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 < 119.1 >
edited by Brahim Daouas
on 2019/03/20 14:38
< >
Change comment: There is no comment for this version

Summary

Details

Page properties
Parent
... ... @@ -1,1 +1,1 @@
1 -Lynxmotion Smart Servo (LSS).WebHome
1 +LynxmotionSmartServo.WebHome
Author
... ... @@ -1,1 +1,1 @@
1 -xwiki:XWiki.CBenson
1 +xwiki:XWiki.BDaouas
Content
... ... @@ -1,5 +1,5 @@
1 1  (% class="wikigeneratedid" id="HTableofContents" %)
2 -**Table of Contents**
2 +**Page Contents**
3 3  
4 4  {{toc depth="3"/}}
5 5  
... ... @@ -79,7 +79,7 @@
79 79  
80 80  == Configuration Commands ==
81 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:
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:LynxmotionSmartServo.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 83  
84 84  1. Start with a number sign # (U+0023)
85 85  1. Servo ID number as an integer
... ... @@ -128,6 +128,8 @@
128 128  
129 129  = Command List =
130 130  
131 +== Regular ==
132 +
131 131  |= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
132 132  | 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| L| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
133 133  | 2|[[**H**alt & **H**old>>||anchor="H2.Halt26Hold28H29"]]| H| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
... ... @@ -146,7 +146,7 @@
146 146  | 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| D| QD / QDT| | | | ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
147 147  | 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" %)
148 148  | 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.MaxSpeedinDegrees28SD29"]]| SD| QSD|CSD|✓| ✓| ✓|tenths of degrees per second |(% style="width:510px" %)(((
151 +| 12|[[Max **S**peed in **D**egrees>>||anchor="H12.MaxSpeedinDegrees28SD29"]]| SD| QSD|CSD|✓| ✓| ✓|degrees per second (°/s)|(% 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.
... ... @@ -160,8 +160,8 @@
160 160  | 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
161 161  | 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
162 162  | 17|[[**B**aud rate>>||anchor="H17.BaudRate"]]| | QB| CB| | | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)9600
163 -| 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" %)(((
164 -Limp
165 +| 18|//{coming soon}//| | | | | | | |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
166 +
165 165  )))
166 166  | 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
167 167  | 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 @@
180 180  
181 181  == Advanced ==
182 182  
183 -|= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
184 -| 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
185 -| 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
186 -| 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" %)
187 -| 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" %)
188 -| 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" %)
185 +|= #|=Description|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes
186 +| 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
187 +| 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
188 +| 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
189 +| 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
190 +| A5|[[**E**nable **M**otion Control>>||anchor="HA5:MotionControl28EM29"]]|EM|QEM| | | | ✓|none|(% style="width:510px" %)EM0 to disable motion control, EM1 to enable
189 189  | A6|[[**C**onfigure **L**ED **B**linking>>||anchor="HA6.ConfigureLEDBlinking28CLB29"]]| | | CLB| | ✓| |none (integer from 0 to 63)|(% style="width:510px" %)(((
190 190  0=No blinking, 63=Always blink;
191 191  
192 192  Blink while: 1=Limp; 2=Holding 4=Accel; 8=Decel; 16=Free 32=Travel;
193 -)))|(% style="text-align:center; width:113px" %)
195 +)))
194 194  
195 195  == Details ==
196 196  
... ... @@ -278,7 +278,7 @@
278 278  
279 279  Example: #5P2334<cr>
280 280  
281 -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.
283 +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.
282 282  
283 283  Query Position in Pulse (**QP**)
284 284  
... ... @@ -454,22 +454,10 @@
454 454  
455 455  Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
456 456  
457 -====== __18. First Position (Pulse) (**FP**)__ ======
459 +====== __18. {//Coming soon//}__ ======
458 458  
459 -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.
461 +Command coming soon....
460 460  
461 -Query First Position in Pulses (**QFP**)
462 -
463 -Ex: #5QFP<cr> might return *5QFP1550<cr>
464 -
465 -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").
466 -
467 -Configure First Position in Pulses (**CFP**)
468 -
469 -Ex: #5CP1550<cr>
470 -
471 -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).
472 -
473 473  ====== __19. First Position (Degrees) (**FD**)__ ======
474 474  
475 475  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 @@
490 490  
491 491  Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
492 492  
493 -This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
483 +This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
494 494  
495 495  ====== __21. Query Serial Number (**QN**)__ ======
496 496  
497 -Ex: #5QN<cr> might return *5QN~_~_<cr>
487 +Ex: #5QN<cr> might return *5QN12345678<cr>
498 498  
499 -The number in the response is the servo's serial number which is set and cannot be changed.
489 +The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
500 500  
501 501  ====== __22. Query Firmware (**QF**)__ ======
502 502  
503 -Ex: #5QF<cr> might return *5QF11<cr>
493 +Ex: #5QF<cr> might return *5QF411<cr>
504 504  
505 -The integer in the reply represents the firmware version with one decimal, in this example being 1.1
495 +The number in the reply represents the firmware version, in this example being 411.
506 506  
507 507  ====== __23. Query Status (**Q**)__ ======
508 508  
499 +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.
500 +
509 509  Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
510 510  
511 -|*Value returned|**Status**|**Detailed description**
512 -|ex: *5Q0<cr>|Unknown|LSS is unsure
513 -|ex: *5Q1<cr>|Limp|Motor driving circuit is not powered and horn can be moved freely
514 -|ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
515 -|ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
516 -|ex: *5Q4<cr>|Traveling|Moving at a stable speed
517 -|ex: *5Q5<cr>|Decelerating|Decreasing from travel speed towards final position.
518 -|ex: *5Q6<cr>|Holding|Keeping current position
519 -|ex: *5Q7<cr>|Stepping|Special low speed mode to maintain torque
520 -|ex: *5Q8<cr>|Outside limits|{More details coming soon}
521 -|ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting
522 -|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
503 +|***Value returned (Q)**|**Status**|**Detailed description**
504 +|ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state
505 +|ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely
506 +|ex: *5Q2<cr>|2: Free moving|Motor driving circuit is not powered and horn can be moved freely
507 +|ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
508 +|ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
509 +|ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
510 +|ex: *5Q6<cr>|6: Holding|Keeping current position
511 +|ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
512 +|ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
513 +|ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
514 +|ex: *5Q10<cr>|10: Safe Mode|(((
515 +A safety limit has been exceeded (temperature, peak current or extended high current draw).
523 523  
517 +Send a Q1 command to know which limit has been reached (described below).
518 +)))
519 +
520 +(% class="wikigeneratedid" %)
521 +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.
522 +
523 +|***Value returned (Q1)**|**Status**|**Detailed description**
524 +|ex: *5Q0<cr>|No limits have been passed|Nothing is wrong
525 +|ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
526 +|ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
527 +|ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
528 +
524 524  ====== __24. Query Voltage (**QV**)__ ======
525 525  
526 526  Ex: #5QV<cr> might return *5QV11200<cr>
... ... @@ -544,15 +544,16 @@
544 544  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.
545 545  
546 546  |**Command sent**|**Note**
547 -|ex: #5CRC<cr>|Stay in smart mode.
548 548  |ex: #5CRC1<cr>|Change to RC position mode.
549 549  |ex: #5CRC2<cr>|Change to RC continuous (wheel) mode.
550 -|ex: #5CRC*<cr>|Where * is any number or value. Stay in smart mode.
554 +|ex: #5CRC*<cr>|Where * is any number or value other than 1 or 2 (or no value): stay in smart mode.
551 551  
552 -EX: #5CRC<cr>
556 +EX: #5CRC2<cr>
553 553  
554 -====== ======
558 +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.
555 555  
560 +Important note:** **To revert from RC mode back to serial mode, the [[LSS - Button Menu>>doc:LynxmotionSmartServo.LSS-ButtonMenu.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.
561 +
556 556  ====== __28. **RESET**__ ======
557 557  
558 558  Ex: #5RESET<cr> or #5RS<cr>
... ... @@ -563,11 +563,11 @@
563 563  
564 564  Ex: #5DEFAULT<cr>
565 565  
566 -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.
572 +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.
567 567  
568 568  EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
569 569  
570 -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.
576 +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.
571 571  
572 572  Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
573 573  
... ... @@ -583,9 +583,13 @@
583 583  
584 584  Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
585 585  
592 += Advanced =
593 +
594 +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.
595 +
586 586  ====== __A1. Angular Stiffness (**AS**)__ ======
587 587  
588 -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.
598 +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.
589 589  
590 590  A positive value of "angular stiffness":
591 591  
... ... @@ -597,7 +597,7 @@
597 597  * Causes a slower acceleration to the travel speed, and a slower deceleration
598 598  * Allows the target position to deviate more from its position before additional torque is applied to bring it back
599 599  
600 -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.
610 +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.
601 601  
602 602  Ex: #5AS-2<cr>
603 603  
... ... @@ -613,7 +613,7 @@
613 613  
614 614  ====== __A2. Angular Holding Stiffness (**AH**)__ ======
615 615  
616 -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.
626 +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.
617 617  
618 618  Ex: #5AH3<cr>
619 619  
... ... @@ -629,30 +629,64 @@
629 629  
630 630  Ex: #5CAH2<cr>
631 631  
632 -This writes the angular holding stiffness of servo #5 to 2 to EEPROM
642 +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.
633 633  
634 634  ====== __A3: Angular Acceleration (**AA**)__ ======
635 635  
636 -{More details to come}
646 +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.
637 637  
648 +Ex: #5AA30<cr>
649 +
650 +Query Angular Acceleration (**QAD**)
651 +
652 +Ex: #5QA<cr> might return *5QA30<cr>
653 +
654 +Configure Angular Acceleration (**CAD**)
655 +
656 +Ex: #5CA30<cr>
657 +
638 638  ====== __A4: Angular Deceleration (**AD**)__ ======
639 639  
640 -{More details to come}
660 +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.
641 641  
662 +Ex: #5AD8<cr>
663 +
664 +Query Angular Deceleration (**QAD**)
665 +
666 +Ex: #5QD<cr> might return *5QD8<cr>
667 +
668 +Configure Angular Deceleration (**CAD**)
669 +
670 +Ex: #5CD8<cr>
671 +
642 642  ====== __A5: Motion Control (**EM**)__ ======
643 643  
644 -{More details to come}
674 +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.
645 645  
676 +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.
677 +
646 646  ====== __A6. Configure LED Blinking (**CLB**)__ ======
647 647  
648 -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).
649 -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;
680 +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:
650 650  
682 +(% style="width:195px" %)
683 +|(% style="width:134px" %)**Blink While:**|(% style="width:58px" %)**#**
684 +|(% style="width:134px" %)No blinking|(% style="width:58px" %)0
685 +|(% style="width:134px" %)Limp|(% style="width:58px" %)1
686 +|(% style="width:134px" %)Holding|(% style="width:58px" %)2
687 +|(% style="width:134px" %)Accelerating|(% style="width:58px" %)4
688 +|(% style="width:134px" %)Decelerating|(% style="width:58px" %)8
689 +|(% style="width:134px" %)Free|(% style="width:58px" %)16
690 +|(% style="width:134px" %)Travelling|(% style="width:58px" %)32
691 +|(% style="width:134px" %)Always blink|(% style="width:58px" %)63
692 +
651 651  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:
652 652  
653 653  Ex: #5CLB0<cr> to turn off all blinking (LED always solid)
654 -Ex: #5CLB1<cr> only blink when limp
655 -Ex: #5CLB2<cr> only blink when holding
656 -Ex: #5CLB12<cr> only blink when accel or decel
657 -Ex: #5CLB48<cr> only blink when free or travel
658 -Ex: #5CLB63<cr> blink in all status
696 +Ex: #5CLB1<cr> only blink when limp (1)
697 +Ex: #5CLB2<cr> only blink when holding (2)
698 +Ex: #5CLB12<cr> only blink when accel or decel (accel 4 + decel 8 = 12)
699 +Ex: #5CLB48<cr> only blink when free or travel (free 16 + travel 32 = 48)
700 +Ex: #5CLB63<cr> blink in all status (1 + 2 + 4 + 8 + 16 + 32)
701 +
702 +RESETTING the servo is needed.

Navigation

Copyright RobotShop 2018