Last modified by Eric Nantel on 2025/06/06 07:47
From version < 98.37 >
edited by Coleman Benson
on 2019/02/05 16:16
To version < 107.1 >
edited by Coleman Benson
on 2019/02/22 11:12
< >
Change comment: There is no comment for this version

Summary

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Content
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1 1  (% class="wikigeneratedid" id="HTableofContents" %)
2 -**Table of Contents**
2 +**Page Contents**
3 3  
4 4  {{toc depth="3"/}}
5 5  
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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" %)
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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.
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181 181  == Advanced ==
182 182  
183 183  |= #|=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
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|(% style="text-align:center; width:113px" %)0
185 185  | 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
186 186  | 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" %)
187 187  | 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" %)
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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  
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456 456  
457 457  ====== __18. First Position (Pulse) (**FP**)__ ======
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 +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. If a first position pulse is assigned, the servo will move to that angle and hold there for up to 2 seconds before going limp should a new pulse not be received.
460 460  
461 461  Query First Position in Pulses (**QFP**)
462 462  
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510 510  
511 511  Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
512 512  
513 -|*Value returned|**Status**|**Detailed description**
514 -|ex: *5Q0<cr>|Unknown|LSS is unsure / unknown state
515 -|ex: *5Q1<cr>|Limp|Motor driving circuit is not powered and horn can be moved freely
516 -|ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
517 -|ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
518 -|ex: *5Q4<cr>|Traveling|Moving at a stable speed
519 -|ex: *5Q5<cr>|Decelerating|Decreasing from travel speed towards final position.
520 -|ex: *5Q6<cr>|Holding|Keeping current position
521 -|ex: *5Q7<cr>|Stepping|Special low speed mode to maintain torque
522 -|ex: *5Q8<cr>|Outside limits|{More details coming soon}
523 -|ex: *5Q9<cr>|Stuck|Motor cannot perform request movement at current speed setting
524 -|ex: *5Q10<cr>|Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
515 +|***Value returned**|**Status**|**Detailed description**
516 +|ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state
517 +|ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely
518 +|ex: *5Q2<cr>|2: Free moving|Motor driving circuit is not powered and horn can be moved freely
519 +|ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
520 +|ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
521 +|ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
522 +|ex: *5Q6<cr>|6: Holding|Keeping current position
523 +|ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
524 +|ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
525 +|ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
526 +|ex: *5Q9<cr>|10: Safe Mode|A safety limit has been exceeded (temperature, peak current or extended high current draw).
525 525  
526 526  ====== __24. Query Voltage (**QV**)__ ======
527 527  
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552 552  
553 553  EX: #5CRC2<cr>
554 554  
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.
557 +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.
556 556  
559 +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.
560 +
557 557  ====== __28. **RESET**__ ======
558 558  
559 559  Ex: #5RESET<cr> or #5RS<cr>
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