Last modified by Eric Nantel on 2024/11/21 09:43
From version < 98.37 >
edited by Coleman Benson
on 2019/02/05 16:16
To version < 98.34 >
edited by Coleman Benson
on 2019/02/05 13:59
< >
Change comment: There is no comment for this version

Summary

Details

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Content
... ... @@ -171,12 +171,13 @@
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|[[**C**hange to** RC**>>||anchor="H27.ConfigureRCMode28CRC29"]]| | |CRC|✓| | ✓|none|(% style="width:510px" %)(((
175 -Change to RC mode 1 (position) or 2 (wheel).
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.
176 176  )))|(% style="text-align:center; width:113px" %)Serial
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" %)
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" %)
180 180  
181 181  == Advanced ==
182 182  
... ... @@ -490,28 +490,26 @@
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.
494 +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 *5QN12345678<cr>
498 +Ex: #5QN<cr> might return *5QN~_~_<cr>
498 498  
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 +The number in the response is the servo's serial number which is set and cannot be changed.
500 500  
501 501  ====== __22. Query Firmware (**QF**)__ ======
502 502  
503 -Ex: #5QF<cr> might return *5QF411<cr>
504 +Ex: #5QF<cr> might return *5QF11<cr>
504 504  
505 -The number in the reply represents the firmware version, in this example being 411.
506 +The integer in the reply represents the firmware version with one decimal, in this example being 1.1
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 -
511 511  Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
512 512  
513 513  |*Value returned|**Status**|**Detailed description**
514 -|ex: *5Q0<cr>|Unknown|LSS is unsure / unknown state
513 +|ex: *5Q0<cr>|Unknown|LSS is unsure
515 515  |ex: *5Q1<cr>|Limp|Motor driving circuit is not powered and horn can be moved freely
516 516  |ex: *5Q2<cr>|Free moving|Motor driving circuit is not powered and horn can be moved freely
517 517  |ex: *5Q3<cr>|Accelerating|Increasing speed from rest (or previous speeD) towards travel speed
... ... @@ -541,38 +541,37 @@
541 541  
542 542  The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
543 543  
544 -====== __27. Configure RC Mode (**CRC**)__ ======
543 +====== __27 / 28. RC Mode (**CRC**)__ ======
545 545  
546 546  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.
547 547  
548 548  |**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 other than 1 or 2 (or no value): stay in smart mode.
551 +|ex: #5CRC*<cr>|Where * is any number or value. Stay in smart mode.
552 552  
553 -EX: #5CRC2<cr>
553 +EX: #5CRC<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.
555 +====== __29. **RESET**__ ======
556 556  
557 -====== __28. **RESET**__ ======
558 -
559 559  Ex: #5RESET<cr> or #5RS<cr>
560 560  
561 561  This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
562 562  
563 -====== __29. **DEFAULT** & CONFIRM__ ======
561 +====== __30. **DEFAULT** & CONFIRM__ ======
564 564  
565 565  Ex: #5DEFAULT<cr>
566 566  
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.
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.
568 568  
569 569  EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
570 570  
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.
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.
572 572  
573 573  Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
574 574  
575 -====== __30. **UPDATE** & CONFIRM__ ======
573 +====== __31. **UPDATE** & CONFIRM__ ======
576 576  
577 577  Ex: #5UPDATE<cr>
578 578  
... ... @@ -584,11 +584,9 @@
584 584  
585 585  Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
586 586  
587 -= Advanced =
588 -
589 589  ====== __A1. Angular Stiffness (**AS**)__ ======
590 590  
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.
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.
592 592  
593 593  A positive value of "angular stiffness":
594 594  
... ... @@ -600,7 +600,7 @@
600 600  * Causes a slower acceleration to the travel speed, and a slower deceleration
601 601  * Allows the target position to deviate more from its position before additional torque is applied to bring it back
602 602  
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.
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.
604 604  
605 605  Ex: #5AS-2<cr>
606 606  
... ... @@ -616,7 +616,7 @@
616 616  
617 617  ====== __A2. Angular Holding Stiffness (**AH**)__ ======
618 618  
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.
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.
620 620  
621 621  Ex: #5AH3<cr>
622 622  
... ... @@ -648,24 +648,14 @@
648 648  
649 649  ====== __A6. Configure LED Blinking (**CLB**)__ ======
650 650  
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:
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;
652 652  
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 -
664 664  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:
665 665  
666 666  Ex: #5CLB0<cr> to turn off all blinking (LED always solid)
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)
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
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