Wiki source code of LSS - Communication Protocol

Version 167.1 by RB1 on 2020/04/24 12:57
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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
RB1 167.1 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 staying compact and robust yet highly versatile. The protocol was based on Lynxmotion's SSC-32 & SSC-32U RC servo controllers 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
RB1 152.2 16 Note #1: For a given session, the action related to a specific commands overrides the stored value in EEPROM.
17 Note #2: During the power-on / reset process the LSS cannot accept commands for a small amount of time (1.25 s).
18 You can ensure the LSS is ready by using a query command to check for response (ex: #[id]Q\r or #[id]QID\r). If the LSS is ready for commands (initialized) it will respond to the query. A timeout between 50-100 ms is recommended.
Coleman Benson 96.1 19
Coleman Benson 1.1 20 == Action Commands ==
21
Coleman Benson 94.1 22 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 23
24 1. Start with a number sign # (U+0023)
25 1. Servo ID number as an integer
26 1. Action command (one to three letters, no spaces, capital or lower case)
27 1. Action value in the correct units with no decimal
28 1. End with a control / carriage return '<cr>'
29
30 (((
31 Ex: #5PD1443<cr>
32
Coleman Benson 94.1 33 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 34
Coleman Benson 65.2 35 == Action Modifiers ==
Coleman Benson 1.1 36
Coleman Benson 94.1 37 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 38
39 1. Start with a number sign # (U+0023)
40 1. Servo ID number as an integer
41 1. Action command (one to three letters, no spaces, capital or lower case)
42 1. Action value in the correct units with no decimal
43 1. Modifier command (one letter)
44 1. Modifier value in the correct units with no decimal
45 1. End with a control / carriage return '<cr>'
46
47 Ex: #5P1456T1263<cr>
48
Coleman Benson 94.1 49 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 50 )))
51
52 == Query Commands ==
53
Coleman Benson 94.1 54 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 55
56 1. Start with a number sign # (U+0023)
57 1. Servo ID number as an integer
58 1. Query command (one to three letters, no spaces, capital or lower case)
59 1. End with a control / carriage return '<cr>'
60
61 (((
62 Ex: #5QD<cr>Query position in degrees for servo #5
63 )))
64
65 (((
Coleman Benson 93.1 66 The query will return a serial string (almost instantaneously) via the servo's Tx pin with the following format:
Coleman Benson 1.1 67
Coleman Benson 93.1 68 1. Start with an asterisk * (U+002A)
Coleman Benson 1.1 69 1. Servo ID number as an integer
70 1. Query command (one to three letters, no spaces, capital letters)
71 1. The reported value in the units described, no decimals.
72 1. End with a control / carriage return '<cr>'
73
Coleman Benson 94.1 74 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 75
Coleman Benson 1.1 76 (((
77 Ex: *5QD1443<cr>
78 )))
79
Coleman Benson 94.1 80 This indicates that servo #5 is currently at 144.3 degrees (1443 tenths of degrees).
Coleman Benson 1.1 81
Coleman Benson 96.1 82 == Configuration Commands ==
83
Eric Nantel 125.1 84 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 85
86 1. Start with a number sign # (U+0023)
87 1. Servo ID number as an integer
88 1. Configuration command (two to three letters, no spaces, capital or lower case)
89 1. Configuration value in the correct units with no decimal
90 1. End with a control / carriage return '<cr>'
91
92 Ex: #5CO-50<cr>
93
94 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.
95
Coleman Benson 16.1 96 **Session vs Configuration Query**
Coleman Benson 1.1 97
Coleman Benson 94.1 98 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 99
Coleman Benson 94.1 100 Ex: #5CSR20<cr> immediately sets the maximum speed for servo #5 to 20rpm (explained below) and changes the value in memory.
Coleman Benson 1.1 101
Coleman Benson 94.1 102 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 1.1 103
Coleman Benson 94.1 104 #5QSR<cr> would return *5QSR4<cr> which represents the value for that session, whereas
Coleman Benson 1.1 105
Coleman Benson 16.1 106 #5QSR1<cr> would return *5QSR20<cr> which represents the value in EEPROM
RB1 56.1 107
Coleman Benson 65.2 108 == Virtual Angular Position ==
RB1 56.1 109
Coleman Benson 94.1 110 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 56.1 111
112 [[image:LSS-servo-positions.jpg]]
113
Coleman Benson 94.1 114 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 56.1 115
Coleman Benson 93.1 116 #1D-300<cr> This causes the servo to move to -30.0 degrees (green arrow)
RB1 56.1 117
118 #1D2100<cr> This second position command is sent to the servo, which moves it to 210.0 degrees (orange arrow)
119
Coleman Benson 94.1 120 #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 56.1 121
122 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.
123
124 #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.
125
126 #1D3300<cr> would cause the servo to rotate from 480.0 degrees to 330.0 degrees (yellow arrow).
127
128 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 16.1 129 )))
Coleman Benson 1.1 130
131 = Command List =
132
Coleman Benson 99.1 133 == Regular ==
134
Coleman Benson 148.1 135 |= #|=Description|=Mod|= Action|= Query|= Config|=Session|= RC|= Serial|= Units|=(% style="width: 510px;" %) Notes|=(% style="width: 113px;" %)Default Value
136 | 1|[[**L**imp>>||anchor="H1.Limp28L29"]]| | L| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
137 | 2|[[**H**alt & **H**old>>||anchor="H2.Halt26Hold28H29"]]| | H| | | | | ✓|none|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
RB1 160.1 138 | 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" %)
RB1 162.1 139 | 4|[[**S**peed>>||anchor="H4.Speed28S2CSD29modifier"]]|S/SD| |QS| | | | ✓|microseconds per second / degrees per second|(% style="width:510px" %)S modifier only for {P}. SD modifier only for {D, MD}.|(% style="text-align:center; width:113px" %)
Coleman Benson 148.1 140 | 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" %)
141 | 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 93.1 142 0
Eric Nantel 92.1 143 )))
Coleman Benson 148.1 144 | 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 93.1 145 1800
Eric Nantel 92.1 146 )))
Coleman Benson 148.1 147 | 8|[[Position in **P**ulse>>||anchor="H8.PositioninPulse28P29"]]| | P| QP| | | | ✓|microseconds|(% style="width:510px" %)(((
Coleman Benson 93.1 148 Inherited from SSC-32 serial protocol
149 )))|(% style="text-align:center; width:113px" %)
Coleman Benson 148.1 150 | 9|[[Position in **D**egrees>>||anchor="H9.PositioninDegrees28D29"]]| | D| QD / QDT| | | | ✓|tenths of degrees |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
Brahim Daouas 162.2 151 | 10|[[**W**heel mode in **D**egrees>>||anchor="H10.WheelModeinDegrees28WD29"]]| | WD| QWD| | | | ✓|degrees per second|(% style="width:510px" %)A.K.A. "Speed mode" or "Continuous rotation"|(% style="text-align:center; width:113px" %)
Coleman Benson 148.1 152 | 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" %)
153 | 12|[[Max **S**peed in **D**egrees>>||anchor="H12.MaxSpeedinDegrees28SD29"]]| | SD| QSD|CSD|✓| ✓| ✓|degrees per second (°/s)|(% style="width:510px" %)(((
Coleman Benson 94.1 154 QSD: Add modifier "2" for instantaneous speed.
155
156 SD overwrites SR / CSD overwrites CSR and vice-versa.
157 )))|(% style="text-align:center; width:113px" %)Max per servo
Coleman Benson 148.1 158 | 13|[[Max **S**peed in **R**PM>>||anchor="H13.MaxSpeedinRPM28SR29"]]| | SR| QSR|CSR|✓| ✓| ✓|revolutions per minute (rpm)|(% style="width:510px" %)(((
Coleman Benson 94.1 159 QSR: Add modifier "2" for instantaneous speed
160
161 SR overwrites SD / CSR overwrites CSD and vice-versa.
162 )))|(% style="text-align:center; width:113px" %)Max per servo
Brahim Daouas 158.2 163 | 14|[[**LED** Color>>||anchor="H14.LEDColor28LED29"]]| | LED| QLED| CLED|✓| ✓| ✓|none (integer from 0 to 7)|(% 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)
Coleman Benson 148.1 164 | 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
165 | 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
166 | 17|[[**B**aud rate>>||anchor="H17.BaudRate"]]| | | QB| CB| | | ✓|none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)115200
167 | 18|//{coming soon}//| | | | | | | | |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)(((
Coleman Benson 114.1 168
Eric Nantel 92.1 169 )))
Coleman Benson 148.1 170 | 19|[[**F**irst Position (**D**eg)>>||anchor="H19.FirstA0Position28Degrees29"]]| | | QFD|CFD|X| ✓| ✓|none |(% style="width:510px" %) |(% style="text-align:center; width:113px" %)No Value
RB1 156.1 171 | 20|[[**M**odel **S**tring>>||anchor="H20.QueryModelString28QMS29"]]| | | QMS| | | | |none (string)|(% style="width:510px" %) Returns the type of servo (ex: LSS-ST1, LSS-HS1, LSS-HT1)|(% style="text-align:center; width:113px" %)
Coleman Benson 148.1 172 | 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" %)
173 | 22|[[**F**irmware version>>||anchor="H22.QueryFirmware28QF29"]]| | | QF| | | | |none (integer)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
174 | 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" %)
175 | 24|[[**V**oltage>>||anchor="H24.QueryVoltage28QV29"]]| | | QV| | | | ✓|millivolts (ex 5936 = 5936mV = 5.936V)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
176 | 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" %)
177 | 26|[[**C**urrent>>||anchor="H26.QueryCurrent28QC29"]]| | | QC| | | | ✓|milliamps (ex 200 = 0.2A)|(% style="width:510px" %) |(% style="text-align:center; width:113px" %)
178 | 27|[[**C**hange to** RC**>>||anchor="H27.ConfigureRCMode28CRC29"]]| | | |CRC|✓| | ✓|none|(% style="width:510px" %)(((
Coleman Benson 98.36 179 Change to RC mode 1 (position) or 2 (wheel).
Coleman Benson 93.1 180 )))|(% style="text-align:center; width:113px" %)Serial
Coleman Benson 148.1 181 | 28|[[**RESET**>>||anchor="H28.RESET"]]| | | | | | | ✓|none|(% style="width:510px" %)Soft reset. See command for details.|(% style="text-align:center; width:113px" %)
182 | 29|[[**DEFAULT**>>||anchor="H29.DEFAULTA026CONFIRM"]]| | | | | | |✓|none|(% style="width:510px" %)Revert to firmware default values. See command for details|(% style="text-align:center; width:113px" %)
183 | 30|[[**UPDATE**>>||anchor="H30.UPDATEA026CONFIRM"]]| | | | | | |✓|none|(% style="width:510px" %)Update firmware. See command for details.|(% style="text-align:center; width:113px" %)
Coleman Benson 1.1 184
Coleman Benson 93.1 185 == Advanced ==
186
Coleman Benson 147.1 187 |= #|=(% 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
188 | 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
189 | 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
190 | 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
191 | 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
192 | 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
193 | 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 96.1 194 0=No blinking, 63=Always blink;
Coleman Benson 93.1 195
Coleman Benson 127.1 196 Blink while: 1=Limp; 2=Holding; 4=Accel; 8=Decel; 16=Free 32=Travel;
Coleman Benson 112.1 197 )))
Coleman Benson 152.1 198 | 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
199 | 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 96.1 200
Coleman Benson 138.1 201 == Details - Basic ==
Coleman Benson 1.1 202
RB1 64.15 203 ====== __1. Limp (**L**)__ ======
Coleman Benson 1.1 204
205 Example: #5L<cr>
206
207 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>.
208
RB1 64.16 209 ====== __2. Halt & Hold (**H**)__ ======
Coleman Benson 1.1 210
211 Example: #5H<cr>
212
Coleman Benson 96.1 213 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 1.1 214
Coleman Benson 98.3 215 ====== __3. Timed move (**T**) modifier__ ======
Coleman Benson 1.1 216
217 Example: #5P1500T2500<cr>
218
Coleman Benson 96.1 219 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 1.1 220
Coleman Benson 72.1 221 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.
222
RB1 161.1 223 ====== __4. Speed (**S**, **SD**) modifier__ ======
Coleman Benson 1.1 224
225 Example: #5P1500S750<cr>
RB1 161.1 226 Example: #5D0SD180<cr>
Coleman Benson 1.1 227
RB1 161.1 228 Modifier (S) is 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.
Coleman Benson 1.1 229
RB1 161.1 230 Modifer (S) is only for a position (D) or relative position (MD) action and determines the speed of the move in degrees per second. A speed modifier (SD) of 180 would cause the servo to rotate from its current position to the desired absolute or relative position at a speed of 180 degrees per second.
231
Coleman Benson 129.1 232 Query Speed (**QS**)
233
234 Example: #5QS<cr> might return *5QS300<cr>
235
236 This command queries the current speed in microseconds per second.
237
RB1 64.16 238 ====== __5. (Relative) Move in Degrees (**MD**)__ ======
Coleman Benson 1.1 239
240 Example: #5MD123<cr>
241
242 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.
243
RB1 64.16 244 ====== __6. Origin Offset Action (**O**)__ ======
Coleman Benson 1.1 245
246 Example: #5O2400<cr>
247
Coleman Benson 96.1 248 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 1.1 249
250 [[image:LSS-servo-default.jpg]]
251
Coleman Benson 96.1 252 In the second image, the origin, and the corresponding angular range (explained below) have been shifted by +240.0 degrees:
Coleman Benson 1.1 253
254 [[image:LSS-servo-origin.jpg]]
255
256 Origin Offset Query (**QO**)
257
258 Example: #5QO<cr> Returns: *5QO-13
259
Coleman Benson 96.1 260 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 1.1 261
262 Configure Origin Offset (**CO**)
263
264 Example: #5CO-24<cr>
265
Coleman Benson 96.1 266 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 1.1 267
RB1 64.16 268 ====== __7. Angular Range (**AR**)__ ======
Coleman Benson 1.1 269
270 Example: #5AR1800<cr>
271
Coleman Benson 96.1 272 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 1.1 273
274 [[image:LSS-servo-default.jpg]]
275
Coleman Benson 96.1 276 Below, the angular range is restricted to 180.0 degrees, or -90.0 to +90.0. The center has remained unchanged.
Coleman Benson 1.1 277
278 [[image:LSS-servo-ar.jpg]]
279
Coleman Benson 96.1 280 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 1.1 281
282 [[image:LSS-servo-ar-o-1.jpg]]
283
284 Query Angular Range (**QAR**)
285
Coleman Benson 96.1 286 Example: #5QAR<cr> might return *5AR1800, indicating the total angular range is 180.0 degrees.
Coleman Benson 1.1 287
288 Configure Angular Range (**CAR**)
289
290 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.
291
RB1 64.16 292 ====== __8. Position in Pulse (**P**)__ ======
Coleman Benson 1.1 293
294 Example: #5P2334<cr>
295
Coleman Benson 103.1 296 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 1.1 297
298 Query Position in Pulse (**QP**)
299
Coleman Benson 37.1 300 Example: #5QP<cr> might return *5QP2334
Coleman Benson 1.1 301
Coleman Benson 11.1 302 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 37.1 303 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 1.1 304
RB1 64.16 305 ====== __9. Position in Degrees (**D**)__ ======
Coleman Benson 1.1 306
Coleman Benson 130.2 307 Example: #5D1456<cr>
Coleman Benson 1.1 308
309 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.
310
311 Larger values are permitted and allow for multi-turn functionality using the concept of virtual position.
312
313 Query Position in Degrees (**QD**)
314
Coleman Benson 37.1 315 Example: #5QD<cr> might return *5QD132<cr>
Coleman Benson 1.1 316
Coleman Benson 37.1 317 This means the servo is located at 13.2 degrees.
318
Coleman Benson 98.5 319 (% class="wikigeneratedid" id="H22.QueryTargetPositioninDegrees28QDT29" %)
320 Query Target Position in Degrees (**QDT**)
321
322 Ex: #5QDT<cr> might return *5QDT6783<cr>
323
324 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>).
325
RB1 64.16 326 ====== __10. Wheel Mode in Degrees (**WD**)__ ======
Coleman Benson 1.1 327
Brahim Daouas 164.1 328 Ex: #5WD90<cr>
Coleman Benson 1.1 329
330 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).
331
332 Query Wheel Mode in Degrees (**QWD**)
333
Brahim Daouas 164.1 334 Ex: #5QWD<cr> might return *5QWD90<cr>
Coleman Benson 1.1 335
Brahim Daouas 164.1 336 The servo replies with the angular speed in degrees per second. A negative sign would indicate the opposite direction (for factory default a negative value would be counter clockwise).
Coleman Benson 1.1 337
RB1 64.16 338 ====== __11. Wheel Mode in RPM (**WR**)__ ======
Coleman Benson 1.1 339
340 Ex: #5WR40<cr>
341
342 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).
343
344 Query Wheel Mode in RPM (**QWR**)
345
346 Ex: #5QWR<cr> might return *5QWR40<cr>
347
348 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).
349
Coleman Benson 98.2 350 ====== __12. Max Speed in Degrees (**SD**)__ ======
Coleman Benson 1.1 351
352 Ex: #5SD1800<cr>
353
Coleman Benson 98.2 354 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 1.1 355
356 Query Speed in Degrees (**QSD**)
357
358 Ex: #5QSD<cr> might return *5QSD1800<cr>
359
Coleman Benson 98.2 360 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 23.1 361 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 1.1 362
RB1 24.1 363 |**Command sent**|**Returned value (1/10 °)**
Coleman Benson 32.1 364 |ex: #5QSD<cr>|Session value for maximum speed (set by latest SD/SR command)
Coleman Benson 98.2 365 |ex: #5QSD1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
Coleman Benson 32.1 366 |ex: #5QSD2<cr>|Instantaneous speed (same as QWD)
367 |ex: #5QSD3<cr>|Target travel speed
RB1 23.1 368
Coleman Benson 1.1 369 Configure Speed in Degrees (**CSD**)
370
371 Ex: #5CSD1800<cr>
372
373 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.
374
Coleman Benson 98.2 375 ====== __13. Max Speed in RPM (**SR**)__ ======
Coleman Benson 1.1 376
377 Ex: #5SD45<cr>
378
Coleman Benson 98.2 379 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 1.1 380
381 Query Speed in Degrees (**QSR**)
382
383 Ex: #5QSR<cr> might return *5QSR45<cr>
384
Coleman Benson 98.2 385 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 25.1 386 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 1.1 387
RB1 25.1 388 |**Command sent**|**Returned value (1/10 °)**
Coleman Benson 32.1 389 |ex: #5QSR<cr>|Session value for maximum speed (set by latest SD/SR command)
Coleman Benson 98.2 390 |ex: #5QSR1<cr>|Configured maximum speed in EEPROM (set by CSD/CSR)
Coleman Benson 32.1 391 |ex: #5QSR2<cr>|Instantaneous speed (same as QWR)
392 |ex: #5QSR3<cr>|Target travel speed
Coleman Benson 1.1 393
RB1 25.1 394 Configure Speed in RPM (**CSR**)
395
Coleman Benson 1.1 396 Ex: #5CSR45<cr>
397
Coleman Benson 98.2 398 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 1.1 399
Coleman Benson 98.3 400 ====== __14. LED Color (**LED**)__ ======
Coleman Benson 15.1 401
Coleman Benson 1.1 402 Ex: #5LED3<cr>
403
404 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.
405
Coleman Benson 130.2 406 0=Off (black); 1=Red 2=Green; 3=Blue; 4=Yellow; 5=Cyan; 6=Magenta; 7=White;
Coleman Benson 1.1 407
408 Query LED Color (**QLED**)
409
410 Ex: #5QLED<cr> might return *5QLED5<cr>
411
412 This simple query returns the indicated servo's LED color.
413
414 Configure LED Color (**CLED**)
415
Coleman Benson 98.3 416 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 1.1 417
Coleman Benson 98.4 418 ====== __15. Gyre Rotation Direction (**G**)__ ======
Coleman Benson 1.1 419
Coleman Benson 98.4 420 "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).
421
422 Ex: #5G-1<cr>
423
424 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.
425
426 Query Gyre Direction (**QG**)
427
428 Ex: #5QG<cr> might return *5QG-1<cr>
429
430 The value returned above means the servo is in a counter-clockwise gyration.
431
432 Configure Gyre (**CG**)
433
434 Ex: #5CG-1<cr>
435
436 This changes the gyre direction as described above and also writes to EEPROM.
437
Coleman Benson 98.18 438 ====== __16. Identification Number (**ID**)__ ======
Coleman Benson 98.4 439
Coleman Benson 98.3 440 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 1.1 441
442 Query Identification (**QID**)
443
Coleman Benson 38.1 444 EX: #254QID<cr> might return *QID5<cr>
Coleman Benson 1.1 445
Coleman Benson 98.3 446 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 1.1 447
448 Configure ID (**CID**)
449
Coleman Benson 38.1 450 Ex: #4CID5<cr>
Coleman Benson 1.1 451
Coleman Benson 98.3 452 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 1.1 453
Coleman Benson 98.7 454 ====== __17. Baud Rate__ ======
Coleman Benson 1.1 455
RB1 156.2 456 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 115200. The baud rates are currently restricted to those above.
Coleman Benson 1.1 457
458 Query Baud Rate (**QB**)
459
RB1 156.2 460 Ex: #5QB<cr> might return *5QB115200<cr>
Coleman Benson 1.1 461
Coleman Benson 98.3 462 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 1.1 463
464 Configure Baud Rate (**CB**)
465
Coleman Benson 98.3 466 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 93.1 467
Coleman Benson 1.1 468 Ex: #5CB9600<cr>
469
470 Sending this command will change the baud rate associated with servo ID 5 to 9600 bits per second.
471
Coleman Benson 114.1 472 ====== __18. {//Coming soon//}__ ======
Coleman Benson 1.1 473
Coleman Benson 114.1 474 Command coming soon....
Coleman Benson 1.1 475
Coleman Benson 134.1 476 ====== __19. First Position (Degrees)__ ======
Coleman Benson 1.1 477
Coleman Benson 144.1 478 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 1.1 479
480 Query First Position in Degrees (**QFD**)
481
482 Ex: #5QFD<cr> might return *5QFD64<cr>
483
Coleman Benson 134.1 484 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 1.1 485
486 Configure First Position in Degrees (**CFD**)
487
488 Ex: #5CD64<cr>
489
Coleman Benson 134.1 490 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 1.1 491
Coleman Benson 98.7 492 ====== __20. Query Model String (**QMS**)__ ======
Coleman Benson 1.1 493
RB1 158.1 494 Ex: #5QMS<cr> might return *5QMSLSS-HS1<cr>
Coleman Benson 1.1 495
Coleman Benson 98.37 496 This reply means the servo model is LSS-HS1, meaning a high speed servo, first revision.
Coleman Benson 1.1 497
Coleman Benson 98.34 498 ====== __21. Query Serial Number (**QN**)__ ======
RB1 64.1 499
Coleman Benson 98.37 500 Ex: #5QN<cr> might return *5QN12345678<cr>
Coleman Benson 1.1 501
Coleman Benson 98.37 502 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 1.1 503
Coleman Benson 98.7 504 ====== __22. Query Firmware (**QF**)__ ======
Coleman Benson 1.1 505
Coleman Benson 98.37 506 Ex: #5QF<cr> might return *5QF411<cr>
Coleman Benson 1.1 507
Coleman Benson 98.37 508 The number in the reply represents the firmware version, in this example being 411.
Coleman Benson 1.1 509
Coleman Benson 98.7 510 ====== __23. Query Status (**Q**)__ ======
Coleman Benson 1.1 511
Coleman Benson 110.1 512 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 98.37 513
RB1 34.1 514 Ex: #5Q<cr> might return *5Q6<cr>, which indicates the motor is holding a position.
Coleman Benson 1.1 515
Coleman Benson 109.1 516 |***Value returned (Q)**|**Status**|**Detailed description**
Coleman Benson 106.1 517 |ex: *5Q0<cr>|0: Unknown|LSS is unsure / unknown state
518 |ex: *5Q1<cr>|1: Limp|Motor driving circuit is not powered and horn can be moved freely
519 |ex: *5Q2<cr>|2: Free moving|Motor driving circuit is not powered and horn can be moved freely
Coleman Benson 110.1 520 |ex: *5Q3<cr>|3: Accelerating|Increasing speed from rest (or previous speed) towards travel speed
Coleman Benson 106.1 521 |ex: *5Q4<cr>|4: Traveling|Moving at a stable speed
522 |ex: *5Q5<cr>|5: Decelerating|Decreasing from travel speed towards final position.
523 |ex: *5Q6<cr>|6: Holding|Keeping current position
524 |ex: *5Q7<cr>|7: Outside limits|{More details coming soon}
525 |ex: *5Q8<cr>|8: Stuck|Motor cannot perform request movement at current speed setting
526 |ex: *5Q9<cr>|9: Blocked|Similar to stuck, but the motor is at maximum duty and still cannot move (i.e.: stalled)
Coleman Benson 110.1 527 |ex: *5Q10<cr>|10: Safe Mode|(((
528 A safety limit has been exceeded (temperature, peak current or extended high current draw).
Coleman Benson 1.1 529
Coleman Benson 110.1 530 Send a Q1 command to know which limit has been reached (described below).
531 )))
532
Coleman Benson 109.1 533 (% class="wikigeneratedid" %)
Coleman Benson 110.1 534 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 109.1 535
536 |***Value returned (Q1)**|**Status**|**Detailed description**
Coleman Benson 110.1 537 |ex: *5Q0<cr>|No limits have been passed|Nothing is wrong
Coleman Benson 109.1 538 |ex: *5Q1<cr>|Current limit has been passed|Something cause the current to either spike, or remain too high for too long
Coleman Benson 110.1 539 |ex: *5Q2<cr>|Input voltage detected is below or above acceptable range|Check the voltage of your batteries or power source
Coleman Benson 109.1 540 |ex: *5Q3<cr>|Temperature limit has been reached|The servo is too hot to continue operating safely.
541
Coleman Benson 98.7 542 ====== __24. Query Voltage (**QV**)__ ======
Coleman Benson 1.1 543
Coleman Benson 59.1 544 Ex: #5QV<cr> might return *5QV11200<cr>
Coleman Benson 1.1 545
546 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).
547
Coleman Benson 98.7 548 ====== __25. Query Temperature (**QT**)__ ======
Coleman Benson 1.1 549
550 Ex: #5QT<cr> might return *5QT564<cr>
551
552 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.
553
Coleman Benson 98.7 554 ====== __26. Query Current (**QC**)__ ======
Coleman Benson 1.1 555
556 Ex: #5QC<cr> might return *5QC140<cr>
557
558 The units are in milliamps, so in the example above, the servo is consuming 140mA, or 0.14A.
559
Coleman Benson 98.36 560 ====== __27. Configure RC Mode (**CRC**)__ ======
Coleman Benson 42.1 561
RB1 51.1 562 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 42.1 563
RB1 50.1 564 |**Command sent**|**Note**
565 |ex: #5CRC1<cr>|Change to RC position mode.
566 |ex: #5CRC2<cr>|Change to RC continuous (wheel) mode.
Coleman Benson 98.37 567 |ex: #5CRC*<cr>|Where * is any number or value other than 1 or 2 (or no value): stay in smart mode.
RB1 50.1 568
Coleman Benson 98.37 569 EX: #5CRC2<cr>
Coleman Benson 42.1 570
Coleman Benson 105.1 571 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 1.1 572
RB1 122.1 573 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 102.1 574
Coleman Benson 98.36 575 ====== __28. **RESET**__ ======
576
Coleman Benson 1.1 577 Ex: #5RESET<cr> or #5RS<cr>
578
579 This command does a "soft reset" (no power cycle required) and reverts all commands to those stored in EEPROM (i.e. configuration commands).
RB1 155.1 580 Note: after a RESET command is received the LSS will restart and perform initilization again, making it unavailable on the bus for a bit. See [[Session>>||anchor="HSession"]], note #2 for more details.
Coleman Benson 1.1 581
Coleman Benson 98.36 582 ====== __29. **DEFAULT** & CONFIRM__ ======
Coleman Benson 1.1 583
584 Ex: #5DEFAULT<cr>
585
Coleman Benson 98.37 586 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 1.1 587
Coleman Benson 12.1 588 EX: #5DEFAULT<cr> followed by #5CONFIRM<cr>
Coleman Benson 1.1 589
Coleman Benson 98.37 590 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 1.1 591
Coleman Benson 13.1 592 Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
593
Coleman Benson 98.36 594 ====== __30. **UPDATE** & CONFIRM__ ======
Coleman Benson 1.1 595
Coleman Benson 12.1 596 Ex: #5UPDATE<cr>
Coleman Benson 1.1 597
Coleman Benson 12.1 598 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 1.1 599
Coleman Benson 12.1 600 EX: #5UPDATE<cr> followed by #5CONFIRM<cr>
Coleman Benson 1.1 601
Coleman Benson 12.1 602 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.
603
Coleman Benson 13.1 604 Note that after the CONFIRM command is sent, the servo will automatically perform a RESET.
Coleman Benson 98.2 605
Coleman Benson 138.1 606 == Details - Advanced ==
Coleman Benson 98.37 607
Coleman Benson 113.1 608 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.
609
Coleman Benson 98.2 610 ====== __A1. Angular Stiffness (**AS**)__ ======
611
Coleman Benson 98.37 612 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 98.2 613
614 A positive value of "angular stiffness":
615
616 * The more torque will be applied to try to keep the desired position against external input / changes
617 * The faster the motor will reach its intended travel speed and the motor will decelerate faster and nearer to its target position
618
619 A negative value on the other hand:
620
621 * Causes a slower acceleration to the travel speed, and a slower deceleration
622 * Allows the target position to deviate more from its position before additional torque is applied to bring it back
623
Coleman Benson 98.37 624 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 98.2 625
626 Ex: #5AS-2<cr>
627
628 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.
629
630 Ex: #5QAS<cr>
631
632 Queries the value being used.
633
634 Ex: #5CAS<cr>
635
636 Writes the desired angular stiffness value to memory.
637
Coleman Benson 98.33 638 ====== __A2. Angular Holding Stiffness (**AH**)__ ======
Coleman Benson 98.2 639
Coleman Benson 113.1 640 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 98.2 641
642 Ex: #5AH3<cr>
643
644 This sets the holding stiffness for servo #5 to 3 for that session.
645
646 Query Angular Hold Stiffness (**QAH**)
647
648 Ex: #5QAH<cr> might return *5QAH3<cr>
649
650 This returns the servo's angular holding stiffness value.
651
652 Configure Angular Hold Stiffness (**CAH**)
653
654 Ex: #5CAH2<cr>
655
Coleman Benson 113.1 656 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 98.2 657
658 ====== __A3: Angular Acceleration (**AA**)__ ======
659
Coleman Benson 111.1 660 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 98.2 661
Coleman Benson 111.1 662 Ex: #5AA30<cr>
663
664 Query Angular Acceleration (**QAD**)
665
666 Ex: #5QA<cr> might return *5QA30<cr>
667
668 Configure Angular Acceleration (**CAD**)
669
670 Ex: #5CA30<cr>
671
Coleman Benson 98.2 672 ====== __A4: Angular Deceleration (**AD**)__ ======
673
Coleman Benson 111.1 674 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 98.2 675
Coleman Benson 111.1 676 Ex: #5AD8<cr>
677
678 Query Angular Deceleration (**QAD**)
679
680 Ex: #5QD<cr> might return *5QD8<cr>
681
682 Configure Angular Deceleration (**CAD**)
683
684 Ex: #5CD8<cr>
685
Coleman Benson 98.2 686 ====== __A5: Motion Control (**EM**)__ ======
687
Coleman Benson 115.1 688 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 98.2 689
Coleman Benson 115.1 690 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.
691
Coleman Benson 98.2 692 ====== __A6. Configure LED Blinking (**CLB**)__ ======
693
Coleman Benson 108.1 694 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 98.2 695
Coleman Benson 98.37 696 (% style="width:195px" %)
697 |(% style="width:134px" %)**Blink While:**|(% style="width:58px" %)**#**
698 |(% style="width:134px" %)No blinking|(% style="width:58px" %)0
699 |(% style="width:134px" %)Limp|(% style="width:58px" %)1
700 |(% style="width:134px" %)Holding|(% style="width:58px" %)2
701 |(% style="width:134px" %)Accelerating|(% style="width:58px" %)4
702 |(% style="width:134px" %)Decelerating|(% style="width:58px" %)8
703 |(% style="width:134px" %)Free|(% style="width:58px" %)16
704 |(% style="width:134px" %)Travelling|(% style="width:58px" %)32
705 |(% style="width:134px" %)Always blink|(% style="width:58px" %)63
706
Coleman Benson 98.2 707 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:
708
709 Ex: #5CLB0<cr> to turn off all blinking (LED always solid)
Coleman Benson 98.37 710 Ex: #5CLB1<cr> only blink when limp (1)
711 Ex: #5CLB2<cr> only blink when holding (2)
712 Ex: #5CLB12<cr> only blink when accel or decel (accel 4 + decel 8 = 12)
713 Ex: #5CLB48<cr> only blink when free or travel (free 16 + travel 32 = 48)
714 Ex: #5CLB63<cr> blink in all status (1 + 2 + 4 + 8 + 16 + 32)
Coleman Benson 108.1 715
716 RESETTING the servo is needed.
RB1 140.1 717
Coleman Benson 148.1 718 ====== __A7. Current Halt & Hold (**CH**)__ ======
719
720 This modifier, released in firmware v367, can be added to the following actions: D; MD; WD; WR.
721
722 Ex: #5D1423CH400<cr>
723
724 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.
725
726 ====== __A8. Current Limp (**CL**)__ ======
727
728 This modifier, released in firmware v367, can be added to the following actions: D; MD; WD; WR.
729
730 Ex: #5D1423CH400<cr>
731
732 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.
733
Coleman Benson 143.1 734 = RGB LED Patterns =
RB1 140.1 735
Coleman Benson 143.1 736 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]]
737
RB1 141.2 738 [[image:LSS - LED Patterns.png]]
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