servo #5 to 2 to EEPROM. Note that when  considering altering a stiffness value, the end effect depends on the mode being tested.
  ====== __A3: Angular Acceleration (**AA**)__ ======
--{More details to come}
++The default value for angular acceleration is 100, which is the same as the maximum deceleration. Accepts values of between 1 and 100. Increments of 10 degrees per second squared.
++Ex: #5AA30<cr>
++
++Query Angular Acceleration (**QAD**)
++
++Ex: #5QA<cr> might return *5QA30<cr>
++
++Configure Angular Acceleration (**CAD**)
++
++Ex: #5CA30<cr>
++
  ====== __A4: Angular Deceleration (**AD**)__ ======
--{More details to come}
++The default value for angular deceleration is 100, which is the same as the maximum acceleration. Values between 1 and 15 have the greatest impact.
++Ex: #5AD8<cr>
++
++Query Angular Deceleration (**QAD**)
++
++Ex: #5QD<cr> might return *5QD8<cr>
++
++Configure Angular Deceleration (**CAD**)
++
++Ex: #5CD8<cr>
++
  ====== __A5: Motion Control (**EM**)__ ======
--{More details to come}
++The command EM0 disables use of the motion controller (acceleration, velocity / travel, deceleration). As such, the servo will move at full speed for all motion commands. The command EM1 enables use of the motion controller.
++Note that if the modifiers S or T are used, it is assumed that motion control is desired, and for that command, EM1 will be used.
++
  ====== __A6. Configure LED Blinking (**CLB**)__ ======
--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).
--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;
++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. The command requires that the servo be RESET. Here is the list and their associated value:
++(% style="width:195px" %)
++|(% style="width:134px" %)**Blink While:**|(% style="width:58px" %)**#**
++|(% style="width:134px" %)No blinking|(% style="width:58px" %)0
++|(% style="width:134px" %)Limp|(% style="width:58px" %)1
++|(% style="width:134px" %)Holding|(% style="width:58px" %)2
++|(% style="width:134px" %)Accelerating|(% style="width:58px" %)4
++|(% style="width:134px" %)Decelerating|(% style="width:58px" %)8
++|(% style="width:134px" %)Free|(% style="width:58px" %)16
++|(% style="width:134px" %)Travelling|(% style="width:58px" %)32
++|(% style="width:134px" %)Always blink|(% style="width:58px" %)63
++
  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:
  Ex: #5CLB0<cr> to turn off all blinking (LED always solid)
--Ex: #5CLB1<cr> only blink when limp
--Ex: #5CLB2<cr> only blink when holding
--Ex: #5CLB12<cr> only blink when accel or decel
--Ex: #5CLB48<cr> only blink when free or travel
--Ex: #5CLB63<cr> blink in all status
++Ex: #5CLB1<cr> only blink when limp (1)
++Ex: #5CLB2<cr> only blink when holding (2)
++Ex: #5CLB12<cr> only blink when accel or decel (accel 4 + decel 8 = 12)
++Ex: #5CLB48<cr> only blink when free or travel (free 16 + travel 32 = 48)
++Ex: #5CLB63<cr> blink in all status (1 + 2 + 4 + 8 + 16 + 32)
++
++RESETTING the servo is needed.

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