Wiki source code of LSS - Communication Protocol

Version 152.1 by Coleman Benson on 2019/10/08 10:22
Hide last authors
Eric Nantel 79.1 1 (% class="wikigeneratedid" id="HTableofContents" %)
Coleman Benson 100.1 2 **Page Contents**
Coleman Benson 67.1 3
RB1 64.5 4 {{toc depth="3"/}}
5
Coleman Benson 139.1 6 = Serial Protocol =
RB1 64.19 7
Coleman Benson 94.1 8 The custom Lynxmotion Smart Servo (LSS) serial protocol was created in order to be as simple and straightforward as possible from a user perspective ("human readable format"), while at the same time compact and robust yet highly versatile. The protocol was based on Lynxmotion's SSC-32 RC servo controller and almost everything one might expect to be able to configure for a smart servo motor is available.
Coleman Benson 1.1 9
Coleman Benson 94.1 10 In order to have servos react differently when commands are sent to all servos in a serial bus, the first step a user should take is to assign a different ID number to each servo (explained below). Once this has been done, only the servo(s) which have been assigned to the ID sent as part of the command will follow that command. There is currently no CRC / checksum implemented as part of the protocol.
Coleman Benson 93.1 11
RB1 64.2 12 == Session ==
Coleman Benson 1.1 13
14 A "session" is defined as the time between when the servo is powered ON to when it is powered OFF or reset.
15
Coleman Benson 96.1 16 Note that for a given session, the action related to a specific commands overrides the stored value in EEPROM.
17
Coleman Benson 1.1 18 == Action Commands ==
19
Coleman Benson 94.1 20 Action commands tell the servo, within that session, to do something (i.e. "take an action"). The types of action commands which can be sent are described below, and they cannot be combined with other commands such as queries or configurations. Only one action command can be sent at a time. Action commands are session-specific, therefore once a servo is power cycled, it will not have any "memory" of previous actions or virtual positions (described below on this page). Action commands are sent serially to the servo's Rx pin and must be sent in the following format:
Coleman Benson 1.1 21
22 1. Start with a number sign # (U+0023)
23 1. Servo ID number as an integer
24 1. Action command (one to three letters, no spaces, capital or lower case)
25 1. Action value in the correct units with no decimal
26 1. End with a control / carriage return '<cr>'
27
28 (((
29 Ex: #5PD1443<cr>
30
Coleman Benson 94.1 31 This sends a serial command to all servo's Rx pins which are connected to the bus and only servo(s) with ID #5 will move to a position in tenths of degrees ("PD") of 144.3 degrees. Any servo on the bus which does not have ID 5 will take no action when receiving this command.
Coleman Benson 1.1 32
Coleman Benson 65.2 33 == Action Modifiers ==
Coleman Benson 1.1 34
Coleman Benson 94.1 35 Only two commands can be used as action modifiers: Timed Move (T) and Speed (S) described below. Action modifiers can only be used with certain action commands. The format to include a modifier is:
Coleman Benson 1.1 36
37 1. Start with a number sign # (U+0023)
38 1. Servo ID number as an integer
39 1. Action command (one to three letters, no spaces, capital or lower case)
40 1. Action value in the correct units with no decimal
41 1. Modifier command (one letter)
42 1. Modifier value in the correct units with no decimal
43 1. End with a control / carriage return '<cr>'
44
45 Ex: #5P1456T1263<cr>
46
Coleman Benson 94.1 47 This results in the servo with ID #5 rotating from the current angular position to a pulse position ("P") of 1456 in a time ("T") of 1263 milliseconds.
Coleman Benson 1.1 48 )))
49
50 == Query Commands ==
51
Coleman Benson 94.1 52 Query commands request information from the servo. They are received via the Rx pin of the servo, and the servo's reply is sent via the servo's Tx pin. Using separate lines for Tx and Rx is called "full duplex". Query commands are also similar to action and configuration commands and must use the following format:
Coleman Benson 1.1 53
54 1. Start with a number sign # (U+0023)
55 1. Servo ID number as an integer
56 1. Query command (one to three letters, no spaces, capital or lower case)
57 1. End with a control / carriage return '<cr>'
58
59 (((
60 Ex: #5QD<cr>Query position in degrees for servo #5
61 )))
62
63 (((
Coleman Benson 93.1 64 The query will return a serial string (almost instantaneously) via the servo's Tx pin with the following format:
Coleman Benson 1.1 65
Coleman Benson 93.1 66 1. Start with an asterisk * (U+002A)
Coleman Benson 1.1 67 1. Servo ID number as an integer
68 1. Query command (one to three letters, no spaces, capital letters)
69 1. The reported value in the units described, no decimals.
70 1. End with a control / carriage return '<cr>'
71
Coleman Benson 94.1 72 There is currently no option to control how fast a servo replies after it has received a query command, therefore when sending a query command to the bus, the controller should be prepared to immediately "listen" for and parse the reply. Sending multiple queries on a bus in fast succession may result in replies overlapping and giving incorrect or corrupt data. As such, the controller should receive a reply before sending a new command. A reply to the query sent above might be:
Coleman Benson 93.1 73
Coleman Benson 1.1 74 (((
75 Ex: *5QD1443<cr>
76 )))
77
Coleman Benson 94.1 78 This indicates that servo #5 is currently at 144.3 degrees (1443 tenths of degrees).
Coleman Benson 1.1 79
Coleman Benson 96.1 80 == Configuration Commands ==
81
Eric Nantel 125.1 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-radio-control-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:
Coleman Benson 96.1 83
84 1. Start with a number sign # (U+0023)
85 1. Servo ID number as an integer
86 1. Configuration command (two to three letters, no spaces, capital or lower case)
87 1. Configuration value in the correct units with no decimal
88 1. End with a control / carriage return '<cr>'
89
90 Ex: #5CO-50<cr>
91
92 This configures an absolute origin offset ("CO") with respect to factory origin to servo with ID #5 and changes the offset for that session to -5.0 degrees (50 tenths of degrees). Once the servo is powered off and then powered on, zeroing the servo will cause it to move to -5.0 degrees with respect to the factory origin and report its position as 0 degrees. Configuration commands can be undone / reset either by sending the servo's default value for that configuration, or by doing a factory reset (clears all configurations) described below.
93
Coleman Benson 16.1 94 **Session vs Configuration Query**
Coleman Benson 1.1 95
Coleman Benson 94.1 96 By default, the query command returns the sessions' value. Should no action commands have been sent to change the session value, it will return the value saved in EEPROM which will either be the servo's default, or modified with a configuration command. In order to query the value stored in EEPROM (configuration), add a '1' to the query command:
Coleman Benson 1.1 97
Coleman Benson 94.1 98 Ex: #5CSR20<cr> immediately sets the maximum speed for servo #5 to 20rpm (explained below) and changes the value in memory.
Coleman Benson 1.1 99
Coleman Benson 94.1 100 After RESET, a command of #5SR4<cr> sets the session's speed to 4rpm, but does not change the configuration value in memory. Therefore:
Coleman Benson 1.1 101
Coleman Benson 94.1 102 #5QSR<cr> would return *5QSR4<cr> which represents the value for that session, whereas
Coleman Benson 1.1 103
Coleman Benson 16.1 104 #5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
RB1 56.1 105
Coleman Benson 65.2 106 == Virtual Angular Position ==
RB1 56.1 107
Coleman Benson 94.1 108 The ability to store a "virtual angular position" is a feature which allows for rotation beyond 360 degrees, permitting multiple rotations of the output horn, moving the center position and more. In virtual position mode, the "absolute position" would be the angle of the output shaft with respect to a 360.0 degree circle, and can be obtained by taking the modulus (with respect to 360 degrees) of the value. For example if the virtual position is reported as 15335 (or 1533.5 degrees), taking the modulus would give 93.5 degrees (3600 * 4 + 935 = 15335) as the absolute position (assuming no origin offset).
RB1 56.1 109
110 [[image:LSS-servo-positions.jpg]]
111
Coleman Benson 94.1 112 In this example, the gyre direction (explained below, a.k.a. "rotation direction") is positive (clockwise), and origin offset has not been modified. Each square represents 30 degrees. The following command is sent:
RB1 56.1 113
Coleman Benson 93.1 114 #1D-300<cr> This causes the servo to move to -30.0 degrees (green arrow)
RB1 56.1 115
116 #1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)
117
Coleman Benson 94.1 118 #1D-4200<cr> This next command rotates the servo counterclockwise to a position of -420 degrees (red arrow), which means one full rotation of 360 degrees plus 60.0 degrees (420.0 - 360.0), with a virtual position of -420.0 degrees.
RB1 56.1 119
120 Although the final physical position would be the same as if the servo were commanded to move to -60.0 degrees, the servo is in fact at -420.0 degrees.
121
122 #1D4800<cr> This new command is sent which would then cause the servo to rotate from -420.0 degrees to 480.0 degrees (blue arrow), which would be a total of 900 degrees of clockwise rotation, or 2.5 complete rotations.
123
124 #1D3300<cr> would cause the servo to rotate from 480.0 degrees to 330.0 degrees (yellow arrow).
125
126 If / once the servo loses power or is power cycled, it also loses the virtual position associated with that session. For example, if the virtual position was 480.0 degrees before power is cycled, upon power up the servo's position will be read as +120.0 degrees from zero (assuming center position has not been modified).
Coleman Benson 16.1 127 )))
Coleman Benson 1.1 128
129 = Command List =
130
Coleman Benson 99.1 131 == Regular ==
132
Coleman Benson 148.1 133 |= #|=Description|=Mod|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
134 | 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| | L| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
135 | 2|[[**H**alt & **H**old>>||anchor="H2.Halt26Hold28H29"]]| | H| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
136 | 3|[[**T**imed move>>||anchor="H3.Timedmove28T29modifier"]]|T| | | | | | ✓|milliseconds|(% style="width:510px" %) Modifier only for {P, D, MD}. Time is estimated and can change based on load|(% style="text-align:center; width:113px" %)
137 | 4|[[**S**peed>>||anchor="H4.Speed28S29modifier"]]|S| |QS| | | | ✓|microseconds per second|(% style="width:510px" %) Modifier only {P}|(% style="text-align:center; width:113px" %)
138 | 5|[[**M**ove in **D**egrees (relative)>>||anchor="H5.28Relative29MoveinDegrees28MD29"]]| | MD| | | | | ✓|tenths of degrees (ex 325 = 32.5 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
139 | 6|[[**O**rigin Offset>>||anchor="H6.OriginOffsetAction28O29"]]| | O| QO|CO|✓| ✓| ✓|tenths of degrees (ex 91 = 9.1 degrees)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
Coleman Benson 93.1 140 0
Eric Nantel 92.1 141 )))
Coleman Benson 148.1 142 | 7|[[**A**ngular **R**ange>>||anchor="H7.AngularRange28AR29"]]| | AR| QAR| CAR|✓| ✓| ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
Coleman Benson 93.1 143 1800
Eric Nantel 92.1 144 )))
Coleman Benson 148.1 145 | 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| | P| QP| | | | ✓|microseconds|(% style="width:510px" %)(((
Coleman Benson 93.1 146 Inherited from SSC-32 serial protocol
147 )))|(% style="text-align:center; width:113px" %)
Coleman Benson 148.1 148 | 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| | D| QD / QDT| | | | ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
149 | 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" %)
150 | 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" %)
151 | 12|[[Max **S**peed in **D**egrees>>||anchor="H12.MaxSpeedinDegrees28SD29"]]| | SD| QSD|CSD|✓| ✓| ✓|degrees per second (°/s)|(% style="width:510px" %)(((
Coleman Benson 94.1 152 QSD: Add modifier "2" for instantaneous speed.
153
154 SD overwrites SR / CSD overwrites CSR and vice-versa.
155 )))|(% style="text-align:center; width:113px" %)Max per servo
Coleman Benson 148.1 156 | 13|[[Max **S**peed in **R**PM>>||anchor="H13.MaxSpeedinRPM28SR29"]]| | SR| QSR|CSR|✓| ✓| ✓|revolutions per minute (rpm)|(% style="width:510px" %)(((
Coleman Benson 94.1 157 QSR: Add modifier "2" for instantaneous speed
158
159 SR overwrites SD / CSR overwrites CSD and vice-versa.
160 )))|(% style="text-align:center; width:113px" %)Max per servo
Coleman Benson 148.1 161 | 14|[[**LED** Color>>||anchor="H14.LEDColor28LED29"]]| | LED| QLED| CLED|✓| ✓| ✓|none (integer from 0 to 8)|(% style="width:510px" %)0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;|(% style="text-align:center; width:113px" %)0 (OFF)
162 | 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
163 | 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
164 | 17|[[**B**aud rate>>||anchor="H17.BaudRate"]]| | | QB| CB| | | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)115200
165 | 18|//{coming soon}//| | | | | | | | |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
Coleman Benson 114.1 166
Eric Nantel 92.1 167 )))
Coleman Benson 148.1 168 | 19|[[**F**irst Position (**D**eg)>>||anchor="H19.FirstA0Position28Degrees29"]]| | | QFD|CFD|X| ✓| ✓|none |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)No Value
169 | 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" %)
170 | 21|[[Serial **N**umber>>||anchor="H21.QuerySerialNumber28QN29"]]| | | QN| | | | |none (integer)|(% style="width:510px" %) Returns the unique serial number for that servo|(% style="text-align:center; width:113px" %)
171 | 22|[[**F**irmware version>>||anchor="H22.QueryFirmware28QF29"]]| | | QF| | | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
172 | 23|[[**Q**uery (gen. status)>>||anchor="H23.QueryStatus28Q29"]]| | | Q| | | | ✓|none (integer from 1 to 8)|(% style="width:510px" %) See command description for details|(% style="text-align:center; width:113px" %)
173 | 24|[[**V**oltage>>||anchor="H24.QueryVoltage28QV29"]]| | | QV| | | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
174 | 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" %)
175 | 26|[[**C**urrent>>||anchor="H26.QueryCurrent28QC29"]]| | | QC| | | | ✓|milliamps (ex 200 = 0.2A)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
176 | 27|[[**C**hange to** RC**>>||anchor="H27.ConfigureRCMode28CRC29"]]| | | |CRC|✓| | ✓|none|(% style="width:510px" %)(((
Coleman Benson 98.36 177 Change to RC mode 1 (position) or 2 (wheel).
Coleman Benson 93.1 178 )))|(% style="text-align:center; width:113px" %)Serial
Coleman Benson 148.1 179 | 28|[[**RESET**>>||anchor="H28.RESET"]]| | | | | | | ✓|none|(% style="width:510px" %)Soft reset. See command for details.|(% style="text-align:center; width:113px" %)
180 | 29|[[**DEFAULT**>>||anchor="H29.DEFAULTA026CONFIRM"]]| | | | | | |✓|none|(% style="width:510px" %)Revert to firmware default values. See command for details|(% style="text-align:center; width:113px" %)
181 | 30|[[**UPDATE**>>||anchor="H30.UPDATEA026CONFIRM"]]| | | | | | |✓|none|(% style="width:510px" %)Update firmware. See command for details.|(% style="text-align:center; width:113px" %)
Coleman Benson 1.1 182
Coleman Benson 93.1 183 == Advanced ==
184
Coleman Benson 147.1 185 |= #|=(% style="width: 182px;" %)Description|=(% style="width: 56px;" %)Mod|=(% style="width: 70px;" %) Action|=(% style="width: 71px;" %) Query|=(% style="width: 77px;" %) Config|=(% style="width: 77px;" %)Session|=(% style="width: 56px;" %) RC|=(% style="width: 151px;" %) Serial|= Units|=(% style="width: 510px;" %) Notes
186 | A1|(% style="width:182px" %)[[**A**ngular **S**tiffness>>||anchor="HA1.AngularStiffness28AS29"]]|(% style="width:56px" %) |(% style="width:70px" %)AS|(% style="width:71px" %)QAS|(% style="width:77px" %)CAS|(% style="width:77px" %)✓|(% style="width:56px" %) ✓|(% style="width:151px" %) ✓|none (integer -4 to +4)|(% style="width:510px" %)Suggested values are between 0 to +4
187 | A2|(% style="width:182px" %)[[**A**ngular **H**olding Stiffness>>||anchor="HA2.AngularHoldingStiffness28AH29"]]|(% style="width:56px" %) |(% style="width:70px" %)AH|(% style="width:71px" %)QAH|(% style="width:77px" %)CAH|(% style="width:77px" %)✓|(% style="width:56px" %) |(% style="width:151px" %) ✓|none (integer -10 to +10)|(% style="width:510px" %)Effect is different between serial and RC
188 | A3|(% style="width:182px" %)[[**A**ngular **A**cceleration>>||anchor="HA3:AngularAcceleration28AA29"]]|(% style="width:56px" %) |(% style="width:70px" %)AA|(% style="width:71px" %)QAA|(% style="width:77px" %)CAA|(% style="width:77px" %)✓|(% style="width:56px" %) |(% style="width:151px" %) ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared
189 | A4|(% style="width:182px" %)[[**A**ngular **D**eceleration>>||anchor="HA4:AngularDeceleration28AD29"]]|(% style="width:56px" %) |(% style="width:70px" %)AD|(% style="width:71px" %)QAD|(% style="width:77px" %)CAD|(% style="width:77px" %)✓|(% style="width:56px" %) |(% style="width:151px" %) ✓|degrees per second squared|(% style="width:510px" %)Increments of 10 degrees per second squared
190 | A5|(% style="width:182px" %)[[**E**nable **M**otion Control>>||anchor="HA5:MotionControl28EM29"]]|(% style="width:56px" %) |(% style="width:70px" %)EM|(% style="width:71px" %)QEM|(% style="width:77px" %) |(% style="width:77px" %) |(% style="width:56px" %) |(% style="width:151px" %) ✓|none|(% style="width:510px" %)EM0 to disable motion control, EM1 to enable
191 | A6|(% style="width:182px" %)[[**C**onfigure **L**ED **B**linking>>||anchor="HA6.ConfigureLEDBlinking28CLB29"]]|(% style="width:56px" %) |(% style="width:70px" %) |(% style="width:71px" %)QLB|(% style="width:77px" %) CLB|(% style="width:77px" %) |(% style="width:56px" %) ✓|(% style="width:151px" %) ✓|none (integer from 0 to 63)|(% style="width:510px" %)(((
Coleman Benson 96.1 192 0=No blinking, 63=Always blink;
Coleman Benson 93.1 193
Coleman Benson 127.1 194 Blink while: 1=Limp; 2=Holding; 4=Accel; 8=Decel; 16=Free 32=Travel;
Coleman Benson 112.1 195 )))
Coleman Benson 152.1 196 | A7|(% style="width:182px" %)[[**C**urrent **H**alt & **H**old>>||anchor="HA7.CurrentHalt26Hold28CH29"]]|(% style="width:56px" %)CH|(% style="width:70px" %) |(% style="width:71px" %) |(% style="width:77px" %) |(% style="width:77px" %)✓|(% style="width:56px" %) |(% style="width:151px" %)✓|milliamps (ex 400 = 0.4A)|(% style="width:510px" %)Modifier for D, MD, WD, WR
197 | A8|(% style="width:182px" %)[[**C**urrent **L**imp>>||anchor="HA8.CurrentLimp28CL29"]]|(% style="width:56px" %)CL|(% style="width:70px" %) |(% style="width:71px" %) |(% style="width:77px" %) |(% style="width:77px" %)✓|(% style="width:56px" %) |(% style="width:151px" %)✓|milliamps (ex 400 = 0.4A)|(% style="width:510px" %)Modifier for D, MD, WD, WR
Coleman Benson 96.1 198
Coleman Benson 138.1 199 == Details - Basic ==
Coleman Benson 1.1 200
RB1 64.15 201 ====== __1. Limp (**L**)__ ======
Coleman Benson 1.1 202
203 Example: #5L<cr>
204
205 This action causes the servo to go "limp". The microcontroller will still be powered, but the motor will not. As an emergency safety feature, should the robot not be doing what it is supposed to or risks damage, use the broadcast ID to set all servos limp #254L<cr>.
206
RB1 64.16 207 ====== __2. Halt & Hold (**H**)__ ======
Coleman Benson 1.1 208
209 Example: #5H<cr>
210
Coleman Benson 96.1 211 This action overrides whatever the servo might be doing at the time the command is received (accelerating, moving continuously etc.) and causes it to stop immediately and hold that angular position.
Coleman Benson 1.1 212
Coleman Benson 98.3 213 ====== __3. Timed move (**T**) modifier__ ======
Coleman Benson 1.1 214
215 Example: #5P1500T2500<cr>
216
Coleman Benson 96.1 217 Timed move can be used only as a modifier for a position (P, D, MD) actions. The units are in milliseconds, so a timed move of 2500 milliseconds would cause the servo to rotate from its current position to the desired position in 2.5 seconds. The onboard controller will attempt to ensure that the move is performed entirely at the desired velocity, though differences in torque may cause it to not be exact. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.
Coleman Benson 1.1 218
Coleman Benson 72.1 219 Note: If the calculated speed at which a servo must rotate for a timed move is greater than its maximum speed (which depends on voltage and load), then it will move at its maximum speed, and the time of the move may be longer than requested.
220
Coleman Benson 98.3 221 ====== __4. Speed (**S**) modifier__ ======
Coleman Benson 1.1 222
223 Example: #5P1500S750<cr>
224
225 This command is a modifier only for a position (P) action and determines the speed of the move in microseconds per second. A speed of 750 microseconds would cause the servo to rotate from its current position to the desired position at a speed of 750 microseconds per second. This command is in place to ensure backwards compatibility with the SSC-32 / 32U protocol.
226
Coleman Benson 129.1 227 Query Speed (**QS**)
228
229 Example: #5QS<cr> might return *5QS300<cr>
230
231 This command queries the current speed in microseconds per second.
232
RB1 64.16 233 ====== __5. (Relative) Move in Degrees (**MD**)__ ======
Coleman Benson 1.1 234
235 Example: #5MD123<cr>
236
237 The relative move command causes the servo to read its current position and move the specified number of tenths of degrees in the corresponding position. For example if the servo is set to rotate CW (default) and an MD command of 123 is sent to the servo, it will cause the servo to rotate clockwise by 12.3 degrees. Negative commands would cause the servo to rotate in the opposite configured direction.
238
RB1 64.16 239 ====== __6. Origin Offset Action (**O**)__ ======
Coleman Benson 1.1 240
241 Example: #5O2400<cr>
242
Coleman Benson 96.1 243 This command allows you to temporarily change the origin of the servo in relation to the factory zero position for that session. As with all action commands, the setting will be lost upon servo reset / power cycle. Origin offset commands are not cumulative and always relate to factory zero. In the first image, the origin at factory offset '0' (centered).
Coleman Benson 1.1 244
245 [[image:LSS-servo-default.jpg]]
246
Coleman Benson 96.1 247 In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
Coleman Benson 1.1 248
249 [[image:LSS-servo-origin.jpg]]
250
251 Origin Offset Query (**QO**)
252
253 Example: #5QO<cr> Returns: *5QO-13
254
Coleman Benson 96.1 255 This allows you to query the angle (in tenths of degrees) of the origin in relation to the factory zero position. In this example, the new origin is at -1.3 degrees from the factory zero.
Coleman Benson 1.1 256
257 Configure Origin Offset (**CO**)
258
259 Example: #5CO-24<cr>
260
Coleman Benson 96.1 261 This command allows you to change the origin of the servo in relation to the factory zero position in EEPROM. The setting will be saved upon servo reset / power cycle. Origin offset configuration commands are not cumulative and always relate to factory zero. The new origin is also used in RC mode. In the example, the new origin will be at -2.4 degrees from the factory zero.
Coleman Benson 1.1 262
RB1 64.16 263 ====== __7. Angular Range (**AR**)__ ======
Coleman Benson 1.1 264
265 Example: #5AR1800<cr>
266
Coleman Benson 96.1 267 This command allows you to temporarily change the total angular range of the servo in tenths of degrees. This applies to the Position in Pulse (P) command and RC mode. The default for (P) and RC mode is 1800 (180.0 degrees total, or ±90.0 degrees). The image below shows a standard -180.0 to +180.0 range, with no offset:
Coleman Benson 1.1 268
269 [[image:LSS-servo-default.jpg]]
270
Coleman Benson 96.1 271 Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
Coleman Benson 1.1 272
273 [[image:LSS-servo-ar.jpg]]
274
Coleman Benson 96.1 275 Finally, the angular range action command (ex. #5AR1800<cr>) and origin offset action command (ex. #5O-1200<cr>) are used to move both the center and limit the angular range:
Coleman Benson 1.1 276
277 [[image:LSS-servo-ar-o-1.jpg]]
278
279 Query Angular Range (**QAR**)
280
Coleman Benson 96.1 281 Example: #5QAR<cr> might return *5AR1800, indicating the total angular range is 180.0 degrees.
Coleman Benson 1.1 282
283 Configure Angular Range (**CAR**)
284
285 This command allows you to change the total angular range of the servo in tenths of degrees in EEPROM. The setting will be saved upon servo reset / power cycle.
286
RB1 64.16 287 ====== __8. Position in Pulse (**P**)__ ======
Coleman Benson 1.1 288
289 Example: #5P2334<cr>
290
Coleman Benson 103.1 291 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.
Coleman Benson 1.1 292
293 Query Position in Pulse (**QP**)
294
Coleman Benson 37.1 295 Example: #5QP<cr> might return *5QP2334
Coleman Benson 1.1 296
Coleman Benson 11.1 297 This command queries the current angular position in PWM "units". The user must take into consideration that the response includes any angular range and origin configurations in order to determine the actual angle. 
Coleman Benson 37.1 298 Valid values for QP are {-500, [500, 2500], -2500}. Values outside the [500, 2500] range are given a negative corresponding end point value to indicate they are out of bounds (note that if the servo is physically located at one of the endpoints, it may return a negative number if it is a fraction of a degree beyond the position).
Coleman Benson 1.1 299
RB1 64.16 300 ====== __9. Position in Degrees (**D**)__ ======
Coleman Benson 1.1 301
Coleman Benson 130.2 302 Example: #5D1456<cr>
Coleman Benson 1.1 303
304 This moves the servo to an angle of 145.6 degrees, where the center (0) position is centered. Negative values (ex. -176 representing -17.6 degrees) are used. A full circle would be from -1800 to 1800 degrees. A value of 2700 would be the same angle as -900, except the servo would move in a different direction.
305
306 Larger values are permitted and allow for multi-turn functionality using the concept of virtual position.
307
308 Query Position in Degrees (**QD**)
309
Coleman Benson 37.1 310 Example: #5QD<cr> might return *5QD132<cr>
Coleman Benson 1.1 311
Coleman Benson 37.1 312 This means the servo is located at 13.2 degrees.
313
Coleman Benson 98.5 314 (% class="wikigeneratedid" id="H22.QueryTargetPositioninDegrees28QDT29" %)
315 Query Target Position in Degrees (**QDT**)
316
317 Ex: #5QDT<cr> might return *5QDT6783<cr>
318
319 The query target position command returns the target angle during and after an action which results in a rotation of the servo horn. In the example above, the servo is rotating to a virtual position of 678.3 degrees. Should the servo not have a target position or be in wheel mode, it will respond without a number (Ex: *5QDT<cr>).
320
RB1 64.16 321 ====== __10. Wheel Mode in Degrees (**WD**)__ ======
Coleman Benson 1.1 322
323 Ex: #5WD900<cr>
324
325 This command sets the servo to wheel mode where it will rotate in the desired direction at the selected speed. The example above would have the servo rotate at 90.0 degrees per second clockwise (assuming factory default configurations).
326
327 Query Wheel Mode in Degrees (**QWD**)
328
329 Ex: #5QWD<cr> might return *5QWD900<cr>
330
331 The servo replies with the angular speed in tenths of degrees per second. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
332
RB1 64.16 333 ====== __11. Wheel Mode in RPM (**WR**)__ ======
Coleman Benson 1.1 334
335 Ex: #5WR40<cr>
336
337 This command sets the servo to wheel mode where it will rotate in the desired direction at the selected rpm. Wheel mode (a.k.a. "continuous rotation") has the servo operate like a geared DC motor. The servo's maximum rpm cannot be set higher than its physical limit at a given voltage. The example above would have the servo rotate at 40 rpm clockwise (assuming factory default configurations).
338
339 Query Wheel Mode in RPM (**QWR**)
340
341 Ex: #5QWR<cr> might return *5QWR40<cr>
342
343 The servo replies with the angular speed in rpm. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
344
Coleman Benson 98.2 345 ====== __12. Max Speed in Degrees (**SD**)__ ======
Coleman Benson 1.1 346
347 Ex: #5SD1800<cr>
348
Coleman Benson 98.2 349 This command sets the servo's maximum speed for motion commands in tenths of degrees per second for that session. In the example above, the servo's maximum speed for that session would be set to 180.0 degrees per second. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. The SD action command overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD and SR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.
Coleman Benson 1.1 350
351 Query Speed in Degrees (**QSD**)
352
353 Ex: #5QSD<cr> might return *5QSD1800<cr>
354
Coleman Benson 98.2 355 By default QSD will return the current session value, which is set to the value of CSD as reset/power cycle and changed whenever an SD/SR command is processed.
RB1 23.1 356 If #5QSD1<cr> is sent, the configured maximum speed (CSD value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
Coleman Benson 1.1 357
RB1 24.1 358 |**Command sent**|**Returned value (1/10 °)**
Coleman Benson 32.1 359 |ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
Coleman Benson 98.2 360 |ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
Coleman Benson 32.1 361 |ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
362 |ex: #5QSD3<cr>|Target travel speed
RB1 23.1 363
Coleman Benson 1.1 364 Configure Speed in Degrees (**CSD**)
365
366 Ex: #5CSD1800<cr>
367
368 Using the CSD command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 180.0 degrees per second. When the servo is powered on (or after a reset), the CSD value is used. Note that CSD and CSR (described below) are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) is what the servo uses for that session.
369
Coleman Benson 98.2 370 ====== __13. Max Speed in RPM (**SR**)__ ======
Coleman Benson 1.1 371
372 Ex: #5SD45<cr>
373
Coleman Benson 98.2 374 This command sets the servo's maximum speed for motion commands in rpm for that session. In the example above, the servo's maximum speed for that session would be set to 45rpm. The servo's maximum speed cannot be set higher than its physical limit at a given voltage. SD overrides CSD (described below) for that session. Upon reset or power cycle, the servo reverts to the value associated with CSD as described below. Note that SD (described above) and SR are effectively the same, but allow the user to specify the speed in either unit. The last command (either SR or SD) received is what the servo uses for that session.
Coleman Benson 1.1 375
376 Query Speed in Degrees (**QSR**)
377
378 Ex: #5QSR<cr> might return *5QSR45<cr>
379
Coleman Benson 98.2 380 By default QSR will return the current session value, which is set to the value of CSR as reset/power cycle and changed whenever an SD/SR command is processed.
RB1 25.1 381 If #5QSR1<cr> is sent, the configured maximum speed (CSR value) will be returned instead. You can also query the current speed using "2" and the current target travel speed using "3". See the table below for an example:
Coleman Benson 1.1 382
RB1 25.1 383 |**Command sent**|**Returned value (1/10 °)**
Coleman Benson 32.1 384 |ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
Coleman Benson 98.2 385 |ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
Coleman Benson 32.1 386 |ex: #5QSR2<cr>|Instantaneous speed (same as QWR)
387 |ex: #5QSR3<cr>|Target travel speed
Coleman Benson 1.1 388
RB1 25.1 389 Configure Speed in RPM (**CSR**)
390
Coleman Benson 1.1 391 Ex: #5CSR45<cr>
392
Coleman Benson 98.2 393 Using the CSR command sets the servo's maximum speed which is saved in EEPROM. In the example above, the servo's maximum speed will be set to 45rpm. When the servo is powered on (or after a reset), the CSR value is used. Note that CSD and CSR are effectively the same, but allow the user to specify the speed in either unit. The last command (either CSR or CSD) received is what the servo uses for that session.
Coleman Benson 1.1 394
Coleman Benson 98.3 395 ====== __14. LED Color (**LED**)__ ======
Coleman Benson 15.1 396
Coleman Benson 1.1 397 Ex: #5LED3<cr>
398
399 This action sets the servo's RGB LED color for that session.The LED can be used for aesthetics, or (based on user code) to provide visual status updates. Using timing can create patterns.
400
Coleman Benson 130.2 401 0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;
Coleman Benson 1.1 402
403 Query LED Color (**QLED**)
404
405 Ex: #5QLED<cr> might return *5QLED5<cr>
406
407 This simple query returns the indicated servo's LED color.
408
409 Configure LED Color (**CLED**)
410
Coleman Benson 98.3 411 Configuring the LED color via the CLED command sets the startup color of the servo after a reset or power cycle. Note that it also changes the session's LED color immediately as well.
Coleman Benson 1.1 412
Coleman Benson 98.4 413 ====== __15. Gyre Rotation Direction (**G**)__ ======
Coleman Benson 1.1 414
Coleman Benson 98.4 415 "Gyre" is defined as a circular course or motion. The effect of changing the gyre direction is as if you were to use a mirror image of a circle. CW = 1; CCW = -1. The factory default is clockwise (CW).
416
417 Ex: #5G-1<cr>
418
419 This command will cause servo #5's positions to be inverted, effectively causing the servo to rotate in the opposite direction given the same command. For example in a 2WD robot, servos are often physically installed back to back, therefore setting one of the servos to a negative gyration, the same wheel command (ex WR30) to both servos will cause the robot to move forward or backward rather than rotate.
420
421 Query Gyre Direction (**QG**)
422
423 Ex: #5QG<cr> might return *5QG-1<cr>
424
425 The value returned above means the servo is in a counter-clockwise gyration.
426
427 Configure Gyre (**CG**)
428
429 Ex: #5CG-1<cr>
430
431 This changes the gyre direction as described above and also writes to EEPROM.
432
Coleman Benson 98.18 433 ====== __16. Identification Number (**ID**)__ ======
Coleman Benson 98.4 434
Coleman Benson 98.3 435 A servo's identification number cannot be set "on the fly" and must be configured via the CID command described below. The factory default ID number for all servos is 0. Since smart servos are intended to be daisy chained, in order to respond differently from one another, the user must set different identification numbers. Servos with the same ID and baud rate will all receive and react to the same commands (assuming same baud rate).
Coleman Benson 1.1 436
437 Query Identification (**QID**)
438
Coleman Benson 38.1 439 EX: #254QID<cr> might return *QID5<cr>
Coleman Benson 1.1 440
Coleman Benson 98.3 441 When using the query ID command, it is best to only have one servo connected and thus receive only one reply. This is useful when you are not sure of the servo's ID, but don't want to change it. Using the broadcast command (ID 254) with only one servo will have that servo reply with its ID number (assuming the query is sent . Alternatively, pushing the button upon startup and temporarily setting the servo ID to 255 will still result in the servo responding with its "real" ID.
Coleman Benson 1.1 442
443 Configure ID (**CID**)
444
Coleman Benson 38.1 445 Ex: #4CID5<cr>
Coleman Benson 1.1 446
Coleman Benson 98.3 447 Setting a servo's ID in EEPROM is done via the CID command. All servos connected to the same serial bus will be assigned that ID. In most situations each servo must be set a unique ID, which means each servo must be connected individually to the serial bus and receive a unique CID number. It is best to do this before the servos are added to an assembly. Numbered stickers are provided to distinguish each servo after their ID is set, though you are free to use whatever alternative method you like. The servo must be RESET or power cycled in order for the new ID to take effect.
Coleman Benson 1.1 448
Coleman Benson 98.7 449 ====== __17. Baud Rate__ ======
Coleman Benson 1.1 450
Coleman Benson 129.2 451 A servo's baud rate cannot be set "on the fly" and must be configured via the CB command described below. The factory default baud rate for all servos is 115200. Since smart servos are intended to be daisy chained, in order to respond to the same serial bus, all servos in a project should ideally be set to the same baud rate. Setting different baud rates will have the servos respond differently and may create issues. Available baud rates are: 9600 bps, 19200 bps, 38400 bps, 57600 bps, 115.2 kbps, 230.4 kbps, 250.0 kbps, 460.8 kbps, 500.0 kbps. Servos are shipped with a baud rate set to 9600. The baud rates are currently restricted to those above.
Coleman Benson 1.1 452
453 Query Baud Rate (**QB**)
454
455 Ex: #5QB<cr> might return *5QB9600<cr>
456
Coleman Benson 98.3 457 Since the command to query the baud rate must be done at the servo's existing baud rate, it can simply be used to confirm the CB configuration command was correctly received before the servo is power cycled and the new baud rate takes effect.
Coleman Benson 1.1 458
459 Configure Baud Rate (**CB**)
460
Coleman Benson 98.3 461 Important Note: the servo's current session retains the given baud rate and the new baud rate will only take effect when the servo is power cycled / RESET.
Coleman Benson 93.1 462
Coleman Benson 1.1 463 Ex: #5CB9600<cr>
464
465 Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
466
Coleman Benson 114.1 467 ====== __18. {//Coming soon//}__ ======
Coleman Benson 1.1 468
Coleman Benson 114.1 469 Command coming soon....
Coleman Benson 1.1 470
Coleman Benson 134.1 471 ====== __19. First Position (Degrees)__ ======
Coleman Benson 1.1 472
Coleman Benson 144.1 473 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. Note that the number should be restricted to -1790 (-179.0 degrees) to +1790 (179.0 degrees) and values beyond this will be changed to 1800.
Coleman Benson 1.1 474
475 Query First Position in Degrees (**QFD**)
476
477 Ex: #5QFD<cr> might return *5QFD64<cr>
478
Coleman Benson 134.1 479 The reply above indicates that servo with ID 5 has a first position pulse of 1550 microseconds. If there is no first position value stored, the reply will be DIS
Coleman Benson 1.1 480
481 Configure First Position in Degrees (**CFD**)
482
483 Ex: #5CD64<cr>
484
Coleman Benson 134.1 485 This configuration command means the servo, when set to smart mode, will immediately move to 6.4 degrees upon power up. Sending a CFD command without a number (Ex. #5CFD<cr>) results in the servo remaining limp upon power up. In order to remove the first position, send no value, ex: #5CFD<cr>
Coleman Benson 1.1 486
Coleman Benson 98.7 487 ====== __20. Query Model String (**QMS**)__ ======
Coleman Benson 1.1 488
RB1 64.1 489 Ex: #5QMS<cr> might return *5QMSLSS-HS1cr>
Coleman Benson 1.1 490
Coleman Benson 98.37 491 This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
Coleman Benson 1.1 492
Coleman Benson 98.34 493 ====== __21. Query Serial Number (**QN**)__ ======
RB1 64.1 494
Coleman Benson 98.37 495 Ex: #5QN<cr> might return *5QN12345678<cr>
Coleman Benson 1.1 496
Coleman Benson 98.37 497 The number in the response (12345678) would be the servo's serial number which is set and should not be changed by the user.
Coleman Benson 1.1 498
Coleman Benson 98.7 499 ====== __22. Query Firmware (**QF**)__ ======
Coleman Benson 1.1 500
Coleman Benson 98.37 501 Ex: #5QF<cr> might return *5QF411<cr>
Coleman Benson 1.1 502
Coleman Benson 98.37 503 The number in the reply represents the firmware version, in this example being 411.
Coleman Benson 1.1 504
Coleman Benson 98.7 505 ====== __23. Query Status (**Q**)__ ======
Coleman Benson 1.1 506
Coleman Benson 110.1 507 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.
Coleman Benson 98.37 508
RB1 34.1 509 Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
Coleman Benson 1.1 510
Coleman Benson 109.1 511 |***Value returned (Q)**|**Status**|**Detailed description**
Coleman Benson 106.1 512 |ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state
513 |ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely
514 |ex: *5Q2<cr>|2: Free moving|Motor driving circuit is not powered and horn can be moved freely
Coleman Benson 110.1 515 |ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
Coleman Benson 106.1 516 |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
517 |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
518 |ex: *5Q6<cr>|6: Holding|Keeping current position
519 |ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
520 |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
521 |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
Coleman Benson 110.1 522 |ex: *5Q10<cr>|10: Safe Mode|(((
523 A safety limit has been exceeded (temperature, peak current or extended high current draw).
Coleman Benson 1.1 524
Coleman Benson 110.1 525 Send a Q1 command to know which limit has been reached (described below).
526 )))
527
Coleman Benson 109.1 528 (% class="wikigeneratedid" %)
Coleman Benson 110.1 529 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.
Coleman Benson 109.1 530
531 |***Value returned (Q1)**|**Status**|**Detailed description**
Coleman Benson 110.1 532 |ex: *5Q0<cr>|No limits have been passed|Nothing is wrong
Coleman Benson 109.1 533 |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
Coleman Benson 110.1 534 |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
Coleman Benson 109.1 535 |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
536
Coleman Benson 98.7 537 ====== __24. Query Voltage (**QV**)__ ======
Coleman Benson 1.1 538
Coleman Benson 59.1 539 Ex: #5QV<cr> might return *5QV11200<cr>
Coleman Benson 1.1 540
541 The number returned has one decimal, so in the case above, servo with ID 5 has an input voltage of 11.2V (perhaps a three cell LiPo battery).
542
Coleman Benson 98.7 543 ====== __25. Query Temperature (**QT**)__ ======
Coleman Benson 1.1 544
545 Ex: #5QT<cr> might return *5QT564<cr>
546
547 The units are in tenths of degrees Celcius, so in the example above, the servo's internal temperature is 56.4 degrees C. To convert from degrees Celcius to degrees Farenheit, multiply by 1.8 and add 32. Therefore 56.4C = 133.52F.
548
Coleman Benson 98.7 549 ====== __26. Query Current (**QC**)__ ======
Coleman Benson 1.1 550
551 Ex: #5QC<cr> might return *5QC140<cr>
552
553 The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
554
Coleman Benson 98.36 555 ====== __27. Configure RC Mode (**CRC**)__ ======
Coleman Benson 42.1 556
RB1 51.1 557 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.
Coleman Benson 42.1 558
RB1 50.1 559 |**Command sent**|**Note**
560 |ex: #5CRC1<cr>|Change to RC position mode.
561 |ex: #5CRC2<cr>|Change to RC continuous (wheel) mode.
Coleman Benson 98.37 562 |ex: #5CRC*<cr>|Where * is any number or value other than 1 or 2 (or no value): stay in smart mode.
RB1 50.1 563
Coleman Benson 98.37 564 EX: #5CRC2<cr>
Coleman Benson 42.1 565
Coleman Benson 105.1 566 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.
Coleman Benson 1.1 567
RB1 122.1 568 Important note:** **To revert from RC mode back to serial mode, the [[LSS - Button Menu>>doc:lynxmotion-smart-servo.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.
Coleman Benson 102.1 569
Coleman Benson 98.36 570 ====== __28. **RESET**__ ======
571
Coleman Benson 1.1 572 Ex: #5RESET<cr> or #5RS<cr>
573
574 This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
575
Coleman Benson 98.36 576 ====== __29. **DEFAULT** & CONFIRM__ ======
Coleman Benson 1.1 577
578 Ex: #5DEFAULT<cr>
579
Coleman Benson 98.37 580 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.
Coleman Benson 1.1 581
Coleman Benson 12.1 582 EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
Coleman Benson 1.1 583
Coleman Benson 98.37 584 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.
Coleman Benson 1.1 585
Coleman Benson 13.1 586 Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
587
Coleman Benson 98.36 588 ====== __30. **UPDATE** & CONFIRM__ ======
Coleman Benson 1.1 589
Coleman Benson 12.1 590 Ex: #5UPDATE<cr>
Coleman Benson 1.1 591
Coleman Benson 12.1 592 This command sets in motion the equivalent of a long button press when the servo is not powered in order to enter firmware update mode. This is useful should the button be broken or inaccessible. The servo then waits for the CONFIRM command. Any other command received will cause the servo to exit the UPDATE function.
Coleman Benson 1.1 593
Coleman Benson 12.1 594 EX: #5UPDATE<cr> followed by #5CONFIRM<cr>
Coleman Benson 1.1 595
Coleman Benson 12.1 596 Since it it not common to have to update firmware, a confirmation command is needed after an UPDATE 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.
597
Coleman Benson 13.1 598 Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
Coleman Benson 98.2 599
Coleman Benson 138.1 600 == Details - Advanced ==
Coleman Benson 98.37 601
Coleman Benson 113.1 602 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.
603
Coleman Benson 98.2 604 ====== __A1. Angular Stiffness (**AS**)__ ======
605
Coleman Benson 98.37 606 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.
Coleman Benson 98.2 607
608 A positive value of "angular stiffness":
609
610 * The more torque will be applied to try to keep the desired position against external input / changes
611 * The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position
612
613 A negative value on the other hand:
614
615 * Causes a slower acceleration to the travel speed, and a slower deceleration
616 * Allows the target position to deviate more from its position before additional torque is applied to bring it back
617
Coleman Benson 98.37 618 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.
Coleman Benson 98.2 619
620 Ex: #5AS-2<cr>
621
622 This reduces the angular stiffness to -2 for that session, allowing the servo to deviate more around the desired position. This can be beneficial in many situations such as impacts (legged robots) where more of a "spring" effect is desired. Upon reset, the servo will use the value stored in memory, based on the last configuration command.
623
624 Ex: #5QAS<cr>
625
626 Queries the value being used.
627
628 Ex: #5CAS<cr>
629
630 Writes the desired angular stiffness value to memory.
631
Coleman Benson 98.33 632 ====== __A2. Angular Holding Stiffness (**AH**)__ ======
Coleman Benson 98.2 633
Coleman Benson 113.1 634 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.
Coleman Benson 98.2 635
636 Ex: #5AH3<cr>
637
638 This sets the holding stiffness for servo #5 to 3 for that session.
639
640 Query Angular Hold Stiffness (**QAH**)
641
642 Ex: #5QAH<cr> might return *5QAH3<cr>
643
644 This returns the servo's angular holding stiffness value.
645
646 Configure Angular Hold Stiffness (**CAH**)
647
648 Ex: #5CAH2<cr>
649
Coleman Benson 113.1 650 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.
Coleman Benson 98.2 651
652 ====== __A3: Angular Acceleration (**AA**)__ ======
653
Coleman Benson 111.1 654 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.
Coleman Benson 98.2 655
Coleman Benson 111.1 656 Ex: #5AA30<cr>
657
658 Query Angular Acceleration (**QAD**)
659
660 Ex: #5QA<cr> might return *5QA30<cr>
661
662 Configure Angular Acceleration (**CAD**)
663
664 Ex: #5CA30<cr>
665
Coleman Benson 98.2 666 ====== __A4: Angular Deceleration (**AD**)__ ======
667
Coleman Benson 111.1 668 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.
Coleman Benson 98.2 669
Coleman Benson 111.1 670 Ex: #5AD8<cr>
671
672 Query Angular Deceleration (**QAD**)
673
674 Ex: #5QD<cr> might return *5QD8<cr>
675
676 Configure Angular Deceleration (**CAD**)
677
678 Ex: #5CD8<cr>
679
Coleman Benson 98.2 680 ====== __A5: Motion Control (**EM**)__ ======
681
Coleman Benson 115.1 682 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.
Coleman Benson 98.2 683
Coleman Benson 115.1 684 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.
685
Coleman Benson 98.2 686 ====== __A6. Configure LED Blinking (**CLB**)__ ======
687
Coleman Benson 108.1 688 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:
Coleman Benson 98.2 689
Coleman Benson 98.37 690 (% style="width:195px" %)
691 |(% style="width:134px" %)**Blink While:**|(% style="width:58px" %)**#**
692 |(% style="width:134px" %)No blinking|(% style="width:58px" %)0
693 |(% style="width:134px" %)Limp|(% style="width:58px" %)1
694 |(% style="width:134px" %)Holding|(% style="width:58px" %)2
695 |(% style="width:134px" %)Accelerating|(% style="width:58px" %)4
696 |(% style="width:134px" %)Decelerating|(% style="width:58px" %)8
697 |(% style="width:134px" %)Free|(% style="width:58px" %)16
698 |(% style="width:134px" %)Travelling|(% style="width:58px" %)32
699 |(% style="width:134px" %)Always blink|(% style="width:58px" %)63
700
Coleman Benson 98.2 701 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:
702
703 Ex: #5CLB0<cr> to turn off all blinking (LED always solid)
Coleman Benson 98.37 704 Ex: #5CLB1<cr> only blink when limp (1)
705 Ex: #5CLB2<cr> only blink when holding (2)
706 Ex: #5CLB12<cr> only blink when accel or decel (accel 4 + decel 8 = 12)
707 Ex: #5CLB48<cr> only blink when free or travel (free 16 + travel 32 = 48)
708 Ex: #5CLB63<cr> blink in all status (1 + 2 + 4 + 8 + 16 + 32)
Coleman Benson 108.1 709
710 RESETTING the servo is needed.
RB1 140.1 711
Coleman Benson 148.1 712 ====== __A7. Current Halt & Hold (**CH**)__ ======
713
714 This modifier, released in firmware v367, can be added to the following actions: D; MD; WD; WR.
715
716 Ex: #5D1423CH400<cr>
717
718 This has servo with ID 5 move to 142.3 degrees but, should it detect a current of 400mA or higher before it reaches the desired position, will immediately halt and hold position.
719
720 ====== __A8. Current Limp (**CL**)__ ======
721
722 This modifier, released in firmware v367, can be added to the following actions: D; MD; WD; WR.
723
724 Ex: #5D1423CH400<cr>
725
726 This has servo with ID 5 move to 142.3 degrees but, should it detect a current of 400mA or higher before it reaches the desired position, will immediately go limp.
727
Coleman Benson 143.1 728 = RGB LED Patterns =
RB1 140.1 729
Coleman Benson 143.1 730 The LED patterns below do not include those which are part of the button menu, which can be found here: [[LSS Button Menu>>doc:lynxmotion-smart-servo.lss-button-menu.WebHome]]
731
RB1 141.2 732 [[image:LSS - LED Patterns.png]]
Copyright RobotShop 2018