Last modified by Eric Nantel on 2024/11/21 09:43
From version < 98.36 >
edited by Coleman Benson
on 2019/02/05 14:59
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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... ... @@ -490,26 +490,28 @@
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.
493 +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>
497 +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.
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.
500 500  
501 501  ====== __22. Query Firmware (**QF**)__ ======
502 502  
503 -Ex: #5QF<cr> might return *5QF11<cr>
503 +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
505 +The number in the reply represents the firmware version, in this example being 411.
506 506  
507 507  ====== __23. Query Status (**Q**)__ ======
508 508  
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 +
509 509  Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
510 510  
511 511  |*Value returned|**Status**|**Detailed description**
512 -|ex: *5Q0<cr>|Unknown|LSS is unsure
514 +|ex: *5Q0<cr>|Unknown|LSS is unsure / unknown state
513 513  |ex: *5Q1<cr>|Limp|Motor driving circuit is not powered and horn can be moved freely
514 514  |ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
515 515  |ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
... ... @@ -544,14 +544,13 @@
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.
551 +|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>
553 +EX: #5CRC2<cr>
553 553  
554 -====== ======
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.
555 555  
556 556  ====== __28. **RESET**__ ======
557 557  
... ... @@ -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.
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.
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.
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.
571 571  
572 572  Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
573 573  
... ... @@ -583,9 +583,11 @@
583 583  
584 584  Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
585 585  
587 += Advanced =
588 +
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.
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.
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.
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.
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.
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.
617 617  
618 618  Ex: #5AH3<cr>
619 619  
... ... @@ -645,14 +645,24 @@
645 645  
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;
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:
650 650  
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 +
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
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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